👔 Update .gitignore

Fixes #24548

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,169 +0,0 @@
-name: 🪲 Report a bug
-description: Create a bug report to help improve Marlin Firmware
-title: "[BUG] (bug summary)"
-body:
-  - type: markdown
-    attributes:
-      value: >
-        Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose).
-
-  - type: markdown
-    attributes:
-      value: |
-        **Thank you for reporting a bug in Marlin Firmware!**
-
-        ## Before Reporting a Bug
-
-        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.
-
-        - Test with the [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see whether the issue still exists.
-
-        ## Instructions
-
-        Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/2.0.x/.github/contributing.md) for additional guidelines.
-
-        1. Provide a good title starting with [BUG].
-        2. Fill out all sections of this bug report form.
-        3. Always attach configuration files so we can build and test your setup.
-
-  - type: dropdown
-    attributes:
-      label: Did you test the latest `bugfix-2.0.x` code?
-      description: >-
-        Always try the latest code to make sure the issue you are reporting is not already fixed. To download
-        the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip).
-      options:
-        - Yes, and the problem still exists.
-        - No, but I will test it now!
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        # Bug Details
-
-  - type: textarea
-    attributes:
-      label: Bug Description
-      description: >-
-        Describe the bug in this section. Tell us what you were trying to do and what
-        happened that you did not expect. Provide a clear and concise description of the
-        problem and include as many details as possible.
-      placeholder: |
-        Marlin doesn't work.
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Bug Timeline
-      description: Is this a new bug or an old issue? When did it first start?
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: >-
-        What did you expect to happen?
-      placeholder: I expected it to move left.
-
-  - type: textarea
-    attributes:
-      label: Actual behavior
-      description: What actually happened instead?
-      placeholder: It moved right instead of left.
-
-  - type: textarea
-    attributes:
-      label: Steps to Reproduce
-      description: >-
-        Please describe the steps needed to reproduce the issue.
-      placeholder: |
-        1. [First Step] ...
-        2. [Second Step] ...
-        3. [and so on] ...
-
-  - type: markdown
-    attributes:
-      value: |
-        # Your Setup
-
-  - type: input
-    attributes:
-      label: Version of Marlin Firmware
-      description: "See the About Menu on the LCD or the output of `M115`. NOTE: For older releases we only patch critical bugs."
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Printer model
-      description: Creality Ender 3, Prusa mini, or Kossel Delta?
-
-  - type: input
-    attributes:
-      label: Electronics
-      description: Stock electronics, upgrade board, or something else?
-
-  - type: input
-    attributes:
-      label: Add-ons
-      description: Please list any hardware add-ons that could be involved.
-
-  - type: dropdown
-    attributes:
-      label: Bed Leveling
-      description: What kind of bed leveling compensation are you using?
-      options:
-        - UBL Bilinear mesh
-        - ABL Bilinear mesh
-        - ABL Linear grid
-        - ABL 3-point
-        - MBL Manual Bed Leveling
-        - No Bed Leveling
-
-  - type: dropdown
-    attributes:
-      label: Your Slicer
-      description: Do you use Slic3r, Prusa Slicer, Simplify3D, IdeaMaker...?
-      options:
-        - Slic3r
-        - Simplify3D
-        - Prusa Slicer
-        - IdeaMaker
-        - Cura
-        - Other (explain below)
-
-  - type: dropdown
-    attributes:
-      label: Host Software
-      description: Do you use OctoPrint, Repetier Host, Pronterface...?
-      options:
-        - SD Card (headless)
-        - Repetier Host
-        - OctoPrint
-        - Pronterface
-        - Cura
-        - Same as my slicer
-        - Other (explain below)
-
-  - type: markdown
-    attributes:
-      value: >-
-        ## Other things to include
-
-        Please also be sure to include these items to help with troubleshooting:
-
-          * **A ZIP file** containing your `Configuration.h` and `Configuration_adv.h`.
-            (Please don't paste lengthy configuration text here.)
-          * **Log output** from the host. (`M111 S247` for maximum logging.)
-          * **Images or videos** demonstrating the problem, if it helps to make it clear.
-          * **A G-Code file** that exposes the problem, if not affecting _all_ G-code.
-
-        If you've made any other modifications to the firmware, please describe them in detail in the space provided.
-
-        When pasting formatted text into the box below don't forget to put ` ``` ` (on its own line) before and after to make it readable.
-
-  - type: textarea
-    attributes:
-      label: Additional information & file uploads

.github/ISSUE_TEMPLATE/config.yml

@@ -1,20 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: 📖 Marlin Documentation
-    url: http://marlinfw.org/
-    about: Lots of documentation on installing and using Marlin.
-  - name: 👤 MarlinFirmware Facebook group
-    url: https://www.facebook.com/groups/1049718498464482
-    about: Please ask and answer questions here.
-  - name: 🕹 Marlin on Discord
-    url: https://discord.gg/n5NJ59y
-    about: Join the Discord server for support and discussion.
-  - name: 🔗 Marlin Discussion Forum
-    url: http://forums.reprap.org/list.php?415
-    about: A searchable web forum hosted by RepRap dot org.
-  - name: 📺 Marlin Videos on YouTube
-    url: https://www.youtube.com/results?search_query=marlin+firmware
-    about: Tutorials and more from Marlin users all around the world. Great for new users!
-  - name: 💸 Want to donate?
-    url: https://www.thinkyhead.com/donate-to-marlin
-    about: Please take a look at the various options to support Marlin Firmware's development financially!

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -1,44 +0,0 @@
-name: ✨ Request a feature
-description: Request a new Marlin Firmware feature
-title: "[FR] (feature summary)"
-labels: 'T: Feature Request'
-body:
-  - type: markdown
-    attributes:
-      value: >
-        Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose).
-
-  - type: markdown
-    attributes:
-      value: >
-        **Thank you for requesting a new Marlin Firmware feature!**
-
-        ## Before Requesting a Feature
-
-        - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect.
-
-        - Check the latest [`bugfix-2.0.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.0.x.zip) to see if the feature already exists.
-
-        - Before you proceed with your request, please consider if it is necessary to make it into a firmware feature, or if it may be better suited for a slicer or host feature.
-
-  - type: textarea
-    attributes:
-      label: Is your feature request related to a problem? Please describe.
-      description: A clear description of the problem (e.g., "I need X but Marlin can't do it [...]").
-
-  - type: textarea
-    attributes:
-      label: Are you looking for hardware support?
-      description: Tell us the printer, board, or peripheral that needs support.
-
-  - type: textarea
-    attributes:
-      label: Describe the feature you want
-      description: A clear description of the feature and how you think it should work.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots about the feature request here.

.github/contributing.md

@@ -34,8 +34,11 @@ This project and everyone participating in it is governed by the [Marlin Code of
 
 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
 
-* [Marlin RepRap forum](https://reprap.org/forum/list.php?415)
-* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/)
+- [Marlin Documentation](https://marlinfw.org) - Official Marlin documentation
+- Facebook Group ["Marlin Firmware"](https://www.facebook.com/groups/1049718498464482/)
+- RepRap.org [Marlin Forum](https://forums.reprap.org/list.php?415)
+- Facebook Group ["Marlin Firmware for 3D Printers"](https://www.facebook.com/groups/3Dtechtalk/)
+- [Marlin Configuration](https://www.youtube.com/results?search_query=marlin+configuration) on YouTube
 
 If chat is more your speed, you can join the MarlinFirmware Discord server:
 
@@ -50,13 +53,13 @@ If chat is more your speed, you can join the MarlinFirmware Discord server:
 
 This section guides you through submitting a Bug Report for Marlin. Following these guidelines helps maintainers and the community understand your report, reproduce the behavior, and find related reports.
 
-Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](issue_template.md), the information it asks for helps us resolve issues faster.
+Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster.
 
 > **Note:** Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888.
 
 #### How Do I Submit A (Good) Bug Report?
 
-Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](issue_template.md).
+Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](ISSUE_TEMPLATE/bug_report.yml).
 
 Explain the problem and include additional details to help maintainers reproduce the problem:
 
@@ -88,12 +91,12 @@ Include details about your configuration and environment:
 
 This section guides you through submitting a suggestion for Marlin, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions.
 
-Before creating a suggestion, please check [this list](#before-submitting-a-suggestion) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-enhancement-suggestion). Fill in [the template](issue_template.md), including the steps that you imagine you would take if the feature you're requesting existed.
+Before creating a suggestion, please check [this list](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-feature-request). Fill in [the template](ISSUE_TEMPLATE/feature_request.yml), including the steps that you imagine you would take if the feature you're requesting existed.
 
 #### Before Submitting a Feature Request
 
 * **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
-* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
+* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
 
 #### How Do I Submit A (Good) Feature Request?
 
@@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t
 
 ### Pull Requests
 
-Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
 
 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.

.github/issue_template.md

@@ -1,35 +0,0 @@
-<!--
-
-Have you read Marlin's Code of Conduct? By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.0.x/.github/code_of_conduct.md
-
-Do you want to ask a question? Are you looking for support? Please don't post here. Instead use one of the following options:
-
-- The Marlin Firmware forum at https://reprap.org/forum/list.php?415
-- The MarlinFirmware Facebook Group at https://www.facebook.com/groups/1049718498464482/
-- The MarlinFirmware Discord Server at https://discord.gg/n5NJ59y.
-
-Before filing an issue be sure to test the latest "bugfix" branch to see whether the issue is already addressed.
-
--->
-
-### Description
-
-<!-- Description of the bug or requested feature -->
-
-### Steps to Reproduce
-
-<!-- If this is a Bug Report, please describe the steps needed to reproduce the issue -->
-
-1. [First Step]
-2. [Second Step]
-3. [and so on...]
-
-**Expected behavior:** [What you expect to happen]
-
-**Actual behavior:** [What actually happens]
-
-#### Additional Information
-
-* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files.
-* Provide pictures or links to videos that clearly demonstrate the issue.
-* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines.

.github/lock.yml

@@ -1,40 +0,0 @@
-#
-# Configuration for Lock Threads - https://github.com/dessant/lock-threads-app
-#
-
-# Number of days of inactivity before a closed issue or pull request is locked
-daysUntilLock: 60
-
-# Skip issues and pull requests created before a given timestamp. Timestamp must
-# follow ISO 8601 (`YYYY-MM-DD`). Set to `false` to disable
-skipCreatedBefore: false
-
-# Issues and pull requests with these labels will be ignored. Set to `[]` to disable
-exemptLabels: [ 'no-locking' ]
-
-# Label to add before locking, such as `outdated`. Set to `false` to disable
-lockLabel: false
-
-# Comment to post before locking. Set to `false` to disable
-lockComment: >
-  This thread has been automatically locked since there has not been
-  any recent activity after it was closed. Please open a new issue for
-  related bugs.
-
-# Assign `resolved` as the reason for locking. Set to `false` to disable
-setLockReason: true
-
-# Limit to only `issues` or `pulls`
-# only: issues
-
-# Optionally, specify configuration settings just for `issues` or `pulls`
-# issues:
-#   exemptLabels:
-#     - help-wanted
-#   lockLabel: outdated
-
-# pulls:
-#   daysUntilLock: 30
-
-# Repository to extend settings from
-# _extends: repo

.github/workflows/bump-date.yml

@@ -1,36 +0,0 @@
-#
-# bump-date.yml
-# Bump the distribution date once per day
-#
-
-name: Bump Distribution Date
-
-on:
-  schedule:
-    - cron: '0 0 * * *'
-
-jobs:
-  bump_date:
-    name: Bump Distribution Date
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    steps:
-
-    - name: Check out bugfix-2.0.x
-      uses: actions/checkout@v2
-      with:
-        ref: bugfix-2.0.x
-
-    - name: Bump Distribution Date
-      run: |
-        # Inline Bump Script
-        DIST=$( date +"%Y-%m-%d" )
-        eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \
-        eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \
-        git config user.name "${GITHUB_ACTOR}" && \
-        git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \
-        git add . && \
-        git commit -m "[cron] Bump distribution date ($DIST)" && \
-        git push

.github/workflows/check-pr.yml

@@ -1,33 +0,0 @@
-#
-# check-pr.yml
-# Close PRs directed at release branches
-#
-
-name: PR Bad Target
-
-on:
-  pull_request_target:
-    types: [opened]
-    branches:
-    - 1.0.x
-    - 1.1.x
-    - 2.0.x
-
-jobs:
-  bad_target:
-    name: PR Bad Target
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: superbrothers/close-pull-request@v3
-      with:
-        comment: >
-          Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases.
-
-          Please redo this PR starting with the `bugfix-2.0.x` branch and be careful to target `bugfix-2.0.x` when resubmitting the PR.
-
-          It may help to set your fork's default branch to `bugfix-2.0.x`.
-
-          See [this page](http://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.

.github/workflows/clean-closed.yml

@@ -1,39 +0,0 @@
-#
-# clean-closed.yml
-# Remove obsolete labels when an Issue or PR is closed
-#
-
-name: Clean Closed
-
-on:
-  pull_request:
-    types: [closed]
-  issues:
-    types: [closed]
-
-jobs:
-  remove_label:
-    runs-on: ubuntu-latest
-
-    strategy:
-      matrix:
-        label:
-          - "S: Don't Merge"
-          - "S: Hold for 2.1"
-          - "S: Please Merge"
-          - "S: Please Test"
-          - "help wanted"
-          - "Needs: Discussion"
-          - "Needs: Documentation"
-          - "Needs: More Data"
-          - "Needs: Patch"
-          - "Needs: Testing"
-          - "Needs: Work"
-
-    steps:
-      - uses: actions/checkout@v2
-      - name: Remove Labels
-        uses: actions-ecosystem/action-remove-labels@v1
-        with:
-          github_token: ${{ github.token }}
-          labels: ${{ matrix.label }}

.github/workflows/close-stale.yml

@@ -1,28 +0,0 @@
-#
-# close-stale.yml
-# Close open issues after a period of inactivity
-#
-
-name: Close Stale Issues
-
-on:
-  schedule:
-  - cron: "22 1 * * *"
-
-jobs:
-  stale:
-    name: Close Stale Issues
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: actions/stale@v3
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        stale-issue-message: 'This issue has had no activity in the last 60 days. Please add a reply if you want to keep this issue active, otherwise it will be automatically closed within 10 days.'
-        days-before-stale: 60
-        days-before-close: 10
-        stale-issue-label: 'stale-closing-soon'
-        exempt-all-assignees: true
-        exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: Discussion,Needs: Documentation,Needs: More Data,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking'

.github/workflows/lock-closed.yml

@@ -1,32 +0,0 @@
-#
-# lock-closed.yml
-# Lock closed issues after a period of inactivity
-#
-
-name: Lock Closed Issues
-
-on:
-  schedule:
-    - cron: '0 1/13 * * *'
-
-jobs:
-  lock:
-    name: Lock Closed Issues
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: dessant/lock-threads@v2
-      with:
-        github-token: ${{ github.token }}
-        process-only: 'issues'
-        issue-lock-inactive-days: '60'
-        issue-exclude-created-before: '2017-07-01T00:00:00Z'
-        issue-exclude-labels: 'no-locking'
-        issue-lock-labels: ''
-        issue-lock-comment: >
-          This issue has been automatically locked since there
-          has not been any recent activity after it was closed.
-          Please open a new issue for related bugs.
-        issue-lock-reason: ''

.github/workflows/test-builds.yml

@@ -1,145 +0,0 @@
-#
-# test-builds.yml
-# Do test builds to catch compile errors
-#
-
-name: CI
-
-on:
-  pull_request:
-    branches:
-    - bugfix-2.0.x
-    paths-ignore:
-    - config/**
-    - data/**
-    - docs/**
-    - '**/*.md'
-  push:
-    branches:
-    - bugfix-2.0.x
-    paths-ignore:
-    - config/**
-    - data/**
-    - docs/**
-    - '**/*.md'
-
-jobs:
-  test_builds:
-    name: Run All Tests
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    strategy:
-      matrix:
-        test-platform:
-        # Base Environments
-
-        - DUE
-        - DUE_archim
-        - esp32
-        - linux_native
-        - mega2560
-        - at90usb1286_dfu
-        - teensy31
-        - teensy35
-        - teensy41
-        - SAMD51_grandcentral_m4
-
-        # Extended AVR Environments
-
-        - FYSETC_F6
-        - mega1280
-        - rambo
-        - sanguino1284p
-        - sanguino644p
-
-        # STM32F1 (Maple) Environments
-
-        #- STM32F103RC_btt_maple
-        - STM32F103RC_btt_USB_maple
-        - STM32F103RC_fysetc_maple
-        - STM32F103RC_meeb
-        - jgaurora_a5s_a1_maple
-        - STM32F103VE_longer_maple
-        #- mks_robin_maple
-        - mks_robin_lite_maple
-        - mks_robin_pro_maple
-        #- mks_robin_nano35_maple
-        #- STM32F103RET6_creality_maple
-        - STM32F103VE_ZM3E4V2_USB_maple
-
-        # STM32 (ST) Environments
-
-        - STM32F103RC_btt
-        #- STM32F103RC_btt_USB
-        - STM32F103RE_btt
-        - STM32F103RE_btt_USB
-        - STM32F103RET6_creality
-        - STM32F103VE_longer
-        - STM32F407VE_black
-        - STM32F401VE_STEVAL
-        - BIGTREE_BTT002
-        - BIGTREE_SKR_PRO
-        - BIGTREE_GTR_V1_0
-        - mks_robin
-        - ARMED
-        - FYSETC_S6
-        - STM32F070CB_malyan
-        - STM32F070RB_malyan
-        - malyan_M300
-        - FLYF407ZG
-        - rumba32
-        - LERDGEX
-        - LERDGEK
-        - mks_robin_nano35
-        - NUCLEO_F767ZI
-        - REMRAM_V1
-        - BTT_SKR_SE_BX
-        - chitu_f103
-        - Index_Mobo_Rev03
-
-        # Put lengthy tests last
-
-        - LPC1768
-        - LPC1769
-
-        # Non-working environment tests
-        #- at90usb1286_cdc
-        #- 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@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
-
-    - name: Install PlatformIO
-      run: |
-        pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
-        platformio update
-
-    - name: Run ${{ matrix.test-platform }} Tests
-      run: |
-        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}

