Marlin 2.0.9.1

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

.github/workflows/check-pr.yml

@@ -20,9 +20,8 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: peter-evans/close-pull@v1
+    - uses: superbrothers/close-pull-request@v3
       with:
-        delete-branch: false
         comment: >
           Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases.
 

.github/workflows/test-builds.yml

@@ -36,9 +36,11 @@ jobs:
         # Base Environments
 
         - DUE
+        - DUE_archim
         - esp32
         - linux_native
         - mega2560
+        - at90usb1286_dfu
         - teensy31
         - teensy35
         - teensy41
@@ -46,62 +48,86 @@ jobs:
 
         # Extended AVR Environments
 
-        - FYSETC_F6_13
+        - FYSETC_F6
         - mega1280
         - rambo
         - sanguino1284p
         - sanguino644p
 
-        # Extended STM32 Environments
+        # STM32F1 (Maple) Environments
 
-        - STM32F103RC_btt
-        - STM32F103RC_btt_USB
-        - STM32F103RE_btt
-        - STM32F103RE_btt_USB
+        #- STM32F103RC_btt_maple
+        - STM32F103RC_btt_USB_maple
         - STM32F103RC_fysetc
         - STM32F103RC_meeb
         - jgaurora_a5s_a1
         - STM32F103VE_longer
+        #- mks_robin_maple
+        - mks_robin_lite
+        - mks_robin_pro
+        #- mks_robin_nano35_maple
+        #- STM32F103RET6_creality_maple
+
+        # STM32 (ST) Environments
+
+        - STM32F103RC_btt
+        #- STM32F103RC_btt_USB
+        - STM32F103RE_btt
+        - STM32F103RE_btt_USB
+        - STM32F103RET6_creality
         - STM32F407VE_black
         - STM32F401VE_STEVAL
         - BIGTREE_BTT002
         - 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
 
         # 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@v2
+
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Cache PlatformIO
+      uses: actions/cache@v2
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+
     - name: Select Python 3.7
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v2
       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
@@ -111,13 +137,6 @@ jobs:
         pip install -U https://github.com/platformio/platformio-core/archive/develop.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 }}

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 020008
+#define CONFIGURATION_H_VERSION 02000901
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -105,14 +105,9 @@
 #define SERIAL_PORT 0
 
 /**
- * Select a secondary serial port on the board to use for communication with the host.
- * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
- */
-//#define SERIAL_PORT_2 -1
-
-/**
- * This setting determines the communication speed of the printer.
+ * Serial Port Baud Rate
+ * This is the default communication speed for all serial ports.
+ * Set the baud rate defaults for additional serial ports below.
  *
  * 250000 works in most cases, but you might try a lower speed if
  * you commonly experience drop-outs during host printing.
@@ -121,6 +116,23 @@
  * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
  */
 #define BAUDRATE 250000
+//#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate
+
+/**
+ * Select a secondary serial port on the board to use for communication with the host.
+ * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ */
+//#define SERIAL_PORT_2 -1
+//#define BAUDRATE_2 250000   // Enable to override BAUDRATE
+
+/**
+ * Select a third serial port on the board to use for communication with the host.
+ * Currently only supported for AVR, DUE, LPC1768/9 and STM32/STM32F1
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ */
+//#define SERIAL_PORT_3 1
+//#define BAUDRATE_3 250000   // Enable to override BAUDRATE
 
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
@@ -137,6 +149,45 @@
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
+/**
+ * Define the number of coordinated linear axes.
+ * See https://github.com/DerAndere1/Marlin/wiki
+ * Each linear axis gets its own stepper control and endstop:
+ *
+ *   Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
+ *   Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
+ *       Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR
+ *    Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE
+ *             DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
+ *             MICROSTEP_MODES, MANUAL_FEEDRATE
+ *
+ * :[3, 4, 5, 6]
+ */
+//#define LINEAR_AXES 3
+
+/**
+ * Axis codes for additional axes:
+ * This defines the axis code that is used in G-code commands to
+ * reference a specific axis.
+ * 'A' for rotational axis parallel to X
+ * 'B' for rotational axis parallel to Y
+ * 'C' for rotational axis parallel to Z
+ * 'U' for secondary linear axis parallel to X
+ * 'V' for secondary linear axis parallel to Y
+ * 'W' for secondary linear axis parallel to Z
+ * Regardless of the settings, firmware-internal axis IDs are
+ * I (AXIS4), J (AXIS5), K (AXIS6).
+ */
+#if LINEAR_AXES >= 4
+  #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+#if LINEAR_AXES >= 5
+  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+#if LINEAR_AXES >= 6
+  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+#endif
+
 // @section extruder
 
 // This defines the number of extruders
@@ -421,6 +472,7 @@
 #define TEMP_SENSOR_PROBE 0
 #define TEMP_SENSOR_CHAMBER 0
 #define TEMP_SENSOR_COOLER 0
+#define TEMP_SENSOR_REDUNDANT 0
 
 // Dummy thermistor constant temperature readings, for use with 998 and 999
 #define DUMMY_THERMISTOR_998_VALUE  25
@@ -432,11 +484,6 @@
 //#define MAX31865_SENSOR_OHMS_1      100
 //#define MAX31865_CALIBRATION_OHMS_1 430
 
-// Use temp sensor 1 as a redundant sensor with sensor 0. If the readings
-// from the two sensors differ too much the print will be aborted.
-//#define TEMP_SENSOR_1_AS_REDUNDANT
-#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
-
 #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
 #define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
 #define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
@@ -449,6 +496,28 @@
 #define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
 #define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
 
+/**
+ * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT)
+ *
+ * Use a temp sensor as a redundant sensor for another reading. Select an unused temperature sensor, and another
+ * sensor you'd like it to be redundant for. If the two thermistors differ by TEMP_SENSOR_REDUNDANT_MAX_DIFF (°C),
+ * the print will be aborted. Whichever sensor is selected will have its normal functions disabled; i.e. selecting
+ * the Bed sensor (-1) will disable bed heating/monitoring.
+ *
+ * Use the following to select temp sensors:
+ *    -5 : Cooler
+ *    -4 : Probe
+ *    -3 : not used
+ *    -2 : Chamber
+ *    -1 : Bed
+ *   0-7 : E0 through E7
+ */
+#if TEMP_SENSOR_REDUNDANT
+  #define TEMP_SENSOR_REDUNDANT_SOURCE     1  // The sensor that will provide the redundant reading.
+  #define TEMP_SENSOR_REDUNDANT_TARGET     0  // The sensor that we are providing a redundant reading for.
+  #define TEMP_SENSOR_REDUNDANT_MAX_DIFF  10  // (°C) Temperature difference that will trigger a print abort.
+#endif
+
 // Below this temperature the heater will be switched off
 // because it probably indicates a broken thermistor wire.
 #define HEATER_0_MINTEMP   5
@@ -679,9 +748,15 @@
 #define USE_XMIN_PLUG
 #define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
+//#define USE_IMIN_PLUG
+//#define USE_JMIN_PLUG
+//#define USE_KMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
+//#define USE_IMAX_PLUG
+//#define USE_JMAX_PLUG
+//#define USE_KMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -690,9 +765,15 @@
   //#define ENDSTOPPULLUP_XMAX
   //#define ENDSTOPPULLUP_YMAX
   //#define ENDSTOPPULLUP_ZMAX
+  //#define ENDSTOPPULLUP_IMAX
+  //#define ENDSTOPPULLUP_JMAX
+  //#define ENDSTOPPULLUP_KMAX
   //#define ENDSTOPPULLUP_XMIN
   //#define ENDSTOPPULLUP_YMIN
   //#define ENDSTOPPULLUP_ZMIN
+  //#define ENDSTOPPULLUP_IMIN
+  //#define ENDSTOPPULLUP_JMIN
+  //#define ENDSTOPPULLUP_KMIN
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
@@ -703,9 +784,15 @@
   //#define ENDSTOPPULLDOWN_XMAX
   //#define ENDSTOPPULLDOWN_YMAX
   //#define ENDSTOPPULLDOWN_ZMAX
+  //#define ENDSTOPPULLDOWN_IMAX
+  //#define ENDSTOPPULLDOWN_JMAX
+  //#define ENDSTOPPULLDOWN_KMAX
   //#define ENDSTOPPULLDOWN_XMIN
   //#define ENDSTOPPULLDOWN_YMIN
   //#define ENDSTOPPULLDOWN_ZMIN
+  //#define ENDSTOPPULLDOWN_IMIN
+  //#define ENDSTOPPULLDOWN_JMIN
+  //#define ENDSTOPPULLDOWN_KMIN
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 
@@ -713,9 +800,15 @@
 #define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
 
 /**
@@ -744,6 +837,9 @@
 //#define Z2_DRIVER_TYPE A4988
 //#define Z3_DRIVER_TYPE A4988
 //#define Z4_DRIVER_TYPE A4988
+//#define I_DRIVER_TYPE  A4988
+//#define J_DRIVER_TYPE  A4988
+//#define K_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -797,14 +893,14 @@
 /**
  * Default Axis Steps Per Unit (steps/mm)
  * Override with M92
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
  * Default Max Feed Rate (mm/s)
  * Override with M203
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
 
@@ -817,7 +913,7 @@
  * Default Max Acceleration (change/s) change = mm/s
  * (Maximum start speed for accelerated moves)
  * Override with M201
- *                                      X, Y, Z, E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
 
@@ -851,6 +947,9 @@
   #define DEFAULT_XJERK 10.0
   #define DEFAULT_YJERK 10.0
   #define DEFAULT_ZJERK  0.3
+  //#define DEFAULT_IJERK  0.3
+  //#define DEFAULT_JJERK  0.3
+  //#define DEFAULT_KJERK  0.3
 
   //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
 
@@ -1149,7 +1248,8 @@
   //#define WAIT_FOR_HOTEND         // Wait for hotend to heat back up between probes (to improve accuracy & prevent cold extrude)
 #endif
 //#define PROBING_FANS_OFF          // Turn fans off when probing
-//#define PROBING_STEPPERS_OFF      // Turn steppers off (unless needed to hold position) when probing
+//#define PROBING_ESTEPPERS_OFF     // Turn all extruder steppers off when probing
+//#define PROBING_STEPPERS_OFF      // Turn all steppers off (unless needed to hold position) when probing (including extruders)
 //#define DELAY_BEFORE_PROBING 200  // (ms) To prevent vibrations from triggering piezo sensors
 
 // Require minimum nozzle and/or bed temperature for probing
@@ -1165,12 +1265,18 @@
 #define Y_ENABLE_ON 0
 #define Z_ENABLE_ON 0
 #define E_ENABLE_ON 0 // For all extruders
+//#define I_ENABLE_ON 0
+//#define J_ENABLE_ON 0
+//#define K_ENABLE_ON 0
 
 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
+//#define DISABLE_I false
+//#define DISABLE_J false
+//#define DISABLE_K false
 
 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1186,6 +1292,9 @@
 #define INVERT_X_DIR false
 #define INVERT_Y_DIR true
 #define INVERT_Z_DIR false
+//#define INVERT_I_DIR false
+//#define INVERT_J_DIR false
+//#define INVERT_K_DIR false
 
 // @section extruder
 
@@ -1221,6 +1330,9 @@
 #define X_HOME_DIR -1
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
+//#define I_HOME_DIR -1
+//#define J_HOME_DIR -1
+//#define K_HOME_DIR -1
 
 // @section machine
 
@@ -1235,6 +1347,12 @@
 #define X_MAX_POS X_BED_SIZE
 #define Y_MAX_POS Y_BED_SIZE
 #define Z_MAX_POS 200
+//#define I_MIN_POS 0
+//#define I_MAX_POS 50
+//#define J_MIN_POS 0
+//#define J_MAX_POS 50
+//#define K_MIN_POS 0
+//#define K_MAX_POS 50
 
 /**
  * Software Endstops
@@ -1251,6 +1369,9 @@
   #define MIN_SOFTWARE_ENDSTOP_X
   #define MIN_SOFTWARE_ENDSTOP_Y
   #define MIN_SOFTWARE_ENDSTOP_Z
+  #define MIN_SOFTWARE_ENDSTOP_I
+  #define MIN_SOFTWARE_ENDSTOP_J
+  #define MIN_SOFTWARE_ENDSTOP_K
 #endif
 
 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1259,6 +1380,9 @@
   #define MAX_SOFTWARE_ENDSTOP_X
   #define MAX_SOFTWARE_ENDSTOP_Y
   #define MAX_SOFTWARE_ENDSTOP_Z
+  #define MAX_SOFTWARE_ENDSTOP_I
+  #define MAX_SOFTWARE_ENDSTOP_J
+  #define MAX_SOFTWARE_ENDSTOP_K
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1491,6 +1615,8 @@
   //#define UBL_Z_RAISE_WHEN_OFF_MESH 2.5 // When the nozzle is off the mesh, this value is used
                                           // as the Z-Height correction value.
 
+  //#define UBL_MESH_WIZARD         // Run several commands in a row to get a complete mesh
+
 #elif ENABLED(MESH_BED_LEVELING)
 
   //===========================================================================
@@ -1568,6 +1694,9 @@
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
 //#define MANUAL_Z_HOME_POS 0
+//#define MANUAL_I_HOME_POS 0
+//#define MANUAL_J_HOME_POS 0
+//#define MANUAL_K_HOME_POS 0
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //
@@ -1810,11 +1939,20 @@
 /**
  * Print Job Timer
  *
- * Automatically start and stop the print job timer on M104/M109/M190.
+ * Automatically start and stop the print job timer on M104/M109/M140/M190/M141/M191.
+ * The print job timer will only be stopped if the bed/chamber target temp is
+ * below BED_MINTEMP/CHAMBER_MINTEMP.
  *
- *   M104 (hotend, no wait) - high temp = none,        low temp = stop timer
- *   M109 (hotend, wait)    - high temp = start timer, low temp = stop timer
- *   M190 (bed, wait)       - high temp = start timer, low temp = none
+ *   M104 (hotend, no wait)  - high temp = none,        low temp = stop timer
+ *   M109 (hotend, wait)     - high temp = start timer, low temp = stop timer
+ *   M140 (bed, no wait)     - high temp = none,        low temp = stop timer
+ *   M190 (bed, wait)        - high temp = start timer, low temp = none
+ *   M141 (chamber, no wait) - high temp = none,        low temp = stop timer
+ *   M191 (chamber, wait)    - high temp = start timer, low temp = none
+ *
+ * For M104/M109, high temp is anything over EXTRUDE_MINTEMP / 2.
+ * For M140/M190, high temp is anything over BED_MINTEMP.
+ * For M141/M191, high temp is anything over CHAMBER_MINTEMP.
  *
  * The timer can also be controlled with the following commands:
  *
@@ -2258,7 +2396,8 @@
 // MKS LCD12864A/B with graphic controller and SD support. Follows MKS_MINI_12864 pinout.
 // https://www.aliexpress.com/item/33018110072.html
 //
-//#define MKS_LCD12864
+//#define MKS_LCD12864A
+//#define MKS_LCD12864B
 
 //
 // FYSETC variant of the MINI12864 graphic controller with SD support
@@ -2561,7 +2700,7 @@
 //#define DWIN_CREALITY_LCD
 
 //
-// ADS7843/XPT2046 ADC Touchscreen such as ILI9341 2.8
+// Touch Screen Settings
 //
 //#define TOUCH_SCREEN
 #if ENABLED(TOUCH_SCREEN)
@@ -2675,7 +2814,7 @@
 //#define NEOPIXEL_LED
 #if ENABLED(NEOPIXEL_LED)
   #define NEOPIXEL_TYPE   NEO_GRBW // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h)
-  #define NEOPIXEL_PIN     4       // LED driving pin
+  //#define NEOPIXEL_PIN     4     // LED driving pin
   //#define NEOPIXEL2_TYPE NEOPIXEL_TYPE
   //#define NEOPIXEL2_PIN    5
   #define NEOPIXEL_PIXELS 30       // Number of LEDs in the strip. (Longest strip when NEOPIXEL2_SEPARATE is disabled.)
@@ -2693,10 +2832,11 @@
     //#define NEOPIXEL2_INSERIES      // Default behavior is NeoPixel 2 in parallel
   #endif
 
-  // Use a single NeoPixel LED for static (background) lighting
-  //#define NEOPIXEL_BKGD_LED_INDEX  0               // Index of the LED to use
-  //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W
-  //#define NEOPIXEL_BKGD_ALWAYS_ON                  // Keep the backlight on when other NeoPixels are off
+  // Use some of the NeoPixel LEDs for static (background) lighting
+  //#define NEOPIXEL_BKGD_INDEX_FIRST  0              // Index of the first background LED
+  //#define NEOPIXEL_BKGD_INDEX_LAST   5              // Index of the last background LED
+  //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 }  // R, G, B, W
+  //#define NEOPIXEL_BKGD_ALWAYS_ON                   // Keep the backlight on when other NeoPixels are off
 #endif
 
 /**

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 020008
+#define CONFIGURATION_ADV_H_VERSION 02000901
 
 //===========================================================================
 //============================= Thermal Settings ============================
@@ -125,6 +125,12 @@
   #define PROBE_BETA                   3950    // Beta value
 #endif
 
+#if TEMP_SENSOR_REDUNDANT == 1000
+  #define REDUNDANT_PULLUP_RESISTOR_OHMS   4700    // Pullup resistor
+  #define REDUNDANT_RESISTANCE_25C_OHMS    100000  // Resistance at 25C
+  #define REDUNDANT_BETA                   3950    // Beta value
+#endif
+
 //
 // Hephestos 2 24V heated bed upgrade kit.
 // https://store.bq.com/en/heated-bed-kit-hephestos2
@@ -196,7 +202,7 @@
   #define COOLER_MAXTEMP          26  // (°C)
   #define COOLER_DEFAULT_TEMP     16  // (°C)
   #define TEMP_COOLER_HYSTERESIS   1  // (°C) Temperature proximity considered "close enough" to the target
-  #define COOLER_PIN               8  // Laser cooler on/off pin used to control power to the cooling element e.g. TEC, External chiller via relay
+  #define COOLER_PIN               8  // Laser cooler on/off pin used to control power to the cooling element (e.g., TEC, External chiller via relay)
   #define COOLER_INVERTING     false
   #define TEMP_COOLER_PIN         15  // Laser/Cooler temperature sensor pin. ADC is required.
   #define COOLER_FAN                  // Enable a fan on the cooler, Fan# 0,1,2,3 etc.
@@ -526,6 +532,11 @@
   //#define USE_OCR2A_AS_TOP
 #endif
 
+/**
+ * Use one of the PWM fans as a redundant part-cooling fan
+ */
+//#define REDUNDANT_PART_COOLING_FAN 2  // Index of the fan to sync with FAN 0.
+
 // @section extruder
 
 /**
@@ -671,6 +682,12 @@
   #endif
 #endif
 
+// Drive the E axis with two synchronized steppers
+//#define E_DUAL_STEPPER_DRIVERS
+#if ENABLED(E_DUAL_STEPPER_DRIVERS)
+  //#define INVERT_E1_VS_E0_DIR   // Enable if the E motors need opposite DIR states
+#endif
+
 /**
  * Dual X Carriage
  *
@@ -734,7 +751,7 @@
  * the position of the toolhead relative to the workspace.
  */
 
-//#define SENSORLESS_BACKOFF_MM  { 2, 2 }     // (mm) Backoff from endstops before sensorless homing
+//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (mm) Backoff from endstops before sensorless homing
 
 #define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
 #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
@@ -918,6 +935,9 @@
 #define INVERT_X_STEP_PIN false
 #define INVERT_Y_STEP_PIN false
 #define INVERT_Z_STEP_PIN false
+#define INVERT_I_STEP_PIN false
+#define INVERT_J_STEP_PIN false
+#define INVERT_K_STEP_PIN false
 #define INVERT_E_STEP_PIN false
 
 /**
@@ -929,6 +949,9 @@
 #define DISABLE_INACTIVE_X true
 #define DISABLE_INACTIVE_Y true
 #define DISABLE_INACTIVE_Z true  // Set 'false' if the nozzle could fall onto your printed part!
+#define DISABLE_INACTIVE_I true
+#define DISABLE_INACTIVE_J true
+#define DISABLE_INACTIVE_K true
 #define DISABLE_INACTIVE_E true
 
 // Default Minimum Feedrates for printing and travel moves
@@ -969,7 +992,7 @@
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
   #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
 
   // Add steps for motor direction changes on CORE kinematics
@@ -1040,6 +1063,13 @@
   #define CALIBRATION_MEASURE_LEFT
   #define CALIBRATION_MEASURE_BACK
 
+  //#define CALIBRATION_MEASURE_IMIN
+  //#define CALIBRATION_MEASURE_IMAX
+  //#define CALIBRATION_MEASURE_JMIN
+  //#define CALIBRATION_MEASURE_JMAX
+  //#define CALIBRATION_MEASURE_KMIN
+  //#define CALIBRATION_MEASURE_KMAX
+
   // Probing at the exact top center only works if the center is flat. If
   // probing on a screwhead or hollow washer, probe near the edges.
   //#define CALIBRATION_MEASURE_AT_TOP_EDGES
@@ -1301,6 +1331,8 @@
 
   //#define BROWSE_MEDIA_ON_INSERT          // Open the file browser when media is inserted
 
+  //#define MEDIA_MENU_AT_TOP               // Force the media menu to be listed on the top of the main menu
+
   #define EVENT_GCODE_SD_ABORT "G28XY"      // G-code to run on SD Abort Print (e.g., "G28XY" or "G27")
 
   #if ENABLED(PRINTER_EVENT_LEDS)
@@ -1486,8 +1518,8 @@
   #if ENABLED(MULTI_VOLUME)
     #define VOLUME_SD_ONBOARD
     #define VOLUME_USB_FLASH_DRIVE
-    #define DEFAULT_VOLUME SD_ONBOARD
-    #define DEFAULT_SHARED_VOLUME USB_FLASH_DRIVE
+    #define DEFAULT_VOLUME SV_SD_ONBOARD
+    #define DEFAULT_SHARED_VOLUME SV_USB_FLASH_DRIVE
   #endif
 
 #endif // SDSUPPORT
@@ -1562,7 +1594,7 @@
    */
   //#define STATUS_COMBINE_HEATERS    // Use combined heater images instead of separate ones
   //#define STATUS_HOTEND_NUMBERLESS  // Use plain hotend icons instead of numbered ones (with 2+ hotends)
-  #define STATUS_HOTEND_INVERTED      // Show solid nozzle bitmaps when heating (Requires STATUS_HOTEND_ANIM)
+  #define STATUS_HOTEND_INVERTED      // Show solid nozzle bitmaps when heating (Requires STATUS_HOTEND_ANIM for numbered hotends)
   #define STATUS_HOTEND_ANIM          // Use a second bitmap to indicate hotend heating
   #define STATUS_BED_ANIM             // Use a second bitmap to indicate bed heating
   #define STATUS_CHAMBER_ANIM         // Use a second bitmap to indicate chamber heating
@@ -1940,30 +1972,30 @@
     //#define USE_TEMP_EXT_COMPENSATION
 
     // Probe temperature calibration generates a table of values starting at PTC_SAMPLE_START
-    // (e.g. 30), in steps of PTC_SAMPLE_RES (e.g. 5) with PTC_SAMPLE_COUNT (e.g. 10) samples.
+    // (e.g., 30), in steps of PTC_SAMPLE_RES (e.g., 5) with PTC_SAMPLE_COUNT (e.g., 10) samples.
 
-    //#define PTC_SAMPLE_START  30.0f
-    //#define PTC_SAMPLE_RES    5.0f
-    //#define PTC_SAMPLE_COUNT  10U
+    //#define PTC_SAMPLE_START  30  // (°C)
+    //#define PTC_SAMPLE_RES     5  // (°C)
+    //#define PTC_SAMPLE_COUNT  10
 
     // Bed temperature calibration builds a similar table.
 
-    //#define BTC_SAMPLE_START  60.0f
-    //#define BTC_SAMPLE_RES    5.0f
-    //#define BTC_SAMPLE_COUNT  10U
+    //#define BTC_SAMPLE_START  60  // (°C)
+    //#define BTC_SAMPLE_RES     5  // (°C)
+    //#define BTC_SAMPLE_COUNT  10
 
     // The temperature the probe should be at while taking measurements during bed temperature
     // calibration.
-    //#define BTC_PROBE_TEMP 30.0f
+    //#define BTC_PROBE_TEMP    30  // (°C)
 
-    // Height above Z=0.0f to raise the nozzle. Lowering this can help the probe to heat faster.
-    // Note: the Z=0.0f offset is determined by the probe offset which can be set using M851.
-    //#define PTC_PROBE_HEATING_OFFSET 0.5f
+    // Height above Z=0.0 to raise the nozzle. Lowering this can help the probe to heat faster.
+    // Note: the Z=0.0 offset is determined by the probe offset which can be set using M851.
+    //#define PTC_PROBE_HEATING_OFFSET 0.5
 
     // Height to raise the Z-probe between heating and taking the next measurement. Some probes
     // may fail to untrigger if they have been triggered for a long time, which can be solved by
     // increasing the height the probe is raised to.
-    //#define PTC_PROBE_RAISE 15U
+    //#define PTC_PROBE_RAISE 15
 
     // If the probe is outside of the defined range, use linear extrapolation using the closest
     // point and the PTC_LINEAR_EXTRAPOLATION'th next point. E.g. if set to 4 it will use data[0]
@@ -2078,7 +2110,7 @@
 // @section motion
 
 // The number of linear moves that can be in the planner at once.
-// The value of BLOCK_BUFFER_SIZE must be a power of 2 (e.g. 8, 16, 32)
+// The value of BLOCK_BUFFER_SIZE must be a power of 2 (e.g., 8, 16, 32)
 #if BOTH(SDSUPPORT, DIRECT_STEPPING)
   #define BLOCK_BUFFER_SIZE  8
 #elif ENABLED(SDSUPPORT)
@@ -2114,9 +2146,6 @@
   //#define SERIAL_XON_XOFF
 #endif
 
-// Add M575 G-code to change the baud rate
-//#define BAUD_RATE_GCODE
-
 #if ENABLED(SDSUPPORT)
   // Enable this option to collect and display the maximum
   // RX queue usage after transferring a file to SD.
@@ -2237,6 +2266,13 @@
     //#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X"   // Extra G-code to run after tool-change
   #endif
 
+  /**
+   * Extra G-code to run while executing tool-change commands. Can be used to use an additional
+   * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer.
+   */
+  //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0
+  //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10"       // Extra G-code to run while executing tool-change command T1
+
   /**
    * Tool Sensors detect when tools have been picked up or dropped.
    * Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc.
@@ -2301,14 +2337,15 @@
 #endif // HAS_MULTI_EXTRUDER
 
 /**
- * Advanced Pause
- * Experimental feature for filament change support and for parking the nozzle when paused.
- * Adds the GCode M600 for initiating filament change.
- * If PARK_HEAD_ON_PAUSE enabled, adds the GCode M125 to pause printing and park the nozzle.
+ * Advanced Pause for Filament Change
+ *  - Adds the G-code M600 Filament Change to initiate a filament change.
+ *  - This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
  *
- * Requires an LCD display.
- * Requires NOZZLE_PARK_FEATURE.
- * This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
+ * Requirements:
+ *  - For Filament Change parking enable and configure NOZZLE_PARK_FEATURE.
+ *  - For user interaction enable an LCD display, HOST_PROMPT_SUPPORT, or EMERGENCY_PARSER.
+ *
+ * Enable PARK_HEAD_ON_PAUSE to add the G-code M125 Pause and Park.
  */
 //#define ADVANCED_PAUSE_FEATURE
 #if ENABLED(ADVANCED_PAUSE_FEATURE)
@@ -2413,6 +2450,24 @@
     #define Z4_MICROSTEPS       Z_MICROSTEPS
   #endif
 
+  #if AXIS_DRIVER_TYPE_I(TMC26X)
+    #define I_MAX_CURRENT    1000
+    #define I_SENSE_RESISTOR   91
+    #define I_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_J(TMC26X)
+    #define J_MAX_CURRENT    1000
+    #define J_SENSE_RESISTOR   91
+    #define J_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_K(TMC26X)
+    #define K_MAX_CURRENT    1000
+    #define K_SENSE_RESISTOR   91
+    #define K_MICROSTEPS       16
+  #endif
+
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     #define E0_MAX_CURRENT    1000
     #define E0_SENSE_RESISTOR   91
@@ -2563,6 +2618,33 @@
     //#define Z4_INTERPOLATE true
   #endif
 
+  #if AXIS_IS_TMC(I)
+    #define I_CURRENT      800
+    #define I_CURRENT_HOME I_CURRENT
+    #define I_MICROSTEPS    16
+    #define I_RSENSE         0.11
+    #define I_CHAIN_POS     -1
+    //#define I_INTERPOLATE  true
+  #endif
+
+  #if AXIS_IS_TMC(J)
+    #define J_CURRENT      800
+    #define J_CURRENT_HOME J_CURRENT
+    #define J_MICROSTEPS    16
+    #define J_RSENSE         0.11
+    #define J_CHAIN_POS     -1
+    //#define J_INTERPOLATE  true
+  #endif
+
+  #if AXIS_IS_TMC(K)
+    #define K_CURRENT      800
+    #define K_CURRENT_HOME K_CURRENT
+    #define K_MICROSTEPS    16
+    #define K_RSENSE         0.11
+    #define K_CHAIN_POS     -1
+    //#define K_INTERPOLATE  true
+  #endif
+
   #if AXIS_IS_TMC(E0)
     #define E0_CURRENT      800
     #define E0_MICROSTEPS    16
@@ -2638,6 +2720,10 @@
   //#define Y2_CS_PIN         -1
   //#define Z2_CS_PIN         -1
   //#define Z3_CS_PIN         -1
+  //#define Z4_CS_PIN         -1
+  //#define I_CS_PIN          -1
+  //#define J_CS_PIN          -1
+  //#define K_CS_PIN          -1
   //#define E0_CS_PIN         -1
   //#define E1_CS_PIN         -1
   //#define E2_CS_PIN         -1
@@ -2677,6 +2763,9 @@
   //#define Z2_SLAVE_ADDRESS 0
   //#define Z3_SLAVE_ADDRESS 0
   //#define Z4_SLAVE_ADDRESS 0
+  //#define  I_SLAVE_ADDRESS 0
+  //#define  J_SLAVE_ADDRESS 0
+  //#define  K_SLAVE_ADDRESS 0
   //#define E0_SLAVE_ADDRESS 0
   //#define E1_SLAVE_ADDRESS 0
   //#define E2_SLAVE_ADDRESS 0
@@ -2701,6 +2790,9 @@
    */
   #define STEALTHCHOP_XY
   #define STEALTHCHOP_Z
+  #define STEALTHCHOP_I
+  #define STEALTHCHOP_J
+  #define STEALTHCHOP_K
   #define STEALTHCHOP_E
 
   /**
@@ -2772,6 +2864,9 @@
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
   #define Z4_HYBRID_THRESHOLD      3
+  #define I_HYBRID_THRESHOLD       3
+  #define J_HYBRID_THRESHOLD       3
+  #define K_HYBRID_THRESHOLD       3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -2797,7 +2892,7 @@
    *
    * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }.
    *
-   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130 Only ***
+   * SPI_ENDSTOPS  *** Beta feature! *** TMC2130/TMC5160 Only ***
    * Poll the driver through SPI to determine load when homing.
    * Removes the need for a wire from DIAG1 to an endstop pin.
    *
@@ -2818,6 +2913,9 @@
     //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
+    //#define I_STALL_SENSITIVITY  8
+    //#define J_STALL_SENSITIVITY  8
+    //#define K_STALL_SENSITIVITY  8
     //#define SPI_ENDSTOPS              // TMC2130 only
     //#define IMPROVE_HOMING_RELIABILITY
   #endif
@@ -2958,6 +3056,33 @@
     #define Z4_SLEW_RATE                 1
   #endif
 
