🔖 Version 2.1.1

Fixes #24548

.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:
 
@@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t
 
 ### Pull Requests
 
-Pull Requests should always be targeted to working branches (e.g., `bugfix-2.0.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
 
 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02000904
+#define CONFIGURATION_H_VERSION 02010100
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -57,15 +57,6 @@
  *                      https://www.thingiverse.com/thing:1278865
  */
 
-//===========================================================================
-//========================== DELTA / SCARA / TPARA ==========================
-//===========================================================================
-//
-// Download configurations from the link above and customize for your machine.
-// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
-//
-//===========================================================================
-
 // @section info
 
 // Author info of this build printed to the host during boot and M115
@@ -121,6 +112,7 @@
  * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
  */
 #define BAUDRATE 250000
+
 //#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate
 
 /**
@@ -129,7 +121,7 @@
  * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
  */
 //#define SERIAL_PORT_2 -1
-//#define BAUDRATE_2 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 /**
  * Select a third serial port on the board to use for communication with the host.
@@ -137,7 +129,7 @@
  * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
  */
 //#define SERIAL_PORT_3 1
-//#define BAUDRATE_3 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
@@ -157,13 +149,12 @@
  *
  * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
- *          TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -176,6 +167,9 @@
 //#define I_DRIVER_TYPE  A4988
 //#define J_DRIVER_TYPE  A4988
 //#define K_DRIVER_TYPE  A4988
+//#define U_DRIVER_TYPE  A4988
+//#define V_DRIVER_TYPE  A4988
+//#define W_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -186,20 +180,25 @@
 //#define E7_DRIVER_TYPE A4988
 
 /**
- * Axis codes for additional axes:
- * This defines the axis code that is used in G-code commands to
- * reference a specific axis.
- * 'A' for rotational axis parallel to X
- * 'B' for rotational axis parallel to Y
- * 'C' for rotational axis parallel to Z
- * 'U' for secondary linear axis parallel to X
- * 'V' for secondary linear axis parallel to Y
- * 'W' for secondary linear axis parallel to Z
- * Regardless of the settings, firmware-internal axis IDs are
- * I (AXIS4), J (AXIS5), K (AXIS6).
+ * Additional Axis Settings
+ *
+ * Define AXISn_ROTATES for all axes that rotate or pivot.
+ * Rotational axis coordinates are expressed in degrees.
+ *
+ * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands.
+ * By convention the names and roles are typically:
+ *   'A' : Rotational axis parallel to X
+ *   'B' : Rotational axis parallel to Y
+ *   'C' : Rotational axis parallel to Z
+ *   'U' : Secondary linear axis parallel to X
+ *   'V' : Secondary linear axis parallel to Y
+ *   'W' : Secondary linear axis parallel to Z
+ *
+ * Regardless of these settings the axes are internally named I, J, K, U, V, W.
  */
 #ifdef I_DRIVER_TYPE
   #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define AXIS4_ROTATES
 #endif
 #ifdef J_DRIVER_TYPE
   #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
@@ -209,6 +208,18 @@
   #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
   #define AXIS6_ROTATES
 #endif
+#ifdef U_DRIVER_TYPE
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
+  //#define AXIS7_ROTATES
+#endif
+#ifdef V_DRIVER_TYPE
+  #define AXIS8_NAME 'V' // :['V', 'W']
+  //#define AXIS8_ROTATES
+#endif
+#ifdef W_DRIVER_TYPE
+  #define AXIS9_NAME 'W' // :['W']
+  //#define AXIS9_ROTATES
+#endif
 
 // @section extruder
 
@@ -260,6 +271,7 @@
   #define SWITCHING_NOZZLE_SERVO_NR 0
   //#define SWITCHING_NOZZLE_E1_SERVO_NR 1          // If two servos are used, the index of the second
   #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 }   // Angles for E0, E1 (single servo) or lowered/raised (dual servo)
+  #define SWITCHING_NOZZLE_SERVO_DWELL 2500         // Dwell time to wait for servo to make physical move
 #endif
 
 /**
@@ -376,7 +388,7 @@
 //#define HOTEND_OFFSET_Y { 0.0, 5.00 }  // (mm) relative Y-offset for each nozzle
 //#define HOTEND_OFFSET_Z { 0.0, 0.00 }  // (mm) relative Z-offset for each nozzle
 
-// @section machine
+// @section psu control
 
 /**
  * Power Supply Control
@@ -538,22 +550,32 @@
 #define DUMMY_THERMISTOR_999_VALUE 100
 
 // Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1
-//#define MAX31865_SENSOR_OHMS_0      100   // (Ω) Typically 100 or 1000 (PT100 or PT1000)
-//#define MAX31865_CALIBRATION_OHMS_0 430   // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
-//#define MAX31865_SENSOR_OHMS_1      100
-//#define MAX31865_CALIBRATION_OHMS_1 430
+#if TEMP_SENSOR_IS_MAX_TC(0)
+  #define MAX31865_SENSOR_OHMS_0      100 // (Ω) Typically 100 or 1000 (PT100 or PT1000)
+  #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
+#endif
+#if TEMP_SENSOR_IS_MAX_TC(1)
+  #define MAX31865_SENSOR_OHMS_1      100
+  #define MAX31865_CALIBRATION_OHMS_1 430
+#endif
 
-#define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
-#define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#if HAS_E_TEMP_SENSOR
+  #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
+  #define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
-#define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
-#define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_BED
+  #define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
+  #define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
-#define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
-#define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_CHAMBER
+  #define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
+  #define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
 /**
  * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT)
@@ -612,6 +634,8 @@
 //============================= PID Settings ================================
 //===========================================================================
 
+// @section hotend temp
+
 // Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
 // temperature control. Disable both for bang-bang heating.
 #define PIDTEMP          // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
@@ -622,7 +646,8 @@
 #define PID_K1 0.95      // Smoothing factor within any PID loop
 
 #if ENABLED(PIDTEMP)
-  //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+  //#define PID_DEBUG             // Print PID debug data to the serial port. Use 'M303 D' to toggle activation.
+  //#define PID_PARAMS_PER_HOTEND // Use separate PID parameters for each extruder (useful for mismatched extruders)
                                   // Set/get with G-code: M301 E[extruder number, 0-2]
 
   #if ENABLED(PID_PARAMS_PER_HOTEND)
@@ -643,7 +668,8 @@
  *
  * Use a physical model of the hotend to control temperature. When configured correctly
  * this gives better responsiveness and stability than PID and it also removes the need
- * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
+ * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 T to autotune the model.
+ * @section mpctemp
  */
 #if ENABLED(MPCTEMP)
   //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash)
@@ -696,6 +722,7 @@
  * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W
  * heater. If your configuration is significantly different than this and you don't understand
  * the issues involved, don't use bed PID until someone else verifies that your hardware works.
+ * @section bed temp
  */
 //#define PIDTEMPBED
 
@@ -711,7 +738,7 @@
 
 #if ENABLED(PIDTEMPBED)
   //#define MIN_BED_POWER 0
-  //#define PID_BED_DEBUG // Sends debug data to the serial port.
+  //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port.
 
   // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
   // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -739,6 +766,7 @@
  * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W
  * heater. If your configuration is significantly different than this and you don't understand
  * the issues involved, don't use chamber PID until someone else verifies that your hardware works.
+ * @section chamber temp
  */
 //#define PIDTEMPCHAMBER
 //#define CHAMBER_LIMIT_SWITCHING
@@ -753,7 +781,7 @@
 
 #if ENABLED(PIDTEMPCHAMBER)
   #define MIN_CHAMBER_POWER 0
-  //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port.
+  //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port.
 
   // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
   // and placed inside the small Creality printer enclosure tent.
@@ -767,7 +795,6 @@
 #endif // PIDTEMPCHAMBER
 
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
-  //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
   //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
@@ -777,7 +804,7 @@
   //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash)
 #endif
 
-// @section extruder
+// @section safety
 
 /**
  * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP.
@@ -845,11 +872,154 @@
   #define POLAR_SEGMENTS_PER_SECOND 5
 #endif
 
+// @section delta
+
+// Enable for DELTA kinematics and configure below
+//#define DELTA
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 200
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  //#define DELTA_CALIBRATION_MENU
+
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+  #endif
+
+  #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
+    // Set the steprate for papertest probing
+    #define PROBE_MANUALLY_STEP 0.05      // (mm)
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0    // (mm)
+
+  // Maximum reachable area
+  #define DELTA_MAX_RADIUS       140.0    // (mm)
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0        // (mm)
+
+  // Distance between bed and nozzle Z home position
+  #define DELTA_HEIGHT 250.00             // (mm) Get this value from G33 auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0              // (mm) Get this value from G33 auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Delta radius and diagonal rod adjustments (mm)
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+#endif
+
+// @section scara
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * Mostly Printed SCARA is an open source design by Tyler Williams. See:
+ *   https://www.thingiverse.com/thing:2487048
+ *   https://www.thingiverse.com/thing:1241491
+ */
+//#define MORGAN_SCARA
+//#define MP_SCARA
+#if EITHER(MORGAN_SCARA, MP_SCARA)
+  // If movement is choppy try lowering this value
+  #define SCARA_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define SCARA_LINKAGE_1 150       // (mm)
+  #define SCARA_LINKAGE_2 150       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X  100       // (mm)
+  #define SCARA_OFFSET_Y  -56       // (mm)
+
+  #if ENABLED(MORGAN_SCARA)
+
+    //#define DEBUG_SCARA_KINEMATICS
+    #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+
+    // Radius around the center where the arm cannot reach
+    #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+
+  #elif ENABLED(MP_SCARA)
+
+    #define SCARA_OFFSET_THETA1  12 // degrees
+    #define SCARA_OFFSET_THETA2 131 // degrees
+
+  #endif
+
+#endif
+
+// @section tpara
+
+// Enable for TPARA kinematics and configure below
+//#define AXEL_TPARA
+#if ENABLED(AXEL_TPARA)
+  #define DEBUG_ROBOT_KINEMATICS
+  #define ROBOT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define ROBOT_LINKAGE_1 120       // (mm)
+  #define ROBOT_LINKAGE_2 120       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define ROBOT_OFFSET_X    0       // (mm)
+  #define ROBOT_OFFSET_Y    0       // (mm)
+  #define ROBOT_OFFSET_Z    0       // (mm)
+
+  #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+
+  // Radius around the center where the arm cannot reach
+  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+  #define THETA_HOMING_OFFSET  0
+  #define PSI_HOMING_OFFSET    0
+#endif
+
+// @section machine
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
 
-// @section homing
+// @section endstops
 
 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
@@ -860,12 +1030,18 @@
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
+//#define USE_UMIN_PLUG
+//#define USE_VMIN_PLUG
+//#define USE_WMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
 //#define USE_KMAX_PLUG
+//#define USE_UMAX_PLUG
+//#define USE_VMAX_PLUG
+//#define USE_WMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -877,12 +1053,18 @@
   //#define ENDSTOPPULLUP_IMIN
   //#define ENDSTOPPULLUP_JMIN
   //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_UMIN
+  //#define ENDSTOPPULLUP_VMIN
+  //#define ENDSTOPPULLUP_WMIN
   //#define ENDSTOPPULLUP_XMAX
   //#define ENDSTOPPULLUP_YMAX
   //#define ENDSTOPPULLUP_ZMAX
   //#define ENDSTOPPULLUP_IMAX
   //#define ENDSTOPPULLUP_JMAX
   //#define ENDSTOPPULLUP_KMAX
+  //#define ENDSTOPPULLUP_UMAX
+  //#define ENDSTOPPULLUP_VMAX
+  //#define ENDSTOPPULLUP_WMAX
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
@@ -896,12 +1078,18 @@
   //#define ENDSTOPPULLDOWN_IMIN
   //#define ENDSTOPPULLDOWN_JMIN
   //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_UMIN
+  //#define ENDSTOPPULLDOWN_VMIN
+  //#define ENDSTOPPULLDOWN_WMIN
   //#define ENDSTOPPULLDOWN_XMAX
   //#define ENDSTOPPULLDOWN_YMAX
   //#define ENDSTOPPULLDOWN_ZMAX
   //#define ENDSTOPPULLDOWN_IMAX
   //#define ENDSTOPPULLDOWN_JMAX
   //#define ENDSTOPPULLDOWN_KMAX
+  //#define ENDSTOPPULLDOWN_UMAX
+  //#define ENDSTOPPULLDOWN_VMAX
+  //#define ENDSTOPPULLDOWN_WMAX
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 
@@ -912,12 +1100,18 @@
 #define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
 
 // Enable this feature if all enabled endstop pins are interrupt-capable.
@@ -962,16 +1156,16 @@
 //#define DISTINCT_E_FACTORS
 
 /**
- * Default Axis Steps Per Unit (steps/mm)
+ * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
  * Override with M92
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (linear=mm/s, rotational=°/s)
  * Override with M203
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
 
@@ -981,10 +1175,10 @@
 #endif
 
 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * (Maximum start speed for accelerated moves)
  * Override with M201
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
 
@@ -994,7 +1188,7 @@
 #endif
 
 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * Override with M204
  *
  *   M204 P    Acceleration
@@ -1007,7 +1201,7 @@
 
 /**
  * Default Jerk limits (mm/s)
- * Override with M205 X Y Z E
+ * Override with M205 X Y Z . . . E
  *
  * "Jerk" specifies the minimum speed change that requires acceleration.
  * When changing speed and direction, if the difference is less than the
@@ -1021,6 +1215,9 @@
   //#define DEFAULT_IJERK  0.3
   //#define DEFAULT_JJERK  0.3
   //#define DEFAULT_KJERK  0.3
+  //#define DEFAULT_UJERK  0.3
+  //#define DEFAULT_VJERK  0.3
+  //#define DEFAULT_WJERK  0.3
 
   //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
 
@@ -1170,6 +1367,27 @@
   #define Z_PROBE_RETRACT_X X_MAX_POS
 #endif
 
+/**
+ * Magnetically Mounted Probe
+ * For probes such as Euclid, Klicky, Klackender, etc.
+ */
+//#define MAG_MOUNTED_PROBE
+#if ENABLED(MAG_MOUNTED_PROBE)
+  #define PROBE_DEPLOY_FEEDRATE (133*60)  // (mm/min) Probe deploy speed
+  #define PROBE_STOW_FEEDRATE   (133*60)  // (mm/min) Probe stow speed
+
+  #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } }  // Move to side Dock & Attach probe
+  #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } }  // Move probe off dock
+  #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_STOW_1   { PROBE_STOW_FEEDRATE,   { 245, 114, 20 } }  // Move to dock
+  #define MAG_MOUNTED_STOW_2   { PROBE_STOW_FEEDRATE,   { 245, 114,  0 } }  // Place probe beside remover
+  #define MAG_MOUNTED_STOW_3   { PROBE_STOW_FEEDRATE,   { 230, 114,  0 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_4   { PROBE_STOW_FEEDRATE,   { 210, 114, 20 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_5   { PROBE_STOW_FEEDRATE,   {   0,   0,  0 } }  // Extra move if needed
+#endif
+
 // Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J
 // When the pin is defined you can use M672 to set/reset the probe sensitivity.
 //#define DUET_SMART_EFFECTOR
@@ -1185,9 +1403,37 @@
  */
 //#define SENSORLESS_PROBING
 
-//
-// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
-//
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down.
+ */
+//#define Z_PROBE_ALLEN_KEY
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
+
+#endif // Z_PROBE_ALLEN_KEY
 
 /**
  * Nozzle-to-Probe offsets { X, Y, Z }
@@ -1359,6 +1605,9 @@
 //#define I_ENABLE_ON 0
 //#define J_ENABLE_ON 0
 //#define K_ENABLE_ON 0
+//#define U_ENABLE_ON 0
+//#define V_ENABLE_ON 0
+//#define W_ENABLE_ON 0
 
 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1368,6 +1617,9 @@
 //#define DISABLE_I false
 //#define DISABLE_J false
 //#define DISABLE_K false
+//#define DISABLE_U false
+//#define DISABLE_V false
+//#define DISABLE_W false
 
 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1386,6 +1638,9 @@
 //#define INVERT_I_DIR false
 //#define INVERT_J_DIR false
 //#define INVERT_K_DIR false
+//#define INVERT_U_DIR false
+//#define INVERT_V_DIR false
+//#define INVERT_W_DIR false
 
 // @section extruder
 
@@ -1424,14 +1679,17 @@
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
 //#define K_HOME_DIR -1
+//#define U_HOME_DIR -1
+//#define V_HOME_DIR -1
+//#define W_HOME_DIR -1
 
-// @section machine
+// @section geometry
 
 // The size of the printable area
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200
 
-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1444,6 +1702,12 @@
 //#define J_MAX_POS 50
 //#define K_MIN_POS 0
 //#define K_MAX_POS 50
+//#define U_MIN_POS 0
+//#define U_MAX_POS 50
+//#define V_MIN_POS 0
+//#define V_MAX_POS 50
+//#define W_MIN_POS 0
+//#define W_MAX_POS 50
 
 /**
  * Software Endstops
@@ -1463,6 +1727,9 @@
   #define MIN_SOFTWARE_ENDSTOP_I
   #define MIN_SOFTWARE_ENDSTOP_J
   #define MIN_SOFTWARE_ENDSTOP_K
+  #define MIN_SOFTWARE_ENDSTOP_U
+  #define MIN_SOFTWARE_ENDSTOP_V
+  #define MIN_SOFTWARE_ENDSTOP_W
 #endif
 
 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1474,6 +1741,9 @@
   #define MAX_SOFTWARE_ENDSTOP_I
   #define MAX_SOFTWARE_ENDSTOP_J
   #define MAX_SOFTWARE_ENDSTOP_K
+  #define MAX_SOFTWARE_ENDSTOP_U
+  #define MAX_SOFTWARE_ENDSTOP_V
+  #define MAX_SOFTWARE_ENDSTOP_W
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1616,6 +1886,15 @@
   #define LEVELING_BED_TEMP     50
 #endif
 
+/**
+ * Bed Distance Sensor
+ *
+ * Measures the distance from bed to nozzle with accuracy of 0.01mm.
+ * For information about this sensor https://github.com/markniu/Bed_Distance_sensor
+ * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C.
+ */
+//#define BD_SENSOR
+
 /**
  * Enable detailed logging of G28, G29, M48, etc.
  * Turn on with the command 'M111 S32'.
@@ -1738,7 +2017,7 @@
 //#define LCD_BED_TRAMMING
 
 #if ENABLED(LCD_BED_TRAMMING)
-  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 }  // (mm) Left, Front, Right, Back insets
+  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
   #define BED_TRAMMING_HEIGHT      0.0        // (mm) Z height of nozzle at leveling points
   #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z height of nozzle between leveling points
   //#define BED_TRAMMING_INCLUDE_CENTER       // Move to the center after the last corner
@@ -1788,6 +2067,9 @@
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
 //#define MANUAL_K_HOME_POS 0
+//#define MANUAL_U_HOME_POS 0
+//#define MANUAL_V_HOME_POS 0
+//#define MANUAL_W_HOME_POS 0
 
 /**
  * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
@@ -1803,7 +2085,7 @@
   #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif
 
-// Homing speeds (mm/min)
+// Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
 // Validate that endstops are triggered on homing moves
@@ -1870,7 +2152,7 @@
 //============================= Additional Features ===========================
 //=============================================================================
 
-// @section extras
+// @section eeprom
 
 /**
  * EEPROM
@@ -1890,6 +2172,8 @@
   //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif
 
+// @section host
+
 //
 // Host Keepalive
 //
@@ -1900,6 +2184,8 @@
 #define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
 #define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating
 
+// @section units
+
 //
 // G20/G21 Inch mode support
 //
@@ -1927,6 +2213,8 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
 
+// @section motion
+
 /**
  * Nozzle Park
  *
@@ -2025,6 +2313,8 @@
 
 #endif
 
+// @section host
+
 /**
  * Print Job Timer
  *
@@ -2051,6 +2341,8 @@
  */
 #define PRINTJOB_TIMER_AUTOSTART
 
+// @section stats
+
 /**
  * Print Counter
  *
@@ -2068,6 +2360,8 @@
   #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print
 #endif
 
+// @section security
+
 /**
  * Password
  *
@@ -2103,7 +2397,7 @@
 //============================= LCD and SD support ============================
 //=============================================================================
 
-// @section lcd
+// @section interface
 
 /**
  * LCD LANGUAGE
@@ -2219,6 +2513,16 @@
 //
 //#define REVERSE_SELECT_DIRECTION
 
+//
+// Encoder EMI Noise Filter
+//
+// This option increases encoder samples to filter out phantom encoder clicks caused by EMI noise.
+//
+//#define ENCODER_NOISE_FILTER
+#if ENABLED(ENCODER_NOISE_FILTER)
+  #define ENCODER_SAMPLES 10
+#endif
+
 //
 // Individual Axis Homing
 //
@@ -2249,6 +2553,7 @@
 //======================== LCD / Controller Selection =========================
 //========================   (Character-based LCDs)   =========================
 //=============================================================================
+// @section lcd
 
 //
 // RepRapDiscount Smart Controller.
@@ -2550,6 +2855,12 @@
 //
 //#define SILVER_GATE_GLCD_CONTROLLER
 
+//
+// eMotion Tech LCD with SD
+// https://www.reprap-france.com/produit/1234568748-ecran-graphique-128-x-64-points-2-1
+//
+//#define EMOTION_TECH_LCD
+
 //=============================================================================
 //==============================  OLED Displays  ==============================
 //=============================================================================
@@ -2877,7 +3188,7 @@
 //=============================== Extra Features ==============================
 //=============================================================================
 
-// @section extras
+// @section fans
 
 // Set number of user-controlled fans. Disable to use all board-defined fans.
 // :[1,2,3,4,5,6,7,8]
@@ -2901,14 +3212,18 @@
 // duty cycle is attained.
 //#define SOFT_PWM_DITHER
 
+// @section extras
+
+// Support for the BariCUDA Paste Extruder
+//#define BARICUDA
+
+// @section lights
+
 // Temperature status LEDs that display the hotend and bed temperature.
 // If all hotends, bed temperature, and target temperature are under 54C
 // then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
 //#define TEMP_STAT_LEDS
 
-// Support for the BariCUDA Paste Extruder
-//#define BARICUDA
-
 // Support for BlinkM/CyzRgb
 //#define BLINKM
 
@@ -2994,6 +3309,8 @@
   #define PRINTER_EVENT_LEDS
 #endif
 
+// @section servos
+
 /**
  * Number of servos
  *

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
 
@@ -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

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.0.9.4"
+//#define SHORT_BUILD_VERSION "2.1.1"
 
 /**
  * Verbose version identifier which should contain a reference to the location
@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2022-06-04"
+//#define STRING_DISTRIBUTION_DATE "2022-08-06"
 
 /**
  * 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.h

@@ -19,6 +19,10 @@
  */
 #pragma once
 
+/**
+ * HAL for Arduino AVR
+ */
+
 #include "../shared/Marduino.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"

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);

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

@@ -35,11 +35,19 @@
   || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
   || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
   || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+  || BTN_EN1    == N || BTN_EN2    == N \
 )
-#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#if 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."
+#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."

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/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/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

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/ESP32/HAL.cpp

@@ -65,6 +65,7 @@ portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 // ------------------------
 
 uint16_t MarlinHAL::adc_result;
+pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS];
 
 // ------------------------
 // Private Variables
@@ -330,21 +331,46 @@ int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res)
 }
 
 void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
-  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
-  if (cid >= 0) {
-    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
-    ledcWrite(cid, duty);
-  }
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      const uint8_t pinlo = pin & 0x7F;
+      pwm_pin_t &pindata = pwm_pin_data[pinlo];
+      const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks);
+      if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off)
+        pindata.pwm_duty_ticks = 0;  // turn off PWM for this pin
+        duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level
+      }
+      else
+        pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle
+    }
+    else
+  #endif
+    {
+      const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+      if (cid >= 0) {
+        const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+        ledcWrite(cid, duty);
+      }
+    }
 }
 
 int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
-  const int8_t cid = channel_for_pin(pin);
-  if (cid >= 0) {
-    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
-    ledcDetachPin(chan_pin[cid]);
-    chan_pin[cid] = 0;              // remove old freq channel
-  }
-  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+  #if ENABLED(I2S_STEPPER_STREAM)
+    if (pin > 127) {
+      pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle
+      return 0;
+    }
+    else
+  #endif
+    {
+      const int8_t cid = channel_for_pin(pin);
+      if (cid >= 0) {
+        if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+        ledcDetachPin(chan_pin[cid]);
+        chan_pin[cid] = 0;              // remove old freq channel
+      }
+      return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+    }
 }
 
 // use hardware PWM if avail, if not then ISR

Marlin/src/HAL/ESP32/HAL.h

@@ -60,14 +60,17 @@
   #endif
 #endif
 
-#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
-#define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
+#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock)
+#define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 #define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 #define PWM_RESOLUTION   10u   // Default PWM bit resolution
 #define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
 #define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#ifndef MAX_EXPANDER_BITS
+  #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
+#endif
 
 // ------------------------
 // Types
@@ -76,6 +79,12 @@
 typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
+typedef struct pwm_pin {
+  uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle
+  uint32_t pwm_tick_count = 0;  // current tick count
+  uint32_t pwm_duty_ticks = 0;  // # of ticks for current duty cycle
+} pwm_pin_t;
+
 class Servo;
 typedef Servo hal_servo_t;
 
@@ -197,6 +206,8 @@ public:
   // Free SRAM
   static int freeMemory();
 
+  static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS];
+
   //
   // ADC Methods
   //

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

@@ -48,3 +48,7 @@
 #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/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/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/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/SAMD51/HAL.cpp

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

Marlin/src/HAL/SAMD51/Servo.cpp

@@ -77,7 +77,8 @@ HAL_SERVO_TIMER_ISR() {
   ;
   const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
 
-  if (currentServoIndex[timer] < 0) {
+  int8_t cho = currentServoIndex[timer];                // Handle the prior servo first
+  if (cho < 0) {                                        // Servo -1 indicates the refresh interval completed...
     #if defined(_useTimer1) && defined(_useTimer2)
       if (currentServoIndex[timer ^ 1] >= 0) {
         // Wait for both channels
@@ -86,45 +87,37 @@ HAL_SERVO_TIMER_ISR() {
         return;
       }
     #endif
-    tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
+    tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;       // ...so reset the timer
     SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
   }
-  else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive)
-    digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW);      // pulse this channel low if activated
+  else if (SERVO_INDEX(timer, cho) < ServoCount)        // prior channel handled?
+    digitalWrite(SERVO(timer, cho).Pin.nbr, LOW);       // pulse the prior channel LOW
 
-  // Select the next servo controlled by this timer
-  currentServoIndex[timer]++;
+  currentServoIndex[timer] = ++cho;                     // go to the next channel (or 0)
+  if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
+    if (SERVO(timer, cho).Pin.isActive)                 // activated?
+      digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH);    // yes: pulse HIGH
 
-  if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
-    if (SERVO(timer, currentServoIndex[timer]).Pin.isActive)                // check if activated
-      digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH);   // it's an active channel so pulse it high
-
-    tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks;
+    tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks;
   }
   else {
     // finished all channels so wait for the refresh period to expire before starting over
-    currentServoIndex[timer] = -1;   // this will get incremented at the end of the refresh period to start again at the first channel
-
-    const uint16_t tcCounterValue = getTimerCount();
-
-    if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL))  // allow a few ticks to ensure the next OCR1A not missed
-      tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL);
-    else
-      tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL);               // at least REFRESH_INTERVAL has elapsed
+    currentServoIndex[timer] = -1;                                          // reset the timer COUNT.reg on the next call
+    const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER),  // allow 256 cycles to ensure the next CV not missed
+                   ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
+    tc->COUNT16.CC[tcChannel].reg = min(cval, ival);
   }
   if (tcChannel == 0) {
     SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
-    // Clear the interrupt
-    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
+    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
   }
   else {
     SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
-    // Clear the interrupt
-    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1;
+    tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
   }
 }
 
-void initISR(timer16_Sequence_t timer) {
+void initISR(const timer16_Sequence_t timer) {
   Tc * const tc = timer_config[SERVO_TC].pTc;
   const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
 
