Remove extra screen refreshes and obsolete box

Co-authored-by: borland1 <barryorlando@hotmail.com>

.editorconfig

@@ -4,10 +4,10 @@ root = true
 [{*.patch,syntax_test_*}]
 trim_trailing_whitespace = false
 
-[{*.c,*.cpp,*.h}]
+[{*.c,*.cpp,*.h,*.ino}]
 charset = utf-8
 
-[{*.c,*.cpp,*.h,Makefile}]
+[{*.c,*.cpp,*.h,*.ino,Makefile}]
 trim_trailing_whitespace = true
 insert_final_newline = true
 end_of_line = lf

.gitattributes

@@ -17,3 +17,5 @@
 *.png binary
 *.jpg binary
 *.fon binary
+*.bin binary
+*.woff binary

.github/workflows/test-builds.yml

@@ -36,9 +36,11 @@ jobs:
         # Base Environments
 
         - DUE
+        - DUE_archim
         - esp32
         - linux_native
         - mega2560
+        - at90usb1286_dfu
         - teensy31
         - teensy35
         - teensy41
@@ -46,21 +48,34 @@ jobs:
 
         # Extended AVR Environments
 
-        - FYSETC_F6_13
+        - FYSETC_F6
         - mega1280
         - rambo
         - sanguino1284p
         - sanguino644p
 
-        # Extended STM32 Environments
+        # STM32F1 (Maple) Environments
+
+        #- STM32F103RC_btt_maple
+        - STM32F103RC_btt_USB_maple
+        - STM32F103RC_fysetc_maple
+        - STM32F103RC_meeb
+        - jgaurora_a5s_a1_maple
+        - STM32F103VE_longer_maple
+        #- mks_robin_maple
+        - mks_robin_lite_maple
+        - mks_robin_pro_maple
+        #- mks_robin_nano35_maple
+        #- STM32F103RE_creality_maple
+        - STM32F103VE_ZM3E4V2_USB_maple
+
+        # STM32 (ST) Environments
 
         - STM32F103RC_btt
-        - STM32F103RC_btt_USB
+        #- STM32F103RC_btt_USB
         - STM32F103RE_btt
         - STM32F103RE_btt_USB
-        - STM32F103RC_fysetc
-        - STM32F103RC_meeb
-        - jgaurora_a5s_a1
+        - STM32F103RE_creality
         - STM32F103VE_longer
         - STM32F407VE_black
         - STM32F401VE_STEVAL
@@ -68,56 +83,63 @@ jobs:
         - BIGTREE_SKR_PRO
         - BIGTREE_GTR_V1_0
         - mks_robin
-        - mks_robin_stm32
         - ARMED
         - FYSETC_S6
         - STM32F070CB_malyan
         - STM32F070RB_malyan
         - malyan_M300
-        - mks_robin_lite
         - FLYF407ZG
         - rumba32
-        - mks_robin_pro
-        - STM32F103RET6_creality
         - LERDGEX
+        - LERDGEK
         - mks_robin_nano35
+        - NUCLEO_F767ZI
+        - REMRAM_V1
+        - BTT_SKR_SE_BX
+        - chitu_f103
+        - Index_Mobo_Rev03
 
         # Put lengthy tests last
 
         - LPC1768
         - LPC1769
 
-        # STM32 with non-STM framework. both broken for now. they should use HAL_STM32 which is working.
-
-        #- STM32F4
-        #- STM32F7
-
         # Non-working environment tests
         #- at90usb1286_cdc
-        #- at90usb1286_dfu
         #- STM32F103CB_malyan
+        #- STM32F103RE
         #- mks_robin_mini
 
     steps:
 
+    - name: Check out the PR
+      uses: actions/checkout@v3
+
+    - name: Cache pip
+      uses: actions/cache@v3
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Cache PlatformIO
+      uses: actions/cache@v3
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+
     - name: Select Python 3.7
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v3
       with:
         python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
         architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified
 
     - name: Install PlatformIO
       run: |
-        pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
+        pip install -U https://github.com/platformio/platformio-core/archive/v5.2.5.zip
         platformio update
 
-    - name: Check out the PR
-      uses: actions/checkout@v2
-
     - name: Run ${{ matrix.test-platform }} Tests
       run: |
-        # Inline tests script
-        chmod +x buildroot/bin/*
-        chmod +x buildroot/tests/*
-        export PATH=./buildroot/bin/:./buildroot/tests/:${PATH}
-        run_tests . ${{ matrix.test-platform }}
+        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}

.gitignore

@@ -19,15 +19,19 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 #
 
-# Our automatic versioning scheme generates the following file
-# NEVER put it in the repository
+# Generated files
 _Version.h
+bdf2u8g
+marlin_config.json
+mczip.h
+*.gen
+*.sublime-workspace
 
 #
 # OS
 #
 applet/
-*.DS_Store
+.DS_Store
 
 #
 # Misc
@@ -37,7 +41,6 @@ applet/
 *.rej
 *.bak
 *.idea
-*.s
 *.i
 *.ii
 *.swp
@@ -77,7 +80,6 @@ tags
 *.out
 *.app
 
-
 #
 # C
 #
@@ -123,33 +125,10 @@ tags
 .gcc-flags.json
 /lib/
 
-# Workaround for Deviot+platformio quirks
-Marlin/lib
-Marlin/platformio.ini
-Marlin/*/platformio.ini
-Marlin/*/*/platformio.ini
-Marlin/*/*/*/platformio.ini
-Marlin/*/*/*/*/platformio.ini
-Marlin/.travis.yml
-Marlin/*/.travis.yml
-Marlin/*/*/.travis.yml
-Marlin/*/*/*/.travis.yml
-Marlin/*/*/*/*/.travis.yml
-Marlin/.gitignore
-Marlin/*/.gitignore
-Marlin/*/*/.gitignore
-Marlin/*/*/*/.gitignore
-Marlin/*/*/*/*/.gitignore
-Marlin/readme.txt
-Marlin/*/readme.txt
-Marlin/*/*/readme.txt
-Marlin/*/*/*/readme.txt
-Marlin/*/*/*/*/readme.txt
-
 # Secure Credentials
 Configuration_Secure.h
 
-#Visual Studio
+# Visual Studio
 *.sln
 *.vcxproj
 *.vcxproj.user
@@ -160,27 +139,33 @@ __vm/
 .vs/
 vc-fileutils.settings
 
-#Visual Studio Code
-.vscode
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/*.db
+# Visual Studio Code
+.vscode/*
+!.vscode/extensions.json
+
+#Simulation
+imgui.ini
+eeprom.dat
+spi_flash.bin
 
 #cmake
 CMakeLists.txt
 src/CMakeLists.txt
 CMakeListsPrivate.txt
+build/
 
-#CLion
+# CLion
 cmake-build-*
 
-#Eclipse
+# Eclipse
 .project
 .cproject
 .pydevproject
 .settings
 .classpath
 
-#Python
+# Python
 __pycache__
+
+# IOLogger logs
+*_log.csv

.vscode/extensions.json

@@ -0,0 +1,11 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "marlinfirmware.auto-build",
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

Makefile

@@ -0,0 +1,52 @@
+help:
+	@echo "Tasks for local development:"
+	@echo "* tests-single-ci:             Run a single test from inside the CI"
+	@echo "* tests-single-local:          Run a single test locally"
+	@echo "* tests-single-local-docker:   Run a single test locally, using docker-compose"
+	@echo "* tests-all-local:             Run all tests locally"
+	@echo "* tests-all-local-docker:      Run all tests locally, using docker-compose"
+	@echo "* setup-local-docker:          Setup local docker-compose"
+	@echo ""
+	@echo "Options for testing:"
+	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
+	@echo "                       test. If you set it to ALL it will run all "
+	@echo "                       tests, but some of them are broken: use "
+	@echo "                       tests-all-* instead to run only the ones that "
+	@echo "                       run on GitHub CI"
+	@echo "  ONLY_TEST            Limit tests to only those that contain this, or"
+	@echo "                       the index of the test (1-based)"
+	@echo "  VERBOSE_PLATFORMIO   If you want the full PIO output, set any value"
+	@echo "  GIT_RESET_HARD       Used by CI: reset all local changes. WARNING:"
+	@echo "                       THIS WILL UNDO ANY CHANGES YOU'VE MADE!"
+.PHONY: help
+
+tests-single-ci:
+	export GIT_RESET_HARD=true
+	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET)
+.PHONY: 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 VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
+	  && run_tests . $(TEST_TARGET) "$(ONLY_TEST)"
+.PHONY: tests-single-local
+
+tests-single-local-docker:
+	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local-docker" ; return 1; fi
+	docker-compose run --rm marlin $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
+.PHONY: tests-single-local-docker
+
+tests-all-local:
+	export PATH=./buildroot/bin/:./buildroot/tests/:${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
+
+tests-all-local-docker:
+	docker-compose run --rm marlin $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
+.PHONY: tests-all-local-docker
+
+setup-local-docker:
+	docker-compose build
+.PHONY: setup-local-docker

Marlin/Makefile

@@ -22,8 +22,10 @@
 #     (e.g. UPLOAD_PORT = /dev/tty.USB0).  If the exact name of this file
 #     changes, you can use * as a wild card (e.g. UPLOAD_PORT = /dev/tty.usb*).
 #
-#  3. Set the line containing "MCU" to match your board's processor.
-#     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
+#  3. Set the line containing "MCU" to match your board's processor. Set
+#     "PROG_MCU" as the AVR part name corresponding to "MCU". You can use the
+#     following command to get a list of correspondences: `avrdude -c alf -p x`
+#     Older boards are atmega8 based, newer ones like Arduino Mini, Bluetooth
 #     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
 #     change F_CPU to 8000000. If you are using Gen7 electronics, you
 #     probably need to use 20000000. Either way, you must regenerate
@@ -34,18 +36,18 @@
 #  5. Type "make upload", reset your Arduino board, and press enter to
 #     upload your program to the Arduino board.
 #
-# Note that all settings at the top of this file can be overriden from
+# Note that all settings at the top of this file can be overridden from
 # the command line with, for example, "make HARDWARE_MOTHERBOARD=71"
 #
 # To compile for RAMPS (atmega2560) with Arduino 1.6.9 at root/arduino you would use...
 #
 #   make ARDUINO_VERSION=10609 AVR_TOOLS_PATH=/root/arduino/hardware/tools/avr/bin/ \
-#   HARDWARE_MOTHERBOARD=33 ARDUINO_INSTALL_DIR=/root/arduino
+#   HARDWARE_MOTHERBOARD=1200 ARDUINO_INSTALL_DIR=/root/arduino
 #
 # To compile and upload simply add "upload" to the end of the line...
 #
 #   make ARDUINO_VERSION=10609 AVR_TOOLS_PATH=/root/arduino/hardware/tools/avr/bin/ \
-#   HARDWARE_MOTHERBOARD=33 ARDUINO_INSTALL_DIR=/root/arduino upload
+#   HARDWARE_MOTHERBOARD=1200 ARDUINO_INSTALL_DIR=/root/arduino upload
 #
 # If uploading doesn't work try adding the parameter "AVRDUDE_PROGRAMMER=wiring" or
 # start upload manually (using stk500) like so:
@@ -57,7 +59,26 @@
 #
 
 # This defines the board to compile for (see boards.h for your board's ID)
-HARDWARE_MOTHERBOARD ?= 11
+HARDWARE_MOTHERBOARD ?= 1020
+
+ifeq ($(OS),Windows_NT)
+  # Windows
+  ARDUINO_INSTALL_DIR ?= ${HOME}/Arduino
+  ARDUINO_USER_DIR ?= ${HOME}/Arduino
+else
+  UNAME_S := $(shell uname -s)
+  ifeq ($(UNAME_S),Linux)
+    # Linux
+    ARDUINO_INSTALL_DIR ?= /usr/share/arduino
+    ARDUINO_USER_DIR ?= ${HOME}/Arduino
+  endif
+  ifeq ($(UNAME_S),Darwin)
+    # Darwin (macOS)
+    ARDUINO_INSTALL_DIR ?= /Applications/Arduino.app/Contents/Java
+    ARDUINO_USER_DIR ?= ${HOME}/Documents/Arduino
+    AVR_TOOLS_PATH ?= /Applications/Arduino.app/Contents/Java/hardware/tools/avr/bin/
+  endif
+endif
 
 # Arduino source install directory, and version number
 # On most linuxes this will be /usr/share/arduino
@@ -67,32 +88,38 @@ ARDUINO_VERSION      ?= 106
 # The installed Libraries are in the User folder
 ARDUINO_USER_DIR ?= ${HOME}/Arduino
 
-# You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin)
+# You can optionally set a path to the avr-gcc tools.
+# Requires a trailing slash. For example, /usr/local/avr-gcc/bin/
 AVR_TOOLS_PATH ?=
 
-#Programmer configuration
+# Programmer configuration
 UPLOAD_RATE        ?= 57600
 AVRDUDE_PROGRAMMER ?= arduino
-# on most linuxes this will be /dev/ttyACM0 or /dev/ttyACM1
+# On most linuxes this will be /dev/ttyACM0 or /dev/ttyACM1
 UPLOAD_PORT        ?= /dev/ttyUSB0
 
-#Directory used to build files in, contains all the build files, from object files to the final hex file
-#on linux it is best to put an absolute path like /home/username/tmp .
+# Directory used to build files in, contains all the build files, from object
+# files to the final hex file on linux it is best to put an absolute path
+# like /home/username/tmp .
 BUILD_DIR          ?= applet
 
 # This defines whether Liquid_TWI2 support will be built
 LIQUID_TWI2        ?= 0
 
-# this defines if Wire is needed
+# This defines if Wire is needed
 WIRE               ?= 0
 
-# this defines if U8GLIB is needed (may require RELOC_WORKAROUND)
-U8GLIB             ?= 1
+# 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
 
-# this defines whether to include the Trinamic TMCStepper library
-TMC                ?= 1
+# This defines if U8GLIB is needed (may require RELOC_WORKAROUND)
+U8GLIB             ?= 0
 
-# this defines whether to include the AdaFruit NeoPixel library
+# This defines whether to include the Trinamic TMCStepper library
+TMC                ?= 0
+
+# This defines whether to include the AdaFruit NeoPixel library
 NEOPIXEL           ?= 0
 
 ############
@@ -105,7 +132,7 @@ CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
 CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
-  @echo This version of GCC is likely broken. Enabling relocation workaround.
+  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
   RELOC_WORKAROUND = 1
 endif
 
@@ -164,6 +191,134 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1034)
 # RAMPS Derivatives - ATmega1280, ATmega2560
 #
 
+# 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 BASE v1.4 with Allegro A4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1108)
+# MKS BASE v1.5 with Allegro A4982 stepper drivers
+else ifeq ($(HARDWARE_MOTHERBOARD),1109)
+# MKS BASE 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)
+# BigTreeTech or BIQU KFB2.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1114)
+# zrib V2.0 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1115)
+# zrib V5.2 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1116)
+# Felix 2.0+ Electronics Board (RAMPS like)
+else ifeq ($(HARDWARE_MOTHERBOARD),1117)
+# Invent-A-Part RigidBoard
+else ifeq ($(HARDWARE_MOTHERBOARD),1118)
+# Invent-A-Part RigidBoard V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1119)
+# Sainsmart 2-in-1 board
+else ifeq ($(HARDWARE_MOTHERBOARD),1120)
+# Ultimaker
+else ifeq ($(HARDWARE_MOTHERBOARD),1121)
+# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+else ifeq ($(HARDWARE_MOTHERBOARD),1122)
+  MCU              ?= atmega1280
+  PROG_MCU         ?= m1280
+# Azteeg X3
+else ifeq ($(HARDWARE_MOTHERBOARD),1123)
+# Azteeg X3 Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1124)
+# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+else ifeq ($(HARDWARE_MOTHERBOARD),1125)
+# Rumba
+else ifeq ($(HARDWARE_MOTHERBOARD),1126)
+# Raise3D N series Rumba derivative
+else ifeq ($(HARDWARE_MOTHERBOARD),1127)
+# Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
+else ifeq ($(HARDWARE_MOTHERBOARD),1128)
+# Formbot T-Rex 2 Plus
+else ifeq ($(HARDWARE_MOTHERBOARD),1129)
+# Formbot T-Rex 3
+else ifeq ($(HARDWARE_MOTHERBOARD),1130)
+# Formbot Raptor
+else ifeq ($(HARDWARE_MOTHERBOARD),1131)
+# Formbot Raptor 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1132)
+# bq ZUM Mega 3D
+else ifeq ($(HARDWARE_MOTHERBOARD),1133)
+# MakeBoard Mini v2.1.2 by MicroMake
+else ifeq ($(HARDWARE_MOTHERBOARD),1134)
+# TriGorilla Anycubic version 1.3-based on RAMPS EFB
+else ifeq ($(HARDWARE_MOTHERBOARD),1135)
+#   ... Ver 1.4
+else ifeq ($(HARDWARE_MOTHERBOARD),1136)
+#   ... Rev 1.1 (new servo pin order)
+else ifeq ($(HARDWARE_MOTHERBOARD),1137)
+# Creality: Ender-4, CR-8
+else ifeq ($(HARDWARE_MOTHERBOARD),1138)
+# Creality: CR10S, CR20, CR-X
+else ifeq ($(HARDWARE_MOTHERBOARD),1139)
+# Dagoma F5
+else ifeq ($(HARDWARE_MOTHERBOARD),1140)
+# FYSETC F6 1.3
+else ifeq ($(HARDWARE_MOTHERBOARD),1141)
+# FYSETC F6 1.4
+else ifeq ($(HARDWARE_MOTHERBOARD),1142)
+# Wanhao Duplicator i3 Plus
+else ifeq ($(HARDWARE_MOTHERBOARD),1143)
+# VORON Design
+else ifeq ($(HARDWARE_MOTHERBOARD),1144)
+# Tronxy TRONXY-V3-1.0
+else ifeq ($(HARDWARE_MOTHERBOARD),1145)
+# Z-Bolt X Series
+else ifeq ($(HARDWARE_MOTHERBOARD),1146)
+# TT OSCAR
+else ifeq ($(HARDWARE_MOTHERBOARD),1147)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1148)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1149)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1150)
+# BIQU Tango V1
+else ifeq ($(HARDWARE_MOTHERBOARD),1151)
+# MKS GEN L V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1152)
+# MKS GEN L V2.1
+else ifeq ($(HARDWARE_MOTHERBOARD),1153)
+# Copymaster 3D
+else ifeq ($(HARDWARE_MOTHERBOARD),1154)
+# Ortur 4
+else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Tenlog D3 Hero IDEX printer
+else ifeq ($(HARDWARE_MOTHERBOARD),1156)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1157)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1158)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+else ifeq ($(HARDWARE_MOTHERBOARD),1159)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1160)
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1161)
+
+
 # 3Drag Controller
 else ifeq ($(HARDWARE_MOTHERBOARD),1100)
 # Velleman K8200 Controller (derived from 3Drag Controller)
@@ -192,7 +347,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1111)
 else ifeq ($(HARDWARE_MOTHERBOARD),1112)
 # MKS GEN L
 else ifeq ($(HARDWARE_MOTHERBOARD),1113)
-# zrib V2.0 control board (Chinese knock off RAMPS replica)
+# zrib V2.0 control board (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1114)
 # BigTreeTech or BIQU KFB2.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1115)
@@ -208,7 +363,8 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1119)
 else ifeq ($(HARDWARE_MOTHERBOARD),1120)
 # Ultimaker (Older electronics. Pre 1.5.4. This is rare)
 else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-  MCU ?= atmega1280
+  MCU              ?= atmega1280
+  PROG_MCU         ?= m1280
 
 # Azteeg X3
 else ifeq ($(HARDWARE_MOTHERBOARD),1122)
@@ -295,6 +451,8 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1203)
 else ifeq ($(HARDWARE_MOTHERBOARD),1204)
 # abee Scoovo X9H
 else ifeq ($(HARDWARE_MOTHERBOARD),1205)
+# Rambo ThinkerV2
+else ifeq ($(HARDWARE_MOTHERBOARD),1206)
 
 #
 # Other ATmega1280, ATmega2560
@@ -328,20 +486,38 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1311)
 else ifeq ($(HARDWARE_MOTHERBOARD),1312)
 # Mega controller
 else ifeq ($(HARDWARE_MOTHERBOARD),1313)
-# Geeetech GT2560 Rev B for Mecreator2
+# Geeetech GT2560 Rev A
 else ifeq ($(HARDWARE_MOTHERBOARD),1314)
-# Geeetech GT2560 Rev. A
+# Geeetech GT2560 Rev A+ (with auto level probe)
 else ifeq ($(HARDWARE_MOTHERBOARD),1315)
-# Geeetech GT2560 Rev. A+ (with auto level probe)
+# Geeetech GT2560 Rev B
 else ifeq ($(HARDWARE_MOTHERBOARD),1316)
-# Geeetech GT2560 Rev B for A10(M/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1317)
-# Geeetech GT2560 Rev B for A20(M/D)
+# Geeetech GT2560 Rev B for A10(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1318)
-# Einstart retrofit
+# Geeetech GT2560 Rev B for Mecreator2
 else ifeq ($(HARDWARE_MOTHERBOARD),1319)
-# Wanhao 0ne+ i3 Mini
+# Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1321)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1322)
+# Leapfrog Xeed 2015
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# PICA Shield (original version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# PICA Shield (rev C or later)
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# Geeetech GT2560 Rev B for A20(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1328)
+# Mega controller & Protoneer CNC Shield V3.00
+else ifeq ($(HARDWARE_MOTHERBOARD),1329)
 
 #
 # ATmega1281, ATmega2561
@@ -350,9 +526,11 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1320)
 # Minitronics v1.0/1.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1400)
   MCU              ?= atmega1281
+  PROG_MCU         ?= m1281
 # Silvergate v1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1401)
   MCU              ?= atmega1281
+  PROG_MCU         ?= m1281
 
 #
 # Sanguinololu and Derivatives - ATmega644P, ATmega1284P
@@ -362,46 +540,62 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1401)
 else ifeq ($(HARDWARE_MOTHERBOARD),1500)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Sanguinololu 1.2 and above
 else ifeq ($(HARDWARE_MOTHERBOARD),1501)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Melzi
 else ifeq ($(HARDWARE_MOTHERBOARD),1502)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Melzi V2.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1503)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Melzi with ATmega1284 (MaKr3d version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1504)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Melzi Creality3D board (for CR-10 etc)
 else ifeq ($(HARDWARE_MOTHERBOARD),1505)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Melzi Malyan M150 board
 else ifeq ($(HARDWARE_MOTHERBOARD),1506)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Tronxy X5S
 else ifeq ($(HARDWARE_MOTHERBOARD),1507)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # STB V1.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1508)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Azteeg X1
 else ifeq ($(HARDWARE_MOTHERBOARD),1509)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 # Anet 1.0 (Melzi clone)
 else ifeq ($(HARDWARE_MOTHERBOARD),1510)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
+# ZoneStar ZMIB V2
+else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+  HARDWARE_VARIANT ?= Sanguino
+  MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
 
 #
 # Other ATmega644P, ATmega644, ATmega1284P
@@ -411,50 +605,61 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1510)
 else ifeq ($(HARDWARE_MOTHERBOARD),1600)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Gen3+
 else ifeq ($(HARDWARE_MOTHERBOARD),1601)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Gen6
 else ifeq ($(HARDWARE_MOTHERBOARD),1602)
   HARDWARE_VARIANT ?= Gen6
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Gen6 deluxe
 else ifeq ($(HARDWARE_MOTHERBOARD),1603)
   HARDWARE_VARIANT ?= Gen6
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Gen7 custom (Alfons3 Version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1604)
   HARDWARE_VARIANT ?= Gen7
   MCU              ?= atmega644
+  PROG_MCU         ?= m644
   F_CPU            ?= 20000000
 # Gen7 v1.1, v1.2
 else ifeq ($(HARDWARE_MOTHERBOARD),1605)
   HARDWARE_VARIANT ?= Gen7
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
   F_CPU            ?= 20000000
 # Gen7 v1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1606)
   HARDWARE_VARIANT ?= Gen7
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
   F_CPU            ?= 20000000
 # Gen7 v1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1607)
   HARDWARE_VARIANT ?= Gen7
   MCU              ?= atmega1284p
+  PROG_MCU         ?= m1284p
   F_CPU            ?= 20000000
 # Alpha OMCA board
 else ifeq ($(HARDWARE_MOTHERBOARD),1608)
   HARDWARE_VARIANT ?= SanguinoA
   MCU              ?= atmega644
+  PROG_MCU         ?= m644
 # Final OMCA board
 else ifeq ($(HARDWARE_MOTHERBOARD),1609)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 # Sethi 3D_1
 else ifeq ($(HARDWARE_MOTHERBOARD),1610)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega644p
+  PROG_MCU         ?= m644p
 
 #
 # Teensyduino - AT90USB1286, AT90USB1286P
@@ -464,51 +669,60 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1610)
 else ifeq ($(HARDWARE_MOTHERBOARD),1700)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # Printrboard (AT90USB1286)
 else ifeq ($(HARDWARE_MOTHERBOARD),1701)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # Printrboard Revision F (AT90USB1286)
 else ifeq ($(HARDWARE_MOTHERBOARD),1702)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # Brainwave (AT90USB646)
 else ifeq ($(HARDWARE_MOTHERBOARD),1703)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb646
+  PROG_MCU         ?= usb646
 # Brainwave Pro (AT90USB1286)
 else ifeq ($(HARDWARE_MOTHERBOARD),1704)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # SAV Mk-I (AT90USB1286)
 else ifeq ($(HARDWARE_MOTHERBOARD),1705)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # Teensy++2.0 (AT90USB1286)
 else ifeq ($(HARDWARE_MOTHERBOARD),1706)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 # 5DPrint D8 Driver Board
 else ifeq ($(HARDWARE_MOTHERBOARD),1707)
   HARDWARE_VARIANT ?= Teensy
   MCU              ?= at90usb1286
+  PROG_MCU         ?= usb1286
 
 # UltiMachine Archim1 (with DRV8825 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3023)
   HARDWARE_VARIANT ?= archim
   MCPU              = cortex-m3
-  F_CPU             = 84000000L
+  F_CPU             = 84000000
   IS_MCU            = 0
 # UltiMachine Archim2 (with TMC2130 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3024)
   HARDWARE_VARIANT ?= archim
   MCPU              = cortex-m3
-  F_CPU             = 84000000L
+  F_CPU             = 84000000
   IS_MCU            = 0
 endif
 
 # Be sure to regenerate speed_lookuptable.h with create_speed_lookuptable.py
 # if you are setting this to something other than 16MHz
+# Do not put the UL suffix, it's done later on.
 # Set to 16Mhz if not yet set.
 F_CPU ?= 16000000
 
@@ -518,7 +732,8 @@ IS_MCU ?= 1
 ifeq ($(IS_MCU),1)
   # Set to arduino, ATmega2560 if not yet set.
   HARDWARE_VARIANT ?= arduino
-  MCU ?= atmega2560
+  MCU              ?= atmega2560
+  PROG_MCU         ?= m2560
 
   TOOL_PREFIX = avr
   MCU_FLAGS   = -mmcu=$(MCU)
@@ -549,27 +764,36 @@ VPATH += $(BUILD_DIR)
 VPATH += $(HARDWARE_SRC)
 
 ifeq ($(HARDWARE_VARIANT), $(filter $(HARDWARE_VARIANT),arduino Teensy Sanguino))
-VPATH += $(ARDUINO_INSTALL_DIR)/hardware/marlin/avr/libraries/LiquidCrystal/src
-VPATH += $(ARDUINO_INSTALL_DIR)/hardware/marlin/avr/libraries/SPI
+  # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8)
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI
+  # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8)
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src
 endif
 
 ifeq ($(IS_MCU),1)
   VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/cores/arduino
 
+  # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8)
   VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial
+  # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8)
   VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src
   VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial/src
 endif
 
 VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidCrystal/src
+
 ifeq ($(LIQUID_TWI2), 1)
-VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Wire
-VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Wire/utility
-VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidTWI2
+  WIRE   = 1
+  VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidTWI2
 endif
 ifeq ($(WIRE), 1)
-VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Wire
-VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Wire/utility
+  # Old libraries (avr-core 1.6.21 / Arduino < 1.6.8)
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/utility
+  # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8)
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src
+  VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src/utility
 endif
 ifeq ($(NEOPIXEL), 1)
 VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Adafruit_NeoPixel
@@ -641,13 +865,23 @@ ifeq ($(WIRE), 1)
   LIB_CXXSRC += Wire.cpp
 endif
 
