🔖 Version 2.1.2

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

.github/contributing.md

@@ -119,7 +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.

.gitignore

@@ -147,6 +147,7 @@ vc-fileutils.settings
 imgui.ini
 eeprom.dat
 spi_flash.bin
+fs.img
 
 #cmake
 CMakeLists.txt

Makefile

@@ -27,7 +27,7 @@ tests-single-ci:
 
 tests-single-local:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-all-local" ; return 1; fi
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
+	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && run_tests . $(TEST_TARGET) "$(ONLY_TEST)"
 .PHONY: tests-single-local
@@ -38,7 +38,7 @@ tests-single-local-docker:
 .PHONY: tests-single-local-docker
 
 tests-all-local:
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
+	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
 	  && for TEST_TARGET in $$(./get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done
 .PHONY: tests-all-local

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02000905
+#define CONFIGURATION_H_VERSION 02010200
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -112,6 +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
 
 /**
@@ -120,7 +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.
@@ -128,7 +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
@@ -140,6 +141,8 @@
 // Choose your own or use a service like https://www.uuidgenerator.net/version4
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
+// @section stepper drivers
+
 /**
  * Stepper Drivers
  *
@@ -148,13 +151,12 @@
  *
  * 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
@@ -167,6 +169,9 @@
 //#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
@@ -179,6 +184,9 @@
 /**
  * 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
@@ -188,16 +196,31 @@
  *   '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.
+ * 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']
+  #define AXIS5_ROTATES
 #endif
 #ifdef K_DRIVER_TYPE
   #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
@@ -219,6 +242,8 @@
   //#define SINGLENOZZLE_STANDBY_FAN
 #endif
 
+// @section multi-material
+
 /**
  * Multi-Material Unit
  * Set to one of these predefined models:
@@ -231,6 +256,7 @@
  *
  * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
  * See additional options in Configuration_adv.h.
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
  */
 //#define MMU_MODEL PRUSA_MMU2
 
@@ -250,6 +276,7 @@
   #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
 
 /**
@@ -366,7 +393,7 @@
 //#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
@@ -469,7 +496,7 @@
  *    30 : 100kΩ  Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K - beta 3950
  *    60 : 100kΩ  Maker's Tool Works Kapton Bed Thermistor - beta 3950
  *    61 : 100kΩ  Formbot/Vivedino 350°C Thermistor - beta 3950
- *    66 : 4.7MΩ  Dyze Design High Temperature Thermistor
+ *    66 : 4.7MΩ  Dyze Design / Trianglelab T-D500 500°C High Temperature Thermistor
  *    67 : 500kΩ  SliceEngineering 450°C Thermistor
  *    68 : PT100 amplifier board from Dyze Design
  *    70 : 100kΩ  bq Hephestos 2
@@ -491,6 +518,7 @@
  *   110 : Pt100  with 1kΩ pullup (atypical)
  *   147 : Pt100  with 4.7kΩ pullup
  *  1010 : Pt1000 with 1kΩ pullup (atypical)
+ *  1022 : Pt1000 with 2.2kΩ pullup
  *  1047 : Pt1000 with 4.7kΩ pullup (E3D)
  *    20 : Pt100  with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage.
  *                NOTE: (1) Must use an ADC input with no pullup. (2) Some INA826 amplifiers are unreliable at 3.3V so consider using sensor 147, 110, or 21.
@@ -528,22 +556,36 @@
 #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
+#if TEMP_SENSOR_IS_MAX_TC(2)
+  #define MAX31865_SENSOR_OHMS_2      100
+  #define MAX31865_CALIBRATION_OHMS_2 430
+#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)
@@ -602,6 +644,8 @@
 //============================= 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
@@ -612,7 +656,8 @@
 #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)
@@ -634,6 +679,7 @@
  * 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 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)
@@ -686,6 +732,7 @@
  * 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
 
@@ -701,7 +748,7 @@
 
 #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)
@@ -729,6 +776,7 @@
  * 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
@@ -743,7 +791,7 @@
 
 #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.
@@ -757,7 +805,6 @@
 #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
@@ -767,7 +814,7 @@
   //#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.
@@ -832,9 +879,11 @@
 //#define POLARGRAPH
 #if ENABLED(POLARGRAPH)
   #define POLARGRAPH_MAX_BELT_LEN 1035.0
-  #define POLAR_SEGMENTS_PER_SECOND 5
+  #define DEFAULT_SEGMENTS_PER_SECOND 5
 #endif
 
+// @section delta
+
 // Enable for DELTA kinematics and configure below
 //#define DELTA
 #if ENABLED(DELTA)
@@ -842,28 +891,26 @@
   // 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
+  #define DEFAULT_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.
+  // Add three-point calibration to the MarlinUI menu.
   // 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)
+  // 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)
+    // 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
+    // Step size for paper-test probing
     #define PROBE_MANUALLY_STEP 0.05      // (mm)
   #endif
 
@@ -894,6 +941,8 @@
   //#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.
@@ -906,7 +955,7 @@
 //#define MP_SCARA
 #if EITHER(MORGAN_SCARA, MP_SCARA)
   // If movement is choppy try lowering this value
-  #define SCARA_SEGMENTS_PER_SECOND 200
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
 
   // Length of inner and outer support arms. Measure arm lengths precisely.
   #define SCARA_LINKAGE_1 150       // (mm)
@@ -937,21 +986,23 @@
 
 #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
+  #define DEBUG_TPARA_KINEMATICS
+  #define DEFAULT_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)
+  #define TPARA_LINKAGE_1 120       // (mm)
+  #define TPARA_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 TPARA_OFFSET_X    0       // (mm)
+  #define TPARA_OFFSET_Y    0       // (mm)
+  #define TPARA_OFFSET_Z    0       // (mm)
 
   #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
 
@@ -963,11 +1014,20 @@
   #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
@@ -978,12 +1038,18 @@
 //#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
@@ -995,12 +1061,18 @@
   //#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
 
@@ -1014,12 +1086,18 @@
   //#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
 
@@ -1030,12 +1108,18 @@
 #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.
@@ -1080,16 +1164,16 @@
 //#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 }
 
@@ -1099,10 +1183,10 @@
 #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 }
 
@@ -1112,20 +1196,20 @@
 #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
  *   M204 R    Retract Acceleration
  *   M204 T    Travel Acceleration
  */
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z ... and E acceleration for printing moves
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z ... acceleration for travel (non printing) moves
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves
 
 /**
  * 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
@@ -1139,6 +1223,9 @@
   //#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
 
@@ -1288,6 +1375,27 @@
   #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
@@ -1505,6 +1613,9 @@
 //#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!
@@ -1514,6 +1625,9 @@
 //#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
@@ -1523,7 +1637,7 @@
 #define DISABLE_E false             // Disable the extruder when not stepping
 #define DISABLE_INACTIVE_EXTRUDER   // Keep only the active extruder enabled
 
-// @section machine
+// @section motion
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
@@ -1532,6 +1646,9 @@
 //#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
 
@@ -1570,14 +1687,17 @@
 //#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
@@ -1590,6 +1710,12 @@
 //#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
@@ -1609,6 +1735,9 @@
   #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
@@ -1620,6 +1749,9 @@
   #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)
@@ -1762,6 +1894,15 @@
   #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'.
@@ -1775,17 +1916,21 @@
 #endif
 
 #if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, AUTO_BED_LEVELING_UBL)
-  // Gradually reduce leveling correction until a set height is reached,
-  // at which point movement will be level to the machine's XY plane.
-  // The height can be set with M420 Z<height>
+  /**
+   * Gradually reduce leveling correction until a set height is reached,
+   * at which point movement will be level to the machine's XY plane.
+   * The height can be set with M420 Z<height>
+   */
   #define ENABLE_LEVELING_FADE_HEIGHT
   #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
     #define DEFAULT_LEVELING_FADE_HEIGHT 10.0 // (mm) Default fade height.
   #endif
 
-  // For Cartesian machines, instead of dividing moves on mesh boundaries,
-  // split up moves into short segments like a Delta. This follows the
-  // contours of the bed more closely than edge-to-edge straight moves.
+  /**
+   * For Cartesian machines, instead of dividing moves on mesh boundaries,
+   * split up moves into short segments like a Delta. This follows the
+   * contours of the bed more closely than edge-to-edge straight moves.
+   */
   #define SEGMENT_LEVELED_MOVES
   #define LEVELED_SEGMENT_LENGTH 5.0 // (mm) Length of all segments (except the last one)
 
@@ -1934,6 +2079,9 @@
 //#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.
@@ -1949,7 +2097,7 @@
   #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
@@ -1993,9 +2141,8 @@
   #define XY_DIAG_BD 282.8427124746
   #define XY_SIDE_AD 200
 
-  // Or, set the default skew factors directly here
-  // to override the above measurements:
-  #define XY_SKEW_FACTOR 0.0
+  // Or, set the XY skew factor directly:
+  //#define XY_SKEW_FACTOR 0.0
 
   //#define SKEW_CORRECTION_FOR_Z
   #if ENABLED(SKEW_CORRECTION_FOR_Z)
@@ -2004,8 +2151,10 @@
     #define YZ_DIAG_AC 282.8427124746
     #define YZ_DIAG_BD 282.8427124746
     #define YZ_SIDE_AD 200
-    #define XZ_SKEW_FACTOR 0.0
-    #define YZ_SKEW_FACTOR 0.0
+
+    // Or, set the Z skew factors directly:
+    //#define XZ_SKEW_FACTOR 0.0
+    //#define YZ_SKEW_FACTOR 0.0
   #endif
 
   // Enable this option for M852 to set skew at runtime
@@ -2016,7 +2165,7 @@
 //============================= Additional Features ===========================
 //=============================================================================
 
-// @section extras
+// @section eeprom
 
 /**
  * EEPROM
@@ -2036,6 +2185,8 @@
   //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif
 
+// @section host
+
 //
 // Host Keepalive
 //
@@ -2046,6 +2197,8 @@
 #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
 //
@@ -2059,7 +2212,7 @@
 // @section temperature
 
 //
-// Preheat Constants - Up to 6 are supported without changes
+// Preheat Constants - Up to 10 are supported without changes
 //
 #define PREHEAT_1_LABEL       "PLA"
 #define PREHEAT_1_TEMP_HOTEND 180
@@ -2073,6 +2226,8 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
 
+// @section motion
+
 /**
  * Nozzle Park
  *
@@ -2171,6 +2326,8 @@
 
 #endif
 
+// @section host
+
 /**
  * Print Job Timer
  *
@@ -2197,6 +2354,8 @@
  */
 #define PRINTJOB_TIMER_AUTOSTART
 
+// @section stats
+
 /**
  * Print Counter
  *
@@ -2211,9 +2370,11 @@
  */
 //#define PRINTCOUNTER
 #if ENABLED(PRINTCOUNTER)
-  #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print
+  #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print. A value of 0 will save stats at end of print.
 #endif
 
+// @section security
+
 /**
  * Password
  *
@@ -2249,7 +2410,7 @@
 //============================= LCD and SD support ============================
 //=============================================================================
 
-// @section lcd
+// @section interface
 
 /**
  * LCD LANGUAGE
@@ -2365,6 +2526,16 @@
 //
 //#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
 //
@@ -2395,6 +2566,7 @@
 //======================== LCD / Controller Selection =========================
 //========================   (Character-based LCDs)   =========================
 //=============================================================================
+// @section lcd
 
 //
 // RepRapDiscount Smart Controller.
@@ -2569,7 +2741,7 @@
 
 //
 // ReprapWorld Graphical LCD
-// https://reprapworld.com/?products_details&products_id/1218
+// https://reprapworld.com/electronics/3d-printer-modules/autonomous-printing/graphical-lcd-screen-v1-0/
 //
 //#define REPRAPWORLD_GRAPHICAL_LCD
 
@@ -2696,6 +2868,12 @@
 //
 //#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  ==============================
 //=============================================================================
@@ -2818,6 +2996,7 @@
 //#define ANYCUBIC_LCD_CHIRON
 #if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
   //#define ANYCUBIC_LCD_DEBUG
+  //#define ANYCUBIC_LCD_GCODE_EXT  // Add ".gcode" to menu entries for DGUS clone compatibility
 #endif
 
 //
@@ -2886,7 +3065,7 @@
 //#define MKS_ROBIN_TFT_V1_1R
 
 //
-// 480x320, 3.5", FSMC Stock Display from TronxXY
+// 480x320, 3.5", FSMC Stock Display from Tronxy
 //
 //#define TFT_TRONXY_X5SA
 
@@ -2953,6 +3132,10 @@
 //#define TFT_COLOR_UI
 //#define TFT_LVGL_UI
 
+#if ENABLED(TFT_COLOR_UI)
+  //#define TFT_SHARED_SPI   // SPI is shared between TFT display and other devices. Disable async data transfer
+#endif
+
 #if ENABLED(TFT_LVGL_UI)
   //#define MKS_WIFI_MODULE  // MKS WiFi module
 #endif
@@ -2985,10 +3168,11 @@
 //
 //#define TOUCH_SCREEN
 #if ENABLED(TOUCH_SCREEN)
-  #define BUTTON_DELAY_EDIT  50 // (ms) Button repeat delay for edit screens
-  #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus
+  #define BUTTON_DELAY_EDIT      50 // (ms) Button repeat delay for edit screens
+  #define BUTTON_DELAY_MENU     250 // (ms) Button repeat delay for menus
 
-  //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn)
+  //#define DISABLE_ENCODER         // Disable the click encoder, if any
+  //#define TOUCH_IDLE_SLEEP_MINS 5 // (minutes) Display Sleep after a period of inactivity. Set with M255 S.
 
   #define TOUCH_SCREEN_CALIBRATION
 
@@ -3023,7 +3207,7 @@
 //=============================== 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]
@@ -3047,14 +3231,18 @@
 // 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
 
@@ -3075,16 +3263,19 @@
  * luminance values can be set from 0 to 255.
  * For NeoPixel LED an overall brightness parameter is also available.
  *
- * *** CAUTION ***
+ *  === CAUTION ===
  *  LED Strips require a MOSFET Chip between PWM lines and LEDs,
  *  as the Arduino cannot handle the current the LEDs will require.
  *  Failure to follow this precaution can destroy your Arduino!
+ *
  *  NOTE: A separate 5V power supply is required! The NeoPixel LED needs
  *  more current than the Arduino 5V linear regulator can produce.
- * *** CAUTION ***
  *
- * LED Type. Enable only one of the following two options.
+ *  Requires PWM frequency between 50 <> 100Hz (Check HAL or variant)
+ *  Use FAST_PWM_FAN, if possible, to reduce fan noise.
  */
+
+// LED Type. Enable only one of the following two options:
 //#define RGB_LED
 //#define RGBW_LED
 
@@ -3093,6 +3284,10 @@
   //#define RGB_LED_G_PIN 43
   //#define RGB_LED_B_PIN 35
   //#define RGB_LED_W_PIN -1
+  //#define RGB_STARTUP_TEST              // For PWM pins, fade between all colors
+  #if ENABLED(RGB_STARTUP_TEST)
+    #define RGB_STARTUP_TEST_INNER_MS 10  // (ms) Reduce or increase fading speed
+  #endif
 #endif
 
 // Support for Adafruit NeoPixel LED driver
@@ -3114,6 +3309,7 @@
     #define NEOPIXEL2_PIXELS           15 // Number of LEDs in the second strip
     #define NEOPIXEL2_BRIGHTNESS      127 // Initial brightness (0-255)
     #define NEOPIXEL2_STARTUP_TEST        // Cycle through colors at startup
+    #define NEOPIXEL_M150_DEFAULT      -1 // Default strip for M150 without 'S'. Use -1 to set all by default.
   #else
     //#define NEOPIXEL2_INSERIES          // Default behavior is NeoPixel 2 in parallel
   #endif
@@ -3140,6 +3336,8 @@
   #define PRINTER_EVENT_LEDS
 #endif
 
+// @section servos
+
 /**
  * Number of servos
  *

Marlin/Makefile

@@ -307,20 +307,22 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1154)
 else ifeq ($(HARDWARE_MOTHERBOARD),1155)
 # Tenlog D3 Hero IDEX printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+# Tenlog D3,5,6 Pro IDEX printers
 else ifeq ($(HARDWARE_MOTHERBOARD),1157)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1158)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1159)
-# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
-# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-# Zonestar zrib V5.3 (Chinese RAMPS replica)
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Pxmalion Core I3
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
 else ifeq ($(HARDWARE_MOTHERBOARD),1163)
+# Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1164)
 