+  #if AXIS_DRIVER_TYPE_I(L6470)
+    #define I_MICROSTEPS      128
+    #define I_OVERCURRENT    2000
+    #define I_STALLCURRENT   1500
+    #define I_MAX_VOLTAGE     127
+    #define I_CHAIN_POS        -1
+    #define I_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_J(L6470)
+    #define J_MICROSTEPS      128
+    #define J_OVERCURRENT    2000
+    #define J_STALLCURRENT   1500
+    #define J_MAX_VOLTAGE     127
+    #define J_CHAIN_POS        -1
+    #define J_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_K(L6470)
+    #define K_MICROSTEPS      128
+    #define K_OVERCURRENT    2000
+    #define K_STALLCURRENT   1500
+    #define K_MAX_VOLTAGE     127
+    #define K_CHAIN_POS        -1
+    #define K_SLEW_RATE         1
+  #endif
+
   #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS              128
     #define E0_OVERCURRENT            2000
@@ -3166,13 +3291,19 @@
   //#define AIR_EVACUATION                     // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
   #if ENABLED(AIR_EVACUATION)
     #define AIR_EVACUATION_ACTIVE       LOW    // Set to "HIGH" if the on/off function is active HIGH
-    #define AIR_EVACUATION_PIN          42     // Override the default Cutter Vacuum or Laser Blower pin
+    //#define AIR_EVACUATION_PIN        42     // Override the default Cutter Vacuum or Laser Blower pin
   #endif
 
-  //#define SPINDLE_SERVO         // A servo converting an angle to spindle power
+  //#define AIR_ASSIST                         // Air Assist control with G-codes M8-M9
+  #if ENABLED(AIR_ASSIST)
+    #define AIR_ASSIST_ACTIVE           LOW    // Active state on air assist pin
+    //#define AIR_ASSIST_PIN            44     // Override the default Air Assist pin
+  #endif
+
+  //#define SPINDLE_SERVO                      // A servo converting an angle to spindle power
   #ifdef SPINDLE_SERVO
-    #define SPINDLE_SERVO_NR   0  // Index of servo used for spindle control
-    #define SPINDLE_SERVO_MIN 10  // Minimum angle for servo spindle
+    #define SPINDLE_SERVO_NR   0               // Index of servo used for spindle control
+    #define SPINDLE_SERVO_MIN 10               // Minimum angle for servo spindle
   #endif
 
   /**
@@ -3301,8 +3432,18 @@
       #define SPINDLE_LASER_POWERDOWN_DELAY   50 // (ms) Delay to allow the spindle to stop
 
     #endif
+
+    //
+    // Laser I2C Ammeter (High precision INA226 low/high side module)
+    //
+    //#define I2C_AMMETER
+    #if ENABLED(I2C_AMMETER)
+      #define I2C_AMMETER_IMAX            0.1    // (Amps) Calibration value for the expected current range
+      #define I2C_AMMETER_SHUNT_RESISTOR  0.1    // (Ohms) Calibration shunt resistor value
+    #endif
+
   #endif
-#endif
+#endif // SPINDLE_FEATURE || LASER_FEATURE
 
 /**
  * Synchronous Laser Control with M106/M107
@@ -3409,6 +3550,11 @@
  */
 #define AUTO_REPORT_TEMPERATURES
 
+/**
+ * Auto-report position with M154 S<seconds>
+ */
+//#define AUTO_REPORT_POSITION
+
 /**
  * Include capabilities in M115 output
  */
@@ -3478,7 +3624,7 @@
 #define PROPORTIONAL_FONT_RATIO 1.0
 
 /**
- * Spend 28 bytes of SRAM to optimize the GCode parser
+ * Spend 28 bytes of SRAM to optimize the G-code parser
  */
 #define FASTER_GCODE_PARSER
 
@@ -3774,6 +3920,16 @@
   #define GANTRY_CALIBRATION_COMMANDS_POST  "G28"     // G28 highly recommended to ensure an accurate position
 #endif
 
+/**
+ * Instant freeze / unfreeze functionality
+ * Specified pin has pullup and connecting to ground will instantly pause motion.
+ * Potentially useful for emergency stop that allows being resumed.
+ */
+//#define FREEZE_FEATURE
+#if ENABLED(FREEZE_FEATURE)
+  //#define FREEZE_PIN 41   // Override the default (KILL) pin here
+#endif
+
 /**
  * MAX7219 Debug Matrix
  *

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.0.8"
+//#define SHORT_BUILD_VERSION "2.0.9.1"
 
 /**
  * Verbose version identifier which should contain a reference to the location
@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2021-04-30"
+//#define STRING_DISTRIBUTION_DATE "2021-06-27"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/AVR/HAL.h

@@ -93,28 +93,35 @@ typedef int8_t pin_t;
   #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
 #else
   #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
+    #error "SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
   #endif
   #define MYSERIAL1 customizedSerial1
 
   #ifdef SERIAL_PORT_2
     #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+      #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
     #endif
     #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. You can also use -1 if the board supports Native USB."
+    #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 0 to 3. You can also use -1 if the board supports Native USB."
+    #error "LCD_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
   #endif
   #define LCD_SERIAL lcdSerial
   #if HAS_DGUS_LCD
@@ -179,7 +186,7 @@ inline void HAL_adc_init() {
 #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)

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -567,7 +567,7 @@ ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) {
 
 // Because of the template definition above, it's required to instantiate the template to have all methods generated
 template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
-MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
+MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser);
 
 #ifdef SERIAL_PORT_2
 
@@ -582,7 +582,24 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
 
   template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT_2> >;
   MSerialT2 customizedSerial2(MSerialT2::HasEmergencyParser);
-#endif
+
+#endif // SERIAL_PORT_2
+
+#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
 
@@ -595,8 +612,9 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
   }
 
   template class MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> >;
-  MSerialT3 mmuSerial(MSerialT3::HasEmergencyParser);
-#endif
+  MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser);
+
+#endif // MMU2_SERIAL_PORT
 
 #ifdef LCD_SERIAL_PORT
 
@@ -609,7 +627,7 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
   }
 
   template class MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> >;
-  MSerialT4 lcdSerial(MSerialT4::HasEmergencyParser);
+  MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser);
 
   #if HAS_DGUS_LCD
     template<typename Cfg>
@@ -622,13 +640,13 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser);
     }
   #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)
-  MSerialT5 bluetoothSerial(false);
+  MSerialBT bluetoothSerial(false);
 #endif
 
 #endif // __AVR__

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -238,14 +238,19 @@
     static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
   };
 
-  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
-  extern MSerialT 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
 
+  #ifdef SERIAL_PORT_3
+    typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT_3> > > MSerialT3;
+    extern MSerialT3 customizedSerial3;
+  #endif
+
 #endif // !USBCON
 
 #ifdef MMU2_SERIAL_PORT
@@ -262,8 +267,8 @@
     static constexpr bool RX_OVERRUNS       = false;
   };
 
-  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialT3;
-  extern MSerialT3 mmuSerial;
+  typedef Serial1Class< MarlinSerial< MMU2SerialCfg<MMU2_SERIAL_PORT> > > MSerialMMU2;
+  extern MSerialMMU2 mmuSerial;
 #endif
 
 #ifdef LCD_SERIAL_PORT
@@ -281,12 +286,12 @@
     static constexpr bool RX_OVERRUNS       = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS);
   };
 
-  typedef Serial1Class< MarlinSerial< LCDSerialCfg<LCD_SERIAL_PORT> > > MSerialT4;
-  extern MSerialT4 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)
-  typedef Serial1Class<HardwareSerial> MSerialT5;
-  extern MSerialT5 bluetoothSerial;
+  typedef Serial1Class<HardwareSerial> MSerialBT;
+  extern MSerialBT bluetoothSerial;
 #endif

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -168,6 +168,51 @@ void setup_endstop_interrupts() {
       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_X2_MAX
     #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MAX_PIN);
@@ -256,6 +301,5 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif
-
   // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }

Marlin/src/HAL/AVR/pinsDebug.h

@@ -38,7 +38,7 @@
   // 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

Marlin/src/HAL/DUE/HAL.h

@@ -50,13 +50,12 @@ extern DefaultSerial4 MSerial3;
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
 
-// Define MYSERIAL1/2 before MarlinSerial includes!
 #if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
   #define MYSERIAL1 customizedSerial1
 #elif WITHIN(SERIAL_PORT, 0, 3)
   #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
-  #error "The required SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB."
+  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
 #endif
 
 #ifdef SERIAL_PORT_2
@@ -65,7 +64,17 @@ extern DefaultSerial4 MSerial3;
   #elif WITHIN(SERIAL_PORT_2, 0, 3)
     #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
-    #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+    #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
 
@@ -78,12 +87,10 @@ extern DefaultSerial4 MSerial3;
 #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 0 to 3. You can also use -1 if the board supports Native USB."
+    #error "LCD_SERIAL_PORT must be from 0 to 3."
   #endif
 #endif
 

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -478,7 +478,7 @@ void MarlinSerial<Cfg>::flushTX() {
 // If not using the USB port as serial port
 #if defined(SERIAL_PORT) && SERIAL_PORT >= 0
   template class MarlinSerial< MarlinSerialCfg<SERIAL_PORT> >;
-  MSerialT customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
+  MSerialT1 customizedSerial1(MarlinSerialCfg<SERIAL_PORT>::EMERGENCYPARSER);
 #endif
 
 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
@@ -486,4 +486,9 @@ void MarlinSerial<Cfg>::flushTX() {
   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

@@ -141,11 +141,16 @@ struct MarlinSerialCfg {
 };
 
 #if defined(SERIAL_PORT) && SERIAL_PORT >= 0
-  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT;
-  extern MSerialT customizedSerial1;
+  typedef Serial1Class< MarlinSerial< MarlinSerialCfg<SERIAL_PORT> > > MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif
 
 #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
   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"
 
@@ -65,7 +65,7 @@ int MarlinSerialUSB::peek() {
 
   pending_char = udi_cdc_getc();
 
-  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)pending_char));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)pending_char));
 
   return pending_char;
 }
@@ -87,7 +87,7 @@ int MarlinSerialUSB::read() {
 
   int c = udi_cdc_getc();
 
-  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT*>(this)->emergency_state, (char)c));
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast<MSerialT1*>(this)->emergency_state, (char)c));
 
   return c;
 }
@@ -129,10 +129,13 @@ size_t MarlinSerialUSB::write(const uint8_t c) {
 
 // Preinstantiate
 #if SERIAL_PORT == -1
-  MSerialT customizedSerial1(TERN0(EMERGENCY_PARSER, true));
+  MSerialT1 customizedSerial1(TERN0(EMERGENCY_PARSER, true));
 #endif
 #if SERIAL_PORT_2 == -1
-  MSerialT customizedSerial2(TERN0(EMERGENCY_PARSER, true));
+  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

@@ -27,11 +27,9 @@
  */
 
 #include "../../inc/MarlinConfig.h"
-#if HAS_USB_SERIAL
-
-#include <WString.h>
 #include "../../core/serial_hook.h"
 
+#include <WString.h>
 
 struct MarlinSerialUSB {
   void begin(const long);
@@ -50,14 +48,18 @@ struct MarlinSerialUSB {
     FORCE_INLINE int rxMaxEnqueued() { return 0; }
   #endif
 };
-typedef Serial1Class<MarlinSerialUSB> MSerialT;
 
 #if SERIAL_PORT == -1
-  extern MSerialT customizedSerial1;
+  typedef Serial1Class<MarlinSerialUSB> MSerialT1;
+  extern MSerialT1 customizedSerial1;
 #endif
 
 #if SERIAL_PORT_2 == -1
-  extern MSerialT 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/endstop_interrupts.h

@@ -64,4 +64,10 @@ 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));
 }

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!!
  */
 

Marlin/src/HAL/ESP32/WebSocketSerial.cpp

@@ -29,7 +29,7 @@
 #include "wifi.h"
 #include <ESPAsyncWebServer.h>
 
-MSerialT webSocketSerial(false);
+MSerialWebSocketT webSocketSerial(false);
 AsyncWebSocket ws("/ws"); // TODO Move inside the class.
 
 // RingBuffer impl

Marlin/src/HAL/ESP32/WebSocketSerial.h

@@ -81,5 +81,5 @@ public:
   #endif
 };
 
-typedef Serial1Class<WebSocketSerial> MSerialT;
-extern MSerialT webSocketSerial;
+typedef Serial1Class<WebSocketSerial> MSerialWebSocketT;
+extern MSerialWebSocketT webSocketSerial;

Marlin/src/HAL/ESP32/endstop_interrupts.h

@@ -59,4 +59,10 @@ 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));
 }

Marlin/src/HAL/LINUX/include/pinmapping.cpp

@@ -25,43 +25,6 @@
 
 #include "../../../gcode/parser.h"
 
-uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
-
-// Get the digital pin for an analog index
-pin_t analogInputToDigitalPin(const int8_t p) {
-  return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
-}
-
-// Return the index of a pin number
-int16_t GET_PIN_MAP_INDEX(const pin_t pin) {
-  return pin;
-}
-
-// Test whether the pin is valid
-bool VALID_PIN(const pin_t p) {
-  return WITHIN(p, 0, NUM_DIGITAL_PINS);
-}
-
-// Get the analog index for a digital pin
-int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
-  return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
-}
-
-// Test whether the pin is PWM
-bool PWM_PIN(const pin_t p) {
-  return false;
-}
-
-// Test whether the pin is interruptable
-bool INTERRUPT_PIN(const pin_t p) {
-  return false;
-}
-
-// Get the pin number at the given index
-pin_t GET_PIN_MAP_PIN(const int16_t ind) {
-  return ind;
-}
-
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
   return parser.intval(code, dval);
 }

Marlin/src/HAL/LINUX/include/pinmapping.h

@@ -34,26 +34,32 @@ constexpr uint8_t NUM_ANALOG_INPUTS = 16;
 
 #define HAL_SENSITIVE_PINS
 
+constexpr uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS;
+
 // Get the digital pin for an analog index
-pin_t analogInputToDigitalPin(const int8_t p);
-
-// Return the index of a pin number
-int16_t GET_PIN_MAP_INDEX(const pin_t pin);
-
-// Test whether the pin is valid
-bool VALID_PIN(const pin_t p);
+constexpr pin_t analogInputToDigitalPin(const int8_t p) {
+  return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC);
+}
 
 // Get the analog index for a digital pin
-int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p);
+constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
+  return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
+}
+
+// Return the index of a pin number
+constexpr int16_t GET_PIN_MAP_INDEX(const pin_t pin) { return pin; }
+
+// Test whether the pin is valid
+constexpr bool VALID_PIN(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); }
 
 // Test whether the pin is PWM
-bool PWM_PIN(const pin_t p);
+constexpr bool PWM_PIN(const pin_t p) { return false; }
 
 // Test whether the pin is interruptable
-bool INTERRUPT_PIN(const pin_t p);
+constexpr bool INTERRUPT_PIN(const pin_t p) { return false; }
 
 // Get the pin number at the given index
-pin_t GET_PIN_MAP_PIN(const int16_t ind);
+constexpr pin_t GET_PIN_MAP_PIN(const int16_t ind) { return ind; }
 
 // Parse a G-code word into a pin index
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);

Marlin/src/HAL/LPC1768/HAL.h

@@ -84,6 +84,16 @@ extern DefaultSerial1 USBSerial;
   #endif
 #endif
 
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 USBSerial
+  #elif WITHIN(SERIAL_PORT_3, 0, 3)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
 #ifdef MMU2_SERIAL_PORT
   #if MMU2_SERIAL_PORT == -1
     #define MMU2_SERIAL USBSerial
@@ -188,7 +198,7 @@ constexpr pin_t GET_PIN_MAP_PIN(const int16_t index) {
 // Parse a G-code word into a pin index
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
 // P0.6 thru P0.9 are for the onboard SD card
-#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09
+#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09,
 
 #define HAL_IDLETASK 1
 void HAL_idletask();

Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp

@@ -21,6 +21,7 @@
  */
 #ifdef TARGET_LPC1768
 
+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
 
 #if ENABLED(POSTMORTEM_DEBUGGING)

Marlin/src/HAL/LPC1768/HAL_SPI.cpp

@@ -66,11 +66,7 @@
 
   #include <SoftwareSPI.h>
 
-  #ifndef HAL_SPI_SPEED
-    #define HAL_SPI_SPEED SPI_FULL_SPEED
-  #endif
-
-  static uint8_t SPI_speed = HAL_SPI_SPEED;
+  static uint8_t SPI_speed = SPI_FULL_SPEED;
 
   static uint8_t spiTransfer(uint8_t b) {
     return swSpiTransfer(b, SPI_speed, SD_SCK_PIN, SD_MISO_PIN, SD_MOSI_PIN);
@@ -106,15 +102,13 @@
 
 #else
 
-  #ifndef HAL_SPI_SPEED
-    #ifdef SD_SPI_SPEED
-      #define HAL_SPI_SPEED SD_SPI_SPEED
-    #else
-      #define HAL_SPI_SPEED SPI_FULL_SPEED
-    #endif
+  #ifdef SD_SPI_SPEED
+    #define INIT_SPI_SPEED SD_SPI_SPEED
+  #else
+    #define INIT_SPI_SPEED SPI_FULL_SPEED
   #endif
 
-  void spiBegin() { spiInit(HAL_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0
+  void spiBegin() { spiInit(INIT_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0
 
   void spiInit(uint8_t spiRate) {
     #if SD_MISO_PIN == BOARD_SPI1_MISO_PIN

Marlin/src/HAL/LPC1768/MarlinSerial.cpp

@@ -26,9 +26,9 @@
 #include "../../inc/MarlinConfig.h"
 
 #if USING_HW_SERIAL0
-  MarlinSerial _MSerial(LPC_UART0);
-  MSerialT MSerial0(true, _MSerial);
-  extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); }
+  MarlinSerial _MSerial0(LPC_UART0);
+  MSerialT MSerial0(true, _MSerial0);
+  extern "C" void UART0_IRQHandler() { _MSerial0.IRQHandler(); }
 #endif
 #if USING_HW_SERIAL1
   MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1);
@@ -52,7 +52,7 @@
     // Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro)
     if (false) {}
     #if USING_HW_SERIAL0
-      else if (this == &_MSerial) emergency_parser.update(MSerial0.emergency_state, c);
+      else if (this == &_MSerial0) emergency_parser.update(MSerial0.emergency_state, c);
     #endif
     #if USING_HW_SERIAL1
       else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c);

Marlin/src/HAL/LPC1768/MarlinSerial.h

@@ -60,8 +60,8 @@ extern MSerialT MSerial1;
 extern MSerialT MSerial2;
 extern MSerialT MSerial3;
 
-// Consequently, we can't use a RuntimeSerial either. The workaround would be to use a RuntimeSerial<ForwardSerial<MarlinSerial>> type here
-// Right now, let's ignore this until it's actually required.
+// Consequently, we can't use a RuntimeSerial either. The workaround would be to use
+// a RuntimeSerial<ForwardSerial<MarlinSerial>> type here. Ignore for now until it's actually required.
 #if ENABLED(SERIAL_RUNTIME_HOOK)
   #error "SERIAL_RUNTIME_HOOK is not yet supported for LPC176x."
 #endif

Marlin/src/HAL/LPC1768/endstop_interrupts.h

@@ -122,4 +122,37 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif
+  #if HAS_I_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN)
+      #error "I_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(I_MAX_PIN);
+  #elif HAS_I_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN)
+      #error "I_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(I_MIN_PIN);
+  #endif
+  #if HAS_J_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN)
+      #error "J_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(J_MAX_PIN);
+  #elif HAS_J_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN)
+      #error "J_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(J_MIN_PIN);
+  #endif
+  #if HAS_K_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN)
+      #error "K_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(K_MAX_PIN);
+  #elif HAS_K_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN)
+      #error "K_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(K_MIN_PIN);
+  #endif
 }

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

@@ -144,7 +144,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
     #error "Serial port pins (2) conflict with Z4 pins!"
   #elif ANY_RX(2, X_DIR_PIN, Y_DIR_PIN)
     #error "Serial port pins (2) conflict with other pins!"
-  #elif Y_HOME_DIR < 0 && IS_TX2(Y_STOP_PIN)
+  #elif Y_HOME_TO_MIN && IS_TX2(Y_STOP_PIN)
     #error "Serial port pins (2) conflict with Y endstop pin!"
   #elif HAS_CUSTOM_PROBE_PIN && IS_TX2(Z_MIN_PROBE_PIN)
     #error "Serial port pins (2) conflict with probe pin!"

Marlin/src/HAL/LPC1768/main.cpp

@@ -117,7 +117,7 @@ void HAL_init() {
     PinCfg.Pinmode = 2;    // no pull-up/pull-down
     PINSEL_ConfigPin(&PinCfg);
     // now set CLKOUT_EN bit
-    LPC_SC->CLKOUTCFG |= (1<<8);
+    SBI(LPC_SC->CLKOUTCFG, 8);
   #endif
 
   USB_Init();                               // USB Initialization

Marlin/src/HAL/LPC1768/tft/xpt2046.cpp

@@ -22,7 +22,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS
 
 #include "xpt2046.h"
 #include <SPI.h>

Marlin/src/HAL/LPC1768/tft/xpt2046.h

@@ -54,7 +54,7 @@ enum XPTCoordinate : uint8_t {
   XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE,
 };
 
-#if !defined(XPT2046_Z1_THRESHOLD)
+#ifndef XPT2046_Z1_THRESHOLD
   #define XPT2046_Z1_THRESHOLD 10
 #endif
 

Marlin/src/HAL/LPC1768/upload_extra_script.py

@@ -20,101 +20,104 @@ def print_error(e):
 		  'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \
 		  %(e, env.get('PIOENV')))
 
-try:
-	#
-	# Find a disk for upload
-	#
-	upload_disk = 'Disk not found'
-	target_file_found = False
-	target_drive_found = False
-	if current_OS == 'Windows':
+def before_upload(source, target, env):
+	try:
 		#
-		# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
-		#   Windows - doesn't care about the disk's name, only cares about the drive letter
-		import subprocess,string
-		from ctypes import windll
+		# Find a disk for upload
+		#
+		upload_disk = 'Disk not found'
+		target_file_found = False
+		target_drive_found = False
+		if current_OS == 'Windows':
+			#
+			# platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:'
+			#   Windows - doesn't care about the disk's name, only cares about the drive letter
+			import subprocess,string
+			from ctypes import windll
 
-		# getting list of drives
-		# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
-		drives = []
-		bitmask = windll.kernel32.GetLogicalDrives()
-		for letter in string.ascii_uppercase:
-			if bitmask & 1:
-				drives.append(letter)
-			bitmask >>= 1
+			# getting list of drives
+			# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
+			drives = []
+			bitmask = windll.kernel32.GetLogicalDrives()
+			for letter in string.ascii_uppercase:
+				if bitmask & 1:
+					drives.append(letter)
+				bitmask >>= 1
 
-		for drive in drives:
-			final_drive_name = drive + ':\\'
-			# print ('disc check: {}'.format(final_drive_name))
-			try:
-				volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
-			except Exception as e:
-				print ('error:{}'.format(e))
-				continue
-			else:
-				if target_drive in volume_info and not target_file_found:  # set upload if not found target file yet
-					target_drive_found = True
-					upload_disk = final_drive_name
-				if target_filename in volume_info:
-					if not target_file_found:
+			for drive in drives:
+				final_drive_name = drive + ':\\'
+				# print ('disc check: {}'.format(final_drive_name))
+				try:
+					volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT))
+				except Exception as e:
+					print ('error:{}'.format(e))
+					continue
+				else:
+					if target_drive in volume_info and not target_file_found:  # set upload if not found target file yet
+						target_drive_found = True
 						upload_disk = final_drive_name
-					target_file_found = True
+					if target_filename in volume_info:
+						if not target_file_found:
+							upload_disk = final_drive_name
+						target_file_found = True
 
-	elif current_OS == 'Linux':
-		#
-		# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
-		#
-		drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
-		if target_drive in drives:  # If target drive is found, use it.
-			target_drive_found = True
-			upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
-		else:
+		elif current_OS == 'Linux':
+			#
+			# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
+			#
+			drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
+			if target_drive in drives:  # If target drive is found, use it.
+				target_drive_found = True
+				upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
+			else:
+				for drive in drives:
+					try:
+						files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
+					except:
+						continue
+					else:
+						if target_filename in files:
+							upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
+							target_file_found = True
+							break
+			#
+			# set upload_port to drive if found
+			#
+
+			if target_file_found or target_drive_found:
+				env.Replace(
+					UPLOAD_FLAGS="-P$UPLOAD_PORT"
+				)
+
+		elif current_OS == 'Darwin':  # MAC
+			#
+			# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
+			#
+			drives = os.listdir('/Volumes')  # human readable names
+			if target_drive in drives and not target_file_found:  # set upload if not found target file yet
+				target_drive_found = True
+				upload_disk = '/Volumes/' + target_drive + '/'
 			for drive in drives:
 				try:
-					files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
+					filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
 				except:
 					continue
 				else:
-					if target_filename in files:
-						upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
+					if target_filename in filenames:
+						if not target_file_found:
+							upload_disk = '/Volumes/' + drive + '/'
 						target_file_found = True
-						break
-		#
-		# set upload_port to drive if found
-		#
 
+		#
+		# Set upload_port to drive if found
+		#
 		if target_file_found or target_drive_found:
-			env.Replace(
-				UPLOAD_FLAGS="-P$UPLOAD_PORT"
-			)
+			env.Replace(UPLOAD_PORT=upload_disk)
+			print('\nUpload disk: ', upload_disk, '\n')
+		else:
+			print_error('Autodetect Error')
 
-	elif current_OS == 'Darwin':  # MAC
-		#
-		# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
-		#
-		drives = os.listdir('/Volumes')  # human readable names
-		if target_drive in drives and not target_file_found:  # set upload if not found target file yet
-			target_drive_found = True
-			upload_disk = '/Volumes/' + target_drive + '/'
-		for drive in drives:
-			try:
-				filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
-			except:
-				continue
-			else:
-				if target_filename in filenames:
-					if not target_file_found:
-						upload_disk = '/Volumes/' + drive + '/'
-					target_file_found = True
+	except Exception as e:
+		print_error(str(e))
 
-	#
-	# Set upload_port to drive if found
-	#
-	if target_file_found or target_drive_found:
-		env.Replace(UPLOAD_PORT=upload_disk)
-		print('\nUpload disk: ', upload_disk, '\n')
-	else:
-		print_error('Autodetect Error')
-
-except Exception as e:
-	print_error(str(e))
+env.AddPreAction("upload", before_upload)

Marlin/src/HAL/SAMD51/HAL.h

@@ -43,8 +43,6 @@
   extern DefaultSerial4 MSerial3;
   extern DefaultSerial5 MSerial4;
 
-  // MYSERIAL1 required before MarlinSerial includes!
-
   #define __MSERIAL(X) MSerial##X
   #define _MSERIAL(X) __MSERIAL(X)
   #define MSERIAL(X) _MSERIAL(INCREMENT(X))

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -47,80 +47,38 @@
 
 #include "../../module/endstops.h"
 
-#define MATCH_EILINE(P1,P2)     (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
-#if HAS_X_MAX
-  #define MATCH_X_MAX_EILINE(P) MATCH_EILINE(P, X_MAX_PIN)
-#else
-  #define MATCH_X_MAX_EILINE(P) false
-#endif
-#if HAS_X_MIN
-  #define MATCH_X_MIN_EILINE(P) MATCH_EILINE(P, X_MIN_PIN)
-#else
-  #define MATCH_X_MIN_EILINE(P) false
-#endif
-#if HAS_Y_MAX
-   #define MATCH_Y_MAX_EILINE(P) MATCH_EILINE(P, Y_MAX_PIN)
-#else
-   #define MATCH_Y_MAX_EILINE(P) false
-#endif
-#if HAS_Y_MIN
-  #define MATCH_Y_MIN_EILINE(P) MATCH_EILINE(P, Y_MIN_PIN)
-#else
-  #define MATCH_Y_MIN_EILINE(P) false
-#endif
-#if HAS_Z_MAX
-   #define MATCH_Z_MAX_EILINE(P) MATCH_EILINE(P, Z_MAX_PIN)
-#else
-  #define MATCH_Z_MAX_EILINE(P) false
-#endif
-#if HAS_Z_MIN
-  #define MATCH_Z_MIN_EILINE(P) MATCH_EILINE(P, Z_MIN_PIN)
-#else
-  #define MATCH_Z_MIN_EILINE(P) false
-#endif
-#if HAS_Z2_MAX
-  #define MATCH_Z2_MAX_EILINE(P) MATCH_EILINE(P, Z2_MAX_PIN)
-#else
-  #define MATCH_Z2_MAX_EILINE(P) false
-#endif
-#if HAS_Z2_MIN
-  #define MATCH_Z2_MIN_EILINE(P) MATCH_EILINE(P, Z2_MIN_PIN)
-#else
-  #define MATCH_Z2_MIN_EILINE(P) false
-#endif
-#if HAS_Z3_MAX
-  #define MATCH_Z3_MAX_EILINE(P) MATCH_EILINE(P, Z3_MAX_PIN)
-#else
-  #define MATCH_Z3_MAX_EILINE(P) false
-#endif
-#if HAS_Z3_MIN
-  #define MATCH_Z3_MIN_EILINE(P) MATCH_EILINE(P, Z3_MIN_PIN)
-#else
-  #define MATCH_Z3_MIN_EILINE(P) false
-#endif
-#if HAS_Z4_MAX
-  #define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN)
-#else
-  #define MATCH_Z4_MAX_EILINE(P) false
-#endif
-#if HAS_Z4_MIN
-  #define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN)
-#else
-  #define MATCH_Z4_MIN_EILINE(P) false
-#endif
-#if HAS_Z_MIN_PROBE_PIN
-  #define MATCH_Z_MIN_PROBE_EILINE(P)   MATCH_EILINE(P, Z_MIN_PROBE_PIN)
-#else
-  #define MATCH_Z_MIN_PROBE_EILINE(P) false
-#endif
-#define AVAILABLE_EILINE(P)     (PIN_TO_EILINE(P) != -1                                 \
-                                 && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)    \
-                                 && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P)    \
-                                 && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)    \
-                                 && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P)  \
-                                 && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P)  \
-                                 && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P)  \
-                                 && !MATCH_Z_MIN_PROBE_EILINE(P))
+#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
+#define MATCH_X_MAX_EILINE(P)   TERN0(HAS_X_MAX,  DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
+#define MATCH_X_MIN_EILINE(P)   TERN0(HAS_X_MIN,  DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
+#define MATCH_Y_MAX_EILINE(P)   TERN0(HAS_Y_MAX,  DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
+#define MATCH_Y_MIN_EILINE(P)   TERN0(HAS_Y_MIN,  DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
+#define MATCH_Z_MAX_EILINE(P)   TERN0(HAS_Z_MAX,  DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
+#define MATCH_Z_MIN_EILINE(P)   TERN0(HAS_Z_MIN,  DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
+#define MATCH_I_MAX_EILINE(P)   TERN0(HAS_I_MAX,  DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
+#define MATCH_I_MIN_EILINE(P)   TERN0(HAS_I_MIN,  DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
+#define MATCH_J_MAX_EILINE(P)   TERN0(HAS_J_MAX,  DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
+#define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
+#define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
+#define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
+#define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
+#define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
+#define MATCH_Z3_MIN_EILINE(P)  TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
+#define MATCH_Z4_MAX_EILINE(P)  TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
+#define MATCH_Z4_MIN_EILINE(P)  TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
+#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
+
+#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
+  && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
+  && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P)   \
+  && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)   \
+  && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
+  && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
+  && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
+  && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
+  && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
+  && !MATCH_Z_MIN_PROBE_EILINE(P) )
 
 // One ISR for all EXT-Interrupts
 void endstop_ISR() { endstops.update(); }
@@ -204,5 +162,37 @@ void setup_endstop_interrupts() {
       #error "Z_MIN_PROBE_PIN has no EXTINT line available."
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
+  #elif HAS_I_MAX
+    #if !AVAILABLE_EILINE(I_MAX_PIN)
+      #error "I_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
+  #elif HAS_I_MIN
+    #if !AVAILABLE_EILINE(I_MIN_PIN)
+      #error "I_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MAX
+    #if !AVAILABLE_EILINE(J_MAX_PIN)
+      #error "J_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
+  #elif HAS_J_MIN
+    #if !AVAILABLE_EILINE(J_MIN_PIN)
+      #error "J_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MAX
+    #if !AVAILABLE_EILINE(K_MAX_PIN)
+      #error "K_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
+  #elif HAS_K_MIN
+    #if !AVAILABLE_EILINE(K_MIN_PIN)
+      #error "K_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
   #endif
 }

Marlin/src/HAL/STM32/HAL.cpp

@@ -96,6 +96,12 @@ void HAL_init() {
   #if HAS_SD_HOST_DRIVE
     MSC_SD_init();                         // Enable USB SD card access
   #endif
+
+  #if PIN_EXISTS(USB_CONNECT)
+    OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING);  // USB clear connection
+    delay(1000);                                         // Give OS time to notice
+    WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+  #endif
 }
 
 // HAL idle task

Marlin/src/HAL/STM32/HAL.h

@@ -37,6 +37,9 @@
 
 #include <stdint.h>
 
+//
+// Serial Ports
+//
 #ifdef USBCON
   #include <USBSerial.h>
   #include "../../core/serial_hook.h"
@@ -44,9 +47,6 @@
   extern DefaultSerial1 MSerial0;
 #endif
 
-// ------------------------
-// Defines
-// ------------------------
 #define _MSERIAL(X) MSerial##X
 #define MSERIAL(X) _MSERIAL(X)
 
@@ -68,6 +68,16 @@
   #endif
 #endif
 
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 MSerial0
+  #elif WITHIN(SERIAL_PORT_3, 1, 6)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #error "SERIAL_PORT_3 must be from 1 to 6. You can also use -1 if the board supports Native USB."
+  #endif
+#endif
+
 #ifdef MMU2_SERIAL_PORT
   #if MMU2_SERIAL_PORT == -1
     #define MMU2_SERIAL MSerial0
@@ -185,6 +195,7 @@ uint16_t HAL_adc_get_result();
 #ifdef STM32F1xx
   #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE)
   #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE)
+  #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG
 #endif
 
 #define PLATFORM_M997_SUPPORT

Marlin/src/HAL/STM32/HAL_MinSerial.cpp

@@ -71,8 +71,8 @@ static void TXBegin() {
       volatile uint32_t ICER[32];
     };
 
-    NVICMin * nvicBase = (NVICMin*)0xE000E100;
-    nvicBase->ICER[nvicIndex / 32] |= _BV32(nvicIndex % 32);
+    NVICMin *nvicBase = (NVICMin*)0xE000E100;
+    SBI32(nvicBase->ICER[nvicIndex >> 5], nvicIndex & 0x1F);
 
     // We NEED memory barriers to ensure Interrupts are actually disabled!
     // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )

Marlin/src/HAL/STM32/HAL_SPI.cpp

@@ -163,11 +163,9 @@ static SPISettings spiConfig;
     }
     spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
 
-    #if ENABLED(CUSTOM_SPI_PINS)
-      SPI.setMISO(SD_MISO_PIN);
-      SPI.setMOSI(SD_MOSI_PIN);
-      SPI.setSCLK(SD_SCK_PIN);
-    #endif
+    SPI.setMISO(SD_MISO_PIN);
+    SPI.setMOSI(SD_MOSI_PIN);
+    SPI.setSCLK(SD_SCK_PIN);
 
     SPI.begin();
   }

Marlin/src/HAL/STM32/eeprom_bl24cxx.cpp

@@ -0,0 +1,82 @@
+/**
+ * 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 STM32F1
+
+/**
+ * PersistentStore for Arduino-style EEPROM interface
+ * with simple implementations supplied by Marlin.
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(IIC_BL24CXX_EEPROM)
+
+#include "../shared/eeprom_if.h"
+#include "../shared/eeprom_api.h"
+
+//
+// PersistentStore
+//
+
+#ifndef MARLIN_EEPROM_SIZE
+  #error "MARLIN_EEPROM_SIZE is required for IIC_BL24CXX_EEPROM."
+#endif
+
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start()  { eeprom_init(); return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
+  while (size--) {
+    uint8_t v = *value;
+    uint8_t * const p = (uint8_t * const)pos;
+    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
+      eeprom_write_byte(p, v);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+        return true;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  do {
+    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t c = eeprom_read_byte(p);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;
+}
+
+#endif // IIC_BL24CXX_EEPROM
+#endif // STM32F1

Marlin/src/HAL/STM32/eeprom_flash.cpp

@@ -28,6 +28,10 @@
 
 #include "../shared/eeprom_api.h"
 
+// Better: "utility/stm32_eeprom.h", but only after updating stm32duino to 2.0.0
+// Use EEPROM.h for compatibility, for now.
+#include <EEPROM.h>
+
 /**
  * The STM32 HAL supports chips that deal with "pages" and some with "sectors" and some that
  * even have multiple "banks" of flash.