.github/workflows/unlock-reopened.yml

@@ -1,22 +0,0 @@
-#
-# unlock-reopened.yml
-# Unlock an issue whenever it is re-opened
-#
-
-name: "Unlock reopened issue"
-
-on:
-  issues:
-    types: [reopened]
-
-jobs:
-  unlock:
-    name: Unlock Reopened
-    if: github.repository == 'MarlinFirmware/Marlin'
-
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: OSDKDev/unlock-issues@v1.1
-      with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.gitignore

@@ -1,6 +1,6 @@
 #
 # Marlin 3D Printer Firmware
-# Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+# Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 #
 # Based on Sprinter and grbl.
 # Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -21,36 +21,21 @@
 
 # Generated files
 _Version.h
-bdf2u8g
+bdf2u8g.exe
+genpages.exe
 marlin_config.json
 mczip.h
+language*.csv
+out-csv/
+out-language/
 *.gen
 *.sublime-workspace
 
-#
 # OS
-#
 applet/
 .DS_Store
 
-#
-# Misc
-#
-*~
-*.orig
-*.rej
-*.bak
-*.idea
-*.s
-*.i
-*.ii
-*.swp
-tags
-
-#
-# C++
-#
-# Compiled Object files
+# Compiled C++ Object files
 *.slo
 *.lo
 *.o
@@ -81,10 +66,7 @@ tags
 *.out
 *.app
 
-#
-# C
-#
-# Object files
+# Compiled C Object files
 *.o
 *.ko
 *.obj
@@ -141,19 +123,19 @@ __vm/
 vc-fileutils.settings
 
 # Visual Studio Code
-.vscode
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/*.db
+.vscode/*
+!.vscode/extensions.json
 
-#Simulation
+# Simulation files
 imgui.ini
 eeprom.dat
 spi_flash.bin
+fs.img
 
-#cmake
+# CMake
+buildroot/share/cmake/*
 CMakeLists.txt
+!buildroot/share/cmake/CMakeLists.txt
 src/CMakeLists.txt
 CMakeListsPrivate.txt
 build/
@@ -173,3 +155,16 @@ __pycache__
 
 # IOLogger logs
 *_log.csv
+
+# Misc.
+*~
+*.orig
+*.rej
+*.bak
+*.idea
+*.i
+*.ii
+*.swp
+tags
+*.logs
+*.bak

.vscode/extensions.json

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

Marlin/Makefile

@@ -109,7 +109,7 @@ LIQUID_TWI2        ?= 0
 # This defines if Wire is needed
 WIRE               ?= 0
 
-# This defines if Tone is needed (i.e SPEAKER is defined in Configuration.h)
+# This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h)
 # Disabling this (and SPEAKER) saves approximately 350 bytes of memory.
 TONE               ?= 1
 
@@ -132,7 +132,7 @@ CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
 CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
-  @echo This version of GCC is likely broken. Enabling relocation workaround.
+  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
   RELOC_WORKAROUND = 1
 endif
 
@@ -317,123 +317,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1159)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
 # Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-
-
-# 3Drag Controller
-else ifeq ($(HARDWARE_MOTHERBOARD),1100)
-# Velleman K8200 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1101)
-# Velleman K8400 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1102)
-# Velleman K8600 Controller (Vertex Nano)
-else ifeq ($(HARDWARE_MOTHERBOARD),1103)
-# Velleman K8800 Controller (Vertex Delta)
-else ifeq ($(HARDWARE_MOTHERBOARD),1104)
-# 2PrintBeta BAM&DICE with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1105)
-# 2PrintBeta BAM&DICE Due with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1106)
-# MKS BASE v1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1107)
-# MKS v1.4 with A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1108)
-# MKS v1.5 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1109)
-# MKS v1.6 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1110)
-# MKS BASE 1.0 with Heroic HR4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1111)
-# MKS GEN v1.3 or 1.4
-else ifeq ($(HARDWARE_MOTHERBOARD),1112)
-# MKS GEN L
-else ifeq ($(HARDWARE_MOTHERBOARD),1113)
-# zrib V2.0 control board (Chinese RAMPS replica)
-else ifeq ($(HARDWARE_MOTHERBOARD),1114)
-# BigTreeTech or BIQU KFB2.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1115)
-# Felix 2.0+ Electronics Board (RAMPS like)
-else ifeq ($(HARDWARE_MOTHERBOARD),1116)
-# Invent-A-Part RigidBoard
-else ifeq ($(HARDWARE_MOTHERBOARD),1117)
-# Invent-A-Part RigidBoard V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1118)
-# Sainsmart 2-in-1 board
-else ifeq ($(HARDWARE_MOTHERBOARD),1119)
-# Ultimaker
-else ifeq ($(HARDWARE_MOTHERBOARD),1120)
-# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
-else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-  MCU              ?= atmega1280
-  PROG_MCU         ?= m1280
-
-# Azteeg X3
-else ifeq ($(HARDWARE_MOTHERBOARD),1122)
-# Azteeg X3 Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1123)
-# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
-else ifeq ($(HARDWARE_MOTHERBOARD),1124)
-# Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1125)
-# Raise3D Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1126)
-# Rapide Lite RL200 Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1127)
-# Formbot T-Rex 2 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1128)
-# Formbot T-Rex 3
-else ifeq ($(HARDWARE_MOTHERBOARD),1129)
-# Formbot Raptor
-else ifeq ($(HARDWARE_MOTHERBOARD),1130)
-# Formbot Raptor 2
-else ifeq ($(HARDWARE_MOTHERBOARD),1131)
-# bq ZUM Mega 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1132)
-# MakeBoard Mini v2.1.2 is a control board sold by MicroMake
-else ifeq ($(HARDWARE_MOTHERBOARD),1133)
-# TriGorilla Anycubic version 1.3 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1134)
-# TriGorilla Anycubic version 1.4 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1135)
-# TriGorilla Anycubic version 1.4 Rev 1.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1136)
-# Creality: Ender-4, CR-8
-else ifeq ($(HARDWARE_MOTHERBOARD),1137)
-# Creality: CR10S, CR20, CR-X
-else ifeq ($(HARDWARE_MOTHERBOARD),1138)
-# Dagoma F5
-else ifeq ($(HARDWARE_MOTHERBOARD),1139)
-# FYSETC F6 1.3
-else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# FYSETC F6 1.5
-else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Duplicator i3 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# VORON
-else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# TRONXY V3 1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Z-Bolt X Series
-else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# TT OSCAR
-else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Overlord/Overlord Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# ADIMLab Gantry v1
-else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
-else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
-else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero
-else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1162)
+# Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1163)
 
 #
 # RAMBo and derivatives
@@ -512,7 +399,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1324)
 else ifeq ($(HARDWARE_MOTHERBOARD),1325)
 # Intamsys 4.0 (Funmat HT)
 else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
+# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
 else ifeq ($(HARDWARE_MOTHERBOARD),1327)
 # Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1328)

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.0.9.3"
+//#define SHORT_BUILD_VERSION "2.1.1.2"
 
 /**
  * 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 "2021-12-25"
+//#define STRING_DISTRIBUTION_DATE "2023-12-08"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/config.ini

@@ -0,0 +1,211 @@
+#
+# Marlin Firmware
+# config.ini - Options to apply before the build
+#
+[config:base]
+ini_use_config                           = none
+
+# Load all config: sections in this file
+;ini_use_config                          = all
+# Load config file relative to Marlin/
+;ini_use_config                          = another.ini
+# Download configurations from GitHub
+;ini_use_config                          = example/Creality/Ender-5 Plus @ bugfix-2.1.x
+# Download configurations from your server
+;ini_use_config                          = https://me.myserver.com/path/to/configs
+# Evaluate config:base and do a config dump
+;ini_use_config                          = base
+;config_export                           = 2
+
+[config:minimal]
+motherboard                              = BOARD_RAMPS_14_EFB
+serial_port                              = 0
+baudrate                                 = 250000
+
+use_watchdog                             = on
+thermal_protection_hotends               = on
+thermal_protection_hysteresis            = 4
+thermal_protection_period                = 40
+
+bufsize                                  = 4
+block_buffer_size                        = 16
+max_cmd_size                             = 96
+
+extruders                                = 1
+temp_sensor_0                            = 1
+
+temp_hysteresis                          = 3
+heater_0_mintemp                         = 5
+heater_0_maxtemp                         = 275
+preheat_1_temp_hotend                    = 180
+
+bang_max                                 = 255
+pidtemp                                  = on
+pid_k1                                   = 0.95
+pid_max                                  = BANG_MAX
+pid_functional_range                     = 10
+
+default_kp                               = 22.20
+default_ki                               = 1.08
+default_kd                               = 114.00
+
+x_driver_type                            = A4988
+y_driver_type                            = A4988
+z_driver_type                            = A4988
+e0_driver_type                           = A4988
+
+x_bed_size                               = 200
+x_min_pos                                = 0
+x_max_pos                                = X_BED_SIZE
+
+y_bed_size                               = 200
+y_min_pos                                = 0
+y_max_pos                                = Y_BED_SIZE
+
+z_min_pos                                = 0
+z_max_pos                                = 200
+
+x_home_dir                               = -1
+y_home_dir                               = -1
+z_home_dir                               = -1
+
+use_xmin_plug                            = on
+use_ymin_plug                            = on
+use_zmin_plug                            = on
+
+x_min_endstop_inverting                  = false
+y_min_endstop_inverting                  = false
+z_min_endstop_inverting                  = false
+
+default_axis_steps_per_unit              = { 80, 80, 400, 500 }
+axis_relative_modes                      = { false, false, false, false }
+default_max_feedrate                     = { 300, 300, 5, 25 }
+default_max_acceleration                 = { 3000, 3000, 100, 10000 }
+
+homing_feedrate_mm_m                     = { (50*60), (50*60), (4*60) }
+homing_bump_divisor                      = { 2, 2, 4 }
+
+x_enable_on                              = 0
+y_enable_on                              = 0
+z_enable_on                              = 0
+e_enable_on                              = 0
+
+invert_x_dir                             = false
+invert_y_dir                             = true
+invert_z_dir                             = false
+invert_e0_dir                            = false
+
+invert_e_step_pin                        = false
+invert_x_step_pin                        = false
+invert_y_step_pin                        = false
+invert_z_step_pin                        = false
+
+disable_x                                = false
+disable_y                                = false
+disable_z                                = false
+disable_e                                = false
+
+proportional_font_ratio                  = 1.0
+default_nominal_filament_dia             = 1.75
+
+junction_deviation_mm                    = 0.013
+
+default_acceleration                     = 3000
+default_travel_acceleration              = 3000
+default_retract_acceleration             = 3000
+
+default_minimumfeedrate                  = 0.0
+default_mintravelfeedrate                = 0.0
+
+minimum_planner_speed                    = 0.05
+min_steps_per_segment                    = 6
+default_minsegmenttime                   = 20000
+
+[config:basic]
+bed_overshoot                            = 10
+busy_while_heating                       = on
+default_ejerk                            = 5.0
+default_keepalive_interval               = 2
+default_leveling_fade_height             = 0.0
+disable_inactive_extruder                = on
+display_charset_hd44780                  = JAPANESE
+eeprom_boot_silent                       = on
+eeprom_chitchat                          = on
+endstoppullups                           = on
+extrude_maxlength                        = 200
+extrude_mintemp                          = 170
+host_keepalive_feature                   = on
+hotend_overshoot                         = 15
+jd_handle_small_segments                 = on
+lcd_info_screen_style                    = 0
+lcd_language                             = en
+max_bed_power                            = 255
+mesh_inset                               = 0
+min_software_endstops                    = on
+max_software_endstops                    = on
+min_software_endstop_x                   = on
+min_software_endstop_y                   = on
+min_software_endstop_z                   = on
+max_software_endstop_x                   = on
+max_software_endstop_y                   = on
+max_software_endstop_z                   = on
+preheat_1_fan_speed                      = 0
+preheat_1_label                          = "PLA"
+preheat_1_temp_bed                       = 70
+prevent_cold_extrusion                   = on
+prevent_lengthy_extrude                  = on
+printjob_timer_autostart                 = on
+probing_margin                           = 10
+show_bootscreen                          = on
+soft_pwm_scale                           = 0
+string_config_h_author                   = "(none, default config)"
+temp_bed_hysteresis                      = 3
+temp_bed_residency_time                  = 10
+temp_bed_window                          = 1
+temp_residency_time                      = 10
+temp_window                              = 1
+validate_homing_endstops                 = on
+xy_probe_feedrate                        = (133*60)
+z_clearance_between_probes               = 5
+z_clearance_deploy_probe                 = 10
+z_clearance_multi_probe                  = 5
+
+[config:advanced]
+arc_support                              = on
+auto_report_temperatures                 = on
+autotemp                                 = on
+autotemp_oldweight                       = 0.98
+bed_check_interval                       = 5000
+default_stepper_deactive_time            = 120
+default_volumetric_extruder_limit        = 0.00
+disable_inactive_e                       = true
+disable_inactive_x                       = true
+disable_inactive_y                       = true
+disable_inactive_z                       = true
+e0_auto_fan_pin                          = -1
+encoder_100x_steps_per_sec               = 80
+encoder_10x_steps_per_sec                = 30
+encoder_rate_multiplier                  = on
+extended_capabilities_report             = on
+extruder_auto_fan_speed                  = 255
+extruder_auto_fan_temperature            = 50
+fanmux0_pin                              = -1
+fanmux1_pin                              = -1
+fanmux2_pin                              = -1
+faster_gcode_parser                      = on
+homing_bump_mm                           = { 5, 5, 2 }
+max_arc_segment_mm                       = 1.0
+min_arc_segment_mm                       = 0.1
+min_circle_segments                      = 72
+n_arc_correction                         = 25
+serial_overrun_protection                = on
+slowdown                                 = on
+slowdown_divisor                         = 2
+temp_sensor_bed                          = 0
+thermal_protection_bed_hysteresis        = 2
+thermocouple_max_errors                  = 15
+tx_buffer_size                           = 0
+watch_bed_temp_increase                  = 2
+watch_bed_temp_period                    = 60
+watch_temp_increase                      = 2
+watch_temp_period                        = 20

Marlin/src/HAL/AVR/HAL.cpp

@@ -23,6 +23,7 @@
 
 #include "../../inc/MarlinConfig.h"
 #include "HAL.h"
+#include <avr/wdt.h>
 
 #ifdef USBCON
   DefaultSerial1 MSerial0(false, Serial);
@@ -36,7 +37,7 @@
 // ------------------------
 
 // Don't initialize/override variable (which would happen in .init4)
-uint8_t reset_reason __attribute__((section(".noinit")));
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
@@ -45,22 +46,22 @@ uint8_t reset_reason __attribute__((section(".noinit")));
 __attribute__((naked))             // Don't output function pro- and epilogue
 __attribute__((used))              // Output the function, even if "not used"
 __attribute__((section(".init3"))) // Put in an early user definable section
-void HAL_save_reset_reason() {
+void save_reset_reason() {
   #if ENABLED(OPTIBOOT_RESET_REASON)
     __asm__ __volatile__(
       A("STS %0, r2")
-      : "=m"(reset_reason)
+      : "=m"(hal.reset_reason)
     );
   #else
-    reset_reason = MCUSR;
+    hal.reset_reason = MCUSR;
   #endif
 
   // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
-  MCUSR = 0;
+  hal.clear_reset_source();
   wdt_disable();
 }
 
-void HAL_init() {
+void MarlinHAL::init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -75,9 +76,11 @@ void HAL_init() {
   #if HAS_SERVO_3
     INIT_SERVO(3);
   #endif
+
+  init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 }
 
-void HAL_reboot() {
+void MarlinHAL::reboot() {
   #if ENABLED(USE_WATCHDOG)
     while (1) { /* run out the watchdog */ }
   #else
@@ -86,6 +89,62 @@ void HAL_reboot() {
   #endif
 }
 
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #include <avr/wdt.h>
+  #include "../../MarlinCore.h"
+
+  // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
+  void MarlinHAL::watchdog_init() {
+    #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
+      #define WDTO_NS WDTO_8S
+    #else
+      #define WDTO_NS WDTO_4S
+    #endif
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // Enable the watchdog timer, but only for the interrupt.
+      // Take care, as this requires the correct order of operation, with interrupts disabled.
+      // See the datasheet of any AVR chip for details.
+      wdt_reset();
+      cli();
+      _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
+      _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
+                                                                                // So worked for up to WDTO_2S
+      sei();
+      wdt_reset();
+    #else
+      wdt_enable(WDTO_NS); // The function handles the upper bit correct.
+    #endif
+    //delay(10000); // test it!
+  }
+
+  //===========================================================================
+  //=================================== ISR ===================================
+  //===========================================================================
+
+  // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
+  #if ENABLED(WATCHDOG_RESET_MANUAL)
+    ISR(WDT_vect) {
+      sei();  // With the interrupt driven serial we need to allow interrupts.
+      SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
+      minkill();  // interrupt-safe final kill and infinite loop
+    }
+  #endif
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or AVR will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() { wdt_reset(); }
+
+#endif // USE_WATCHDOG
+
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
 #if ENABLED(SDSUPPORT)
 
