Version 2.0.4.3 Release

Marlin/Makefile

@@ -789,11 +789,11 @@ sym: $(BUILD_DIR)/$(TARGET).sym
 # Do not try to reset an Arduino if it's not one
 upload: $(BUILD_DIR)/$(TARGET).hex
 ifeq (${AVRDUDE_PROGRAMMER}, arduino)
-  stty hup < $(UPLOAD_PORT); true
+	stty hup < $(UPLOAD_PORT); true
 endif
-  $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
 ifeq (${AVRDUDE_PROGRAMMER}, arduino)
-  stty -hup < $(UPLOAD_PORT); true
+	stty -hup < $(UPLOAD_PORT); true
 endif
 
 # Display size of file.
@@ -801,10 +801,10 @@ HEXSIZE = $(SIZE) --target=$(FORMAT) $(BUILD_DIR)/$(TARGET).hex
 ELFSIZE = $(SIZE)  $(SIZE_FLAGS) $(BUILD_DIR)/$(TARGET).elf; \
           $(SIZE)  $(BUILD_DIR)/$(TARGET).elf
 sizebefore:
-  $P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
+	$P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
 
 sizeafter: build
-  $P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+	$P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
@@ -816,71 +816,71 @@ COFFCONVERT=$(OBJCOPY) --debugging \
 
 
 coff: $(BUILD_DIR)/$(TARGET).elf
-  $(COFFCONVERT) -O coff-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof
+	$(COFFCONVERT) -O coff-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof
 
 
 extcoff: $(TARGET).elf
-  $(COFFCONVERT) -O coff-ext-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof
+	$(COFFCONVERT) -O coff-ext-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof
 
 
 .SUFFIXES: .elf .hex .eep .lss .sym .bin
 .PRECIOUS: .o
 
 .elf.hex:
-  $(Pecho) "  COPY  $@"
-  $P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+	$(Pecho) "  COPY  $@"
+	$P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
 .elf.bin:
-  $(Pecho) "  COPY  $@"
-  $P $(OBJCOPY) -O binary -R .eeprom $< $@
+	$(Pecho) "  COPY  $@"
+	$P $(OBJCOPY) -O binary -R .eeprom $< $@
 
 .elf.eep:
-  -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
     --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
 # Create extended listing file from ELF output file.
 .elf.lss:
-  $(OBJDUMP) -h -S $< > $@
+	$(OBJDUMP) -h -S $< > $@
 
 # Create a symbol table from ELF output file.
 .elf.sym:
-  $(NM) -n $< > $@
+	$(NM) -n $< > $@
 
 # Link: create ELF output file from library.
 
 $(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h
-  $(Pecho) "  CXX   $@"
-  $P $(CC) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX)
+	$(Pecho) "  CXX   $@"
+	$P $(CC) $(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"
 
 $(BUILD_DIR)/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
-  $(Pecho) "  CC    $<"
-  $P $(CC) -MMD -c $(ALL_CFLAGS) $(CWARN) $< -o $@
+	$(Pecho) "  CC    $<"
+	$P $(CC) -MMD -c $(ALL_CFLAGS) $(CWARN) $< -o $@
 
 $(BUILD_DIR)/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
-  $(Pecho) "  CXX   $<"
-  $P $(CXX) -MMD -c $(ALL_CXXFLAGS) $(CXXWARN) $< -o $@
+	$(Pecho) "  CXX   $<"
+	$P $(CXX) -MMD -c $(ALL_CXXFLAGS) $(CXXWARN) $< -o $@
 
 # Object files for Arduino libs will be created in $(BUILD_DIR)/arduino
 
 $(BUILD_DIR)/arduino/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
-  $(Pecho) "  CC    $<"
-  $P $(CC) -MMD -c $(ALL_CFLAGS) $(LIBWARN) $< -o $@
+	$(Pecho) "  CC    $<"
+	$P $(CC) -MMD -c $(ALL_CFLAGS) $(LIBWARN) $< -o $@
 
 $(BUILD_DIR)/arduino/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
-  $(Pecho) "  CXX   $<"
-  $P $(CXX) -MMD -c $(ALL_CXXFLAGS)  $(LIBWARN) $< -o $@
+	$(Pecho) "  CXX   $<"
+	$P $(CXX) -MMD -c $(ALL_CXXFLAGS)  $(LIBWARN) $< -o $@
 
 $(BUILD_DIR)/arduino/%.o: %.S $(MAKEFILE)
-  $(Pecho) "  CXX   $<"
-  $P $(CXX) -MMD -c $(ALL_ASFLAGS) $< -o $@
+	$(Pecho) "  CXX   $<"
+	$P $(CXX) -MMD -c $(ALL_ASFLAGS) $< -o $@
 
 # Target: clean project.
 clean:
-  $(Pecho) "  RMDIR $(BUILD_DIR)/"
-  $P rm -rf $(BUILD_DIR)
+	$(Pecho) "  RMDIR $(BUILD_DIR)/"
+	$P rm -rf $(BUILD_DIR)
 
 
 .PHONY: all build elf hex eep lss sym program coff extcoff clean depend sizebefore sizeafter

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.0.4"
+//#define SHORT_BUILD_VERSION "2.0.4.3"
 
 /**
  * Verbose version identifier which should contain a reference to the location

Marlin/src/HAL/HAL_ESP32/HAL.cpp

@@ -27,6 +27,7 @@
 #include <rom/rtc.h>
 #include <driver/adc.h>
 #include <esp_adc_cal.h>
+#include <HardwareSerial.h>
 
 #include "../../inc/MarlinConfigPre.h"
 
@@ -105,6 +106,27 @@ void HAL_init_board() {
     #endif
     server.begin();
   #endif
+
+  // ESP32 uses a GPIO matrix that allows pins to be assigned to hardware serial ports.
+  // The following code initializes hardware Serial1 and Serial2 to use user-defined pins
+  // if they have been defined.
+  #if defined(HARDWARE_SERIAL1_RX) && defined(HARDWARE_SERIAL1_TX)
+    HardwareSerial Serial1(1);
+    #ifdef TMC_BAUD_RATE  // use TMC_BAUD_RATE for Serial1 if defined
+      Serial1.begin(TMC_BAUD_RATE, SERIAL_8N1, HARDWARE_SERIAL1_RX, HARDWARE_SERIAL1_TX);
+    #else  // use default BAUDRATE if TMC_BAUD_RATE not defined
+      Serial1.begin(BAUDRATE, SERIAL_8N1, HARDWARE_SERIAL1_RX, HARDWARE_SERIAL1_TX);
+    #endif
+  #endif
+  #if defined(HARDWARE_SERIAL2_RX) && defined(HARDWARE_SERIAL2_TX)
+    HardwareSerial Serial2(2);
+    #ifdef TMC_BAUD_RATE  // use TMC_BAUD_RATE for Serial1 if defined
+      Serial2.begin(TMC_BAUD_RATE, SERIAL_8N1, HARDWARE_SERIAL2_RX, HARDWARE_SERIAL2_TX);
+    #else  // use default BAUDRATE if TMC_BAUD_RATE not defined
+      Serial2.begin(BAUDRATE, SERIAL_8N1, HARDWARE_SERIAL2_RX, HARDWARE_SERIAL2_TX);
+    #endif
+  #endif
+
 }
 
 void HAL_idletask() {

Marlin/src/core/drivers.h

@@ -158,7 +158,7 @@
                                    || AXIS_DRIVER_TYPE(A,TMC5160) )
 
 #define _OR_EAH(N,T)    || AXIS_HAS_##T(E##N)
-#define E_AXIS_HAS(T)   (0 RREPEAT2(E_STEPPERS, _OR_EAH, T))
+#define E_AXIS_HAS(T)   (0 _OR_EAH(0,T) _OR_EAH(1,T) _OR_EAH(2,T) _OR_EAH(3,T) _OR_EAH(4,T) _OR_EAH(5,T) _OR_EAH(6,T) _OR_EAH(7,T))
 