+ifeq ($(TONE), 1)
+  LIB_CXXSRC += Tone.cpp
+endif
+
 ifeq ($(U8GLIB), 1)
   LIB_CXXSRC += U8glib.cpp
-  LIB_SRC += u8g_ll_api.c u8g_bitmap.c u8g_clip.c u8g_com_null.c u8g_delay.c u8g_page.c u8g_pb.c u8g_pb16h1.c u8g_rect.c u8g_state.c u8g_font.c u8g_font_6x13.c u8g_font_04b_03.c u8g_font_5x8.c
+  LIB_SRC += u8g_ll_api.c u8g_bitmap.c u8g_clip.c u8g_com_null.c u8g_delay.c \
+    u8g_page.c u8g_pb.c u8g_pb16h1.c u8g_rect.c u8g_state.c u8g_font.c \
+    u8g_font_6x13.c u8g_font_04b_03.c u8g_font_5x8.c
 endif
 
 ifeq ($(TMC), 1)
-  LIB_CXXSRC += TMCStepper.cpp COOLCONF.cpp DRV_STATUS.cpp IHOLD_IRUN.cpp CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp DRVSTATUS.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp SHORT_CONF.cpp SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp TMC2209Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
+  LIB_CXXSRC += TMCStepper.cpp COOLCONF.cpp DRV_STATUS.cpp IHOLD_IRUN.cpp \
+    CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp \
+    DRVSTATUS.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp SHORT_CONF.cpp \
+    SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \
+    TMC2209Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp
 endif
 
 ifeq ($(RELOC_WORKAROUND), 1)
@@ -689,17 +923,23 @@ REMOVE = rm -f
 MV = mv -f
 
 # Place -D or -U options here
-CDEFS    = -DF_CPU=$(F_CPU) ${addprefix -D , $(DEFINES)} -DARDUINO=$(ARDUINO_VERSION)
+CDEFS    = -DF_CPU=$(F_CPU)UL ${addprefix -D , $(DEFINES)} -DARDUINO=$(ARDUINO_VERSION)
 CXXDEFS  = $(CDEFS)
 
 ifeq ($(HARDWARE_VARIANT), Teensy)
-  CDEFS  += -DUSB_SERIAL
+  CDEFS      += -DUSB_SERIAL
   LIB_SRC    += usb.c pins_teensy.c
   LIB_CXXSRC += usb_api.cpp
 
 else ifeq ($(HARDWARE_VARIANT), archim)
-  CDEFS      += -DARDUINO_SAM_ARCHIM -DARDUINO_ARCH_SAM -D__SAM3X8E__ -DUSB_VID=0x27b1 -DUSB_PID=0x0001 -DUSBCON '-DUSB_MANUFACTURER="UltiMachine"' '-DUSB_PRODUCT_STRING="Archim"'
-  LIB_CXXSRC += variant.cpp IPAddress.cpp Reset.cpp RingBuffer.cpp Stream.cpp UARTClass.cpp  USARTClass.cpp abi.cpp new.cpp watchdog.cpp CDC.cpp PluggableUSB.cpp USBCore.cpp
+  CDEFS      += -DARDUINO_SAM_ARCHIM -DARDUINO_ARCH_SAM -D__SAM3X8E__
+  CDEFS      += -DUSB_VID=0x27B1 -DUSB_PID=0x0001 -DUSBCON
+  CDEFS      += '-DUSB_MANUFACTURER="UltiMachine"' '-DUSB_PRODUCT_STRING="Archim"'
+
+  LIB_CXXSRC += variant.cpp IPAddress.cpp Reset.cpp RingBuffer.cpp Stream.cpp \
+    UARTClass.cpp  USARTClass.cpp abi.cpp new.cpp watchdog.cpp CDC.cpp \
+    PluggableUSB.cpp USBCore.cpp
+
   LIB_SRC    += cortex_handlers.c iar_calls_sam3.c syscalls_sam3.c dtostrf.c itoa.c
 
   ifeq ($(U8GLIB), 1)
@@ -725,16 +965,20 @@ CTUNING = -fsigned-char -funsigned-bitfields -fno-exceptions \
 ifneq ($(HARDWARE_MOTHERBOARD),)
   CTUNING += -DMOTHERBOARD=${HARDWARE_MOTHERBOARD}
 endif
+
 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
 CXXEXTRA = -fno-use-cxa-atexit -fno-threadsafe-statics -fno-rtti
 CFLAGS := $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CEXTRA)   $(CTUNING) $(CSTANDARD)
 CXXFLAGS :=         $(CDEFS) $(CINCS) -O$(OPT) $(CXXEXTRA) $(CTUNING) $(CXXSTANDARD)
 ASFLAGS :=          $(CDEFS)
 #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+
 ifeq ($(HARDWARE_VARIANT), archim)
   LD_PREFIX = -Wl,--gc-sections,-Map,Marlin.ino.map,--cref,--check-sections,--entry=Reset_Handler,--unresolved-symbols=report-all,--warn-common,--warn-section-align
   LD_SUFFIX = $(LDLIBS)
-  LDFLAGS   = -lm -T$(LDSCRIPT) -u _sbrk -u link -u _close -u _fstat -u _isatty -u _lseek -u _read -u _write -u _exit -u kill -u _getpid
+
+  LDFLAGS   = -lm -T$(LDSCRIPT) -u _sbrk -u link -u _close -u _fstat -u _isatty
+  LDFLAGS  += -u _lseek -u _read -u _write -u _exit -u kill -u _getpid
 else
   LD_PREFIX = -Wl,--gc-sections,--relax
   LDFLAGS   = -lm
@@ -750,7 +994,7 @@ else
   AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
 endif
 AVRDUDE_FLAGS = -D -C$(AVRDUDE_CONF) \
-  -p$(MCU) -P$(AVRDUDE_PORT) -c$(AVRDUDE_PROGRAMMER) \
+  -p$(PROG_MCU) -P$(AVRDUDE_PORT) -c$(AVRDUDE_PROGRAMMER) \
   -b$(UPLOAD_RATE)
 
 # Since Marlin 2.0, the source files may be distributed into several
@@ -851,7 +1095,7 @@ extcoff: $(TARGET).elf
 
 .elf.eep:
 	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-    --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+	  --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
 # Create extended listing file from ELF output file.
 .elf.lss:
@@ -865,7 +1109,7 @@ extcoff: $(TARGET).elf
 
 $(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h
 	$(Pecho) "  CXX   $@"
-	$P $(CC) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
+	$P $(CXX) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
 
 # Object files that were found in "src" will be stored in $(BUILD_DIR)
 # in directories that mirror the structure of "src"
@@ -900,5 +1144,5 @@ clean:
 
 .PHONY: all build elf hex eep lss sym program coff extcoff clean depend sizebefore sizeafter
 
-# Automaticaly include the dependency files created by gcc
+# Automatically include the dependency files created by gcc
 -include ${patsubst %.o, %.d, ${OBJ}}

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2019-07-10"
+//#define STRING_DISTRIBUTION_DATE "2022-04-05"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -54,7 +54,7 @@
  * has a distinct Github fork— the Source Code URL should just be the main
  * Marlin repository.
  */
-//#define SOURCE_CODE_URL "https://github.com/MarlinFirmware/Marlin"
+//#define SOURCE_CODE_URL "github.com/MarlinFirmware/Marlin"
 
 /**
  * Default generic printer UUID.
@@ -65,7 +65,7 @@
  * The WEBSITE_URL is the location where users can get more information such as
  * documentation about a specific Marlin release.
  */
-//#define WEBSITE_URL "https://marlinfw.org"
+//#define WEBSITE_URL "marlinfw.org"
 
 /**
  * Set the vendor info the serial USB interface, if changable

Marlin/src/HAL/AVR/HAL.cpp

@@ -24,17 +24,43 @@
 #include "../../inc/MarlinConfig.h"
 #include "HAL.h"
 
+#ifdef USBCON
+  DefaultSerial1 MSerial0(false, Serial);
+  #ifdef BLUETOOTH
+    BTSerial btSerial(false, bluetoothSerial);
+  #endif
+#endif
+
 // ------------------------
 // Public Variables
 // ------------------------
 
-//uint8_t MCUSR;
+// Don't initialize/override variable (which would happen in .init4)
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
 // ------------------------
 
-void HAL_init() {
+__attribute__((naked))             // Don't output function pro- and epilogue
+__attribute__((used))              // Output the function, even if "not used"
+__attribute__((section(".init3"))) // Put in an early user definable section
+void save_reset_reason() {
+  #if ENABLED(OPTIBOOT_RESET_REASON)
+    __asm__ __volatile__(
+      A("STS %0, r2")
+      : "=m"(hal.reset_reason)
+    );
+  #else
+    hal.reset_reason = MCUSR;
+  #endif
+
+  // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
+  hal.clear_reset_source();
+  wdt_disable();
+}
+
+void MarlinHAL::init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -49,6 +75,17 @@ void HAL_init() {
   #if HAS_SERVO_3
     INIT_SERVO(3);
   #endif
+
+  init_pwm_timers();   // Init user timers to default frequency - 1000HZ
+}
+
+void MarlinHAL::reboot() {
+  #if ENABLED(USE_WATCHDOG)
+    while (1) { /* run out the watchdog */ }
+  #else
+    void (*resetFunc)() = 0;  // Declare resetFunc() at address 0
+    resetFunc();              // Jump to address 0
+  #endif
 }
 
 #if ENABLED(SDSUPPORT)
@@ -58,20 +95,20 @@ void HAL_init() {
 
 #else // !SDSUPPORT
 
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+  extern "C" {
+    extern char __bss_end;
+    extern char __heap_start;
+    extern void* __brkval;
 
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
+    int freeMemory() {
+      int free_memory;
+      if ((int)__brkval == 0)
+        free_memory = ((int)&free_memory) - ((int)&__bss_end);
+      else
+        free_memory = ((int)&free_memory) - ((int)__brkval);
+      return free_memory;
+    }
   }
-}
 
 #endif // !SDSUPPORT
 

Marlin/src/HAL/AVR/HAL.h

@@ -39,6 +39,19 @@
 #include <avr/interrupt.h>
 #include <avr/io.h>
 
+//
+// Default graphical display delays
+//
+#if F_CPU >= 20000000
+  #define CPU_ST7920_DELAY_1 150
+  #define CPU_ST7920_DELAY_2   0
+  #define CPU_ST7920_DELAY_3 150
+#elif F_CPU == 16000000
+  #define CPU_ST7920_DELAY_1 125
+  #define CPU_ST7920_DELAY_2   0
+  #define CPU_ST7920_DELAY_3 188
+#endif
+
 #ifndef pgm_read_ptr
   // Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for
   // Windows Subsystem for Linux on Windows 10 as of 10/18/2019
@@ -61,9 +74,9 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 
 // ------------------------
 // Types
@@ -71,35 +84,56 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
-// Public Variables
-// ------------------------
-
-//extern uint8_t MCUSR;
-
 // Serial ports
+// ------------------------
+
 #ifdef USBCON
-  #define MYSERIAL0 TERN(BLUETOOTH, bluetoothSerial, Serial)
+  #include "../../core/serial_hook.h"
+  typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+  extern DefaultSerial1 MSerial0;
+  #ifdef BLUETOOTH
+    typedef ForwardSerial1Class< decltype(bluetoothSerial) > BTSerial;
+    extern BTSerial btSerial;
+  #endif
+
+  #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
 #else
   #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
   #endif
-  #define MYSERIAL0 customizedSerial1
+  #define MYSERIAL1 customizedSerial1
 
   #ifdef SERIAL_PORT_2
     #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+      #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
     #endif
-    #define MYSERIAL1 customizedSerial2
+    #define MYSERIAL2 customizedSerial2
   #endif
+
+  #ifdef SERIAL_PORT_3
+    #if !WITHIN(SERIAL_PORT_3, -1, 3)
+      #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
+    #endif
+    #define MYSERIAL3 customizedSerial3
+  #endif
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+  #if !WITHIN(MMU2_SERIAL_PORT, -1, 3)
+    #error "MMU2_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
+  #endif
+  #define MMU2_SERIAL mmuSerial
 #endif
 
 #ifdef LCD_SERIAL_PORT
   #if !WITHIN(LCD_SERIAL_PORT, -1, 3)
-    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
   #endif
   #define LCD_SERIAL lcdSerial
   #if HAS_DGUS_LCD
@@ -107,58 +141,20 @@ typedef int8_t pin_t;
   #endif
 #endif
 
-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init();
-
-//void cli();
-
-//void _delay_ms(const int delay);
-
-inline void HAL_clear_reset_source() { MCUSR = 0; }
-inline uint8_t HAL_get_reset_source() { return MCUSR; }
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-extern "C" {
-  int freeMemory();
-}
-#pragma GCC diagnostic pop
-
+//
 // ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
-
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
-
-#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#else
-  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#endif
-
+//
 #define HAL_ADC_VREF        5.0
 #define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
 
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-#define HAL_SENSITIVE_PINS 0, 1
+#define HAL_SENSITIVE_PINS 0, 1,
 
 #ifdef __AVR_AT90USB1286__
   #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
@@ -167,23 +163,109 @@ inline void HAL_adc_init() {
 // AVR compatibility
 #define strtof strtod
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+// ------------------------
+// Class Utilities
+// ------------------------
 
-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
-/**
- * set_pwm_duty
- *  Sets the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+extern "C" int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+    DIDR0 = 0;
+    #ifdef DIDR2
+      DIDR2 = 0;
+    #endif
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
+
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
+
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/AVR/HAL_SPI.cpp

@@ -34,21 +34,21 @@
 #include "../../inc/MarlinConfig.h"
 
 void spiBegin() {
-  OUT_WRITE(SS_PIN, HIGH);
-  SET_OUTPUT(SCK_PIN);
-  SET_INPUT(MISO_PIN);
-  SET_OUTPUT(MOSI_PIN);
-
-  #if DISABLED(SOFTWARE_SPI)
-    // SS must be in output mode even it is not chip select
-    //SET_OUTPUT(SS_PIN);
-    // set SS high - may be chip select for another SPI device
-    //#if SET_SPI_SS_HIGH
-      //WRITE(SS_PIN, HIGH);
-    //#endif
-    // set a default rate
-    spiInit(1);
+  #if PIN_EXISTS(SD_SS)
+    // Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway.
+    #if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+      // SS must be in output mode even it is not chip select
+      SET_OUTPUT(SD_SS_PIN);
+    #else
+      // set SS high - may be chip select for another SPI device
+      OUT_WRITE(SD_SS_PIN, HIGH);
+    #endif
   #endif
+  SET_OUTPUT(SD_SCK_PIN);
+  SET_INPUT(SD_MISO_PIN);
+  SET_OUTPUT(SD_MOSI_PIN);
+
+  IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED));
 }
 
 #if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)
@@ -74,7 +74,8 @@ void spiBegin() {
       #elif defined(PRR0)
         PRR0
       #endif
-        , PRSPI);
+      , PRSPI
+    );
 
     SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
     SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
@@ -88,7 +89,7 @@ void spiBegin() {
   }
 
   /** SPI read data  */
-  void spiRead(uint8_t* buf, uint16_t nbyte) {
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
     if (nbyte-- == 0) return;
     SPDR = 0xFF;
     for (uint16_t i = 0; i < nbyte; i++) {
@@ -107,7 +108,7 @@ void spiBegin() {
   }
 
   /** SPI send block  */
-  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
     SPDR = token;
     for (uint16_t i = 0; i < 512; i += 2) {
       while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
@@ -195,19 +196,19 @@ void spiBegin() {
     // no interrupts during byte receive - about 8µs
     cli();
     // output pin high - like sending 0xFF
-    WRITE(MOSI_PIN, HIGH);
+    WRITE(SD_MOSI_PIN, HIGH);
 
     LOOP_L_N(i, 8) {
-      WRITE(SCK_PIN, HIGH);
+      WRITE(SD_SCK_PIN, HIGH);
 
       nop; // adjust so SCK is nice
       nop;
 
       data <<= 1;
 
-      if (READ(MISO_PIN)) data |= 1;
+      if (READ(SD_MISO_PIN)) data |= 1;
 
-      WRITE(SCK_PIN, LOW);
+      WRITE(SD_SCK_PIN, LOW);
     }
 
     sei();
@@ -215,7 +216,7 @@ void spiBegin() {
   }
 
   // Soft SPI read data
-  void spiRead(uint8_t* buf, uint16_t nbyte) {
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
     for (uint16_t i = 0; i < nbyte; i++)
       buf[i] = spiRec();
   }
@@ -225,10 +226,10 @@ void spiBegin() {
     // no interrupts during byte send - about 8µs
     cli();
     LOOP_L_N(i, 8) {
-      WRITE(SCK_PIN, LOW);
-      WRITE(MOSI_PIN, data & 0x80);
+      WRITE(SD_SCK_PIN, LOW);
+      WRITE(SD_MOSI_PIN, data & 0x80);
       data <<= 1;
-      WRITE(SCK_PIN, HIGH);
+      WRITE(SD_SCK_PIN, HIGH);
     }
 
     nop; // hold SCK high for a few ns
@@ -236,13 +237,13 @@ void spiBegin() {
     nop;
     nop;
 
-    WRITE(SCK_PIN, LOW);
+    WRITE(SD_SCK_PIN, LOW);
 
     sei();
   }
 
   // Soft SPI send block
-  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
     spiSend(token);
     for (uint16_t i = 0; i < 512; i++)
       spiSend(buf[i]);

Marlin/src/HAL/AVR/MarlinSPI.h

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !B_TXC) {
@@ -556,161 +556,6 @@ void MarlinSerial<Cfg>::flushTX() {
   }
 }
 
-/**
- * Imports from print.h
- */
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(char c, int base) {
-  print((long)c, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned char b, int base) {
-  print((unsigned long)b, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(int n, int base) {
-  print((long)n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned int n, int base) {
-  print((unsigned long)n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(long n, int base) {
-  if (base == 0) write(n);
-  else if (base == 10) {
-    if (n < 0) { print('-'); n = -n; }
-    printNumber(n, 10);
-  }
-  else
-    printNumber(n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned long n, int base) {
-  if (base == 0) write(n);
-  else printNumber(n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(double n, int digits) {
-  printFloat(n, digits);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println() {
-  print('\r');
-  print('\n');
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(const String& s) {
-  print(s);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(const char c[]) {
-  print(c);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(char c, int base) {
-  print(c, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned char b, int base) {
-  print(b, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(int n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned int n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(long n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned long n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(double n, int digits) {
-  print(n, digits);
-  println();
-}
-
-// Private Methods
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) {
-  if (n) {
-    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
-    int8_t i = 0;
-    while (n) {
-      buf[i++] = n % base;
-      n /= base;
-    }
-    while (i--)
-      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
-  }
-  else
-    print('0');
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::printFloat(double number, uint8_t digits) {
-  // Handle negative numbers
-  if (number < 0.0) {
-    print('-');
-    number = -number;
-  }
-
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  double rounding = 0.5;
-  LOOP_L_N(i, digits) rounding *= 0.1;
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  double remainder = number - (double)int_part;
-  print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits) {
-    print('.');
-    // Extract digits from the remainder one at a time
-    while (digits--) {
-      remainder *= 10.0;
-      int toPrint = int(remainder);
-      print(toPrint);
-      remainder -= toPrint;
-    }
-  }
-}
-
 // Hookup ISR handlers
 ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _RX_vect)) {
   MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::store_rxd_char();
@@ -720,11 +565,9 @@ ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) {
   MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::_tx_udr_empty_irq();
 }
 
-// Preinstantiate
-template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>;
-
-// Instantiate
-MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+// Because of the template definition above, it's required to instantiate the template to have all methods generated
+template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
+MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);
 
 #ifdef SERIAL_PORT_2
 
@@ -737,13 +580,26 @@ MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
     MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>::_tx_udr_empty_irq();
   }
 
-  // Preinstantiate
-  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>;
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> >;
+  MSerialT2 customizedSerial2(MSerialT2::HasEmergencyParser);
 
-  // Instantiate
-  MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
+#endif // SERIAL_PORT_2
 
-#endif
+#ifdef SERIAL_PORT_3
+
+  // Hookup ISR handlers
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _RX_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _UDRE_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_3>>::_tx_udr_empty_irq();
+  }
+
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
+  MSerialT3 customizedSerial3(MSerialT3::HasEmergencyParser);
+
+#endif // SERIAL_PORT_3
 
 #ifdef MMU2_SERIAL_PORT
 
@@ -755,13 +611,10 @@ MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
     MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>::_tx_udr_empty_irq();
   }
 
-  // Preinstantiate
-  template class MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>;
+  template class MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> >;
+  MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser);
 
-  // Instantiate
-  MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>> mmuSerial;
-
-#endif
+#endif // MMU2_SERIAL_PORT
 
 #ifdef LCD_SERIAL_PORT
 
@@ -773,11 +626,8 @@ MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
     MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>>::_tx_udr_empty_irq();
   }
 
-  // Preinstantiate
-  template class MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>>;
-
-  // Instantiate
-  MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>> lcdSerial;
+  template class MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> >;
+  MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser);
 
   #if HAS_DGUS_LCD
     template<typename Cfg>
@@ -790,13 +640,13 @@ MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
     }
   #endif
 
-#endif
+#endif // LCD_SERIAL_PORT
 
 #endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
 
 // For AT90USB targets use the UART for BT interfacing
 #if defined(USBCON) && ENABLED(BLUETOOTH)
-  HardwareSerial bluetoothSerial;
+  MSerialBT bluetoothSerial(false);
 #endif
 
 #endif // __AVR__

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -34,6 +34,7 @@
 #include <WString.h>
 
 #include "../../inc/MarlinConfigPre.h"
+#include "../../core/serial_hook.h"
 
 #ifndef SERIAL_PORT
   #define SERIAL_PORT 0
@@ -135,10 +136,6 @@
     UART_DECL(3);
   #endif
 
-  #define DEC 10
-  #define HEX 16
-  #define OCT 8
-  #define BIN 2
   #define BYTE 0
 
   // Templated type selector
@@ -194,68 +191,38 @@
                    rx_framing_errors;
     static ring_buffer_pos_t rx_max_enqueued;
 
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();
 
     static volatile bool rx_tail_value_not_stable;
     static volatile uint16_t rx_tail_value_backup;
 
-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
-
-    public:
+    FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();
 
+  public:
     FORCE_INLINE static void store_rxd_char();
     FORCE_INLINE static void _tx_udr_empty_irq();
 
-    public:
-      MarlinSerial() {};
-      static void begin(const long);
-      static void end();
-      static int peek();
-      static int read();
-      static void flush();
-      static ring_buffer_pos_t available();
-      static void write(const uint8_t c);
-      static void flushTX();
-      #if HAS_DGUS_LCD
-        static ring_buffer_pos_t get_tx_buffer_free();
-      #endif
+  public:
+    static void begin(const long);
+    static void end();
+    static int peek();
+    static int read();
+    static void flush();
+    static ring_buffer_pos_t available();
+    static void write(const uint8_t c);
+    static void flushTX();
+    #if HAS_DGUS_LCD
+      static ring_buffer_pos_t get_tx_buffer_free();
+    #endif
 
-      static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+    enum { HasEmergencyParser = Cfg::EMERGENCYPARSER };
+    static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
 
-      FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
-      FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
-      FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
-      FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
-
-      FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
-      FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
-      FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
-      FORCE_INLINE static void print(const char* str) { write(str); }
-
-      static void print(char, int = BYTE);
-      static void print(unsigned char, int = BYTE);
-      static void print(int, int = DEC);
-      static void print(unsigned int, int = DEC);
-      static void print(long, int = DEC);
-      static void print(unsigned long, int = DEC);
-      static void print(double, int = 2);
-
-      static void println(const String& s);
-      static void println(const char[]);
-      static void println(char, int = BYTE);
-      static void println(unsigned char, int = BYTE);
-      static void println(int, int = DEC);
-      static void println(unsigned int, int = DEC);
-      static void println(long, int = DEC);
-      static void println(unsigned long, int = DEC);
-      static void println(double, int = 2);
-      static void println();
-      operator bool() { return true; }
-
-    private:
-      static void printNumber(unsigned long, const uint8_t);
-      static void printFloat(double, uint8_t);
+    FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
+    FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
+    FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
+    FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
   };
 
   template <uint8_t serial>
@@ -270,12 +237,18 @@
     static constexpr bool RX_FRAMING_ERRORS = ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS);
     static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
   };
-  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
+  extern MSerialT1 customizedSerial1;
 
   #ifdef SERIAL_PORT_2
+    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
+    extern MSerialT2 customizedSerial2;
+  #endif
 
-    extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
-
+  #ifdef SERIAL_PORT_3
+    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
+    extern MSerialT3 customizedSerial3;
   #endif
 
 #endif // !USBCON
@@ -284,49 +257,41 @@
   template <uint8_t serial>
   struct MMU2SerialCfg {
     static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = 32;
+    static constexpr unsigned int TX_SIZE   = 32;
     static constexpr bool XONOFF            = false;
     static constexpr bool EMERGENCYPARSER   = false;
     static constexpr bool DROPPED_RX        = false;
     static constexpr bool RX_FRAMING_ERRORS = false;
     static constexpr bool MAX_RX_QUEUED     = false;
-    static constexpr unsigned int RX_SIZE   = 32;
-    static constexpr unsigned int TX_SIZE   = 32;
     static constexpr bool RX_OVERRUNS       = false;
   };
 
-  extern MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>> mmuSerial;
+  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialMMU2;
+  extern MSerialMMU2 mmuSerial;
 #endif
 
 #ifdef LCD_SERIAL_PORT
 
   template <uint8_t serial>
   struct LCDSerialCfg {
-    static constexpr int PORT                 = serial;
-    static constexpr bool XONOFF              = false;
-    static constexpr bool EMERGENCYPARSER     = ENABLED(EMERGENCY_PARSER);
-    static constexpr bool DROPPED_RX          = false;
-    static constexpr bool RX_FRAMING_ERRORS   = false;
-    static constexpr bool MAX_RX_QUEUED       = false;
-    #if HAS_DGUS_LCD
-      static constexpr unsigned int RX_SIZE   = DGUS_RX_BUFFER_SIZE;
-      static constexpr unsigned int TX_SIZE   = DGUS_TX_BUFFER_SIZE;
-      static constexpr bool RX_OVERRUNS       = ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS);
-    #elif EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
-      static constexpr unsigned int RX_SIZE   = 64;
-      static constexpr unsigned int TX_SIZE   = 128;
-      static constexpr bool RX_OVERRUNS       = false;
-    #else
-      static constexpr unsigned int RX_SIZE   = 64;
-      static constexpr unsigned int TX_SIZE   = 128;
-      static constexpr bool RX_OVERRUNS       = false
-    #endif
+    static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = TERN(HAS_DGUS_LCD, DGUS_RX_BUFFER_SIZE,  64);
+    static constexpr unsigned int TX_SIZE   = TERN(HAS_DGUS_LCD, DGUS_TX_BUFFER_SIZE, 128);
+    static constexpr bool XONOFF            = false;
+    static constexpr bool EMERGENCYPARSER   = ENABLED(EMERGENCY_PARSER);
+    static constexpr bool DROPPED_RX        = false;
+    static constexpr bool RX_FRAMING_ERRORS = false;
+    static constexpr bool MAX_RX_QUEUED     = false;
+    static constexpr bool RX_OVERRUNS       = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS);
   };
 
-  extern MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>> lcdSerial;
-
+  typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialLCD;
+  extern MSerialLCD lcdSerial;
 #endif
 
 // Use the UART for Bluetooth in AT90USB configurations
 #if defined(USBCON) && ENABLED(BLUETOOTH)
-  extern HardwareSerial bluetoothSerial;
+  typedef Serial1Class<HardwareSerial> MSerialBT;
+  extern MSerialBT bluetoothSerial;
 #endif

Marlin/src/HAL/AVR/eeprom.cpp

@@ -40,13 +40,13 @@ bool PersistentStore::access_start()  { return true; }
 bool PersistentStore::access_finish() { return true; }
 
 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
   while (size--) {
     uint8_t * const p = (uint8_t * const)pos;
     uint8_t v = *value;
-    // EEPROM has only ~100,000 write cycles,
-    // so only write bytes that have changed!
-    if (v != eeprom_read_byte(p)) {
+    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
       eeprom_write_byte(p, v);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
       if (eeprom_read_byte(p) != v) {
         SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
         return true;
@@ -59,7 +59,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   return false;
 }
 
-bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
   do {
     uint8_t c = eeprom_read_byte((uint8_t*)pos);
     if (writing) *value = c;

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -124,7 +124,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(X_MAX_PIN), "X_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(X_MAX_PIN), "X_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(X_MAX_PIN);
     #endif
   #endif
@@ -132,7 +132,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(X_MIN_PIN), "X_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(X_MIN_PIN), "X_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(X_MIN_PIN);
     #endif
   #endif
@@ -140,7 +140,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Y_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Y_MAX_PIN), "Y_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Y_MAX_PIN), "Y_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Y_MAX_PIN);
     #endif
   #endif
@@ -148,7 +148,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Y_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Y_MIN_PIN), "Y_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Y_MIN_PIN), "Y_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Y_MIN_PIN);
     #endif
   #endif
@@ -156,7 +156,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z_MAX_PIN), "Z_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z_MAX_PIN), "Z_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z_MAX_PIN);
     #endif
   #endif
@@ -164,15 +164,105 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z_MIN_PIN), "Z_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z_MIN_PIN), "Z_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z_MIN_PIN);
     #endif
   #endif
+  #if HAS_I_MAX
+    #if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(I_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable");
+      pciSetup(I_MAX_PIN);
+    #endif
+  #elif HAS_I_MIN
+    #if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(I_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable");
+      pciSetup(I_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_J_MAX
+    #if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(J_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable");
+      pciSetup(J_MAX_PIN);
+    #endif
+  #elif HAS_J_MIN
+    #if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(J_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable");
+      pciSetup(J_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_K_MAX
+    #if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(K_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable");
+      pciSetup(K_MAX_PIN);
+    #endif
+  #elif HAS_K_MIN
+    #if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(K_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable");
+      pciSetup(K_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_U_MAX
+    #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
+      pciSetup(U_MAX_PIN);
+    #endif
+  #elif HAS_U_MIN
+    #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
+      pciSetup(U_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_V_MAX
+    #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
+      pciSetup(V_MAX_PIN);
+    #endif
+  #elif HAS_V_MIN
+    #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
+      pciSetup(V_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_W_MAX
+    #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
+      pciSetup(W_MAX_PIN);
+    #endif
+  #elif HAS_W_MIN
+    #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
+      pciSetup(W_MIN_PIN);
+    #endif
+  #endif
   #if HAS_X2_MAX
     #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(X2_MAX_PIN), "X2_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(X2_MAX_PIN), "X2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(X2_MAX_PIN);
     #endif
   #endif
@@ -180,7 +270,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(X2_MIN_PIN), "X2_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(X2_MIN_PIN), "X2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(X2_MIN_PIN);
     #endif
   #endif
@@ -188,7 +278,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Y2_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Y2_MAX_PIN), "Y2_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Y2_MAX_PIN), "Y2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Y2_MAX_PIN);
     #endif
   #endif
@@ -196,7 +286,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Y2_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Y2_MIN_PIN), "Y2_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Y2_MIN_PIN), "Y2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Y2_MIN_PIN);
     #endif
   #endif
@@ -204,7 +294,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z2_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z2_MAX_PIN), "Z2_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z2_MAX_PIN), "Z2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z2_MAX_PIN);
     #endif
   #endif
@@ -212,7 +302,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z2_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z2_MIN_PIN), "Z2_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z2_MIN_PIN), "Z2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z2_MIN_PIN);
     #endif
   #endif
@@ -220,7 +310,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z3_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z3_MAX_PIN);
     #endif
   #endif
@@ -228,7 +318,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z3_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z3_MIN_PIN);
     #endif
   #endif
@@ -236,7 +326,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z4_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z4_MAX_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z4_MAX_PIN), "Z4_MAX_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z4_MAX_PIN), "Z4_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z4_MAX_PIN);
     #endif
   #endif
@@ -244,7 +334,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z4_MIN_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z4_MIN_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z4_MIN_PIN), "Z4_MIN_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z4_MIN_PIN), "Z4_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z4_MIN_PIN);
     #endif
   #endif
@@ -252,7 +342,7 @@ void setup_endstop_interrupts() {
     #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z_MIN_PROBE_PIN);
     #else
-      static_assert(digitalPinHasPCICR(Z_MIN_PROBE_PIN), "Z_MIN_PROBE_PIN is not interrupt-capable");
+      static_assert(digitalPinHasPCICR(Z_MIN_PROBE_PIN), "Z_MIN_PROBE_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue.");
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -21,11 +21,7 @@
  */
 #ifdef __AVR__
 
-#include "../../inc/MarlinConfigPre.h"
-
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
-
-#include "HAL.h"
+#include "../../inc/MarlinConfig.h"
 
 struct Timer {
   volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
@@ -33,250 +29,194 @@ struct Timer {
   volatile uint16_t* ICRn;      // max 1 ICR register per timer
   uint8_t n;                    // the timer number [0->5]
   uint8_t q;                    // the timer output [0->2] (A->C)
+  bool isPWM;                   // True if pin is a "hardware timer"
+  bool isProtected;             // True if timer is protected
 };
 
+// Macros for the Timer structure
+#define _SET_WGMnQ(T, V) do{ \
+    *(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
+    *(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
+  }while(0)
+
+// Set TCCR CS bits
+#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
+
+// Set TCCR COM bits
+#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
+
+// Set OCRnQ register
+#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF)
+
+// Set ICRn register (one per timer)
+#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF)
+
 /**
- * get_pwm_timer
- *  Get the timer information and register of the provided pin.
- *  Return a Timer struct containing this information.
- *  Used by set_pwm_frequency, set_pwm_duty
+ * Return a Timer struct describing a pin's timer.
  */
-Timer get_pwm_timer(const pin_t pin) {
+const Timer get_pwm_timer(const pin_t pin) {
+
   uint8_t q = 0;
+
   switch (digitalPinToTimer(pin)) {
-    // Protect reserved timers (TIMER0 & TIMER1)
     #ifdef TCCR0A
-      #if !AVR_AT90USB1286_FAMILY
-        case TIMER0A:
-      #endif
-      case TIMER0B:
+      IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
     #endif
     #ifdef TCCR1A
       case TIMER1A: case TIMER1B:
     #endif
-                                        break;
-    #if defined(TCCR2) || defined(TCCR2A)
-      #ifdef TCCR2
-        case TIMER2: {
-          Timer timer = {
-            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
-            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
-            /*ICRn*/      nullptr,
-            /*n, q*/      2, 0
-          };
-        }
-      #elif defined(TCCR2A)
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          case TIMER2A:   break; // protect TIMER2A
-          case TIMER2B: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-              /*n, q*/      2, 1
-            };
-            return timer;
-          }
-        #else
-          case TIMER2B:   ++q;
-          case TIMER2A: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-                            2, q
-            };
-            return timer;
-          }
-        #endif
-      #endif
+
+    break;    // Protect reserved timers (TIMER0 & TIMER1)
+
+    #ifdef TCCR0A
+      case TIMER0B:   // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only
+        return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true });
     #endif
+
+    #if HAS_TCCR2
+      case TIMER2:
+        return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
+    #elif ENABLED(USE_OCR2A_AS_TOP)
+      case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B
+      case TIMER2B:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
+    #elif defined(TCCR2A)
+      case TIMER2B: ++q; case TIMER2A:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
+    #endif
+
     #ifdef OCR3C
-      case TIMER3C:   ++q;
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  &TCCR3C },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,   &OCR3C },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C  }, &ICR3, 3, q, true, false });
     #elif defined(OCR3B)
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  nullptr },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,  nullptr },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
     #endif
+
     #ifdef TCCR4A
-      case TIMER4C:   ++q;
-      case TIMER4B:   ++q;
-      case TIMER4A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR4A,  &TCCR4B,  &TCCR4C },
-          /*OCRnQ*/   { &OCR4A,   &OCR4B,   &OCR4C },
-          /*ICRn*/      &ICR4,
-          /*n, q*/      4, q
-        };
-        return timer;
-      }
+      case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
+        return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
     #endif
+
     #ifdef TCCR5A
-      case TIMER5C:   ++q;
-      case TIMER5B:   ++q;
-      case TIMER5A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR5A,  &TCCR5B,  &TCCR5C },
-          /*OCRnQ*/   { &OCR5A,   &OCR5B,   &OCR5C },
-          /*ICRn*/      &ICR5,
-          /*n, q*/      5, q
-        };
-        return timer;
-      }
+      case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
+        return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
     #endif
   }
-  Timer timer = {
-      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
-      /*OCRnQ*/   { nullptr, nullptr, nullptr },
-      /*ICRn*/      nullptr,
-                    0, 0
-  };
-  return timer;
+
+  return Timer();
 }
 
-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  Timer timer = get_pwm_timer(pin);
-  if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-  uint16_t size;
-  if (timer.n == 2) size = 255; else size = 65535;
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  const Timer timer = get_pwm_timer(pin);
+  if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
-  uint16_t res = 255;   // resolution (TOP value)
-  uint8_t j = 0;        // prescaler index
-  uint8_t wgm = 1;      // waveform generation mode
+  const bool is_timer2 = timer.n == 2;
+  const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
+
+  uint16_t res = 0xFF;        // resolution (TOP value)
+  uint8_t j = CS_NONE;        // prescaler index
+  uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
 
   // Calculating the prescaler and resolution to use to achieve closest frequency
   if (f_desired != 0) {
-    int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
-    uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
+    constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 };  // (*) are Timer 2 only
+    uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1;           // Start with the lowest non-zero frequency achievable (1 or 31)
 
-    // loop over prescaler values
-    LOOP_S_L_N(i, 1, 8) {
-      uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
-      if (timer.n == 2) {
-        // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-          res_temp_fast = rtf - 1;
-          res_temp_phase_correct = rtf / 2;
+    LOOP_L_N(i, COUNT(prescaler)) {                           // Loop through all prescaler values
+      const uint16_t p = prescaler[i];
+      uint16_t res_fast_temp, res_pc_temp;
+      if (is_timer2) {
+        #if ENABLED(USE_OCR2A_AS_TOP)                         // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
+          const uint16_t rft = (F_CPU) / (p * f_desired);
+          res_fast_temp = rft - 1;
+          res_pc_temp = rft / 2;
+        #else
+          res_fast_temp = res_pc_temp = maxtop;
         #endif
       }
       else {
-        // Skip TIMER2 specific prescalers when not TIMER2
-        if (i == 3 || i == 5) continue;
-        const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-        res_temp_fast = rtf - 1;
-        res_temp_phase_correct = rtf / 2;
+        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
+        const uint16_t rft = (F_CPU) / (p * f_desired);
+        res_fast_temp = rft - 1;
+        res_pc_temp = rft / 2;
       }
 
-      LIMIT(res_temp_fast, 1u, size);
-      LIMIT(res_temp_phase_correct, 1u, size);
+      LIMIT(res_fast_temp, 1U, maxtop);
+      LIMIT(res_pc_temp, 1U, maxtop);
+
       // Calculate frequencies of test prescaler and resolution values
-      const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
-                f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
-                f_diff = ABS(f - f_desired),
-                f_fast_diff = ABS(f_temp_fast - f_desired),
-                f_phase_diff = ABS(f_temp_phase_correct - f_desired);
+      const uint32_t f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
+                     f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+                     f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
+                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp),
+                     f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
 
-      // If FAST values are closest to desired f
-      if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
-        // Remember this combination
-        f = f_temp_fast;
-        res = res_temp_fast;
-        j = i;
+      if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
         // Set the Wave Generation Mode to FAST PWM
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_FAST_PWM_OCR2A
-            #else
-              WGM2_FAST_PWM
-            #endif
-          );
-        }
-        else wgm = WGM_FAST_PWM_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
+        // Remember this combination
+        f = f_fast_temp; res = res_fast_temp; j = i + 1;
       }
-      // If PHASE CORRECT values are closes to desired f
-      else if (f_phase_diff < f_diff) {
-        f = f_temp_phase_correct;
-        res = res_temp_phase_correct;
-        j = i;
+      else if (f_pc_diff < f_diff) {                          // PHASE CORRECT values are closes to desired f
         // Set the Wave Generation Mode to PWM PHASE CORRECT
-        if (timer.n == 2) {
-          wgm = (
-            #if ENABLED(USE_OCR2A_AS_TOP)
-              WGM2_PWM_PC_OCR2A
-            #else
-              WGM2_PWM_PC
-            #endif
-          );
-        }
-        else wgm = WGM_PWM_PC_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
+        f = f_pc_temp; res = res_pc_temp; j = i + 1;
       }
     }
   }
-  _SET_WGMnQ(timer.TCCRnQ, wgm);
-  _SET_CSn(timer.TCCRnQ, j);
 
-  if (timer.n == 2) {
-    #if ENABLED(USE_OCR2A_AS_TOP)
-      _SET_OCRnQ(timer.OCRnQ, 0, res);  // Set OCR2A value (TOP) = res
-    #endif
+  _SET_WGMnQ(timer, wgm);
+  _SET_CSn(timer, j);
+
+  if (is_timer2) {
+    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res
   }
   else
-    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
+    _SET_ICRn(timer, res);                              // Set ICRn value (TOP) = res
 }
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
-  // Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
+  // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
   if (v == 0)
     digitalWrite(pin, invert);
   else if (v == v_size)
     digitalWrite(pin, !invert);
   else {
-    Timer timer = get_pwm_timer(pin);
-    if (timer.n == 0) return; // Don't proceed if protected timer or not recognised
-    // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
-    _SET_COMnQ(timer.TCCRnQ, (timer.q
-        #ifdef TCCR2
-          + (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro
-        #endif
-      ), COM_CLEAR_SET + invert
-    );
-
-    uint16_t top;
-    if (timer.n == 2) { // if TIMER2
-      top = (
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          *timer.OCRnQ[0] // top = OCR2A
-        #else
-          255 // top = 0xFF (max)
-        #endif
-      );
+    const Timer timer = get_pwm_timer(pin);
+    if (timer.isPWM) {
+      if (timer.n == 0) {
+        _SET_COMnQ(timer, timer.q, COM_CLEAR_SET);  // Only allow a TIMER0B select...
+        _SET_OCRnQ(timer, timer.q, v);              // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted.
+      }
+      else if (!timer.isProtected) {
+        const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
+        _SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert);   // COM20 is on bit 4 of TCCR2, so +1 for q==2
+        _SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
+      }
     }
     else
-      top = *timer.ICRn; // top = ICRn
-
-    _SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top) / float(v_size)); // Scale 8/16-bit v to top value
+      digitalWrite(pin, v < v_size / 2 ? LOW : HIGH);
   }
 }
 
-#endif // NEEDS_HARDWARE_PWM
+void MarlinHAL::init_pwm_timers() {
+  // Init some timer frequencies to a default 1KHz
+  const pin_t pwm_pin[] = {
+    #ifdef __AVR_ATmega2560__
+      10, 5, 6, 46
+    #elif defined(__AVR_ATmega1280__)
+      12, 31
+    #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
+      15, 6
+    #elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
+      16, 24
+    #endif
+  };
+
+  LOOP_L_N(i, COUNT(pwm_pin))
+    set_pwm_frequency(pwm_pin[i], 1000);
+}
+
 #endif // __AVR__

Marlin/src/HAL/AVR/fastio.cpp

@@ -241,11 +241,11 @@ uint8_t extDigitalRead(const int8_t pin) {
  *
  * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
  */
-uint16_t set_pwm_frequency_hz(const float &hz, const float dca, const float dcb, const float dcc) {
+uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb, const float dcc) {
   float count = 0;
   if (hz > 0 && (dca || dcb || dcc)) {
     count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
-    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5KHz (>31)
+    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5kHz (>31)
 
          if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
     else if (count >= 255. * 64.)  { prescaler = 256;  SET_CS(5,  PRESCALER_256); }
@@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const float &hz, const float dca, const float dcb,
     const float pwm_top = round(count);   // Get the rounded count
 
     ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
-    OCR5A = pwm_top * ABS(dca);          // Update and scale DCs
+    OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
     OCR5B = pwm_top * ABS(dcb);
     OCR5C = pwm_top * ABS(dcc);
     _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
@@ -267,17 +267,17 @@ uint16_t set_pwm_frequency_hz(const float &hz, const float dca, const float dcb,
     SET_WGM(5, FAST_PWM_ICRn);            // Fast PWM with ICR5 as TOP
 
     //SERIAL_ECHOLNPGM("Timer 5 Settings:");
-    //SERIAL_ECHOLNPAIR("  Prescaler=", prescaler);
-    //SERIAL_ECHOLNPAIR("        TOP=", ICR5);
-    //SERIAL_ECHOLNPAIR("      OCR5A=", OCR5A);
-    //SERIAL_ECHOLNPAIR("      OCR5B=", OCR5B);
-    //SERIAL_ECHOLNPAIR("      OCR5C=", OCR5C);
+    //SERIAL_ECHOLNPGM("  Prescaler=", prescaler);
+    //SERIAL_ECHOLNPGM("        TOP=", ICR5);
+    //SERIAL_ECHOLNPGM("      OCR5A=", OCR5A);
+    //SERIAL_ECHOLNPGM("      OCR5B=", OCR5B);
+    //SERIAL_ECHOLNPGM("      OCR5C=", OCR5C);
   }
   else {
     // Restore the default for Timer 5
     SET_WGM(5, PWM_PC_8);                 // PWM 8-bit (Phase Correct)
     SET_COMS(5, NORMAL, NORMAL, NORMAL);  // Do nothing
-    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250KHz
+    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
     OCR5A = OCR5B = OCR5C = 0;
   }
   return round(count);

Marlin/src/HAL/AVR/fastio.h

@@ -118,7 +118,7 @@
  */
 
 // Waveform Generation Modes
-enum WaveGenMode : char {
+enum WaveGenMode : uint8_t {
   WGM_NORMAL,          //  0
   WGM_PWM_PC_8,        //  1
   WGM_PWM_PC_9,        //  2
@@ -138,19 +138,19 @@ enum WaveGenMode : char {
 };
 
 // Wavefore Generation Modes (Timer 2 only)
-enum WaveGenMode2 : char {
-  WGM2_NORMAL,          // 0
-  WGM2_PWM_PC,          // 1
-  WGM2_CTC_OCR2A,       // 2
-  WGM2_FAST_PWM,        // 3
-  WGM2_reserved_1,      // 4
-  WGM2_PWM_PC_OCR2A,    // 5
-  WGM2_reserved_2,      // 6
-  WGM2_FAST_PWM_OCR2A,  // 7
+enum WaveGenMode2 : uint8_t {
+  WGM2_NORMAL,         // 0
+  WGM2_PWM_PC,         // 1
+  WGM2_CTC_OCR2A,      // 2
+  WGM2_FAST_PWM,       // 3
+  WGM2_reserved_1,     // 4
+  WGM2_PWM_PC_OCR2A,   // 5
+  WGM2_reserved_2,     // 6
+  WGM2_FAST_PWM_OCR2A, // 7
 };
 
 // Compare Modes
-enum CompareMode : char {
+enum CompareMode : uint8_t {
   COM_NORMAL,          //  0
   COM_TOGGLE,          //  1  Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
   COM_CLEAR_SET,       //  2  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
@@ -158,7 +158,7 @@ enum CompareMode : char {
 };
 
 // Clock Sources
-enum ClockSource : char {
+enum ClockSource : uint8_t {
   CS_NONE,             //  0
   CS_PRESCALER_1,      //  1
   CS_PRESCALER_8,      //  2
@@ -170,7 +170,7 @@ enum ClockSource : char {
 };
 
 // Clock Sources (Timer 2 only)
-enum ClockSource2 : char {
+enum ClockSource2 : uint8_t {
   CS2_NONE,            //  0
   CS2_PRESCALER_1,     //  1
   CS2_PRESCALER_8,     //  2
@@ -203,40 +203,33 @@ enum ClockSource2 : char {
     TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
   }while(0)
 #define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
-// Runtime (see set_pwm_frequency):
-#define _SET_WGMnQ(TCCRnQ, V) do{ \
-    *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
-    *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
-  }while(0)
 
 // Set Clock Select bits
 // Ex: SET_CS3(PRESCALER_64);
+#ifdef TCCR2
+  #define HAS_TCCR2 1
+#endif
 #define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
 #define _SET_CS0(V) _SET_CS(0,V)
 #define _SET_CS1(V) _SET_CS(1,V)
-#ifdef TCCR2
-  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
-#else
-  #define _SET_CS2(V) _SET_CS(2,V)
-#endif
 #define _SET_CS3(V) _SET_CS(3,V)
 #define _SET_CS4(V) _SET_CS(4,V)
 #define _SET_CS5(V) _SET_CS(5,V)
 #define SET_CS0(V) _SET_CS0(CS_##V)
 #define SET_CS1(V) _SET_CS1(CS_##V)
-#ifdef TCCR2
+
+#if HAS_TCCR2
+  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
   #define SET_CS2(V) _SET_CS2(CS2_##V)
 #else
+  #define _SET_CS2(V) _SET_CS(2,V)
   #define SET_CS2(V) _SET_CS2(CS_##V)
 #endif
+
 #define SET_CS3(V) _SET_CS3(CS_##V)
 #define SET_CS4(V) _SET_CS4(CS_##V)
 #define SET_CS5(V) _SET_CS5(CS_##V)
 #define SET_CS(T,V) SET_CS##T(V)
-// Runtime (see set_pwm_frequency)
-#define _SET_CSn(TCCRnQ, V) do{ \
-    (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
-  }while(0)
 
 // Set Compare Mode bits
 // Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
@@ -246,22 +239,6 @@ enum ClockSource2 : char {
 #define SET_COMB(T,V) SET_COM(T,B,V)
 #define SET_COMC(T,V) SET_COM(T,C,V)
 #define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
-// Runtime (see set_pwm_duty)
-#define _SET_COMnQ(TCCRnQ, Q, V) do{ \
-    (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
-  }while(0)
-
-// Set OCRnQ register
-// Runtime (see set_pwm_duty):
-#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
-    (*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)
-
-// Set ICRn register (one per timer)
-// Runtime (see set_pwm_frequency)
-#define _SET_ICRn(ICRn, V) do{ \
-    (*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
-  }while(0)
 
 // Set Noise Canceler bit
 // Ex: SET_ICNC(2,1)
@@ -284,8 +261,8 @@ enum ClockSource2 : char {
  * PWM availability macros
  */
 
-// Determine which harware PWMs are already in use
-#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
+// Determine which hardware PWMs are already in use
+#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN || P == COOLER_AUTO_FAN_PIN)
 #if PIN_EXISTS(CONTROLLER_FAN)
   #define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
 #else

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

@@ -28,22 +28,30 @@
 /**
  * Checks for FAST PWM
  */
-#if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))
-  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+#if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2)
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2."
+#endif
+
+/**
+ * Checks for SOFT PWM
+ */
+#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER)
+  #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)."
+  #error "Disable SPEAKER or enable FAN_SOFT_PWM."
 #endif
 
 /**
  * Sanity checks for Spindle / Laser PWM
  */
-#if ENABLED(SPINDLE_LASER_PWM)
+#if ENABLED(SPINDLE_LASER_USE_PWM)
   #include "../ServoTimers.h"   // Needed to check timer availability (_useTimer3)
   #if SPINDLE_LASER_PWM_PIN == 4 || WITHIN(SPINDLE_LASER_PWM_PIN, 11, 13)
     #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by a system interrupt."
   #elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5)
     #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system."
   #endif
-#elif defined(SPINDLE_LASER_FREQUENCY)
-  #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_PWM."
+#elif SPINDLE_LASER_FREQUENCY
+  #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM."
 #endif
 
 /**
@@ -56,3 +64,14 @@
 #if BOTH(HAS_TMC_SW_SERIAL, MONITOR_DRIVER_STATUS)
   #error "MONITOR_DRIVER_STATUS causes performance issues when used with SoftwareSerial-connected drivers. Disable MONITOR_DRIVER_STATUS or use hardware serial to continue."
 #endif
+
+/**
+ * Postmortem debugging
+ */
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on AVR boards."
+#endif

Marlin/src/HAL/AVR/math.h

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

Marlin/src/HAL/AVR/pinsDebug.h

@@ -2,6 +2,9 @@
  * 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
@@ -38,7 +41,7 @@
   // portModeRegister takes a different argument
   #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
   #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
-  #define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p)
+  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
   #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
 
 #elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70
@@ -71,7 +74,7 @@
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin
 
 void PRINT_ARRAY_NAME(uint8_t x) {
-  char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
+  char *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)
@@ -99,7 +102,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
       return true;                                              \
     } else return false
 
-
+#define ABTEST(N) defined(TCCR##N##A) && defined(COM##N##A1)
 
 /**
  * Print a pin's PWM status.
@@ -110,7 +113,7 @@ static bool pwm_status(uint8_t pin) {
 
   switch (digitalPinToTimer_DEBUG(pin)) {
 
-    #if defined(TCCR0A) && defined(COM0A1)
+    #if ABTEST(0)
       #ifdef TIMER0A
         #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
           PWM_CASE(0, A);
@@ -119,20 +122,20 @@ static bool pwm_status(uint8_t pin) {
       PWM_CASE(0, B);
     #endif
 
-    #if defined(TCCR1A) && defined(COM1A1)
+    #if ABTEST(1)
       PWM_CASE(1, A);
       PWM_CASE(1, B);
-     #if defined(COM1C1) && defined(TIMER1C)
-      PWM_CASE(1, C);
-     #endif
+      #if defined(COM1C1) && defined(TIMER1C)
+        PWM_CASE(1, C);
+      #endif
     #endif
 
-    #if defined(TCCR2A) && defined(COM2A1)
+    #if ABTEST(2)
       PWM_CASE(2, A);
       PWM_CASE(2, B);
     #endif
 
-    #if defined(TCCR3A) && defined(COM3A1)
+    #if ABTEST(3)
       PWM_CASE(3, A);
       PWM_CASE(3, B);
       #ifdef COM3C1
@@ -146,7 +149,7 @@ static bool pwm_status(uint8_t pin) {
       PWM_CASE(4, C);
     #endif
 
-    #if defined(TCCR5A) && defined(COM5A1)
+    #if ABTEST(5)
       PWM_CASE(5, A);
       PWM_CASE(5, B);
       PWM_CASE(5, C);
@@ -163,16 +166,16 @@ static bool pwm_status(uint8_t pin) {
 const volatile uint8_t* const PWM_other[][3] PROGMEM = {
     { &TCCR0A, &TCCR0B, &TIMSK0 },
     { &TCCR1A, &TCCR1B, &TIMSK1 },
-  #if defined(TCCR2A) && defined(COM2A1)
+  #if ABTEST(2)
     { &TCCR2A, &TCCR2B, &TIMSK2 },
   #endif
-  #if defined(TCCR3A) && defined(COM3A1)
+  #if ABTEST(3)
     { &TCCR3A, &TCCR3B, &TIMSK3 },
   #endif
   #ifdef TCCR4A
     { &TCCR4A, &TCCR4B, &TIMSK4 },
   #endif
-  #if defined(TCCR5A) && defined(COM5A1)
+  #if ABTEST(5)
     { &TCCR5A, &TCCR5B, &TIMSK5 },
   #endif
 };
@@ -192,11 +195,11 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
    { (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, 0 },
   #endif
 
-  #if defined(TCCR2A) && defined(COM2A1)
+  #if ABTEST(2)
     { &OCR2A, &OCR2B, 0 },
   #endif
 
-  #if defined(TCCR3A) && defined(COM3A1)
+  #if ABTEST(3)
     #ifdef COM3C1
       { (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, (const uint8_t*)&OCR3C },
     #else
@@ -208,7 +211,7 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
     { (const uint8_t*)&OCR4A, (const uint8_t*)&OCR4B, (const uint8_t*)&OCR4C },
   #endif
 
-  #if defined(TCCR5A) && defined(COM5A1)
+  #if ABTEST(5)
     { (const uint8_t*)&OCR5A, (const uint8_t*)&OCR5B, (const uint8_t*)&OCR5C },
   #endif
 };
@@ -235,9 +238,9 @@ static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin");
 
 inline void com_print(const uint8_t N, const uint8_t Z) {
   const uint8_t *TCCRA = (uint8_t*)TCCR_A(N);
-  SERIAL_ECHOPGM("    COM");
-  SERIAL_CHAR('0' + N, Z);
-  SERIAL_ECHOPAIR(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
+  SERIAL_ECHOPGM("    COM", AS_DIGIT(N));
+  SERIAL_CHAR(Z);
+  SERIAL_ECHOPGM(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
 }
 
 void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N - WGM bit layout
@@ -247,8 +250,8 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
   uint8_t WGM = (((*TCCRB & _BV(WGM_2)) >> 1) | (*TCCRA & (_BV(WGM_0) | _BV(WGM_1))));
   if (N == 4) WGM |= ((*TCCRB & _BV(WGM_3)) >> 1);
 