   #include "../../sd/SdFatUtil.h"
@@ -93,20 +152,20 @@ void HAL_reboot() {
 
 #else // !SDSUPPORT
 
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+  extern "C" {
+    extern char __bss_end;
+    extern char __heap_start;
+    extern void* __brkval;
 
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
+    int freeMemory() {
+      int free_memory;
+      if ((int)__brkval == 0)
+        free_memory = ((int)&free_memory) - ((int)&__bss_end);
+      else
+        free_memory = ((int)&free_memory) - ((int)__brkval);
+      return free_memory;
+    }
   }
-}
 
 #endif // !SDSUPPORT
 

Marlin/src/HAL/AVR/HAL.h

@@ -19,16 +19,18 @@
  */
 #pragma once
 
+/**
+ * HAL for Arduino AVR
+ */
+
 #include "../shared/Marduino.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "math.h"
 
 #ifdef USBCON
   #include <HardwareSerial.h>
 #else
-  #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion
   #include "MarlinSerial.h"
 #endif
 
@@ -74,9 +76,9 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 
 // ------------------------
 // Types
@@ -84,16 +86,15 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
-// Public Variables
-// ------------------------
-
-extern uint8_t reset_reason;
-
 // Serial ports
+// ------------------------
+
 #ifdef USBCON
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -142,57 +143,15 @@ extern uint8_t reset_reason;
   #endif
 #endif
 
-// ------------------------
-// Public functions
-// ------------------------
-
-void HAL_init();
-
-//void cli();
-
-//void _delay_ms(const int delay);
-
-inline void HAL_clear_reset_source() { }
-inline uint8_t HAL_get_reset_source() { return reset_reason; }
-
-void HAL_reboot();
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-extern "C" int freeMemory();
-
-#pragma GCC diagnostic pop
-
+//
 // ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
-
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
-
-#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#else
-  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#endif
-
+//
 #define HAL_ADC_VREF        5.0
 #define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
 
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
@@ -206,23 +165,113 @@ inline void HAL_adc_init() {
 // AVR compatibility
 #define strtof strtod
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+// ------------------------
+// Free Memory Accessor
+// ------------------------
 
-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+extern "C" int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+    DIDR0 = 0;
+    #ifdef DIDR2
+      DIDR2 = 0;
+    #endif
+  }
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
+
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
+
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/AVR/HAL_SPI.cpp

@@ -35,22 +35,20 @@
 
 void spiBegin() {
   #if PIN_EXISTS(SD_SS)
-    OUT_WRITE(SD_SS_PIN, HIGH);
+    // Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway.
+    #if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+      // SS must be in output mode even it is not chip select
+      SET_OUTPUT(SD_SS_PIN);
+    #else
+      // set SS high - may be chip select for another SPI device
+      OUT_WRITE(SD_SS_PIN, HIGH);
+    #endif
   #endif
   SET_OUTPUT(SD_SCK_PIN);
   SET_INPUT(SD_MISO_PIN);
   SET_OUTPUT(SD_MOSI_PIN);
 
-  #if DISABLED(SOFTWARE_SPI)
-    // SS must be in output mode even it is not chip select
-    //SET_OUTPUT(SD_SS_PIN);
-    // set SS high - may be chip select for another SPI device
-    //#if SET_SPI_SS_HIGH
-      //WRITE(SD_SS_PIN, HIGH);
-    //#endif
-    // set a default rate
-    spiInit(1);
-  #endif
+  IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED));
 }
 
 #if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !B_TXC) {

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -191,13 +191,13 @@
                    rx_framing_errors;
     static ring_buffer_pos_t rx_max_enqueued;
 
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();
 
     static volatile bool rx_tail_value_not_stable;
     static volatile uint16_t rx_tail_value_backup;
 
-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
+    FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();
 
   public:
     FORCE_INLINE static void store_rxd_char();
@@ -217,7 +217,7 @@
     #endif
 
     enum { HasEmergencyParser = Cfg::EMERGENCYPARSER };
-    static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+    static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
 
     FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
     FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }

Marlin/src/HAL/AVR/Servo.cpp

@@ -66,27 +66,26 @@ static volatile int8_t Channel[_Nbr_16timers];              // counter for the s
 
 /************ static functions common to all instances ***********************/
 
-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
-  if (Channel[timer] < 0)
-    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else {
-    if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
-  }
+static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
+  int8_t cho = Channel[timer];                                        // Handle the prior Channel[timer] first
+  if (cho < 0)                                                        // Channel -1 indicates the refresh interval completed...
+    *TCNTn = 0;                                                       // ...so reset the timer
+  else if (SERVO_INDEX(timer, cho) < ServoCount)                      // prior channel handled?
+    extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW);                  // pulse the prior channel LOW
 
-  Channel[timer]++;    // increment to the next channel
-  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
-    *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
-    if (SERVO(timer, Channel[timer]).Pin.isActive)    // check if activated
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
+  Channel[timer] = ++cho;                                             // Handle the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    *OCRnA = *TCNTn + SERVO(timer, cho).ticks;                        // set compare to current ticks plus duration
+    if (SERVO(timer, cho).Pin.isActive)                               // activated?
+      extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);               // yes: pulse HIGH
   }
   else {
     // finished all channels so wait for the refresh period to expire before starting over
-    if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL))    // allow a few ticks to ensure the next OCR1A not missed
-      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
-    else
-      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
-    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+    const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed
+                       ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    *OCRnA = max(cval, ival);
+
+    Channel[timer] = -1;                                              // reset the timer counter to 0 on the next call
   }
 }
 
@@ -123,91 +122,102 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
 
 /****************** end of static functions ******************************/
 
-void initISR(timer16_Sequence_t timer) {
-  #ifdef _useTimer1
-    if (timer == _timer1) {
-      TCCR1A = 0;             // normal counting mode
-      TCCR1B = _BV(CS11);     // set prescaler of 8
-      TCNT1 = 0;              // clear the timer count
-      #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
-        SBI(TIFR, OCF1A);      // clear any pending interrupts;
-        SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
-      #else
-        // here if not ATmega8 or ATmega128
-        SBI(TIFR1, OCF1A);     // clear any pending interrupts;
-        SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
-      #endif
-    }
-  #endif
+void initISR(const timer16_Sequence_t timer_index) {
+  switch (timer_index) {
+    default: break;
 
-  #ifdef _useTimer3
-    if (timer == _timer3) {
-      TCCR3A = 0;             // normal counting mode
-      TCCR3B = _BV(CS31);     // set prescaler of 8
-      TCNT3 = 0;              // clear the timer count
-      #ifdef __AVR_ATmega128__
-        SBI(TIFR, OCF3A);     // clear any pending interrupts;
-        SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
-      #else
-        SBI(TIFR3, OCF3A);   // clear any pending interrupts;
-        SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
-      #endif
-      #ifdef WIRING
-        timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
-      #endif
-    }
-  #endif
+    #ifdef _useTimer1
+      case _timer1:
+        TCCR1A = 0;             // normal counting mode
+        TCCR1B = _BV(CS11);     // set prescaler of 8
+        TCNT1 = 0;              // clear the timer count
+        #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
+          SBI(TIFR, OCF1A);      // clear any pending interrupts;
+          SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
+        #else
+          // here if not ATmega8 or ATmega128
+          SBI(TIFR1, OCF1A);     // clear any pending interrupts;
+          SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
+        #endif
+        #ifdef WIRING
+          timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+        #endif
+        break;
+    #endif
 
-  #ifdef _useTimer4
-    if (timer == _timer4) {
-      TCCR4A = 0;             // normal counting mode
-      TCCR4B = _BV(CS41);     // set prescaler of 8
-      TCNT4 = 0;              // clear the timer count
-      TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
-      TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
-    }
-  #endif
+    #ifdef _useTimer3
+      case _timer3:
+        TCCR3A = 0;             // normal counting mode
+        TCCR3B = _BV(CS31);     // set prescaler of 8
+        TCNT3 = 0;              // clear the timer count
+        #ifdef __AVR_ATmega128__
+          SBI(TIFR, OCF3A);     // clear any pending interrupts;
+          SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
+        #else
+          SBI(TIFR3, OCF3A);   // clear any pending interrupts;
+          SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
+        #endif
+        #ifdef WIRING
+          timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+        #endif
+        break;
+    #endif
 
-  #ifdef _useTimer5
-    if (timer == _timer5) {
-      TCCR5A = 0;             // normal counting mode
-      TCCR5B = _BV(CS51);     // set prescaler of 8
-      TCNT5 = 0;              // clear the timer count
-      TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
-      TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
-    }
-  #endif
+    #ifdef _useTimer4
+      case _timer4:
+        TCCR4A = 0;             // normal counting mode
+        TCCR4B = _BV(CS41);     // set prescaler of 8
+        TCNT4 = 0;              // clear the timer count
+        TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+        TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
+        break;
+    #endif
+
+    #ifdef _useTimer5
+      case _timer5:
+        TCCR5A = 0;             // normal counting mode
+        TCCR5B = _BV(CS51);     // set prescaler of 8
+        TCNT5 = 0;              // clear the timer count
+        TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+        TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
+        break;
+    #endif
+  }
 }
 
-void finISR(timer16_Sequence_t timer) {
+void finISR(const timer16_Sequence_t timer_index) {
   // Disable use of the given timer
   #ifdef WIRING
-    if (timer == _timer1) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK1
-        #else
-          TIMSK
-        #endif
-          , OCIE1A);    // disable timer 1 output compare interrupt
-      timerDetach(TIMER1OUTCOMPAREA_INT);
-    }
-    else if (timer == _timer3) {
-      CBI(
-        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
-          TIMSK3
-        #else
-          ETIMSK
-        #endif
-          , OCIE3A);    // disable the timer3 output compare A interrupt
-      timerDetach(TIMER3OUTCOMPAREA_INT);
+    switch (timer_index) {
+      default: break;
+
+      case _timer1:
+        CBI(
+          #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+            TIMSK1
+          #else
+            TIMSK
+          #endif
+          , OCIE1A    // disable timer 1 output compare interrupt
+        );
+        timerDetach(TIMER1OUTCOMPAREA_INT);
+        break;
+
+      case _timer3:
+        CBI(
+          #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+            TIMSK3
+          #else
+            ETIMSK
+          #endif
+          , OCIE3A    // disable the timer3 output compare A interrupt
+        );
+        timerDetach(TIMER3OUTCOMPAREA_INT);
+        break;
     }
   #else // !WIRING
     // For arduino - in future: call here to a currently undefined function to reset the timer
-    UNUSED(timer);
+    UNUSED(timer_index);
   #endif
 }
 

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -213,6 +213,51 @@ void setup_endstop_interrupts() {
       pciSetup(K_MIN_PIN);
     #endif
   #endif
+  #if HAS_U_MAX
+    #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
+      pciSetup(U_MAX_PIN);
+    #endif
+  #elif HAS_U_MIN
+    #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
+      pciSetup(U_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_V_MAX
+    #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
+      pciSetup(V_MAX_PIN);
+    #endif
+  #elif HAS_V_MIN
+    #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
+      pciSetup(V_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_W_MAX
+    #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
+      pciSetup(W_MAX_PIN);
+    #endif
+  #elif HAS_W_MIN
+    #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
+      pciSetup(W_MIN_PIN);
+    #endif
+  #endif
   #if HAS_X2_MAX
     #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(X2_MAX_PIN);
@@ -301,5 +346,6 @@ 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/fast_pwm.cpp

@@ -21,10 +21,7 @@
  */
 #ifdef __AVR__
 
-#include "../../inc/MarlinConfigPre.h"
-#include "HAL.h"
-
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
+#include "../../inc/MarlinConfig.h"
 
 struct Timer {
   volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
@@ -32,229 +29,194 @@ struct Timer {
   volatile uint16_t* ICRn;      // max 1 ICR register per timer
   uint8_t n;                    // the timer number [0->5]
   uint8_t q;                    // the timer output [0->2] (A->C)
+  bool isPWM;                   // True if pin is a "hardware timer"
+  bool isProtected;             // True if timer is protected
 };
 
+// Macros for the Timer structure
+#define _SET_WGMnQ(T, V) do{ \
+    *(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
+    *(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
+  }while(0)
+
+// Set TCCR CS bits
+#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
+
+// Set TCCR COM bits
+#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
+
+// Set OCRnQ register
+#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF)
+
+// Set ICRn register (one per timer)
+#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF)
+
 /**
- * get_pwm_timer
- *  Get the timer information and register of the provided pin.
- *  Return a Timer struct containing this information.
- *  Used by set_pwm_frequency, set_pwm_duty
+ * Return a Timer struct describing a pin's timer.
  */
-Timer get_pwm_timer(const pin_t pin) {
+const Timer get_pwm_timer(const pin_t pin) {
+
   uint8_t q = 0;
+
   switch (digitalPinToTimer(pin)) {
-    // Protect reserved timers (TIMER0 & TIMER1)
     #ifdef TCCR0A
-      #if !AVR_AT90USB1286_FAMILY
-        case TIMER0A:
-      #endif
-      case TIMER0B:
+      IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
     #endif
     #ifdef TCCR1A
       case TIMER1A: case TIMER1B:
     #endif
-                                        break;
-    #if HAS_TCCR2 || defined(TCCR2A)
-      #if HAS_TCCR2
-        case TIMER2: {
-          Timer timer = {
-            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
-            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
-            /*ICRn*/      nullptr,
-            /*n, q*/      2, 0
-          };
-        }
-      #elif defined(TCCR2A)
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          case TIMER2A:   break; // protect TIMER2A
-          case TIMER2B: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-              /*n, q*/      2, 1
-            };
-            return timer;
-          }
-        #else
-          case TIMER2B:   ++q;
-          case TIMER2A: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-                            2, q
-            };
-            return timer;
-          }
-        #endif
-      #endif
+
+    break;    // Protect reserved timers (TIMER0 & TIMER1)
+
+    #ifdef TCCR0A
+      case TIMER0B:   // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only
+        return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true });
     #endif
+
+    #if HAS_TCCR2
+      case TIMER2:
+        return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
+    #elif ENABLED(USE_OCR2A_AS_TOP)
+      case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B
+      case TIMER2B:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
+    #elif defined(TCCR2A)
+      case TIMER2B: ++q; case TIMER2A:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
+    #endif
+
     #ifdef OCR3C
-      case TIMER3C:   ++q;
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  &TCCR3C },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,   &OCR3C },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C  }, &ICR3, 3, q, true, false });
     #elif defined(OCR3B)
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  nullptr },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,  nullptr },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
     #endif
+
     #ifdef TCCR4A
-      case TIMER4C:   ++q;
-      case TIMER4B:   ++q;
-      case TIMER4A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR4A,  &TCCR4B,  &TCCR4C },
-          /*OCRnQ*/   { &OCR4A,   &OCR4B,   &OCR4C },
-          /*ICRn*/      &ICR4,
-          /*n, q*/      4, q
-        };
-        return timer;
-      }
+      case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
+        return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
     #endif
+
     #ifdef TCCR5A
-      case TIMER5C:   ++q;
-      case TIMER5B:   ++q;
-      case TIMER5A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR5A,  &TCCR5B,  &TCCR5C },
-          /*OCRnQ*/   { &OCR5A,   &OCR5B,   &OCR5C },
-          /*ICRn*/      &ICR5,
-          /*n, q*/      5, q
-        };
-        return timer;
-      }
+      case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
+        return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
     #endif
   }
-  Timer timer = {
-      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
-      /*OCRnQ*/   { nullptr, nullptr, nullptr },
-      /*ICRn*/      nullptr,
-                    0, 0
-  };
-  return timer;
+
+  return Timer();
 }
 
-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  Timer timer = get_pwm_timer(pin);
-  if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
-  uint16_t size;
-  if (timer.n == 2) size = 255; else size = 65535;
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  const Timer timer = get_pwm_timer(pin);
+  if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
-  uint16_t res = 255;   // resolution (TOP value)
-  uint8_t j = 0;        // prescaler index
-  uint8_t wgm = 1;      // waveform generation mode
+  const bool is_timer2 = timer.n == 2;
+  const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
+
+  uint16_t res = 0xFF;        // resolution (TOP value)
+  uint8_t j = CS_NONE;        // prescaler index
+  uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
 
   // Calculating the prescaler and resolution to use to achieve closest frequency
   if (f_desired != 0) {
-    int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
-    uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
+    constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 };  // (*) are Timer 2 only
+    uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1;           // Start with the lowest non-zero frequency achievable (1 or 31)
 
-    // loop over prescaler values
-    LOOP_S_L_N(i, 1, 8) {
-      uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
-      if (timer.n == 2) {
-        // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-          res_temp_fast = rtf - 1;
-          res_temp_phase_correct = rtf / 2;
+    LOOP_L_N(i, COUNT(prescaler)) {                           // Loop through all prescaler values
+      const uint16_t p = prescaler[i];
+      uint16_t res_fast_temp, res_pc_temp;
+      if (is_timer2) {
+        #if ENABLED(USE_OCR2A_AS_TOP)                         // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
+          const uint16_t rft = (F_CPU) / (p * f_desired);
+          res_fast_temp = rft - 1;
+          res_pc_temp = rft / 2;
+        #else
+          res_fast_temp = res_pc_temp = maxtop;
         #endif
       }
       else {
-        // Skip TIMER2 specific prescalers when not TIMER2
-        if (i == 3 || i == 5) continue;
-        const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-        res_temp_fast = rtf - 1;
-        res_temp_phase_correct = rtf / 2;
+        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
+        const uint16_t rft = (F_CPU) / (p * f_desired);
+        res_fast_temp = rft - 1;
+        res_pc_temp = rft / 2;
       }
 
