👔 Update .gitignore

Fixes #24548

.github/contributing.md

@@ -34,8 +34,11 @@ This project and everyone participating in it is governed by the [Marlin Code of
 
 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
 
-* [Marlin RepRap forum](https://reprap.org/forum/list.php?415)
-* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/)
+- [Marlin Documentation](https://marlinfw.org) - Official Marlin documentation
+- Facebook Group ["Marlin Firmware"](https://www.facebook.com/groups/1049718498464482/)
+- RepRap.org [Marlin Forum](https://forums.reprap.org/list.php?415)
+- Facebook Group ["Marlin Firmware for 3D Printers"](https://www.facebook.com/groups/3Dtechtalk/)
+- [Marlin Configuration](https://www.youtube.com/results?search_query=marlin+configuration) on YouTube
 
 If chat is more your speed, you can join the MarlinFirmware Discord server:
 
@@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t
 
 ### Pull Requests
 
-Pull Requests should always be targeted to working branches (e.g., `bugfix-2.0.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
 
 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.

.gitignore

@@ -1,6 +1,6 @@
 #
 # Marlin 3D Printer Firmware
-# Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+# Copyright (c) 2023 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 #
 # Based on Sprinter and grbl.
 # Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
@@ -21,35 +21,21 @@
 
 # Generated files
 _Version.h
-bdf2u8g
+bdf2u8g.exe
+genpages.exe
 marlin_config.json
 mczip.h
+language*.csv
+out-csv/
+out-language/
 *.gen
 *.sublime-workspace
 
-#
 # OS
-#
 applet/
 .DS_Store
 
-#
-# Misc
-#
-*~
-*.orig
-*.rej
-*.bak
-*.idea
-*.i
-*.ii
-*.swp
-tags
-
-#
-# C++
-#
-# Compiled Object files
+# Compiled C++ Object files
 *.slo
 *.lo
 *.o
@@ -80,10 +66,7 @@ tags
 *.out
 *.app
 
-#
-# C
-#
-# Object files
+# Compiled C Object files
 *.o
 *.ko
 *.obj
@@ -143,13 +126,16 @@ vc-fileutils.settings
 .vscode/*
 !.vscode/extensions.json
 
-#Simulation
+# Simulation files
 imgui.ini
 eeprom.dat
 spi_flash.bin
+fs.img
 
-#cmake
+# CMake
+buildroot/share/cmake/*
 CMakeLists.txt
+!buildroot/share/cmake/CMakeLists.txt
 src/CMakeLists.txt
 CMakeListsPrivate.txt
 build/
@@ -169,3 +155,16 @@ __pycache__
 
 # IOLogger logs
 *_log.csv
+
+# Misc.
+*~
+*.orig
+*.rej
+*.bak
+*.idea
+*.i
+*.ii
+*.swp
+tags
+*.logs
+*.bak

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02010000
+#define CONFIGURATION_H_VERSION 02010100
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -57,15 +57,6 @@
  *                      https://www.thingiverse.com/thing:1278865
  */
 
-//===========================================================================
-//========================== DELTA / SCARA / TPARA ==========================
-//===========================================================================
-//
-// Download configurations from the link above and customize for your machine.
-// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
-//
-//===========================================================================
-
 // @section info
 
 // Author info of this build printed to the host during boot and M115
@@ -121,6 +112,7 @@
  * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
  */
 #define BAUDRATE 250000
+
 //#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate
 
 /**
@@ -129,7 +121,7 @@
  * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
  */
 //#define SERIAL_PORT_2 -1
-//#define BAUDRATE_2 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 /**
  * Select a third serial port on the board to use for communication with the host.
@@ -137,7 +129,7 @@
  * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
  */
 //#define SERIAL_PORT_3 1
-//#define BAUDRATE_3 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
@@ -157,13 +149,12 @@
  *
  * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
  *
- * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,
- *          TB6560, TB6600, TMC2100,
+ * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100,
  *          TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE,
  *          TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE,
  *          TMC26X,  TMC26X_STANDALONE,  TMC2660, TMC2660_STANDALONE,
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
- * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
+ * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
 #define X_DRIVER_TYPE  A4988
 #define Y_DRIVER_TYPE  A4988
@@ -280,6 +271,7 @@
   #define SWITCHING_NOZZLE_SERVO_NR 0
   //#define SWITCHING_NOZZLE_E1_SERVO_NR 1          // If two servos are used, the index of the second
   #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 }   // Angles for E0, E1 (single servo) or lowered/raised (dual servo)
+  #define SWITCHING_NOZZLE_SERVO_DWELL 2500         // Dwell time to wait for servo to make physical move
 #endif
 
 /**
@@ -396,7 +388,7 @@
 //#define HOTEND_OFFSET_Y { 0.0, 5.00 }  // (mm) relative Y-offset for each nozzle
 //#define HOTEND_OFFSET_Z { 0.0, 0.00 }  // (mm) relative Z-offset for each nozzle
 
-// @section machine
+// @section psu control
 
 /**
  * Power Supply Control
@@ -558,22 +550,32 @@
 #define DUMMY_THERMISTOR_999_VALUE 100
 
 // Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1
-//#define MAX31865_SENSOR_OHMS_0      100   // (Ω) Typically 100 or 1000 (PT100 or PT1000)
-//#define MAX31865_CALIBRATION_OHMS_0 430   // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
-//#define MAX31865_SENSOR_OHMS_1      100
-//#define MAX31865_CALIBRATION_OHMS_1 430
+#if TEMP_SENSOR_IS_MAX_TC(0)
+  #define MAX31865_SENSOR_OHMS_0      100 // (Ω) Typically 100 or 1000 (PT100 or PT1000)
+  #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000
+#endif
+#if TEMP_SENSOR_IS_MAX_TC(1)
+  #define MAX31865_SENSOR_OHMS_1      100
+  #define MAX31865_CALIBRATION_OHMS_1 430
+#endif
 
-#define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
-#define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#if HAS_E_TEMP_SENSOR
+  #define TEMP_RESIDENCY_TIME         10  // (seconds) Time to wait for hotend to "settle" in M109
+  #define TEMP_WINDOW                  1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_HYSTERESIS              3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
-#define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
-#define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_BED
+  #define TEMP_BED_RESIDENCY_TIME     10  // (seconds) Time to wait for bed to "settle" in M190
+  #define TEMP_BED_WINDOW              1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_BED_HYSTERESIS          3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
-#define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
-#define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
-#define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#if TEMP_SENSOR_CHAMBER
+  #define TEMP_CHAMBER_RESIDENCY_TIME 10  // (seconds) Time to wait for chamber to "settle" in M191
+  #define TEMP_CHAMBER_WINDOW          1  // (°C) Temperature proximity for the "temperature reached" timer
+  #define TEMP_CHAMBER_HYSTERESIS      3  // (°C) Temperature proximity considered "close enough" to the target
+#endif
 
 /**
  * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT)
@@ -632,6 +634,8 @@
 //============================= PID Settings ================================
 //===========================================================================
 
+// @section hotend temp
+
 // Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
 // temperature control. Disable both for bang-bang heating.
 #define PIDTEMP          // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
@@ -642,7 +646,8 @@
 #define PID_K1 0.95      // Smoothing factor within any PID loop
 
 #if ENABLED(PIDTEMP)
-  //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+  //#define PID_DEBUG             // Print PID debug data to the serial port. Use 'M303 D' to toggle activation.
+  //#define PID_PARAMS_PER_HOTEND // Use separate PID parameters for each extruder (useful for mismatched extruders)
                                   // Set/get with G-code: M301 E[extruder number, 0-2]
 
   #if ENABLED(PID_PARAMS_PER_HOTEND)
@@ -663,7 +668,8 @@
  *
  * Use a physical model of the hotend to control temperature. When configured correctly
  * this gives better responsiveness and stability than PID and it also removes the need
- * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
+ * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 T to autotune the model.
+ * @section mpctemp
  */
 #if ENABLED(MPCTEMP)
   //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash)
@@ -716,6 +722,7 @@
  * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W
  * heater. If your configuration is significantly different than this and you don't understand
  * the issues involved, don't use bed PID until someone else verifies that your hardware works.
+ * @section bed temp
  */
 //#define PIDTEMPBED
 
@@ -731,7 +738,7 @@
 
 #if ENABLED(PIDTEMPBED)
   //#define MIN_BED_POWER 0
-  //#define PID_BED_DEBUG // Sends debug data to the serial port.
+  //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port.
 
   // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
   // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -759,6 +766,7 @@
  * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W
  * heater. If your configuration is significantly different than this and you don't understand
  * the issues involved, don't use chamber PID until someone else verifies that your hardware works.
+ * @section chamber temp
  */
 //#define PIDTEMPCHAMBER
 //#define CHAMBER_LIMIT_SWITCHING
@@ -773,7 +781,7 @@
 
 #if ENABLED(PIDTEMPCHAMBER)
   #define MIN_CHAMBER_POWER 0
-  //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port.
+  //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port.
 
   // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
   // and placed inside the small Creality printer enclosure tent.
@@ -787,7 +795,6 @@
 #endif // PIDTEMPCHAMBER
 
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
-  //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
   //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
@@ -797,7 +804,7 @@
   //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash)
 #endif
 
-// @section extruder
+// @section safety
 
 /**
  * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP.
@@ -865,11 +872,154 @@
   #define POLAR_SEGMENTS_PER_SECOND 5
 #endif
 
+// @section delta
+
+// Enable for DELTA kinematics and configure below
+//#define DELTA
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 200
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  //#define DELTA_CALIBRATION_MENU
+
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+  #endif
+
+  #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
+    // Set the steprate for papertest probing
+    #define PROBE_MANUALLY_STEP 0.05      // (mm)
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0    // (mm)
+
+  // Maximum reachable area
+  #define DELTA_MAX_RADIUS       140.0    // (mm)
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0        // (mm)
+
+  // Distance between bed and nozzle Z home position
+  #define DELTA_HEIGHT 250.00             // (mm) Get this value from G33 auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0              // (mm) Get this value from G33 auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Delta radius and diagonal rod adjustments (mm)
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+#endif
+
+// @section scara
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * Mostly Printed SCARA is an open source design by Tyler Williams. See:
+ *   https://www.thingiverse.com/thing:2487048
+ *   https://www.thingiverse.com/thing:1241491
+ */
+//#define MORGAN_SCARA
+//#define MP_SCARA
+#if EITHER(MORGAN_SCARA, MP_SCARA)
+  // If movement is choppy try lowering this value
+  #define SCARA_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define SCARA_LINKAGE_1 150       // (mm)
+  #define SCARA_LINKAGE_2 150       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X  100       // (mm)
+  #define SCARA_OFFSET_Y  -56       // (mm)
+
+  #if ENABLED(MORGAN_SCARA)
+
+    //#define DEBUG_SCARA_KINEMATICS
+    #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+
+    // Radius around the center where the arm cannot reach
+    #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+
+  #elif ENABLED(MP_SCARA)
+
+    #define SCARA_OFFSET_THETA1  12 // degrees
+    #define SCARA_OFFSET_THETA2 131 // degrees
+
+  #endif
+
+#endif
+
+// @section tpara
+
+// Enable for TPARA kinematics and configure below
+//#define AXEL_TPARA
+#if ENABLED(AXEL_TPARA)
+  #define DEBUG_ROBOT_KINEMATICS
+  #define ROBOT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define ROBOT_LINKAGE_1 120       // (mm)
+  #define ROBOT_LINKAGE_2 120       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define ROBOT_OFFSET_X    0       // (mm)
+  #define ROBOT_OFFSET_Y    0       // (mm)
+  #define ROBOT_OFFSET_Z    0       // (mm)
+
+  #define SCARA_FEEDRATE_SCALING  // Convert XY feedrate from mm/s to degrees/s on the fly
+
+  // Radius around the center where the arm cannot reach
+  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+  #define THETA_HOMING_OFFSET  0
+  #define PSI_HOMING_OFFSET    0
+#endif
+
+// @section machine
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
 
-// @section homing
+// @section endstops
 
 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
@@ -1217,6 +1367,27 @@
   #define Z_PROBE_RETRACT_X X_MAX_POS
 #endif
 
+/**
+ * Magnetically Mounted Probe
+ * For probes such as Euclid, Klicky, Klackender, etc.
+ */
+//#define MAG_MOUNTED_PROBE
+#if ENABLED(MAG_MOUNTED_PROBE)
+  #define PROBE_DEPLOY_FEEDRATE (133*60)  // (mm/min) Probe deploy speed
+  #define PROBE_STOW_FEEDRATE   (133*60)  // (mm/min) Probe stow speed
+
+  #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } }  // Move to side Dock & Attach probe
+  #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } }  // Move probe off dock
+  #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_STOW_1   { PROBE_STOW_FEEDRATE,   { 245, 114, 20 } }  // Move to dock
+  #define MAG_MOUNTED_STOW_2   { PROBE_STOW_FEEDRATE,   { 245, 114,  0 } }  // Place probe beside remover
+  #define MAG_MOUNTED_STOW_3   { PROBE_STOW_FEEDRATE,   { 230, 114,  0 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_4   { PROBE_STOW_FEEDRATE,   { 210, 114, 20 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_5   { PROBE_STOW_FEEDRATE,   {   0,   0,  0 } }  // Extra move if needed
+#endif
+
 // Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J
 // When the pin is defined you can use M672 to set/reset the probe sensitivity.
 //#define DUET_SMART_EFFECTOR
@@ -1232,9 +1403,37 @@
  */
 //#define SENSORLESS_PROBING
 
-//
-// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
-//
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down.
+ */
+//#define Z_PROBE_ALLEN_KEY
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
+
+#endif // Z_PROBE_ALLEN_KEY
 
 /**
  * Nozzle-to-Probe offsets { X, Y, Z }
@@ -1484,7 +1683,7 @@
 //#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
@@ -1687,6 +1886,15 @@
   #define LEVELING_BED_TEMP     50
 #endif
 
+/**
+ * Bed Distance Sensor
+ *
+ * Measures the distance from bed to nozzle with accuracy of 0.01mm.
+ * For information about this sensor https://github.com/markniu/Bed_Distance_sensor
+ * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C.
+ */
+//#define BD_SENSOR
+
 /**
  * Enable detailed logging of G28, G29, M48, etc.
  * Turn on with the command 'M111 S32'.
@@ -1809,7 +2017,7 @@
 //#define LCD_BED_TRAMMING
 
 #if ENABLED(LCD_BED_TRAMMING)
-  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 }  // (mm) Left, Front, Right, Back insets
+  #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets
   #define BED_TRAMMING_HEIGHT      0.0        // (mm) Z height of nozzle at leveling points
   #define BED_TRAMMING_Z_HOP       4.0        // (mm) Z height of nozzle between leveling points
   //#define BED_TRAMMING_INCLUDE_CENTER       // Move to the center after the last corner
@@ -1944,7 +2152,7 @@
 //============================= Additional Features ===========================
 //=============================================================================
 
-// @section extras
+// @section eeprom
 
 /**
  * EEPROM
@@ -1964,6 +2172,8 @@
   //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif
 
+// @section host
+
 //
 // Host Keepalive
 //
@@ -1974,6 +2184,8 @@
 #define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
 #define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating
 
+// @section units
+
 //
 // G20/G21 Inch mode support
 //
@@ -2001,6 +2213,8 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
 
+// @section motion
+
 /**
  * Nozzle Park
  *
@@ -2099,6 +2313,8 @@
 
 #endif
 
+// @section host
+
 /**
  * Print Job Timer
  *
@@ -2125,6 +2341,8 @@
  */
 #define PRINTJOB_TIMER_AUTOSTART
 
+// @section stats
+
 /**
  * Print Counter
  *
@@ -2142,6 +2360,8 @@
   #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print
 #endif
 
+// @section security
+
 /**
  * Password
  *
@@ -2177,7 +2397,7 @@
 //============================= LCD and SD support ============================
 //=============================================================================
 
-// @section lcd
+// @section interface
 
 /**
  * LCD LANGUAGE
@@ -2293,6 +2513,16 @@
 //
 //#define REVERSE_SELECT_DIRECTION
 
+//
+// Encoder EMI Noise Filter
+//
+// This option increases encoder samples to filter out phantom encoder clicks caused by EMI noise.
+//
+//#define ENCODER_NOISE_FILTER
+#if ENABLED(ENCODER_NOISE_FILTER)
+  #define ENCODER_SAMPLES 10
+#endif
+
 //
 // Individual Axis Homing
 //
@@ -2323,6 +2553,7 @@
 //======================== LCD / Controller Selection =========================
 //========================   (Character-based LCDs)   =========================
 //=============================================================================
+// @section lcd
 
 //
 // RepRapDiscount Smart Controller.
@@ -2624,6 +2855,12 @@
 //
 //#define SILVER_GATE_GLCD_CONTROLLER
 
+//
+// eMotion Tech LCD with SD
+// https://www.reprap-france.com/produit/1234568748-ecran-graphique-128-x-64-points-2-1
+//
+//#define EMOTION_TECH_LCD
+
 //=============================================================================
 //==============================  OLED Displays  ==============================
 //=============================================================================
@@ -2951,7 +3188,7 @@
 //=============================== Extra Features ==============================
 //=============================================================================
 
-// @section extras
+// @section fans
 
 // Set number of user-controlled fans. Disable to use all board-defined fans.
 // :[1,2,3,4,5,6,7,8]
@@ -2975,14 +3212,18 @@
 // duty cycle is attained.
 //#define SOFT_PWM_DITHER
 
+// @section extras
+
+// Support for the BariCUDA Paste Extruder
+//#define BARICUDA
+
+// @section lights
+
 // Temperature status LEDs that display the hotend and bed temperature.
 // If all hotends, bed temperature, and target temperature are under 54C
 // then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
 //#define TEMP_STAT_LEDS
 
-// Support for the BariCUDA Paste Extruder
-//#define BARICUDA
-
 // Support for BlinkM/CyzRgb
 //#define BLINKM
 
@@ -3068,6 +3309,8 @@
   #define PRINTER_EVENT_LEDS
 #endif
 
+// @section servos
+
 /**
  * Number of servos
  *

Marlin/Configuration_adv.h

@@ -30,7 +30,25 @@
  *
  * Basic settings can be found in Configuration.h
  */
-#define CONFIGURATION_ADV_H_VERSION 02010000
+#define CONFIGURATION_ADV_H_VERSION 02010100
+
+// @section develop
+
+/**
+ * Configuration Export
+ *
+ * Export the configuration as part of the build. (See signature.py)
+ * Output files are saved with the build (e.g., .pio/build/mega2560).
+ *
+ * See `build_all_examples --ini` as an example of config.ini archiving.
+ *
+ *  1 = marlin_config.json - Dictionary containing the configuration.
+ *      This file is also generated for CONFIGURATION_EMBEDDING.
+ *  2 = config.ini - File format for PlatformIO preprocessing.
+ *  3 = schema.json - The entire configuration schema. (13 = pattern groups)
+ *  4 = schema.yml - The entire configuration schema.
+ */
+//#define CONFIG_EXPORT   // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml']
 
 //===========================================================================
 //============================= Thermal Settings ============================
@@ -54,87 +72,101 @@
 // Custom Thermistor 1000 parameters
 //
 #if TEMP_SENSOR_0 == 1000
-  #define HOTEND0_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND0_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND0_BETA                 3950    // Beta value
+  #define HOTEND0_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND0_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND0_BETA                    3950 // Beta value
+  #define HOTEND0_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_1 == 1000
-  #define HOTEND1_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND1_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND1_BETA                 3950    // Beta value
+  #define HOTEND1_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND1_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND1_BETA                    3950 // Beta value
+  #define HOTEND1_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_2 == 1000
-  #define HOTEND2_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND2_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND2_BETA                 3950    // Beta value
+  #define HOTEND2_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND2_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND2_BETA                    3950 // Beta value
+  #define HOTEND2_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_3 == 1000
-  #define HOTEND3_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND3_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND3_BETA                 3950    // Beta value
+  #define HOTEND3_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND3_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND3_BETA                    3950 // Beta value
+  #define HOTEND3_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_4 == 1000
-  #define HOTEND4_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND4_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND4_BETA                 3950    // Beta value
+  #define HOTEND4_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND4_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND4_BETA                    3950 // Beta value
+  #define HOTEND4_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_5 == 1000
-  #define HOTEND5_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND5_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND5_BETA                 3950    // Beta value
+  #define HOTEND5_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND5_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND5_BETA                    3950 // Beta value
+  #define HOTEND5_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_6 == 1000
-  #define HOTEND6_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND6_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND6_BETA                 3950    // Beta value
+  #define HOTEND6_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND6_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND6_BETA                    3950 // Beta value
+  #define HOTEND6_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_7 == 1000
-  #define HOTEND7_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define HOTEND7_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define HOTEND7_BETA                 3950    // Beta value
+  #define HOTEND7_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define HOTEND7_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define HOTEND7_BETA                    3950 // Beta value
+  #define HOTEND7_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_BED == 1000
-  #define BED_PULLUP_RESISTOR_OHMS     4700    // Pullup resistor
-  #define BED_RESISTANCE_25C_OHMS      100000  // Resistance at 25C
-  #define BED_BETA                     3950    // Beta value
+  #define BED_PULLUP_RESISTOR_OHMS        4700 // Pullup resistor
+  #define BED_RESISTANCE_25C_OHMS       100000 // Resistance at 25C
+  #define BED_BETA                        3950 // Beta value
+  #define BED_SH_C_COEFF                     0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_CHAMBER == 1000
-  #define CHAMBER_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define CHAMBER_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define CHAMBER_BETA                 3950    // Beta value
+  #define CHAMBER_PULLUP_RESISTOR_OHMS    4700 // Pullup resistor
+  #define CHAMBER_RESISTANCE_25C_OHMS   100000 // Resistance at 25C
+  #define CHAMBER_BETA                    3950 // Beta value
+  #define CHAMBER_SH_C_COEFF                 0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_COOLER == 1000
-  #define COOLER_PULLUP_RESISTOR_OHMS 4700    // Pullup resistor
-  #define COOLER_RESISTANCE_25C_OHMS  100000  // Resistance at 25C
-  #define COOLER_BETA                 3950    // Beta value
+  #define COOLER_PULLUP_RESISTOR_OHMS     4700 // Pullup resistor
+  #define COOLER_RESISTANCE_25C_OHMS    100000 // Resistance at 25C
+  #define COOLER_BETA                     3950 // Beta value
+  #define COOLER_SH_C_COEFF                  0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_PROBE == 1000
-  #define PROBE_PULLUP_RESISTOR_OHMS   4700    // Pullup resistor
-  #define PROBE_RESISTANCE_25C_OHMS    100000  // Resistance at 25C
-  #define PROBE_BETA                   3950    // Beta value
+  #define PROBE_PULLUP_RESISTOR_OHMS      4700 // Pullup resistor
+  #define PROBE_RESISTANCE_25C_OHMS     100000 // Resistance at 25C
+  #define PROBE_BETA                      3950 // Beta value
+  #define PROBE_SH_C_COEFF                   0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_BOARD == 1000
-  #define BOARD_PULLUP_RESISTOR_OHMS   4700    // Pullup resistor
-  #define BOARD_RESISTANCE_25C_OHMS    100000  // Resistance at 25C
-  #define BOARD_BETA                   3950    // Beta value
+  #define BOARD_PULLUP_RESISTOR_OHMS      4700 // Pullup resistor
+  #define BOARD_RESISTANCE_25C_OHMS     100000 // Resistance at 25C
+  #define BOARD_BETA                      3950 // Beta value
+  #define BOARD_SH_C_COEFF                   0 // Steinhart-Hart C coefficient
 #endif
 