@@ -201,9 +194,9 @@ void initISR(timer16_Sequence_t timer) {
   }
 }
 
-void finISR(timer16_Sequence_t timer) {
+void finISR(const timer16_Sequence_t timer_index) {
   Tc * const tc = timer_config[SERVO_TC].pTc;
-  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index);
 
   // Disable the match channel interrupt request
   tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -60,6 +60,12 @@
 #define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
 #define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
 #define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_U_MAX_EILINE(P)   TERN0(HAS_U_MAX,  DEFER4(MATCH_EILINE)(P, U_MAX_PIN))
+#define MATCH_U_MIN_EILINE(P)   TERN0(HAS_U_MIN,  DEFER4(MATCH_EILINE)(P, U_MIN_PIN))
+#define MATCH_V_MAX_EILINE(P)   TERN0(HAS_V_MAX,  DEFER4(MATCH_EILINE)(P, V_MAX_PIN))
+#define MATCH_V_MIN_EILINE(P)   TERN0(HAS_V_MIN,  DEFER4(MATCH_EILINE)(P, V_MIN_PIN))
+#define MATCH_W_MAX_EILINE(P)   TERN0(HAS_W_MAX,  DEFER4(MATCH_EILINE)(P, W_MAX_PIN))
+#define MATCH_W_MIN_EILINE(P)   TERN0(HAS_W_MIN,  DEFER4(MATCH_EILINE)(P, W_MIN_PIN))
 #define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
 #define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
 #define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
@@ -75,6 +81,9 @@
   && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
   && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
   && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P)   \
+  && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P)   \
+  && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P)   \
   && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
   && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
   && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
@@ -199,4 +208,40 @@ void setup_endstop_interrupts() {
     #endif
     attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_U_MAX
+    #if !AVAILABLE_EILINE(U_MAX_PIN)
+      #error "U_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_U_MIN
+    #if !AVAILABLE_EILINE(U_MIN_PIN)
+      #error "U_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MAX
+    #if !AVAILABLE_EILINE(V_MAX_PIN)
+      #error "V_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MIN
+    #if !AVAILABLE_EILINE(V_MIN_PIN)
+      #error "V_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MAX
+    #if !AVAILABLE_EILINE(W_MAX_PIN)
+      #error "W_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MIN
+    #if !AVAILABLE_EILINE(W_MIN_PIN)
+      #error "W_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
 }

Marlin/src/HAL/STM32/endstop_interrupts.h

@@ -52,4 +52,10 @@ 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/STM32/sdio.cpp

@@ -33,157 +33,43 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-// use local drivers
 #if defined(STM32F103xE) || defined(STM32F103xG)
-  #include <stm32f1xx.h>
+  #include <stm32f1xx_hal_rcc_ex.h>
+  #include <stm32f1xx_hal_sd.h>
 #elif defined(STM32F4xx)
-  #include <stm32f4xx.h>
+  #include <stm32f4xx_hal_rcc.h>
+  #include <stm32f4xx_hal_dma.h>
+  #include <stm32f4xx_hal_gpio.h>
+  #include <stm32f4xx_hal_sd.h>
 #elif defined(STM32F7xx)
-  #include <stm32f7xx.h>
+  #include <stm32f7xx_hal_rcc.h>
+  #include <stm32f7xx_hal_dma.h>
+  #include <stm32f7xx_hal_gpio.h>
+  #include <stm32f7xx_hal_sd.h>
 #elif defined(STM32H7xx)
-  #include <stm32h7xx.h>
+  #define SDIO_FOR_STM32H7
+  #include <stm32h7xx_hal_rcc.h>
+  #include <stm32h7xx_hal_dma.h>
+  #include <stm32h7xx_hal_gpio.h>
+  #include <stm32h7xx_hal_sd.h>
 #else
-  #error "SDIO only supported with STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx, or STM32H7xx."
+  #error "SDIO is only supported with STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx, and STM32H7xx."
 #endif
 
+// SDIO Max Clock (naming from STM Manual, don't change)
+#define SDIOCLK 48000000
+
 // Target Clock, configurable. Default is 18MHz, from STM32F1
 #ifndef SDIO_CLOCK
   #define SDIO_CLOCK 18000000 // 18 MHz
 #endif
 
-#define SD_TIMEOUT              1000 // ms
-
-// SDIO Max Clock (naming from STM Manual, don't change)
-#define SDIOCLK 48000000
-
-#if defined(STM32F1xx)
-  DMA_HandleTypeDef hdma_sdio;
-  extern "C" void DMA2_Channel4_5_IRQHandler(void) {
-    HAL_DMA_IRQHandler(&hdma_sdio);
-  }
-#elif defined(STM32F4xx)
-  DMA_HandleTypeDef hdma_sdio_rx;
-  DMA_HandleTypeDef hdma_sdio_tx;
-  extern "C" void DMA2_Stream3_IRQHandler(void) {
-    HAL_DMA_IRQHandler(&hdma_sdio_rx);
-  }
-
-  extern "C" void DMA2_Stream6_IRQHandler(void) {
-    HAL_DMA_IRQHandler(&hdma_sdio_tx);
-  }
-#elif defined(STM32H7xx)
-  #define __HAL_RCC_SDIO_FORCE_RESET          __HAL_RCC_SDMMC1_FORCE_RESET
-  #define __HAL_RCC_SDIO_RELEASE_RESET        __HAL_RCC_SDMMC1_RELEASE_RESET
-  #define __HAL_RCC_SDIO_CLK_ENABLE           __HAL_RCC_SDMMC1_CLK_ENABLE
-  #define SDIO                                SDMMC1
-  #define SDIO_IRQn                           SDMMC1_IRQn
-  #define SDIO_IRQHandler                     SDMMC1_IRQHandler
-  #define SDIO_CLOCK_EDGE_RISING              SDMMC_CLOCK_EDGE_RISING
-  #define SDIO_CLOCK_POWER_SAVE_DISABLE       SDMMC_CLOCK_POWER_SAVE_DISABLE
-  #define SDIO_BUS_WIDE_1B                    SDMMC_BUS_WIDE_1B
-  #define SDIO_BUS_WIDE_4B                    SDMMC_BUS_WIDE_4B
-  #define SDIO_HARDWARE_FLOW_CONTROL_DISABLE  SDMMC_HARDWARE_FLOW_CONTROL_DISABLE
-#endif
-
-uint8_t waitingRxCplt = 0;
-uint8_t waitingTxCplt = 0;
-SD_HandleTypeDef hsd;
-
-extern "C" void SDIO_IRQHandler(void) {
-  HAL_SD_IRQHandler(&hsd);
-}
-
-void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsdio) {
-  waitingTxCplt = 0;
-}
-
-void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsdio) {
-  waitingRxCplt = 0;
-}
-
-void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
-  pinmap_pinout(PC_12, PinMap_SD);
-  pinmap_pinout(PD_2, PinMap_SD);
-  pinmap_pinout(PC_8, PinMap_SD);
-  #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // define D1-D3 only if have a four bit wide SDIO bus
-    // D1-D3
-    pinmap_pinout(PC_9, PinMap_SD);
-    pinmap_pinout(PC_10, PinMap_SD);
-    pinmap_pinout(PC_11, PinMap_SD);
-  #endif
-
-  __HAL_RCC_SDIO_CLK_ENABLE();
-  HAL_NVIC_EnableIRQ(SDIO_IRQn);
-
-  // DMA Config
-  #if defined(STM32F1xx)
-    __HAL_RCC_DMA2_CLK_ENABLE();
-    HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
-    hdma_sdio.Instance = DMA2_Channel4;
-    hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_sdio.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-    hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-    hdma_sdio.Init.Mode = DMA_NORMAL;
-    hdma_sdio.Init.Priority = DMA_PRIORITY_LOW;
-    HAL_DMA_Init(&hdma_sdio);
-
-    __HAL_LINKDMA(hsd, hdmarx ,hdma_sdio);
-    __HAL_LINKDMA(hsd, hdmatx, hdma_sdio);
-  #elif defined(STM32F4xx)
-    __HAL_RCC_DMA2_CLK_ENABLE();
-    HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-    HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
-    hdma_sdio_rx.Instance = DMA2_Stream3;
-    hdma_sdio_rx.Init.Channel = DMA_CHANNEL_4;
-    hdma_sdio_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_sdio_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_sdio_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_sdio_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-    hdma_sdio_rx.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-    hdma_sdio_rx.Init.Mode = DMA_PFCTRL;
-    hdma_sdio_rx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_sdio_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
-    hdma_sdio_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    hdma_sdio_rx.Init.MemBurst = DMA_MBURST_INC4;
-    hdma_sdio_rx.Init.PeriphBurst = DMA_PBURST_INC4;
-    HAL_DMA_Init(&hdma_sdio_rx);
-
-    __HAL_LINKDMA(hsd,hdmarx,hdma_sdio_rx);
-
-    hdma_sdio_tx.Instance = DMA2_Stream6;
-    hdma_sdio_tx.Init.Channel = DMA_CHANNEL_4;
-    hdma_sdio_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_sdio_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_sdio_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_sdio_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-    hdma_sdio_tx.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-    hdma_sdio_tx.Init.Mode = DMA_PFCTRL;
-    hdma_sdio_tx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_sdio_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
-    hdma_sdio_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    hdma_sdio_tx.Init.MemBurst = DMA_MBURST_INC4;
-    hdma_sdio_tx.Init.PeriphBurst = DMA_PBURST_INC4;
-    HAL_DMA_Init(&hdma_sdio_tx);
-
-    __HAL_LINKDMA(hsd,hdmatx,hdma_sdio_tx);
-  #endif
-}
-
-void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) {
-  #if !defined(STM32F1xx)
-    __HAL_RCC_SDIO_FORCE_RESET();
-    delay(10);
-    __HAL_RCC_SDIO_RELEASE_RESET();
-    delay(10);
-  #endif
-}
+SD_HandleTypeDef hsd;  // SDIO structure
 
 static uint32_t clock_to_divider(uint32_t clk) {
-  #if defined(STM32H7xx)
+  #ifdef SDIO_FOR_STM32H7
     // SDMMC_CK frequency = sdmmc_ker_ck / [2 * CLKDIV].
-    uint32_t sdmmc_clk     = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SDMMC);
+    uint32_t sdmmc_clk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SDMMC);
     return sdmmc_clk / (2U * SDIO_CLOCK) + (sdmmc_clk % (2U * SDIO_CLOCK) != 0);
   #else
     // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals
@@ -198,62 +84,359 @@ static uint32_t clock_to_divider(uint32_t clk) {
   #endif
 }
 
-bool SDIO_Init() {
-  HAL_StatusTypeDef sd_state = HAL_OK;
-  if (hsd.Instance == SDIO)
-    HAL_SD_DeInit(&hsd);
-
-  /* HAL SD initialization */
-  hsd.Instance = SDIO;
-  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
-  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
-  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
-  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
-  hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK);
-  sd_state = HAL_SD_Init(&hsd);
-
-  #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)
-    if (sd_state == HAL_OK) {
-      sd_state = HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B);
-    }
+// Start the SDIO clock
+void HAL_SD_MspInit(SD_HandleTypeDef *hsd) {
+  UNUSED(hsd);
+  #ifdef SDIO_FOR_STM32H7
+    pinmap_pinout(PC_12, PinMap_SD);
+    pinmap_pinout(PD_2,  PinMap_SD);
+    pinmap_pinout(PC_8,  PinMap_SD);
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // Define D1-D3 only for 4-bit wide SDIO bus
+      pinmap_pinout(PC_9,  PinMap_SD);
+      pinmap_pinout(PC_10, PinMap_SD);
+      pinmap_pinout(PC_11, PinMap_SD);
+    #endif
+    __HAL_RCC_SDMMC1_CLK_ENABLE();
+    HAL_NVIC_EnableIRQ(SDMMC1_IRQn);
+  #else
+    __HAL_RCC_SDIO_CLK_ENABLE();
   #endif
-
-  return (sd_state == HAL_OK) ? true : false;
 }
 
-bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) {
-  uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
+#ifdef SDIO_FOR_STM32H7
 
-  while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) {
-    if (HAL_GetTick() >= timeout) return false;
+  #define SD_TIMEOUT              1000 // ms
+
+  extern "C" void SDMMC1_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); }
+
+  uint8_t waitingRxCplt = 0, waitingTxCplt = 0;
+  void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsdio) { waitingTxCplt = 0; }
+  void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsdio) { waitingRxCplt = 0; }
+
+  void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) {
+    __HAL_RCC_SDMMC1_FORCE_RESET();   delay(10);
+    __HAL_RCC_SDMMC1_RELEASE_RESET(); delay(10);
   }
 
-  waitingRxCplt = 1;
-  if (HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t *)dst, block, 1) != HAL_OK)
+  bool SDIO_Init() {
+    HAL_StatusTypeDef sd_state = HAL_OK;
+    if (hsd.Instance == SDMMC1) HAL_SD_DeInit(&hsd);
+
+    // HAL SD initialization
+    hsd.Instance = SDMMC1;
+    hsd.Init.ClockEdge = SDMMC_CLOCK_EDGE_RISING;
+    hsd.Init.ClockPowerSave = SDMMC_CLOCK_POWER_SAVE_DISABLE;
+    hsd.Init.BusWide = SDMMC_BUS_WIDE_1B;
+    hsd.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_DISABLE;
+    hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK);
+    sd_state = HAL_SD_Init(&hsd);
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)
+      if (sd_state == HAL_OK)
+        sd_state = HAL_SD_ConfigWideBusOperation(&hsd, SDMMC_BUS_WIDE_4B);
+    #endif
+
+    return (sd_state == HAL_OK);
+  }
+
+#else // !SDIO_FOR_STM32H7
+
+  #define SD_TIMEOUT               500 // ms
+
+  // SDIO retries, configurable. Default is 3, from STM32F1
+  #ifndef SDIO_READ_RETRIES
+    #define SDIO_READ_RETRIES 3
+  #endif
+
+  // F4 supports one DMA for RX and another for TX, but Marlin will never
+  // do read and write at same time, so we use the same DMA for both.
+  DMA_HandleTypeDef hdma_sdio;
+
+  #ifdef STM32F1xx
+    #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler
+  #elif defined(STM32F4xx)
+    #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler
+  #else
+    #error "Unknown STM32 architecture."
+  #endif
+
+  extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); }
+  extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); }
+
+  /*
+    SDIO_INIT_CLK_DIV is 118
+    SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2)
+    SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2)
+
+    Default TRANSFER_CLOCK_DIV is 2 (118 / 40)
+    Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz
+    This might be too fast for stable SDIO operations
+
+    MKS Robin SDIO seems stable with BusWide 1bit and ClockDiv 8 (i.e., 4.8MHz SDIO clock frequency)
+    More testing is required as there are clearly some 4bit init problems.
+  */
+
+  void go_to_transfer_speed() {
+    /* Default SDIO peripheral configuration for SD card initialization */
+    hsd.Init.ClockEdge           = hsd.Init.ClockEdge;
+    hsd.Init.ClockBypass         = hsd.Init.ClockBypass;
+    hsd.Init.ClockPowerSave      = hsd.Init.ClockPowerSave;
+    hsd.Init.BusWide             = hsd.Init.BusWide;
+    hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl;
+    hsd.Init.ClockDiv            = clock_to_divider(SDIO_CLOCK);
+
+    /* Initialize SDIO peripheral interface with default configuration */
+    SDIO_Init(hsd.Instance, hsd.Init);
+  }
+
+  void SD_LowLevel_Init() {
+    uint32_t tempreg;
+
+    // Enable GPIO clocks
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+
+    GPIO_InitTypeDef  GPIO_InitStruct;
+
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = 1;  // GPIO_NOPULL
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+
+    #if DISABLED(STM32F1xx)
+      GPIO_InitStruct.Alternate = GPIO_AF12_SDIO;
+    #endif
+
+    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12;  // D0 & SCK
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3)  // define D1-D3 only if have a four bit wide SDIO bus
+      GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11;  // D1-D3
+      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+    #endif
+
+    // Configure PD.02 CMD line
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    // Setup DMA
+    #ifdef STM32F1xx
+      hdma_sdio.Init.Mode = DMA_NORMAL;
+      hdma_sdio.Instance = DMA2_Channel4;
+      HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
+    #elif defined(STM32F4xx)
+      hdma_sdio.Init.Mode = DMA_PFCTRL;
+      hdma_sdio.Instance = DMA2_Stream3;
+      hdma_sdio.Init.Channel = DMA_CHANNEL_4;
+      hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
+      hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
+      hdma_sdio.Init.MemBurst = DMA_MBURST_INC4;
+      hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4;
+      HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+    #endif
+    HAL_NVIC_EnableIRQ(SDIO_IRQn);
+    hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_sdio.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+    hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+    hdma_sdio.Init.Priority = DMA_PRIORITY_LOW;
+    __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio);
+    __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio);
+
+    #ifdef STM32F1xx
+      __HAL_RCC_SDIO_CLK_ENABLE();
+      __HAL_RCC_DMA2_CLK_ENABLE();
+    #else
+      __HAL_RCC_SDIO_FORCE_RESET();   delay(2);
+      __HAL_RCC_SDIO_RELEASE_RESET(); delay(2);
+      __HAL_RCC_SDIO_CLK_ENABLE();
+
+      __HAL_RCC_DMA2_FORCE_RESET();   delay(2);
+      __HAL_RCC_DMA2_RELEASE_RESET(); delay(2);
+      __HAL_RCC_DMA2_CLK_ENABLE();
+    #endif
+
+    // Initialize the SDIO (with initial <400Khz Clock)
+    tempreg = 0                   // Reset value
+            | SDIO_CLKCR_CLKEN    // Clock enabled
+            | SDIO_INIT_CLK_DIV;  // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz
+                                  // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable
+    SDIO->CLKCR = tempreg;
+
+    // Power up the SDIO
+    SDIO_PowerState_ON(SDIO);
+    hsd.Instance = SDIO;
+  }
+
+  bool SDIO_Init() {
+    uint8_t retryCnt = SDIO_READ_RETRIES;
+
+    bool status;
+    hsd.Instance = SDIO;
+    hsd.State = HAL_SD_STATE_RESET;
+
+    SD_LowLevel_Init();
+
+    uint8_t retry_Cnt = retryCnt;
+    for (;;) {
+      hal.watchdog_refresh();
+      status = (bool) HAL_SD_Init(&hsd);
+      if (!status) break;
+      if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
+    }
+
+    go_to_transfer_speed();
+
+    #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
+      retry_Cnt = retryCnt;
+      for (;;) {
+        hal.watchdog_refresh();
+        if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break;  // some cards are only 1 bit wide so a pass here is not required
+        if (!--retry_Cnt) break;
+      }
+      if (!retry_Cnt) {  // wide bus failed, go back to one bit wide mode
+        hsd.State = (HAL_SD_StateTypeDef) 0;  // HAL_SD_STATE_RESET
+        SD_LowLevel_Init();
+        retry_Cnt = retryCnt;
+        for (;;) {
+          hal.watchdog_refresh();
+          status = (bool) HAL_SD_Init(&hsd);
+          if (!status) break;
+          if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
+        }
+        go_to_transfer_speed();
+      }
+    #endif
+
+    return true;
+  }
+
+  /**
+   * @brief Read or Write a block
+   * @details Read or Write a block with SDIO
+   *
+   * @param block The block index
+   * @param src The data buffer source for a write
+   * @param dst The data buffer destination for a read
+   *
+   * @return true on success
+   */
+  static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) {
+    if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false;
+
+    hal.watchdog_refresh();
+
+    HAL_StatusTypeDef ret;
+    if (src) {
+      hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH;
+      HAL_DMA_Init(&hdma_sdio);
+      ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1);
+    }
+    else {
+      hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY;
+      HAL_DMA_Init(&hdma_sdio);
+      ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1);
+    }
+
+    if (ret != HAL_OK) {
+      HAL_DMA_Abort_IT(&hdma_sdio);
+      HAL_DMA_DeInit(&hdma_sdio);
+      return false;
+    }
+
+    millis_t timeout = millis() + SD_TIMEOUT;
+    // Wait the transfer
+    while (hsd.State != HAL_SD_STATE_READY) {
+      if (ELAPSED(millis(), timeout)) {
+        HAL_DMA_Abort_IT(&hdma_sdio);
+        HAL_DMA_DeInit(&hdma_sdio);
+        return false;
+      }
+    }
+
+    while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0
+        || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ }
+
+    HAL_DMA_Abort_IT(&hdma_sdio);
+    HAL_DMA_DeInit(&hdma_sdio);
+
+    timeout = millis() + SD_TIMEOUT;
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false;
+
+    return true;
+  }
+
+#endif // !SDIO_FOR_STM32H7
+
+/**
+ * @brief Read a block
+ * @details Read a block from media with SDIO
+ *
+ * @param block The block index
+ * @param src The block buffer
+ *
+ * @return true on success
+ */
+bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) {
+  #ifdef SDIO_FOR_STM32H7
+
+    uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
+
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER)
+      if (HAL_GetTick() >= timeout) return false;
+
+    waitingRxCplt = 1;
+    if (HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1) != HAL_OK)
+      return false;
+
+    timeout = HAL_GetTick() + SD_TIMEOUT;
+    while (waitingRxCplt)
+      if (HAL_GetTick() >= timeout) return false;
+
+    return true;
+
+  #else
+
+    uint8_t retries = SDIO_READ_RETRIES;
+    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true;
     return false;
 
-  timeout = HAL_GetTick() + SD_TIMEOUT;
-  while (waitingRxCplt)
-    if (HAL_GetTick() >= timeout) return false;
-
-  return true;
+  #endif
 }
 
+/**
+ * @brief Write a block
+ * @details Write a block to media with SDIO
+ *
+ * @param block The block index
+ * @param src The block data
+ *
+ * @return true on success
+ */
 bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) {
-  uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
+  #ifdef SDIO_FOR_STM32H7
 
-  while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER)
-    if (HAL_GetTick() >= timeout) return false;
+    uint32_t timeout = HAL_GetTick() + SD_TIMEOUT;
 
-  waitingTxCplt = 1;
-  if (HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t *)src, block, 1) != HAL_OK)
+    while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER)
+      if (HAL_GetTick() >= timeout) return false;
+
+    waitingTxCplt = 1;
+    if (HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1) != HAL_OK)
+      return false;
+
+    timeout = HAL_GetTick() + SD_TIMEOUT;
+    while (waitingTxCplt)
+      if (HAL_GetTick() >= timeout) return false;
+
+    return true;
+
+  #else
+
+    uint8_t retries = SDIO_READ_RETRIES;
+    while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true;
     return false;
 
-  timeout = HAL_GetTick() + SD_TIMEOUT;
-  while (waitingTxCplt)
-    if (HAL_GetTick() >= timeout) return false;
-
-  return true;
+  #endif
 }
 
 bool SDIO_IsReady() {

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

@@ -159,24 +159,28 @@ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_l
 void GT911::Init() {
   OUT_WRITE(GT911_RST_PIN, LOW);
   OUT_WRITE(GT911_INT_PIN, LOW);
-  delay(20);
+  delay(11);
+  WRITE(GT911_INT_PIN, HIGH);
+  delayMicroseconds(110);
   WRITE(GT911_RST_PIN, HIGH);
+  delay(6);
+  WRITE(GT911_INT_PIN, LOW);
+  delay(55);
   SET_INPUT(GT911_INT_PIN);
 
   sw_iic.init();
 
-  uint8_t clear_reg = 0x0000;
-  write_reg(0x814E, 2, &clear_reg, 2); // Reset to 0 for start
+  uint8_t clear_reg = 0x00;
+  write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
 }
 
 bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) {
   read_reg(0x814E, 2, &reg.REG.status, 1);
 
-  if (reg.REG.status & 0x80) {
+  if (reg.REG.status >= 0x80 && reg.REG.status <= 0x85) {
+    read_reg(0x8150, 2, reg.map + 2, 38);
     uint8_t clear_reg = 0x00;
     write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start
-    read_reg(0x8150, 2, reg.map + 2, 8 * (reg.REG.status & 0x0F));
-
     // First touch point
     *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl;
     *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl;

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

@@ -23,7 +23,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#define GT911_SLAVE_ADDRESS   0xBA
+#define GT911_SLAVE_ADDRESS   0x28
 
 #if !PIN_EXISTS(GT911_RST)
   #error "GT911_RST_PIN is not defined."

