🔖 Version 2.1.1.5

🐛 Fix TFT LVGL UI + Y-DIR conflict (#28291 )
Fixes #22967
2026-03-14 19:27:04 +01:00 · 2026-01-22 11:57:24 -06:00 · 2026-01-22 11:36:14 -06:00 · 2026-01-15 19:19:07 -06:00 · 2026-01-15 19:17:42 -06:00 · 2026-01-15 19:17:42 -06:00
213 changed files with 8108 additions and 7765 deletions
--- a/.github/contributing.md
+++ b/.github/contributing.md
@@ -119,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t

 ### Pull Requests

-Pull Requests should always be targeted to working branches (e.g., `bugfix-2.0.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.

 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.
--- a/.gitignore
+++ b/.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
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -35,7 +35,7 @@
 *
 * Advanced settings can be found in Configuration_adv.h
 */
-#define CONFIGURATION_H_VERSION 02000905
+#define CONFIGURATION_H_VERSION 02010100

 //===========================================================================
 //============================= Getting Started =============================
@@ -112,6 +112,7 @@
 * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
 */
 #define BAUDRATE 250000
+
 //#define BAUD_RATE_GCODE     // Enable G-code M575 to set the baud rate

 /**
@@ -120,7 +121,7 @@
 * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
 */
 //#define SERIAL_PORT_2 -1
-//#define BAUDRATE_2 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 /**
 * Select a third serial port on the board to use for communication with the host.
@@ -128,7 +129,7 @@
 * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
 */
 //#define SERIAL_PORT_3 1
-//#define BAUDRATE_3 250000   // Enable to override BAUDRATE
+//#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
@@ -148,13 +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
@@ -167,6 +167,9 @@
 //#define I_DRIVER_TYPE  A4988
 //#define J_DRIVER_TYPE  A4988
 //#define K_DRIVER_TYPE  A4988
+//#define U_DRIVER_TYPE  A4988
+//#define V_DRIVER_TYPE  A4988
+//#define W_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -179,6 +182,9 @@
 /**
 * Additional Axis Settings
 *
+ * Define AXISn_ROTATES for all axes that rotate or pivot.
+ * Rotational axis coordinates are expressed in degrees.
+ *
 * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands.
 * By convention the names and roles are typically:
 *   'A' : Rotational axis parallel to X
@@ -188,16 +194,31 @@
 *   'V' : Secondary linear axis parallel to Y
 *   'W' : Secondary linear axis parallel to Z
 *
- * Regardless of these settings the axes are internally named I, J, K.
+ * Regardless of these settings the axes are internally named I, J, K, U, V, W.
 */
 #ifdef I_DRIVER_TYPE
  #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define AXIS4_ROTATES
 #endif
 #ifdef J_DRIVER_TYPE
  #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
+  #define AXIS5_ROTATES
 #endif
 #ifdef K_DRIVER_TYPE
  #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
+  #define AXIS6_ROTATES
+#endif
+#ifdef U_DRIVER_TYPE
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
+  //#define AXIS7_ROTATES
+#endif
+#ifdef V_DRIVER_TYPE
+  #define AXIS8_NAME 'V' // :['V', 'W']
+  //#define AXIS8_ROTATES
+#endif
+#ifdef W_DRIVER_TYPE
+  #define AXIS9_NAME 'W' // :['W']
+  //#define AXIS9_ROTATES
 #endif

 // @section extruder
@@ -250,6 +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

 /**
@@ -366,7 +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
@@ -528,22 +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)
@@ -602,6 +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
@@ -612,7 +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)
@@ -634,6 +669,7 @@
 * Use a physical model of the hotend to control temperature. When configured correctly
 * this gives better responsiveness and stability than PID and it also removes the need
 * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 T to autotune the model.
+ * @section mpctemp
 */
 #if ENABLED(MPCTEMP)
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash)
@@ -686,6 +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

@@ -701,7 +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)
@@ -729,6 +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
@@ -743,7 +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.
@@ -757,7 +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
@@ -767,7 +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.
@@ -835,6 +872,8 @@
  #define POLAR_SEGMENTS_PER_SECOND 5
 #endif

+// @section delta
+
 // Enable for DELTA kinematics and configure below
 //#define DELTA
 #if ENABLED(DELTA)
@@ -894,6 +933,8 @@
  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 #endif

+// @section scara
+
 /**
 * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
 * Implemented and slightly reworked by JCERNY in June, 2014.
@@ -937,6 +978,8 @@

 #endif

+// @section tpara
+
 // Enable for TPARA kinematics and configure below
 //#define AXEL_TPARA
 #if ENABLED(AXEL_TPARA)
@@ -963,11 +1006,20 @@
  #define PSI_HOMING_OFFSET    0
 #endif

+// @section machine
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================

-// @section homing
+// @section endstops

 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
@@ -978,12 +1030,18 @@
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
+//#define USE_UMIN_PLUG
+//#define USE_VMIN_PLUG
+//#define USE_WMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
 //#define USE_KMAX_PLUG
+//#define USE_UMAX_PLUG
+//#define USE_VMAX_PLUG
+//#define USE_WMAX_PLUG

 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -995,12 +1053,18 @@
  //#define ENDSTOPPULLUP_IMIN
  //#define ENDSTOPPULLUP_JMIN
  //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_UMIN
+  //#define ENDSTOPPULLUP_VMIN
+  //#define ENDSTOPPULLUP_WMIN
  //#define ENDSTOPPULLUP_XMAX
  //#define ENDSTOPPULLUP_YMAX
  //#define ENDSTOPPULLUP_ZMAX
  //#define ENDSTOPPULLUP_IMAX
  //#define ENDSTOPPULLUP_JMAX
  //#define ENDSTOPPULLUP_KMAX
+  //#define ENDSTOPPULLUP_UMAX
+  //#define ENDSTOPPULLUP_VMAX
+  //#define ENDSTOPPULLUP_WMAX
  //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif

@@ -1014,12 +1078,18 @@
  //#define ENDSTOPPULLDOWN_IMIN
  //#define ENDSTOPPULLDOWN_JMIN
  //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_UMIN
+  //#define ENDSTOPPULLDOWN_VMIN
+  //#define ENDSTOPPULLDOWN_WMIN
  //#define ENDSTOPPULLDOWN_XMAX
  //#define ENDSTOPPULLDOWN_YMAX
  //#define ENDSTOPPULLDOWN_ZMAX
  //#define ENDSTOPPULLDOWN_IMAX
  //#define ENDSTOPPULLDOWN_JMAX
  //#define ENDSTOPPULLDOWN_KMAX
+  //#define ENDSTOPPULLDOWN_UMAX
+  //#define ENDSTOPPULLDOWN_VMAX
+  //#define ENDSTOPPULLDOWN_WMAX
  //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif

@@ -1030,12 +1100,18 @@
 #define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.

 // Enable this feature if all enabled endstop pins are interrupt-capable.
@@ -1080,16 +1156,16 @@
 //#define DISTINCT_E_FACTORS

 /**
- * Default Axis Steps Per Unit (steps/mm)
+ * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
 * Override with M92
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }

 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (linear=mm/s, rotational=°/s)
 * Override with M203
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }

@@ -1099,10 +1175,10 @@
 #endif

 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
 * (Maximum start speed for accelerated moves)
 * Override with M201
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
 */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }

@@ -1112,20 +1188,20 @@
 #endif

 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
 * Override with M204
 *
 *   M204 P    Acceleration
 *   M204 R    Retract Acceleration
 *   M204 T    Travel Acceleration
 */
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z ... and E acceleration for printing moves
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z ... acceleration for travel (non printing) moves
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves

 /**
 * Default Jerk limits (mm/s)
- * Override with M205 X Y Z E
+ * Override with M205 X Y Z . . . E
 *
 * "Jerk" specifies the minimum speed change that requires acceleration.
 * When changing speed and direction, if the difference is less than the
@@ -1139,6 +1215,9 @@
  //#define DEFAULT_IJERK  0.3
  //#define DEFAULT_JJERK  0.3
  //#define DEFAULT_KJERK  0.3
+  //#define DEFAULT_UJERK  0.3
+  //#define DEFAULT_VJERK  0.3
+  //#define DEFAULT_WJERK  0.3

  //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves

@@ -1288,6 +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
@@ -1505,6 +1605,9 @@
 //#define I_ENABLE_ON 0
 //#define J_ENABLE_ON 0
 //#define K_ENABLE_ON 0
+//#define U_ENABLE_ON 0
+//#define V_ENABLE_ON 0
+//#define W_ENABLE_ON 0

 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1514,6 +1617,9 @@
 //#define DISABLE_I false
 //#define DISABLE_J false
 //#define DISABLE_K false
+//#define DISABLE_U false
+//#define DISABLE_V false
+//#define DISABLE_W false

 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1532,6 +1638,9 @@
 //#define INVERT_I_DIR false
 //#define INVERT_J_DIR false
 //#define INVERT_K_DIR false
+//#define INVERT_U_DIR false
+//#define INVERT_V_DIR false
+//#define INVERT_W_DIR false

 // @section extruder

@@ -1570,14 +1679,17 @@
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
 //#define K_HOME_DIR -1
+//#define U_HOME_DIR -1
+//#define V_HOME_DIR -1
+//#define W_HOME_DIR -1

-// @section machine
+// @section geometry

 // The size of the printable area
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200

-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1590,6 +1702,12 @@
 //#define J_MAX_POS 50
 //#define K_MIN_POS 0
 //#define K_MAX_POS 50
+//#define U_MIN_POS 0
+//#define U_MAX_POS 50
+//#define V_MIN_POS 0
+//#define V_MAX_POS 50
+//#define W_MIN_POS 0
+//#define W_MAX_POS 50

 /**
 * Software Endstops
@@ -1609,6 +1727,9 @@
  #define MIN_SOFTWARE_ENDSTOP_I
  #define MIN_SOFTWARE_ENDSTOP_J
  #define MIN_SOFTWARE_ENDSTOP_K
+  #define MIN_SOFTWARE_ENDSTOP_U
+  #define MIN_SOFTWARE_ENDSTOP_V
+  #define MIN_SOFTWARE_ENDSTOP_W
 #endif

 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1620,6 +1741,9 @@
  #define MAX_SOFTWARE_ENDSTOP_I
  #define MAX_SOFTWARE_ENDSTOP_J
  #define MAX_SOFTWARE_ENDSTOP_K
+  #define MAX_SOFTWARE_ENDSTOP_U
+  #define MAX_SOFTWARE_ENDSTOP_V
+  #define MAX_SOFTWARE_ENDSTOP_W
 #endif

 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1762,6 +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'.
@@ -1934,6 +2067,9 @@
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
 //#define MANUAL_K_HOME_POS 0
+//#define MANUAL_U_HOME_POS 0
+//#define MANUAL_V_HOME_POS 0
+//#define MANUAL_W_HOME_POS 0

 /**
 * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
@@ -1949,7 +2085,7 @@
  #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif

-// Homing speeds (mm/min)
+// Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }

 // Validate that endstops are triggered on homing moves
@@ -2016,7 +2152,7 @@
 //============================= Additional Features ===========================
 //=============================================================================

-// @section extras
+// @section eeprom

 /**
 * EEPROM
@@ -2036,6 +2172,8 @@
  //#define EEPROM_INIT_NOW   // Init EEPROM on first boot after a new build.
 #endif

+// @section host
+
 //
 // Host Keepalive
 //
@@ -2046,6 +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
 //
@@ -2073,6 +2213,8 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

+// @section motion
+
 /**
 * Nozzle Park
 *
@@ -2171,6 +2313,8 @@

 #endif

+// @section host
+
 /**
 * Print Job Timer
 *
@@ -2197,6 +2341,8 @@
 */
 #define PRINTJOB_TIMER_AUTOSTART

+// @section stats
+
 /**
 * Print Counter
 *
@@ -2214,6 +2360,8 @@
  #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print
 #endif

+// @section security
+
 /**
 * Password
 *
@@ -2249,7 +2397,7 @@
 //============================= LCD and SD support ============================
 //=============================================================================

-// @section lcd
+// @section interface

 /**
 * LCD LANGUAGE
@@ -2365,6 +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
 //
@@ -2395,6 +2553,7 @@
 //======================== LCD / Controller Selection =========================
 //========================   (Character-based LCDs)   =========================
 //=============================================================================
+// @section lcd

 //
 // RepRapDiscount Smart Controller.
@@ -2696,6 +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  ==============================
 //=============================================================================
@@ -3023,7 +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]
@@ -3047,14 +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

@@ -3140,6 +3309,8 @@
  #define PRINTER_EVENT_LEDS
 #endif

+// @section servos
+
 /**
 * Number of servos
 *
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -30,7 +30,25 @@
 *
 * Basic settings can be found in Configuration.h
 */
-#define CONFIGURATION_ADV_H_VERSION 02000905
+#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 ============================
@@ -57,84 +75,98 @@
  #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_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_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_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_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_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_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_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_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_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_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_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_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_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

@@ -832,12 +864,12 @@
 * the position of the toolhead relative to the workspace.
 */

-//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (mm) Backoff from endstops before sensorless homing
+//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (linear=mm, rotational=°) Backoff from endstops before sensorless homing

-#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
+#define HOMING_BUMP_MM      { 5, 5, 2 }       // (linear=mm, rotational=°) Backoff from endstops after first bump
 #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)

-//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
+//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (linear=mm, rotational=°) Backoff from endstops after homing

 //#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
@@ -1026,6 +1058,9 @@
 #define INVERT_I_STEP_PIN false
 #define INVERT_J_STEP_PIN false
 #define INVERT_K_STEP_PIN false
+#define INVERT_U_STEP_PIN false
+#define INVERT_V_STEP_PIN false
+#define INVERT_W_STEP_PIN false
 #define INVERT_E_STEP_PIN false

 /**
@@ -1040,11 +1075,14 @@
 #define DISABLE_INACTIVE_I true
 #define DISABLE_INACTIVE_J true
 #define DISABLE_INACTIVE_K true
+#define DISABLE_INACTIVE_U true
+#define DISABLE_INACTIVE_V true
+#define DISABLE_INACTIVE_W true
 #define DISABLE_INACTIVE_E true

 // Default Minimum Feedrates for printing and travel moves
-#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s) Minimum feedrate. Set with M205 S.
-#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s) Minimum travel feedrate. Set with M205 T.
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s. °/s for rotational-only moves) Minimum feedrate. Set with M205 S.
+#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s. °/s for rotational-only moves) Minimum travel feedrate. Set with M205 T.