 #if TEMP_SENSOR_REDUNDANT == 1000
-  #define REDUNDANT_PULLUP_RESISTOR_OHMS   4700    // Pullup resistor
-  #define REDUNDANT_RESISTANCE_25C_OHMS    100000  // Resistance at 25C
-  #define REDUNDANT_BETA                   3950    // Beta value
+  #define REDUNDANT_PULLUP_RESISTOR_OHMS  4700 // Pullup resistor
+  #define REDUNDANT_RESISTANCE_25C_OHMS 100000 // Resistance at 25C
+  #define REDUNDANT_BETA                  3950 // Beta value
+  #define REDUNDANT_SH_C_COEFF               0 // Steinhart-Hart C coefficient
 #endif
 
 /**
@@ -286,7 +318,7 @@
    * and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set
    * below 2.
    */
-  #define WATCH_TEMP_PERIOD  20               // Seconds
+  #define WATCH_TEMP_PERIOD  40               // Seconds
   #define WATCH_TEMP_INCREASE 2               // Degrees Celsius
 #endif
 
@@ -923,9 +955,12 @@
  */
 //#define Z_STEPPER_AUTO_ALIGN
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
-  // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
-  // If not defined, probe limits will be used.
-  // Override with 'M422 S<index> X<pos> Y<pos>'
+  /**
+   * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
+   * These positions are machine-relative and do not shift with the M206 home offset!
+   * If not defined, probe limits will be used.
+   * Override with 'M422 S<index> X<pos> Y<pos>'.
+   */
   //#define Z_STEPPER_ALIGN_XY { {  10, 190 }, { 100,  10 }, { 190, 190 } }
 
   /**
@@ -1319,6 +1354,9 @@
       #define XATC_Y_POSITION Y_CENTER      // (mm) Y position to probe
       #define XATC_Z_OFFSETS { 0, 0, 0 }    // Z offsets for X axis sample points
     #endif
+
+    // Show Deploy / Stow Probe options in the Motion menu.
+    #define PROBE_DEPLOY_STOW_MENU
   #endif
 
   // Include a page of printer information in the LCD Main Menu
@@ -1551,6 +1589,9 @@
    * Endstops must be activated for this option to work.
    */
   //#define SD_ABORT_ON_ENDSTOP_HIT
+  #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
+    //#define SD_ABORT_ON_ENDSTOP_HIT_GCODE "G28XY" // G-code to run on endstop hit (e.g., "G28XY" or "G27")
+  #endif
 
   //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file
 
@@ -1585,6 +1626,8 @@
     //#define USE_UHS2_USB
     //#define USE_UHS3_USB
 
+    #define DISABLE_DUE_SD_MMC // Disable USB Host access to USB Drive to prevent hangs on block access for DUE platform
+
     /**
      * Native USB Host supported by some boards (USB OTG)
      */
@@ -2523,6 +2566,8 @@
   #endif
 #endif // HAS_MULTI_EXTRUDER
 
+// @section advanced pause
+
 /**
  * Advanced Pause for Filament Change
  *  - Adds the G-code M600 Filament Change to initiate a filament change.
@@ -2581,13 +2626,12 @@
   //#define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
 #endif
 
-// @section tmc
-
 /**
  * TMC26X Stepper Driver options
  *
  * The TMC26XStepper library is required for this stepper driver.
  * https://github.com/trinamic/TMC26XStepper
+ * @section tmc/tmc26x
  */
 #if HAS_DRIVER(TMC26X)
 
@@ -2725,8 +2769,6 @@
 
 #endif // TMC26X
 
-// @section tmc_smart
-
 /**
  * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode
  * connect your SPI pins to the hardware SPI interface on your board and define
@@ -2742,6 +2784,7 @@
  *
  * TMCStepper library is required to use TMC stepper drivers.
  * https://github.com/teemuatlut/TMCStepper
+ * @section tmc/config
  */
 #if HAS_TRINAMIC_CONFIG
 
@@ -2965,6 +3008,8 @@
     //#define E7_HOLD_MULTIPLIER 0.5
   #endif
 
+  // @section tmc/spi
+
   /**
    * Override default SPI pins for TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160 drivers here.
    * The default pins can be found in your board's pins file.
@@ -3002,6 +3047,8 @@
   //#define TMC_SW_MISO       -1
   //#define TMC_SW_SCK        -1
 
+  // @section tmc/serial
+
   /**
    * Four TMC2209 drivers can use the same HW/SW serial port with hardware configured addresses.
    * Set the address using jumpers on pins MS1 and MS2.
@@ -3037,6 +3084,8 @@
   //#define E6_SLAVE_ADDRESS 0
   //#define E7_SLAVE_ADDRESS 0
 
+  // @section tmc/smart
+
   /**
    * Software enable
    *
@@ -3045,6 +3094,8 @@
    */
   //#define SOFTWARE_DRIVER_ENABLE
 
+  // @section tmc/stealthchop
+
   /**
    * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
    * Use Trinamic's ultra quiet stepping mode.
@@ -3099,6 +3150,8 @@
   //#define CHOPPER_TIMING_E6 CHOPPER_TIMING_E
   //#define CHOPPER_TIMING_E7 CHOPPER_TIMING_E
 
+  // @section tmc/status
+
   /**
    * Monitor Trinamic drivers
    * for error conditions like overtemperature and short to ground.
@@ -3118,6 +3171,8 @@
     #define STOP_ON_ERROR
   #endif
 
+  // @section tmc/hybrid
+
   /**
    * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
    * The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD.
@@ -3174,6 +3229,7 @@
    * homing and adds a guard period for endstop triggering.
    *
    * Comment *_STALL_SENSITIVITY to disable sensorless homing for that axis.
+   * @section tmc/stallguard
    */
   //#define SENSORLESS_HOMING // StallGuard capable drivers only
 
@@ -3197,6 +3253,8 @@
     //#define IMPROVE_HOMING_RELIABILITY
   #endif
 
+  // @section tmc/config
+
   /**
    * TMC Homing stepper phase.
    *
@@ -3236,254 +3294,6 @@
 
 #endif // HAS_TRINAMIC_CONFIG
 
-// @section L64XX
-
-/**
- * L64XX Stepper Driver options
- *
- * Arduino-L6470 library (0.8.0 or higher) is required.
- * https://github.com/ameyer/Arduino-L6470
- *
- * Requires the following to be defined in your pins_YOUR_BOARD file
- *     L6470_CHAIN_SCK_PIN
- *     L6470_CHAIN_MISO_PIN
- *     L6470_CHAIN_MOSI_PIN
- *     L6470_CHAIN_SS_PIN
- *     ENABLE_RESET_L64XX_CHIPS(Q)  where Q is 1 to enable and 0 to reset
- */
-
-#if HAS_L64XX
-
-  //#define L6470_CHITCHAT        // Display additional status info
-
-  #if AXIS_IS_L64XX(X)
-    #define X_MICROSTEPS       128  // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16
-    #define X_OVERCURRENT     2000  // (mA) Current where the driver detects an over current
-                                    //   L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down
-                                    //   POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down
-    #define X_STALLCURRENT    1500  // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) -  4A max - rounds down)
-                                    //   L6470 & L6474 - VALID: 31.25 * (1-128) -  4A max - rounds down
-                                    //   POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down
-                                    //   L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current
-    #define X_MAX_VOLTAGE      127  // 0-255, Maximum effective voltage seen by stepper - not used by L6474
-    #define X_CHAIN_POS         -1  // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
-    #define X_SLEW_RATE          1  // 0-3, Slew 0 is slowest, 3 is fastest
-  #endif
-
-  #if AXIS_IS_L64XX(X2)
-    #define X2_MICROSTEPS     X_MICROSTEPS
-    #define X2_OVERCURRENT            2000
-    #define X2_STALLCURRENT           1500
-    #define X2_MAX_VOLTAGE             127
-    #define X2_CHAIN_POS                -1
-    #define X2_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(Y)
-    #define Y_MICROSTEPS               128
-    #define Y_OVERCURRENT             2000
-    #define Y_STALLCURRENT            1500
-    #define Y_MAX_VOLTAGE              127
-    #define Y_CHAIN_POS                 -1
-    #define Y_SLEW_RATE                  1
-  #endif
-
-  #if AXIS_IS_L64XX(Y2)
-    #define Y2_MICROSTEPS     Y_MICROSTEPS
-    #define Y2_OVERCURRENT            2000
-    #define Y2_STALLCURRENT           1500
-    #define Y2_MAX_VOLTAGE             127
-    #define Y2_CHAIN_POS                -1
-    #define Y2_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(Z)
-    #define Z_MICROSTEPS               128
-    #define Z_OVERCURRENT             2000
-    #define Z_STALLCURRENT            1500
-    #define Z_MAX_VOLTAGE              127
-    #define Z_CHAIN_POS                 -1
-    #define Z_SLEW_RATE                  1
-  #endif
-
-  #if AXIS_IS_L64XX(Z2)
-    #define Z2_MICROSTEPS     Z_MICROSTEPS
-    #define Z2_OVERCURRENT            2000
-    #define Z2_STALLCURRENT           1500
-    #define Z2_MAX_VOLTAGE             127
-    #define Z2_CHAIN_POS                -1
-    #define Z2_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(Z3)
-    #define Z3_MICROSTEPS     Z_MICROSTEPS
-    #define Z3_OVERCURRENT            2000
-    #define Z3_STALLCURRENT           1500
-    #define Z3_MAX_VOLTAGE             127
-    #define Z3_CHAIN_POS                -1
-    #define Z3_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(Z4)
-    #define Z4_MICROSTEPS     Z_MICROSTEPS
-    #define Z4_OVERCURRENT            2000
-    #define Z4_STALLCURRENT           1500
-    #define Z4_MAX_VOLTAGE             127
-    #define Z4_CHAIN_POS                -1
-    #define Z4_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(I)
-    #define I_MICROSTEPS      128
-    #define I_OVERCURRENT    2000
-    #define I_STALLCURRENT   1500
-    #define I_MAX_VOLTAGE     127
-    #define I_CHAIN_POS        -1
-    #define I_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(J)
-    #define J_MICROSTEPS      128
-    #define J_OVERCURRENT    2000
-    #define J_STALLCURRENT   1500
-    #define J_MAX_VOLTAGE     127
-    #define J_CHAIN_POS        -1
-    #define J_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(K)
-    #define K_MICROSTEPS      128
-    #define K_OVERCURRENT    2000
-    #define K_STALLCURRENT   1500
-    #define K_MAX_VOLTAGE     127
-    #define K_CHAIN_POS        -1
-    #define K_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(U)
-    #define U_MICROSTEPS      128
-    #define U_OVERCURRENT    2000
-    #define U_STALLCURRENT   1500
-    #define U_MAX_VOLTAGE     127
-    #define U_CHAIN_POS        -1
-    #define U_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(V)
-    #define V_MICROSTEPS      128
-    #define V_OVERCURRENT    2000
-    #define V_STALLCURRENT   1500
-    #define V_MAX_VOLTAGE     127
-    #define V_CHAIN_POS        -1
-    #define V_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(W)
-    #define W_MICROSTEPS      128
-    #define W_OVERCURRENT    2000
-    #define W_STALLCURRENT   1500
-    #define W_MAX_VOLTAGE     127
-    #define W_CHAIN_POS        -1
-    #define W_SLEW_RATE         1
-  #endif
-
-  #if AXIS_IS_L64XX(E0)
-    #define E0_MICROSTEPS              128
-    #define E0_OVERCURRENT            2000
-    #define E0_STALLCURRENT           1500
-    #define E0_MAX_VOLTAGE             127
-    #define E0_CHAIN_POS                -1
-    #define E0_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E1)
-    #define E1_MICROSTEPS    E0_MICROSTEPS
-    #define E1_OVERCURRENT            2000
-    #define E1_STALLCURRENT           1500
-    #define E1_MAX_VOLTAGE             127
-    #define E1_CHAIN_POS                -1
-    #define E1_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E2)
-    #define E2_MICROSTEPS    E0_MICROSTEPS
-    #define E2_OVERCURRENT            2000
-    #define E2_STALLCURRENT           1500
-    #define E2_MAX_VOLTAGE             127
-    #define E2_CHAIN_POS                -1
-    #define E2_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E3)
-    #define E3_MICROSTEPS    E0_MICROSTEPS
-    #define E3_OVERCURRENT            2000
-    #define E3_STALLCURRENT           1500
-    #define E3_MAX_VOLTAGE             127
-    #define E3_CHAIN_POS                -1
-    #define E3_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E4)
-    #define E4_MICROSTEPS    E0_MICROSTEPS
-    #define E4_OVERCURRENT            2000
-    #define E4_STALLCURRENT           1500
-    #define E4_MAX_VOLTAGE             127
-    #define E4_CHAIN_POS                -1
-    #define E4_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E5)
-    #define E5_MICROSTEPS    E0_MICROSTEPS
-    #define E5_OVERCURRENT            2000
-    #define E5_STALLCURRENT           1500
-    #define E5_MAX_VOLTAGE             127
-    #define E5_CHAIN_POS                -1
-    #define E5_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E6)
-    #define E6_MICROSTEPS    E0_MICROSTEPS
-    #define E6_OVERCURRENT            2000
-    #define E6_STALLCURRENT           1500
-    #define E6_MAX_VOLTAGE             127
-    #define E6_CHAIN_POS                -1
-    #define E6_SLEW_RATE                 1
-  #endif
-
-  #if AXIS_IS_L64XX(E7)
-    #define E7_MICROSTEPS    E0_MICROSTEPS
-    #define E7_OVERCURRENT            2000
-    #define E7_STALLCURRENT           1500
-    #define E7_MAX_VOLTAGE             127
-    #define E7_CHAIN_POS                -1
-    #define E7_SLEW_RATE                 1
-  #endif
-
-  /**
-   * Monitor L6470 drivers for error conditions like over temperature and over current.
-   * In the case of over temperature Marlin can decrease the drive until the error condition clears.
-   * Other detected conditions can be used to stop the current print.
-   * Relevant G-codes:
-   * M906 - I1/2/3/4/5  Set or get motor drive level using axis codes X, Y, Z, E. Report values if no axis codes given.
-   *         I not present or I0 or I1 - X, Y, Z or E0
-   *         I2 - X2, Y2, Z2 or E1
-   *         I3 - Z3 or E3
-   *         I4 - Z4 or E4
-   *         I5 - E5
-   * M916 - Increase drive level until get thermal warning
-   * M917 - Find minimum current thresholds
-   * M918 - Increase speed until max or error
-   * M122 S0/1 - Report driver parameters
-   */
-  //#define MONITOR_L6470_DRIVER_STATUS
-
-  #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
-    #define KVAL_HOLD_STEP_DOWN     1
-    //#define L6470_STOP_ON_ERROR
-  #endif
-
-#endif // HAS_L64XX
-
 // @section i2cbus
 
 //
@@ -3525,7 +3335,7 @@
   #define I2C_SLAVE_ADDRESS  0  // Set a value from 8 to 127 to act as a slave
 #endif
 
-// @section extras
+// @section photo
 
 /**
  * Photo G-code
@@ -3568,6 +3378,8 @@
   #endif
 #endif
 
+// @section cnc
+
 /**
  * Spindle & Laser control
  *
@@ -3592,6 +3404,9 @@
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     #define SPINDLE_LASER_PWM_INVERT    false  // Set to "true" if the speed/power goes up when you want it to go slower
     #define SPINDLE_LASER_FREQUENCY     2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC)
+                                               // ESP32: If SPINDLE_LASER_PWM_PIN is onboard then <=78125Hz. For I2S expander
+                                               //  the frequency determines the PWM resolution. 2500Hz = 0-100, 977Hz = 0-255, ...
+                                               //  (250000 / SPINDLE_LASER_FREQUENCY) = max value.
   #endif
 
   //#define AIR_EVACUATION                     // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
@@ -3665,8 +3480,11 @@
     #endif
 
     // Define the minimum and maximum test pulse time values for a laser test fire function
-    #define LASER_TEST_PULSE_MIN           1   // Used with Laser Control Menu
-    #define LASER_TEST_PULSE_MAX         999   // Caution: Menu may not show more than 3 characters
+    #define LASER_TEST_PULSE_MIN           1   // (ms) Used with Laser Control Menu
+    #define LASER_TEST_PULSE_MAX         999   // (ms) Caution: Menu may not show more than 3 characters
+
+    #define SPINDLE_LASER_POWERUP_DELAY   50   // (ms) Delay to allow the spindle/laser to come up to speed/power
+    #define SPINDLE_LASER_POWERDOWN_DELAY 50   // (ms) Delay to allow the spindle to stop
 
    /**
     * Laser Safety Timeout
@@ -3679,79 +3497,38 @@
     #define LASER_SAFETY_TIMEOUT_MS     1000   // (ms)
 
     /**
-     * Enable inline laser power to be handled in the planner / stepper routines.
-     * Inline power is specified by the I (inline) flag in an M3 command (e.g., M3 S20 I)
-     * or by the 'S' parameter in G0/G1/G2/G3 moves (see LASER_MOVE_POWER).
+     * Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode.
      *
-     * This allows the laser to keep in perfect sync with the planner and removes
-     * the powerup/down delay since lasers require negligible time.
+     * e.g., 'M3 I' enables continuous inline power which is processed by the planner.
+     * Power is stored in move blocks and applied when blocks are processed by the Stepper ISR.
+     *
+     * 'M4 I' sets dynamic mode which uses the current feedrate to calculate a laser power OCR value.
+     *
+     * Any move in dynamic mode will use the current feedrate to calculate the laser power.
+     * Feed rates are set by the F parameter of a move command e.g. G1 X0 Y10 F6000
+     * Laser power would be calculated by bit shifting off 8 LSB's. In binary this is div 256.
+     * The calculation gives us ocr values from 0 to 255, values over F65535 will be set as 255 .
+     * More refined power control such as compesation for accell/decell will be addressed in future releases.
+     *
+     * M5 I clears inline mode and set power to 0, M5 sets the power output to 0 but leaves inline mode on.
      */
-    //#define LASER_POWER_INLINE
 
-    #if ENABLED(LASER_POWER_INLINE)
-      /**
-       * Scale the laser's power in proportion to the movement rate.
-       *
-       * - Sets the entry power proportional to the entry speed over the nominal speed.
-       * - Ramps the power up every N steps to approximate the speed trapezoid.
-       * - Due to the limited power resolution this is only approximate.
-       */
-      #define LASER_POWER_INLINE_TRAPEZOID
+    /**
+     * Enable M3 commands for laser mode inline power planner syncing.
+     * This feature enables any M3 S-value to be injected into the block buffers while in
+     * CUTTER_MODE_CONTINUOUS. The option allows M3 laser power to be commited without waiting
+     * for a planner syncronization
+     */
+    //#define LASER_POWER_SYNC
 
-      /**
-       * Continuously calculate the current power (nominal_power * current_rate / nominal_rate).
-       * Required for accurate power with non-trapezoidal acceleration (e.g., S_CURVE_ACCELERATION).
-       * This is a costly calculation so this option is discouraged on 8-bit AVR boards.
-       *
-       * LASER_POWER_INLINE_TRAPEZOID_CONT_PER defines how many step cycles there are between power updates. If your
-       * board isn't able to generate steps fast enough (and you are using LASER_POWER_INLINE_TRAPEZOID_CONT), increase this.
-       * Note that when this is zero it means it occurs every cycle; 1 means a delay wait one cycle then run, etc.
-       */
-      //#define LASER_POWER_INLINE_TRAPEZOID_CONT
-
-      /**
-       * Stepper iterations between power updates. Increase this value if the board
-       * can't keep up with the processing demands of LASER_POWER_INLINE_TRAPEZOID_CONT.
-       * Disable (or set to 0) to recalculate power on every stepper iteration.
-       */
-      //#define LASER_POWER_INLINE_TRAPEZOID_CONT_PER 10
-
-      /**
-       * Include laser power in G0/G1/G2/G3/G5 commands with the 'S' parameter
-       */
-      //#define LASER_MOVE_POWER
-
-      #if ENABLED(LASER_MOVE_POWER)
-        // Turn off the laser on G0 moves with no power parameter.
-        // If a power parameter is provided, use that instead.
-        //#define LASER_MOVE_G0_OFF
-
-        // Turn off the laser on G28 homing.
-        //#define LASER_MOVE_G28_OFF
-      #endif
-
-      /**
-       * Inline flag inverted
-       *
-       * WARNING: M5 will NOT turn off the laser unless another move
-       *          is done (so G-code files must end with 'M5 I').
-       */
-      //#define LASER_POWER_INLINE_INVERT
-
-      /**
-       * Continuously apply inline power. ('M3 S3' == 'G1 S3' == 'M3 S3 I')
-       *
-       * The laser might do some weird things, so only enable this
-       * feature if you understand the implications.
-       */
-      //#define LASER_POWER_INLINE_CONTINUOUS
-
-    #else
-
-      #define SPINDLE_LASER_POWERUP_DELAY     50 // (ms) Delay to allow the spindle/laser to come up to speed/power
-      #define SPINDLE_LASER_POWERDOWN_DELAY   50 // (ms) Delay to allow the spindle to stop
-
-    #endif
+    /**
+     * Scale the laser's power in proportion to the movement rate.
+     *
+     * - Sets the entry power proportional to the entry speed over the nominal speed.
+     * - Ramps the power up every N steps to approximate the speed trapezoid.
+     * - Due to the limited power resolution this is only approximate.
+     */
+    //#define LASER_POWER_TRAP
 