 #define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X)  || AXIS_HAS_##T(X2) \
                           || AXIS_HAS_##T(Y)  || AXIS_HAS_##T(Y2) \

Marlin/src/feature/babystep.cpp

@@ -35,17 +35,17 @@
 
 Babystep babystep;
 
-volatile int16_t Babystep::steps[BS_TODO_AXIS(Z_AXIS) + 1];
+volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
 #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
-  int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
+  int16_t Babystep::axis_total[BS_TOTAL_IND(Z_AXIS) + 1];
 #endif
 int16_t Babystep::accum;
 
 void Babystep::step_axis(const AxisEnum axis) {
-  const int16_t curTodo = steps[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
+  const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
   if (curTodo) {
     stepper.do_babystep((AxisEnum)axis, curTodo > 0);
-    if (curTodo > 0) steps[BS_TODO_AXIS(axis)]--; else steps[BS_TODO_AXIS(axis)]++;
+    if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
   }
 }
 
@@ -66,7 +66,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
 
   accum += distance; // Count up babysteps for the UI
   #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
-    axis_total[BS_TOTAL_AXIS(axis)] += distance;
+    axis_total[BS_TOTAL_IND(axis)] += distance;
   #endif
 
   #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
@@ -112,7 +112,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
     #else
       BSA_ENABLE(Z_AXIS);
     #endif
-    steps[BS_TODO_AXIS(axis)] += distance;
+    steps[BS_AXIS_IND(axis)] += distance;
   #endif
   #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
     gcode.reset_stepper_timeout();

Marlin/src/feature/babystep.h

@@ -32,32 +32,34 @@
 #endif
 
 #if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
-  #define BS_TODO_AXIS(A) A
+  #define BS_AXIS_IND(A) A
+  #define BS_AXIS(I) AxisEnum(I)
 #else
-  #define BS_TODO_AXIS(A) 0
+  #define BS_AXIS_IND(A) 0
+  #define BS_AXIS(I) Z_AXIS
 #endif
 
 #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
   #if ENABLED(BABYSTEP_XY)
-    #define BS_TOTAL_AXIS(A) A
+    #define BS_TOTAL_IND(A) A
   #else
-    #define BS_TOTAL_AXIS(A) 0
+    #define BS_TOTAL_IND(A) 0
   #endif
 #endif
 
 class Babystep {
 public:
-  static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1];
+  static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
   static int16_t accum;                                     // Total babysteps in current edit
 
   #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
-    static int16_t axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];   // Total babysteps since G28
+    static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1];   // Total babysteps since G28
     static inline void reset_total(const AxisEnum axis) {
       if (true
         #if ENABLED(BABYSTEP_XY)
           && axis == Z_AXIS
         #endif
-      ) axis_total[BS_TOTAL_AXIS(axis)] = 0;
+      ) axis_total[BS_TOTAL_IND(axis)] = 0;
     }
   #endif
 
@@ -65,7 +67,7 @@ public:
   static void add_mm(const AxisEnum axis, const float &mm);
 
   static inline bool has_steps() {
-    return steps[BS_TODO_AXIS(X_AXIS)] || steps[BS_TODO_AXIS(Y_AXIS)] || steps[BS_TODO_AXIS(Z_AXIS)];
+    return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
   }
 
   //
@@ -73,7 +75,7 @@ public:
   // apply accumulated babysteps to the axes.
   //
   static inline void task() {
-    LOOP_L_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
+    LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
   }
 
 private:

Marlin/src/feature/tmc_util.cpp

@@ -1097,7 +1097,7 @@
 
   bool tmc_enable_stallguard(TMC2209Stepper &st) {
     const bool stealthchop_was_enabled = !st.en_spreadCycle();
-    
+
     st.TCOOLTHRS(0xFFFFF);
     st.en_spreadCycle(false);
     return stealthchop_was_enabled;

Marlin/src/gcode/geometry/G92.cpp

@@ -35,7 +35,7 @@ void GcodeSuite::G92() {
 
   bool sync_E = false, sync_XYZ = false;
 
-  #if USE_GCODE_SUBCODES
+  #if ENABLED(USE_GCODE_SUBCODES)
     const uint8_t subcode_G92 = parser.subcode;
   #else
     constexpr uint8_t subcode_G92 = 0;

Marlin/src/gcode/lcd/M0_M1.cpp

@@ -102,7 +102,7 @@ void GcodeSuite::M0_M1() {
   #endif
 
   if (ms > 0) ms += millis();  // wait until this time for a click
-  while (wait_for_user && (ms > 0 || PENDING(millis(), ms))) idle();
+  while (wait_for_user || (ms > 0 && PENDING(millis(), ms))) idle();
 
   #if HAS_LEDS_OFF_FLAG
     printerEventLEDs.onResumeAfterWait();

Marlin/src/gcode/motion/M290.cpp

@@ -131,7 +131,7 @@ void GcodeSuite::M290() {
         #else
           PSTR("Babystep Z")
         #endif
-        , babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]
+        , babystep.axis_total[BS_AXIS_IND(Z_AXIS)]
       );
     }
     #endif

Marlin/src/gcode/parser.cpp

@@ -51,13 +51,13 @@ char *GCodeParser::command_ptr,
 char GCodeParser::command_letter;
 int GCodeParser::codenum;
 
-#if USE_GCODE_SUBCODES
+#if ENABLED(USE_GCODE_SUBCODES)
   uint8_t GCodeParser::subcode;
 #endif
 
 #if ENABLED(GCODE_MOTION_MODES)
   int16_t GCodeParser::motion_mode_codenum = -1;
-  #if USE_GCODE_SUBCODES
+  #if ENABLED(USE_GCODE_SUBCODES)
     uint8_t GCodeParser::motion_mode_subcode;
   #endif
 #endif
@@ -83,7 +83,7 @@ void GCodeParser::reset() {
   string_arg = nullptr;                 // No whole line argument
   command_letter = '?';                 // No command letter
   codenum = 0;                          // No command code
-  #if USE_GCODE_SUBCODES
+  #if ENABLED(USE_GCODE_SUBCODES)
     subcode = 0;                        // No command sub-code
   #endif
   #if ENABLED(FASTER_GCODE_PARSER)
@@ -187,12 +187,12 @@ void GCodeParser::parse(char *p) {
       do { codenum *= 10, codenum += *p++ - '0'; } while (NUMERIC(*p));
 
       // Allow for decimal point in command
-      #if USE_GCODE_SUBCODES
-      if (*p == '.') {
-        p++;
-        while (NUMERIC(*p))
-        subcode *= 10, subcode += *p++ - '0';
-      }
+      #if ENABLED(USE_GCODE_SUBCODES)
+        if (*p == '.') {
+          p++;
+          while (NUMERIC(*p))
+          subcode *= 10, subcode += *p++ - '0';
+        }
       #endif
 
       // Skip all spaces to get to the first argument, or nul
@@ -206,7 +206,7 @@ void GCodeParser::parse(char *p) {
                              )
         ) {
           motion_mode_codenum = codenum;
-          #if USE_GCODE_SUBCODES
+          #if ENABLED(USE_GCODE_SUBCODES)
             motion_mode_subcode = subcode;
           #endif
         }
@@ -225,7 +225,7 @@ void GCodeParser::parse(char *p) {
         if (motion_mode_codenum < 0) return;
         command_letter = 'G';
         codenum = motion_mode_codenum;
-        #if USE_GCODE_SUBCODES
+        #if ENABLED(USE_GCODE_SUBCODES)
           subcode = motion_mode_subcode;
         #endif
         p--; // Back up one character to use the current parameter