 // Minimum time that a segment needs to take as the buffer gets emptied
 #define DEFAULT_MINSEGMENTTIME        20000   // (µs) Set with M205 B.
@@ -1080,7 +1118,7 @@
 #if ENABLED(BACKLASH_COMPENSATION)
  // Define values for backlash distance and correction.
  // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (linear=mm, rotational=°) One value for each linear axis
  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction

  // Add steps for motor direction changes on CORE kinematics
@@ -1157,6 +1195,12 @@
  //#define CALIBRATION_MEASURE_JMAX
  //#define CALIBRATION_MEASURE_KMIN
  //#define CALIBRATION_MEASURE_KMAX
+  //#define CALIBRATION_MEASURE_UMIN
+  //#define CALIBRATION_MEASURE_UMAX
+  //#define CALIBRATION_MEASURE_VMIN
+  //#define CALIBRATION_MEASURE_VMAX
+  //#define CALIBRATION_MEASURE_WMIN
+  //#define CALIBRATION_MEASURE_WMAX

  // Probing at the exact top center only works if the center is flat. If
  // probing on a screwhead or hollow washer, probe near the edges.
@@ -1310,6 +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
@@ -1542,6 +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

@@ -1576,6 +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)
     */
@@ -2015,6 +2067,21 @@

 // @section leveling

+/**
+ * Use Safe Bed Leveling coordinates to move axes to a useful position before bed probing.
+ * For example, after homing a rotational axis the Z probe might not be perpendicular to the bed.
+ * Choose values the orient the bed horizontally and the Z-probe vertically.
+ */
+//#define SAFE_BED_LEVELING_START_X 0.0
+//#define SAFE_BED_LEVELING_START_Y 0.0
+//#define SAFE_BED_LEVELING_START_Z 0.0
+//#define SAFE_BED_LEVELING_START_I 0.0
+//#define SAFE_BED_LEVELING_START_J 0.0
+//#define SAFE_BED_LEVELING_START_K 0.0
+//#define SAFE_BED_LEVELING_START_U 0.0
+//#define SAFE_BED_LEVELING_START_V 0.0
+//#define SAFE_BED_LEVELING_START_W 0.0
+
 /**
 * Points to probe for all 3-point Leveling procedures.
 * Override if the automatically selected points are inadequate.
@@ -2499,6 +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.
@@ -2557,13 +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)

@@ -2633,6 +2701,24 @@
    #define K_MICROSTEPS       16
  #endif

+  #if AXIS_DRIVER_TYPE_U(TMC26X)
+    #define U_MAX_CURRENT    1000
+    #define U_SENSE_RESISTOR   91
+    #define U_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_V(TMC26X)
+    #define V_MAX_CURRENT    1000
+    #define V_SENSE_RESISTOR   91
+    #define V_MICROSTEPS       16
+  #endif
+
+  #if AXIS_DRIVER_TYPE_W(TMC26X)
+    #define W_MAX_CURRENT    1000
+    #define W_SENSE_RESISTOR   91
+    #define W_MICROSTEPS       16
+  #endif
+
  #if AXIS_DRIVER_TYPE_E0(TMC26X)
    #define E0_MAX_CURRENT    1000
    #define E0_SENSE_RESISTOR   91
@@ -2683,8 +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
@@ -2700,6 +2784,7 @@
 *
 * TMCStepper library is required to use TMC stepper drivers.
 * https://github.com/teemuatlut/TMCStepper
+ * @section tmc/config
 */
 #if HAS_TRINAMIC_CONFIG

@@ -2821,6 +2906,36 @@
    //#define K_HOLD_MULTIPLIER 0.5
  #endif

+  #if AXIS_IS_TMC(U)
+    #define U_CURRENT      800
+    #define U_CURRENT_HOME U_CURRENT
+    #define U_MICROSTEPS     8
+    #define U_RSENSE         0.11
+    #define U_CHAIN_POS     -1
+    //#define U_INTERPOLATE  true
+    //#define U_HOLD_MULTIPLIER 0.5
+  #endif
+
+  #if AXIS_IS_TMC(V)
+    #define V_CURRENT      800
+    #define V_CURRENT_HOME V_CURRENT
+    #define V_MICROSTEPS     8
+    #define V_RSENSE         0.11
+    #define V_CHAIN_POS     -1
+    //#define V_INTERPOLATE  true
+    //#define V_HOLD_MULTIPLIER 0.5
+  #endif
+
+  #if AXIS_IS_TMC(W)
+    #define W_CURRENT      800
+    #define W_CURRENT_HOME W_CURRENT
+    #define W_MICROSTEPS     8
+    #define W_RSENSE         0.11
+    #define W_CHAIN_POS     -1
+    //#define W_INTERPOLATE  true
+    //#define W_HOLD_MULTIPLIER 0.5
+  #endif
+
  #if AXIS_IS_TMC(E0)
    #define E0_CURRENT      800
    #define E0_MICROSTEPS    16
@@ -2893,6 +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.
@@ -2908,6 +3025,9 @@
  //#define I_CS_PIN          -1
  //#define J_CS_PIN          -1
  //#define K_CS_PIN          -1
+  //#define U_CS_PIN          -1
+  //#define V_CS_PIN          -1
+  //#define W_CS_PIN          -1
  //#define E0_CS_PIN         -1
  //#define E1_CS_PIN         -1
  //#define E2_CS_PIN         -1
@@ -2927,6 +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.
@@ -2950,6 +3072,9 @@
  //#define  I_SLAVE_ADDRESS 0
  //#define  J_SLAVE_ADDRESS 0
  //#define  K_SLAVE_ADDRESS 0
+  //#define  U_SLAVE_ADDRESS 0
+  //#define  V_SLAVE_ADDRESS 0
+  //#define  W_SLAVE_ADDRESS 0
  //#define E0_SLAVE_ADDRESS 0
  //#define E1_SLAVE_ADDRESS 0
  //#define E2_SLAVE_ADDRESS 0
@@ -2959,6 +3084,8 @@
  //#define E6_SLAVE_ADDRESS 0
  //#define E7_SLAVE_ADDRESS 0

+  // @section tmc/smart
+
  /**
   * Software enable
   *
@@ -2967,6 +3094,8 @@
   */
  //#define SOFTWARE_DRIVER_ENABLE

+  // @section tmc/stealthchop
+
  /**
   * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only
   * Use Trinamic's ultra quiet stepping mode.
@@ -2977,6 +3106,9 @@
  #define STEALTHCHOP_I
  #define STEALTHCHOP_J
  #define STEALTHCHOP_K
+  #define STEALTHCHOP_U
+  #define STEALTHCHOP_V
+  #define STEALTHCHOP_W
  #define STEALTHCHOP_E

  /**
@@ -3003,9 +3135,12 @@
  //#define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z
  //#define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z
  //#define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z
-  //#define CHOPPER_TIMING_I  CHOPPER_TIMING
-  //#define CHOPPER_TIMING_J  CHOPPER_TIMING
-  //#define CHOPPER_TIMING_K  CHOPPER_TIMING
+  //#define CHOPPER_TIMING_I  CHOPPER_TIMING        // For I Axis
+  //#define CHOPPER_TIMING_J  CHOPPER_TIMING        // For J Axis
+  //#define CHOPPER_TIMING_K  CHOPPER_TIMING        // For K Axis
+  //#define CHOPPER_TIMING_U  CHOPPER_TIMING        // For U Axis
+  //#define CHOPPER_TIMING_V  CHOPPER_TIMING        // For V Axis
+  //#define CHOPPER_TIMING_W  CHOPPER_TIMING        // For W Axis
  //#define CHOPPER_TIMING_E  CHOPPER_TIMING        // For Extruders (override below)
  //#define CHOPPER_TIMING_E1 CHOPPER_TIMING_E
  //#define CHOPPER_TIMING_E2 CHOPPER_TIMING_E
@@ -3015,6 +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.
@@ -3034,6 +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.
@@ -3051,9 +3190,12 @@
  #define Z2_HYBRID_THRESHOLD      3
  #define Z3_HYBRID_THRESHOLD      3
  #define Z4_HYBRID_THRESHOLD      3
-  #define I_HYBRID_THRESHOLD       3
-  #define J_HYBRID_THRESHOLD       3
-  #define K_HYBRID_THRESHOLD       3
+  #define I_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define J_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define K_HYBRID_THRESHOLD       3  // [linear=mm/s, rotational=°/s]
+  #define U_HYBRID_THRESHOLD       3  // [mm/s]
+  #define V_HYBRID_THRESHOLD       3
+  #define W_HYBRID_THRESHOLD       3
  #define E0_HYBRID_THRESHOLD     30
  #define E1_HYBRID_THRESHOLD     30
  #define E2_HYBRID_THRESHOLD     30
@@ -3087,6 +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

@@ -3103,10 +3246,15 @@
    //#define I_STALL_SENSITIVITY  8
    //#define J_STALL_SENSITIVITY  8
    //#define K_STALL_SENSITIVITY  8
+    //#define U_STALL_SENSITIVITY  8
+    //#define V_STALL_SENSITIVITY  8
+    //#define W_STALL_SENSITIVITY  8
    //#define SPI_ENDSTOPS              // TMC2130 only
    //#define IMPROVE_HOMING_RELIABILITY
  #endif

+  // @section tmc/config
+
  /**
   * TMC Homing stepper phase.
   *
@@ -3146,227 +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(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

 //
@@ -3408,7 +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
@@ -3451,6 +3378,8 @@
  #endif
 #endif

+// @section cnc
+
 /**
 * Spindle & Laser control
 *
@@ -3654,6 +3583,8 @@
  #define COOLANT_FLOOD_INVERT false  // Set "true" if the on/off function is reversed
 #endif

+// @section filament width
+
 /**
 * Filament Width Sensor
 *
@@ -3687,6 +3618,8 @@
  //#define FILAMENT_LCD_DISPLAY
 #endif

+// @section power
+
 /**
 * Power Monitor
 * Monitor voltage (V) and/or current (A), and -when possible- power (W)
@@ -3710,6 +3643,8 @@
  #define POWER_MONITOR_VOLTAGE_OFFSET  0         // Offset (in volts) applied to the calculated voltage
 #endif

+// @section safety
+
 /**
 * Stepper Driver Anti-SNAFU Protection
 *
@@ -3719,6 +3654,8 @@
 */
 //#define DISABLE_DRIVER_SAFE_POWER_PROTECT

+// @section cnc
+
 /**
 * CNC Coordinate Systems
 *
@@ -3727,6 +3664,8 @@
 */
 //#define CNC_COORDINATE_SYSTEMS

+// @section reporting
+
 /**
 * Auto-report fan speed with M123 S<seconds>
 * Requires fans with tachometer pins
@@ -3754,6 +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.
@@ -3761,6 +3702,8 @@
 */
 //#define EXPECTED_PRINTER_CHECK

+// @section volumetrics
+
 /**
 * Disable all Volumetric extrusion options
 */
@@ -3789,14 +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
@@ -3805,6 +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
 */
@@ -3822,6 +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.
@@ -3837,6 +3784,8 @@
  //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode
 #endif

+// @section gcode
+
 /**
 * Startup commands
 *
@@ -3861,6 +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)
@@ -3891,6 +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)
@@ -3921,6 +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.
@@ -3952,6 +3907,8 @@
  #endif
 #endif

+// @section host
+
 /**
 * Host Action Commands
 *
@@ -3977,6 +3934,8 @@
  //#define HOST_SHUTDOWN_MENU_ITEM       // Add a menu item that tells the host to shut down
 #endif

+// @section extras
+
 /**
 * Cancel Objects
 *
@@ -3998,6 +3957,7 @@
 * Alternative Supplier: https://reliabuild3d.com/
 *
 * Reliabuild encoders have been modified to improve reliability.
+ * @section i2c encoders
 */

 //#define I2C_POSITION_ENCODERS
@@ -4069,6 +4029,7 @@

 /**
 * Analog Joystick(s)
+ * @section joystick
 */
 //#define JOYSTICK
 #if ENABLED(JOYSTICK)
@@ -4093,6 +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)
@@ -4110,6 +4072,7 @@
 /**
 * Instant freeze / unfreeze functionality
 * Potentially useful for emergency stop that allows being resumed.
+ * @section interface
 */
 //#define FREEZE_FEATURE
 #if ENABLED(FREEZE_FEATURE)
@@ -4122,6 +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)
@@ -4134,7 +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

  /**
@@ -4142,12 +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

 /**
@@ -4156,6 +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)
@@ -4164,6 +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
@@ -4191,6 +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
@@ -4296,6 +4268,7 @@

 /**
 * Advanced Print Counter settings
+ * @section stats
 */
 #if ENABLED(PRINTCOUNTER)
  #define SERVICE_WARNING_BUZZES  3
@@ -4325,6 +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

--- a/Marlin/Version.h
+++ b/Marlin/Version.h
@@ -28,7 +28,7 @@
 /**
 * Marlin release version identifier
 */
-//#define SHORT_BUILD_VERSION "2.0.9.5"
+//#define SHORT_BUILD_VERSION "2.1.1.5"

 /**
 * 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 "2022-07-29"
+//#define STRING_DISTRIBUTION_DATE "2026-01-22"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
--- a/Marlin/config.ini
+++ b/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
--- a/Marlin/src/HAL/AVR/endstop_interrupts.h
+++ b/Marlin/src/HAL/AVR/endstop_interrupts.h
@@ -213,6 +213,51 @@ void setup_endstop_interrupts() {
      pciSetup(K_MIN_PIN);
    #endif
  #endif
+  #if HAS_U_MAX
+    #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable");
+      pciSetup(U_MAX_PIN);
+    #endif
+  #elif HAS_U_MIN
+    #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(U_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable");
+      pciSetup(U_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_V_MAX
+    #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable");
+      pciSetup(V_MAX_PIN);
+    #endif
+  #elif HAS_V_MIN
+    #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(V_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable");
+      pciSetup(V_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_W_MAX
+    #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable");
+      pciSetup(W_MAX_PIN);
+    #endif
+  #elif HAS_W_MIN
+    #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(W_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable");
+      pciSetup(W_MIN_PIN);
+    #endif
+  #endif
  #if HAS_X2_MAX
    #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
      _ATTACH(X2_MAX_PIN);
--- a/Marlin/src/HAL/AVR/inc/SanityCheck.h
+++ b/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."
--- a/Marlin/src/HAL/AVR/timers.h
+++ b/Marlin/src/HAL/AVR/timers.h
@@ -109,8 +109,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
 * (otherwise, characters will be lost due to UART overflow).
 * Then: Stepper, Endstops, Temperature, and -finally- all others.
 */
-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

 #ifndef HAL_STEP_TIMER_ISR

--- a/Marlin/src/HAL/DUE/endstop_interrupts.h
+++ b/Marlin/src/HAL/DUE/endstop_interrupts.h
@@ -70,4 +70,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/DUE/timers.h
+++ b/Marlin/src/HAL/DUE/timers.h
@@ -126,4 +126,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/ESP32/endstop_interrupts.h
+++ b/Marlin/src/HAL/ESP32/endstop_interrupts.h
@@ -65,4 +65,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/ESP32/timers.h
+++ b/Marlin/src/HAL/ESP32/timers.h
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/LINUX/timers.h
+++ b/Marlin/src/HAL/LINUX/timers.h
@@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/LPC1768/endstop_interrupts.h
+++ b/Marlin/src/HAL/LPC1768/endstop_interrupts.h
@@ -155,4 +155,37 @@ void setup_endstop_interrupts() {
    #endif
    _ATTACH(K_MIN_PIN);
  #endif
+  #if HAS_U_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN)
+      #error "U_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MAX_PIN);
+  #elif HAS_U_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN)
+      #error "U_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(U_MIN_PIN);
+  #endif
+  #if HAS_V_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN)
+      #error "V_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MAX_PIN);
+  #elif HAS_V_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN)
+      #error "V_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(V_MIN_PIN);
+  #endif
+  #if HAS_W_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN)
+      #error "W_MAX_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MAX_PIN);
+  #elif HAS_W_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN)
+      #error "W_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(W_MIN_PIN);
+  #endif
 }
--- a/Marlin/src/HAL/LPC1768/timers.h
+++ b/Marlin/src/HAL/LPC1768/timers.h
@@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/LPC1768/upload_extra_script.py
+++ b/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')
--- a/Marlin/src/HAL/NATIVE_SIM/timers.h
+++ b/Marlin/src/HAL/NATIVE_SIM/timers.h
@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/SAMD51/endstop_interrupts.h
+++ b/Marlin/src/HAL/SAMD51/endstop_interrupts.h
@@ -60,6 +60,12 @@
 #define MATCH_J_MIN_EILINE(P)   TERN0(HAS_J_MIN,  DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
 #define MATCH_K_MAX_EILINE(P)   TERN0(HAS_K_MAX,  DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
 #define MATCH_K_MIN_EILINE(P)   TERN0(HAS_K_MIN,  DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
+#define MATCH_U_MAX_EILINE(P)   TERN0(HAS_U_MAX,  DEFER4(MATCH_EILINE)(P, U_MAX_PIN))
+#define MATCH_U_MIN_EILINE(P)   TERN0(HAS_U_MIN,  DEFER4(MATCH_EILINE)(P, U_MIN_PIN))
+#define MATCH_V_MAX_EILINE(P)   TERN0(HAS_V_MAX,  DEFER4(MATCH_EILINE)(P, V_MAX_PIN))
+#define MATCH_V_MIN_EILINE(P)   TERN0(HAS_V_MIN,  DEFER4(MATCH_EILINE)(P, V_MIN_PIN))
+#define MATCH_W_MAX_EILINE(P)   TERN0(HAS_W_MAX,  DEFER4(MATCH_EILINE)(P, W_MAX_PIN))
+#define MATCH_W_MIN_EILINE(P)   TERN0(HAS_W_MIN,  DEFER4(MATCH_EILINE)(P, W_MIN_PIN))
 #define MATCH_Z2_MAX_EILINE(P)  TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
 #define MATCH_Z2_MIN_EILINE(P)  TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
 #define MATCH_Z3_MAX_EILINE(P)  TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
@@ -75,6 +81,9 @@
  && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P)   \
  && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P)   \
  && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P)   \
+  && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P)   \
+  && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P)   \
+  && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P)   \
  && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
  && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
  && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
@@ -199,4 +208,40 @@ void setup_endstop_interrupts() {
    #endif
    attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
  #endif
+  #if HAS_U_MAX
+    #if !AVAILABLE_EILINE(U_MAX_PIN)
+      #error "U_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_U_MIN
+    #if !AVAILABLE_EILINE(U_MIN_PIN)
+      #error "U_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MAX
+    #if !AVAILABLE_EILINE(V_MAX_PIN)
+      #error "V_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_V_MIN
+    #if !AVAILABLE_EILINE(V_MIN_PIN)
+      #error "V_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MAX
+    #if !AVAILABLE_EILINE(W_MAX_PIN)
+      #error "W_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_W_MIN
+    #if !AVAILABLE_EILINE(W_MIN_PIN)
+      #error "W_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
 }
--- a/Marlin/src/HAL/SAMD51/timers.h
+++ b/Marlin/src/HAL/SAMD51/timers.h
@@ -140,4 +140,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(timer_num)
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/STM32/MarlinSPI.cpp
+++ b/Marlin/src/HAL/STM32/MarlinSPI.cpp
@@ -39,12 +39,16 @@ static void spi_init(spi_t *obj, uint32_t speed, spi_mode_e mode, uint8_t msb, u

 void MarlinSPI::setClockDivider(uint8_t _div) {
  _speed = spi_getClkFreq(&_spi);// / _div;
-  _clockDivider = _div;
+  if (_clockDivider != _div) {
+    _clockDivider = _div;
+    _mustInit = true;
+  }
 }

 void MarlinSPI::begin(void) {
-  //TODO: only call spi_init if any parameter changed!!
+  if (!_mustInit) return;
  spi_init(&_spi, _speed, _dataMode, _bitOrder, _dataSize);
+  _mustInit = false;
 }

 void MarlinSPI::setupDma(SPI_HandleTypeDef &_spiHandle, DMA_HandleTypeDef &_dmaHandle, uint32_t direction, bool minc) {
--- a/Marlin/src/HAL/STM32/MarlinSPI.h
+++ b/Marlin/src/HAL/STM32/MarlinSPI.h
@@ -76,15 +76,23 @@ public:
  /* These methods are deprecated and kept for compatibility.
   * Use SPISettings with SPI.beginTransaction() to configure SPI parameters.
   */
-  void setBitOrder(BitOrder _order) { _bitOrder = _order; }
+  void setBitOrder(BitOrder order) {
+    if (_bitOrder == order) return;
+    _bitOrder = order;
+    _mustInit = true;
+  }