Marlin/src/HAL/STM32/eeprom_if_iic.cpp

@@ -0,0 +1,54 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * Platform-independent Arduino functions for I2C EEPROM.
+ * Enable USE_SHARED_EEPROM if not supplied by the framework.
+ */
+
+#ifdef STM32F1
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(IIC_BL24CXX_EEPROM)
+
+#include "../../libs/BL24CXX.h"
+#include "../shared/eeprom_if.h"
+
+void eeprom_init() { BL24CXX::init(); }
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void eeprom_write_byte(uint8_t *pos, uint8_t value) {
+  const unsigned eeprom_address = (unsigned)pos;
+  return BL24CXX::writeOneByte(eeprom_address, value);
+}
+
+uint8_t eeprom_read_byte(uint8_t *pos) {
+  const unsigned eeprom_address = (unsigned)pos;
+  return BL24CXX::readOneByte(eeprom_address);
+}
+
+#endif // IIC_BL24CXX_EEPROM
+#endif // STM32F1

Marlin/src/HAL/STM32/endstop_interrupts.h

@@ -46,4 +46,10 @@ 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));
 }

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

@@ -21,7 +21,7 @@
  */
 #pragma once
 
-#if defined(USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE)
+#if BOTH(SDSUPPORT, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE)
   #define HAS_SD_HOST_DRIVE 1
 #endif
 
@@ -30,3 +30,6 @@
   #undef F_CPU
   #define F_CPU BOARD_F_CPU
 #endif
+
+// The Sensitive Pins array is not optimizable
+#define RUNTIME_ONLY_ANALOG_TO_DIGITAL

Marlin/src/HAL/STM32/msc_sd.cpp

@@ -33,12 +33,12 @@ public:
   DiskIODriver* diskIODriver() {
     #if ENABLED(MULTI_VOLUME)
       #if SHARED_VOLUME_IS(SD_ONBOARD)
-        return &card.media_sd_spi;
+        return &card.media_driver_sdcard;
       #elif SHARED_VOLUME_IS(USB_FLASH_DRIVE)
-        return &card.media_usbFlashDrive;
+        return &card.media_driver_usbFlash;
       #endif
     #else
-      return diskIODriver();
+      return card.diskIODriver();
     #endif
   }
 

Marlin/src/HAL/STM32/tft/gt911.cpp

@@ -0,0 +1,202 @@
+/**
+ * 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/>.
+ *
+ */
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(TFT_TOUCH_DEVICE_GT911)
+
+#include "gt911.h"
+#include "pinconfig.h"
+
+SW_IIC::SW_IIC(uint16_t sda, uint16_t scl) {
+  scl_pin = scl;
+  sda_pin = sda;
+}
+
+// Software I2C hardware io init
+void SW_IIC::init() {
+  OUT_WRITE(scl_pin, HIGH);
+  OUT_WRITE(sda_pin, HIGH);
+}
+
+// Software I2C start signal
+void SW_IIC::start() {
+  write_sda(HIGH); // SDA = 1
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_sda(LOW); // SDA = 0
+  iic_delay(1);
+  write_scl(LOW); // SCL = 0  // keep SCL low, avoid false stop caused by level jump caused by SDA switching IN/OUT
+}
+
+// Software I2C stop signal
+void SW_IIC::stop() {
+  write_scl(LOW); // SCL = 0
+  iic_delay(2);
+  write_sda(LOW); // SDA = 0
+  iic_delay(2);
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_sda(HIGH); // SDA = 1
+}
+
+// Software I2C sends ACK or NACK signal
+void SW_IIC::send_ack(bool ack) {
+  write_sda(ack ? LOW : HIGH); // SDA = !ack
+  iic_delay(2);
+  write_scl(HIGH); // SCL = 1
+  iic_delay(2);
+  write_scl(LOW); // SCL = 0
+}
+
+// Software I2C read ACK or NACK signal
+bool SW_IIC::read_ack() {
+  bool error = 0;
+  set_sda_in();
+
+  iic_delay(2);
+
+  write_scl(HIGH); // SCL = 1
+  error = read_sda();
+
+  iic_delay(2);
+
+  write_scl(LOW);  // SCL = 0
+
+  set_sda_out();
+  return error;
+}
+
+void SW_IIC::send_byte(uint8_t txd) {
+  LOOP_L_N(i, 8) {
+    write_sda(txd & 0x80); // write data bit
+    txd <<= 1;
+    iic_delay(1);
+    write_scl(HIGH); // SCL = 1
+    iic_delay(2);
+    write_scl(LOW); // SCL = 0
+    iic_delay(1);
+  }
+
+  read_ack();  // wait ack
+}
+
+uint8_t SW_IIC::read_byte(bool ack) {
+  uint8_t data = 0;
+
+  set_sda_in();
+  LOOP_L_N(i, 8) {
+    write_scl(HIGH); // SCL = 1
+    iic_delay(1);
+    data <<= 1;
+    if (read_sda()) data++;
+    write_scl(LOW); // SCL = 0
+    iic_delay(2);
+  }
+  set_sda_out();
+
+  send_ack(ack);
+
+  return data;
+}
+
+GT911_REG_MAP GT911::reg;
+SW_IIC GT911::sw_iic = SW_IIC(GT911_SW_I2C_SDA_PIN, GT911_SW_I2C_SCL_PIN);
+
+void GT911::write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len) {
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address);  // Set IIC Slave address
+  LOOP_L_N(i, reg_len) {  // Set reg address
+    uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF;
+    sw_iic.send_byte(r);
+  }
+
+  LOOP_L_N(i, w_len) {  // Write data to reg
+    sw_iic.send_byte(w_data[i]);
+  }
+  sw_iic.stop();
+}
+
+void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len) {
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address);  // Set IIC Slave address
+  LOOP_L_N(i, reg_len) {  // Set reg address
+    uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF;
+    sw_iic.send_byte(r);
+  }
+
+  sw_iic.start();
+  sw_iic.send_byte(gt911_slave_address + 1);  // Set read mode
+
+  LOOP_L_N(i, r_len) {
+    r_data[i] = sw_iic.read_byte(1);  // Read data from reg
+  }
+  sw_iic.stop();
+}
+
+void GT911::Init() {
+  OUT_WRITE(GT911_RST_PIN, LOW);
+  OUT_WRITE(GT911_INT_PIN, LOW);
+  delay(20);
+  WRITE(GT911_RST_PIN, HIGH);
+  SET_INPUT(GT911_INT_PIN);
+
+  sw_iic.init();
+
+  uint8_t clear_reg = 0x0000;
+  write_reg(0x814E, 2, &clear_reg, 2); // Reset to 0 for start
+}
+
+bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) {
+  read_reg(0x814E, 2, &reg.REG.status, 1);
+
+  if (reg.REG.status & 0x80) {
+    uint8_t clear_reg = 0x00;
+    write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
+    read_reg(0x8150, 2, reg.map + 2, 8 * (reg.REG.status & 0x0F));
+
+    // First touch point
+    *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl;
+    *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl;
+    return true;
+  }
+  return false;
+}
+
+bool GT911::getPoint(int16_t *x, int16_t *y) {
+  static bool touched = 0;
+  static int16_t read_x = 0, read_y = 0;
+  static millis_t next_time = 0;
+
+  if (ELAPSED(millis(), next_time)) {
+    touched = getFirstTouchPoint(&read_x, &read_y);
+    next_time = millis() + 20;
+  }
+
+  *x = read_x;
+  *y = read_y;
+  return touched;
+}
+
+#endif // TFT_TOUCH_DEVICE_GT911
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC

Marlin/src/HAL/STM32/tft/gt911.h

@@ -0,0 +1,120 @@
+/**
+ * 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 "../../../inc/MarlinConfig.h"
+
+#define GT911_SLAVE_ADDRESS   0xBA
+
+#if !PIN_EXISTS(GT911_RST)
+  #error "GT911_RST_PIN is not defined."
+#elif !PIN_EXISTS(GT911_INT)
+  #error "GT911_INT_PIN is not defined."
+#elif !PIN_EXISTS(GT911_SW_I2C_SCL)
+  #error "GT911_SW_I2C_SCL_PIN is not defined."
+#elif !PIN_EXISTS(GT911_SW_I2C_SDA)
+  #error "GT911_SW_I2C_SDA_PIN is not defined."
+#endif
+
+class SW_IIC {
+  private:
+    uint16_t scl_pin;
+    uint16_t sda_pin;
+    void write_scl(bool level)
+    {
+      WRITE(scl_pin, level);
+    }
+    void write_sda(bool level)
+    {
+      WRITE(sda_pin, level);
+    }
+    bool read_sda()
+    {
+      return READ(sda_pin);
+    }
+    void set_sda_out()
+    {
+      SET_OUTPUT(sda_pin);
+    }
+    void set_sda_in()
+    {
+      SET_INPUT_PULLUP(sda_pin);
+    }
+    static void iic_delay(uint8_t t)
+    {
+      delayMicroseconds(t);
+    }
+
+  public:
+    SW_IIC(uint16_t sda, uint16_t scl);
+    // setSCL/SDA have to be called before begin()
+    void setSCL(uint16_t scl)
+    {
+      scl_pin = scl;
+    };
+    void setSDA(uint16_t sda)
+    {
+      sda_pin = sda;
+    };
+    void init();                // Initialize the IO port of IIC
+    void start();               // Send IIC start signal
+    void stop();                // Send IIC stop signal
+    void send_byte(uint8_t txd); // IIC sends a byte
+    uint8_t read_byte(bool ack); // IIC reads a byte
+    void send_ack(bool ack);            // IIC sends ACK or NACK signal
+    bool read_ack();
+};
+
+typedef struct __attribute__((__packed__)) {
+  uint8_t xl;
+  uint8_t xh;
+  uint8_t yl;
+  uint8_t yh;
+  uint8_t sizel;
+  uint8_t sizeh;
+  uint8_t reserved;
+  uint8_t track_id;
+} GT911_POINT;
+
+typedef union __attribute__((__packed__)) {
+  uint8_t map[42];
+  struct {
+    uint8_t status;    // 0x814E
+    uint8_t track_id;  // 0x814F
+
+    GT911_POINT point[5]; // [0]:0x8150 - 0x8157 / [1]:0x8158 - 0x815F / [2]:0x8160 - 0x8167 / [3]:0x8168 - 0x816F / [4]:0x8170 - 0x8177
+ } REG;
+} GT911_REG_MAP;
+
+class GT911 {
+  private:
+    static const uint8_t gt911_slave_address = GT911_SLAVE_ADDRESS;
+    static GT911_REG_MAP reg;
+    static SW_IIC sw_iic;
+    static void write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len);
+    static void read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len);
+
+  public:
+    static void Init();
+    static bool getFirstTouchPoint(int16_t *x, int16_t *y);
+    static bool getPoint(int16_t *x, int16_t *y);
+};

Marlin/src/HAL/STM32/tft/tft_ltdc.cpp

@@ -45,7 +45,6 @@
 #define SDRAM_MODEREG_WRITEBURST_MODE_PROGRAMMED ((uint16_t)0x0000)
 #define SDRAM_MODEREG_WRITEBURST_MODE_SINGLE     ((uint16_t)0x0200)
 
-
 void SDRAM_Initialization_Sequence(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command) {
 
   __IO uint32_t tmpmrd =0;
@@ -192,7 +191,7 @@ void LTDC_Config() {
 
   hltdc_F.Instance = LTDC;
 
-/* Layer0 Configuration ------------------------------------------------------*/
+  /* Layer0 Configuration ------------------------------------------------------*/
 
   /* Windowing configuration */
   pLayerCfg.WindowX0 = 0;
@@ -289,22 +288,21 @@ void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint
   uint16_t offline = TFT_WIDTH - (ex - sx);
   uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx];
 
-  DMA2D->CR &= ~(1 << 0);
+  CBI(DMA2D->CR, 0);
   DMA2D->CR = 3 << 16;
   DMA2D->OPFCCR = 0X02;
   DMA2D->OOR = offline;
   DMA2D->OMAR = addr;
   DMA2D->NLR = (ey - sy) | ((ex - sx) << 16);
   DMA2D->OCOLR = color;
-  DMA2D->CR |= 1<<0;
+  SBI(DMA2D->CR, 0);
 
   uint32_t timeout = 0;
-  while((DMA2D->ISR & (1<<1)) == 0)
-  {
+  while (!TEST(DMA2D->ISR, 1)) {
     timeout++;
-    if(timeout>0X1FFFFF)break;
+    if (timeout > 0x1FFFFF) break;
   }
-  DMA2D->IFCR |= 1<<1;
+  SBI(DMA2D->IFCR, 1);
 }
 
 void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) {
@@ -314,7 +312,7 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin
   uint16_t offline = TFT_WIDTH - (ex - sx);
   uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx];
 
-  DMA2D->CR &= ~(1 << 0);
+  CBI(DMA2D->CR, 0);
   DMA2D->CR = 0 << 16;
   DMA2D->FGPFCCR = 0X02;
   DMA2D->FGOR = 0;
@@ -322,15 +320,14 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin
   DMA2D->FGMAR = (uint32_t)colors;
   DMA2D->OMAR = addr;
   DMA2D->NLR = (ey - sy) | ((ex - sx) << 16);
-  DMA2D->CR |= 1<<0;
+  SBI(DMA2D->CR, 0);
 
   uint32_t timeout = 0;
-  while((DMA2D->ISR & (1<<1)) == 0)
-  {
+  while (!TEST(DMA2D->ISR, 1)) {
     timeout++;
-    if(timeout>0X1FFFFF)break;
+    if (timeout > 0x1FFFFF) break;
   }
-  DMA2D->IFCR |= 1<<1;
+  SBI(DMA2D->IFCR, 1);
 }
 
 void TFT_LTDC::WriteData(uint16_t data) {

Marlin/src/HAL/STM32/tft/tft_spi.cpp

@@ -125,12 +125,20 @@ void TFT_SPI::DataTransferBegin(uint16_t DataSize) {
   WRITE(TFT_CS_PIN, LOW);
 }
 
+#ifdef TFT_DEFAULT_DRIVER
+  #include "../../../lcd/tft_io/tft_ids.h"
+#endif
+
 uint32_t TFT_SPI::GetID() {
   uint32_t id;
   id = ReadID(LCD_READ_ID);
-
-  if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF)
+  if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) {
     id = ReadID(LCD_READ_ID4);
+    #ifdef TFT_DEFAULT_DRIVER
+      if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF)
+        id = TFT_DEFAULT_DRIVER;
+    #endif
+   }
   return id;
 }
 

Marlin/src/HAL/STM32/tft/xpt2046.cpp

@@ -23,7 +23,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS
 
 #include "xpt2046.h"
 #include "pinconfig.h"

Marlin/src/HAL/STM32/tft/xpt2046.h

@@ -56,7 +56,7 @@ enum XPTCoordinate : uint8_t {
   XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE,
 };
 
-#if !defined(XPT2046_Z1_THRESHOLD)
+#ifndef XPT2046_Z1_THRESHOLD
   #define XPT2046_Z1_THRESHOLD 10
 #endif
 

Marlin/src/HAL/STM32/timers.h

@@ -21,15 +21,12 @@
  */
 #pragma once
 
-#include <stdint.h>
 #include "../../inc/MarlinConfig.h"
 
 // ------------------------
 // Defines
 // ------------------------
 
-#define FORCE_INLINE __attribute__((always_inline)) inline
-
 // STM32 timers may be 16 or 32 bit. Limiting HAL_TIMER_TYPE_MAX to 16 bits
 // avoids issues with STM32F0 MCUs, which seem to pause timers if UINT32_MAX
 // is written to the register. STM32F4 timers do not manifest this issue,

Marlin/src/HAL/STM32F1/HAL.cpp

@@ -293,7 +293,7 @@ void HAL_init() {
   #if PIN_EXISTS(USB_CONNECT)
     OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING);  // USB clear connection
     delay(1000);                                         // Give OS time to notice
-    OUT_WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
+    WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING);
   #endif
   TERN_(POSTMORTEM_DEBUGGING, install_min_serial());    // Install the minimal serial handler
 }

Marlin/src/HAL/STM32F1/HAL.h

@@ -36,7 +36,6 @@
 #include "fastio.h"
 #include "watchdog.h"
 
-
 #include <stdint.h>
 #include <util/atomic.h>
 
@@ -63,11 +62,10 @@
 #ifdef SERIAL_USB
   typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
   extern DefaultSerial1 MSerial0;
-
-  #if !HAS_SD_HOST_DRIVE
-    #define UsbSerial MSerial0
-  #else
+  #if HAS_SD_HOST_DRIVE
     #define UsbSerial MarlinCompositeSerial
+  #else
+    #define UsbSerial MSerial0
   #endif
 #endif
 
@@ -86,11 +84,7 @@
   #define MYSERIAL1 MSERIAL(SERIAL_PORT)
 #else
   #define MYSERIAL1 MSERIAL(1) // dummy port
-  #if NUM_UARTS == 5
-    #error "SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB."
-  #else
-    #error "SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB."
-  #endif
+  static_assert(false, "SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
 #endif
 
 #ifdef SERIAL_PORT_2
@@ -100,11 +94,18 @@
     #define MYSERIAL2 MSERIAL(SERIAL_PORT_2)
   #else
     #define MYSERIAL2 MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "SERIAL_PORT_2 must be from 1 to 5. You can also use -1 if the board supports Native USB."
-    #else
-      #error "SERIAL_PORT_2 must be from 1 to 3. You can also use -1 if the board supports Native USB."
-    #endif
+    static_assert(false, "SERIAL_PORT_2 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if SERIAL_PORT_3 == -1
+    #define MYSERIAL3 UsbSerial
+  #elif WITHIN(SERIAL_PORT_3, 1, NUM_UARTS)
+    #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+  #else
+    #define MYSERIAL3 MSERIAL(1) // dummy port
+    static_assert(false, "SERIAL_PORT_3 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
   #endif
 #endif
 
@@ -115,11 +116,7 @@
     #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT)
   #else
     #define MMU2_SERIAL MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "MMU2_SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB."
-    #else
-      #error "MMU2_SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB."
-    #endif
+    static_assert(false, "MMU2_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
   #endif
 #endif
 
@@ -130,11 +127,7 @@
     #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
   #else
     #define LCD_SERIAL MSERIAL(1) // dummy port
-    #if NUM_UARTS == 5
-      #error "LCD_SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB."
-    #else
-      #error "LCD_SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB."
-    #endif
+    static_assert(false, "LCD_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.")
   #endif
   #if HAS_DGUS_LCD
     #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite()

Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp

@@ -55,7 +55,7 @@ static void TXBegin() {
     nvic_irq_disable(dev->irq_num);
 
     // Use this if removing libmaple
-    //NVIC_BASE->ICER[1] |= _BV(irq - 32);
+    //SBI(NVIC_BASE->ICER[1], irq - 32);
 
     // We NEED memory barriers to ensure Interrupts are actually disabled!
     // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )

Marlin/src/HAL/STM32F1/MarlinSerial.cpp

@@ -167,6 +167,15 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; }
 #if AXIS_HAS_HW_SERIAL(Z4)
   CHECK_AXIS_SERIAL(Z4);
 #endif
+#if AXIS_HAS_HW_SERIAL(I)
+  CHECK_AXIS_SERIAL(I);
+#endif
+#if AXIS_HAS_HW_SERIAL(J)
+  CHECK_AXIS_SERIAL(J);
+#endif
+#if AXIS_HAS_HW_SERIAL(K)
+  CHECK_AXIS_SERIAL(K);
+#endif
 #if AXIS_HAS_HW_SERIAL(E0)
   CHECK_AXIS_SERIAL(E0);
 #endif

Marlin/src/HAL/STM32F1/build_flags.py

@@ -11,6 +11,7 @@ if __name__ == "__main__":
                     "-fsigned-char",
                     "-fno-move-loop-invariants",
                     "-fno-strict-aliasing",
+                    "-fsingle-precision-constant",
 
                     "--specs=nano.specs",
                     "--specs=nosys.specs",

Marlin/src/HAL/STM32F1/endstop_interrupts.h

@@ -71,4 +71,10 @@ 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));
 }

Marlin/src/HAL/STM32F1/onboard_sd.cpp

@@ -38,8 +38,8 @@
   #define SPI_CLOCK_MAX SPI_BAUD_PCLK_DIV_2
 #endif
 
-#define CS_LOW()  WRITE(ONBOARD_SD_CS_PIN, LOW)  /* Set OnboardSPI cs low */
-#define CS_HIGH() WRITE(ONBOARD_SD_CS_PIN, HIGH) /* Set OnboardSPI cs high */
+#define CS_LOW()  WRITE(ONBOARD_SD_CS_PIN, LOW)  // Set OnboardSPI cs low
+#define CS_HIGH() WRITE(ONBOARD_SD_CS_PIN, HIGH) // Set OnboardSPI cs high
 
 #define FCLK_FAST() ONBOARD_SD_SPI.setClockDivider(SPI_CLOCK_MAX)
 #define FCLK_SLOW() ONBOARD_SD_SPI.setClockDivider(SPI_BAUD_PCLK_DIV_256)
@@ -49,32 +49,32 @@
 ---------------------------------------------------------------------------*/
 
 /* MMC/SD command */
-#define CMD0  (0)     /* GO_IDLE_STATE */
-#define CMD1  (1)     /* SEND_OP_COND (MMC) */
-#define ACMD41  (0x80+41) /* SEND_OP_COND (SDC) */
-#define CMD8  (8)     /* SEND_IF_COND */
-#define CMD9  (9)     /* SEND_CSD */
-#define CMD10 (10)    /* SEND_CID */
-#define CMD12 (12)    /* STOP_TRANSMISSION */
-#define ACMD13  (0x80+13) /* SD_STATUS (SDC) */
-#define CMD16 (16)    /* SET_BLOCKLEN */
-#define CMD17 (17)    /* READ_SINGLE_BLOCK */
-#define CMD18 (18)    /* READ_MULTIPLE_BLOCK */
-#define CMD23 (23)    /* SET_BLOCK_COUNT (MMC) */
-#define ACMD23  (0x80+23) /* SET_WR_BLK_ERASE_COUNT (SDC) */
-#define CMD24 (24)    /* WRITE_BLOCK */
-#define CMD25 (25)    /* WRITE_MULTIPLE_BLOCK */
-#define CMD32 (32)    /* ERASE_ER_BLK_START */
-#define CMD33 (33)    /* ERASE_ER_BLK_END */
-#define CMD38 (38)    /* ERASE */
-#define CMD48 (48)    /* READ_EXTR_SINGLE */
-#define CMD49 (49)    /* WRITE_EXTR_SINGLE */
-#define CMD55 (55)    /* APP_CMD */
-#define CMD58 (58)    /* READ_OCR */
+#define CMD0  (0)         // GO_IDLE_STATE
+#define CMD1  (1)         // SEND_OP_COND (MMC)
+#define ACMD41  (0x80+41) // SEND_OP_COND (SDC)
+#define CMD8  (8)         // SEND_IF_COND
+#define CMD9  (9)         // SEND_CSD
+#define CMD10 (10)        // SEND_CID
+#define CMD12 (12)        // STOP_TRANSMISSION
+#define ACMD13  (0x80+13) // SD_STATUS (SDC)
+#define CMD16 (16)        // SET_BLOCKLEN
+#define CMD17 (17)        // READ_SINGLE_BLOCK
+#define CMD18 (18)        // READ_MULTIPLE_BLOCK
+#define CMD23 (23)        // SET_BLOCK_COUNT (MMC)
+#define ACMD23  (0x80+23) // SET_WR_BLK_ERASE_COUNT (SDC)
+#define CMD24 (24)        // WRITE_BLOCK
+#define CMD25 (25)        // WRITE_MULTIPLE_BLOCK
+#define CMD32 (32)        // ERASE_ER_BLK_START
+#define CMD33 (33)        // ERASE_ER_BLK_END
+#define CMD38 (38)        // ERASE
+#define CMD48 (48)        // READ_EXTR_SINGLE
+#define CMD49 (49)        // WRITE_EXTR_SINGLE
+#define CMD55 (55)        // APP_CMD
+#define CMD58 (58)        // READ_OCR
 
-static volatile DSTATUS Stat = STA_NOINIT;  /* Physical drive status */
+static volatile DSTATUS Stat = STA_NOINIT;  // Physical drive status
 static volatile UINT timeout;
-static BYTE CardType;      /* Card type flags */
+static BYTE CardType;                       // Card type flags
 
 /*-----------------------------------------------------------------------*/
 /* Send/Receive data to the MMC  (Platform dependent)                    */
@@ -82,7 +82,7 @@ static BYTE CardType;      /* Card type flags */
 
 /* Exchange a byte */
 static BYTE xchg_spi (
-  BYTE dat  /* Data to send */
+  BYTE dat  // Data to send
 ) {
   BYTE returnByte = ONBOARD_SD_SPI.transfer(dat);
   return returnByte;
@@ -90,18 +90,18 @@ static BYTE xchg_spi (
 
 /* Receive multiple byte */
 static void rcvr_spi_multi (
-  BYTE *buff,   /* Pointer to data buffer */
-  UINT btr    /* Number of bytes to receive (16, 64 or 512) */
+  BYTE *buff,   // Pointer to data buffer
+  UINT btr      // Number of bytes to receive (16, 64 or 512)
 ) {
   ONBOARD_SD_SPI.dmaTransfer(0, const_cast<uint8_t*>(buff), btr);
 }
 
 #if _DISKIO_WRITE
 
-  /* Send multiple bytes */
+  // Send multiple bytes
   static void xmit_spi_multi (
-    const BYTE *buff, /* Pointer to the data */
-    UINT btx      /* Number of bytes to send (multiple of 16) */
+    const BYTE *buff, // Pointer to the data
+    UINT btx          // Number of bytes to send (multiple of 16)
   ) {
     ONBOARD_SD_SPI.dmaSend(const_cast<uint8_t*>(buff), btx);
   }
@@ -112,16 +112,15 @@ static void rcvr_spi_multi (
 /* Wait for card ready                                                   */
 /*-----------------------------------------------------------------------*/
 
-static int wait_ready (  /* 1:Ready, 0:Timeout */
-  UINT wt     /* Timeout [ms] */
+static int wait_ready ( // 1:Ready, 0:Timeout
+  UINT wt               // Timeout [ms]
 ) {
   BYTE d;
-
   timeout = millis() + wt;
   do {
     d = xchg_spi(0xFF);
-    /* This loop takes a while. Insert rot_rdq() here for multitask environment. */
-  } while (d != 0xFF && (timeout > millis()));  /* Wait for card goes ready or timeout */
+    // This loop takes a while. Insert rot_rdq() here for multitask environment.
+  } while (d != 0xFF && (timeout > millis()));  // Wait for card goes ready or timeout
 
   return (d == 0xFF) ? 1 : 0;
 }
@@ -131,21 +130,21 @@ static int wait_ready (  /* 1:Ready, 0:Timeout */
 /*-----------------------------------------------------------------------*/
 
 static void deselect() {
-  CS_HIGH();    /* CS = H */
-  xchg_spi(0xFF); /* Dummy clock (force DO hi-z for multiple slave SPI) */
+  CS_HIGH();      // CS = H
+  xchg_spi(0xFF); // Dummy clock (force DO hi-z for multiple slave SPI)
 }
 
 /*-----------------------------------------------------------------------*/
 /* Select card and wait for ready                                        */
 /*-----------------------------------------------------------------------*/
 