Marlin/src/gcode/parser.h

@@ -85,13 +85,13 @@ public:
               *string_arg,                // string of command line
               command_letter;             // G, M, or T
   static int codenum;                     // 123
-  #if USE_GCODE_SUBCODES
+  #if ENABLED(USE_GCODE_SUBCODES)
     static uint8_t subcode;               // .1
   #endif
 
   #if ENABLED(GCODE_MOTION_MODES)
     static int16_t motion_mode_codenum;
-    #if USE_GCODE_SUBCODES
+    #if ENABLED(USE_GCODE_SUBCODES)
       static uint8_t motion_mode_subcode;
     #endif
     FORCE_INLINE static void cancel_motion_mode() { motion_mode_codenum = -1; }

Marlin/src/gcode/queue.cpp

@@ -253,7 +253,7 @@ void GCodeQueue::ok_to_send() {
       while (NUMERIC_SIGNED(*p))
         SERIAL_ECHO(*p++);
     }
-    SERIAL_ECHOPAIR_P(SP_P_STR, int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
+    SERIAL_ECHOPAIR_P(SP_P_STR, int(planner.moves_free()));
     SERIAL_ECHOPAIR(" B", int(BUFSIZE - length));
   #endif
   SERIAL_EOL();
@@ -526,42 +526,38 @@ void GCodeQueue::get_serial_commands() {
     while (length < BUFSIZE && !card_eof) {
       const int16_t n = card.get();
       card_eof = card.eof();
+      if (n < 0 && !card_eof) { SERIAL_ERROR_MSG(MSG_SD_ERR_READ); continue; }
       const char sd_char = (char)n;
-      if (card_eof || n < 0 || sd_char == '\n' || sd_char == '\r') {
+      if (sd_char == '\n' || sd_char == '\r' || card_eof) {
+
+        // Reset stream state, terminate the buffer, and commit a non-empty command
+        if (!process_line_done(sd_input_state, command_buffer[index_w], sd_count)) {
+          _commit_command(false);                     // Can handle last line missing a newline terminator
+          #if ENABLED(POWER_LOSS_RECOVERY)
+            recovery.cmd_sdpos = card.getIndex();     // Prime for the next _commit_command
+          #endif
+        }
+
         if (card_eof) {
 
-          card.printingHasFinished();
+          card.fileHasFinished();                     // Handle end of file reached
 
-          if (IS_SD_PRINTING())
-            sd_count = 0; // If a sub-file was printing, continue from call point
-          else {
-            SERIAL_ECHOLNPGM(MSG_FILE_PRINTED);
+          if (!IS_SD_PRINTING()) {                    // Was it the main job file?
+            SERIAL_ECHOLNPGM(MSG_FILE_PRINTED);       // Tell the host the file is printed.
             #if ENABLED(PRINTER_EVENT_LEDS)
-              printerEventLEDs.onPrintCompleted();
+              printerEventLEDs.onPrintCompleted();    // Change LED color for Print Completed
               #if HAS_RESUME_CONTINUE
-                enqueue_now_P(PSTR("M0 S"
+                enqueue_now_P(PSTR("M0 S"             // Display "Click to Continue..."
                   #if HAS_LCD_MENU
-                    "1800"
+                    "1800"                            // ...for 30 minutes with LCD
                   #else
-                    "60"
+                    "60"                              // ...for 1 minute with no LCD
                   #endif
                 ));
               #endif
             #endif
           }
         }
-        else if (n < 0)
-          SERIAL_ERROR_MSG(MSG_SD_ERR_READ);
-
-        // Terminate the buffer, reset the input state, continue for empty line
-        if (process_line_done(sd_input_state, command_buffer[index_w], sd_count))
-          continue;
-
-        _commit_command(false);
-
-        #if ENABLED(POWER_LOSS_RECOVERY)
-          recovery.cmd_sdpos = card.getIndex(); // Prime for the next _commit_command
-        #endif
       }
       else
         process_stream_char(sd_char, sd_input_state, command_buffer[index_w], sd_count);

Marlin/src/inc/Conditionals_LCD.h

@@ -361,6 +361,15 @@
 #define HAS_ADC_BUTTONS      ENABLED(ADC_KEYPAD)
 #define HAS_DGUS_LCD         ANY(DGUS_LCD_UI_ORIGIN, DGUS_LCD_UI_FYSETC, DGUS_LCD_UI_HIPRECY)
 
+#if HAS_GRAPHICAL_LCD
+  #ifndef LCD_PIXEL_WIDTH
+    #define LCD_PIXEL_WIDTH 128
+  #endif
+  #ifndef LCD_PIXEL_HEIGHT
+    #define LCD_PIXEL_HEIGHT 64
+  #endif
+#endif
+
 /**
  * Extruders have some combination of stepper motors and hotends
  * so we separate these concepts into the defines:

Marlin/src/inc/Conditionals_post.h

@@ -2110,7 +2110,9 @@
 #endif
 
 // Add commands that need sub-codes to this list
-#define USE_GCODE_SUBCODES ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY)
+#if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY)
+  #define USE_GCODE_SUBCODES
+#endif
 
 // Parking Extruder
 #if ENABLED(PARKING_EXTRUDER)

Marlin/src/inc/SanityCheck.h

@@ -1361,8 +1361,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  * Make sure Z_SAFE_HOMING point is reachable
  */
 #if ENABLED(Z_SAFE_HOMING)
-  static_assert(WITHIN(Z_SAFE_HOMING_X_POINT, X_MIN_BED, X_MAX_BED), "Z_SAFE_HOMING_X_POINT can't be reached by the nozzle.");
-  static_assert(WITHIN(Z_SAFE_HOMING_Y_POINT, Y_MIN_BED, Y_MAX_BED), "Z_SAFE_HOMING_Y_POINT can't be reached by the nozzle.");
+  static_assert(WITHIN(Z_SAFE_HOMING_X_POINT, X_MIN_POS, X_MAX_POS), "Z_SAFE_HOMING_X_POINT can't be reached by the nozzle.");
+  static_assert(WITHIN(Z_SAFE_HOMING_Y_POINT, Y_MIN_POS, Y_MAX_POS), "Z_SAFE_HOMING_Y_POINT can't be reached by the nozzle.");
 #endif
 