-  void setDataMode(uint8_t _mode) {
-    switch (_mode) {
+  void setDataMode(uint8_t mode) {
+    auto previous_mode = _dataMode;
+    switch (mode) {
      case SPI_MODE0: _dataMode = SPI_MODE_0; break;
      case SPI_MODE1: _dataMode = SPI_MODE_1; break;
      case SPI_MODE2: _dataMode = SPI_MODE_2; break;
      case SPI_MODE3: _dataMode = SPI_MODE_3; break;
+      default: return;
    }
+    if (previous_mode != _dataMode)
+      _mustInit = true;
  }

  void setClockDivider(uint8_t _div);
@@ -104,4 +112,5 @@ private:
  pin_t _misoPin;
  pin_t _sckPin;
  pin_t _ssPin;
+  bool _mustInit = true;
 };
--- a/Marlin/src/HAL/STM32/endstop_interrupts.h
+++ b/Marlin/src/HAL/STM32/endstop_interrupts.h
@@ -52,4 +52,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/STM32/timers.h
+++ b/Marlin/src/HAL/STM32/timers.h
@@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
  }
 }

-#define HAL_timer_isr_prologue(T) NOOP
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_prologue(const uint8_t) {}
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/STM32F1/endstop_interrupts.h
+++ b/Marlin/src/HAL/STM32F1/endstop_interrupts.h
@@ -77,4 +77,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/STM32F1/timers.h
+++ b/Marlin/src/HAL/STM32F1/timers.h
@@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
  }
 }

-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}

 // No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
 // Needed here to reset ARPE=0 for stepper timer
--- a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h
+++ b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h
@@ -70,4 +70,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/TEENSY31_32/timers.h
+++ b/Marlin/src/HAL/TEENSY31_32/timers.h
@@ -74,10 +74,10 @@ typedef uint32_t hal_timer_t;
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)

 #ifndef HAL_STEP_TIMER_ISR
-  #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
+  #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr()
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-  #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler()
+  #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr()
 #endif

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h
+++ b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h
@@ -69,4 +69,10 @@ void setup_endstop_interrupts() {
  TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
  TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
  TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
+  TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN));
+  TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN));
+  TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN));
+  TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN));
+  TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN));
+  TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN));
 }
--- a/Marlin/src/HAL/TEENSY35_36/timers.h
+++ b/Marlin/src/HAL/TEENSY35_36/timers.h
@@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/TEENSY40_41/timers.cpp
+++ b/Marlin/src/HAL/TEENSY40_41/timers.cpp
@@ -30,41 +30,82 @@

 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
  switch (timer_num) {
+
+    //
+    // Step Timer – GPT1 - Compare Interrupt OCR1 - Reset Mode
+    //
    case MF_TIMER_STEP:
-      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      // 24MHz mode off – Use peripheral clock (150MHz)
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
+      // Enable GPT1 clock gating
      CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON);

-      GPT1_CR = 0;                   // disable timer
-      GPT1_SR = 0x3F;                // clear all prior status
-      GPT1_PR = GPT1_TIMER_PRESCALE - 1;
-      GPT1_CR |= GPT_CR_CLKSRC(1);   //clock selection #1 (peripheral clock = 150 MHz)
-      GPT1_CR |= GPT_CR_ENMOD;       //reset count to zero before enabling
-      GPT1_CR |= GPT_CR_OM1(1);      // toggle mode
-      GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) -1; // Initial compare value
-      GPT1_IR = GPT_IR_OF1IE;        // Compare3 value
-      GPT1_CR |= GPT_CR_EN;          //enable GPT2 counting at 150 MHz
+      // Disable timer, clear all status bits
+      GPT1_CR = 0;                      // Disable timer
+      GPT1_SR = 0x3F;                   // Clear all prior status

-      OUT_WRITE(15, HIGH);
+      // Prescaler = 2 => 75MHz counting clock
+      GPT1_PR = GPT1_TIMER_PRESCALE - 1;
+
+      GPT1_CR = GPT_CR_CLKSRC(1)        // Clock selection #1 (peripheral clock = 150 MHz)
+              | GPT_CR_ENMOD            // Reset count to zero before enabling
+              | GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
+
+      // Compare value – the number of clocks between edges
+      GPT1_OCR1 = (GPT1_TIMER_RATE / frequency) - 1;
+
+      // Enable compare‑event interrupt
+      GPT1_IR = GPT_IR_OF1IE;           // OF1 interrupt enabled
+
+      // Pull Pin 15 HIGH (logic‑high is the “idle” state)
+      TERN_(MARLIN_DEV_MODE, OUT_WRITE(15, HIGH));
+
+      // Attach and enable Stepper IRQ
+      // Note: UART priority is 16
      attachInterruptVector(IRQ_GPT1, &stepTC_Handler);
-      NVIC_SET_PRIORITY(IRQ_GPT1, 16);
+      NVIC_SET_PRIORITY(IRQ_GPT1, 16);  // Priority 16 (higher than Temp Timer)
+
+      // Start GPT1 counting at 150 MHz
+      GPT1_CR |= GPT_CR_EN;
+
      break;
+
+    //
+    // Temperature Timer – GPT2 - Compare Interrupt OCR1 - Reset Mode
+    //
    case MF_TIMER_TEMP:
-      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode
+      // 24MHz mode off – Use peripheral clock (150MHz)
+      CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL;
+      // Enable GPT2 clock gating
      CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON);

-      GPT2_CR = 0;                   // disable timer
-      GPT2_SR = 0x3F;                // clear all prior status
-      GPT2_PR = GPT2_TIMER_PRESCALE - 1;
-      GPT2_CR |= GPT_CR_CLKSRC(1);   //clock selection #1 (peripheral clock = 150 MHz)
-      GPT2_CR |= GPT_CR_ENMOD;       //reset count to zero before enabling
-      GPT2_CR |= GPT_CR_OM1(1);      // toggle mode
-      GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) -1; // Initial compare value
-      GPT2_IR = GPT_IR_OF1IE;        // Compare3 value
-      GPT2_CR |= GPT_CR_EN;          //enable GPT2 counting at 150 MHz
+      // Disable timer, clear all status bits
+      GPT2_CR = 0;                      // Disable timer
+      GPT2_SR = 0x3F;                   // Clear all prior status

-      OUT_WRITE(14, HIGH);
+      // Prescaler = 10 => 15MHz counting clock
+      GPT2_PR = GPT2_TIMER_PRESCALE - 1;
+
+      GPT2_CR = GPT_CR_CLKSRC(1)        // Clock selection #1 (peripheral clock = 150 MHz)
+              | GPT_CR_ENMOD            // and reset count to zero before enabling
+              | GPT_CR_OM2(TERN(MARLIN_DEV_MODE, 1, 0)); // 0 = edge compare, 1 = toggle
+
+      // Compare value – the number of clocks between edges
+      GPT2_OCR1 = (GPT2_TIMER_RATE / frequency) - 1;
+
+      // Enable compare‑event interrupt
+      GPT2_IR = GPT_IR_OF1IE;           // OF1 interrupt enabled
+
+      // Pull Pin 14 HIGH (logic‑high is the “idle” state)
+      TERN_(MARLIN_DEV_MODE, OUT_WRITE(14, HIGH));
+
+      // Attach Temperature ISR
      attachInterruptVector(IRQ_GPT2, &tempTC_Handler);
-      NVIC_SET_PRIORITY(IRQ_GPT2, 32);
+      NVIC_SET_PRIORITY(IRQ_GPT2, 32);  // Priority 32 (lower than Step Timer)
+
+      // Start GPT2 counting at 150 MHz
+      GPT2_CR |= GPT_CR_EN;
+
      break;
  }
 }
@@ -82,6 +123,7 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) {
    case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break;
  }

+  // Ensure the CPU actually stops servicing the IRQ
  // We NEED memory barriers to ensure Interrupts are actually disabled!
  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
  asm volatile("dsb");
@@ -97,8 +139,8 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {

 void HAL_timer_isr_prologue(const uint8_t timer_num) {
  switch (timer_num) {
-    case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit
-    case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit
+    case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break;   // clear OF1
+    case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break;
  }
  asm volatile("dsb");
 }
--- a/Marlin/src/HAL/TEENSY40_41/timers.h
+++ b/Marlin/src/HAL/TEENSY40_41/timers.h
@@ -58,7 +58,7 @@ typedef uint32_t hal_timer_t;

 #define STEPPER_TIMER_RATE     GPT1_TIMER_RATE
 #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
-#define STEPPER_TIMER_PRESCALE ((GPT_TIMER_RATE / 1000000) / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_PRESCALE (GPT_TIMER_RATE / STEPPER_TIMER_RATE)

 #define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
 #define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
@@ -87,8 +87,16 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);

 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
  switch (timer_num) {
-    case MF_TIMER_STEP: GPT1_OCR1 = compare - 1; break;
-    case MF_TIMER_TEMP: GPT2_OCR1 = compare - 1; break;
+    case MF_TIMER_STEP:
+      GPT1_CR |= GPT_CR_FRR;    // Free Run Mode (setting OCRx preserves CNT)
+      GPT1_OCR1 = compare - 1;
+      GPT1_CR &= ~GPT_CR_FRR;   // Reset Mode (CNT resets on trigger)
+      break;
+    case MF_TIMER_TEMP:
+      GPT2_CR |= GPT_CR_FRR;    // Free Run Mode (setting OCRx preserves CNT)
+      GPT2_OCR1 = compare - 1;
+      GPT2_CR &= ~GPT_CR_FRR;   // Reset Mode (CNT resets on trigger)
+      break;
  }
 }

@@ -113,5 +121,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);

 void HAL_timer_isr_prologue(const uint8_t timer_num);
-//void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
-#define HAL_timer_isr_epilogue(T) NOOP
+inline void HAL_timer_isr_epilogue(const uint8_t) {}
--- a/Marlin/src/HAL/shared/HAL_spi_L6470.cpp
+++ b/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
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -39,17 +39,13 @@
 #endif
 #include <math.h>

-#include "core/utility.h"
-
+#include "module/endstops.h"
 #include "module/motion.h"
 #include "module/planner.h"
-#include "module/endstops.h"
-#include "module/temperature.h"
-#include "module/settings.h"
 #include "module/printcounter.h" // PrintCounter or Stopwatch
-
+#include "module/settings.h"
 #include "module/stepper.h"
-#include "module/stepper/indirection.h"
+#include "module/temperature.h"

 #include "gcode/gcode.h"
 #include "gcode/parser.h"
@@ -125,6 +121,10 @@
  #include "feature/bltouch.h"
 #endif

+#if ENABLED(BD_SENSOR)
+  #include "feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(POLL_JOG)
  #include "feature/joystick.h"
 #endif
@@ -228,10 +228,6 @@
  #include "feature/mmu/mmu2.h"
 #endif

-#if HAS_L64XX
-  #include "libs/L64XX/L64XX_Marlin.h"
-#endif
-
 #if ENABLED(PASSWORD_FEATURE)
  #include "feature/password/password.h"
 #endif
@@ -252,6 +248,10 @@
  #include "feature/easythreed_ui.h"
 #endif

+#if ENABLED(MARLIN_TEST_BUILD)
+  #include "tests/marlin_tests.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");

 MarlinState marlin_state = MF_INITIALIZING;
@@ -434,7 +434,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {

      if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) {
        if (!already_shutdown_steppers) {
-          already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+          already_shutdown_steppers = true;

          // Individual axes will be disabled if configured
          TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
@@ -443,6 +443,9 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
          TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
          TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
          TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
+          TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS));
+          TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS));
+          TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS));
          TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());

          TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled());
@@ -730,8 +733,6 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {

  TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());

-  TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
-
  // Limit check_axes_activity frequency to 10Hz
  static millis_t next_check_axes_ms = 0;
  if (ELAPSED(ms, next_check_axes_ms)) {
@@ -773,11 +774,18 @@ 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);

@@ -1003,6 +1011,15 @@ inline void tmc_standby_setup() {
  #if PIN_EXISTS(K_STDBY)
    SET_INPUT_PULLDOWN(K_STDBY_PIN);
  #endif
+  #if PIN_EXISTS(U_STDBY)
+    SET_INPUT_PULLDOWN(U_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(V_STDBY)
+    SET_INPUT_PULLDOWN(V_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(W_STDBY)
+    SET_INPUT_PULLDOWN(W_STDBY_PIN);
+  #endif
  #if PIN_EXISTS(E0_STDBY)
    SET_INPUT_PULLDOWN(E0_STDBY_PIN);
  #endif
@@ -1048,7 +1065,6 @@ inline void tmc_standby_setup() {
 *    • TMC220x Stepper Drivers (Serial)
 *    • PSU control
 *    • Power-loss Recovery
- *    • L64XX Stepper Drivers (SPI)
 *    • Stepper Driver Reset: DISABLE
 *    • TMC Stepper Drivers (SPI)
 *    • Run hal.init_board() for additional pins setup
@@ -1211,10 +1227,10 @@ void setup() {
  SETUP_RUN(hal.init());

  // Init and disable SPI thermocouples; this is still needed
-  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
+  #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
    OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable
  #endif
-  #if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
+  #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1))
    OUT_WRITE(TEMP_1_CS_PIN, HIGH);
  #endif

@@ -1237,10 +1253,6 @@ void setup() {
    SETUP_RUN(tmc_init_cs_pins());
  #endif

-  #if HAS_L64XX
-    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
-  #endif
-
  #if ENABLED(PSU_CONTROL)
    SETUP_LOG("PSU_CONTROL");
    powerManager.init();
@@ -1627,9 +1639,15 @@ void setup() {
    SETUP_RUN(test_tmc_connection());
  #endif

+  #if ENABLED(BD_SENSOR)
+    SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
+  #endif
+
  marlin_state = MF_RUNNING;

  SETUP_LOG("setup() completed.");
+
+  TERN_(MARLIN_TEST_BUILD, runStartupTests());
 }

 /**
@@ -1664,5 +1682,7 @@ void loop() {

    TERN_(HAS_TFT_LVGL_UI, printer_state_polling());

+    TERN_(MARLIN_TEST_BUILD, runPeriodicTests());
+
  } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
 }
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -387,41 +387,40 @@
 #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_V1         4230  // MKS Monster8 V1 (STM32F407VE)
-#define BOARD_MKS_MONSTER8_V2         4231  // MKS Monster8 V2 (STM32F407VE)
-#define BOARD_ANET_ET4                4232  // ANET ET4 V1.x (STM32F407VG)
-#define BOARD_ANET_ET4P               4233  // ANET ET4P V1.x (STM32F407VG)
-#define BOARD_FYSETC_CHEETAH_V20      4234  // FYSETC Cheetah V2.0 (STM32F401RC)
-#define BOARD_TH3D_EZBOARD_V2         4235  // TH3D EZBoard v2.0 (STM32F405RG)
-#define BOARD_OPULO_LUMEN_REV3        4236  // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG)
-#define BOARD_MKS_ROBIN_NANO_V1_3_F4  4237  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
-#define BOARD_MKS_EAGLE               4238  // MKS Eagle (STM32F407VE)
-#define BOARD_ARTILLERY_RUBY          4239  // Artillery Ruby (STM32F401RC)
-#define BOARD_FYSETC_SPIDER_V2_2      4240  // FYSETC Spider V2.2 (STM32F446VE)
-#define BOARD_CREALITY_V24S1_301F4    4241  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4
+#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 (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)
+#define BOARD_FYSETC_SPIDER_V2_2      4239  // FYSETC Spider V2.2 (STM32F446VE)
+#define BOARD_CREALITY_V24S1_301F4    4240  // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4