-static int select() { /* 1:OK, 0:Timeout */
-  CS_LOW();   /* CS = L */
-  xchg_spi(0xFF); /* Dummy clock (force DO enabled) */
+static int select() {             // 1:OK, 0:Timeout
+  CS_LOW();                       // CS = L
+  xchg_spi(0xFF);                 // Dummy clock (force DO enabled)
 
-  if (wait_ready(500)) return 1;  /* Leading busy check: Wait for card ready */
+  if (wait_ready(500)) return 1;  // Leading busy check: Wait for card ready
 
-  deselect();   /* Timeout */
+  deselect();                     // Timeout
   return 0;
 }
 
@@ -153,16 +152,18 @@ static int select() { /* 1:OK, 0:Timeout */
 /* Control SPI module (Platform dependent)                               */
 /*-----------------------------------------------------------------------*/
 
-static void power_on() {  /* Enable SSP module and attach it to I/O pads */
+// Enable SSP module and attach it to I/O pads
+static void sd_power_on() {
   ONBOARD_SD_SPI.setModule(ONBOARD_SPI_DEVICE);
   ONBOARD_SD_SPI.begin();
   ONBOARD_SD_SPI.setBitOrder(MSBFIRST);
   ONBOARD_SD_SPI.setDataMode(SPI_MODE0);
-  OUT_WRITE(ONBOARD_SD_CS_PIN, HIGH); /* Set CS# high */
+  OUT_WRITE(ONBOARD_SD_CS_PIN, HIGH); // Set CS# high
 }
 
-static void power_off() {   /* Disable SPI function */
-  select();       /* Wait for card ready */
+// Disable SPI function
+static void sd_power_off() {
+  select();                           // Wait for card ready
   deselect();
 }
 
@@ -170,23 +171,23 @@ static void power_off() {   /* Disable SPI function */
 /* Receive a data packet from the MMC                                    */
 /*-----------------------------------------------------------------------*/
 
-static int rcvr_datablock (  /* 1:OK, 0:Error */
-  BYTE *buff,     /* Data buffer */
-  UINT btr      /* Data block length (byte) */
+static int rcvr_datablock (   // 1:OK, 0:Error
+  BYTE *buff,                 // Data buffer
+  UINT btr                    // Data block length (byte)
 ) {
   BYTE token;
 
   timeout = millis() + 200;
-  do {              /* Wait for DataStart token in timeout of 200ms */
+  do {                            // Wait for DataStart token in timeout of 200ms
     token = xchg_spi(0xFF);
-    /* This loop will take a while. Insert rot_rdq() here for multitask environment. */
+                                  // This loop will take a while. Insert rot_rdq() here for multitask environment.
   } while ((token == 0xFF) && (timeout > millis()));
-  if (token != 0xFE) return 0;   /* Function fails if invalid DataStart token or timeout */
+  if (token != 0xFE) return 0;    // Function fails if invalid DataStart token or timeout
 
-  rcvr_spi_multi(buff, btr);    /* Store trailing data to the buffer */
-  xchg_spi(0xFF); xchg_spi(0xFF); /* Discard CRC */
+  rcvr_spi_multi(buff, btr);      // Store trailing data to the buffer
+  xchg_spi(0xFF); xchg_spi(0xFF); // Discard CRC
 
-  return 1;           /* Function succeeded */
+  return 1;                       // Function succeeded
 }
 
 /*-----------------------------------------------------------------------*/
@@ -195,25 +196,25 @@ static int rcvr_datablock (  /* 1:OK, 0:Error */
 
 #if _DISKIO_WRITE
 
-  static int xmit_datablock (  /* 1:OK, 0:Failed */
-    const BYTE *buff, /* Ponter to 512 byte data to be sent */
-    BYTE token      /* Token */
+  static int xmit_datablock(  // 1:OK, 0:Failed
+    const BYTE *buff,         // Pointer to 512 byte data to be sent
+    BYTE token                // Token
   ) {
     BYTE resp;
 
-    if (!wait_ready(500)) return 0;   /* Leading busy check: Wait for card ready to accept data block */
+    if (!wait_ready(500)) return 0;       // Leading busy check: Wait for card ready to accept data block
 
-    xchg_spi(token);          /* Send token */
-    if (token == 0xFD) return 1;    /* Do not send data if token is StopTran */
+    xchg_spi(token);                      // Send token
+    if (token == 0xFD) return 1;          // Do not send data if token is StopTran
 
-    xmit_spi_multi(buff, 512);      /* Data */
-    xchg_spi(0xFF); xchg_spi(0xFF);   /* Dummy CRC */
+    xmit_spi_multi(buff, 512);            // Data
+    xchg_spi(0xFF); xchg_spi(0xFF);       // Dummy CRC
 
-    resp = xchg_spi(0xFF);        /* Receive data resp */
+    resp = xchg_spi(0xFF);                // Receive data resp
 
-    return (resp & 0x1F) == 0x05 ? 1 : 0; /* Data was accepted or not */
+    return (resp & 0x1F) == 0x05 ? 1 : 0; // Data was accepted or not
 
-    /* Busy check is done at next transmission */
+    // Busy check is done at next transmission
   }
 
 #endif // _DISKIO_WRITE
@@ -222,43 +223,43 @@ static int rcvr_datablock (  /* 1:OK, 0:Error */
 /* Send a command packet to the MMC                                      */
 /*-----------------------------------------------------------------------*/
 
-static BYTE send_cmd (   /* Return value: R1 resp (bit7==1:Failed to send) */
-  BYTE cmd,   /* Command index */
-  DWORD arg   /* Argument */
+static BYTE send_cmd( // Return value: R1 resp (bit7==1:Failed to send)
+  BYTE cmd,           // Command index
+  DWORD arg           // Argument
 ) {
   BYTE n, res;
 
-  if (cmd & 0x80) { /* Send a CMD55 prior to ACMD<n> */
+  if (cmd & 0x80) {   // Send a CMD55 prior to ACMD<n>
     cmd &= 0x7F;
     res = send_cmd(CMD55, 0);
     if (res > 1) return res;
   }
 
-  /* Select the card and wait for ready except to stop multiple block read */
+  // Select the card and wait for ready except to stop multiple block read
   if (cmd != CMD12) {
     deselect();
     if (!select()) return 0xFF;
   }
 
-  /* Send command packet */
-  xchg_spi(0x40 | cmd);       /* Start + command index */
-  xchg_spi((BYTE)(arg >> 24));    /* Argument[31..24] */
-  xchg_spi((BYTE)(arg >> 16));    /* Argument[23..16] */
-  xchg_spi((BYTE)(arg >> 8));     /* Argument[15..8] */
-  xchg_spi((BYTE)arg);        /* Argument[7..0] */
-  n = 0x01;             /* Dummy CRC + Stop */
-  if (cmd == CMD0) n = 0x95;      /* Valid CRC for CMD0(0) */
-  if (cmd == CMD8) n = 0x87;      /* Valid CRC for CMD8(0x1AA) */
+  // Send command packet
+  xchg_spi(0x40 | cmd);         // Start + command index
+  xchg_spi((BYTE)(arg >> 24));  // Argument[31..24]
+  xchg_spi((BYTE)(arg >> 16));  // Argument[23..16]
+  xchg_spi((BYTE)(arg >> 8));   // Argument[15..8]
+  xchg_spi((BYTE)arg);          // Argument[7..0]
+  n = 0x01;                     // Dummy CRC + Stop
+  if (cmd == CMD0) n = 0x95;    // Valid CRC for CMD0(0)
+  if (cmd == CMD8) n = 0x87;    // Valid CRC for CMD8(0x1AA)
   xchg_spi(n);
 
-  /* Receive command resp */
-  if (cmd == CMD12) xchg_spi(0xFF); /* Diacard following one byte when CMD12 */
-  n = 10;               /* Wait for response (10 bytes max) */
+  // Receive command response
+  if (cmd == CMD12) xchg_spi(0xFF); // Discard the following byte when CMD12
+  n = 10;                           // Wait for response (10 bytes max)
   do
     res = xchg_spi(0xFF);
   while ((res & 0x80) && --n);
 
-  return res;             /* Return received response */
+  return res;                   // Return received response
 }
 
 /*--------------------------------------------------------------------------
@@ -270,49 +271,52 @@ static BYTE send_cmd (   /* Return value: R1 resp (bit7==1:Failed to send) */
 /*-----------------------------------------------------------------------*/
 
 DSTATUS disk_initialize (
-  BYTE drv    /* Physical drive number (0) */
+  BYTE drv                                                            // Physical drive number (0)
 ) {
   BYTE n, cmd, ty, ocr[4];
 
-  if (drv) return STA_NOINIT;     /* Supports only drive 0 */
-  power_on();             /* Initialize SPI */
+  if (drv) return STA_NOINIT;                                         // Supports only drive 0
+  sd_power_on();                                                      // Initialize SPI
 
-  if (Stat & STA_NODISK) return Stat; /* Is a card existing in the soket? */
+  if (Stat & STA_NODISK) return Stat;                                 // Is a card existing in the soket?
 
   FCLK_SLOW();
-  for (n = 10; n; n--) xchg_spi(0xFF);  /* Send 80 dummy clocks */
+  for (n = 10; n; n--) xchg_spi(0xFF);                                // Send 80 dummy clocks
 
   ty = 0;
-  if (send_cmd(CMD0, 0) == 1) {     /* Put the card SPI state */
-    timeout = millis() + 1000;            /* Initialization timeout = 1 sec */
-    if (send_cmd(CMD8, 0x1AA) == 1) { /* Is the catd SDv2? */
-      for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF);  /* Get 32 bit return value of R7 resp */
-      if (ocr[2] == 0x01 && ocr[3] == 0xAA) {       /* Does the card support 2.7-3.6V? */
-        while ((timeout > millis()) && send_cmd(ACMD41, 1UL << 30)) ; /* Wait for end of initialization with ACMD41(HCS) */
-        if ((timeout > millis()) && send_cmd(CMD58, 0) == 0) {    /* Check CCS bit in the OCR */
+  if (send_cmd(CMD0, 0) == 1) {                                       // Put the card SPI state
+    timeout = millis() + 1000;                                        // Initialization timeout = 1 sec
+    if (send_cmd(CMD8, 0x1AA) == 1) {                                 // Is the catd SDv2?
+      for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF);                // Get 32 bit return value of R7 resp
+      if (ocr[2] == 0x01 && ocr[3] == 0xAA) {                         // Does the card support 2.7-3.6V?
+        while ((timeout > millis()) && send_cmd(ACMD41, 1UL << 30));  // Wait for end of initialization with ACMD41(HCS)
+        if ((timeout > millis()) && send_cmd(CMD58, 0) == 0) {        // Check CCS bit in the OCR
           for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF);
-          ty = (ocr[0] & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2;  /* Check if the card is SDv2 */
+          ty = (ocr[0] & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2;          // Check if the card is SDv2
         }
       }
-    } else {  /* Not an SDv2 card */
-      if (send_cmd(ACMD41, 0) <= 1)   { /* SDv1 or MMCv3? */
-        ty = CT_SD1; cmd = ACMD41;  /* SDv1 (ACMD41(0)) */
-      } else {
-        ty = CT_MMC; cmd = CMD1;  /* MMCv3 (CMD1(0)) */
+    }
+    else {                                                            // Not an SDv2 card
+      if (send_cmd(ACMD41, 0) <= 1)   {                               // SDv1 or MMCv3?
+        ty = CT_SD1; cmd = ACMD41;                                    // SDv1 (ACMD41(0))
       }
-      while ((timeout > millis()) && send_cmd(cmd, 0)) ;    /* Wait for the card leaves idle state */
-      if (!(timeout > millis()) || send_cmd(CMD16, 512) != 0) /* Set block length: 512 */
+      else {
+        ty = CT_MMC; cmd = CMD1;                                      // MMCv3 (CMD1(0))
+      }
+      while ((timeout > millis()) && send_cmd(cmd, 0));               // Wait for the card leaves idle state
+      if (!(timeout > millis()) || send_cmd(CMD16, 512) != 0)         // Set block length: 512
         ty = 0;
     }
   }
-  CardType = ty;  /* Card type */
+  CardType = ty;                                                      // Card type
   deselect();
 
-  if (ty) {   /* OK */
-    FCLK_FAST();      /* Set fast clock */
-    Stat &= ~STA_NOINIT;  /* Clear STA_NOINIT flag */
-  } else {    /* Failed */
-    power_off();
+  if (ty) {                                                           // OK
+    FCLK_FAST();                                                      // Set fast clock
+    Stat &= ~STA_NOINIT;                                              // Clear STA_NOINIT flag
+  }
+  else {                                                              // Failed
+    sd_power_off();
     Stat = STA_NOINIT;
   }
 
@@ -324,10 +328,10 @@ DSTATUS disk_initialize (
 /*-----------------------------------------------------------------------*/
 
 DSTATUS disk_status (
-  BYTE drv    /* Physical drive number (0) */
+  BYTE drv                    // Physical drive number (0)
 ) {
-  if (drv) return STA_NOINIT;   /* Supports only drive 0 */
-  return Stat;  /* Return disk status */
+  if (drv) return STA_NOINIT; // Supports only drive 0
+  return Stat;                // Return disk status
 }
 
 /*-----------------------------------------------------------------------*/
@@ -335,28 +339,28 @@ DSTATUS disk_status (
 /*-----------------------------------------------------------------------*/
 
 DRESULT disk_read (
-  BYTE drv,   /* Physical drive number (0) */
-  BYTE *buff,   /* Pointer to the data buffer to store read data */
-  DWORD sector, /* Start sector number (LBA) */
-  UINT count    /* Number of sectors to read (1..128) */
+  BYTE drv,     // Physical drive number (0)
+  BYTE *buff,   // Pointer to the data buffer to store read data
+  DWORD sector, // Start sector number (LBA)
+  UINT count    // Number of sectors to read (1..128)
 ) {
   BYTE cmd;
 
-  if (drv || !count) return RES_PARERR;   /* Check parameter */
-  if (Stat & STA_NOINIT) return RES_NOTRDY; /* Check if drive is ready */
-  if (!(CardType & CT_BLOCK)) sector *= 512;  /* LBA ot BA conversion (byte addressing cards) */
+  if (drv || !count) return RES_PARERR;       // Check parameter
+  if (Stat & STA_NOINIT) return RES_NOTRDY;   // Check if drive is ready
+  if (!(CardType & CT_BLOCK)) sector *= 512;  // LBA ot BA conversion (byte addressing cards)
   FCLK_FAST();
-  cmd = count > 1 ? CMD18 : CMD17;      /*  READ_MULTIPLE_BLOCK : READ_SINGLE_BLOCK */
+  cmd = count > 1 ? CMD18 : CMD17;            //  READ_MULTIPLE_BLOCK : READ_SINGLE_BLOCK
   if (send_cmd(cmd, sector) == 0) {
     do {
       if (!rcvr_datablock(buff, 512)) break;
       buff += 512;
     } while (--count);
-    if (cmd == CMD18) send_cmd(CMD12, 0); /* STOP_TRANSMISSION */
+    if (cmd == CMD18) send_cmd(CMD12, 0);     // STOP_TRANSMISSION
   }
   deselect();
 
-  return count ? RES_ERROR : RES_OK;  /* Return result */
+  return count ? RES_ERROR : RES_OK;          // Return result
 }
 
 /*-----------------------------------------------------------------------*/
@@ -366,36 +370,36 @@ DRESULT disk_read (
 #if _DISKIO_WRITE
 
   DRESULT disk_write(
-    BYTE drv,     /* Physical drive number (0) */
-    const BYTE *buff, /* Ponter to the data to write */
-    DWORD sector,   /* Start sector number (LBA) */
-    UINT count      /* Number of sectors to write (1..128) */
+    BYTE drv,                                   // Physical drive number (0)
+    const BYTE *buff,                           // Pointer to the data to write
+    DWORD sector,                               // Start sector number (LBA)
+    UINT count                                  // Number of sectors to write (1..128)
   ) {
-    if (drv || !count) return RES_PARERR;   /* Check parameter */
-    if (Stat & STA_NOINIT) return RES_NOTRDY; /* Check drive status */
-    if (Stat & STA_PROTECT) return RES_WRPRT; /* Check write protect */
+    if (drv || !count) return RES_PARERR;       // Check parameter
+    if (Stat & STA_NOINIT) return RES_NOTRDY;   // Check drive status
+    if (Stat & STA_PROTECT) return RES_WRPRT;   // Check write protect
     FCLK_FAST();
-    if (!(CardType & CT_BLOCK)) sector *= 512;  /* LBA ==> BA conversion (byte addressing cards) */
+    if (!(CardType & CT_BLOCK)) sector *= 512;  // LBA ==> BA conversion (byte addressing cards)
 
-    if (count == 1) { /* Single sector write */
-      if ((send_cmd(CMD24, sector) == 0)  /* WRITE_BLOCK */
+    if (count == 1) {                           // Single sector write
+      if ((send_cmd(CMD24, sector) == 0)        // WRITE_BLOCK
         && xmit_datablock(buff, 0xFE)) {
         count = 0;
       }
     }
-    else {        /* Multiple sector write */
-      if (CardType & CT_SDC) send_cmd(ACMD23, count); /* Predefine number of sectors */
-      if (send_cmd(CMD25, sector) == 0) { /* WRITE_MULTIPLE_BLOCK */
+    else {                                            // Multiple sector write
+      if (CardType & CT_SDC) send_cmd(ACMD23, count); // Predefine number of sectors
+      if (send_cmd(CMD25, sector) == 0) {             // WRITE_MULTIPLE_BLOCK
         do {
           if (!xmit_datablock(buff, 0xFC)) break;
           buff += 512;
         } while (--count);
-        if (!xmit_datablock(0, 0xFD)) count = 1;  /* STOP_TRAN token */
+        if (!xmit_datablock(0, 0xFD)) count = 1;      // STOP_TRAN token
       }
     }
     deselect();
 
-    return count ? RES_ERROR : RES_OK;  /* Return result */
+    return count ? RES_ERROR : RES_OK;                // Return result
   }
 
 #endif // _DISKIO_WRITE
@@ -407,9 +411,9 @@ DRESULT disk_read (
 #if _DISKIO_IOCTL
 
   DRESULT disk_ioctl (
-    BYTE drv,   /* Physical drive number (0) */
-    BYTE cmd,   /* Control command code */
-    void *buff    /* Pointer to the conrtol data */
+    BYTE drv,   // Physical drive number (0)
+    BYTE cmd,   // Control command code
+    void *buff  // Pointer to the conrtol data
   ) {
     DRESULT res;
     BYTE n, csd[16], *ptr = (BYTE *)buff;
@@ -420,22 +424,23 @@ DRESULT disk_read (
       UINT dc;
     #endif
 
-    if (drv) return RES_PARERR;         /* Check parameter */
-    if (Stat & STA_NOINIT) return RES_NOTRDY; /* Check if drive is ready */
+    if (drv) return RES_PARERR;                 // Check parameter
+    if (Stat & STA_NOINIT) return RES_NOTRDY;   // Check if drive is ready
 
     res = RES_ERROR;
     FCLK_FAST();
     switch (cmd) {
-      case CTRL_SYNC:     /* Wait for end of internal write process of the drive */
+      case CTRL_SYNC:                           // Wait for end of internal write process of the drive
         if (select()) res = RES_OK;
         break;
 
-      case GET_SECTOR_COUNT:  /* Get drive capacity in unit of sector (DWORD) */
+      case GET_SECTOR_COUNT:                    // Get drive capacity in unit of sector (DWORD)
         if ((send_cmd(CMD9, 0) == 0) && rcvr_datablock(csd, 16)) {
-          if ((csd[0] >> 6) == 1) { /* SDC ver 2.00 */
+          if ((csd[0] >> 6) == 1) {             // SDC ver 2.00
             csize = csd[9] + ((WORD)csd[8] << 8) + ((DWORD)(csd[7] & 63) << 16) + 1;
             *(DWORD*)buff = csize << 10;
-          } else {          /* SDC ver 1.XX or MMC ver 3 */
+          }
+          else {                                // SDC ver 1.XX or MMC ver 3
             n = (csd[5] & 15) + ((csd[10] & 128) >> 7) + ((csd[9] & 3) << 1) + 2;
             csize = (csd[8] >> 6) + ((WORD)csd[7] << 2) + ((WORD)(csd[6] & 3) << 10) + 1;
             *(DWORD*)buff = csize << (n - 9);
@@ -444,21 +449,23 @@ DRESULT disk_read (
         }
         break;
 
-      case GET_BLOCK_SIZE:  /* Get erase block size in unit of sector (DWORD) */
-        if (CardType & CT_SD2) {  /* SDC ver 2.00 */
-          if (send_cmd(ACMD13, 0) == 0) { /* Read SD status */
+      case GET_BLOCK_SIZE:                              // Get erase block size in unit of sector (DWORD)
+        if (CardType & CT_SD2) {                        // SDC ver 2.00
+          if (send_cmd(ACMD13, 0) == 0) {               // Read SD status
             xchg_spi(0xFF);
-            if (rcvr_datablock(csd, 16)) {        /* Read partial block */
-              for (n = 64 - 16; n; n--) xchg_spi(0xFF); /* Purge trailing data */
+            if (rcvr_datablock(csd, 16)) {              // Read partial block
+              for (n = 64 - 16; n; n--) xchg_spi(0xFF); // Purge trailing data
               *(DWORD*)buff = 16UL << (csd[10] >> 4);
               res = RES_OK;
             }
           }
-        } else {          /* SDC ver 1.XX or MMC */
-          if ((send_cmd(CMD9, 0) == 0) && rcvr_datablock(csd, 16)) {  /* Read CSD */
-            if (CardType & CT_SD1) {  /* SDC ver 1.XX */
+        }
+        else {                                                        // SDC ver 1.XX or MMC
+          if ((send_cmd(CMD9, 0) == 0) && rcvr_datablock(csd, 16)) {  // Read CSD
+            if (CardType & CT_SD1) {                                  // SDC ver 1.XX
               *(DWORD*)buff = (((csd[10] & 63) << 1) + ((WORD)(csd[11] & 128) >> 7) + 1) << ((csd[13] >> 6) - 1);
-            } else {          /* MMC */
+            }
+            else {                                                    // MMC
               *(DWORD*)buff = ((WORD)((csd[10] & 124) >> 2) + 1) * (((csd[11] & 3) << 3) + ((csd[11] & 224) >> 5) + 1);
             }
             res = RES_OK;
@@ -466,47 +473,47 @@ DRESULT disk_read (
         }
         break;
 
-      case CTRL_TRIM:   /* Erase a block of sectors (used when _USE_TRIM in ffconf.h is 1) */
-        if (!(CardType & CT_SDC)) break;        /* Check if the card is SDC */
-        if (disk_ioctl(drv, MMC_GET_CSD, csd)) break; /* Get CSD */
-        if (!(csd[0] >> 6) && !(csd[10] & 0x40)) break; /* Check if sector erase can be applied to the card */
-        dp = (DWORD *)buff; st = dp[0]; ed = dp[1];       /* Load sector block */
+      case CTRL_TRIM:                                   // Erase a block of sectors (used when _USE_TRIM in ffconf.h is 1)
+        if (!(CardType & CT_SDC)) break;                // Check if the card is SDC
+        if (disk_ioctl(drv, MMC_GET_CSD, csd)) break;   // Get CSD
+        if (!(csd[0] >> 6) && !(csd[10] & 0x40)) break; // Check if sector erase can be applied to the card
+        dp = (DWORD *)buff; st = dp[0]; ed = dp[1];     // Load sector block
         if (!(CardType & CT_BLOCK)) {
           st *= 512; ed *= 512;
         }
-        if (send_cmd(CMD32, st) == 0 && send_cmd(CMD33, ed) == 0 && send_cmd(CMD38, 0) == 0 && wait_ready(30000)) { /* Erase sector block */
-          res = RES_OK; /* FatFs does not check result of this command */
+        if (send_cmd(CMD32, st) == 0 && send_cmd(CMD33, ed) == 0 && send_cmd(CMD38, 0) == 0 && wait_ready(30000)) { // Erase sector block
+          res = RES_OK; // FatFs does not check result of this command
         }
         break;
 
-      /* Following commands are never used by FatFs module */
+      // The following commands are never used by FatFs module
 
-      case MMC_GET_TYPE:    /* Get MMC/SDC type (BYTE) */
+      case MMC_GET_TYPE:    // Get MMC/SDC type (BYTE)
         *ptr = CardType;
         res = RES_OK;
         break;
 
-      case MMC_GET_CSD:   /* Read CSD (16 bytes) */
-        if (send_cmd(CMD9, 0) == 0 && rcvr_datablock(ptr, 16)) {  /* READ_CSD */
+      case MMC_GET_CSD:     // Read CSD (16 bytes)
+        if (send_cmd(CMD9, 0) == 0 && rcvr_datablock(ptr, 16)) {
           res = RES_OK;
         }
         break;
 
-      case MMC_GET_CID:   /* Read CID (16 bytes) */
-        if (send_cmd(CMD10, 0) == 0 && rcvr_datablock(ptr, 16)) { /* READ_CID */
+      case MMC_GET_CID:     // Read CID (16 bytes)
+        if (send_cmd(CMD10, 0) == 0 && rcvr_datablock(ptr, 16)) {
           res = RES_OK;
         }
         break;
 
-      case MMC_GET_OCR:   /* Read OCR (4 bytes) */
-        if (send_cmd(CMD58, 0) == 0) {  /* READ_OCR */
+      case MMC_GET_OCR:     // Read OCR (4 bytes)
+        if (send_cmd(CMD58, 0) == 0) {
           for (n = 4; n; n--) *ptr++ = xchg_spi(0xFF);
           res = RES_OK;
         }
         break;
 
-      case MMC_GET_SDSTAT:  /* Read SD status (64 bytes) */
-        if (send_cmd(ACMD13, 0) == 0) { /* SD_STATUS */
+      case MMC_GET_SDSTAT:  // Read SD status (64 bytes)
+        if (send_cmd(ACMD13, 0) == 0) {
           xchg_spi(0xFF);
           if (rcvr_datablock(ptr, 64)) res = RES_OK;
         }

Marlin/src/HAL/STM32F1/tft/tft_spi.cpp

@@ -90,12 +90,20 @@ void TFT_SPI::DataTransferBegin(uint16_t DataSize) {
   TFT_CS_L;
 }
 
+#ifdef TFT_DEFAULT_DRIVER
+  #include "../../../lcd/tft_io/tft_ids.h"
+#endif
+
 uint32_t TFT_SPI::GetID() {
   uint32_t id;
   id = ReadID(LCD_READ_ID);
-
-  if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF)
+  if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) {
     id = ReadID(LCD_READ_ID4);
+    #ifdef TFT_DEFAULT_DRIVER
+      if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF)
+        id = TFT_DEFAULT_DRIVER;
+    #endif
+   }
   return id;
 }
 

Marlin/src/HAL/STM32F1/tft/xpt2046.cpp

@@ -22,7 +22,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS
+#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS
 
 #include "xpt2046.h"
 #include <SPI.h>

Marlin/src/HAL/STM32F1/tft/xpt2046.h

@@ -54,7 +54,7 @@ enum XPTCoordinate : uint8_t {
   XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE,
 };
 
-#if !defined(XPT2046_Z1_THRESHOLD)
+#ifndef XPT2046_Z1_THRESHOLD
   #define XPT2046_Z1_THRESHOLD 10
 #endif
 

Marlin/src/HAL/STM32F1/timers.h

@@ -25,9 +25,10 @@
  * HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
  */
 
-#include <stdint.h>
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
 #include <libmaple/timer.h>
-#include "../../core/boards.h"
 
 // ------------------------
 // Defines
@@ -37,7 +38,6 @@
  * TODO: Check and confirm what timer we will use for each Temps and stepper driving.
  * We should probable drive temps with PWM.
  */
-#define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint16_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFF
@@ -80,7 +80,7 @@ typedef uint16_t hal_timer_t;
   //#define TEMP_TIMER_NUM      4  // 2->4, Timer 2 for Stepper Current PWM
 #endif
 
-#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE)
+#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3)
   // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM.
   #ifdef STM32_HIGH_DENSITY
     #define SERVO0_TIMER_NUM 8  // tone.cpp uses Timer 4

Marlin/src/HAL/TEENSY31_32/HAL.h

@@ -68,6 +68,8 @@ extern USBSerialType USBSerial;
 #elif WITHIN(SERIAL_PORT, 0, 3)
   DECLARE_SERIAL(SERIAL_PORT);
   #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#else
+  #error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
 #endif
 
 #define HAL_SERVO_LIB libServo

Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp

@@ -21,11 +21,12 @@
  */
 #ifdef __MK20DX256__
 
+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"
 
 static SPISettings spiConfig;
 

Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h

@@ -64,4 +64,10 @@ 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));
 }

Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp

@@ -26,11 +26,12 @@
 
 #if defined(__MK64FX512__) || defined(__MK66FX1M0__)
 
+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"
 
 static SPISettings spiConfig;
 

Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h

@@ -63,4 +63,10 @@ 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));
 }

Marlin/src/HAL/TEENSY40_41/HAL.cpp

@@ -26,10 +26,11 @@
 
 #ifdef __IMXRT1062__
 
+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include "../shared/Delay.h"
 #include "timers.h"
-
 #include <Wire.h>
 
 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)

Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp

@@ -26,11 +26,12 @@
 
 #ifdef __IMXRT1062__
 
+#include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+
 #include <SPI.h>
 #include <pins_arduino.h>
 #include "spi_pins.h"
-#include "../../core/macros.h"
 
 static SPISettings spiConfig;
 

Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h

@@ -63,4 +63,10 @@ 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));
 }

Marlin/src/HAL/shared/Marduino.h

@@ -82,4 +82,8 @@
   #define UNUSED(x) ((void)(x))
 #endif
 
+#ifndef FORCE_INLINE
+  #define FORCE_INLINE inline __attribute__((always_inline))
+#endif
+
 #include "progmem.h"

Marlin/src/HAL/shared/eeprom_if_i2c.cpp

@@ -30,11 +30,17 @@
 #if ENABLED(I2C_EEPROM)
 
 #include "eeprom_if.h"
-#include <Wire.h>
+
+#if ENABLED(SOFT_I2C_EEPROM)
+  #include <SlowSoftWire.h>
+  SlowSoftWire Wire = SlowSoftWire(I2C_SDA_PIN, I2C_SCL_PIN, true);
+#else
+  #include <Wire.h>
+#endif
 
 void eeprom_init() {
   Wire.begin(
-    #if PINS_EXIST(I2C_SCL, I2C_SDA)
+    #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM)
       uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN)
     #endif
   );
@@ -55,11 +61,24 @@ static constexpr uint8_t eeprom_device_address = I2C_ADDRESS(EEPROM_DEVICE_ADDRE
 // Public functions
 // ------------------------
 
+#define SMALL_EEPROM (MARLIN_EEPROM_SIZE <= 2048)
+
+// Combine Address high bits into the device address on <=16Kbit (2K) and >512Kbit (64K) EEPROMs.
+// Note: MARLIN_EEPROM_SIZE is specified in bytes, whereas EEPROM model numbers refer to bits.
+//       e.g., The "16" in BL24C16 indicates a 16Kbit (2KB) size.
+static uint8_t _eeprom_calc_device_address(uint8_t * const pos) {
+  const unsigned eeprom_address = (unsigned)pos;
+  return (SMALL_EEPROM || MARLIN_EEPROM_SIZE > 65536)
+    ? uint8_t(eeprom_device_address | ((eeprom_address >> (SMALL_EEPROM ? 8 : 16)) & 0x07))
+    : eeprom_device_address;
+}
+
 static void _eeprom_begin(uint8_t * const pos) {
   const unsigned eeprom_address = (unsigned)pos;
-  Wire.beginTransmission(eeprom_device_address);
-  Wire.write(int(eeprom_address >> 8));   // Address High
-  Wire.write(int(eeprom_address & 0xFF)); // Address Low
+  Wire.beginTransmission(_eeprom_calc_device_address(pos));
+  if (!SMALL_EEPROM)
+    Wire.write(uint8_t((eeprom_address >> 8) & 0xFF));  // Address High, if needed
+  Wire.write(uint8_t(eeprom_address & 0xFF));           // Address Low
 }
 
 void eeprom_write_byte(uint8_t *pos, uint8_t value) {
@@ -75,7 +94,7 @@ void eeprom_write_byte(uint8_t *pos, uint8_t value) {
 uint8_t eeprom_read_byte(uint8_t *pos) {
   _eeprom_begin(pos);
   Wire.endTransmission();
-  Wire.requestFrom(eeprom_device_address, (byte)1);
+  Wire.requestFrom(_eeprom_calc_device_address(pos), (byte)1);
   return Wire.available() ? Wire.read() : 0xFF;
 }
 