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

@@ -372,9 +372,9 @@ void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou
     if (MemoryIncrease == DMA_PINC_ENABLE) {
       DrawImage(x_min, y_cur, x_min + width, y_cur + height, Data);
       Data += width * height;
-    } else {
-      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
     }
+    else
+      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
     y_cur += height;
   }
 

Marlin/src/HAL/STM32F1/Servo.cpp

@@ -147,17 +147,17 @@ void libServo::move(const int32_t value) {
     uint16_t SR = timer_get_status(tdev);
     if (SR & TIMER_SR_CC1IF) { // channel 1 off
       #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(SERVO0_PIN, 1); // off
+        OUT_WRITE_OD(SERVO0_PIN, HIGH); // off
       #else
-        OUT_WRITE(SERVO0_PIN, 0);
+        OUT_WRITE(SERVO0_PIN, LOW);
       #endif
       timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT);
     }
     if (SR & TIMER_SR_CC2IF) { // channel 2 resume
       #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(SERVO0_PIN, 0); // on
+        OUT_WRITE_OD(SERVO0_PIN, LOW); // on
       #else
-        OUT_WRITE(SERVO0_PIN, 1);
+        OUT_WRITE(SERVO0_PIN, HIGH);
       #endif
       timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT);
     }
@@ -167,9 +167,9 @@ void libServo::move(const int32_t value) {
     timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0);
     if (!tdev) return false;
     #ifdef SERVO0_PWM_OD
-      OUT_WRITE_OD(inPin, 1);
+      OUT_WRITE_OD(inPin, HIGH);
     #else
-      OUT_WRITE(inPin, 0);
+      OUT_WRITE(inPin, LOW);
     #endif
 
     timer_pause(tdev);
@@ -200,9 +200,9 @@ void libServo::move(const int32_t value) {
       timer_disable_irq(tdev, 1);
       timer_disable_irq(tdev, 2);
       #ifdef SERVO0_PWM_OD
-        OUT_WRITE_OD(pin, 1); // off
+        OUT_WRITE_OD(pin, HIGH); // off
       #else
-        OUT_WRITE(pin, 0);
+        OUT_WRITE(pin, LOW);
       #endif
     }
   }

Marlin/src/HAL/STM32F1/endstop_interrupts.h

@@ -77,4 +77,10 @@ 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/TEENSY31_32/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/TEENSY35_36/endstop_interrupts.h

@@ -69,4 +69,10 @@ 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/shared/HAL_spi_L6470.cpp

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

Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp

@@ -135,11 +135,11 @@ static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabStat
   while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) {
 
     if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP
-      /* vsp = vsp + (xxxxxx << 2) + 4 */
+      /* vsp += (xxxxxx << 2) + 4 */
       ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4;
     }
     else if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH
-      /* vsp = vsp - (xxxxxx << 2) - 4 */
+      /* vsp -= (xxxxxx << 2) - 4 */
       ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4;
     }
     else if ((instruction & 0xF0) == 0x80) {

Marlin/src/HAL/shared/servo.cpp

@@ -65,7 +65,7 @@ uint8_t ServoCount = 0;                         // the total number of attached
 
 /************ static functions common to all instances ***********************/
 
-static boolean isTimerActive(timer16_Sequence_t timer) {
+static bool anyTimerChannelActive(const timer16_Sequence_t timer) {
   // returns true if any servo is active on this timer
   LOOP_L_N(channel, SERVOS_PER_TIMER) {
     if (SERVO(timer, channel).Pin.isActive)
@@ -101,17 +101,18 @@ int8_t Servo::attach(const int inPin, const int inMin, const int inMax) {
   max = (MAX_PULSE_WIDTH - inMax) / 4;
 
   // initialize the timer if it has not already been initialized
-  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-  if (!isTimerActive(timer)) initISR(timer);
-  servo_info[servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if (!anyTimerChannelActive(timer)) initISR(timer);
+  servo_info[servoIndex].Pin.isActive = true;  // this must be set after the check for anyTimerChannelActive
 
   return servoIndex;
 }
 
 void Servo::detach() {
   servo_info[servoIndex].Pin.isActive = false;
-  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-  if (!isTimerActive(timer)) finISR(timer);
+  const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if (!anyTimerChannelActive(timer)) finISR(timer);
+  //pinMode(servo_info[servoIndex].Pin.nbr, INPUT); // set servo pin to input
 }
 
 void Servo::write(int value) {

Marlin/src/HAL/shared/servo_private.h

@@ -70,10 +70,10 @@
 #define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond())
 
 // convenience macros
-#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
-#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER))       // returns the index of the servo on this timer
-#define SERVO_INDEX(_timer,_channel)  ((_timer*(SERVOS_PER_TIMER)) + _channel)     // macro to access servo index by timer and channel
-#define SERVO(_timer,_channel)  (servo_info[SERVO_INDEX(_timer,_channel)])       // macro to access servo class by timer and channel
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) timer16_Sequence_t(_servo_nbr / (SERVOS_PER_TIMER)) // the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER))      // the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*(SERVOS_PER_TIMER)) + _channel)    // servo index by timer and channel
+#define SERVO(_timer,_channel)  servo_info[SERVO_INDEX(_timer,_channel)]          // servo class by timer and channel
 
 // Types
 
@@ -94,5 +94,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS];
 
 // Public functions
 
-extern void initISR(timer16_Sequence_t timer);
-extern void finISR(timer16_Sequence_t timer);
+void initISR(const timer16_Sequence_t timer_index);
+void finISR(const timer16_Sequence_t timer_index);

Marlin/src/MarlinCore.cpp

@@ -39,17 +39,13 @@
 #endif
 #include <math.h>
 
-#include "core/utility.h"
-
+#include "module/endstops.h"
 #include "module/motion.h"
 #include "module/planner.h"
-#include "module/endstops.h"
-#include "module/temperature.h"
-#include "module/settings.h"
 #include "module/printcounter.h" // PrintCounter or Stopwatch
-
+#include "module/settings.h"
 #include "module/stepper.h"
-#include "module/stepper/indirection.h"
+#include "module/temperature.h"
 
 #include "gcode/gcode.h"
 #include "gcode/parser.h"
@@ -125,6 +121,10 @@
   #include "feature/bltouch.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(POLL_JOG)
   #include "feature/joystick.h"
 #endif
@@ -228,10 +228,6 @@
   #include "feature/mmu/mmu2.h"
 #endif
 
-#if HAS_L64XX
-  #include "libs/L64XX/L64XX_Marlin.h"
-#endif
-
 #if ENABLED(PASSWORD_FEATURE)
   #include "feature/password/password.h"
 #endif
@@ -252,6 +248,10 @@
   #include "feature/easythreed_ui.h"
 #endif
 
+#if ENABLED(MARLIN_TEST_BUILD)
+  #include "tests/marlin_tests.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");
 
 MarlinState marlin_state = MF_INITIALIZING;
@@ -434,7 +434,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
 
       if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) {
         if (!already_shutdown_steppers) {
-          already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+          already_shutdown_steppers = true;
 
           // Individual axes will be disabled if configured
           TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
@@ -443,6 +443,9 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
           TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
           TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
           TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
+          TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS));
+          TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS));
+          TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS));
           TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());
 
           TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
@@ -730,8 +733,6 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
 
   TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());
 
-  TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
-
   // Limit check_axes_activity frequency to 10Hz
   static millis_t next_check_axes_ms = 0;
   if (ELAPSED(ms, next_check_axes_ms)) {
@@ -773,16 +774,23 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
  *  - Handle Joystick jogging
  */
 void idle(bool no_stepper_sleep/*=false*/) {
+  #ifdef MAX7219_DEBUG_PROFILE
+    CodeProfiler idle_profiler;
+  #endif
+
   #if ENABLED(MARLIN_DEV_MODE)
     static uint16_t idle_depth = 0;
     if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
   #endif
 
+  // Bed Distance Sensor task
+  TERN_(BD_SENSOR, bdl.process());
+
   // Core Marlin activities
   manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();
 
   // Max7219 heartbeat, animation, etc
   TERN_(MAX7219_DEBUG, max7219.idle_tasks());
@@ -1003,6 +1011,15 @@ inline void tmc_standby_setup() {
   #if PIN_EXISTS(K_STDBY)
     SET_INPUT_PULLDOWN(K_STDBY_PIN);
   #endif
+  #if PIN_EXISTS(U_STDBY)
+    SET_INPUT_PULLDOWN(U_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(V_STDBY)
+    SET_INPUT_PULLDOWN(V_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(W_STDBY)
+    SET_INPUT_PULLDOWN(W_STDBY_PIN);
+  #endif
   #if PIN_EXISTS(E0_STDBY)
     SET_INPUT_PULLDOWN(E0_STDBY_PIN);
   #endif
@@ -1048,7 +1065,6 @@ inline void tmc_standby_setup() {
  *    • TMC220x Stepper Drivers (Serial)
  *    • PSU control
  *    • Power-loss Recovery
- *    • L64XX Stepper Drivers (SPI)
  *    • Stepper Driver Reset: DISABLE
  *    • TMC Stepper Drivers (SPI)
  *    • Run hal.init_board() for additional pins setup
@@ -1211,10 +1227,10 @@ void setup() {
   SETUP_RUN(hal.init());
 
   // Init and disable SPI thermocouples; this is still needed
-  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
+  #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
     OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable
   #endif
-  #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
+  #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1))
     OUT_WRITE(TEMP_1_CS_PIN, HIGH);
   #endif
 
@@ -1237,10 +1253,6 @@ void setup() {
     SETUP_RUN(tmc_init_cs_pins());
   #endif
 
-  #if HAS_L64XX
-    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
-  #endif
-
   #if ENABLED(PSU_CONTROL)
     SETUP_LOG("PSU_CONTROL");
     powerManager.init();
@@ -1627,9 +1639,15 @@ void setup() {
     SETUP_RUN(test_tmc_connection());
   #endif
 
+  #if ENABLED(BD_SENSOR)
+    SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
+  #endif
+
   marlin_state = MF_RUNNING;
 
   SETUP_LOG("setup() completed.");
+
+  TERN_(MARLIN_TEST_BUILD, runStartupTests());
 }
 
 /**
@@ -1664,5 +1682,7 @@ void loop() {
 
     TERN_(HAS_TFT_LVGL_UI, printer_state_polling());
 
+    TERN_(MARLIN_TEST_BUILD, runPeriodicTests());
+
   } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
 }

Marlin/src/core/boards.h

@@ -238,6 +238,7 @@
 #define BOARD_BTT_SKR_V1_1            2012  // BigTreeTech SKR v1.1
 #define BOARD_BTT_SKR_V1_3            2013  // BigTreeTech SKR v1.3
 #define BOARD_BTT_SKR_V1_4            2014  // BigTreeTech SKR v1.4
+#define BOARD_EMOTRONIC               2015  // eMotion-Tech eMotronic
 
 //
 // LPC1769 ARM Cortex M3
@@ -332,40 +333,41 @@
 #define BOARD_BTT_SKR_E3_DIP          4029  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
 #define BOARD_BTT_SKR_CR6             4030  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
 #define BOARD_JGAURORA_A5S_A1         4031  // JGAurora A5S A1 (STM32F103ZE)
-#define BOARD_FYSETC_AIO_II           4032  // FYSETC AIO_II
-#define BOARD_FYSETC_CHEETAH          4033  // FYSETC Cheetah
-#define BOARD_FYSETC_CHEETAH_V12      4034  // FYSETC Cheetah V1.2
-#define BOARD_LONGER3D_LK             4035  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VE
+#define BOARD_FYSETC_AIO_II           4032  // FYSETC AIO_II (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH          4033  // FYSETC Cheetah (STM32F103RC)
+#define BOARD_FYSETC_CHEETAH_V12      4034  // FYSETC Cheetah V1.2 (STM32F103RC)
+#define BOARD_LONGER3D_LK             4035  // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE)
 #define BOARD_CCROBOT_MEEB_3DP        4036  // ccrobot-online.com MEEB_3DP (STM32F103RC)
-#define BOARD_CHITU3D_V5              4037  // Chitu3D TronXY X5SA V5 Board
-#define BOARD_CHITU3D_V6              4038  // Chitu3D TronXY X5SA V6 Board
-#define BOARD_CHITU3D_V9              4039  // Chitu3D TronXY X5SA V9 Board
+#define BOARD_CHITU3D_V5              4037  // Chitu3D TronXY X5SA V5 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V6              4038  // Chitu3D TronXY X5SA V6 Board (STM32F103ZE)
+#define BOARD_CHITU3D_V9              4039  // Chitu3D TronXY X5SA V9 Board (STM32F103ZE)
 #define BOARD_CREALITY_V4             4040  // Creality v4.x (STM32F103RC / STM32F103RE)
 #define BOARD_CREALITY_V422           4041  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
 #define BOARD_CREALITY_V423           4042  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V427           4043  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V4210          4044  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
-#define BOARD_CREALITY_V431           4045  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_A         4046  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_B         4047  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_C         4048  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V431_D         4049  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V452           4050  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V453           4051  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
-#define BOARD_CREALITY_V24S1          4052  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
-#define BOARD_CREALITY_V24S1_301      4053  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
-#define BOARD_CREALITY_V25S1          4054  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
-#define BOARD_TRIGORILLA_PRO          4055  // Trigorilla Pro (STM32F103ZE)
-#define BOARD_FLY_MINI                4056  // FLYmaker FLY MINI (STM32F103RC)
-#define BOARD_FLSUN_HISPEED           4057  // FLSUN HiSpeedV1 (STM32F103VE)
-#define BOARD_BEAST                   4058  // STM32F103RE Libmaple-based controller
-#define BOARD_MINGDA_MPX_ARM_MINI     4059  // STM32F103ZE Mingda MD-16
-#define BOARD_GTM32_PRO_VD            4060  // STM32F103VE controller
-#define BOARD_ZONESTAR_ZM3E2          4061  // Zonestar ZM3E2    (STM32F103RC)
-#define BOARD_ZONESTAR_ZM3E4          4062  // Zonestar ZM3E4 V1 (STM32F103VC)
-#define BOARD_ZONESTAR_ZM3E4V2        4063  // Zonestar ZM3E4 V2 (STM32F103VC)
-#define BOARD_ERYONE_ERY32_MINI       4064  // Eryone Ery32 mini (STM32F103VE)
-#define BOARD_PANDA_PI_V29            4065  // Panda Pi V2.9 - Standalone (STM32F103RC)
+#define BOARD_CREALITY_V425           4043  // Creality v4.2.5 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V427           4044  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V4210          4045  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
+#define BOARD_CREALITY_V431           4046  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_A         4047  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_B         4048  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_C         4049  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_D         4050  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V452           4051  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V453           4052  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V24S1          4053  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7
+#define BOARD_CREALITY_V24S1_301      4054  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1
+#define BOARD_CREALITY_V25S1          4055  // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro
+#define BOARD_TRIGORILLA_PRO          4056  // Trigorilla Pro (STM32F103ZE)
+#define BOARD_FLY_MINI                4057  // FLYmaker FLY MINI (STM32F103RC)
+#define BOARD_FLSUN_HISPEED           4058  // FLSUN HiSpeedV1 (STM32F103VE)
+#define BOARD_BEAST                   4059  // STM32F103RE Libmaple-based controller
+#define BOARD_MINGDA_MPX_ARM_MINI     4060  // STM32F103ZE Mingda MD-16
+#define BOARD_GTM32_PRO_VD            4061  // STM32F103VE controller
+#define BOARD_ZONESTAR_ZM3E2          4062  // Zonestar ZM3E2    (STM32F103RC)
+#define BOARD_ZONESTAR_ZM3E4          4063  // Zonestar ZM3E4 V1 (STM32F103VC)
+#define BOARD_ZONESTAR_ZM3E4V2        4064  // Zonestar ZM3E4 V2 (STM32F103VC)
+#define BOARD_ERYONE_ERY32_MINI       4065  // Eryone Ery32 mini (STM32F103VE)
+#define BOARD_PANDA_PI_V29            4066  // Panda Pi V2.9 - Standalone (STM32F103RC)
 
 //
 // ARM Cortex-M4F
@@ -385,35 +387,35 @@
 #define BOARD_RUMBA32_BTT             4204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
 #define BOARD_BLACK_STM32F407VE       4205  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4206  // BLACK_STM32F407ZE
-#define BOARD_STEVAL_3DP001V1         4207  // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1        4208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        4209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         4210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
-#define BOARD_BTT_E3_RRF              4211  // BigTreeTech E3 RRF (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_A      4212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
-#define BOARD_BTT_SKR_V2_0_REV_B      4213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
-#define BOARD_BTT_GTR_V1_0            4214  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_BTT_OCTOPUS_V1_0        4215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_V1_1        4216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0    4217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE/STM32F429ZG)
-#define BOARD_LERDGE_K                4218  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4219  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4220  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4221  // VAkE 403D (STM32F446VE)
-#define BOARD_FYSETC_S6               4222  // FYSETC S6 (STM32F446VE)
-#define BOARD_FYSETC_S6_V2_0          4223  // FYSETC S6 v2.0 (STM32F446VE)
-#define BOARD_FYSETC_SPIDER           4224  // FYSETC Spider (STM32F446VE)
-#define BOARD_FLYF407ZG               4225  // FLYmaker FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4226  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4227  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4228  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V3_1     4229  // MKS Robin Nano V3.1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8            4230  // MKS Monster8 (STM32F407VG)
+#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
+#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
+#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_A      4211  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_B      4212  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
+#define BOARD_BTT_GTR_V1_0            4213  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_BTT_OCTOPUS_V1_0        4214  // BigTreeTech Octopus v1.0 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_V1_1        4215  // BigTreeTech Octopus v1.1 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0    4216  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG)
+#define BOARD_LERDGE_K                4217  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                4218  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                4219  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                4220  // VAkE 403D (STM32F446VE)
+#define BOARD_FYSETC_S6               4221  // FYSETC S6 (STM32F446VE)
+#define BOARD_FYSETC_S6_V2_0          4222  // FYSETC S6 v2.0 (STM32F446VE)
+#define BOARD_FYSETC_SPIDER           4223  // FYSETC Spider (STM32F446VE)
+#define BOARD_FLYF407ZG               4224  // FLYmaker FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4225  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        4226  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       4227  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_MKS_ROBIN_NANO_V3_1     4228  // MKS Robin Nano V3.1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V1         4229  // MKS Monster8 V1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8_V2         4230  // MKS Monster8 V2 (STM32F407VE)
 #define BOARD_ANET_ET4                4231  // ANET ET4 V1.x (STM32F407VG)
 #define BOARD_ANET_ET4P               4232  // ANET ET4P V1.x (STM32F407VG)
-#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0
-#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0
-#define BOARD_INDEX_REV03             4235  // Index PnP Controller REV03 (STM32F407VE/VG)
+#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0 (STM32F401RC)
+#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0 (STM32F405RG)
+#define BOARD_OPULO_LUMEN_REV3        4235  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
 #define BOARD_MKS_ROBIN_NANO_V1_3_F4  4236  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
 #define BOARD_MKS_EAGLE               4237  // MKS Eagle (STM32F407VE)
 #define BOARD_ARTILLERY_RUBY          4238  // Artillery Ruby (STM32F401RC)
@@ -428,9 +430,10 @@
 #define BOARD_TEENSY41                5001  // Teensy 4.1
 #define BOARD_T41U5XBB                5002  // T41U5XBB Teensy 4.1 breakout board
 #define BOARD_NUCLEO_F767ZI           5003  // ST NUCLEO-F767ZI Dev Board
-#define BOARD_BTT_SKR_SE_BX           5004  // BigTreeTech SKR SE BX (STM32H743II)
-#define BOARD_BTT_SKR_V3_0            5005  // BigTreeTech SKR V3.0 (STM32H743VG)
-#define BOARD_BTT_SKR_V3_0_EZ         5006  // BigTreeTech SKR V3.0 EZ (STM32H743VG)
+#define BOARD_BTT_SKR_SE_BX_V2        5004  // BigTreeTech SKR SE BX V2.0 (STM32H743II)
+#define BOARD_BTT_SKR_SE_BX_V3        5005  // BigTreeTech SKR SE BX V3.0 (STM32H743II)
+#define BOARD_BTT_SKR_V3_0            5006  // BigTreeTech SKR V3.0 (STM32H743VG)
+#define BOARD_BTT_SKR_V3_0_EZ         5007  // BigTreeTech SKR V3.0 EZ (STM32H743VG)
 
 //
 // Espressif ESP32 WiFi

Marlin/src/core/drivers.h

@@ -30,10 +30,6 @@
 #define _A5984              0x5984
 #define _DRV8825            0x8825
 #define _LV8729             0x8729
-#define _L6470              0x6470
-#define _L6474              0x6474
-#define _L6480              0x6480
-#define _POWERSTEP01        0xF00D
 #define _TB6560             0x6560
 #define _TB6600             0x6600
 #define _TMC2100            0x2100
@@ -63,6 +59,9 @@
 #define AXIS_DRIVER_TYPE_I(T) _AXIS_DRIVER_TYPE(I,T)
 #define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T)
 #define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T)
+#define AXIS_DRIVER_TYPE_U(T) _AXIS_DRIVER_TYPE(U,T)
+#define AXIS_DRIVER_TYPE_V(T) _AXIS_DRIVER_TYPE(V,T)
+#define AXIS_DRIVER_TYPE_W(T) _AXIS_DRIVER_TYPE(W,T)
 
 #define AXIS_DRIVER_TYPE_X2(T) (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (HAS_DUAL_Y_STEPPERS && _AXIS_DRIVER_TYPE(Y2,T))
@@ -87,6 +86,7 @@
 
 #define HAS_DRIVER(T) (  AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Z(T)  \
                       || AXIS_DRIVER_TYPE_I(T)  || AXIS_DRIVER_TYPE_J(T)  || AXIS_DRIVER_TYPE_K(T)  \
+                      || AXIS_DRIVER_TYPE_U(T)  || AXIS_DRIVER_TYPE_V(T)  || AXIS_DRIVER_TYPE_W(T)  \
                       || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \
                       || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) )
 
@@ -161,6 +161,7 @@
                           || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \
                           || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \
                           || AXIS_HAS_##T(I) || AXIS_HAS_##T(J)  || AXIS_HAS_##T(K) \
+                          || AXIS_HAS_##T(U) || AXIS_HAS_##T(V)  || AXIS_HAS_##T(W) \
                           || E_AXIS_HAS(T) )
 
 #if ANY_AXIS_HAS(STEALTHCHOP)
@@ -188,16 +189,3 @@
 #if HAS_DRIVER(TMC26X)
   #define HAS_TMC26X 1
 #endif
-
-//
-// L64XX Stepper Drivers
-//
-
-#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01)
-  #define HAS_L64XX 1
-#endif
-#if HAS_L64XX && !HAS_DRIVER(L6474)
-  #define HAS_L64XX_NOT_L6474 1
-#endif
-
-#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01))

Marlin/src/core/language.h

@@ -227,10 +227,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E
@@ -457,6 +453,54 @@
   #define STR_K   ""
 #endif
 
+#if HAS_U_AXIS
+  #if AXIS7_NAME == 'U'
+    #define STR_U "U"
+    #define STR_U_MIN "u_min"
+    #define STR_U_MAX "u_max"
+  #elif AXIS7_NAME == 'V'
+    #define STR_U "V"
+    #define STR_U_MIN "v_min"
+    #define STR_U_MAX "v_max"
+  #elif AXIS7_NAME == 'W'
+    #define STR_U "W"
+    #define STR_U_MIN "w_min"
+    #define STR_U_MAX "w_max"
+  #else
+    #error "AXIS7_NAME can only be one of 'U', 'V', or 'W'."
+  #endif
+#else
+  #define STR_U   ""
+#endif
+
+#if HAS_V_AXIS
+  #if AXIS8_NAME == 'V'
+    #define STR_V "V"
+    #define STR_V_MIN "v_min"
+    #define STR_V_MAX "v_max"
+  #elif AXIS8_NAME == 'W'
+    #define STR_V "W"
+    #define STR_V_MIN "w_min"
+    #define STR_V_MAX "w_max"
+  #else
+    #error "AXIS8_NAME can only be one of 'V', or 'W'."
+  #endif
+#else
+  #define STR_V   ""
+#endif
+
+#if HAS_W_AXIS
+  #if AXIS9_NAME == 'W'
+    #define STR_W "W"
+    #define STR_W_MIN "w_min"
+    #define STR_W_MAX "w_max"
+  #else
+    #error "AXIS9_NAME can only be 'W'."
+  #endif
+#else
+  #define STR_W   ""
+#endif
+
 #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL)
 
   // Custom characters defined in the first 8 characters of the LCD

Marlin/src/core/macros.h

@@ -39,24 +39,36 @@
 #define _ISTOP_  0x04
 #define _JSTOP_  0x05
 #define _KSTOP_  0x06
+#define _USTOP_  0x07
+#define _VSTOP_  0x08
+#define _WSTOP_  0x09
 #define _XMIN_   0x11
 #define _YMIN_   0x12
 #define _ZMIN_   0x13
 #define _IMIN_   0x14
 #define _JMIN_   0x15
 #define _KMIN_   0x16
+#define _UMIN_   0x17
+#define _VMIN_   0x18
+#define _WMIN_   0x19
 #define _XMAX_   0x21
 #define _YMAX_   0x22
 #define _ZMAX_   0x23
 #define _IMAX_   0x24
 #define _JMAX_   0x25
 #define _KMAX_   0x26
+#define _UMAX_   0x27
+#define _VMAX_   0x28
+#define _WMAX_   0x29
 #define _XDIAG_  0x31
 #define _YDIAG_  0x32
 #define _ZDIAG_  0x33
 #define _IDIAG_  0x34
 #define _JDIAG_  0x35
 #define _KDIAG_  0x36
+#define _UDIAG_  0x37
+#define _VDIAG_  0x38
+#define _WDIAG_  0x39
 #define _E0DIAG_ 0xE0
 #define _E1DIAG_ 0xE1
 #define _E2DIAG_ 0xE2
@@ -350,7 +362,7 @@
 
 #define _LIST_N(N,V...) LIST_##N(V)
 #define LIST_N(N,V...) _LIST_N(N,V)
-#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
+#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 #define ARRAY_N(N,V...) { _LIST_N(N,V) }
 #define ARRAY_N_1(N,K)  { LIST_N_1(N,K) }
 
@@ -632,8 +644,8 @@
 #define IS_PROBE(V...) SECOND(V, 0)     // Get the second item passed, or 0
 #define PROBE() ~, 1                    // Second item will be 1 if this is passed
 #define _NOT_0 PROBE()
-#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'.
-#define _BOOL(x) NOT(NOT(x))            // NOT('0') gets '0'. Anything else gets '1'.
+#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) //   NOT('0') gets '1'. Anything else gets '0'.
+#define _BOOL(x) NOT(NOT(x))            // _BOOL('0') gets '0'. Anything else gets '1'.
 
 #define IF_ELSE(TF) _IF_ELSE(_BOOL(TF))
 #define _IF_ELSE(TF) _CAT(_IF_, TF)
@@ -647,7 +659,6 @@
 #define HAS_ARGS(V...) _BOOL(FIRST(_END_OF_ARGUMENTS_ V)())
 #define _END_OF_ARGUMENTS_() 0
 
-
 // Simple Inline IF Macros, friendly to use in other macro definitions
 #define IF(O, A, B) ((O) ? (A) : (B))
 #define IF_0(O, A) IF(O, A, 0)
@@ -700,13 +711,27 @@
 #define RREPEAT2_S(S,N,OP,V...)  EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V))
 #define RREPEAT2(N,OP,V...)      RREPEAT2_S(0,N,OP,V)
 
-// See https://github.com/swansontec/map-macro
-#define MAP_OUT
-#define MAP_END(...)
-#define MAP_GET_END() 0, MAP_END
-#define MAP_NEXT0(test, next, ...) next MAP_OUT
-#define MAP_NEXT1(test, next) MAP_NEXT0 (test, next, 0)
-#define MAP_NEXT(test, next)  MAP_NEXT1 (MAP_GET_END test, next)
-#define MAP0(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP1) (f, peek, __VA_ARGS__)
-#define MAP1(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP0) (f, peek, __VA_ARGS__)
-#define MAP(f, ...) EVAL512 (MAP1 (f, __VA_ARGS__, (), 0))
+// Call OP(A) with each item as an argument
+#define _MAP(_MAP_OP,A,V...)       \
+  _MAP_OP(A)                       \
+  IF_ELSE(HAS_ARGS(V))             \
+    ( DEFER2(__MAP)()(_MAP_OP,V) ) \
+    ( /* Do nothing */ )
+#define __MAP() _MAP
+
+#define MAP(OP,V...) EVAL(_MAP(OP,V))
+
+// Emit a list of OP(A) with the given items
+#define _MAPLIST(_MAP_OP,A,V...)         \
+  _MAP_OP(A)                             \
+  IF_ELSE(HAS_ARGS(V))                   \
+    ( , DEFER2(__MAPLIST)()(_MAP_OP,V) ) \
+    ( /* Do nothing */ )
+#define __MAPLIST() _MAPLIST
+
+#define MAPLIST(OP,V...) EVAL(_MAPLIST(OP,V))
+
+// Temperature Sensor Config
+#define _HAS_E_TEMP(N) || (TEMP_SENSOR_##N != 0)
+#define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP))
+#define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR_##T == -5 || TEMP_SENSOR_##T == -3 || TEMP_SENSOR_##T == -2)

Marlin/src/core/serial.cpp

@@ -30,16 +30,15 @@
 uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE;
 
 // Commonly-used strings in serial output
-PGMSTR(NUL_STR,   "");   PGMSTR(SP_P_STR, " P");  PGMSTR(SP_T_STR, " T");
-PGMSTR(X_STR,     "X");  PGMSTR(Y_STR,     "Y");  PGMSTR(Z_STR,     "Z");  PGMSTR(E_STR,     "E");
-PGMSTR(X_LBL,     "X:"); PGMSTR(Y_LBL,     "Y:"); PGMSTR(Z_LBL,     "Z:"); PGMSTR(E_LBL,     "E:");
-PGMSTR(SP_A_STR, " A");  PGMSTR(SP_B_STR, " B");  PGMSTR(SP_C_STR, " C");
-PGMSTR(SP_X_STR, " X");  PGMSTR(SP_Y_STR, " Y");  PGMSTR(SP_Z_STR, " Z");  PGMSTR(SP_E_STR, " E");
-PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:");
-PGMSTR(I_STR, STR_I);     PGMSTR(J_STR, STR_J);     PGMSTR(K_STR, STR_K);
-PGMSTR(I_LBL, STR_I ":"); PGMSTR(J_LBL, STR_J ":"); PGMSTR(K_LBL, STR_K ":");
-PGMSTR(SP_I_STR, " " STR_I);     PGMSTR(SP_J_STR, " " STR_J);     PGMSTR(SP_K_STR, " " STR_K);
-PGMSTR(SP_I_LBL, " " STR_I ":"); PGMSTR(SP_J_LBL, " " STR_J ":"); PGMSTR(SP_K_LBL, " " STR_K ":");
+PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C");
+PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); PGMSTR(NUL_STR,   "");
+
+#define _N_STR(N) PGMSTR(N##_STR, STR_##N);
+#define _N_LBL(N) PGMSTR(N##_LBL, STR_##N ":");
+#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, " " STR_##N);
+#define _SP_N_LBL(N) PGMSTR(SP_##N##_LBL, " " STR_##N ":");
+MAP(_N_STR, LOGICAL_AXIS_NAMES); MAP(_SP_N_STR, LOGICAL_AXIS_NAMES);
+MAP(_N_LBL, LOGICAL_AXIS_NAMES); MAP(_SP_N_LBL, LOGICAL_AXIS_NAMES);
 
 // Hook Meatpack if it's enabled on the first leaf
 #if ENABLED(MEATPACK_ON_SERIAL_PORT_1)
@@ -73,8 +72,8 @@ void serial_print_P(PGM_P str) {
   while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c);
 }
 