     //
     // Laser I2C Ammeter (High precision INA226 low/high side module)
@@ -3806,6 +3583,8 @@
   #define COOLANT_FLOOD_INVERT false  // Set "true" if the on/off function is reversed
 #endif
 
+// @section filament width
+
 /**
  * Filament Width Sensor
  *
@@ -3839,6 +3618,8 @@
   //#define FILAMENT_LCD_DISPLAY
 #endif
 
+// @section power
+
 /**
  * Power Monitor
  * Monitor voltage (V) and/or current (A), and -when possible- power (W)
@@ -3862,6 +3643,8 @@
   #define POWER_MONITOR_VOLTAGE_OFFSET  0         // Offset (in volts) applied to the calculated voltage
 #endif
 
+// @section safety
+
 /**
  * Stepper Driver Anti-SNAFU Protection
  *
@@ -3871,6 +3654,8 @@
  */
 //#define DISABLE_DRIVER_SAFE_POWER_PROTECT
 
+// @section cnc
+
 /**
  * CNC Coordinate Systems
  *
@@ -3879,6 +3664,8 @@
  */
 //#define CNC_COORDINATE_SYSTEMS
 
+// @section reporting
+
 /**
  * Auto-report fan speed with M123 S<seconds>
  * Requires fans with tachometer pins
@@ -3906,6 +3693,8 @@
   //#define M115_GEOMETRY_REPORT
 #endif
 
+// @section security
+
 /**
  * Expected Printer Check
  * Add the M16 G-code to compare a string to the MACHINE_NAME.
@@ -3913,6 +3702,8 @@
  */
 //#define EXPECTED_PRINTER_CHECK
 
+// @section volumetrics
+
 /**
  * Disable all Volumetric extrusion options
  */
@@ -3941,14 +3732,7 @@
   #endif
 #endif
 
-/**
- * Enable this option for a leaner build of Marlin that removes all
- * workspace offsets, simplifying coordinate transformations, leveling, etc.
- *
- *  - M206 and M428 are disabled.
- *  - G92 will revert to its behavior from Marlin 1.0.
- */
-//#define NO_WORKSPACE_OFFSETS
+// @section reporting
 
 // Extra options for the M114 "Current Position" report
 //#define M114_DETAIL         // Use 'M114` for details to check planner calculations
@@ -3957,6 +3741,8 @@
 
 //#define REPORT_FAN_CHANGE   // Report the new fan speed when changed by M106 (and others)
 
+// @section gcode
+
 /**
  * Spend 28 bytes of SRAM to optimize the G-code parser
  */
@@ -3974,6 +3760,15 @@
 
 //#define REPETIER_GCODE_M360     // Add commands originally from Repetier FW
 
+/**
+ * Enable this option for a leaner build of Marlin that removes all
+ * workspace offsets, simplifying coordinate transformations, leveling, etc.
+ *
+ *  - M206 and M428 are disabled.
+ *  - G92 will revert to its behavior from Marlin 1.0.
+ */
+//#define NO_WORKSPACE_OFFSETS
+
 /**
  * CNC G-code options
  * Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc.
@@ -3989,6 +3784,8 @@
   //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode
 #endif
 
+// @section gcode
+
 /**
  * Startup commands
  *
@@ -4013,6 +3810,8 @@
  * Up to 25 may be defined, but the actual number is LCD-dependent.
  */
 
+// @section custom main menu
+
 // Custom Menu: Main Menu
 //#define CUSTOM_MENU_MAIN
 #if ENABLED(CUSTOM_MENU_MAIN)
@@ -4043,6 +3842,8 @@
   //#define MAIN_MENU_ITEM_5_CONFIRM
 #endif
 
+// @section custom config menu
+
 // Custom Menu: Configuration Menu
 //#define CUSTOM_MENU_CONFIG
 #if ENABLED(CUSTOM_MENU_CONFIG)
@@ -4073,6 +3874,8 @@
   //#define CONFIG_MENU_ITEM_5_CONFIRM
 #endif
 
+// @section custom buttons
+
 /**
  * User-defined buttons to run custom G-code.
  * Up to 25 may be defined.
@@ -4104,6 +3907,8 @@
   #endif
 #endif
 
+// @section host
+
 /**
  * Host Action Commands
  *
@@ -4129,6 +3934,8 @@
   //#define HOST_SHUTDOWN_MENU_ITEM       // Add a menu item that tells the host to shut down
 #endif
 
+// @section extras
+
 /**
  * Cancel Objects
  *
@@ -4150,6 +3957,7 @@
  * Alternative Supplier: https://reliabuild3d.com/
  *
  * Reliabuild encoders have been modified to improve reliability.
+ * @section i2c encoders
  */
 
 //#define I2C_POSITION_ENCODERS
@@ -4221,6 +4029,7 @@
 
 /**
  * Analog Joystick(s)
+ * @section joystick
  */
 //#define JOYSTICK
 #if ENABLED(JOYSTICK)
@@ -4245,6 +4054,7 @@
  * Modern replacement for the Prusa TMC_Z_CALIBRATION.
  * Adds capability to work with any adjustable current drivers.
  * Implemented as G34 because M915 is deprecated.
+ * @section calibrate
  */
 //#define MECHANICAL_GANTRY_CALIBRATION
 #if ENABLED(MECHANICAL_GANTRY_CALIBRATION)
@@ -4262,6 +4072,7 @@
 /**
  * Instant freeze / unfreeze functionality
  * Potentially useful for emergency stop that allows being resumed.
+ * @section interface
  */
 //#define FREEZE_FEATURE
 #if ENABLED(FREEZE_FEATURE)
@@ -4274,6 +4085,7 @@
  *
  * Add support for a low-cost 8x8 LED Matrix based on the Max7219 chip as a realtime status display.
  * Requires 3 signal wires. Some useful debug options are included to demonstrate its usage.
+ * @section debug matrix
  */
 //#define MAX7219_DEBUG
 #if ENABLED(MAX7219_DEBUG)
@@ -4286,7 +4098,8 @@
   #define MAX7219_NUMBER_UNITS 1   // Number of Max7219 units in chain.
   #define MAX7219_ROTATE       0   // Rotate the display clockwise (in multiples of +/- 90°)
                                    // connector at:  right=0   bottom=-90  top=90  left=180
-  //#define MAX7219_REVERSE_ORDER  // The individual LED matrix units may be in reversed order
+  //#define MAX7219_REVERSE_ORDER  // The order of the LED matrix units may be reversed
+  //#define MAX7219_REVERSE_EACH   // The LEDs in each matrix unit row may be reversed
   //#define MAX7219_SIDE_BY_SIDE   // Big chip+matrix boards can be chained side-by-side
 
   /**
@@ -4294,12 +4107,15 @@
    * If you add more debug displays, be careful to avoid conflicts!
    */
   #define MAX7219_DEBUG_PRINTER_ALIVE    // Blink corner LED of 8x8 matrix to show that the firmware is functioning
-  #define MAX7219_DEBUG_PLANNER_HEAD  3  // Show the planner queue head position on this and the next LED matrix row
-  #define MAX7219_DEBUG_PLANNER_TAIL  5  // Show the planner queue tail position on this and the next LED matrix row
+  #define MAX7219_DEBUG_PLANNER_HEAD  2  // Show the planner queue head position on this and the next LED matrix row
+  #define MAX7219_DEBUG_PLANNER_TAIL  4  // Show the planner queue tail position on this and the next LED matrix row
 
   #define MAX7219_DEBUG_PLANNER_QUEUE 0  // Show the current planner queue depth on this and the next LED matrix row
                                          // If you experience stuttering, reboots, etc. this option can reveal how
                                          // tweaks made to the configuration are affecting the printer in real-time.
+  #define MAX7219_DEBUG_PROFILE       6  // Display the fraction of CPU time spent in profiled code on this LED matrix
+                                         // row. By default idle() is profiled so this shows how "idle" the processor is.
+                                         // See class CodeProfiler.
 #endif
 
 /**
@@ -4308,6 +4124,7 @@
  * Support for Synchronized Z moves when used with NanoDLP. G0/G1 axis moves will
  * output a "Z_move_comp" string to enable synchronization with DLP projector exposure.
  * This feature allows you to use [[WaitForDoneMessage]] instead of M400 commands.
+ * @section nanodlp
  */
 //#define NANODLP_Z_SYNC
 #if ENABLED(NANODLP_Z_SYNC)
@@ -4316,6 +4133,7 @@
 
 /**
  * Ethernet. Use M552 to enable and set the IP address.
+ * @section network
  */
 #if HAS_ETHERNET
   #define MAC_ADDRESS { 0xDE, 0xAD, 0xBE, 0xEF, 0xF0, 0x0D }  // A MAC address unique to your network
@@ -4343,6 +4161,8 @@
   //#include "Configuration_Secure.h" // External file with WiFi SSID / Password
 #endif
 
+// @section multi-material
+
 /**
  * Průša Multi-Material Unit (MMU)
  * Enable in Configuration.h
@@ -4448,6 +4268,7 @@
 
 /**
  * Advanced Print Counter settings
+ * @section stats
  */
 #if ENABLED(PRINTCOUNTER)
   #define SERVICE_WARNING_BUZZES  3
@@ -4477,6 +4298,9 @@
 //
 //#define PINS_DEBUGGING
 
+// Enable Tests that will run at startup and produce a report
+//#define MARLIN_TEST_BUILD
+
 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE
 

Marlin/Makefile

@@ -109,7 +109,7 @@ LIQUID_TWI2        ?= 0
 # This defines if Wire is needed
 WIRE               ?= 0
 
-# This defines if Tone is needed (i.e SPEAKER is defined in Configuration.h)
+# This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h)
 # Disabling this (and SPEAKER) saves approximately 350 bytes of memory.
 TONE               ?= 1
 
@@ -317,123 +317,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1159)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
 # Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-
-
-# 3Drag Controller
-else ifeq ($(HARDWARE_MOTHERBOARD),1100)
-# Velleman K8200 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1101)
-# Velleman K8400 Controller (derived from 3Drag Controller)
-else ifeq ($(HARDWARE_MOTHERBOARD),1102)
-# Velleman K8600 Controller (Vertex Nano)
-else ifeq ($(HARDWARE_MOTHERBOARD),1103)
-# Velleman K8800 Controller (Vertex Delta)
-else ifeq ($(HARDWARE_MOTHERBOARD),1104)
-# 2PrintBeta BAM&DICE with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1105)
-# 2PrintBeta BAM&DICE Due with STK drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1106)
-# MKS BASE v1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1107)
-# MKS v1.4 with A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1108)
-# MKS v1.5 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1109)
-# MKS v1.6 with Allegro A4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1110)
-# MKS BASE 1.0 with Heroic HR4982 stepper drivers
-else ifeq ($(HARDWARE_MOTHERBOARD),1111)
-# MKS GEN v1.3 or 1.4
-else ifeq ($(HARDWARE_MOTHERBOARD),1112)
-# MKS GEN L
-else ifeq ($(HARDWARE_MOTHERBOARD),1113)
-# zrib V2.0 control board (Chinese RAMPS replica)
-else ifeq ($(HARDWARE_MOTHERBOARD),1114)
-# BigTreeTech or BIQU KFB2.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1115)
-# Felix 2.0+ Electronics Board (RAMPS like)
-else ifeq ($(HARDWARE_MOTHERBOARD),1116)
-# Invent-A-Part RigidBoard
-else ifeq ($(HARDWARE_MOTHERBOARD),1117)
-# Invent-A-Part RigidBoard V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1118)
-# Sainsmart 2-in-1 board
-else ifeq ($(HARDWARE_MOTHERBOARD),1119)
-# Ultimaker
-else ifeq ($(HARDWARE_MOTHERBOARD),1120)
-# Ultimaker (Older electronics. Pre 1.5.4. This is rare)
-else ifeq ($(HARDWARE_MOTHERBOARD),1121)
-  MCU              ?= atmega1280
-  PROG_MCU         ?= m1280
-
-# Azteeg X3
-else ifeq ($(HARDWARE_MOTHERBOARD),1122)
-# Azteeg X3 Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1123)
-# Ultimainboard 2.x (Uses TEMP_SENSOR 20)
-else ifeq ($(HARDWARE_MOTHERBOARD),1124)
-# Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1125)
-# Raise3D Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1126)
-# Rapide Lite RL200 Rumba
-else ifeq ($(HARDWARE_MOTHERBOARD),1127)
-# Formbot T-Rex 2 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1128)
-# Formbot T-Rex 3
-else ifeq ($(HARDWARE_MOTHERBOARD),1129)
-# Formbot Raptor
-else ifeq ($(HARDWARE_MOTHERBOARD),1130)
-# Formbot Raptor 2
-else ifeq ($(HARDWARE_MOTHERBOARD),1131)
-# bq ZUM Mega 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1132)
-# MakeBoard Mini v2.1.2 is a control board sold by MicroMake
-else ifeq ($(HARDWARE_MOTHERBOARD),1133)
-# TriGorilla Anycubic version 1.3 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1134)
-# TriGorilla Anycubic version 1.4 based on RAMPS EFB
-else ifeq ($(HARDWARE_MOTHERBOARD),1135)
-# TriGorilla Anycubic version 1.4 Rev 1.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1136)
-# Creality: Ender-4, CR-8
-else ifeq ($(HARDWARE_MOTHERBOARD),1137)
-# Creality: CR10S, CR20, CR-X
-else ifeq ($(HARDWARE_MOTHERBOARD),1138)
-# Dagoma F5
-else ifeq ($(HARDWARE_MOTHERBOARD),1139)
-# FYSETC F6 1.3
-else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# FYSETC F6 1.5
-else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Duplicator i3 Plus
-else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# VORON
-else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# TRONXY V3 1.0
-else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Z-Bolt X Series
-else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# TT OSCAR
-else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Overlord/Overlord Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# ADIMLab Gantry v1
-else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
-else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
-else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
-else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
-else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero
-else ifeq ($(HARDWARE_MOTHERBOARD),1155)
+# Zonestar zrib V5.3 (Chinese RAMPS replica)
+else ifeq ($(HARDWARE_MOTHERBOARD),1162)
+# Pxmalion Core I3
+else ifeq ($(HARDWARE_MOTHERBOARD),1163)
 
 #
 # RAMBo and derivatives

Marlin/Version.h

@@ -28,7 +28,7 @@
 /**
  * Marlin release version identifier
  */
-//#define SHORT_BUILD_VERSION "2.1"
+//#define SHORT_BUILD_VERSION "2.1.1.2"
 
 /**
  * Verbose version identifier which should contain a reference to the location
@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2022-06-04"
+//#define STRING_DISTRIBUTION_DATE "2023-12-08"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/config.ini

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

Marlin/src/HAL/AVR/Servo.cpp

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

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

@@ -35,11 +35,19 @@
   || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \
   || X_DIR_PIN  == N || Y_DIR_PIN  == N || Z_DIR_PIN  == N \
   || X_ENA_PIN  == N || Y_ENA_PIN  == N || Z_ENA_PIN  == N \
+  || BTN_EN1    == N || BTN_EN2    == N \
 )
-#if CONF_SERIAL_IS(0) // D0-D1. No known conflicts.
+#if CONF_SERIAL_IS(0)
+  // D0-D1. No known conflicts.
 #endif
-#if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
-  #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+#if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__)
+  #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19))
+    #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board."
+  #endif
+#else
+  #if CONF_SERIAL_IS(1) && (CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11))
+    #error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board."
+  #endif
 #endif
 #if CONF_SERIAL_IS(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17))
   #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board."

Marlin/src/HAL/DUE/Servo.cpp

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

Marlin/src/HAL/DUE/ServoTimers.h

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

Marlin/src/HAL/DUE/timers.cpp

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

Marlin/src/HAL/DUE/timers.h

@@ -35,7 +35,8 @@
 typedef uint32_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
 
-#define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
+#define HAL_TIMER_PRESCALER    2
+#define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
 
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP         2  // Timer Index for Stepper

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

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

Marlin/src/HAL/ESP32/HAL.cpp

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

Marlin/src/HAL/ESP32/HAL.h

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

Marlin/src/HAL/ESP32/i2s.cpp

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

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

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

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

@@ -48,3 +48,7 @@
 #if USING_PULLDOWNS
   #error "PULLDOWN pin mode is not available on ESP32 boards."
 #endif
+
+#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE)
+  #error "I2S stream is currently incompatible with LIN_ADVANCE."
+#endif

Marlin/src/HAL/LINUX/eeprom.cpp

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

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

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

Marlin/src/HAL/LPC1768/upload_extra_script.py

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

Marlin/src/HAL/SAMD51/HAL.cpp

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

Marlin/src/HAL/SAMD51/Servo.cpp

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

Marlin/src/HAL/STM32/sdio.cpp

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

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

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

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

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

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

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

Marlin/src/HAL/STM32F1/Servo.cpp

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

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

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

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

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

Marlin/src/HAL/shared/servo.cpp

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

Marlin/src/HAL/shared/servo_private.h

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

Marlin/src/MarlinCore.cpp

@@ -39,17 +39,13 @@
 #endif
 #include <math.h>
 
-#include "core/utility.h"
-
+#include "module/endstops.h"
 #include "module/motion.h"
 #include "module/planner.h"
-#include "module/endstops.h"
-#include "module/temperature.h"
-#include "module/settings.h"
 #include "module/printcounter.h" // PrintCounter or Stopwatch
-
+#include "module/settings.h"
 #include "module/stepper.h"
-#include "module/stepper/indirection.h"
+#include "module/temperature.h"
 
 #include "gcode/gcode.h"
 #include "gcode/parser.h"
@@ -125,6 +121,10 @@
   #include "feature/bltouch.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(POLL_JOG)
   #include "feature/joystick.h"
 #endif
@@ -228,10 +228,6 @@
   #include "feature/mmu/mmu2.h"
 #endif
 
-#if HAS_L64XX
-  #include "libs/L64XX/L64XX_Marlin.h"
-#endif
-
 #if ENABLED(PASSWORD_FEATURE)
   #include "feature/password/password.h"
 #endif
@@ -252,6 +248,10 @@
   #include "feature/easythreed_ui.h"
 #endif
 
+#if ENABLED(MARLIN_TEST_BUILD)
+  #include "tests/marlin_tests.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");
 
 MarlinState marlin_state = MF_INITIALIZING;
@@ -434,7 +434,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
 
       if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) {
         if (!already_shutdown_steppers) {
-          already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+          already_shutdown_steppers = true;
 
           // Individual axes will be disabled if configured
           TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
@@ -733,8 +733,6 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
 
   TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());
 
-  TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
-
   // Limit check_axes_activity frequency to 10Hz
   static millis_t next_check_axes_ms = 0;
   if (ELAPSED(ms, next_check_axes_ms)) {
@@ -776,16 +774,23 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
  *  - Handle Joystick jogging
  */
 void idle(bool no_stepper_sleep/*=false*/) {
+  #ifdef MAX7219_DEBUG_PROFILE
+    CodeProfiler idle_profiler;
+  #endif
+
   #if ENABLED(MARLIN_DEV_MODE)
     static uint16_t idle_depth = 0;
     if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
   #endif
 
+  // Bed Distance Sensor task
+  TERN_(BD_SENSOR, bdl.process());
+
   // Core Marlin activities
   manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();
 
   // Max7219 heartbeat, animation, etc
   TERN_(MAX7219_DEBUG, max7219.idle_tasks());
@@ -1060,7 +1065,6 @@ inline void tmc_standby_setup() {
  *    • TMC220x Stepper Drivers (Serial)
  *    • PSU control
  *    • Power-loss Recovery
- *    • L64XX Stepper Drivers (SPI)
  *    • Stepper Driver Reset: DISABLE
  *    • TMC Stepper Drivers (SPI)
  *    • Run hal.init_board() for additional pins setup
@@ -1223,10 +1227,10 @@ void setup() {
   SETUP_RUN(hal.init());
 
   // Init and disable SPI thermocouples; this is still needed
-  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
+  #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
     OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable
   #endif
-  #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
+  #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1))
     OUT_WRITE(TEMP_1_CS_PIN, HIGH);
   #endif
 
@@ -1249,10 +1253,6 @@ void setup() {
     SETUP_RUN(tmc_init_cs_pins());
   #endif
 
-  #if HAS_L64XX
-    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
-  #endif
-
   #if ENABLED(PSU_CONTROL)
     SETUP_LOG("PSU_CONTROL");
     powerManager.init();
@@ -1639,9 +1639,15 @@ void setup() {
     SETUP_RUN(test_tmc_connection());
   #endif
 
+  #if ENABLED(BD_SENSOR)
+    SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
+  #endif
+
   marlin_state = MF_RUNNING;
 
   SETUP_LOG("setup() completed.");
+
+  TERN_(MARLIN_TEST_BUILD, runStartupTests());
 }
 
 /**
@@ -1676,5 +1682,7 @@ void loop() {
 
     TERN_(HAS_TFT_LVGL_UI, printer_state_polling());
 
+    TERN_(MARLIN_TEST_BUILD, runPeriodicTests());
+
   } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
 }

Marlin/src/core/boards.h

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

Marlin/src/core/drivers.h

@@ -30,10 +30,6 @@
 #define _A5984              0x5984
 #define _DRV8825            0x8825
 #define _LV8729             0x8729
-#define _L6470              0x6470
-#define _L6474              0x6474
-#define _L6480              0x6480
-#define _POWERSTEP01        0xF00D
 #define _TB6560             0x6560
 #define _TB6600             0x6600
 #define _TMC2100            0x2100
@@ -193,16 +189,3 @@
 #if HAS_DRIVER(TMC26X)
   #define HAS_TMC26X 1
 #endif
-
-//
-// L64XX Stepper Drivers
-//
-
-#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01)
-  #define HAS_L64XX 1
-#endif
-#if HAS_L64XX && !HAS_DRIVER(L6474)
-  #define HAS_L64XX_NOT_L6474 1
-#endif
-
-#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01))

Marlin/src/core/language.h

@@ -227,10 +227,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E

Marlin/src/core/macros.h

@@ -644,8 +644,8 @@
 #define IS_PROBE(V...) SECOND(V, 0)     // Get the second item passed, or 0
 #define PROBE() ~, 1                    // Second item will be 1 if this is passed
 #define _NOT_0 PROBE()
-#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'.
-#define _BOOL(x) NOT(NOT(x))            // NOT('0') gets '0'. Anything else gets '1'.
+#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) //   NOT('0') gets '1'. Anything else gets '0'.
+#define _BOOL(x) NOT(NOT(x))            // _BOOL('0') gets '0'. Anything else gets '1'.
 