 //
 // ARM Cortex M7
--- a/Marlin/src/core/drivers.h
+++ b/Marlin/src/core/drivers.h
@@ -30,10 +30,6 @@
 #define _A5984              0x5984
 #define _DRV8825            0x8825
 #define _LV8729             0x8729
-#define _L6470              0x6470
-#define _L6474              0x6474
-#define _L6480              0x6480
-#define _POWERSTEP01        0xF00D
 #define _TB6560             0x6560
 #define _TB6600             0x6600
 #define _TMC2100            0x2100
@@ -63,6 +59,9 @@
 #define AXIS_DRIVER_TYPE_I(T) _AXIS_DRIVER_TYPE(I,T)
 #define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T)
 #define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T)
+#define AXIS_DRIVER_TYPE_U(T) _AXIS_DRIVER_TYPE(U,T)
+#define AXIS_DRIVER_TYPE_V(T) _AXIS_DRIVER_TYPE(V,T)
+#define AXIS_DRIVER_TYPE_W(T) _AXIS_DRIVER_TYPE(W,T)

 #define AXIS_DRIVER_TYPE_X2(T) (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T))
 #define AXIS_DRIVER_TYPE_Y2(T) (HAS_DUAL_Y_STEPPERS && _AXIS_DRIVER_TYPE(Y2,T))
@@ -87,6 +86,7 @@

 #define HAS_DRIVER(T) (  AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Z(T)  \
                      || AXIS_DRIVER_TYPE_I(T)  || AXIS_DRIVER_TYPE_J(T)  || AXIS_DRIVER_TYPE_K(T)  \
+                      || AXIS_DRIVER_TYPE_U(T)  || AXIS_DRIVER_TYPE_V(T)  || AXIS_DRIVER_TYPE_W(T)  \
                      || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \
                      || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) )

@@ -161,6 +161,7 @@
                          || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \
                          || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \
                          || AXIS_HAS_##T(I) || AXIS_HAS_##T(J)  || AXIS_HAS_##T(K) \
+                          || AXIS_HAS_##T(U) || AXIS_HAS_##T(V)  || AXIS_HAS_##T(W) \
                          || E_AXIS_HAS(T) )

 #if ANY_AXIS_HAS(STEALTHCHOP)
@@ -188,16 +189,3 @@
 #if HAS_DRIVER(TMC26X)
  #define HAS_TMC26X 1
 #endif
-
-//
-// L64XX Stepper Drivers
-//
-
-#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01)
-  #define HAS_L64XX 1
-#endif
-#if HAS_L64XX && !HAS_DRIVER(L6474)
-  #define HAS_L64XX_NOT_L6474 1
-#endif
-
-#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01))
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@@ -453,6 +453,54 @@
  #define STR_K   ""
 #endif

+#if HAS_U_AXIS
+  #if AXIS7_NAME == 'U'
+    #define STR_U "U"
+    #define STR_U_MIN "u_min"
+    #define STR_U_MAX "u_max"
+  #elif AXIS7_NAME == 'V'
+    #define STR_U "V"
+    #define STR_U_MIN "v_min"
+    #define STR_U_MAX "v_max"
+  #elif AXIS7_NAME == 'W'
+    #define STR_U "W"
+    #define STR_U_MIN "w_min"
+    #define STR_U_MAX "w_max"
+  #else
+    #error "AXIS7_NAME can only be one of 'U', 'V', or 'W'."
+  #endif
+#else
+  #define STR_U   ""
+#endif
+
+#if HAS_V_AXIS
+  #if AXIS8_NAME == 'V'
+    #define STR_V "V"
+    #define STR_V_MIN "v_min"
+    #define STR_V_MAX "v_max"
+  #elif AXIS8_NAME == 'W'
+    #define STR_V "W"
+    #define STR_V_MIN "w_min"
+    #define STR_V_MAX "w_max"
+  #else
+    #error "AXIS8_NAME can only be one of 'V', or 'W'."
+  #endif
+#else
+  #define STR_V   ""
+#endif
+
+#if HAS_W_AXIS
+  #if AXIS9_NAME == 'W'
+    #define STR_W "W"
+    #define STR_W_MIN "w_min"
+    #define STR_W_MAX "w_max"
+  #else
+    #error "AXIS9_NAME can only be 'W'."
+  #endif
+#else
+  #define STR_W   ""
+#endif
+
 #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL)

  // Custom characters defined in the first 8 characters of the LCD
--- a/Marlin/src/core/macros.h
+++ b/Marlin/src/core/macros.h
@@ -39,24 +39,36 @@
 #define _ISTOP_  0x04
 #define _JSTOP_  0x05
 #define _KSTOP_  0x06
+#define _USTOP_  0x07
+#define _VSTOP_  0x08
+#define _WSTOP_  0x09
 #define _XMIN_   0x11
 #define _YMIN_   0x12
 #define _ZMIN_   0x13
 #define _IMIN_   0x14
 #define _JMIN_   0x15
 #define _KMIN_   0x16
+#define _UMIN_   0x17
+#define _VMIN_   0x18
+#define _WMIN_   0x19
 #define _XMAX_   0x21
 #define _YMAX_   0x22
 #define _ZMAX_   0x23
 #define _IMAX_   0x24
 #define _JMAX_   0x25
 #define _KMAX_   0x26
+#define _UMAX_   0x27
+#define _VMAX_   0x28
+#define _WMAX_   0x29
 #define _XDIAG_  0x31
 #define _YDIAG_  0x32
 #define _ZDIAG_  0x33
 #define _IDIAG_  0x34
 #define _JDIAG_  0x35
 #define _KDIAG_  0x36
+#define _UDIAG_  0x37
+#define _VDIAG_  0x38
+#define _WDIAG_  0x39
 #define _E0DIAG_ 0xE0
 #define _E1DIAG_ 0xE1
 #define _E2DIAG_ 0xE2
@@ -718,3 +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)
--- a/Marlin/src/core/serial.cpp
+++ b/Marlin/src/core/serial.cpp
@@ -104,7 +104,7 @@ void print_bin(uint16_t val) {
 void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) {
  if (prefix) serial_print(prefix);
  SERIAL_ECHOPGM_P(
-    LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k)
+    LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w)
  );
  if (suffix) serial_print(suffix); else SERIAL_EOL();
 }
--- a/Marlin/src/core/types.h
+++ b/Marlin/src/core/types.h
@@ -42,13 +42,12 @@ struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_LIST_1(V)  LIST_N_1(NUM_AXES, V)
 #define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) }
 #define NUM_AXIS_ARRAY_1(V)  { NUM_AXIS_LIST_1(V) }
-#define NUM_AXIS_ARGS(T...) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k)
-#define NUM_AXIS_ELEM(O)    NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k)
-#define NUM_AXIS_DEFS(T,V)  NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
-
-#define MAIN_AXIS_NAMES     NUM_AXIS_LIST(X, Y, Z, I, J, K)
+#define NUM_AXIS_ARGS(T...) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define NUM_AXIS_ELEM(O)    NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define NUM_AXIS_DEFS(T,V)  NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define MAIN_AXIS_NAMES     NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W)
 #define MAIN_AXIS_MAP(F)    MAP(F, MAIN_AXIS_NAMES)
-#define STR_AXES_MAIN       NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K)
+#define STR_AXES_MAIN       NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)

 #define LOGICAL_AXIS_GANG(E,V...) NUM_AXIS_GANG(V) GANG_ITEM_E(E)
 #define LOGICAL_AXIS_CODE(E,V...) NUM_AXIS_CODE(V) CODE_ITEM_E(E)
@@ -56,14 +55,12 @@ struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_LIST_1(V)    NUM_AXIS_LIST_1(V) LIST_ITEM_E(V)
 #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
 #define LOGICAL_AXIS_ARRAY_1(V)    { LOGICAL_AXIS_LIST_1(V) }
-#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k)
-#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k)
-#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V)
-
-#define LOGICAL_AXIS_NAMES      LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K)
+#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define LOGICAL_AXIS_ELEM(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define LOGICAL_AXIS_DECL(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define LOGICAL_AXIS_NAMES      LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W)
 #define LOGICAL_AXIS_MAP(F)     MAP(F, LOGICAL_AXIS_NAMES)
-
-#define STR_AXES_LOGICAL LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K)
+#define STR_AXES_LOGICAL     LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)

 #define XYZ_GANG(V...) GANG_N(PRIMARY_LINEAR_AXES, V)
 #define XYZ_CODE(V...) CODE_N(PRIMARY_LINEAR_AXES, V)
@@ -71,6 +68,10 @@ struct IF<true, L, R> { typedef L type; };
 #define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V)
 #define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V)

+#if HAS_ROTATIONAL_AXES
+  #define ROTATIONAL_AXIS_GANG(V...) GANG_N(ROTATIONAL_AXES, V)
+#endif
+
 #if HAS_EXTRUDERS
  #define LIST_ITEM_E(N) , N
  #define CODE_ITEM_E(N) ; N
@@ -81,7 +82,7 @@ struct IF<true, L, R> { typedef L type; };
  #define GANG_ITEM_E(N)
 #endif

-#define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L)
+#define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L)

 // General Flags for some number of states
 template<size_t N>
@@ -146,7 +147,7 @@ typedef struct AxisFlags {
 enum AxisEnum : uint8_t {

  // Linear axes may be controlled directly or indirectly
-  NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS)
+  NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS)

  // Extruder axes may be considered distinctly
  #define _EN_ITEM(N) , E##N##_AXIS
@@ -456,59 +457,68 @@ template<typename T>
 struct XYZval {
  union {
    struct { T NUM_AXIS_ARGS(); };
-    struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k); };
+    struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k, _u, _v, _w); };
    T pos[NUM_AXES];
  };

  // Set all to 0
-  FI void reset()                                      { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =) 0; }
+  FI void reset()                                      { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }

  // Setters taking struct types and arrays
  FI void set(const T px)                              { x = px; }
  FI void set(const T px, const T py)                  { x = px; y = py; }
  FI void set(const XYval<T> pxy)                      { x = pxy.x; y = pxy.y; }
-  FI void set(const XYval<T> pxy, const T pz)          { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP); }
+  FI void set(const XYval<T> pxy, const T pz)          { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP); }
  FI void set(const T (&arr)[XY])                      { x = arr[0]; y = arr[1]; }
  #if HAS_Z_AXIS
-    FI void set(const T (&arr)[NUM_AXES])              { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-    FI void set(NUM_AXIS_ARGS(const T))                { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k); }
+    FI void set(const T (&arr)[NUM_AXES])              { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    FI void set(NUM_AXIS_ARGS(const T))                { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
  #endif
  #if LOGICAL_AXES > NUM_AXES
-    FI void set(const T (&arr)[LOGICAL_AXES])          { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
-    FI void set(LOGICAL_AXIS_ARGS(const T))            { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k); }
+    FI void set(const T (&arr)[LOGICAL_AXES])          { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
+    FI void set(LOGICAL_AXIS_ARGS(const T))            { NUM_AXIS_CODE(a = x,      b = y,      c = z,     _i = i,     _j = j,     _k = k,     _u = u,     _v = v,     _w = w   ); }
    #if DISTINCT_AXES > LOGICAL_AXES
-      FI void set(const T (&arr)[DISTINCT_AXES])       { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); }
+      FI void set(const T (&arr)[DISTINCT_AXES])       { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
    #endif
  #endif
  #if HAS_I_AXIS
-    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+    FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
  #endif
  #if HAS_J_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+    FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; }
  #endif
  #if HAS_K_AXIS
    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
  #endif
+  #if HAS_U_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
+  #endif
+  #if HAS_V_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+  #endif
+  #if HAS_W_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; }
+  #endif

  // Length reduced to one dimension
-  FI T magnitude()                               const { return (T)sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  FI T magnitude()                               const { return (T)sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
  // Pointer to the data as a simple array
  FI operator T* ()                                    { return pos; }
  // If any element is true then it's true
-  FI operator bool()                                   { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k); }
+  FI operator bool()                                   { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k, || u, || v, || w); }

  // Explicit copy and copies with conversion
  FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
-  FI XYZval<T>           ABS()                   const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZval<int16_t>   asInt()                         { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int16_t>   asInt()                   const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZval<int32_t>  asLong()                         { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  asLong()                   const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZval<int32_t>  ROUNDL()                         { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<int32_t>  ROUNDL()                   const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZval<float>   asFloat()                         { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float>   asFloat()                   const { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZval<float> reciprocal()                  const { return NUM_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+  FI XYZval<T>           ABS()                   const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
+  FI XYZval<int16_t>   asInt()                         { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZval<int16_t>   asInt()                   const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZval<int32_t>  asLong()                         { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZval<int32_t>  asLong()                   const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZval<int32_t>  ROUNDL()                         { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZval<int32_t>  ROUNDL()                   const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZval<float>   asFloat()                         { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZval<float>   asFloat()                   const { return NUM_AXIS_ARRAY(static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZval<float> reciprocal()                  const { return NUM_AXIS_ARRAY(_RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }

  // Marlin workspace shifting is done with G92 and M206
  FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
@@ -519,7 +529,7 @@ struct XYZval {
  FI operator const XYval<T>&()                  const { return *(const XYval<T>*)this; }

  // Cast to a type with more fields by making a new object
-  FI operator       XYZEval<T>()                 const { return NUM_AXIS_ARRAY(x, y, z, i, j, k); }
+  FI operator       XYZEval<T>()                 const { return NUM_AXIS_ARRAY(x, y, z, i, j, k, u, v, w); }

  // Accessor via an AxisEnum (or any integer) [index]
  FI       T&   operator[](const int n)                { return pos[n]; }
@@ -531,66 +541,66 @@ struct XYZval {
  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(NUM_AXIS_ELEM(rs)); return *this; }

  // Override other operators to get intuitive behaviors
-  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
-  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        , NOOP        ); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; NUM_AXIS_CODE(_LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }
+  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; }

  // Modifier operators
-  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
-  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZval<T>& operator*=(const float &v)             { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZval<T>& operator*=(const int &v)               { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZval<T>& operator>>=(const int &v)              { NUM_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
-  FI XYZval<T>& operator<<=(const int &v)              { NUM_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP,      NOOP     ); return *this; }
+  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZval<T>& operator*=(const float &v)             { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZval<T>& operator*=(const int &v)               { NUM_AXIS_CODE(x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZval<T>& operator>>=(const int &v)              { NUM_AXIS_CODE(_RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZval<T>& operator<<=(const int &v)              { NUM_AXIS_CODE(_LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool       operator==(const XYZEval<T> &rs)       { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
-  FI bool       operator==(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool       operator==(const XYZEval<T> &rs)       { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool       operator==(const XYZEval<T> &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
  FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
  FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
 };
@@ -602,56 +612,66 @@ template<typename T>
 struct XYZEval {
  union {
    struct { T LOGICAL_AXIS_ARGS(); };
-    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k); };
+    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); };
    T pos[LOGICAL_AXES];
  };
  // Reset all to 0
-  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =) 0; }
+  FI void reset()                     { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; }

  // Setters for some number of linear axes, not all
-  FI void set(const T px)                                                   { x = px; }
-  FI void set(const T px, const T py)                                       { x = px; y = py; }
+  FI void set(const T px)                                                                                       { x = px; }
+  FI void set(const T px, const T py)                                                                           { x = px; y = py; }
  #if HAS_I_AXIS
-    FI void set(const T px, const T py, const T pz)                         { x = px; y = py; z = pz; }
+    FI void set(const T px, const T py, const T pz)                                                             { x = px; y = py; z = pz; }
  #endif
  #if HAS_J_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi)             { x = px; y = py; z = pz; i = pi; }
+    FI void set(const T px, const T py, const T pz, const T pi)                                                 { x = px; y = py; z = pz; i = pi; }
  #endif
  #if HAS_K_AXIS
-    FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; }
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj)                                     { x = px; y = py; z = pz; i = pi; j = pj; }
  #endif
+  #if HAS_U_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk)                         { x = px; y = py; z = pz; i = pi; j = pj; k = pk; }
+  #endif
+  #if HAS_V_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm)             { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; }
+  #endif
+  #if HAS_W_AXIS
+    FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pm, const T po) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pm; v = pv; }
+  #endif
+
  // Setters taking struct types and arrays
-  FI void set(const XYval<T> pxy)                  { x = pxy.x; y = pxy.y; }
-  FI void set(const XYZval<T> pxyz)                { set(NUM_AXIS_ELEM(pxyz)); }
+  FI void set(const XYval<T> pxy)                           { x = pxy.x; y = pxy.y; }
+  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM(pxyz)); }
  #if HAS_Z_AXIS
-    FI void set(NUM_AXIS_ARGS(const T))            { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k); }
+    FI void set(NUM_AXIS_ARGS(const T))                     { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
  #endif
-  FI void set(const XYval<T> pxy, const T pz)      { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
+  FI void set(const XYval<T> pxy, const T pz)               { set(pxy); TERN_(HAS_Z_AXIS, z = pz); }
  #if LOGICAL_AXES > NUM_AXES
    FI void set(const XYval<T> pxy, const T pz, const T pe) { set(pxy, pz); e = pe; }
-    FI void set(const XYZval<T> pxyz, const T pe)  { set(pxyz); e = pe; }
-    FI void set(LOGICAL_AXIS_ARGS(const T))        { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k); }
+    FI void set(const XYZval<T> pxyz, const T pe)           { set(pxyz); e = pe; }
+    FI void set(LOGICAL_AXIS_ARGS(const T))                 { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
  #endif