-void serial_echo_start()  { static PGMSTR(echomagic, "echo:"); serial_print_P(echomagic); }
-void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(errormagic); }
+void serial_echo_start()  { serial_print(F("echo:")); }
+void serial_error_start() { serial_print(F("Error:")); }
 
 void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
 
@@ -102,10 +101,10 @@ void print_bin(uint16_t val) {
   }
 }
 
-void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
+void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
   if (prefix) serial_print(prefix);
   SERIAL_ECHOPGM_P(
-    LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k)
+    LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w)
   );
   if (suffix) serial_print(suffix); else SERIAL_EOL();
 }

Marlin/src/core/serial.h

@@ -28,19 +28,6 @@
   #include "../feature/meatpack.h"
 #endif
 
-// Commonly-used strings in serial output
-extern const char NUL_STR[],
-                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[],
-                  SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_E_STR[],
-                  SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[],
-                  SP_I_STR[], SP_J_STR[], SP_K_STR[],
-                  SP_I_LBL[], SP_J_LBL[], SP_K_LBL[],
-                  SP_P_STR[], SP_T_STR[],
-                  X_STR[], Y_STR[], Z_STR[], E_STR[],
-                  I_STR[], J_STR[], K_STR[],
-                  X_LBL[], Y_LBL[], Z_LBL[], E_LBL[],
-                  I_LBL[], J_LBL[], K_LBL[];
-
 //
 // Debugging flags for use by M111
 //
@@ -348,11 +335,40 @@ void serial_spaces(uint8_t count);
 void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
 
 void print_bin(const uint16_t val);
-void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
+void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
 
 inline void print_pos(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
-  print_pos(LINEAR_AXIS_ELEM(xyz), prefix, suffix);
+  print_pos(NUM_AXIS_ELEM(xyz), prefix, suffix);
 }
 
 #define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, F("  " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0)
 #define SERIAL_XYZ(PREFIX,V...) do { print_pos(V, F(PREFIX)); }while(0)
+
+//
+// Commonly-used strings in serial output
+//
+
+#define _N_STR(N) N##_STR
+#define _N_LBL(N) N##_LBL
+#define _N_STR_A(N) _N_STR(N)[]
+#define _N_LBL_A(N) _N_LBL(N)[]
+#define _SP_N_STR(N) SP_##N##_STR
+#define _SP_N_LBL(N) SP_##N##_LBL
+#define _SP_N_STR_A(N) _SP_N_STR(N)[]
+#define _SP_N_LBL_A(N) _SP_N_LBL(N)[]
+
+extern const char SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_P_STR[], SP_T_STR[], NUL_STR[],
+                  MAPLIST(_N_STR_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_STR_A, LOGICAL_AXIS_NAMES),
+                  MAPLIST(_N_LBL_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_LBL_A, LOGICAL_AXIS_NAMES);
+
+PGM_P const SP_AXIS_LBL[] PROGMEM = { MAPLIST(_SP_N_LBL, LOGICAL_AXIS_NAMES) };
+PGM_P const SP_AXIS_STR[] PROGMEM = { MAPLIST(_SP_N_STR, LOGICAL_AXIS_NAMES) };
+
+#undef _N_STR
+#undef _N_LBL
+#undef _N_STR_A
+#undef _N_LBL_A
+#undef _SP_N_STR
+#undef _SP_N_LBL
+#undef _SP_N_STR_A
+#undef _SP_N_LBL_A

Marlin/src/core/serial_hook.h

@@ -43,7 +43,9 @@ public:
   }
 
   constexpr SerialMask(const uint8_t mask) : mask(mask) {}
-  constexpr SerialMask(const SerialMask & other) : mask(other.mask) {} // Can't use = default here since not all framework support this
+  constexpr SerialMask(const SerialMask &rs) : mask(rs.mask) {} // Can't use = default here since not all frameworks support this
+
+  SerialMask& operator=(const SerialMask &rs) { mask = rs.mask; return *this; }
 
   static constexpr uint8_t All = 0xFF;
 };

Marlin/src/core/types.h

@@ -36,23 +36,41 @@ struct IF { typedef R type; };
 template <class L, class R>
 struct IF<true, L, R> { typedef L type; };
 
-#define LINEAR_AXIS_GANG(V...) GANG_N(LINEAR_AXES, V)
-#define LINEAR_AXIS_CODE(V...) CODE_N(LINEAR_AXES, V)
-#define LINEAR_AXIS_LIST(V...) LIST_N(LINEAR_AXES, V)
-#define LINEAR_AXIS_ARRAY(V...) { LINEAR_AXIS_LIST(V) }
-#define LINEAR_AXIS_ARGS(T...) LINEAR_AXIS_LIST(T x, T y, T z, T i, T j, T k)
-#define LINEAR_AXIS_ELEM(O)    LINEAR_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k)
-#define LINEAR_AXIS_DEFS(T,V)  LINEAR_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
+#define NUM_AXIS_GANG(V...) GANG_N(NUM_AXES, V)
+#define NUM_AXIS_CODE(V...) CODE_N(NUM_AXES, V)
+#define NUM_AXIS_LIST(V...) LIST_N(NUM_AXES, V)
+#define NUM_AXIS_LIST_1(V)  LIST_N_1(NUM_AXES, V)
+#define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) }
+#define NUM_AXIS_ARRAY_1(V)  { NUM_AXIS_LIST_1(V) }
+#define NUM_AXIS_ARGS(T...) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define NUM_AXIS_ELEM(O)    NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define NUM_AXIS_DEFS(T,V)  NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define MAIN_AXIS_NAMES     NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W)
+#define MAIN_AXIS_MAP(F)    MAP(F, MAIN_AXIS_NAMES)
+#define STR_AXES_MAIN       NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)
 
-#define LOGICAL_AXIS_GANG(E,V...) LINEAR_AXIS_GANG(V) GANG_ITEM_E(E)
-#define LOGICAL_AXIS_CODE(E,V...) LINEAR_AXIS_CODE(V) CODE_ITEM_E(E)
-#define LOGICAL_AXIS_LIST(E,V...) LINEAR_AXIS_LIST(V) LIST_ITEM_E(E)
+#define LOGICAL_AXIS_GANG(E,V...) NUM_AXIS_GANG(V) GANG_ITEM_E(E)
+#define LOGICAL_AXIS_CODE(E,V...) NUM_AXIS_CODE(V) CODE_ITEM_E(E)
+#define LOGICAL_AXIS_LIST(E,V...) NUM_AXIS_LIST(V) LIST_ITEM_E(E)
+#define LOGICAL_AXIS_LIST_1(V)    NUM_AXIS_LIST_1(V) LIST_ITEM_E(V)
 #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
-#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k)
-#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k)
-#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
+#define LOGICAL_AXIS_ARRAY_1(V)    { LOGICAL_AXIS_LIST_1(V) }
+#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define LOGICAL_AXIS_NAMES      LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W)
+#define LOGICAL_AXIS_MAP(F)     MAP(F, LOGICAL_AXIS_NAMES)
+#define STR_AXES_LOGICAL     LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)
 
-#define LOGICAL_AXES_STRING LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K)
+#define XYZ_GANG(V...) GANG_N(PRIMARY_LINEAR_AXES, V)
+#define XYZ_CODE(V...) CODE_N(PRIMARY_LINEAR_AXES, V)
+
+#define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V)
+#define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V)
+
+#if HAS_ROTATIONAL_AXES
+  #define ROTATIONAL_AXIS_GANG(V...) GANG_N(ROTATIONAL_AXES, V)
+#endif
 
 #if HAS_EXTRUDERS
   #define LIST_ITEM_E(N) , N
@@ -64,7 +82,7 @@ struct IF<true, L, R> { typedef L type; };
   #define GANG_ITEM_E(N)
 #endif
 
-#define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L)
+#define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L)
 
 // General Flags for some number of states
 template<size_t N>
@@ -81,9 +99,9 @@ struct Flags {
   void set(const int n)                    { b |=  (bits_t)_BV(n); }
   void clear(const int n)                  { b &= ~(bits_t)_BV(n); }
   bool test(const int n) const             { return TEST(b, n); }
-        bool operator[](const int n)       { return test(n); }
+  const bool operator[](const int n)       { return test(n); }
   const bool operator[](const int n) const { return test(n); }
-  const int size() const                   { return sizeof(b); }
+  int size() const                         { return sizeof(b); }
 };
 
 // Specialization for a single bool flag
@@ -95,9 +113,9 @@ struct Flags<1> {
   void set(const int)                     { b = true; }
   void clear(const int)                   { b = false; }
   bool test(const int) const              { return b; }
-        bool operator[](const int)        { return b; }
-  const bool operator[](const int) const  { return b; }
-  const int size() const                  { return sizeof(b); }
+  bool& operator[](const int)             { return b; }
+  bool  operator[](const int) const       { return b; }
+  int size() const                        { return sizeof(b); }
 };
 
 typedef Flags<8> flags_8_t;
@@ -114,9 +132,9 @@ typedef struct AxisFlags {
   void set(const int n, const bool onoff)  { flags.set(n, onoff); }
   void clear(const int n)                  { flags.clear(n); }
   bool test(const int n) const             { return flags.test(n); }
-        bool operator[](const int n)       { return flags[n]; }
-  const bool operator[](const int n) const { return flags[n]; }
-  const int size() const                   { return sizeof(flags); }
+  bool operator[](const int n)             { return flags[n]; }
+  bool operator[](const int n) const       { return flags[n]; }
+  int size() const                         { return sizeof(flags); }
 } axis_flags_t;
 
 //
@@ -129,7 +147,7 @@ typedef struct AxisFlags {
 enum AxisEnum : uint8_t {
 
   // Linear axes may be controlled directly or indirectly
-  LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS)
+  NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS)
 
   // Extruder axes may be considered distinctly
   #define _EN_ITEM(N) , E##N##_AXIS
@@ -168,7 +186,7 @@ typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
 // Loop over axes
 //
 #define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
-#define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
+#define LOOP_NUM_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, NUM_AXES)
 #define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
 #define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
 #define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E)
@@ -313,10 +331,10 @@ struct XYval {
     FI void set(const T px, const T py)                 { x = px; y = py; }
     FI void set(const T (&arr)[XY])                     { x = arr[0]; y = arr[1]; }
   #endif
-  #if LINEAR_AXES > XY
-    FI void set(const T (&arr)[LINEAR_AXES])            { x = arr[0]; y = arr[1]; }
+  #if NUM_AXES > XY
+    FI void set(const T (&arr)[NUM_AXES])               { x = arr[0]; y = arr[1]; }
   #endif
-  #if LOGICAL_AXES > LINEAR_AXES
+  #if LOGICAL_AXES > NUM_AXES
     FI void set(const T (&arr)[LOGICAL_AXES])           { x = arr[0]; y = arr[1]; }
     #if DISTINCT_AXES > LOGICAL_AXES
       FI void set(const T (&arr)[DISTINCT_AXES])        { x = arr[0]; y = arr[1]; }
@@ -438,60 +456,69 @@ struct XYval {
 template<typename T>
 struct XYZval {
   union {
-    struct { T LINEAR_AXIS_ARGS(); };
-    struct { T LINEAR_AXIS_LIST(a, b, c, u, v, w); };
-    T pos[LINEAR_AXES];
+    struct { T NUM_AXIS_ARGS(); };
+    struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k, _u, _v, _w); };
+    T pos[NUM_AXES];
   };
 
   // Set all to 0
-  FI void reset()                                      { LINEAR_AXIS_GANG(x =, y =, z =, i =, j =, k =) 0; }
+  FI void reset()                                      { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }
 
   // Setters taking struct types and arrays
   FI void set(const T px)                              { x = px; }
   FI void set(const T px, const T py)                  { x = px; y = py; }
   FI void set(const XYval<T> pxy)                      { x = pxy.x; y = pxy.y; }
-  FI void set(const XYval<T> pxy, const T pz)          { LINEAR_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP); }
+  FI void set(const XYval<T> pxy, const T pz)          { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP); }
   FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
   #if HAS_Z_AXIS
-    FI void set(const T (&arr)[LINEAR_AXES])           { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-    FI void set(LINEAR_AXIS_ARGS(const T))             { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
+    FI void set(const T (&arr)[NUM_AXES])              { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    FI void set(NUM_AXIS_ARGS(const T))                { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
   #endif
-  #if LOGICAL_AXES > LINEAR_AXES
-    FI void set(const T (&arr)[LOGICAL_AXES])          { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-    FI void set(LOGICAL_AXIS_ARGS(const T))            { LINEAR_AXIS_CODE(a = x,      b = y,      c = z,      u = i,      v = j,      w = k    ); }
+  #if LOGICAL_AXES > NUM_AXES
+    FI void set(const T (&arr)[LOGICAL_AXES])          { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    FI void set(LOGICAL_AXIS_ARGS(const T))            { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
     #if DISTINCT_AXES > LOGICAL_AXES
-      FI void set(const T (&arr)[DISTINCT_AXES])       { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
+      FI void set(const T (&arr)[DISTINCT_AXES])       { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
     #endif
   #endif
   #if HAS_I_AXIS
-    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+    FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
   #endif
   #if HAS_J_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+    FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; }
   #endif
   #if HAS_K_AXIS
     FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
   #endif
+  #if HAS_U_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
+  #endif
+  #if HAS_V_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+  #endif
+  #if HAS_W_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
+  #endif
 
   // Length reduced to one dimension
-  FI T magnitude()                               const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  FI T magnitude()                               const { return (T)sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
   // Pointer to the data as a simple array
   FI operator T* ()                                    { return pos; }
   // If any element is true then it's true
-  FI operator bool()                                   { return LINEAR_AXIS_GANG(x, || y, || z, || i, || j, || k); }
+  FI operator bool()                                   { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k, || u, || v, || w); }
 
   // Explicit copy and copies with conversion
   FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
-  FI XYZval<T>           ABS()                   const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZval<int16_t>   asInt()                         { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int16_t>   asInt()                   const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int32_t>  asLong()                         { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  asLong()                   const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  ROUNDL()                         { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<int32_t>  ROUNDL()                   const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<float>   asFloat()                         { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float>   asFloat()                   const { return LINEAR_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float> reciprocal()                  const { return LINEAR_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+  FI XYZval<T>           ABS()                   const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
+  FI XYZval<int16_t>   asInt()                         { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZval<int16_t>   asInt()                   const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZval<int32_t>  asLong()                         { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZval<int32_t>  asLong()                   const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZval<int32_t>  ROUNDL()                         { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZval<int32_t>  ROUNDL()                   const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZval<float>   asFloat()                         { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZval<float>   asFloat()                   const { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZval<float> reciprocal()                  const { return NUM_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }
 
   // Marlin workspace shifting is done with G92 and M206
   FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
@@ -502,78 +529,78 @@ struct XYZval {
   FI operator const XYval<T>&()                  const { return *(const XYval<T>*)this; }
 
   // Cast to a type with more fields by making a new object
-  FI operator       XYZEval<T>()                 const { return LINEAR_AXIS_ARRAY(x, y, z, i, j, k); }
+  FI operator       XYZEval<T>()                 const { return NUM_AXIS_ARRAY(x, y, z, i, j, k, u, v, w); }
 
   // Accessor via an AxisEnum (or any integer) [index]
   FI       T&   operator[](const int n)                { return pos[n]; }
   FI const T&   operator[](const int n)          const { return pos[n]; }
 
   // Assignment operator overrides do the expected thing
-  FI XYZval<T>& operator= (const T v)                  { set(ARRAY_N_1(LINEAR_AXES, v)); return *this; }
+  FI XYZval<T>& operator= (const T v)                  { set(ARRAY_N_1(NUM_AXES, v)); return *this; }
   FI XYZval<T>& operator= (const XYval<T>   &rs)       { set(rs.x, rs.y      ); return *this; }
-  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(LINEAR_AXIS_ELEM(rs)); return *this; }
+  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(NUM_AXIS_ELEM(rs)); return *this; }
 
   // Override other operators to get intuitive behaviors
-  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; LINEAR_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
-  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }
+  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }
 
   // Modifier operators
-  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const float &v)             { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZval<T>& operator*=(const int &v)               { LINEAR_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZval<T>& operator>>=(const int &v)              { LINEAR_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
-  FI XYZval<T>& operator<<=(const int &v)              { LINEAR_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const float &v)             { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZval<T>& operator*=(const int &v)               { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZval<T>& operator>>=(const int &v)              { NUM_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZval<T>& operator<<=(const int &v)              { NUM_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }
 
   // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool       operator==(const XYZEval<T> &rs)       { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
-  FI bool       operator==(const XYZEval<T> &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool       operator==(const XYZEval<T> &rs)       { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool       operator==(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
   FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
   FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
 };
@@ -585,56 +612,66 @@ template<typename T>
 struct XYZEval {
   union {
     struct { T LOGICAL_AXIS_ARGS(); };
-    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, u, v, w); };
+    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); };
     T pos[LOGICAL_AXES];
   };
   // Reset all to 0
-  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =) 0; }
+  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }
 
   // Setters for some number of linear axes, not all
-  FI void set(const T px)                                                   { x = px; }
-  FI void set(const T px, const T py)                                       { x = px; y = py; }
+  FI void set(const T px)                                                                                       { x = px; }
+  FI void set(const T px, const T py)                                                                           { x = px; y = py; }
   #if HAS_I_AXIS
-    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+    FI void set(const T px, const T py, const T pz)                                                             { x = px; y = py; z = pz; }
   #endif
   #if HAS_J_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+    FI void set(const T px, const T py, const T pz, const T pi)                                                 { x = px; y = py; z = pz; i = pi; }
   #endif
   #if HAS_K_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj)                                     { x = px; y = py; z = pz; i = pi; j = pj; }
   #endif
+  #if HAS_U_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk)                         { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
+  #endif
+  #if HAS_V_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm)             { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+  #endif
+  #if HAS_W_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pm; v = pv; }
+  #endif
+
   // Setters taking struct types and arrays
-  FI void set(const XYval<T> pxy)                  { x = pxy.x; y = pxy.y; }
-  FI void set(const XYZval<T> pxyz)                { set(LINEAR_AXIS_ELEM(pxyz)); }
+  FI void set(const XYval<T> pxy)                           { x = pxy.x; y = pxy.y; }
+  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM(pxyz)); }
   #if HAS_Z_AXIS
-    FI void set(LINEAR_AXIS_ARGS(const T))         { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k); }
+    FI void set(NUM_AXIS_ARGS(const T))                     { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
   #endif
-  FI void set(const XYval<T> pxy, const T pz)      { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
-  #if LOGICAL_AXES > LINEAR_AXES
+  FI void set(const XYval<T> pxy, const T pz)               { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
+  #if LOGICAL_AXES > NUM_AXES
     FI void set(const XYval<T> pxy, const T pz, const T pe) { set(pxy, pz); e = pe; }
-    FI void set(const XYZval<T> pxyz, const T pe)  { set(pxyz); e = pe; }
-    FI void set(LOGICAL_AXIS_ARGS(const T))        { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, u = i, v = j, w = k); }
+    FI void set(const XYZval<T> pxyz, const T pe)           { set(pxyz); e = pe; }
+    FI void set(LOGICAL_AXIS_ARGS(const T))                 { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
   #endif
 
   // Length reduced to one dimension
-  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
   // Pointer to the data as a simple array
   FI operator T* ()                                      { return pos; }
   // If any element is true then it's true
-  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k); }
+  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); }
 
   // Explicit copy and copies with conversion
-  FI XYZEval<T>          copy()  const { XYZEval<T> o = *this; return o; }
-  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+  FI XYZEval<T>          copy()  const { XYZEval<T> v = *this; return v; }
+  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
+  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }
 
   // Marlin workspace shifting is done with G92 and M206
   FI XYZEval<float> asLogical()  const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
@@ -651,9 +688,9 @@ struct XYZEval {
   FI const T&    operator[](const int n)            const { return pos[n]; }
 
   // Assignment operator overrides do the expected thing
-  FI XYZEval<T>& operator= (const T v)                    { set(LIST_N_1(LINEAR_AXES, v)); return *this; }
+  FI XYZEval<T>& operator= (const T v)                    { set(LOGICAL_AXIS_LIST_1(v)); return *this; }
   FI XYZEval<T>& operator= (const XYval<T>   &rs)         { set(rs.x, rs.y); return *this; }
-  FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(LINEAR_AXIS_ELEM(rs)); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(NUM_AXIS_ELEM(rs)); return *this; }
 
   // Override other operators to get intuitive behaviors
   FI XYZEval<T>  operator+ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
@@ -664,57 +701,57 @@ struct XYZEval {
   FI XYZEval<T>  operator* (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
   FI XYZEval<T>  operator/ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
   FI XYZEval<T>  operator/ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
-  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
+  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
 
   // Modifier operators
   FI XYZEval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
   FI XYZEval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
   FI XYZEval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
   FI XYZEval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
-  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
-  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }
 
   // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool        operator==(const XYZval<T>  &rs)         { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
-  FI bool        operator==(const XYZval<T>  &rs)   const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool        operator==(const XYZval<T>  &rs)         { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool        operator==(const XYZval<T>  &rs)   const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
   FI bool        operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
   FI bool        operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
 };

Marlin/src/core/utility.cpp

@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
   while (ms > 50) {
     ms -= 50;
     delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
 // A delay to provide brittle hosts time to receive bytes
@@ -51,7 +51,7 @@ void safe_delay(millis_t ms) {
 
   #include "../module/probe.h"
   #include "../module/motion.h"
-  #include "../module/stepper.h"
+  #include "../module/planner.h"
   #include "../libs/numtostr.h"
   #include "../feature/bedlevel/bedlevel.h"
 
@@ -70,6 +70,7 @@ void safe_delay(millis_t ms) {
       TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE")
       TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE")
       TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE"))
+      TERN_(BD_SENSOR, "BD_SENSOR")
       TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE")
       TERN_(Z_PROBE_SLED, "Z_PROBE_SLED")
       TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY")
@@ -125,18 +126,17 @@ void safe_delay(millis_t ms) {
         #endif
         #if ABL_PLANAR
           SERIAL_ECHOPGM("ABL Adjustment");
-          LOOP_LINEAR_AXES(a) {
-            SERIAL_CHAR(' ', AXIS_CHAR(a));
+          LOOP_NUM_AXES(a) {
+            SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]));
             serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
           }
         #else
           #if ENABLED(AUTO_BED_LEVELING_UBL)
             SERIAL_ECHOPGM("UBL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
             SERIAL_ECHOPGM("ABL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
           #endif
+          const float rz = bedlevel.get_z_correction(current_position);
           SERIAL_ECHO(ftostr43sign(rz, '+'));
           #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
             if (planner.z_fade_height) {
@@ -156,11 +156,13 @@ void safe_delay(millis_t ms) {
       SERIAL_ECHOPGM("Mesh Bed Leveling");
       if (planner.leveling_active) {
         SERIAL_ECHOLNPGM(" (enabled)");
-        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(bedlevel.get_z(current_position), '+'));
+        const float z_offset = bedlevel.get_z_offset(),
+                    z_correction = bedlevel.get_z_correction(current_position);
+        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(z_offset + z_correction, '+'));
         #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
           if (planner.z_fade_height) {
             SERIAL_ECHOPGM(" (", ftostr43sign(
-              bedlevel.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
+              z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+'
             ));
             SERIAL_CHAR(')');
           }

Marlin/src/core/utility.h

@@ -59,6 +59,11 @@ void safe_delay(millis_t ms);           // Delay ensuring that temperatures are
   #define log_machine_info() NOOP
 #endif
 
+/**
+ * A restorer instance remembers a variable's value before setting a
+ * new value, then restores the old value when it goes out of scope.
+ * Put operator= on your type to get extended behavior on value change.
+ */
 template<typename T>
 class restorer {
   T& ref_;
@@ -77,10 +82,13 @@ public:
 // in the range 0-100 while avoiding rounding artifacts
 constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }
 
-const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
-
-#if LINEAR_AXES <= XYZ
+// Axis names for G-code parsing, reports, etc.
+const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME);
+#if NUM_AXES <= XYZ && !HAS_EXTRUDERS
   #define AXIS_CHAR(A) ((char)('X' + A))
+  #define IAXIS_CHAR AXIS_CHAR
 #else
+  const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K', 'U', 'V', 'W');
   #define AXIS_CHAR(A) axis_codes[A]
+  #define IAXIS_CHAR(A) iaxis_codes[A]
 #endif

Marlin/src/feature/babystep.cpp

@@ -54,6 +54,18 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
   add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
 }
 
+#if ENABLED(BD_SENSOR)
+  void Babystep::set_mm(const AxisEnum axis, const_float_t mm) {
+    //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
+    const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis];
+    accum = distance; // Count up babysteps for the UI
+    steps[BS_AXIS_IND(axis)] = distance;
+    TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance);
+    TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
+    TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+  }
+#endif
+
 void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
   if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
 

Marlin/src/feature/babystep.h

@@ -63,6 +63,10 @@ public:
   static void add_steps(const AxisEnum axis, const int16_t distance);
   static void add_mm(const AxisEnum axis, const_float_t mm);
 
+  #if ENABLED(BD_SENSOR)
+    static void set_mm(const AxisEnum axis, const_float_t mm);
+  #endif
+
   static bool has_steps() {
     return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
   }

Marlin/src/feature/backlash.cpp

@@ -97,7 +97,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
   const float f_corr = float(correction) / all_on;
 
-  LOOP_LINEAR_AXES(axis) {
+  LOOP_NUM_AXES(axis) {
     if (distance_mm[axis]) {
       const bool reverse = TEST(dm, axis);
 
@@ -145,7 +145,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 }
 
 int32_t Backlash::get_applied_steps(const AxisEnum axis) {
-  if (axis >= LINEAR_AXES) return 0;
+  if (axis >= NUM_AXES) return 0;
 
   const bool reverse = TEST(last_direction_bits, axis);
 
@@ -162,32 +162,37 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) {
 }
 
 class Backlash::StepAdjuster {
-  xyz_long_t applied_steps;
-public:
-  StepAdjuster() {
-    LOOP_LINEAR_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis);
-  }
-  ~StepAdjuster() {
-    // after backlash compensation parameter changes, ensure applied step count does not change
-    LOOP_LINEAR_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis];
-  }
+  private:
+    xyz_long_t applied_steps;
+  public:
+    StepAdjuster() {
+      LOOP_NUM_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis);
+    }
+    ~StepAdjuster() {
+      // after backlash compensation parameter changes, ensure applied step count does not change
+      LOOP_NUM_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis];
+    }
 };
 
-void Backlash::set_correction_uint8(const uint8_t v) {
-  StepAdjuster adjuster;
-  correction = v;
-}
+#if ENABLED(BACKLASH_GCODE)
 
-void Backlash::set_distance_mm(const AxisEnum axis, const float v) {
-  StepAdjuster adjuster;
-  distance_mm[axis] = v;
-}
-
-#ifdef BACKLASH_SMOOTHING_MM
-  void Backlash::set_smoothing_mm(const float v) {
+  void Backlash::set_correction_uint8(const uint8_t v) {
     StepAdjuster adjuster;
-    smoothing_mm = v;
+    correction = v;
   }
+
+  void Backlash::set_distance_mm(const AxisEnum axis, const float v) {
+    StepAdjuster adjuster;
+    distance_mm[axis] = v;
+  }
+
+  #ifdef BACKLASH_SMOOTHING_MM
+    void Backlash::set_smoothing_mm(const float v) {
+      StepAdjuster adjuster;
+      smoothing_mm = v;
+    }
+  #endif
+
 #endif
 
 #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)