 #define IF_ELSE(TF) _IF_ELSE(_BOOL(TF))
 #define _IF_ELSE(TF) _CAT(_IF_, TF)
@@ -659,7 +659,6 @@
 #define HAS_ARGS(V...) _BOOL(FIRST(_END_OF_ARGUMENTS_ V)())
 #define _END_OF_ARGUMENTS_() 0
 
-
 // Simple Inline IF Macros, friendly to use in other macro definitions
 #define IF(O, A, B) ((O) ? (A) : (B))
 #define IF_0(O, A) IF(O, A, 0)
@@ -731,3 +730,8 @@
 #define __MAPLIST() _MAPLIST
 
 #define MAPLIST(OP,V...) EVAL(_MAPLIST(OP,V))
+
+// Temperature Sensor Config
+#define _HAS_E_TEMP(N) || (TEMP_SENSOR_##N != 0)
+#define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP))
+#define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR_##T == -5 || TEMP_SENSOR_##T == -3 || TEMP_SENSOR_##T == -2)

Marlin/src/core/serial.cpp

@@ -72,8 +72,8 @@ void serial_print_P(PGM_P str) {
   while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c);
 }
 
-void serial_echo_start()  { static PGMSTR(echomagic, "echo:"); serial_print_P(echomagic); }
-void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(errormagic); }
+void serial_echo_start()  { serial_print(F("echo:")); }
+void serial_error_start() { serial_print(F("Error:")); }
 
 void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
 

Marlin/src/core/types.h

@@ -99,8 +99,8 @@ struct Flags {
   void set(const int n)                    { b |=  (bits_t)_BV(n); }
   void clear(const int n)                  { b &= ~(bits_t)_BV(n); }
   bool test(const int n) const             { return TEST(b, n); }
-  bool operator[](const int n)             { return test(n); }
-  bool operator[](const int n) const       { return test(n); }
+  const bool operator[](const int n)       { return test(n); }
+  const bool operator[](const int n) const { return test(n); }
   int size() const                         { return sizeof(b); }
 };
 
@@ -113,8 +113,8 @@ struct Flags<1> {
   void set(const int)                     { b = true; }
   void clear(const int)                   { b = false; }
   bool test(const int) const              { return b; }
-  bool operator[](const int)              { return b; }
-  bool operator[](const int) const        { return b; }
+  bool& operator[](const int)             { return b; }
+  bool  operator[](const int) const       { return b; }
   int size() const                        { return sizeof(b); }
 };
 
@@ -688,7 +688,7 @@ struct XYZEval {
   FI const T&    operator[](const int n)            const { return pos[n]; }
 
   // Assignment operator overrides do the expected thing
-  FI XYZEval<T>& operator= (const T v)                    { set(LIST_N_1(NUM_AXES, v)); return *this; }
+  FI XYZEval<T>& operator= (const T v)                    { set(LOGICAL_AXIS_LIST_1(v)); return *this; }
   FI XYZEval<T>& operator= (const XYval<T>   &rs)         { set(rs.x, rs.y); return *this; }
   FI XYZEval<T>& operator= (const XYZval<T>  &rs)         { set(NUM_AXIS_ELEM(rs)); return *this; }
 

Marlin/src/core/utility.cpp

@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
   while (ms > 50) {
     ms -= 50;
     delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
 // A delay to provide brittle hosts time to receive bytes
@@ -51,7 +51,7 @@ void safe_delay(millis_t ms) {
 
   #include "../module/probe.h"
   #include "../module/motion.h"
-  #include "../module/stepper.h"
+  #include "../module/planner.h"
   #include "../libs/numtostr.h"
   #include "../feature/bedlevel/bedlevel.h"
 
@@ -70,6 +70,7 @@ void safe_delay(millis_t ms) {
       TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE")
       TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE")
       TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE"))
+      TERN_(BD_SENSOR, "BD_SENSOR")
       TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE")
       TERN_(Z_PROBE_SLED, "Z_PROBE_SLED")
       TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY")
@@ -132,11 +133,10 @@ void safe_delay(millis_t ms) {
         #else
           #if ENABLED(AUTO_BED_LEVELING_UBL)
             SERIAL_ECHOPGM("UBL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
             SERIAL_ECHOPGM("ABL Adjustment Z");
-            const float rz = bedlevel.get_z_correction(current_position);
           #endif
+          const float rz = bedlevel.get_z_correction(current_position);
           SERIAL_ECHO(ftostr43sign(rz, '+'));
           #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
             if (planner.z_fade_height) {
@@ -156,11 +156,13 @@ void safe_delay(millis_t ms) {
       SERIAL_ECHOPGM("Mesh Bed Leveling");
       if (planner.leveling_active) {
         SERIAL_ECHOLNPGM(" (enabled)");
-        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(bedlevel.get_z(current_position), '+'));
+        const float z_offset = bedlevel.get_z_offset(),
+                    z_correction = bedlevel.get_z_correction(current_position);
+        SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(z_offset + z_correction, '+'));
         #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
           if (planner.z_fade_height) {
             SERIAL_ECHOPGM(" (", ftostr43sign(
-              bedlevel.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
+              z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+'
             ));
             SERIAL_CHAR(')');
           }

Marlin/src/core/utility.h

@@ -59,6 +59,11 @@ void safe_delay(millis_t ms);           // Delay ensuring that temperatures are
   #define log_machine_info() NOOP
 #endif
 
+/**
+ * A restorer instance remembers a variable's value before setting a
+ * new value, then restores the old value when it goes out of scope.
+ * Put operator= on your type to get extended behavior on value change.
+ */
 template<typename T>
 class restorer {
   T& ref_;

Marlin/src/feature/babystep.cpp

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

Marlin/src/feature/babystep.h

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

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

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

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

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

Marlin/src/feature/bedlevel/bedlevel.cpp

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

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

@@ -31,7 +31,6 @@
 #include "../../../libs/hex_print.h"
 #include "../../../module/settings.h"
 #include "../../../lcd/marlinui.h"
-#include "../../../module/stepper.h"
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"

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

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

Marlin/src/feature/bltouch.cpp

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

Marlin/src/feature/dac/dac_dac084s085.cpp

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

Marlin/src/feature/direct_stepping.cpp

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

Marlin/src/feature/fwretract.cpp

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

Marlin/src/feature/joystick.cpp

@@ -172,8 +172,9 @@ Joystick joystick;
       current_position += move_dist;
       apply_motion_limits(current_position);
       const float length = sqrt(hypot2);
+      PlannerHints hints(length);
       injecting_now = true;
-      planner.buffer_line(current_position, length / seg_time, active_extruder, length);
+      planner.buffer_line(current_position, length / seg_time, active_extruder, hints);
       injecting_now = false;
     }
   }

Marlin/src/feature/leds/neopixel.h

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

Marlin/src/feature/max7219.cpp

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

Marlin/src/feature/max7219.h

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

Marlin/src/feature/pause.cpp

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

Marlin/src/feature/power.cpp

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

Marlin/src/feature/power_monitor.cpp

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

Marlin/src/feature/power_monitor.h

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

Marlin/src/feature/spindle_laser.cpp

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

Marlin/src/feature/spindle_laser.h

@@ -34,85 +34,98 @@
   #include "../libs/buzzer.h"
 #endif
 
-#if ENABLED(LASER_POWER_INLINE)
-  #include "../module/planner.h"
-#endif
+// Inline laser power
+#include "../module/planner.h"
 
 #define PCT_TO_PWM(X) ((X) * 255 / 100)
 #define PCT_TO_SERVO(X) ((X) * 180 / 100)
 
+
+// Laser/Cutter operation mode
+enum CutterMode : int8_t {
+  CUTTER_MODE_ERROR = -1,
+  CUTTER_MODE_STANDARD,     // M3 power is applied directly and waits for planner moves to sync.
+  CUTTER_MODE_CONTINUOUS,   // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'.
+  CUTTER_MODE_DYNAMIC       // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'.
+};
+
 class SpindleLaser {
 public:
-  static const inline uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
+  static CutterMode cutter_mode;
+
+  static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
 
   // cpower = configured values (e.g., SPEED_POWER_MAX)
-
   // Convert configured power range to a percentage
-  static const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
-    constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0),
-                              power_range = SPEED_POWER_MAX - power_floor;
-    return cpwr ? round(100.0f * (cpwr - power_floor) / power_range) : 0;
+  static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0);
+  static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
+    return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0;
   }
 
-  // Convert a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower),
-  // which can be PWM, Percent, Servo angle, or RPM (rel/abs).
-  static const inline cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
-    const cutter_power_t upwr = (
+  // Convert config defines from RPM to %, angle or PWM when in Spindle mode
+  // and convert from PERCENT to PWM when in Laser mode
+  static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
+    return (
       #if ENABLED(SPINDLE_FEATURE)
-        // Spindle configured values are in RPM
+        // Spindle configured define values are in RPM
         #if CUTTER_UNIT_IS(RPM)
-          cpwr                            // to RPM
-        #elif CUTTER_UNIT_IS(PERCENT)     // to PCT
-          cpwr_to_pct(cpwr)
-        #elif CUTTER_UNIT_IS(SERVO)       // to SERVO angle
-          PCT_TO_SERVO(cpwr_to_pct(cpwr))
-        #else                             // to PWM
-          PCT_TO_PWM(cpwr_to_pct(cpwr))
+          cpwr                            // to same
+        #elif CUTTER_UNIT_IS(PERCENT)
+          cpwr_to_pct(cpwr)               // to Percent
+        #elif CUTTER_UNIT_IS(SERVO)
+          PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle
+        #else
+          PCT_TO_PWM(cpwr_to_pct(cpwr))   // to PWM
         #endif
       #else
-        // Laser configured values are in PCT
+        // Laser configured define values are in Percent
         #if CUTTER_UNIT_IS(PWM255)
-          PCT_TO_PWM(cpwr)
+          PCT_TO_PWM(cpwr)                // to PWM
         #else
-          cpwr                            // to RPM/PCT
+          cpwr                            // to same
         #endif
       #endif
     );
-    return upwr;
   }
 
-  static const cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
-  static const cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
+  static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
+  static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
 
   #if ENABLED(LASER_FEATURE)
-    static cutter_test_pulse_t testPulse; // Test fire Pulse ms value
+    static cutter_test_pulse_t testPulse;                 // (ms) Test fire pulse duration
+    static uint8_t last_block_power;                      // Track power changes for dynamic power
+
+    static feedRate_t feedrate_mm_m, last_feedrate_mm_m;  // (mm/min) Track feedrate changes for dynamic power
+    static bool laser_feedrate_changed() {
+      const bool changed = last_feedrate_mm_m != feedrate_mm_m;
+      if (changed) last_feedrate_mm_m = feedrate_mm_m;
+      return changed;
+    }
   #endif
 
-  static bool isReady;                    // Ready to apply power setting from the UI to OCR
+  static bool isReadyForUI;               // Ready to apply power setting from the UI to OCR
+  static bool enable_state;
   static uint8_t power,
                  last_power_applied;      // Basic power state tracking
 
-  #if ENABLED(MARLIN_DEV_MODE)
-    static cutter_frequency_t frequency;  // Set PWM frequency; range: 2K-50K
-  #endif
+  static cutter_frequency_t frequency;  // Set PWM frequency; range: 2K-50K
 
   static cutter_power_t menuPower,        // Power as set via LCD menu in PWM, Percentage or RPM
                         unitPower;        // Power as displayed status in PWM, Percentage or RPM
 
   static void init();
 
-  #if ENABLED(MARLIN_DEV_MODE)
+  #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
     static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
   #endif
 
   // Modifying this function should update everywhere
   static bool enabled(const cutter_power_t opwr) { return opwr > 0; }
-  static bool enabled() { return enabled(power); }
+  static bool enabled() { return enable_state; }
 
   static void apply_power(const uint8_t inpow);
 
   FORCE_INLINE static void refresh() { apply_power(power); }
-  FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); }
 
   #if ENABLED(SPINDLE_LASER_USE_PWM)
 
@@ -123,7 +136,6 @@ public:
     public:
 
     static void set_ocr(const uint8_t ocr);
-    static void ocr_set_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); }
     static void ocr_off();
 
     /**
@@ -141,78 +153,76 @@ public:
       );
     }
 
-    /**
-     * Correct power to configured range
-     */
-    static cutter_power_t power_to_range(const cutter_power_t pwr) {
-      return power_to_range(pwr, _CUTTER_POWER(CUTTER_POWER_UNIT));
-    }
-
-    static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) {
-      static constexpr float
-        min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
-        max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
-      if (pwr <= 0) return 0;
-      cutter_power_t upwr;
-      switch (pwrUnit) {
-        case _CUTTER_POWER_PWM255:
-          upwr = cutter_power_t(
-              (pwr < pct_to_ocr(min_pct)) ? pct_to_ocr(min_pct) // Use minimum if set below
-            : (pwr > pct_to_ocr(max_pct)) ? pct_to_ocr(max_pct) // Use maximum if set above
-            :  pwr
-          );
-          break;
-        case _CUTTER_POWER_PERCENT:
-          upwr = cutter_power_t(
-              (pwr < min_pct) ? min_pct                         // Use minimum if set below
-            : (pwr > max_pct) ? max_pct                         // Use maximum if set above
-            :  pwr                                              // PCT
-          );
-          break;
-        case _CUTTER_POWER_RPM:
-          upwr = cutter_power_t(
-              (pwr < SPEED_POWER_MIN) ? SPEED_POWER_MIN         // Use minimum if set below
-            : (pwr > SPEED_POWER_MAX) ? SPEED_POWER_MAX         // Use maximum if set above
-            : pwr                                               // Calculate OCR value
-          );
-          break;
-        default: break;
-      }
-      return upwr;
-    }
-
   #endif // SPINDLE_LASER_USE_PWM
 
   /**
-   * Enable/Disable spindle/laser
-   * @param enable true = enable; false = disable
+   * Correct power to configured range
    */
-  static void set_enabled(const bool enable) {
-    uint8_t value = 0;
-    if (enable) {
-      #if ENABLED(SPINDLE_LASER_USE_PWM)
-        if (power)
-          value = power;
-        else if (unitPower)
-          value = upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP));
-      #else
-        value = 255;
-      #endif
+  static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) {
+    static constexpr float
+      min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
+      max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
+    if (pwr <= 0) return 0;
+    cutter_power_t upwr;
+    switch (pwrUnit) {
+      case _CUTTER_POWER_PWM255: {  // PWM
+        const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct);
+        upwr = cutter_power_t(constrain(pwr, pmin, pmax));
+      } break;
+      case _CUTTER_POWER_PERCENT:   // Percent
+        upwr = cutter_power_t(constrain(pwr, min_pct, max_pct));
+        break;
+      case _CUTTER_POWER_RPM:       // Calculate OCR value
+        upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX));
+        break;
+      default: break;
     }
-    set_power(value);
+    return upwr;
   }
 
-  static void disable() { isReady = false; set_enabled(false); }
-
   /**
-   * Wait for spindle to spin up or spin down
+   * Enable Laser or Spindle output.
+   * It's important to prevent changing the power output value during inline cutter operation.
+   * Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode.
    *
-   * @param on true = state to on; false = state to off.
+   * This method accepts one of the following control states:
+   *
+   *  - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply
+   *    SPEED_POWER_STARTUP if no value is assigned.
+   *
+   *  - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set.
+   *
+   *  - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag.
+   *
+   *  - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode.
+   *    This mode allows a global power shutdown action to occur.
    */
-  static void power_delay(const bool on) {
-    #if DISABLED(LASER_POWER_INLINE)
-      safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
+  static void set_enabled(bool enable) {
+    switch (cutter_mode) {
+      case CUTTER_MODE_STANDARD:
+        apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0);
+        break;
+      case CUTTER_MODE_CONTINUOUS:
+        TERN_(LASER_FEATURE, set_inline_enabled(enable));
+        break;
+      case CUTTER_MODE_DYNAMIC:
+        TERN_(LASER_FEATURE, set_inline_enabled(enable));
+        break;
+      case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
+        enable = false;
+        apply_power(0);
+    }
+    #if SPINDLE_LASER_ENA_PIN
+      WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
     #endif
+    enable_state = enable;
+  }
+
+  static void disable() { isReadyForUI = false; set_enabled(false); }
+
+  // Wait for spindle/laser to startup or shutdown
+  static void power_delay(const bool on) {
+    safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
   }
 
   #if ENABLED(SPINDLE_CHANGE_DIR)
@@ -224,122 +234,98 @@ public:
   #endif
 
   #if ENABLED(AIR_EVACUATION)
-    static void air_evac_enable();         // Turn On Cutter Vacuum or Laser Blower motor
-    static void air_evac_disable();        // Turn Off Cutter Vacuum or Laser Blower motor
-    static void air_evac_toggle();         // Toggle Cutter Vacuum or Laser Blower motor
-    static bool air_evac_state() {  // Get current state
+    static void air_evac_enable();     // Turn On Cutter Vacuum or Laser Blower motor
+    static void air_evac_disable();    // Turn Off Cutter Vacuum or Laser Blower motor
+    static void air_evac_toggle();     // Toggle Cutter Vacuum or Laser Blower motor
+    static bool air_evac_state() {     // Get current state
       return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE);
     }
   #endif
 
   #if ENABLED(AIR_ASSIST)
-    static void air_assist_enable();         // Turn on air assist
-    static void air_assist_disable();        // Turn off air assist
-    static void air_assist_toggle();         // Toggle air assist
-    static bool air_assist_state() {  // Get current state
+    static void air_assist_enable();   // Turn on air assist
+    static void air_assist_disable();  // Turn off air assist
+    static void air_assist_toggle();   // Toggle air assist
+    static bool air_assist_state() {   // Get current state
       return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE);
     }
   #endif
 
   #if HAS_MARLINUI_MENU
-    static void enable_with_dir(const bool reverse) {
-      isReady = true;
-      const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
-      if (menuPower)
-        power = ocr;
-      else
-        menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
-      unitPower = menuPower;
-      set_reverse(reverse);
-      set_enabled(true);
-    }
-    FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
-    FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
-    FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
+
+    #if ENABLED(SPINDLE_FEATURE)
+      static void enable_with_dir(const bool reverse) {
+        isReadyForUI = true;
+        const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
+        if (menuPower)
+          power = ocr;
+        else
+          menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
+        unitPower = menuPower;
+        set_reverse(reverse);
+        set_enabled(true);
+      }
+      FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
+      FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
+      FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
+    #endif // SPINDLE_FEATURE
 
     #if ENABLED(SPINDLE_LASER_USE_PWM)
       static void update_from_mpower() {
-        if (isReady) power = upower_to_ocr(menuPower);
+        if (isReadyForUI) power = upower_to_ocr(menuPower);
         unitPower = menuPower;
       }
     #endif
 
     #if ENABLED(LASER_FEATURE)
+      // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
+      static void menu_set_enabled(const bool state) {
+        set_enabled(state);
+        if (state) {
+          if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
+          power = upower_to_ocr(menuPower);
+          apply_power(power);
+        } else 
+          apply_power(0);
+      }
+
       /**
        * Test fire the laser using the testPulse ms duration
        * Also fires with any PWM power that was previous set
        * If not set defaults to 80% power
        */
       static void test_fire_pulse() {
-        TERN_(HAS_BEEPER, buzzer.tone(30, 3000));
-        enable_forward();                  // Turn Laser on (Spindle speak but same funct)
-        delay(testPulse);                  // Delay for time set by user in pulse ms menu screen.
-        disable();                         // Turn laser off
+        BUZZ(30, 3000);
+        cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode.
+        menu_set_enabled(true);             // Laser On
+        delay(testPulse);                   // Delay for time set by user in pulse ms menu screen.
+        menu_set_enabled(false);            // Laser Off
       }
-    #endif
+    #endif // LASER_FEATURE
 
   #endif // HAS_MARLINUI_MENU
 
-  #if ENABLED(LASER_POWER_INLINE)
-    /**
-     * Inline power adds extra fields to the planner block
-     * to handle laser power and scale to movement speed.
-     */
+  #if ENABLED(LASER_FEATURE)
 
-    // Force disengage planner power control
-    static void inline_disable() {
-      isReady = false;
-      unitPower = 0;
-      planner.laser_inline.status.isPlanned = false;
-      planner.laser_inline.status.isEnabled = false;
-      planner.laser_inline.power = 0;
+    // Dynamic mode rate calculation
+    static uint8_t calc_dynamic_power() {
+      if (feedrate_mm_m > 65535) return 255;    // Too fast, go always on
+      uint16_t rate = uint16_t(feedrate_mm_m);  // 16 bits from the G-code parser float input
+      rate >>= 8;                               // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255
+      return uint8_t(rate);
     }
 
     // Inline modes of all other functions; all enable planner inline power control
-    static void set_inline_enabled(const bool enable) {
-      if (enable)
-        inline_power(255);
-      else {
-        isReady = false;
-        unitPower = menuPower = 0;
-        planner.laser_inline.status.isPlanned = false;
-        TERN(SPINDLE_LASER_USE_PWM, inline_ocr_power, inline_power)(0);
-      }
-    }
+    static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; }
 
     // Set the power for subsequent movement blocks
-    static void inline_power(const cutter_power_t upwr) {
-      unitPower = menuPower = upwr;
-      #if ENABLED(SPINDLE_LASER_USE_PWM)
-        #if ENABLED(SPEED_POWER_RELATIVE) && !CUTTER_UNIT_IS(RPM) // relative mode does not turn laser off at 0, except for RPM
-          planner.laser_inline.status.isEnabled = true;
-          planner.laser_inline.power = upower_to_ocr(upwr);
-          isReady = true;
-        #else
-          inline_ocr_power(upower_to_ocr(upwr));
-        #endif
-      #else
-        planner.laser_inline.status.isEnabled = enabled(upwr);
-        planner.laser_inline.power = upwr;
-        isReady = enabled(upwr);
-      #endif
+    static void inline_power(const cutter_power_t cpwr) {
+      TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0);
     }
 
-    static void inline_direction(const bool) { /* never */ }
+  #endif // LASER_FEATURE
 
-    #if ENABLED(SPINDLE_LASER_USE_PWM)
-      static void inline_ocr_power(const uint8_t ocrpwr) {
-        isReady = ocrpwr > 0;
-        planner.laser_inline.status.isEnabled = ocrpwr > 0;
-        planner.laser_inline.power = ocrpwr;
-      }
-    #endif
-  #endif // LASER_POWER_INLINE
-
-  static void kill() {
-    TERN_(LASER_POWER_INLINE, inline_disable());
-    disable();
-  }
+  static void kill() { disable(); }
 };
 
 extern SpindleLaser cutter;

Marlin/src/feature/spindle_laser_types.h

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

Marlin/src/feature/tmc_util.cpp

@@ -33,17 +33,12 @@
 #include "../gcode/gcode.h"
 
 #if ENABLED(TMC_DEBUG)
-  #include "../module/planner.h"
   #include "../libs/hex_print.h"
   #if ENABLED(MONITOR_DRIVER_STATUS)
     static uint16_t report_tmc_status_interval; // = 0
   #endif
 #endif
 
-#if HAS_MARLINUI_MENU
-  #include "../module/stepper.h"
-#endif
-
 /**
  * Check for over temperature or short to ground error flags.
  * Report and log warning of overtemperature condition.