  // Length reduced to one dimension
-  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); }
+  FI T magnitude()                                 const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); }
  // Pointer to the data as a simple array
  FI operator T* ()                                      { return pos; }
  // If any element is true then it's true
-  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k); }
+  FI operator bool()                                     { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); }

  // Explicit copy and copies with conversion
-  FI XYZEval<T>          copy()  const { XYZEval<T> o = *this; return o; }
-  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); }
-  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); }
-  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); }
-  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); }
-  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k)); }
-  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k)); }
+  FI XYZEval<T>          copy()  const { XYZEval<T> v = *this; return v; }
+  FI XYZEval<T>           ABS()  const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); }
+  FI XYZEval<int16_t>   asInt()        { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZEval<int16_t>   asInt()  const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); }
+  FI XYZEval<int32_t>  asLong()        { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZEval<int32_t>  asLong()  const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); }
+  FI XYZEval<int32_t>  ROUNDL()        { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZEval<int32_t>  ROUNDL()  const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); }
+  FI XYZEval<float>   asFloat()        { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZEval<float>   asFloat()  const { return LOGICAL_AXIS_ARRAY(static_cast<float>(e), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z), static_cast<float>(i), static_cast<float>(j), static_cast<float>(k), static_cast<float>(u), static_cast<float>(v), static_cast<float>(w)); }
+  FI XYZEval<float> reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e),  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(i),  _RECIP(j),  _RECIP(k),  _RECIP(u),  _RECIP(v),  _RECIP(w)); }

  // Marlin workspace shifting is done with G92 and M206
  FI XYZEval<float> asLogical()  const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
@@ -681,57 +701,57 @@ struct XYZEval {
  FI XYZEval<T>  operator* (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
  FI XYZEval<T>  operator/ (const XYval<T>   &rs)   const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
  FI XYZEval<T>  operator/ (const XYval<T>   &rs)         { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; }
-  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k)   ); return ls; }
-  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
-  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)   const { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)         { XYZval<T>  ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)  const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T>  &rs)        { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; }
+  FI XYZEval<T>  operator* (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator* (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e *= v,    ls.x *= v,    ls.y *= v,    ls.z *= v,    ls.i *= v,    ls.j *= v,    ls.k *= v,    ls.u *= v,    ls.v *= v,    ls.w *= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)         const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const float &v)               { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator/ (const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(ls.e /= v,    ls.x /= v,    ls.y /= v,    ls.z /= v,    ls.i /= v,    ls.j /= v,    ls.k /= v,    ls.u /= v,    ls.v /= v,    ls.w /= v   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator>>(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e),    _RS(ls.x),    _RS(ls.y),    _RS(ls.z),    _RS(ls.i),    _RS(ls.j),    _RS(ls.k),    _RS(ls.u),    _RS(ls.v),    _RS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)           const { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI XYZEval<T>  operator<<(const int &v)                 { XYZEval<T> ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e),    _LS(ls.x),    _LS(ls.y),    _LS(ls.z),    _LS(ls.i),    _LS(ls.j),    _LS(ls.k),    _LS(ls.u),    _LS(ls.v),    _LS(ls.w)   ); return ls; }
+  FI const XYZEval<T> operator-()                   const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }
+  FI       XYZEval<T> operator-()                         { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); }

  // Modifier operators
  FI XYZEval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
  FI XYZEval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
  FI XYZEval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
  FI XYZEval<T>& operator/=(const XYval<T>   &rs)         { x /= rs.x; y /= rs.y; return *this; }
-  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; }
-  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; }
-  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; }
-  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v);    return *this; }
-  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k));    return *this; }
-  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k));    return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)         { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)         { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; }
+  FI XYZEval<T>& operator*=(const T &v)                   { LOGICAL_AXIS_CODE(e *= v,    x *= v,    y *= v,    z *= v,    i *= v,    j *= v,    k *= v,    u *= v,    v *= v,    w *= v);    return *this; }
+  FI XYZEval<T>& operator>>=(const int &v)                { LOGICAL_AXIS_CODE(_RS(e),    _RS(x),    _RS(y),    _RS(z),    _RS(i),    _RS(j),    _RS(k),    _RS(u),    _RS(v),    _RS(w));    return *this; }
+  FI XYZEval<T>& operator<<=(const int &v)                { LOGICAL_AXIS_CODE(_LS(e),    _LS(x),    _LS(y),    _LS(z),    _LS(i),    _LS(j),    _LS(k),    _LS(u),    _LS(v),    _LS(w));    return *this; }

  // Exact comparisons. For floats a "NEAR" operation may be better.
-  FI bool        operator==(const XYZval<T>  &rs)         { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
-  FI bool        operator==(const XYZval<T>  &rs)   const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); }
+  FI bool        operator==(const XYZval<T>  &rs)         { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
+  FI bool        operator==(const XYZval<T>  &rs)   const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); }
  FI bool        operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
  FI bool        operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
 };
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -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")
--- a/Marlin/src/core/utility.h
+++ b/Marlin/src/core/utility.h
@@ -83,12 +83,12 @@ public:
 constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }

 // Axis names for G-code parsing, reports, etc.
-const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
+const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME);
 #if NUM_AXES <= XYZ && !HAS_EXTRUDERS
  #define AXIS_CHAR(A) ((char)('X' + A))
  #define IAXIS_CHAR AXIS_CHAR
 #else
-  const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K');
+  const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K', 'U', 'V', 'W');
  #define AXIS_CHAR(A) axis_codes[A]
  #define IAXIS_CHAR(A) iaxis_codes[A]
 #endif
--- a/Marlin/src/feature/babystep.cpp
+++ b/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;

--- a/Marlin/src/feature/babystep.h
+++ b/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)];
  }
--- a/Marlin/src/feature/bedlevel/bdl/bdl.cpp
+++ b/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
--- a/Marlin/src/feature/bedlevel/bdl/bdl.h
+++ b/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;
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -316,6 +316,42 @@ void unified_bed_leveling::G29() {
    // Send 'N' to force homing before G29 (internal only)
    if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes();
    TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0, true));
+
+    // Position bed horizontally and Z probe vertically.
+    #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+        || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+        || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+      xyze_pos_t safe_position = current_position;
+      #ifdef SAFE_BED_LEVELING_START_X
+        safe_position.x = SAFE_BED_LEVELING_START_X;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Y
+        safe_position.y = SAFE_BED_LEVELING_START_Y;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Z
+        safe_position.z = SAFE_BED_LEVELING_START_Z;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_I
+        safe_position.i = SAFE_BED_LEVELING_START_I;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_J
+        safe_position.j = SAFE_BED_LEVELING_START_J;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_K
+        safe_position.k = SAFE_BED_LEVELING_START_K;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_U
+        safe_position.u = SAFE_BED_LEVELING_START_U;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_V
+        safe_position.v = SAFE_BED_LEVELING_START_V;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_W
+        safe_position.w = SAFE_BED_LEVELING_START_W;
+      #endif
+
+      do_blocking_move_to(safe_position);
+    #endif
  }

  // Invalidate one or more nearby mesh points, possibly all.
--- a/Marlin/src/feature/leds/neopixel.h
+++ b/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));
--- a/Marlin/src/feature/max7219.cpp
+++ b/Marlin/src/feature/max7219.cpp
@@ -51,6 +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)
@@ -61,6 +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 };
@@ -68,7 +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)
@@ -265,26 +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) {
@@ -447,7 +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;
@@ -535,13 +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
 }
@@ -553,41 +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.
@@ -598,6 +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
    );
 }

@@ -635,16 +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
@@ -654,7 +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;
    }
@@ -664,7 +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
@@ -672,7 +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
@@ -683,11 +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;
--- a/Marlin/src/feature/max7219.h
+++ b/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();
--- a/Marlin/src/feature/spindle_laser.cpp
+++ b/Marlin/src/feature/spindle_laser.cpp
@@ -67,7 +67,7 @@ cutter_frequency_t SpindleLaser::frequency;                           // PWM fre
 void SpindleLaser::init() {
  #if ENABLED(SPINDLE_SERVO)
    servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
-  #else
+  #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)
@@ -104,12 +104,16 @@ void SpindleLaser::init() {
  }

  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
--- a/Marlin/src/feature/spindle_laser.h
+++ b/Marlin/src/feature/spindle_laser.h
@@ -40,6 +40,7 @@
 #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,
@@ -196,7 +197,7 @@ public:
   *  - 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 set_enabled(const bool enable) {
+  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);
@@ -208,7 +209,7 @@ public:
        TERN_(LASER_FEATURE, set_inline_enabled(enable));
        break;
      case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
-        enable_state = false;
+        enable = false;
        apply_power(0);
    }
    #if SPINDLE_LASER_ENA_PIN
@@ -278,13 +279,14 @@ public:

    #if ENABLED(LASER_FEATURE)
      // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
-      static void laser_menu_toggle(const bool state) {
+      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);
      }

      /**
@@ -294,10 +296,10 @@ public:
       */
      static void test_fire_pulse() {
        BUZZ(30, 3000);
-        cutter_mode = CUTTER_MODE_STANDARD;// Menu needs standard mode.
-        laser_menu_toggle(true);           // Laser On
-        delay(testPulse);                  // Delay for time set by user in pulse ms menu screen.
-        laser_menu_toggle(false);          // Laser Off
+        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 // LASER_FEATURE

@@ -307,14 +309,14 @@ public:

    // 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
+      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) { planner.laser_inline.status.isEnabled = enable;}
+    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 cpwr) {
--- a/Marlin/src/feature/stepper_driver_safety.cpp
+++ b/Marlin/src/feature/stepper_driver_safety.cpp
@@ -65,15 +65,18 @@ void stepper_driver_backward_check() {
  TEST_BACKWARD(I,   8);
  TEST_BACKWARD(J,   9);
  TEST_BACKWARD(K,  10);
+  TEST_BACKWARD(U,  11);
+  TEST_BACKWARD(V,  12);
+  TEST_BACKWARD(W,  13);

-  TEST_BACKWARD(E0, 11);
-  TEST_BACKWARD(E1, 12);
-  TEST_BACKWARD(E2, 13);
-  TEST_BACKWARD(E3, 14);
-  TEST_BACKWARD(E4, 15);
-  TEST_BACKWARD(E5, 16);
-  TEST_BACKWARD(E6, 17);
-  TEST_BACKWARD(E7, 18);
+  TEST_BACKWARD(E0, 14);
+  TEST_BACKWARD(E1, 15);
+  TEST_BACKWARD(E2, 16);
+  TEST_BACKWARD(E3, 17);
+  TEST_BACKWARD(E4, 18);
+  TEST_BACKWARD(E5, 19);
+  TEST_BACKWARD(E6, 20);
+  TEST_BACKWARD(E7, 21);

  if (!axis_plug_backward)
    WRITE(SAFE_POWER_PIN, HIGH);
@@ -103,15 +106,18 @@ void stepper_driver_backward_report() {
  REPORT_BACKWARD(I,   8);
  REPORT_BACKWARD(J,   9);
  REPORT_BACKWARD(K,  10);
+  REPORT_BACKWARD(U,  11);
+  REPORT_BACKWARD(V,  12);
+  REPORT_BACKWARD(W,  13);

-  REPORT_BACKWARD(E0, 11);
-  REPORT_BACKWARD(E1, 12);
-  REPORT_BACKWARD(E2, 13);
-  REPORT_BACKWARD(E3, 14);
-  REPORT_BACKWARD(E4, 15);
-  REPORT_BACKWARD(E5, 16);
-  REPORT_BACKWARD(E6, 17);
-  REPORT_BACKWARD(E7, 18);
+  REPORT_BACKWARD(E0, 14);
+  REPORT_BACKWARD(E1, 15);
+  REPORT_BACKWARD(E2, 16);
+  REPORT_BACKWARD(E3, 17);
+  REPORT_BACKWARD(E4, 18);
+  REPORT_BACKWARD(E5, 19);
+  REPORT_BACKWARD(E6, 20);
+  REPORT_BACKWARD(E7, 21);
 }

 #endif // HAS_DRIVER_SAFE_POWER_PROTECT
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -424,6 +424,18 @@
        if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
          step_current_down(stepperK);
      #endif
+      #if AXIS_IS_TMC(U)
+        if (monitor_tmc_driver(stepperU, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperU);
+      #endif
+      #if AXIS_IS_TMC(V)
+        if (monitor_tmc_driver(stepperV, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperV);
+      #endif
+      #if AXIS_IS_TMC(W)
+        if (monitor_tmc_driver(stepperW, need_update_error_counters, need_debug_reporting))
+          step_current_down(stepperW);
+      #endif

      #if AXIS_IS_TMC(E0)
        (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
@@ -804,6 +816,15 @@
    #if AXIS_IS_TMC(K)
      if (k) tmc_status(stepperK, n);
    #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_status(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_status(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_status(stepperW, n);
+    #endif

    if (TERN0(HAS_EXTRUDERS, e)) {
      #if AXIS_IS_TMC(E0)
@@ -878,6 +899,15 @@
    #if AXIS_IS_TMC(K)
      if (k) tmc_parse_drv_status(stepperK, n);
    #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_parse_drv_status(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_parse_drv_status(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_parse_drv_status(stepperW, n);
+    #endif

    if (TERN0(HAS_EXTRUDERS, e)) {
      #if AXIS_IS_TMC(E0)
@@ -1083,6 +1113,15 @@
    #if AXIS_IS_TMC(K)
      if (k) tmc_get_registers(stepperK, n);
    #endif
+    #if AXIS_IS_TMC(U)
+      if (u) tmc_get_registers(stepperU, n);
+    #endif
+    #if AXIS_IS_TMC(V)
+      if (v) tmc_get_registers(stepperV, n);
+    #endif
+    #if AXIS_IS_TMC(W)
+      if (w) tmc_get_registers(stepperW, n);
+    #endif

    if (TERN0(HAS_EXTRUDERS, e)) {
      #if AXIS_IS_TMC(E0)
@@ -1239,6 +1278,15 @@ void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
  #if AXIS_IS_TMC(K)
    if (k) axis_connection += test_connection(stepperK);
  #endif
+  #if AXIS_IS_TMC(U)
+    if (u) axis_connection += test_connection(stepperU);
+  #endif
+  #if AXIS_IS_TMC(V)
+    if (v) axis_connection += test_connection(stepperV);
+  #endif
+  #if AXIS_IS_TMC(W)
+    if (w) axis_connection += test_connection(stepperW);
+  #endif

  if (TERN0(HAS_EXTRUDERS, e)) {
    #if AXIS_IS_TMC(E0)
@@ -1308,6 +1356,15 @@ void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
    #if AXIS_HAS_SPI(K)
      SET_CS_PIN(K);
    #endif
+    #if AXIS_HAS_SPI(U)
+      SET_CS_PIN(U);
+    #endif
+    #if AXIS_HAS_SPI(V)
+      SET_CS_PIN(V);
+    #endif
+    #if AXIS_HAS_SPI(W)
+      SET_CS_PIN(W);
+    #endif
    #if AXIS_HAS_SPI(E0)
      SET_CS_PIN(E0);
    #endif
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -452,6 +452,42 @@ G29_TYPE GcodeSuite::G29() {
      #endif
    }