Marlin/src/MarlinCore.cpp

@@ -68,9 +68,9 @@
 #endif
 
 #if HAS_TFT_LVGL_UI
-  #include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h"
-  #include "lcd/extui/lib/mks_ui/draw_ui.h"
-  #include "lcd/extui/lib/mks_ui/mks_hardware_test.h"
+  #include "lcd/extui/mks_ui/tft_lvgl_configuration.h"
+  #include "lcd/extui/mks_ui/draw_ui.h"
+  #include "lcd/extui/mks_ui/mks_hardware_test.h"
   #include <lvgl.h>
 #endif
 
@@ -229,7 +229,7 @@
 #endif
 
 #if ENABLED(DGUS_LCD_UI_MKS)
-  #include "lcd/extui/lib/dgus/DGUSScreenHandler.h"
+  #include "lcd/extui/dgus/DGUSScreenHandler.h"
 #endif
 
 #if HAS_DRIVER_SAFE_POWER_PROTECT
@@ -282,12 +282,22 @@ bool wait_for_heatup = true;
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wnarrowing"
 
+#ifndef RUNTIME_ONLY_ANALOG_TO_DIGITAL
+  template <pin_t ...D>
+  constexpr pin_t OnlyPins<_SP_END, D...>::table[sizeof...(D)];
+#endif
+
 bool pin_is_protected(const pin_t pin) {
-  static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
-  LOOP_L_N(i, COUNT(sensitive_pins)) {
-    pin_t sensitive_pin;
-    memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
-    if (pin == sensitive_pin) return true;
+  #ifdef RUNTIME_ONLY_ANALOG_TO_DIGITAL
+    static const pin_t sensitive_pins[] PROGMEM = { SENSITIVE_PINS };
+    const size_t pincount = COUNT(sensitive_pins);
+  #else
+    static constexpr size_t pincount = OnlyPins<SENSITIVE_PINS>::size;
+    static const pin_t (&sensitive_pins)[pincount] PROGMEM = OnlyPins<SENSITIVE_PINS>::table;
+  #endif
+  LOOP_L_N(i, pincount) {
+    const pin_t * const pptr = &sensitive_pins[i];
+    if (pin == (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(pptr) : (pin_t)pgm_read_byte(pptr))) return true;
   }
   return false;
 }
@@ -304,6 +314,9 @@ void enable_all_steppers() {
   ENABLE_AXIS_X();
   ENABLE_AXIS_Y();
   ENABLE_AXIS_Z();
+  ENABLE_AXIS_I(); // Marlin 6-axis support by DerAndere (https://github.com/DerAndere1/Marlin/wiki)
+  ENABLE_AXIS_J();
+  ENABLE_AXIS_K();
   enable_e_steppers();
 
   TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled());
@@ -317,7 +330,7 @@ void disable_e_steppers() {
 void disable_e_stepper(const uint8_t e) {
   #define _CASE_DIS_E(N) case N: DISABLE_AXIS_E##N(); break;
   switch (e) {
-    REPEAT(EXTRUDERS, _CASE_DIS_E)
+    REPEAT(E_STEPPERS, _CASE_DIS_E)
   }
 }
 
@@ -325,24 +338,23 @@ void disable_all_steppers() {
   DISABLE_AXIS_X();
   DISABLE_AXIS_Y();
   DISABLE_AXIS_Z();
+  DISABLE_AXIS_I();
+  DISABLE_AXIS_J();
+  DISABLE_AXIS_K();
   disable_e_steppers();
 
   TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
 }
 
 /**
- * A Print Job exists when the timer is running or SD printing
+ * A Print Job exists when the timer is running or SD is printing
  */
-bool printJobOngoing() {
-  return print_job_timer.isRunning() || IS_SD_PRINTING();
-}
+bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); }
 
 /**
- * Printing is active when the print job timer is running
+ * Printing is active when a job is underway but not paused
  */
-bool printingIsActive() {
-  return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING());
-}
+bool printingIsActive() { return !did_pause_print && printJobOngoing(); }
 
 /**
  * Printing is paused according to SD or host indicators
@@ -367,7 +379,7 @@ void startOrResumeJob() {
 
   inline void abortSDPrinting() {
     IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel());
-    card.endFilePrint(TERN_(SD_RESORT, true));
+    card.abortFilePrintNow(TERN_(SD_RESORT, true));
 
     queue.clear();
     quickstop_stepper();
@@ -390,8 +402,8 @@ void startOrResumeJob() {
   }
 
   inline void finishSDPrinting() {
-    if (queue.enqueue_one_P(PSTR("M1001"))) {
-      marlin_state = MF_RUNNING;
+    if (queue.enqueue_one_P(PSTR("M1001"))) { // Keep trying until it gets queued
+      marlin_state = MF_RUNNING;              // Signal to stop trying
       TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
       TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished());
     }
@@ -412,19 +424,18 @@ void startOrResumeJob() {
  *  - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  *  - Pulse FET_SAFETY_PIN if it exists
  */
-inline void manage_inactivity(const bool ignore_stepper_queue=false) {
+inline void manage_inactivity(const bool no_stepper_sleep=false) {
 
   queue.get_available_commands();
 
   const millis_t ms = millis();
 
-  // Prevent steppers timing-out in the middle of M600
-  // unless PAUSE_PARK_NO_STEPPER_TIMEOUT is disabled
-  const bool parked_or_ignoring = ignore_stepper_queue
+  // Prevent steppers timing-out
+  const bool do_reset_timeout = no_stepper_sleep
                                || TERN0(PAUSE_PARK_NO_STEPPER_TIMEOUT, did_pause_print);
 
   // Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout
-  if (parked_or_ignoring) gcode.reset_stepper_timeout(ms);
+  if (do_reset_timeout) gcode.reset_stepper_timeout(ms);
 
   if (gcode.stepper_max_timed_out(ms)) {
     SERIAL_ERROR_MSG(STR_KILL_INACTIVE_TIME, parser.command_ptr);
@@ -440,7 +451,7 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
     // activity timeout and the M85 max 'kill' timeout
     if (planner.has_blocks_queued())
       gcode.reset_stepper_timeout(ms);
-    else if (!parked_or_ignoring && gcode.stepper_inactive_timeout()) {
+    else if (!do_reset_timeout && gcode.stepper_inactive_timeout()) {
       if (!already_shutdown_steppers) {
         already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
 
@@ -448,6 +459,9 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
         if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X();
         if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y();
         if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z();
+        if (ENABLED(DISABLE_INACTIVE_I)) DISABLE_AXIS_I();
+        if (ENABLED(DISABLE_INACTIVE_J)) DISABLE_AXIS_J();
+        if (ENABLED(DISABLE_INACTIVE_K)) DISABLE_AXIS_K();
         if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers();
 
         TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
@@ -487,6 +501,10 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
     }
   #endif
 
+  #if HAS_FREEZE_PIN
+    Stepper::frozen = !READ(FREEZE_PIN);
+  #endif
+
   #if HAS_HOME
     // Handle a standalone HOME button
     constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL;
@@ -716,14 +734,14 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
  *  - Update the Průša MMU2
  *  - Handle Joystick jogging
  */
-void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
+void idle(bool no_stepper_sleep/*=false*/) {
   #if ENABLED(MARLIN_DEV_MODE)
     static uint16_t idle_depth = 0;
     if (++idle_depth > 5) SERIAL_ECHOLNPAIR("idle() call depth: ", idle_depth);
   #endif
 
   // Core Marlin activities
-  manage_inactivity(TERN_(ADVANCED_PAUSE_FEATURE, no_stepper_sleep));
+  manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
   thermalManager.manage_heater();
@@ -748,7 +766,7 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
 
   // Handle Power-Loss Recovery
   #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
-    if (printJobOngoing()) recovery.outage();
+    if (IS_SD_PRINTING()) recovery.outage();
   #endif
 
   // Run StallGuard endstop checks
@@ -796,6 +814,7 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
     if (!gcode.autoreport_paused) {
       TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
       TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
+      TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
     }
   #endif
 
@@ -825,18 +844,19 @@ void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr
 
   TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control
 
-  SERIAL_ERROR_MSG(STR_ERR_KILLED);
+  // Echo the LCD message to serial for extra context
+  if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNPGM_P(lcd_error); }
 
   #if HAS_DISPLAY
     ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component ?: NUL_STR);
   #else
-    UNUSED(lcd_error);
-    UNUSED(lcd_component);
+    UNUSED(lcd_error); UNUSED(lcd_component);
   #endif
 
-  #if HAS_TFT_LVGL_UI
-    lv_draw_error_message(lcd_error);
-  #endif
+  TERN_(HAS_TFT_LVGL_UI, lv_draw_error_message(lcd_error));
+
+  // "Error:Printer halted. kill() called!"
+  SERIAL_ERROR_MSG(STR_ERR_KILLED);
 
   #ifdef ACTION_ON_KILL
     host_action_kill();
@@ -900,7 +920,7 @@ void stop() {
     thermalManager.set_fans_paused(false); // Un-pause fans for safety
   #endif
 
-  if (IsRunning()) {
+  if (!IsStopped()) {
     SERIAL_ERROR_MSG(STR_ERR_STOPPED);
     LCD_MESSAGEPGM(MSG_STOPPED);
     safe_delay(350);       // allow enough time for messages to get out before stopping
@@ -933,6 +953,15 @@ inline void tmc_standby_setup() {
   #if PIN_EXISTS(Z4_STDBY)
     SET_INPUT_PULLDOWN(Z4_STDBY_PIN);
   #endif
+  #if PIN_EXISTS(I_STDBY)
+    SET_INPUT_PULLDOWN(I_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(J_STDBY)
+    SET_INPUT_PULLDOWN(J_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(K_STDBY)
+    SET_INPUT_PULLDOWN(K_STDBY_PIN);
+  #endif
   #if PIN_EXISTS(E0_STDBY)
     SET_INPUT_PULLDOWN(E0_STDBY_PIN);
   #endif
@@ -1071,9 +1100,20 @@ void setup() {
   while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
 
   #if HAS_MULTI_SERIAL && !HAS_ETHERNET
-    MYSERIAL2.begin(BAUDRATE);
+    #ifndef BAUDRATE_2
+      #define BAUDRATE_2 BAUDRATE
+    #endif
+    MYSERIAL2.begin(BAUDRATE_2);
     serial_connect_timeout = millis() + 1000UL;
     while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+    #ifdef SERIAL_PORT_3
+      #ifndef BAUDRATE_3
+        #define BAUDRATE_3 BAUDRATE
+      #endif
+      MYSERIAL3.begin(BAUDRATE_3);
+      serial_connect_timeout = millis() + 1000UL;
+      while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+    #endif
   #endif
   SERIAL_ECHOLNPGM("start");
 
@@ -1087,16 +1127,29 @@ void setup() {
     #endif
   #endif
 
+  #if HAS_FREEZE_PIN
+    SETUP_LOG("FREEZE_PIN");
+    SET_INPUT_PULLUP(FREEZE_PIN);
+  #endif
+
   #if HAS_SUICIDE
     SETUP_LOG("SUICIDE_PIN");
     OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
   #endif
 
+  #ifdef JTAGSWD_RESET
+    SETUP_LOG("JTAGSWD_RESET");
+    JTAGSWD_RESET();
+  #endif
+
   #if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
+    delay(10);
     // Disable any hardware debug to free up pins for IO
     #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
+      SETUP_LOG("JTAGSWD_DISABLE");
       JTAGSWD_DISABLE();
     #elif defined(JTAG_DISABLE)
+      SETUP_LOG("JTAG_DISABLE");
       JTAG_DISABLE();
     #else
       #error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
@@ -1115,10 +1168,10 @@ void setup() {
   SETUP_RUN(HAL_init());
 
   // Init and disable SPI thermocouples; this is still needed
-  #if TEMP_SENSOR_0_IS_MAX_TC
+  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && TEMP_SENSOR_REDUNDANT_SOURCE == 0)
     OUT_WRITE(MAX6675_SS_PIN, HIGH);  // Disable
   #endif
-  #if TEMP_SENSOR_1_IS_MAX_TC
+  #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && TEMP_SENSOR_REDUNDANT_SOURCE == 1)
     OUT_WRITE(MAX6675_SS2_PIN, HIGH); // Disable
   #endif
 
@@ -1406,10 +1459,7 @@ void setup() {
   #endif
 
   #if HAS_PRUSA_MMU1
-    SETUP_LOG("Prusa MMU1");
-    SET_OUTPUT(E_MUX0_PIN);
-    SET_OUTPUT(E_MUX1_PIN);
-    SET_OUTPUT(E_MUX2_PIN);
+    SETUP_RUN(mmu_init());
   #endif
 
   #if HAS_FANMUX
@@ -1477,7 +1527,7 @@ void setup() {
   #endif
 
   #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
-    SETUP_RUN(test_tmc_connection(true, true, true, true));
+    SETUP_RUN(test_tmc_connection());
   #endif
 
   #if HAS_DRIVER_SAFE_POWER_PROTECT

Marlin/src/MarlinCore.h

@@ -34,8 +34,8 @@
 void stop();
 
 // Pass true to keep steppers from timing out
-void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep=false));
-inline void idle_no_sleep() { idle(TERN_(ADVANCED_PAUSE_FEATURE, true)); }
+void idle(bool no_stepper_sleep=false);
+inline void idle_no_sleep() { idle(true); }
 
 #if ENABLED(G38_PROBE_TARGET)
   extern uint8_t G38_move;          // Flag to tell the ISR that G38 is in progress, and the type
@@ -56,20 +56,21 @@ void minkill(const bool steppers_off=false);
 
 // Global State of the firmware
 enum MarlinState : uint8_t {
-  MF_INITIALIZING =  0,
-  MF_RUNNING      = _BV(0),
-  MF_PAUSED       = _BV(1),
-  MF_WAITING      = _BV(2),
-  MF_STOPPED      = _BV(3),
-  MF_SD_COMPLETE  = _BV(4),
-  MF_KILLED       = _BV(7)
+  MF_INITIALIZING = 0,
+  MF_STOPPED,
+  MF_KILLED,
+  MF_RUNNING,
+  MF_SD_COMPLETE,
+  MF_PAUSED,
+  MF_WAITING,
 };
 
 extern MarlinState marlin_state;
-inline bool IsRunning() { return marlin_state == MF_RUNNING; }
-inline bool IsStopped() { return marlin_state != MF_RUNNING; }
+inline bool IsRunning() { return marlin_state >= MF_RUNNING; }
+inline bool IsStopped() { return marlin_state == MF_STOPPED; }
 
 bool printingIsActive();
+bool printJobOngoing();
 bool printingIsPaused();
 void startOrResumeJob();
 

Marlin/src/core/boards.h

@@ -159,6 +159,7 @@
 #define BOARD_PICA_REVB               1324  // PICA Shield (original version)
 #define BOARD_PICA                    1325  // PICA Shield (rev C or later)
 #define BOARD_INTAMSYS40              1326  // Intamsys 4.0 (Funmat HT)
+#define BOARD_MALYAN_M180             1327  // Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
 
 //
 // ATmega1281, ATmega2561
@@ -320,7 +321,7 @@
 #define BOARD_BTT_SKR_MINI_V1_1       4023  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
 #define BOARD_BTT_SKR_MINI_E3_V1_0    4024  // BigTreeTech SKR Mini E3 (STM32F103RC)
 #define BOARD_BTT_SKR_MINI_E3_V1_2    4025  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
-#define BOARD_BTT_SKR_MINI_E3_V2_0    4026  // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC)
+#define BOARD_BTT_SKR_MINI_E3_V2_0    4026  // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE)
 #define BOARD_BTT_SKR_MINI_MZ_V1_0    4027  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
 #define BOARD_BTT_SKR_E3_DIP          4028  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
 #define BOARD_BTT_SKR_CR6             4029  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
@@ -367,22 +368,26 @@
 #define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6)
 #define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VGT6)
 #define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VGT6)
-#define BOARD_BTT_SKR_V2_0            4211  // BigTreeTech SKR v2.0 (STM32F407VGT6)
-#define BOARD_BTT_GTR_V1_0            4212  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_LERDGE_K                4213  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4214  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4215  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4216  // VAkE 403D (STM32F446VET6)
-#define BOARD_FYSETC_S6               4217  // FYSETC S6 (STM32F446VET6)
-#define BOARD_FYSETC_S6_V2_0          4218  // FYSETC S6 v2.0 (STM32F446VET6)
-#define BOARD_FYSETC_SPIDER           4219  // FYSETC Spider (STM32F446VET6)
-#define BOARD_FLYF407ZG               4220  // FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4221  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4222  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4223  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_ANET_ET4                4224  // ANET ET4 V1.x (STM32F407VGT6)
-#define BOARD_ANET_ET4P               4225 // ANET ET4P V1.x (STM32F407VGT6)
-#define BOARD_FYSETC_CHEETAH_V20      4226  // FYSETC Cheetah V2.0
+#define BOARD_BTT_SKR_V2_0_REV_A      4211  // BigTreeTech SKR v2.0 Rev A (STM32F407VGT6)
+#define BOARD_BTT_SKR_V2_0_REV_B      4212  // BigTreeTech SKR v2.0 Rev B (STM32F407VGT6)
+#define BOARD_BTT_GTR_V1_0            4213  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0        4214  // BigTreeTech Octopus v1.0 (STM32F446ZET6)
+#define BOARD_BTT_OCTOPUS_V1_1        4215  // BigTreeTech Octopus v1.1 (STM32F446ZET6)
+#define BOARD_LERDGE_K                4216  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                4217  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                4218  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                4219  // VAkE 403D (STM32F446VET6)
+#define BOARD_FYSETC_S6               4220  // FYSETC S6 (STM32F446VET6)
+#define BOARD_FYSETC_S6_V2_0          4221  // FYSETC S6 v2.0 (STM32F446VET6)
+#define BOARD_FYSETC_SPIDER           4222  // FYSETC Spider (STM32F446VET6)
+#define BOARD_FLYF407ZG               4223  // FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4224  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        4225  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       4226  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_ANET_ET4                4227  // ANET ET4 V1.x (STM32F407VGT6)
+#define BOARD_ANET_ET4P               4228  // ANET ET4P V1.x (STM32F407VGT6)
+#define BOARD_FYSETC_CHEETAH_V20      4229  // FYSETC Cheetah V2.0
+
 
 //
 // ARM Cortex M7

Marlin/src/core/debug_section.h

@@ -44,6 +44,6 @@ private:
       SERIAL_ECHOPGM_P(the_msg);
     }
     SERIAL_CHAR(' ');
-    print_xyz(current_position);
+    print_pos(current_position);
   }
 };

Marlin/src/core/drivers.h

@@ -60,6 +60,9 @@
 #define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T)
 #define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T)
 #define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
+#define AXIS_DRIVER_TYPE_I(T) _AXIS_DRIVER_TYPE(I,T)
+#define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T)
+#define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T)
 
 #define AXIS_DRIVER_TYPE_X2(T) (EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
@@ -83,6 +86,7 @@
 #define HAS_E_DRIVER(T) (0 RREPEAT2(E_STEPPERS, _OR_ADTE, T))
 
 #define HAS_DRIVER(T) (  AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Z(T)  \
+                      || AXIS_DRIVER_TYPE_I(T)  || AXIS_DRIVER_TYPE_J(T)  || AXIS_DRIVER_TYPE_K(T)  \
                       || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \
                       || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) )
 
@@ -153,9 +157,11 @@
 #define _OR_EAH(N,T)    || AXIS_HAS_##T(E##N)
 #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(Y)  || AXIS_HAS_##T(Z)  \
-                          || AXIS_HAS_##T(X2) || AXIS_HAS_##T(Y2) || AXIS_HAS_##T(Z2) \
-                          || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) || E_AXIS_HAS(T) )
+#define ANY_AXIS_HAS(T) (    AXIS_HAS_##T(X) || AXIS_HAS_##T(X2) \
+                          || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \
+                          || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \
+                          || AXIS_HAS_##T(I) || AXIS_HAS_##T(J)  || AXIS_HAS_##T(K) \
+                          || E_AXIS_HAS(T) )
 
 #if ANY_AXIS_HAS(STEALTHCHOP)
   #define HAS_STEALTHCHOP 1

Marlin/src/core/language.h

@@ -140,25 +140,7 @@
 #define STR_RESEND                          "Resend: "
 #define STR_UNKNOWN_COMMAND                 "Unknown command: \""
 #define STR_ACTIVE_EXTRUDER                 "Active Extruder: "
-#define STR_X_MIN                           "x_min"
-#define STR_X_MAX                           "x_max"
-#define STR_X2_MIN                          "x2_min"
-#define STR_X2_MAX                          "x2_max"
-#define STR_Y_MIN                           "y_min"
-#define STR_Y_MAX                           "y_max"
-#define STR_Y2_MIN                          "y2_min"
-#define STR_Y2_MAX                          "y2_max"
-#define STR_Z_MIN                           "z_min"
-#define STR_Z_MAX                           "z_max"
-#define STR_Z2_MIN                          "z2_min"
-#define STR_Z2_MAX                          "z2_max"
-#define STR_Z3_MIN                          "z3_min"
-#define STR_Z3_MAX                          "z3_max"
-#define STR_Z4_MIN                          "z4_min"
-#define STR_Z4_MAX                          "z4_max"
-#define STR_Z_PROBE                         "z_probe"
-#define STR_PROBE_EN                        "probe_en"
-#define STR_FILAMENT_RUNOUT_SENSOR          "filament"
+
 #define STR_PROBE_OFFSET                    "Probe Offset"
 #define STR_SKEW_MIN                        "min_skew_factor: "
 #define STR_SKEW_MAX                        "max_skew_factor: "
@@ -277,17 +259,43 @@
 #define STR_REMINDER_SAVE_SETTINGS          "Remember to save!"
 #define STR_PASSWORD_SET                    "Password is "
 
-// LCD Menu Messages
+//
+// Endstop Names used by Endstops::report_states
+//
+#define STR_X_MIN                           "x_min"
+#define STR_X_MAX                           "x_max"
+#define STR_X2_MIN                          "x2_min"
+#define STR_X2_MAX                          "x2_max"
 
-#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h)
-#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M)
+#if HAS_Y_AXIS
+  #define STR_Y_MIN                         "y_min"
+  #define STR_Y_MAX                         "y_max"
+  #define STR_Y2_MIN                        "y2_min"
+  #define STR_Y2_MAX                        "y2_max"
+#endif
 
-#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h)
-#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M)
+#if HAS_Z_AXIS
+  #define STR_Z_MIN                         "z_min"
+  #define STR_Z_MAX                         "z_max"
+  #define STR_Z2_MIN                        "z2_min"
+  #define STR_Z2_MAX                        "z2_max"
+  #define STR_Z3_MIN                        "z3_min"
+  #define STR_Z3_MAX                        "z3_max"
+  #define STR_Z4_MIN                        "z4_min"
+  #define STR_Z4_MAX                        "z4_max"
+#endif
 
+#define STR_Z_PROBE                         "z_probe"
+#define STR_PROBE_EN                        "probe_en"
+#define STR_FILAMENT_RUNOUT_SENSOR          "filament"
+
+// General axis names
 #define STR_X "X"
 #define STR_Y "Y"
 #define STR_Z "Z"
+#define STR_I AXIS4_STR
+#define STR_J AXIS5_STR
+#define STR_K AXIS6_STR
 #define STR_E "E"
 #if IS_KINEMATIC
   #define STR_A "A"
@@ -307,8 +315,114 @@
 #define LCD_STR_A STR_A
 #define LCD_STR_B STR_B
 #define LCD_STR_C STR_C
+#define LCD_STR_I STR_I
+#define LCD_STR_J STR_J
+#define LCD_STR_K STR_K
 #define LCD_STR_E STR_E
 
+// Extra Axis and Endstop Names
+#if LINEAR_AXES >= 4
+  #if AXIS4_NAME == 'A'
+    #define AXIS4_STR "A"
+    #define STR_I_MIN "a_min"
+    #define STR_I_MAX "a_max"
+  #elif AXIS4_NAME == 'B'
+    #define AXIS4_STR "B"
+    #define STR_I_MIN "b_min"
+    #define STR_I_MAX "b_max"
+  #elif AXIS4_NAME == 'C'
+    #define AXIS4_STR "C"
+    #define STR_I_MIN "c_min"
+    #define STR_I_MAX "c_max"
+  #elif AXIS4_NAME == 'U'
+    #define AXIS4_STR "U"
+    #define STR_I_MIN "u_min"
+    #define STR_I_MAX "u_max"
+  #elif AXIS4_NAME == 'V'
+    #define AXIS4_STR "V"
+    #define STR_I_MIN "v_min"
+    #define STR_I_MAX "v_max"
+  #elif AXIS4_NAME == 'W'
+    #define AXIS4_STR "W"
+    #define STR_I_MIN "w_min"
+    #define STR_I_MAX "w_max"
+  #else
+    #define AXIS4_STR "A"
+    #define STR_I_MIN "a_min"
+    #define STR_I_MAX "a_max"
+  #endif
+#else
+  #define AXIS4_STR   ""
+#endif
+
+#if LINEAR_AXES >= 5
+  #if AXIS5_NAME == 'A'
+    #define AXIS5_STR "A"
+    #define STR_J_MIN "a_min"
+    #define STR_J_MAX "a_max"
+  #elif AXIS5_NAME == 'B'
+    #define AXIS5_STR "B"
+    #define STR_J_MIN "b_min"
+    #define STR_J_MAX "b_max"
+  #elif AXIS5_NAME == 'C'
+    #define AXIS5_STR "C"
+    #define STR_J_MIN "c_min"
+    #define STR_J_MAX "c_max"
+  #elif AXIS5_NAME == 'U'
+    #define AXIS5_STR "U"
+    #define STR_J_MIN "u_min"
+    #define STR_J_MAX "u_max"
+  #elif AXIS5_NAME == 'V'
+    #define AXIS5_STR "V"
+    #define STR_J_MIN "v_min"
+    #define STR_J_MAX "v_max"
+  #elif AXIS5_NAME == 'W'
+    #define AXIS5_STR "W"
+    #define STR_J_MIN "w_min"
+    #define STR_J_MAX "w_max"
+  #else
+    #define AXIS5_STR "B"
+    #define STR_J_MIN "b_min"
+    #define STR_J_MAX "b_max"
+  #endif
+#else
+  #define AXIS5_STR   ""
+#endif
+
+#if LINEAR_AXES >= 6
+  #if AXIS6_NAME == 'A'
+    #define AXIS6_STR "A"
+    #define STR_K_MIN "a_min"
+    #define STR_K_MAX "a_max"
+  #elif AXIS6_NAME == 'B'
+    #define AXIS6_STR "B"
+    #define STR_K_MIN "b_min"
+    #define STR_K_MAX "b_max"
+  #elif AXIS6_NAME == 'C'
+    #define AXIS6_STR "C"
+    #define STR_K_MIN "c_min"
+    #define STR_K_MAX "c_max"
+  #elif AXIS6_NAME == 'U'
+    #define AXIS6_STR "U"
+    #define STR_K_MIN "u_min"
+    #define STR_K_MAX "u_max"
+  #elif AXIS6_NAME == 'V'
+    #define AXIS6_STR "V"
+    #define STR_K_MIN "v_min"
+    #define STR_K_MAX "v_max"
+  #elif AXIS6_NAME == 'W'
+    #define AXIS6_STR "W"
+    #define STR_K_MIN "w_min"
+    #define STR_K_MAX "w_max"
+  #else
+    #define AXIS6_STR "C"
+    #define STR_K_MIN "c_min"
+    #define STR_K_MAX "c_max"
+  #endif
+#else
+  #define AXIS6_STR   ""
+#endif
+
 #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL)
 
   // Custom characters defined in the first 8 characters of the LCD
@@ -386,6 +500,14 @@
 #define LCD_STR_E6 "E" LCD_STR_N6
 #define LCD_STR_E7 "E" LCD_STR_N7
 
+// Include localized LCD Menu Messages
+
+#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h)
+#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M)
+
+#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h)
+#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M)
+
 // Use superscripts, if possible. Evaluated at point of use.
 #define SUPERSCRIPT_TWO   TERN(NOT_EXTENDED_ISO10646_1_5X7, "^2", "²")
 #define SUPERSCRIPT_THREE TERN(NOT_EXTENDED_ISO10646_1_5X7, "^3", "³")

Marlin/src/core/macros.h

@@ -36,12 +36,21 @@
 #define _XMIN_   100
 #define _YMIN_   200
 #define _ZMIN_   300
+#define _IMIN_   500
+#define _JMIN_   600
+#define _KMIN_   700
 #define _XMAX_   101
 #define _YMAX_   201
 #define _ZMAX_   301
+#define _IMAX_   501
+#define _JMAX_   601
+#define _KMAX_   701
 #define _XDIAG_  102
 #define _YDIAG_  202
 #define _ZDIAG_  302
+#define _IDIAG_  502
+#define _JDIAG_  602
+#define _KDIAG_  702
 #define _E0DIAG_ 400
 #define _E1DIAG_ 401
 #define _E2DIAG_ 402
@@ -195,6 +204,11 @@
 #define __TERN(T,V...)      ___TERN(_CAT(_NO,T),V)  // Prepend '_NO' to get '_NOT_0' or '_NOT_1'
 #define ___TERN(P,V...)     THIRD(P,V)              // If first argument has a comma, A. Else B.
 
+#define _OPTARG(A)          , A
+#define OPTARG(O,A)         TERN_(O,DEFER4(_OPTARG)(A))
+#define _OPTCODE(A)         A;
+#define OPTCODE(O,A)        TERN_(O,DEFER4(_OPTCODE)(A))
+
 // Macros to avoid 'f + 0.0' which is not always optimized away. Minus included for symmetry.
 // Compiler flags -fno-signed-zeros -ffinite-math-only also cover 'f * 1.0', 'f - f', etc.
 #define PLUS_TERN0(O,A)     _TERN(_ENA_1(O),,+ (A)) // OPTION ? '+ (A)' : '<nul>'
@@ -237,6 +251,38 @@
     memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
   }while(0)
 
+#define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
+#define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
+#define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
+#define CODE_6( A,B,C,D,E,F,...) A; B; C; D; E; F
+#define CODE_5( A,B,C,D,E,...) A; B; C; D; E
+#define CODE_4( A,B,C,D,...) A; B; C; D
+#define CODE_3( A,B,C,...) A; B; C
+#define CODE_2( A,B,...) A; B
+#define CODE_1( A,...) A
+#define _CODE_N(N,V...) CODE_##N(V)
+#define CODE_N(N,V...) _CODE_N(N,V)
+
+#define GANG_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A B C D E F G H I J K L M N O P
+#define GANG_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A B C D E F G H I J K L M N O
+#define GANG_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A B C D E F G H I J K L M N
+#define GANG_13(A,B,C,D,E,F,G,H,I,J,K,L,M...) A B C D E F G H I J K L M
+#define GANG_12(A,B,C,D,E,F,G,H,I,J,K,L...) A B C D E F G H I J K L
+#define GANG_11(A,B,C,D,E,F,G,H,I,J,K,...) A B C D E F G H I J K
+#define GANG_10(A,B,C,D,E,F,G,H,I,J,...) A B C D E F G H I J
+#define GANG_9( A,B,C,D,E,F,G,H,I,...) A B C D E F G H I
+#define GANG_8( A,B,C,D,E,F,G,H,...) A B C D E F G H
+#define GANG_7( A,B,C,D,E,F,G,...) A B C D E F G
+#define GANG_6( A,B,C,D,E,F,...) A B C D E F
+#define GANG_5( A,B,C,D,E,...) A B C D E
+#define GANG_4( A,B,C,D,...) A B C D
+#define GANG_3( A,B,C,...) A B C
+#define GANG_2( A,B,...) A B
+#define GANG_1( A,...) A
+#define _GANG_N(N,V...) GANG_##N(V)
+#define GANG_N(N,V...) _GANG_N(N,V)
+#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
+
 // Macros for initializing arrays
 #define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
 #define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
@@ -254,10 +300,13 @@
 #define LIST_3( A,B,C,...) A,B,C
 #define LIST_2( A,B,...) A,B
 #define LIST_1( A,...) A
+#define LIST_0(...)
 