-      LIMIT(res_temp_fast, 1U, size);
-      LIMIT(res_temp_phase_correct, 1U, size);
+      LIMIT(res_fast_temp, 1U, maxtop);
+      LIMIT(res_pc_temp, 1U, maxtop);
+
       // Calculate frequencies of test prescaler and resolution values
-      const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
-                f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
-                f_diff = ABS(f - f_desired),
-                f_fast_diff = ABS(f_temp_fast - f_desired),
-                f_phase_diff = ABS(f_temp_phase_correct - f_desired);
+      const uint32_t f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
+                     f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+                     f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
+                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp),
+                     f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
 
-      // If FAST values are closest to desired f
-      if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
-        // Remember this combination
-        f = f_temp_fast;
-        res = res_temp_fast;
-        j = i;
+      if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
         // Set the Wave Generation Mode to FAST PWM
-        if (timer.n == 2)
-          wgm = TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM);
-        else
-          wgm = WGM_FAST_PWM_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
+        // Remember this combination
+        f = f_fast_temp; res = res_fast_temp; j = i + 1;
       }
-      // If PHASE CORRECT values are closes to desired f
-      else if (f_phase_diff < f_diff) {
-        f = f_temp_phase_correct;
-        res = res_temp_phase_correct;
-        j = i;
+      else if (f_pc_diff < f_diff) {                          // PHASE CORRECT values are closes to desired f
         // Set the Wave Generation Mode to PWM PHASE CORRECT
-        if (timer.n == 2)
-          wgm = TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_FAST_PWM);
-        else
-          wgm = WGM_PWM_PC_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
+        f = f_pc_temp; res = res_pc_temp; j = i + 1;
       }
     }
   }
-  _SET_WGMnQ(timer.TCCRnQ, wgm);
-  _SET_CSn(timer.TCCRnQ, j);
 
-  if (timer.n == 2) {
-    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer.OCRnQ, 0, res));  // Set OCR2A value (TOP) = res
+  _SET_WGMnQ(timer, wgm);
+  _SET_CSn(timer, j);
+
+  if (is_timer2) {
+    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res
   }
   else
-    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
+    _SET_ICRn(timer, res);                              // Set ICRn value (TOP) = res
 }
 
-#endif // NEEDS_HARDWARE_PWM
-
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  #if NEEDS_HARDWARE_PWM
-
-    // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
-    // Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
-    if (v == 0)
-      digitalWrite(pin, invert);
-    else if (v == v_size)
-      digitalWrite(pin, !invert);
-    else {
-      Timer timer = get_pwm_timer(pin);
-      if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
-      // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
-      _SET_COMnQ(timer.TCCRnQ, timer.q TERN_(HAS_TCCR2, + (timer.q == 2)), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2
-      const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
-      _SET_OCRnQ(timer.OCRnQ, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
+  // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
+  if (v == 0)
+    digitalWrite(pin, invert);
+  else if (v == v_size)
+    digitalWrite(pin, !invert);
+  else {
+    const Timer timer = get_pwm_timer(pin);
+    if (timer.isPWM) {
+      if (timer.n == 0) {
+        _SET_COMnQ(timer, timer.q, COM_CLEAR_SET);  // Only allow a TIMER0B select...
+        _SET_OCRnQ(timer, timer.q, v);              // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted.
+      }
+      else if (!timer.isProtected) {
+        const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
+        _SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert);   // COM20 is on bit 4 of TCCR2, so +1 for q==2
+        _SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
+      }
     }
+    else
+      digitalWrite(pin, v < v_size / 2 ? LOW : HIGH);
+  }
+}
 
-  #else
+void MarlinHAL::init_pwm_timers() {
+  // Init some timer frequencies to a default 1KHz
+  const pin_t pwm_pin[] = {
+    #ifdef __AVR_ATmega2560__
+      10, 5, 6, 46
+    #elif defined(__AVR_ATmega1280__)
+      12, 31
+    #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
+      15, 6
+    #elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
+      16, 24
+    #endif
+  };
 
-    analogWrite(pin, v);
-    UNUSED(v_size);
-    UNUSED(invert);
-
-  #endif
+  LOOP_L_N(i, COUNT(pwm_pin))
+    set_pwm_frequency(pwm_pin[i], 1000);
 }
 
 #endif // __AVR__

Marlin/src/HAL/AVR/fastio.cpp

@@ -245,7 +245,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
   float count = 0;
   if (hz > 0 && (dca || dcb || dcc)) {
     count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
-    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5KHz (>31)
+    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5kHz (>31)
 
          if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
     else if (count >= 255. * 64.)  { prescaler = 256;  SET_CS(5,  PRESCALER_256); }
@@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     const float pwm_top = round(count);   // Get the rounded count
 
     ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
-    OCR5A = pwm_top * ABS(dca);          // Update and scale DCs
+    OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
     OCR5B = pwm_top * ABS(dcb);
     OCR5C = pwm_top * ABS(dcc);
     _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
@@ -277,7 +277,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     // Restore the default for Timer 5
     SET_WGM(5, PWM_PC_8);                 // PWM 8-bit (Phase Correct)
     SET_COMS(5, NORMAL, NORMAL, NORMAL);  // Do nothing
-    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250KHz
+    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
     OCR5A = OCR5B = OCR5C = 0;
   }
   return round(count);

Marlin/src/HAL/AVR/fastio.h

@@ -118,7 +118,7 @@
  */
 
 // Waveform Generation Modes
-enum WaveGenMode : char {
+enum WaveGenMode : uint8_t {
   WGM_NORMAL,          //  0
   WGM_PWM_PC_8,        //  1
   WGM_PWM_PC_9,        //  2
@@ -138,19 +138,19 @@ enum WaveGenMode : char {
 };
 
 // Wavefore Generation Modes (Timer 2 only)
-enum WaveGenMode2 : char {
-  WGM2_NORMAL,          // 0
-  WGM2_PWM_PC,          // 1
-  WGM2_CTC_OCR2A,       // 2
-  WGM2_FAST_PWM,        // 3
-  WGM2_reserved_1,      // 4
-  WGM2_PWM_PC_OCR2A,    // 5
-  WGM2_reserved_2,      // 6
-  WGM2_FAST_PWM_OCR2A,  // 7
+enum WaveGenMode2 : uint8_t {
+  WGM2_NORMAL,         // 0
+  WGM2_PWM_PC,         // 1
+  WGM2_CTC_OCR2A,      // 2
+  WGM2_FAST_PWM,       // 3
+  WGM2_reserved_1,     // 4
+  WGM2_PWM_PC_OCR2A,   // 5
+  WGM2_reserved_2,     // 6
+  WGM2_FAST_PWM_OCR2A, // 7
 };
 
 // Compare Modes
-enum CompareMode : char {
+enum CompareMode : uint8_t {
   COM_NORMAL,          //  0
   COM_TOGGLE,          //  1  Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
   COM_CLEAR_SET,       //  2  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
@@ -158,7 +158,7 @@ enum CompareMode : char {
 };
 
 // Clock Sources
-enum ClockSource : char {
+enum ClockSource : uint8_t {
   CS_NONE,             //  0
   CS_PRESCALER_1,      //  1
   CS_PRESCALER_8,      //  2
@@ -170,7 +170,7 @@ enum ClockSource : char {
 };
 
 // Clock Sources (Timer 2 only)
-enum ClockSource2 : char {
+enum ClockSource2 : uint8_t {
   CS2_NONE,            //  0
   CS2_PRESCALER_1,     //  1
   CS2_PRESCALER_8,     //  2
@@ -203,11 +203,6 @@ enum ClockSource2 : char {
     TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
   }while(0)
 #define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
-// Runtime (see set_pwm_frequency):
-#define _SET_WGMnQ(TCCRnQ, V) do{ \
-    *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
-    *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
-  }while(0)
 
 // Set Clock Select bits
 // Ex: SET_CS3(PRESCALER_64);
@@ -235,8 +230,6 @@ enum ClockSource2 : char {
 #define SET_CS4(V) _SET_CS4(CS_##V)
 #define SET_CS5(V) _SET_CS5(CS_##V)
 #define SET_CS(T,V) SET_CS##T(V)
-// Runtime (see set_pwm_frequency)
-#define _SET_CSn(TCCRnQ, V) (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
 
 // Set Compare Mode bits
 // Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
@@ -246,16 +239,6 @@ enum ClockSource2 : char {
 #define SET_COMB(T,V) SET_COM(T,B,V)
 #define SET_COMC(T,V) SET_COM(T,C,V)
 #define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
-// Runtime (see set_pwm_duty)
-#define _SET_COMnQ(TCCRnQ, Q, V) (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
-
-// Set OCRnQ register
-// Runtime (see set_pwm_duty):
-#define _SET_OCRnQ(OCRnQ, Q, V) (*(OCRnQ)[Q] = int(V) & 0xFFFF)
-
-// Set ICRn register (one per timer)
-// Runtime (see set_pwm_frequency)
-#define _SET_ICRn(ICRn, V) (*(ICRn) = int(V) & 0xFFFF)
 
 // Set Noise Canceler bit
 // Ex: SET_ICNC(2,1)

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

@@ -25,11 +25,51 @@
  * Test AVR-specific configuration values for errors at compile-time.
  */
 
+/**
+ * Check for common serial pin conflicts
+ */
+#define CHECK_SERIAL_PIN(N) ( \
+     X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
+  || X_MIN_PIN  == N || Y_MIN_PIN  == N || Z_MIN_PIN  == N \
+  || X_MAX_PIN  == N || Y_MAX_PIN  == N || Z_MAX_PIN  == N \
+  || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
+  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
+  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+  || BTN_EN1    == N || BTN_EN2    == N \
+)
+#if CONF_SERIAL_IS(0)
+  // D0-D1. No known conflicts.
+#endif
+#if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__)
+  #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+    #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+  #endif
+#else
+  #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11))
+    #error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board."
+  #endif
+#endif
+#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
+#endif
+#undef CHECK_SERIAL_PIN
+
 /**
  * Checks for FAST PWM
  */
 #if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2)
-  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2."
+#endif
+
+/**
+ * Checks for SOFT PWM
+ */
+#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER)
+  #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)."
+  #error "Disable SPEAKER or enable FAN_SOFT_PWM."
 #endif
 
 /**
@@ -42,7 +82,7 @@
   #elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5)
     #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system."
   #endif
-#elif defined(SPINDLE_LASER_FREQUENCY)
+#elif SPINDLE_LASER_FREQUENCY
   #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM."
 #endif
 
@@ -63,3 +103,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on AVR boards."
+#endif

Marlin/src/HAL/AVR/math.h

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

Marlin/src/HAL/AVR/pinsDebug.h

@@ -74,7 +74,7 @@
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin
 
 void PRINT_ARRAY_NAME(uint8_t x) {
-  char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
+  PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
   LOOP_L_N(y, MAX_NAME_LENGTH) {
     char temp_char = pgm_read_byte(name_mem_pointer + y);
     if (temp_char != 0)

Marlin/src/HAL/AVR/timers.h

@@ -58,9 +58,9 @@ typedef uint16_t hal_timer_t;
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
 #define STEPPER_ISR_ENABLED()             TEST(TIMSK1, OCIE1A)
 
-#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0B)
-#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0B)
-#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0B)
+#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0A)
+#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0A)
+#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0A)
 
 FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
   switch (timer_num) {
@@ -87,7 +87,7 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
     case MF_TIMER_TEMP:
       // Use timer0 for temperature measurement
       // Interleave temperature interrupt with millies interrupt
-      OCR0B = 128;
+      OCR0A = 128;
       break;
   }
 }
@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
 
-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
 
+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
@@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \
     :                                   \
     : [timsk0] "i" ((uint16_t)&TIMSK0), \
       [timsk1] "i" ((uint16_t)&TIMSK1), \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)),\
       [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
     : \
   ); \
@@ -193,9 +193,9 @@ void TIMER1_COMPA_vect_bottom()
 
 /* 14 cycles maximum latency */
 #define HAL_TEMP_TIMER_ISR() \
-extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER0_COMPB_vect_bottom()  asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER0_COMPB_vect() { \
+extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
+extern "C" void TIMER0_COMPA_vect_bottom()  asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
+void TIMER0_COMPA_vect() { \
   __asm__ __volatile__ ( \
     A("push r16")                       /* 2 Save R16 */ \
     A("in r16, __SREG__")               /* 1 Get SREG */ \
@@ -223,7 +223,7 @@ void TIMER0_COMPB_vect() { \
     A("push r30")                       \
     A("push r31")                       \
     A("clr r1")                         /* C runtime expects this register to be 0 */ \
-    A("call TIMER0_COMPB_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
+    A("call TIMER0_COMPA_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
     A("pop r31")                        \
     A("pop r30")                        \
     A("pop r27")                        \
@@ -251,10 +251,10 @@ void TIMER0_COMPB_vect() { \
     A("reti")                           /* 4 Return from interrupt */ \
     :                                   \
     : [timsk0] "i"((uint16_t)&TIMSK0),  \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)) \
     : \
   ); \
 } \
-void TIMER0_COMPB_vect_bottom()
+void TIMER0_COMPA_vect_bottom()
 
 #endif // HAL_TEMP_TIMER_ISR

Marlin/src/HAL/AVR/watchdog.cpp

@@ -1,70 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef __AVR__
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include "watchdog.h"
-
-#include "../../MarlinCore.h"
-
-// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
-void watchdog_init() {
-  #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
-    #define WDTO_NS WDTO_8S
-  #else
-    #define WDTO_NS WDTO_4S
-  #endif
-  #if ENABLED(WATCHDOG_RESET_MANUAL)
-    // Enable the watchdog timer, but only for the interrupt.
-    // Take care, as this requires the correct order of operation, with interrupts disabled.
-    // See the datasheet of any AVR chip for details.
-    wdt_reset();
-    cli();
-    _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
-    _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
-                                                                              // So worked for up to WDTO_2S
-    sei();
-    wdt_reset();
-  #else
-    wdt_enable(WDTO_NS); // The function handles the upper bit correct.
-  #endif
-  //delay(10000); // test it!
-}
-
-//===========================================================================
-//=================================== ISR ===================================
-//===========================================================================
-
-// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
-#if ENABLED(WATCHDOG_RESET_MANUAL)
-  ISR(WDT_vect) {
-    sei();  // With the interrupt driven serial we need to allow interrupts.
-    SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
-    minkill();  // interrupt-safe final kill and infinite loop
-  }
-#endif
-
-#endif // USE_WATCHDOG
-#endif // __AVR__

Marlin/src/HAL/DUE/HAL.cpp

@@ -25,7 +25,7 @@
 #ifdef ARDUINO_ARCH_SAM
 
 #include "../../inc/MarlinConfig.h"
-#include "HAL.h"
+#include "../../MarlinCore.h"
 
 #include <Wire.h>
 #include "usb/usb_task.h"
@@ -34,39 +34,33 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
 
-// HAL initialization task
-void HAL_init() {
-  // Initialize the USB stack
+void MarlinHAL::init() {
   #if ENABLED(SDSUPPORT)
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
   #endif
-  usb_task_init();
+  usb_task_init();          // Initialize the USB stack
   TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
-// HAL idle task
-void HAL_idletask() {
-  // Perform USB stack housekeeping
-  usb_task_idle();
+void MarlinHAL::init_board() {
+  #ifdef BOARD_INIT
+    BOARD_INIT();
+  #endif
 }
 
-// Disable interrupts
-void cli() { noInterrupts(); }
+void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping
 
-// Enable interrupts
-void sei() { interrupts(); }
-
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   switch ((RSTC->RSTC_SR >> 8) & 0x07) {
     case 0: return RST_POWER_ON;
     case 1: return RST_BACKUP;
@@ -77,13 +71,105 @@ uint8_t HAL_get_reset_source() {
   }
 }
 
-void HAL_reboot() { rstc_start_software_reset(RSTC); }
+void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
 
-void _delay_ms(const int delay_ms) {
-  // Todo: port for Due?
-  delay(delay_ms);
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  // Initialize watchdog - On SAM3X, Watchdog was already configured
+  //  and enabled or disabled at startup, so no need to reconfigure it
+  //  here.
+  void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or AVR will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() { watchdogReset(); }
+
+#endif
+
+// Override Arduino runtime to either config or disable the watchdog
+//
+// We need to configure the watchdog as soon as possible in the boot
+// process, because watchdog initialization at hardware reset on SAM3X8E
+// is unreliable, and there is risk of unintended resets if we delay
+// that initialization to a later time.
+void watchdogSetup() {
+
+  #if ENABLED(USE_WATCHDOG)
+
+    // 4 seconds timeout
+    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
+
+    // Calculate timeout value in WDT counter ticks: This assumes
+    // the slow clock is running at 32.768 kHz watchdog
+    // frequency is therefore 32768 / 128 = 256 Hz
+    timeout = (timeout << 8) / 1000;
+    if (timeout == 0)
+      timeout = 1;
+    else if (timeout > 0xFFF)
+      timeout = 0xFFF;
+
+    // We want to enable the watchdog with the specified timeout
+    uint32_t value =
+      WDT_MR_WDV(timeout) |               // With the specified timeout
+      WDT_MR_WDD(timeout) |               // and no invalid write window
+    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
+      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
+                                          // to keep PIO controller state
+    #endif
+      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
+      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
+
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // We enable the watchdog timer, but only for the interrupt.
+
+      // Configure WDT to only trigger an interrupt
+      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
+
+      // Disable WDT interrupt (just in case, to avoid triggering it!)
+      NVIC_DisableIRQ(WDT_IRQn);
+
+      // We NEED memory barriers to ensure Interrupts are actually disabled!
+      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+      __DSB();
+      __ISB();
+
+      // Initialize WDT with the given parameters
+      WDT_Enable(WDT, value);
+
+      // Configure and enable WDT interrupt.
+      NVIC_ClearPendingIRQ(WDT_IRQn);
+      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
+      NVIC_EnableIRQ(WDT_IRQn);
+
+    #else
+
+      // a WDT fault triggers a reset
+      value |= WDT_MR_WDRSTEN;
+
+      // Initialize WDT with the given parameters
+      WDT_Enable(WDT, value);
+
+    #endif
+
+    // Reset the watchdog
+    WDT_Restart(WDT);
+
+  #else
+
+    // Make sure to completely disable the Watchdog
+    WDT_Disable(WDT);
+
+  #endif
 }
 