+    // Position bed horizontally and Z probe vertically.
+    #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+        || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+        || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+      xyze_pos_t safe_position = current_position;
+      #ifdef SAFE_BED_LEVELING_START_X
+        safe_position.x = SAFE_BED_LEVELING_START_X;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Y
+        safe_position.y = SAFE_BED_LEVELING_START_Y;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_Z
+        safe_position.z = SAFE_BED_LEVELING_START_Z;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_I
+        safe_position.i = SAFE_BED_LEVELING_START_I;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_J
+        safe_position.j = SAFE_BED_LEVELING_START_J;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_K
+        safe_position.k = SAFE_BED_LEVELING_START_K;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_U
+        safe_position.u = SAFE_BED_LEVELING_START_U;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_V
+        safe_position.v = SAFE_BED_LEVELING_START_V;
+      #endif
+      #ifdef SAFE_BED_LEVELING_START_W
+        safe_position.w = SAFE_BED_LEVELING_START_W;
+      #endif
+
+      do_blocking_move_to(safe_position);
+    #endif
+
    // Disable auto bed leveling during G29.
    // Be formal so G29 can be done successively without G28.
    if (!no_action) set_bed_leveling_enabled(false);
--- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -106,6 +106,43 @@ void GcodeSuite::G29() {
        queue.inject(parser.seen_test('N') ? F("G28" TERN(CAN_SET_LEVELING_AFTER_G28, "L0", "") "\nG29S2") : F("G29S2"));
        TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart());
        TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart());
+
+        // Position bed horizontally and Z probe vertically.
+        #if    defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \
+            || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \
+            || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W)
+          xyze_pos_t safe_position = current_position;
+          #ifdef SAFE_BED_LEVELING_START_X
+            safe_position.x = SAFE_BED_LEVELING_START_X;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_Y
+            safe_position.y = SAFE_BED_LEVELING_START_Y;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_Z
+            safe_position.z = SAFE_BED_LEVELING_START_Z;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_I
+            safe_position.i = SAFE_BED_LEVELING_START_I;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_J
+            safe_position.j = SAFE_BED_LEVELING_START_J;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_K
+            safe_position.k = SAFE_BED_LEVELING_START_K;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_U
+            safe_position.u = SAFE_BED_LEVELING_START_U;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_V
+            safe_position.v = SAFE_BED_LEVELING_START_V;
+          #endif
+          #ifdef SAFE_BED_LEVELING_START_W
+            safe_position.w = SAFE_BED_LEVELING_START_W;
+          #endif
+
+          do_blocking_move_to(safe_position);
+        #endif
+
        return;
      }
      state = MeshNext;
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -36,6 +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
@@ -56,10 +60,6 @@
  #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_FEATURE)
  #include "../../feature/spindle_laser.h"
 #endif
@@ -206,7 +206,9 @@ void GcodeSuite::G28() {
  DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
  if (DEBUGGING(LEVELING)) log_machine_info();

-  /*
+  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)
@@ -264,7 +266,7 @@ void GcodeSuite::G28() {
  reset_stepper_timeout();

  #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
-  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K)
+  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W)
    #define HAS_HOMING_CURRENT 1
  #endif

@@ -292,21 +294,6 @@ void GcodeSuite::G28() {
      stepperY2.rms_current(Y2_CURRENT_HOME);
      if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME);
    #endif
-    #if HAS_CURRENT_HOME(I)
-      const int16_t tmc_save_current_I = stepperI.getMilliamps();
-      stepperI.rms_current(I_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME);
-    #endif
-    #if HAS_CURRENT_HOME(J)
-      const int16_t tmc_save_current_J = stepperJ.getMilliamps();
-      stepperJ.rms_current(J_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME);
-    #endif
-    #if HAS_CURRENT_HOME(K)
-      const int16_t tmc_save_current_K = stepperK.getMilliamps();
-      stepperK.rms_current(K_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
-    #endif
    #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
      const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
      stepperZ.rms_current(Z_CURRENT_HOME);
@@ -327,6 +314,21 @@ void GcodeSuite::G28() {
      stepperK.rms_current(K_CURRENT_HOME);
      if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
    #endif
+    #if HAS_CURRENT_HOME(U)
+      const int16_t tmc_save_current_U = stepperU.getMilliamps();
+      stepperU.rms_current(U_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_U), tmc_save_current_U, U_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(V)
+      const int16_t tmc_save_current_V = stepperV.getMilliamps();
+      stepperV.rms_current(V_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_V), tmc_save_current_V, V_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(W)
+      const int16_t tmc_save_current_W = stepperW.getMilliamps();
+      stepperW.rms_current(W_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME);
+    #endif
    #if SENSORLESS_STALLGUARD_DELAY
      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
    #endif
@@ -375,21 +377,26 @@ void GcodeSuite::G28() {
    const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')),
               NUM_AXIS_LIST(              // Other axes should be homed before Z safe-homing
                 needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED
-                 needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K)
+                 needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K),
+                 needU = _UNSAFE(U), needV = _UNSAFE(V), needW = _UNSAFE(W)
               ),
               NUM_AXIS_LIST(              // Home each axis if needed or flagged
                 homeX = needX || parser.seen_test('X'),
                 homeY = needY || parser.seen_test('Y'),
                 homeZZ = homeZ,
-                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME)
+                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME),
+                 homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME),
+                 homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME)
               ),
               home_all = NUM_AXIS_GANG(   // Home-all if all or none are flagged
                    homeX == homeX, && homeY == homeX, && homeZ == homeX,
-                 && homeI == homeX, && homeJ == homeX, && homeK == homeX
+                 && homeI == homeX, && homeJ == homeX, && homeK == homeX,
+                 && homeU == homeX, && homeV == homeX, && homeW == homeX
               ),
               NUM_AXIS_LIST(
                 doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ,
-                 doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK
+                 doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK,
+                 doU = home_all || homeU, doV = home_all || homeV, doW = home_all || homeW
               );

    #if HAS_Z_AXIS
@@ -403,7 +410,7 @@ void GcodeSuite::G28() {
    const bool seenR = parser.seenval('R');
    const float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT;

-    if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK))) {
+    if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW))) {
      // Raise Z before homing any other axes and z is not already high enough (never lower z)
      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height);
      do_z_clearance(z_homing_height);
@@ -443,34 +450,52 @@ void GcodeSuite::G28() {
      #endif
    }

+    #if BOTH(FOAMCUTTER_XYUV, HAS_I_AXIS)
+      // Home I (after X)
+      if (doI) homeaxis(I_AXIS);
+    #endif
+
    // Home Y (after X)
    if (DISABLED(HOME_Y_BEFORE_X) && doY)
      homeaxis(Y_AXIS);

-    TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state));
-
-    // Home Z last if homing towards the bed
-    #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST)
-      if (doZ) {
-        #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
-          stepper.set_all_z_lock(false);
-          stepper.set_separate_multi_axis(false);
-        #endif
-
-        #if ENABLED(Z_SAFE_HOMING)
-          if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS);
-        #else
-          homeaxis(Z_AXIS);
-        #endif
-        probe.move_z_after_homing();
-      }
+    #if BOTH(FOAMCUTTER_XYUV, HAS_J_AXIS)
+      // Home J (after Y)
+      if (doJ) homeaxis(J_AXIS);
    #endif

-    SECONDARY_AXIS_CODE(
-      if (doI) homeaxis(I_AXIS),
-      if (doJ) homeaxis(J_AXIS),
-      if (doK) homeaxis(K_AXIS)
-    );
+    TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state));
+
+    #if ENABLED(FOAMCUTTER_XYUV)
+      // skip homing of unused Z axis for foamcutters
+      if (doZ) set_axis_is_at_home(Z_AXIS);
+    #else
+      // Home Z last if homing towards the bed
+      #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST)
+        if (doZ) {
+          #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
+            stepper.set_all_z_lock(false);
+            stepper.set_separate_multi_axis(false);
+          #endif
+
+          #if ENABLED(Z_SAFE_HOMING)
+            if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS);
+          #else
+            homeaxis(Z_AXIS);
+          #endif
+          probe.move_z_after_homing();
+        }
+      #endif
+
+      SECONDARY_AXIS_CODE(
+        if (doI) homeaxis(I_AXIS),
+        if (doJ) homeaxis(J_AXIS),
+        if (doK) homeaxis(K_AXIS),
+        if (doU) homeaxis(U_AXIS),
+        if (doV) homeaxis(V_AXIS),
+        if (doW) homeaxis(W_AXIS)
+      );
+    #endif

    sync_plan_position();

@@ -553,6 +578,15 @@ void GcodeSuite::G28() {
    #if HAS_CURRENT_HOME(K)
      stepperK.rms_current(tmc_save_current_K);
    #endif
+    #if HAS_CURRENT_HOME(U)
+      stepperU.rms_current(tmc_save_current_U);
+    #endif
+    #if HAS_CURRENT_HOME(V)
+      stepperV.rms_current(tmc_save_current_V);
+    #endif
+    #if HAS_CURRENT_HOME(W)
+      stepperW.rms_current(tmc_save_current_W);
+    #endif
    #if SENSORLESS_STALLGUARD_DELAY
      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
    #endif
@@ -570,20 +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),
-      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
 }
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -85,10 +85,19 @@
 #if ALL(HAS_K_AXIS, CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX)
  #define HAS_K_CENTER 1
 #endif
+#if ALL(HAS_U_AXIS, CALIBRATION_MEASURE_UMIN, CALIBRATION_MEASURE_UMAX)
+  #define HAS_U_CENTER 1
+#endif
+#if ALL(HAS_V_AXIS, CALIBRATION_MEASURE_VMIN, CALIBRATION_MEASURE_VMAX)
+  #define HAS_V_CENTER 1
+#endif
+#if ALL(HAS_W_AXIS, CALIBRATION_MEASURE_WMIN, CALIBRATION_MEASURE_WMAX)
+  #define HAS_W_CENTER 1
+#endif

 enum side_t : uint8_t {
  TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
-  LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
+  LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM, UMINIMUM, UMAXIMUM, VMINIMUM, VMAXIMUM, WMINIMUM, WMAXIMUM)
 };

 static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
@@ -282,6 +291,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
    #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
      _PCASE(K);
    #endif
+    #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
+      _PCASE(U);
+    #endif
+    #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
+      _PCASE(V);
+    #endif
+    #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
+      _PCASE(W);
+    #endif
    default: return;
  }

@@ -335,6 +353,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
  TERN_(CALIBRATION_MEASURE_JMAX,  probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge));
  TERN_(CALIBRATION_MEASURE_KMIN,  probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge));
  TERN_(CALIBRATION_MEASURE_KMAX,  probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_UMIN,  probe_side(m, uncertainty, UMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_UMAX,  probe_side(m, uncertainty, UMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_VMIN,  probe_side(m, uncertainty, VMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_VMAX,  probe_side(m, uncertainty, VMAXIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_WMIN,  probe_side(m, uncertainty, WMINIMUM, probe_top_at_edge));
+  TERN_(CALIBRATION_MEASURE_WMAX,  probe_side(m, uncertainty, WMAXIMUM, probe_top_at_edge));

  // Compute the measured center of the calibration object.
  TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT]     + m.obj_side[RIGHT])    / 2);
@@ -342,6 +366,9 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
  TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2);
  TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2);
  TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2);
+  TERN_(HAS_U_CENTER, m.obj_center.u = (m.obj_side[UMINIMUM] + m.obj_side[UMAXIMUM]) / 2);
+  TERN_(HAS_V_CENTER, m.obj_center.v = (m.obj_side[VMINIMUM] + m.obj_side[VMAXIMUM]) / 2);
+  TERN_(HAS_W_CENTER, m.obj_center.w = (m.obj_side[WMINIMUM] + m.obj_side[WMAXIMUM]) / 2);

  // Compute the outside diameter of the nozzle at the height
  // at which it makes contact with the calibration object
@@ -358,7 +385,10 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
    m.pos_error.z = true_center.z - m.obj_center.z,
    m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i),
    m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j),
-    m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k)
+    m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k),
+    m.pos_error.u = TERN0(HAS_U_CENTER, true_center.u - m.obj_center.u),
+    m.pos_error.v = TERN0(HAS_V_CENTER, true_center.v - m.obj_center.v),
+    m.pos_error.w = TERN0(HAS_W_CENTER, true_center.w - m.obj_center.w)
  );
 }

@@ -406,6 +436,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
        SERIAL_ECHOLNPGM("  " STR_K_MAX ": ", m.obj_side[KMAXIMUM]);
      #endif
    #endif
+    #if HAS_U_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_UMIN)
+        SERIAL_ECHOLNPGM("  " STR_U_MIN ": ", m.obj_side[UMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_UMAX)
+        SERIAL_ECHOLNPGM("  " STR_U_MAX ": ", m.obj_side[UMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_V_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_VMIN)
+        SERIAL_ECHOLNPGM("  " STR_V_MIN ": ", m.obj_side[VMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_VMAX)
+        SERIAL_ECHOLNPGM("  " STR_V_MAX ": ", m.obj_side[VMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_W_AXIS
+      #if ENABLED(CALIBRATION_MEASURE_WMIN)
+        SERIAL_ECHOLNPGM("  " STR_W_MIN ": ", m.obj_side[WMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_WMAX)
+        SERIAL_ECHOLNPGM("  " STR_W_MAX ": ", m.obj_side[WMAXIMUM]);
+      #endif
+    #endif
    SERIAL_EOL();
  }

@@ -427,6 +481,15 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
    #if HAS_K_CENTER
      SERIAL_ECHOLNPGM_P(SP_K_STR, m.obj_center.k);
    #endif
+    #if HAS_U_CENTER
+      SERIAL_ECHOLNPGM_P(SP_U_STR, m.obj_center.u);
+    #endif
+    #if HAS_V_CENTER
+      SERIAL_ECHOLNPGM_P(SP_V_STR, m.obj_center.v);
+    #endif
+    #if HAS_W_CENTER
+      SERIAL_ECHOLNPGM_P(SP_W_STR, m.obj_center.w);
+    #endif
    SERIAL_EOL();
  }

@@ -475,6 +538,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
        SERIAL_ECHOLNPGM("  " STR_K_MAX ": ", m.backlash[KMAXIMUM]);
      #endif
    #endif
+    #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U)
+      #if ENABLED(CALIBRATION_MEASURE_UMIN)
+        SERIAL_ECHOLNPGM("  " STR_U_MIN ": ", m.backlash[UMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_UMAX)
+        SERIAL_ECHOLNPGM("  " STR_U_MAX ": ", m.backlash[UMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V)
+      #if ENABLED(CALIBRATION_MEASURE_VMIN)
+        SERIAL_ECHOLNPGM("  " STR_V_MIN ": ", m.backlash[VMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_VMAX)
+        SERIAL_ECHOLNPGM("  " STR_V_MAX ": ", m.backlash[VMAXIMUM]);
+      #endif
+    #endif
+    #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W)
+      #if ENABLED(CALIBRATION_MEASURE_WMIN)
+        SERIAL_ECHOLNPGM("  " STR_W_MIN ": ", m.backlash[WMINIMUM]);
+      #endif
+      #if ENABLED(CALIBRATION_MEASURE_WMAX)
+        SERIAL_ECHOLNPGM("  " STR_W_MAX ": ", m.backlash[WMAXIMUM]);
+      #endif
+    #endif
    SERIAL_EOL();
  }

@@ -498,7 +585,16 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
      SERIAL_ECHOLNPGM_P(SP_J_STR, m.pos_error.j);
    #endif
    #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K)
-      SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z);
+      SERIAL_ECHOLNPGM_P(SP_K_STR, m.pos_error.k);
+    #endif
+    #if HAS_U_CENTER && AXIS_CAN_CALIBRATE(U)
+      SERIAL_ECHOLNPGM_P(SP_U_STR, m.pos_error.u);
+    #endif
+    #if HAS_V_CENTER && AXIS_CAN_CALIBRATE(V)
+      SERIAL_ECHOLNPGM_P(SP_V_STR, m.pos_error.v);
+    #endif
+    #if HAS_W_CENTER && AXIS_CAN_CALIBRATE(W)
+      SERIAL_ECHOLNPGM_P(SP_W_STR, m.pos_error.w);
    #endif
    SERIAL_EOL();
  }
@@ -587,6 +683,30 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
        backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]);
      #endif

+      #if HAS_U_CENTER
+        backlash.distance_mm.u = (m.backlash[UMINIMUM] + m.backlash[UMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_UMIN)
+        backlash.distance_mm.u = m.backlash[UMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_UMAX)
+        backlash.distance_mm.u = m.backlash[UMAXIMUM];
+      #endif
+
+      #if HAS_V_CENTER
+        backlash.distance_mm.v = (m.backlash[VMINIMUM] + m.backlash[VMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_VMIN)
+        backlash.distance_mm.v = m.backlash[VMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_UMAX)
+        backlash.distance_mm.v = m.backlash[VMAXIMUM];
+      #endif
+
+      #if HAS_W_CENTER
+        backlash.distance_mm.w = (m.backlash[WMINIMUM] + m.backlash[WMAXIMUM]) / 2;
+      #elif ENABLED(CALIBRATION_MEASURE_WMIN)
+        backlash.distance_mm.w = m.backlash[WMINIMUM];
+      #elif ENABLED(CALIBRATION_MEASURE_WMAX)
+        backlash.distance_mm.w = m.backlash[WMAXIMUM];
+      #endif
+
    #endif // BACKLASH_GCODE
  }