Marlin/src/gcode/bedlevel/G26.cpp

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

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

@@ -32,7 +32,6 @@
 #include "../../../feature/bedlevel/bedlevel.h"
 #include "../../../module/motion.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/probe.h"
 #include "../../queue.h"
 

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

@@ -36,7 +36,7 @@
 #include "../../../libs/buzzer.h"
 #include "../../../lcd/marlinui.h"
 #include "../../../module/motion.h"
-#include "../../../module/stepper.h"
+#include "../../../module/planner.h"
 
 #if ENABLED(EXTENSIBLE_UI)
   #include "../../../lcd/extui/ui_api.h"

Marlin/src/gcode/calibrate/G28.cpp

@@ -24,8 +24,9 @@
 
 #include "../gcode.h"
 
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
+#include "../../module/planner.h"
+#include "../../module/stepper.h" // for various
 
 #if HAS_MULTI_HOTEND
   #include "../../module/tool_change.h"
@@ -35,6 +36,10 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "../../feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(SENSORLESS_HOMING)
   #include "../../feature/tmc_util.h"
 #endif
@@ -55,11 +60,7 @@
   #include "../../lcd/e3v2/proui/dwin.h"
 #endif
 
-#if HAS_L64XX                         // set L6470 absolute position registers to counts
-  #include "../../libs/L64XX/L64XX_Marlin.h"
-#endif
-
-#if ENABLED(LASER_MOVE_G28_OFF)
+#if ENABLED(LASER_FEATURE)
   #include "../../feature/spindle_laser.h"
 #endif
 
@@ -169,7 +170,7 @@
       motion_state.jerk_state = planner.max_jerk;
       planner.max_jerk.set(0, 0 OPTARG(DELTA, 0));
     #endif
-    planner.reset_acceleration_rates();
+    planner.refresh_acceleration_rates();
     return motion_state;
   }
 
@@ -178,7 +179,7 @@
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y;
     TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z);
     TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state);
-    planner.reset_acceleration_rates();
+    planner.refresh_acceleration_rates();
   }
 
 #endif // IMPROVE_HOMING_RELIABILITY
@@ -205,7 +206,14 @@ void GcodeSuite::G28() {
   DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
   if (DEBUGGING(LEVELING)) log_machine_info();
 
-  TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false));  // turn off laser
+  TERN_(BD_SENSOR, bdl.config_state = 0);
+
+  /**
+   * Set the laser power to false to stop the planner from processing the current power setting.
+   */
+  #if ENABLED(LASER_FEATURE)
+    planner.laser_inline.status.isPowered = false;
+  #endif
 
   #if ENABLED(DUAL_X_CARRIAGE)
     bool IDEX_saved_duplication_state = extruder_duplication_enabled;
@@ -596,20 +604,4 @@ void GcodeSuite::G28() {
 
   TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(old_grblstate));
 
-  #if HAS_L64XX
-    // Set L6470 absolute position registers to counts
-    // constexpr *might* move this to PROGMEM.
-    // If not, this will need a PROGMEM directive and an accessor.
-    #define _EN_ITEM(N) , E_AXIS
-    static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
-      NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS),
-      X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, Z_AXIS
-      REPEAT(E_STEPPERS, _EN_ITEM)
-    };
-    #undef _EN_ITEM
-    for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
-      const uint8_t cv = L64XX::chain[j];
-      L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv]));
-    }
-  #endif
 }

Marlin/src/gcode/calibrate/G33.cpp

@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../module/delta.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../module/endstops.h"
 #include "../../lcd/marlinui.h"
 
@@ -437,7 +437,7 @@ void GcodeSuite::G33() {
   const bool stow_after_each = parser.seen_test('E');
 
   #if HAS_DELTA_SENSORLESS_PROBING
-    probe.test_sensitivity.set(!parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z'));
+    probe.test_sensitivity = { !parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z') };
     const bool do_save_offset_adj = parser.seen_test('S');
   #endif
 

Marlin/src/gcode/calibrate/G34.cpp

@@ -26,9 +26,12 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
 
+#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_TRINAMIC_CONFIG)
+  #include "../../module/stepper.h"
+#endif
+
 #if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif

Marlin/src/gcode/calibrate/G34_M422.cpp

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

Marlin/src/gcode/calibrate/M665.cpp

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

Marlin/src/gcode/config/M43.cpp

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

Marlin/src/gcode/config/M540.cpp

@@ -25,7 +25,7 @@
 #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)

Marlin/src/gcode/control/M17_M18_M84.cpp

@@ -24,6 +24,7 @@
 #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
 #include "../../lcd/marlinui.h"
 #include "../../module/motion.h" // for e_axis_mask
+#include "../../module/planner.h"
 #include "../../module/stepper.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)

Marlin/src/gcode/control/M226.cpp

@@ -26,7 +26,7 @@
 
 #include "../gcode.h"
 #include "../../MarlinCore.h" // for pin_is_protected and idle()
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 void protected_pin_err();
 

Marlin/src/gcode/control/M280.cpp

@@ -56,14 +56,14 @@ void GcodeSuite::M280() {
             while (PENDING(now, end)) {
               safe_delay(50);
               now = _MIN(millis(), end);
-              MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
+              servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t)));
             }
           }
         #endif // POLARGRAPH
-        MOVE_SERVO(servo_index, anew);
+        servo[servo_index].move(anew);
       }
       else
-        DETACH_SERVO(servo_index);
+        servo[servo_index].detach();
     }
     else
       SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

Marlin/src/gcode/control/M282.cpp

@@ -36,7 +36,7 @@ void GcodeSuite::M282() {
 
   const int servo_index = parser.value_int();
   if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
-    DETACH_SERVO(servo_index);
+    servo[servo_index].detach();
   else
     SERIAL_ECHO_MSG("Servo ", servo_index, " out of range");
 

Marlin/src/gcode/control/M3-M5.cpp

@@ -26,22 +26,32 @@
 
 #include "../gcode.h"
 #include "../../feature/spindle_laser.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * Laser:
  *  M3 - Laser ON/Power (Ramped power)
- *  M4 - Laser ON/Power (Continuous power)
+ *  M4 - Laser ON/Power (Ramped power)
+ *  M5 - Set power output to 0 (leaving inline mode unchanged).
+ *
+ *  M3I - Enable continuous inline power to be processed by the planner, with power
+ *        calculated and set in the planner blocks, processed inline during stepping.
+ *        Within inline mode M3 S-Values will set the power for the next moves e.g. G1 X10 Y10 powers on with the last S-Value.
+ *        M3I must be set before using planner-synced M3 inline S-Values (LASER_POWER_SYNC).
+ *
+ *  M4I - Set dynamic mode which calculates laser power OCR based on the current feedrate.
+ *
+ *  M5I - Clear inline mode and set power to 0.
  *
  * Spindle:
  *  M3 - Spindle ON (Clockwise)
  *  M4 - Spindle ON (Counter-clockwise)
+ *  M5 - Spindle OFF
  *
  * Parameters:
- *  S<power> - Set power. S0 will turn the spindle/laser off, except in relative mode.
- *  O<ocr>   - Set power and OCR (oscillator count register)
+ *  S<power> - Set power. S0 will turn the spindle/laser off.
  *
- *  If no PWM pin is defined then M3/M4 just turns it on.
+ *  If no PWM pin is defined then M3/M4 just turns it on or off.
  *
  *  At least 12.8kHz (50Hz * 256) is needed for Spindle PWM.
  *  Hardware PWM is required on AVR. ISRs are too slow.
@@ -70,77 +80,77 @@ void GcodeSuite::M3_M4(const bool is_M4) {
     reset_stepper_timeout(); // Reset timeout to allow subsequent G-code to power the laser (imm.)
   #endif
 
-  #if EITHER(SPINDLE_LASER_USE_PWM, SPINDLE_SERVO)
-    auto get_s_power = [] {
-      if (parser.seenval('S')) {
-        const float spwr = parser.value_float();
-        #if ENABLED(SPINDLE_SERVO)
-          cutter.unitPower = spwr;
-        #else
-          cutter.unitPower = TERN(SPINDLE_LASER_USE_PWM,
-                                cutter.power_to_range(cutter_power_t(round(spwr))),
-                                spwr > 0 ? 255 : 0);
-        #endif
-      }
-      else
-        cutter.unitPower = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP);
-      return cutter.unitPower;
-    };
+  if (cutter.cutter_mode == CUTTER_MODE_STANDARD)
+    planner.synchronize();   // Wait for previous movement commands (G0/G1/G2/G3) to complete before changing power
+
+  #if ENABLED(LASER_FEATURE)
+    if (parser.seen_test('I')) {
+      cutter.cutter_mode = is_M4 ? CUTTER_MODE_DYNAMIC : CUTTER_MODE_CONTINUOUS;
+      cutter.inline_power(0);
+      cutter.set_enabled(true);
+    }
   #endif
 
-  #if ENABLED(LASER_POWER_INLINE)
-    if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
-      // Laser power in inline mode
-      cutter.inline_direction(is_M4); // Should always be unused
-      #if ENABLED(SPINDLE_LASER_USE_PWM)
-        if (parser.seenval('O')) {
-          cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
-          cutter.inline_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
-        }
-        else
-          cutter.inline_power(cutter.upower_to_ocr(get_s_power()));
+  auto get_s_power = [] {
+    float u;
+    if (parser.seenval('S')) {
+      const float v = parser.value_float();
+      u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v));
+    }
+    else if (cutter.cutter_mode == CUTTER_MODE_STANDARD)
+      u = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP);
+
+    cutter.menuPower = cutter.unitPower = u;
+
+    // PWM not implied, power converted to OCR from unit definition and on/off if not PWM.
+    cutter.power = TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0);
+    return u;
+  };
+
+  if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) {  // Laser power in inline mode
+    #if ENABLED(LASER_FEATURE)
+      planner.laser_inline.status.isPowered = true;                                                 // M3 or M4 is powered either way
+      get_s_power();                                                                                // Update cutter.power if seen
+      #if ENABLED(LASER_POWER_SYNC)
+        // With power sync we only set power so it does not effect queued inline power sets
+        planner.buffer_sync_block(BLOCK_BIT_LASER_PWR);                                            // Send the flag, queueing inline power
       #else
-        cutter.set_inline_enabled(true);
+        planner.synchronize();
+        cutter.inline_power(cutter.power);
       #endif
-      return;
-    }
-    // Non-inline, standard case
-    cutter.inline_disable(); // Prevent future blocks re-setting the power
-  #endif
-
-  planner.synchronize();   // Wait for previous movement commands (G0/G0/G2/G3) to complete before changing power
-  cutter.set_reverse(is_M4);
-
-  #if ENABLED(SPINDLE_LASER_USE_PWM)
-    if (parser.seenval('O')) {
-      cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
-      cutter.ocr_set_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
-    }
-    else
-      cutter.set_power(cutter.upower_to_ocr(get_s_power()));
-  #elif ENABLED(SPINDLE_SERVO)
-    cutter.set_power(get_s_power());
-  #else
+    #endif
+  }
+  else {
     cutter.set_enabled(true);
-  #endif
-  cutter.menuPower = cutter.unitPower;
+    get_s_power();
+    cutter.apply_power(
+      #if ENABLED(SPINDLE_SERVO)
+        cutter.unitPower
+      #elif ENABLED(SPINDLE_LASER_USE_PWM)
+        cutter.upower_to_ocr(cutter.unitPower)
+      #else
+        cutter.unitPower > 0 ? 255 : 0
+      #endif
+    );
+    TERN_(SPINDLE_CHANGE_DIR, cutter.set_reverse(is_M4));
+  }
 }
 
 /**
  * M5 - Cutter OFF (when moves are complete)
  */
 void GcodeSuite::M5() {
-  #if ENABLED(LASER_POWER_INLINE)
-    if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
-      cutter.set_inline_enabled(false); // Laser power in inline mode
-      return;
-    }
-    // Non-inline, standard case
-    cutter.inline_disable(); // Prevent future blocks re-setting the power
-  #endif
   planner.synchronize();
-  cutter.set_enabled(false);
-  cutter.menuPower = cutter.unitPower;
+  cutter.power = 0;
+  cutter.apply_power(0);                          // M5 just kills power, leaving inline mode unchanged
+  if (cutter.cutter_mode != CUTTER_MODE_STANDARD) {
+    if (parser.seen_test('I')) {
+      TERN_(LASER_FEATURE, cutter.inline_power(cutter.power));
+      cutter.set_enabled(false);                  // Needs to happen while we are in inline mode to clear inline power.
+      cutter.cutter_mode = CUTTER_MODE_STANDARD;  // Switch from inline to standard mode.
+    }
+  }
+  cutter.set_enabled(false);                      // Disable enable output setting
 }
 
 #endif // HAS_CUTTER

Marlin/src/gcode/control/M400.cpp

@@ -21,7 +21,7 @@
  */
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * M400: Finish all moves

Marlin/src/gcode/control/M605.cpp

@@ -28,7 +28,6 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 #include "../../module/tool_change.h"
 #include "../../module/planner.h"
 

Marlin/src/gcode/feature/L6470/M122.cpp

@@ -1,151 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
-#include "../../../inc/MarlinConfig.h"
-
-#if HAS_L64XX
-
-#include "../../gcode.h"
-#include "../../../libs/L64XX/L64XX_Marlin.h"
-#include "../../../module/stepper/indirection.h"
-
-void echo_yes_no(const bool yes);
-
-inline void L6470_say_status(const L64XX_axis_t axis) {
-  if (L64xxManager.spi_abort) return;
-  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-  L64xxManager.get_status(axis);
-  L64xxManager.say_axis(axis);
-  #if ENABLED(L6470_CHITCHAT)
-    char temp_buf[20];
-    sprintf_P(temp_buf, PSTR("   status: %4x   "), sh.STATUS_AXIS_RAW);
-    SERIAL_ECHO(temp_buf);
-    print_bin(sh.STATUS_AXIS_RAW);
-    switch (sh.STATUS_AXIS_LAYOUT) {
-      case L6470_STATUS_LAYOUT: SERIAL_ECHOPGM("   L6470"); break;
-      case L6474_STATUS_LAYOUT: SERIAL_ECHOPGM("   L6474"); break;
-      case L6480_STATUS_LAYOUT: SERIAL_ECHOPGM("   L6480/powerSTEP01"); break;
-    }
-  #endif
-  SERIAL_ECHOPGM("\n...OUTPUT: ");
-  SERIAL_ECHOF(sh.STATUS_AXIS & STATUS_HIZ ? F("OFF") : F("ON "));
-  SERIAL_ECHOPGM("   BUSY: "); echo_yes_no((sh.STATUS_AXIS & STATUS_BUSY) == 0);
-  SERIAL_ECHOPGM("   DIR: ");
-  SERIAL_ECHOF((((sh.STATUS_AXIS & STATUS_DIR) >> 4) ^ L64xxManager.index_to_dir[axis]) ? F("FORWARD") : F("REVERSE"));
-  if (sh.STATUS_AXIS_LAYOUT == L6480_STATUS_LAYOUT) {
-    SERIAL_ECHOPGM("   Last Command: ");
-    if (sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD) SERIAL_ECHOPGM("VALID");
-    else                                           SERIAL_ECHOPGM("ERROR");
-    SERIAL_ECHOPGM("\n...THERMAL: ");
-    switch ((sh.STATUS_AXIS & (sh.STATUS_AXIS_TH_SD | sh.STATUS_AXIS_TH_WRN)) >> 11) {
-      case 0: SERIAL_ECHOPGM("DEVICE SHUTDOWN"); break;
-      case 1: SERIAL_ECHOPGM("BRIDGE SHUTDOWN"); break;
-      case 2: SERIAL_ECHOPGM("WARNING        "); break;
-      case 3: SERIAL_ECHOPGM("OK             "); break;
-    }
-  }
-  else {
-    SERIAL_ECHOPGM("   Last Command: ");
-    if (!(sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD)) SERIAL_ECHOPGM("IN");
-    SERIAL_ECHOPGM("VALID    ");
-    SERIAL_ECHOF(sh.STATUS_AXIS & sh.STATUS_AXIS_NOTPERF_CMD ?  F("COMPLETED    ") : F("Not PERFORMED"));
-    SERIAL_ECHOPGM("\n...THERMAL: ", !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_SD) ? "SHUTDOWN       " : !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_WRN) ? "WARNING        " : "OK             ");
-  }
-  SERIAL_ECHOPGM("   OVERCURRENT:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_OCD) == 0);
-  if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
-    SERIAL_ECHOPGM("   STALL:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_A) == 0 || (sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_B) == 0);
-    SERIAL_ECHOPGM("   STEP-CLOCK MODE:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_SCK_MOD) != 0);
-  }
-  else {
-    SERIAL_ECHOPGM("   STALL: NA "
-                   "   STEP-CLOCK MODE: NA"
-                   "   UNDER VOLTAGE LOCKOUT: "); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_UVLO) == 0);
-  }
-  SERIAL_EOL();
-}
-
-/**
- * M122: Debug L6470 drivers
- */
-void GcodeSuite::M122() {
-  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-  L64xxManager.spi_active = true;   // Tell set_directions() a series of SPI transfers is underway
-
-  //if (parser.seen('S'))
-  //  tmc_set_report_interval(parser.value_bool());
-  //else
-
-  #if AXIS_IS_L64XX(X)
-    L6470_say_status(X);
-  #endif
-  #if AXIS_IS_L64XX(X2)
-    L6470_say_status(X2);
-  #endif
-  #if AXIS_IS_L64XX(Y)
-    L6470_say_status(Y);
-  #endif
-  #if AXIS_IS_L64XX(Y2)
-    L6470_say_status(Y2);
-  #endif
-  #if AXIS_IS_L64XX(Z)
-    L6470_say_status(Z);
-  #endif
-  #if AXIS_IS_L64XX(Z2)
-    L6470_say_status(Z2);
-  #endif
-  #if AXIS_IS_L64XX(Z3)
-    L6470_say_status(Z3);
-  #endif
-  #if AXIS_IS_L64XX(Z4)
-    L6470_say_status(Z4);
-  #endif
-  #if AXIS_IS_L64XX(E0)
-    L6470_say_status(E0);
-  #endif
-  #if AXIS_IS_L64XX(E1)
-    L6470_say_status(E1);
-  #endif
-  #if AXIS_IS_L64XX(E2)
-    L6470_say_status(E2);
-  #endif
-  #if AXIS_IS_L64XX(E3)
-    L6470_say_status(E3);
-  #endif
-  #if AXIS_IS_L64XX(E4)
-    L6470_say_status(E4);
-  #endif
-  #if AXIS_IS_L64XX(E5)
-    L6470_say_status(E5);
-  #endif
-  #if AXIS_IS_L64XX(E6)
-    L6470_say_status(E6);
-  #endif
-  #if AXIS_IS_L64XX(E7)
-    L6470_say_status(E7);
-  #endif
-
-  L64xxManager.spi_active = false;   // done with all SPI transfers - clear handshake flags
-  L64xxManager.spi_abort = false;
-  L64xxManager.pause_monitor(false);
-}
-
-#endif // HAS_L64XX