 #define _LIST_N(N,V...) LIST_##N(V)
 #define LIST_N(N,V...) _LIST_N(N,V)
+#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 #define ARRAY_N(N,V...) { _LIST_N(N,V) }
+#define ARRAY_N_1(N,K)  { LIST_N_1(N,K) }
 
 #define _JOIN_1(O)         (O)
 #define JOIN_N(N,C,V...)   (DO(JOIN,C,LIST_N(N,V)))
@@ -301,8 +350,12 @@
 #define HYPOT(x,y)  SQRT(HYPOT2(x,y))
 
 // Use NUM_ARGS(__VA_ARGS__) to get the number of variadic arguments
-#define _NUM_ARGS(_,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
-#define NUM_ARGS(V...) _NUM_ARGS(0,V,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
+#define _NUM_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
+#define NUM_ARGS(V...) _NUM_ARGS(0,V,40,39,38,37,36,35,34,33,32,31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
+
+// Use TWO_ARGS(__VA_ARGS__) to get whether there are 1, 2, or >2 arguments
+#define _TWO_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT
+#define TWO_ARGS(V...) _TWO_ARGS(0,V,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,2,1,0)
 
 #ifdef __cplusplus
 
@@ -414,31 +467,19 @@
 
 #else
 
-  #define MIN_2(a,b)      ((a)<(b)?(a):(b))
-  #define MIN_3(a,V...)   MIN_2(a,MIN_2(V))
-  #define MIN_4(a,V...)   MIN_2(a,MIN_3(V))
-  #define MIN_5(a,V...)   MIN_2(a,MIN_4(V))
-  #define MIN_6(a,V...)   MIN_2(a,MIN_5(V))
-  #define MIN_7(a,V...)   MIN_2(a,MIN_6(V))
-  #define MIN_8(a,V...)   MIN_2(a,MIN_7(V))
-  #define MIN_9(a,V...)   MIN_2(a,MIN_8(V))
-  #define MIN_10(a,V...)  MIN_2(a,MIN_9(V))
   #define __MIN_N(N,V...) MIN_##N(V)
   #define _MIN_N(N,V...)  __MIN_N(N,V)
-  #define _MIN(V...)      _MIN_N(NUM_ARGS(V), V)
+  #define _MIN_N_REF()    _MIN_N
+  #define _MIN(V...)      EVAL(_MIN_N(TWO_ARGS(V),V))
+  #define MIN_2(a,b)      ((a)<(b)?(a):(b))
+  #define MIN_3(a,V...)   MIN_2(a,DEFER2(_MIN_N_REF)()(TWO_ARGS(V),V))
 
-  #define MAX_2(a,b)      ((a)>(b)?(a):(b))
-  #define MAX_3(a,V...)   MAX_2(a,MAX_2(V))
-  #define MAX_4(a,V...)   MAX_2(a,MAX_3(V))
-  #define MAX_5(a,V...)   MAX_2(a,MAX_4(V))
-  #define MAX_6(a,V...)   MAX_2(a,MAX_5(V))
-  #define MAX_7(a,V...)   MAX_2(a,MAX_6(V))
-  #define MAX_8(a,V...)   MAX_2(a,MAX_7(V))
-  #define MAX_9(a,V...)   MAX_2(a,MAX_8(V))
-  #define MAX_10(a,V...)  MAX_2(a,MAX_9(V))
   #define __MAX_N(N,V...) MAX_##N(V)
   #define _MAX_N(N,V...)  __MAX_N(N,V)
-  #define _MAX(V...)      _MAX_N(NUM_ARGS(V), V)
+  #define _MAX_N_REF()    _MAX_N
+  #define _MAX(V...)      EVAL(_MAX_N(TWO_ARGS(V),V))
+  #define MAX_2(a,b)      ((a)>(b)?(a):(b))
+  #define MAX_3(a,V...)   MAX_2(a,DEFER2(_MAX_N_REF)()(TWO_ARGS(V),V))
 
 #endif
 
@@ -473,6 +514,9 @@
 #define ADD8(N)  ADD4(ADD4(N))
 #define ADD9(N)  ADD4(ADD5(N))
 #define ADD10(N) ADD5(ADD5(N))
+#define SUM(A,B) _CAT(ADD,A)(B)
+#define DOUBLE_(n) ADD##n(n)
+#define DOUBLE(n) DOUBLE_(n)
 
 // Macros for subtracting
 #define DEC_0   0
@@ -581,6 +625,7 @@
 // Repeat a macro passing S...N-1.
 #define REPEAT_S(S,N,OP)        EVAL(_REPEAT(S,SUB##S(N),OP))
 #define REPEAT(N,OP)            REPEAT_S(0,N,OP)
+#define REPEAT_1(N,OP)          REPEAT_S(1,INCREMENT(N),OP)
 
 // Repeat a macro passing 0...N-1 plus additional arguments.
 #define REPEAT2_S(S,N,OP,V...)  EVAL(_REPEAT2(S,SUB##S(N),OP,V))

Marlin/src/core/serial.cpp

@@ -36,6 +36,10 @@ PGMSTR(X_LBL,     "X:"); PGMSTR(Y_LBL,     "Y:"); PGMSTR(Z_LBL,     "Z:"); PGMST
 PGMSTR(SP_A_STR, " A");  PGMSTR(SP_B_STR, " B");  PGMSTR(SP_C_STR, " C");
 PGMSTR(SP_X_STR, " X");  PGMSTR(SP_Y_STR, " Y");  PGMSTR(SP_Z_STR, " Z");  PGMSTR(SP_E_STR, " E");
 PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:");
+PGMSTR(I_STR, AXIS4_STR);     PGMSTR(J_STR, AXIS5_STR);     PGMSTR(K_STR, AXIS6_STR);
+PGMSTR(I_LBL, AXIS4_STR ":"); PGMSTR(J_LBL, AXIS5_STR ":"); PGMSTR(K_LBL, AXIS6_STR ":");
+PGMSTR(SP_I_STR, " " AXIS4_STR);     PGMSTR(SP_J_STR, " " AXIS5_STR);     PGMSTR(SP_K_STR, " " AXIS6_STR);
+PGMSTR(SP_I_LBL, " " AXIS4_STR ":"); PGMSTR(SP_J_LBL, " " AXIS5_STR ":"); PGMSTR(SP_K_LBL, " " AXIS6_STR ":");
 
 // Hook Meatpack if it's enabled on the first leaf
 #if ENABLED(MEATPACK_ON_SERIAL_PORT_1)
@@ -44,6 +48,9 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST
 #if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
   SerialLeafT2 mpSerial2(false, _SERIAL_LEAF_2);
 #endif
+#if ENABLED(MEATPACK_ON_SERIAL_PORT_3)
+  SerialLeafT3 mpSerial3(false, _SERIAL_LEAF_3);
+#endif
 
 // Step 2: For multiserial, handle the second serial port as well
 #if HAS_MULTI_SERIAL
@@ -52,7 +59,14 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST
     SerialLeafT2 msSerial2(ethernet.have_telnet_client, MYSERIAL2, false);
   #endif
 
-  SerialOutputT multiSerial(SERIAL_LEAF_1, SERIAL_LEAF_2);
+  #define __S_LEAF(N) ,SERIAL_LEAF_##N
+  #define _S_LEAF(N) __S_LEAF(N)
+
+  SerialOutputT multiSerial( SERIAL_LEAF_1 REPEAT_S(2, INCREMENT(NUM_SERIAL), _S_LEAF) );
+
+  #undef __S_LEAF
+  #undef _S_LEAF
+
 #endif
 
 void serialprintPGM(PGM_P str) {
@@ -91,8 +105,10 @@ void print_bin(uint16_t val) {
   }
 }
 
-void print_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
+void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
   if (prefix) serialprintPGM(prefix);
-  SERIAL_ECHOPAIR_P(SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z);
+  SERIAL_ECHOPAIR_P(
+    LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k)
+  );
   if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
 }

Marlin/src/core/serial.h

@@ -29,12 +29,16 @@
 #endif
 
 // Commonly-used strings in serial output
-extern const char NUL_STR[], SP_P_STR[], SP_T_STR[],
+extern const char NUL_STR[],
+                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[],
+                  SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_E_STR[],
+                  SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[],
+                  SP_I_STR[], SP_J_STR[], SP_K_STR[],
+                  SP_I_LBL[], SP_J_LBL[], SP_K_LBL[],
+                  SP_P_STR[], SP_T_STR[],
                   X_STR[], Y_STR[], Z_STR[], E_STR[],
                   X_LBL[], Y_LBL[], Z_LBL[], E_LBL[],
-                  SP_A_STR[], SP_B_STR[], SP_C_STR[],
-                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[],
-                  SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[];
+                  I_LBL[], J_LBL[], K_LBL[];
 
 //
 // Debugging flags for use by M111
@@ -62,11 +66,11 @@ extern uint8_t marlin_debug_flags;
 //
 // Serial redirection
 //
-// Step 1: Find what's the first serial leaf
+// Step 1: Find out what the first serial leaf is
 #if BOTH(HAS_MULTI_SERIAL, SERIAL_CATCHALL)
-  #define _SERIAL_LEAF_1  MYSERIAL
+  #define _SERIAL_LEAF_1 MYSERIAL
 #else
-  #define _SERIAL_LEAF_1  MYSERIAL1
+  #define _SERIAL_LEAF_1 MYSERIAL1
 #endif
 
 // Hook Meatpack if it's enabled on the first leaf
@@ -78,7 +82,8 @@ extern uint8_t marlin_debug_flags;
   #define SERIAL_LEAF_1 _SERIAL_LEAF_1
 #endif
 
-// Step 2: For multiserial, handle the second serial port as well
+// Step 2: For multiserial wrap all serial ports in a single
+//         interface with the ability to output to multiple serial ports.
 #if HAS_MULTI_SERIAL
   #define _PORT_REDIRECT(n,p) REMEMBER(n,multiSerial.portMask,p)
   #define _PORT_RESTORE(n,p)  RESTORE(n)
@@ -86,18 +91,17 @@ extern uint8_t marlin_debug_flags;
   // If we have a catchall, use that directly
   #ifdef SERIAL_CATCHALL
     #define _SERIAL_LEAF_2 SERIAL_CATCHALL
+  #elif HAS_ETHERNET
+    typedef ConditionalSerial<decltype(MYSERIAL2)> SerialLeafT2;  // We need to create an instance here
+    extern SerialLeafT2 msSerial2;
+    #define _SERIAL_LEAF_2 msSerial2
   #else
-    #if HAS_ETHERNET
-      // We need to create an instance here
-      typedef ConditionalSerial<decltype(MYSERIAL2)> SerialLeafT2;
-      extern SerialLeafT2 msSerial2;
-      #define _SERIAL_LEAF_2 msSerial2
-    #else
-      // Don't create a useless instance here, directly use the existing instance
-      #define _SERIAL_LEAF_2 MYSERIAL2
-    #endif
+    #define _SERIAL_LEAF_2 MYSERIAL2 // Don't create a useless instance here, directly use the existing instance
   #endif
 
+  // Nothing complicated here
+  #define _SERIAL_LEAF_3 MYSERIAL3
+
   // Hook Meatpack if it's enabled on the second leaf
   #if ENABLED(MEATPACK_ON_SERIAL_PORT_2)
     typedef MeatpackSerial<decltype(_SERIAL_LEAF_2)> SerialLeafT2;
@@ -107,7 +111,23 @@ extern uint8_t marlin_debug_flags;
     #define SERIAL_LEAF_2 _SERIAL_LEAF_2
   #endif
 
-  typedef MultiSerial<decltype(SERIAL_LEAF_1), decltype(SERIAL_LEAF_2), 0> SerialOutputT;
+  // Hook Meatpack if it's enabled on the third leaf
+  #if ENABLED(MEATPACK_ON_SERIAL_PORT_3)
+    typedef MeatpackSerial<decltype(_SERIAL_LEAF_3)> SerialLeafT3;
+    extern SerialLeafT3 mpSerial3;
+    #define SERIAL_LEAF_3 mpSerial3
+  #else
+    #define SERIAL_LEAF_3 _SERIAL_LEAF_3
+  #endif
+
+  #define __S_MULTI(N) decltype(SERIAL_LEAF_##N),
+  #define _S_MULTI(N) __S_MULTI(N)
+
+  typedef MultiSerial< REPEAT_1(NUM_SERIAL, _S_MULTI) 0> SerialOutputT;
+
+  #undef __S_MULTI
+  #undef _S_MULTI
+
   extern SerialOutputT        multiSerial;
   #define SERIAL_IMPL         multiSerial
 #else
@@ -166,139 +186,45 @@ inline void SERIAL_FLUSHTX()  { SERIAL_IMPL.flushTX(); }
 // Print a single PROGMEM string to serial
 void serialprintPGM(PGM_P str);
 
-// SERIAL_ECHOPAIR / SERIAL_ECHOPAIR_P is used to output a key value pair. The key must be a string and the value can be anything
-// Print up to 12 pairs of values. Odd elements auto-wrapped in PSTR().
-#define __SEP_N(N,V...)   _SEP_##N(V)
-#define _SEP_N(N,V...)    __SEP_N(N,V)
-#define _SEP_1(PRE)       SERIAL_ECHOPGM(PRE)
-#define _SEP_2(PRE,V)     serial_echopair_PGM(PSTR(PRE),V)
-#define _SEP_3(a,b,c)     do{ _SEP_2(a,b); SERIAL_ECHOPGM(c); }while(0)
-#define _SEP_4(a,b,V...)  do{ _SEP_2(a,b); _SEP_2(V); }while(0)
-#define _SEP_5(a,b,V...)  do{ _SEP_2(a,b); _SEP_3(V); }while(0)
-#define _SEP_6(a,b,V...)  do{ _SEP_2(a,b); _SEP_4(V); }while(0)
-#define _SEP_7(a,b,V...)  do{ _SEP_2(a,b); _SEP_5(V); }while(0)
-#define _SEP_8(a,b,V...)  do{ _SEP_2(a,b); _SEP_6(V); }while(0)
-#define _SEP_9(a,b,V...)  do{ _SEP_2(a,b); _SEP_7(V); }while(0)
-#define _SEP_10(a,b,V...) do{ _SEP_2(a,b); _SEP_8(V); }while(0)
-#define _SEP_11(a,b,V...) do{ _SEP_2(a,b); _SEP_9(V); }while(0)
-#define _SEP_12(a,b,V...) do{ _SEP_2(a,b); _SEP_10(V); }while(0)
-#define _SEP_13(a,b,V...) do{ _SEP_2(a,b); _SEP_11(V); }while(0)
-#define _SEP_14(a,b,V...) do{ _SEP_2(a,b); _SEP_12(V); }while(0)
-#define _SEP_15(a,b,V...) do{ _SEP_2(a,b); _SEP_13(V); }while(0)
-#define _SEP_16(a,b,V...) do{ _SEP_2(a,b); _SEP_14(V); }while(0)
-#define _SEP_17(a,b,V...) do{ _SEP_2(a,b); _SEP_15(V); }while(0)
-#define _SEP_18(a,b,V...) do{ _SEP_2(a,b); _SEP_16(V); }while(0)
-#define _SEP_19(a,b,V...) do{ _SEP_2(a,b); _SEP_17(V); }while(0)
-#define _SEP_20(a,b,V...) do{ _SEP_2(a,b); _SEP_18(V); }while(0)
-#define _SEP_21(a,b,V...) do{ _SEP_2(a,b); _SEP_19(V); }while(0)
-#define _SEP_22(a,b,V...) do{ _SEP_2(a,b); _SEP_20(V); }while(0)
-#define _SEP_23(a,b,V...) do{ _SEP_2(a,b); _SEP_21(V); }while(0)
-#define _SEP_24(a,b,V...) do{ _SEP_2(a,b); _SEP_22(V); }while(0)
+//
+// SERIAL_ECHOPAIR... macros are used to output string-value pairs.
+//
 
-#define SERIAL_ECHOPAIR(V...) _SEP_N(NUM_ARGS(V),V)
+// Print up to 20 pairs of values. Odd elements must be literal strings.
+#define __SEP_N(N,V...)           _SEP_##N(V)
+#define _SEP_N(N,V...)            __SEP_N(N,V)
+#define _SEP_N_REF()              _SEP_N
+#define _SEP_1(s)                 SERIAL_ECHOPGM(s);
+#define _SEP_2(s,v)               serial_echopair_PGM(PSTR(s),v);
+#define _SEP_3(s,v,V...)          _SEP_2(s,v); DEFER2(_SEP_N_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOPAIR(V...)     do{ EVAL(_SEP_N(TWO_ARGS(V),V)); }while(0)
 
-// Print up to 12 pairs of values. Odd elements must be PSTR pointers.
-#define __SEP_N_P(N,V...)   _SEP_##N##_P(V)
-#define _SEP_N_P(N,V...)    __SEP_N_P(N,V)
-#define _SEP_1_P(PRE)       serialprintPGM(PRE)
-#define _SEP_2_P(PRE,V)     serial_echopair_PGM(PRE,V)
-#define _SEP_3_P(a,b,c)     do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0)
-#define _SEP_4_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_2_P(V); }while(0)
-#define _SEP_5_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_3_P(V); }while(0)
-#define _SEP_6_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_4_P(V); }while(0)
-#define _SEP_7_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_5_P(V); }while(0)
-#define _SEP_8_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_6_P(V); }while(0)
-#define _SEP_9_P(a,b,V...)  do{ _SEP_2_P(a,b); _SEP_7_P(V); }while(0)
-#define _SEP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_8_P(V); }while(0)
-#define _SEP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_9_P(V); }while(0)
-#define _SEP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_10_P(V); }while(0)
-#define _SEP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_11_P(V); }while(0)
-#define _SEP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_12_P(V); }while(0)
-#define _SEP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_13_P(V); }while(0)
-#define _SEP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_14_P(V); }while(0)
-#define _SEP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_15_P(V); }while(0)
-#define _SEP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_16_P(V); }while(0)
-#define _SEP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_17_P(V); }while(0)
-#define _SEP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_18_P(V); }while(0)
-#define _SEP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_19_P(V); }while(0)
-#define _SEP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_20_P(V); }while(0)
-#define _SEP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_21_P(V); }while(0)
-#define _SEP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_22_P(V); }while(0)
+// Print up to 20 pairs of values followed by newline. Odd elements must be literal strings.
+#define __SELP_N(N,V...)          _SELP_##N(V)
+#define _SELP_N(N,V...)           __SELP_N(N,V)
+#define _SELP_N_REF()             _SELP_N
+#define _SELP_1(s)                SERIAL_ECHOLNPGM(s);
+#define _SELP_2(s,v)              serial_echopair_PGM(PSTR(s),v); SERIAL_EOL();
+#define _SELP_3(s,v,V...)         _SEP_2(s,v); DEFER2(_SELP_N_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOLNPAIR(V...)   do{ EVAL(_SELP_N(TWO_ARGS(V),V)); }while(0)
 
-// SERIAL_ECHOPAIR_P is used to output a key value pair. Unlike SERIAL_ECHOPAIR, the key must be a PGM string already and the value can be anything
-#define SERIAL_ECHOPAIR_P(V...) _SEP_N_P(NUM_ARGS(V),V)
+// Print up to 20 pairs of values. Odd elements must be PSTR pointers.
+#define __SEP_N_P(N,V...)         _SEP_##N##_P(V)
+#define _SEP_N_P(N,V...)          __SEP_N_P(N,V)
+#define _SEP_N_P_REF()            _SEP_N_P
+#define _SEP_1_P(s)               serialprintPGM(s);
+#define _SEP_2_P(s,v)             serial_echopair_PGM(s,v);
+#define _SEP_3_P(s,v,V...)        _SEP_2_P(s,v); DEFER2(_SEP_N_P_REF)()(TWO_ARGS(V),V);
+#define SERIAL_ECHOPAIR_P(V...)   do{ EVAL(_SEP_N_P(TWO_ARGS(V),V)); }while(0)
 
-// Print up to 12 pairs of values followed by newline
-#define __SELP_N(N,V...)   _SELP_##N(V)
-#define _SELP_N(N,V...)    __SELP_N(N,V)
-#define _SELP_1(PRE)       SERIAL_ECHOLNPGM(PRE)
-#define _SELP_2(PRE,V)     do{ serial_echopair_PGM(PSTR(PRE),V); SERIAL_EOL(); }while(0)
-#define _SELP_3(a,b,c)     do{ _SEP_2(a,b); SERIAL_ECHOLNPGM(c); }while(0)
-#define _SELP_4(a,b,V...)  do{ _SEP_2(a,b); _SELP_2(V); }while(0)
-#define _SELP_5(a,b,V...)  do{ _SEP_2(a,b); _SELP_3(V); }while(0)
-#define _SELP_6(a,b,V...)  do{ _SEP_2(a,b); _SELP_4(V); }while(0)
-#define _SELP_7(a,b,V...)  do{ _SEP_2(a,b); _SELP_5(V); }while(0)
-#define _SELP_8(a,b,V...)  do{ _SEP_2(a,b); _SELP_6(V); }while(0)
-#define _SELP_9(a,b,V...)  do{ _SEP_2(a,b); _SELP_7(V); }while(0)
-#define _SELP_10(a,b,V...) do{ _SEP_2(a,b); _SELP_8(V); }while(0)
-#define _SELP_11(a,b,V...) do{ _SEP_2(a,b); _SELP_9(V); }while(0)
-#define _SELP_12(a,b,V...) do{ _SEP_2(a,b); _SELP_10(V); }while(0)
-#define _SELP_13(a,b,V...) do{ _SEP_2(a,b); _SELP_11(V); }while(0)
-#define _SELP_14(a,b,V...) do{ _SEP_2(a,b); _SELP_12(V); }while(0)
-#define _SELP_15(a,b,V...) do{ _SEP_2(a,b); _SELP_13(V); }while(0)
-#define _SELP_16(a,b,V...) do{ _SEP_2(a,b); _SELP_14(V); }while(0)
-#define _SELP_17(a,b,V...) do{ _SEP_2(a,b); _SELP_15(V); }while(0)
-#define _SELP_18(a,b,V...) do{ _SEP_2(a,b); _SELP_16(V); }while(0)
-#define _SELP_19(a,b,V...) do{ _SEP_2(a,b); _SELP_17(V); }while(0)
-#define _SELP_20(a,b,V...) do{ _SEP_2(a,b); _SELP_18(V); }while(0)
-#define _SELP_21(a,b,V...) do{ _SEP_2(a,b); _SELP_19(V); }while(0)
-#define _SELP_22(a,b,V...) do{ _SEP_2(a,b); _SELP_20(V); }while(0)
-#define _SELP_23(a,b,V...) do{ _SEP_2(a,b); _SELP_21(V); }while(0)
-#define _SELP_24(a,b,V...) do{ _SEP_2(a,b); _SELP_22(V); }while(0)
-#define _SELP_25(a,b,V...) do{ _SEP_2(a,b); _SELP_23(V); }while(0)
-#define _SELP_26(a,b,V...) do{ _SEP_2(a,b); _SELP_24(V); }while(0)
-#define _SELP_27(a,b,V...) do{ _SEP_2(a,b); _SELP_25(V); }while(0)
-#define _SELP_28(a,b,V...) do{ _SEP_2(a,b); _SELP_26(V); }while(0)
-#define _SELP_29(a,b,V...) do{ _SEP_2(a,b); _SELP_27(V); }while(0)
-#define _SELP_30(a,b,V...) do{ _SEP_2(a,b); _SELP_28(V); }while(0) // Eat two args, pass the rest up
-
-#define SERIAL_ECHOLNPAIR(V...) _SELP_N(NUM_ARGS(V),V)
-
-// Print up to 12 pairs of values followed by newline
-#define __SELP_N_P(N,V...)   _SELP_##N##_P(V)
-#define _SELP_N_P(N,V...)    __SELP_N_P(N,V)
-#define _SELP_1_P(PRE)       serialprintPGM(PRE)
-#define _SELP_2_P(PRE,V)     do{ serial_echopair_PGM(PRE,V); SERIAL_EOL(); }while(0)
-#define _SELP_3_P(a,b,c)     do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0)
-#define _SELP_4_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_2_P(V); }while(0)
-#define _SELP_5_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_3_P(V); }while(0)
-#define _SELP_6_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_4_P(V); }while(0)
-#define _SELP_7_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_5_P(V); }while(0)
-#define _SELP_8_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_6_P(V); }while(0)
-#define _SELP_9_P(a,b,V...)  do{ _SEP_2_P(a,b); _SELP_7_P(V); }while(0)
-#define _SELP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_8_P(V); }while(0)
-#define _SELP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_9_P(V); }while(0)
-#define _SELP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_10_P(V); }while(0)
-#define _SELP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_11_P(V); }while(0)
-#define _SELP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_12_P(V); }while(0)
-#define _SELP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_13_P(V); }while(0)
-#define _SELP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_14_P(V); }while(0)
-#define _SELP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_15_P(V); }while(0)
-#define _SELP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_16_P(V); }while(0)
-#define _SELP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_17_P(V); }while(0)
-#define _SELP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_18_P(V); }while(0)
-#define _SELP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_19_P(V); }while(0)
-#define _SELP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_20_P(V); }while(0)
-#define _SELP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_21_P(V); }while(0)
-#define _SELP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_22_P(V); }while(0)
-#define _SELP_25_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_23_P(V); }while(0)
-#define _SELP_26_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_24_P(V); }while(0)
-#define _SELP_27_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_25_P(V); }while(0)
-#define _SELP_28_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_26_P(V); }while(0)
-#define _SELP_29_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_27_P(V); }while(0)
-#define _SELP_30_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_28_P(V); }while(0) // Eat two args, pass the rest up
-
-#define SERIAL_ECHOLNPAIR_P(V...) _SELP_N_P(NUM_ARGS(V),V)
+// Print up to 20 pairs of values followed by newline. Odd elements must be PSTR pointers.
+#define __SELP_N_P(N,V...)        _SELP_##N##_P(V)
+#define _SELP_N_P(N,V...)         __SELP_N_P(N,V)
+#define _SELP_N_P_REF()           _SELP_N_P
+#define _SELP_1_P(s)              { serialprintPGM(s); SERIAL_EOL(); }
+#define _SELP_2_P(s,v)            { serial_echopair_PGM(s,v); SERIAL_EOL(); }
+#define _SELP_3_P(s,v,V...)       { _SEP_2_P(s,v); DEFER2(_SELP_N_P_REF)()(TWO_ARGS(V),V); }
+#define SERIAL_ECHOLNPAIR_P(V...) do{ EVAL(_SELP_N_P(TWO_ARGS(V),V)); }while(0)
 
 #ifdef AllowDifferentTypeInList
 
@@ -388,11 +314,11 @@ void serialprint_truefalse(const bool tf);
 void serial_spaces(uint8_t count);
 
 void print_bin(const uint16_t val);
-void print_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
+void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
 
-inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
-  print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix);
+inline void print_pos(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
+  print_pos(LINEAR_AXIS_ELEM(xyz), prefix, suffix);
 }
 
-#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
-#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0)
+#define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
+#define SERIAL_XYZ(PREFIX,V...) do { print_pos(V, PSTR(PREFIX), nullptr); }while(0)

Marlin/src/core/serial_hook.h

@@ -67,7 +67,7 @@ struct BaseSerial : public SerialBase< BaseSerial<SerialT> >, public SerialT {
 
   SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, static_cast<const SerialT*>(this), features, index);  }
 
-  // We have 2 implementation of the same method in both base class, let's say which one we want
+  // Two implementations of the same method exist in both base classes so indicate the right one
   using SerialT::available;
   using SerialT::read;
   using SerialT::begin;
@@ -134,7 +134,7 @@ struct ForwardSerial : public SerialBase< ForwardSerial<SerialT> > {
   ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {}
 };
 
-// A class that's can be hooked and unhooked at runtime, useful to capturing the output of the serial interface
+// A class that can be hooked and unhooked at runtime, useful to capture the output of the serial interface
 template <class SerialT>
 struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public SerialT {
   typedef SerialBase< RuntimeSerial<SerialT> > BaseClassT;
@@ -195,54 +195,71 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial<SerialT> >, public Seria
   RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {}
 };
 
-// A class that duplicates its output conditionally to 2 serial interfaces
-template <class Serial0T, class Serial1T, const uint8_t offset = 0, const uint8_t step = 1>
-struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > {
-  typedef SerialBase< MultiSerial<Serial0T, Serial1T, offset, step> > BaseClassT;
+#define _S_CLASS(N) class Serial##N##T,
+#define _S_NAME(N) Serial##N##T,
+
+template < REPEAT(NUM_SERIAL, _S_CLASS) const uint8_t offset=0, const uint8_t step=1 >
+struct MultiSerial : public SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > {
+  typedef SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > BaseClassT;
+
+  #undef _S_CLASS
+  #undef _S_NAME
 
   SerialMask portMask;
-  Serial0T & serial0;
-  Serial1T & serial1;
 
-  static constexpr uint8_t Usage         =  ((1 << step) - 1); // A bit mask containing as many bits as step
-  static constexpr uint8_t FirstOutput   = (Usage << offset);
-  static constexpr uint8_t SecondOutput  = (Usage << (offset + step));
-  static constexpr uint8_t Both          = FirstOutput | SecondOutput;
+  #define _S_DECLARE(N) Serial##N##T & serial##N;
+  REPEAT(NUM_SERIAL, _S_DECLARE);
+  #undef _S_DECLARE
+
+  static constexpr uint8_t Usage = _BV(step) - 1; // A bit mask containing 'step' bits
+
+  #define _OUT_PORT(N) (Usage << (offset + (step * N))),
+  static constexpr uint8_t output[] = { REPEAT(NUM_SERIAL, _OUT_PORT) };
+  #undef _OUT_PORT
+
+  #define _OUT_MASK(N) | output[N]
+  static constexpr uint8_t ALL = 0 REPEAT(NUM_SERIAL, _OUT_MASK);
+  #undef _OUT_MASK
 
   NO_INLINE void write(uint8_t c) {
-    if (portMask.enabled(FirstOutput))   serial0.write(c);
-    if (portMask.enabled(SecondOutput))  serial1.write(c);
+    #define _S_WRITE(N) if (portMask.enabled(output[N])) serial##N.write(c);
+    REPEAT(NUM_SERIAL, _S_WRITE);
+    #undef _S_WRITE
   }
   NO_INLINE void msgDone() {
-    if (portMask.enabled(FirstOutput))   serial0.msgDone();
-    if (portMask.enabled(SecondOutput))  serial1.msgDone();
+    #define _S_DONE(N) if (portMask.enabled(output[N])) serial##N.msgDone();
+    REPEAT(NUM_SERIAL, _S_DONE);
+    #undef _S_DONE
   }
   int available(serial_index_t index) {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.available(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.available(index);
+    uint8_t pos = offset;
+    #define _S_AVAILABLE(N) if (index.within(pos, pos + step - 1)) return serial##N.available(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_AVAILABLE);
+    #undef _S_AVAILABLE
     return false;
   }
   int read(serial_index_t index) {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.read(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.read(index);
+    uint8_t pos = offset;
+    #define _S_READ(N) if (index.within(pos, pos + step - 1)) return serial##N.read(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_READ);
+    #undef _S_READ
     return -1;
   }
   void begin(const long br) {
-    if (portMask.enabled(FirstOutput))   serial0.begin(br);
-    if (portMask.enabled(SecondOutput))  serial1.begin(br);
+    #define _S_BEGIN(N) if (portMask.enabled(output[N])) serial##N.begin(br);
+    REPEAT(NUM_SERIAL, _S_BEGIN);
+    #undef _S_BEGIN
   }
   void end() {
-    if (portMask.enabled(FirstOutput))   serial0.end();
-    if (portMask.enabled(SecondOutput))  serial1.end();
+    #define _S_END(N) if (portMask.enabled(output[N])) serial##N.end();
+    REPEAT(NUM_SERIAL, _S_END);
+    #undef _S_END
   }
   bool connected() {
     bool ret = true;
-    if (portMask.enabled(FirstOutput))   ret = CALL_IF_EXISTS(bool, &serial0, connected);
-    if (portMask.enabled(SecondOutput))  ret = ret && CALL_IF_EXISTS(bool, &serial1, connected);
+    #define _S_CONNECTED(N) if (portMask.enabled(output[N]) && !CALL_IF_EXISTS(bool, &serial##N, connected)) ret = false;
+    REPEAT(NUM_SERIAL, _S_CONNECTED);
+    #undef _S_CONNECTED
     return ret;
   }
 