@@ -599,7 +719,8 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
      TEMPORARY_BACKLASH_SMOOTHING(0.0f);
      const xyz_float_t move = NUM_AXIS_ARRAY(
        AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
-        AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3
+        AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3,
+        AXIS_CAN_CALIBRATE(U) * 3, AXIS_CAN_CALIBRATE(V) * 3, AXIS_CAN_CALIBRATE(W) * 3
      );
      current_position += move; calibration_move();
      current_position -= move; calibration_move();
@@ -650,6 +771,9 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
  TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS));
  TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS));
  TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS));
+  TERN_(HAS_U_CENTER, update_measurements(m, U_AXIS));
+  TERN_(HAS_V_CENTER, update_measurements(m, V_AXIS));
+  TERN_(HAS_W_CENTER, update_measurements(m, W_AXIS));

  sync_plan_position();
 }
--- a/Marlin/src/gcode/calibrate/M425.cpp
+++ b/Marlin/src/gcode/calibrate/M425.cpp
@@ -115,9 +115,12 @@ void GcodeSuite::M425_report(const bool forReplay/*=true*/) {
        SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)),
        SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)),
        SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)),
-        SP_I_STR, LINEAR_UNIT(backlash.get_distance_mm(I_AXIS)),
-        SP_J_STR, LINEAR_UNIT(backlash.get_distance_mm(J_AXIS)),
-        SP_K_STR, LINEAR_UNIT(backlash.get_distance_mm(K_AXIS))
+        SP_I_STR, I_AXIS_UNIT(backlash.get_distance_mm(I_AXIS)),
+        SP_J_STR, J_AXIS_UNIT(backlash.get_distance_mm(J_AXIS)),
+        SP_K_STR, K_AXIS_UNIT(backlash.get_distance_mm(K_AXIS)),
+        SP_U_STR, U_AXIS_UNIT(backlash.get_distance_mm(U_AXIS)),
+        SP_V_STR, V_AXIS_UNIT(backlash.get_distance_mm(V_AXIS)),
+        SP_W_STR, W_AXIS_UNIT(backlash.get_distance_mm(W_AXIS))
      )
  );
 }
--- a/Marlin/src/gcode/config/M200-M205.cpp
+++ b/Marlin/src/gcode/config/M200-M205.cpp
@@ -148,9 +148,12 @@ void GcodeSuite::M201_report(const bool forReplay/*=true*/) {
      PSTR("  M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]),
      SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]),
      SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]),
-      SP_I_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]),
-      SP_J_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]),
-      SP_K_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS])
+      SP_I_STR, I_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]),
+      SP_J_STR, J_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]),
+      SP_K_STR, K_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]),
+      SP_U_STR, U_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[U_AXIS]),
+      SP_V_STR, V_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[V_AXIS]),
+      SP_W_STR, W_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[W_AXIS])
    )
    #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
      , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS])
@@ -195,7 +198,10 @@ void GcodeSuite::M203_report(const bool forReplay/*=true*/) {
      SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]),
      SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]),
      SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]),
-      SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS])
+      SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]),
+      SP_U_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[U_AXIS]),
+      SP_V_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[V_AXIS]),
+      SP_W_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[W_AXIS])
    )
    #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
      , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS])
@@ -282,9 +288,12 @@ void GcodeSuite::M205() {
      if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()),
      if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()),
      if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.value_linear_units())
+      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.TERN(AXIS4_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.TERN(AXIS5_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.TERN(AXIS6_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS7_NAME)) planner.set_max_jerk(U_AXIS, parser.TERN(AXIS7_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS8_NAME)) planner.set_max_jerk(V_AXIS, parser.TERN(AXIS8_ROTATES, value_float, value_linear_units)()),
+      if (parser.seenval(AXIS9_NAME)) planner.set_max_jerk(W_AXIS, parser.TERN(AXIS9_ROTATES, value_float, value_linear_units)())
    );
    #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING)
      if (seenZ && planner.max_jerk.z <= 0.1f)
@@ -300,7 +309,8 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) {
    #if HAS_CLASSIC_JERK
      NUM_AXIS_GANG(
        " X<max_jerk>", " Y<max_jerk>", " Z<max_jerk>",
-        " " STR_I "<max_jerk>", " " STR_J "<max_jerk>", " " STR_K "<max_jerk>"
+        " " STR_I "<max_jerk>", " " STR_J "<max_jerk>", " " STR_K "<max_jerk>",
+        " " STR_U "<max_jerk>", " " STR_V "<max_jerk>", " " STR_W "<max_jerk>"
      )
    #endif
    TERN_(HAS_CLASSIC_E_JERK, " E<max_jerk>")
@@ -318,9 +328,12 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) {
        SP_X_STR, LINEAR_UNIT(planner.max_jerk.x),
        SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y),
        SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z),
-        SP_I_STR, LINEAR_UNIT(planner.max_jerk.i),
-        SP_J_STR, LINEAR_UNIT(planner.max_jerk.j),
-        SP_K_STR, LINEAR_UNIT(planner.max_jerk.k)
+        SP_I_STR, I_AXIS_UNIT(planner.max_jerk.i),
+        SP_J_STR, J_AXIS_UNIT(planner.max_jerk.j),
+        SP_K_STR, K_AXIS_UNIT(planner.max_jerk.k),
+        SP_U_STR, U_AXIS_UNIT(planner.max_jerk.u),
+        SP_V_STR, V_AXIS_UNIT(planner.max_jerk.v),
+        SP_W_STR, W_AXIS_UNIT(planner.max_jerk.w)
      )
      #if HAS_CLASSIC_E_JERK
        , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e)
--- a/Marlin/src/gcode/config/M217.cpp
+++ b/Marlin/src/gcode/config/M217.cpp
@@ -53,6 +53,9 @@
 *  I[linear]     Park I (Requires TOOLCHANGE_PARK and NUM_AXES >= 4)
 *  J[linear]     Park J (Requires TOOLCHANGE_PARK and NUM_AXES >= 5)
 *  K[linear]     Park K (Requires TOOLCHANGE_PARK and NUM_AXES >= 6)
+ *  C[linear]     Park U (Requires TOOLCHANGE_PARK and NUM_AXES >= 7)
+ *  H[linear]     Park V (Requires TOOLCHANGE_PARK and NUM_AXES >= 8)
+ *  O[linear]     Park W (Requires TOOLCHANGE_PARK and NUM_AXES >= 9)
 *  Z[linear]     Z Raise
 *  F[speed]      Fan Speed 0-255
 *  D[seconds]    Fan time
@@ -95,13 +98,22 @@ void GcodeSuite::M217() {
      if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); }
    #endif
    #if HAS_I_AXIS
-      if (parser.seenval('I')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
+      if (parser.seenval('I')) { const int16_t v = parser.TERN(AXIS4_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
    #endif
    #if HAS_J_AXIS
-      if (parser.seenval('J')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
+      if (parser.seenval('J')) { const int16_t v = parser.TERN(AXIS5_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
    #endif
    #if HAS_K_AXIS
-      if (parser.seenval('K')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+      if (parser.seenval('K')) { const int16_t v = parser.TERN(AXIS6_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+    #endif
+    #if HAS_U_AXIS
+      if (parser.seenval('C')) { const int16_t v = parser.TERN(AXIS7_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); }
+    #endif
+    #if HAS_V_AXIS
+      if (parser.seenval('H')) { const int16_t v = parser.TERN(AXIS8_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); }
+    #endif
+    #if HAS_W_AXIS
+      if (parser.seenval('O')) { const int16_t v = parser.TERN(AXIS9_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); }
    #endif
  #endif

@@ -167,7 +179,6 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
    #endif

    #if ENABLED(TOOLCHANGE_PARK)
-    {
      SERIAL_ECHOPGM(" W", LINEAR_UNIT(toolchange_settings.enable_park));
      SERIAL_ECHOPGM_P(
            SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x)
@@ -175,14 +186,16 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
          , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y)
        #endif
        #if SECONDARY_AXES >= 1
-          , LIST_N(DOUBLE(SECONDARY_AXES),
-              SP_I_STR, I_AXIS_UNIT(toolchange_settings.change_point.i),
-              SP_J_STR, J_AXIS_UNIT(toolchange_settings.change_point.j),
-              SP_K_STR, K_AXIS_UNIT(toolchange_settings.change_point.k)
+          , LIST_N(DOUBLE(SECONDARY_AXES)
+              , SP_I_STR,   I_AXIS_UNIT(toolchange_settings.change_point.i)
+              , SP_J_STR,   J_AXIS_UNIT(toolchange_settings.change_point.j)
+              , SP_K_STR,   K_AXIS_UNIT(toolchange_settings.change_point.k)
+              , SP_C_STR,   U_AXIS_UNIT(toolchange_settings.change_point.u)
+              , PSTR(" H"), V_AXIS_UNIT(toolchange_settings.change_point.v)
+              , PSTR(" O"), W_AXIS_UNIT(toolchange_settings.change_point.w)
            )
        #endif
      );
-    }
    #endif

    #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED)
--- a/Marlin/src/gcode/config/M92.cpp
+++ b/Marlin/src/gcode/config/M92.cpp
@@ -24,7 +24,7 @@
 #include "../../module/planner.h"

 /**
- * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, [I, [J, [K]]] and E.
+ * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, [I, [J, [K, [U, [V, [W,]]]]]] and E.
 *      (Follows the same syntax as G92)
 *
 *      With multiple extruders use T to specify which one.
@@ -96,10 +96,13 @@ void GcodeSuite::M92_report(const bool forReplay/*=true*/, const int8_t e/*=-1*/
    PSTR("  M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]),
    SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]),
    SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]),
-    SP_I_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]),
-    SP_J_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]),
-    SP_K_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]))
-  );
+    SP_I_STR, I_AXIS_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]),
+    SP_J_STR, J_AXIS_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]),
+    SP_K_STR, K_AXIS_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]),
+    SP_U_STR, U_AXIS_UNIT(planner.settings.axis_steps_per_mm[U_AXIS]),
+    SP_V_STR, V_AXIS_UNIT(planner.settings.axis_steps_per_mm[V_AXIS]),
+    SP_W_STR, W_AXIS_UNIT(planner.settings.axis_steps_per_mm[W_AXIS])
+  ));
  #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS)
    SERIAL_ECHOPGM_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS]));
  #endif
--- a/Marlin/src/gcode/control/M17_M18_M84.cpp
+++ b/Marlin/src/gcode/control/M17_M18_M84.cpp
@@ -54,7 +54,10 @@ inline stepper_flags_t selected_axis_bits() {
    | (parser.seen_test('Z')        << Z_AXIS),
    | (parser.seen_test(AXIS4_NAME) << I_AXIS),
    | (parser.seen_test(AXIS5_NAME) << J_AXIS),
-    | (parser.seen_test(AXIS6_NAME) << K_AXIS)
+    | (parser.seen_test(AXIS6_NAME) << K_AXIS),
+    | (parser.seen_test(AXIS7_NAME) << U_AXIS),
+    | (parser.seen_test(AXIS8_NAME) << V_AXIS),
+    | (parser.seen_test(AXIS9_NAME) << W_AXIS)
  );
  return selected;
 }
--- a/Marlin/src/gcode/feature/L6470/M122.cpp
+++ b/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
--- a/Marlin/src/gcode/feature/L6470/M906.cpp
+++ b/Marlin/src/gcode/feature/L6470/M906.cpp
@@ -1,380 +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, 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(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(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
--- a/Marlin/src/gcode/feature/L6470/M916-M918.cpp
+++ b/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
--- a/Marlin/src/gcode/feature/digipot/M907-M910.cpp
+++ b/Marlin/src/gcode/feature/digipot/M907-M910.cpp
@@ -39,7 +39,7 @@
 #endif

 /**
- * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [I] [J] [K] [E]
+ * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [I] [J] [K] [U] [V] [W] [E]
 *   B<current> - Special case for E1 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451)
 *   C<current> - Special case for E2 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451)
 *   S<current> - Set current in mA for all axes (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451), or
@@ -52,7 +52,7 @@ void GcodeSuite::M907() {
      return M907_report();

    if (parser.seenval('S')) LOOP_L_N(i, MOTOR_CURRENT_COUNT) stepper.set_digipot_current(i, parser.value_int());
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int());    // X Y Z (I J K) E (map to drivers according to DIGIPOT_CHANNELS. Default with NUM_AXES 3: map X Y Z E to X Y Z E0)
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int());    // X Y Z (I J K U V W) E (map to drivers according to DIGIPOT_CHANNELS. Default with NUM_AXES 3: map X Y Z E to X Y Z E0)
    // Additional extruders use B,C.
    // TODO: Change these parameters because 'E' is used and D should be reserved for debugging. B<index>?
    #if E_STEPPERS >= 2
@@ -64,15 +64,15 @@ void GcodeSuite::M907() {

  #elif HAS_MOTOR_CURRENT_PWM

-    #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
-      #define HAS_X_Y_XY_I_J_K 1
+    #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
+      #define HAS_X_Y_XY_I_J_K_U_V_W 1
    #endif

-    #if HAS_X_Y_XY_I_J_K || ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_Z)
+    #if HAS_X_Y_XY_I_J_K_U_V_W || ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_Z)

      if (!parser.seen("S"
-        #if HAS_X_Y_XY_I_J_K
-          "XY" SECONDARY_AXIS_GANG("I", "J", "K")
+        #if HAS_X_Y_XY_I_J_K_U_V_W
+          "XY" SECONDARY_AXIS_GANG("I", "J", "K", "U", "V", "W")
        #endif
        #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
          "Z"
@@ -84,10 +84,11 @@ void GcodeSuite::M907() {

      if (parser.seenval('S')) LOOP_L_N(a, MOTOR_CURRENT_COUNT) stepper.set_digipot_current(a, parser.value_int());

-      #if HAS_X_Y_XY_I_J_K
+      #if HAS_X_Y_XY_I_J_K_U_V_W
        if (NUM_AXIS_GANG(
               parser.seenval('X'), || parser.seenval('Y'), || false,
-            || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K')
+            || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K'),
+            || parser.seenval('U'), || parser.seenval('V'), || parser.seenval('W')
        )) stepper.set_digipot_current(0, parser.value_int());
      #endif
      #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
@@ -104,7 +105,7 @@ void GcodeSuite::M907() {
  #if HAS_MOTOR_CURRENT_I2C
    // this one uses actual amps in floating point
    if (parser.seenval('S')) LOOP_L_N(q, DIGIPOT_I2C_NUM_CHANNELS) digipot_i2c.set_current(q, parser.value_float());
-      LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float());      // X Y Z (I J K) E (map to drivers according to pots adresses. Default with NUM_AXES 3 X Y Z E: map to X Y Z E0)
+      LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float());      // X Y Z (I J K U V W) E (map to drivers according to pots adresses. Default with NUM_AXES 3 X Y Z E: map to X Y Z E0)
    // Additional extruders use B,C,D.
    // TODO: Change these parameters because 'E' is used and because 'D' should be reserved for debugging. B<index>?
    #if E_STEPPERS >= 2
@@ -118,7 +119,7 @@ void GcodeSuite::M907() {
      const float dac_percent = parser.value_float();
      LOOP_LOGICAL_AXES(i) stepper_dac.set_current_percent(i, dac_percent);
    }
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float());   // X Y Z (I J K) E (map to drivers according to DAC_STEPPER_ORDER. Default with NUM_AXES 3: X Y Z E map to X Y Z E0)
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float());   // X Y Z (I J K U V W) E (map to drivers according to DAC_STEPPER_ORDER. Default with NUM_AXES 3: X Y Z E map to X Y Z E0)
  #endif
 }

@@ -128,13 +129,13 @@ void GcodeSuite::M907() {
    report_heading_etc(forReplay, F(STR_STEPPER_MOTOR_CURRENTS));
    #if HAS_MOTOR_CURRENT_PWM
      SERIAL_ECHOLNPGM_P(                                     // PWM-based has 3 values:
-          PSTR("  M907 X"), stepper.motor_current_setting[0]  // X, Y, (I, J, K)
+          PSTR("  M907 X"), stepper.motor_current_setting[0]  // X, Y, (I, J, K, U, V, W)
        , SP_Z_STR,         stepper.motor_current_setting[1]  // Z
        , SP_E_STR,         stepper.motor_current_setting[2]  // E
      );
    #elif HAS_MOTOR_CURRENT_SPI
      SERIAL_ECHOPGM("  M907");                               // SPI-based has 5 values:
-      LOOP_LOGICAL_AXES(q) {                                  // X Y Z (I J K) E (map to X Y Z (I J K) E0 by default)
+      LOOP_LOGICAL_AXES(q) {                                  // X Y Z (I J K U V W) E (map to X Y Z (I J K U V W) E0 by default)
        SERIAL_CHAR(' ', IAXIS_CHAR(q));
        SERIAL_ECHO(stepper.motor_current_setting[q]);
      }
--- a/Marlin/src/gcode/feature/leds/M150.cpp
+++ b/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)
  );