Marlin/src/feature/bedlevel/bdl/bdl.cpp

@@ -0,0 +1,195 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(BD_SENSOR)
+
+#include "../../../MarlinCore.h"
+#include "../../../gcode/gcode.h"
+#include "../../../module/settings.h"
+#include "../../../module/motion.h"
+#include "../../../module/planner.h"
+#include "../../../module/stepper.h"
+#include "../../../module/probe.h"
+#include "../../../module/temperature.h"
+#include "../../../module/endstops.h"
+#include "../../babystep.h"
+
+// I2C software Master library for segment bed heating and bed distance sensor
+#include <Panda_segmentBed_I2C.h>
+
+#include "bdl.h"
+BDS_Leveling bdl;
+
+//#define DEBUG_OUT_BD
+
+// M102 S-5   Read raw Calibrate data
+// M102 S-6   Start Calibrate
+// M102 S4    Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.)
+// M102 S-1   Read sensor information
+
+#define MAX_BD_HEIGHT                 4.0f
+#define CMD_START_READ_CALIBRATE_DATA 1017
+#define CMD_END_READ_CALIBRATE_DATA   1018
+#define CMD_START_CALIBRATE           1019
+#define CMD_END_CALIBRATE             1021
+#define CMD_READ_VERSION  1016
+
+I2C_SegmentBED BD_I2C_SENSOR;
+
+#define BD_SENSOR_I2C_ADDR            0x3C
+
+int8_t BDS_Leveling::config_state;
+uint8_t BDS_Leveling::homing;
+
+void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); }
+
+void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
+  int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
+  if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret);
+  config_state = 0;
+}
+
+float BDS_Leveling::read() {
+  const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read();
+  float BD_z = NAN;
+  if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020)
+    BD_z = (tmp & 0x3FF) / 100.0f;
+  return BD_z;
+}
+
+void BDS_Leveling::process() {
+ //if (config_state == 0) return;
+ static millis_t next_check_ms = 0; // starting at T=0
+ static float z_pose = 0.0f;
+ const millis_t ms = millis();
+ if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
+    next_check_ms = ms + (config_state < 0 ? 1000 : 100);   // check at 1Hz or 10Hz
+
+    unsigned short tmp = 0;
+    const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
+    static float old_cur_z = cur_z,
+                 old_buf_z = current_position.z;
+
+    tmp = BD_I2C_SENSOR.BD_i2c_read();
+    if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) {
+      const float z_sensor = (tmp & 0x3FF) / 100.0f;
+      if (cur_z < 0) config_state = 0;
+      //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
+      if ( cur_z < config_state * 0.1f
+        && config_state > 0
+        && old_cur_z == cur_z
+        && old_buf_z == current_position.z
+        && z_sensor < (MAX_BD_HEIGHT)
+      ) {
+        babystep.set_mm(Z_AXIS, cur_z - z_sensor);
+        #if ENABLED(DEBUG_OUT_BD)
+          SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
+        #endif
+      }
+      else {
+        babystep.set_mm(Z_AXIS, 0);
+        //if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR);
+        stepper.set_directions();
+      }
+      old_cur_z = cur_z;
+      old_buf_z = current_position.z;
+      endstops.bdp_state_update(z_sensor <= 0.01f);
+      //endstops.update();
+    }
+    else
+      stepper.set_directions();
+
+    #if ENABLED(DEBUG_OUT_BD)
+      SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z);
+      if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC");
+    #endif
+
+    if ((tmp & 0x3FF) > 1020) {
+      BD_I2C_SENSOR.BD_i2c_stop();
+      safe_delay(10);
+    }
+
+    // read raw calibrate data
+    if (config_state == -5) {
+      BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
+      safe_delay(1000);
+
+      for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
+        tmp = BD_I2C_SENSOR.BD_i2c_read();
+        SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp));
+        safe_delay(500);
+      }
+      config_state = 0;
+      BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
+      safe_delay(500);
+    }
+    else if (config_state <= -6) {   // Start Calibrate
+      safe_delay(100);
+      if (config_state == -6) {
+        //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
+        //delay(1000);
+        gcode.stepper_inactive_time = SEC_TO_MS(60 * 5);
+        gcode.process_subcommands_now(F("M17 Z"));
+        gcode.process_subcommands_now(F("G1 Z0.0"));
+        z_pose = 0;
+        safe_delay(1000);
+        BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
+        SERIAL_ECHOLNPGM("Begin calibrate");
+        safe_delay(2000);
+        config_state = -7;
+      }
+      else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
+        if (z_pose >= MAX_BD_HEIGHT) {
+          BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
+          SERIAL_ECHOLNPGM("End calibrate data");
+          z_pose = 7;
+          config_state = 0;
+          safe_delay(1000);
+        }
+        else {
+          float tmp_k = 0;
+          char tmp_1[30];
+          sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10));
+          gcode.process_subcommands_now(tmp_1);
+
+          SERIAL_ECHO(tmp_1);
+          SERIAL_ECHOLNPGM(" ,Z:", current_position.z);
+
+          while (tmp_k < (z_pose - 0.1f)) {
+            tmp_k = planner.get_axis_position_mm(Z_AXIS);
+            safe_delay(1);
+          }
+          safe_delay(800);
+          tmp = (z_pose + 0.0001f) * 10;
+          BD_I2C_SENSOR.BD_i2c_write(tmp);
+          SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose);
+          z_pose += 0.1001f;
+          //queue.enqueue_now_P(PSTR("G90"));
+        }
+      }
+    }
+  }
+}
+
+#endif // BD_SENSOR

Marlin/src/feature/bedlevel/bdl/bdl.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+class BDS_Leveling {
+public:
+  static int8_t config_state;
+  static uint8_t homing;
+  static void echo_name();
+  static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
+  static void process();
+  static float read();
+};
+
+extern BDS_Leveling bdl;

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -154,7 +154,7 @@ void reset_bed_level() {
       #endif
       LOOP_L_N(x, sx) {
         SERIAL_CHAR(' ');
-        const float offset = values[x * sx + y];
+        const float offset = values[x * sy + y];
         if (!isnan(offset)) {
           if (offset >= 0) SERIAL_CHAR('+');
           SERIAL_ECHO_F(offset, int(precision));

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

@@ -31,7 +31,6 @@
 #include "../../../libs/hex_print.h"
 #include "../../../module/settings.h"
 #include "../../../lcd/marlinui.h"
-#include "../../../module/stepper.h"
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"
@@ -317,6 +316,42 @@ void unified_bed_leveling::G29() {
     // Send 'N' to force homing before G29 (internal only)
     if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes();
     TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0, true));
+
+    // Position bed horizontally and Z probe vertically.
+    #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+        || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+        || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+      xyze_pos_t safe_position = current_position;
+      #ifdef SAFE_BED_LEVELING_START_X
+        safe_position.x = SAFE_BED_LEVELING_START_X;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Y
+        safe_position.y = SAFE_BED_LEVELING_START_Y;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Z
+        safe_position.z = SAFE_BED_LEVELING_START_Z;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_I
+        safe_position.i = SAFE_BED_LEVELING_START_I;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_J
+        safe_position.j = SAFE_BED_LEVELING_START_J;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_K
+        safe_position.k = SAFE_BED_LEVELING_START_K;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_U
+        safe_position.u = SAFE_BED_LEVELING_START_U;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_V
+        safe_position.v = SAFE_BED_LEVELING_START_V;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_W
+        safe_position.w = SAFE_BED_LEVELING_START_W;
+      #endif
+
+      do_blocking_move_to(safe_position);
+    #endif
   }
 
   // Invalidate one or more nearby mesh points, possibly all.

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

@@ -26,7 +26,6 @@
 
 #include "../bedlevel.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/motion.h"
 
 #if ENABLED(DELTA)
@@ -36,8 +35,18 @@
 #include "../../../MarlinCore.h"
 #include <math.h>
 
+//#define DEBUG_UBL_MOTION
+#define DEBUG_OUT ENABLED(DEBUG_UBL_MOTION)
+#include "../../../core/debug_out.h"
+
 #if !UBL_SEGMENTED
 
+  // TODO: The first and last parts of a move might result in very short segment(s)
+  //       after getting split on the cell boundary, so moves like that should not
+  //       get split. This will be most common for moves that start/end near the
+  //       corners of cells. To fix the issue, simply check if the start/end of the line
+  //       is very close to a cell boundary in advance and don't split the line there.
+
   void unified_bed_leveling::line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t extruder) {
     /**
      * Much of the nozzle movement will be within the same cell. So we will do as little computation
@@ -176,7 +185,9 @@
           dest.z += z0;
           planner.buffer_segment(dest, scaled_fr_mm_s, extruder);
 
-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
       }
 
       // At the final destination? Usually not, but when on a Y Mesh Line it's completed.
@@ -225,7 +236,9 @@
           dest.z += z0;
           if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
 
-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
       }
 
       if (xy_pos_t(current_position) != xy_pos_t(end))
@@ -360,11 +373,12 @@
     #endif
 
     NOLESS(segments, 1U);                                                            // Must have at least one segment
-    const float inv_segments = 1.0f / segments,                                      // Reciprocal to save calculation
-                segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments;    // Length of each segment
+    const float inv_segments = 1.0f / segments;                                      // Reciprocal to save calculation
 
+    // Add hints to help optimize the move
+    PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments);             // Length of each segment
     #if ENABLED(SCARA_FEEDRATE_SCALING)
-      const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
+      hints.inv_duration = scaled_fr_mm_s / hints.millimeters;
     #endif
 
     xyze_float_t diff = total * inv_segments;
@@ -378,13 +392,9 @@
     if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
       while (--segments) {
         raw += diff;
-        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-          OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-        );
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
       }
-      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm
-        OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
-      );
+      planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints);
       return false; // Did not set current from destination
     }
 
@@ -453,7 +463,7 @@
           TERN_(ENABLE_LEVELING_FADE_HEIGHT, * fade_scaling_factor); // apply fade factor to interpolated height
 
         const float oldz = raw.z; raw.z += z_cxcy;
-        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) );
+        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
         raw.z = oldz;
 
         if (segments == 0)                        // done with last segment

Marlin/src/feature/bltouch.cpp

@@ -45,7 +45,7 @@ void stop();
 
 bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
   if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd);
-  MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
+  servo[Z_PROBE_SERVO_NR].move(cmd);
   safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
   return triggered();
 }

Marlin/src/feature/dac/dac_dac084s085.cpp

@@ -11,7 +11,6 @@
 #include "dac_dac084s085.h"
 
 #include "../../MarlinCore.h"
-#include "../../module/stepper.h"
 #include "../../HAL/shared/Delay.h"
 
 dac084s085::dac084s085() { }

Marlin/src/feature/dac/stepper_dac.cpp

@@ -59,7 +59,7 @@ int StepperDAC::init() {
 }
 
 void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) {
-  if (!dac_present) return;
+  if (!(dac_present && channel < LOGICAL_AXES)) return;
 
   NOMORE(val, uint16_t(DAC_STEPPER_MAX));
 
@@ -84,13 +84,11 @@ void StepperDAC::print_values() {
   if (!dac_present) return;
   SERIAL_ECHO_MSG("Stepper current values in % (Amps):");
   SERIAL_ECHO_START();
-  SERIAL_ECHOPGM_P(SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")"));
-  #if HAS_Y_AXIS
-    SERIAL_ECHOPGM_P(SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")"));
-  #endif
-  #if HAS_Z_AXIS
-    SERIAL_ECHOPGM_P(SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")"));
-  #endif
+  LOOP_LOGICAL_AXES(a) {
+    SERIAL_CHAR(' ', IAXIS_CHAR(a), ':');
+    SERIAL_ECHO(dac_perc(a));
+    SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps(AxisEnum(a)), PSTR(")"));
+  }
   #if HAS_EXTRUDERS
     SERIAL_ECHOLNPGM_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
   #endif

Marlin/src/feature/direct_stepping.cpp

@@ -143,14 +143,16 @@ namespace DirectStepping {
           // special case for 8-bit, check if rolled back to 0
           if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
             if (write_byte_idx) return true;
-          } else {
-            if (write_byte_idx < write_page_size) return true;
           }
-        } else if (Cfg::DIRECTIONAL) {
-          if (write_byte_idx != Cfg::PAGE_SIZE) return true;
-        } else {
-          if (write_byte_idx < write_page_size) return true;
+          else if (write_byte_idx < write_page_size)
+            return true;
         }
+        else if (Cfg::DIRECTIONAL) {
+          if (write_byte_idx != Cfg::PAGE_SIZE)
+            return true;
+        }
+        else if (write_byte_idx < write_page_size)
+          return true;
 
         state = State::CHECKSUM;
         return true;
@@ -161,11 +163,10 @@ namespace DirectStepping {
         return true;
       }
       case State::UNFAIL:
-        if (c == 0) {
+        if (c == 0)
           set_page_state(write_page_idx, PageState::FREE);
-        } else {
+        else
           fatal_error = true;
-        }
         state = State::MONITOR;
         return true;
     }

Marlin/src/feature/encoder_i2c.cpp

@@ -49,7 +49,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
 
   initialized = true;
 
-  SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address);
+  SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address);
 
   position = get_position();
 }
@@ -67,7 +67,7 @@ void I2CPositionEncoder::update() {
     /*
     if (trusted) { //commented out as part of the note below
       trusted = false;
-      SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again.");
+      SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again.");
     }
     */
     return;
@@ -92,7 +92,7 @@ void I2CPositionEncoder::update() {
       if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
         trusted = true;
 
-        SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction.");
+        SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction.");
 
         //the encoder likely lost its place when the error occurred, so we'll reset and use the printer's
         //idea of where it the axis is to re-initialize
@@ -172,7 +172,7 @@ void I2CPositionEncoder::update() {
             float sumP = 0;
             LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
             const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE));
-            SERIAL_CHAR(axis_codes[encoderAxis]);
+            SERIAL_CHAR(AXIS_CHAR(encoderAxis));
             SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm");
             babystep.add_steps(encoderAxis, -LROUND(errorP));
             errPrstIdx = 0;
@@ -192,7 +192,7 @@ void I2CPositionEncoder::update() {
     if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) {
       const millis_t ms = millis();
       if (ELAPSED(ms, nextErrorCountTime)) {
-        SERIAL_CHAR(axis_codes[encoderAxis]);
+        SERIAL_CHAR(AXIS_CHAR(encoderAxis));
         SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum);
         errorCount++;
         nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
@@ -212,7 +212,7 @@ void I2CPositionEncoder::set_homed() {
     homed = trusted = true;
 
     #ifdef I2CPE_DEBUG
-      SERIAL_CHAR(axis_codes[encoderAxis]);
+      SERIAL_CHAR(AXIS_CHAR(encoderAxis));
       SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks.");
     #endif
   }
@@ -223,7 +223,7 @@ void I2CPositionEncoder::set_unhomed() {
   homed = trusted = false;
 
   #ifdef I2CPE_DEBUG
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis encoder unhomed.");
   #endif
 }
@@ -231,7 +231,7 @@ void I2CPositionEncoder::set_unhomed() {
 bool I2CPositionEncoder::passes_test(const bool report) {
   if (report) {
     if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     serial_ternary(H == I2CPE_MAG_SIG_BAD, F(" axis "), F("magnetic strip "), F("encoder "));
     switch (H) {
       case I2CPE_MAG_SIG_GOOD:
@@ -252,7 +252,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
               error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading
 
   if (report) {
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
   }
 
@@ -262,7 +262,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
 int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
   if (!active) {
     if (report) {
-      SERIAL_CHAR(axis_codes[encoderAxis]);
+      SERIAL_CHAR(AXIS_CHAR(encoderAxis));
       SERIAL_ECHOLNPGM(" axis encoder not active!");
     }
     return 0;
@@ -287,7 +287,7 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
   errorPrev = error;
 
   if (report) {
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
   }
 
@@ -337,7 +337,7 @@ bool I2CPositionEncoder::test_axis() {
   ec = false;
 
   xyze_pos_t startCoord, endCoord;
-  LOOP_LINEAR_AXES(a) {
+  LOOP_NUM_AXES(a) {
     startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
     endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
   }
@@ -395,7 +395,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
   travelDistance = endDistance - startDistance;
 
   xyze_pos_t startCoord, endCoord;
-  LOOP_LINEAR_AXES(a) {
+  LOOP_NUM_AXES(a) {
     startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
     endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
   }
@@ -657,7 +657,7 @@ void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units,
   else {
     if (noOffset) {
       const int32_t raw_count = encoders[idx].get_raw_count();
-      SERIAL_CHAR(axis_codes[encoders[idx].get_axis()], ' ');
+      SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' ');
 
       for (uint8_t j = 31; j > 0; j--)
         SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
@@ -712,7 +712,7 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const
   // and enable it (it will likely have failed initialization on power-up, before the address change).
   const int8_t idx = idx_from_addr(newaddr);
   if (idx >= 0 && !encoders[idx].get_active()) {
-    SERIAL_CHAR(axis_codes[encoders[idx].get_axis()]);
+    SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()]);
     SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again.");
     encoders[idx].set_active(encoders[idx].passes_test(true));
   }
@@ -814,7 +814,7 @@ void I2CPositionEncodersMgr::M860() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
       }
@@ -841,7 +841,7 @@ void I2CPositionEncodersMgr::M861() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_status(idx);
       }
@@ -869,7 +869,7 @@ void I2CPositionEncodersMgr::M862() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) test_axis(idx);
       }
@@ -900,7 +900,7 @@ void I2CPositionEncodersMgr::M863() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
       }
@@ -976,7 +976,7 @@ void I2CPositionEncodersMgr::M865() {
 
   if (!I2CPE_addr) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
       }
@@ -1007,7 +1007,7 @@ void I2CPositionEncodersMgr::M866() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           if (hasR)
@@ -1045,7 +1045,7 @@ void I2CPositionEncodersMgr::M867() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
@@ -1081,7 +1081,7 @@ void I2CPositionEncodersMgr::M868() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           if (newThreshold != -9999)
@@ -1115,7 +1115,7 @@ void I2CPositionEncodersMgr::M869() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_error(idx);
       }

Marlin/src/feature/encoder_i2c.h

@@ -261,32 +261,32 @@ class I2CPositionEncodersMgr {
 
     static void report_error_count(const int8_t idx, const AxisEnum axis) {
       CHECK_IDX();
-      SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(axis_codes[axis]), " axis is ", encoders[idx].get_error_count());
+      SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", encoders[idx].get_error_count());
     }
 
     static void reset_error_count(const int8_t idx, const AxisEnum axis) {
       CHECK_IDX();
       encoders[idx].set_error_count(0);
-      SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(axis_codes[axis]), " axis has been reset.");
+      SERIAL_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " axis has been reset.");
     }
 
     static void enable_ec(const int8_t idx, const bool enabled, const AxisEnum axis) {
       CHECK_IDX();
       encoders[idx].set_ec_enabled(enabled);
-      SERIAL_ECHOPGM("Error correction on ", AS_CHAR(axis_codes[axis]));
+      SERIAL_ECHOPGM("Error correction on ", AS_CHAR(AXIS_CHAR(axis)));
       SERIAL_ECHO_TERNARY(encoders[idx].get_ec_enabled(), " axis is ", "en", "dis", "abled.\n");
     }
 
     static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) {
       CHECK_IDX();
       encoders[idx].set_ec_threshold(newThreshold);
-      SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis set to ", newThreshold, "mm.");
+      SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis set to ", newThreshold, "mm.");
     }
 
     static void get_ec_threshold(const int8_t idx, const AxisEnum axis) {
       CHECK_IDX();
       const float threshold = encoders[idx].get_ec_threshold();
-      SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis is ", threshold, "mm.");
+      SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", threshold, "mm.");
     }
 
     static int8_t idx_from_axis(const AxisEnum axis) {

Marlin/src/feature/fwretract.cpp

@@ -34,7 +34,6 @@ FWRetract fwretract; // Single instance - this calls the constructor
 
 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
 
 #include "../gcode/gcode.h"
 

Marlin/src/feature/joystick.cpp

@@ -163,7 +163,7 @@ Joystick joystick;
     // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
     xyz_float_t move_dist{0};
     float hypot2 = 0;
-    LOOP_LINEAR_AXES(i) if (norm_jog[i]) {
+    LOOP_NUM_AXES(i) if (norm_jog[i]) {
       move_dist[i] = seg_time * norm_jog[i] * TERN(EXTENSIBLE_UI, manual_feedrate_mm_s, planner.settings.max_feedrate_mm_s)[i];
       hypot2 += sq(move_dist[i]);
     }
@@ -172,8 +172,9 @@ Joystick joystick;
       current_position += move_dist;
       apply_motion_limits(current_position);
       const float length = sqrt(hypot2);
+      PlannerHints hints(length);
       injecting_now = true;
-      planner.buffer_line(current_position, length / seg_time, active_extruder, length);
+      planner.buffer_line(current_position, length / seg_time, active_extruder, hints);
       injecting_now = false;
     }
   }

Marlin/src/feature/leds/neopixel.h

@@ -131,6 +131,13 @@ public:
   // Accessors
   static uint16_t pixels() { return adaneo1.numPixels() * TERN1(NEOPIXEL2_INSERIES, 2); }
 
+  static uint32_t pixel_color(const uint16_t n) {
+    #if ENABLED(NEOPIXEL2_INSERIES)
+      if (n >= NEOPIXEL_PIXELS) return adaneo2.getPixelColor(n - (NEOPIXEL_PIXELS));
+    #endif
+    return adaneo1.getPixelColor(n);
+  }
+
   static uint8_t brightness() { return adaneo1.getBrightness(); }
 
   static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w)) {
@@ -174,6 +181,7 @@ extern Marlin_NeoPixel neo;
 
     // Accessors
     static uint16_t pixels() { return adaneo.numPixels();}
+    static uint32_t pixel_color(const uint16_t n) { return adaneo.getPixelColor(n); }
     static uint8_t brightness() { return adaneo.getBrightness(); }
     static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED2, uint8_t w)) {
       return adaneo.Color(r, g, b OPTARG(HAS_WHITE_LED2, w));

Marlin/src/feature/max7219.cpp

@@ -44,7 +44,6 @@
 #include "max7219.h"
 
 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../MarlinCore.h"
 #include "../HAL/shared/Delay.h"
 
@@ -52,6 +51,7 @@
   #define HAS_SIDE_BY_SIDE 1
 #endif
 
+#define _ROT ((MAX7219_ROTATE + 360) % 360)
 #if _ROT == 0 || _ROT == 180
   #define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES)
   #define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8)
@@ -62,6 +62,15 @@
   #error "MAX7219_ROTATE must be a multiple of +/- 90°."
 #endif
 
+#ifdef MAX7219_DEBUG_PROFILE
+  CodeProfiler::Mode CodeProfiler::mode = ACCUMULATE_AVERAGE;
+  uint8_t CodeProfiler::instance_count = 0;
+  uint32_t CodeProfiler::last_calc_time = micros();
+  uint8_t CodeProfiler::time_fraction = 0;
+  uint32_t CodeProfiler::total_time = 0;
+  uint16_t CodeProfiler::call_count = 0;
+#endif
+
 Max7219 max7219;
 
 uint8_t Max7219::led_line[MAX7219_LINES]; // = { 0 };
@@ -69,7 +78,7 @@ uint8_t Max7219::suspended; // = 0;
 
 #define LINE_REG(Q)     (max7219_reg_digit0 + ((Q) & 0x7))
 
-#if _ROT == 0 || _ROT == 270
+#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH)
   #define _LED_BIT(Q)   (7 - ((Q) & 0x7))
 #else
   #define _LED_BIT(Q)   ((Q) & 0x7)
@@ -266,26 +275,27 @@ void Max7219::set(const uint8_t line, const uint8_t bits) {
 #endif // MAX7219_NUMERIC
 
 // Modify a single LED bit and send the changed line
-void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on) {
+void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm/*=nullptr*/) {
   if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_set"), x, y);
   if (BIT_7219(x, y) == on) return;
   XOR_7219(x, y);
   refresh_unit_line(LED_IND(x, y));
+  if (rcm != nullptr) *rcm |= _BV(LED_IND(x, y) & 0x07);
 }
 
-void Max7219::led_on(const uint8_t x, const uint8_t y) {
+void Max7219::led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
   if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_on"), x, y);
-  led_set(x, y, true);
+  led_set(x, y, true, rcm);
 }
 
-void Max7219::led_off(const uint8_t x, const uint8_t y) {
+void Max7219::led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
   if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_off"), x, y);
-  led_set(x, y, false);
+  led_set(x, y, false, rcm);
 }
 
-void Max7219::led_toggle(const uint8_t x, const uint8_t y) {
+void Max7219::led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
   if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_toggle"), x, y);
-  led_set(x, y, !BIT_7219(x, y));
+  led_set(x, y, !BIT_7219(x, y), rcm);
 }
 
 void Max7219::send_row(const uint8_t row) {
@@ -448,7 +458,7 @@ void Max7219::register_setup() {
   pulse_load();                               // Tell the chips to load the clocked out data
 }
 
-#ifdef MAX7219_INIT_TEST
+#if MAX7219_INIT_TEST
 
   uint8_t test_mode = 0;
   millis_t next_patt_ms;
@@ -536,13 +546,9 @@ void Max7219::init() {
 
   register_setup();
 
-  LOOP_LE_N(i, 7) {  // Empty registers to turn all LEDs off
-    led_line[i] = 0x00;
-    send(max7219_reg_digit0 + i, 0);
-    pulse_load();                     // Tell the chips to load the clocked out data
-  }
+  clear();
 
-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
     start_test_pattern();
   #endif
 }
@@ -554,41 +560,55 @@ void Max7219::init() {
  */
 
 // Apply changes to update a marker
-void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2) {
+void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2, uint8_t * const rcm/*=nullptr*/) {
   #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
-    led_off(v1 & 0xF, pos);
-     led_on(v2 & 0xF, pos);
+    led_off(v1 & 0xF, pos, rcm);
+     led_on(v2 & 0xF, pos, rcm);
   #elif MAX7219_Y_LEDS > 8  // At least 16 LEDs on the Y-Axis. Use a single column.
-    led_off(pos, v1 & 0xF);
-     led_on(pos, v2 & 0xF);
+    led_off(pos, v1 & 0xF, rcm);
+     led_on(pos, v2 & 0xF, rcm);
   #else                     // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
-    led_off(v1 & 0x7, pos + (v1 >= 8));
-     led_on(v2 & 0x7, pos + (v2 >= 8));
+    led_off(v1 & 0x7, pos + (v1 >= 8), rcm);
+     led_on(v2 & 0x7, pos + (v2 >= 8), rcm);
   #endif
 }
 
 // Apply changes to update a tail-to-head range
-void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh) {
+void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh,
+  const uint8_t nh, uint8_t * const rcm/*=nullptr*/) {
   #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
     if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(n & 0xF, y);
+      led_off(n & 0xF, y, rcm);
     if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(n & 0xF, y);
+       led_on(n & 0xF, y, rcm);
   #elif MAX7219_Y_LEDS > 8  // At least 16 LEDs on the Y-Axis. Use a single column.
     if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(y, n & 0xF);
+      led_off(y, n & 0xF, rcm);
     if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(y, n & 0xF);
+       led_on(y, n & 0xF, rcm);
   #else                     // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
     if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
-      led_off(n & 0x7, y + (n >= 8));
+      led_off(n & 0x7, y + (n >= 8), rcm);
     if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
-       led_on(n & 0x7, y + (n >= 8));
+       led_on(n & 0x7, y + (n >= 8), rcm);
   #endif
 }
 
 // Apply changes to update a quantity
-void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) {
+void Max7219::quantity(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
+  for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
+    led_set(
+      #if MAX7219_X_LEDS >= MAX7219_Y_LEDS
+        i, pos  // Single matrix or multiple matrices in Landscape
+      #else
+        pos, i  // Multiple matrices in Portrait
+      #endif
+      , nv >= ov
+      , rcm
+    );
+}
+
+void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
   for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
     led_set(
       #if MAX7219_X_LEDS > 8    // At least 16 LEDs on the X-Axis. Use single line.
@@ -599,6 +619,7 @@ void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv)
         i >> 1, pos + (i & 1)
       #endif
       , nv >= ov
+      , rcm
     );
 }
 
@@ -636,16 +657,20 @@ void Max7219::idle_tasks() {
     register_setup();
   }
 
-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
     if (test_mode) {
       run_test_pattern();
       return;
     }
   #endif
 