@@ -250,27 +267,32 @@ struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset,
   using BaseClassT::read;
 
   // Redirect flush
-  NO_INLINE void flush()      {
-    if (portMask.enabled(FirstOutput))   serial0.flush();
-    if (portMask.enabled(SecondOutput))  serial1.flush();
+  NO_INLINE void flush() {
+    #define _S_FLUSH(N) if (portMask.enabled(output[N])) serial##N.flush();
+    REPEAT(NUM_SERIAL, _S_FLUSH);
+    #undef _S_FLUSH
   }
-  NO_INLINE void flushTX()    {
-    if (portMask.enabled(FirstOutput))   CALL_IF_EXISTS(void, &serial0, flushTX);
-    if (portMask.enabled(SecondOutput))  CALL_IF_EXISTS(void, &serial1, flushTX);
+  NO_INLINE void flushTX() {
+    #define _S_FLUSHTX(N) if (portMask.enabled(output[N])) CALL_IF_EXISTS(void, &serial0, flushTX);
+    REPEAT(NUM_SERIAL, _S_FLUSHTX);
+    #undef _S_FLUSHTX
   }
 
   // Forward feature queries
-  SerialFeature features(serial_index_t index) const  {
-    if (index.within(0 + offset, step + offset - 1))
-      return serial0.features(index);
-    else if (index.within(step + offset, 2 * step + offset - 1))
-      return serial1.features(index);
+  SerialFeature features(serial_index_t index) const {
+    uint8_t pos = offset;
+    #define _S_FEATURES(N) if (index.within(pos, pos + step - 1)) return serial##N.features(index); else pos += step;
+    REPEAT(NUM_SERIAL, _S_FEATURES);
+    #undef _S_FEATURES
     return SerialFeature::None;
   }
 
-  MultiSerial(Serial0T & serial0, Serial1T & serial1, const SerialMask mask = Both, const bool e = false) :
-    BaseClassT(e),
-    portMask(mask), serial0(serial0), serial1(serial1) {}
+  #define _S_REFS(N) Serial##N##T & serial##N,
+  #define _S_INIT(N) ,serial##N (serial##N)
+
+  MultiSerial(REPEAT(NUM_SERIAL, _S_REFS) const SerialMask mask = ALL, const bool e = false)
+    : BaseClassT(e), portMask(mask) REPEAT(NUM_SERIAL, _S_INIT) {}
+
 };
 
 // Build the actual serial object depending on current configuration
@@ -278,4 +300,7 @@ struct MultiSerial : public SerialBase< MultiSerial<Serial0T, Serial1T, offset,
 #define ForwardSerial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial)
 #ifdef HAS_MULTI_SERIAL
   #define Serial2Class ConditionalSerial
+  #if NUM_SERIAL >= 3
+    #define Serial3Class ConditionalSerial
+  #endif
 #endif

Marlin/src/core/types.h

@@ -29,34 +29,6 @@
 class __FlashStringHelper;
 typedef const __FlashStringHelper *progmem_str;
 
-//
-// Enumerated axis indices
-//
-//  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
-//  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
-//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
-//
-enum AxisEnum : uint8_t {
-  X_AXIS   = 0, A_AXIS = 0,
-  Y_AXIS   = 1, B_AXIS = 1,
-  Z_AXIS   = 2, C_AXIS = 2,
-  E_AXIS   = 3,
-  X_HEAD   = 4, Y_HEAD = 5, Z_HEAD = 6,
-  E0_AXIS  = 3,
-  E1_AXIS, E2_AXIS, E3_AXIS, E4_AXIS, E5_AXIS, E6_AXIS, E7_AXIS,
-  ALL_AXES = 0xFE, NO_AXIS = 0xFF
-};
-
-//
-// Loop over XYZE axes
-//
-#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
-#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
-#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
-#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
-#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
-#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
-
 //
 // Conditional type assignment magic. For example...
 //
@@ -67,6 +39,85 @@ struct IF { typedef R type; };
 template <class L, class R>
 struct IF<true, L, R> { typedef L type; };
 
+#define LINEAR_AXIS_GANG(V...) GANG_N(LINEAR_AXES, V)
+#define LINEAR_AXIS_CODE(V...) CODE_N(LINEAR_AXES, V)
+#define LINEAR_AXIS_LIST(V...) LIST_N(LINEAR_AXES, V)
+#define LINEAR_AXIS_ARRAY(V...) { LINEAR_AXIS_LIST(V) }
+#define LINEAR_AXIS_ARGS(T...) LINEAR_AXIS_LIST(T x, T y, T z, T i, T j, T k)
+#define LINEAR_AXIS_ELEM(O)    LINEAR_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k)
+#define LINEAR_AXIS_DEFS(T,V)  LINEAR_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
+
+#define LOGICAL_AXIS_GANG(E,V...) LINEAR_AXIS_GANG(V) GANG_ITEM_E(E)
+#define LOGICAL_AXIS_CODE(E,V...) LINEAR_AXIS_CODE(V) CODE_ITEM_E(E)
+#define LOGICAL_AXIS_LIST(E,V...) LINEAR_AXIS_LIST(V) LIST_ITEM_E(E)
+#define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
+#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k)
+#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k)
+#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
+
+#if HAS_EXTRUDERS
+  #define LIST_ITEM_E(N) , N
+  #define CODE_ITEM_E(N) ; N
+  #define GANG_ITEM_E(N) N
+#else
+  #define LIST_ITEM_E(N)
+  #define CODE_ITEM_E(N)
+  #define GANG_ITEM_E(N)
+#endif
+
+//
+// Enumerated axis indices
+//
+//  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
+//  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
+//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
+//
+enum AxisEnum : uint8_t {
+
+  // Linear axes may be controlled directly or indirectly
+  LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS)
+
+  // Extruder axes may be considered distinctly
+  #define _EN_ITEM(N) , E##N##_AXIS
+  REPEAT(EXTRUDERS, _EN_ITEM)
+  #undef _EN_ITEM
+
+  // Core also keeps toolhead directions
+  #if EITHER(IS_CORE, MARKFORGED_XY)
+    , X_HEAD, Y_HEAD, Z_HEAD
+  #endif
+
+  // Distinct axes, including all E and Core
+  , NUM_AXIS_ENUMS
+
+  // Most of the time we refer only to the single E_AXIS
+  #if HAS_EXTRUDERS
+    , E_AXIS = E0_AXIS
+  #endif
+
+  // A, B, and C are for DELTA, SCARA, etc.
+  , A_AXIS = X_AXIS
+  #if LINEAR_AXES >= 2
+    , B_AXIS = Y_AXIS
+  #endif
+  #if LINEAR_AXES >= 3
+    , C_AXIS = Z_AXIS
+  #endif
+
+  // To refer to all or none
+  , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
+};
+
+typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
+
+//
+// Loop over axes
+//
+#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
+#define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
+#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
+#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
+
 //
 // feedRate_t is just a humble float
 //
@@ -187,7 +238,7 @@ void toNative(xyz_pos_t &raw);
 void toNative(xyze_pos_t &raw);
 
 //
-// XY coordinates, counters, etc.
+// Paired XY coordinates, counters, flags, etc.
 //
 template<typename T>
 struct XYval {
@@ -196,18 +247,34 @@ struct XYval {
     struct { T a, b; };
     T pos[2];
   };
-  FI void set(const T px)                               { x = px; }
-  FI void set(const T px, const T py)                   { x = px; y = py; }
-  FI void set(const T (&arr)[XY])                       { x = arr[0]; y = arr[1]; }
-  FI void set(const T (&arr)[XYZ])                      { x = arr[0]; y = arr[1]; }
-  FI void set(const T (&arr)[XYZE])                     { x = arr[0]; y = arr[1]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                 { x = arr[0]; y = arr[1]; }
-  #endif
+
+  // Set all to 0
   FI void reset()                                       { x = y = 0; }
+
+  // Setters taking struct types and arrays
+  FI void set(const T px)                               { x = px; }
+  #if HAS_Y_AXIS
+    FI void set(const T px, const T py)                 { x = px; y = py; }
+    FI void set(const T (&arr)[XY])                     { x = arr[0]; y = arr[1]; }
+  #endif
+  #if LINEAR_AXES > XY
+    FI void set(const T (&arr)[LINEAR_AXES])            { x = arr[0]; y = arr[1]; }
+  #endif
+  #if LOGICAL_AXES > LINEAR_AXES
+    FI void set(const T (&arr)[LOGICAL_AXES])           { x = arr[0]; y = arr[1]; }
+    #if DISTINCT_AXES > LOGICAL_AXES
+      FI void set(const T (&arr)[DISTINCT_AXES])        { x = arr[0]; y = arr[1]; }
+    #endif
+  #endif
+
+  // Length reduced to one dimension
   FI T magnitude()                                const { return (T)sqrtf(x*x + y*y); }
+  // Pointer to the data as a simple array
   FI operator T* ()                                     { return pos; }
+  // If any element is true then it's true
   FI operator bool()                                    { return x || y; }
+
+  // Explicit copy and copies with conversion
   FI XYval<T>           copy()                    const { return *this; }
   FI XYval<T>            ABS()                    const { return { T(_ABS(x)), T(_ABS(y)) }; }
   FI XYval<int16_t>    asInt()                          { return { int16_t(x), int16_t(y) }; }
@@ -219,17 +286,27 @@ struct XYval {
   FI XYval<float>    asFloat()                          { return { static_cast<float>(x), static_cast<float>(y) }; }
   FI XYval<float>    asFloat()                    const { return { static_cast<float>(x), static_cast<float>(y) }; }
   FI XYval<float> reciprocal()                    const { return {  _RECIP(x),  _RECIP(y) }; }
+
+  // Marlin workspace shifting is done with G92 and M206
   FI XYval<float>  asLogical()                    const { XYval<float> o = asFloat(); toLogical(o); return o; }
   FI XYval<float>   asNative()                    const { XYval<float> o = asFloat(); toNative(o);  return o; }
+
+  // Cast to a type with more fields by making a new object
   FI operator XYZval<T>()                               { return { x, y }; }
   FI operator XYZval<T>()                         const { return { x, y }; }
   FI operator XYZEval<T>()                              { return { x, y }; }
   FI operator XYZEval<T>()                        const { return { x, y }; }
-  FI       T&  operator[](const int i)                  { return pos[i]; }
-  FI const T&  operator[](const int i)            const { return pos[i]; }
+
+  // Accessor via an AxisEnum (or any integer) [index]
+  FI       T&  operator[](const int n)                  { return pos[n]; }
+  FI const T&  operator[](const int n)            const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
   FI XYval<T>& operator= (const T v)                    { set(v,    v   ); return *this; }
   FI XYval<T>& operator= (const XYZval<T>  &rs)         { set(rs.x, rs.y); return *this; }
   FI XYval<T>& operator= (const XYZEval<T> &rs)         { set(rs.x, rs.y); return *this; }
+
+  // Override other operators to get intuitive behaviors
   FI XYval<T>  operator+ (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYval<T>  operator+ (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
   FI XYval<T>  operator- (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
@@ -266,6 +343,10 @@ struct XYval {
   FI XYval<T>  operator>>(const int &v)                 { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
   FI XYval<T>  operator<<(const int &v)           const { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
   FI XYval<T>  operator<<(const int &v)                 { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+
+  // Modifier operators
   FI XYval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
   FI XYval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
   FI XYval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
@@ -279,6 +360,8 @@ struct XYval {
   FI XYval<T>& operator*=(const int &v)                 { x *= v;    y *= v;    return *this; }
   FI XYval<T>& operator>>=(const int &v)                { _RS(x);    _RS(y);    return *this; }
   FI XYval<T>& operator<<=(const int &v)                { _LS(x);    _LS(y);    return *this; }
+
+  // Exact comparisons. For floats a "NEAR" operation may be better.
   FI bool      operator==(const XYval<T>   &rs)         { return x == rs.x && y == rs.y; }
   FI bool      operator==(const XYZval<T>  &rs)         { return x == rs.x && y == rs.y; }
   FI bool      operator==(const XYZEval<T> &rs)         { return x == rs.x && y == rs.y; }
@@ -291,224 +374,291 @@ struct XYval {
   FI bool      operator!=(const XYval<T>   &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
   FI bool      operator!=(const XYZEval<T> &rs)   const { return !operator==(rs); }
-  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
-  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
 };
 
 //
-// XYZ coordinates, counters, etc.
+// Linear Axes coordinates, counters, flags, etc.
 //
 template<typename T>
 struct XYZval {
   union {
-    struct { T x, y, z; };
-    struct { T a, b, c; };
-    T pos[3];
+    struct { T LINEAR_AXIS_ARGS(); };
+    struct { T LINEAR_AXIS_LIST(a, b, c, u, v, w); };
+    T pos[LINEAR_AXES];
   };
+
+  // Set all to 0
+  FI void reset()                                      { LINEAR_AXIS_GANG(x =, y =, z =, i =, j =, k =) 0; }
+
+  // Setters taking struct types and arrays
   FI void set(const T px)                              { x = px; }
   FI void set(const T px, const T py)                  { x = px; y = py; }
-  FI void set(const T px, const T py, const T pz)      { x = px; y = py; z = pz; }
-  FI void set(const XYval<T> pxy, const T pz)          { x = pxy.x; y = pxy.y; z = pz; }
+  FI void set(const XYval<T> pxy)                      { x = pxy.x; y = pxy.y; }
+  FI void set(const XYval<T> pxy, const T pz)          { LINEAR_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP); }
   FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
-  FI void set(const T (&arr)[XYZ])                     { x = arr[0]; y = arr[1]; z = arr[2]; }
-  FI void set(const T (&arr)[XYZE])                    { x = arr[0]; y = arr[1]; z = arr[2]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                { x = arr[0]; y = arr[1]; z = arr[2]; }
+  #if HAS_Z_AXIS
+    FI void set(const T (&arr)[LINEAR_AXES])           { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
+    FI void set(LINEAR_AXIS_ARGS(const T))             { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
   #endif
-  FI void reset()                                      { x = y = z = 0; }
-  FI T magnitude()                               const { return (T)sqrtf(x*x + y*y + z*z); }
+  #if LOGICAL_AXES > LINEAR_AXES
+    FI void set(const T (&arr)[LOGICAL_AXES])          { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
+    FI void set(LOGICAL_AXIS_ARGS(const T))            { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
+    #if DISTINCT_AXES > LOGICAL_AXES
+      FI void set(const T (&arr)[DISTINCT_AXES])       { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
+    #endif
+  #endif
+  #if LINEAR_AXES >= 4
+    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+  #endif
+  #if LINEAR_AXES >= 5
+    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+  #endif
+  #if LINEAR_AXES >= 6
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+  #endif
+
+  // Length reduced to one dimension
+  FI T magnitude()                               const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  // Pointer to the data as a simple array
   FI operator T* ()                                    { return pos; }
-  FI operator bool()                                   { return z || x || y; }
+  // If any element is true then it's true
+  FI operator bool()                                   { return LINEAR_AXIS_GANG(x, || y, || z, || i, || j, || k); }
+
+  // Explicit copy and copies with conversion
   FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
-  FI XYZval<T>           ABS()                   const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)) }; }
-  FI XYZval<int16_t>   asInt()                         { return { int16_t(x), int16_t(y), int16_t(z) }; }
-  FI XYZval<int16_t>   asInt()                   const { return { int16_t(x), int16_t(y), int16_t(z) }; }
-  FI XYZval<int32_t>  asLong()                         { return { int32_t(x), int32_t(y), int32_t(z) }; }
-  FI XYZval<int32_t>  asLong()                   const { return { int32_t(x), int32_t(y), int32_t(z) }; }
-  FI XYZval<int32_t>  ROUNDL()                         { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; }
-  FI XYZval<int32_t>  ROUNDL()                   const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; }
-  FI XYZval<float>   asFloat()                         { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z) }; }
-  FI XYZval<float>   asFloat()                   const { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z) }; }
-  FI XYZval<float> reciprocal()                  const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z) }; }
+  FI XYZval<T>           ABS()                   const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
+  FI XYZval<int16_t>   asInt()                         { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
+  FI XYZval<int16_t>   asInt()                   const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
+  FI XYZval<int32_t>  asLong()                         { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
+  FI XYZval<int32_t>  asLong()                   const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
+  FI XYZval<int32_t>  ROUNDL()                         { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
+  FI XYZval<int32_t>  ROUNDL()                   const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
+  FI XYZval<float>   asFloat()                         { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
+  FI XYZval<float>   asFloat()                   const { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
+  FI XYZval<float> reciprocal()                  const { return LINEAR_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+
+  // Marlin workspace shifting is done with G92 and M206
   FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
   FI XYZval<float>  asNative()                   const { XYZval<float> o = asFloat(); toNative(o);  return o; }
+
+  // In-place cast to types having fewer fields
   FI operator       XYval<T>&()                        { return *(XYval<T>*)this; }
   FI operator const XYval<T>&()                  const { return *(const XYval<T>*)this; }
-  FI operator       XYZEval<T>()                 const { return { x, y, z }; }
-  FI       T&   operator[](const int i)                { return pos[i]; }
-  FI const T&   operator[](const int i)          const { return pos[i]; }
-  FI XYZval<T>& operator= (const T v)                  { set(v,    v,    v   ); return *this; }
+
+  // Cast to a type with more fields by making a new object
+  FI operator       XYZEval<T>()                 const { return LINEAR_AXIS_ARRAY(x, y, z, i, j, k); }
+
+  // Accessor via an AxisEnum (or any integer) [index]
+  FI       T&   operator[](const int n)                { return pos[n]; }
+  FI const T&   operator[](const int n)          const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
+  FI XYZval<T>& operator= (const T v)                  { set(ARRAY_N_1(LINEAR_AXES, v)); return *this; }
   FI XYZval<T>& operator= (const XYval<T>   &rs)       { set(rs.x, rs.y      ); return *this; }
-  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(rs.x, rs.y, rs.z); return *this; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;               return ls; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;               return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;               return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;               return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;               return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;               return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;               return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;               return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
-  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    return ls; }
-  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    return ls; }
-  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    return ls; }
-  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    return ls; }
-  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    return ls; }
-  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    return ls; }
-  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    return ls; }
-  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    return ls; }
-  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
-  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
-  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
-  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
-  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { x += rs.x; y += rs.y;            return *this; }
-  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { x -= rs.x; y -= rs.y;            return *this; }
-  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { x *= rs.x; y *= rs.y;            return *this; }
-  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { x /= rs.x; y /= rs.y;            return *this; }
-  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { x += rs.x; y += rs.y; z += rs.z; return *this; }
-  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
-  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
-  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
-  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { x += rs.x; y += rs.y; z += rs.z; return *this; }
-  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
-  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
-  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
-  FI XYZval<T>& operator*=(const float &v)             { x *= v;    y *= v;    z *= v;    return *this; }
-  FI XYZval<T>& operator*=(const int &v)               { x *= v;    y *= v;    z *= v;    return *this; }
-  FI XYZval<T>& operator>>=(const int &v)              { _RS(x);   _RS(y);   _RS(z);   return *this; }
-  FI XYZval<T>& operator<<=(const int &v)              { _LS(x);   _LS(y);   _LS(z);   return *this; }
-  FI bool       operator==(const XYZEval<T> &rs)       { return x == rs.x && y == rs.y && z == rs.z; }
+  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(LINEAR_AXIS_ELEM(rs)); return *this; }
+
+  // Override other operators to get intuitive behaviors
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
+  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
+  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
+
+  // Modifier operators
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
+  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
+  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
+  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
+  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
+  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
+  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
+  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
+  FI XYZval<T>& operator*=(const float &v)             { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
+  FI XYZval<T>& operator*=(const int &v)               { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
+  FI XYZval<T>& operator>>=(const int &v)              { LINEAR_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
+  FI XYZval<T>& operator<<=(const int &v)              { LINEAR_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+
+  // Exact comparisons. For floats a "NEAR" operation may be better.
+  FI bool       operator==(const XYZEval<T> &rs)       { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool       operator==(const XYZEval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
   FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
-  FI bool       operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
   FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
-  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
-  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
 };
 
 //
-// XYZE coordinates, counters, etc.
+// Logical Axes coordinates, counters, etc.
 //
 template<typename T>
 struct XYZEval {
   union {
-    struct{ T x, y, z, e; };
-    struct{ T a, b, c; };
-    T pos[4];
+    struct { T LOGICAL_AXIS_ARGS(); };
+    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, u, v, w); };
+    T pos[LOGICAL_AXES];
   };
-  FI void reset()                                             { x = y = z = e = 0; }
-  FI T magnitude()                                      const { return (T)sqrtf(x*x + y*y + z*z + e*e); }
-  FI operator T* ()                                           { return pos; }
-  FI operator bool()                                          { return e || z || x || y; }
-  FI void set(const T px)                                     { x = px;                                        }
-  FI void set(const T px, const T py)                         { x = px;     y = py;                            }
-  FI void set(const T px, const T py, const T pz)             { x = px;     y = py;     z = pz;                }
-  FI void set(const T px, const T py, const T pz, const T pe) { x = px;     y = py;     z = pz;     e = pe;    }
-  FI void set(const XYval<T> pxy)                             { x = pxy.x;  y = pxy.y;                         }
-  FI void set(const XYval<T> pxy, const T pz)                 { x = pxy.x;  y = pxy.y;  z = pz;                }
-  FI void set(const XYZval<T> pxyz)                           { x = pxyz.x; y = pxyz.y; z = pxyz.z;            }
-  FI void set(const XYval<T> pxy, const T pz, const T pe)     { x = pxy.x;  y = pxy.y;  z = pz;     e = pe;    }
-  FI void set(const XYval<T> pxy, const XYval<T> pze)         { x = pxy.x;  y = pxy.y;  z = pze.z;  e = pze.e; }
-  FI void set(const XYZval<T> pxyz, const T pe)               { x = pxyz.x; y = pxyz.y; z = pxyz.z; e = pe;    }
-  FI void set(const T (&arr)[XY])                             { x = arr[0]; y = arr[1]; }
-  FI void set(const T (&arr)[XYZ])                            { x = arr[0]; y = arr[1]; z = arr[2]; }
-  FI void set(const T (&arr)[XYZE])                           { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
-  #if XYZE_N > XYZE
-    FI void set(const T (&arr)[XYZE_N])                       { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
+  // Reset all to 0
+  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =) 0; }
+
+  // Setters taking struct types and arrays
+  FI void set(const T px)             { x = px;               }
+  FI void set(const T px, const T py) { x = px;    y = py;    }
+  FI void set(const XYval<T> pxy)     { x = pxy.x; y = pxy.y; }
+  FI void set(const XYZval<T> pxyz)   { set(LINEAR_AXIS_ELEM(pxyz)); }
+  #if HAS_Z_AXIS
+    FI void set(LINEAR_AXIS_ARGS(const T))         { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k); }
   #endif
-  FI XYZEval<T>          copy()                         const { return *this; }
-  FI XYZEval<T>           ABS()                         const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
-  FI XYZEval<int16_t>   asInt()                               { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
-  FI XYZEval<int16_t>   asInt()                         const { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
-  FI XYZEval<int32_t>  asLong()                               { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
-  FI XYZEval<int32_t>  asLong()                         const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
-  FI XYZEval<int32_t>  ROUNDL()                               { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; }
-  FI XYZEval<int32_t>  ROUNDL()                         const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; }
-  FI XYZEval<float>   asFloat()                               { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(e) }; }
-  FI XYZEval<float>   asFloat()                         const { return { static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(e) }; }
-  FI XYZEval<float> reciprocal()                        const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(e) }; }
-  FI XYZEval<float> asLogical()                         const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
-  FI XYZEval<float>  asNative()                         const { XYZEval<float> o = asFloat(); toNative(o);  return o; }
-  FI operator       XYval<T>&()                               { return *(XYval<T>*)this; }
-  FI operator const XYval<T>&()                         const { return *(const XYval<T>*)this; }
-  FI operator       XYZval<T>&()                              { return *(XYZval<T>*)this; }
-  FI operator const XYZval<T>&()                        const { return *(const XYZval<T>*)this; }
-  FI       T&    operator[](const int i)                      { return pos[i]; }
-  FI const T&    operator[](const int i)                const { return pos[i]; }
-  FI XYZEval<T>& operator= (const T v)                        { set(v, v, v, v); return *this; }
-  FI XYZEval<T>& operator= (const XYval<T>   &rs)             { set(rs.x, rs.y); return *this; }
-  FI XYZEval<T>& operator= (const XYZval<T>  &rs)             { set(rs.x, rs.y, rs.z); return *this; }
-  FI XYZEval<T>  operator+ (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;                             return ls; }
-  FI XYZEval<T>  operator+ (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;                             return ls; }
-  FI XYZEval<T>  operator- (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;                             return ls; }
-  FI XYZEval<T>  operator- (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;                             return ls; }
-  FI XYZEval<T>  operator* (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;                             return ls; }
-  FI XYZEval<T>  operator* (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;                             return ls; }
-  FI XYZEval<T>  operator/ (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;                             return ls; }
-  FI XYZEval<T>  operator/ (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;                             return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z;               return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z;               return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z;               return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z;               return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z;               return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z;               return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z;               return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z;               return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
-  FI XYZEval<T>  operator* (const float &v)             const { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
-  FI XYZEval<T>  operator* (const float &v)                   { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
-  FI XYZEval<T>  operator* (const int &v)               const { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
-  FI XYZEval<T>  operator* (const int &v)                     { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
-  FI XYZEval<T>  operator/ (const float &v)             const { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
-  FI XYZEval<T>  operator/ (const float &v)                   { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
-  FI XYZEval<T>  operator/ (const int &v)               const { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
-  FI XYZEval<T>  operator/ (const int &v)                     { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
-  FI XYZEval<T>  operator>>(const int &v)               const { XYZEval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    _RS(ls.z);    _RS(ls.e);    return ls; }
-  FI XYZEval<T>  operator>>(const int &v)                     { XYZEval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    _RS(ls.z);    _RS(ls.e);    return ls; }
-  FI XYZEval<T>  operator<<(const int &v)               const { XYZEval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    _LS(ls.z);    _LS(ls.e);    return ls; }
-  FI XYZEval<T>  operator<<(const int &v)                     { XYZEval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    _LS(ls.z);    _LS(ls.e);    return ls; }
-  FI XYZEval<T>& operator+=(const XYval<T>   &rs)             { x += rs.x; y += rs.y;                       return *this; }
-  FI XYZEval<T>& operator-=(const XYval<T>   &rs)             { x -= rs.x; y -= rs.y;                       return *this; }
-  FI XYZEval<T>& operator*=(const XYval<T>   &rs)             { x *= rs.x; y *= rs.y;                       return *this; }
-  FI XYZEval<T>& operator/=(const XYval<T>   &rs)             { x /= rs.x; y /= rs.y;                       return *this; }
-  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)             { x += rs.x; y += rs.y; z += rs.z;            return *this; }
-  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)             { x -= rs.x; y -= rs.y; z -= rs.z;            return *this; }
-  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)             { x *= rs.x; y *= rs.y; z *= rs.z;            return *this; }
-  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)             { x /= rs.x; y /= rs.y; z /= rs.z;            return *this; }
-  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)             { x += rs.x; y += rs.y; z += rs.z; e += rs.e; return *this; }
-  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)             { x -= rs.x; y -= rs.y; z -= rs.z; e -= rs.e; return *this; }
-  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)             { x *= rs.x; y *= rs.y; z *= rs.z; e *= rs.e; return *this; }
-  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)             { x /= rs.x; y /= rs.y; z /= rs.z; e /= rs.e; return *this; }
-  FI XYZEval<T>& operator*=(const T &v)                       { x *= v;    y *= v;    z *= v;    e *= v;    return *this; }
-  FI XYZEval<T>& operator>>=(const int &v)                    { _RS(x);    _RS(y);    _RS(z);    _RS(e);    return *this; }
-  FI XYZEval<T>& operator<<=(const int &v)                    { _LS(x);    _LS(y);    _LS(z);    _LS(e);    return *this; }
-  FI bool        operator==(const XYZval<T>  &rs)             { return x == rs.x && y == rs.y && z == rs.z; }
-  FI bool        operator!=(const XYZval<T>  &rs)             { return !operator==(rs); }
-  FI bool        operator==(const XYZval<T>  &rs)       const { return x == rs.x && y == rs.y && z == rs.z; }
-  FI bool        operator!=(const XYZval<T>  &rs)       const { return !operator==(rs); }
-  FI       XYZEval<T> operator-()                             { return { -x, -y, -z, -e }; }
-  FI const XYZEval<T> operator-()                       const { return { -x, -y, -z, -e }; }
+  #if LOGICAL_AXES > LINEAR_AXES
+    FI void set(const XYval<T> pxy, const T pe)    { set(pxy); e = pe; }
+    FI void set(const XYZval<T> pxyz, const T pe)  { set(pxyz); e = pe; }
+    FI void set(LOGICAL_AXIS_ARGS(const T))        { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, u = i, v = j, w = k); }
+  #endif
+  #if LINEAR_AXES >= 4
+    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+  #endif
+  #if LINEAR_AXES >= 5
+    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+  #endif
+  #if LINEAR_AXES >= 6
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+  #endif
+
+  // Length reduced to one dimension
+  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  // Pointer to the data as a simple array
+  FI operator T* ()                                      { return pos; }
+  // If any element is true then it's true
+  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k); }
+
+  // Explicit copy and copies with conversion
+  FI XYZEval<T>          copy()  const { XYZEval<T> o = *this; return o; }
+  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
+  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
+  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
+  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
+  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
+  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
+  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
+  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
+  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
+  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+
+  // Marlin workspace shifting is done with G92 and M206
+  FI XYZEval<float> asLogical()  const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
+  FI XYZEval<float>  asNative()  const { XYZEval<float> o = asFloat(); toNative(o);  return o; }
+
+  // In-place cast to types having fewer fields
+  FI operator       XYval<T>&()        { return *(XYval<T>*)this; }
+  FI operator const XYval<T>&()  const { return *(const XYval<T>*)this; }
+  FI operator       XYZval<T>&()       { return *(XYZval<T>*)this; }
+  FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }
+
+  // Accessor via an AxisEnum (or any integer) [index]
+  FI       T&    operator[](const int n)                  { return pos[n]; }
+  FI const T&    operator[](const int n)            const { return pos[n]; }
+
+  // Assignment operator overrides do the expected thing
+  FI XYZEval<T>& operator= (const T v)                    { set(LIST_N_1(LINEAR_AXES, v)); return *this; }
+  FI XYZEval<T>& operator= (const XYval<T>   &rs)         { set(rs.x, rs.y); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(LINEAR_AXIS_ELEM(rs)); return *this; }
+
+  // Override other operators to get intuitive behaviors
+  FI XYZEval<T>  operator+ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYZEval<T>  operator+ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
+  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
+  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+
+  // Modifier operators
+  FI XYZEval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
+  FI XYZEval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
+  FI XYZEval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
+  FI XYZEval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
+  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
+  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
+  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+
+  // Exact comparisons. For floats a "NEAR" operation may be better.
+  FI bool        operator==(const XYZval<T>  &rs)         { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool        operator==(const XYZval<T>  &rs)   const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool        operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
+  FI bool        operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
 };
 
 #undef _RECIP
@@ -516,6 +666,3 @@ struct XYZEval {
 #undef _LS
 #undef _RS
 #undef FI
-
-const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };
-#define XYZ_CHAR(A) ((char)('X' + A))