 #
 # RAMBo and derivatives

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.0.9.7"
+//#define SHORT_BUILD_VERSION "2.1.2"
 
 /**
  * Verbose version identifier which should contain a reference to the location
@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2023-07-04"
+//#define STRING_DISTRIBUTION_DATE "2022-12-17"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/AVR/HAL.h

@@ -32,6 +32,7 @@
   #include <HardwareSerial.h>
 #else
   #include "MarlinSerial.h"
+  #define BOARD_NO_NATIVE_USB
 #endif
 
 #include <stdint.h>
@@ -106,36 +107,36 @@ typedef Servo hal_servo_t;
 
   #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0)
 #else
-  #if !WITHIN(SERIAL_PORT, -1, 3)
-    #error "SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
+  #if !WITHIN(SERIAL_PORT, 0, 3)
+    #error "SERIAL_PORT must be from 0 to 3."
   #endif
   #define MYSERIAL1 customizedSerial1
 
   #ifdef SERIAL_PORT_2
-    #if !WITHIN(SERIAL_PORT_2, -1, 3)
-      #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial."
+    #if !WITHIN(SERIAL_PORT_2, 0, 3)
+      #error "SERIAL_PORT_2 must be from 0 to 3."
     #endif
     #define MYSERIAL2 customizedSerial2
   #endif
 
   #ifdef SERIAL_PORT_3
-    #if !WITHIN(SERIAL_PORT_3, -1, 3)
-      #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial."
+    #if !WITHIN(SERIAL_PORT_3, 0, 3)
+      #error "SERIAL_PORT_3 must be from 0 to 3."
     #endif
     #define MYSERIAL3 customizedSerial3
   #endif
 #endif
 
 #ifdef MMU2_SERIAL_PORT
-  #if !WITHIN(MMU2_SERIAL_PORT, -1, 3)
-    #error "MMU2_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
+  #if !WITHIN(MMU2_SERIAL_PORT, 0, 3)
+    #error "MMU2_SERIAL_PORT must be from 0 to 3"
   #endif
   #define MMU2_SERIAL mmuSerial
 #endif
 
 #ifdef LCD_SERIAL_PORT
-  #if !WITHIN(LCD_SERIAL_PORT, -1, 3)
-    #error "LCD_SERIAL_PORT must be from 0 to 3, or -1 for USB Serial."
+  #if !WITHIN(LCD_SERIAL_PORT, 0, 3)
+    #error "LCD_SERIAL_PORT must be from 0 to 3."
   #endif
   #define LCD_SERIAL lcdSerial
   #if HAS_DGUS_LCD

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/fast_pwm.cpp

@@ -146,10 +146,10 @@ void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
       LIMIT(res_pc_temp, 1U, maxtop);
 
       // Calculate frequencies of test prescaler and resolution values
-      const uint32_t f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
-                     f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+      const uint16_t f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp);
+      const int      f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
                      f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
-                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp),
                      f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
 
       if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f

Marlin/src/HAL/AVR/fastio.h

@@ -293,11 +293,11 @@ enum ClockSource2 : uint8_t {
 
 #if HAS_MOTOR_CURRENT_PWM
   #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
   #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z)
   #else
-    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0  || P == MOTOR_CURRENT_PWM_E1)
   #endif
 #else
   #define PWM_CHK_MOTOR_CURRENT(P) false

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

@@ -35,16 +35,26 @@
   || 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 SERIAL_IN_USE(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 SERIAL_IN_USE(1)
+  #if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__)
+    #if 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 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
 #endif
-#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
   #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
   #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
 #endif
 #undef CHECK_SERIAL_PIN

Marlin/src/HAL/DUE/HAL.h

@@ -210,7 +210,7 @@ public:
   static void adc_init() {}
 
   // Called by Temperature::init for each sensor at startup
-  static void adc_enable(const uint8_t ch) {}
+  static void adc_enable(const uint8_t /*ch*/) {}
 
   // Begin ADC sampling on the given channel. Called from Temperature::isr!
   static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }

Marlin/src/HAL/DUE/HAL_SPI.cpp

@@ -247,12 +247,12 @@
       b <<= 1; // little setup time
 
       WRITE(SD_SCK_PIN, HIGH);
-      DELAY_NS(spiDelayNS);
+      DELAY_NS_VAR(spiDelayNS);
 
       b |= (READ(SD_MISO_PIN) != 0);
 
       WRITE(SD_SCK_PIN, LOW);
-      DELAY_NS(spiDelayNS);
+      DELAY_NS_VAR(spiDelayNS);
     } while (--bits);
     return b;
   }

Marlin/src/HAL/DUE/InterruptVectors.cpp

@@ -41,7 +41,7 @@
    practice, we need alignment to 256 bytes to make this work in all
    cases */
 __attribute__ ((aligned(256)))
-static DeviceVectors ram_tab = { nullptr };
+static DeviceVectors ram_tab[61] = { nullptr };
 
 /**
  * This function checks if the exception/interrupt table is already in SRAM or not.

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/inc/SanityCheck.h

@@ -36,15 +36,15 @@
   || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
   || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
 )
-#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#if SERIAL_IN_USE(0) // D0-D1. No known conflicts.
 #endif
-#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+#if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
   #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
+#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
   #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."
 #endif
-#if CONF_SERIAL_IS(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
+#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15))
   #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board."
 #endif
 #undef CHECK_SERIAL_PIN

Marlin/src/HAL/DUE/pinsDebug.h

@@ -70,7 +70,7 @@
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
+#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
 #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
 #define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
 #define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \

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

@@ -62,7 +62,7 @@ void usb_task_idle(void) {
     // Attend SD card access from the USB MSD -- Prioritize access to improve speed
     int delay = 2;
     while (main_b_msc_enable && --delay > 0) {
-      if (udi_msc_process_trans()) delay = 10000;
+      if (udi_msc_process_trans()) delay = 20;
 
       // Reset the watchdog, just to be sure
       REG_WDT_CR = WDT_CR_WDRSTT | WDT_CR_KEY(0xA5);

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

@@ -139,22 +139,40 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
 }
 
 void stepperTask(void *parameter) {
-  uint32_t remaining = 0;
+  uint32_t nextMainISR = 0;
+  #if ENABLED(LIN_ADVANCE)
+    uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER;
+  #endif
 
-  while (1) {
+  for (;;) {
     xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
     dma.rw_pos = 0;
 
     while (dma.rw_pos < DMA_SAMPLE_COUNT) {
       // Fill with the port data post pulse_phase until the next step
-      if (remaining) {
+      if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR))
         i2s_push_sample();
-        remaining--;
-      }
-      else {
+
+      // i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr()
+      // in a rare case where both are called, we need to double decrement the counters
+      const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR));
+
+      #if ENABLED(LIN_ADVANCE)
+        if (!nextAdvanceISR) {
+          Stepper::advance_isr();
+          nextAdvanceISR = Stepper::la_interval;
+        }
+        else if (nextAdvanceISR == Stepper::LA_ADV_NEVER)
+          nextAdvanceISR = Stepper::la_interval;
+      #endif
+
+      if (!nextMainISR) {
         Stepper::pulse_phase_isr();
-        remaining = Stepper::block_phase_isr();
+        nextMainISR = Stepper::block_phase_isr();
       }
+
+      nextMainISR -= push_count;
+      TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count);
     }
   }
 }

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

@@ -45,10 +45,14 @@
   #error "FAST_PWM_FAN is not available on TinyBee."
 #endif
 
+#if BOTH(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
+  #error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING."
+#endif
+
 #if USING_PULLDOWNS
   #error "PULLDOWN pin mode is not available on ESP32 boards."
 #endif
 
-#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE)
+#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA)
   #error "I2S stream is currently incompatible with LIN_ADVANCE."
 #endif

Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp

@@ -32,6 +32,13 @@
 #include "HAL.h"
 #include "SPI.h"
 
+#if ENABLED(SDSUPPORT)
+  #include "../../sd/cardreader.h"
+  #if ENABLED(ESP3D_WIFISUPPORT)
+    #include "sd_ESP32.h"
+  #endif
+#endif
+
 static SPISettings spiConfig;
 
 
@@ -45,6 +52,11 @@ static SPISettings spiConfig;
 
 uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
   static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+
+  #if ENABLED(PAUSE_LCD_FOR_BUSY_SD)
+    if (card.flag.saving || card.flag.logging || TERN0(ESP3D_WIFISUPPORT, sd_busy_lock == true)) return 0;
+  #endif
+
   if (msgInitCount) {
     if (msg == U8G_COM_MSG_INIT) msgInitCount--;
     if (msgInitCount) return -1;

Marlin/src/HAL/LPC1768/HAL_SPI.cpp

@@ -318,8 +318,16 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
   // Enable DMA
   GPDMA_ChannelCmd(0, ENABLE);
 
+  /*
+   * Observed behaviour on normal data transfer completion (SKR 1.3 board / LPC1768 MCU)
+   *   GPDMA_STAT_INTTC flag is SET
+   *   GPDMA_STAT_INTERR flag is NOT SET
+   *   GPDMA_STAT_RAWINTTC flag is NOT SET
+   *   GPDMA_STAT_RAWINTERR flag is SET
+   */
+
   // Wait for data transfer
-  while (!GPDMA_IntGetStatus(GPDMA_STAT_RAWINTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_RAWINTERR, 0)) { }
+  while (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {}
 
   // Clear err and int
   GPDMA_ClearIntPending (GPDMA_STATCLR_INTTC, 0);
@@ -333,6 +341,43 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) {
   SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE);
 }
 
+void SPIClass::dmaSendAsync(void *buf, uint16_t length, bool minc) {
+  //TODO: LPC dma can only write 0xFFF bytes at once.
+  GPDMA_Channel_CFG_Type GPDMACfg;
+
+  /* Configure GPDMA channel 0 -------------------------------------------------------------*/
+  /* DMA Channel 0 */
+  GPDMACfg.ChannelNum = 0;
+  // Source memory
+  GPDMACfg.SrcMemAddr = (uint32_t)buf;
+  // Destination memory - Not used
+  GPDMACfg.DstMemAddr = 0;
+  // Transfer size
+  GPDMACfg.TransferSize = length;
+  // Transfer width
+  GPDMACfg.TransferWidth = (_currentSetting->dataSize == DATA_SIZE_16BIT) ? GPDMA_WIDTH_HALFWORD : GPDMA_WIDTH_BYTE;
+  // Transfer type
+  GPDMACfg.TransferType = GPDMA_TRANSFERTYPE_M2P;
+  // Source connection - unused
+  GPDMACfg.SrcConn = 0;
+  // Destination connection
+  GPDMACfg.DstConn = (_currentSetting->spi_d == LPC_SSP0) ? GPDMA_CONN_SSP0_Tx : GPDMA_CONN_SSP1_Tx;
+
+  GPDMACfg.DMALLI = 0;
+
+  // Enable dma on SPI
+  SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, ENABLE);
+
+  // Only increase memory if minc is true
+  GPDMACfg.MemoryIncrease = (minc ? GPDMA_DMACCxControl_SI : 0);
+
+  // Setup channel with given parameter
+  GPDMA_Setup(&GPDMACfg);
+
+  // Enable DMA
+  GPDMA_ChannelCmd(0, ENABLE);
+}
+
 uint16_t SPIClass::read() {
   return SSP_ReceiveData(_currentSetting->spi_d);
 }

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/inc/Conditionals_post.h

@@ -29,6 +29,6 @@
 
 // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785)
 // TODO: Which other boards are incompatible?
-#if defined(MCU_LPC1768) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
   #define PRINTCOUNTER_SYNC 1
 #endif

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

@@ -155,6 +155,7 @@ public:
   void read(uint8_t *buf, uint32_t len);
 
   void dmaSend(void *buf, uint16_t length, bool minc);
+  void dmaSendAsync(void *buf, uint16_t length, bool minc);
 
   /**
    * @brief Sets the number of the SPI peripheral to be used by

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

@@ -26,7 +26,7 @@
 
 #include "tft_spi.h"
 
-SPIClass TFT_SPI::SPIx(1);
+SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE);
 
 void TFT_SPI::Init() {
   #if PIN_EXISTS(TFT_RESET)
@@ -38,40 +38,10 @@ void TFT_SPI::Init() {
     OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH);
   #endif
 
-  SET_OUTPUT(TFT_DC_PIN);
-  SET_OUTPUT(TFT_CS_PIN);
-  WRITE(TFT_DC_PIN, HIGH);
-  WRITE(TFT_CS_PIN, HIGH);
+  OUT_WRITE(TFT_DC_PIN, HIGH);
+  OUT_WRITE(TFT_CS_PIN, HIGH);
 
-  /**
-   * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz
-   * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1
-   * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2
-   */
-  #if 0
-    #if SPI_DEVICE == 1
-     #define SPI_CLOCK_MAX SPI_CLOCK_DIV4
-    #else
-     #define SPI_CLOCK_MAX SPI_CLOCK_DIV2
-    #endif
-    uint8_t  clock;
-    uint8_t spiRate = SPI_FULL_SPEED;
-    switch (spiRate) {
-     case SPI_FULL_SPEED:    clock = SPI_CLOCK_MAX ;  break;
-     case SPI_HALF_SPEED:    clock = SPI_CLOCK_DIV4 ; break;
-     case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break;
-     case SPI_EIGHTH_SPEED:  clock = SPI_CLOCK_DIV16; break;
-     case SPI_SPEED_5:       clock = SPI_CLOCK_DIV32; break;
-     case SPI_SPEED_6:       clock = SPI_CLOCK_DIV64; break;
-     default:                clock = SPI_CLOCK_DIV2;  // Default from the SPI library
-    }
-  #endif
-
-  #if TFT_MISO_PIN == BOARD_SPI1_MISO_PIN
-    SPIx.setModule(1);
-  #elif TFT_MISO_PIN == BOARD_SPI2_MISO_PIN
-    SPIx.setModule(2);
-  #endif
+  SPIx.setModule(TFT_SPI_DEVICE);
   SPIx.setClock(SPI_CLOCK_MAX_TFT);
   SPIx.setBitOrder(MSBFIRST);
   SPIx.setDataMode(SPI_MODE0);
@@ -114,17 +84,62 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
   return data >> 7;
 }
 
-bool TFT_SPI::isBusy() { return false; }
+bool TFT_SPI::isBusy() {
+  #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->DMACCSrcAddr != 0)
 
-void TFT_SPI::Abort() { DataTransferEnd(); }
+  // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend()
+  if (!__IS_DMA_CONFIGURED(LPC_GPDMACH0)) return false;
 
-void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); }
+  if (GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
+  }
+  else {
+    // Check if DMA transfer completed flag is set
+    if (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0)) return true;
+    // Check if SPI TX butter is empty and SPI is idle
+    if ((SSP_GetStatus(LPC_SSPx, SSP_STAT_TXFIFO_EMPTY) == RESET) || (SSP_GetStatus(LPC_SSPx, SSP_STAT_BUSY) == SET)) return true;
+  }
+
+  Abort();
+  return false;
+}
+
+void TFT_SPI::Abort() {
+  // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend()
+
+  // Disable DMA
+  GPDMA_ChannelCmd(0, DISABLE);
+
+  // Clear ERR and TC
+  GPDMA_ClearIntPending(GPDMA_STATCLR_INTTC, 0);
+  GPDMA_ClearIntPending(GPDMA_STATCLR_INTERR, 0);
+
+  // Disable DMA on SPI
+  SSP_DMACmd(LPC_SSPx, SSP_DMA_TX, DISABLE);
+
+  // Deconfigure DMA Channel 0
+  LPC_GPDMACH0->DMACCControl  = 0U;
+  LPC_GPDMACH0->DMACCConfig   = 0U;
+  LPC_GPDMACH0->DMACCSrcAddr  = 0U;
+  LPC_GPDMACH0->DMACCDestAddr = 0U;
 
-void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
-  DataTransferBegin(DATASIZE_16BIT);
-  WRITE(TFT_DC_PIN, HIGH);
-  SPIx.dmaSend(Data, Count, MemoryIncrease);
   DataTransferEnd();
 }
 
+void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); }
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DataTransferBegin(DATASIZE_16BIT);
+  SPIx.dmaSend(Data, Count, MemoryIncrease);
+  Abort();
+}
+
+void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DataTransferBegin(DATASIZE_16BIT);
+  SPIx.dmaSendAsync(Data, Count, MemoryIncrease);
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
 #endif // HAS_SPI_TFT