+  // suspend updates and record which lines have changed for batching later
+  suspended++;
+  uint8_t row_change_mask = 0x00;
+
   #if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
     if (do_blink) {
-      led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1);
+      led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask);
       next_blink = ms + 1000;
     }
   #endif
@@ -655,7 +680,7 @@ void Max7219::idle_tasks() {
     static int16_t last_head_cnt = 0xF, last_tail_cnt = 0xF;
 
     if (last_head_cnt != head || last_tail_cnt != tail) {
-      range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head);
+      range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask);
       last_head_cnt = head;
       last_tail_cnt = tail;
     }
@@ -665,7 +690,7 @@ void Max7219::idle_tasks() {
     #ifdef MAX7219_DEBUG_PLANNER_HEAD
       static int16_t last_head_cnt = 0x1;
       if (last_head_cnt != head) {
-        mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head);
+        mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask);
         last_head_cnt = head;
       }
     #endif
@@ -673,7 +698,7 @@ void Max7219::idle_tasks() {
     #ifdef MAX7219_DEBUG_PLANNER_TAIL
       static int16_t last_tail_cnt = 0x1;
       if (last_tail_cnt != tail) {
-        mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail);
+        mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask);
         last_tail_cnt = tail;
       }
     #endif
@@ -684,11 +709,26 @@ void Max7219::idle_tasks() {
     static int16_t last_depth = 0;
     const int16_t current_depth = (head - tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1) & 0xF;
     if (current_depth != last_depth) {
-      quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth);
+      quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth, &row_change_mask);
       last_depth = current_depth;
     }
   #endif
 
+  #ifdef MAX7219_DEBUG_PROFILE
+    static uint8_t last_time_fraction = 0;
+    const uint8_t current_time_fraction = (uint16_t(CodeProfiler::get_time_fraction()) * MAX7219_NUMBER_UNITS + 8) / 16;
+    if (current_time_fraction != last_time_fraction) {
+      quantity(MAX7219_DEBUG_PROFILE, last_time_fraction, current_time_fraction, &row_change_mask);
+      last_time_fraction = current_time_fraction;
+    }
+  #endif
+
+  // batch line updates
+  suspended--;
+  if (!suspended)
+    LOOP_L_N(i, 8) if (row_change_mask & _BV(i))
+      refresh_line(i);
+
   // After resume() automatically do a refresh()
   if (suspended == 0x80) {
     suspended = 0;

Marlin/src/feature/max7219.h

@@ -47,7 +47,6 @@
 #ifndef MAX7219_ROTATE
   #define MAX7219_ROTATE 0
 #endif
-#define _ROT ((MAX7219_ROTATE + 360) % 360)
 
 #ifndef MAX7219_NUMBER_UNITS
   #define MAX7219_NUMBER_UNITS 1
@@ -73,6 +72,67 @@
 #define max7219_reg_shutdown    0x0C
 #define max7219_reg_displayTest 0x0F
 
+#ifdef MAX7219_DEBUG_PROFILE
+  // This class sums up the amount of time for which its instances exist.
+  // By default there is one instantiated for the duration of the idle()
+  // function. But an instance can be created in any code block to measure
+  // the time spent from the point of instantiation until the CPU leaves
+  // block. Be careful about having multiple instances of CodeProfiler as
+  // it does not guard against double counting. In general mixing ISR and
+  // non-ISR use will require critical sections but note that mode setting
+  // is atomic so the total or average times can safely be read if you set
+  // mode to FREEZE first.
+  class CodeProfiler {
+  public:
+    enum Mode : uint8_t { ACCUMULATE_AVERAGE, ACCUMULATE_TOTAL, FREEZE };
+
+  private:
+    static Mode mode;
+    static uint8_t instance_count;
+    static uint32_t last_calc_time;
+    static uint32_t total_time;
+    static uint8_t time_fraction;
+    static uint16_t call_count;
+
+    uint32_t start_time;
+
+  public:
+    CodeProfiler() : start_time(micros()) { instance_count++; }
+    ~CodeProfiler() {
+      instance_count--;
+      if (mode == FREEZE) return;
+
+      call_count++;
+
+      const uint32_t now = micros();
+      total_time += now - start_time;
+
+      if (mode == ACCUMULATE_TOTAL) return;
+
+      // update time_fraction every hundred milliseconds
+      if (instance_count == 0 && ELAPSED(now, last_calc_time + 100000)) {
+        time_fraction = total_time * 128 / (now - last_calc_time);
+        last_calc_time = now;
+        total_time = 0;
+      }
+    }
+
+    static void set_mode(Mode _mode) { mode = _mode; }
+    static void reset() {
+      time_fraction = 0;
+      last_calc_time = micros();
+      total_time = 0;
+      call_count = 0;
+    }
+    // returns fraction of total time which was measured, scaled from 0 to 128
+    static uint8_t get_time_fraction() { return time_fraction; }
+    // returns total time in microseconds
+    static uint32_t get_total_time() { return total_time; }
+
+    static uint16_t get_call_count() { return call_count; }
+  };
+#endif
+
 class Max7219 {
 public:
   static uint8_t led_line[MAX7219_LINES];
@@ -110,10 +170,10 @@ public:
   #endif
 
   // Set a single LED by XY coordinate
-  static void led_set(const uint8_t x, const uint8_t y, const bool on);
-  static void led_on(const uint8_t x, const uint8_t y);
-  static void led_off(const uint8_t x, const uint8_t y);
-  static void led_toggle(const uint8_t x, const uint8_t y);
+  static void led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm=nullptr);
+  static void led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
+  static void led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
+  static void led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
 
   // Set all LEDs in a single column
   static void set_column(const uint8_t col, const uint32_t val);
@@ -147,11 +207,12 @@ private:
   static void set(const uint8_t line, const uint8_t bits);
   static void send_row(const uint8_t row);
   static void send_column(const uint8_t col);
-  static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2);
-  static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh);
-  static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv);
+  static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2, uint8_t * const rcm=nullptr);
+  static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh, uint8_t * const rcm=nullptr);
+  static void quantity(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);
+  static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);
 
-  #ifdef MAX7219_INIT_TEST
+  #if MAX7219_INIT_TEST
     static void test_pattern();
     static void run_test_pattern();
     static void start_test_pattern();

Marlin/src/feature/pause.cpp

@@ -35,10 +35,13 @@
 #include "../gcode/gcode.h"
 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../module/printcounter.h"
 #include "../module/temperature.h"
 
+#if HAS_EXTRUDERS
+  #include "../module/stepper.h"
+#endif
+
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #include "bedlevel/bedlevel.h"
 #endif
@@ -63,7 +66,7 @@
 
 #include "../lcd/marlinui.h"
 
-#if HAS_BUZZER
+#if HAS_SOUND
   #include "../libs/buzzer.h"
 #endif
 
@@ -98,7 +101,7 @@ fil_change_settings_t fc_settings[EXTRUDERS];
   #define _PMSG(L) L##_LCD
 #endif
 
-#if HAS_BUZZER
+#if HAS_SOUND
   static void impatient_beep(const int8_t max_beep_count, const bool restart=false) {
 
     if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return;
@@ -711,9 +714,13 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_
 
   TERN_(HAS_FILAMENT_SENSOR, runout.reset());
 
-  TERN(DWIN_LCD_PROUI, DWIN_Print_Resume(), ui.reset_status());
-  TERN_(HAS_MARLINUI_MENU, ui.return_to_status());
-  TERN_(DWIN_LCD_PROUI, HMI_ReturnScreen());
+  #if ENABLED(DWIN_LCD_PROUI)
+    DWIN_Print_Resume();
+    HMI_ReturnScreen();
+  #else
+    ui.reset_status();
+    ui.return_to_status();
+  #endif
 }
 
 #endif // ADVANCED_PAUSE_FEATURE

Marlin/src/feature/power.cpp

@@ -30,7 +30,7 @@
 
 #include "power.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
+#include "../module/stepper/indirection.h" // for restore_stepper_drivers
 #include "../module/temperature.h"
 #include "../MarlinCore.h"
 
@@ -46,6 +46,7 @@ Power powerManager;
 bool Power::psu_on;
 
 #if ENABLED(AUTO_POWER_CONTROL)
+  #include "../module/stepper.h"
   #include "../module/temperature.h"
 
   #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN)

Marlin/src/feature/power_monitor.cpp

@@ -53,7 +53,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
     void PowerMonitor::draw_current() {
       const float amps = getAmps();
       lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps));
-      lcd_put_wchar('A');
+      lcd_put_lchar('A');
     }
   #endif
 
@@ -61,7 +61,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
     void PowerMonitor::draw_voltage() {
       const float volts = getVolts();
       lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts));
-      lcd_put_wchar('V');
+      lcd_put_lchar('V');
     }
   #endif
 
@@ -69,7 +69,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor
     void PowerMonitor::draw_power() {
       const float power = getPower();
       lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power));
-      lcd_put_wchar('W');
+      lcd_put_lchar('W');
     }
   #endif
 

Marlin/src/feature/power_monitor.h

@@ -32,7 +32,7 @@ struct pm_lpf_t {
   uint32_t filter_buf;
   float value;
   void add_sample(const uint16_t sample) {
-    filter_buf = filter_buf - (filter_buf >> K_VALUE) + (uint32_t(sample) << K_SCALE);
+    filter_buf += (uint32_t(sample) << K_SCALE) - (filter_buf >> K_VALUE);
   }
   void capture() {
     value = filter_buf * (SCALE * (1.0f / (1UL << (PM_K_VALUE + PM_K_SCALE))));

Marlin/src/feature/powerloss.cpp

@@ -567,7 +567,7 @@ void PrintJobRecovery::resume() {
   TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
   TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift);
   #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
-    LOOP_LINEAR_AXES(i) update_workspace_offset((AxisEnum)i);
+    LOOP_NUM_AXES(i) update_workspace_offset((AxisEnum)i);
   #endif
 
   // Relative axis modes
@@ -617,7 +617,7 @@ void PrintJobRecovery::resume() {
 
         #if HAS_HOME_OFFSET
           DEBUG_ECHOPGM("home_offset: ");
-          LOOP_LINEAR_AXES(i) {
+          LOOP_NUM_AXES(i) {
             if (i) DEBUG_CHAR(',');
             DEBUG_DECIMAL(info.home_offset[i]);
           }
@@ -626,7 +626,7 @@ void PrintJobRecovery::resume() {
 
         #if HAS_POSITION_SHIFT
           DEBUG_ECHOPGM("position_shift: ");
-          LOOP_LINEAR_AXES(i) {
+          LOOP_NUM_AXES(i) {
             if (i) DEBUG_CHAR(',');
             DEBUG_DECIMAL(info.position_shift[i]);
           }

Marlin/src/feature/spindle_laser.cpp

@@ -39,18 +39,26 @@
 #endif
 
 SpindleLaser cutter;
-uint8_t SpindleLaser::power,
+bool SpindleLaser::enable_state;                                      // Virtual enable state, controls enable pin if present and or apply power if > 0
+uint8_t SpindleLaser::power,                                          // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
         SpindleLaser::last_power_applied; // = 0                      // Basic power state tracking
-#if ENABLED(LASER_FEATURE)
-  cutter_test_pulse_t SpindleLaser::testPulse = 50;                   // Test fire Pulse time ms value.
-#endif
-bool SpindleLaser::isReady;                                           // Ready to apply power setting from the UI to OCR
-cutter_power_t SpindleLaser::menuPower,                               // Power set via LCD menu in PWM, PERCENT, or RPM
-               SpindleLaser::unitPower;                               // LCD status power in PWM, PERCENT, or RPM
 
-#if ENABLED(MARLIN_DEV_MODE)
-  cutter_frequency_t SpindleLaser::frequency;                         // PWM frequency setting; range: 2K - 50K
+#if ENABLED(LASER_FEATURE)
+  cutter_test_pulse_t SpindleLaser::testPulse = 50;                   // (ms) Test fire pulse default duration
+  uint8_t SpindleLaser::last_block_power; // = 0                      // Track power changes for dynamic inline power
+  feedRate_t SpindleLaser::feedrate_mm_m = 1500,
+             SpindleLaser::last_feedrate_mm_m; // = 0                 // (mm/min) Track feedrate changes for dynamic power
 #endif
+
+bool SpindleLaser::isReadyForUI = false;                              // Ready to apply power setting from the UI to OCR
+CutterMode SpindleLaser::cutter_mode = CUTTER_MODE_STANDARD;          // Default is standard mode
+
+constexpr cutter_cpower_t SpindleLaser::power_floor;
+cutter_power_t SpindleLaser::menuPower = 0,                           // Power value via LCD menu in PWM, PERCENT, or RPM based on configured format set by CUTTER_POWER_UNIT.
+               SpindleLaser::unitPower = 0;                           // Unit power is in PWM, PERCENT, or RPM based on CUTTER_POWER_UNIT.
+
+cutter_frequency_t SpindleLaser::frequency;                           // PWM frequency setting; range: 2K - 50K
+
 #define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0)
 
 /**
@@ -58,21 +66,21 @@ cutter_power_t SpindleLaser::menuPower,                               // Power s
  */
 void SpindleLaser::init() {
   #if ENABLED(SPINDLE_SERVO)
-    MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN);
-  #else
+    servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
+  #elif PIN_EXISTS(SPINDLE_LASER_ENA)
     OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
   #endif
   #if ENABLED(SPINDLE_CHANGE_DIR)
     OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR);                   // Init rotation to clockwise (M3)
   #endif
+  #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
+    frequency = SPINDLE_LASER_FREQUENCY;
+    hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
+  #endif
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     SET_PWM(SPINDLE_LASER_PWM_PIN);
     hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
   #endif
-  #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-    hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
-    TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY);
-  #endif
   #if ENABLED(AIR_EVACUATION)
     OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE);            // Init Vacuum/Blower OFF
   #endif
@@ -90,52 +98,62 @@ void SpindleLaser::init() {
    */
   void SpindleLaser::_set_ocr(const uint8_t ocr) {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-      hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
+      hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
     #endif
     hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
   }
 
   void SpindleLaser::set_ocr(const uint8_t ocr) {
-    WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+    #if PIN_EXISTS(SPINDLE_LASER_ENA)
+      WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+    #endif
     _set_ocr(ocr);
   }
 
   void SpindleLaser::ocr_off() {
-    WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+    #if PIN_EXISTS(SPINDLE_LASER_ENA)
+      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+    #endif
     _set_ocr(0);
   }
 #endif // SPINDLE_LASER_USE_PWM
 
 /**
- * Apply power for laser/spindle
+ * Apply power for Laser or Spindle
  *
  * Apply cutter power value for PWM, Servo, and on/off pin.
  *
- * @param opwr Power value. Range 0 to MAX. When 0 disable spindle/laser.
+ * @param opwr Power value. Range 0 to MAX.
  */
 void SpindleLaser::apply_power(const uint8_t opwr) {
-  if (opwr == last_power_applied) return;
-  last_power_applied = opwr;
-  power = opwr;
-  #if ENABLED(SPINDLE_LASER_USE_PWM)
-    if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) {
-      ocr_off();
-      isReady = false;
-    }
-    else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled()) {
-      set_ocr(power);
-      isReady = true;
-    }
-    else {
-      ocr_off();
-      isReady = false;
-    }
-  #elif ENABLED(SPINDLE_SERVO)
-    MOVE_SERVO(SPINDLE_SERVO_NR, power);
-  #else
-    WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
-    isReady = true;
-  #endif
+  if (enabled() || opwr == 0) {                                   // 0 check allows us to disable where no ENA pin exists
+    // Test and set the last power used to improve performance
+    if (opwr == last_power_applied) return;
+    last_power_applied = opwr;
+    // Handle PWM driven or just simple on/off
+    #if ENABLED(SPINDLE_LASER_USE_PWM)
+      if (CUTTER_UNIT_IS(RPM) && unitPower == 0)
+        ocr_off();
+      else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled() || opwr == 0) {
+        set_ocr(opwr);
+        isReadyForUI = true;
+      }
+      else
+        ocr_off();
+    #elif ENABLED(SPINDLE_SERVO)
+      MOVE_SERVO(SPINDLE_SERVO_NR, power);
+    #else
+      WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+      isReadyForUI = true;
+    #endif
+  }
+  else {
+    #if PIN_EXISTS(SPINDLE_LASER_ENA)
+      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
+    #endif
+    isReadyForUI = false; // Only used for UI display updates.
+    TERN_(SPINDLE_LASER_USE_PWM, ocr_off());
+  }
 }
 
 #if ENABLED(SPINDLE_CHANGE_DIR)

Marlin/src/feature/spindle_laser.h

@@ -34,87 +34,98 @@
   #include "../libs/buzzer.h"
 #endif
 
-#if ENABLED(LASER_POWER_INLINE)
-  #include "../module/planner.h"
-#endif
+// Inline laser power
+#include "../module/planner.h"
 
 #define PCT_TO_PWM(X) ((X) * 255 / 100)
 #define PCT_TO_SERVO(X) ((X) * 180 / 100)
 
-// #define _MAP(N,S1,S2,D1,D2) ((N)*_MAX((D2)-(D1),0)/_MAX((S2)-(S1),1)+(D1))
+
+// Laser/Cutter operation mode
+enum CutterMode : int8_t {
+  CUTTER_MODE_ERROR = -1,
+  CUTTER_MODE_STANDARD,     // M3 power is applied directly and waits for planner moves to sync.
+  CUTTER_MODE_CONTINUOUS,   // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'.
+  CUTTER_MODE_DYNAMIC       // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'.
+};
 
 class SpindleLaser {
 public:
-  static const inline uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
+  static CutterMode cutter_mode;
+
+  static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
 
   // cpower = configured values (e.g., SPEED_POWER_MAX)
-
   // Convert configured power range to a percentage
-  static const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
-    constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0),
-                              power_range = SPEED_POWER_MAX - power_floor;
-    return cpwr ? round(100.0f * (cpwr - power_floor) / power_range) : 0;
+  static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0);
+  static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
+    return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0;
   }
 
-  // Convert a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower),
-  // which can be PWM, Percent, Servo angle, or RPM (rel/abs).
-  static const inline cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
-    const cutter_power_t upwr = (
+  // Convert config defines from RPM to %, angle or PWM when in Spindle mode
+  // and convert from PERCENT to PWM when in Laser mode
+  static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
+    return (
       #if ENABLED(SPINDLE_FEATURE)
-        // Spindle configured values are in RPM
+        // Spindle configured define values are in RPM
         #if CUTTER_UNIT_IS(RPM)
-          cpwr                            // to RPM
-        #elif CUTTER_UNIT_IS(PERCENT)     // to PCT
-          cpwr_to_pct(cpwr)
-        #elif CUTTER_UNIT_IS(SERVO)       // to SERVO angle
-          PCT_TO_SERVO(cpwr_to_pct(cpwr))
-        #else                             // to PWM
-          PCT_TO_PWM(cpwr_to_pct(cpwr))
+          cpwr                            // to same
+        #elif CUTTER_UNIT_IS(PERCENT)
+          cpwr_to_pct(cpwr)               // to Percent
+        #elif CUTTER_UNIT_IS(SERVO)
+          PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle
+        #else
+          PCT_TO_PWM(cpwr_to_pct(cpwr))   // to PWM
         #endif
       #else
-        // Laser configured values are in PCT
+        // Laser configured define values are in Percent
         #if CUTTER_UNIT_IS(PWM255)
-          PCT_TO_PWM(cpwr)
+          PCT_TO_PWM(cpwr)                // to PWM
         #else
-          cpwr                            // to RPM/PCT
+          cpwr                            // to same
         #endif
       #endif
     );
-    return upwr;
   }
 
-  static const cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
-  static const cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
+  static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
+  static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
 
   #if ENABLED(LASER_FEATURE)
-    static cutter_test_pulse_t testPulse; // Test fire Pulse ms value
+    static cutter_test_pulse_t testPulse;                 // (ms) Test fire pulse duration
+    static uint8_t last_block_power;                      // Track power changes for dynamic power
+
+    static feedRate_t feedrate_mm_m, last_feedrate_mm_m;  // (mm/min) Track feedrate changes for dynamic power
+    static bool laser_feedrate_changed() {
+      const bool changed = last_feedrate_mm_m != feedrate_mm_m;
+      if (changed) last_feedrate_mm_m = feedrate_mm_m;
+      return changed;
+    }
   #endif
 
-  static bool isReady;                    // Ready to apply power setting from the UI to OCR
+  static bool isReadyForUI;               // Ready to apply power setting from the UI to OCR
+  static bool enable_state;
   static uint8_t power,
                  last_power_applied;      // Basic power state tracking
 
-  #if ENABLED(MARLIN_DEV_MODE)
-    static cutter_frequency_t frequency;  // Set PWM frequency; range: 2K-50K
-  #endif
+  static cutter_frequency_t frequency;  // Set PWM frequency; range: 2K-50K
 
   static cutter_power_t menuPower,        // Power as set via LCD menu in PWM, Percentage or RPM
                         unitPower;        // Power as displayed status in PWM, Percentage or RPM
 
   static void init();
 
-  #if ENABLED(MARLIN_DEV_MODE)
+  #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
     static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
   #endif
 
   // Modifying this function should update everywhere
   static bool enabled(const cutter_power_t opwr) { return opwr > 0; }
-  static bool enabled() { return enabled(power); }
+  static bool enabled() { return enable_state; }
 
   static void apply_power(const uint8_t inpow);
 
   FORCE_INLINE static void refresh() { apply_power(power); }
-  FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); }
 
   #if ENABLED(SPINDLE_LASER_USE_PWM)
 
@@ -125,7 +136,6 @@ public:
     public:
 
     static void set_ocr(const uint8_t ocr);
-    static void ocr_set_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); }
     static void ocr_off();
 
     /**
@@ -143,78 +153,76 @@ public:
       );
     }
 
-    /**
-     * Correct power to configured range
-     */
-    static cutter_power_t power_to_range(const cutter_power_t pwr) {
-      return power_to_range(pwr, _CUTTER_POWER(CUTTER_POWER_UNIT));
-    }
-
-    static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) {
-      static constexpr float
-        min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
-        max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
-      if (pwr <= 0) return 0;
-      cutter_power_t upwr;
-      switch (pwrUnit) {
-        case _CUTTER_POWER_PWM255:
-          upwr = cutter_power_t(
-              (pwr < pct_to_ocr(min_pct)) ? pct_to_ocr(min_pct) // Use minimum if set below
-            : (pwr > pct_to_ocr(max_pct)) ? pct_to_ocr(max_pct) // Use maximum if set above
-            :  pwr
-          );
-          break;
-        case _CUTTER_POWER_PERCENT:
-          upwr = cutter_power_t(
-              (pwr < min_pct) ? min_pct                         // Use minimum if set below
-            : (pwr > max_pct) ? max_pct                         // Use maximum if set above
-            :  pwr                                              // PCT
-          );
-          break;
-        case _CUTTER_POWER_RPM:
-          upwr = cutter_power_t(
-              (pwr < SPEED_POWER_MIN) ? SPEED_POWER_MIN         // Use minimum if set below
-            : (pwr > SPEED_POWER_MAX) ? SPEED_POWER_MAX         // Use maximum if set above
-            : pwr                                               // Calculate OCR value
-          );
-          break;
-        default: break;
-      }
-      return upwr;
-    }
-
   #endif // SPINDLE_LASER_USE_PWM
 
   /**
-   * Enable/Disable spindle/laser
-   * @param enable true = enable; false = disable
+   * Correct power to configured range
    */
-  static void set_enabled(const bool enable) {
-    uint8_t value = 0;
-    if (enable) {
-      #if ENABLED(SPINDLE_LASER_USE_PWM)
-        if (power)
-          value = power;
-        else if (unitPower)
-          value = upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP));
-      #else
-        value = 255;
-      #endif
+  static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) {
+    static constexpr float
+      min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
+      max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
+    if (pwr <= 0) return 0;
+    cutter_power_t upwr;
+    switch (pwrUnit) {
+      case _CUTTER_POWER_PWM255: {  // PWM
+        const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct);
+        upwr = cutter_power_t(constrain(pwr, pmin, pmax));
+      } break;
+      case _CUTTER_POWER_PERCENT:   // Percent
+        upwr = cutter_power_t(constrain(pwr, min_pct, max_pct));
+        break;
+      case _CUTTER_POWER_RPM:       // Calculate OCR value
+        upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX));
+        break;
+      default: break;
     }
-    set_power(value);
+    return upwr;
   }
 
-  static void disable() { isReady = false; set_enabled(false); }
-
   /**
-   * Wait for spindle to spin up or spin down
+   * Enable Laser or Spindle output.
+   * It's important to prevent changing the power output value during inline cutter operation.
+   * Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode.
    *
-   * @param on true = state to on; false = state to off.
+   * This method accepts one of the following control states:
+   *
+   *  - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply
+   *    SPEED_POWER_STARTUP if no value is assigned.
+   *
+   *  - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set.
+   *
+   *  - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag.
+   *
+   *  - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode.
+   *    This mode allows a global power shutdown action to occur.
    */
-  static void power_delay(const bool on) {
-    #if DISABLED(LASER_POWER_INLINE)
-      safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
+  static void set_enabled(bool enable) {
+    switch (cutter_mode) {
+      case CUTTER_MODE_STANDARD:
+        apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0);
+        break;
+      case CUTTER_MODE_CONTINUOUS:
+        TERN_(LASER_FEATURE, set_inline_enabled(enable));
+        break;
+      case CUTTER_MODE_DYNAMIC:
+        TERN_(LASER_FEATURE, set_inline_enabled(enable));
+        break;
+      case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
+        enable = false;
+        apply_power(0);
+    }
+    #if SPINDLE_LASER_ENA_PIN
+      WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
     #endif
+    enable_state = enable;
+  }
+
+  static void disable() { isReadyForUI = false; set_enabled(false); }
+
+  // Wait for spindle/laser to startup or shutdown
+  static void power_delay(const bool on) {
+    safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
   }
 
   #if ENABLED(SPINDLE_CHANGE_DIR)
@@ -226,122 +234,98 @@ public:
   #endif
 
   #if ENABLED(AIR_EVACUATION)
-    static void air_evac_enable();         // Turn On Cutter Vacuum or Laser Blower motor
-    static void air_evac_disable();        // Turn Off Cutter Vacuum or Laser Blower motor
-    static void air_evac_toggle();         // Toggle Cutter Vacuum or Laser Blower motor
-    static bool air_evac_state() {  // Get current state
+    static void air_evac_enable();     // Turn On Cutter Vacuum or Laser Blower motor
+    static void air_evac_disable();    // Turn Off Cutter Vacuum or Laser Blower motor
+    static void air_evac_toggle();     // Toggle Cutter Vacuum or Laser Blower motor
+    static bool air_evac_state() {     // Get current state
       return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE);
     }
   #endif
 
   #if ENABLED(AIR_ASSIST)
-    static void air_assist_enable();         // Turn on air assist
-    static void air_assist_disable();        // Turn off air assist
-    static void air_assist_toggle();         // Toggle air assist
-    static bool air_assist_state() {  // Get current state
+    static void air_assist_enable();   // Turn on air assist
+    static void air_assist_disable();  // Turn off air assist
+    static void air_assist_toggle();   // Toggle air assist
+    static bool air_assist_state() {   // Get current state
       return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE);
     }
   #endif
 
   #if HAS_MARLINUI_MENU
-    static void enable_with_dir(const bool reverse) {
-      isReady = true;
-      const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
-      if (menuPower)
-        power = ocr;
-      else
-        menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
-      unitPower = menuPower;
-      set_reverse(reverse);
-      set_enabled(true);
-    }
-    FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
-    FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
-    FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
+
+    #if ENABLED(SPINDLE_FEATURE)
+      static void enable_with_dir(const bool reverse) {
+        isReadyForUI = true;
+        const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
+        if (menuPower)
+          power = ocr;
+        else
+          menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
+        unitPower = menuPower;
+        set_reverse(reverse);
+        set_enabled(true);
+      }
+      FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
+      FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
+      FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
+    #endif // SPINDLE_FEATURE
 
     #if ENABLED(SPINDLE_LASER_USE_PWM)
       static void update_from_mpower() {
-        if (isReady) power = upower_to_ocr(menuPower);
+        if (isReadyForUI) power = upower_to_ocr(menuPower);
         unitPower = menuPower;
       }
     #endif
 
     #if ENABLED(LASER_FEATURE)
+      // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
+      static void menu_set_enabled(const bool state) {
+        set_enabled(state);
+        if (state) {
+          if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
+          power = upower_to_ocr(menuPower);
+          apply_power(power);
+        } else 
+          apply_power(0);
+      }
+
       /**
        * Test fire the laser using the testPulse ms duration
        * Also fires with any PWM power that was previous set
        * If not set defaults to 80% power
        */
       static void test_fire_pulse() {
-        TERN_(HAS_BEEPER, buzzer.tone(30, 3000));
-        enable_forward();                  // Turn Laser on (Spindle speak but same funct)
-        delay(testPulse);                  // Delay for time set by user in pulse ms menu screen.
-        disable();                         // Turn laser off
+        BUZZ(30, 3000);
+        cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode.
+        menu_set_enabled(true);             // Laser On
+        delay(testPulse);                   // Delay for time set by user in pulse ms menu screen.
+        menu_set_enabled(false);            // Laser Off
       }
-    #endif
+    #endif // LASER_FEATURE
 