Marlin/src/gcode/feature/L6470/M906.cpp

@@ -1,417 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
-#include "../../../inc/MarlinConfig.h"
-
-#if HAS_L64XX
-
-#if AXIS_COLLISION('I')
-  #error "M906 parameter 'I' collision with axis name."
-#endif
-
-#include "../../gcode.h"
-#include "../../../libs/L64XX/L64XX_Marlin.h"
-#include "../../../module/stepper/indirection.h"
-#include "../../../module/planner.h"
-
-#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
-#include "../../../core/debug_out.h"
-
-/**
- * MACRO to fetch information on the items associated with current limiting
- * and maximum voltage output.
- *
- * L6470 can be setup to shutdown if either current threshold is exceeded.
- *
- * L6470 output current can not be set directly.  It is set indirectly by
- * setting the maximum effective output voltage.
- *
- *  Effective output voltage is set by PWM duty cycle.
- *
- *  Maximum effective output voltage is affected by MANY variables.  The main ones are:
- *    KVAL_HOLD
- *    KVAL_RUN
- *    KVAL_ACC
- *    KVAL_DEC
- *    Vs compensation (if enabled)
- */
-void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) {
-
-  if (L64xxManager.spi_abort) return;  // don't do anything if set_directions() has occurred
-
-  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-  const uint16_t status = L64xxManager.get_status(axis);    //also populates shadow structure
-  const uint8_t OverCurrent_Threshold = uint8_t(motor.GetParam(L6470_OCD_TH));
-
-  auto say_axis_status = [](const L64XX_axis_t axis, const uint16_t status) {
-    L64xxManager.say_axis(axis);
-    #if ENABLED(L6470_CHITCHAT)
-      char tmp[10];
-      sprintf_P(tmp, PSTR("%4x   "), status);
-      DEBUG_ECHOPGM("   status: ", tmp);
-      print_bin(status);
-    #else
-      UNUSED(status);
-    #endif
-    SERIAL_EOL();
-  };
-
-  char temp_buf[10];
-
-  switch (sh.STATUS_AXIS_LAYOUT) {
-    case L6470_STATUS_LAYOUT:       // L6470
-    case L6480_STATUS_LAYOUT: {     // L6480 & powerstep01
-      const uint16_t Stall_Threshold = (uint8_t)motor.GetParam(L6470_STALL_TH),
-                     motor_status = (status & (STATUS_MOT_STATUS)) >> 5,
-                     L6470_ADC_out = motor.GetParam(L6470_ADC_OUT),
-                     L6470_ADC_out_limited = constrain(L6470_ADC_out, 8, 24);
-      const float comp_coef = 1600.0f / L6470_ADC_out_limited;
-      const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07);
-
-      say_axis_status(axis, sh.STATUS_AXIS_RAW);
-
-      SERIAL_ECHOPGM("...OverCurrent Threshold: ");
-      sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
-      SERIAL_ECHO(temp_buf);
-      SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
-      SERIAL_ECHOPGM(" mA)");
-      SERIAL_ECHOPGM("   Stall Threshold: ");
-      sprintf_P(temp_buf, PSTR("%2d ("), Stall_Threshold);
-      SERIAL_ECHO(temp_buf);
-      SERIAL_ECHO((Stall_Threshold + 1) * motor.STALL_CURRENT_CONSTANT_INV);
-      SERIAL_ECHOPGM(" mA)");
-      SERIAL_ECHOPGM("   Motor Status: ");
-      switch (motor_status) {
-        case 0: SERIAL_ECHOPGM("stopped"); break;
-        case 1: SERIAL_ECHOPGM("accelerating"); break;
-        case 2: SERIAL_ECHOPGM("decelerating"); break;
-        case 3: SERIAL_ECHOPGM("at constant speed"); break;
-      }
-      SERIAL_EOL();
-
-      SERIAL_ECHOPGM("...MicroSteps: ", MicroSteps,
-                      "   ADC_OUT: ", L6470_ADC_out);
-      SERIAL_ECHOPGM("   Vs_compensation: ");
-      SERIAL_ECHOF((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_EN_VSCOMP) ? F("ENABLED ") : F("DISABLED"));
-      SERIAL_ECHOLNPGM("   Compensation coefficient: ~", comp_coef * 0.01f);
-
-      SERIAL_ECHOPGM("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD),
-                      "   KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN),
-                      "   KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC),
-                      "   KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC),
-                      "   V motor max = ");
-      switch (motor_status) {
-        case 0: SERIAL_ECHO(motor.GetParam(L6470_KVAL_HOLD) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
-        case 1: SERIAL_ECHO(motor.GetParam(L6470_KVAL_RUN)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_RUN)"); break;
-        case 2: SERIAL_ECHO(motor.GetParam(L6470_KVAL_ACC)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_ACC)"); break;
-        case 3: SERIAL_ECHO(motor.GetParam(L6470_KVAL_DEC)  * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break;
-      }
-      SERIAL_EOL();
-
-      #if ENABLED(L6470_CHITCHAT)
-        DEBUG_ECHOPGM("...SLEW RATE: ");
-        switch (sh.STATUS_AXIS_LAYOUT) {
-          case L6470_STATUS_LAYOUT: {
-            switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
-              case 0: { DEBUG_ECHOLNPGM("320V/uS") ; break; }
-              case 1: { DEBUG_ECHOLNPGM("75V/uS")  ; break; }
-              case 2: { DEBUG_ECHOLNPGM("110V/uS") ; break; }
-              case 3: { DEBUG_ECHOLNPGM("260V/uS") ; break; }
-            }
-            break;
-          }
-        case L6480_STATUS_LAYOUT: {
-            switch (motor.GetParam(L6470_GATECFG1) & CONFIG1_SR ) {
-              case CONFIG1_SR_220V_us: { DEBUG_ECHOLNPGM("220V/uS") ; break; }
-              case CONFIG1_SR_400V_us: { DEBUG_ECHOLNPGM("400V/uS") ; break; }
-              case CONFIG1_SR_520V_us: { DEBUG_ECHOLNPGM("520V/uS") ; break; }
-              case CONFIG1_SR_980V_us: { DEBUG_ECHOLNPGM("980V/uS") ; break; }
-              default: { DEBUG_ECHOLNPGM("unknown") ; break; }
-            }
-          }
-        }
-      #endif
-      SERIAL_EOL();
-      break;
-    }
-
-    case L6474_STATUS_LAYOUT: {  // L6474
-      const uint16_t L6470_ADC_out = motor.GetParam(L6470_ADC_OUT) & 0x1F,
-                     L6474_TVAL_val = motor.GetParam(L6474_TVAL) & 0x7F;
-
-      say_axis_status(axis, sh.STATUS_AXIS_RAW);
-
-      SERIAL_ECHOPGM("...OverCurrent Threshold: ");
-      sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold);
-      SERIAL_ECHO(temp_buf);
-      SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV);
-      SERIAL_ECHOPGM(" mA)");
-      SERIAL_ECHOPGM("   TVAL: ");
-      sprintf_P(temp_buf, PSTR("%2d ("), L6474_TVAL_val);
-      SERIAL_ECHO(temp_buf);
-      SERIAL_ECHO((L6474_TVAL_val + 1) * motor.STALL_CURRENT_CONSTANT_INV);
-      SERIAL_ECHOLNPGM(" mA)   Motor Status: NA");
-
-      const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16);
-      SERIAL_ECHOPGM("...MicroSteps: ", MicroSteps,
-                      "   ADC_OUT: ", L6470_ADC_out);
-
-      SERIAL_ECHOLNPGM("   Vs_compensation: NA\n");
-      SERIAL_ECHOLNPGM("...KVAL_HOLD: NA"
-                       "   KVAL_RUN : NA"
-                       "   KVAL_ACC: NA"
-                       "   KVAL_DEC: NA"
-                       "   V motor max =  NA");
-
-      #if ENABLED(L6470_CHITCHAT)
-        DEBUG_ECHOPGM("...SLEW RATE: ");
-        switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) {
-          case 0:  DEBUG_ECHOLNPGM("320V/uS") ; break;
-          case 1:  DEBUG_ECHOLNPGM("75V/uS")  ; break;
-          case 2:  DEBUG_ECHOLNPGM("110V/uS") ; break;
-          case 3:  DEBUG_ECHOLNPGM("260V/uS") ; break;
-          default: DEBUG_ECHOLNPGM("slew rate: ", (motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT); break;
-        }
-      #endif
-      SERIAL_EOL();
-      SERIAL_EOL();
-      break;
-    }
-  }
-}
-
-/**
- * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
- *       PWMs to the steppers
- *
- * On L6474 this sets the TVAL register (same address).
- *
- * I - select which driver(s) to change on multi-driver axis
- *         (default) all drivers on the axis
- *     0 - monitor only the first XYZ... driver
- *     1 - monitor only X2, Y2, Z2
- *     2 - monitor only Z3
- *     3 - monitor only Z4
- * Xxxx, Yxxx, Zxxx, Axxx, Bxxx, Cxxx, Uxxx, Vxxx, Wxxx, Exxx - axis to change (optional)
- *     L6474 - current in mA (4A max)
- *     All others - 0-255
- *
- * Sets KVAL_HOLD which affects the current being driven through the stepper.
- *
- * L6470 is used in the STEP-CLOCK mode.  KVAL_HOLD is the only KVAL_xxx
- * that affects the effective voltage seen by the stepper.
- */
-void GcodeSuite::M906() {
-
-  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
-  #define L6470_SET_KVAL_HOLD(Q) (AXIS_IS_L64XX(Q) ? stepper##Q.setTVALCurrent(value) : stepper##Q.SetParam(L6470_KVAL_HOLD, uint8_t(value)))
-
-  DEBUG_ECHOLNPGM("M906");
-
-  uint8_t report_current = true;
-
-  #if AXIS_IS_L64XX(X2) || AXIS_IS_L64XX(Y2) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4)
-    const int8_t index = parser.byteval('I', -1);
-  #else
-    constexpr int8_t index = -1;
-  #endif
-
-  LOOP_LOGICAL_AXES(i) if (uint16_t value = parser.intval(AXIS_CHAR(i))) {
-
-    report_current = false;
-
-    if (planner.has_blocks_queued() || planner.cleaning_buffer_counter) {
-      SERIAL_ECHOLNPGM("Test aborted. Can't set KVAL_HOLD while steppers are moving.");
-      return;
-    }
-
-    switch (i) {
-      #if AXIS_IS_L64XX(X) || AXIS_IS_L64XX(X2)
-        case X_AXIS:
-          #if AXIS_IS_L64XX(X)
-            if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(X);
-          #endif
-          #if AXIS_IS_L64XX(X2)
-            if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(X2);
-          #endif
-          break;
-      #endif
-
-      #if AXIS_IS_L64XX(Y) || AXIS_IS_L64XX(Y2)
-        case Y_AXIS:
-          #if AXIS_IS_L64XX(Y)
-            if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Y);
-          #endif
-          #if AXIS_IS_L64XX(Y2)
-            if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Y2);
-          #endif
-          break;
-      #endif
-
-      #if AXIS_IS_L64XX(Z) || AXIS_IS_L64XX(Z2) || AXIS_IS_L64XX(Z3) || AXIS_IS_L64XX(Z4)
-        case Z_AXIS:
-          #if AXIS_IS_L64XX(Z)
-            if (index < 0 || index == 0) L6470_SET_KVAL_HOLD(Z);
-          #endif
-          #if AXIS_IS_L64XX(Z2)
-            if (index < 0 || index == 1) L6470_SET_KVAL_HOLD(Z2);
-          #endif
-          #if AXIS_IS_L64XX(Z3)
-            if (index < 0 || index == 2) L6470_SET_KVAL_HOLD(Z3);
-          #endif
-          #if AXIS_IS_L64XX(Z4)
-            if (index < 0 || index == 3) L6470_SET_KVAL_HOLD(Z4);
-          #endif
-          break;
-      #endif
-
-      #if AXIS_IS_L64XX(I)
-        case I_AXIS: L6470_SET_KVAL_HOLD(I); break;
-      #endif
-      #if AXIS_IS_L64XX(J)
-        case J_AXIS: L6470_SET_KVAL_HOLD(J); break;
-      #endif
-      #if AXIS_IS_L64XX(K)
-        case K_AXIS: L6470_SET_KVAL_HOLD(K); break;
-      #endif
-      #if AXIS_IS_L64XX(U)
-        case U_AXIS: L6470_SET_KVAL_HOLD(U); break;
-      #endif
-      #if AXIS_IS_L64XX(V)
-        case V_AXIS: L6470_SET_KVAL_HOLD(V); break;
-      #endif
-      #if AXIS_IS_L64XX(W)
-        case W_AXIS: L6470_SET_KVAL_HOLD(W); break;
-      #endif
-
-      #if AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7)
-        case E_AXIS: {
-          const int8_t eindex = get_target_e_stepper_from_command(-2);
-          #if AXIS_IS_L64XX(E0)
-            if (eindex < 0 || eindex == 0) L6470_SET_KVAL_HOLD(E0);
-          #endif
-          #if AXIS_IS_L64XX(E1)
-            if (eindex < 0 || eindex == 1) L6470_SET_KVAL_HOLD(E1);
-          #endif
-          #if AXIS_IS_L64XX(E2)
-            if (eindex < 0 || eindex == 2) L6470_SET_KVAL_HOLD(E2);
-          #endif
-          #if AXIS_IS_L64XX(E3)
-            if (eindex < 0 || eindex == 3) L6470_SET_KVAL_HOLD(E3);
-          #endif
-          #if AXIS_IS_L64XX(E4)
-            if (eindex < 0 || eindex == 4) L6470_SET_KVAL_HOLD(E4);
-          #endif
-          #if AXIS_IS_L64XX(E5)
-            if (eindex < 0 || eindex == 5) L6470_SET_KVAL_HOLD(E5);
-          #endif
-          #if AXIS_IS_L64XX(E6)
-            if (eindex < 0 || eindex == 6) L6470_SET_KVAL_HOLD(E6);
-          #endif
-          #if AXIS_IS_L64XX(E7)
-            if (eindex < 0 || eindex == 7) L6470_SET_KVAL_HOLD(E7);
-          #endif
-        } break;
-      #endif
-    }
-  }
-
-  if (report_current) {
-    #define L64XX_REPORT_CURRENT(Q) L64XX_report_current(stepper##Q, Q)
-
-    L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway
-
-    #if AXIS_IS_L64XX(X)
-      L64XX_REPORT_CURRENT(X);
-    #endif
-    #if AXIS_IS_L64XX(X2)
-      L64XX_REPORT_CURRENT(X2);
-    #endif
-    #if AXIS_IS_L64XX(Y)
-      L64XX_REPORT_CURRENT(Y);
-    #endif
-    #if AXIS_IS_L64XX(Y2)
-      L64XX_REPORT_CURRENT(Y2);
-    #endif
-    #if AXIS_IS_L64XX(Z)
-      L64XX_REPORT_CURRENT(Z);
-    #endif
-    #if AXIS_IS_L64XX(Z2)
-      L64XX_REPORT_CURRENT(Z2);
-    #endif
-    #if AXIS_IS_L64XX(Z3)
-      L64XX_REPORT_CURRENT(Z3);
-    #endif
-    #if AXIS_IS_L64XX(Z4)
-      L64XX_REPORT_CURRENT(Z4);
-    #endif
-    #if AXIS_IS_L64XX(I)
-      L64XX_REPORT_CURRENT(I);
-    #endif
-    #if AXIS_IS_L64XX(J)
-      L64XX_REPORT_CURRENT(J);
-    #endif
-    #if AXIS_IS_L64XX(K)
-      L64XX_REPORT_CURRENT(K);
-    #endif
-    #if AXIS_IS_L64XX(U)
-      L64XX_REPORT_CURRENT(U);
-    #endif
-    #if AXIS_IS_L64XX(V)
-      L64XX_REPORT_CURRENT(V);
-    #endif
-    #if AXIS_IS_L64XX(W)
-      L64XX_REPORT_CURRENT(W);
-    #endif
-    #if AXIS_IS_L64XX(E0)
-      L64XX_REPORT_CURRENT(E0);
-    #endif
-    #if AXIS_IS_L64XX(E1)
-      L64XX_REPORT_CURRENT(E1);
-    #endif
-    #if AXIS_IS_L64XX(E2)
-      L64XX_REPORT_CURRENT(E2);
-    #endif
-    #if AXIS_IS_L64XX(E3)
-      L64XX_REPORT_CURRENT(E3);
-    #endif
-    #if AXIS_IS_L64XX(E4)
-      L64XX_REPORT_CURRENT(E4);
-    #endif
-    #if AXIS_IS_L64XX(E5)
-      L64XX_REPORT_CURRENT(E5);
-    #endif
-    #if AXIS_IS_L64XX(E6)
-      L64XX_REPORT_CURRENT(E6);
-    #endif
-    #if AXIS_IS_L64XX(E7)
-      L64XX_REPORT_CURRENT(E7);
-    #endif
-
-    L64xxManager.spi_active = false;   // done with all SPI transfers - clear handshake flags
-    L64xxManager.spi_abort = false;
-    L64xxManager.pause_monitor(false);
-  }
-}
-
-#endif // HAS_L64XX