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

@@ -27,6 +27,18 @@
 #include <lpc17xx_ssp.h>
 // #include <lpc17xx_gpdma.h>
 
+#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN))
+#if IS_SPI(1)
+  #define TFT_SPI_DEVICE  1
+  #define LPC_SSPx  LPC_SSP0
+#elif IS_SPI(2)
+  #define TFT_SPI_DEVICE  2
+  #define LPC_SSPx  LPC_SSP1
+#else
+  #error "Invalid TFT SPI configuration."
+#endif
+#undef IS_SPI
+
 #ifndef LCD_READ_ID
   #define LCD_READ_ID  0x04   // Read display identification information (0xD3 on ILI9341)
 #endif
@@ -34,17 +46,19 @@
   #define LCD_READ_ID4 0xD3   // Read display identification information (0xD3 on ILI9341)
 #endif
 
-#define DATASIZE_8BIT    SSP_DATABIT_8
-#define DATASIZE_16BIT   SSP_DATABIT_16
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_8BIT     SSP_DATABIT_8
+#define DATASIZE_16BIT    SSP_DATABIT_16
+#define TFT_IO_DRIVER     TFT_SPI
+#define DMA_MAX_SIZE      0xFFF
 
-#define DMA_MINC_ENABLE 1
-#define DMA_MINC_DISABLE 0
+#define DMA_MINC_ENABLE   1
+#define DMA_MINC_DISABLE  0
 
 class TFT_SPI {
 private:
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
 public:
@@ -56,22 +70,20 @@ public:
   static void Abort();
 
   static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT);
-  static void DataTransferEnd() { OUT_WRITE(TFT_CS_PIN, HIGH); SPIx.end(); };
+  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SSP_Cmd(LPC_SSPx, DISABLE); };
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
-  static void WriteReg(uint16_t Reg) { OUT_WRITE(TFT_A0_PIN, LOW); Transmit(Reg); OUT_WRITE(TFT_A0_PIN, HIGH); }
+  static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
-  // static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
-    //LPC dma can only write 0xFFF bytes at once.
-    #define MAX_DMA_SIZE (0xFFF - 1)
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > MAX_DMA_SIZE ? MAX_DMA_SIZE : Count);
-      Count = Count > MAX_DMA_SIZE ? Count - MAX_DMA_SIZE : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
-    #undef MAX_DMA_SIZE
   }
 };

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

@@ -44,9 +44,11 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; }
 #endif
 
 void XPT2046::Init() {
-  SET_INPUT(TOUCH_MISO_PIN);
-  SET_OUTPUT(TOUCH_MOSI_PIN);
-  SET_OUTPUT(TOUCH_SCK_PIN);
+  #if DISABLED(TOUCH_BUTTONS_HW_SPI)
+    SET_INPUT(TOUCH_MISO_PIN);
+    SET_OUTPUT(TOUCH_MOSI_PIN);
+    SET_OUTPUT(TOUCH_SCK_PIN);
+  #endif
   OUT_WRITE(TOUCH_CS_PIN, HIGH);
 
   #if PIN_EXISTS(TOUCH_INT)

Marlin/src/HAL/NATIVE_SIM/fastio.h

@@ -44,7 +44,7 @@
  *
  * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW);
  *
- * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html
  */
 
 /// Read a pin

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

@@ -51,7 +51,7 @@ enum XPTCoordinate : uint8_t {
   XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE,
 };
 
-#if !defined(XPT2046_Z1_THRESHOLD)
+#ifndef XPT2046_Z1_THRESHOLD
   #define XPT2046_Z1_THRESHOLD 10
 #endif
 

Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp

@@ -168,4 +168,4 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
 #endif
 
 #endif // IS_U8GLIB_ST7920
-#endif // TARGET_LPC1768
+#endif // __PLAT_NATIVE_SIM__

Marlin/src/HAL/SAMD21/HAL.cpp

@@ -0,0 +1,212 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#include <wiring_private.h>
+
+#if USING_HW_SERIALUSB
+  DefaultSerial1 MSerialUSB(false, SerialUSB);
+#endif
+#if USING_HW_SERIAL0
+  DefaultSerial2 MSerial1(false, Serial1);
+#endif
+#if USING_HW_SERIAL1
+  DefaultSerial3 MSerial2(false, Serial2);
+#endif
+
+
+
+#define WDT_CONFIG_PER_7_Val 0x9u
+#define WDT_CONFIG_PER_Pos 0
+#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos)
+
+#if ENABLED(USE_WATCHDOG)
+
+  #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
+
+  void MarlinHAL::watchdog_init() {
+       // Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz
+    GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) |            // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz
+                      GCLK_GENDIV_ID(2);              // Select Generic Clock (GCLK) 2
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    REG_GCLK_GENCTRL =  GCLK_GENCTRL_DIVSEL |         // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1)
+                        GCLK_GENCTRL_IDC |            // Set the duty cycle to 50/50 HIGH/LOW
+                        GCLK_GENCTRL_GENEN |          // Enable GCLK2
+                        GCLK_GENCTRL_SRC_OSCULP32K |  // Set the clock source to the ultra low power oscillator (OSCULP32K)
+                        GCLK_GENCTRL_ID(2);           // Select GCLK2
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    // Feed GCLK2 to WDT (Watchdog Timer)
+    REG_GCLK_CLKCTRL =  GCLK_CLKCTRL_CLKEN |          // Enable GCLK2 to the WDT
+                        GCLK_CLKCTRL_GEN_GCLK2 |      // Select GCLK2
+                        GCLK_CLKCTRL_ID_WDT;          // Feed the GCLK2 to the WDT
+    while (GCLK->STATUS.bit.SYNCBUSY);                // Wait for synchronization
+
+    WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7;                // Set the WDT reset timeout to 4 seconds
+    while (WDT->STATUS.bit.SYNCBUSY);                 // Wait for synchronization
+    REG_WDT_CTRL = WDT_CTRL_ENABLE;                   // Enable the WDT in normal mode
+    while (WDT->STATUS.bit.SYNCBUSY);                 // Wait for synchronization
+  }
+
+  // Reset watchdog. MUST be called at least every 4 seconds after the
+  // first watchdog_init or SAMD will go into emergency procedures.
+  void MarlinHAL::watchdog_refresh() {
+    WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
+    while (WDT->STATUS.bit.SYNCBUSY);
+  }
+
+#endif
+
+// ------------------------
+// Types
+// ------------------------
+
+// ------------------------
+// Private Variables
+// ------------------------
+
+// ------------------------
+// Private functions
+// ------------------------
+
+void MarlinHAL::dma_init() {}
+
+// ------------------------
+// Public functions
+// ------------------------
+
+// HAL initialization task
+void MarlinHAL::init() {
+  TERN_(DMA_IS_REQUIRED, dma_init());
+  #if ENABLED(SDSUPPORT)
+    #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD)
+      SET_INPUT_PULLUP(SD_DETECT_PIN);
+    #endif
+    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
+  #endif
+}
+
+#pragma push_macro("WDT")
+#undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
+uint8_t MarlinHAL::get_reset_source() {
+
+  return 0;
+}
+#pragma pop_macro("WDT")
+
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+extern "C" {
+  void * _sbrk(int incr);
+  extern unsigned int __bss_end__; // end of bss section
+}
+
+// Return free memory between end of heap (or end bss) and whatever is current
+int freeMemory() {
+  int free_memory, heap_end = (int)_sbrk(0);
+  return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
+}
+
+// ------------------------
+// ADC
+// ------------------------
+
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
+  /* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */
+
+  ADC->CTRLA.bit.ENABLE = false;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  // load chip corrections
+  uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos;
+  uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos;
+  linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5;
+
+  /* Wait for bus synchronization. */
+  while (ADC->STATUS.bit.SYNCBUSY) {};
+
+  ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity);
+
+  /* Wait for bus synchronization. */
+  while (ADC->STATUS.bit.SYNCBUSY) {};
+
+  ADC->CTRLA.bit.SWRST = true;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1;
+  ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);;
+
+
+  ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 |
+                 ADC_CTRLB_RESSEL_16BIT |
+                 ADC_CTRLB_FREERUN;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->SAMPCTRL.bit.SAMPLEN = 0x00;
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->INPUTCTRL.reg =  ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan  (INPUTSCAN + NUM_EXTUDERS - 1) pins
+  | ADC_INPUTCTRL_GAIN_DIV2  |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ;  /* set to first AIN */
+
+  while(ADC->STATUS.bit.SYNCBUSY);
+
+  ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts
+  while (ADC->STATUS.bit.SYNCBUSY);
+
+  NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts
+
+  NVIC_SetPriority(ADC_IRQn, 3);
+
+  ADC->CTRLA.bit.ENABLE = true;
+}
+
+volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS];
+
+void ADC_Handler() {
+  while(ADC->STATUS.bit.SYNCBUSY == 1);
+  int pos = ADC->INPUTCTRL.bit.INPUTOFFSET;
+
+  adc_results[pos] = ADC->RESULT.reg; /* Read the value. */
+  ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */
+}
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  /* due to the way INPUTOFFSET works, the last sensor is the first position in the array
+    and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here.
+  */
+  unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1;
+  if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0;
+  adc_result = adc_results[pos]; // 16-bit resolution
+  //adc_result = 0xFFFF;
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/HAL.h

@@ -0,0 +1,223 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define CPU_32_BIT
+
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+
+// ------------------------
+// Serial ports
+// ------------------------
+#include "../../core/serial_hook.h"
+typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1;
+extern DefaultSerial1 MSerialUSB;
+
+// Serial ports
+typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
+typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
+
+extern DefaultSerial2 MSerial0;
+extern DefaultSerial3 MSerial1;
+
+
+#define __MSERIAL(X) MSerial##X
+#define _MSERIAL(X) __MSERIAL(X)
+#define MSERIAL(X) _MSERIAL(INCREMENT(X))
+
+#if WITHIN(SERIAL_PORT, 0, 1)
+  #define MYSERIAL1 MSERIAL(SERIAL_PORT)
+#elif SERIAL_PORT == -1
+  #define MYSERIAL1 MSerialUSB
+#else
+  #error "SERIAL_PORT must be -1 (Native USB only)."
+#endif
+
+#ifdef SERIAL_PORT_2
+  #if WITHIN(SERIAL_PORT_2, 0, 1)
+    #define MYSERIAL2 MSERIAL(SERIAL_PORT)
+  #elif SERIAL_PORT_2 == -1
+    #define MYSERIAL2 MSerialUSB
+  #else
+    #error "SERIAL_PORT_2 must be -1 (Native USB only)."
+  #endif
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+  #if WITHIN(MMU2_SERIAL_PORT, 0, 1)
+    #define MMU2_SERIAL MSERIAL(SERIAL_PORT)
+  #elif MMU2_SERIAL_PORT == -1
+    #define MMU2_SERIAL MSerialUSB
+  #else
+    #error "MMU2_SERIAL_PORT must be -1 (Native USB only)."
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if WITHIN(LCD_SERIAL_PORT, 0, 1)
+    #define LCD_SERIAL MSERIAL(SERIAL_PORT)
+  #elif LCD_SERIAL_PORT == -1
+    #define LCD_SERIAL MSerialUSB
+  #else
+    #error "LCD_SERIAL_PORT must be -1 (Native USB only)."
+  #endif
+#endif
+
+typedef int8_t pin_t;
+
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
+
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
+
+#define cli() __disable_irq() // Disable interrupts
+#define sei() __enable_irq()  // Enable interrupts
+
+//
+// ADC
+//
+
+#define HAL_ADC_FILTERED     1     // Disable Marlin's oversampling. The HAL filters ADC values.
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION   12
+#define HAL_ADC_AIN_START ADC_INPUTCTRL_MUXPOS_PIN3
+#define HAL_ADC_AIN_NUM_SENSORS 3
+#define HAL_ADC_AIN_LEN HAL_ADC_AIN_NUM_SENSORS-1
+
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+
+//
+// Tone
+//
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
+void noTone(const pin_t _pin);
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+#ifdef __cplusplus
+  extern "C" {
+#endif
+
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+extern "C" int freeMemory();
+
+#ifdef __cplusplus
+  }
+#endif
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  // Watchdog
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+private:
+  static void dma_init();
+};

Marlin/src/HAL/SAMD21/HAL_SPI.cpp

@@ -0,0 +1,148 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Hardware and software SPI implementations are included in this file.
+ *
+ * Control of the slave select pin(s) is handled by the calling routines and
+ * SAMD21 let hardware SPI handling to remove SS from its logic.
+ */
+
+#ifdef __SAMD21__
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "../../inc/MarlinConfig.h"
+#include <SPI.h>
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+#if EITHER(SOFTWARE_SPI, FORCE_SOFT_SPI)
+
+  // ------------------------
+  // Software SPI
+  // ------------------------
+  #error "Software SPI not supported for SAMD21. Use Hardware SPI."
+
+#else // !SOFTWARE_SPI
+
+  static SPISettings spiConfig;
+
+  // ------------------------
+  // Hardware SPI
+  // ------------------------
+  void spiBegin() {
+    spiInit(SPI_HALF_SPEED);
+  }
+
+  void spiInit(uint8_t spiRate) {
+    // Use datarates Marlin uses
+    uint32_t clock;
+    switch (spiRate) {
+      case SPI_FULL_SPEED:      clock = 8000000; break;
+      case SPI_HALF_SPEED:      clock = 4000000; break;
+      case SPI_QUARTER_SPEED:   clock = 2000000; break;
+      case SPI_EIGHTH_SPEED:    clock = 1000000; break;
+      case SPI_SIXTEENTH_SPEED: clock =  500000; break;
+      case SPI_SPEED_5:         clock =  250000; break;
+      case SPI_SPEED_6:         clock =  125000; break;
+      default:                  clock = 4000000; break; // Default from the SPI library
+    }
+    spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+    SPI.begin();
+  }
+
+  /**
+   * @brief  Receives a single byte from the SPI port.
+   *
+   * @return Byte received
+   *
+   * @details
+   */
+  uint8_t spiRec() {
+    SPI.beginTransaction(spiConfig);
+    uint8_t returnByte = SPI.transfer(0xFF);
+    SPI.endTransaction();
+    return returnByte;
+  }
+
+  /**
+   * @brief  Receives a number of bytes from the SPI port to a buffer
+   *
+   * @param  buf   Pointer to starting address of buffer to write to.
+   * @param  nbyte Number of bytes to receive.
+   * @return Nothing
+   */
+  void spiRead(uint8_t *buf, uint16_t nbyte) {
+    if (nbyte == 0) return;
+    memset(buf, 0xFF, nbyte);
+
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(buf, nbyte);
+    SPI.endTransaction();
+
+  }
+
+  /**
+   * @brief  Sends a single byte on SPI port
+   *
+   * @param  b Byte to send
+   *
+   * @details
+   */
+  void spiSend(uint8_t b) {
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(b);
+    SPI.endTransaction();
+  }
+
+  /**
+   * @brief  Write token and then write from 512 byte buffer to SPI (for SD card)
+   *
+   * @param  buf   Pointer with buffer start address
+   * @return Nothing
+   *
+   * @details Uses DMA
+   */
+  void spiSendBlock(uint8_t token, const uint8_t *buf) {
+    SPI.beginTransaction(spiConfig);
+    SPI.transfer(token);
+    SPI.transfer((uint8_t*)buf, 512);
+    SPI.endTransaction();
+  }
+
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+    spiConfig = SPISettings(spiClock, (BitOrder)bitOrder, dataMode);
+    SPI.beginTransaction(spiConfig);
+  }
+#endif // !SOFTWARE_SPI
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/MarlinSPI.h

@@ -0,0 +1,31 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#include <SPI.h>
+
+using MarlinSPI = SPIClass;