-  SERIAL_ECHOPGM("    TIMER");
-  SERIAL_CHAR(T + '0', L);
+  SERIAL_ECHOPGM("    TIMER", AS_DIGIT(T));
+  SERIAL_CHAR(L);
   SERIAL_ECHO_SP(3);
 
   if (N == 3) {
@@ -259,22 +262,14 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
     const uint16_t *OCRVAL16 = (uint16_t*)OCR_VAL(T, L - 'A');
     PWM_PRINT(*OCRVAL16);
   }
-  SERIAL_ECHOPAIR("    WGM: ", WGM);
+  SERIAL_ECHOPGM("    WGM: ", WGM);
   com_print(T,L);
-  SERIAL_ECHOPAIR("    CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) ));
-
-  SERIAL_ECHOPGM("    TCCR");
-  SERIAL_CHAR(T + '0');
-  SERIAL_ECHOPAIR("A: ", *TCCRA);
-
-  SERIAL_ECHOPGM("    TCCR");
-  SERIAL_CHAR(T + '0');
-  SERIAL_ECHOPAIR("B: ", *TCCRB);
+  SERIAL_ECHOPGM("    CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) ));
+  SERIAL_ECHOPGM("    TCCR", AS_DIGIT(T), "A: ", *TCCRA);
+  SERIAL_ECHOPGM("    TCCR", AS_DIGIT(T), "B: ", *TCCRB);
 
   const uint8_t *TMSK = (uint8_t*)TIMSK(T);
-  SERIAL_ECHOPGM("    TIMSK");
-  SERIAL_CHAR(T + '0');
-  SERIAL_ECHOPAIR(": ", *TMSK);
+  SERIAL_ECHOPGM("    TIMSK", AS_DIGIT(T), ": ", *TMSK);
 
   const uint8_t OCIE = L - 'A' + 1;
   if (N == 3) { if (WGM == 0 || WGM == 2 || WGM ==  4 || WGM ==  6) err_is_counter(); }
@@ -286,7 +281,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
 static void pwm_details(uint8_t pin) {
   switch (digitalPinToTimer_DEBUG(pin)) {
 
-    #if defined(TCCR0A) && defined(COM0A1)
+    #if ABTEST(0)
       #ifdef TIMER0A
         #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
           case TIMER0A: timer_prefix(0, 'A', 3); break;
@@ -295,7 +290,7 @@ static void pwm_details(uint8_t pin) {
       case TIMER0B: timer_prefix(0, 'B', 3); break;
     #endif
 
-    #if defined(TCCR1A) && defined(COM1A1)
+    #if ABTEST(1)
       case TIMER1A: timer_prefix(1, 'A', 4); break;
       case TIMER1B: timer_prefix(1, 'B', 4); break;
       #if defined(COM1C1) && defined(TIMER1C)
@@ -303,12 +298,12 @@ static void pwm_details(uint8_t pin) {
       #endif
     #endif
 
-    #if defined(TCCR2A) && defined(COM2A1)
+    #if ABTEST(2)
       case TIMER2A: timer_prefix(2, 'A', 3); break;
       case TIMER2B: timer_prefix(2, 'B', 3); break;
     #endif
 
-    #if defined(TCCR3A) && defined(COM3A1)
+    #if ABTEST(3)
       case TIMER3A: timer_prefix(3, 'A', 4); break;
       case TIMER3B: timer_prefix(3, 'B', 4); break;
       #ifdef COM3C1
@@ -322,7 +317,7 @@ static void pwm_details(uint8_t pin) {
       case TIMER4C: timer_prefix(4, 'C', 4); break;
     #endif
 
-    #if defined(TCCR5A) && defined(COM5A1)
+    #if ABTEST(5)
       case TIMER5A: timer_prefix(5, 'A', 4); break;
       case TIMER5B: timer_prefix(5, 'B', 4); break;
       case TIMER5C: timer_prefix(5, 'C', 4); break;
@@ -356,7 +351,6 @@ static void pwm_details(uint8_t pin) {
   #endif
 } // pwm_details
 
-
 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
   int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed
     const uint8_t port = digitalPinToPort_DEBUG(pin);
@@ -401,3 +395,6 @@ static void pwm_details(uint8_t pin) {
 #endif
 
 #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+
+#undef ABTEST

Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h

@@ -2,6 +2,9 @@
  * 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

Marlin/src/HAL/AVR/pinsDebug_plus_70.h

@@ -2,6 +2,9 @@
  * 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

Marlin/src/HAL/AVR/spi_pins.h

@@ -51,15 +51,15 @@
   #define AVR_SS_PIN   16
 #endif
 
-#ifndef SCK_PIN
-  #define SCK_PIN  AVR_SCK_PIN
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN  AVR_SCK_PIN
 #endif
-#ifndef MISO_PIN
-  #define MISO_PIN AVR_MISO_PIN
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN AVR_MISO_PIN
 #endif
-#ifndef MOSI_PIN
-  #define MOSI_PIN AVR_MOSI_PIN
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN AVR_MOSI_PIN
 #endif
-#ifndef SS_PIN
-  #define SS_PIN   AVR_SS_PIN
+#ifndef SD_SS_PIN
+  #define SD_SS_PIN   AVR_SS_PIN
 #endif

Marlin/src/HAL/AVR/timers.h

@@ -34,14 +34,14 @@ typedef uint16_t hal_timer_t;
 
 #define HAL_TIMER_RATE          ((F_CPU) / 8)    // i.e., 2MHz or 2.5MHz
 
-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        1
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         1
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        0
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         0
 #endif
 
 #define TEMP_TIMER_FREQUENCY    ((F_CPU) / 64.0 / 256.0)
@@ -58,13 +58,13 @@ typedef uint16_t hal_timer_t;
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
 #define STEPPER_ISR_ENABLED()             TEST(TIMSK1, OCIE1A)
 
-#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0B)
-#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0B)
-#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0B)
+#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0A)
+#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0A)
+#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0A)
 
 FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
   switch (timer_num) {
-    case STEP_TIMER_NUM:
+    case MF_TIMER_STEP:
       // waveform generation = 0100 = CTC
       SET_WGM(1, CTC_OCRnA);
 
@@ -84,10 +84,10 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
       TCNT1 = 0;
       break;
 
-    case TEMP_TIMER_NUM:
+    case MF_TIMER_TEMP:
       // Use timer0 for temperature measurement
       // Interleave temperature interrupt with millies interrupt
-      OCR0B = 128;
+      OCR0A = 128;
       break;
   }
 }
@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
 
-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
 
+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
@@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \
     :                                   \
     : [timsk0] "i" ((uint16_t)&TIMSK0), \
       [timsk1] "i" ((uint16_t)&TIMSK1), \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)),\
       [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
     : \
   ); \
@@ -193,9 +193,9 @@ void TIMER1_COMPA_vect_bottom()
 
 /* 14 cycles maximum latency */
 #define HAL_TEMP_TIMER_ISR() \
-extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER0_COMPB_vect_bottom()  asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER0_COMPB_vect() { \
+extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
+extern "C" void TIMER0_COMPA_vect_bottom()  asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
+void TIMER0_COMPA_vect() { \
   __asm__ __volatile__ ( \
     A("push r16")                       /* 2 Save R16 */ \
     A("in r16, __SREG__")               /* 1 Get SREG */ \
@@ -223,7 +223,7 @@ void TIMER0_COMPB_vect() { \
     A("push r30")                       \
     A("push r31")                       \
     A("clr r1")                         /* C runtime expects this register to be 0 */ \
-    A("call TIMER0_COMPB_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
+    A("call TIMER0_COMPA_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
     A("pop r31")                        \
     A("pop r30")                        \
     A("pop r27")                        \
@@ -251,10 +251,10 @@ void TIMER0_COMPB_vect() { \
     A("reti")                           /* 4 Return from interrupt */ \
     :                                   \
     : [timsk0] "i"((uint16_t)&TIMSK0),  \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)) \
     : \
   ); \
 } \
-void TIMER0_COMPB_vect_bottom()
+void TIMER0_COMPA_vect_bottom()
 
 #endif // HAL_TEMP_TIMER_ISR

Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp

@@ -62,10 +62,10 @@
 #include "../shared/Marduino.h"
 #include "../shared/Delay.h"
 
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
-uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock;
-volatile uint8_t *u8g_outData, *u8g_outClock;
+static uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock;
+static volatile uint8_t *u8g_outData, *u8g_outClock;
 
 static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin) {
   u8g_outData = portOutputRegister(digitalPinToPort(dataPin));

Marlin/src/HAL/DUE/DebugMonitor.cpp

@@ -1,342 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef ARDUINO_ARCH_SAM
-
-#include "../../core/macros.h"
-#include "../../core/serial.h"
-
-#include "../shared/backtrace/unwinder.h"
-#include "../shared/backtrace/unwmemaccess.h"
-
-#include <stdarg.h>
-
-// Debug monitor that dumps to the Programming port all status when
-// an exception or WDT timeout happens - And then resets the board
-
-// All the Monitor routines must run with interrupts disabled and
-// under an ISR execution context. That is why we cannot reuse the
-// Serial interrupt routines or any C runtime, as we don't know the
-// state we are when running them
-
-// A SW memory barrier, to ensure GCC does not overoptimize loops
-#define sw_barrier() __asm__ volatile("": : :"memory");
-
-// (re)initialize UART0 as a monitor output to 250000,n,8,1
-static void TXBegin() {
-
-  // Disable UART interrupt in NVIC
-  NVIC_DisableIRQ( UART_IRQn );
-
-  // We NEED memory barriers to ensure Interrupts are actually disabled!
-  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
-  __DSB();
-  __ISB();
-
-  // Disable clock
-  pmc_disable_periph_clk( ID_UART );
-
-  // Configure PMC
-  pmc_enable_periph_clk( ID_UART );
-
-  // Disable PDC channel
-  UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
-
-  // Reset and disable receiver and transmitter
-  UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
-
-  // Configure mode: 8bit, No parity, 1 bit stop
-  UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
-
-  // Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
-  UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
-
-  // Enable receiver and transmitter
-  UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
-}
-
-// Send character through UART with no interrupts
-static void TX(char c) {
-  while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); };
-  UART->UART_THR = c;
-}
-
-// Send String through UART
-static void TX(const char* s) {
-  while (*s) TX(*s++);
-}
-
-static void TXDigit(uint32_t d) {
-  if (d < 10) TX((char)(d+'0'));
-  else if (d < 16) TX((char)(d+'A'-10));
-  else TX('?');
-}
-
-// Send Hex number thru UART
-static void TXHex(uint32_t v) {
-  TX("0x");
-  for (uint8_t i = 0; i < 8; i++, v <<= 4)
-    TXDigit((v >> 28) & 0xF);
-}
-
-// Send Decimal number thru UART
-static void TXDec(uint32_t v) {
-  if (!v) {
-    TX('0');
-    return;
-  }
-
-  char nbrs[14];
-  char *p = &nbrs[0];
-  while (v != 0) {
-    *p++ = '0' + (v % 10);
-    v /= 10;
-  }
-  do {
-    p--;
-    TX(*p);
-  } while (p != &nbrs[0]);
-}
-
-// Dump a backtrace entry
-static bool UnwReportOut(void* ctx, const UnwReport* bte) {
-  int* p = (int*)ctx;
-
-  (*p)++;
-  TX('#'); TXDec(*p); TX(" : ");
-  TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function);
-  TX('+'); TXDec(bte->address - bte->function);
-  TX(" PC:");TXHex(bte->address); TX('\n');
-  return true;
-}
-
-#ifdef UNW_DEBUG
-  void UnwPrintf(const char* format, ...) {
-    char dest[256];
-    va_list argptr;
-    va_start(argptr, format);
-    vsprintf(dest, format, argptr);
-    va_end(argptr);
-    TX(&dest[0]);
-  }
-#endif
-
-/* Table of function pointers for passing to the unwinder */
-static const UnwindCallbacks UnwCallbacks = {
-  UnwReportOut,
-  UnwReadW,
-  UnwReadH,
-  UnwReadB
-  #ifdef UNW_DEBUG
-   , UnwPrintf
-  #endif
-};
-
-/**
- * HardFaultHandler_C:
- * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
- * as the parameter. We can then read the values from the stack and place them
- * into local variables for ease of reading.
- * We then read the various Fault Status and Address Registers to help decode
- * cause of the fault.
- * The function ends with a BKPT instruction to force control back into the debugger
- */
-extern "C"
-void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) {
-
-  static const char* causestr[] = {
-    "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC"
-  };
-
-  UnwindFrame btf;
-
-  // Dump report to the Programming port (interrupts are DISABLED)
-  TXBegin();
-  TX("\n\n## Software Fault detected ##\n");
-  TX("Cause: "); TX(causestr[cause]); TX('\n');
-
-  TX("R0   : "); TXHex(((unsigned long)sp[0])); TX('\n');
-  TX("R1   : "); TXHex(((unsigned long)sp[1])); TX('\n');
-  TX("R2   : "); TXHex(((unsigned long)sp[2])); TX('\n');
-  TX("R3   : "); TXHex(((unsigned long)sp[3])); TX('\n');
-  TX("R12  : "); TXHex(((unsigned long)sp[4])); TX('\n');
-  TX("LR   : "); TXHex(((unsigned long)sp[5])); TX('\n');
-  TX("PC   : "); TXHex(((unsigned long)sp[6])); TX('\n');
-  TX("PSR  : "); TXHex(((unsigned long)sp[7])); TX('\n');
-
-  // Configurable Fault Status Register
-  // Consists of MMSR, BFSR and UFSR
-  TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n');
-
-  // Hard Fault Status Register
-  TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n');
-
-  // Debug Fault Status Register
-  TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n');
-
-  // Auxiliary Fault Status Register
-  TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n');
-
-  // Read the Fault Address Registers. These may not contain valid values.
-  // Check BFARVALID/MMARVALID to see if they are valid values
-  // MemManage Fault Address Register
-  TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n');
-
-  // Bus Fault Address Register
-  TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
-
-  TX("ExcLR: "); TXHex(lr); TX('\n');
-  TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n');
-
-  btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
-  btf.fp = btf.sp;
-  btf.lr = ((unsigned long)sp[5]);
-  btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
-
-  // Perform a backtrace
-  TX("\nBacktrace:\n\n");
-  int ctr = 0;
-  UnwindStart(&btf, &UnwCallbacks, &ctr);
-
-  // Disable all NVIC interrupts
-  NVIC->ICER[0] = 0xFFFFFFFF;
-  NVIC->ICER[1] = 0xFFFFFFFF;
-
-  // Relocate VTOR table to default position
-  SCB->VTOR = 0;
-
-  // Disable USB
-  otg_disable();
-
-  // Restart watchdog
-  WDT_Restart(WDT);
-
-  // Reset controller
-  NVIC_SystemReset();
-  for (;;) WDT_Restart(WDT);
-}
-
-__attribute__((naked)) void NMI_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#0")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void HardFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#1")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void MemManage_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#2")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void BusFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#3")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void UsageFault_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#4")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void DebugMon_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#5")
-    A("b HardFault_HandlerC")
-  );
-}
-
-/* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
-__attribute__((naked)) void WDT_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#6")
-    A("b HardFault_HandlerC")
-  );
-}
-
-__attribute__((naked)) void RSTC_Handler() {
-  __asm__ __volatile__ (
-    ".syntax unified" "\n\t"
-    A("tst lr, #4")
-    A("ite eq")
-    A("mrseq r0, msp")
-    A("mrsne r0, psp")
-    A("mov r1,lr")
-    A("mov r2,#7")
-    A("b HardFault_HandlerC")
-  );
-}
-
-#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.cpp

@@ -34,36 +34,32 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-// HAL initialization task
-void HAL_init() {
+TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+
+void MarlinHAL::init() {
   // Initialize the USB stack
   #if ENABLED(SDSUPPORT)
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
   #endif
   usb_task_init();
+  TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
-// HAL idle task
-void HAL_idletask() {
-  // Perform USB stack housekeeping
-  usb_task_idle();
+void MarlinHAL::init_board() {
+  #ifdef BOARD_INIT
+    BOARD_INIT();
+  #endif
 }
 
-// Disable interrupts
-void cli() { noInterrupts(); }
+void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping
 
-// Enable interrupts
-void sei() { interrupts(); }
-
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   switch ((RSTC->RSTC_SR >> 8) & 0x07) {
     case 0: return RST_POWER_ON;
     case 1: return RST_BACKUP;
@@ -74,10 +70,7 @@ uint8_t HAL_get_reset_source() {
   }
 }
 
-void _delay_ms(const int delay_ms) {
-  // Todo: port for Due?
-  delay(delay_ms);
-}
+void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
@@ -89,17 +82,18 @@ int freeMemory() {
   return (int)&free_memory - (heap_end ?: (int)&_ebss);
 }
 
-// ------------------------
-// ADC
-// ------------------------
-
-void HAL_adc_start_conversion(const uint8_t ch) {
-  HAL_adc_result = analogRead(ch);
-}
-
-uint16_t HAL_adc_get_result() {
-  // nop
-  return HAL_adc_result;
-}
+// Forward the default serial ports
+#if USING_HW_SERIAL0
+  DefaultSerial1 MSerial0(false, Serial);
+#endif
+#if USING_HW_SERIAL1
+  DefaultSerial2 MSerial1(false, Serial1);
+#endif
+#if USING_HW_SERIAL2
+  DefaultSerial3 MSerial2(false, Serial2);
+#endif
+#if USING_HW_SERIAL3
+  DefaultSerial4 MSerial3(false, Serial3);
+#endif
 
 #endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.h

@@ -36,99 +36,103 @@
 
 #include <stdint.h>
 
-#define _MSERIAL(X) Serial##X
-#define MSERIAL(X) _MSERIAL(X)
-#define Serial0 Serial
+#include "../../core/serial_hook.h"
+
+// ------------------------
+// Serial ports
+// ------------------------
+
+typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
+typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+typedef ForwardSerial1Class< decltype(Serial3) > DefaultSerial4;
+extern DefaultSerial1 MSerial0;
+extern DefaultSerial2 MSerial1;
+extern DefaultSerial3 MSerial2;
+extern DefaultSerial4 MSerial3;
+
+#define _MSERIAL(X) MSerial##X
+#define MSERIAL(X) _MSERIAL(X)
 
-// Define MYSERIAL0/1 before MarlinSerial includes!
 #if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
-  #define MYSERIAL0 customizedSerial1
+  #define MYSERIAL1 customizedSerial1
 #elif WITHIN(SERIAL_PORT, 0, 3)
-  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
-  #error "The required SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
 #endif
 
 #ifdef SERIAL_PORT_2
   #if SERIAL_PORT_2 == -1 || ENABLED(EMERGENCY_PARSER)
-    #define MYSERIAL1 customizedSerial2
+    #define MYSERIAL2 customizedSerial2
   #elif WITHIN(SERIAL_PORT_2, 0, 3)
-    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
-    #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+    #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1 || ENABLED(EMERGENCY_PARSER)
+    #define MYSERIAL3 customizedSerial3
+  #elif WITHIN(SERIAL_PORT_3, 0, 3)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
+  #endif
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+  #if WITHIN(MMU2_SERIAL_PORT, 0, 3)
+    #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
+  #else
+    #error "MMU2_SERIAL_PORT must be from 0 to 3."
   #endif
 #endif
 
 #ifdef LCD_SERIAL_PORT
-  #if LCD_SERIAL_PORT == -1
-    #define LCD_SERIAL lcdSerial
-  #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
+  #if WITHIN(LCD_SERIAL_PORT, 0, 3)
     #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
   #else
-    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+    #error "LCD_SERIAL_PORT must be from 0 to 3."
   #endif
 #endif
 
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
-#ifndef strncpy_P
-  #define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
-#endif
-
-// Fix bug in pgm_read_ptr
-#undef pgm_read_ptr
-#define pgm_read_ptr(addr) (*((void**)(addr)))
-#undef pgm_read_word
-#define pgm_read_word(addr) (*((uint16_t*)(addr)))
+// ------------------------
+// Types
+// ------------------------
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define sei() noInterrupts()
+#define cli() interrupts()
 
-void cli();                     // Disable interrupts
-void sei();                     // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
+#define CRITICAL_SECTION_START()  const bool _irqon = hal.isr_state(); hal.isr_off()
+#define CRITICAL_SECTION_END()    if (_irqon) hal.isr_on()
 
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // result of last ADC conversion
-
-#ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1)
-#endif
-
-#define HAL_ANALOG_SELECT(ch)
-
-inline void HAL_adc_init() {}//todo
-
 #define HAL_ADC_VREF         3.3
 #define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(ch)   HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
 
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+#endif
 
 //
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -137,23 +141,18 @@ uint16_t HAL_adc_get_result();
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-void HAL_idletask();
-void HAL_init();
-
-//
-// Utility functions
-//
-void _delay_ms(const int delay);
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
 #pragma GCC diagnostic pop
 
 #ifdef __cplusplus
@@ -163,3 +162,69 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
 #ifdef __cplusplus
   }
 #endif
+
+// Return free RAM between end of heap (or end bss) and whatever is current
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();       // Called early in setup()
+  static void init_board(); // Called less early in setup()
+  static void reboot();     // Software reset
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/DUE/HAL_MinSerial.cpp

@@ -0,0 +1,91 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+
+#include "../shared/HAL_MinSerial.h"
+
+#include <stdarg.h>
+
+static void TXBegin() {
+  // Disable UART interrupt in NVIC
+  NVIC_DisableIRQ( UART_IRQn );
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  // Disable clock
+  pmc_disable_periph_clk( ID_UART );
+
+  // Configure PMC
+  pmc_enable_periph_clk( ID_UART );
+
+  // Disable PDC channel
+  UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
+
+  // Reset and disable receiver and transmitter
+  UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+
+  // Configure mode: 8bit, No parity, 1 bit stop
+  UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
+
+  // Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
+  UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
+
+  // Enable receiver and transmitter
+  UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
+}
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+static void TX(char c) {
+  while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); };
+  UART->UART_THR = c;
+}
+
+void install_min_serial() {
+  HAL_min_serial_init = &TXBegin;
+  HAL_min_serial_out = &TX;
+}
+
+#if DISABLED(DYNAMIC_VECTORTABLE)
+extern "C" {
+  __attribute__((naked)) void JumpHandler_ASM() {
+    __asm__ __volatile__ (
+      "b CommonHandler_ASM\n"
+    );
+  }
+  void __attribute__((naked, alias("JumpHandler_ASM"))) HardFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) BusFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) UsageFault_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) MemManage_Handler();
+  void __attribute__((naked, alias("JumpHandler_ASM"))) NMI_Handler();
+}
+#endif
+
+#endif // POSTMORTEM_DEBUGGING
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL_SPI.cpp

@@ -56,8 +56,8 @@
   #pragma GCC optimize (3)
 
   typedef uint8_t (*pfnSpiTransfer)(uint8_t b);
-  typedef void    (*pfnSpiRxBlock)(uint8_t* buf, uint32_t nbyte);
-  typedef void    (*pfnSpiTxBlock)(const uint8_t* buf, uint32_t nbyte);
+  typedef void    (*pfnSpiRxBlock)(uint8_t *buf, uint32_t nbyte);
+  typedef void    (*pfnSpiTxBlock)(const uint8_t *buf, uint32_t nbyte);
 
   /* ---------------- Macros to be able to access definitions from asm */
   #define _PORT(IO) DIO ##  IO ## _WPORT
@@ -69,10 +69,10 @@
 
   // run at ~8 .. ~10Mhz - Tx version (Rx data discarded)
   static uint8_t spiTransferTx0(uint8_t bout) { // using Mode 0
-    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(MOSI_PIN)) + 0x30;  /* SODR of port */
-    uint32_t MOSI_MASK = PIN_MASK(MOSI_PIN);
-    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
-    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(SD_MOSI_PIN)) + 0x30;  /* SODR of port */
+    uint32_t MOSI_MASK = PIN_MASK(SD_MOSI_PIN);
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SD_SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SD_SCK_PIN);
     uint32_t idx = 0;
 
     /* Negate bout, as the assembler requires a negated value */
@@ -154,9 +154,9 @@
   static uint8_t spiTransferRx0(uint8_t) { // using Mode 0
     uint32_t bin = 0;
     uint32_t work = 0;
-    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(MISO_PIN))+0x3C, PIN_SHIFT(MISO_PIN));  /* PDSR of port in bitband area */
-    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
-    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(SD_MISO_PIN))+0x3C, PIN_SHIFT(SD_MISO_PIN));  /* PDSR of port in bitband area */
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SD_SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SD_SCK_PIN);
 
     /* The software SPI routine */
     __asm__ __volatile__(
@@ -225,36 +225,36 @@
   static uint8_t spiTransfer1(uint8_t b) { // using Mode 0
     int bits = 8;
     do {
-      WRITE(MOSI_PIN, b & 0x80);
+      WRITE(SD_MOSI_PIN, b & 0x80);
       b <<= 1;        // little setup time
 
-      WRITE(SCK_PIN, HIGH);
+      WRITE(SD_SCK_PIN, HIGH);
       DELAY_NS(125);  // 10 cycles @ 84mhz
 
-      b |= (READ(MISO_PIN) != 0);
+      b |= (READ(SD_MISO_PIN) != 0);
 
-      WRITE(SCK_PIN, LOW);
+      WRITE(SD_SCK_PIN, LOW);
       DELAY_NS(125);  // 10 cycles @ 84mhz
     } while (--bits);
     return b;
   }
 
   // all the others
-  static uint32_t spiDelayCyclesX4 = (F_CPU) / 1000000; // 4µs => 125khz
+  static uint16_t spiDelayNS = 4000; // 4000ns => 125khz
 
   static uint8_t spiTransferX(uint8_t b) { // using Mode 0
     int bits = 8;
     do {
-      WRITE(MOSI_PIN, b & 0x80);
+      WRITE(SD_MOSI_PIN, b & 0x80);
       b <<= 1; // little setup time
 
-      WRITE(SCK_PIN, HIGH);
-      __delay_4cycles(spiDelayCyclesX4);
+      WRITE(SD_SCK_PIN, HIGH);
+      DELAY_NS(spiDelayNS);
 
-      b |= (READ(MISO_PIN) != 0);
+      b |= (READ(SD_MISO_PIN) != 0);
 
-      WRITE(SCK_PIN, LOW);
-      __delay_4cycles(spiDelayCyclesX4);
+      WRITE(SD_SCK_PIN, LOW);
+      DELAY_NS(spiDelayNS);
     } while (--bits);
     return b;
   }
@@ -270,11 +270,11 @@
   static pfnSpiTransfer spiTransferTx = (pfnSpiTransfer)spiTransferX;
 
   // Block transfers run at ~8 .. ~10Mhz - Tx version (Rx data discarded)
-  static void spiTxBlock0(const uint8_t* ptr, uint32_t todo) {
-    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(MOSI_PIN)) + 0x30;  /* SODR of port */
-    uint32_t MOSI_MASK = PIN_MASK(MOSI_PIN);
-    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
-    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+  static void spiTxBlock0(const uint8_t *ptr, uint32_t todo) {
+    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(SD_MOSI_PIN)) + 0x30;  /* SODR of port */
+    uint32_t MOSI_MASK = PIN_MASK(SD_MOSI_PIN);
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SD_SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SD_SCK_PIN);
     uint32_t work = 0;
     uint32_t txval = 0;
 
@@ -349,12 +349,12 @@
     );
   }
 
-  static void spiRxBlock0(uint8_t* ptr, uint32_t todo) {
+  static void spiRxBlock0(uint8_t *ptr, uint32_t todo) {
     uint32_t bin = 0;
     uint32_t work = 0;
-    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(MISO_PIN))+0x3C, PIN_SHIFT(MISO_PIN));  /* PDSR of port in bitband area */
-    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
-    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(SD_MISO_PIN))+0x3C, PIN_SHIFT(SD_MISO_PIN));  /* PDSR of port in bitband area */
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SD_SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SD_SCK_PIN);
 
     /* The software SPI routine */
     __asm__ __volatile__(
@@ -425,48 +425,48 @@
     );
   }
 
-  static void spiTxBlockX(const uint8_t* buf, uint32_t todo) {
+  static void spiTxBlockX(const uint8_t *buf, uint32_t todo) {
     do {
       (void)spiTransferTx(*buf++);
     } while (--todo);
   }
 