   #endif // HAS_MARLINUI_MENU
 
-  #if ENABLED(LASER_POWER_INLINE)
-    /**
-     * Inline power adds extra fields to the planner block
-     * to handle laser power and scale to movement speed.
-     */
+  #if ENABLED(LASER_FEATURE)
 
-    // Force disengage planner power control
-    static void inline_disable() {
-      isReady = false;
-      unitPower = 0;
-      planner.laser_inline.status.isPlanned = false;
-      planner.laser_inline.status.isEnabled = false;
-      planner.laser_inline.power = 0;
+    // Dynamic mode rate calculation
+    static uint8_t calc_dynamic_power() {
+      if (feedrate_mm_m > 65535) return 255;    // Too fast, go always on
+      uint16_t rate = uint16_t(feedrate_mm_m);  // 16 bits from the G-code parser float input
+      rate >>= 8;                               // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255
+      return uint8_t(rate);
     }
 
     // Inline modes of all other functions; all enable planner inline power control
-    static void set_inline_enabled(const bool enable) {
-      if (enable)
-        inline_power(255);
-      else {
-        isReady = false;
-        unitPower = menuPower = 0;
-        planner.laser_inline.status.isPlanned = false;
-        TERN(SPINDLE_LASER_USE_PWM, inline_ocr_power, inline_power)(0);
-      }
-    }
+    static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; }
 
     // Set the power for subsequent movement blocks
-    static void inline_power(const cutter_power_t upwr) {
-      unitPower = menuPower = upwr;
-      #if ENABLED(SPINDLE_LASER_USE_PWM)
-        #if ENABLED(SPEED_POWER_RELATIVE) && !CUTTER_UNIT_IS(RPM) // relative mode does not turn laser off at 0, except for RPM
-          planner.laser_inline.status.isEnabled = true;
-          planner.laser_inline.power = upower_to_ocr(upwr);
-          isReady = true;
-        #else
-          inline_ocr_power(upower_to_ocr(upwr));
-        #endif
-      #else
-        planner.laser_inline.status.isEnabled = enabled(upwr);
-        planner.laser_inline.power = upwr;
-        isReady = enabled(upwr);
-      #endif
+    static void inline_power(const cutter_power_t cpwr) {
+      TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0);
     }
 
-    static void inline_direction(const bool) { /* never */ }
+  #endif // LASER_FEATURE
 
-    #if ENABLED(SPINDLE_LASER_USE_PWM)
-      static void inline_ocr_power(const uint8_t ocrpwr) {
-        isReady = ocrpwr > 0;
-        planner.laser_inline.status.isEnabled = ocrpwr > 0;
-        planner.laser_inline.power = ocrpwr;
-      }
-    #endif
-  #endif // LASER_POWER_INLINE
-
-  static void kill() {
-    TERN_(LASER_POWER_INLINE, inline_disable());
-    disable();
-  }
+  static void kill() { disable(); }
 };
 
 extern SpindleLaser cutter;

Marlin/src/feature/spindle_laser_types.h

@@ -74,12 +74,10 @@ typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t;
   #endif
 #endif
 
+typedef uint16_t cutter_frequency_t;
+
 #if ENABLED(LASER_FEATURE)
   typedef uint16_t cutter_test_pulse_t;
   #define CUTTER_MENU_PULSE_TYPE uint16_3
-#endif
-
-#if ENABLED(MARLIN_DEV_MODE)
-  typedef uint16_t cutter_frequency_t;
   #define CUTTER_MENU_FREQUENCY_TYPE uint16_5
 #endif

Marlin/src/feature/stepper_driver_safety.cpp

@@ -65,15 +65,18 @@ void stepper_driver_backward_check() {
   TEST_BACKWARD(I,   8);
   TEST_BACKWARD(J,   9);
   TEST_BACKWARD(K,  10);
+  TEST_BACKWARD(U,  11);
+  TEST_BACKWARD(V,  12);
+  TEST_BACKWARD(W,  13);
 
-  TEST_BACKWARD(E0, 11);
-  TEST_BACKWARD(E1, 12);
-  TEST_BACKWARD(E2, 13);
-  TEST_BACKWARD(E3, 14);
-  TEST_BACKWARD(E4, 15);
-  TEST_BACKWARD(E5, 16);
-  TEST_BACKWARD(E6, 17);
-  TEST_BACKWARD(E7, 18);
+  TEST_BACKWARD(E0, 14);
+  TEST_BACKWARD(E1, 15);
+  TEST_BACKWARD(E2, 16);
+  TEST_BACKWARD(E3, 17);
+  TEST_BACKWARD(E4, 18);
+  TEST_BACKWARD(E5, 19);
+  TEST_BACKWARD(E6, 20);
+  TEST_BACKWARD(E7, 21);
 
   if (!axis_plug_backward)
     WRITE(SAFE_POWER_PIN, HIGH);
@@ -103,15 +106,18 @@ void stepper_driver_backward_report() {
   REPORT_BACKWARD(I,   8);
   REPORT_BACKWARD(J,   9);
   REPORT_BACKWARD(K,  10);
+  REPORT_BACKWARD(U,  11);
+  REPORT_BACKWARD(V,  12);
+  REPORT_BACKWARD(W,  13);
 
-  REPORT_BACKWARD(E0, 11);
-  REPORT_BACKWARD(E1, 12);
-  REPORT_BACKWARD(E2, 13);
-  REPORT_BACKWARD(E3, 14);
-  REPORT_BACKWARD(E4, 15);
-  REPORT_BACKWARD(E5, 16);
-  REPORT_BACKWARD(E6, 17);
-  REPORT_BACKWARD(E7, 18);
+  REPORT_BACKWARD(E0, 14);
+  REPORT_BACKWARD(E1, 15);
+  REPORT_BACKWARD(E2, 16);
+  REPORT_BACKWARD(E3, 17);
+  REPORT_BACKWARD(E4, 18);
+  REPORT_BACKWARD(E5, 19);
+  REPORT_BACKWARD(E6, 20);
+  REPORT_BACKWARD(E7, 21);
 }
 
 #endif // HAS_DRIVER_SAFE_POWER_PROTECT

Marlin/src/feature/tmc_util.cpp

@@ -33,17 +33,12 @@
 #include "../gcode/gcode.h"
 
 #if ENABLED(TMC_DEBUG)
-  #include "../module/planner.h"
   #include "../libs/hex_print.h"
   #if ENABLED(MONITOR_DRIVER_STATUS)
     static uint16_t report_tmc_status_interval; // = 0
   #endif
 #endif
 
-#if HAS_MARLINUI_MENU
-  #include "../module/stepper.h"
-#endif
-
 /**
  * Check for over temperature or short to ground error flags.
  * Report and log warning of overtemperature condition.
@@ -429,6 +424,18 @@
         if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
           step_current_down(stepperK);
       #endif
+      #if AXIS_IS_TMC(U)
+        if (monitor_tmc_driver(stepperU, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperU);
+      #endif
+      #if AXIS_IS_TMC(V)
+        if (monitor_tmc_driver(stepperV, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperV);
+      #endif
+      #if AXIS_IS_TMC(W)
+        if (monitor_tmc_driver(stepperW, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperW);
+      #endif
 
       #if AXIS_IS_TMC(E0)
         (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
@@ -809,6 +816,15 @@
     #if AXIS_IS_TMC(K)
       if (k) tmc_status(stepperK, n);
     #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_status(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_status(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_status(stepperW, n);
+    #endif
 
     if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
@@ -883,6 +899,15 @@
     #if AXIS_IS_TMC(K)
       if (k) tmc_parse_drv_status(stepperK, n);
     #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_parse_drv_status(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_parse_drv_status(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_parse_drv_status(stepperW, n);
+    #endif
 
     if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
@@ -1088,6 +1113,15 @@
     #if AXIS_IS_TMC(K)
       if (k) tmc_get_registers(stepperK, n);
     #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_get_registers(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_get_registers(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_get_registers(stepperW, n);
+    #endif
 
     if (TERN0(HAS_EXTRUDERS, e)) {
       #if AXIS_IS_TMC(E0)
@@ -1244,6 +1278,15 @@ void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
   #if AXIS_IS_TMC(K)
     if (k) axis_connection += test_connection(stepperK);
   #endif
+  #if AXIS_IS_TMC(U)
+    if (u) axis_connection += test_connection(stepperU);
+  #endif
+  #if AXIS_IS_TMC(V)
+    if (v) axis_connection += test_connection(stepperV);
+  #endif
+  #if AXIS_IS_TMC(W)
+    if (w) axis_connection += test_connection(stepperW);
+  #endif
 
   if (TERN0(HAS_EXTRUDERS, e)) {
     #if AXIS_IS_TMC(E0)
@@ -1313,6 +1356,15 @@ void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
     #if AXIS_HAS_SPI(K)
       SET_CS_PIN(K);
     #endif
+    #if AXIS_HAS_SPI(U)
+      SET_CS_PIN(U);
+    #endif
+    #if AXIS_HAS_SPI(V)
+      SET_CS_PIN(V);
+    #endif
+    #if AXIS_HAS_SPI(W)
+      SET_CS_PIN(W);
+    #endif
     #if AXIS_HAS_SPI(E0)
       SET_CS_PIN(E0);
     #endif

Marlin/src/feature/tmc_util.h

@@ -348,7 +348,7 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
 #if USE_SENSORLESS
 
   // Track enabled status of stealthChop and only re-enable where applicable
-  struct sensorless_t { bool LINEAR_AXIS_ARGS(), x2, y2, z2, z3, z4; };
+  struct sensorless_t { bool NUM_AXIS_ARGS(), x2, y2, z2, z3, z4; };
 
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
     extern millis_t sg_guard_period;

Marlin/src/gcode/bedlevel/G26.cpp

@@ -107,7 +107,6 @@
 
 #include "../../MarlinCore.h"
 #include "../../module/planner.h"
-#include "../../module/stepper.h"
 #include "../../module/motion.h"
 #include "../../module/tool_change.h"
 #include "../../module/temperature.h"
@@ -306,7 +305,7 @@ typedef struct {
         LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
       #endif
 
-      if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
+      if (position_is_reachable(s) && position_is_reachable(e))
         print_line_from_here_to_there(s, e);
     }
   }

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -32,7 +32,6 @@
 #include "../../../feature/bedlevel/bedlevel.h"
 #include "../../../module/motion.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/probe.h"
 #include "../../queue.h"
 
@@ -453,6 +452,42 @@ G29_TYPE GcodeSuite::G29() {
       #endif
     }
 
+    // Position bed horizontally and Z probe vertically.
+    #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+        || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+        || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+      xyze_pos_t safe_position = current_position;
+      #ifdef SAFE_BED_LEVELING_START_X
+        safe_position.x = SAFE_BED_LEVELING_START_X;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Y
+        safe_position.y = SAFE_BED_LEVELING_START_Y;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Z
+        safe_position.z = SAFE_BED_LEVELING_START_Z;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_I
+        safe_position.i = SAFE_BED_LEVELING_START_I;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_J
+        safe_position.j = SAFE_BED_LEVELING_START_J;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_K
+        safe_position.k = SAFE_BED_LEVELING_START_K;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_U
+        safe_position.u = SAFE_BED_LEVELING_START_U;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_V
+        safe_position.v = SAFE_BED_LEVELING_START_V;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_W
+        safe_position.w = SAFE_BED_LEVELING_START_W;
+      #endif
+
+      do_blocking_move_to(safe_position);
+    #endif
+
     // Disable auto bed leveling during G29.
     // Be formal so G29 can be done successively without G28.
     if (!no_action) set_bed_leveling_enabled(false);

Marlin/src/gcode/bedlevel/mbl/G29.cpp

@@ -36,7 +36,7 @@
 #include "../../../libs/buzzer.h"
 #include "../../../lcd/marlinui.h"
 #include "../../../module/motion.h"
-#include "../../../module/stepper.h"
+#include "../../../module/planner.h"
 
 #if ENABLED(EXTENSIBLE_UI)
   #include "../../../lcd/extui/ui_api.h"
@@ -106,6 +106,43 @@ void GcodeSuite::G29() {
         queue.inject(parser.seen_test('N') ? F("G28" TERN(CAN_SET_LEVELING_AFTER_G28, "L0", "") "\nG29S2") : F("G29S2"));
         TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart());
         TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart());
+
+        // Position bed horizontally and Z probe vertically.
+        #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+            || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+            || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+          xyze_pos_t safe_position = current_position;
+          #ifdef SAFE_BED_LEVELING_START_X
+            safe_position.x = SAFE_BED_LEVELING_START_X;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_Y
+            safe_position.y = SAFE_BED_LEVELING_START_Y;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_Z
+            safe_position.z = SAFE_BED_LEVELING_START_Z;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_I
+            safe_position.i = SAFE_BED_LEVELING_START_I;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_J
+            safe_position.j = SAFE_BED_LEVELING_START_J;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_K
+            safe_position.k = SAFE_BED_LEVELING_START_K;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_U
+            safe_position.u = SAFE_BED_LEVELING_START_U;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_V
+            safe_position.v = SAFE_BED_LEVELING_START_V;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_W
+            safe_position.w = SAFE_BED_LEVELING_START_W;
+          #endif
+
+          do_blocking_move_to(safe_position);
+        #endif
+
         return;
       }
       state = MeshNext;

Marlin/src/gcode/calibrate/G28.cpp

@@ -24,8 +24,9 @@
 
 #include "../gcode.h"
 
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
+#include "../../module/planner.h"
+#include "../../module/stepper.h" // for various
 
 #if HAS_MULTI_HOTEND
   #include "../../module/tool_change.h"
@@ -35,6 +36,10 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "../../feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(SENSORLESS_HOMING)
   #include "../../feature/tmc_util.h"
 #endif
@@ -55,11 +60,7 @@
   #include "../../lcd/e3v2/proui/dwin.h"
 #endif
 
-#if HAS_L64XX                         // set L6470 absolute position registers to counts
-  #include "../../libs/L64XX/L64XX_Marlin.h"
-#endif
-
-#if ENABLED(LASER_MOVE_G28_OFF)
+#if ENABLED(LASER_FEATURE)
   #include "../../feature/spindle_laser.h"
 #endif
 
@@ -82,7 +83,7 @@
 
     #if ENABLED(SENSORLESS_HOMING)
       sensorless_t stealth_states {
-        LINEAR_AXIS_LIST(
+        NUM_AXIS_LIST(
           TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX)),
           TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY)),
           false, false, false, false
@@ -169,7 +170,7 @@
       motion_state.jerk_state = planner.max_jerk;
       planner.max_jerk.set(0, 0 OPTARG(DELTA, 0));
     #endif
-    planner.reset_acceleration_rates();
+    planner.refresh_acceleration_rates();
     return motion_state;
   }
 
@@ -178,7 +179,7 @@
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y;
     TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z);
     TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state);
-    planner.reset_acceleration_rates();
+    planner.refresh_acceleration_rates();
   }
 
 #endif // IMPROVE_HOMING_RELIABILITY
@@ -205,7 +206,14 @@ void GcodeSuite::G28() {
   DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
   if (DEBUGGING(LEVELING)) log_machine_info();
 
-  TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false));  // turn off laser
+  TERN_(BD_SENSOR, bdl.config_state = 0);
+
+  /**
+   * Set the laser power to false to stop the planner from processing the current power setting.
+   */
+  #if ENABLED(LASER_FEATURE)
+    planner.laser_inline.status.isPowered = false;
+  #endif
 
   #if ENABLED(DUAL_X_CARRIAGE)
     bool IDEX_saved_duplication_state = extruder_duplication_enabled;
@@ -214,7 +222,7 @@ void GcodeSuite::G28() {
 
   #if ENABLED(MARLIN_DEV_MODE)
     if (parser.seen_test('S')) {
-      LOOP_LINEAR_AXES(a) set_axis_is_at_home((AxisEnum)a);
+      LOOP_NUM_AXES(a) set_axis_is_at_home((AxisEnum)a);
       sync_plan_position();
       SERIAL_ECHOLNPGM("Simulated Homing");
       report_current_position();
@@ -258,7 +266,7 @@ void GcodeSuite::G28() {
   reset_stepper_timeout();
 
   #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
-  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K)
+  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W)
     #define HAS_HOMING_CURRENT 1
   #endif
 
@@ -286,21 +294,6 @@ void GcodeSuite::G28() {
       stepperY2.rms_current(Y2_CURRENT_HOME);
       if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME);
     #endif
-    #if HAS_CURRENT_HOME(I)
-      const int16_t tmc_save_current_I = stepperI.getMilliamps();
-      stepperI.rms_current(I_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME);
-    #endif
-    #if HAS_CURRENT_HOME(J)
-      const int16_t tmc_save_current_J = stepperJ.getMilliamps();
-      stepperJ.rms_current(J_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME);
-    #endif
-    #if HAS_CURRENT_HOME(K)
-      const int16_t tmc_save_current_K = stepperK.getMilliamps();
-      stepperK.rms_current(K_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
-    #endif
     #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
       const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
       stepperZ.rms_current(Z_CURRENT_HOME);
@@ -321,6 +314,21 @@ void GcodeSuite::G28() {
       stepperK.rms_current(K_CURRENT_HOME);
       if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
     #endif
+    #if HAS_CURRENT_HOME(U)
+      const int16_t tmc_save_current_U = stepperU.getMilliamps();
+      stepperU.rms_current(U_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_U), tmc_save_current_U, U_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(V)
+      const int16_t tmc_save_current_V = stepperV.getMilliamps();
+      stepperV.rms_current(V_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_V), tmc_save_current_V, V_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(W)
+      const int16_t tmc_save_current_W = stepperW.getMilliamps();
+      stepperW.rms_current(W_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME);
+    #endif
     #if SENSORLESS_STALLGUARD_DELAY
       safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
     #endif
@@ -367,23 +375,28 @@ void GcodeSuite::G28() {
     #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS))))
 
     const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')),
-               LINEAR_AXIS_LIST(              // Other axes should be homed before Z safe-homing
+               NUM_AXIS_LIST(              // Other axes should be homed before Z safe-homing
                  needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED
-                 needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K)
+                 needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K),
+                 needU = _UNSAFE(U), needV = _UNSAFE(V), needW = _UNSAFE(W)
                ),
-               LINEAR_AXIS_LIST(              // Home each axis if needed or flagged
+               NUM_AXIS_LIST(              // Home each axis if needed or flagged
                  homeX = needX || parser.seen_test('X'),
                  homeY = needY || parser.seen_test('Y'),
                  homeZZ = homeZ,
-                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME)
+                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME),
+                 homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME),
+                 homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME)
                ),
-               home_all = LINEAR_AXIS_GANG(   // Home-all if all or none are flagged
+               home_all = NUM_AXIS_GANG(   // Home-all if all or none are flagged
                     homeX == homeX, && homeY == homeX, && homeZ == homeX,
-                 && homeI == homeX, && homeJ == homeX, && homeK == homeX
+                 && homeI == homeX, && homeJ == homeX, && homeK == homeX,
+                 && homeU == homeX, && homeV == homeX, && homeW == homeX
                ),
-               LINEAR_AXIS_LIST(
+               NUM_AXIS_LIST(
                  doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ,
-                 doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK
+                 doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK,
+                 doU = home_all || homeU, doV = home_all || homeV, doW = home_all || homeW
                );
 
     #if HAS_Z_AXIS
@@ -397,7 +410,7 @@ void GcodeSuite::G28() {
     const bool seenR = parser.seenval('R');
     const float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT;
 
-    if (z_homing_height && (seenR || LINEAR_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK))) {
+    if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW))) {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
       if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height);
       do_z_clearance(z_homing_height);
@@ -437,32 +450,52 @@ void GcodeSuite::G28() {
       #endif
     }
 
+    #if BOTH(FOAMCUTTER_XYUV, HAS_I_AXIS)
+      // Home I (after X)
+      if (doI) homeaxis(I_AXIS);
+    #endif
+
     // Home Y (after X)
     if (DISABLED(HOME_Y_BEFORE_X) && doY)
       homeaxis(Y_AXIS);
 
-    TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state));
-
-    // Home Z last if homing towards the bed
-    #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST)
-      if (doZ) {
-        #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
-          stepper.set_all_z_lock(false);
-          stepper.set_separate_multi_axis(false);
-        #endif
-
-        #if ENABLED(Z_SAFE_HOMING)
-          if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS);
-        #else
-          homeaxis(Z_AXIS);
-        #endif
-        probe.move_z_after_homing();
-      }
+    #if BOTH(FOAMCUTTER_XYUV, HAS_J_AXIS)
+      // Home J (after Y)
+      if (doJ) homeaxis(J_AXIS);
     #endif
 
-    TERN_(HAS_I_AXIS, if (doI) homeaxis(I_AXIS));
-    TERN_(HAS_J_AXIS, if (doJ) homeaxis(J_AXIS));
-    TERN_(HAS_K_AXIS, if (doK) homeaxis(K_AXIS));
+    TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state));
+
+    #if ENABLED(FOAMCUTTER_XYUV)
+      // skip homing of unused Z axis for foamcutters
+      if (doZ) set_axis_is_at_home(Z_AXIS);
+    #else
+      // Home Z last if homing towards the bed
+      #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST)
+        if (doZ) {
+          #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
+            stepper.set_all_z_lock(false);
+            stepper.set_separate_multi_axis(false);
+          #endif
+
+          #if ENABLED(Z_SAFE_HOMING)
+            if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS);
+          #else
+            homeaxis(Z_AXIS);
+          #endif
+          probe.move_z_after_homing();
+        }
+      #endif
+
+      SECONDARY_AXIS_CODE(
+        if (doI) homeaxis(I_AXIS),
+        if (doJ) homeaxis(J_AXIS),
+        if (doK) homeaxis(K_AXIS),
+        if (doU) homeaxis(U_AXIS),
+        if (doV) homeaxis(V_AXIS),
+        if (doW) homeaxis(W_AXIS)
+      );
+    #endif
 
     sync_plan_position();
 
@@ -545,6 +578,15 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(K)
       stepperK.rms_current(tmc_save_current_K);
     #endif
+    #if HAS_CURRENT_HOME(U)
+      stepperU.rms_current(tmc_save_current_U);
+    #endif
+    #if HAS_CURRENT_HOME(V)
+      stepperV.rms_current(tmc_save_current_V);
+    #endif
+    #if HAS_CURRENT_HOME(W)
+      stepperW.rms_current(tmc_save_current_W);
+    #endif
     #if SENSORLESS_STALLGUARD_DELAY
       safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
     #endif
@@ -562,20 +604,4 @@ void GcodeSuite::G28() {
 
   TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(old_grblstate));
 
-  #if HAS_L64XX
-    // Set L6470 absolute position registers to counts
-    // constexpr *might* move this to PROGMEM.
-    // If not, this will need a PROGMEM directive and an accessor.
-    #define _EN_ITEM(N) , E_AXIS
-    static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
-      LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS),
-      X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, Z_AXIS
-      REPEAT(E_STEPPERS, _EN_ITEM)
-    };
-    #undef _EN_ITEM
-    for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
-      const uint8_t cv = L64XX::chain[j];
-      L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv]));
-    }
-  #endif
 }

Marlin/src/gcode/calibrate/G33.cpp

@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../module/delta.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../module/endstops.h"
 #include "../../lcd/marlinui.h"
 
@@ -343,7 +343,7 @@ static float auto_tune_a(const float dcr) {
   abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
 
   delta_t.reset();
-  LOOP_LINEAR_AXES(axis) {
+  LOOP_NUM_AXES(axis) {
     delta_t[axis] = diff;
     calc_kinematics_diff_probe_points(z_pt, dcr, delta_e, delta_r, delta_t);
     delta_t[axis] = 0;
@@ -437,7 +437,7 @@ void GcodeSuite::G33() {
   const bool stow_after_each = parser.seen_test('E');
 
   #if HAS_DELTA_SENSORLESS_PROBING
-    probe.test_sensitivity.set(!parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z'));
+    probe.test_sensitivity = { !parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z') };
     const bool do_save_offset_adj = parser.seen_test('S');
   #endif
 
@@ -557,7 +557,7 @@ void GcodeSuite::G33() {
 
         case 1:
           test_precision = 0.0f; // forced end
-          LOOP_LINEAR_AXES(axis) e_delta[axis] = +Z4(CEN);
+          LOOP_NUM_AXES(axis) e_delta[axis] = +Z4(CEN);
           break;
 
         case 2:
@@ -605,14 +605,14 @@ void GcodeSuite::G33() {
       // Normalize angles to least-squares
       if (_angle_results) {
         float a_sum = 0.0f;
-        LOOP_LINEAR_AXES(axis) a_sum += delta_tower_angle_trim[axis];
-        LOOP_LINEAR_AXES(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
+        LOOP_NUM_AXES(axis) a_sum += delta_tower_angle_trim[axis];
+        LOOP_NUM_AXES(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
       }
 
       // adjust delta_height and endstops by the max amount
       const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c);
       delta_height -= z_temp;
-      LOOP_LINEAR_AXES(axis) delta_endstop_adj[axis] -= z_temp;
+      LOOP_NUM_AXES(axis) delta_endstop_adj[axis] -= z_temp;
     }
     recalc_delta_settings();
     NOMORE(zero_std_dev_min, zero_std_dev);

Marlin/src/gcode/calibrate/G34.cpp

@@ -26,9 +26,12 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
 
+#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_TRINAMIC_CONFIG)
+  #include "../../module/stepper.h"
+#endif
+
 #if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
@@ -79,7 +82,7 @@ void GcodeSuite::G34() {
     stepper.set_digipot_current(Z_AXIS, target_current);
   #elif HAS_MOTOR_CURRENT_PWM
     const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
-    const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS];
+    const uint32_t previous_current = stepper.motor_current_setting[1]; // Z
     stepper.set_digipot_current(1, target_current);
   #elif HAS_MOTOR_CURRENT_DAC
     const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT);

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -224,13 +224,15 @@ void GcodeSuite::G34() {
           // Safe clearance even on an incline
           if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
 
+          xy_pos_t &ppos = z_stepper_align.xy[iprobe];
+
           if (DEBUGGING(LEVELING))
-            DEBUG_ECHOLNPGM_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y);
+            DEBUG_ECHOLNPGM_P(PSTR("Probing X"), ppos.x, SP_Y_STR, ppos.y);
 
           // Probe a Z height for each stepper.
           // Probing sanity check is disabled, as it would trigger even in normal cases because
           // current_position.z has been manually altered in the "dirty trick" above.
-          const float z_probed_height = probe.probe_at_point(z_stepper_align.xy[iprobe], raise_after, 0, true, false);
+          const float z_probed_height = probe.probe_at_point(DIFF_TERN(HAS_HOME_OFFSET, ppos, xy_pos_t(home_offset)), raise_after, 0, true, false);
           if (isnan(z_probed_height)) {
             SERIAL_ECHOLNPGM("Probing failed");
             LCD_MESSAGE(MSG_LCD_PROBING_FAILED);

Marlin/src/gcode/calibrate/G425.cpp

@@ -85,10 +85,19 @@
 #if ALL(HAS_K_AXIS, CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX)
   #define HAS_K_CENTER 1
 #endif
+#if ALL(HAS_U_AXIS, CALIBRATION_MEASURE_UMIN, CALIBRATION_MEASURE_UMAX)
+  #define HAS_U_CENTER 1
+#endif
+#if ALL(HAS_V_AXIS, CALIBRATION_MEASURE_VMIN, CALIBRATION_MEASURE_VMAX)
+  #define HAS_V_CENTER 1
+#endif
+#if ALL(HAS_W_AXIS, CALIBRATION_MEASURE_WMIN, CALIBRATION_MEASURE_WMAX)
+  #define HAS_W_CENTER 1
+#endif
 
 enum side_t : uint8_t {
   TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
-  LIST_N(DOUBLE(SUB3(LINEAR_AXES)), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
+  LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM, UMINIMUM, UMAXIMUM, VMINIMUM, VMAXIMUM, WMINIMUM, WMAXIMUM)
 };
 
 static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
@@ -282,6 +291,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
     #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
       _PCASE(K);
     #endif
+    #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
+      _PCASE(U);
+    #endif
+    #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
+      _PCASE(V);
+    #endif
+    #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
+      _PCASE(W);
+    #endif
     default: return;
   }
 