 /**
@@ -2474,6 +2474,86 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
     constexpr char _chr5 = USER_GCODE_5[strlen(USER_GCODE_5) - 1];
     static_assert(_chr5 != '\n' && _chr5 != '\r', "USER_GCODE_5 cannot have a newline at the end. Please remove it.");
   #endif
+  #ifdef USER_GCODE_6
+    constexpr char _chr6 = USER_GCODE_6[strlen(USER_GCODE_6) - 1];
+    static_assert(_chr6 != '\n' && _chr6 != '\r', "USER_GCODE_6 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_7
+    constexpr char _chr7 = USER_GCODE_7[strlen(USER_GCODE_7) - 1];
+    static_assert(_chr7 != '\n' && _chr7 != '\r', "USER_GCODE_7 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_8
+    constexpr char _chr8 = USER_GCODE_8[strlen(USER_GCODE_8) - 1];
+    static_assert(_chr8 != '\n' && _chr8 != '\r', "USER_GCODE_8 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_9
+    constexpr char _chr9 = USER_GCODE_9[strlen(USER_GCODE_9) - 1];
+    static_assert(_chr9 != '\n' && _chr9 != '\r', "USER_GCODE_9 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_10
+    constexpr char _chr10 = USER_GCODE_10[strlen(USER_GCODE_10) - 1];
+    static_assert(_chr10 != '\n' && _chr10 != '\r', "USER_GCODE_10 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_11
+    constexpr char _chr11 = USER_GCODE_11[strlen(USER_GCODE_11) - 1];
+    static_assert(_chr11 != '\n' && _chr11 != '\r', "USER_GCODE_11 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_12
+    constexpr char _chr12 = USER_GCODE_12[strlen(USER_GCODE_12) - 1];
+    static_assert(_chr12 != '\n' && _chr12 != '\r', "USER_GCODE_12 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_13
+    constexpr char _chr13 = USER_GCODE_13[strlen(USER_GCODE_13) - 1];
+    static_assert(_chr13 != '\n' && _chr13 != '\r', "USER_GCODE_13 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_14
+    constexpr char _chr14 = USER_GCODE_14[strlen(USER_GCODE_14) - 1];
+    static_assert(_chr14 != '\n' && _chr14 != '\r', "USER_GCODE_14 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_15
+    constexpr char _chr15 = USER_GCODE_15[strlen(USER_GCODE_15) - 1];
+    static_assert(_chr15 != '\n' && _chr15 != '\r', "USER_GCODE_15 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_16
+    constexpr char _chr16 = USER_GCODE_16[strlen(USER_GCODE_16) - 1];
+    static_assert(_chr16 != '\n' && _chr16 != '\r', "USER_GCODE_16 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_17
+    constexpr char _chr17 = USER_GCODE_17[strlen(USER_GCODE_17) - 1];
+    static_assert(_chr17 != '\n' && _chr17 != '\r', "USER_GCODE_17 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_18
+    constexpr char _chr18 = USER_GCODE_18[strlen(USER_GCODE_18) - 1];
+    static_assert(_chr18 != '\n' && _chr18 != '\r', "USER_GCODE_18 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_19
+    constexpr char _chr19 = USER_GCODE_19[strlen(USER_GCODE_19) - 1];
+    static_assert(_chr19 != '\n' && _chr19 != '\r', "USER_GCODE_19 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_20
+    constexpr char _chr20 = USER_GCODE_20[strlen(USER_GCODE_20) - 1];
+    static_assert(_chr20 != '\n' && _chr20 != '\r', "USER_GCODE_20 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_21
+    constexpr char _chr21 = USER_GCODE_21[strlen(USER_GCODE_21) - 1];
+    static_assert(_chr21 != '\n' && _chr21 != '\r', "USER_GCODE_21 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_22
+    constexpr char _chr22 = USER_GCODE_22[strlen(USER_GCODE_22) - 1];
+    static_assert(_chr22 != '\n' && _chr22 != '\r', "USER_GCODE_22 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_23
+    constexpr char _chr23 = USER_GCODE_23[strlen(USER_GCODE_23) - 1];
+    static_assert(_chr23 != '\n' && _chr23 != '\r', "USER_GCODE_23 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_24
+    constexpr char _chr24 = USER_GCODE_24[strlen(USER_GCODE_24) - 1];
+    static_assert(_chr24 != '\n' && _chr24 != '\r', "USER_GCODE_24 cannot have a newline at the end. Please remove it.");
+  #endif
+  #ifdef USER_GCODE_25
+    constexpr char _chr25 = USER_GCODE_25[strlen(USER_GCODE_25) - 1];
+    static_assert(_chr25 != '\n' && _chr25 != '\r', "USER_GCODE_25 cannot have a newline at the end. Please remove it.");
+  #endif
 #endif
 
 #if ENABLED(BACKLASH_COMPENSATION)

Marlin/src/inc/Version.h

@@ -25,7 +25,7 @@
  * Release version. Leave the Marlin version or apply a custom scheme.
  */
 #ifndef SHORT_BUILD_VERSION
-  #define SHORT_BUILD_VERSION "2.0.4"
+  #define SHORT_BUILD_VERSION "2.0.4.3"
 #endif
 
 /**
@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2020-02-21"
+  #define STRING_DISTRIBUTION_DATE "2020-02-24"
 #endif
 
 /**

Marlin/src/lcd/dogm/HAL_LCD_com_defines.h

@@ -25,7 +25,7 @@
 
 #include <U8glib.h>
 
-#ifndef U8G_HAL_LINKS
+#ifndef U8G_HAL_LINKS   // Defined by LPC1768/9 environments in platform.ini
 
   #ifdef __SAM3X8E__
 
@@ -75,6 +75,7 @@
     #define U8G_COM_ST7920_HAL_HW_SPI u8g_com_arduino_st7920_hw_spi_fn
   #endif
 
+  // This can't be invoked from the current platformio.ini
   #ifdef TARGET_LPC1768
     uint8_t u8g_com_HAL_LPC1768_ssd_hw_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
   #endif

Marlin/src/lcd/dogm/u8g_dev_st7920_128x64_HAL.cpp

@@ -59,8 +59,6 @@
 
 #include "HAL_LCD_com_defines.h"
 
-#define LCD_PIXEL_WIDTH  128
-#define LCD_PIXEL_HEIGHT  64
 #define PAGE_HEIGHT        8
 
 /* init sequence from https://github.com/adafruit/ST7565-LCD/blob/master/ST7565/ST7565.cpp */

Marlin/src/lcd/dogm/ultralcd_DOGM.h

@@ -196,13 +196,6 @@
   #endif
 #endif
 
-#ifndef LCD_PIXEL_WIDTH
-  #define LCD_PIXEL_WIDTH 128
-#endif
-#ifndef LCD_PIXEL_HEIGHT
-  #define LCD_PIXEL_HEIGHT 64
-#endif
-
 // LCD_FULL_PIXEL_WIDTH =
 // LCD_PIXEL_OFFSET_X + (LCD_PIXEL_WIDTH * 2) + LCD_PIXEL_OFFSET_X
 #if ENABLED(FSMC_GRAPHICAL_TFT)

Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.cpp

@@ -154,4 +154,4 @@ u8g_dev_t u8g_dev_st7920_128x64_rrd_sw_spi = { u8g_dev_rrd_st7920_128x64_fn, &u8
 #endif
 
 #endif // U8GLIB_ST7920
-#endif // __AVR__ && !U8G_HAL_LINKS
+#endif // !U8G_HAL_LINKS && (__AVR__ || ARDUINO_ARCH_STM32 || ARDUINO_ARCH_ESP32)

Marlin/src/lcd/dogm/ultralcd_st7920_u8glib_rrd_AVR.h

@@ -31,12 +31,9 @@
 #define ST7920_DAT_PIN  LCD_PINS_ENABLE
 #define ST7920_CS_PIN   LCD_PINS_RS
 
-//#define PAGE_HEIGHT 8   //128 byte framebuffer
-#define PAGE_HEIGHT 16  //256 byte framebuffer
-//#define PAGE_HEIGHT 32  //512 byte framebuffer
-
-#define LCD_PIXEL_WIDTH 128
-#define LCD_PIXEL_HEIGHT 64
+//#define PAGE_HEIGHT 8   // 128 byte framebuffer
+#define PAGE_HEIGHT 16    // 256 byte framebuffer
+//#define PAGE_HEIGHT 32  // 512 byte framebuffer
 