-  static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
+  static void spiRxBlockX(uint8_t *buf, uint32_t todo) {
     do {
       *buf++ = spiTransferRx(0xFF);
     } while (--todo);
   }
 
-  // Pointers to generic functions for block tranfers
+  // Pointers to generic functions for block transfers
   static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
   static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
 
   #if MB(ALLIGATOR)
-    #define _SS_WRITE(S) WRITE(SS_PIN, S)
+    #define _SS_WRITE(S) WRITE(SD_SS_PIN, S)
   #else
     #define _SS_WRITE(S) NOOP
   #endif
 
   void spiBegin() {
-    SET_OUTPUT(SS_PIN);
+    SET_OUTPUT(SD_SS_PIN);
     _SS_WRITE(HIGH);
-    SET_OUTPUT(SCK_PIN);
-    SET_INPUT(MISO_PIN);
-    SET_OUTPUT(MOSI_PIN);
+    SET_OUTPUT(SD_SCK_PIN);
+    SET_INPUT(SD_MISO_PIN);
+    SET_OUTPUT(SD_MOSI_PIN);
   }
 
   uint8_t spiRec() {
     _SS_WRITE(LOW);
-    WRITE(MOSI_PIN, HIGH); // Output 1s 1
+    WRITE(SD_MOSI_PIN, HIGH); // Output 1s 1
     uint8_t b = spiTransferRx(0xFF);
     _SS_WRITE(HIGH);
     return b;
   }
 
-  void spiRead(uint8_t* buf, uint16_t nbyte) {
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
     if (nbyte) {
       _SS_WRITE(LOW);
-      WRITE(MOSI_PIN, HIGH); // Output 1s 1
+      WRITE(SD_MOSI_PIN, HIGH); // Output 1s 1
       spiRxBlock(buf, nbyte);
       _SS_WRITE(HIGH);
     }
@@ -478,7 +478,7 @@
     _SS_WRITE(HIGH);
   }
 
-  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
     _SS_WRITE(LOW);
     (void)spiTransferTx(token);
     spiTxBlock(buf, 512);
@@ -510,7 +510,7 @@
         spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
         break;
       default:
-        spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate);
+        spiDelayNS = 4000 >> (6 - spiRate); // spiRate of 2 gives the maximum error with current CPU
         spiTransferTx = (pfnSpiTransfer)spiTransferX;
         spiTransferRx = (pfnSpiTransfer)spiTransferX;
         spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
@@ -519,8 +519,8 @@
     }
 
     _SS_WRITE(HIGH);
-    WRITE(MOSI_PIN, HIGH);
-    WRITE(SCK_PIN, LOW);
+    WRITE(SD_MOSI_PIN, HIGH);
+    WRITE(SD_SCK_PIN, LOW);
   }
 
   /** Begin SPI transaction, set clock, bit order, data mode */
@@ -575,38 +575,34 @@
 
       // Configure SPI pins
       PIO_Configure(
-         g_APinDescription[SCK_PIN].pPort,
-         g_APinDescription[SCK_PIN].ulPinType,
-         g_APinDescription[SCK_PIN].ulPin,
-         g_APinDescription[SCK_PIN].ulPinConfiguration);
+         g_APinDescription[SD_SCK_PIN].pPort,
+         g_APinDescription[SD_SCK_PIN].ulPinType,
+         g_APinDescription[SD_SCK_PIN].ulPin,
+         g_APinDescription[SD_SCK_PIN].ulPinConfiguration);
       PIO_Configure(
-         g_APinDescription[MOSI_PIN].pPort,
-         g_APinDescription[MOSI_PIN].ulPinType,
-         g_APinDescription[MOSI_PIN].ulPin,
-         g_APinDescription[MOSI_PIN].ulPinConfiguration);
+         g_APinDescription[SD_MOSI_PIN].pPort,
+         g_APinDescription[SD_MOSI_PIN].ulPinType,
+         g_APinDescription[SD_MOSI_PIN].ulPin,
+         g_APinDescription[SD_MOSI_PIN].ulPinConfiguration);
       PIO_Configure(
-         g_APinDescription[MISO_PIN].pPort,
-         g_APinDescription[MISO_PIN].ulPinType,
-         g_APinDescription[MISO_PIN].ulPin,
-         g_APinDescription[MISO_PIN].ulPinConfiguration);
+         g_APinDescription[SD_MISO_PIN].pPort,
+         g_APinDescription[SD_MISO_PIN].ulPinType,
+         g_APinDescription[SD_MISO_PIN].ulPin,
+         g_APinDescription[SD_MISO_PIN].ulPinConfiguration);
 
       // set master mode, peripheral select, fault detection
       SPI_Configure(SPI0, ID_SPI0, SPI_MR_MSTR | SPI_MR_MODFDIS | SPI_MR_PS);
       SPI_Enable(SPI0);
 
-      SET_OUTPUT(DAC0_SYNC);
+      SET_OUTPUT(DAC0_SYNC_PIN);
       #if HAS_MULTI_EXTRUDER
-        SET_OUTPUT(DAC1_SYNC);
-        WRITE(DAC1_SYNC, HIGH);
+        OUT_WRITE(DAC1_SYNC_PIN, HIGH);
       #endif
-      SET_OUTPUT(SPI_EEPROM1_CS);
-      SET_OUTPUT(SPI_EEPROM2_CS);
-      SET_OUTPUT(SPI_FLASH_CS);
-      WRITE(DAC0_SYNC, HIGH);
-      WRITE(SPI_EEPROM1_CS, HIGH);
-      WRITE(SPI_EEPROM2_CS, HIGH);
-      WRITE(SPI_FLASH_CS, HIGH);
-      WRITE(SS_PIN, HIGH);
+      WRITE(DAC0_SYNC_PIN, HIGH);
+      OUT_WRITE(SPI_EEPROM1_CS_PIN, HIGH);
+      OUT_WRITE(SPI_EEPROM2_CS_PIN, HIGH);
+      OUT_WRITE(SPI_FLASH_CS_PIN, HIGH);
+      WRITE(SD_SS_PIN, HIGH);
 
       OUT_WRITE(SDSS, LOW);
 
@@ -645,7 +641,7 @@
     }
 
     // Read from SPI into buffer
-    void spiRead(uint8_t* buf, uint16_t nbyte) {
+    void spiRead(uint8_t *buf, uint16_t nbyte) {
       if (!nbyte) return;
       --nbyte;
       for (int i = 0; i < nbyte; i++) {
@@ -668,7 +664,7 @@
       //DELAY_US(1U);
     }
 
-    void spiSend(const uint8_t* buf, size_t nbyte) {
+    void spiSend(const uint8_t *buf, size_t nbyte) {
       if (!nbyte) return;
       --nbyte;
       for (size_t i = 0; i < nbyte; i++) {
@@ -689,7 +685,7 @@
       FLUSH_RX();
     }
 
-    void spiSend(uint32_t chan, const uint8_t* buf, size_t nbyte) {
+    void spiSend(uint32_t chan, const uint8_t *buf, size_t nbyte) {
       if (!nbyte) return;
       --nbyte;
       for (size_t i = 0; i < nbyte; i++) {
@@ -702,7 +698,7 @@
     }
 
     // Write from buffer to SPI
-    void spiSendBlock(uint8_t token, const uint8_t* buf) {
+    void spiSendBlock(uint8_t token, const uint8_t *buf) {
       SPI0->SPI_TDR = (uint32_t)token | SPI_PCS(SPI_CHAN);
       WHILE_TX(0);
       //WHILE_RX(0);
@@ -801,19 +797,19 @@
 
     uint8_t spiRec() { return (uint8_t)spiTransfer(0xFF); }
 
-    void spiRead(uint8_t* buf, uint16_t nbyte) {
+    void spiRead(uint8_t *buf, uint16_t nbyte) {
       for (int i = 0; i < nbyte; i++)
         buf[i] = spiTransfer(0xFF);
     }
 
     void spiSend(uint8_t data) { spiTransfer(data); }
 
-    void spiSend(const uint8_t* buf, size_t nbyte) {
+    void spiSend(const uint8_t *buf, size_t nbyte) {
       for (uint16_t i = 0; i < nbyte; i++)
         spiTransfer(buf[i]);
     }
 
-    void spiSendBlock(uint8_t token, const uint8_t* buf) {
+    void spiSendBlock(uint8_t token, const uint8_t *buf) {
       spiTransfer(token);
       for (uint16_t i = 0; i < 512; i++)
         spiTransfer(buf[i]);

Marlin/src/HAL/DUE/MarlinSPI.h

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -382,7 +382,7 @@ void MarlinSerial<Cfg>::flush() {
 }
 
 template<typename Cfg>
-void MarlinSerial<Cfg>::write(const uint8_t c) {
+size_t MarlinSerial<Cfg>::write(const uint8_t c) {
   _written = true;
 
   if (Cfg::TX_SIZE == 0) {
@@ -400,13 +400,13 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     // XOFF char at the RX isr, but it is properly handled there
     if (!(HWUART->UART_IMR & UART_IMR_TXRDY) && (HWUART->UART_SR & UART_SR_TXRDY)) {
       HWUART->UART_THR = c;
-      return;
+      return 1;
     }
 
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -428,6 +428,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     // Enable TX isr - Non atomic, but it will eventually enable TX isr
     HWUART->UART_IER = UART_IER_TXRDY;
   }
+  return 1;
 }
 
 template<typename Cfg>
@@ -453,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {
@@ -473,169 +474,21 @@ void MarlinSerial<Cfg>::flushTX() {
   }
 }
 
-/**
- * Imports from print.h
- */
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(char c, int base) {
-  print((long)c, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned char b, int base) {
-  print((unsigned long)b, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(int n, int base) {
-  print((long)n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned int n, int base) {
-  print((unsigned long)n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(long n, int base) {
-  if (base == 0) write(n);
-  else if (base == 10) {
-    if (n < 0) { print('-'); n = -n; }
-    printNumber(n, 10);
-  }
-  else
-    printNumber(n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(unsigned long n, int base) {
-  if (base == 0) write(n);
-  else printNumber(n, base);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::print(double n, int digits) {
-  printFloat(n, digits);
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println() {
-  print('\r');
-  print('\n');
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(const String& s) {
-  print(s);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(const char c[]) {
-  print(c);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(char c, int base) {
-  print(c, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned char b, int base) {
-  print(b, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(int n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned int n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(long n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(unsigned long n, int base) {
-  print(n, base);
-  println();
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::println(double n, int digits) {
-  print(n, digits);
-  println();
-}
-
-// Private Methods
-template<typename Cfg>
-void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) {
-  if (n) {
-    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
-    int8_t i = 0;
-    while (n) {
-      buf[i++] = n % base;
-      n /= base;
-    }
-    while (i--)
-      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
-  }
-  else
-    print('0');
-}
-
-template<typename Cfg>
-void MarlinSerial<Cfg>::printFloat(double number, uint8_t digits) {
-  // Handle negative numbers
-  if (number < 0.0) {
-    print('-');
-    number = -number;
-  }
-
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  double rounding = 0.5;
-  LOOP_L_N(i, digits) rounding *= 0.1;
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  double remainder = number - (double)int_part;
-  print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits) {
-    print('.');
-    // Extract digits from the remainder one at a time
-    while (digits--) {
-      remainder *= 10.0;
-      int toPrint = int(remainder);
-      print(toPrint);
-      remainder -= toPrint;
-    }
-  }
-}
 
 // If not using the USB port as serial port
-#if SERIAL_PORT >= 0
-  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>;      // Define
-  MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;   // Instantiate
+#if defined(SERIAL_PORT) && SERIAL_PORT >= 0
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
+  MSerialT1 customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
 #endif
 
 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
-  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>;    // Define
-  MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2; // Instantiate
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> >;
+  MSerialT2 customizedSerial2(MarlinSerialCfg<SERIAL_PORT_2>::EMERGENCYPARSER);
+#endif
+
+#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
+  template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> >;
+  MSerialT3 customizedSerial3(MarlinSerialCfg<SERIAL_PORT_3>::EMERGENCYPARSER);
 #endif
 
 #endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.h

@@ -30,11 +30,7 @@
 #include <WString.h>
 
 #include "../../inc/MarlinConfigPre.h"
-
-#define DEC 10
-#define HEX 16
-#define OCT 8
-#define BIN 2
+#include "../../core/serial_hook.h"
 
 // Define constants and variables for buffering incoming serial data.  We're
 // using a ring buffer (I think), in which rx_buffer_head is the index of the
@@ -119,44 +115,15 @@ public:
   static int read();
   static void flush();
   static ring_buffer_pos_t available();
-  static void write(const uint8_t c);
+  static size_t write(const uint8_t c);
   static void flushTX();
 
-  static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+  static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
 
   FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
   FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
   FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
   FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
-
-  FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
-  FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
-  FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
-  FORCE_INLINE static void print(const char* str) { write(str); }
-
-  static void print(char, int = 0);
-  static void print(unsigned char, int = 0);
-  static void print(int, int = DEC);
-  static void print(unsigned int, int = DEC);
-  static void print(long, int = DEC);
-  static void print(unsigned long, int = DEC);
-  static void print(double, int = 2);
-
-  static void println(const String& s);
-  static void println(const char[]);
-  static void println(char, int = 0);
-  static void println(unsigned char, int = 0);
-  static void println(int, int = DEC);
-  static void println(unsigned int, int = DEC);
-  static void println(long, int = DEC);
-  static void println(unsigned long, int = DEC);
-  static void println(double, int = 2);
-  static void println();
-  operator bool() { return true; }
-
-private:
-  static void printNumber(unsigned long, const uint8_t);
-  static void printFloat(double, uint8_t);
 };
 
 // Serial port configuration
@@ -173,10 +140,17 @@ struct MarlinSerialCfg {
   static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
 };
 
-#if SERIAL_PORT >= 0
-  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+#if defined(SERIAL_PORT) && SERIAL_PORT >= 0
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif
 
 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
-  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> > > MSerialT2;
+  extern MSerialT2 customizedSerial2;
+#endif
+
+#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
+  extern MSerialT3 customizedSerial3;
 #endif

Marlin/src/HAL/DUE/MarlinSerialUSB.cpp

@@ -19,13 +19,13 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#ifdef ARDUINO_ARCH_SAM
 
 /**
  * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
  * Copyright (c) 2017 Eduardo José Tagle. All right reserved
  * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti.  All right reserved.
  */
-#ifdef ARDUINO_ARCH_SAM
 
 #include "../../inc/MarlinConfig.h"
 
@@ -33,10 +33,6 @@
 
 #include "MarlinSerialUSB.h"
 
-#if ENABLED(EMERGENCY_PARSER)
-  #include "../../feature/e_parser.h"
-#endif
-
 // Imports from Atmel USB Stack/CDC implementation
 extern "C" {
   bool usb_task_cdc_isenabled();
@@ -45,15 +41,11 @@ extern "C" {
   int udi_cdc_getc();
   bool udi_cdc_is_tx_ready();
   int udi_cdc_putc(int value);
-};
+}
 
 // Pending character
 static int pending_char = -1;
 
-#if ENABLED(EMERGENCY_PARSER)
-  static EmergencyParser::State emergency_state; // = EP_RESET
-#endif
-
 // Public Methods
 void MarlinSerialUSB::begin(const long) {}
 
@@ -73,7 +65,7 @@ int MarlinSerialUSB::peek() {
 
   pending_char = udi_cdc_getc();
 
-  TERN_(EMERGENCY_PARSER, emergency_parser.update(emergency_state, (char)pending_char));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)pending_char));
 
   return pending_char;
 }
@@ -95,29 +87,27 @@ int MarlinSerialUSB::read() {
 
   int c = udi_cdc_getc();
 
-  TERN_(EMERGENCY_PARSER, emergency_parser.update(emergency_state, (char)c));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)c));
 
   return c;
 }
 
-bool MarlinSerialUSB::available() {
-    /* If Pending chars */
-  return pending_char >= 0 ||
-    /* or USB CDC enumerated and configured on the PC side and some
-       bytes where sent to us */
-      (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready());
+int MarlinSerialUSB::available() {
+  if (pending_char > 0) return pending_char;
+  return pending_char == 0 ||
+    // or USB CDC enumerated and configured on the PC side and some bytes where sent to us */
+    (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready());
 }
 
 void MarlinSerialUSB::flush() { }
-void MarlinSerialUSB::flushTX() { }
 
-void MarlinSerialUSB::write(const uint8_t c) {
+size_t MarlinSerialUSB::write(const uint8_t c) {
 
   /* Do not even bother sending anything if USB CDC is not enumerated
      or not configured on the PC side or there is no program on the PC
      listening to our messages */
   if (!usb_task_cdc_isenabled() || !usb_task_cdc_dtr_active())
-    return;
+    return 0;
 
   /* Wait until the PC has read the pending to be sent data */
   while (usb_task_cdc_isenabled() &&
@@ -129,161 +119,23 @@ void MarlinSerialUSB::write(const uint8_t c) {
      or not configured on the PC side or there is no program on the PC
      listening to our messages at this point */
   if (!usb_task_cdc_isenabled() || !usb_task_cdc_dtr_active())
-    return;
+    return 0;
 
   // Fifo full
   //  udi_cdc_signal_overrun();
   udi_cdc_putc(c);
-}
-
-/**
- * Imports from print.h
- */
-
-void MarlinSerialUSB::print(char c, int base) {
-  print((long)c, base);
-}
-
-void MarlinSerialUSB::print(unsigned char b, int base) {
-  print((unsigned long)b, base);
-}
-
-void MarlinSerialUSB::print(int n, int base) {
-  print((long)n, base);
-}
-
-void MarlinSerialUSB::print(unsigned int n, int base) {
-  print((unsigned long)n, base);
-}
-
-void MarlinSerialUSB::print(long n, int base) {
-  if (base == 0)
-    write(n);
-  else if (base == 10) {
-    if (n < 0) {
-      print('-');
-      n = -n;
-    }
-    printNumber(n, 10);
-  }
-  else
-    printNumber(n, base);
-}
-
-void MarlinSerialUSB::print(unsigned long n, int base) {
-  if (base == 0) write(n);
-  else printNumber(n, base);
-}
-
-void MarlinSerialUSB::print(double n, int digits) {
-  printFloat(n, digits);
-}
-
-void MarlinSerialUSB::println() {
-  print('\r');
-  print('\n');
-}
-
-void MarlinSerialUSB::println(const String& s) {
-  print(s);
-  println();
-}
-
-void MarlinSerialUSB::println(const char c[]) {
-  print(c);
-  println();
-}
-
-void MarlinSerialUSB::println(char c, int base) {
-  print(c, base);
-  println();
-}
-
-void MarlinSerialUSB::println(unsigned char b, int base) {
-  print(b, base);
-  println();
-}
-
-void MarlinSerialUSB::println(int n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerialUSB::println(unsigned int n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerialUSB::println(long n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerialUSB::println(unsigned long n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerialUSB::println(double n, int digits) {
-  print(n, digits);
-  println();
-}
-
-// Private Methods
-
-void MarlinSerialUSB::printNumber(unsigned long n, uint8_t base) {
-  if (n) {
-    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
-    int8_t i = 0;
-    while (n) {
-      buf[i++] = n % base;
-      n /= base;
-    }
-    while (i--)
-      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
-  }
-  else
-    print('0');
-}
-
-void MarlinSerialUSB::printFloat(double number, uint8_t digits) {
-  // Handle negative numbers
-  if (number < 0.0) {
-    print('-');
-    number = -number;
-  }
-
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  double rounding = 0.5;
-  LOOP_L_N(i, digits)
-    rounding *= 0.1;
-
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  double remainder = number - (double)int_part;
-  print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits) {
-    print('.');
-    // Extract digits from the remainder one at a time
-    while (digits--) {
-      remainder *= 10.0;
-      int toPrint = int(remainder);
-      print(toPrint);
-      remainder -= toPrint;
-    }
-  }
+  return 1;
 }
 
 // Preinstantiate
 #if SERIAL_PORT == -1
-  MarlinSerialUSB customizedSerial1;
+  MSerialT1 customizedSerial1(TERN0(EMERGENCY_PARSER, true));
 #endif
 #if SERIAL_PORT_2 == -1
-  MarlinSerialUSB customizedSerial2;
+  MSerialT2 customizedSerial2(TERN0(EMERGENCY_PARSER, true));
+#endif
+#if SERIAL_PORT_3 == -1
+  MSerialT3 customizedSerial3(TERN0(EMERGENCY_PARSER, true));
 #endif
 
 #endif // HAS_USB_SERIAL

Marlin/src/HAL/DUE/MarlinSerialUSB.h

@@ -27,73 +27,39 @@
  */
 
 #include "../../inc/MarlinConfig.h"
-
-#if HAS_USB_SERIAL
+#include "../../core/serial_hook.h"
 
 #include <WString.h>
 
-#define DEC 10
-#define HEX 16
-#define OCT 8
-#define BIN 2
-
-class MarlinSerialUSB {
-
-public:
-  MarlinSerialUSB() {};
-  static void begin(const long);
-  static void end();
-  static int peek();
-  static int read();
-  static void flush();
-  static void flushTX();
-  static bool available();
-  static void write(const uint8_t c);
+struct MarlinSerialUSB {
+  void begin(const long);
+  void end();
+  int peek();
+  int read();
+  void flush();
+  int available();
+  size_t write(const uint8_t c);
 
   #if ENABLED(SERIAL_STATS_DROPPED_RX)
-    FORCE_INLINE static uint32_t dropped() { return 0; }
+    FORCE_INLINE uint32_t dropped() { return 0; }
   #endif
 
   #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
-    FORCE_INLINE static int rxMaxEnqueued() { return 0; }
+    FORCE_INLINE int rxMaxEnqueued() { return 0; }
   #endif
-
-  FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
-  FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
-  FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
-  FORCE_INLINE static void print(const char* str) { write(str); }
-
-  static void print(char, int = 0);
-  static void print(unsigned char, int = 0);
-  static void print(int, int = DEC);
-  static void print(unsigned int, int = DEC);
-  static void print(long, int = DEC);
-  static void print(unsigned long, int = DEC);
-  static void print(double, int = 2);
-
-  static void println(const String& s);
-  static void println(const char[]);
-  static void println(char, int = 0);
-  static void println(unsigned char, int = 0);
-  static void println(int, int = DEC);
-  static void println(unsigned int, int = DEC);
-  static void println(long, int = DEC);
-  static void println(unsigned long, int = DEC);
-  static void println(double, int = 2);
-  static void println();
-  operator bool() { return true; }
-
-private:
-  static void printNumber(unsigned long, const uint8_t);
-  static void printFloat(double, uint8_t);
 };
 
 #if SERIAL_PORT == -1
-  extern MarlinSerialUSB customizedSerial1;
+  typedef Serial1Class<MarlinSerialUSB> MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif
 
 #if SERIAL_PORT_2 == -1
-  extern MarlinSerialUSB customizedSerial2;
+  typedef Serial1Class<MarlinSerialUSB> MSerialT2;
+  extern MSerialT2 customizedSerial2;
 #endif
 
-#endif // HAS_USB_SERIAL
+#if SERIAL_PORT_3 == -1
+  typedef Serial1Class<MarlinSerialUSB> MSerialT3;
+  extern MSerialT3 customizedSerial3;
+#endif

Marlin/src/HAL/DUE/Tone.cpp

@@ -35,20 +35,20 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
-  HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
+  HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
 }
 
 void noTone(const pin_t _pin) {
-  HAL_timer_disable_interrupt(TONE_TIMER_NUM);
+  HAL_timer_disable_interrupt(MF_TIMER_TONE);
   extDigitalWrite(_pin, LOW);
 }
 
 HAL_TONE_TIMER_ISR() {
   static uint8_t pin_state = 0;
-  HAL_timer_isr_prologue(TONE_TIMER_NUM);
+  HAL_timer_isr_prologue(MF_TIMER_TONE);
 
   if (toggles) {
     toggles--;

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp

@@ -20,7 +20,6 @@
  *
  */
 
-
 /**
  * Based on u8g_com_msp430_hw_spi.c
  *
@@ -60,16 +59,15 @@
 
 #if HAS_MARLINUI_U8GLIB
 
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
 #include "../../../MarlinCore.h"
 
-void spiBegin();
-void spiInit(uint8_t spiRate);
-void spiSend(uint8_t b);
-void spiSend(const uint8_t* buf, size_t n);
+#ifndef LCD_SPI_SPEED
+  #define LCD_SPI_SPEED SPI_QUARTER_SPEED
+#endif
 
-#include "../../shared/Marduino.h"
+#include "../../shared/HAL_SPI.h"
 #include "../fastio.h"
 
 void u8g_SetPIOutput_DUE_hw_spi(u8g_t *u8g, uint8_t pin_index) {
@@ -100,11 +98,7 @@ uint8_t u8g_com_HAL_DUE_shared_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_va
 
       spiBegin();
 
-      #ifndef SPI_SPEED
-        #define SPI_SPEED SPI_FULL_SPEED  // use same SPI speed as SD card
-      #endif
-      spiInit(2);
-
+      spiInit(LCD_SPI_SPEED);
       break;
 
     case U8G_COM_MSG_ADDRESS:                     /* define cmd (arg_val = 0) or data mode (arg_val = 1) */

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp

@@ -57,11 +57,12 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-#if ENABLED(U8GLIB_ST7920)
+#if IS_U8GLIB_ST7920
 
+#include "../../../inc/MarlinConfig.h"
 #include "../../shared/Delay.h"
 
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
 #include "u8g_com_HAL_DUE_sw_spi_shared.h"
 
@@ -145,7 +146,7 @@ uint8_t u8g_com_HAL_DUE_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_va
 }
 
 #if ENABLED(LIGHTWEIGHT_UI)
-  #include "../../../lcd/ultralcd.h"
+  #include "../../../lcd/marlinui.h"
   #include "../../shared/HAL_ST7920.h"
 
   #define ST7920_CS_PIN LCD_PINS_RS
@@ -181,5 +182,5 @@ uint8_t u8g_com_HAL_DUE_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_va
   }
 #endif // LIGHTWEIGHT_UI
 
-#endif // U8GLIB_ST7920
+#endif // IS_U8GLIB_ST7920
 #endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp

@@ -57,17 +57,14 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-#if HAS_MARLINUI_U8GLIB && DISABLED(U8GLIB_ST7920)
-
-#undef SPI_SPEED
-#define SPI_SPEED 2  // About 2 MHz
+#if HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920
 
 #include "u8g_com_HAL_DUE_sw_spi_shared.h"
 
 #include "../../shared/Marduino.h"
 #include "../../shared/Delay.h"
 
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
 #if ENABLED(FYSETC_MINI_12864)
   #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_3
@@ -144,5 +141,5 @@ uint8_t u8g_com_HAL_DUE_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
   return 1;
 }
 
-#endif // HAS_MARLINUI_U8GLIB && !U8GLIB_ST7920
+#endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920
 #endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp

@@ -59,9 +59,10 @@
 
 #if HAS_MARLINUI_U8GLIB
 
+#include "../../../inc/MarlinConfig.h"
 #include "../../shared/Delay.h"
 
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
 #include "u8g_com_HAL_DUE_sw_spi_shared.h"
 

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h

@@ -23,7 +23,7 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 #include "../../shared/Marduino.h"
-#include <U8glib.h>
+#include <U8glib-HAL.h>
 
 void u8g_SetPIOutput_DUE(u8g_t *u8g, uint8_t pin_index);
 void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level);

Marlin/src/HAL/DUE/eeprom_flash.cpp

@@ -60,7 +60,7 @@
 #define EEPROMSize     4096
 #define PagesPerGroup   128
 #define GroupCount        2
-#define PageSize        256u
+#define PageSize        256U
 
  /* Flash storage */
 typedef struct FLASH_SECTOR {
@@ -135,11 +135,11 @@ static uint8_t buffer[256] = {0},   // The RAM buffer to accumulate writes
 #define DEBUG_OUT ENABLED(EE_EMU_DEBUG)
 #include "../../core/debug_out.h"
 
-static void ee_Dump(const int page, const void* data) {
+static void ee_Dump(const int page, const void *data) {
 
   #ifdef EE_EMU_DEBUG
 
-    const uint8_t* c = (const uint8_t*) data;
+    const uint8_t *c = (const uint8_t*) data;
     char buffer[80];
 
     sprintf_P(buffer, PSTR("Page: %d (0x%04x)\n"), page, page);
@@ -181,7 +181,7 @@ static void ee_Dump(const int page, const void* data) {
  * @param data    (pointer to the data buffer)
  */
 __attribute__ ((long_call, section (".ramfunc")))
-static bool ee_PageWrite(uint16_t page, const void* data) {
+static bool ee_PageWrite(uint16_t page, const void *data) {
 
   uint16_t i;
   uint32_t addrflash = uint32_t(getFlashStorage(page));
@@ -200,9 +200,9 @@ static bool ee_PageWrite(uint16_t page, const void* data) {
     pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i]));
 