Marlin/src/gcode/feature/L6470/M916-M918.cpp

@@ -1,650 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
-//
-// NOTE: All tests assume each axis uses matching driver chips.
-//
-
-#include "../../../inc/MarlinConfig.h"
-
-#if HAS_L64XX
-
-#include "../../gcode.h"
-#include "../../../module/stepper/indirection.h"
-#include "../../../module/planner.h"
-#include "../../../libs/L64XX/L64XX_Marlin.h"
-
-#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
-#include "../../../core/debug_out.h"
-
-/**
- * M916: increase KVAL_HOLD until get thermal warning
- *       NOTE - on L6474 it is TVAL that is used
- *
- * J - select which driver(s) to monitor on multi-driver axis
- *     0 - (default) monitor all drivers on the axis or E0
- *     1 - monitor only X, Y, Z, E1
- *     2 - monitor only X2, Y2, Z2, E2
- *     3 - monitor only Z3, E3
- *     4 - monitor only Z4, E4
- *
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- *     xxx (1-255) is distance moved on either side of current position
- *
- * F - feedrate
- *     optional - will use default max feedrate from configuration.h if not specified
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- *     optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- *     optional - will report current value from driver if not specified
- *
- * D - time (in seconds) to run each setting of KVAL_HOLD/TVAL
- *     optional - defaults to zero (runs each setting once)
- */
-
-/**
- * This routine is also useful for determining the approximate KVAL_HOLD
- * where the stepper stops losing steps. The sound will get noticeably quieter
- * as it stops losing steps.
- */
-
-void GcodeSuite::M916() {
-
-  DEBUG_ECHOLNPGM("M916");
-
-  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
-  // Variables used by L64xxManager.get_user_input function - some may not be used
-  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
-  L64XX_axis_t axis_index[3];
-  uint16_t axis_status[3];
-  uint8_t driver_count = 1;
-  float position_max;
-  float position_min;
-  float final_feedrate;
-  uint8_t kval_hold;
-  uint8_t OCD_TH_val = 0;
-  uint8_t STALL_TH_val = 0;
-  uint16_t over_current_threshold;
-  constexpr uint8_t over_current_flag = false;  // M916 doesn't play with the overcurrent thresholds
-
-  #define DRIVER_TYPE_L6474(Q) AXIS_DRIVER_TYPE_##Q(L6474)
-
-  uint8_t j;   // general purpose counter
-
-  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
-    return;  // quit if invalid user input
-
-  DEBUG_ECHOLNPGM("feedrate = ", final_feedrate);
-
-  planner.synchronize();                             // wait for all current movement commands to complete
-
-  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-  for (j = 0; j < driver_count; j++)
-    L64xxManager.get_status(axis_index[j]);  // clear out any pre-existing error flags
-
-  char temp_axis_string[] = " ";
-  temp_axis_string[0] = axis_mon[0][0];  // need to have a string for use within sprintf format section
-  char gcode_string[80];
-  uint16_t status_composite = 0;
-
-  uint16_t M91x_counter = kval_hold;
-  uint16_t M91x_counter_max;
-  if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {
-    M91x_counter_max = 128;  // TVAL is 7 bits
-    LIMIT(M91x_counter, 0U, 127U);
-  }
-  else
-    M91x_counter_max = 256;  // KVAL_HOLD is 8 bits
-
-  uint8_t M91x_delay_s = parser.byteval('D');   // get delay in seconds
-  millis_t M91x_delay_ms = SEC_TO_MS(M91x_delay_s * 60);
-  millis_t M91x_delay_end;
-
-  DEBUG_ECHOLNPGM(".\n.");
-
-  do {
-
-    if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
-      DEBUG_ECHOLNPGM("TVAL current (mA) = ", (M91x_counter + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV);        // report TVAL current for this run
-    else
-      DEBUG_ECHOLNPGM("kval_hold = ", M91x_counter);                                   // report KVAL_HOLD for this run
-
-    for (j = 0; j < driver_count; j++)
-      L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, M91x_counter);  //set KVAL_HOLD or TVAL (same register address)
-
-    M91x_delay_end = millis() + M91x_delay_ms;
-    do {
-      // turn the motor(s) both directions
-      sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
-      process_subcommands_now(gcode_string);
-
-      sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
-      process_subcommands_now(gcode_string);
-
-      // get the status after the motors have stopped
-      planner.synchronize();
-
-      status_composite = 0;    // clear out the old bits
-
-      for (j = 0; j < driver_count; j++) {
-        axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
-        status_composite |= axis_status[j] ;
-      }
-
-      if (status_composite) break;
-    } while (millis() < M91x_delay_end);
-
-    if (status_composite) break;
-
-    M91x_counter++;
-
-  } while (!(status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) && (M91x_counter < M91x_counter_max));
-
-  DEBUG_ECHOLNPGM(".");
-
-  #if ENABLED(L6470_CHITCHAT)
-    if (status_composite) {
-      L64xxManager.error_status_decode(status_composite, axis_index[0],
-        sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
-        sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
-        sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
-      DEBUG_ECHOLNPGM(".");
-    }
-  #endif
-
-  if ((status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)))
-    DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Thermal warning/shutdown has occurred");
-  else if (status_composite)
-    DEBUG_ECHOLNPGM(".\n.\nTest completed abnormally - non-thermal error has occurred");
-  else
-    DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Unable to get to thermal warning/shutdown");
-
-  L64xxManager.pause_monitor(false);
-}
-
-/**
- * M917: Find minimum current thresholds
- *
- *   Decrease OCD current until overcurrent error
- *   Increase OCD until overcurrent error goes away
- *   Decrease stall threshold until stall (not done on L6474)
- *   Increase stall until stall error goes away (not done on L6474)
- *
- * J - select which driver(s) to monitor on multi-driver axis
- *     0 - (default) monitor all drivers on the axis or E0
- *     1 - monitor only X, Y, Z, E1
- *     2 - monitor only X2, Y2, Z2, E2
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- *     xxx (1-255) is distance moved on either side of current position
- *
- * F - feedrate
- *     optional - will use default max feedrate from Configuration.h if not specified
- *
- * I - starting over-current threshold
- *     optional - will report current value from driver if not specified
- *     if there are multiple drivers on the axis then all will be set the same
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- *     optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- *     optional - will report current value from driver if not specified
- */
-void GcodeSuite::M917() {
-
-  DEBUG_ECHOLNPGM("M917");
-
-  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
-  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
-  L64XX_axis_t axis_index[3];
-  uint16_t axis_status[3];
-  uint8_t driver_count = 1;
-  float position_max;
-  float position_min;
-  float final_feedrate;
-  uint8_t kval_hold;
-  uint8_t OCD_TH_val = 0;
-  uint8_t STALL_TH_val = 0;
-  uint16_t over_current_threshold;
-  constexpr uint8_t over_current_flag = true;
-
-  uint8_t j;   // general purpose counter
-
-  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
-    return;  // quit if invalid user input
-
-  DEBUG_ECHOLNPGM("feedrate = ", final_feedrate);
-
-  planner.synchronize();                             // wait for all current movement commands to complete
-
-  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-  for (j = 0; j < driver_count; j++)
-    L64xxManager.get_status(axis_index[j]);  // clear error flags
-  char temp_axis_string[] = " ";
-  temp_axis_string[0] = axis_mon[0][0];   // need a sprintf format string
-  char gcode_string[80];
-  uint16_t status_composite = 0;
-  uint8_t test_phase = 0;                 // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL)
-                                          // 1 - increasing OCD - exit when OCD warning stops (ignore STALL)
-                                          // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens
-                                          // 3 - OCD finalized - increasing STALL - exit when STALL warning stop
-                                          // 4 - all testing completed
-  DEBUG_ECHOPGM(".\n.\n.\nover_current threshold : ", (OCD_TH_val + 1) * 375);   // first status display
-  DEBUG_ECHOPGM("  (OCD_TH:  : ", OCD_TH_val);
-  if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) {
-    DEBUG_ECHOPGM(")   Stall threshold: ", (STALL_TH_val + 1) * 31.25);
-    DEBUG_ECHOPGM("  (STALL_TH: ", STALL_TH_val);
-  }
-  DEBUG_ECHOLNPGM(")");
-
-  do {
-
-    if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) DEBUG_ECHOPGM("STALL threshold : ", (STALL_TH_val + 1) * 31.25);
-    DEBUG_ECHOLNPGM("   OCD threshold : ", (OCD_TH_val + 1) * 375);
-
-    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate));
-    process_subcommands_now(gcode_string);
-
-    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate));
-    process_subcommands_now(gcode_string);
-
-    planner.synchronize();
-
-    status_composite = 0;    // clear out the old bits
-
-    for (j = 0; j < driver_count; j++) {
-      axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
-      status_composite |= axis_status[j];
-    }
-
-    if (status_composite && (status_composite & sh.STATUS_AXIS_UVLO)) {
-      DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)");
-      #if ENABLED(L6470_CHITCHAT)
-        for (j = 0; j < driver_count; j++) {
-          if (j) DEBUG_ECHOPGM("...");
-          L64xxManager.error_status_decode(axis_status[j], axis_index[j],
-            sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
-            sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
-            sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
-        }
-      #endif
-      return;
-    }
-
-    if (status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) {
-      DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down ");
-      uint16_t status_composite_temp = 0;
-      uint8_t k = 0;
-      do {
-        k++;
-        if (!(k % 4)) {
-          kval_hold *= 0.95;
-          DEBUG_EOL();
-          DEBUG_ECHOLNPGM("Lowering KVAL_HOLD by about 5% to ", kval_hold);
-          for (j = 0; j < driver_count; j++)
-            L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold);
-        }
-        DEBUG_ECHOLNPGM(".");
-        reset_stepper_timeout(); // keep steppers powered
-        safe_delay(5000);
-        status_composite_temp = 0;
-        for (j = 0; j < driver_count; j++) {
-          axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK;    // bits of interest are all active low
-          status_composite_temp |= axis_status[j];
-        }
-      }
-      while (status_composite_temp & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD));
-      DEBUG_EOL();
-    }
-    if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B | sh.STATUS_AXIS_OCD)) {
-      switch (test_phase) {
-
-        case 0: {
-          if (status_composite & sh.STATUS_AXIS_OCD) {
-            // phase 0 with OCD warning - time to go to next phase
-            if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
-              OCD_TH_val = sh.AXIS_OCD_TH_MAX;           // limit to max
-              test_phase = 2;            // at highest value so skip phase 1
-              //DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2");
-              DEBUG_ECHOLNPGM("OCD at highest - OCD finalized");
-            }
-            else {
-              OCD_TH_val++;              // normal exit to next phase
-              test_phase = 1;            // setup for first pass of phase 1
-              //DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD  & go to 1");
-              DEBUG_ECHOLNPGM("inc OCD");
-            }
-          }
-          else {  // phase 0 without OCD warning - keep on decrementing if can
-            if (OCD_TH_val) {
-              OCD_TH_val--;              // try lower value
-              //DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD");
-              DEBUG_ECHOLNPGM("dec OCD");
-            }
-            else {
-              test_phase = 2;            // at lowest value without warning so skip phase 1
-              //DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2");
-              DEBUG_ECHOLNPGM("OCD finalized");
-            }
-          }
-        } break;
-
-        case 1: {
-          if (status_composite & sh.STATUS_AXIS_OCD) {
-            // phase 1 with OCD warning - increment if can
-            if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) {
-              OCD_TH_val = sh.AXIS_OCD_TH_MAX;           // limit to max
-              test_phase = 2;            // at highest value so go to next phase
-              //DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2");
-              DEBUG_ECHOLNPGM("OCD finalized");
-            }
-            else {
-              OCD_TH_val++;              // try a higher value
-              //DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD");
-              DEBUG_ECHOLNPGM("inc OCD");
-            }
-          }
-          else { // phase 1 without OCD warning - normal exit to phase 2
-            test_phase = 2;
-            //DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1");
-            DEBUG_ECHOLNPGM("OCD finalized");
-          }
-        } break;
-
-        case 2: {
-          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
-            test_phase = 4;
-            break;
-          }
-          if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
-            // phase 2 with stall warning - time to go to next phase
-            if (STALL_TH_val >= 127) {
-              STALL_TH_val = 127;  // limit to max
-              //DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit");
-              DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
-              test_phase = 4;
-            }
-            else {
-              test_phase = 3;              // normal exit to next phase (found failing value of STALL)
-              STALL_TH_val++;              // setup for first pass of phase 3
-              //DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3");
-              DEBUG_ECHOLNPGM("inc Stall");
-            }
-          }
-          else {  // phase 2 without stall warning - decrement if can
-            if (STALL_TH_val) {
-              STALL_TH_val--;              // try a lower value
-              //DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL");
-              DEBUG_ECHOLNPGM("dec STALL");
-            }
-            else {
-              DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning");
-              test_phase = 4;
-              //DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit");
-            }
-          }
-        } break;
-
-        case 3: {
-          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
-            test_phase = 4;
-            break;
-          }
-          if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) {
-            // phase 3 with stall warning - increment if can
-            if (STALL_TH_val >= 127) {
-              STALL_TH_val = 127; // limit to max
-              DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning");
-              test_phase = 4;
-              //DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit");
-            }
-            else {
-              STALL_TH_val++;              // still looking for passing value
-              //DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall");
-              DEBUG_ECHOLNPGM("inc stall");
-            }
-          }
-          else {  //phase 3 without stall warning  but have OCD warning
-            DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning");
-            test_phase = 4;
-            //DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)");
-          }
-        } break;
-
-      }
-
-    }
-    else {
-      switch (test_phase) {
-        case 0: { // phase 0 without OCD warning - keep on decrementing if can
-          if (OCD_TH_val) {
-            OCD_TH_val--;             // try lower value
-            //DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD");
-            DEBUG_ECHOLNPGM("DEC OCD");
-          }
-          else {
-            test_phase = 2;           // at lowest value without warning so skip phase 1
-            //DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)");
-            DEBUG_ECHOLNPGM("OCD finalized");
-          }
-        } break;
-
-        case 1: //DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2
-                DEBUG_ECHOLNPGM("OCD finalized");
-
-        case 2: { // phase 2 without stall warning - keep on decrementing if can
-          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
-            test_phase = 4;
-            break;
-          }
-          if (STALL_TH_val) {
-            STALL_TH_val--;              // try a lower value (stay in phase 2)
-            //DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL");
-            DEBUG_ECHOLNPGM("dec STALL");
-          }
-          else {
-            DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning");
-            test_phase = 4;
-            //DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)");
-          }
-        } break;
-
-        case 3: {
-          if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) {  // skip all STALL_TH steps if L6474
-            test_phase = 4;
-            break;
-          }
-          test_phase = 4;
-           //DEBUG_ECHOLNPGM("LOGIC N3 - finished!");
-           DEBUG_ECHOLNPGM("finished!");
-        } break;  // phase 3 without any warnings - desired exit
-      }  //
-    }  // end of status checks
-
-    if (test_phase != 4) {
-      for (j = 0; j < driver_count; j++) {                       // update threshold(s)
-        L64xxManager.set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val);
-        if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) L64xxManager.set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val);
-        if (L64xxManager.get_param(axis_index[j], L6470_OCD_TH) != OCD_TH_val) DEBUG_ECHOLNPGM("OCD mismatch");
-        if ((L64xxManager.get_param(axis_index[j], L6470_STALL_TH) != STALL_TH_val) && (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT)) DEBUG_ECHOLNPGM("STALL mismatch");
-      }
-    }
-
-  } while (test_phase != 4);
-
-  DEBUG_ECHOLNPGM(".");
-  if (status_composite) {
-    #if ENABLED(L6470_CHITCHAT)
-      for (j = 0; j < driver_count; j++) {
-        if (j) DEBUG_ECHOPGM("...");
-        L64xxManager.error_status_decode(axis_status[j], axis_index[j],
-          sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
-          sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
-          sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
-      }
-      DEBUG_ECHOLNPGM(".");
-    #endif
-    DEBUG_ECHOLNPGM("Completed with errors");
-  }
-  else
-    DEBUG_ECHOLNPGM("Completed with no errors");
-  DEBUG_ECHOLNPGM(".");
-
-  L64xxManager.pause_monitor(false);
-}
-
-/**
- * M918: increase speed until error or max feedrate achieved (as shown in configuration.h))
- *
- * J - select which driver(s) to monitor on multi-driver axis
- *     0 - (default) monitor all drivers on the axis or E0
- *     1 - monitor only X, Y, Z, E1
- *     2 - monitor only X2, Y2, Z2, E2
- * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement
- *     xxx (1-255) is distance moved on either side of current position
- *
- * I - over current threshold
- *     optional - will report current value from driver if not specified
- *
- * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only
- *     optional - will report current value from driver if not specified
- *
- * K - value for KVAL_HOLD (0 - 255) (ignored for L6474)
- *     optional - will report current value from driver if not specified
- *
- * M - value for microsteps (1 - 128) (optional)
- *     optional - will report current value from driver if not specified
- */
-void GcodeSuite::M918() {
-
-  DEBUG_ECHOLNPGM("M918");
-
-  L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
-
-  char axis_mon[3][3] = { {"  "}, {"  "}, {"  "} };   // list of Axes to be monitored
-  L64XX_axis_t axis_index[3];
-  uint16_t axis_status[3];
-  uint8_t driver_count = 1;
-  float position_max, position_min;
-  float final_feedrate;
-  uint8_t kval_hold;
-  uint8_t OCD_TH_val = 0;
-  uint8_t STALL_TH_val = 0;
-  uint16_t over_current_threshold;
-  constexpr uint8_t over_current_flag = true;
-
-  const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow;
-
-  uint8_t j;   // general purpose counter
-
-  if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold))
-    return;  // quit if invalid user input
-
-  L64xxManager.get_status(axis_index[0]); // populate shadow array
-
-  uint8_t m_steps = parser.byteval('M');
-
-  if (m_steps != 0) {
-    LIMIT(m_steps, 1, sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT ? 16 : 128);  // L6474
-
-    uint8_t stepVal;
-    for (stepVal = 0; stepVal < 8; stepVal++) {  // convert to L64xx register value
-      if (m_steps == 1) break;
-      m_steps >>= 1;
-    }
-
-    if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT)
-      stepVal |= 0x98;  // NO SYNC
-    else
-      stepVal |= (!SYNC_EN) | SYNC_SEL_1 | stepVal;
-
-    for (j = 0; j < driver_count; j++) {
-      L64xxManager.set_param(axis_index[j], dSPIN_HARD_HIZ, 0);          // can't write STEP register if stepper being powered
-                                                                         //   results in an extra NOOP being sent (data 00)
-      L64xxManager.set_param(axis_index[j], L6470_STEP_MODE, stepVal);   // set microsteps
-    }
-  }
-  m_steps = L64xxManager.get_param(axis_index[0], L6470_STEP_MODE) & 0x07;   // get microsteps
-
-  DEBUG_ECHOLNPGM("Microsteps = ", _BV(m_steps));
-  DEBUG_ECHOLNPGM("target (maximum) feedrate = ", final_feedrate);
-
-  const float feedrate_inc = final_feedrate / 10,   // Start at 1/10 of max & go up by 1/10 per step
-              fr_limit = final_feedrate * 0.99f;    // Rounding-safe comparison value
-  float current_feedrate = 0;
-
-  planner.synchronize();                            // Wait for moves to complete
-
-  for (j = 0; j < driver_count; j++)
-    L64xxManager.get_status(axis_index[j]);         // Clear error flags
-
-  char temp_axis_string[2] = " ";
-  temp_axis_string[0] = axis_mon[0][0];             // Need a sprintf format string
-  //temp_axis_string[1] = '\n';
-
-  char gcode_string[80];
-  uint16_t status_composite = 0;
-  DEBUG_ECHOLNPGM(".\n.\n.");                       // Make feedrate outputs easier to read
-
-  do {
-    current_feedrate += feedrate_inc;
-    DEBUG_ECHOLNPGM("...feedrate = ", current_feedrate);
-
-    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(current_feedrate));
-    process_subcommands_now(gcode_string);
-
-    sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(current_feedrate));
-    process_subcommands_now(gcode_string);
-
-    planner.synchronize();
-
-    for (j = 0; j < driver_count; j++) {
-      axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & 0x0800;  // Bits of interest are all active LOW
-      status_composite |= axis_status[j];
-    }
-    if (status_composite) break;              // Break on any error
-  } while (current_feedrate < fr_limit);
-
-  DEBUG_ECHOPGM("Completed with ");
-  if (status_composite) {
-    DEBUG_ECHOLNPGM("errors");
-    #if ENABLED(L6470_CHITCHAT)
-      for (j = 0; j < driver_count; j++) {
-        if (j) DEBUG_ECHOPGM("...");
-        L64xxManager.error_status_decode(axis_status[j], axis_index[j],
-          sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN,
-          sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B,
-          sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT);
-      }
-    #endif
-  }
-  else
-    DEBUG_ECHOLNPGM("no errors");
-
-  L64xxManager.pause_monitor(false);
-}
-
-#endif // HAS_L64XX

Marlin/src/gcode/feature/advance/M900.cpp

@@ -26,7 +26,6 @@
 
 #include "../../gcode.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 
 #if ENABLED(EXTRA_LIN_ADVANCE_K)
   float other_extruder_advance_K[EXTRUDERS];

Marlin/src/gcode/feature/leds/M150.cpp

@@ -31,11 +31,13 @@
  * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
  *       and Brightness       - Use P (for NEOPIXEL only)
  *
- * Always sets all 3 or 4 components. If a component is left out, set to 0.
- *                                    If brightness is left out, no value changed
+ * Always sets all 3 or 4 components unless the K flag is specified.
+ *                              If a component is left out, set to 0.
+ *                              If brightness is left out, no value changed.
  *
  * With NEOPIXEL_LED:
  *  I<index>  Set the NeoPixel index to affect. Default: All
+ *  K         Keep all unspecified values unchanged instead of setting to 0.
  *
  * With NEOPIXEL2_SEPARATE:
  *  S<index>  The NeoPixel strip to set. Default: All.
@@ -51,16 +53,19 @@
  *   M150 P          ; Set LED full brightness
  *   M150 I1 R       ; Set NEOPIXEL index 1 to red
  *   M150 S1 I1 R    ; Set SEPARATE index 1 to red
+ *   M150 K R127     ; Set LED red to 50% without changing blue or green
  */
 void GcodeSuite::M150() {
+  int32_t old_color = 0;
+
   #if ENABLED(NEOPIXEL_LED)
     const pixel_index_t index = parser.intval('I', -1);
     #if ENABLED(NEOPIXEL2_SEPARATE)
       int8_t brightness = neo.brightness(), unit = parser.intval('S', -1);
       switch (unit) {
         case -1: neo2.neoindex = index; // fall-thru
-        case  0:  neo.neoindex = index; break;
-        case  1: neo2.neoindex = index; brightness = neo2.brightness(); break;
+        case  0:  neo.neoindex = index; old_color = parser.seen('K') ? neo.pixel_color(index >= 0 ? index : 0) : 0; break;
+        case  1: neo2.neoindex = index; brightness = neo2.brightness(); old_color = parser.seen('K') ? neo2.pixel_color(index >= 0 ? index : 0) : 0; break;
       }
     #else
       const uint8_t brightness = neo.brightness();
@@ -69,10 +74,10 @@ void GcodeSuite::M150() {
   #endif
 
   const LEDColor color = LEDColor(
-    parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
-    parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
-    parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
-    OPTARG(HAS_WHITE_LED, parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0)
+    parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : (old_color >> 16) & 0xFF,
+    parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : (old_color >>  8) & 0xFF,
+    parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : old_color & 0xFF
+    OPTARG(HAS_WHITE_LED, parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : (old_color >> 24) & 0xFF)
     OPTARG(NEOPIXEL_LED, parser.seen('P') ? (parser.has_value() ? parser.value_byte() : 255) : brightness)
   );
 

Marlin/src/gcode/feature/pause/M125.cpp

@@ -71,12 +71,12 @@ void GcodeSuite::M125() {
     if (parser.seenval('X')) park_point.x = RAW_X_POSITION(parser.linearval('X')),
     if (parser.seenval('Y')) park_point.y = RAW_Y_POSITION(parser.linearval('Y')),
     NOOP,
-    if (parser.seenval(AXIS4_NAME)) park_point.i = RAW_X_POSITION(parser.linearval(AXIS4_NAME)),
-    if (parser.seenval(AXIS5_NAME)) park_point.j = RAW_X_POSITION(parser.linearval(AXIS5_NAME)),
-    if (parser.seenval(AXIS6_NAME)) park_point.k = RAW_X_POSITION(parser.linearval(AXIS6_NAME)),
-    if (parser.seenval(AXIS7_NAME)) park_point.u = RAW_X_POSITION(parser.linearval(AXIS7_NAME)),
-    if (parser.seenval(AXIS8_NAME)) park_point.v = RAW_X_POSITION(parser.linearval(AXIS8_NAME)),
-    if (parser.seenval(AXIS9_NAME)) park_point.w = RAW_X_POSITION(parser.linearval(AXIS9_NAME))
+    if (parser.seenval(AXIS4_NAME)) park_point.i = RAW_I_POSITION(parser.linearval(AXIS4_NAME)),
+    if (parser.seenval(AXIS5_NAME)) park_point.j = RAW_J_POSITION(parser.linearval(AXIS5_NAME)),
+    if (parser.seenval(AXIS6_NAME)) park_point.k = RAW_K_POSITION(parser.linearval(AXIS6_NAME)),
+    if (parser.seenval(AXIS7_NAME)) park_point.u = RAW_U_POSITION(parser.linearval(AXIS7_NAME)),
+    if (parser.seenval(AXIS8_NAME)) park_point.v = RAW_V_POSITION(parser.linearval(AXIS8_NAME)),
+    if (parser.seenval(AXIS9_NAME)) park_point.w = RAW_W_POSITION(parser.linearval(AXIS9_NAME))
   );
 
   // Lift Z axis

Marlin/src/gcode/feature/trinamic/M122.cpp

@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper/indirection.h"
+#include "../../../module/stepper/indirection.h" // for restore_stepper_drivers
 
 /**
  * M122: Debug TMC drivers

Marlin/src/gcode/feature/trinamic/M919.cpp

@@ -169,6 +169,15 @@ void GcodeSuite::M919() {
       #if AXIS_IS_TMC(K)
         case K_AXIS: TMC_SET_CHOPPER_TIME(K); break;
       #endif
+      #if AXIS_IS_TMC(U)
+        case U_AXIS: TMC_SET_CHOPPER_TIME(U); break;
+      #endif
+      #if AXIS_IS_TMC(V)
+        case V_AXIS: TMC_SET_CHOPPER_TIME(V); break;
+      #endif
+      #if AXIS_IS_TMC(W)
+        case W_AXIS: TMC_SET_CHOPPER_TIME(W); break;
+      #endif
 
       #if HAS_E_CHOPPER
         case E_AXIS: {
@@ -236,6 +245,15 @@ void GcodeSuite::M919() {
     #if AXIS_IS_TMC(K)
       TMC_SAY_CHOPPER_TIME(K);
     #endif
+    #if AXIS_IS_TMC(U)
+      TMC_SAY_CHOPPER_TIME(U);
+    #endif
+    #if AXIS_IS_TMC(V)
+      TMC_SAY_CHOPPER_TIME(V);
+    #endif
+    #if AXIS_IS_TMC(W)
+      TMC_SAY_CHOPPER_TIME(W);
+    #endif
     #if AXIS_IS_TMC(E0)
       TMC_SAY_CHOPPER_TIME(E0);
     #endif

Marlin/src/gcode/gcode.cpp

@@ -53,7 +53,7 @@ GcodeSuite gcode;
   #include "../feature/cancel_object.h"
 #endif
 
-#if ENABLED(LASER_MOVE_POWER)
+#if ENABLED(LASER_FEATURE)
   #include "../feature/spindle_laser.h"
 #endif
 
@@ -210,8 +210,11 @@ void GcodeSuite::get_destination_from_command() {
       recovery.save();
   #endif
 
-  if (parser.floatval('F') > 0)
+  if (parser.floatval('F') > 0) {
     feedrate_mm_s = parser.value_feedrate();
+    // Update the cutter feed rate for use by M4 I set inline moves.
+    TERN_(LASER_FEATURE, cutter.feedrate_mm_m = MMS_TO_MMM(feedrate_mm_s));
+  }
 
   #if BOTH(PRINTCOUNTER, HAS_EXTRUDERS)
     if (!DEBUGGING(DRYRUN) && !skip_move)
@@ -223,15 +226,29 @@ void GcodeSuite::get_destination_from_command() {
     M165();
   #endif
 
-  #if ENABLED(LASER_MOVE_POWER)
-    // Set the laser power in the planner to configure this move
-    if (parser.seen('S')) {
-      const float spwr = parser.value_float();
-      cutter.inline_power(TERN(SPINDLE_LASER_USE_PWM, cutter.power_to_range(cutter_power_t(round(spwr))), spwr > 0 ? 255 : 0));
+  #if ENABLED(LASER_FEATURE)
+    if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) {
+      // Set the cutter power in the planner to configure this move
+      cutter.last_feedrate_mm_m = 0;
+      if (WITHIN(parser.codenum, 1, TERN(ARC_SUPPORT, 3, 1)) || TERN0(BEZIER_CURVE_SUPPORT, parser.codenum == 5)) {
+        planner.laser_inline.status.isPowered = true;
+        if (parser.seen('I')) cutter.set_enabled(true);       // This is set for backward LightBurn compatibility.
+        if (parser.seenval('S')) {
+          const float v = parser.value_float(),
+                      u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v));
+          cutter.menuPower = cutter.unitPower = u;
+          cutter.inline_power(TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0));
+        }
+      }
+      else if (parser.codenum == 0) {
+        // For dynamic mode we need to flag isPowered off, dynamic power is calculated in the stepper based on feedrate.
+        if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC) planner.laser_inline.status.isPowered = false;
+        cutter.inline_power(0); // This is planner-based so only set power and do not disable inline control flags.
+      }
     }
-    else if (ENABLED(LASER_MOVE_G0_OFF) && parser.codenum == 0) // G0
-      cutter.set_inline_enabled(false);
-  #endif
+    else if (parser.codenum == 0)
+      cutter.apply_power(0);
+  #endif // LASER_FEATURE
 }
 
 /**
@@ -560,6 +577,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 100: M100(); break;                                  // M100: Free Memory Report
       #endif
 
+      #if ENABLED(BD_SENSOR)
+        case 102: M102(); break;                                  // M102: Configure Bed Distance Sensor
+      #endif
+
       #if HAS_EXTRUDERS
         case 104: M104(); break;                                  // M104: Set hot end temperature
         case 109: M109(); break;                                  // M109: Wait for hotend temperature to reach target
@@ -748,7 +769,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 290: M290(); break;                                  // M290: Babystepping
       #endif
 
-      #if HAS_BUZZER
+      #if HAS_SOUND
         case 300: M300(); break;                                  // M300: Play beep tone
       #endif
 
@@ -848,6 +869,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 421: M421(); break;                                  // M421: Set a Mesh Bed Leveling Z coordinate
       #endif
 
+      #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+        case 423: M423(); break;                                  // M423: Reset, modify, or report X-Twist Compensation data
+      #endif
+
       #if ENABLED(BACKLASH_GCODE)
         case 425: M425(); break;                                  // M425: Tune backlash compensation
       #endif
@@ -912,7 +937,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       #endif
 
       #if IS_KINEMATIC
-        case 665: M665(); break;                                  // M665: Set Delta/SCARA parameters
+        case 665: M665(); break;                                  // M665: Set Kinematics parameters
       #endif
 
       #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
@@ -984,14 +1009,6 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 919: M919(); break;                                  // M919: Set stepper Chopper Times
       #endif
 
-      #if HAS_L64XX
-        case 122: M122(); break;                                   // M122: Report status
-        case 906: M906(); break;                                   // M906: Set or get motor drive level
-        case 916: M916(); break;                                   // M916: L6470 tuning: Increase drive level until thermal warning
-        case 917: M917(); break;                                   // M917: L6470 tuning: Find minimum current thresholds
-        case 918: M918(); break;                                   // M918: L6470 tuning: Increase speed until max or error
-      #endif
-
       #if HAS_MICROSTEPS
         case 350: M350(); break;                                  // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
         case 351: M351(); break;                                  // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.