 #include <U8glib.h>
 

Marlin/src/lcd/extensible_ui/ui_api.cpp

@@ -785,7 +785,7 @@ namespace ExtUI {
     #if HAS_BED_PROBE
       return probe.offset.z;
     #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
-      return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]);
+      return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_AXIS_IND(Z_AXIS)]);
     #else
       return 0.0;
     #endif
@@ -898,11 +898,11 @@ namespace ExtUI {
     float getPIDValues_Kp(const extruder_t tool) {
       return PID_PARAM(Kp, tool);
     }
-    
+
     float getPIDValues_Ki(const extruder_t tool) {
       return unscalePID_i(PID_PARAM(Ki, tool));
     }
-    
+
     float getPIDValues_Kd(const extruder_t tool) {
       return unscalePID_d(PID_PARAM(Kd, tool));
     }
@@ -918,27 +918,27 @@ namespace ExtUI {
       thermalManager.PID_autotune(temp, (heater_ind_t)tool, 8, true);
     }
   #endif
-  
+
   #if ENABLED(PIDTEMPBED)
     float getBedPIDValues_Kp() {
       return thermalManager.temp_bed.pid.Kp;
     }
-    
+
     float getBedPIDValues_Ki() {
       return unscalePID_i(thermalManager.temp_bed.pid.Ki);
     }
-    
+
     float getBedPIDValues_Kd() {
       return unscalePID_d(thermalManager.temp_bed.pid.Kd);
     }
-    
+
     void setBedPIDValues(const float p, const float i, const float d) {
       thermalManager.temp_bed.pid.Kp = p;
       thermalManager.temp_bed.pid.Ki = scalePID_i(i);
       thermalManager.temp_bed.pid.Kd = scalePID_d(d);
       thermalManager.updatePID();
     }
-    
+
     void startBedPIDTune(const float temp) {
       thermalManager.PID_autotune(temp, H_BED, 4, true);
     }

Marlin/src/lcd/extensible_ui/ui_api.h

@@ -256,7 +256,7 @@ namespace ExtUI {
     void setPIDValues(const float, const float, const float, extruder_t);
     void startPIDTune(const float, extruder_t);
   #endif
-  
+
   #if ENABLED(PIDTEMPBED)
     float getBedPIDValues_Kp();
     float getBedPIDValues_Ki();

Marlin/src/lcd/language/language_an.h

@@ -151,7 +151,7 @@ namespace Language_an {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Retraccion auto.");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Cambear filamento");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Cambear filamento *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Encetan. tarcheta");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Encetan. tarcheta");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Cambiar tarcheta");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z fuera");
   PROGMEM Language_Str MSG_BLTOUCH_RESET                   = _UxGT("Reset BLTouch");

Marlin/src/lcd/language/language_bg.h

@@ -136,7 +136,7 @@ namespace Language_bg {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Автоoткат");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Смяна нишка");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Смяна нишка *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Иниц. SD-Карта");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Иниц. SD-Карта");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Смяна SD-Карта");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z-сондата е извадена");
   PROGMEM Language_Str MSG_ZPROBE_ZOFFSET                  = _UxGT("Z Отстояние");

Marlin/src/lcd/language/language_ca.h

@@ -146,7 +146,7 @@ namespace Language_ca {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Auto retraccio");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Canvia filament");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Canvia filament *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Inicialitza SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Inicialitza SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Canvia SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z fora");
   PROGMEM Language_Str MSG_BLTOUCH_RESET                   = _UxGT("Reinicia BLTouch");

Marlin/src/lcd/language/language_cz.h

@@ -369,7 +369,7 @@ namespace Language_cz {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Vysunout filament *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Vysunout vše");
 
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Načíst médium");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Načíst médium");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Vyměnit médium");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Vysunout médium");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z mimo podl");

Marlin/src/lcd/language/language_de.h

@@ -343,7 +343,7 @@ namespace Language_de {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Filament entladen");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Filament entladen *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Alles entladen");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Medium initial.");  // Manually initialize the SD-card via user interface
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Medium initial.");  // Manually initialize the SD-card via user interface
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Medium getauscht"); // SD-card changed by user. For machines with no autocarddetect. Both send "M21"
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Medium freigeben"); // if Marlin gets confused - M22
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z-Sonde außerhalb");

Marlin/src/lcd/language/language_el.h

@@ -162,7 +162,7 @@ namespace Language_el {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Αυτόματη ανάσυρση");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Αλλαγή νήματος");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Αλλαγή νήματος *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Προετοιμασία κάρτας SD");  //SHORTEN
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Προετοιμασία κάρτας SD");  //SHORTEN
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Αλλαγή κάρτας SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Διερεύνηση Z εκτός Επ.Εκτύπωσης"); //SHORTEN
   PROGMEM Language_Str MSG_YX_UNHOMED                      = _UxGT("Επαναφορά Χ/Υ πριν από Ζ"); //SHORTEN

Marlin/src/lcd/language/language_el_gr.h

@@ -164,7 +164,7 @@ namespace Language_el_gr {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Αυτόματη ανάσυρση");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Αλλαγή νήματος");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Αλλαγή νήματος *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Προετοιμασία κάρτας SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Προετοιμασία κάρτας SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Αλλαγή κάρτας SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Διερεύνηση Z εκτός κλίνης");
   PROGMEM Language_Str MSG_YX_UNHOMED                      = _UxGT("Επαναφορά Χ/Υ πριν από Ζ");

Marlin/src/lcd/language/language_en.h

@@ -370,7 +370,7 @@ namespace Language_en {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Unload Filament");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Unload Filament *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Unload All");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Init. Media");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Attach Media");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Change Media");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Release Media");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z Probe Past Bed");

Marlin/src/lcd/language/language_es.h

@@ -337,7 +337,7 @@ namespace Language_es {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Descargar filamento");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Descargar fil. *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Descargar todo");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Iniciar SD/USB");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Iniciar SD/USB");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Cambiar SD/USB");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Lanzar SD/USB");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z fuera cama");

Marlin/src/lcd/language/language_eu.h

@@ -221,7 +221,7 @@ namespace Language_eu {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Harizpia deskargatu");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Harizpia deskargatu *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Erabat deskargatu");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Hasieratu SD-a");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Hasieratu SD-a");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Aldatu txartela");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z zunda kanpora");
   PROGMEM Language_Str MSG_SKEW_FACTOR                     = _UxGT("Okertze faktorea");

Marlin/src/lcd/language/language_fr.h

@@ -340,7 +340,7 @@ namespace Language_fr {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Retrait filament");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Retrait filament *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Retirer tout");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Charger le média");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Charger le média");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Actualiser média");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Retirer le média");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonde Z hors lit");

Marlin/src/lcd/language/language_gl.h

@@ -143,7 +143,7 @@ namespace Language_gl {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("Retraccion auto.");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Cambiar filamen.");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Cambiar filamen. *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Iniciando SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Iniciando SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Cambiar SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda-Z sen cama");
   PROGMEM Language_Str MSG_BLTOUCH_SELFTEST                = _UxGT("Comprobar BLTouch");

Marlin/src/lcd/language/language_hr.h

@@ -112,7 +112,7 @@ namespace Language_hr {
   PROGMEM Language_Str MSG_STOPPED                         = _UxGT("ZAUSTAVLJEN. ");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Promijeni filament");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Promijeni filament *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Init. SD karticu");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Init. SD karticu");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Promijeni SD karticu");
   PROGMEM Language_Str MSG_HEATING_FAILED_LCD              = _UxGT("Grijanje neuspješno");
   PROGMEM Language_Str MSG_HEATING                         = _UxGT("Grijanje...");

Marlin/src/lcd/language/language_it.h

@@ -38,6 +38,7 @@ namespace Language_it {
   PROGMEM Language_Str LANGUAGE                            = _UxGT("Italian");
 