   DEBUG_ECHO_START();
-  DEBUG_ECHOLNPAIR("EEPROM PageWrite   ", page);
-  DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash);
-  DEBUG_ECHOLNPAIR(" base address     ", (uint32_t)getFlashStorage(0));
+  DEBUG_ECHOLNPGM("EEPROM PageWrite   ", page);
+  DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
+  DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
 
   // Get the page relative to the start of the EFC controller, and the EFC controller to use
@@ -246,7 +246,7 @@ static bool ee_PageWrite(uint16_t page, const void* data) {
     __enable_irq();
 
     DEBUG_ECHO_START();
-    DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ", page);
+    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ", page);
     return false;
   }
 
@@ -271,7 +271,7 @@ static bool ee_PageWrite(uint16_t page, const void* data) {
     __enable_irq();
 
     DEBUG_ECHO_START();
-    DEBUG_ECHOLNPAIR("EEPROM Write failure for page ", page);
+    DEBUG_ECHOLNPGM("EEPROM Write failure for page ", page);
 
     return false;
   }
@@ -287,14 +287,14 @@ static bool ee_PageWrite(uint16_t page, const void* data) {
 
     #ifdef EE_EMU_DEBUG
       DEBUG_ECHO_START();
-      DEBUG_ECHOLNPAIR("EEPROM Verify Write failure for page ", page);
+      DEBUG_ECHOLNPGM("EEPROM Verify Write failure for page ", page);
 
       ee_Dump( page, (uint32_t *)addrflash);
       ee_Dump(-page, data);
 
       // Calculate count of changed bits
-      uint32_t* p1 = (uint32_t*)addrflash;
-      uint32_t* p2 = (uint32_t*)data;
+      uint32_t *p1 = (uint32_t*)addrflash;
+      uint32_t *p2 = (uint32_t*)data;
       int count = 0;
       for (i =0; i<PageSize >> 2; i++) {
         if (p1[i] != p2[i]) {
@@ -306,7 +306,7 @@ static bool ee_PageWrite(uint16_t page, const void* data) {
           }
         }
       }
-      DEBUG_ECHOLNPAIR("--> Differing bits: ", count);
+      DEBUG_ECHOLNPGM("--> Differing bits: ", count);
     #endif
 
     return false;
@@ -326,9 +326,9 @@ static bool ee_PageErase(uint16_t page) {
   uint32_t addrflash = uint32_t(getFlashStorage(page));
 
   DEBUG_ECHO_START();
-  DEBUG_ECHOLNPAIR("EEPROM PageErase  ", page);
-  DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash);
-  DEBUG_ECHOLNPAIR(" base address     ", (uint32_t)getFlashStorage(0));
+  DEBUG_ECHOLNPGM("EEPROM PageErase  ", page);
+  DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
+  DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
 
   // Get the page relative to the start of the EFC controller, and the EFC controller to use
@@ -371,7 +371,7 @@ static bool ee_PageErase(uint16_t page) {
     __enable_irq();
 
     DEBUG_ECHO_START();
-    DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ",page);
+    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ",page);
 
     return false;
   }
@@ -395,7 +395,7 @@ static bool ee_PageErase(uint16_t page) {
     __enable_irq();
 
     DEBUG_ECHO_START();
-    DEBUG_ECHOLNPAIR("EEPROM Erase failure for page ",page);
+    DEBUG_ECHOLNPGM("EEPROM Erase failure for page ",page);
 
     return false;
   }
@@ -411,7 +411,7 @@ static bool ee_PageErase(uint16_t page) {
   for (i = 0; i < PageSize >> 2; i++) {
     if (*aligned_src++ != 0xFFFFFFFF) {
       DEBUG_ECHO_START();
-      DEBUG_ECHOLNPAIR("EEPROM Verify Erase failure for page ",page);
+      DEBUG_ECHOLNPGM("EEPROM Verify Erase failure for page ",page);
       ee_Dump(page, (uint32_t *)addrflash);
       return false;
     }
@@ -470,7 +470,7 @@ static uint8_t ee_Read(uint32_t address, bool excludeRAMBuffer=false) {
   for (int page = curPage - 1; page >= 0; --page) {
 
     // Get a pointer to the flash page
-    uint8_t* pflash = (uint8_t*)getFlashStorage(page + curGroup * PagesPerGroup);
+    uint8_t *pflash = (uint8_t*)getFlashStorage(page + curGroup * PagesPerGroup);
 
     uint16_t i = 0;
     while (i <= (PageSize - 4)) { /* (PageSize - 4) because otherwise, there is not enough room for data and headers */
@@ -550,7 +550,7 @@ static uint32_t ee_GetAddrRange(uint32_t address, bool excludeRAMBuffer=false) {
   for (int page = curPage - 1; page >= 0; --page) {
 
     // Get a pointer to the flash page
-    uint8_t* pflash = (uint8_t*)getFlashStorage(page + curGroup * PagesPerGroup);
+    uint8_t *pflash = (uint8_t*)getFlashStorage(page + curGroup * PagesPerGroup);
 
     uint16_t i = 0;
     while (i <= (PageSize - 4)) { /* (PageSize - 4) because otherwise, there is not enough room for data and headers */
@@ -589,7 +589,7 @@ static uint32_t ee_GetAddrRange(uint32_t address, bool excludeRAMBuffer=false) {
 }
 
 static bool ee_IsPageClean(int page) {
-  uint32_t* pflash = (uint32_t*) getFlashStorage(page);
+  uint32_t *pflash = (uint32_t*) getFlashStorage(page);
   for (uint16_t i = 0; i < (PageSize >> 2); ++i)
     if (*pflash++ != 0xFFFFFFFF) return false;
   return true;
@@ -599,7 +599,7 @@ static bool ee_Flush(uint32_t overrideAddress = 0xFFFFFFFF, uint8_t overrideData
 
   // Check if RAM buffer has something to be written
   bool isEmpty = true;
-  uint32_t* p = (uint32_t*) &buffer[0];
+  uint32_t *p = (uint32_t*) &buffer[0];
   for (uint16_t j = 0; j < (PageSize >> 2); j++) {
     if (*p++ != 0xFFFFFFFF) {
       isEmpty = false;
@@ -922,7 +922,7 @@ static void ee_Init() {
   if (curGroup >= GroupCount) curGroup = 0;
 
   DEBUG_ECHO_START();
-  DEBUG_ECHOLNPAIR("EEPROM Current Group: ",curGroup);
+  DEBUG_ECHOLNPGM("EEPROM Current Group: ",curGroup);
   DEBUG_FLUSH();
 
   // Now, validate that all the other group pages are empty
@@ -932,7 +932,7 @@ static void ee_Init() {
     for (int page = 0; page < PagesPerGroup; page++) {
       if (!ee_IsPageClean(grp * PagesPerGroup + page)) {
         DEBUG_ECHO_START();
-        DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on group ", grp);
+        DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on group ", grp);
         DEBUG_FLUSH();
         ee_PageErase(grp * PagesPerGroup + page);
       }
@@ -949,14 +949,14 @@ static void ee_Init() {
   }
 
   DEBUG_ECHO_START();
-  DEBUG_ECHOLNPAIR("EEPROM Active page: ", curPage);
+  DEBUG_ECHOLNPGM("EEPROM Active page: ", curPage);
   DEBUG_FLUSH();
 
   // Make sure the pages following the first clean one are also clean
   for (int page = curPage + 1; page < PagesPerGroup; page++) {
     if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) {
       DEBUG_ECHO_START();
-      DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on active group ", curGroup);
+      DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on active group ", curGroup);
       DEBUG_FLUSH();
       ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page));
       ee_PageErase(curGroup * PagesPerGroup + page);
@@ -976,14 +976,13 @@ bool PersistentStore::access_start()  { ee_Init();  return true; }
 bool PersistentStore::access_finish() { ee_Flush(); return true; }
 
 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
   while (size--) {
     uint8_t * const p = (uint8_t * const)pos;
     uint8_t v = *value;
-    // EEPROM has only ~100,000 write cycles,
-    // so only write bytes that have changed!
-    if (v != ee_Read(uint32_t(p))) {
+    if (v != ee_Read(uint32_t(p))) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
       ee_Write(uint32_t(p), v);
-      delay(2);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
       if (ee_Read(uint32_t(p)) != v) {
         SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
         return true;
@@ -996,7 +995,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   return false;
 }
 
-bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
   do {
     uint8_t c = ee_Read(uint32_t(pos));
     if (writing) *value = c;

Marlin/src/HAL/DUE/eeprom_wired.cpp

@@ -42,14 +42,13 @@ bool PersistentStore::access_start()  { eeprom_init(); return true; }
 bool PersistentStore::access_finish() { return true; }
 
 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
   while (size--) {
     uint8_t * const p = (uint8_t * const)pos;
     uint8_t v = *value;
-    // EEPROM has only ~100,000 write cycles,
-    // so only write bytes that have changed!
-    if (v != eeprom_read_byte(p)) {
+    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
       eeprom_write_byte(p, v);
-      delay(2);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
       if (eeprom_read_byte(p) != v) {
         SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
         return true;
@@ -62,7 +61,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   return false;
 }
 
-bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
   do {
     uint8_t c = eeprom_read_byte((uint8_t*)pos);
     if (writing) *value = c;

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -64,4 +64,16 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }

Marlin/src/HAL/DUE/fastio.h

@@ -33,7 +33,7 @@
  * For ARDUINO_ARCH_SAM
  * Note the code here was specifically crafted by disassembling what GCC produces
  * out of it, so GCC is able to optimize it out as much as possible to the least
- * amount of instructions. Be very carefull if you modify them, as "clean code"
+ * amount of instructions. Be very careful if you modify them, as "clean code"
  * leads to less efficient compiled code!!
  */
 
@@ -50,7 +50,7 @@
 #define PWM_PIN(P)              WITHIN(P, 2, 13)
 
 #ifndef MASK
-  #define MASK(PIN) (1 << PIN)
+  #define MASK(PIN) _BV(PIN)
 #endif
 
 /**
@@ -163,6 +163,9 @@
 #define SET_INPUT(IO)        _SET_INPUT(IO)
 // Set pin as input with pullup (wrapper)
 #define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+// Set pin as input with pulldown (substitution)
+#define SET_INPUT_PULLDOWN   SET_INPUT
+
 // Set pin as output (wrapper) -  reads the pin and sets the output to that value
 #define SET_OUTPUT(IO)       _SET_OUTPUT(IO)
 // Set pin as PWM
@@ -477,7 +480,7 @@
 #define DIO91_PIN 15
 #define DIO91_WPORT PIOB
 
-#if ARDUINO_SAM_ARCHIM
+#ifdef ARDUINO_SAM_ARCHIM
 
   #define DIO92_PIN 11
   #define DIO92_WPORT PIOC

Marlin/src/HAL/DUE/fastio/G2_PWM.cpp

@@ -25,7 +25,7 @@
  * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
  * that interrupt.
  *
- * All PWMs use the same repetition rate.  The G2 needs about 10KHz min in order to
+ * All PWMs use the same repetition rate.  The G2 needs about 10kHz min in order to
  * not have obvious ripple on the Vref signals.
  *
  * The data structures are setup to minimize the computation done by the ISR which
@@ -154,7 +154,7 @@ void Stepper::digipot_init() {
   NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0));  // normal priority for PWM module (can stand some jitter on the Vref signals)
 }
 
-void Stepper::digipot_current(const uint8_t driver, const int16_t current) {
+void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
 
   if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init();  // Init PWM system if needed
 

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

@@ -40,7 +40,7 @@
  * Usually the hardware SPI pins are only available to the LCD. This makes the DUE hard SPI used at the same time
  * as the TMC2130 soft SPI the most common setup.
  */
-#define _IS_HW_SPI(P) (defined(TMC_SW_##P) && (TMC_SW_##P == MOSI_PIN || TMC_SW_##P == MISO_PIN || TMC_SW_##P == SCK_PIN))
+#define _IS_HW_SPI(P) (defined(TMC_SW_##P) && (TMC_SW_##P == SD_MOSI_PIN || TMC_SW_##P == SD_MISO_PIN || TMC_SW_##P == SD_SCK_PIN))
 
 #if ENABLED(SDSUPPORT) && HAS_DRIVER(TMC2130)
   #if ENABLED(TMC_USE_SW_SPI)
@@ -57,5 +57,9 @@
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on the DUE platform."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on DUE boards."
 #endif

Marlin/src/HAL/DUE/pinsDebug.h

@@ -2,6 +2,9 @@
  * 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
@@ -50,7 +53,7 @@
  *     The net result is that both the g_pinStatus[pin] array and the PIO_OSR register
  *     needs to be looked at when determining if a pin is an input or an output.
  *
- * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1KHz
+ * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1kHz
  *
  * c) NUM_DIGITAL_PINS does not include the analog pins
  *
@@ -64,6 +67,7 @@
 #define PRINT_PORT(p)
 #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
 #define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
@@ -86,7 +90,7 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
 void pwm_details(int32_t pin) {
   if (pwm_status(pin)) {
     uint32_t chan = g_APinDescription[pin].ulPWMChannel;
-    SERIAL_ECHOPAIR("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
+    SERIAL_ECHOPGM("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
   }
 }
 

Marlin/src/HAL/DUE/spi_pins.h

@@ -43,22 +43,22 @@
     #define SPI_PIN         87
     #define SPI_CHAN         1
   #endif
-  #define SCK_PIN           76
-  #define MISO_PIN          74
-  #define MOSI_PIN          75
+  #define SD_SCK_PIN        76
+  #define SD_MISO_PIN       74
+  #define SD_MOSI_PIN       75
 #else
   // defaults
   #define DUE_SOFTWARE_SPI
-  #ifndef SCK_PIN
-    #define SCK_PIN           52
+  #ifndef SD_SCK_PIN
+    #define SD_SCK_PIN      52
   #endif
-  #ifndef MISO_PIN
-    #define MISO_PIN          50
+  #ifndef SD_MISO_PIN
+    #define SD_MISO_PIN     50
   #endif
-  #ifndef MOSI_PIN
-    #define MOSI_PIN          51
+  #ifndef SD_MOSI_PIN
+    #define SD_MOSI_PIN     51
   #endif
 #endif
 
 /* A.28, A.29, B.21, C.26, C.29 */
-#define SS_PIN            SDSS
+#define SD_SS_PIN         SDSS

Marlin/src/HAL/DUE/timers.cpp

@@ -42,7 +42,7 @@
 // Private Variables
 // ------------------------
 
-const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
   { TC0, 0, TC0_IRQn,  3}, // 0 - [servo timer5]
   { TC0, 1, TC1_IRQn,  0}, // 1
   { TC0, 2, TC2_IRQn,  2}, // 2 - stepper
@@ -66,9 +66,9 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
 */
 
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
-  Tc *tc = TimerConfig[timer_num].pTimerRegs;
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
-  uint32_t channel = TimerConfig[timer_num].channel;
+  Tc *tc = timer_config[timer_num].pTimerRegs;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  uint32_t channel = timer_config[timer_num].channel;
 
   // Disable interrupt, just in case it was already enabled
   NVIC_DisableIRQ(irq);
@@ -86,7 +86,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
 
   pmc_set_writeprotect(false);
   pmc_enable_periph_clk((uint32_t)irq);
-  NVIC_SetPriority(irq, TimerConfig [timer_num].priority);
+  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);
@@ -105,12 +105,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
 }
 
 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
   NVIC_EnableIRQ(irq);
 }
 
 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
   NVIC_DisableIRQ(irq);
 
   // We NEED memory barriers to ensure Interrupts are actually disabled!
@@ -121,11 +121,11 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
 
 // missing from CMSIS: Check if interrupt is enabled or not
 static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
-  return (NVIC->ISER[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F))) != 0;
+  return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
 }
 
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
   return NVIC_GetEnabledIRQ(irq);
 }
 

Marlin/src/HAL/DUE/timers.h

@@ -37,35 +37,35 @@ typedef uint32_t hal_timer_t;
 
 #define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
 
-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        2  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         2  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        4  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         4  // Timer Index for Temperature
 #endif
-#ifndef TONE_TIMER_NUM
-  #define TONE_TIMER_NUM        6  // index of timer to use for beeper tones
+#ifndef MF_TIMER_TONE
+  #define MF_TIMER_TONE         6  // index of timer to use for beeper tones
 #endif
 
 #define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                        // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)                      // stepper timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                                    // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(STEP_TIMER_NUM)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
-#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_STEP_TIMER_ISR
   #define HAL_STEP_TIMER_ISR() void TC2_Handler()
@@ -92,7 +92,7 @@ typedef struct {
 // Public Variables
 // ------------------------
 
-extern const tTimerConfig TimerConfig[];
+extern const tTimerConfig timer_config[];
 
 // ------------------------
 // Public functions
@@ -101,17 +101,17 @@ extern const tTimerConfig TimerConfig[];
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 
 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
 }
 
 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
   return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
 }
 
 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
   return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
 }
 
@@ -120,9 +120,9 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  const tTimerConfig * const pConfig = &timer_config[timer_num];
   // Reading the status register clears the interrupt flag
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/DUE/upload_extra_script.py

@@ -4,15 +4,16 @@
 #  Windows: bossac.exe
 #  Other: leave unchanged
 #
+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"
+		)

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

@@ -71,7 +71,7 @@
 /* ------------------------------------------------------------------------ */
 
 /**
- * \page arduino_due_x_board_info "Arduino Due/X - Board informations"
+ * \page arduino_due_x_board_info "Arduino Due/X - Board information"
  * This page lists several definition related to the board description.
  *
  */

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

@@ -609,37 +609,37 @@ typedef struct
 #   define clz(u)              ((u) ? __CLZ(u) : 32)
 #else
 #   define clz(u)              (((u) == 0)          ? 32 : \
-                                ((u) & (1ul << 31)) ?  0 : \
-                                ((u) & (1ul << 30)) ?  1 : \
-                                ((u) & (1ul << 29)) ?  2 : \
-                                ((u) & (1ul << 28)) ?  3 : \
-                                ((u) & (1ul << 27)) ?  4 : \
-                                ((u) & (1ul << 26)) ?  5 : \
-                                ((u) & (1ul << 25)) ?  6 : \
-                                ((u) & (1ul << 24)) ?  7 : \
-                                ((u) & (1ul << 23)) ?  8 : \
-                                ((u) & (1ul << 22)) ?  9 : \
-                                ((u) & (1ul << 21)) ? 10 : \
-                                ((u) & (1ul << 20)) ? 11 : \
-                                ((u) & (1ul << 19)) ? 12 : \
-                                ((u) & (1ul << 18)) ? 13 : \
-                                ((u) & (1ul << 17)) ? 14 : \
-                                ((u) & (1ul << 16)) ? 15 : \
-                                ((u) & (1ul << 15)) ? 16 : \
-                                ((u) & (1ul << 14)) ? 17 : \
-                                ((u) & (1ul << 13)) ? 18 : \
-                                ((u) & (1ul << 12)) ? 19 : \
-                                ((u) & (1ul << 11)) ? 20 : \
-                                ((u) & (1ul << 10)) ? 21 : \
-                                ((u) & (1ul <<  9)) ? 22 : \
-                                ((u) & (1ul <<  8)) ? 23 : \
-                                ((u) & (1ul <<  7)) ? 24 : \
-                                ((u) & (1ul <<  6)) ? 25 : \
-                                ((u) & (1ul <<  5)) ? 26 : \
-                                ((u) & (1ul <<  4)) ? 27 : \
-                                ((u) & (1ul <<  3)) ? 28 : \
-                                ((u) & (1ul <<  2)) ? 29 : \
-                                ((u) & (1ul <<  1)) ? 30 : \
+                                ((u) & (1UL << 31)) ?  0 : \
+                                ((u) & (1UL << 30)) ?  1 : \
+                                ((u) & (1UL << 29)) ?  2 : \
+                                ((u) & (1UL << 28)) ?  3 : \
+                                ((u) & (1UL << 27)) ?  4 : \
+                                ((u) & (1UL << 26)) ?  5 : \
+                                ((u) & (1UL << 25)) ?  6 : \
+                                ((u) & (1UL << 24)) ?  7 : \
+                                ((u) & (1UL << 23)) ?  8 : \
+                                ((u) & (1UL << 22)) ?  9 : \
+                                ((u) & (1UL << 21)) ? 10 : \
+                                ((u) & (1UL << 20)) ? 11 : \
+                                ((u) & (1UL << 19)) ? 12 : \
+                                ((u) & (1UL << 18)) ? 13 : \
+                                ((u) & (1UL << 17)) ? 14 : \
+                                ((u) & (1UL << 16)) ? 15 : \
+                                ((u) & (1UL << 15)) ? 16 : \
+                                ((u) & (1UL << 14)) ? 17 : \
+                                ((u) & (1UL << 13)) ? 18 : \
+                                ((u) & (1UL << 12)) ? 19 : \
+                                ((u) & (1UL << 11)) ? 20 : \
+                                ((u) & (1UL << 10)) ? 21 : \
+                                ((u) & (1UL <<  9)) ? 22 : \
+                                ((u) & (1UL <<  8)) ? 23 : \
+                                ((u) & (1UL <<  7)) ? 24 : \
+                                ((u) & (1UL <<  6)) ? 25 : \
+                                ((u) & (1UL <<  5)) ? 26 : \
+                                ((u) & (1UL <<  4)) ? 27 : \
+                                ((u) & (1UL <<  3)) ? 28 : \
+                                ((u) & (1UL <<  2)) ? 29 : \
+                                ((u) & (1UL <<  1)) ? 30 : \
                                 31)
 #endif
 #endif
@@ -654,38 +654,38 @@ typedef struct
 #if (defined __GNUC__) || (defined __CC_ARM)
 #   define ctz(u)              ((u) ? __builtin_ctz(u) : 32)
 #else
-#   define ctz(u)              ((u) & (1ul <<  0) ?  0 : \
-                                (u) & (1ul <<  1) ?  1 : \
-                                (u) & (1ul <<  2) ?  2 : \
-                                (u) & (1ul <<  3) ?  3 : \
-                                (u) & (1ul <<  4) ?  4 : \
-                                (u) & (1ul <<  5) ?  5 : \
-                                (u) & (1ul <<  6) ?  6 : \
-                                (u) & (1ul <<  7) ?  7 : \
-                                (u) & (1ul <<  8) ?  8 : \
-                                (u) & (1ul <<  9) ?  9 : \
-                                (u) & (1ul << 10) ? 10 : \
-                                (u) & (1ul << 11) ? 11 : \
-                                (u) & (1ul << 12) ? 12 : \
-                                (u) & (1ul << 13) ? 13 : \
-                                (u) & (1ul << 14) ? 14 : \
-                                (u) & (1ul << 15) ? 15 : \
-                                (u) & (1ul << 16) ? 16 : \
-                                (u) & (1ul << 17) ? 17 : \
-                                (u) & (1ul << 18) ? 18 : \
-                                (u) & (1ul << 19) ? 19 : \
-                                (u) & (1ul << 20) ? 20 : \
-                                (u) & (1ul << 21) ? 21 : \
-                                (u) & (1ul << 22) ? 22 : \
-                                (u) & (1ul << 23) ? 23 : \
-                                (u) & (1ul << 24) ? 24 : \
-                                (u) & (1ul << 25) ? 25 : \
-                                (u) & (1ul << 26) ? 26 : \
-                                (u) & (1ul << 27) ? 27 : \
-                                (u) & (1ul << 28) ? 28 : \
-                                (u) & (1ul << 29) ? 29 : \
-                                (u) & (1ul << 30) ? 30 : \
-                                (u) & (1ul << 31) ? 31 : \
+#   define ctz(u)              ((u) & (1UL <<  0) ?  0 : \
+                                (u) & (1UL <<  1) ?  1 : \
+                                (u) & (1UL <<  2) ?  2 : \
+                                (u) & (1UL <<  3) ?  3 : \
+                                (u) & (1UL <<  4) ?  4 : \
+                                (u) & (1UL <<  5) ?  5 : \
+                                (u) & (1UL <<  6) ?  6 : \
+                                (u) & (1UL <<  7) ?  7 : \
+                                (u) & (1UL <<  8) ?  8 : \
+                                (u) & (1UL <<  9) ?  9 : \
+                                (u) & (1UL << 10) ? 10 : \
+                                (u) & (1UL << 11) ? 11 : \
+                                (u) & (1UL << 12) ? 12 : \
+                                (u) & (1UL << 13) ? 13 : \
+                                (u) & (1UL << 14) ? 14 : \
+                                (u) & (1UL << 15) ? 15 : \
+                                (u) & (1UL << 16) ? 16 : \
+                                (u) & (1UL << 17) ? 17 : \
+                                (u) & (1UL << 18) ? 18 : \
+                                (u) & (1UL << 19) ? 19 : \
+                                (u) & (1UL << 20) ? 20 : \
+                                (u) & (1UL << 21) ? 21 : \
+                                (u) & (1UL << 22) ? 22 : \
+                                (u) & (1UL << 23) ? 23 : \
+                                (u) & (1UL << 24) ? 24 : \
+                                (u) & (1UL << 25) ? 25 : \
+                                (u) & (1UL << 26) ? 26 : \
+                                (u) & (1UL << 27) ? 27 : \
+                                (u) & (1UL << 28) ? 28 : \
+                                (u) & (1UL << 29) ? 29 : \
+                                (u) & (1UL << 30) ? 30 : \
+                                (u) & (1UL << 31) ? 31 : \
                                 32)
 #endif
 #endif

Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp

@@ -10,7 +10,7 @@
 
 #include "../../../sd/cardreader.h"
 extern "C" {
-#include "sd_mmc_spi_mem.h"
+  #include "sd_mmc_spi_mem.h"
 }
 
 #define SD_MMC_BLOCK_SIZE 512
@@ -32,7 +32,7 @@ Ctrl_status sd_mmc_spi_test_unit_ready() {
 Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector) {
   if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
     return CTRL_NO_PRESENT;
-  *nb_sector = card.getSd2Card().cardSize() - 1;
+  *nb_sector = card.diskIODriver()->cardSize() - 1;
   return CTRL_GOOD;
 }
 
@@ -68,30 +68,30 @@ Ctrl_status sd_mmc_spi_usb_read_10(uint32_t addr, uint16_t nb_sector) {
   {
     char buffer[80];
     sprintf_P(buffer, PSTR("SDRD: %d @ 0x%08x\n"), nb_sector, addr);
-    PORT_REDIRECT(0);
+    PORT_REDIRECT(SERIAL_PORTMASK(0));
     SERIAL_ECHO(buffer);
   }
   #endif
 
   // Start reading
-  if (!card.getSd2Card().readStart(addr))
+  if (!card.diskIODriver()->readStart(addr))
     return CTRL_FAIL;
 
   // For each specified sector
   while (nb_sector--) {
 
     // Read a sector
-    card.getSd2Card().readData(sector_buf);
+    card.diskIODriver()->readData(sector_buf);
 
     // RAM -> USB
-    if (!udi_msc_trans_block(true, sector_buf, SD_MMC_BLOCK_SIZE, NULL)) {
-      card.getSd2Card().readStop();
+    if (!udi_msc_trans_block(true, sector_buf, SD_MMC_BLOCK_SIZE, nullptr)) {
+      card.diskIODriver()->readStop();
       return CTRL_FAIL;
     }
   }
 
   // Stop reading
-  card.getSd2Card().readStop();
+  card.diskIODriver()->readStop();
 
   // Done
   return CTRL_GOOD;
@@ -108,29 +108,29 @@ Ctrl_status sd_mmc_spi_usb_write_10(uint32_t addr, uint16_t nb_sector) {
   {
     char buffer[80];
     sprintf_P(buffer, PSTR("SDWR: %d @ 0x%08x\n"), nb_sector, addr);
-    PORT_REDIRECT(0);
+    PORT_REDIRECT(SERIAL_PORTMASK(0));
     SERIAL_ECHO(buffer);
   }
   #endif
 
-  if (!card.getSd2Card().writeStart(addr, nb_sector))
+  if (!card.diskIODriver()->writeStart(addr, nb_sector))
     return CTRL_FAIL;
 