Marlin/src/gcode/gcode.h

@@ -132,6 +132,8 @@
  *
  * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
  *
+ * M102 - Configure Bed Distance Sensor. (Requires BD_SENSOR)
+ *
  * M104 - Set extruder target temp.
  * M105 - Report current temperatures.
  * M106 - Set print fan speed.
@@ -155,7 +157,7 @@
  * M120 - Enable endstops detection.
  * M121 - Disable endstops detection.
  *
- * M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
+ * M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
  * M123 - Report fan tachometers. (Requires En_FAN_TACHO_PIN) Optionally set auto-report interval. (Requires AUTO_REPORT_FANS)
  * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  *
@@ -262,6 +264,7 @@
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
  *        Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
+ *        Set Polargraph draw area and belt length: "M665 S<segments-per-second> L<draw-area-left> R<draw-area-right> T<draw-area-top> B<draw-area-bottom> H<max-belt-length>"
  * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
  * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
  * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
@@ -286,7 +289,7 @@
  * M871 - Print/reset/clear first layer temperature offset values. (Requires PTC_PROBE, PTC_BED, or PTC_HOTEND)
  * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
  * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
- * M906 - Set or get motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
+ * M906 - Set or get motor current in milliamps using axis codes XYZE, etc. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
  * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  * M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN)
  * M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC)
@@ -295,9 +298,6 @@
  * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
  * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
  * M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
- * M916 - L6470 tuning: Increase KVAL_HOLD until thermal warning. (Requires at least one _DRIVER_TYPE L6470)
- * M917 - L6470 tuning: Find minimum current thresholds. (Requires at least one _DRIVER_TYPE L6470)
- * M918 - L6470 tuning: Increase speed until max or error. (Requires at least one _DRIVER_TYPE L6470)
  * M919 - Get or Set motor Chopper Times (time_off, hysteresis_end, hysteresis_start) using axis codes XYZE, etc. If no parameters are given, report. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
  * M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER)
  * M3426 - Read MCP3426 ADC over I2C. (Requires HAS_MCP3426_ADC)
@@ -707,6 +707,11 @@ private:
     static void M100();
   #endif
 
+  #if ENABLED(BD_SENSOR)
+    static void M102();
+    static void M102_report(const bool forReplay=true);
+  #endif
+
   #if HAS_EXTRUDERS
     static void M104_M109(const bool isM109);
     FORCE_INLINE static void M104() { M104_M109(false); }
@@ -886,7 +891,7 @@ private:
     static void M250_report(const bool forReplay=true);
   #endif
 
-  #if HAS_DISPLAY_SLEEP
+  #if HAS_GCODE_M255
     static void M255();
     static void M255_report(const bool forReplay=true);
   #endif
@@ -916,7 +921,7 @@ private:
     static void M290();
   #endif
 
-  #if HAS_BUZZER
+  #if HAS_SOUND
     static void M300();
   #endif
 
@@ -1163,14 +1168,6 @@ private:
     static void M919();
   #endif
 
-  #if HAS_L64XX
-    static void M122();
-    static void M906();
-    static void M916();
-    static void M917();
-    static void M918();
-  #endif
-
   #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM || HAS_MOTOR_CURRENT_I2C || HAS_MOTOR_CURRENT_DAC
     static void M907();
     #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM

Marlin/src/gcode/geometry/G53-G59.cpp

@@ -25,8 +25,6 @@
 
 #if ENABLED(CNC_COORDINATE_SYSTEMS)
 
-#include "../../module/stepper.h"
-
 //#define DEBUG_M53
 
 /**

Marlin/src/gcode/geometry/G92.cpp

@@ -22,7 +22,6 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 
 #if ENABLED(I2C_POSITION_ENCODERS)
   #include "../../feature/encoder_i2c.h"

Marlin/src/gcode/host/M114.cpp

@@ -28,12 +28,6 @@
 
 #if ENABLED(M114_DETAIL)
 
-  #if HAS_L64XX
-    #include "../../libs/L64XX/L64XX_Marlin.h"
-    #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
-    #include "../../core/debug_out.h"
-  #endif
-
   void report_all_axis_pos(const xyze_pos_t &pos, const uint8_t n=LOGICAL_AXES, const uint8_t precision=3) {
     char str[12];
     LOOP_L_N(a, n) {
@@ -84,89 +78,6 @@
 
     planner.synchronize();
 
-    #if HAS_L64XX
-      char temp_buf[80];
-      int32_t temp;
-      //#define ABS_POS_SIGN_MASK 0b1111 1111 1110 0000 0000 0000 0000 0000
-      #define ABS_POS_SIGN_MASK 0b11111111111000000000000000000000
-      #define REPORT_ABSOLUTE_POS(Q) do{                            \
-          L64xxManager.say_axis(Q, false);                          \
-          temp = L6470_GETPARAM(L6470_ABS_POS,Q);                   \
-          if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK;  \
-          sprintf_P(temp_buf, PSTR(":%8ld   "), temp);              \
-          DEBUG_ECHO(temp_buf);                                     \
-        }while(0)
-
-      DEBUG_ECHOPGM("\nL6470:");
-      #if AXIS_IS_L64XX(X)
-        REPORT_ABSOLUTE_POS(X);
-      #endif
-      #if AXIS_IS_L64XX(X2)
-        REPORT_ABSOLUTE_POS(X2);
-      #endif
-      #if AXIS_IS_L64XX(Y)
-        REPORT_ABSOLUTE_POS(Y);
-      #endif
-      #if AXIS_IS_L64XX(Y2)
-        REPORT_ABSOLUTE_POS(Y2);
-      #endif
-      #if AXIS_IS_L64XX(Z)
-        REPORT_ABSOLUTE_POS(Z);
-      #endif
-      #if AXIS_IS_L64XX(Z2)
-        REPORT_ABSOLUTE_POS(Z2);
-      #endif
-      #if AXIS_IS_L64XX(Z3)
-        REPORT_ABSOLUTE_POS(Z3);
-      #endif
-      #if AXIS_IS_L64XX(Z4)
-        REPORT_ABSOLUTE_POS(Z4);
-      #endif
-      #if AXIS_IS_L64XX(I)
-        REPORT_ABSOLUTE_POS(I);
-      #endif
-      #if AXIS_IS_L64XX(J)
-        REPORT_ABSOLUTE_POS(J);
-      #endif
-      #if AXIS_IS_L64XX(K)
-        REPORT_ABSOLUTE_POS(K);
-      #endif
-      #if AXIS_IS_L64XX(U)
-        REPORT_ABSOLUTE_POS(U);
-      #endif
-      #if AXIS_IS_L64XX(V)
-        REPORT_ABSOLUTE_POS(V);
-      #endif
-      #if AXIS_IS_L64XX(W)
-        REPORT_ABSOLUTE_POS(W);
-      #endif
-      #if AXIS_IS_L64XX(E0)
-        REPORT_ABSOLUTE_POS(E0);
-      #endif
-      #if AXIS_IS_L64XX(E1)
-        REPORT_ABSOLUTE_POS(E1);
-      #endif
-      #if AXIS_IS_L64XX(E2)
-        REPORT_ABSOLUTE_POS(E2);
-      #endif
-      #if AXIS_IS_L64XX(E3)
-        REPORT_ABSOLUTE_POS(E3);
-      #endif
-      #if AXIS_IS_L64XX(E4)
-        REPORT_ABSOLUTE_POS(E4);
-      #endif
-      #if AXIS_IS_L64XX(E5)
-        REPORT_ABSOLUTE_POS(E5);
-      #endif
-      #if AXIS_IS_L64XX(E6)
-        REPORT_ABSOLUTE_POS(E6);
-      #endif
-      #if AXIS_IS_L64XX(E7)
-        REPORT_ABSOLUTE_POS(E7);
-      #endif
-      SERIAL_EOL();
-    #endif // HAS_L64XX
-
     SERIAL_ECHOPGM("Stepper:");
     LOOP_LOGICAL_AXES(i) {
       SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_LBL[i]), stepper.position((AxisEnum)i));

Marlin/src/gcode/lcd/M255.cpp

@@ -36,7 +36,7 @@ void GcodeSuite::M255() {
       const int m = parser.value_int();
       ui.sleep_timeout_minutes = constrain(m, SLEEP_TIMEOUT_MIN, SLEEP_TIMEOUT_MAX);
     #else
-      const int s = parser.value_int() * 60;
+      const unsigned int s = parser.value_ushort() * 60;
       ui.lcd_backlight_timeout = constrain(s, LCD_BKL_TIMEOUT_MIN, LCD_BKL_TIMEOUT_MAX);
     #endif
   }

Marlin/src/gcode/lcd/M300.cpp

@@ -22,7 +22,7 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_BUZZER
+#if HAS_SOUND
 
 #include "../gcode.h"
 
@@ -42,4 +42,4 @@ void GcodeSuite::M300() {
   BUZZ(duration, frequency);
 }
 
-#endif // HAS_BUZZER
+#endif // HAS_SOUND

Marlin/src/gcode/motion/G0_G1.cpp

@@ -32,7 +32,7 @@
 #include "../../sd/cardreader.h"
 
 #if ENABLED(NANODLP_Z_SYNC)
-  #include "../../module/stepper.h"
+  #include "../../module/planner.h"
 #endif
 
 extern xyze_pos_t destination;

Marlin/src/gcode/motion/G2_G3.cpp

@@ -197,8 +197,8 @@ void plan_arc(
   // Feedrate for the move, scaled by the feedrate multiplier
   const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
 
-  // Get the nominal segment length based on settings
-  const float nominal_segment_mm = (
+  // Get the ideal segment length for the move based on settings
+  const float ideal_segment_mm = (
     #if ARC_SEGMENTS_PER_SEC  // Length based on segments per second and feedrate
       constrain(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM)
     #else
@@ -206,19 +206,21 @@ void plan_arc(
     #endif
   );
 
-  // Number of whole segments based on the nominal segment length
-  const float nominal_segments = _MAX(FLOOR(flat_mm / nominal_segment_mm), min_segments);
+  // Number of whole segments based on the ideal segment length
+  const float nominal_segments = _MAX(FLOOR(flat_mm / ideal_segment_mm), min_segments),
+              nominal_segment_mm = flat_mm / nominal_segments;
 
-  // A new segment length based on the required minimum
-  const float segment_mm = constrain(flat_mm / nominal_segments, MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM);
+  // The number of whole segments in the arc, with best attempt to honor MIN_ARC_SEGMENT_MM and MAX_ARC_SEGMENT_MM
+  const uint16_t segments = nominal_segment_mm > (MAX_ARC_SEGMENT_MM) ? CEIL(flat_mm / (MAX_ARC_SEGMENT_MM)) :
+                            nominal_segment_mm < (MIN_ARC_SEGMENT_MM) ? _MAX(1, FLOOR(flat_mm / (MIN_ARC_SEGMENT_MM))) :
+                            nominal_segments;
+  const float segment_mm = flat_mm / segments;
 
-  // The number of whole segments in the arc, ignoring the remainder
-  uint16_t segments = FLOOR(flat_mm / segment_mm);
-
-  // Are the segments now too few to reach the destination?
-  const float segmented_length = segment_mm * segments;
-  const bool tooshort = segmented_length < flat_mm - 0.0001f;
-  const float proportion = tooshort ? segmented_length / flat_mm : 1.0f;
+  // Add hints to help optimize the move
+  PlannerHints hints;
+  #if ENABLED(SCARA_FEEDRATE_SCALING)
+    hints.inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
+  #endif
 
   /**
    * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
@@ -246,108 +248,123 @@ void plan_arc(
    * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
    * This is important when there are successive arc motions.
    */
-  // Vector rotation matrix values
+
   xyze_pos_t raw;
-  const float theta_per_segment = proportion * angular_travel / segments,
-              sq_theta_per_segment = sq(theta_per_segment),
-              sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
-              cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
 
-  #if DISABLED(AUTO_BED_LEVELING_UBL)
-    ARC_LIJKUVW_CODE(
-      const float per_segment_L = proportion * travel_L / segments,
-      const float per_segment_I = proportion * travel_I / segments,
-      const float per_segment_J = proportion * travel_J / segments,
-      const float per_segment_K = proportion * travel_K / segments,
-      const float per_segment_U = proportion * travel_U / segments,
-      const float per_segment_V = proportion * travel_V / segments,
-      const float per_segment_W = proportion * travel_W / segments
+  // do not calculate rotation parameters for trivial single-segment arcs
+  if (segments > 1) {
+    // Vector rotation matrix values
+    const float theta_per_segment = angular_travel / segments,
+                sq_theta_per_segment = sq(theta_per_segment),
+                sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
+                cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
+
+    #if DISABLED(AUTO_BED_LEVELING_UBL)
+      ARC_LIJKUVW_CODE(
+        const float per_segment_L = travel_L / segments,
+        const float per_segment_I = travel_I / segments,
+        const float per_segment_J = travel_J / segments,
+        const float per_segment_K = travel_K / segments,
+        const float per_segment_U = travel_U / segments,
+        const float per_segment_V = travel_V / segments,
+        const float per_segment_W = travel_W / segments
+      );
+    #endif
+
+    CODE_ITEM_E(const float extruder_per_segment = travel_E / segments);
+
+    // Initialize all linear axes and E
+    ARC_LIJKUVWE_CODE(
+      raw[axis_l] = current_position[axis_l],
+      raw.i       = current_position.i,
+      raw.j       = current_position.j,
+      raw.k       = current_position.k,
+      raw.u       = current_position.u,
+      raw.v       = current_position.v,
+      raw.w       = current_position.w,
+      raw.e       = current_position.e
     );
-  #endif
 
-  CODE_ITEM_E(const float extruder_per_segment = proportion * travel_E / segments);
-
-  // For shortened segments, run all but the remainder in the loop
-  if (tooshort) segments++;
-
-  // Initialize all linear axes and E
-  ARC_LIJKUVWE_CODE(
-    raw[axis_l] = current_position[axis_l],
-    raw.i       = current_position.i,
-    raw.j       = current_position.j,
-    raw.k       = current_position.k,
-    raw.u       = current_position.u,
-    raw.v       = current_position.v,
-    raw.w       = current_position.w,
-    raw.e       = current_position.e
-  );
-
-  #if ENABLED(SCARA_FEEDRATE_SCALING)
-    const float inv_duration = scaled_fr_mm_s / segment_mm;
-  #endif
-
-  millis_t next_idle_ms = millis() + 200UL;
-
-  #if N_ARC_CORRECTION > 1
-    int8_t arc_recalc_count = N_ARC_CORRECTION;
-  #endif
-
-  for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
-
-    thermalManager.manage_heater();
-    const millis_t ms = millis();
-    if (ELAPSED(ms, next_idle_ms)) {
-      next_idle_ms = ms + 200UL;
-      idle();
-    }
+    millis_t next_idle_ms = millis() + 200UL;
 
     #if N_ARC_CORRECTION > 1
-      if (--arc_recalc_count) {
-        // Apply vector rotation matrix to previous rvec.a / 1
-        const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
-        rvec.a = rvec.a * cos_T - rvec.b * sin_T;
-        rvec.b = r_new_Y;
+      int8_t arc_recalc_count = N_ARC_CORRECTION;
+    #endif
+
+    // An arc can always complete within limits from a speed which...
+    // a) is <= any configured maximum speed,
+    // b) does not require centripetal force greater than any configured maximum acceleration,
+    // c) is <= nominal speed,
+    // d) allows the print head to stop in the remining length of the curve within all configured maximum accelerations.
+    // The last has to be calculated every time through the loop.
+    const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
+                limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
+                limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius, sq(scaled_fr_mm_s));
+    float arc_mm_remaining = flat_mm;
+
+    for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
+
+      thermalManager.task();
+      const millis_t ms = millis();
+      if (ELAPSED(ms, next_idle_ms)) {
+        next_idle_ms = ms + 200UL;
+        idle();
       }
-      else
-    #endif
-    {
+
       #if N_ARC_CORRECTION > 1
-        arc_recalc_count = N_ARC_CORRECTION;
+        if (--arc_recalc_count) {
+          // Apply vector rotation matrix to previous rvec.a / 1
+          const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
+          rvec.a = rvec.a * cos_T - rvec.b * sin_T;
+          rvec.b = r_new_Y;
+        }
+        else
+      #endif
+      {
+        #if N_ARC_CORRECTION > 1
+          arc_recalc_count = N_ARC_CORRECTION;
+        #endif
+
+        // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+        // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+        // To reduce stuttering, the sin and cos could be computed at different times.
+        // For now, compute both at the same time.
+        const float Ti = i * theta_per_segment, cos_Ti = cos(Ti), sin_Ti = sin(Ti);
+        rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
+        rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
+      }
+
+      // Update raw location
+      raw[axis_p] = center_P + rvec.a;
+      raw[axis_q] = center_Q + rvec.b;
+      ARC_LIJKUVWE_CODE(
+        #if ENABLED(AUTO_BED_LEVELING_UBL)
+          raw[axis_l] = start_L,
+          raw.i = start_I, raw.j = start_J, raw.k = start_K,
+          raw.u = start_U, raw.v = start_V, raw.w = start_V
+        #else
+          raw[axis_l] += per_segment_L,
+          raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K,
+          raw.u += per_segment_U, raw.v += per_segment_V, raw.w += per_segment_W
+        #endif
+        , raw.e += extruder_per_segment
+      );
+
+      apply_motion_limits(raw);
+
+      #if HAS_LEVELING && !PLANNER_LEVELING
+        planner.apply_leveling(raw);
       #endif
 
-      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
-      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
-      // To reduce stuttering, the sin and cos could be computed at different times.
-      // For now, compute both at the same time.
-      const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
-      rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
-      rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
+      // calculate safe speed for stopping by the end of the arc
+      arc_mm_remaining -= segment_mm;
+      hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining);
+
+      if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints))
+        break;
+
+      hints.curve_radius = radius;
     }
-
-    // Update raw location
-    raw[axis_p] = center_P + rvec.a;
-    raw[axis_q] = center_Q + rvec.b;
-    ARC_LIJKUVWE_CODE(
-      #if ENABLED(AUTO_BED_LEVELING_UBL)
-        raw[axis_l] = start_L,
-        raw.i = start_I, raw.j = start_J, raw.k = start_K,
-        raw.u = start_U, raw.v = start_V, raw.w = start_V
-      #else
-        raw[axis_l] += per_segment_L,
-        raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K,
-        raw.u += per_segment_U, raw.v += per_segment_V, raw.w += per_segment_W
-      #endif
-      , raw.e += extruder_per_segment
-    );
-
-    apply_motion_limits(raw);
-
-    #if HAS_LEVELING && !PLANNER_LEVELING
-      planner.apply_leveling(raw);
-    #endif
-
-    if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)))
-      break;
   }
 
   // Ensure last segment arrives at target location.
@@ -366,7 +383,9 @@ void plan_arc(
     planner.apply_leveling(raw);
   #endif
 
-  planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
+  hints.curve_radius = 0;
+  hints.safe_exit_speed_sqr = 0.0f;
+  planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
 
   #if ENABLED(AUTO_BED_LEVELING_UBL)
     ARC_LIJKUVW_CODE(

Marlin/src/gcode/motion/G4.cpp

@@ -21,7 +21,7 @@
  */
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../lcd/marlinui.h"
 
 /**