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
 extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
@@ -95,18 +181,9 @@ int freeMemory() {
 }
 
 // ------------------------
-// ADC
+// Serial Ports
 // ------------------------
 
-void HAL_adc_start_conversion(const uint8_t ch) {
-  HAL_adc_result = analogRead(ch);
-}
-
-uint16_t HAL_adc_get_result() {
-  // nop
-  return HAL_adc_result;
-}
-
 // Forward the default serial ports
 #if USING_HW_SERIAL0
   DefaultSerial1 MSerial0(false, Serial);

Marlin/src/HAL/DUE/HAL.h

@@ -32,12 +32,15 @@
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 
 #include <stdint.h>
 
 #include "../../core/serial_hook.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
 typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
 typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@@ -97,60 +100,38 @@ extern DefaultSerial4 MSerial3;
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
+// ------------------------
+// Types
+// ------------------------
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define sei() interrupts()
+#define cli() noInterrupts()
 
-void cli();                     // Disable interrupts
-void sei();                     // Enable interrupts
-
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define CRITICAL_SECTION_START()  const bool _irqon = hal.isr_state(); hal.isr_off()
+#define CRITICAL_SECTION_END()    if (_irqon) hal.isr_on()
 
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // result of last ADC conversion
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
 
 #ifndef analogInputToDigitalPin
   #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
 #endif
 
-#define HAL_ANALOG_SELECT(ch)
-
-inline void HAL_adc_init() {}//todo
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(ch)   HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
 //
-// PWM
-//
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-//
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -159,27 +140,18 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-void HAL_idletask();
-void HAL_init();
-
-//
-// Utility functions
-//
-void _delay_ms(const int delay);
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-int freeMemory();
-
 #pragma GCC diagnostic pop
 
 #ifdef __cplusplus
@@ -189,3 +161,73 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
 #ifdef __cplusplus
   }
 #endif
+
+// Return free RAM between end of heap (or end bss) and whatever is current
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board();    // Called less early in setup()
+  static void reboot();        // Restart the firmware
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/DUE/HAL_SPI.cpp

@@ -31,8 +31,6 @@
 
 /**
  * HAL for Arduino Due and compatible (SAM3X8E)
- *
- * For ARDUINO_ARCH_SAM
  */
 
 #ifdef ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -406,7 +406,7 @@ size_t MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -454,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {

Marlin/src/HAL/DUE/MarlinSerial.h

@@ -118,7 +118,7 @@ public:
   static size_t write(const uint8_t c);
   static void flushTX();
 
-  static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+  static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
 
   FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
   FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }

Marlin/src/HAL/DUE/MarlinSerialUSB.cpp

@@ -41,7 +41,7 @@ extern "C" {
   int udi_cdc_getc();
   bool udi_cdc_is_tx_ready();
   int udi_cdc_putc(int value);
-};
+}
 
 // Pending character
 static int pending_char = -1;

Marlin/src/HAL/DUE/MinSerial.cpp

@@ -25,7 +25,7 @@
 
 #if ENABLED(POSTMORTEM_DEBUGGING)
 
-#include "../shared/HAL_MinSerial.h"
+#include "../shared/MinSerial.h"
 
 #include <stdarg.h>
 

Marlin/src/HAL/DUE/Servo.cpp

@@ -47,12 +47,12 @@
 #include "../shared/servo.h"
 #include "../shared/servo_private.h"
 
-static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset
 
 // ------------------------
 /// Interrupt handler for the TC0 channel 1.
 // ------------------------
-void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
+void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);
 
 #ifdef _useTimer1
   void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
@@ -70,88 +70,92 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
   void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
 #endif
 
-void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
-  // clear interrupt
-  tc->TC_CHANNEL[channel].TC_SR;
-  if (Channel[timer] < 0)
-    tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
-    extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
+void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) {
+  static int8_t Channel[_Nbr_16timers];                               // Servo counters to pulse (or -1 for refresh interval)
+  int8_t cho = Channel[timer];                                        // Handle the prior Channel[timer] first
+  if (cho < 0) {                                                      // Channel -1 indicates the refresh interval completed...
+    tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG;                   // ...so reset the timer
+    if (DisablePending[timer]) {
+      // Disabling only after the full servo period expires prevents
+      // pulses being too close together if immediately re-enabled.
+      DisablePending.clear(timer);
+      TC_Stop(tc, channel);
+      tc->TC_CHANNEL[channel].TC_SR;                                  // clear interrupt
+      return;
+    }
+  }
+  else if (SERVO_INDEX(timer, cho) < ServoCount)                      // prior channel handled?
+    extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW);                  // pulse the prior channel LOW
 
-  Channel[timer]++;    // increment to the next channel
-  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
-    tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
-    if (SERVO(timer,Channel[timer]).Pin.isActive)    // check if activated
-      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
+  Channel[timer] = ++cho;                                             // go to the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks;
+    if (SERVO(timer, cho).Pin.isActive)                               // activated?
+      extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);               // yes: pulse HIGH
   }
   else {
     // finished all channels so wait for the refresh period to expire before starting over
-    tc->TC_CHANNEL[channel].TC_RA =
-      tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
-        ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
-        : tc->TC_CHANNEL[channel].TC_CV + 4;        // at least REFRESH_INTERVAL has elapsed
-    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+    const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed
+                       ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    tc->TC_CHANNEL[channel].TC_RA = max(cval, ival);
+
+    Channel[timer] = -1;                                              // reset the timer CCR on the next call
   }
+
+  tc->TC_CHANNEL[channel].TC_SR;                                      // clear interrupt
 }
 
 static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
   pmc_enable_periph_clk(id);
   TC_Configure(tc, channel,
-    TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
-    TC_CMR_WAVE |                // Waveform mode
-    TC_CMR_WAVSEL_UP_RC );       // Counter running up and reset when equals to RC
+      TC_CMR_WAVE                   // Waveform mode
+    | TC_CMR_WAVSEL_UP_RC           // Counter running up and reset when equal to RC
+    | (SERVO_TIMER_PRESCALER ==   2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2
+    | (SERVO_TIMER_PRESCALER ==   8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8
+    | (SERVO_TIMER_PRESCALER ==  32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32
+    | (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128
+  );
 
-  /* 84MHz, MCK/32, for 1.5ms: 3937 */
-  TC_SetRA(tc, channel, 2625); // 1ms
+  // Wait 1ms before the first ISR
+  TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms
 
-  /* Configure and enable interrupt */
+  // Configure and enable interrupt
   NVIC_EnableIRQ(irqn);
-  // TC_IER_CPAS: RA Compare
-  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
+  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare
 
   // Enables the timer clock and performs a software reset to start the counting
   TC_Start(tc, channel);
 }
 
-void initISR(timer16_Sequence_t timer) {
-  #ifdef _useTimer1
-    if (timer == _timer1)
-      _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
-  #endif
-  #ifdef _useTimer2
-    if (timer == _timer2)
-      _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
-  #endif
-  #ifdef _useTimer3
-    if (timer == _timer3)
-      _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
-  #endif
-  #ifdef _useTimer4
-    if (timer == _timer4)
-      _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
-  #endif
-  #ifdef _useTimer5
-    if (timer == _timer5)
-      _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
-  #endif
+void initISR(const timer16_Sequence_t timer_index) {
+  CRITICAL_SECTION_START();
+  const bool disable_soon = DisablePending[timer_index];
+  DisablePending.clear(timer_index);
+  CRITICAL_SECTION_END();
+
+  if (!disable_soon) switch (timer_index) {
+    default: break;
+    #ifdef _useTimer1
+      case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
+    #endif
+    #ifdef _useTimer2
+      case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
+    #endif
+    #ifdef _useTimer3
+      case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
+    #endif
+    #ifdef _useTimer4
+      case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
+    #endif
+    #ifdef _useTimer5
+      case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
+    #endif
+  }
 }
 
-void finISR(timer16_Sequence_t) {
-  #ifdef _useTimer1
-    TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
-  #endif
-  #ifdef _useTimer2
-    TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
-  #endif
-  #ifdef _useTimer3
-    TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
-  #endif
-  #ifdef _useTimer4
-    TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
-  #endif
-  #ifdef _useTimer5
-    TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
-  #endif
+void finISR(const timer16_Sequence_t timer_index) {
+  // Timer is disabled from the ISR, to ensure proper final pulse length.
+  DisablePending.set(timer_index);
 }
 
 #endif // HAS_SERVOS

Marlin/src/HAL/DUE/ServoTimers.h

@@ -37,7 +37,7 @@
 #define _useTimer5
 
 #define TRIM_DURATION             2   // compensation ticks to trim adjust for digitalWrite delays
-#define SERVO_TIMER_PRESCALER     32  // timer prescaler
+#define SERVO_TIMER_PRESCALER     2   // timer prescaler
 
 /*
   TC0, chan 0 => TC0_Handler

Marlin/src/HAL/DUE/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

Marlin/src/HAL/DUE/eeprom_flash.cpp

@@ -199,8 +199,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
   for (i = 0; i <PageSize >> 2; i++)
     pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i]));
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM PageWrite   ", page);
+  DEBUG_ECHO_MSG("EEPROM PageWrite   ", page);
   DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
   DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
@@ -245,8 +244,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ", page);
+    DEBUG_ECHO_MSG("EEPROM Unlock failure for page ", page);
     return false;
   }
 
@@ -270,8 +268,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Write failure for page ", page);
+    DEBUG_ECHO_MSG("EEPROM Write failure for page ", page);
 
     return false;
   }
@@ -286,8 +283,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) {
   if (memcmp(getFlashStorage(page),data,PageSize)) {
 
     #ifdef EE_EMU_DEBUG
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Verify Write failure for page ", page);
+      DEBUG_ECHO_MSG("EEPROM Verify Write failure for page ", page);
 
       ee_Dump( page, (uint32_t *)addrflash);
       ee_Dump(-page, data);
@@ -325,8 +321,7 @@ static bool ee_PageErase(uint16_t page) {
   uint16_t i;
   uint32_t addrflash = uint32_t(getFlashStorage(page));
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM PageErase  ", page);
+  DEBUG_ECHO_MSG("EEPROM PageErase  ", page);
   DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash);
   DEBUG_ECHOLNPGM(" base address     ", (uint32_t)getFlashStorage(0));
   DEBUG_FLUSH();
@@ -370,8 +365,7 @@ static bool ee_PageErase(uint16_t page) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Unlock failure for page ",page);
+    DEBUG_ECHO_MSG("EEPROM Unlock failure for page ",page);
 
     return false;
   }
@@ -394,8 +388,7 @@ static bool ee_PageErase(uint16_t page) {
     // Reenable interrupts
     __enable_irq();
 
-    DEBUG_ECHO_START();
-    DEBUG_ECHOLNPGM("EEPROM Erase failure for page ",page);
+    DEBUG_ECHO_MSG("EEPROM Erase failure for page ",page);
 
     return false;
   }
@@ -410,8 +403,7 @@ static bool ee_PageErase(uint16_t page) {
   uint32_t * aligned_src = (uint32_t *) addrflash;
   for (i = 0; i < PageSize >> 2; i++) {
     if (*aligned_src++ != 0xFFFFFFFF) {
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Verify Erase failure for page ",page);
+      DEBUG_ECHO_MSG("EEPROM Verify Erase failure for page ",page);
       ee_Dump(page, (uint32_t *)addrflash);
       return false;
     }
@@ -921,8 +913,7 @@ static void ee_Init() {
   // If all groups seem to be used, default to first group
   if (curGroup >= GroupCount) curGroup = 0;
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM Current Group: ",curGroup);
+  DEBUG_ECHO_MSG("EEPROM Current Group: ",curGroup);
   DEBUG_FLUSH();
 
   // Now, validate that all the other group pages are empty
@@ -931,8 +922,7 @@ static void ee_Init() {
 
     for (int page = 0; page < PagesPerGroup; page++) {
       if (!ee_IsPageClean(grp * PagesPerGroup + page)) {
-        DEBUG_ECHO_START();
-        DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on group ", grp);
+        DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on group ", grp);
         DEBUG_FLUSH();
         ee_PageErase(grp * PagesPerGroup + page);
       }
@@ -948,15 +938,13 @@ static void ee_Init() {
     }
   }
 
-  DEBUG_ECHO_START();
-  DEBUG_ECHOLNPGM("EEPROM Active page: ", curPage);
+  DEBUG_ECHO_MSG("EEPROM Active page: ", curPage);
   DEBUG_FLUSH();
 
   // Make sure the pages following the first clean one are also clean
   for (int page = curPage + 1; page < PagesPerGroup; page++) {
     if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) {
-      DEBUG_ECHO_START();
-      DEBUG_ECHOLNPGM("EEPROM Page ", page, " not clean on active group ", curGroup);
+      DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on active group ", curGroup);
       DEBUG_FLUSH();
       ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page));
       ee_PageErase(curGroup * PagesPerGroup + page);

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -70,4 +70,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
   TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
   TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }

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

@@ -25,7 +25,7 @@
  * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
  * that interrupt.
  *
- * All PWMs use the same repetition rate.  The G2 needs about 10KHz min in order to
+ * All PWMs use the same repetition rate.  The G2 needs about 10kHz min in order to
  * not have obvious ripple on the Vref signals.
  *
  * The data structures are setup to minimize the computation done by the ISR which

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

@@ -25,6 +25,30 @@
  * Test Arduino Due specific configuration values for errors at compile-time.
  */
 
+/**
+ * Check for common serial pin conflicts
+ */
+#define CHECK_SERIAL_PIN(N) ( \
+     X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \
+  || X_MIN_PIN  == N || Y_MIN_PIN  == N || Z_MIN_PIN  == N \
+  || X_MAX_PIN  == N || Y_MAX_PIN  == N || Z_MAX_PIN  == N \
+  || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
+  || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
+  || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+)
+#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#endif
+#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+  #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
+#endif
+#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+  #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
+#endif
+#undef CHECK_SERIAL_PIN
+
 /**
  * HARDWARE VS. SOFTWARE SPI COMPATIBILITY
  *
@@ -59,3 +83,7 @@
 #if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on the DUE platform."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on DUE boards."
+#endif

Marlin/src/HAL/DUE/pinsDebug.h

@@ -53,7 +53,7 @@
  *     The net result is that both the g_pinStatus[pin] array and the PIO_OSR register
  *     needs to be looked at when determining if a pin is an input or an output.
  *
- * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1KHz
+ * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1kHz
  *
  * c) NUM_DIGITAL_PINS does not include the analog pins
  *
@@ -86,7 +86,6 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
           || pwm_status(pin));
 }
 
-
 void pwm_details(int32_t pin) {
   if (pwm_status(pin)) {
     uint32_t chan = g_APinDescription[pin].ulPWMChannel;

Marlin/src/HAL/DUE/timers.cpp

@@ -89,10 +89,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   NVIC_SetPriority(irq, timer_config[timer_num].priority);
 
   // wave mode, reset counter on match with RC,
-  TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
+  TC_Configure(tc, channel,
+      TC_CMR_WAVE
+    | TC_CMR_WAVSEL_UP_RC
+    | (HAL_TIMER_PRESCALER ==   2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0)
+    | (HAL_TIMER_PRESCALER ==   8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0)
+    | (HAL_TIMER_PRESCALER ==  32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0)
+    | (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0)
+  );
 
   // Set compare value
-  TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency);
+  TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency);
 
   // And start timer
   TC_Start(tc, channel);

Marlin/src/HAL/DUE/timers.h

@@ -35,7 +35,8 @@
 typedef uint32_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
 
-#define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
+#define HAL_TIMER_PRESCALER    2
+#define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
 
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP         2  // Timer Index for Stepper
@@ -125,4 +126,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

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

@@ -1059,7 +1059,7 @@ static inline void convert_64_bit_to_byte_array(uint64_t value, uint8_t *data)
     while (val_index < 8)
     {
         data[val_index++] = value & 0xFF;
-        value = value >> 8;
+        value >>= 8;
     }
 }
 

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

@@ -10,7 +10,7 @@
 
 #include "../../../sd/cardreader.h"
 extern "C" {
-#include "sd_mmc_spi_mem.h"
+  #include "sd_mmc_spi_mem.h"
 }
 