Marlin/src/HAL/SAMD21/QSPIFlash.cpp

@@ -0,0 +1,82 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(QSPI_EEPROM)
+
+#include "QSPIFlash.h"
+
+#define INVALID_ADDR    0xFFFFFFFF
+#define SECTOR_OF(a)    (a & ~(SFLASH_SECTOR_SIZE - 1))
+#define OFFSET_OF(a)    (a & (SFLASH_SECTOR_SIZE - 1))
+
+Adafruit_SPIFlashBase * QSPIFlash::_flashBase = nullptr;
+uint8_t QSPIFlash::_buf[SFLASH_SECTOR_SIZE];
+uint32_t QSPIFlash::_addr = INVALID_ADDR;
+
+void QSPIFlash::begin() {
+  if (_flashBase) return;
+
+  _flashBase = new Adafruit_SPIFlashBase(new Adafruit_FlashTransport_QSPI());
+  _flashBase->begin(nullptr);
+}
+
+size_t QSPIFlash::size() {
+  return _flashBase->size();
+}
+
+uint8_t QSPIFlash::readByte(const uint32_t address) {
+  if (SECTOR_OF(address) == _addr) return _buf[OFFSET_OF(address)];
+
+  return _flashBase->read8(address);
+}
+
+void QSPIFlash::writeByte(const uint32_t address, const uint8_t value) {
+  uint32_t const sector_addr = SECTOR_OF(address);
+
+  // Page changes, flush old and update new cache
+  if (sector_addr != _addr) {
+    flush();
+    _addr = sector_addr;
+
+    // read a whole page from flash
+    _flashBase->readBuffer(sector_addr, _buf, SFLASH_SECTOR_SIZE);
+  }
+
+  _buf[OFFSET_OF(address)] = value;
+}
+
+void QSPIFlash::flush() {
+  if (_addr == INVALID_ADDR) return;
+
+  _flashBase->eraseSector(_addr / SFLASH_SECTOR_SIZE);
+  _flashBase->writeBuffer(_addr, _buf, SFLASH_SECTOR_SIZE);
+
+  _addr = INVALID_ADDR;
+}
+
+#endif // QSPI_EEPROM

Marlin/src/HAL/SAMD21/QSPIFlash.h

@@ -0,0 +1,49 @@
+/**
+ * @file QSPIFlash.h
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach and Dean Miller for Adafruit Industries LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * Derived from Adafruit_SPIFlash class with no SdFat references
+ */
+#pragma once
+
+#include <Adafruit_SPIFlashBase.h>
+
+// This class extends Adafruit_SPIFlashBase by adding caching support.
+//
+// This class will use 4096 Bytes of RAM as a block cache.
+class QSPIFlash {
+  public:
+    static void begin();
+    static size_t size();
+    static uint8_t readByte(const uint32_t address);
+    static void writeByte(const uint32_t address, const uint8_t v);
+    static void flush();
+
+  private:
+    static Adafruit_SPIFlashBase * _flashBase;
+    static uint8_t _buf[SFLASH_SECTOR_SIZE];
+    static uint32_t _addr;
+};
+
+extern QSPIFlash qspi;

Marlin/src/HAL/SAMD21/SAMD21.h

@@ -0,0 +1,66 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define SYNC(sc)    while (sc) {  \
+                      asm("");    \
+                    }
+
+// Get SAMD port/pin from specified arduino pin
+#define GET_SAMD_PORT(P)    _GET_SAMD_PORT(PIN_TO_SAMD_PIN(P))
+#define GET_SAMD_PIN(P)     _GET_SAMD_PIN(PIN_TO_SAMD_PIN(P))
+
+// Get external interrupt line associated to specified arduino pin
+#define PIN_TO_EILINE(P)    _SAMDPORTPIN_TO_EILINE(GET_SAMD_PORT(P), GET_SAMD_PIN(P))
+
+// Get adc/ain associated to specified arduino pin
+#define PIN_TO_ADC(P)       (ANAPIN_TO_ADCAIN(P) >> 8)
+
+// Private defines
+#define PIN_TO_SAMD_PIN(P)    DIO##P##_PIN
+
+#define _GET_SAMD_PORT(P)     ((P) >> 5)
+#define _GET_SAMD_PIN(P)      ((P) & 0x1F)
+
+// Get external interrupt line
+#define _SAMDPORTPIN_TO_EILINE(P,B)   ((P == 0 && WITHIN(B, 0, 31) && B != 26 && B != 28 && B != 29) ? (B) & 0xF    \
+                                       : (P == 1 && (WITHIN(B, 0, 25) || WITHIN(B, 30, 31))) ? (B) & 0xF                      \
+                                       : (P == 1 && WITHIN(B, 26, 29)) ? 12 + (B) - 26                                        \
+                                       : (P == 2 && (WITHIN(B, 0, 6) || WITHIN(B, 10, 31)) && B != 29) ? (B) & 0xF            \
+                                       : (P == 2 && B == 7) ? 9                                                               \
+                                       : (P == 3 && WITHIN(B, 0, 1)) ? (B)                                                    \
+                                       : (P == 3 && WITHIN(B, 8, 12)) ? 3 + (B) - 8                                           \
+                                       : (P == 3 && WITHIN(B, 20, 21)) ? 10 + (B) - 20                                        \
+                                       : -1)
+
+
+
+#define A2_AIN 3
+#define A3_AIN 4
+#define A4_AIN 5
+#define PIN_TO_AIN(P)    A##P##_AIN
+#define AIN_TO_RESULT(P) ( (P - HAL_ADC_AIN_START == HAL_ADC_AIN_NUM_SENSORS-1) ? 0 :  (P - HAL_ADC_AIN_START + 1) )

Marlin/src/HAL/SAMD21/Servo.cpp

@@ -0,0 +1,220 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * This comes from Arduino library which at the moment is buggy and uncompilable
+ */
+
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "../shared/servo.h"
+#include "../shared/servo_private.h"
+#include "SAMD21.h"
+
+#define __TC_GCLK_ID(t)         TC##t##_GCLK_ID
+#define _TC_GCLK_ID(t)          __TC_GCLK_ID(t)
+#define TC_GCLK_ID              _TC_GCLK_ID(SERVO_TC)
+
+#define _TC_PRESCALER(d)        TC_CTRLA_PRESCALER_DIV##d##_Val
+#define TC_PRESCALER(d)         _TC_PRESCALER(d)
+
+#define __SERVO_IRQn(t)         TC##t##_IRQn
+#define _SERVO_IRQn(t)          __SERVO_IRQn(t)
+#define SERVO_IRQn              _SERVO_IRQn(SERVO_TC)
+
+#define HAL_SERVO_TIMER_ISR()   TC_HANDLER(SERVO_TC)
+
+#define TIMER_TCCHANNEL(t)      ((t) & 1)
+#define TC_COUNTER_START_VAL    0xFFFF
+
+
+static volatile int8_t currentServoIndex[_Nbr_16timers];    // index for the servo being pulsed for each timer (or -1 if refresh interval)
+
+FORCE_INLINE static uint16_t getTimerCount() {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+
+  tc->CTRLBSET.reg = TCC_CTRLBCLR_CMD_READSYNC;
+  SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+  return tc->COUNT.bit.COUNT;
+}
+
+// ----------------------------
+// Interrupt handler for the TC
+// ----------------------------
+HAL_SERVO_TIMER_ISR() {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const timer16_Sequence_t timer =
+    #ifndef _useTimer1
+      _timer2
+    #elif !defined(_useTimer2)
+      _timer1
+    #else
+      (tc->INTFLAG.reg & tc->INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2
+    #endif
+  ;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+
+  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
+        // Clear the interrupt
+        tc->INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1;
+        return;
+      }
+    #endif
+    tc->COUNT.reg = TC_COUNTER_START_VAL;       // ...so reset the timer
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+  else if (SERVO_INDEX(timer, cho) < ServoCount)        // prior channel handled?
+    digitalWrite(SERVO(timer, cho).Pin.nbr, LOW);       // pulse the prior channel LOW
+
+  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
+
+    tc->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;                                          // 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->CC[tcChannel].reg = min(cval, ival);
+  }
+  if (tcChannel == 0) {
+    SYNC(tc->SYNCBUSY.bit.CC0);
+    tc->INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
+  }
+  else {
+    SYNC(tc->SYNCBUSY.bit.CC1);
+    tc->INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
+  }
+}
+
+void initISR(const timer16_Sequence_t timer) {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
+
+  static bool initialized = false;  // Servo TC has been initialized
+  if (!initialized) {
+    NVIC_DisableIRQ(SERVO_IRQn);
+
+    // Disable the timer
+    tc->CTRLA.bit.ENABLE = false;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+    // Select GCLK0 as timer/counter input clock source
+    GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    // Reset the timer
+    tc->CTRLA.bit.SWRST = true;
+    SYNC(tc->CTRLA.bit.SWRST);
+
+    // Set timer counter mode to 16 bits
+    tc->CTRLA.reg = TC_CTRLA_MODE_COUNT16;
+
+    // Set timer counter mode as normal PWM
+    tc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
+
+    // Set the prescaler factor
+    tc->CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER);
+
+    // Count down
+    tc->CTRLBSET.reg = TCC_CTRLBCLR_DIR;
+    SYNC(tc->SYNCBUSY.bit.CTRLB);
+
+    // Reset all servo indexes
+    memset((void *)currentServoIndex, 0xFF, sizeof(currentServoIndex));
+
+    // Configure interrupt request
+    NVIC_ClearPendingIRQ(SERVO_IRQn);
+    NVIC_SetPriority(SERVO_IRQn, 5);
+    NVIC_EnableIRQ(SERVO_IRQn);
+
+    initialized = true;
+  }
+
+  if (!tc->CTRLA.bit.ENABLE) {
+    // Reset the timer counter
+    tc->COUNT.reg = TC_COUNTER_START_VAL;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+    // Enable the timer and start it
+    tc->CTRLA.bit.ENABLE = true;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+  // First interrupt request after 1 ms
+  tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL);
+
+  if (tcChannel == 0 ) {
+    SYNC(tc->SYNCBUSY.bit.CC0);
+
+    // Clear pending match interrupt
+    tc->INTFLAG.reg = TC_INTENSET_MC0;
+    // Enable the match channel interrupt request
+    tc->INTENSET.reg = TC_INTENSET_MC0;
+  }
+  else {
+    SYNC(tc->SYNCBUSY.bit.CC1);
+
+    // Clear pending match interrupt
+    tc->INTFLAG.reg = TC_INTENSET_MC1;
+    // Enable the match channel interrupt request
+    tc->INTENSET.reg = TC_INTENSET_MC1;
+  }
+}
+
+void finISR(const timer16_Sequence_t timer_index) {
+  Tcc * const tc = timer_config[SERVO_TC].pTcc;
+  const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index);
+
+  // Disable the match channel interrupt request
+  tc->INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
+
+  if (true
+    #if defined(_useTimer1) && defined(_useTimer2)
+      && (tc->INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0
+    #endif
+  ) {
+    // Disable the timer if not used
+    tc->CTRLA.bit.ENABLE = false;
+    SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+  }
+}
+
+#endif // HAS_SERVOS
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/ServoTimers.h

@@ -0,0 +1,45 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define _useTimer1
+#define _useTimer2
+
+#define TRIM_DURATION           5   // compensation ticks to trim adjust for digitalWrite delays
+#define SERVO_TIMER_PRESCALER   64  // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
+
+#define SERVO_TC                3
+
+typedef enum {
+  #ifdef _useTimer1
+    _timer1,
+  #endif
+  #ifdef _useTimer2
+    _timer2,
+  #endif
+  _Nbr_16timers
+} timer16_Sequence_t;

Marlin/src/HAL/SAMD21/eeprom_flash.cpp

@@ -0,0 +1,141 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(FLASH_EEPROM_EMULATION)
+
+#define TOTAL_FLASH_SIZE (MARLIN_EEPROM_SIZE+255)/256*256
+
+/* reserve flash memory */
+static const uint8_t flashdata[TOTAL_FLASH_SIZE]  __attribute__((__aligned__(256))) { }; \
+
+#include "../shared/eeprom_api.h"
+
+size_t PersistentStore::capacity() {
+  return MARLIN_EEPROM_SIZE;
+ /* const uint8_t psz = NVMCTRL->SEESTAT.bit.PSZ,
+                sblk = NVMCTRL->SEESTAT.bit.SBLK;
+
+  return   (!psz && !sblk)         ? 0
+         : (psz <= 2)              ? (0x200 << psz)
+         : (sblk == 1 || psz == 3) ?  4096
+         : (sblk == 2 || psz == 4) ?  8192
+         : (sblk <= 4 || psz == 5) ? 16384
+         : (sblk >= 9 && psz == 7) ? 65536
+                                   : 32768;*/
+}
+
+uint32_t PAGE_SIZE;
+uint32_t ROW_SIZE;
+bool hasWritten = false;
+uint8_t * buffer;
+
+void _erase(const volatile void *flash_ptr) {
+  NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2;
+  NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER;
+  while (!NVMCTRL->INTFLAG.bit.READY) { }
+
+}
+
+void erase(const volatile void *flash_ptr, uint32_t size) {
+  const uint8_t *ptr = (const uint8_t *)flash_ptr;
+  while (size > ROW_SIZE) {
+    _erase(ptr);
+    ptr += ROW_SIZE;
+    size -= ROW_SIZE;
+  }
+  _erase(ptr);
+}
+
+bool PersistentStore::access_start() {
+  /* clear page buffer*/
+  NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
+  while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+  PAGE_SIZE =  pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
+  ROW_SIZE= PAGE_SIZE * 4;
+  /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED;  // Buffered mode and segment reallocation active
+  if (NVMCTRL->SEESTAT.bit.RLOCK)
+    NVMCTRL_CMD(NVMCTRL_CTRLB_CMD_USEE);  */  // Unlock E2P data write access
+  //   erase(&flashdata[0], TOTAL_FLASH_SIZE);
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  if (hasWritten) {
+    erase(&flashdata[0], TOTAL_FLASH_SIZE);
+
+    NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
+    while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+     NVMCTRL->CTRLB.bit.MANW = 0;
+
+    volatile uint32_t *dst_addr =  (volatile uint32_t *) &flashdata;
+
+    uint32_t *pointer = (uint32_t *) buffer;
+    for (uint32_t i = 0; i < TOTAL_FLASH_SIZE; i+=4) {
+
+      *dst_addr = (uint32_t) *pointer;
+      pointer++;
+      dst_addr ++;
+    }
+
+    // Execute "WP" Write Page
+    NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP;
+    while (NVMCTRL->INTFLAG.bit.READY == 0) { }
+
+    free(buffer);
+    hasWritten = false;
+  }
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  if (!hasWritten) {
+    // init temp buffer
+    buffer = (uint8_t *) malloc(MARLIN_EEPROM_SIZE);
+    hasWritten=true;
+  }
+
+  memcpy(buffer+pos,value,size);
+  pos += size;
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  volatile uint8_t *dst_addr =  (volatile uint8_t *) &flashdata;
+  dst_addr += pos;
+
+  memcpy(value,(const void *) dst_addr,size);
+  pos += size;
+  return false;
+}
+
+#endif // FLASH_EEPROM_EMULATION
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/eeprom_qspi.cpp

@@ -0,0 +1,79 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(QSPI_EEPROM)
+
+#error "QSPI_EEPROM emulation Not implemented on SAMD21"
+
+#include "../shared/eeprom_api.h"
+
+#include "QSPIFlash.h"
+
+static bool initialized;
+
+size_t PersistentStore::capacity() { return qspi.size(); }
+
+bool PersistentStore::access_start() {
+  if (!initialized) {
+    qspi.begin();
+    initialized = true;
+  }
+  return true;
+}
+
+bool PersistentStore::access_finish() {
+  qspi.flush();
+  return true;
+}
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    const uint8_t v = *value;
+    qspi.writeByte(pos, v);
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  while (size--) {
+    uint8_t c = qspi.readByte(pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+#endif // QSPI_EEPROM
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/eeprom_wired.cpp

@@ -0,0 +1,82 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+#include "../../inc/MarlinConfig.h"
+
+#if USE_WIRED_EEPROM
+
+#error "USE_WIRED_EEPROM emulation Not implemented on SAMD21"
+/**
+ * PersistentStore for Arduino-style EEPROM interface
+ * with simple implementations supplied by Marlin.
+ */
+
+#include "../shared/eeprom_if.h"
+#include "../shared/eeprom_api.h"
+
+#ifndef MARLIN_EEPROM_SIZE
+  #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
+#endif
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start()  { eeprom_init(); return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  uint16_t written = 0;
+  while (size--) {
+    const uint8_t v = *value;
+    uint8_t * const p = (uint8_t * const)pos;
+    if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed!
+      eeprom_write_byte(p, v);
+      if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+        return true;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  while (size--) {
+    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+#endif // USE_WIRED_EEPROM
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/endstop_interrupts.h