   PROGMEM Language_Str WELCOME_MSG                         = MACHINE_NAME _UxGT(" pronto.");
+  PROGMEM Language_Str MSG_MARLIN                          = _UxGT("Marlin");
   PROGMEM Language_Str MSG_YES                             = _UxGT("SI");
   PROGMEM Language_Str MSG_NO                              = _UxGT("NO");
   PROGMEM Language_Str MSG_BACK                            = _UxGT("Indietro");
@@ -255,6 +256,16 @@ namespace Language_it {
   PROGMEM Language_Str MSG_LCD_OFF                         = _UxGT("Off");
   PROGMEM Language_Str MSG_PID_AUTOTUNE                    = _UxGT("PID Autotune");
   PROGMEM Language_Str MSG_PID_AUTOTUNE_E                  = _UxGT("PID Autotune *");
+  PROGMEM Language_Str MSG_PID_P                           = _UxGT("PID-P");
+  PROGMEM Language_Str MSG_PID_P_E                         = _UxGT("PID-P *");
+  PROGMEM Language_Str MSG_PID_I                           = _UxGT("PID-I");
+  PROGMEM Language_Str MSG_PID_I_E                         = _UxGT("PID-I *");
+  PROGMEM Language_Str MSG_PID_D                           = _UxGT("PID-D");
+  PROGMEM Language_Str MSG_PID_D_E                         = _UxGT("PID-D *");
+  PROGMEM Language_Str MSG_PID_C                           = _UxGT("PID-C");
+  PROGMEM Language_Str MSG_PID_C_E                         = _UxGT("PID-C *");
+  PROGMEM Language_Str MSG_PID_F                           = _UxGT("PID-F");
+  PROGMEM Language_Str MSG_PID_F_E                         = _UxGT("PID-F *");
   PROGMEM Language_Str MSG_SELECT                          = _UxGT("Seleziona");
   PROGMEM Language_Str MSG_SELECT_E                        = _UxGT("Seleziona *");
   PROGMEM Language_Str MSG_ACC                             = _UxGT("Accel");
@@ -357,7 +368,7 @@ namespace Language_it {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Rimuovi filamento");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Rimuovi filamento *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Rimuovi tutto");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Inizializ. media");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Inizializ. media");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Cambia media");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Rilascia media");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z probe fuori piatto");

Marlin/src/lcd/language/language_jp_kana.h

@@ -166,7 +166,7 @@ namespace Language_jp_kana {
   PROGMEM Language_Str MSG_CONTROL_RETRACT_RECOVERF        = _UxGT("ホショウソクド mm/s");            // "UnRet  V"
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("ジドウヒキコミ");                 // "AutoRetr."
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("フィラメントコウカン");              // "Change filament"
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("メディアサイヨミコミ");             // "Init. SD card"
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("メディアサイヨミコミ");             // "Init. SD card"
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("メディアコウカン");               // "Change SD card"
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Zプローブ ベッドガイ");            // "Z probe out. bed"
   PROGMEM Language_Str MSG_BLTOUCH_SELFTEST                = _UxGT("BLTouch ジコシンダン");          // "BLTouch Self-Test"

Marlin/src/lcd/language/language_nl.h

@@ -149,7 +149,7 @@ namespace Language_nl {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT("AutoRetr.");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Verv. Filament");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Verv. Filament *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Init. SD kaart");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Init. SD kaart");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Verv. SD Kaart");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z probe uit. bed");
   PROGMEM Language_Str MSG_BLTOUCH_SELFTEST                = _UxGT("BLTouch Zelf-Test");

Marlin/src/lcd/language/language_pl.h

@@ -350,7 +350,7 @@ namespace Language_pl {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Wyładuj Filament");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Wyładuj Filament *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Wyładuj wszystkie");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Inicjal. karty SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Inicjal. karty SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Zmiana karty SD");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Zwolnienie karty");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z za stołem");

Marlin/src/lcd/language/language_pt.h

@@ -139,7 +139,7 @@ namespace Language_pt {
   PROGMEM Language_Str MSG_AUTORETRACT                     = _UxGT(" AutoRetr.");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Trocar filamento");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Trocar filamento *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Inici. cartão SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Inici. cartão SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Trocar cartão SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sensor fora/base");
   PROGMEM Language_Str MSG_ZPROBE_ZOFFSET                  = _UxGT("Desvio Z");

Marlin/src/lcd/language/language_pt_br.h

@@ -293,7 +293,7 @@ namespace Language_pt_br {
   PROGMEM Language_Str MSG_FILAMENTLOAD_E                  = _UxGT("Carregar Filamento *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Descarreg. Filamento *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Descarregar Todos");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Iniciar SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Iniciar SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Trocar SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda fora da mesa");
   PROGMEM Language_Str MSG_SKEW_FACTOR                     = _UxGT("Fator de Cisalho");

Marlin/src/lcd/language/language_ru.h

@@ -328,7 +328,7 @@ namespace Language_ru {
   PROGMEM Language_Str MSG_FILAMENTLOAD_E                  = _UxGT("Загрузка филамента *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Выгрузка филамента *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Выгрузить всё");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Активировать SD");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Активировать SD");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Сменить SD карту");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Деактивировать SD");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z-датчик вне стола");

Marlin/src/lcd/language/language_sk.h

@@ -360,7 +360,7 @@ namespace Language_sk {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Vysunúť filament");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Vysunúť filament *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Vysunúť všetko");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Načítať SD kartu");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Načítať SD kartu");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Vymeniť SD kartu");
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Odpojiť SD kartu");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Sonda Z mimo podl.");

Marlin/src/lcd/language/language_tr.h

@@ -309,7 +309,7 @@ namespace Language_tr {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Filaman Çıkart");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Filaman Çıkart *");
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Tümünü Çıkart");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("SD Kart Başlatılıyor");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("SD Kart Başlatılıyor");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("SD Kart Değiştir");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z Prob Açık. Tabla");
   PROGMEM Language_Str MSG_SKEW_FACTOR                     = _UxGT("Çarpıklık Faktörü");

Marlin/src/lcd/language/language_uk.h

@@ -157,7 +157,7 @@ namespace Language_uk {
   PROGMEM Language_Str MSG_STOPPED                         = _UxGT("ЗУПИНЕНО. ");
   PROGMEM Language_Str MSG_FILAMENTCHANGE                  = _UxGT("Зміна волокна");
   PROGMEM Language_Str MSG_FILAMENTCHANGE_E                = _UxGT("Зміна волокна *");
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Старт SD картки");
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Старт SD картки");
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Заміна SD карти");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z дет. не в межах");
   PROGMEM Language_Str MSG_BLTOUCH_SELFTEST                = _UxGT("BLTouch Само-Тест");

Marlin/src/lcd/language/language_vi.h

@@ -309,7 +309,7 @@ namespace Language_vi {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("Dỡ dây nhựa");                          // unload filament
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("Dỡ dây nhựa *");                        // unload filament
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("Dỡ tất cả");                            // Unload All
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("Khởi tạo phương tiện");                 // Init. media
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("Khởi tạo phương tiện");                 // Init. media
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("Thay phương tiện");                     // Change midea
   PROGMEM Language_Str MSG_RELEASE_MEDIA                   = _UxGT("Phát hành phương tiện");
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Đầu Dò Z qua bàn");                     // Z Probe past bed

Marlin/src/lcd/language/language_zh_CN.h

@@ -274,7 +274,7 @@ namespace Language_zh_CN {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("卸载丝料");     // "Unload filament"
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("卸载丝料 *");     // "Unload filament"
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("卸载全部");     // "Unload All"
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("初始化存储卡");     //"Init. SD card"
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("初始化存储卡");     //"Init. SD card"
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("更换存储卡");     //"Change SD card"
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z探针在热床之外");     //"Z probe out. bed" Z probe is not within the physical limits
   PROGMEM Language_Str MSG_SKEW_FACTOR                     = _UxGT("偏斜因数");     // "Skew Factor"

Marlin/src/lcd/language/language_zh_TW.h

@@ -274,7 +274,7 @@ namespace Language_zh_TW {
   PROGMEM Language_Str MSG_FILAMENTUNLOAD                  = _UxGT("卸載絲料");     // "Unload filament"
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_E                = _UxGT("卸載絲料 *");     // "Unload filament"
   PROGMEM Language_Str MSG_FILAMENTUNLOAD_ALL              = _UxGT("卸載全部");     // "Unload All"
-  PROGMEM Language_Str MSG_INIT_MEDIA                      = _UxGT("初始化記憶卡");     //"Init. SD card"
+  PROGMEM Language_Str MSG_ATTACH_MEDIA                    = _UxGT("初始化記憶卡");     //"Init. SD card"
   PROGMEM Language_Str MSG_CHANGE_MEDIA                    = _UxGT("更換記憶卡");     //"Change SD card"
   PROGMEM Language_Str MSG_ZPROBE_OUT                      = _UxGT("Z探針在熱床之外");     //"Z probe out. bed" Z probe is not within the physical limits
   PROGMEM Language_Str MSG_SKEW_FACTOR                     = _UxGT("偏斜因數");     // "Skew Factor"