 #define SD_MMC_BLOCK_SIZE 512

Marlin/src/HAL/DUE/watchdog.cpp

@@ -1,114 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef ARDUINO_ARCH_SAM
-
-#include "../../inc/MarlinConfig.h"
-#include "../../MarlinCore.h"
-#include "watchdog.h"
-
-// Override Arduino runtime to either config or disable the watchdog
-//
-// We need to configure the watchdog as soon as possible in the boot
-// process, because watchdog initialization at hardware reset on SAM3X8E
-// is unreliable, and there is risk of unintended resets if we delay
-// that initialization to a later time.
-void watchdogSetup() {
-
-  #if ENABLED(USE_WATCHDOG)
-
-    // 4 seconds timeout
-    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
-
-    // Calculate timeout value in WDT counter ticks: This assumes
-    // the slow clock is running at 32.768 kHz watchdog
-    // frequency is therefore 32768 / 128 = 256 Hz
-    timeout = (timeout << 8) / 1000;
-    if (timeout == 0)
-      timeout = 1;
-    else if (timeout > 0xFFF)
-      timeout = 0xFFF;
-
-    // We want to enable the watchdog with the specified timeout
-    uint32_t value =
-      WDT_MR_WDV(timeout) |               // With the specified timeout
-      WDT_MR_WDD(timeout) |               // and no invalid write window
-    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
-      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
-                                          // to keep PIO controller state
-    #endif
-      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
-      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
-
-    #if ENABLED(WATCHDOG_RESET_MANUAL)
-      // We enable the watchdog timer, but only for the interrupt.
-
-      // Configure WDT to only trigger an interrupt
-      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
-
-      // Disable WDT interrupt (just in case, to avoid triggering it!)
-      NVIC_DisableIRQ(WDT_IRQn);
-
-      // We NEED memory barriers to ensure Interrupts are actually disabled!
-      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
-      __DSB();
-      __ISB();
-
-      // Initialize WDT with the given parameters
-      WDT_Enable(WDT, value);
-
-      // Configure and enable WDT interrupt.
-      NVIC_ClearPendingIRQ(WDT_IRQn);
-      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
-      NVIC_EnableIRQ(WDT_IRQn);
-
-    #else
-
-      // a WDT fault triggers a reset
-      value |= WDT_MR_WDRSTEN;
-
-      // Initialize WDT with the given parameters
-      WDT_Enable(WDT, value);
-
-    #endif
-
-    // Reset the watchdog
-    WDT_Restart(WDT);
-
-  #else
-
-    // Make sure to completely disable the Watchdog
-    WDT_Disable(WDT);
-
-  #endif
-}
-
-#if ENABLED(USE_WATCHDOG)
-  // Initialize watchdog - On SAM3X, Watchdog was already configured
-  //  and enabled or disabled at startup, so no need to reconfigure it
-  //  here.
-  void watchdog_init() {
-    // Reset watchdog to start clean
-    WDT_Restart(WDT);
-  }
-#endif // USE_WATCHDOG
-
-#endif

Marlin/src/HAL/ESP32/HAL.cpp

@@ -52,7 +52,7 @@
 // Externs
 // ------------------------
 
-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 // ------------------------
 // Local defines
@@ -64,7 +64,8 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
+pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];
 
 // ------------------------
 // Private Variables
@@ -73,9 +74,16 @@ uint16_t HAL_adc_result;
 esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
 adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
 uint32_t thresholds[ADC_ATTEN_MAX];
-volatile int numPWMUsed = 0,
-             pwmPins[MAX_PWM_PINS],
-             pwmValues[MAX_PWM_PINS];
+
+volatile int numPWMUsed = 0;
+volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
+
+pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
+
+struct {
+  uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
+  uint16_t res;
+} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
 
 // ------------------------
 // Public functions
@@ -95,20 +103,22 @@ volatile int numPWMUsed = 0,
 #endif
 
 #if ENABLED(USE_ESP32_EXIO)
+
   HardwareSerial YSerial2(2);
 
   void Write_EXIO(uint8_t IO, uint8_t v) {
-    if (ISRS_ENABLED()) {
-      DISABLE_ISRS();
+    if (hal.isr_state()) {
+      hal.isr_off();
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
-      ENABLE_ISRS();
+      hal.isr_on();
     }
     else
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
   }
+
 #endif
 
-void HAL_init_board() {
+void MarlinHAL::init_board() {
   #if ENABLED(USE_ESP32_TASK_WDT)
     esp_task_wdt_init(10, true);
   #endif
@@ -154,27 +164,51 @@ void HAL_init_board() {
   #endif
 }
 
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if BOTH(WIFISUPPORT, OTASUPPORT)
     OTA_handle();
   #endif
   TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }
 
-void HAL_clear_reset_source() { }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
-
-void HAL_reboot() { ESP.restart(); }
+void MarlinHAL::reboot() { ESP.restart(); }
 
 void _delay_ms(int delay_ms) { delay(delay_ms); }
 
 // return free memory between end of heap (or end bss) and whatever is current
-int freeMemory() { return ESP.getFreeHeap(); }
+int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
+
+// ------------------------
+// Watchdog Timer
+// ------------------------
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  extern "C" {
+    esp_err_t esp_task_wdt_reset();
+  }
+
+  void watchdogSetup() {
+    // do whatever. don't remove this function.
+  }
+
+  void MarlinHAL::watchdog_init() {
+    // TODO
+  }
+
+  // Reset watchdog.
+  void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); }
+
+#endif
 
 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
 
 adc1_channel_t get_channel(int pin) {
@@ -196,22 +230,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
   }
 }
 
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
   // Configure ADC
   adc1_config_width(ADC_WIDTH_12Bit);
 
   // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
-  TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
-  TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_0,        adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_1,        adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_2,        adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_3,        adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_4,        adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_5,        adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_6,        adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_ADC_7,        adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_HEATED_BED,        adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_CHAMBER,      adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_PROBE,        adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_COOLER,       adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_BOARD,        adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
   TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
 
   // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -226,11 +262,16 @@ void HAL_adc_init() {
   }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+#ifndef ADC_REFERENCE_VOLTAGE
+  #define ADC_REFERENCE_VOLTAGE 3.3
+#endif
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+
+  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;
@@ -247,25 +288,106 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
   adc1_set_attenuation(chan, atten);
 }
 
-void analogWrite(pin_t pin, int value) {
-  // Use ledc hardware for internal pins
-  if (pin < 34) {
-    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
-    if (pin_to_channel[pin] == 0) {
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 490, 8);
-      ledcWrite(cnt_channel, value);
-      pin_to_channel[pin] = cnt_channel++;
+// ------------------------
+// PWM
+// ------------------------
+
+int8_t channel_for_pin(const uint8_t pin) {
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
+    if (chan_pin[i] == pin) return i;
+  return -1;
+}
+
+// get PWM channel for pin - if none then attach a new one
+// return -1 if fail or invalid pin#, channel # (0-15) if success
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
+  if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
+  int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) return cid;
+
+  // Find an empty adjacent channel (same timer & freq/res)
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
+    if (chan_pin[i] == 0) {
+      if (chan_pin[i ^ 0x1] != 0) {
+        if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
+          chan_pin[i] = pin; // Allocate PWM to this channel
+          ledcAttachPin(pin, i);
+          return i;
+        }
+      }
+      else if (cid == -1)    // Pair of empty channels?
+        cid = i & 0xFE;      // Save lower channel number
     }
-    ledcWrite(pin_to_channel[pin], value);
+  }
+  // not attached, is an empty timer slot avail?
+  if (cid >= 0) {
+    chan_pin[cid] = pin;
+    pwmInfo[cid / 2].freq = freq;
+    pwmInfo[cid / 2].res = res;
+    ledcSetup(cid, freq, res);
+    ledcAttachPin(pin, cid);
+  }
+  return cid; // -1 if no channel avail
+}
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      const uint8_t pinlo = pin & 0x7F;
+      pwm_pin_t &pindata = pwm_pin_data[pinlo];
+      const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
+      if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
+        pindata.pwm_duty_ticks = 0;  // turn off PWM for this pin
+        duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
+      }
+      else
+        pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
+    }
+    else
+  #endif
+    {
+      const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+      if (cid >= 0) {
+        const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+        ledcWrite(cid, duty);
+      }
+    }
+}
+
+int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
+      return 0;
+    }
+    else
+  #endif
+    {
+      const int8_t cid = channel_for_pin(pin);
+      if (cid >= 0) {
+        if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+        ledcDetachPin(chan_pin[cid]);
+        chan_pin[cid] = 0;              // remove old freq channel
+      }
+      return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+    }
+}
+
+// use hardware PWM if avail, if not then ISR
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
+  // Use ledc hardware for internal pins
+  const int8_t cid = get_pwm_channel(pin, freq, res);
+  if (cid >= 0) {
+    ledcWrite(cid, value); // set duty value
     return;
   }
 
+  // not a hardware PWM pin OR no PWM channels available
   int idx = -1;
 
   // Search Pin
   for (int i = 0; i < numPWMUsed; ++i)
-    if (pwmPins[i] == pin) { idx = i; break; }
+    if (pwmState[i].pin == pin) { idx = i; break; }
 
   // not found ?
   if (idx < 0) {
@@ -274,7 +396,7 @@ void analogWrite(pin_t pin, int value) {
 
     // Take new slot for pin
     idx = numPWMUsed;
-    pwmPins[idx] = pin;
+    pwmState[idx].pin = pin;
     // Start timer on first use
     if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
 
@@ -282,7 +404,7 @@ void analogWrite(pin_t pin, int value) {
   }
 
   // Use 7bit internal value - add 1 to have 100% high at 255
-  pwmValues[idx] = (value + 1) / 2;
+  pwmState[idx].value = (value + 1) / 2;
 }
 
 // Handle PWM timer interrupt
@@ -293,9 +415,9 @@ HAL_PWM_TIMER_ISR() {
 
   for (int i = 0; i < numPWMUsed; ++i) {
     if (count == 0)                   // Start of interval
-      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
-    else if (pwmValues[i] == count)   // End of duration
-      WRITE(pwmPins[i], LOW);
+      digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
+    else if (pwmState[i].value == count)   // End of duration
+      digitalWrite(pwmState[i].pin, LOW);
   }
 
   // 128 for 7 Bit resolution

Marlin/src/HAL/ESP32/HAL.h

@@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 
 #include "fastio.h"
-#include "watchdog.h"
 #include "i2s.h"
 
 #if ENABLED(WIFISUPPORT)
@@ -49,8 +48,6 @@
 // Defines
 // ------------------------
 
-extern portMUX_TYPE spinlock;
-
 #define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -63,26 +60,33 @@ extern portMUX_TYPE spinlock;
   #endif
 #endif
 
-#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
-#define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
+#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock)
+#define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10u   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#ifndef MAX_EXPANDER_BITS
+  #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
+#endif
 
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
-#define HAL_SERVO_LIB Servo
+typedef struct pwm_pin {
+  uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle
+  uint32_t pwm_tick_count = 0;  // current tick count
+  uint32_t pwm_duty_ticks = 0;  // # of ticks for current duty cycle
+} pwm_pin_t;
 
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
 // Public functions
@@ -91,59 +95,18 @@ extern uint16_t HAL_adc_result;
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res);
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);
 
-// clear reset reason
-void HAL_clear_reset_source();
-
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(int delay);
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
-void analogWrite(pin_t pin, int value);
-
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Pin Map
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board();
-void HAL_idletask();
-inline void HAL_init() {}
-void HAL_init_board();
-
 #if ENABLED(USE_ESP32_EXIO)
   void Write_EXIO(uint8_t IO, uint8_t v);
 #endif
@@ -188,3 +151,96 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
   }
 
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init() {}        // Called early in setup()
+  static void init_board();    // Called less early in setup()
+  static void reboot();        // Restart the firmware
+
+  // Interrupts
+  static portMUX_TYPE spinlock;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS];
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * If not already allocated, allocate a hardware PWM channel
+   * to the pin and set the duty cycle..
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Allocate and set the frequency of a hardware PWM pin
+   * Returns -1 if no pin available.
+   */
+  static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
+
+};

Marlin/src/HAL/ESP32/Servo.cpp

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

Marlin/src/HAL/ESP32/Servo.h

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

Marlin/src/HAL/ESP32/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

Marlin/src/HAL/ESP32/endstop_interrupts.h

@@ -65,4 +65,10 @@ void setup_endstop_interrupts() {
   TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
   TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
   TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }

Marlin/src/HAL/ESP32/i2s.cpp

@@ -337,6 +337,26 @@ uint8_t i2s_state(uint8_t pin) {
 }
 
 void i2s_push_sample() {
+  // Every 4µs (when space in DMA buffer) toggle each expander PWM output using
+  // the current duty cycle/frequency so they sync with any steps (once
+  // through the DMA/FIFO buffers).  PWM signal inversion handled by other functions
+  LOOP_L_N(p, MAX_EXPANDER_BITS) {
+    if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm?
+      if (hal.pwm_pin_data[p].pwm_tick_count == 0) {
+        if (TEST32(i2s_port_data, p)) {  // hi->lo
+          CBI32(i2s_port_data, p);
+          hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks;
+        }
+        else { // lo->hi
+          SBI32(i2s_port_data, p);
+          hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks;
+        }
+      }
+      else
+        hal.pwm_pin_data[p].pwm_tick_count--;
+    }
+  }
+
   dma.current[dma.rw_pos++] = i2s_port_data;
 }
 

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

@@ -20,3 +20,10 @@
  *
  */
 #pragma once
+
+//
+// Board-specific options need to be defined before HAL.h
+//
+#if MB(MKS_TINYBEE)
+  #define MAX_EXPANDER_BITS 24  // TinyBee has 3 x HC595
+#endif

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

@@ -25,8 +25,8 @@
   #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
 #endif
 
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
-  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
+#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
+  #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
 #endif
 
 #if HAS_TMC_SW_SERIAL
@@ -40,3 +40,15 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
 #endif
+
+#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
+  #error "FAST_PWM_FAN is not available on TinyBee."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on ESP32 boards."
+#endif
+
+#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE)
+  #error "I2S stream is currently incompatible with LIN_ADVANCE."
+#endif

Marlin/src/HAL/ESP32/timers.cpp

@@ -81,7 +81,7 @@ void IRAM_ATTR timer_isr(void *para) {
  * @param timer_num timer number to initialize
  * @param frequency frequency of the timer
  */
-void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   const tTimerConfig timer = timer_config[timer_num];
 
   timer_config_t config;

Marlin/src/HAL/ESP32/timers.h

@@ -127,7 +127,7 @@ extern const tTimerConfig timer_config[];
 // Public functions
 // ------------------------
 
-void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp

@@ -0,0 +1,94 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfig.h"
+
+#if EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#include <U8glib-HAL.h>
+#include "../shared/HAL_SPI.h"
+#include "HAL.h"
+#include "SPI.h"
+
+static SPISettings spiConfig;
+
+
+#ifndef LCD_SPI_SPEED
+  #ifdef SD_SPI_SPEED
+    #define LCD_SPI_SPEED SD_SPI_SPEED    // Assume SPI speed shared with SD
+  #else
+    #define LCD_SPI_SPEED SPI_FULL_SPEED  // Use full speed if SD speed is not supplied
+  #endif
+#endif
+
+uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP: break;
+
+    case U8G_COM_MSG_INIT:
+      OUT_WRITE(DOGLCD_CS, HIGH);
+      OUT_WRITE(DOGLCD_A0, HIGH);
+      OUT_WRITE(LCD_RESET_PIN, HIGH);
+      u8g_Delay(5);
+      spiBegin();
+      spiInit(LCD_SPI_SPEED);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      WRITE(DOGLCD_A0, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:       /* arg_val == 0 means HIGH level of U8G_PI_CS */
+      WRITE(DOGLCD_CS, arg_val ? LOW : HIGH);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      WRITE(LCD_RESET_PIN, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      spiSend((uint8_t)arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      uint8_t *ptr = (uint8_t*) arg_ptr;
+      while (arg_val > 0) {
+        spiSend(*ptr++);
+        arg_val--;
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/watchdog.cpp

@@ -1,42 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef ARDUINO_ARCH_ESP32
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-#include "watchdog.h"
-
-void watchdogSetup() {
-  // do whatever. don't remove this function.
-}
-
-void watchdog_init() {
-  // TODO
-}
-
-#endif // USE_WATCHDOG
-
-#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/HAL.h

@@ -28,6 +28,7 @@
 #endif
 
 #include HAL_PATH(.,HAL.h)
+extern MarlinHAL hal;
 
 #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION)
 
@@ -44,7 +45,3 @@
 #ifndef PGMSTR
   #define PGMSTR(NAM,STR) const char NAM[] = STR
 #endif
-
-inline void watchdog_refresh() {
-  TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
-}

Marlin/src/HAL/LINUX/HAL.cpp

@@ -24,6 +24,10 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
 
 // U8glib required functions
@@ -37,42 +41,21 @@ extern "C" {
 //************************//
 
 // return free heap space
-int freeMemory() {
-  return 0;
-}
+int freeMemory() { return 0; }
 
 // ------------------------
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint8_t MarlinHAL::active_ch = 0;
 
-}
-
-void HAL_adc_enable_channel(const uint8_t ch) {
-
-}
-
-uint8_t active_ch = 0;
-void HAL_adc_start_conversion(const uint8_t ch) {
-  active_ch = ch;
-}
-
-bool HAL_adc_finished() {
-  return true;
-}
-
-uint16_t HAL_adc_get_result() {
-  pin_t pin = analogInputToDigitalPin(active_ch);
+uint16_t MarlinHAL::adc_value() {
+  const pin_t pin = analogInputToDigitalPin(active_ch);
   if (!VALID_PIN(pin)) return 0;
-  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
   return data;    // return 10bit value as Marlin expects
 }
 
-void HAL_pwm_init() {
-
-}
-
-void HAL_reboot() { /* Reset the application state and GPIO */ }
+void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }
 
 #endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/HAL.h

@@ -21,25 +21,42 @@
  */
 #pragma once
 
-#define CPU_32_BIT
+#include "../../inc/MarlinConfigPre.h"
 
-#define F_CPU 100000000UL
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 
-void _printf (const  char *format, ...);
+#include "hardware/Clock.h"
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "serial.h"
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+void _printf(const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -49,36 +66,27 @@ uint8_t _getc();
 #define B01 1
 #define B10 2
 
-#include "hardware/Clock.h"
-
-#include "../shared/Marduino.h"
-#include "../shared/math_32bit.h"
-#include "../shared/HAL_SPI.h"
-#include "fastio.h"
-#include "watchdog.h"
-#include "serial.h"
-
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT usb_serial;
 #define MYSERIAL1 usb_serial
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
 
-inline void HAL_init() {}
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10
+
+// ------------------------
+// Class Utilities
+// ------------------------
 