Marlin/src/core/utility.cpp

@@ -35,18 +35,6 @@ void safe_delay(millis_t ms) {
   thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
-#if ENABLED(MARLIN_DEV_MODE)
-  void early_safe_delay(millis_t ms) {
-    while (ms > 50) {
-      ms -= 50;
-      delay(50);
-      watchdog_refresh();
-    }
-    delay(ms);
-    watchdog_refresh();
-  }
-#endif
-
 // A delay to provide brittle hosts time to receive bytes
 #if ENABLED(SERIAL_OVERRUN_PROTECTION)
 
@@ -134,10 +122,10 @@ void safe_delay(millis_t ms) {
             SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
         #endif
         #if ABL_PLANAR
-          SERIAL_ECHOPGM("ABL Adjustment X");
-          LOOP_XYZ(a) {
+          SERIAL_ECHOPGM("ABL Adjustment");
+          LOOP_LINEAR_AXES(a) {
             const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
-            SERIAL_CHAR(' ', XYZ_CHAR(a));
+            SERIAL_CHAR(' ', AXIS_CHAR(a));
             if (v > 0) SERIAL_CHAR('+');
             SERIAL_DECIMAL(v);
           }

Marlin/src/core/utility.h

@@ -26,11 +26,6 @@
 #include "../core/millis_t.h"
 
 void safe_delay(millis_t ms);           // Delay ensuring that temperatures are updated and the watchdog is kept alive.
-#if ENABLED(MARLIN_DEV_MODE)
-  void early_safe_delay(millis_t ms);   // Delay ensuring that the watchdog is kept alive. Can be used before the Temperature ISR starts.
-#else
-  inline void early_safe_delay(millis_t ms) { safe_delay(ms); }
-#endif
 
 #if ENABLED(SERIAL_OVERRUN_PROTECTION)
   void serial_delay(const millis_t ms);
@@ -81,3 +76,11 @@ public:
 // Converts from an uint8_t in the range of 0-255 to an uint8_t
 // in the range 0-100 while avoiding rounding artifacts
 constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }
+
+const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
+
+#if LINEAR_AXES <= XYZ
+  #define AXIS_CHAR(A) ((char)('X' + A))
+#else
+  #define AXIS_CHAR(A) axis_codes[A]
+#endif

Marlin/src/feature/ammeter.cpp

@@ -0,0 +1,54 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(I2C_AMMETER)
+
+#include "ammeter.h"
+
+#ifndef I2C_AMMETER_IMAX
+  #define I2C_AMMETER_IMAX     0.500  // Calibration range 500 Milliamps
+#endif
+
+INA226 ina;
+
+Ammeter ammeter;
+
+float Ammeter::scale;
+float Ammeter::current;
+
+void Ammeter::init() {
+  ina.begin();
+  ina.configure(INA226_AVERAGES_16, INA226_BUS_CONV_TIME_1100US, INA226_SHUNT_CONV_TIME_1100US, INA226_MODE_SHUNT_BUS_CONT);
+  ina.calibrate(I2C_AMMETER_SHUNT_RESISTOR, I2C_AMMETER_IMAX);
+}
+
+float Ammeter::read() {
+  scale = 1;
+  current = ina.readShuntCurrent();
+  if (current <= 0.0001f) current = 0;  // Clean up least-significant-bit amplification errors
+  if (current < 0.1f) scale = 1000;
+  return current * scale;
+}
+
+#endif // I2C_AMMETER

Marlin/src/feature/ammeter.h

@@ -0,0 +1,39 @@
+/**
+ * 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 "../inc/MarlinConfigPre.h"
+
+#include <Wire.h>
+#include <INA226.h>
+
+class Ammeter {
+private:
+  static float scale;
+
+public:
+  static float current;
+  static void init();
+  static float read();
+};
+
+extern Ammeter ammeter;

Marlin/src/feature/backlash.cpp

@@ -104,7 +104,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
   const float f_corr = float(correction) / 255.0f;
 
-  LOOP_XYZ(axis) {
+  LOOP_LINEAR_AXES(axis) {
     if (distance_mm[axis]) {
       const bool reversing = TEST(dm,axis);
 

Marlin/src/feature/bedlevel/bedlevel.h

@@ -24,7 +24,7 @@
 #include "../../inc/MarlinConfigPre.h"
 
 #if EITHER(RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28)
-  #define G28_L0_ENSURES_LEVELING_OFF 1
+  #define CAN_SET_LEVELING_AFTER_G28 1
 #endif
 
 #if ENABLED(PROBE_MANUALLY)

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h

@@ -103,9 +103,7 @@ public:
   }
 
   static float get_z(const xy_pos_t &pos
-    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      , const_float_t factor=1.0f
-    #endif
+    OPTARG(ENABLE_LEVELING_FADE_HEIGHT, const_float_t factor=1.0f)
   ) {
     #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
       constexpr float factor = 1.0f;

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -35,6 +35,7 @@ unified_bed_leveling ubl;
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"
+#include "../../../module/temperature.h"
 
 #if ENABLED(EXTENSIBLE_UI)
   #include "../../../lcd/extui/ui_api.h"
@@ -163,7 +164,7 @@ static void serial_echo_column_labels(const uint8_t sp) {
  *   2: TODO: Display on Graphical LCD
  *   4: Compact Human-Readable
  */
-void unified_bed_leveling::display_map(const int map_type) {
+void unified_bed_leveling::display_map(const uint8_t map_type) {
   const bool was = gcode.set_autoreport_paused(true);
 
   constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]
@@ -254,4 +255,48 @@ bool unified_bed_leveling::sanity_check() {
   return !!error_flag;
 }
 
+#if ENABLED(UBL_MESH_WIZARD)
+
+  /**
+   * M1004: UBL Mesh Wizard - One-click mesh creation with or without a probe
+   */
+  void GcodeSuite::M1004() {
+
+    #define ALIGN_GCODE TERN(Z_STEPPER_AUTO_ALIGN, "G34", "")
+    #define PROBE_GCODE TERN(HAS_BED_PROBE, "G29P1\nG29P3", "G29P4R")
+
+    #if HAS_HOTEND
+      if (parser.seenval('H')) {                          // Handle H# parameter to set Hotend temp
+        const celsius_t hotend_temp = parser.value_int(); // Marlin never sends itself F or K, always C
+        thermalManager.setTargetHotend(hotend_temp, 0);
+        thermalManager.wait_for_hotend(false);
+      }
+    #endif
+
+    #if HAS_HEATED_BED
+      if (parser.seenval('B')) {                        // Handle B# parameter to set Bed temp
+        const celsius_t bed_temp = parser.value_int();  // Marlin never sends itself F or K, always C
+        thermalManager.setTargetBed(bed_temp);
+        thermalManager.wait_for_bed(false);
+      }
+    #endif
+
+    process_subcommands_now_P(G28_STR);               // Home
+    process_subcommands_now_P(PSTR(ALIGN_GCODE "\n"   // Align multi z axis if available
+                                   PROBE_GCODE "\n"   // Build mesh with available hardware
+                                   "G29P3\nG29P3"));  // Ensure mesh is complete by running smart fill twice
+
+    if (parser.seenval('S')) {
+      char umw_gcode[32];
+      sprintf_P(umw_gcode, PSTR("G29S%i"), parser.value_int());
+      queue.inject(umw_gcode);
+    }
+
+    process_subcommands_now_P(PSTR("G29A\nG29F10\n"   // Set UBL Active & Fade 10
+                                   "M140S0\nM104S0\n" // Turn off heaters
+                                   "M500"));          // Store settings
+  }
+
+#endif // UBL_MESH_WIZARD
+
 #endif // AUTO_BED_LEVELING_UBL

Marlin/src/feature/bedlevel/ubl/ubl.h

@@ -32,7 +32,7 @@
 #define UBL_OK false
 #define UBL_ERR true
 
-enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
+enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST };
 
 // External references
 
@@ -47,10 +47,10 @@ struct mesh_index_pair;
 
 typedef struct {
   bool      C_seen;
-  int8_t    V_verbosity,
+  int8_t    KLS_storage_slot;
+  uint8_t   R_repetition,
+            V_verbosity,
             P_phase,
-            R_repetition,
-            KLS_storage_slot,
             T_map_type;
   float     B_shim_thickness,
             C_constant;
@@ -98,7 +98,7 @@ public:
   static void report_state();
   static void save_ubl_active_state_and_disable();
   static void restore_ubl_active_state_and_leave();
-  static void display_map(const int) _O0;
+  static void display_map(const uint8_t) _O0;
   static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
   static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
   static void reset();

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -305,8 +305,8 @@ void unified_bed_leveling::G29() {
   bool probe_deployed = false;
   if (G29_parse_parameters()) return; // Abort on parameter error
 
-  const int8_t p_val = parser.intval('P', -1);
-  const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J');
+  const uint8_t p_val = parser.byteval('P');
+  const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen_test('J');
   #if ENABLED(HAS_MULTI_HOTEND)
     const uint8_t old_tool_index = active_extruder;
   #endif
@@ -315,13 +315,13 @@ void unified_bed_leveling::G29() {
   if (may_move) {
     planner.synchronize();
     // Send 'N' to force homing before G29 (internal only)
-    if (axes_should_home() || parser.seen('N')) gcode.home_all_axes();
+    if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes();
     TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0));
   }
 
   // Invalidate one or more nearby mesh points, possibly all.
   if (parser.seen('I')) {
-    int16_t count = parser.has_value() ? parser.value_int() : 1;
+    uint8_t count = parser.has_value() ? parser.value_byte() : 1;
     bool invalidate_all = count >= GRID_MAX_POINTS;
     if (!invalidate_all) {
       while (count--) {
@@ -345,7 +345,7 @@ void unified_bed_leveling::G29() {
   }
 
   if (parser.seen('Q')) {
-    const int test_pattern = parser.has_value() ? parser.value_int() : -99;
+    const int16_t test_pattern = parser.has_value() ? parser.value_int() : -99;
     if (!WITHIN(test_pattern, -1, 2)) {
       SERIAL_ECHOLNPGM("Invalid test_pattern value. (-1 to 2)\n");
       return;
@@ -380,7 +380,7 @@ void unified_bed_leveling::G29() {
         // Allow the user to specify the height because 10mm is a little extreme in some cases.
         for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++)     // Create a rectangular raised area in
           for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed
-            z_values[x][y] += parser.seen('C') ? param.C_constant : 9.99f;
+            z_values[x][y] += parser.seen_test('C') ? param.C_constant : 9.99f;
             TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
           }
         break;
@@ -389,7 +389,7 @@ void unified_bed_leveling::G29() {
 
   #if HAS_BED_PROBE
 
-    if (parser.seen('J')) {
+    if (parser.seen_test('J')) {
       save_ubl_active_state_and_disable();
       tilt_mesh_based_on_probed_grid(param.J_grid_size == 0); // Zero size does 3-Point
       restore_ubl_active_state_and_leave();
@@ -402,7 +402,7 @@ void unified_bed_leveling::G29() {
 
   #endif // HAS_BED_PROBE
 
-  if (parser.seen('P')) {
+  if (parser.seen_test('P')) {
     if (WITHIN(param.P_phase, 0, 1) && storage_slot == -1) {
       storage_slot = 0;
       SERIAL_ECHOLNPGM("Default storage slot 0 selected.");
@@ -423,7 +423,7 @@ void unified_bed_leveling::G29() {
           //
           // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe
           //
-          if (!parser.seen('C')) {
+          if (!parser.seen_test('C')) {
             invalidate();
             SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
           }
@@ -433,7 +433,7 @@ void unified_bed_leveling::G29() {
             SERIAL_DECIMAL(param.XY_pos.y);
             SERIAL_ECHOLNPGM(").\n");
           }
-          probe_entire_mesh(param.XY_pos, parser.seen('T'), parser.seen('E'), parser.seen('U'));
+          probe_entire_mesh(param.XY_pos, parser.seen_test('T'), parser.seen_test('E'), parser.seen_test('U'));
 
           report_current_position();
           probe_deployed = true;
@@ -449,7 +449,7 @@ void unified_bed_leveling::G29() {
           SERIAL_ECHOLNPGM("Manually probing unreachable points.");
           do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
 
-          if (parser.seen('C') && !param.XY_seen) {
+          if (parser.seen_test('C') && !param.XY_seen) {
 
             /**
              * Use a good default location for the path.
@@ -483,7 +483,7 @@ void unified_bed_leveling::G29() {
           }
 
           const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
-          manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen('T'));
+          manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen_test('T'));
 
           SERIAL_ECHOLNPGM("G29 P2 finished.");
 
@@ -555,7 +555,7 @@ void unified_bed_leveling::G29() {
 
       case 4: // Fine Tune (i.e., Edit) the Mesh
         #if HAS_LCD_MENU
-          fine_tune_mesh(param.XY_pos, parser.seen('T'));
+          fine_tune_mesh(param.XY_pos, parser.seen_test('T'));
         #else
           SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
           return;
@@ -574,7 +574,7 @@ void unified_bed_leveling::G29() {
     // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is
     // good to have the extra information. Soon... we prune this to just a few items
     //
-    if (parser.seen('W')) g29_what_command();
+    if (parser.seen_test('W')) g29_what_command();
 
     //
     // When we are fully debugged, this may go away. But there are some valid
@@ -592,7 +592,7 @@ void unified_bed_leveling::G29() {
   //
 
   if (parser.seen('L')) {     // Load Current Mesh Data
-    param.KLS_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
+    param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot;
 
     int16_t a = settings.calc_num_meshes();
 
@@ -617,10 +617,10 @@ void unified_bed_leveling::G29() {
   //
 
   if (parser.seen('S')) {     // Store (or Save) Current Mesh Data
-    param.KLS_storage_slot = parser.has_value() ? parser.value_int() : storage_slot;
+    param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot;
 
-    if (param.KLS_storage_slot == -1)                     // Special case, the user wants to 'Export' the mesh to the
-      return report_current_mesh();                 // host program to be saved on the user's computer
+    if (param.KLS_storage_slot == -1)               // Special case: 'Export' the mesh to the
+      return report_current_mesh();                 // host so it can be saved in a file.
 
     int16_t a = settings.calc_num_meshes();
 
@@ -640,7 +640,7 @@ void unified_bed_leveling::G29() {
     SERIAL_ECHOLNPGM("Done.");
   }
 
-  if (parser.seen('T'))
+  if (parser.seen_test('T'))
     display_map(param.T_map_type);
 
   LEAVE:
@@ -673,7 +673,7 @@ void unified_bed_leveling::G29() {
  */
 void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const_float_t offset) {
   float sum = 0;
-  int n = 0;
+  uint8_t n = 0;
   GRID_LOOP(x, y)
     if (!isnan(z_values[x][y])) {
       sum += z_values[x][y];
@@ -734,7 +734,7 @@ void unified_bed_leveling::shift_mesh_height() {
     do {
       if (do_ubl_mesh_map) display_map(param.T_map_type);
 
-      const int point_num = (GRID_MAX_POINTS) - count + 1;
+      const uint8_t point_num = (GRID_MAX_POINTS - count) + 1;
       SERIAL_ECHOLNPAIR("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, ".");
       TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), point_num, int(GRID_MAX_POINTS)));
 
@@ -915,7 +915,7 @@ void set_message_with_feedback(PGM_P const msg_P) {
 
       if (do_ubl_mesh_map) display_map(param.T_map_type);   // Show user where we're probing
 
-      if (parser.seen('B')) {
+      if (parser.seen_test('B')) {
         SERIAL_ECHOPGM_P(GET_TEXT(MSG_UBL_BC_INSERT));
         LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
       }
@@ -954,7 +954,7 @@ void set_message_with_feedback(PGM_P const msg_P) {
    *          NOTE: Blocks the G-code queue and captures Marlin UI during use.
    */
   void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) {
-    if (!parser.seen('R'))        // fine_tune_mesh() is special. If no repetition count flag is specified
+    if (!parser.seen_test('R')) // fine_tune_mesh() is special. If no repetition count flag is specified
       param.R_repetition = 1;   // do exactly one mesh location. Otherwise use what the parser decided.
 
     #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
@@ -1025,7 +1025,7 @@ void set_message_with_feedback(PGM_P const msg_P) {
       SET_SOFT_ENDSTOP_LOOSE(true);
 
       do {
-        idle();
+        idle_no_sleep();
         new_z = ui.ubl_mesh_value();
         TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset + new_z)); // Move the nozzle as the point is edited
         SERIAL_FLUSH();                                   // Prevent host M105 buffer overrun.
@@ -1083,7 +1083,7 @@ bool unified_bed_leveling::G29_parse_parameters() {
   param.R_repetition = 0;
 
   if (parser.seen('R')) {
-    param.R_repetition = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
+    param.R_repetition = parser.has_value() ? parser.value_byte() : GRID_MAX_POINTS;
     NOMORE(param.R_repetition, GRID_MAX_POINTS);
     if (param.R_repetition < 1) {
       SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n");
@@ -1091,14 +1091,14 @@ bool unified_bed_leveling::G29_parse_parameters() {
     }
   }
 
-  param.V_verbosity = parser.seen('V') ? parser.value_int() : 0;
+  param.V_verbosity = parser.byteval('V');
   if (!WITHIN(param.V_verbosity, 0, 4)) {
     SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n");
     err_flag = true;
   }
 
   if (parser.seen('P')) {
-    const int pv = parser.value_int();
+    const uint8_t pv = parser.value_byte();
     #if !HAS_BED_PROBE
       if (pv == 1) {
         SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n");
@@ -1153,15 +1153,15 @@ bool unified_bed_leveling::G29_parse_parameters() {
    *       Leveling is being enabled here with old data, possibly
    *       none. Error handling should disable for safety...
    */
-  if (parser.seen('A')) {
-    if (parser.seen('D')) {
+  if (parser.seen_test('A')) {
+    if (parser.seen_test('D')) {
       SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n");
       return UBL_ERR;
     }
     set_bed_leveling_enabled(true);
     report_state();
   }
-  else if (parser.seen('D')) {
+  else if (parser.seen_test('D')) {
     set_bed_leveling_enabled(false);
     report_state();
   }
@@ -1181,7 +1181,7 @@ bool unified_bed_leveling::G29_parse_parameters() {
     }
   #endif
 
-  param.T_map_type = parser.intval('T');
+  param.T_map_type = parser.byteval('T');
   if (!WITHIN(param.T_map_type, 0, 2)) {
     SERIAL_ECHOLNPGM("Invalid map type.\n");
     return UBL_ERR;
@@ -1282,7 +1282,7 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
 
   static bool test_func(uint8_t i, uint8_t j, void *data) {
     find_closest_t *d = (find_closest_t*)data;
-    if ( (d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL))
+    if (  d->type == CLOSEST || d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL)
       || (d->type == SET_IN_BITMAP && !d->done_flags->marked(i, j))
     ) {
       // Found a Mesh Point of the specified type!
@@ -1326,7 +1326,7 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh
     float best_so_far = 99999.99f;
 
     GRID_LOOP(i, j) {
-      if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
+      if (  type == CLOSEST || type == (isnan(z_values[i][j]) ? INVALID : REAL)
         || (type == SET_IN_BITMAP && !done_flags->marked(i, j))
       ) {
         // Found a Mesh Point of the specified type!
@@ -1520,7 +1520,7 @@ void unified_bed_leveling::smart_fill_mesh() {
             SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n");
             TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points));
 
-            measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling
+            measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling
 
             abort_flag = isnan(measured_z);
 
@@ -1833,7 +1833,7 @@ void unified_bed_leveling::smart_fill_mesh() {
       return;
     }
 
-    param.KLS_storage_slot = parser.value_int();
+    param.KLS_storage_slot = (int8_t)parser.value_int();
 
     float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
     settings.load_mesh(param.KLS_storage_slot, &tmp_z_values);

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -113,20 +113,22 @@
     const xy_float_t ad = sign * dist;
     const bool use_x_dist = ad.x > ad.y;
 
-    float on_axis_distance = use_x_dist ? dist.x : dist.y,
-          e_position = end.e - start.e,
-          z_position = end.z - start.z;
+    float on_axis_distance = use_x_dist ? dist.x : dist.y;
 
-    const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
-                z_normalized_dist = z_position / on_axis_distance;
+    const float z_normalized_dist = (end.z - start.z) / on_axis_distance; // Allow divide by zero
+    #if HAS_EXTRUDERS
+      const float e_normalized_dist = (end.e - start.e) / on_axis_distance;
+      const bool inf_normalized_flag = isinf(e_normalized_dist);
+    #endif
 
     xy_int8_t icell = istart;
 
     const float ratio = dist.y / dist.x,        // Allow divide by zero
                 c = start.y - ratio * start.x;
 
-    const bool inf_normalized_flag = isinf(e_normalized_dist),
-               inf_ratio_flag = isinf(ratio);
+    const bool inf_ratio_flag = isinf(ratio);
+
+    xyze_pos_t dest; // Stores XYZE for segmented moves
 
     /**
      * Handle vertical lines that stay within one column.
@@ -143,34 +145,36 @@
          * For others the next X is the same so this can continue.
          * Calculate X at the next Y mesh line.
          */
-        const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
+        dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
 
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x, icell.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
-        const float ry = mesh_index_to_ypos(icell.y);
+        dest.y = mesh_index_to_ypos(icell.y);
 
         /**
          * Without this check, it's possible to generate a zero length move, as in the case where
          * the line is heading down, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (ry != start.y) {
+        if (dest.y != start.y) {
           if (!inf_normalized_flag) { // fall-through faster than branch
-            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
-            e_position = start.e + on_axis_distance * e_normalized_dist;
-            z_position = start.z + on_axis_distance * z_normalized_dist;
+            on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
+            TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
+            dest.z = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end.e;
-            z_position = end.z;
+            TERN_(HAS_EXTRUDERS, dest.e = end.e);
+            dest.z = end.z;
           }
 
-          planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
+          dest.z += z0;
+          planner.buffer_segment(dest, scaled_fr_mm_s, extruder);
+
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -188,12 +192,13 @@
      */
     if (iadd.y == 0) {      // Horizontal line?
       icell.x += ineg.x;     // Heading left? Just go to the left edge of the cell for the first move.
+
       while (icell.x != iend.x + ineg.x) {
         icell.x += iadd.x;
-        const float rx = mesh_index_to_xpos(icell.x);
-        const float ry = ratio * rx + c;    // Calculate Y at the next X mesh line
+        dest.x = mesh_index_to_xpos(icell.x);
+        dest.y = ratio * dest.x + c;    // Calculate Y at the next X mesh line
 
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y)
                      * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
@@ -205,19 +210,20 @@
          * the line is heading left, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (rx != start.x) {
+        if (dest.x != start.x) {
           if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
-            e_position = start.e + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
-            z_position = start.z + on_axis_distance * z_normalized_dist;
+            on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
+            TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); // Based on X or Y because the move is horizontal
+            dest.z = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end.e;
-            z_position = end.z;
+            TERN_(HAS_EXTRUDERS, dest.e = end.e);
+            dest.z = end.z;
           }
 
-          if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
-            break;
+          dest.z += z0;
+          if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -239,57 +245,65 @@
     while (cnt) {
 
       const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
-                  next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
-                  ry = ratio * next_mesh_line_x + c,    // Calculate Y at the next X mesh line
-                  rx = (next_mesh_line_y - c) / ratio;  // Calculate X at the next Y mesh line
-                                                        // (No need to worry about ratio == 0.
-                                                        //  In that case, it was already detected
-                                                        //  as a vertical line move above.)
+                  next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y);
 
-      if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
+      dest.y = ratio * next_mesh_line_x + c;    // Calculate Y at the next X mesh line
+      dest.x = (next_mesh_line_y - c) / ratio;  // Calculate X at the next Y mesh line
+                                                // (No need to worry about ratio == 0.
+                                                //  In that case, it was already detected
+                                                //  as a vertical line move above.)
+
+      if (neg.x == (dest.x > next_mesh_line_x)) { // Check if we hit the Y line first
         // Yes!  Crossing a Y Mesh Line next
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x - ineg.x, icell.y + iadd.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
+        dest.y = next_mesh_line_y;
+
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
-          e_position = start.e + on_axis_distance * e_normalized_dist;
-          z_position = start.z + on_axis_distance * z_normalized_dist;
+          on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
+          TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
+          dest.z = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end.e;
-          z_position = end.z;
+          TERN_(HAS_EXTRUDERS, dest.e = end.e);
+          dest.z = end.z;
         }
-        if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
-          break;
+
+        dest.z += z0;
+        if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         icell.y += iadd.y;
         cnt.y--;
       }
       else {
         // Yes!  Crossing a X Mesh Line next
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x + iadd.x, icell.y - ineg.y)
                    * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
+        dest.x = next_mesh_line_x;
+
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
-          e_position = start.e + on_axis_distance * e_normalized_dist;
-          z_position = start.z + on_axis_distance * z_normalized_dist;
+          on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y;
+          TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist);
+          dest.z = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end.e;
-          z_position = end.z;
+          TERN_(HAS_EXTRUDERS, dest.e = end.e);
+          dest.z = end.z;
         }
 
-        if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
-          break;
+        dest.z += z0;
+        if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
+
         icell.x += iadd.x;
         cnt.x--;
       }
@@ -362,15 +376,11 @@
       while (--segments) {
         raw += diff;
         planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-          #if ENABLED(SCARA_FEEDRATE_SCALING)
-            , inv_duration
-          #endif
+          OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
         );
       }
       planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-        #if ENABLED(SCARA_FEEDRATE_SCALING)
-          , inv_duration
-        #endif
+        OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
       );
       return false; // Did not set current from destination
     }
@@ -442,11 +452,9 @@
           #endif
         ;
 
-        planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-          #if ENABLED(SCARA_FEEDRATE_SCALING)
-            , inv_duration
-          #endif
-        );
+        const float oldz = raw.z; raw.z += z_cxcy;
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) );
+        raw.z = oldz;
 
         if (segments == 0)                        // done with last segment
           return false;                           // didn't set current from destination

Marlin/src/feature/binary_stream.h

@@ -24,9 +24,11 @@
 #include "../inc/MarlinConfig.h"
 
 #define BINARY_STREAM_COMPRESSION
-
 #if ENABLED(BINARY_STREAM_COMPRESSION)
   #include "../libs/heatshrink/heatshrink_decoder.h"
+  // STM32 (and others?) require a word-aligned buffer for SD card transfers via DMA
+  static __attribute__((aligned(sizeof(size_t)))) uint8_t decode_buffer[512] = {};
+  static heatshrink_decoder hsd;
 #endif
 
 inline bool bs_serial_data_available(const serial_index_t index) {
@@ -37,16 +39,6 @@ inline int bs_read_serial(const serial_index_t index) {
   return SERIAL_IMPL.read(index);
 }
 
-#if ENABLED(BINARY_STREAM_COMPRESSION)
-  static heatshrink_decoder hsd;
-  #if BOTH(ARDUINO_ARCH_STM32F1, SDIO_SUPPORT)
-    // STM32 requires a word-aligned buffer for SD card transfers via DMA
-    static __attribute__((aligned(sizeof(size_t)))) uint8_t decode_buffer[512] = {};
-  #else
-    static uint8_t decode_buffer[512] = {};
-  #endif
-#endif
-
 class SDFileTransferProtocol  {
 private:
   struct Packet {

Marlin/src/feature/caselight.cpp

@@ -28,10 +28,6 @@
 
 CaseLight caselight;
 
-#if CASE_LIGHT_IS_COLOR_LED
-  #include "leds/leds.h"
-#endif
-
 #if CASELIGHT_USES_BRIGHTNESS && !defined(CASE_LIGHT_DEFAULT_BRIGHTNESS)
   #define CASE_LIGHT_DEFAULT_BRIGHTNESS 0 // For use on PWM pin as non-PWM just sets a default
 #endif
@@ -43,17 +39,9 @@ CaseLight caselight;
 bool CaseLight::on = CASE_LIGHT_DEFAULT_ON;
 
 #if CASE_LIGHT_IS_COLOR_LED
-  LEDColor CaseLight::color =
-    #ifdef CASE_LIGHT_DEFAULT_COLOR
-      CASE_LIGHT_DEFAULT_COLOR
-    #else
-      { 255, 255, 255, 255 }
-    #endif
-  ;
-#endif
-
-#ifndef INVERT_CASE_LIGHT
-  #define INVERT_CASE_LIGHT false
+  #include "leds/leds.h"
+  constexpr uint8_t init_case_light[] = CASE_LIGHT_DEFAULT_COLOR;
+  LEDColor CaseLight::color = { init_case_light[0], init_case_light[1], init_case_light[2] OPTARG(HAS_WHITE_LED, init_case_light[3]) };
 #endif
 
 void CaseLight::update(const bool sflag) {
@@ -72,16 +60,12 @@ void CaseLight::update(const bool sflag) {
     if (sflag && on)
       brightness = brightness_sav;  // Restore last brightness for M355 S1
 
-    const uint8_t i = on ? brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i;
+    const uint8_t i = on ? brightness : 0, n10ct = ENABLED(INVERT_CASE_LIGHT) ? 255 - i : i;
+    UNUSED(n10ct);
   #endif
 
   #if CASE_LIGHT_IS_COLOR_LED
-
-    leds.set_color(
-      MakeLEDColor(color.r, color.g, color.b, color.w, n10ct),
-      false
-    );
-
+    leds.set_color(LEDColor(color.r, color.g, color.b OPTARG(HAS_WHITE_LED, color.w), n10ct));
   #else // !CASE_LIGHT_IS_COLOR_LED
 
     #if CASELIGHT_USES_BRIGHTNESS
@@ -96,7 +80,7 @@ void CaseLight::update(const bool sflag) {
       else
     #endif
       {
-        const bool s = on ? !INVERT_CASE_LIGHT : INVERT_CASE_LIGHT;
+        const bool s = on ? TERN(INVERT_CASE_LIGHT, LOW, HIGH) : TERN(INVERT_CASE_LIGHT, HIGH, LOW);
         WRITE(CASE_LIGHT_PIN, s ? HIGH : LOW);
       }
 

Marlin/src/feature/caselight.h

@@ -27,7 +27,7 @@
   #include "leds/leds.h" // for LEDColor
 #endif
 
-#if DISABLED(CASE_LIGHT_NO_BRIGHTNESS) || ENABLED(CASE_LIGHT_USE_NEOPIXEL)
+#if NONE(CASE_LIGHT_NO_BRIGHTNESS, CASE_LIGHT_IS_COLOR_LED) || ENABLED(CASE_LIGHT_USE_NEOPIXEL)
   #define CASELIGHT_USES_BRIGHTNESS 1
 #endif
 

Marlin/src/feature/cooler.h

@@ -78,10 +78,8 @@ public:
 
     // Get the total flow (in liters per minute) since the last reading
     static void calc_flowrate() {
-      //flowmeter_interrupt_disable();
-      //  const uint16_t pulses = flowpulses;
-      //flowmeter_interrupt_enable();
-      flowrate = flowpulses * 60.0f * (1000.0f / (FLOWMETER_INTERVAL)) * (1000.0f / (FLOWMETER_PPL));
+      // flowrate = (litres) * (seconds) = litres per minute
+      flowrate = (flowpulses / (float)FLOWMETER_PPL) * ((1000.0f / (float)FLOWMETER_INTERVAL) * 60.0f);
       flowpulses = 0;
     }
 

Marlin/src/feature/dac/dac_mcp4728.cpp

@@ -66,14 +66,14 @@ uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) {
 }
 
 /**
- * Write all input resistor values to EEPROM using SequencialWrite method.
+ * Write all input resistor values to EEPROM using SequentialWrite method.
  * This will update both input register and EEPROM value
  * This will also write current Vref, PowerDown, Gain settings to EEPROM
  */
 uint8_t MCP4728::eepromWrite() {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
   Wire.write(SEQWRITE);
-  LOOP_XYZE(i) {
+  LOOP_LOGICAL_AXES(i) {
     Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i]));
     Wire.write(lowByte(dac_values[i]));
   }
@@ -135,7 +135,7 @@ void MCP4728::setDrvPct(xyze_uint_t &pct) {
  */
 uint8_t MCP4728::fastWrite() {
   Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
-  LOOP_XYZE(i) {
+  LOOP_LOGICAL_AXES(i) {
     Wire.write(highByte(dac_values[i]));
     Wire.write(lowByte(dac_values[i]));
   }