   // For each specified sector
   while (nb_sector--) {
 
     // USB -> RAM
-    if (!udi_msc_trans_block(false, sector_buf, SD_MMC_BLOCK_SIZE, NULL)) {
-      card.getSd2Card().writeStop();
+    if (!udi_msc_trans_block(false, sector_buf, SD_MMC_BLOCK_SIZE, nullptr)) {
+      card.diskIODriver()->writeStop();
       return CTRL_FAIL;
     }
 
     // Write a sector
-    card.getSd2Card().writeData(sector_buf);
+    card.diskIODriver()->writeData(sector_buf);
   }
 
   // Stop writing
-  card.getSd2Card().writeStop();
+  card.diskIODriver()->writeStop();
 
   // Done
   return CTRL_GOOD;

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

@@ -74,7 +74,7 @@
 #define   SD_MMC_REMOVING      2
 
 
-//---- CONTROL FONCTIONS ----
+//---- CONTROL FUNCTIONS ----
 //!
 //! @brief This function initializes the hw/sw resources required to drive the SD_MMC_SPI.
 //!/
@@ -134,7 +134,7 @@ extern bool           sd_mmc_spi_wr_protect(void);
 extern bool           sd_mmc_spi_removal(void);
 
 
-//---- ACCESS DATA FONCTIONS ----
+//---- ACCESS DATA FUNCTIONS ----
 
 #if ACCESS_USB == true
 // Standard functions for open in read/write mode the device

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

@@ -90,7 +90,7 @@ typedef struct {
 	//! This buffer must be word align for DATA IN phase (use prefix COMPILER_WORD_ALIGNED for buffer)
 	uint8_t *payload;
 
-	//! Size of buffer to send or fill, and content the number of byte transfered
+	//! Size of buffer to send or fill, and content the number of byte transferred
 	uint16_t payload_size;
 
 	//! Callback called after reception of ZLP from setup request
@@ -132,10 +132,10 @@ typedef void (*udd_callback_halt_cleared_t)(void);
  *
  * \param status     UDD_EP_TRANSFER_OK, if transfer is complete
  * \param status     UDD_EP_TRANSFER_ABORT, if transfer is aborted
- * \param n          number of data transfered
+ * \param n          number of data transferred
  */
 typedef void (*udd_callback_trans_t) (udd_ep_status_t status,
-		iram_size_t nb_transfered, udd_ep_id_t ep);
+		iram_size_t nb_transferred, udd_ep_id_t ep);
 
 /**
  * \brief Authorizes the VBUS event
@@ -303,7 +303,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
  * The driver uses a specific DMA USB to transfer data
  * from internal RAM to endpoint, if this one is available.
  * When the transfer is finished or aborted (stall, reset, ...), the \a callback is called.
- * The \a callback returns the transfer status and eventually the number of byte transfered.
+ * The \a callback returns the transfer status and eventually the number of byte transferred.
  * Note: The control endpoint is not authorized.
  *
  * \param ep            The ID of the endpoint to use

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

@@ -162,7 +162,7 @@ static void udi_cdc_ctrl_state_notify(uint8_t port, udd_ep_id_t ep);
  *
  * \param status     UDD_EP_TRANSFER_OK, if transfer finished
  * \param status     UDD_EP_TRANSFER_ABORT, if transfer aborted
- * \param n          number of data transfered
+ * \param n          number of data transferred
  */
 static void udi_cdc_serial_state_msg_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep);
 
@@ -200,7 +200,7 @@ static void udi_cdc_data_received(udd_ep_status_t status, iram_size_t n, udd_ep_
  *
  * \param status     UDD_EP_TRANSFER_OK, if transfer finished
  * \param status     UDD_EP_TRANSFER_ABORT, if transfer aborted
- * \param n          number of data transfered
+ * \param n          number of data transferred
  */
 static void udi_cdc_data_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep);
 

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

@@ -675,11 +675,11 @@ iram_size_t udi_cdc_multi_write_buf(uint8_t port, const void* buf, iram_size_t s
  *   - \code // Waits and gets a value on CDC line
 	int udi_cdc_getc(void);
 	// Reads a RAM buffer on CDC line
-	iram_size_t udi_cdc_read_buf(int* buf, iram_size_t size);
+	iram_size_t udi_cdc_read_buf(int *buf, iram_size_t size);
 	// Puts a byte on CDC line
 	int udi_cdc_putc(int value);
 	// Writes a RAM buffer on CDC line
-	iram_size_t udi_cdc_write_buf(const int* buf, iram_size_t size); \endcode
+	iram_size_t udi_cdc_write_buf(const int *buf, iram_size_t size); \endcode
  *
  * \section udi_cdc_use_cases Advanced use cases
  * For more advanced use of the UDI CDC module, see the following use cases:

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

@@ -106,7 +106,7 @@ extern "C" {
  */
 //@{
 #  if UDI_CDC_PORT_NB > 2
-#    error USBB, UDP, UDPHS and UOTGHS interfaces have not enought endpoints.
+#    error USBB, UDP, UDPHS and UOTGHS interfaces have not enough endpoints.
 #  endif
 #define  UDI_CDC_DATA_EP_IN_0          (1 | USB_EP_DIR_IN)  // TX
 #define  UDI_CDC_DATA_EP_OUT_0         (2 | USB_EP_DIR_OUT) // RX

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

@@ -173,7 +173,7 @@ static void udi_msc_cbw_wait(void);
  *
  * \param status       UDD_EP_TRANSFER_OK, if transfer is finished
  * \param status       UDD_EP_TRANSFER_ABORT, if transfer is aborted
- * \param nb_received  number of data transfered
+ * \param nb_received  number of data transferred
  */
 static void udi_msc_cbw_received(udd_ep_status_t status,
     iram_size_t nb_received, udd_ep_id_t ep);
@@ -211,7 +211,7 @@ static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size);
  *
  * \param status     UDD_EP_TRANSFER_OK, if transfer finish
  * \param status     UDD_EP_TRANSFER_ABORT, if transfer aborted
- * \param nb_sent    number of data transfered
+ * \param nb_sent    number of data transferred
  */
 static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent,
     udd_ep_id_t ep);
@@ -244,7 +244,7 @@ void udi_msc_csw_send(void);
  *
  * \param status     UDD_EP_TRANSFER_OK, if transfer is finished
  * \param status     UDD_EP_TRANSFER_ABORT, if transfer is aborted
- * \param nb_sent    number of data transfered
+ * \param nb_sent    number of data transferred
  */
 static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent,
     udd_ep_id_t ep);
@@ -463,7 +463,7 @@ uint8_t udi_msc_getsetting(void)
 static void udi_msc_cbw_invalid(void)
 {
   if (!udi_msc_b_cbw_invalid)
-    return; // Don't re-stall endpoint if error reseted by setup
+    return; // Don't re-stall endpoint if error reset by setup
   udd_ep_set_halt(UDI_MSC_EP_OUT);
   // If stall cleared then re-stall it. Only Setup MSC Reset can clear it
   udd_ep_wait_stall_clear(UDI_MSC_EP_OUT, udi_msc_cbw_invalid);
@@ -472,7 +472,7 @@ static void udi_msc_cbw_invalid(void)
 static void udi_msc_csw_invalid(void)
 {
   if (!udi_msc_b_cbw_invalid)
-    return; // Don't re-stall endpoint if error reseted by setup
+    return; // Don't re-stall endpoint if error reset by setup
   udd_ep_set_halt(UDI_MSC_EP_IN);
   // If stall cleared then re-stall it. Only Setup MSC Reset can clear it
   udd_ep_wait_stall_clear(UDI_MSC_EP_IN, udi_msc_csw_invalid);

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

@@ -325,7 +325,7 @@ static void udd_sleep_mode(bool b_idle)
 /**
  * \name Control endpoint low level management routine.
  *
- * This function performs control endpoint mangement.
+ * This function performs control endpoint management.
  * It handle the SETUP/DATA/HANDSHAKE phases of a control transaction.
  */
 //@{
@@ -397,9 +397,9 @@ static void udd_ctrl_endofrequest(void);
 /**
  * \brief Main interrupt routine for control endpoint
  *
- * This switchs control endpoint events to correct sub function.
+ * This switches control endpoint events to correct sub function.
  *
- * \return \c 1 if an event about control endpoint is occured, otherwise \c 0.
+ * \return \c 1 if an event about control endpoint is occurred, otherwise \c 0.
  */
 static bool udd_ctrl_interrupt(void);
 
@@ -410,7 +410,7 @@ static bool udd_ctrl_interrupt(void);
  * \name Management of bulk/interrupt/isochronous endpoints
  *
  * The UDD manages the data transfer on endpoints:
- * - Start data tranfer on endpoint with USB Device DMA
+ * - Start data transfer on endpoint with USB Device DMA
  * - Send a ZLP packet if requested
  * - Call callback registered to signal end of transfer
  * The transfer abort and stall feature are supported.
@@ -431,7 +431,7 @@ typedef struct {
 	uint8_t *buf;
 	//! Size of buffer to send or fill
 	iram_size_t buf_size;
-	//!< Size of data transfered
+	//!< Size of data transferred
 	iram_size_t buf_cnt;
 	//!< Size of data loaded (or prepared for DMA) last time
 	iram_size_t buf_load;
@@ -486,7 +486,7 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n
 
 #ifdef UDD_EP_DMA_SUPPORTED
 	/**
-	 * \brief Start the next transfer if necessary or complet the job associated.
+	 * \brief Start the next transfer if necessary or complete the job associated.
 	 *
 	 * \param ep endpoint number without direction flag
 	 */
@@ -496,9 +496,9 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n
 /**
  * \brief Main interrupt routine for bulk/interrupt/isochronous endpoints
  *
- * This switchs endpoint events to correct sub function.
+ * This switches endpoint events to correct sub function.
  *
- * \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occured, otherwise \c 0.
+ * \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occurred, otherwise \c 0.
  */
 static bool udd_ep_interrupt(void);
 
@@ -520,7 +520,7 @@ static bool udd_ep_interrupt(void);
  *
  * Note:
  * Here, the global interrupt mask is not clear when an USB interrupt is enabled
- * because this one can not be occured during the USB ISR (=during INTX is masked).
+ * because this one can not be occurred during the USB ISR (=during INTX is masked).
  * See Technical reference $3.8.3 Masking interrupt requests in peripheral modules.
  */
 #ifdef UHD_ENABLE
@@ -787,7 +787,7 @@ void udd_attach(void)
 	udd_sleep_mode(true);
 	otg_unfreeze_clock();
 
-	// This section of clock check can be improved with a chek of
+	// This section of clock check can be improved with a check of
 	// USB clock source via sysclk()
 	// Check USB clock because the source can be a PLL
 	while (!Is_otg_clock_usable());
@@ -803,7 +803,7 @@ void udd_attach(void)
 #ifdef USB_DEVICE_HS_SUPPORT
 	udd_enable_msof_interrupt();
 #endif
-	// Reset following interupts flag
+	// Reset following interrupts flag
 	udd_ack_reset();
 	udd_ack_sof();
 	udd_ack_msof();
@@ -902,7 +902,7 @@ bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes,
 	}
 	dbg_print("alloc(%x, %d) ", ep, MaxEndpointSize);
 
-	// Bank choise
+	// Bank choice
 	switch (bmAttributes & USB_EP_TYPE_MASK) {
 	case USB_EP_TYPE_ISOCHRONOUS:
 		nb_bank = UDD_ISOCHRONOUS_NB_BANK(ep);
@@ -1228,7 +1228,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep,
 
 	if (Is_udd_endpoint_stall_requested(ep)
 			|| ptr_job->stall_requested) {
-		// Endpoint halted then registes the callback
+		// Endpoint halted then registers the callback
 		ptr_job->busy = true;
 		ptr_job->call_nohalt = callback;
 	} else {
@@ -1386,7 +1386,7 @@ static void udd_ctrl_setup_received(void)
 
 	// Decode setup request
 	if (udc_process_setup() == false) {
-		// Setup request unknow then stall it
+		// Setup request unknown then stall it
 		udd_ctrl_stall_data();
 		udd_ack_setup_received(0);
 		return;
@@ -1447,7 +1447,7 @@ static void udd_ctrl_in_sent(void)
 		udd_ctrl_prev_payload_buf_cnt += udd_ctrl_payload_buf_cnt;
 		if ((udd_g_ctrlreq.req.wLength == udd_ctrl_prev_payload_buf_cnt)
 					|| b_shortpacket) {
-			// All data requested are transfered or a short packet has been sent
+			// All data requested are transferred or a short packet has been sent
 			// then it is the end of data phase.
 			// Generate an OUT ZLP for handshake phase.
 			udd_ctrl_send_zlp_out();
@@ -1516,7 +1516,7 @@ static void udd_ctrl_out_received(void)
 			// End of SETUP request:
 			// - Data IN Phase aborted,
 			// - or last Data IN Phase hidden by ZLP OUT sending quiclky,
-			// - or ZLP OUT received normaly.
+			// - or ZLP OUT received normally.
 			udd_ctrl_endofrequest();
 		} else {
 			// Protocol error during SETUP request
@@ -1544,7 +1544,7 @@ static void udd_ctrl_out_received(void)
 					(udd_ctrl_prev_payload_buf_cnt +
 							udd_ctrl_payload_buf_cnt))) {
 		// End of reception because it is a short packet
-		// Before send ZLP, call intermediat calback
+		// Before send ZLP, call intermediate callback
 		// in case of data receiv generate a stall
 		udd_g_ctrlreq.payload_size = udd_ctrl_payload_buf_cnt;
 		if (NULL != udd_g_ctrlreq.over_under_run) {
@@ -1565,7 +1565,7 @@ static void udd_ctrl_out_received(void)
 	if (udd_g_ctrlreq.payload_size == udd_ctrl_payload_buf_cnt) {
 		// Overrun then request a new payload buffer
 		if (!udd_g_ctrlreq.over_under_run) {
-			// No callback availabled to request a new payload buffer
+			// No callback available to request a new payload buffer
 			udd_ctrl_stall_data();
 			// Ack reception of OUT to replace NAK by a STALL
 			udd_ack_out_received(0);
@@ -1805,7 +1805,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
 			// transfer size of UDD_ENDPOINT_MAX_TRANS Bytes
 			next_trans = UDD_ENDPOINT_MAX_TRANS;
 
-			// Set 0 to tranfer the maximum
+			// Set 0 to transfer the maximum
 			udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(0);
 		} else {
 			udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(next_trans);
@@ -1850,7 +1850,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep)
 		}
 		cpu_irq_restore(flags);
 
-		// Here a ZLP has been recieved
+		// Here a ZLP has been received
 		// and the DMA transfer must be not started.
 		// It is the end of transfer
 		ptr_job->buf_size = ptr_job->buf_cnt;
@@ -1991,13 +1991,13 @@ static bool udd_ep_interrupt(void)
 			}
 			dbg_print("dma%x: ", ep);
 			udd_disable_endpoint_dma_interrupt(ep);
-			// Save number of data no transfered
+			// Save number of data no transferred
 			nb_remaining = (udd_endpoint_dma_get_status(ep) &
 					UOTGHS_DEVDMASTATUS_BUFF_COUNT_Msk)
 					>> UOTGHS_DEVDMASTATUS_BUFF_COUNT_Pos;
 			if (nb_remaining) {
 				// Transfer no complete (short packet or ZLP) then:
-				// Update number of data transfered
+				// Update number of data transferred
 				ptr_job->buf_cnt -= nb_remaining;
 				// Set transfer complete to stop the transfer
 				ptr_job->buf_size = ptr_job->buf_cnt;
@@ -2056,7 +2056,7 @@ static bool udd_ep_interrupt(void)
 				udd_disable_endpoint_interrupt(ep);
 
 				Assert(ptr_job->stall_requested);
-				// A stall has been requested during backgound transfer
+				// A stall has been requested during background transfer
 				ptr_job->stall_requested = false;
 				udd_disable_endpoint_bank_autoswitch(ep);
 				udd_enable_stall_handshake(ep);

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

@@ -130,7 +130,7 @@ struct usb_msc_cbw {
 struct usb_msc_csw {
 	le32_t dCSWSignature;	//!< Must contain 'USBS'
 	le32_t dCSWTag;	//!< Same as dCBWTag
-	le32_t dCSWDataResidue;	//!< Number of bytes not transfered
+	le32_t dCSWDataResidue;	//!< Number of bytes not transferred
 	uint8_t bCSWStatus;	//!< Status code
 };
 

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

@@ -264,7 +264,7 @@ bool usb_task_extra_string(void) {
 ** Handle device requests that the ASF stack doesn't
 */
 bool usb_task_other_requests(void) {
-  uint8_t* ptr = 0;
+  uint8_t *ptr = 0;
   uint16_t size = 0;
 
   if (Udd_setup_type() == USB_REQ_TYPE_VENDOR) {
@@ -322,7 +322,7 @@ void usb_task_init(void) {
       char *sptr;
 
       // Patch in the filament diameter
-      sprintf_P(diam, PSTR("%d"), (int)((DEFAULT_NOMINAL_FILAMENT_DIA) * 1000.0));
+      itoa((int)((DEFAULT_NOMINAL_FILAMENT_DIA) * 1000), diam, 10);
 
       // And copy it to the proper place, expanding it to unicode
       sptr = &diam[0];

Marlin/src/HAL/DUE/watchdog.cpp

@@ -36,7 +36,7 @@ void watchdogSetup() {
   #if ENABLED(USE_WATCHDOG)
 
     // 4 seconds timeout
-    uint32_t timeout = 4000;
+    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
 
     // Calculate timeout value in WDT counter ticks: This assumes
     // the slow clock is running at 32.768 kHz watchdog

Marlin/src/HAL/ESP32/FlushableHardwareSerial.cpp

@@ -20,14 +20,10 @@
  *
  */
 
-#include "FlushableHardwareSerial.h"
-
 #ifdef ARDUINO_ARCH_ESP32
 
-FlushableHardwareSerial::FlushableHardwareSerial(int uart_nr)
-    : HardwareSerial(uart_nr)
-{}
+#include "FlushableHardwareSerial.h"
 
-FlushableHardwareSerial flushableSerial(0);
+Serial1Class<FlushableHardwareSerial> flushableSerial(false, 0);
 
-#endif // ARDUINO_ARCH_ESP32
+#endif

Marlin/src/HAL/ESP32/FlushableHardwareSerial.h

@@ -21,17 +21,14 @@
  */
 #pragma once
 
-#ifdef ARDUINO_ARCH_ESP32
-
 #include <HardwareSerial.h>
 
+#include "../shared/Marduino.h"
+#include "../../core/serial_hook.h"
+
 class FlushableHardwareSerial : public HardwareSerial {
 public:
-  FlushableHardwareSerial(int uart_nr);
-
-  inline void flushTX() { /* No need to flush the hardware serial, but defined here for compatibility. */ }
+  FlushableHardwareSerial(int uart_nr) : HardwareSerial(uart_nr) {}
 };
 
-extern FlushableHardwareSerial flushableSerial;
-
-#endif // ARDUINO_ARCH_ESP32
+extern Serial1Class<FlushableHardwareSerial> flushableSerial;

Marlin/src/HAL/ESP32/HAL.cpp

@@ -28,6 +28,10 @@
 #include <esp_adc_cal.h>
 #include <HardwareSerial.h>
 
+#if ENABLED(USE_ESP32_TASK_WDT)
+  #include <esp_task_wdt.h>
+#endif
+
 #if ENABLED(WIFISUPPORT)
   #include <ESPAsyncWebServer.h>
   #include "wifi.h"
@@ -40,11 +44,15 @@
   #endif
 #endif
 
+#if ENABLED(ESP3D_WIFISUPPORT)
+  DefaultSerial1 MSerial0(false, Serial2Socket);
+#endif
+
 // ------------------------
 // Externs
 // ------------------------
 
-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 // ------------------------
 // Local defines
@@ -56,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private Variables
@@ -65,9 +73,16 @@ uint16_t HAL_adc_result;
 esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
 adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
 uint32_t thresholds[ADC_ATTEN_MAX];
-volatile int numPWMUsed = 0,
-             pwmPins[MAX_PWM_PINS],
-             pwmValues[MAX_PWM_PINS];
+
+volatile int numPWMUsed = 0;
+volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
+
+pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
+
+struct {
+  uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
+  uint16_t res;
+} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
 
 // ------------------------
 // Public functions
@@ -86,10 +101,26 @@ volatile int numPWMUsed = 0,
 
 #endif
 
-void HAL_init() { i2s_init(); }
+#if ENABLED(USE_ESP32_EXIO)
 
-void HAL_init_board() {
+  HardwareSerial YSerial2(2);
 
+  void Write_EXIO(uint8_t IO, uint8_t v) {
+    if (hal.isr_state()) {
+      hal.isr_off();
+      YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
+      hal.isr_on();
+    }
+    else
+      YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
+  }
+
+#endif
+
+void MarlinHAL::init_board() {
+  #if ENABLED(USE_ESP32_TASK_WDT)
+    esp_task_wdt_init(10, true);
+  #endif
   #if ENABLED(ESP3D_WIFISUPPORT)
     esp3dlib.init();
   #elif ENABLED(WIFISUPPORT)
@@ -122,27 +153,36 @@ void HAL_init_board() {
     #endif
   #endif
 
+  // Initialize the i2s peripheral only if the I2S stepper stream is enabled.
+  // The following initialization is performed after Serial1 and Serial2 are defined as
+  // their native pins might conflict with the i2s stream even when they are remapped.
+  #if ENABLED(USE_ESP32_EXIO)
+    YSerial2.begin(460800 * 3, SERIAL_8N1, 16, 17);
+  #elif ENABLED(I2S_STEPPER_STREAM)
+    i2s_init();
+  #endif
 }
 
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if BOTH(WIFISUPPORT, OTASUPPORT)
     OTA_handle();
   #endif
   TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }
 
-void HAL_clear_reset_source() { }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
+void MarlinHAL::reboot() { ESP.restart(); }
 
 void _delay_ms(int delay_ms) { delay(delay_ms); }
 
 // return free memory between end of heap (or end bss) and whatever is current
-int freeMemory() { return ESP.getFreeHeap(); }
+int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 
 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
 
 adc1_channel_t get_channel(int pin) {
@@ -164,21 +204,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
   }
 }
 
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
   // Configure ADC
   adc1_config_width(ADC_WIDTH_12Bit);
 
   // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
-  TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_0,        adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_1,        adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_2,        adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_3,        adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_4,        adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
   TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
 
   // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -193,11 +236,16 @@ void HAL_adc_init() {
   }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+#ifndef ADC_REFERENCE_VOLTAGE
+  #define ADC_REFERENCE_VOLTAGE 3.3
+#endif
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+
+  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;
@@ -214,25 +262,81 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
   adc1_set_attenuation(chan, atten);
 }
 
-void analogWrite(pin_t pin, int value) {
-  // Use ledc hardware for internal pins
-  if (pin < 34) {
-    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
-    if (pin_to_channel[pin] == 0) {
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 490, 8);
-      ledcWrite(cnt_channel, value);
-      pin_to_channel[pin] = cnt_channel++;
+// ------------------------
+// PWM
+// ------------------------
+
+int8_t channel_for_pin(const uint8_t pin) {
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
+    if (chan_pin[i] == pin) return i;
+  return -1;
+}
+
+// get PWM channel for pin - if none then attach a new one
+// return -1 if fail or invalid pin#, channel # (0-15) if success
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
+  if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
+  int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) return cid;
+
+  // Find an empty adjacent channel (same timer & freq/res)
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
+    if (chan_pin[i] == 0) {
+      if (chan_pin[i ^ 0x1] != 0) {
+        if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
+          chan_pin[i] = pin; // Allocate PWM to this channel
+          ledcAttachPin(pin, i);
+          return i;
+        }
+      }
+      else if (cid == -1)    // Pair of empty channels?
+        cid = i & 0xFE;      // Save lower channel number
     }
-    ledcWrite(pin_to_channel[pin], value);
+  }
+  // not attached, is an empty timer slot avail?
+  if (cid >= 0) {
+    chan_pin[cid] = pin;
+    pwmInfo[cid / 2].freq = freq;
+    pwmInfo[cid / 2].res = res;
+    ledcSetup(cid, freq, res);
+    ledcAttachPin(pin, cid);
+  }
+  return cid; // -1 if no channel avail
+}
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
+  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+  if (cid >= 0) {
+    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+    ledcWrite(cid, duty);
+  }
+}
+
+int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
+  const int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) {
+    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+    ledcDetachPin(chan_pin[cid]);
+    chan_pin[cid] = 0;              // remove old freq channel
+  }
+  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+}
+
+// use hardware PWM if avail, if not then ISR
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
+  // Use ledc hardware for internal pins
+  const int8_t cid = get_pwm_channel(pin, freq, res);
+  if (cid >= 0) {
+    ledcWrite(cid, value); // set duty value
     return;
   }
 
+  // not a hardware PWM pin OR no PWM channels available
   int idx = -1;
 
   // Search Pin
   for (int i = 0; i < numPWMUsed; ++i)
-    if (pwmPins[i] == pin) { idx = i; break; }
+    if (pwmState[i].pin == pin) { idx = i; break; }
 
   // not found ?
   if (idx < 0) {
@@ -241,34 +345,34 @@ void analogWrite(pin_t pin, int value) {
 
     // Take new slot for pin
     idx = numPWMUsed;
-    pwmPins[idx] = pin;
+    pwmState[idx].pin = pin;
     // Start timer on first use
-    if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY);
+    if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
 
     ++numPWMUsed;
   }
 
   // Use 7bit internal value - add 1 to have 100% high at 255
-  pwmValues[idx] = (value + 1) / 2;
+  pwmState[idx].value = (value + 1) / 2;
 }
 
 // Handle PWM timer interrupt
 HAL_PWM_TIMER_ISR() {
-  HAL_timer_isr_prologue(PWM_TIMER_NUM);
+  HAL_timer_isr_prologue(MF_TIMER_PWM);
 
   static uint8_t count = 0;
 
   for (int i = 0; i < numPWMUsed; ++i) {
     if (count == 0)                   // Start of interval
-      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
-    else if (pwmValues[i] == count)   // End of duration
-      WRITE(pwmPins[i], LOW);
+      digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
+    else if (pwmState[i].value == count)   // End of duration
+      digitalWrite(pwmState[i].pin, LOW);
   }
 
   // 128 for 7 Bit resolution
   count = (count + 1) & 0x7F;
 
-  HAL_timer_isr_epilogue(PWM_TIMER_NUM);
+  HAL_timer_isr_epilogue(MF_TIMER_PWM);
 }
 
 #endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/HAL.h

@@ -49,85 +49,59 @@
 // Defines
 // ------------------------
 
-extern portMUX_TYPE spinlock;
-
-#define MYSERIAL0 flushableSerial
+#define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
   #if ENABLED(ESP3D_WIFISUPPORT)
-    #define MYSERIAL1 Serial2Socket
+    typedef ForwardSerial1Class< decltype(Serial2Socket) > DefaultSerial1;
+    extern DefaultSerial1 MSerial0;
+    #define MYSERIAL2 MSerial0
   #else
-    #define MYSERIAL1 webSocketSerial
+    #define MYSERIAL2 webSocketSerial
   #endif
 #endif
 
 #define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
 
-// Fix bug in pgm_read_ptr
-#undef pgm_read_ptr
-#define pgm_read_ptr(addr) (*(addr))
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10u   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
 
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-// clear reset reason
-void HAL_clear_reset_source();
+//
+// Tone
+//
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
+void noTone(const pin_t _pin);
 
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void _delay_ms(int delay);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
-
-void analogWrite(pin_t pin, int value);
-
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);
 
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board();
-void HAL_idletask();
-void HAL_init();
-void HAL_init_board();
+#if ENABLED(USE_ESP32_EXIO)
+  void Write_EXIO(uint8_t IO, uint8_t v);
+#endif
 
 //
 // Delay in cycles (used by DELAY_NS / DELAY_US)
@@ -155,17 +129,104 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
 
   if (stop >= start) {
     // no overflow, so only loop while in between start and stop:
-    // 0x00000000 -----------------start****stop-- 0xffffffff
+    // 0x00000000 -----------------start****stop-- 0xFFFFFFFF
     while (ccount >= start && ccount < stop) {
       __asm__ __volatile__ ( "rsr     %0, ccount" : "=a" (ccount) );
     }
   }
   else {
     // stop did overflow, so only loop while outside of stop and start:
-    // 0x00000000 **stop-------------------start** 0xffffffff
+    // 0x00000000 **stop-------------------start** 0xFFFFFFFF
     while (ccount >= start || ccount < stop) {
       __asm__ __volatile__ ( "rsr     %0, ccount" : "=a" (ccount) );
     }
   }
 