-// Utility functions
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
@@ -88,29 +96,70 @@ int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#define HAL_ADC_VREF           5.0
-#define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+class MarlinHAL {
+public:
 
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+  // Watchdog
+  static void watchdog_init() {}
+  static void watchdog_refresh() {}
 
-void HAL_reboot(); // Reset the application state and GPIO
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Reset the application state and GPIO
 
-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+  static void set_pwm_frequency(const pin_t, int) {}
+};

Marlin/src/HAL/LINUX/arduino.cpp

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

Marlin/src/HAL/LINUX/eeprom.cpp

@@ -69,12 +69,12 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
   std::size_t bytes_written = 0;
 
   for (std::size_t i = 0; i < size; i++) {
-    buffer[pos+i] = value[i];
-    bytes_written ++;
+    buffer[pos + i] = value[i];
+    bytes_written++;
   }
 
   crc16(crc, value, size);
-  pos = pos + size;
+  pos += size;
   return (bytes_written != size);  // return true for any error
 }
 
@@ -82,21 +82,21 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin
   std::size_t bytes_read = 0;
   if (writing) {
     for (std::size_t i = 0; i < size; i++) {
-      value[i] = buffer[pos+i];
-      bytes_read ++;
+      value[i] = buffer[pos + i];
+      bytes_read++;
     }
     crc16(crc, value, size);
   }
   else {
     uint8_t temp[size];
     for (std::size_t i = 0; i < size; i++) {
-      temp[i] = buffer[pos+i];
-      bytes_read ++;
+      temp[i] = buffer[pos + i];
+      bytes_read++;
     }
     crc16(crc, temp, size);
   }
 
-  pos = pos + size;
+  pos += size;
   return bytes_read != size;  // return true for any error
 }
 

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

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

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

@@ -59,10 +59,9 @@ typedef uint8_t byte;
 #endif
 
 #define sq(v) ((v) * (v))
-#define square(v) sq(v)
 #define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
 
-//Interrupts
+// Interrupts
 void cli(); // Disable
 void sei(); // Enable
 void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
@@ -74,8 +73,8 @@ extern "C" {
 }
 
 // Time functions
-extern "C" void delay(const int milis);
-void _delay_ms(const int delay);
+extern "C" void delay(const int ms);
+void _delay_ms(const int ms);
 void delayMicroseconds(unsigned long);
 uint32_t millis();
 

Marlin/src/HAL/LINUX/timers.h

@@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/LINUX/watchdog.cpp

@@ -1,37 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef __PLAT_LINUX__
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include "watchdog.h"
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-void watchdog_init() {}
-void HAL_watchdog_refresh() {}
-
-#endif
-
-#endif // __PLAT_LINUX__

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -25,13 +25,9 @@
 #include "../shared/Delay.h"
 #include "../../../gcode/parser.h"
 
-#if ENABLED(USE_WATCHDOG)
-  #include "watchdog.h"
-#endif
-
 DefaultSerial1 USBSerial(false, UsbSerial);
 
-uint32_t HAL_adc_reading = 0;
+uint32_t MarlinHAL::adc_result = 0;
 
 // U8glib required functions
 extern "C" {
@@ -41,8 +37,6 @@ extern "C" {
   void u8g_Delay(uint16_t val)       { delay(val); }
 }
 
-//************************//
-
 // return free heap space
 int freeMemory() {
   char stack_end;
@@ -54,7 +48,71 @@ int freeMemory() {
   return result;
 }
 
-// scan command line for code
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  #if ENABLED(USE_WATCHDOG)
+    if (watchdog_timed_out()) return RST_WATCHDOG;
+  #endif
+  return RST_POWER_ON;
+}
+
+void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); }
+
+void flashFirmware(const int16_t) {
+  delay(500);          // Give OS time to disconnect
+  USB_Connect(false);  // USB clear connection
+  delay(1000);         // Give OS time to notice
+  hal.reboot();
+}
+
+#if ENABLED(USE_WATCHDOG)
+
+  #include <lpc17xx_wdt.h>
+
+  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
+
+  void MarlinHAL::watchdog_init() {
+    #if ENABLED(WATCHDOG_RESET_MANUAL)
+      // We enable the watchdog timer, but only for the interrupt.
+
+      // Configure WDT to only trigger an interrupt
+      // Disable WDT interrupt (just in case, to avoid triggering it!)
+      NVIC_DisableIRQ(WDT_IRQn);
+
+      // We NEED memory barriers to ensure Interrupts are actually disabled!
+      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+      __DSB();
+      __ISB();
+
+      // Configure WDT to only trigger an interrupt
+      // Initialize WDT with the given parameters
+      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
+
+      // Configure and enable WDT interrupt.
+      NVIC_ClearPendingIRQ(WDT_IRQn);
+      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
+      NVIC_EnableIRQ(WDT_IRQn);
+    #else
+      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
+    #endif
+    WDT_Start(WDT_TIMEOUT_US);
+  }
+
+  void MarlinHAL::watchdog_refresh() {
+    WDT_Feed();
+    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+      TOGGLE(LED_PIN);  // heartbeat indicator
+    #endif
+  }
+
+  // Timeout state
+  bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
+  void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
+
+#endif // USE_WATCHDOG
+
+// For M42/M43, scan command line for pin code
 //   return index into pin map array if found and the pin is valid.
 //   return dval if not found or not a valid pin.
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
@@ -63,24 +121,4 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
   return ind > -1 ? ind : dval;
 }
 
-void flashFirmware(const int16_t) {
-  delay(500);          // Give OS time to disconnect
-  USB_Connect(false);  // USB clear connection
-  delay(1000);         // Give OS time to notice
-  HAL_reboot();
-}
-
-void HAL_clear_reset_source(void) {
-  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
-}
-
-uint8_t HAL_get_reset_source(void) {
-  #if ENABLED(USE_WATCHDOG)
-    if (watchdog_timed_out()) return RST_WATCHDOG;
-  #endif
-  return RST_POWER_ON;
-}
-
-void HAL_reboot() { NVIC_SystemReset(); }
-
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.h

@@ -28,8 +28,6 @@
 
 #define CPU_32_BIT
 
-void HAL_init();
-
 #include <stdint.h>
 #include <stdarg.h>
 #include <algorithm>
@@ -40,19 +38,15 @@ extern "C" volatile uint32_t _millis;
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "MarlinSerial.h"
 
 #include <adc.h>
 #include <pinmapping.h>
 #include <CDCSerial.h>
 
-//
-// Default graphical display delays
-//
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
+// ------------------------
+// Serial ports
+// ------------------------
 
 typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
 extern DefaultSerial1 USBSerial;
@@ -114,26 +108,12 @@ extern DefaultSerial1 USBSerial;
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
 //
-// Utility functions
-//
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
-//
-// ADC API
+// ADC
 //
 
 #define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@@ -152,20 +132,9 @@ int freeMemory();
 #define HAL_ADC_RESOLUTION     12   // 15 bit maximum, raw temperature is stored as int16_t
 #define HAL_ADC_FILTERED            // Disable oversampling done in Marlin as ADC values already filtered in HAL
 
-using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
-extern uint32_t HAL_adc_reading;
-[[gnu::always_inline]] inline void HAL_adc_start_conversion(const pin_t pin) {
-  HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
-}
-[[gnu::always_inline]] inline uint16_t HAL_adc_get_result() {
-  return HAL_adc_reading;
-}
-
-#define HAL_adc_init()
-#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
-#define HAL_START_ADC(pin)     HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()         HAL_adc_get_result()
-#define HAL_ADC_READY()        (true)
+//
+// Pin Mapping for M42, M43, M226
+//
 
 // Test whether the pin is valid
 constexpr bool VALID_PIN(const pin_t pin) {
@@ -192,32 +161,107 @@ 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_IDLETASK 1
-void HAL_idletask();
+// ------------------------
+// Defines
+// ------------------------
 
 #define PLATFORM_M997_SUPPORT
 void flashFirmware(const int16_t);
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Hardware PWM pins run at the same frequency and all
- *  Software PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+// Default graphical display delays
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// ------------------------
+// Free Memory Accessor
+// ------------------------
 
-// Reset source
-void HAL_clear_reset_source(void);
-uint8_t HAL_get_reset_source(void);
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
-void HAL_reboot();
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Watchdog
+  static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; });
+  static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {});
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {
+    FilteredADC::enable_channel(pin);
+  }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static uint32_t adc_result;
+  static void adc_start(const pin_t pin) {
+    adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return uint16_t(adc_result); }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer corresponding to the provided pin
+   * All Hardware PWM pins will run at the same frequency and
+   * All Software PWM pins will run at the same frequency
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/LPC1768/MinSerial.cpp

@@ -26,7 +26,7 @@
 
 #if ENABLED(POSTMORTEM_DEBUGGING)
 
-#include "../shared/HAL_MinSerial.h"
+#include "../shared/MinSerial.h"
 #include <debug_frmwrk.h>
 
 static void TX(char c) { _DBC(c); }

Marlin/src/HAL/LPC1768/Servo.h

@@ -65,4 +65,5 @@ class libServo: public Servo {
   }
 };
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;

Marlin/src/HAL/LPC1768/eeprom_wired.cpp

@@ -34,7 +34,7 @@
 #include "../shared/eeprom_api.h"
 
 #ifndef MARLIN_EEPROM_SIZE
-  #define MARLIN_EEPROM_SIZE           0x8000 // 32KB‬
+  #define MARLIN_EEPROM_SIZE           0x8000 // 32K
 #endif
 size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
 

Marlin/src/HAL/LPC1768/endstop_interrupts.h

@@ -155,4 +155,37 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(K_MIN_PIN);
   #endif
+  #if HAS_U_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN)
+      #error "U_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MAX_PIN);
+  #elif HAS_U_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN)
+      #error "U_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MIN_PIN);
+  #endif
+  #if HAS_V_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN)
+      #error "V_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MAX_PIN);
+  #elif HAS_V_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN)
+      #error "V_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MIN_PIN);
+  #endif
+  #if HAS_W_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN)
+      #error "W_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MAX_PIN);
+  #elif HAS_W_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN)
+      #error "W_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MIN_PIN);
+  #endif
 }

Marlin/src/HAL/LPC1768/fast_pwm.cpp

@@ -21,21 +21,17 @@
  */
 #ifdef TARGET_LPC1768
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 #include <pwm.h>
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   if (!LPC176x::pin_is_valid(pin)) return;
   if (LPC176x::pwm_attach_pin(pin))
     LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);  // map 1-254 onto PWM range
 }
 
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
-
-  void set_pwm_frequency(const pin_t pin, int f_desired) {
-    LPC176x::pwm_set_frequency(pin, f_desired);
-  }
-
-#endif
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  LPC176x::pwm_set_frequency(pin, f_desired);
+}
 
 #endif // TARGET_LPC1768

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

@@ -113,7 +113,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
   #define _IS_RX1_1 IS_RX1
   #if IS_TX1(TMC_SW_SCK)
     #error "Serial port pins (1) conflict with other pins!"
-  #elif HAS_WIRED_LCD
+  #elif HAS_ROTARY_ENCODER
     #if IS_TX1(BTN_EN2) || IS_RX1(BTN_EN1)
       #error "Serial port pins (1) conflict with Encoder Buttons!"
     #elif ANY_TX(1, SD_SCK_PIN, LCD_PINS_D4, DOGLCD_SCK, LCD_RESET_PIN, LCD_PINS_RS, SHIFT_CLK_PIN) \

Marlin/src/HAL/LPC1768/include/SPI.h

@@ -77,7 +77,7 @@ public:
 
   //uint32_t spiRate() const { return spi_speed; }
 
-  static inline uint32_t spiRate2Clock(uint32_t spiRate) {
+  static uint32_t spiRate2Clock(uint32_t spiRate) {
     uint32_t Marlin_speed[7]; // CPSR is always 2
     Marlin_speed[0] = 8333333; //(SCR:  2)  desired: 8,000,000  actual: 8,333,333  +4.2%  SPI_FULL_SPEED
     Marlin_speed[1] = 4166667; //(SCR:  5)  desired: 4,000,000  actual: 4,166,667  +4.2%  SPI_HALF_SPEED

Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c

@@ -29,7 +29,7 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-#if MB(MKS_SBASE)
+#if ENABLED(DIGIPOT_MCP4451) && MB(MKS_SBASE)
 
 #ifdef __cplusplus
   extern "C" {
@@ -37,35 +37,6 @@
 
 #include "digipot_mcp4451_I2C_routines.h"
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
-  // Make sure start bit is not active
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
-
 uint8_t digipot_mcp4451_start(uint8_t sla) {  // send slave address and write bit
   // Sometimes TX data ACK or NAK status is returned.  That mean the start state didn't
   // happen which means only the value of the slave address was send.  Keep looping until
@@ -102,5 +73,5 @@ uint8_t digipot_mcp4451_send_byte(uint8_t data) {
   }
 #endif
 
-#endif // MB(MKS_SBASE)
+#endif // DIGIPOT_MCP4451 && MKS_SBASE
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/include/i2c_util.c

@@ -63,6 +63,32 @@ void configure_i2c(const uint8_t clock_option) {
   I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
 }
 
+//////////////////////////////////////////////////////////////////////////////////////
+// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
+// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
+
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
+  // Reset STA, STO, SI
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
+
+  // Enter to Master Transmitter mode
+  I2Cx->I2CONSET = I2C_I2CONSET_STA;
+
+  // Wait for complete
+  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
+  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
+}
+
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
+  /* Make sure start bit is not active */
+  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
+    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+
+  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
+}
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/include/i2c_util.h

@@ -51,6 +51,11 @@
 
 void configure_i2c(const uint8_t clock_option);
 
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx);
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx);
+
+#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/main.cpp

@@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); }
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-void HAL_init() {
+void MarlinHAL::init() {
 
   // Init LEDs
   #if PIN_EXISTS(LED)
@@ -130,7 +130,7 @@ void HAL_init() {
   const millis_t usb_timeout = millis() + 2000;
   while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
     delay(50);
-    HAL_idletask();
+    idletask();
     #if PIN_EXISTS(LED)
       TOGGLE(LED_PIN);     // Flash quickly during USB initialization
     #endif
@@ -142,7 +142,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // If Marlin is using the SD card we need to lock it to prevent access from
     // a PC via USB.

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

@@ -65,8 +65,8 @@ private:
   static uint16_t getRawData(const XPTCoordinate coordinate);
   static bool isTouched();
 
-  static inline void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); };
-  static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
+  static void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); };
+  static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); };
   #if ENABLED(TOUCH_BUTTONS_HW_SPI)
     static uint16_t HardwareIO(uint16_t data);
   #endif

Marlin/src/HAL/LPC1768/timers.h

@@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp

@@ -36,40 +36,7 @@ extern int millis();
 
 //////////////////////////////////////////////////////////////////////////////////////
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx) {
-  /* Make sure start bit is not active */
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-
-#define I2CDEV_S_ADDR   0x78  // from SSD1306  //actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write
-
-#define BUFFER_SIZE                     0x1  // only do single byte transfers with LCDs
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+#define I2CDEV_S_ADDR   0x78  // From SSD1306 (actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write)
 
 // Send slave address and write bit
 uint8_t u8g_i2c_start(const uint8_t sla) {
@@ -115,7 +82,6 @@ uint8_t u8g_i2c_send_byte(uint8_t data) {
 void u8g_i2c_stop() {
 }
 
-
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/upload_extra_script.py

@@ -12,7 +12,7 @@ if pioutil.is_pio_build():
 	target_filename = "FIRMWARE.CUR"
 	target_drive = "REARM"
 
-	import os,getpass,platform
+	import platform
 
 	current_OS = platform.system()
 	Import("env")
@@ -26,7 +26,8 @@ if pioutil.is_pio_build():
 
 	def before_upload(source, target, env):
 		try:
-			#
+			from pathlib import Path
+  			#
 			# Find a disk for upload
 			#
 			upload_disk = 'Disk not found'
@@ -38,6 +39,7 @@ if pioutil.is_pio_build():
 				#   Windows - doesn't care about the disk's name, only cares about the drive letter
 				import subprocess,string
 				from ctypes import windll
+				from pathlib import PureWindowsPath
 
 				# getting list of drives
 				# https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python
@@ -49,7 +51,7 @@ if pioutil.is_pio_build():
 					bitmask >>= 1
 
 				for drive in drives:
-					final_drive_name = drive + ':\\'
+					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))
@@ -59,29 +61,33 @@ if pioutil.is_pio_build():
 					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
+							upload_disk = PureWindowsPath(final_drive_name)
 						if target_filename in volume_info:
 							if not target_file_found:
-								upload_disk = final_drive_name
+								upload_disk = PureWindowsPath(final_drive_name)
 							target_file_found = True
 
 			elif current_OS == 'Linux':
 				#
 				# platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive'
 				#
-				drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser()))
+				import getpass
+				user = getpass.getuser()
+				mpath = Path('media', user)
+				drives = [ x for x in mpath.iterdir() if x.is_dir() ]
 				if target_drive in drives:  # If target drive is found, use it.
 					target_drive_found = True
-					upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep
+					upload_disk = mpath / target_drive
 				else:
 					for drive in drives:
 						try:
-							files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive))
+							fpath = mpath / drive
+							files = [ x for x in fpath.iterdir() if x.is_file() ]
 						except:
 							continue
 						else:
 							if target_filename in files:
-								upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep
+								upload_disk = mpath / drive
 								target_file_found = True
 								break
 				#
@@ -97,26 +103,28 @@ if pioutil.is_pio_build():
 				#
 				# platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive'
 				#
-				drives = os.listdir('/Volumes')  # human readable names
+				dpath = Path('/Volumes')  # human readable names
+				drives = [ x for x in dpath.iterdir() ]
 				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 + '/'
+					upload_disk = dpath / target_drive
 				for drive in drives:
 					try:
-						filenames = os.listdir('/Volumes/' + drive + '/')   # will get an error if the drive is protected
+						fpath = dpath / drive   # will get an error if the drive is protected
+						files = [ x for x in fpath.iterdir() ]
 					except:
 						continue
 					else:
-						if target_filename in filenames:
+						if target_filename in files:
 							if not target_file_found:
-								upload_disk = '/Volumes/' + drive + '/'
+								upload_disk = dpath / drive
 							target_file_found = True
 