Marlin/src/lcd/menu/menu_main.cpp

@@ -134,7 +134,7 @@ void menu_main() {
         #if PIN_EXISTS(SD_DETECT)
           ACTION_ITEM(MSG_NO_MEDIA, nullptr);
         #else
-          GCODES_ITEM(MSG_INIT_MEDIA, M21_STR);
+          GCODES_ITEM(MSG_ATTACH_MEDIA, M21_STR);
           ACTION_ITEM(MSG_MEDIA_RELEASED, nullptr);
         #endif
       }
@@ -228,7 +228,7 @@ void menu_main() {
       #if PIN_EXISTS(SD_DETECT)
         ACTION_ITEM(MSG_NO_MEDIA, nullptr);
       #else
-        GCODES_ITEM(MSG_INIT_MEDIA, M21_STR);
+        GCODES_ITEM(MSG_ATTACH_MEDIA, M21_STR);
         ACTION_ITEM(MSG_MEDIA_RELEASED, nullptr);
       #endif
     }

Marlin/src/lcd/menu/menu_tune.cpp

@@ -81,7 +81,7 @@
           #endif
           lcd_put_u8str_P(GET_TEXT(MSG_BABYSTEP_TOTAL));
           lcd_put_wchar(':');
-          lcd_put_u8str(LCD_Z_OFFSET_FUNC(spm * babystep.axis_total[BS_TOTAL_AXIS(axis)]));
+          lcd_put_u8str(LCD_Z_OFFSET_FUNC(spm * babystep.axis_total[BS_TOTAL_IND(axis)]));
         }
       #endif
     }

Marlin/src/module/stepper.cpp

@@ -81,6 +81,8 @@
 
 Stepper stepper; // Singleton
 
+#define BABYSTEPPING_EXTRA_DIR_WAIT
+
 #if HAS_MOTOR_CURRENT_PWM
   bool Stepper::initialized; // = false
 #endif
@@ -1367,8 +1369,8 @@ void Stepper::isr() {
     #endif
 
     #if ENABLED(INTEGRATED_BABYSTEPPING)
-      const bool do_babystep = (nextBabystepISR == 0);              // 0 = Do Babystepping (XY)Z pulses
-      if (do_babystep) nextBabystepISR = babystepping_isr();
+      const bool is_babystep = (nextBabystepISR == 0);              // 0 = Do Babystepping (XY)Z pulses
+      if (is_babystep) nextBabystepISR = babystepping_isr();
     #endif
 
     // ^== Time critical. NOTHING besides pulse generation should be above here!!!
@@ -1376,7 +1378,7 @@ void Stepper::isr() {
     if (!nextMainISR) nextMainISR = block_phase_isr();  // Manage acc/deceleration, get next block
 
     #if ENABLED(INTEGRATED_BABYSTEPPING)
-      if (do_babystep)                                  // Avoid ANY stepping too soon after baby-stepping
+      if (is_babystep)                                  // Avoid ANY stepping too soon after baby-stepping
         NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8);      // FULL STOP for 125µs after a baby-step
 
       if (nextBabystepISR != BABYSTEP_NEVER)            // Avoid baby-stepping too close to axis Stepping
@@ -2507,6 +2509,14 @@ void Stepper::report_positions() {
     #endif
   #endif
 
+  #if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT)
+    #define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE
+    #define EXTRA_DIR_WAIT_AFTER  DIR_WAIT_AFTER
+  #else
+    #define EXTRA_DIR_WAIT_BEFORE()
+    #define EXTRA_DIR_WAIT_AFTER()
+  #endif
+
   #if DISABLED(DELTA)
 
     #define BABYSTEP_AXIS(AXIS, INV, DIR) do{           \
@@ -2519,19 +2529,19 @@ void Stepper::report_positions() {
       _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
       _PULSE_WAIT();                                    \
       _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true);  \
-      DIR_WAIT_BEFORE();                                \
+      EXTRA_DIR_WAIT_BEFORE();                          \
       _APPLY_DIR(AXIS, old_dir);                        \
-      DIR_WAIT_AFTER();                                 \
+      EXTRA_DIR_WAIT_AFTER();                           \
     }while(0)
 
   #elif IS_CORE
 
-    #define BABYSTEP_CORE(A, B, INV, DIR) do{                   \
+    #define BABYSTEP_CORE(A, B, INV, DIR, ALT) do{              \
       const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
       _ENABLE_AXIS(A); _ENABLE_AXIS(B);                         \
       DIR_WAIT_BEFORE();                                        \
       _APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV);                    \
-      _APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0));    \
+      _APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^ALT);                \
       DIR_WAIT_AFTER();                                         \
       _SAVE_START();                                            \
       _APPLY_STEP(A, !_INVERT_STEP_PIN(A), true);               \
@@ -2539,9 +2549,9 @@ void Stepper::report_positions() {
       _PULSE_WAIT();                                            \
       _APPLY_STEP(A, _INVERT_STEP_PIN(A), true);                \
       _APPLY_STEP(B, _INVERT_STEP_PIN(B), true);                \
-      DIR_WAIT_BEFORE();                                        \
+      EXTRA_DIR_WAIT_BEFORE();                                  \
       _APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b);       \
-      DIR_WAIT_AFTER();                                         \
+      EXTRA_DIR_WAIT_AFTER();                                   \
     }while(0)
 
   #endif
@@ -2560,21 +2570,21 @@ void Stepper::report_positions() {
 
         case X_AXIS:
           #if CORE_IS_XY
-            BABYSTEP_CORE(X, Y, false, direction);
+            BABYSTEP_CORE(X, Y, 0, direction, 0);
           #elif CORE_IS_XZ
-            BABYSTEP_CORE(X, Z, false, direction);
+            BABYSTEP_CORE(X, Z, 0, direction, 0);
           #else
-            BABYSTEP_AXIS(X, false, direction);
+            BABYSTEP_AXIS(X, 0, direction);
           #endif
           break;
 
         case Y_AXIS:
           #if CORE_IS_XY
-            BABYSTEP_CORE(X, Y, false, direction);
+            BABYSTEP_CORE(X, Y, 0, direction, (CORESIGN(1)<0));
           #elif CORE_IS_YZ
-            BABYSTEP_CORE(Y, Z, false, direction);
+            BABYSTEP_CORE(Y, Z, 0, direction, (CORESIGN(1)<0));
           #else
-            BABYSTEP_AXIS(Y, false, direction);
+            BABYSTEP_AXIS(Y, 0, direction);
           #endif
           break;
 
@@ -2583,9 +2593,9 @@ void Stepper::report_positions() {
       case Z_AXIS: {
 
         #if CORE_IS_XZ
-          BABYSTEP_CORE(X, Z, BABYSTEP_INVERT_Z, direction);
+          BABYSTEP_CORE(X, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0));
         #elif CORE_IS_YZ
-          BABYSTEP_CORE(Y, Z, BABYSTEP_INVERT_Z, direction);
+          BABYSTEP_CORE(Y, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0));
         #elif DISABLED(DELTA)
           BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
 
@@ -2620,13 +2630,13 @@ void Stepper::report_positions() {
           Z_STEP_WRITE(INVERT_Z_STEP_PIN);
 
           // Restore direction bits
-          DIR_WAIT_BEFORE();
+          EXTRA_DIR_WAIT_BEFORE();
 