@@ -335,6 +353,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
   TERN_(CALIBRATION_MEASURE_JMAX,  probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge));
   TERN_(CALIBRATION_MEASURE_KMIN,  probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge));
   TERN_(CALIBRATION_MEASURE_KMAX,  probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_UMIN,  probe_side(m, uncertainty, UMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_UMAX,  probe_side(m, uncertainty, UMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_VMIN,  probe_side(m, uncertainty, VMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_VMAX,  probe_side(m, uncertainty, VMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_WMIN,  probe_side(m, uncertainty, WMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_WMAX,  probe_side(m, uncertainty, WMAXIMUM, probe_top_at_edge));
 
   // Compute the measured center of the calibration object.
   TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT]     + m.obj_side[RIGHT])    / 2);
@@ -342,6 +366,9 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
   TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2);
   TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2);
   TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2);
+  TERN_(HAS_U_CENTER, m.obj_center.u = (m.obj_side[UMINIMUM] + m.obj_side[UMAXIMUM]) / 2);
+  TERN_(HAS_V_CENTER, m.obj_center.v = (m.obj_side[VMINIMUM] + m.obj_side[VMAXIMUM]) / 2);
+  TERN_(HAS_W_CENTER, m.obj_center.w = (m.obj_side[WMINIMUM] + m.obj_side[WMAXIMUM]) / 2);
 
   // Compute the outside diameter of the nozzle at the height
   // at which it makes contact with the calibration object
@@ -352,13 +379,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
 
   // The difference between the known and the measured location
   // of the calibration object is the positional error
-  LINEAR_AXIS_CODE(
+  NUM_AXIS_CODE(
     m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
     m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
     m.pos_error.z = true_center.z - m.obj_center.z,
     m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i),
     m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j),
-    m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k)
+    m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k),
+    m.pos_error.u = TERN0(HAS_U_CENTER, true_center.u - m.obj_center.u),
+    m.pos_error.v = TERN0(HAS_V_CENTER, true_center.v - m.obj_center.v),
+    m.pos_error.w = TERN0(HAS_W_CENTER, true_center.w - m.obj_center.w)
   );
 }
 
@@ -406,6 +436,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
         SERIAL_ECHOLNPGM("  " STR_K_MAX ": ", m.obj_side[KMAXIMUM]);
       #endif
     #endif
+    #if HAS_U_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_UMIN)
+        SERIAL_ECHOLNPGM("  " STR_U_MIN ": ", m.obj_side[UMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_UMAX)
+        SERIAL_ECHOLNPGM("  " STR_U_MAX ": ", m.obj_side[UMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_V_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_VMIN)
+        SERIAL_ECHOLNPGM("  " STR_V_MIN ": ", m.obj_side[VMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_VMAX)
+        SERIAL_ECHOLNPGM("  " STR_V_MAX ": ", m.obj_side[VMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_W_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_WMIN)
+        SERIAL_ECHOLNPGM("  " STR_W_MIN ": ", m.obj_side[WMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_WMAX)
+        SERIAL_ECHOLNPGM("  " STR_W_MAX ": ", m.obj_side[WMAXIMUM]);
+      #endif
+    #endif
     SERIAL_EOL();
   }
 
@@ -427,6 +481,15 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     #if HAS_K_CENTER
       SERIAL_ECHOLNPGM_P(SP_K_STR, m.obj_center.k);
     #endif
+    #if HAS_U_CENTER
+      SERIAL_ECHOLNPGM_P(SP_U_STR, m.obj_center.u);
+    #endif
+    #if HAS_V_CENTER
+      SERIAL_ECHOLNPGM_P(SP_V_STR, m.obj_center.v);
+    #endif
+    #if HAS_W_CENTER
+      SERIAL_ECHOLNPGM_P(SP_W_STR, m.obj_center.w);
+    #endif
     SERIAL_EOL();
   }
 
@@ -475,6 +538,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
         SERIAL_ECHOLNPGM("  " STR_K_MAX ": ", m.backlash[KMAXIMUM]);
       #endif
     #endif
+    #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
+      #if ENABLED(CALIBRATION_MEASURE_UMIN)
+        SERIAL_ECHOLNPGM("  " STR_U_MIN ": ", m.backlash[UMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_UMAX)
+        SERIAL_ECHOLNPGM("  " STR_U_MAX ": ", m.backlash[UMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
+      #if ENABLED(CALIBRATION_MEASURE_VMIN)
+        SERIAL_ECHOLNPGM("  " STR_V_MIN ": ", m.backlash[VMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_VMAX)
+        SERIAL_ECHOLNPGM("  " STR_V_MAX ": ", m.backlash[VMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
+      #if ENABLED(CALIBRATION_MEASURE_WMIN)
+        SERIAL_ECHOLNPGM("  " STR_W_MIN ": ", m.backlash[WMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_WMAX)
+        SERIAL_ECHOLNPGM("  " STR_W_MAX ": ", m.backlash[WMAXIMUM]);
+      #endif
+    #endif
     SERIAL_EOL();
   }
 
@@ -498,7 +585,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
       SERIAL_ECHOLNPGM_P(SP_J_STR, m.pos_error.j);
     #endif
     #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K)
-      SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z);
+      SERIAL_ECHOLNPGM_P(SP_K_STR, m.pos_error.k);
+    #endif
+    #if HAS_U_CENTER && AXIS_CAN_CALIBRATE(U)
+      SERIAL_ECHOLNPGM_P(SP_U_STR, m.pos_error.u);
+    #endif
+    #if HAS_V_CENTER && AXIS_CAN_CALIBRATE(V)
+      SERIAL_ECHOLNPGM_P(SP_V_STR, m.pos_error.v);
+    #endif
+    #if HAS_W_CENTER && AXIS_CAN_CALIBRATE(W)
+      SERIAL_ECHOLNPGM_P(SP_W_STR, m.pos_error.w);
     #endif
     SERIAL_EOL();
   }
@@ -587,6 +683,30 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
         backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]);
       #endif
 
+      #if HAS_U_CENTER
+        backlash.distance_mm.u = (m.backlash[UMINIMUM] + m.backlash[UMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_UMIN)
+        backlash.distance_mm.u = m.backlash[UMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_UMAX)
+        backlash.distance_mm.u = m.backlash[UMAXIMUM];
+      #endif
+
+      #if HAS_V_CENTER
+        backlash.distance_mm.v = (m.backlash[VMINIMUM] + m.backlash[VMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_VMIN)
+        backlash.distance_mm.v = m.backlash[VMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_UMAX)
+        backlash.distance_mm.v = m.backlash[VMAXIMUM];
+      #endif
+
+      #if HAS_W_CENTER
+        backlash.distance_mm.w = (m.backlash[WMINIMUM] + m.backlash[WMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_WMIN)
+        backlash.distance_mm.w = m.backlash[WMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_WMAX)
+        backlash.distance_mm.w = m.backlash[WMAXIMUM];
+      #endif
+
     #endif // BACKLASH_GCODE
   }
 
@@ -597,9 +717,10 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
       // New scope for TEMPORARY_BACKLASH_CORRECTION
       TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
       TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-      const xyz_float_t move = LINEAR_AXIS_ARRAY(
+      const xyz_float_t move = NUM_AXIS_ARRAY(
         AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
-        AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3
+        AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3,
+        AXIS_CAN_CALIBRATE(U) * 3, AXIS_CAN_CALIBRATE(V) * 3, AXIS_CAN_CALIBRATE(W) * 3
       );
       current_position += move; calibration_move();
       current_position -= move; calibration_move();
@@ -650,6 +771,9 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
   TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS));
   TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS));
   TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS));
+  TERN_(HAS_U_CENTER, update_measurements(m, U_AXIS));
+  TERN_(HAS_V_CENTER, update_measurements(m, V_AXIS));
+  TERN_(HAS_W_CENTER, update_measurements(m, W_AXIS));
 
   sync_plan_position();
 }

Marlin/src/gcode/calibrate/M425.cpp

@@ -47,23 +47,17 @@ void GcodeSuite::M425() {
   bool noArgs = true;
 
   auto axis_can_calibrate = [](const uint8_t a) {
+    #define _CAN_CASE(N) case N##_AXIS: return AXIS_CAN_CALIBRATE(N);
     switch (a) {
       default: return false;
-      LINEAR_AXIS_CODE(
-        case X_AXIS: return AXIS_CAN_CALIBRATE(X),
-        case Y_AXIS: return AXIS_CAN_CALIBRATE(Y),
-        case Z_AXIS: return AXIS_CAN_CALIBRATE(Z),
-        case I_AXIS: return AXIS_CAN_CALIBRATE(I),
-        case J_AXIS: return AXIS_CAN_CALIBRATE(J),
-        case K_AXIS: return AXIS_CAN_CALIBRATE(K)
-      );
+      MAIN_AXIS_MAP(_CAN_CASE)
     }
   };
 
-  LOOP_LINEAR_AXES(a) {
+  LOOP_NUM_AXES(a) {
     if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
       planner.synchronize();
-      backlash.set_distance_mm(AxisEnum(a), parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a)));
+      backlash.set_distance_mm((AxisEnum)a, parser.has_value() ? parser.value_axis_units((AxisEnum)a) : backlash.get_measurement((AxisEnum)a));
       noArgs = false;
     }
   }
@@ -88,10 +82,8 @@ void GcodeSuite::M425() {
     SERIAL_ECHOLNPGM("active:");
     SERIAL_ECHOLNPGM("  Correction Amount/Fade-out:     F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
     SERIAL_ECHOPGM("  Backlash Distance (mm):        ");
-    LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a)) {
-      SERIAL_CHAR(' ', AXIS_CHAR(a));
-      SERIAL_ECHO(backlash.get_distance_mm(AxisEnum(a)));
-      SERIAL_EOL();
+    LOOP_NUM_AXES(a) if (axis_can_calibrate(a)) {
+      SERIAL_ECHOLNPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_distance_mm((AxisEnum)a));
     }
 
     #ifdef BACKLASH_SMOOTHING_MM
@@ -101,9 +93,8 @@ void GcodeSuite::M425() {
     #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
       SERIAL_ECHOPGM("  Average measured backlash (mm):");
       if (backlash.has_any_measurement()) {
-        LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
-          SERIAL_CHAR(' ', AXIS_CHAR(a));
-          SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
+        LOOP_NUM_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
+          SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_measurement((AxisEnum)a));
         }
       }
       else
@@ -120,13 +111,16 @@ void GcodeSuite::M425_report(const bool forReplay/*=true*/) {
     #ifdef BACKLASH_SMOOTHING_MM
       , PSTR(" S"), LINEAR_UNIT(backlash.get_smoothing_mm())
     #endif
-    , LIST_N(DOUBLE(LINEAR_AXES),
+    , LIST_N(DOUBLE(NUM_AXES),
         SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)),
         SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)),
         SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)),
-        SP_I_STR, LINEAR_UNIT(backlash.get_distance_mm(I_AXIS)),
-        SP_J_STR, LINEAR_UNIT(backlash.get_distance_mm(J_AXIS)),
-        SP_K_STR, LINEAR_UNIT(backlash.get_distance_mm(K_AXIS))
+        SP_I_STR, I_AXIS_UNIT(backlash.get_distance_mm(I_AXIS)),
+        SP_J_STR, J_AXIS_UNIT(backlash.get_distance_mm(J_AXIS)),
+        SP_K_STR, K_AXIS_UNIT(backlash.get_distance_mm(K_AXIS)),
+        SP_U_STR, U_AXIS_UNIT(backlash.get_distance_mm(U_AXIS)),
+        SP_V_STR, V_AXIS_UNIT(backlash.get_distance_mm(V_AXIS)),
+        SP_W_STR, W_AXIS_UNIT(backlash.get_distance_mm(W_AXIS))
       )
   );
 }

Marlin/src/gcode/calibrate/M665.cpp

@@ -86,13 +86,13 @@
    *
    * Parameters:
    *
-   *   S[segments-per-second] - Segments-per-second
+   *   S[segments]          - Segments-per-second
    *
    * Without NO_WORKSPACE_OFFSETS:
    *
-   *   P[theta-psi-offset]    - Theta-Psi offset, added to the shoulder (A/X) angle
-   *   T[theta-offset]        - Theta     offset, added to the elbow    (B/Y) angle
-   *   Z[z-offset]            - Z offset, added to Z
+   *   P[theta-psi-offset]  - Theta-Psi offset, added to the shoulder (A/X) angle
+   *   T[theta-offset]      - Theta     offset, added to the elbow    (B/Y) angle
+   *   Z[z-offset]          - Z offset, added to Z
    *
    *   A, P, and X are all aliases for the shoulder angle
    *   B, T, and Y are all aliases for the elbow angle
@@ -152,18 +152,35 @@
    *
    * Parameters:
    *
-   *   S[segments-per-second] - Segments-per-second
+   *   S[segments]  - Segments-per-second
+   *   L[left]      - Work area minimum X
+   *   R[right]     - Work area maximum X
+   *   T[top]       - Work area maximum Y
+   *   B[bottom]    - Work area minimum Y
+   *   H[length]    - Maximum belt length
    */
   void GcodeSuite::M665() {
-    if (parser.seenval('S'))
-      segments_per_second = parser.value_float();
-    else
-      M665_report();
+    if (!parser.seen_any()) return M665_report();
+    if (parser.seenval('S')) segments_per_second = parser.value_float();
+    if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units();
+    if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units();
+    if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units();
+    if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units();
+    if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units();
+    draw_area_size.x = draw_area_max.x - draw_area_min.x;
+    draw_area_size.y = draw_area_max.y - draw_area_min.y;
   }
 
   void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
-    report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
-    SERIAL_ECHOLNPGM("  M665 S", segments_per_second);
+    report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS));
+    SERIAL_ECHOLNPGM_P(
+      PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
+      PSTR(" L"), LINEAR_UNIT(draw_area_min.x),
+      PSTR(" R"), LINEAR_UNIT(draw_area_max.x),
+      SP_T_STR, LINEAR_UNIT(draw_area_max.y),
+      SP_B_STR, LINEAR_UNIT(draw_area_min.y),
+      PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len)
+    );
   }
 
 #endif

Marlin/src/gcode/calibrate/M666.cpp

@@ -44,8 +44,8 @@
   void GcodeSuite::M666() {
     DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
     bool is_err = false, is_set = false;
-    LOOP_LINEAR_AXES(i) {
-      if (parser.seen(AXIS_CHAR(i))) {
+    LOOP_NUM_AXES(i) {
+      if (parser.seenval(AXIS_CHAR(i))) {
         is_set = true;
         const float v = parser.value_linear_units();
         if (v > 0)

Marlin/src/gcode/config/M200-M205.cpp

@@ -122,7 +122,7 @@
  *  S<percent> : Speed factor percentage.
  */
 void GcodeSuite::M201() {
-  if (!parser.seen("T" LOGICAL_AXES_STRING TERN_(XY_FREQUENCY_LIMIT, "FS")))
+  if (!parser.seen("T" STR_AXES_LOGICAL TERN_(XY_FREQUENCY_LIMIT, "FS")))
     return M201_report();
 
   const int8_t target_extruder = get_target_extruder_from_command();
@@ -134,9 +134,9 @@ void GcodeSuite::M201() {
   #endif
 
   LOOP_LOGICAL_AXES(i) {
-    if (parser.seenval(axis_codes[i])) {
-      const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i);
-      planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a));
+    if (parser.seenval(AXIS_CHAR(i))) {
+      const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i);
+      planner.set_max_acceleration(a, parser.value_axis_units(a));
     }
   }
 }
@@ -144,13 +144,16 @@ void GcodeSuite::M201() {
 void GcodeSuite::M201_report(const bool forReplay/*=true*/) {
   report_heading_etc(forReplay, F(STR_MAX_ACCELERATION));
   SERIAL_ECHOLNPGM_P(
-    LIST_N(DOUBLE(LINEAR_AXES),
+    LIST_N(DOUBLE(NUM_AXES),
       PSTR("  M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]),
       SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]),
       SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]),
-      SP_I_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]),
-      SP_J_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]),
-      SP_K_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS])
+      SP_I_STR, I_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]),
+      SP_J_STR, J_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]),
+      SP_K_STR, K_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]),
+      SP_U_STR, U_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[U_AXIS]),
+      SP_V_STR, V_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[V_AXIS]),
+      SP_W_STR, W_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[W_AXIS])
     )
     #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
       , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS])
@@ -173,29 +176,32 @@ void GcodeSuite::M201_report(const bool forReplay/*=true*/) {
  *       With multiple extruders use T to specify which one.
  */
 void GcodeSuite::M203() {
-  if (!parser.seen("T" LOGICAL_AXES_STRING))
+  if (!parser.seen("T" STR_AXES_LOGICAL))
     return M203_report();
 
   const int8_t target_extruder = get_target_extruder_from_command();
   if (target_extruder < 0) return;
 
   LOOP_LOGICAL_AXES(i)
-    if (parser.seenval(axis_codes[i])) {
-      const uint8_t a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i), i);
-      planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a));
+    if (parser.seenval(AXIS_CHAR(i))) {
+      const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i);
+      planner.set_max_feedrate(a, parser.value_axis_units(a));
     }
 }
 
 void GcodeSuite::M203_report(const bool forReplay/*=true*/) {
   report_heading_etc(forReplay, F(STR_MAX_FEEDRATES));
   SERIAL_ECHOLNPGM_P(
-    LIST_N(DOUBLE(LINEAR_AXES),
+    LIST_N(DOUBLE(NUM_AXES),
       PSTR("  M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]),
       SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]),
       SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]),
       SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]),
       SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]),
-      SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS])
+      SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]),
+      SP_U_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[U_AXIS]),
+      SP_V_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[V_AXIS]),
+      SP_W_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[W_AXIS])
     )
     #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
       , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS])
@@ -282,9 +288,12 @@ void GcodeSuite::M205() {
       if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()),
       if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()),
       if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.value_linear_units())
+      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.TERN(AXIS4_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.TERN(AXIS5_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.TERN(AXIS6_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS7_NAME)) planner.set_max_jerk(U_AXIS, parser.TERN(AXIS7_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS8_NAME)) planner.set_max_jerk(V_AXIS, parser.TERN(AXIS8_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS9_NAME)) planner.set_max_jerk(W_AXIS, parser.TERN(AXIS9_ROTATES, value_float, value_linear_units)())
     );
     #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING)
       if (seenZ && planner.max_jerk.z <= 0.1f)
@@ -298,9 +307,10 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) {
     "Advanced (B<min_segment_time_us> S<min_feedrate> T<min_travel_feedrate>"
     TERN_(HAS_JUNCTION_DEVIATION, " J<junc_dev>")
     #if HAS_CLASSIC_JERK
-      LINEAR_AXIS_GANG(
+      NUM_AXIS_GANG(
         " X<max_jerk>", " Y<max_jerk>", " Z<max_jerk>",
-        " " STR_I "<max_jerk>", " " STR_J "<max_jerk>", " " STR_K "<max_jerk>"
+        " " STR_I "<max_jerk>", " " STR_J "<max_jerk>", " " STR_K "<max_jerk>",
+        " " STR_U "<max_jerk>", " " STR_V "<max_jerk>", " " STR_W "<max_jerk>"
       )
     #endif
     TERN_(HAS_CLASSIC_E_JERK, " E<max_jerk>")
@@ -314,13 +324,16 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) {
       , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm)
     #endif
     #if HAS_CLASSIC_JERK
-      , LIST_N(DOUBLE(LINEAR_AXES),
+      , LIST_N(DOUBLE(NUM_AXES),
         SP_X_STR, LINEAR_UNIT(planner.max_jerk.x),
         SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y),
         SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z),
-        SP_I_STR, LINEAR_UNIT(planner.max_jerk.i),
-        SP_J_STR, LINEAR_UNIT(planner.max_jerk.j),
-        SP_K_STR, LINEAR_UNIT(planner.max_jerk.k)
+        SP_I_STR, I_AXIS_UNIT(planner.max_jerk.i),
+        SP_J_STR, J_AXIS_UNIT(planner.max_jerk.j),
+        SP_K_STR, K_AXIS_UNIT(planner.max_jerk.k),
+        SP_U_STR, U_AXIS_UNIT(planner.max_jerk.u),
+        SP_V_STR, V_AXIS_UNIT(planner.max_jerk.v),
+        SP_W_STR, W_AXIS_UNIT(planner.max_jerk.w)
       )
       #if HAS_CLASSIC_E_JERK
         , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e)

Marlin/src/gcode/config/M217.cpp

@@ -50,9 +50,12 @@
  *  W[linear]     0/1 Enable park & Z Raise
  *  X[linear]     Park X (Requires TOOLCHANGE_PARK)
  *  Y[linear]     Park Y (Requires TOOLCHANGE_PARK)
- *  I[linear]     Park I (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 4)
- *  J[linear]     Park J (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 5)
- *  K[linear]     Park K (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 6)
+ *  I[linear]     Park I (Requires TOOLCHANGE_PARK and NUM_AXES >= 4)
+ *  J[linear]     Park J (Requires TOOLCHANGE_PARK and NUM_AXES >= 5)
+ *  K[linear]     Park K (Requires TOOLCHANGE_PARK and NUM_AXES >= 6)
+ *  C[linear]     Park U (Requires TOOLCHANGE_PARK and NUM_AXES >= 7)
+ *  H[linear]     Park V (Requires TOOLCHANGE_PARK and NUM_AXES >= 8)
+ *  O[linear]     Park W (Requires TOOLCHANGE_PARK and NUM_AXES >= 9)
  *  Z[linear]     Z Raise
  *  F[speed]      Fan Speed 0-255
  *  D[seconds]    Fan time
@@ -95,13 +98,22 @@ void GcodeSuite::M217() {
       if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); }
     #endif
     #if HAS_I_AXIS
-      if (parser.seenval('I')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
+      if (parser.seenval('I')) { const int16_t v = parser.TERN(AXIS4_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
     #endif
     #if HAS_J_AXIS
-      if (parser.seenval('J')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
+      if (parser.seenval('J')) { const int16_t v = parser.TERN(AXIS5_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
     #endif
     #if HAS_K_AXIS
-      if (parser.seenval('K')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+      if (parser.seenval('K')) { const int16_t v = parser.TERN(AXIS6_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+    #endif
+    #if HAS_U_AXIS
+      if (parser.seenval('C')) { const int16_t v = parser.TERN(AXIS7_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); }
+    #endif
+    #if HAS_V_AXIS
+      if (parser.seenval('H')) { const int16_t v = parser.TERN(AXIS8_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); }
+    #endif
+    #if HAS_W_AXIS
+      if (parser.seenval('O')) { const int16_t v = parser.TERN(AXIS9_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); }
     #endif
   #endif
 
@@ -167,24 +179,23 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
     #endif
 
     #if ENABLED(TOOLCHANGE_PARK)
-    {
       SERIAL_ECHOPGM(" W", LINEAR_UNIT(toolchange_settings.enable_park));
       SERIAL_ECHOPGM_P(
             SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x)
         #if HAS_Y_AXIS
           , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y)
         #endif
-        #if HAS_I_AXIS
-          , SP_I_STR, LINEAR_UNIT(toolchange_settings.change_point.i)
-        #endif
-        #if HAS_J_AXIS
-          , SP_J_STR, LINEAR_UNIT(toolchange_settings.change_point.j)
-        #endif
-        #if HAS_K_AXIS
-          , SP_K_STR, LINEAR_UNIT(toolchange_settings.change_point.k)
+        #if SECONDARY_AXES >= 1
+          , LIST_N(DOUBLE(SECONDARY_AXES)
+              , SP_I_STR,   I_AXIS_UNIT(toolchange_settings.change_point.i)
+              , SP_J_STR,   J_AXIS_UNIT(toolchange_settings.change_point.j)
+              , SP_K_STR,   K_AXIS_UNIT(toolchange_settings.change_point.k)
+              , SP_C_STR,   U_AXIS_UNIT(toolchange_settings.change_point.u)
+              , PSTR(" H"), V_AXIS_UNIT(toolchange_settings.change_point.v)
+              , PSTR(" O"), W_AXIS_UNIT(toolchange_settings.change_point.w)
+            )
         #endif
       );
-    }
     #endif
 
     #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED)

Marlin/src/gcode/config/M281.cpp

@@ -47,8 +47,8 @@ void GcodeSuite::M281() {
         return;
       }
     #endif
-    if (parser.seen('L')) servo_angles[servo_index][0] = parser.value_int();
-    if (parser.seen('U')) servo_angles[servo_index][1] = parser.value_int();
+    if (parser.seenval('L')) servo_angles[servo_index][0] = parser.value_int();
+    if (parser.seenval('U')) servo_angles[servo_index][1] = parser.value_int();
   }
   else
     SERIAL_ERROR_MSG("Servo ", servo_index, " out of range");

Marlin/src/gcode/config/M304.cpp

@@ -36,9 +36,9 @@
  */
 void GcodeSuite::M304() {
   if (!parser.seen("PID")) return M304_report();
-  if (parser.seen('P')) thermalManager.temp_bed.pid.Kp = parser.value_float();
-  if (parser.seen('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float());
-  if (parser.seen('D')) thermalManager.temp_bed.pid.Kd = scalePID_d(parser.value_float());
+  if (parser.seenval('P')) thermalManager.temp_bed.pid.Kp = parser.value_float();
+  if (parser.seenval('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float());
+  if (parser.seenval('D')) thermalManager.temp_bed.pid.Kd = scalePID_d(parser.value_float());
 }
 
 void GcodeSuite::M304_report(const bool forReplay/*=true*/) {

Marlin/src/gcode/config/M305.cpp

@@ -52,19 +52,19 @@ void GcodeSuite::M305() {
   if (t_index >= (USER_THERMISTORS) || (do_set && t_index < 0))
     SERIAL_ECHO_MSG("!Invalid index. (0 <= P <= ", USER_THERMISTORS - 1, ")");
   else if (do_set) {
-    if (parser.seen('R')) // Pullup resistor value
+    if (parser.seenval('R')) // Pullup resistor value
       if (!thermalManager.set_pull_up_res(t_index, parser.value_float()))
         SERIAL_ECHO_MSG("!Invalid series resistance. (0 < R < 1000000)");
 
-    if (parser.seen('T')) // Resistance at 25C
+    if (parser.seenval('T')) // Resistance at 25C
       if (!thermalManager.set_res25(t_index, parser.value_float()))
         SERIAL_ECHO_MSG("!Invalid 25C resistance. (0 < T < 10000000)");
 
-    if (parser.seen('B')) // Beta value
+    if (parser.seenval('B')) // Beta value
       if (!thermalManager.set_beta(t_index, parser.value_float()))
         SERIAL_ECHO_MSG("!Invalid beta. (0 < B < 1000000)");
 
-    if (parser.seen('C')) // Steinhart-Hart C coefficient
+    if (parser.seenval('C')) // Steinhart-Hart C coefficient
       if (!thermalManager.set_sh_coeff(t_index, parser.value_float()))
         SERIAL_ECHO_MSG("!Invalid Steinhart-Hart C coeff. (-0.01 < C < +0.01)");
   }                       // If not setting then report parameters

Marlin/src/gcode/config/M43.cpp

@@ -198,10 +198,10 @@ inline void servo_probe_test() {
       uint8_t i = 0;
       SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
       do {
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
         safe_delay(500);
         deploy_state = READ(PROBE_TEST_PIN);
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
         safe_delay(500);
         stow_state = READ(PROBE_TEST_PIN);
       } while (++i < 4);
@@ -226,7 +226,7 @@ inline void servo_probe_test() {
     }
 
     // Ask the user for a trigger event and measure the pulse width.
-    MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
+    servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
     safe_delay(500);
     SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
     uint16_t probe_counter = 0;
@@ -256,7 +256,7 @@ inline void servo_probe_test() {
         }
         else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test");
 
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
         return;
       }
     }