 			#
 			# Set upload_port to drive if found
 			#
 			if target_file_found or target_drive_found:
-				env.Replace(UPLOAD_PORT=upload_disk)
+				env.Replace(UPLOAD_PORT=str(upload_disk))
 				print('\nUpload disk: ', upload_disk, '\n')
 			else:
 				print_error('Autodetect Error')

Marlin/src/HAL/LPC1768/watchdog.cpp

@@ -1,72 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-#ifdef TARGET_LPC1768
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(USE_WATCHDOG)
-
-#include <lpc17xx_wdt.h>
-#include "watchdog.h"
-
-#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
-
-void watchdog_init() {
-  #if ENABLED(WATCHDOG_RESET_MANUAL)
-    // We enable the watchdog timer, but only for the interrupt.
-
-    // Configure WDT to only trigger an interrupt
-    // Disable WDT interrupt (just in case, to avoid triggering it!)
-    NVIC_DisableIRQ(WDT_IRQn);
-
-    // We NEED memory barriers to ensure Interrupts are actually disabled!
-    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
-    __DSB();
-    __ISB();
-
-    // Configure WDT to only trigger an interrupt
-    // Initialize WDT with the given parameters
-    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
-
-    // Configure and enable WDT interrupt.
-    NVIC_ClearPendingIRQ(WDT_IRQn);
-    NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
-    NVIC_EnableIRQ(WDT_IRQn);
-  #else
-    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
-  #endif
-  WDT_Start(WDT_TIMEOUT_US);
-}
-
-void HAL_watchdog_refresh() {
-  WDT_Feed();
-  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
-    TOGGLE(LED_PIN);  // heartbeat indicator
-  #endif
-}
-
-// Timeout state
-bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
-void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
-
-#endif // USE_WATCHDOG
-#endif // TARGET_LPC1768

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -21,18 +21,10 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-#define HAL_IDLETASK
-void HAL_idletask();
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 #include "pinmapping.h"
 
@@ -40,8 +32,6 @@ void _printf (const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -55,10 +45,25 @@ uint8_t _getc();
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
-#include "watchdog.h"
 #include "serial.h"
 
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000
+#define SystemCoreClock F_CPU
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT serial_stream_0;
 extern MSerialT serial_stream_1;
@@ -98,49 +103,19 @@ extern MSerialT serial_stream_3;
   #endif
 #endif
 
-
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//
+// ------------------------
 // Interrupts
-//
+// ------------------------
+
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
 
+// ------------------------
 // ADC
+// ------------------------
+
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
-
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
-
-void HAL_reboot();
 
 /* ---------------- Delay in cycles */
 
@@ -159,29 +134,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
   // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
   if (str != nullptr) {
     std::size_t i = 0;
-    while (str[i] != '\0') {
-      ++i;
-    }
-
+    while (str[i] != '\0') ++i;
     return i;
   }
-
   return 0;
 }
 
 constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
   // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
-  if (lhs == nullptr || rhs == nullptr) {
+  if (lhs == nullptr || rhs == nullptr)
     return rhs != nullptr ? -1 : 1;
-  }
 
-  for (std::size_t i = 0; i < count; ++i) {
-    if (lhs[i] != rhs[i]) {
+  for (std::size_t i = 0; i < count; ++i)
+    if (lhs[i] != rhs[i])
       return lhs[i] < rhs[i] ? -1 : 1;
-    } else if (lhs[i] == '\0') {
+    else if (lhs[i] == '\0')
       return 0;
-    }
-  }
 
   return 0;
 }
@@ -193,14 +161,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
-
   return str;
 }
 
@@ -211,12 +176,91 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
   return str;
 }
+
+// ------------------------
+// Free Memory Accessor
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch);
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready();
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

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

@@ -62,8 +62,8 @@ private:
   static uint16_t getRawData(const XPTCoordinate coordinate);
   static bool isTouched();
 
-  static inline void DataTransferBegin();
-  static inline void DataTransferEnd();
+  static void DataTransferBegin();
+  static void DataTransferEnd();
   #if ENABLED(TOUCH_BUTTONS_HW_SPI)
     static uint16_t HardwareIO(uint16_t data);
   #endif

Marlin/src/HAL/NATIVE_SIM/timers.h

@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

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

@@ -38,13 +38,13 @@
 #ifdef __cplusplus
   extern "C" {
 #endif
-void u8g_SetPinOutput(uint8_t internal_pin_number){SET_DIR_OUTPUT(internal_pin_number);}
-void u8g_SetPinInput(uint8_t internal_pin_number){SET_DIR_INPUT(internal_pin_number);}
-void u8g_SetPinLevel(uint8_t  pin, uint8_t  pin_status){WRITE_PIN(pin, pin_status);}
-uint8_t u8g_GetPinLevel(uint8_t pin){return READ_PIN(pin);}
-void usleep(uint64_t microsec){
-assert(false); // why we here?
-}
+
+void u8g_SetPinOutput(uint8_t internal_pin_number) { SET_DIR_OUTPUT(internal_pin_number); }
+void u8g_SetPinInput(uint8_t internal_pin_number) { SET_DIR_INPUT(internal_pin_number); }
+void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status) { WRITE_PIN(pin, pin_status); }
+uint8_t u8g_GetPinLevel(uint8_t pin) { return READ_PIN(pin); }
+void usleep(uint64_t microsec) { assert(false); /* why we here? */ }
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -42,10 +42,6 @@
   #endif
 #endif
 
-// ------------------------
-// Local defines
-// ------------------------
-
 #define GET_TEMP_0_ADC()          TERN(HAS_TEMP_ADC_0,        PIN_TO_ADC(TEMP_0_PIN),       -1)
 #define GET_TEMP_1_ADC()          TERN(HAS_TEMP_ADC_1,        PIN_TO_ADC(TEMP_1_PIN),       -1)
 #define GET_TEMP_2_ADC()          TERN(HAS_TEMP_ADC_2,        PIN_TO_ADC(TEMP_2_PIN),       -1)
@@ -54,22 +50,28 @@
 #define GET_TEMP_5_ADC()          TERN(HAS_TEMP_ADC_5,        PIN_TO_ADC(TEMP_5_PIN),       -1)
 #define GET_TEMP_6_ADC()          TERN(HAS_TEMP_ADC_6,        PIN_TO_ADC(TEMP_6_PIN),       -1)
 #define GET_TEMP_7_ADC()          TERN(HAS_TEMP_ADC_7,        PIN_TO_ADC(TEMP_7_PIN),       -1)
-#define GET_PROBE_ADC()           TERN(HAS_TEMP_PROBE,        PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_BED_ADC()             TERN(HAS_TEMP_ADC_BED,      PIN_TO_ADC(TEMP_BED_PIN),     -1)
 #define GET_CHAMBER_ADC()         TERN(HAS_TEMP_ADC_CHAMBER,  PIN_TO_ADC(TEMP_CHAMBER_PIN), -1)
+#define GET_PROBE_ADC()           TERN(HAS_TEMP_ADC_PROBE,    PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_COOLER_ADC()          TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_PIN),  -1)
+#define GET_BOARD_ADC()           TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),   -1)
 #define GET_FILAMENT_WIDTH_ADC()  TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),     -1)
 #define GET_BUTTONS_ADC()         TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),   -1)
+#define GET_JOY_ADC_X()           TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),        -1)
+#define GET_JOY_ADC_Y()           TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),        -1)
+#define GET_JOY_ADC_Z()           TERN(HAS_JOY_ADC_Z,         PIN_TO_ADC(JOY_Z_PIN),        -1)
 
 #define IS_ADC_REQUIRED(n) ( \
      GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
   || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
-  || GET_PROBE_ADC() == n          \
-  || GET_BED_ADC() == n            \
-  || GET_CHAMBER_ADC() == n        \
-  || GET_COOLER_ADC() == n         \
+  || GET_BED_ADC() == n \
+  || GET_CHAMBER_ADC() == n \
+  || GET_PROBE_ADC() == n \
+  || GET_COOLER_ADC() == n \
+  || GET_BOARD_ADC() == n \
   || GET_FILAMENT_WIDTH_ADC() == n \
-  || GET_BUTTONS_ADC() == n        \
+  || GET_BUTTONS_ADC() == n \
+  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
 )
 
 #if IS_ADC_REQUIRED(0)
@@ -89,6 +91,152 @@
   #define DMA_IS_REQUIRED 1
 #endif
 
+enum ADCIndex {
+  #if GET_TEMP_0_ADC() == 0
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 0
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 0
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 0
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 0
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 0
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 0
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 0
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 0
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 0
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 0
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 0
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 0
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 0
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 0
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 0
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 0
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 0
+    JOY_Z,
+  #endif
+  #if GET_TEMP_0_ADC() == 1
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 1
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 1
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 1
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 1
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 1
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 1
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 1
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 1
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 1
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 1
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 1
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 1
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 1
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 1
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 1
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 1
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 1
+    JOY_Z,
+  #endif
+  ADC_COUNT
+};
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
+
+  void MarlinHAL::watchdog_init() {
+    // The low-power oscillator used by the WDT runs at 32,768 Hz with
+    // a 1:32 prescale, thus 1024 Hz, though probably not super precise.
+
+    // Setup WDT clocks
+    MCLK->APBAMASK.bit.OSC32KCTRL_ = true;
+    MCLK->APBAMASK.bit.WDT_ = true;
+    OSC32KCTRL->OSCULP32K.bit.EN1K = true;  // Enable out 1K (this is what WDT uses)
+
+    WDT->CTRLA.bit.ENABLE = false;          // Disable watchdog for config
+    SYNC(WDT->SYNCBUSY.bit.ENABLE);
+
+    WDT->INTENCLR.reg = WDT_INTENCLR_EW;    // Disable early warning interrupt
+    WDT->CONFIG.reg = WDT_TIMEOUT_REG;      // Set a 4s or 8s period for chip reset
+
+    hal.watchdog_refresh();
+
+    WDT->CTRLA.reg = WDT_CTRLA_ENABLE;      // Start watchdog now in normal mode
+    SYNC(WDT->SYNCBUSY.bit.ENABLE);
+  }
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or SAMD will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() {
+    SYNC(WDT->SYNCBUSY.bit.CLEAR);        // Test first if previous is 'ongoing' to save time waiting for command execution
+    WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
+  }
+
+#endif
+
 // ------------------------
 // Types
 // ------------------------
@@ -106,12 +254,10 @@
 // Private Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
-
 #if ADC_IS_REQUIRED
 
   // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
-  const uint8_t adc_pins[] = {
+  static constexpr uint8_t adc_pins[ADC_COUNT] = {
     // ADC0 pins
     #if GET_TEMP_0_ADC() == 0
       TEMP_0_PIN,
@@ -137,24 +283,36 @@ uint16_t HAL_adc_result;
     #if GET_TEMP_7_ADC() == 0
       TEMP_7_PIN,
     #endif
-    #if GET_PROBE_ADC() == 0
-      TEMP_PROBE_PIN,
-    #endif
     #if GET_BED_ADC() == 0
       TEMP_BED_PIN,
     #endif
     #if GET_CHAMBER_ADC() == 0
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_PROBE_ADC() == 0
+      TEMP_PROBE_PIN,
+    #endif
     #if GET_COOLER_ADC() == 0
       TEMP_COOLER_PIN,
     #endif
+    #if GET_BOARD_ADC() == 0
+      TEMP_BOARD_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 0
       FILWIDTH_PIN,
     #endif
     #if GET_BUTTONS_ADC() == 0
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 0
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 0
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 0
+      JOY_Z_PIN,
+    #endif
     // ADC1 pins
     #if GET_TEMP_0_ADC() == 1
       TEMP_0_PIN,
@@ -180,33 +338,44 @@ uint16_t HAL_adc_result;
     #if GET_TEMP_7_ADC() == 1
       TEMP_7_PIN,
     #endif
-    #if GET_PROBE_ADC() == 1
-      TEMP_PROBE_PIN,
-    #endif
     #if GET_BED_ADC() == 1
       TEMP_BED_PIN,
     #endif
     #if GET_CHAMBER_ADC() == 1
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_PROBE_ADC() == 1
+      TEMP_PROBE_PIN,
+    #endif
     #if GET_COOLER_ADC() == 1
       TEMP_COOLER_PIN,
     #endif
+    #if GET_BOARD_ADC() == 1
+      TEMP_BOARD_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 1
       FILWIDTH_PIN,
     #endif
     #if GET_BUTTONS_ADC() == 1
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 1
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 1
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 1
+      JOY_Z_PIN,
+    #endif
   };
 
-  uint16_t HAL_adc_results[COUNT(adc_pins)];
+  static uint16_t adc_results[ADC_COUNT];
 
   #if ADC0_IS_REQUIRED
-    Adafruit_ZeroDMA adc0DMAProgram,
-                     adc0DMARead;
+    Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;
 
-    const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -231,34 +400,45 @@ uint16_t HAL_adc_result;
       #if GET_TEMP_7_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
       #endif
-      #if GET_PROBE_ADC() == 0
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
       #if GET_BED_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
       #endif
       #if GET_CHAMBER_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_PROBE_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
       #if GET_COOLER_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
       #endif
+      #if GET_BOARD_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 0
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
       #if GET_BUTTONS_ADC() == 0
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 0
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 0
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 0
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC0_AINCOUNT   COUNT(adc0_dma_regs_list)
   #endif // ADC0_IS_REQUIRED
 
   #if ADC1_IS_REQUIRED
-    Adafruit_ZeroDMA adc1DMAProgram,
-                     adc1DMARead;
+    Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;
 
-    const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -283,24 +463,36 @@ uint16_t HAL_adc_result;
       #if GET_TEMP_7_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
       #endif
-      #if GET_PROBE_ADC() == 1
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
       #if GET_BED_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
       #endif
       #if GET_CHAMBER_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_PROBE_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
       #if GET_COOLER_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
       #endif
+      #if GET_BOARD_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 1
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
       #if GET_BUTTONS_ADC() == 1
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 1
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 1
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 1
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC1_AINCOUNT   COUNT(adc1_dma_regs_list)
@@ -312,9 +504,10 @@ uint16_t HAL_adc_result;
 // Private functions
 // ------------------------
 
-#if DMA_IS_REQUIRED
+void MarlinHAL::dma_init() {
+
+  #if DMA_IS_REQUIRED
 
-  void dma_init() {
     DmacDescriptor *descriptor;
 
     #if ADC0_IS_REQUIRED
@@ -343,7 +536,7 @@ uint16_t HAL_adc_result;
       if (adc0DMARead.allocate() == DMA_STATUS_OK) {
         adc0DMARead.addDescriptor(
           (void *)&ADC0->RESULT.reg,          // SRC
-          &HAL_adc_results,                   // DEST
+          &adc_results,                       // DEST
           ADC0_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -380,7 +573,7 @@ uint16_t HAL_adc_result;
       if (adc1DMARead.allocate() == DMA_STATUS_OK) {
         adc1DMARead.addDescriptor(
           (void *)&ADC1->RESULT.reg,          // SRC
-          &HAL_adc_results[ADC0_AINCOUNT],    // DEST
+          &adc_results[ADC0_AINCOUNT],        // DEST
           ADC1_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -393,36 +586,28 @@ uint16_t HAL_adc_result;
     #endif
 
     DMAC->PRICTRL0.bit.RRLVLEN0 = true;                         // Activate round robin for DMA channels required by ADCs
-  }
 
-#endif // DMA_IS_REQUIRED
+  #endif // DMA_IS_REQUIRED
+}
 
 // ------------------------
 // Public functions
 // ------------------------
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   TERN_(DMA_IS_REQUIRED, dma_init());
   #if ENABLED(SDSUPPORT)
-    #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
+    #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
       SET_INPUT_PULLUP(SD_DETECT_PIN);
     #endif
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
   #endif
 }
 
-// HAL idle task
-/*
-void HAL_idletask() {
-}
-*/
-
-void HAL_clear_reset_source() { }
-
 #pragma push_macro("WDT")
 #undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   RSTC_RCAUSE_Type resetCause;
 
   resetCause.reg = REG_RSTC_RCAUSE;
@@ -436,7 +621,7 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")
 
-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 extern "C" {
   void * _sbrk(int incr);
@@ -454,9 +639,11 @@ int freeMemory() {
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
   #if ADC_IS_REQUIRED
-    memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results));                 // Fill result with invalid values
+    memset(adc_results, 0xFF, sizeof(adc_results));                         // Fill result with invalid values
 
     LOOP_L_N(pi, COUNT(adc_pins))
       pinPeripheral(adc_pins[pi], PIO_ANALOG);
@@ -491,17 +678,13 @@ void HAL_adc_init() {
   #endif // ADC_IS_REQUIRED
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
   #if ADC_IS_REQUIRED
-    LOOP_L_N(pi, COUNT(adc_pins)) {
-      if (adc_pin == adc_pins[pi]) {
-        HAL_adc_result = HAL_adc_results[pi];
-        return;
-      }
-    }
+    LOOP_L_N(pi, COUNT(adc_pins))
+      if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
   #endif
 
-  HAL_adc_result = 0xFFFF;
+  adc_result = 0xFFFF;
 }
 
 #endif // __SAMD51__