           X_DIR_WRITE(old_dir.x);
           Y_DIR_WRITE(old_dir.y);
           Z_DIR_WRITE(old_dir.z);
 
-          DIR_WAIT_AFTER();
+          EXTRA_DIR_WAIT_AFTER();
 
         #endif
 

Marlin/src/module/stepper/trinamic.cpp

@@ -117,7 +117,16 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
 #endif
 
 #ifndef TMC_BAUD_RATE
-  #define TMC_BAUD_RATE 115200
+  #if HAS_TMC_SW_SERIAL
+    // Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial.
+    // Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally
+    // failing to read status properly. 32-bit platforms typically define an even lower
+    // TMC_BAUD_RATE, due to differences in how SoftwareSerial libraries work on different
+    // platforms.
+    #define TMC_BAUD_RATE 57600
+  #else
+    #define TMC_BAUD_RATE 115200
+  #endif
 #endif
 
 #if HAS_DRIVER(TMC2130)

Marlin/src/pins/esp32/pins_MRR_ESPA.h

@@ -101,3 +101,10 @@
 #define SDSS                5
 #define USES_SHARED_SPI  // SPI is shared by SD card with TMC SPI drivers
 
+// Hardware serial pins
+// Add the following to Configuration.h or Configuration_adv.h to assign
+// specific pins to hardware Serial1.
+// Note: Serial2 can be defined using HARDWARE_SERIAL2_RX and HARDWARE_SERIAL2_TX but
+// MRR ESPA does not have enough spare pins for such reassignment.
+//#define HARDWARE_SERIAL1_RX 21
+//#define HARDWARE_SERIAL1_TX 22

Marlin/src/pins/esp32/pins_MRR_ESPE.h

@@ -139,7 +139,7 @@
     #define BEEPER_PIN      151
 
     //#define LCD_PINS_D5     150
-    //#define LCD_PINS_D6     151
+    //#define LCD_PINS_D6     152
     //#define LCD_PINS_D7     153
 
   #else
@@ -153,3 +153,13 @@
   #define BTN_ENC            14
 
 #endif // HAS_GRAPHICAL_LCD
+
+// Hardware serial pins
+// Add the following to Configuration.h or Configuration_adv.h to assign
+// specific pins to hardware Serial1 and Serial2.
+// Note: Serial2 can be defined using HARDWARE_SERIAL2_RX and HARDWARE_SERIAL2_TX but
+// MRR ESPA does not have enough spare pins for such reassignment.
+//#define HARDWARE_SERIAL1_RX 21
+//#define HARDWARE_SERIAL1_TX 22
+//#define HARDWARE_SERIAL2_RX  2
+//#define HARDWARE_SERIAL2_TX  4

Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_4.h

@@ -232,9 +232,19 @@
  *              EXP2                                              EXP1
  */
 #if HAS_SPI_LCD
-  #define BTN_ENC          P0_28   // (58) open-drain
+  #if ENABLED(ANET_FULL_GRAPHICS_LCD)
 
-  #if ENABLED(CR10_STOCKDISPLAY)
+    #define LCD_PINS_RS    P1_23
+
+    #define BTN_EN1        P1_20
+    #define BTN_EN2        P1_22
+    #define BTN_ENC        P1_18
+
+    #define LCD_PINS_ENABLE P1_21
+    #define LCD_PINS_D4    P1_19
+
+  #elif ENABLED(CR10_STOCKDISPLAY)
+    #define BTN_ENC        P0_28   // (58) open-drain
     #define LCD_PINS_RS    P1_22
 
     #define BTN_EN1        P1_18
@@ -244,6 +254,7 @@
     #define LCD_PINS_D4    P1_21
 
   #else
+    #define BTN_ENC        P0_28   // (58) open-drain
     #define LCD_PINS_RS    P1_19
 
     #define BTN_EN1        P3_26   // (31) J3-2 & AUX-4

Marlin/src/pins/mega/pins_PICA.h

@@ -36,8 +36,8 @@
 /*
 // Note that these are the "pins" that correspond to the analog inputs on the arduino mega.
 // These are not the same as the physical pin numbers
-  AD0 = 54;   AD1 = 55;   AD2 = 56;   AD3 = 57;   
-  AD4 = 58;   AD5 = 59;   AD6 = 60;   AD7 = 61;   
+  AD0 = 54;   AD1 = 55;   AD2 = 56;   AD3 = 57;
+  AD4 = 58;   AD5 = 59;   AD6 = 60;   AD7 = 61;
   AD8 = 62;   AD9 = 63;   AD10 = 64;  AD11 = 65;
   AD12 = 66;  AD13 = 67;  AD14 = 68;  AD15 = 69;
 */
@@ -61,7 +61,7 @@
 //
 #define X_STEP_PIN         55
 #define X_DIR_PIN          54
-#define X_ENABLE_PIN       60     
+#define X_ENABLE_PIN       60
 
 #define Y_STEP_PIN         57
 #define Y_DIR_PIN          56
@@ -71,7 +71,7 @@
 #define Z_DIR_PIN          58
 #define Z_ENABLE_PIN       62
 
-#define E0_STEP_PIN        67 
+#define E0_STEP_PIN        67
 #define E0_DIR_PIN         24
 #define E0_ENABLE_PIN      26
 
@@ -103,10 +103,10 @@
 #endif
 
 #define SDPOWER_PIN        -1
-#define LED_PIN            -1 
+#define LED_PIN            -1
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
-      
+
 #define SSR_PIN             6
 
 // SPI for Max6675 or Max31855 Thermocouple
@@ -119,7 +119,7 @@
 //
 // SD Support
 //
-#define SD_DETECT_PIN      49 
+#define SD_DETECT_PIN      49
 #define SDSS               53
 
 //

Marlin/src/sd/SdBaseFile.cpp

@@ -20,6 +20,12 @@
  *
  */
 
+#if __GNUC__ > 8
+  // The NXP platform updated GCC from 7.2.1 to 9.2.1
+  // and this new warning apparently can be ignored.
+  #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#endif
+
 /**
  * Arduino SdFat Library
  * Copyright (c) 2009 by William Greiman

Marlin/src/sd/cardreader.cpp

@@ -1063,7 +1063,7 @@ uint16_t CardReader::get_num_Files() {
 //
 // Return from procedure or close out the Print Job
 //
-void CardReader::printingHasFinished() {
+void CardReader::fileHasFinished() {
   planner.synchronize();
   file.close();
   if (file_subcall_ctr > 0) { // Resume calling file after closing procedure

Marlin/src/sd/cardreader.h

@@ -106,7 +106,7 @@ public:
 
   // Print job
   static void openAndPrintFile(const char *name);   // (working directory)
-  static void printingHasFinished();
+  static void fileHasFinished();
   static void getAbsFilename(char *dst);
   static void startFileprint();
   static void printFilename();

buildroot/share/tests/esp32-tests

@@ -18,5 +18,20 @@ opt_set TX_BUFFER_SIZE 64
 opt_add WEBSUPPORT
 exec_test $1 $2 "ESP32 with WIFISUPPORT and WEBSUPPORT"
 
+#
+# Build with TMC drivers using hardware serial
+#
+restore_configs
+opt_set MOTHERBOARD BOARD_ESPRESSIF_ESP32
+opt_set X_DRIVER_TYPE TMC2209
+opt_set Y_DRIVER_TYPE TMC2208
+opt_set Z_DRIVER_TYPE TMC2209
+opt_set E0_DRIVER_TYPE TMC2209
+opt_set X_HARDWARE_SERIAL Serial1
+opt_set Y_HARDWARE_SERIAL Serial1
+opt_set Z_HARDWARE_SERIAL Serial1
+opt_set E0_HARDWARE_SERIAL Serial1
+exec_test $1 $2 "ESP32 with TMC Hardware Serial"
+
 # cleanup
 restore_configs