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}  // Called early in setup()
+  static void init_board();     // Called less early in setup()
+  static void reboot();         // Restart the firmware
+
+  // Interrupts
+  static portMUX_TYPE spinlock;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * If not already allocated, allocate a hardware PWM channel
+   * to the pin and set the duty cycle..
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Allocate and set the frequency of a hardware PWM pin
+   * Returns -1 if no pin available.
+   */
+  static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
+
+};

Marlin/src/HAL/ESP32/HAL_SPI.cpp

@@ -53,11 +53,9 @@ static SPISettings spiConfig;
 // ------------------------
 
 void spiBegin() {
-  #if !PIN_EXISTS(SS)
-    #error "SS_PIN not defined!"
+  #if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_SS)
+    OUT_WRITE(SD_SS_PIN, HIGH);
   #endif
-
-  OUT_WRITE(SS_PIN, HIGH);
 }
 
 void spiInit(uint8_t spiRate) {
@@ -85,7 +83,7 @@ uint8_t spiRec() {
   return returnByte;
 }
 
-void spiRead(uint8_t* buf, uint16_t nbyte) {
+void spiRead(uint8_t *buf, uint16_t nbyte) {
   SPI.beginTransaction(spiConfig);
   SPI.transferBytes(0, buf, nbyte);
   SPI.endTransaction();
@@ -97,7 +95,7 @@ void spiSend(uint8_t b) {
   SPI.endTransaction();
 }
 
-void spiSendBlock(uint8_t token, const uint8_t* buf) {
+void spiSendBlock(uint8_t token, const uint8_t *buf) {
   SPI.beginTransaction(spiConfig);
   SPI.transfer(token);
   SPI.writeBytes(const_cast<uint8_t*>(buf), 512);

Marlin/src/HAL/ESP32/MarlinSPI.h

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/ESP32/Servo.cpp

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

Marlin/src/HAL/ESP32/Servo.h

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

Marlin/src/HAL/ESP32/Tone.cpp

@@ -5,6 +5,8 @@
  * Based on Sprinter and grbl.
  * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
  *
+ * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation, either version 3 of the License, or
@@ -19,37 +21,39 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
-#if defined(STM32GENERIC) && (defined(STM32F4) || defined(STM32F7))
+
+/**
+ * Description: Tone function for ESP32
+ * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ */
+
+#ifdef ARDUINO_ARCH_ESP32
 
 #include "../../inc/MarlinConfig.h"
+#include "HAL.h"
 
-#if ENABLED(USE_WATCHDOG)
+static pin_t tone_pin;
+volatile static int32_t toggles;
 
-  #include "watchdog.h"
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
+  tone_pin = _pin;
+  toggles = 2 * frequency * duration / 1000;
+  HAL_timer_start(MF_TIMER_TONE, 2 * frequency);
+}
 
-  IWDG_HandleTypeDef hiwdg;
+void noTone(const pin_t _pin) {
+  HAL_timer_disable_interrupt(MF_TIMER_TONE);
+  WRITE(_pin, LOW);
+}
 
-  void watchdog_init() {
-    hiwdg.Instance = IWDG;
-    hiwdg.Init.Prescaler = IWDG_PRESCALER_32; //32kHz LSI clock and 32x prescalar = 1024Hz IWDG clock
-    hiwdg.Init.Reload = 4095;           //4095 counts = 4 seconds at 1024Hz
-    if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
-      //Error_Handler();
-    }
-    else {
-      #if PIN_EXISTS(LED) && DISABLED(PINS_DEBUGGING)
-        TOGGLE(LED_PIN);  // heartbeat indicator
-      #endif
-    }
+HAL_TONE_TIMER_ISR() {
+  HAL_timer_isr_prologue(MF_TIMER_TONE);
+
+  if (toggles) {
+    toggles--;
+    TOGGLE(tone_pin);
   }
+  else noTone(tone_pin);                         // turn off interrupt
+}
 
-  void HAL_watchdog_refresh() {
-    /* Refresh IWDG: reload counter */
-    if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK) {
-      /* Refresh Error */
-      //Error_Handler();
-    }
-  }
-
-#endif // USE_WATCHDOG
-#endif // STM32GENERIC && (STM32F4 || STM32F7)
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/WebSocketSerial.cpp

@@ -29,7 +29,7 @@
 #include "wifi.h"
 #include <ESPAsyncWebServer.h>
 
-WebSocketSerial webSocketSerial;
+MSerialWebSocketT webSocketSerial(false);
 AsyncWebSocket ws("/ws"); // TODO Move inside the class.
 
 // RingBuffer impl
@@ -137,16 +137,12 @@ size_t WebSocketSerial::write(const uint8_t c) {
   return ret;
 }
 
-size_t WebSocketSerial::write(const uint8_t* buffer, size_t size) {
+size_t WebSocketSerial::write(const uint8_t *buffer, size_t size) {
   size_t written = 0;
   for (size_t i = 0; i < size; i++)
     written += write(buffer[i]);
   return written;
 }
 
-void WebSocketSerial::flushTX() {
-  // No need to do anything as there's no benefit to sending partial lines over the websocket connection.
-}
-
 #endif // WIFISUPPORT
 #endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/WebSocketSerial.h

@@ -22,6 +22,7 @@
 #pragma once
 
 #include "../../inc/MarlinConfig.h"
+#include "../../core/serial_hook.h"
 
 #include <Stream.h>
 
@@ -53,7 +54,7 @@ public:
   ring_buffer_pos_t read(uint8_t *buffer);
   void flush();
   ring_buffer_pos_t write(const uint8_t c);
-  ring_buffer_pos_t write(const uint8_t* buffer, ring_buffer_pos_t size);
+  ring_buffer_pos_t write(const uint8_t *buffer, ring_buffer_pos_t size);
 };
 
 class WebSocketSerial: public Stream {
@@ -68,11 +69,8 @@ public:
   int peek();
   int read();
   void flush();
-  void flushTX();
   size_t write(const uint8_t c);
-  size_t write(const uint8_t* buffer, size_t size);
-
-  operator bool() { return true; }
+  size_t write(const uint8_t *buffer, size_t size);
 
   #if ENABLED(SERIAL_STATS_DROPPED_RX)
     FORCE_INLINE uint32_t dropped() { return 0; }
@@ -83,4 +81,5 @@ public:
   #endif
 };
 
-extern WebSocketSerial webSocketSerial;
+typedef Serial1Class<WebSocketSerial> MSerialWebSocketT;
+extern MSerialWebSocketT webSocketSerial;

Marlin/src/HAL/ESP32/eeprom.cpp

@@ -44,7 +44,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   return false;
 }
 
-bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
   for (size_t i = 0; i < size; i++) {
     uint8_t c = EEPROM.read(pos++);
     if (writing) value[i] = c;

Marlin/src/HAL/ESP32/endstop_interrupts.h

@@ -59,4 +59,16 @@ void setup_endstop_interrupts() {
   TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
   TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
   TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+  TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
+  TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
+  TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
+  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
+  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
+  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }

Marlin/src/HAL/ESP32/esp32.csv

@@ -0,0 +1,6 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+nvs,      data, nvs,     0x9000,   0x5000,
+otadata,  data, ota,     0xe000,   0x2000,
+app0,     app,  ota_0,   0x10000,  0x180000,
+app1,     app,  ota_1,   0x190000, 0x180000,
+spiffs,   data, spiffs,  0x310000, 0xF0000,

Marlin/src/HAL/ESP32/fastio.h

@@ -40,18 +40,27 @@
 // Set pin as input with pullup mode
 #define _PULLUP(IO, v)          pinMode(IO, v ? INPUT_PULLUP : INPUT)
 
-// Read a pin wrapper
-#define READ(IO)                (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO))
+#if ENABLED(USE_ESP32_EXIO)
+  // Read a pin wrapper
+  #define READ(IO)                digitalRead(IO)
+  // Write to a pin wrapper
+  #define WRITE(IO, v)            (IO >= 100 ? Write_EXIO(IO, v) : digitalWrite(IO, v))
+#else
+  // Read a pin wrapper
+  #define READ(IO)                (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO))
+  // Write to a pin wrapper
+  #define WRITE(IO, v)            (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v))
+#endif
 
-// Write to a pin wrapper
-#define WRITE(IO, v)            (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v))
-
-// Set pin as input wrapper
+// Set pin as input wrapper (0x80 | (v << 5) | (IO - 100))
 #define SET_INPUT(IO)           _SET_INPUT(IO)
 
 // Set pin as input with pullup wrapper
 #define SET_INPUT_PULLUP(IO)    do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
 
+// Set pin as input with pulldown (substitution)
+#define SET_INPUT_PULLDOWN      SET_INPUT
+
 // Set pin as output wrapper
 #define SET_OUTPUT(IO)          do{ _SET_OUTPUT(IO); }while(0)
 

Marlin/src/HAL/ESP32/i2s.cpp

@@ -23,6 +23,8 @@
 
 #include "../../inc/MarlinConfigPre.h"
 
+#if DISABLED(USE_ESP32_EXIO)
+
 #include "i2s.h"
 
 #include "../shared/Marduino.h"
@@ -62,12 +64,9 @@ uint32_t i2s_port_data = 0;
 #define I2S_EXIT_CRITICAL()   portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
 
 static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
-  //if pin = -1, do not need to configure
-  if (gpio != -1) {
-    PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
-    gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
-    gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
-  }
+  PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
+  gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
+  gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
 }
 
 static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
@@ -139,7 +138,7 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
   I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
 }
 
-void stepperTask(void* parameter) {
+void stepperTask(void *parameter) {
   uint32_t remaining = 0;
 
   while (1) {
@@ -184,7 +183,7 @@ int i2s_init() {
 
   // Allocate the array of pointers to the buffers
   dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * DMA_BUF_COUNT);
-  if (dma.buffers == nullptr) return -1;
+  if (!dma.buffers) return -1;
 
   // Allocate each buffer that can be used by the DMA controller
   for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
@@ -194,7 +193,7 @@ int i2s_init() {
 
   // Allocate the array of DMA descriptors
   dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * DMA_BUF_COUNT);
-  if (dma.desc == nullptr) return -1;
+  if (!dma.desc) return -1;
 
   // Allocate each DMA descriptor that will be used by the DMA controller
   for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
@@ -254,13 +253,7 @@ int i2s_init() {
 
   I2S0.fifo_conf.dscr_en = 0;
 
-  I2S0.conf_chan.tx_chan_mod = (
-    #if ENABLED(I2S_STEPPER_SPLIT_STREAM)
-      4
-    #else
-      0
-    #endif
-  );
+  I2S0.conf_chan.tx_chan_mod = TERN(I2S_STEPPER_SPLIT_STREAM, 4, 0);
   I2S0.fifo_conf.tx_fifo_mod = 0;
   I2S0.conf.tx_mono = 0;
 
@@ -311,9 +304,16 @@ int i2s_init() {
   xTaskCreatePinnedToCore(stepperTask, "StepperTask", 10000, nullptr, 1, nullptr, CONFIG_ARDUINO_RUNNING_CORE); // run I2S stepper task on same core as rest of Marlin
 
   // Route the i2s pins to the appropriate GPIO
-  gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
-  gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
-  gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
+  // If a pin is not defined, no need to configure
+  #if defined(I2S_DATA) && I2S_DATA >= 0
+    gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0);
+  #endif
+  #if defined(I2S_BCK) && I2S_BCK >= 0
+    gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0);
+  #endif
+  #if defined(I2S_WS) && I2S_WS >= 0
+    gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0);
+  #endif
 
   // Start the I2S peripheral
   return i2s_start(I2S_NUM_0);
@@ -340,4 +340,5 @@ void i2s_push_sample() {
   dma.current[dma.rw_pos++] = i2s_port_data;
 }
 
+#endif // !USE_ESP32_EXIO
 #endif // ARDUINO_ARCH_ESP32

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

@@ -25,14 +25,26 @@
   #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
 #endif
 
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
-  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
+#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
+  #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
 #endif
 
 #if HAS_TMC_SW_SERIAL
-  #error "TMC220x Software Serial is not supported on this platform."
+  #error "TMC220x Software Serial is not supported on ESP32."
 #endif
 
 #if BOTH(WIFISUPPORT, ESP3D_WIFISUPPORT)
   #error "Only enable one WiFi option, either WIFISUPPORT or ESP3D_WIFISUPPORT."
 #endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
+#endif
+
+#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
+  #error "FAST_PWM_FAN is not available on TinyBee."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on ESP32 boards."
+#endif

Marlin/src/HAL/ESP32/spi_pins.h

@@ -2,6 +2,9 @@
  * 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
@@ -18,7 +21,7 @@
  */
 #pragma once
 
-#define SS_PIN   SDSS
-#define SCK_PIN  18
-#define MISO_PIN 19
-#define MOSI_PIN 23
+#define SD_SS_PIN   SDSS
+#define SD_SCK_PIN  18
+#define SD_MISO_PIN 19
+#define SD_MOSI_PIN 23

Marlin/src/HAL/ESP32/timers.cpp

@@ -41,11 +41,11 @@
 
 static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1};
 
-const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
   { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper
   { TIMER_GROUP_0, TIMER_1,    TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature
   { TIMER_GROUP_1, TIMER_0,     PWM_TIMER_PRESCALE, pwmTC_Handler  }, // 2 - PWM
-  { TIMER_GROUP_1, TIMER_1,                      1, nullptr }, // 3
+  { TIMER_GROUP_1, TIMER_1,    TONE_TIMER_PRESCALE, toneTC_Handler }, // 3 - Tone
 };
 
 // ------------------------
@@ -53,7 +53,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
 // ------------------------
 
 void IRAM_ATTR timer_isr(void *para) {
-  const tTimerConfig& timer = TimerConfig[(int)para];
+  const tTimerConfig& timer = timer_config[(int)para];
 
   // Retrieve the interrupt status and the counter value
   // from the timer that reported the interrupt
@@ -81,8 +81,8 @@ void IRAM_ATTR timer_isr(void *para) {
  * @param timer_num timer number to initialize
  * @param frequency frequency of the timer
  */
-void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  const tTimerConfig timer = timer_config[timer_num];
 
   timer_config_t config;
   config.divider     = timer.divider;
@@ -115,7 +115,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
  * @param count     threshold at which the interrupt is triggered
  */
 void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
   timer_set_alarm_value(timer.group, timer.idx, count);
 }
 
@@ -125,7 +125,7 @@ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) {
  * @return           the timer current threshold for the alarm to be triggered
  */
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
 
   uint64_t alarm_value;
   timer_get_alarm_value(timer.group, timer.idx, &alarm_value);
@@ -139,7 +139,7 @@ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
  * @return           the current counter of the alarm
  */
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
   uint64_t counter_value;
   timer_get_counter_value(timer.group, timer.idx, &counter_value);
   return counter_value;
@@ -150,7 +150,7 @@ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
  * @param timer_num timer number to enable interrupts on
  */
 void HAL_timer_enable_interrupt(const uint8_t timer_num) {
-  //const tTimerConfig timer = TimerConfig[timer_num];
+  //const tTimerConfig timer = timer_config[timer_num];
   //timer_enable_intr(timer.group, timer.idx);
 }
 
@@ -159,12 +159,12 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) {
  * @param timer_num timer number to disable interrupts on
  */
 void HAL_timer_disable_interrupt(const uint8_t timer_num) {
-  //const tTimerConfig timer = TimerConfig[timer_num];
+  //const tTimerConfig timer = timer_config[timer_num];
   //timer_disable_intr(timer.group, timer.idx);
 }
 
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  const tTimerConfig timer = TimerConfig[timer_num];
+  const tTimerConfig timer = timer_config[timer_num];
   return TG[timer.group]->int_ena.val | BIT(timer_num);
 }
 

Marlin/src/HAL/ESP32/timers.h

@@ -24,31 +24,28 @@
 #include <stdint.h>
 #include <driver/timer.h>
 
-// Includes needed to get I2S_STEPPER_STREAM. Note that pins.h
-// is included in case this header is being included early.
-#include "../../inc/MarlinConfig.h"
-#include "../../pins/pins.h"
-
 // ------------------------
 // Defines
 // ------------------------
-//
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint64_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
 
-#ifndef STEP_TIMER_NUM
-  #define STEP_TIMER_NUM        0  // Timer Index for Stepper
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
-#ifndef PULSE_TIMER_NUM
-  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
 #endif
-#ifndef TEMP_TIMER_NUM
-  #define TEMP_TIMER_NUM        1  // Timer Index for Temperature
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
-#ifndef PWM_TIMER_NUM
-  #define PWM_TIMER_NUM         2  // index of timer to use for PWM outputs
+#ifndef MF_TIMER_PWM
+  #define MF_TIMER_PWM          2  // index of timer to use for PWM outputs
+#endif
+#ifndef MF_TIMER_TONE
+  #define MF_TIMER_TONE         3  // index of timer for beeper tones
 #endif
 
 #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
@@ -65,6 +62,8 @@ typedef uint64_t hal_timer_t;
 
 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts
 
+#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
+
 #define TEMP_TIMER_PRESCALE    1000 // prescaler for setting Temp timer, 72Khz
 #define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
 
@@ -80,12 +79,12 @@ typedef uint64_t hal_timer_t;
 #define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
 #define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(STEP_TIMER_NUM)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
-#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_TEMP_TIMER_ISR
   #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler()
@@ -96,10 +95,16 @@ typedef uint64_t hal_timer_t;
 #ifndef HAL_PWM_TIMER_ISR
   #define HAL_PWM_TIMER_ISR() extern "C" void pwmTC_Handler()
 #endif
+#ifndef HAL_TONE_TIMER_ISR
+  #define HAL_TONE_TIMER_ISR() extern "C" void toneTC_Handler()
+#endif
 
-extern "C" void tempTC_Handler();
-extern "C" void stepTC_Handler();
-extern "C" void pwmTC_Handler();
+extern "C" {
+  void tempTC_Handler();
+  void stepTC_Handler();
+  void pwmTC_Handler();
+  void toneTC_Handler();
+}
 
 // ------------------------
 // Types
@@ -116,13 +121,13 @@ typedef struct {
 // Public Variables
 // ------------------------
 
-extern const tTimerConfig TimerConfig[];
+extern const tTimerConfig timer_config[];
 
 // ------------------------
 // Public functions
 // ------------------------
 
-void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -131,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp

@@ -0,0 +1,100 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(FYSETC_MINI_12864_2_1)
+
+#include <U8glib-HAL.h>
+#include "Arduino.h"
+#include "../shared/HAL_SPI.h"
+#include "HAL.h"
+#include "SPI.h"
+
+static SPISettings spiConfig;
+
+#define MDOGLCD_MOSI    23
+#define MDOGLCD_SCK     18
+#define MLCD_RESET_PIN   0
+#define MLCD_PINS_DC     4
+#define MDOGLCD_CS      21
+#define MDOGLCD_A0       4
+
+#ifndef LCD_SPI_SPEED
+  #ifdef SD_SPI_SPEED
+    #define LCD_SPI_SPEED SD_SPI_SPEED    // Assume SPI speed shared with SD
+  #else
+    #define LCD_SPI_SPEED SPI_FULL_SPEED  // Use full speed if SD speed is not supplied
+  #endif
+#endif
+
+uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP: break;
+
+    case U8G_COM_MSG_INIT:
+      OUT_WRITE(MDOGLCD_CS, HIGH);
+      OUT_WRITE(MDOGLCD_A0, HIGH);
+      OUT_WRITE(MLCD_RESET_PIN, HIGH);
+      u8g_Delay(5);
+      spiBegin();
+      spiInit(LCD_SPI_SPEED);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      WRITE(MDOGLCD_A0, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:       /* arg_val == 0 means HIGH level of U8G_PI_CS */
+      WRITE(MDOGLCD_CS, arg_val ? LOW : HIGH);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      WRITE(MLCD_RESET_PIN, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      spiSend((uint8_t)arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      uint8_t *ptr = (uint8_t*) arg_ptr;
+      while (arg_val > 0) {
+        spiSend(*ptr++);
+        arg_val--;
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // FYSETC_MINI_12864_2_1
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/watchdog.cpp

@@ -25,6 +25,8 @@
 
 #if ENABLED(USE_WATCHDOG)
 
+#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
 #include "watchdog.h"
 
 void watchdogSetup() {

Marlin/src/HAL/ESP32/watchdog.h

@@ -25,7 +25,7 @@
   extern "C" {
 #endif
 
-    esp_err_t esp_task_wdt_reset();
+  esp_err_t esp_task_wdt_reset();
 
 #ifdef __cplusplus
   }

Marlin/src/HAL/ESP32/wifi.cpp

@@ -59,7 +59,7 @@ void wifi_init() {
 
   MDNS.addService("http", "tcp", 80);
 
-  SERIAL_ECHOLNPAIR("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str());
+  SERIAL_ECHOLNPGM("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str());
 }
 
 #endif // WIFISUPPORT

Marlin/src/HAL/HAL.h

@@ -23,18 +23,16 @@
 
 #include "platforms.h"
 
-#include HAL_PATH(.,HAL.h)
-
-#ifdef SERIAL_PORT_2
-  #define NUM_SERIAL 2
-#else
-  #define NUM_SERIAL 1
+#ifndef GCC_VERSION
+  #define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)
 #endif
 
+#include HAL_PATH(.,HAL.h)
+
 #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
 
 #ifndef I2C_ADDRESS
-  #define I2C_ADDRESS(A) (A)
+  #define I2C_ADDRESS(A) uint8_t(A)
 #endif
 
 // Needed for AVR sprintf_P PROGMEM extension

Marlin/src/HAL/LINUX/HAL.cpp

@@ -24,58 +24,38 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
-HalSerial usb_serial;
+// ------------------------
+// Serial ports
+// ------------------------
+
+MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
 
 // U8glib required functions
-extern "C" void u8g_xMicroDelay(uint16_t val) {
-  DELAY_US(val);
-}
-extern "C" void u8g_MicroDelay() {
-  u8g_xMicroDelay(1);
-}
-extern "C" void u8g_10MicroDelay() {
-  u8g_xMicroDelay(10);
-}
-extern "C" void u8g_Delay(uint16_t val) {
-  delay(val);
+extern "C" {
+  void u8g_xMicroDelay(uint16_t val) { DELAY_US(val); }
+  void u8g_MicroDelay()              { u8g_xMicroDelay(1); }
+  void u8g_10MicroDelay()            { u8g_xMicroDelay(10); }
+  void u8g_Delay(uint16_t val)       { delay(val); }
 }
+
 //************************//
 
 // return free heap space
-int freeMemory() {
-  return 0;
-}
+int freeMemory() { return 0; }
 
 // ------------------------
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint8_t MarlinHAL::active_ch = 0;
 
-}
-
-void HAL_adc_enable_channel(const uint8_t ch) {
-
-}
-
-uint8_t active_ch = 0;
-void HAL_adc_start_conversion(const uint8_t ch) {
-  active_ch = ch;
-}
-
-bool HAL_adc_finished() {
-  return true;
-}
-
-uint16_t HAL_adc_get_result() {
-  pin_t pin = analogInputToDigitalPin(active_ch);
+uint16_t MarlinHAL::adc_value() {
+  const pin_t pin = analogInputToDigitalPin(active_ch);
   if (!VALID_PIN(pin)) return 0;
-  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
   return data;    // return 10bit value as Marlin expects
 }
 
-void HAL_pwm_init() {
-
-}
+void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }
 
 #endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/HAL.h

@@ -21,34 +21,13 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 
-void _printf (const  char *format, ...);
-void _putc(uint8_t c);
-uint8_t _getc();
-
-//extern "C" volatile uint32_t _millis;
-
-//arduino: Print.h
-#define DEC 10
-#define HEX 16
-#define OCT  8
-#define BIN  2
-//arduino: binary.h (weird defines)
-#define B01 1
-#define B10 2
-
 #include "hardware/Clock.h"
 
 #include "../shared/Marduino.h"
@@ -58,55 +37,125 @@ uint8_t _getc();
 #include "watchdog.h"
 #include "serial.h"
 
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
 
-extern HalSerial usb_serial;
-#define MYSERIAL0 usb_serial
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
 
-#define ST7920_DELAY_1 DELAY_NS(600)
-#define ST7920_DELAY_2 DELAY_NS(750)
-#define ST7920_DELAY_3 DELAY_NS(750)
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+void _printf(const  char *format, ...);
+void _putc(uint8_t c);
+uint8_t _getc();
+
+//arduino: Print.h
+#define DEC 10
+#define HEX 16
+#define OCT  8
+#define BIN  2
+//arduino: binary.h (weird defines)
+#define B01 1
+#define B10 2
+
+// ------------------------
+// Serial ports
+// ------------------------
+
+extern MSerialT usb_serial;
+#define MYSERIAL1 usb_serial
 
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
 
 // ADC
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
 
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+// ------------------------
+// Class Utilities
+// ------------------------
 
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
-
-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
-
-// Add strcmp_P if missing
-#ifndef strcmp_P
-  #define strcmp_P(a, b) strcmp((a), (b))
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Reset the application state and GPIO
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+  static void set_pwm_frequency(const pin_t, int) {}
+};

Marlin/src/HAL/LINUX/MarlinSPI.h

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/LINUX/arduino.cpp

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

Marlin/src/HAL/LINUX/eeprom.cpp

@@ -40,7 +40,7 @@ size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
 bool PersistentStore::access_start() {
   const char eeprom_erase_value = 0xFF;
   FILE * eeprom_file = fopen(filename, "rb");
-  if (eeprom_file == nullptr) return false;
+  if (!eeprom_file) return false;
 
   fseek(eeprom_file, 0L, SEEK_END);
   std::size_t file_size = ftell(eeprom_file);
@@ -59,7 +59,7 @@ bool PersistentStore::access_start() {
 
 bool PersistentStore::access_finish() {
   FILE * eeprom_file = fopen(filename, "wb");
-  if (eeprom_file == nullptr) return false;
+  if (!eeprom_file) return false;
   fwrite(buffer, sizeof(uint8_t), sizeof(buffer), eeprom_file);
   fclose(eeprom_file);
   return true;
@@ -78,7 +78,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   return (bytes_written != size);  // return true for any error
 }
 
-bool PersistentStore::read_data(int &pos, uint8_t* value, const size_t size, uint16_t *crc, const bool writing/*=true*/) {
+bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uint16_t *crc, const bool writing/*=true*/) {
   std::size_t bytes_read = 0;
   if (writing) {
     for (std::size_t i = 0; i < size; i++) {

Marlin/src/HAL/LINUX/hardware/Gpio.h

@@ -40,7 +40,7 @@ struct GpioEvent {
   pin_type pin_id;
   GpioEvent::Type event;
 
-  GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event){
+  GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event) {
     this->timestamp = timestamp;
     this->pin_id = pin_id;
     this->event = event;
@@ -86,10 +86,10 @@ public:
     GpioEvent::Type evt_type = value > 1 ? GpioEvent::SET_VALUE : value > pin_map[pin].value ? GpioEvent::RISE : value < pin_map[pin].value ? GpioEvent::FALL : GpioEvent::NOP;
     pin_map[pin].value = value;
     GpioEvent evt(Clock::nanos(), pin, evt_type);
-    if (pin_map[pin].cb != nullptr) {
+    if (pin_map[pin].cb) {
       pin_map[pin].cb->interrupt(evt);
     }
-    if (Gpio::logger != nullptr) Gpio::logger->log(evt);
+    if (Gpio::logger) Gpio::logger->log(evt);
   }
 
   static uint16_t get(pin_type pin) {
@@ -105,8 +105,8 @@ public:
     if (!valid_pin(pin)) return;
     pin_map[pin].mode = value;
     GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETM);
-    if (pin_map[pin].cb != nullptr) pin_map[pin].cb->interrupt(evt);
-    if (Gpio::logger != nullptr) Gpio::logger->log(evt);
+    if (pin_map[pin].cb) pin_map[pin].cb->interrupt(evt);
+    if (Gpio::logger) Gpio::logger->log(evt);
   }
 
   static uint8_t getMode(pin_type pin) {
@@ -118,8 +118,8 @@ public:
     if (!valid_pin(pin)) return;
     pin_map[pin].dir = value;
     GpioEvent evt(Clock::nanos(), pin, GpioEvent::Type::SETD);
-    if (pin_map[pin].cb != nullptr) pin_map[pin].cb->interrupt(evt);
-    if (Gpio::logger != nullptr) Gpio::logger->log(evt);
+    if (pin_map[pin].cb) pin_map[pin].cb->interrupt(evt);
+    if (Gpio::logger) Gpio::logger->log(evt);
   }
 
   static uint8_t getDir(pin_type pin) {