@@ -0,0 +1,253 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Endstop interrupts for ATMEL SAMD21 based targets.
+ *
+ * On SAMD21, all pins support external interrupt capability.
+ * Any pin can be used for external interrupts, but there are some restrictions.
+ * At most 16 different external interrupts can be used at one time.
+ * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD21
+ * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external
+ * interrupts at a time
+ */
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the temperature-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#include "../../module/endstops.h"
+
+#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
+#define MATCH_X_MAX_EILINE(P)   TERN0(HAS_X_MAX,  DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
+#define MATCH_X_MIN_EILINE(P)   TERN0(HAS_X_MIN,  DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
+#define MATCH_Y_MAX_EILINE(P)   TERN0(HAS_Y_MAX,  DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
+#define MATCH_Y_MIN_EILINE(P)   TERN0(HAS_Y_MIN,  DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
+#define MATCH_Z_MAX_EILINE(P)   TERN0(HAS_Z_MAX,  DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
+#define MATCH_Z_MIN_EILINE(P)   TERN0(HAS_Z_MIN,  DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
+#define MATCH_I_MAX_EILINE(P)   TERN0(HAS_I_MAX,  DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
+#define MATCH_I_MIN_EILINE(P)   TERN0(HAS_I_MIN,  DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
+#define MATCH_J_MAX_EILINE(P)   TERN0(HAS_J_MAX,  DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
+#define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
+#define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
+#define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_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))
+#define MATCH_Z3_MIN_EILINE(P)  TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
+#define MATCH_Z4_MAX_EILINE(P)  TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
+#define MATCH_Z4_MIN_EILINE(P)  TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
+#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
+
+#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1    \
+  && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P)   \
+  && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P)   \
+  && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)   \
+  && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
+  && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
+  && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_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) \
+  && !MATCH_Z_MIN_PROBE_EILINE(P) )
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+void setup_endstop_interrupts() {
+  #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE)
+  #if HAS_X_MAX
+    #if !AVAILABLE_EILINE(X_MAX_PIN)
+      #error "X_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(X_MAX_PIN);
+  #endif
+  #if HAS_X_MIN
+    #if !AVAILABLE_EILINE(X_MIN_PIN)
+      #error "X_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(X_MIN_PIN);
+  #endif
+  #if HAS_Y_MAX
+    #if !AVAILABLE_EILINE(Y_MAX_PIN)
+      #error "Y_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Y_MAX_PIN);
+  #endif
+  #if HAS_Y_MIN
+    #if !AVAILABLE_EILINE(Y_MIN_PIN)
+      #error "Y_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Y_MIN_PIN);
+  #endif
+  #if HAS_Z_MAX
+    #if !AVAILABLE_EILINE(Z_MAX_PIN)
+      #error "Z_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MAX_PIN);
+  #endif
+  #if HAS_Z_MIN
+    #if !AVAILABLE_EILINE(Z_MIN_PIN)
+      #error "Z_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MIN_PIN);
+  #endif
+  #if HAS_Z2_MAX
+    #if !AVAILABLE_EILINE(Z2_MAX_PIN)
+      #error "Z2_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z2_MAX_PIN);
+  #endif
+  #if HAS_Z2_MIN
+    #if !AVAILABLE_EILINE(Z2_MIN_PIN)
+      #error "Z2_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z2_MIN_PIN);
+  #endif
+  #if HAS_Z3_MAX
+    #if !AVAILABLE_EILINE(Z3_MAX_PIN)
+      #error "Z3_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z3_MAX_PIN);
+  #endif
+  #if HAS_Z3_MIN
+    #if !AVAILABLE_EILINE(Z3_MIN_PIN)
+      #error "Z3_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z3_MIN_PIN);
+  #endif
+  #if HAS_Z4_MAX
+    #if !AVAILABLE_EILINE(Z4_MAX_PIN)
+      #error "Z4_MAX_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    #if !AVAILABLE_EILINE(Z4_MIN_PIN)
+      #error "Z4_MIN_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z4_MIN_PIN);
+  #endif
+  #if HAS_Z_MIN_PROBE_PIN
+    #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN)
+      #error "Z_MIN_PROBE_PIN has no EXTINT line available."
+    #endif
+    _ATTACH(Z_MIN_PROBE_PIN);
+  #endif
+  #if HAS_I_MAX
+    #if !AVAILABLE_EILINE(I_MAX_PIN)
+      #error "I_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_I_MIN
+    #if !AVAILABLE_EILINE(I_MIN_PIN)
+      #error "I_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MAX
+    #if !AVAILABLE_EILINE(J_MAX_PIN)
+      #error "J_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_J_MIN
+    #if !AVAILABLE_EILINE(J_MIN_PIN)
+      #error "J_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MAX
+    #if !AVAILABLE_EILINE(K_MAX_PIN)
+      #error "K_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_K_MIN
+    #if !AVAILABLE_EILINE(K_MIN_PIN)
+      #error "K_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #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/SAMD21/fastio.h

@@ -0,0 +1,216 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Fast IO functions for SAMD21
+ */
+
+#include "SAMD21.h"
+
+/**
+ * Utility functions
+ */
+
+#ifndef MASK
+  #define MASK(PIN) _BV(PIN)
+#endif
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(IO); WRITE(IO, HIGH); WRITE(IO, LOW);
+ */
+
+// Read a pin
+#define READ(IO)        ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].IN.reg & MASK(GET_SAMD_PIN(IO))) != 0)
+
+// Write to a pin
+#define WRITE(IO,V)     do{                                                     \
+                          const EPortType port = (EPortType)GET_SAMD_PORT(IO);  \
+                          const uint32_t mask = MASK(GET_SAMD_PIN(IO));         \
+                                                                                \
+                          if (V) PORT->Group[port].OUTSET.reg = mask;           \
+                          else PORT->Group[port].OUTCLR.reg = mask;             \
+                        }while(0)
+
+// Toggle a pin
+#define TOGGLE(IO)      PORT->Group[(EPortType)GET_SAMD_PORT(IO)].OUTTGL.reg = MASK(GET_SAMD_PIN(IO));
+
+// Set pin as input
+#define SET_INPUT(IO)           do{                                                                 \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);              \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                            \
+                                                                                                    \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN);  \
+                                  PORT->Group[port].DIRCLR.reg = MASK(pin);                         \
+                                }while(0)
+// Set pin as input with pullup
+#define SET_INPUT_PULLUP(IO)    do{                                                                                       \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                                    \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                                                  \
+                                  const uint32_t mask = MASK(pin);                                                        \
+                                                                                                                          \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);   \
+                                  PORT->Group[port].DIRCLR.reg = mask;                                                    \
+                                  PORT->Group[port].OUTSET.reg = mask;                                                    \
+                                }while(0)
+// Set pin as input with pulldown
+#define SET_INPUT_PULLDOWN(IO)  do{                                                                                       \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                                    \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                                                  \
+                                  const uint32_t mask = MASK(pin);                                                        \
+                                                                                                                          \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);   \
+                                  PORT->Group[port].DIRCLR.reg = mask;                                                    \
+                                  PORT->Group[port].OUTCLR.reg = mask;                                                    \
+                                }while(0)
+// Set pin as output (push pull)
+#define SET_OUTPUT(IO)          do{                                                                 \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);              \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                            \
+                                                                                                    \
+                                  PORT->Group[port].DIRSET.reg = MASK(pin);                         \
+                                  PORT->Group[port].PINCFG[pin].reg = 0;                            \
+                                }while(0)
+// Set pin as output (open drain)
+#define SET_OUTPUT_OD(IO)       do{                                                                   \
+                                  const EPortType port = (EPortType)GET_SAMD_PORT(IO);                \
+                                  const uint32_t pin = GET_SAMD_PIN(IO);                              \
+                                                                                                      \
+                                  PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_PULLEN);  \
+                                  PORT->Group[port].DIRCLR.reg = MASK(pin);                           \
+                                }while(0)
+// Set pin as PWM (push pull)
+#define SET_PWM                 SET_OUTPUT
+// Set pin as PWM (open drain)
+#define SET_PWM_OD              SET_OUTPUT_OD
+
+// check if pin is an output
+#define IS_OUTPUT(IO)            ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].DIR.reg & MASK(GET_SAMD_PIN(IO))) \
+                                 || (PORT->Group[(EPortType)GET_SAMD_PORT(IO)].PINCFG[GET_SAMD_PIN(IO)].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN)
+// check if pin is an input
+#define IS_INPUT(IO)            !IS_OUTPUT(IO)
+
+// Shorthand
+#define OUT_WRITE(IO,V)         do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+#define OUT_WRITE_OD(IO,V)      do{ SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0)
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO)      digitalRead(IO)
+#define extDigitalWrite(IO,V)   digitalWrite(IO,V)
+
+/**
+ * Ports and functions
+ * Added as necessary or if I feel like it- not a comprehensive list!
+ */
+
+/*
+ * Some of these share the same source and so can't be used in the same time
+ */
+#define PWM_PIN(P)        (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48)
+
+// Return fulfilled ADCx->INPUTCTRL.reg
+#define PIN_TO_INPUTCTRL(P)     (  (P == 0) ? ADC_INPUTCTRL_MUXPOS_PIN0   \
+                                 : ((P) == 1) ? ADC_INPUTCTRL_MUXPOS_PIN1   \
+                                 : ((P) == 2) ? ADC_INPUTCTRL_MUXPOS_PIN3   \
+                                 : ((P) == 3) ? ADC_INPUTCTRL_MUXPOS_PIN4   \
+                                 : ((P) == 4) ? ADC_INPUTCTRL_MUXPOS_PIN5   \
+                                 : ((P) == 5) ? ADC_INPUTCTRL_MUXPOS_PIN5   \
+                                 : ((P) == 6) ? ADC_INPUTCTRL_MUXPOS_PIN6   \
+                                 : ((P) == 7) ? ADC_INPUTCTRL_MUXPOS_PIN7   \
+                                 : ((P) == 8) ? ADC_INPUTCTRL_MUXPOS_PIN8   \
+                                 : ((P) == 9) ? ADC_INPUTCTRL_MUXPOS_PIN9   \
+                                 : ((P) == 10) ? ADC_INPUTCTRL_MUXPOS_PIN10 \
+                                 : ((P) == 11) ? ADC_INPUTCTRL_MUXPOS_PIN11 \
+                                 : ((P) == 12) ? ADC_INPUTCTRL_MUXPOS_PIN12 \
+                                 : ((P) == 13) ? ADC_INPUTCTRL_MUXPOS_PIN13 \
+                                 : ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \
+                                 : ADC_INPUTCTRL_MUXPOS_PIN15)
+
+#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)
+
+/**
+ * pins
+ */
+
+// PORTA
+#define DIO28_PIN   PIN_PA02    // A0
+#define DIO56_PIN   PIN_PA03    // A13
+#define DIO31_PIN   PIN_PA04    // A13
+#define DIO32_PIN   PIN_PA05    // A1
+#define DIO8_PIN    PIN_PA06    // A14
+#define DIO9_PIN    PIN_PA07    // A15
+#define DIO4_PIN    PIN_PA08    // A15
+#define DIO3_PIN    PIN_PA09    // A15
+#define DIO1_PIN    PIN_PA10
+#define DIO0_PIN    PIN_PA11
+#define DIO18_PIN   PIN_PA12
+#define DIO52_PIN   PIN_PA13
+#define DIO2_PIN    PIN_PA14
+#define DIO5_PIN    PIN_PA15
+#define DIO11_PIN   PIN_PA16
+#define DIO13_PIN   PIN_PA17
+#define DIO10_PIN   PIN_PA18
+#define DIO12_PIN   PIN_PA19
+#define DIO6_PIN    PIN_PA20
+#define DIO07_PIN   PIN_PA21
+#define DIO34_PIN   PIN_PA22
+#define DIO35_PIN   PIN_PA23
+#define DIO42_PIN   PIN_PA24
+#define DIO43_PIN   PIN_PA25
+
+#define DIO40_PIN   PIN_PA27
+
+#define DIO26_PIN   PIN_PB00
+#define DIO27_PIN   PIN_PB01    // A0
+#define DIO33_PIN   PIN_PB02
+#define DIO39_PIN   PIN_PB03
+#define DIO14_PIN   PIN_PB04
+#define DIO15_PIN   PIN_PB05
+#define DIO16_PIN   PIN_PB06
+#define DIO17_PIN   PIN_PB07
+#define DIO29_PIN   PIN_PB08
+#define DIO30_PIN   PIN_PB09
+#define DIO37_PIN   PIN_PB10
+#define DIO38_PIN   PIN_PB11
+#define DIO36_PIN   PIN_PB12
+#define DIO19_PIN   PIN_PB13
+#define DIO20_PIN   PIN_PB14
+#define DIO21_PIN   PIN_PB15
+#define DIO22_PIN   PIN_PB16
+#define DIO23_PIN   PIN_PB17
+
+#define DIO44_PIN   PIN_PB22
+#define DIO45_PIN   PIN_PB23
+#define DIO24_PIN   PIN_PB30
+#define DIO25_PIN   PIN_PB31
+
+#define DIO53_PIN   PIN_PA21
+#define DIO54_PIN   PIN_PA06
+#define DIO55_PIN   PIN_PA07
+

Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h

@@ -0,0 +1,31 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+  #error "Sorry! TFT displays are not available for HAL/SAMD21."
+#endif

Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h

@@ -0,0 +1,27 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once

Marlin/src/HAL/SAMD21/inc/Conditionals_post.h

@@ -0,0 +1,33 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+#if USE_FALLBACK_EEPROM
+  #define FLASH_EEPROM_EMULATION
+#elif EITHER(I2C_EEPROM, SPI_EEPROM)
+  #define USE_SHARED_EEPROM 1
+#endif

Marlin/src/HAL/SAMD21/inc/SanityCheck.h

@@ -0,0 +1,50 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Test SAMD21 specific configuration values for errors at compile-time.
+ */
+
+#if SERVO_TC == MF_TIMER_RTC
+  #error "Servos can't use RTC timer"
+#endif
+
+#if ENABLED(EMERGENCY_PARSER)
+  #error "EMERGENCY_PARSER is not yet implemented for SAMD21. Disable EMERGENCY_PARSER to continue."
+#endif
+
+#if ENABLED(SDIO_SUPPORT)
+  #error "SDIO_SUPPORT is not supported on SAMD21."
+#endif
+
+#if ENABLED(FAST_PWM_FAN)
+  #error "Features requiring Hardware PWM (FAST_PWM_FAN) are not yet supported on SAMD21."
+#endif
+
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  #error "POSTMORTEM_DEBUGGING is not yet supported on SAMD21."
+#endif

Marlin/src/HAL/SAMD21/pinsDebug.h

@@ -0,0 +1,160 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#define NUMBER_PINS_TOTAL PINS_COUNT
+
+#define digitalRead_mod(p) extDigitalRead(p)
+#define PRINT_PORT(p) do{ SERIAL_ECHOPGM("  Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0)
+#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define GET_ARRAY_PIN(p) pin_array[p].pin
+#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
+#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
+#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
+#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
+#define pwm_status(pin) digitalPinHasPWM(pin)
+#define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin
+
+// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities
+// uses pin index
+#define M43_NEVER_TOUCH(Q) ((Q) >= 75)
+
+bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+  const EPortType samdport = g_APinDescription[pin].ulPort;
+  const uint32_t samdpin = g_APinDescription[pin].ulPin;
+  return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN;
+}
+
+void pwm_details(int32_t pin) {
+  if (pwm_status(pin)) {
+    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
+    //SERIAL_ECHOPGM("PWM = ", duty);
+  }
+}
+
+/**
+ * SAMD21 Board pin|  PORT  | Label
+ * ----------------+--------+-------
+ *   0             |  PB25  | "RX0"
+ *   1             |  PB24  | "TX0"
+ *   2             |  PC18  |
+ *   3             |  PC19  |
+ *   4             |  PC20  |
+ *   5             |  PC21  |
+ *   6             |  PD20  |
+ *   7             |  PD21  |
+ *   8             |  PB18  |
+ *   9             |  PB2   |
+ *  10             |  PB22  |
+ *  11             |  PB23  |
+ *  12             |  PB0   | "A16"
+ *  13             |  PB1   | LED AMBER "L" / "A17"
+ *  14             |  PB16  | "TX3"
+ *  15             |  PB17  | "RX3"
+ *  16             |  PC22  | "TX2"
+ *  17             |  PC23  | "RX2"
+ *  18             |  PB12  | "TX1" / "A18"
+ *  19             |  PB13  | "RX1"
+ *  20             |  PB20  | "SDA"
+ *  21             |  PB21  | "SCL"
+ *  22             |  PD12  |
+ *  23             |  PA15  |
+ *  24             |  PC17  |
+ *  25             |  PC16  |
+ *  26             |  PA12  |
+ *  27             |  PA13  |
+ *  28             |  PA14  |
+ *  29             |  PB19  |
+ *  30             |  PA23  |
+ *  31             |  PA22  |
+ *  32             |  PA21  |
+ *  33             |  PA20  |
+ *  34             |  PA19  |
+ *  35             |  PA18  |
+ *  36             |  PA17  |
+ *  37             |  PA16  |
+ *  38             |  PB15  |
+ *  39             |  PB14  |
+ *  40             |  PC13  |
+ *  41             |  PC12  |
+ *  42             |  PC15  |
+ *  43             |  PC14  |
+ *  44             |  PC11  |
+ *  45             |  PC10  |
+ *  46             |  PC6   |
+ *  47             |  PC7   |
+ *  48             |  PC4   |
+ *  49             |  PC5   |
+ *  50             |  PD11  |
+ *  51             |  PD8   |
+ *  52             |  PD9   |
+ *  53             |  PD10  |
+ *  54             |  PB5   | "A8"
+ *  55             |  PB6   | "A9"
+ *  56             |  PB7   | "A10"
+ *  57             |  PB8   | "A11"
+ *  58             |  PB9   | "A12"
+ *  69             |  PA4   | "A13"
+ *  60             |  PA6   | "A14"
+ *  61             |  PA7   | "A15"
+ *  62             |  PB17  |
+ *  63             |  PB20  |
+ *  64             |  PD11  |
+ *  65             |  PD8   |
+ *  66             |  PD9   |
+ *  67             |  PA2   | "A0" / "DAC0"
+ *  68             |  PA5   | "A1" / "DAC1"
+ *  69             |  PB3   | "A2"
+ *  70             |  PC0   | "A3"
+ *  71             |  PC1   | "A4"
+ *  72             |  PC2   | "A5"
+ *  73             |  PC3   | "A6"
+ *  74             |  PB4   | "A7"
+ *  75             |  PC31  | LED GREEN "RX"
+ *  76             |  PC30  | LED GREEN "TX"
+ *  77             |  PA27  | USB: Host enable
+ *  78             |  PA24  | USB: D-
+ *  79             |  PA25  | USB: D+
+ *  80             |  PB29  | SD: MISO
+ *  81             |  PB27  | SD: SCK
+ *  82             |  PB26  | SD: MOSI
+ *  83             |  PB28  | SD: CS
+ *  84             |  PA3   | AREF
+ *  85             |  PA2   | DAC0 (Duplicate)
+ *  86             |  PA5   | DAC1 (Duplicate)
+ *  87             |  PB1   | LED AMBER "L" (Duplicate)
+ *  88             |  PC24  | NeoPixel
+ *  89             |  PB10  | QSPI: SCK
+ *  90             |  PB11  | QSPI: CS
+ *  91             |  PA8   | QSPI: IO0
+ *  92             |  PA9   | QSPI: IO1
+ *  93             |  PA10  | QSPI: IO2
+ *  94             |  PA11  | QSPI: IO3
+ *  95             |  PB31  | SD: DETECT
+ */

Marlin/src/HAL/SAMD21/spi_pins.h

@@ -0,0 +1,54 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * SAMD21 Default SPI Pins
+ *
+ *         SS    SCK   MISO   MOSI
+ *       +-------------------------+
+ *  SPI  | 53    52     50     51  |
+ *  SPI1 | 83    81     80     82  |
+ *       +-------------------------+
+ * Any pin can be used for Chip Select (SD_SS_PIN)
+ */
+#ifndef SD_SCK_PIN
+  #define SD_SCK_PIN    38
+#endif
+#ifndef SD_MISO_PIN
+  #define SD_MISO_PIN   36
+#endif
+#ifndef SD_MOSI_PIN
+  #define SD_MOSI_PIN   37
+#endif
+#ifndef SDSS
+  #define SDSS          18
+#endif
+
+#ifndef SD_SS_PIN
+  #define SD_SS_PIN     SDSS
+#endif

Marlin/src/HAL/SAMD21/timers.cpp

@@ -0,0 +1,217 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#ifdef __SAMD21__
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include "../../inc/MarlinConfig.h"
+#include "ServoTimers.h" // for SERVO_TC
+
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define NUM_HARDWARE_TIMERS 9
+
+// --------------------------------------------------------------------------
+// Private Variables
+// --------------------------------------------------------------------------
+
+const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = {
+  { {.pTcc=TCC0}, TimerType::tcc,  TCC0_IRQn, TC_PRIORITY(0) },  // 0 - stepper (assigned priority 2)
+  { {.pTcc=TCC1}, TimerType::tcc,  TCC1_IRQn, TC_PRIORITY(1) },  // 1 - stepper (needed by 32 bit timers)
+  { {.pTcc=TCC2}, TimerType::tcc,  TCC2_IRQn, 5              },  // 2 - tone (reserved by framework and fixed assigned priority 5)
+  { {.pTc=TC3},   TimerType::tc,   TC3_IRQn, TC_PRIORITY(3) },  // 3 - servo (assigned priority 1)
+  { {.pTc=TC4},   TimerType::tc,   TC4_IRQn, TC_PRIORITY(4) },  // 4 - software serial (no interrupts used)
+  { {.pTc=TC5},   TimerType::tc,   TC5_IRQn, TC_PRIORITY(5) },
+  { {.pTc=TC6},   TimerType::tc,   TC6_IRQn, TC_PRIORITY(6) },
+  { {.pTc=TC7},   TimerType::tc,   TC7_IRQn, TC_PRIORITY(7) },
+  { {.pRtc=RTC},  TimerType::rtc,   RTC_IRQn, TC_PRIORITY(8) }   // 8 - temperature (assigned priority 6)
+};
+
+// --------------------------------------------------------------------------
+// Private functions
+// --------------------------------------------------------------------------
+
+FORCE_INLINE void Disable_Irq(IRQn_Type irq) {
+  NVIC_DisableIRQ(irq);
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+}
+
+static bool tcIsSyncing(Tc * tc) {
+  return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY;
+}
+
+static void tcReset( Tc * tc) {
+  tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST;
+  while (tcIsSyncing(tc)) {}
+  while (tc->COUNT32.CTRLA.bit.SWRST) {}
+}
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+
+  // Disable interrupt, just in case it was already enabled
+  NVIC_DisableIRQ(irq);
+  NVIC_ClearPendingIRQ(irq);
+
+  if (timer_num == MF_TIMER_RTC) {
+
+    // https://github.com/arduino-libraries/RTCZero
+    Rtc * const rtc = timer_config[timer_num].pRtc;
+    PM->APBAMASK.reg |= PM_APBAMASK_RTC;
+
+    GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos)));
+    while (GCLK->STATUS.bit.SYNCBUSY) {}
+
+    GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL );
+    while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
+
+    GCLK->GENDIV.reg = GCLK_GENDIV_ID(4);
+    GCLK->GENDIV.bit.DIV=4;
+    while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {}
+
+    // Disable timer interrupt
+    rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+    while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
+
+    // Stop timer, just in case, to be able to reconfigure it
+    rtc->MODE0.CTRL.reg =
+      RTC_MODE0_CTRL_MODE_COUNT32 |           // Mode 0 = 32-bits counter
+      RTC_MODE0_CTRL_PRESCALER_DIV1024;       // Divisor = 1024
+
+    while(rtc->MODE0.STATUS.bit.SYNCBUSY) {}
+
+    // Mode, reset counter on match
+    rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR;
+
+    // Set compare value
+    rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+    // Enable interrupt on compare
+    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;    // reset pending interrupt
+    rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0;  // enable compare 0 interrupt
+
+    // And start timer
+    rtc->MODE0.CTRL.bit.ENABLE = true;
+    SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY);
+
+  }
+  else if (timer_config[timer_num].type==TimerType::tcc) {
+    
+    Tcc * const tc = timer_config[timer_num].pTcc;
+
+    PM->APBCMASK.reg |= PM_APBCMASK_TCC0;
+     GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID));
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    tc->CTRLA.reg = TCC_CTRLA_SWRST;
+    SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {}
+
+    SYNC (tc->CTRLA.bit.SWRST);
+
+    tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE);       // disable TC module
+
+    tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ;
+    tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2;
+    tc->CC[0].reg = (HAL_TIMER_RATE) / frequency;
+    tc->INTENSET.reg = TCC_INTFLAG_MC0;
+    tc->CTRLA.reg |= TCC_CTRLA_ENABLE;
+    tc->INTFLAG.reg = 0xFF;
+    SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY);
+
+  }
+  else {
+    Tc * const tc = timer_config[timer_num].pTc;
+
+    // Disable timer interrupt
+    tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
+
+    // TCn clock setup
+    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
+    SYNC (GCLK->STATUS.bit.SYNCBUSY);
+
+    tcReset(tc); // reset TC
+
+    // Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet)
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32;
+    // Set TC waveform generation mode to 'match frequency'
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ;
+    //set prescaler
+    //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down
+    //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range
+    tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024
+    //set the compare-capture register.
+    //The counter will count up to this value (it's a 16bit counter so we use uint16_t)
+    //this is how we fine-tune the frequency, make it count to a lower or higher value
+    //system clock should be 1MHz (8MHz/8) at Reset by default
+    tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency);
+    while (tcIsSyncing(tc)) {}
+
+    // Enable the TC interrupt request
+    tc->COUNT32.INTENSET.bit.MC0 = 1;
+    while (tcIsSyncing(tc)) {}
+  }
+
+  NVIC_SetPriority(irq, timer_config[timer_num].priority);
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  Disable_Irq(irq);
+}
+
+// missing from CMSIS: Check if interrupt is enabled or not
+static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
+  return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F);
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  const IRQn_Type irq = timer_config[timer_num].IRQ_Id;
+  return NVIC_GetEnabledIRQ(irq);
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/timers.h

@@ -0,0 +1,160 @@
+/**
+ * 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
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+#include <stdint.h>
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
+
+#define MF_TIMER_RTC            8   // This is not a TC but a RTC
+
+#ifndef MF_TIMER_STEP
+  #define MF_TIMER_STEP         4   // Timer Index for Stepper
+#endif
+#ifndef MF_TIMER_PULSE
+  #define MF_TIMER_PULSE        MF_TIMER_STEP
+#endif
+#ifndef MF_TIMER_TEMP
+  #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
+#endif
+
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+
+#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
+#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
+
+#define TC_PRIORITY(t) (  t == SERVO_TC ? 1                              \
+                       : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \
+                       : (t == MF_TIMER_TEMP) ? 6 : 7 )
+
+#define _TC_HANDLER(t)          void TC##t##_Handler()
+#define TC_HANDLER(t)           _TC_HANDLER(t)
+#ifndef HAL_STEP_TIMER_ISR
+  #define HAL_STEP_TIMER_ISR()  TC_HANDLER(MF_TIMER_STEP)
+#endif
+#if MF_TIMER_STEP != MF_TIMER_PULSE
+  #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE)
+#endif
+#if MF_TIMER_TEMP == MF_TIMER_RTC
+  #define HAL_TEMP_TIMER_ISR()  void RTC_Handler()
+#else
+  #define HAL_TEMP_TIMER_ISR()  TC_HANDLER(MF_TIMER_TEMP)
+#endif
+
+// --------------------------------------------------------------------------
+// Types
+// --------------------------------------------------------------------------
+typedef enum  { tcc, tc, rtc } TimerType;
+
+typedef struct {
+  union {
+    Tc  *pTc;
+    Tcc *pTcc;
+    Rtc *pRtc;
+  };
+  TimerType type;
+  IRQn_Type   IRQ_Id;
+  uint8_t     priority;
+} tTimerConfig;
+
+// --------------------------------------------------------------------------
+// Public Variables
+// --------------------------------------------------------------------------
+
+extern const tTimerConfig timer_config[];
+
+// --------------------------------------------------------------------------
+// Public functions
+// --------------------------------------------------------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  tc->COUNT32.CC[0].reg = compare;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  return (hal_timer_t)tc->COUNT32.CC[0].reg;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  // Should never be called with timer MF_TIMER_RTC
+  Tc * const tc = timer_config[timer_num].pTc;
+  tc->COUNT32.READREQ.reg = TC_READREQ_RREQ;
+  // Request a read synchronization
+  SYNC (tc->COUNT32.STATUS.bit.SYNCBUSY);
+  //SYNC(tc->COUNT32.STATUS.bit.SYNCBUSY );
+  return tc->COUNT32.COUNT.reg;
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num);
+void HAL_timer_disable_interrupt(const uint8_t timer_num);
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
+
+FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  if (timer_num == MF_TIMER_RTC) {
+    Rtc * const rtc = timer_config[timer_num].pRtc;
+    // Clear interrupt flag
+    rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF;
+
+  }
+  else if (timer_config[timer_num].type == TimerType::tcc){
+    Tcc * const tc = timer_config[timer_num].pTcc;
+    // Clear interrupt flag
+    tc->INTFLAG.reg = TCC_INTFLAG_OVF;
+  }
+  else {
+    Tc * const tc = timer_config[timer_num].pTc;
+    // Clear interrupt flag
+    tc->COUNT32.INTFLAG.bit.MC0 = 1;
+  }
+}
+
+#define HAL_timer_isr_epilogue(timer_num)

Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp

@@ -0,0 +1,32 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+// adapted from  I2C/master/master.c example
+//   https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+
+#ifdef __SAMD21__
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h

@@ -0,0 +1,27 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once

Marlin/src/HAL/SAMD21/u8g/LCD_defines.h

@@ -0,0 +1,41 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+/**
+ * SAMD21 LCD-specific defines
+ */
+
+// The following are optional depending on the platform.
+
+// definitions of HAL specific com and device drivers.
+uint8_t u8g_com_samd21_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
+uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr);
+
+// connect U8g com generic com names to the desired driver
+#define U8G_COM_HW_SPI u8g_com_samd21_st7920_hw_spi_fn  // use SAMD21 specific hardware SPI routine
+#define U8G_COM_ST7920_HW_SPI u8g_com_samd21_st7920_hw_spi_fn

Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c

@@ -0,0 +1,42 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Low level pin manipulation routines - used by all the drivers.
+ *
+ * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
+ *
+ * Couldn't just call exact copies because the overhead killed the LCD update speed
+ * With an intermediate level the softspi was running in the 10-20kHz range which
+ * resulted in using about about 25% of the CPU's time.
+ */
+
+#ifdef __SAMD21__
+
+#include <Arduino.h>
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h

@@ -0,0 +1,42 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+#pragma once
+
+/**
+ * Low level pin manipulation routines - used by all the drivers.
+ *
+ * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines.
+ *
+ * Couldn't just call exact copies because the overhead killed the LCD update speed
+ * With an intermediate level the softspi was running in the 10-20kHz range which
+ * resulted in using about about 25% of the CPU's time.
+ */
+
+void u8g_SetPinOutput(uint8_t internal_pin_number);
+void u8g_SetPinInput(uint8_t internal_pin_number);
+void u8g_SetPinLevel(uint8_t  pin, uint8_t  pin_status);
+uint8_t u8g_GetPinLevel(uint8_t pin);

Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp

@@ -0,0 +1,154 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * SAMD21 HAL developed by Bart Meijer (brupje)
+ * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
+ */
+
+/**
+ * Based on u8g_com_msp430_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2012, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or other
+ * materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef __SAMD21__
+
+#include <U8glib-HAL.h>
+#include "SPI.h"
+
+#include "../../shared/HAL_SPI.h"
+
+#ifndef LCD_SPI_SPEED
+  #define LCD_SPI_SPEED SPI_QUARTER_SPEED
+#endif
+
+void u8g_SetPIOutput(u8g_t *u8g, uint8_t pin_index) {
+  if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
+  pinMode(u8g->pin_list[pin_index],OUTPUT);
+}
+
+void u8g_SetPILevel(u8g_t *u8g, uint8_t pin_index, uint8_t level) {
+  if (u8g->pin_list[pin_index]!= U8G_PIN_NONE)
+  digitalWrite(u8g->pin_list[pin_index],level);
+}
+
+uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+
+  static SPISettings lcdSPIConfig;
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_INIT:
+      u8g_SetPIOutput(u8g, U8G_PI_CS);
+      u8g_SetPIOutput(u8g, U8G_PI_A0);
+      u8g_SetPIOutput(u8g, U8G_PI_RESET);
+
+      u8g_SetPILevel(u8g, U8G_PI_CS, LOW);
+
+      spiBegin();
+      lcdSPIConfig = SPISettings(900000, MSBFIRST, SPI_MODE0);
+      u8g->pin_list[U8G_PI_A0_STATE] = 0;
+      break;
+
+    case U8G_COM_MSG_ADDRESS:             // define cmd (arg_val = 0) or data mode (arg_val = 1)
+      u8g_SetPILevel(u8g, U8G_PI_A0, arg_val);
+      u8g->pin_list[U8G_PI_A0_STATE] = arg_val;
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:         // arg_val == 1 means chip selected, but ST7920 is active high, so needs inverting
+      u8g_SetPILevel(u8g, U8G_PI_CS, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      SPI.beginTransaction(lcdSPIConfig);
+
+      if (u8g->pin_list[U8G_PI_A0_STATE] == 0) { // command
+        SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+      else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
+        SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+
+      SPI.transfer(arg_val & 0x0f0);
+      SPI.transfer(arg_val << 4);
+      SPI.endTransaction();
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      SPI.beginTransaction(lcdSPIConfig);
+
+      if (u8g->pin_list[U8G_PI_A0_STATE] == 0 ) { // command
+        SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+      else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data
+        SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2;
+      }
+
+      uint8_t *ptr = (uint8_t*)arg_ptr;
+      while (arg_val > 0) {
+        SPI.transfer((*ptr) & 0x0f0);
+        SPI.transfer((*ptr) << 4);
+        ptr++;
+        arg_val--;
+      }
+
+      SPI.endTransaction();
+      break;
+  }
+  return 1;
+}
+
+#endif // __SAMD21__

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef __SAMD51__
 
 #include "../../inc/MarlinConfig.h"

Marlin/src/HAL/SAMD51/HAL.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #define CPU_32_BIT
 
 #include "../shared/Marduino.h"

Marlin/src/HAL/SAMD51/HAL_SPI.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -19,6 +20,10 @@
  *
  */
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 /**
  * Hardware and software SPI implementations are included in this file.
  *

Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef ADAFRUIT_GRAND_CENTRAL_M4
 
 /**

Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #include "../../core/serial_hook.h"
 
 typedef Serial1Class<Uart> UartT;

Marlin/src/HAL/SAMD51/SAMD51.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #define SYNC(sc)    while (sc) {  \
                       asm("");    \
                     }

Marlin/src/HAL/SAMD51/Servo.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -19,6 +20,10 @@
  *
  */
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 /**
  * This comes from Arduino library which at the moment is buggy and uncompilable
  */

Marlin/src/HAL/SAMD51/ServoTimers.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #define _useTimer1
 #define _useTimer2
 

Marlin/src/HAL/SAMD51/eeprom_flash.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef __SAMD51__
 
 #include "../../inc/MarlinConfig.h"

Marlin/src/HAL/SAMD51/eeprom_qspi.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef __SAMD51__
 
 #include "../../inc/MarlinConfig.h"

Marlin/src/HAL/SAMD51/eeprom_wired.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef __SAMD51__
 
 #include "../../inc/MarlinConfig.h"

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 /**
  * Endstop interrupts for ATMEL SAMD51 based targets.
  *
@@ -60,6 +65,12 @@
 #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 +86,9 @@
   && !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 +213,40 @@ 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/SAMD51/fastio.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 /**
  * Fast IO functions for SAMD51
  */

Marlin/src/HAL/SAMD51/inc/SanityCheck.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,11 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 
 /**
  * Test SAMD51 specific configuration values for errors at compile-time.

Marlin/src/HAL/SAMD51/pinsDebug.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #define NUMBER_PINS_TOTAL PINS_COUNT
 
 #define digitalRead_mod(p) extDigitalRead(p)
@@ -29,7 +34,7 @@
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define GET_ARRAY_PIN(p) pin_array[p].pin
 #define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
+#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
 #define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
 #define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
 #define pwm_status(pin) digitalPinHasPWM(pin)

Marlin/src/HAL/SAMD51/spi_pins.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #ifdef ADAFRUIT_GRAND_CENTRAL_M4
 
  /*

Marlin/src/HAL/SAMD51/timers.cpp

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -18,6 +19,10 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
 #ifdef __SAMD51__
 
 // --------------------------------------------------------------------------

Marlin/src/HAL/SAMD51/timers.h

@@ -1,8 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- *
  * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ *
+ * 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
@@ -20,6 +21,10 @@
  */
 #pragma once
 
+/**
+ * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
+ */
+
 #include <stdint.h>
 
 // --------------------------------------------------------------------------

Marlin/src/HAL/STM32/eeprom_flash.cpp

@@ -95,7 +95,7 @@
   static_assert(IS_FLASH_SECTOR(FLASH_SECTOR), "FLASH_SECTOR is invalid");
   static_assert(IS_POWER_OF_2(FLASH_UNIT_SIZE), "FLASH_UNIT_SIZE should be a power of 2, please check your chip's spec sheet");
 
-#endif
+#endif // FLASH_EEPROM_LEVELING
 
 static bool eeprom_data_written = false;
 
@@ -189,15 +189,15 @@ bool PersistentStore::access_finish() {
 
       UNLOCK_FLASH();
 
-      uint32_t offset = 0;
-      uint32_t address = SLOT_ADDRESS(current_slot);
-      uint32_t address_end = address + MARLIN_EEPROM_SIZE;
-      uint32_t data = 0;
+      uint32_t offset = 0,
+               address = SLOT_ADDRESS(current_slot),
+               address_end = address + MARLIN_EEPROM_SIZE,
+               data = 0;
 
       bool success = true;
 
       while (address < address_end) {
-        memcpy(&data, ram_eeprom + offset, sizeof(uint32_t));
+        memcpy(&data, ram_eeprom + offset, sizeof(data));
         status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, address, data);
         if (status == HAL_OK) {
           address += sizeof(uint32_t);
@@ -221,7 +221,8 @@ bool PersistentStore::access_finish() {
 
       return success;
 
-    #else
+    #else // !FLASH_EEPROM_LEVELING
+
       // The following was written for the STM32F4 but may work with other MCUs as well.
       // Most STM32F4 flash does not allow reading from flash during erase operations.
       // This takes about a second on a STM32F407 with a 128kB sector used as EEPROM.
@@ -235,7 +236,8 @@ bool PersistentStore::access_finish() {
       TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
 
       eeprom_data_written = false;
-    #endif
+
+    #endif // !FLASH_EEPROM_LEVELING
   }
 
   return true;

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/inc/Conditionals_post.h

@@ -27,3 +27,8 @@
 #elif EITHER(I2C_EEPROM, SPI_EEPROM)
   #define USE_SHARED_EEPROM 1
 #endif
+
+// Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946)
+#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+  #define PRINTCOUNTER_SYNC 1
+#endif

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

@@ -37,11 +37,6 @@
   #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
 #endif
 
-#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION)
-  #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing."
-  #error "Disable PRINTCOUNTER or choose another EEPROM emulation."
-#endif
-
 #if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING)
   #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware."
 #endif
@@ -55,3 +50,62 @@
 #if ANY(TFT_COLOR_UI, TFT_LVGL_UI, TFT_CLASSIC_UI) && NOT_TARGET(STM32H7xx, STM32F4xx, STM32F1xx)
   #error "TFT_COLOR_UI, TFT_LVGL_UI and TFT_CLASSIC_UI are currently only supported on STM32H7, STM32F4 and STM32F1 hardware."
 #endif
+
+/**
+ * Check for common serial pin conflicts
+ */
+#define _CHECK_SERIAL_PIN(N) (( \
+    BTN_EN1 == N || DOGLCD_CS == N || HEATER_BED_PIN == N || FAN_PIN == N || \
+    SDIO_D2_PIN == N || SDIO_D3_PIN == N || SDIO_CK_PIN == N || SDIO_CMD_PIN == N \
+  ))
+#define CHECK_SERIAL_PIN(T,N) defined(UART##N##_##T##_PIN) && _CHECK_SERIAL_PIN(UART##N##_##T##_PIN)
+#if SERIAL_IN_USE(1)
+  #if CHECK_SERIAL_PIN(TX,1)
+    #error "Serial Port 1 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,1)
+    #error "Serial Port 1 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#if SERIAL_IN_USE(2)
+  #if CHECK_SERIAL_PIN(TX,2)
+    #error "Serial Port 2 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,2)
+    #error "Serial Port 2 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#if SERIAL_IN_USE(3)
+  #if CHECK_SERIAL_PIN(TX,3)
+    #error "Serial Port 3 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,3)
+    #error "Serial Port 3 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#if SERIAL_IN_USE(4)
+  #if CHECK_SERIAL_PIN(TX,4)
+    #error "Serial Port 4 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,4)
+    #error "Serial Port 4 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#if SERIAL_IN_USE(5)
+  #if CHECK_SERIAL_PIN(TX,5)
+    #error "Serial Port 5 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,5)
+    #error "Serial Port 5 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#if SERIAL_IN_USE(6)
+  #if CHECK_SERIAL_PIN(TX,6)
+    #error "Serial Port 6 TX IO pins conflict with another pin on the board."
+  #endif
+  #if CHECK_SERIAL_PIN(RX,6)
+    #error "Serial Port 6 RX IO pins conflict with another pin on the board."
+  #endif
+#endif
+#undef CHECK_SERIAL_PIN
+#undef _CHECK_SERIAL_PIN

Marlin/src/HAL/STM32/pinsDebug.h

@@ -102,17 +102,18 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
 #define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
 #define PORT_NUM(P) ((P  >> 4) & 0x0007)
-#define PORT_ALPHA(P) ('A' + (P  >> 4))
+#define PORT_ALPHA(P) ('A' + (P >> 4))
 
 /**
  * Translation of routines & variables used by pinsDebug.h
  */
 
-#if PA0 >= NUM_DIGITAL_PINS
+#if NUM_ANALOG_FIRST >= NUM_DIGITAL_PINS
   #define HAS_HIGH_ANALOG_PINS 1
 #endif
-#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)
-#define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL)
+#define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1)
+#define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS))
+#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
 #define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
 #define PRINT_PIN(Q)
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
@@ -168,7 +169,7 @@ bool GET_PINMODE(const pin_t Ard_num) {
 }
 
 int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
-  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_FIRST + NUM_ANALOG_INPUTS - 1))
+  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))
     return Ard_num - NUM_ANALOG_FIRST;
 
   const uint32_t ind = digitalPinToAnalogInput(Ard_num);
@@ -206,8 +207,11 @@ void port_print(const pin_t Ard_num) {
     SERIAL_ECHO_SP(7);
 
   // Print number to be used with M42
-  int calc_p = Ard_num % (NUM_DIGITAL_PINS + 1);
-  if (Ard_num > NUM_DIGITAL_PINS && calc_p > 7) calc_p += 8;
+  int calc_p = Ard_num;
+  if (Ard_num > NUM_DIGITAL_PINS) {
+    calc_p -= NUM_ANALOG_FIRST;
+    if (calc_p > 7) calc_p += 8;
+  }
   SERIAL_ECHOPGM(" M42 P", calc_p);
   SERIAL_CHAR(' ');
   if (calc_p < 100) {

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

@@ -150,9 +150,9 @@ void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_l
   sw_iic.start();
   sw_iic.send_byte(gt911_slave_address + 1);  // Set read mode
 
-  LOOP_L_N(i, r_len) {
+  LOOP_L_N(i, r_len)
     r_data[i] = sw_iic.read_byte(1);  // Read data from reg
-  }
+
   sw_iic.stop();
 }
 

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

@@ -39,42 +39,18 @@ class SW_IIC {
   private:
     uint16_t scl_pin;
     uint16_t sda_pin;
-    void write_scl(bool level)
-    {
-      WRITE(scl_pin, level);
-    }
-    void write_sda(bool level)
-    {
-      WRITE(sda_pin, level);
-    }
-    bool read_sda()
-    {
-      return READ(sda_pin);
-    }
-    void set_sda_out()
-    {
-      SET_OUTPUT(sda_pin);
-    }
-    void set_sda_in()
-    {
-      SET_INPUT_PULLUP(sda_pin);
-    }
-    static void iic_delay(uint8_t t)
-    {
-      delayMicroseconds(t);
-    }
+    void write_scl(bool level) { WRITE(scl_pin, level); }
+    void write_sda(bool level) { WRITE(sda_pin, level); }
+    bool read_sda() { return READ(sda_pin); }
+    void set_sda_out() { SET_OUTPUT(sda_pin); }
+    void set_sda_in() { SET_INPUT_PULLUP(sda_pin); }
+    static void iic_delay(uint8_t t) { delayMicroseconds(t); }
 
   public:
     SW_IIC(uint16_t sda, uint16_t scl);
     // setSCL/SDA have to be called before begin()
-    void setSCL(uint16_t scl)
-    {
-      scl_pin = scl;
-    };
-    void setSDA(uint16_t sda)
-    {
-      sda_pin = sda;
-    };
+    void setSCL(uint16_t scl) { scl_pin = scl; }
+    void setSDA(uint16_t sda) { sda_pin = sda; }
     void init();                // Initialize the IO port of IIC
     void start();               // Send IIC start signal
     void stop();                // Send IIC stop signal

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

@@ -147,21 +147,36 @@ uint32_t TFT_FSMC::ReadID(tft_data_t Reg) {
 }
 
 bool TFT_FSMC::isBusy() {
-  #if defined(STM32F1xx)
-    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
+  #ifdef STM32F1xx
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CCR & DMA_CCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->CPAR != 0)
   #elif defined(STM32F4xx)
-    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CR & DMA_SxCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->PAR != 0)
   #endif
-  if (dmaEnabled) {
-    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0)
-      Abort();
-  }
-  else
-    Abort();
-  return dmaEnabled;
+
+  if (!__IS_DMA_CONFIGURED(&DMAtx)) return false;
+
+  // Check if DMA transfer error or transfer complete flags are set
+  if ((__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) == 0) && (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0)) return true;
+
+  __DSB();
+  Abort();
+  return false;
+}
+
+void TFT_FSMC::Abort() {
+  HAL_DMA_Abort(&DMAtx);  // Abort DMA transfer if any
+  HAL_DMA_DeInit(&DMAtx); // Deconfigure DMA
 }
 
 void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  DMAtx.Init.PeriphInc = MemoryIncrease;
+  HAL_DMA_Init(&DMAtx);
+  HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(LCD->RAM), Count);
+}
+
+void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DMAtx.Init.PeriphInc = MemoryIncrease;
   HAL_DMA_Init(&DMAtx);
   DataTransferBegin();

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

@@ -41,6 +41,7 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_FSMC
+#define DMA_MAX_SIZE   0xFFFF
 
 #define TFT_DATASIZE TERN(TFT_INTERFACE_FSMC_8BIT, DATASIZE_8BIT, DATASIZE_16BIT)
 typedef TERN(TFT_INTERFACE_FSMC_8BIT, uint8_t, uint16_t) tft_data_t;
@@ -59,13 +60,14 @@ class TFT_FSMC {
 
     static uint32_t ReadID(tft_data_t Reg);
     static void Transmit(tft_data_t Data) { LCD->RAM = Data; __DSB(); }
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
     static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
     static void Init();
     static uint32_t GetID();
     static bool isBusy();
-    static void Abort() { __HAL_DMA_DISABLE(&DMAtx); }
+    static void Abort();
 
     static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {}
     static void DataTransferEnd() {};
@@ -73,13 +75,14 @@ class TFT_FSMC {
     static void WriteData(uint16_t Data) { Transmit(tft_data_t(Data)); }
     static void WriteReg(uint16_t Reg) { LCD->REG = tft_data_t(Reg); __DSB(); }
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+    static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
+    static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

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

@@ -356,7 +356,7 @@ void TFT_LTDC::WriteReg(uint16_t Reg) {
   reg = Reg;
 }
 
-void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+void TFT_LTDC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
 
   while (x_cur != x_min && Count) {
     Transmit(*Data);

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

@@ -32,6 +32,7 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_LTDC
+#define DMA_MAX_SIZE   0xFFFF
 
 #define TFT_DATASIZE DATASIZE_16BIT
 typedef uint16_t tft_data_t;
@@ -49,7 +50,7 @@ class TFT_LTDC {
     static void DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color);
     static void DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors);
     static void Transmit(tft_data_t Data);
-    static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
     static void Init();
@@ -63,13 +64,15 @@ class TFT_LTDC {
     static void WriteData(uint16_t Data);
     static void WriteReg(uint16_t Reg);
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+    // Non-blocking DMA data transfer is not implemented for LTDC interface
+    inline static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { WriteSequence(Data, Count); }
+    inline static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { WriteMultiple(Color, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

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

@@ -160,16 +160,13 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
 
     for (i = 0; i < 4; i++) {
       #if TFT_MISO_PIN != TFT_MOSI_PIN
-        //if (hspi->Init.Direction == SPI_DIRECTION_2LINES) {
-          while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
-          SPIx.Instance->DR = 0;
-        //}
+        while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
+        SPIx.Instance->DR = 0;
       #endif
       while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {}
       Data = (Data << 8) | SPIx.Instance->DR;
     }
 
-    __HAL_SPI_DISABLE(&SPIx);
     DataTransferEnd();
 
     SPIx.Init.BaudRatePrescaler   = BaudRatePrescaler;
@@ -179,36 +176,44 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
 }
 
 bool TFT_SPI::isBusy() {
-  #if defined(STM32F1xx)
-    volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET;
+  #ifdef STM32F1xx
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CCR & DMA_CCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->CPAR != 0)
   #elif defined(STM32F4xx)
-    volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN;
+    #define __IS_DMA_ENABLED(__HANDLE__)      ((__HANDLE__)->Instance->CR & DMA_SxCR_EN)
+    #define __IS_DMA_CONFIGURED(__HANDLE__)   ((__HANDLE__)->Instance->PAR != 0)
   #endif
-  if (dmaEnabled) {
-    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0)
-      Abort();
+
+  if (!__IS_DMA_CONFIGURED(&DMAtx)) return false;
+
+  if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx))) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
   }
-  else
-    Abort();
-  return dmaEnabled;
+  else {
+    // Check if DMA transfer completed flag is set
+    if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0) return true;
+    // Check if SPI transmit butter is empty and SPI is idle
+    if ((!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) || (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY))) return true;
+  }
+
+  Abort();
+  return false;
 }
 
 void TFT_SPI::Abort() {
-  // Wait for any running spi
-  while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
-  while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}
-  // First, abort any running dma
-  HAL_DMA_Abort(&DMAtx);
-  // DeInit objects
+  HAL_DMA_Abort(&DMAtx);  // Abort DMA transfer if any
   HAL_DMA_DeInit(&DMAtx);
-  HAL_SPI_DeInit(&SPIx);
-  // Deselect CS
-  DataTransferEnd();
+
+  CLEAR_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);
+
+  DataTransferEnd();      // Stop SPI and deselect CS
 }
 
 void TFT_SPI::Transmit(uint16_t Data) {
-  if (TFT_MISO_PIN == TFT_MOSI_PIN)
+  #if TFT_MISO_PIN == TFT_MOSI_PIN
     SPI_1LINE_TX(&SPIx);
+  #endif
 
   __HAL_SPI_ENABLE(&SPIx);
 
@@ -217,14 +222,31 @@ void TFT_SPI::Transmit(uint16_t Data) {
   while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {}
   while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {}
 
-  if (TFT_MISO_PIN != TFT_MOSI_PIN)
-    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received is not read
+  #if TFT_MISO_PIN != TFT_MOSI_PIN
+    __HAL_SPI_CLEAR_OVRFLAG(&SPIx);   // Clear overrun flag in 2 Lines communication mode because received data is not read
+  #endif
 }
 
 void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
-  // Wait last dma finish, to start another
-  while (isBusy()) { /* nada */ }
+  DMAtx.Init.MemInc = MemoryIncrease;
+  HAL_DMA_Init(&DMAtx);
 
+  #if TFT_MISO_PIN == TFT_MOSI_PIN
+    SPI_1LINE_TX(&SPIx);
+  #endif
+
+  DataTransferBegin();
+
+  HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count);
+  __HAL_SPI_ENABLE(&SPIx);
+
+  SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DMAtx.Init.MemInc = MemoryIncrease;
   HAL_DMA_Init(&DMAtx);
 
@@ -243,7 +265,6 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
 }
 
 #if ENABLED(USE_SPI_DMA_TC)
-
   void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
 
     DMAtx.Init.MemInc = MemoryIncrease;
@@ -262,8 +283,7 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
     SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
   }
 
-  extern "C" void DMA2_Stream3_IRQHandler(void) { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
-
+  extern "C" void DMA2_Stream3_IRQHandler(void) { TFT_SPI::DMA_IRQHandler(); }
 #endif
 
 #endif // HAS_SPI_TFT

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

@@ -39,46 +39,47 @@
 #define DATASIZE_8BIT  SPI_DATASIZE_8BIT
 #define DATASIZE_16BIT SPI_DATASIZE_16BIT
 #define TFT_IO_DRIVER  TFT_SPI
+#define DMA_MAX_SIZE   0xFFFF
 
 class TFT_SPI {
 private:
   static SPI_HandleTypeDef SPIx;
-
+  static DMA_HandleTypeDef DMAtx;
 
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   #if ENABLED(USE_SPI_DMA_TC)
     static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   #endif
 
 public:
-  static DMA_HandleTypeDef DMAtx;
-
   static void Init();
   static uint32_t GetID();
   static bool isBusy();
   static void Abort();
 
   static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT);
-  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); };
+  static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); __HAL_SPI_DISABLE(&SPIx); };
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
   static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
 
   #if ENABLED(USE_SPI_DMA_TC)
     static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); }
+    inline static void DMA_IRQHandler() { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
   #endif
 
-  static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-      Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
   }
 };

Marlin/src/HAL/STM32F1/SPI.cpp

@@ -526,23 +526,22 @@ void SPIClass::onReceive(void(*callback)()) {
   _currentSetting->receiveCallback = callback;
   if (callback) {
     switch (_currentSetting->spi_d->clk_id) {
-    #if BOARD_NR_SPI >= 1
-    case RCC_SPI1:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 2
-    case RCC_SPI2:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 3
-    case RCC_SPI3:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback);
-      break;
-    #endif
-    default:
-      ASSERT(0);
+      #if BOARD_NR_SPI >= 1
+        case RCC_SPI1:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 2
+        case RCC_SPI2:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 3
+        case RCC_SPI3:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback);
+          break;
+      #endif
+      default: ASSERT(0);
     }
   }
   else {
@@ -554,23 +553,22 @@ void SPIClass::onTransmit(void(*callback)()) {
   _currentSetting->transmitCallback = callback;
   if (callback) {
     switch (_currentSetting->spi_d->clk_id) {
-    #if BOARD_NR_SPI >= 1
-    case RCC_SPI1:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 2
-     case RCC_SPI2:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback);
-      break;
-    #endif
-    #if BOARD_NR_SPI >= 3
-    case RCC_SPI3:
-      dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback);
-      break;
-    #endif
-    default:
-      ASSERT(0);
+      #if BOARD_NR_SPI >= 1
+        case RCC_SPI1:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 2
+         case RCC_SPI2:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback);
+          break;
+      #endif
+      #if BOARD_NR_SPI >= 3
+        case RCC_SPI3:
+          dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback);
+          break;
+      #endif
+      default: ASSERT(0);
     }
   }
   else {

Marlin/src/HAL/STM32F1/SPI.h

@@ -33,6 +33,15 @@
 #include <stdint.h>
 #include <wirish.h>
 
+// Number of SPI ports
+#ifdef BOARD_SPI3_SCK_PIN
+  #define BOARD_NR_SPI 3
+#elif defined(BOARD_SPI2_SCK_PIN)
+  #define BOARD_NR_SPI 2
+#elif defined(BOARD_SPI1_SCK_PIN)
+  #define BOARD_NR_SPI 1
+#endif
+
 // SPI_HAS_TRANSACTION means SPI has
 //   - beginTransaction()
 //   - endTransaction()

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/STM32F1/tft/tft_fsmc.cpp

@@ -215,22 +215,47 @@ uint32_t TFT_FSMC::GetID() {
  }
 
 bool TFT_FSMC::isBusy() {
+  #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__)   (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0)
+
+  if (!__IS_DMA_CONFIGURED(FSMC_DMA_DEV, FSMC_DMA_CHANNEL)) return false;
+
+  // Check if DMA transfer error or transfer complete flags are set
+  if ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_ISR_TCIF | DMA_ISR_TEIF)) == 0) return true;
+
+  __DSB();
+  Abort();
   return false;
 }
 
 void TFT_FSMC::Abort() {
+  dma_channel_reg_map *channel_regs = dma_channel_regs(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
 
+  dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); // Abort DMA transfer if any
+
+  // Deconfigure DMA
+  channel_regs->CCR   = 0U;
+  channel_regs->CNDTR = 0U;
+  channel_regs->CMAR  = 0U;
+  channel_regs->CPAR  = 0U;
 }
 
 void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  // TODO: HAL STM32 uses DMA2_Channel1 for FSMC on STM32F1
+  dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease);
+  dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count);
+  dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+  dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+}
+
+void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   #if defined(FSMC_DMA_DEV) && defined(FSMC_DMA_CHANNEL)
     dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease);
     dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count);
     dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
     dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
 
-    while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & 0x0A) == 0) {};
-    dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL);
+    while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_CCR_TEIE | DMA_CCR_TCIE)) == 0) {}
+    Abort();
   #endif
 }
 

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

@@ -33,6 +33,10 @@
 #define DATASIZE_8BIT  DMA_SIZE_8BITS
 #define DATASIZE_16BIT DMA_SIZE_16BITS
 #define TFT_IO_DRIVER  TFT_FSMC
+#define DMA_MAX_SIZE   0xFFFF
+
+#define DMA_PINC_ENABLE   DMA_PINC_MODE
+#define DMA_PINC_DISABLE  0
 
 typedef struct {
   __IO uint16_t REG;
@@ -45,6 +49,7 @@ class TFT_FSMC {
 
     static uint32_t ReadID(uint16_t Reg);
     static void Transmit(uint16_t Data);
+    static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
     static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
   public:
@@ -59,13 +64,14 @@ class TFT_FSMC {
     static void WriteData(uint16_t Data) { Transmit(Data); }
     static void WriteReg(uint16_t Reg);
 
-    static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_MODE, Data, Count); }
-    static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_CIRC_MODE, &Data, Count); }
+    static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); }
+    static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); }
+
+    static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); }
     static void WriteMultiple(uint16_t Color, uint32_t Count) {
-      static uint16_t Data; Data = Color;
       while (Count > 0) {
-        TransmitDMA(DMA_CIRC_MODE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-        Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+        Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+        Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
       }
     }
 };

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

@@ -26,7 +26,7 @@
 
 #include "tft_spi.h"
 
-SPIClass TFT_SPI::SPIx(1);
+SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE);
 
 void TFT_SPI::Init() {
   #if PIN_EXISTS(TFT_RESET)
@@ -46,7 +46,7 @@ void TFT_SPI::Init() {
    * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1
    * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2
    */
-  #if SPI_DEVICE == 1
+  #if TFT_SPI_DEVICE == 1
     #define SPI_CLOCK_MAX SPI_CLOCK_DIV4
   #else
     #define SPI_CLOCK_MAX SPI_CLOCK_DIV2
@@ -62,7 +62,7 @@ void TFT_SPI::Init() {
     case SPI_SPEED_6:       clock = SPI_CLOCK_DIV64; break;
     default:                clock = SPI_CLOCK_DIV2;  // Default from the SPI library
   }
-  SPIx.setModule(1);
+  SPIx.setModule(TFT_SPI_DEVICE);
   SPIx.setClockDivider(clock);
   SPIx.setBitOrder(MSBFIRST);
   SPIx.setDataMode(SPI_MODE0);
@@ -71,7 +71,7 @@ void TFT_SPI::Init() {
 void TFT_SPI::DataTransferBegin(uint16_t DataSize) {
   SPIx.setDataSize(DataSize);
   SPIx.begin();
-  OUT_WRITE(TFT_CS_PIN, LOW);
+  WRITE(TFT_CS_PIN, LOW);
 }
 
 #ifdef TFT_DEFAULT_DRIVER
@@ -113,15 +113,53 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) {
   #endif
 }
 
-bool TFT_SPI::isBusy() { return false; }
+bool TFT_SPI::isBusy() {
+  #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__)   (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0)
 
-void TFT_SPI::Abort() { DataTransferEnd(); }
+  if (!__IS_DMA_CONFIGURED(DMAx, DMA_CHx)) return false;
+
+  if (dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TEIF) {
+    // You should not be here - DMA transfer error flag is set
+    // Abort DMA transfer and release SPI
+  }
+  else {
+    // Check if DMA transfer completed flag is set
+    if (!(dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TCIF)) return true;
+    // Check if SPI TX butter is empty and SPI is idle
+    if (!(SPIdev->regs->SR & SPI_SR_TXE) || (SPIdev->regs->SR & SPI_SR_BSY)) return true;
+  }
+
+  Abort();
+  return false;
+}
+
+void TFT_SPI::Abort() {
+  dma_channel_reg_map *channel_regs = dma_channel_regs(DMAx, DMA_CHx);
+
+  dma_disable(DMAx, DMA_CHx); // Abort DMA transfer if any
+  spi_tx_dma_disable(SPIdev);
+
+  // Deconfigure DMA
+  channel_regs->CCR   = 0U;
+  channel_regs->CNDTR = 0U;
+  channel_regs->CMAR  = 0U;
+  channel_regs->CPAR  = 0U;
+
+  DataTransferEnd();
+}
 
 void TFT_SPI::Transmit(uint16_t Data) { SPIx.send(Data); }
 
 void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
   DataTransferBegin();
-  OUT_WRITE(TFT_DC_PIN, HIGH);
+  SPIx.dmaSendAsync(Data, Count, MemoryIncrease == DMA_MINC_ENABLE);
+
+  TERN_(TFT_SHARED_SPI, while (isBusy()));
+}
+
+void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+  WRITE(TFT_DC_PIN, HIGH);
+  DataTransferBegin();
   SPIx.dmaSend(Data, Count, MemoryIncrease == DMA_MINC_ENABLE);
   DataTransferEnd();
 }

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

@@ -25,6 +25,27 @@
 
 #include <SPI.h>
 
+#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN))
+#if IS_SPI(1)
+  #define TFT_SPI_DEVICE  1
+  #define SPIdev          SPI1
+  #define DMAx            DMA1
+  #define DMA_CHx         DMA_CH3
+#elif IS_SPI(2)
+  #define TFT_SPI_DEVICE  2
+  #define SPIdev          SPI2
+  #define DMAx            DMA1
+  #define DMA_CHx         DMA_CH5
+#elif IS_SPI(3)
+  #define TFT_SPI_DEVICE  3
+  #define SPIdev          SPI3
+  #define DMAx            DMA2
+  #define DMA_CHx         DMA_CH2
+#else
+  #error "Invalid TFT SPI configuration."
+#endif
+#undef IS_SPI
+
 #ifndef LCD_READ_ID
   #define LCD_READ_ID 0x04   // Read display identification information (0xD3 on ILI9341)
 #endif
@@ -32,17 +53,19 @@
   #define LCD_READ_ID4 0xD3   // Read display identification information (0xD3 on ILI9341)
 #endif
 
-#define DATASIZE_8BIT    DATA_SIZE_8BIT
-#define DATASIZE_16BIT   DATA_SIZE_16BIT
-#define TFT_IO_DRIVER TFT_SPI
+#define DATASIZE_8BIT  DATA_SIZE_8BIT
+#define DATASIZE_16BIT DATA_SIZE_16BIT
+#define TFT_IO_DRIVER  TFT_SPI
+#define DMA_MAX_SIZE   0xFFFF
 
-#define DMA_MINC_ENABLE 1
-#define DMA_MINC_DISABLE 0
+#define DMA_MINC_ENABLE   DMA_MINC_MODE
+#define DMA_MINC_DISABLE  0
 
 class TFT_SPI {
 private:
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
+  static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
 
 public:
@@ -58,15 +81,16 @@ public:
   static void DataTransferAbort();
 
   static void WriteData(uint16_t Data) { Transmit(Data); }
-  static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }
+  static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); }
 
-  static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
-  static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+  static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+  static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
+
+  static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
-    static uint16_t Data; Data = Color;
     while (Count > 0) {
-      TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count);
-      Count = Count > 0xFFFF ? Count - 0xFFFF : 0;
+      Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count);
+      Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0;
     }
   }
 };

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));
 }