--- a/Marlin/src/gcode/feature/pause/G60.cpp
+++ b/Marlin/src/gcode/feature/pause/G60.cpp
@@ -53,7 +53,8 @@ void GcodeSuite::G60() {
    DEBUG_ECHOLNPGM_P(
      LIST_N(DOUBLE(NUM_AXES),
        SP_X_LBL, pos.x, SP_Y_LBL, pos.y, SP_Z_LBL, pos.z,
-        SP_I_LBL, pos.i, SP_J_LBL, pos.j, SP_K_LBL, pos.k
+        SP_I_LBL, pos.i, SP_J_LBL, pos.j, SP_K_LBL, pos.k,
+        SP_U_LBL, pos.u, SP_V_LBL, pos.v, SP_W_LBL, pos.w
      )
      #if HAS_EXTRUDERS
        , SP_E_LBL, pos.e
--- a/Marlin/src/gcode/feature/pause/M125.cpp
+++ b/Marlin/src/gcode/feature/pause/M125.cpp
@@ -52,6 +52,9 @@
 *    A<pos>    = Override park position A (requires AXIS*_NAME 'A')
 *    B<pos>    = Override park position B (requires AXIS*_NAME 'B')
 *    C<pos>    = Override park position C (requires AXIS*_NAME 'C')
+ *    U<pos>    = Override park position U (requires AXIS*_NAME 'U')
+ *    V<pos>    = Override park position V (requires AXIS*_NAME 'V')
+ *    W<pos>    = Override park position W (requires AXIS*_NAME 'W')
 *    Z<linear> = Override Z raise
 *
 *  With an LCD menu:
@@ -70,7 +73,10 @@ void GcodeSuite::M125() {
    NOOP,
    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(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
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -59,6 +59,9 @@
 *  I[position] - Move to this I position (instead of NOZZLE_PARK_POINT.i)
 *  J[position] - Move to this J position (instead of NOZZLE_PARK_POINT.j)
 *  K[position] - Move to this K position (instead of NOZZLE_PARK_POINT.k)
+ *  C[position] - Move to this U position (instead of NOZZLE_PARK_POINT.u)
+ *  H[position] - Move to this V position (instead of NOZZLE_PARK_POINT.v)
+ *  O[position] - Move to this W position (instead of NOZZLE_PARK_POINT.w)
 *  U[distance] - Retract distance for removal (manual reload)
 *  L[distance] - Extrude distance for insertion (manual reload)
 *  B[count]    - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
@@ -126,7 +129,10 @@ void GcodeSuite::M600() {
    if (parser.seenval('Z')) park_point.z = parser.linearval('Z'),    // Lift Z axis
    if (parser.seenval('I')) park_point.i = parser.linearval('I'),
    if (parser.seenval('J')) park_point.j = parser.linearval('J'),
-    if (parser.seenval('K')) park_point.k = parser.linearval('K')
+    if (parser.seenval('K')) park_point.k = parser.linearval('K'),
+    if (parser.seenval('C')) park_point.u = parser.linearval('C'),    // U axis
+    if (parser.seenval('H')) park_point.v = parser.linearval('H'),    // V axis
+    if (parser.seenval('O')) park_point.w = parser.linearval('O')     // W axis
  );

  #if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
--- a/Marlin/src/gcode/feature/pause/M701_M702.cpp
+++ b/Marlin/src/gcode/feature/pause/M701_M702.cpp
@@ -107,7 +107,7 @@ void GcodeSuite::M701() {
    constexpr float     purge_length = ADVANCED_PAUSE_PURGE_LENGTH,
                    slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
        const float fast_load_length = ABS(parser.seenval('L') ? parser.value_axis_units(E_AXIS)
-                                                               : fc_settings[active_extruder].load_length);
+                                                            : fc_settings[active_extruder].load_length);
    load_filament(
      slow_load_length, fast_load_length, purge_length,
      FILAMENT_CHANGE_ALERT_BEEPS,
--- a/Marlin/src/gcode/feature/trinamic/M569.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M569.cpp
@@ -85,6 +85,15 @@ static void set_stealth_status(const bool enable, const int8_t eindex) {
      #if K_HAS_STEALTHCHOP
        case K_AXIS: TMC_SET_STEALTH(K); break;
      #endif
+      #if U_HAS_STEALTHCHOP
+        case U_AXIS: TMC_SET_STEALTH(U); break;
+      #endif
+      #if V_HAS_STEALTHCHOP
+        case V_AXIS: TMC_SET_STEALTH(V); break;
+      #endif
+      #if W_HAS_STEALTHCHOP
+        case W_AXIS: TMC_SET_STEALTH(W); break;
+      #endif

      #if E_STEPPERS
        case E_AXIS: {
@@ -115,6 +124,9 @@ static void say_stealth_status() {
  OPTCODE( I_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(I))
  OPTCODE( J_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(J))
  OPTCODE( K_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(K))
+  OPTCODE( U_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(U))
+  OPTCODE( V_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(V))
+  OPTCODE( W_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(W))
  OPTCODE(E0_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E0))
  OPTCODE(E1_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E1))
  OPTCODE(E2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E2))
@@ -157,9 +169,12 @@ void GcodeSuite::M569_report(const bool forReplay/*=true*/) {
             chop_z = TERN0(Z_HAS_STEALTHCHOP, stepperZ.get_stored_stealthChop()),
             chop_i = TERN0(I_HAS_STEALTHCHOP, stepperI.get_stored_stealthChop()),
             chop_j = TERN0(J_HAS_STEALTHCHOP, stepperJ.get_stored_stealthChop()),
-             chop_k = TERN0(K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop());
+             chop_k = TERN0(K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop()),
+             chop_u = TERN0(U_HAS_STEALTHCHOP, stepperU.get_stored_stealthChop()),
+             chop_v = TERN0(V_HAS_STEALTHCHOP, stepperV.get_stored_stealthChop()),
+             chop_w = TERN0(W_HAS_STEALTHCHOP, stepperW.get_stored_stealthChop());

-  if (chop_x || chop_y || chop_z || chop_i || chop_j || chop_k) {
+  if (chop_x || chop_y || chop_z || chop_i || chop_j || chop_k || chop_u || chop_v || chop_w) {
    say_M569(forReplay);
    NUM_AXIS_CODE(
      if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR),
@@ -167,7 +182,10 @@ void GcodeSuite::M569_report(const bool forReplay/*=true*/) {
      if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR),
      if (chop_i) SERIAL_ECHOPGM_P(SP_I_STR),
      if (chop_j) SERIAL_ECHOPGM_P(SP_J_STR),
-      if (chop_k) SERIAL_ECHOPGM_P(SP_K_STR)
+      if (chop_k) SERIAL_ECHOPGM_P(SP_K_STR),
+      if (chop_u) SERIAL_ECHOPGM_P(SP_U_STR),
+      if (chop_v) SERIAL_ECHOPGM_P(SP_V_STR),
+      if (chop_w) SERIAL_ECHOPGM_P(SP_W_STR)
    );
    SERIAL_EOL();
  }
@@ -195,6 +213,15 @@ void GcodeSuite::M569_report(const bool forReplay/*=true*/) {
  #if HAS_K_AXIS
    if (TERN0(K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop()))  { say_M569(forReplay, FPSTR(SP_K_STR), true); }
  #endif
+  #if HAS_U_AXIS
+    if (TERN0(U_HAS_STEALTHCHOP, stepperU.get_stored_stealthChop()))  { say_M569(forReplay, FPSTR(SP_U_STR), true); }
+  #endif
+  #if HAS_V_AXIS
+    if (TERN0(V_HAS_STEALTHCHOP, stepperV.get_stored_stealthChop()))  { say_M569(forReplay, FPSTR(SP_V_STR), true); }
+  #endif
+  #if HAS_W_AXIS
+    if (TERN0(W_HAS_STEALTHCHOP, stepperW.get_stored_stealthChop()))  { say_M569(forReplay, FPSTR(SP_W_STR), true); }
+  #endif
  if (TERN0(E0_HAS_STEALTHCHOP, stepperE0.get_stored_stealthChop())) { say_M569(forReplay, F("T0 E"), true); }
  if (TERN0(E1_HAS_STEALTHCHOP, stepperE1.get_stored_stealthChop())) { say_M569(forReplay, F("T1 E"), true); }
  if (TERN0(E2_HAS_STEALTHCHOP, stepperE2.get_stored_stealthChop())) { say_M569(forReplay, F("T2 E"), true); }
--- a/Marlin/src/gcode/feature/trinamic/M906.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -44,6 +44,9 @@ static void tmc_print_current(TMC &st) {
 *   A[current]  - Set mA current for A driver(s) (Requires AXIS*_NAME 'A')
 *   B[current]  - Set mA current for B driver(s) (Requires AXIS*_NAME 'B')
 *   C[current]  - Set mA current for C driver(s) (Requires AXIS*_NAME 'C')
+ *   U[current]  - Set mA current for U driver(s) (Requires AXIS*_NAME 'U')
+ *   V[current]  - Set mA current for V driver(s) (Requires AXIS*_NAME 'V')
+ *   W[current]  - Set mA current for W driver(s) (Requires AXIS*_NAME 'W')
 *   E[current]  - Set mA current for E driver(s)
 *
 *   I[index]    - Axis sub-index (Omit or 0 for X, Y, Z; 1 for X2, Y2, Z2; 2 for Z3; 3 for Z4.)
@@ -114,6 +117,15 @@ void GcodeSuite::M906() {
      #if AXIS_IS_TMC(K)
        case K_AXIS: TMC_SET_CURRENT(K); break;
      #endif
+      #if AXIS_IS_TMC(U)
+        case U_AXIS: TMC_SET_CURRENT(U); break;
+      #endif
+      #if AXIS_IS_TMC(V)
+        case V_AXIS: TMC_SET_CURRENT(V); break;
+      #endif
+      #if AXIS_IS_TMC(W)
+        case W_AXIS: TMC_SET_CURRENT(W); break;
+      #endif

      #if AXIS_IS_TMC(E0) || AXIS_IS_TMC(E1) || AXIS_IS_TMC(E2) || AXIS_IS_TMC(E3) || AXIS_IS_TMC(E4) || AXIS_IS_TMC(E5) || AXIS_IS_TMC(E6) || AXIS_IS_TMC(E7)
        case E_AXIS: {
@@ -181,6 +193,16 @@ void GcodeSuite::M906() {
    #if AXIS_IS_TMC(K)
      TMC_SAY_CURRENT(K);
    #endif
+    #if AXIS_IS_TMC(U)
+      TMC_SAY_CURRENT(U);
+    #endif
+    #if AXIS_IS_TMC(V)
+      TMC_SAY_CURRENT(V);
+    #endif
+    #if AXIS_IS_TMC(W)
+      TMC_SAY_CURRENT(W);
+    #endif
+
    #if AXIS_IS_TMC(E0)
      TMC_SAY_CURRENT(E0);
    #endif
@@ -217,7 +239,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
  };

  #if  AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) \
-    || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
+    || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) \
+    || AXIS_IS_TMC(U) || AXIS_IS_TMC(V) || AXIS_IS_TMC(W)
    say_M906(forReplay);
    #if AXIS_IS_TMC(X)
      SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps());
@@ -237,6 +260,15 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
    #if AXIS_IS_TMC(K)
      SERIAL_ECHOPGM_P(SP_K_STR, stepperK.getMilliamps());
    #endif
+    #if AXIS_IS_TMC(U)
+      SERIAL_ECHOPGM_P(SP_U_STR, stepperU.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(V)
+      SERIAL_ECHOPGM_P(SP_V_STR, stepperV.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(W)
+      SERIAL_ECHOPGM_P(SP_W_STR, stepperW.getMilliamps());
+    #endif
    SERIAL_EOL();
  #endif

--- a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp
@@ -53,12 +53,21 @@
  #if HAS_K_AXIS && M91x_USE(K)
    #define M91x_USE_K 1
  #endif
+  #if HAS_U_AXIS && M91x_USE(U)
+    #define M91x_USE_U 1
+  #endif
+  #if HAS_V_AXIS && M91x_USE(V)
+    #define M91x_USE_V 1
+  #endif
+  #if HAS_W_AXIS && M91x_USE(W)
+    #define M91x_USE_W 1
+  #endif

  #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7)
    #define M91x_SOME_E 1
  #endif

-  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_USE_I && !M91x_USE_J && !M91x_USE_K && !M91x_SOME_E
+  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_USE_I && !M91x_USE_J && !M91x_USE_K && !M91x_USE_U && !M91x_USE_V && !M91x_USE_W && !M91x_SOME_E
    #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160."
  #endif

@@ -109,6 +118,9 @@
    TERN_(M91x_USE_I, tmc_report_otpw(stepperI));
    TERN_(M91x_USE_J, tmc_report_otpw(stepperJ));
    TERN_(M91x_USE_K, tmc_report_otpw(stepperK));
+    TERN_(M91x_USE_U, tmc_report_otpw(stepperU));
+    TERN_(M91x_USE_V, tmc_report_otpw(stepperV));
+    TERN_(M91x_USE_W, tmc_report_otpw(stepperW));
    #if M91x_USE_E(0)
      tmc_report_otpw(stepperE0);
    #endif
@@ -137,7 +149,7 @@

  /**
   * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
-   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3, Z4, A, B, C, and E[index].
+   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3, Z4, A, B, C, U, V, W, and E[index].
   *       If no axes are given, clear all.
   *
   * Examples:
@@ -154,9 +166,12 @@
               hasI = TERN0(M91x_USE_I,  parser.seen(axis_codes.i)),
               hasJ = TERN0(M91x_USE_J,  parser.seen(axis_codes.j)),
               hasK = TERN0(M91x_USE_K,  parser.seen(axis_codes.k)),
+               hasU = TERN0(M91x_USE_U,  parser.seen(axis_codes.u)),
+               hasV = TERN0(M91x_USE_V,  parser.seen(axis_codes.v)),
+               hasW = TERN0(M91x_USE_W,  parser.seen(axis_codes.w)),
               hasE = TERN0(M91x_SOME_E, parser.seen(axis_codes.e));

-    const bool hasNone = !hasE && !hasX && !hasY && !hasZ && !hasI && !hasJ && !hasK;
+    const bool hasNone = !hasE && !hasX && !hasY && !hasZ && !hasI && !hasJ && !hasK && !hasU && !hasV && !hasW;

    #if M91x_SOME_X
      const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF));
@@ -206,6 +221,18 @@
      const int8_t kval = int8_t(parser.byteval(axis_codes.k, 0xFF));
      if (hasNone || kval == 1 || (hasK && kval < 0)) tmc_clear_otpw(stepperK);
    #endif
+    #if M91x_USE_U
+      const int8_t uval = int8_t(parser.byteval(axis_codes.u, 0xFF));
+      if (hasNone || uval == 1 || (hasU && uval < 0)) tmc_clear_otpw(stepperU);
+    #endif
+    #if M91x_USE_V
+      const int8_t vval = int8_t(parser.byteval(axis_codes.v, 0xFF));
+      if (hasNone || vval == 1 || (hasV && vval < 0)) tmc_clear_otpw(stepperV);
+    #endif
+    #if M91x_USE_W
+      const int8_t wval = int8_t(parser.byteval(axis_codes.w, 0xFF));
+      if (hasNone || wval == 1 || (hasW && wval < 0)) tmc_clear_otpw(stepperW);
+    #endif

    #if M91x_SOME_E
      const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF));
@@ -296,6 +323,15 @@
        #if K_HAS_STEALTHCHOP
          case K_AXIS: TMC_SET_PWMTHRS(K,K); break;
        #endif
+        #if U_HAS_STEALTHCHOP
+          case U_AXIS: TMC_SET_PWMTHRS(U,U); break;
+        #endif
+        #if V_HAS_STEALTHCHOP
+          case V_AXIS: TMC_SET_PWMTHRS(V,V); break;
+        #endif
+        #if W_HAS_STEALTHCHOP
+          case W_AXIS: TMC_SET_PWMTHRS(W,W); break;
+        #endif

        #if E0_HAS_STEALTHCHOP || E1_HAS_STEALTHCHOP || E2_HAS_STEALTHCHOP || E3_HAS_STEALTHCHOP || E4_HAS_STEALTHCHOP || E5_HAS_STEALTHCHOP || E6_HAS_STEALTHCHOP || E7_HAS_STEALTHCHOP
          case E_AXIS: {
@@ -326,6 +362,9 @@
      TERN_( I_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(I,I));
      TERN_( J_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(J,J));
      TERN_( K_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(K,K));
+      TERN_( U_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(U,U));
+      TERN_( V_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(V,V));
+      TERN_( W_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(W,W));

      TERN_(E0_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(0));
      TERN_(E1_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(1));
@@ -397,6 +436,18 @@
      say_M913(forReplay);
      SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.get_pwm_thrs());
    #endif
+    #if U_HAS_STEALTHCHOP
+      say_M913(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_U_STR, stepperU.get_pwm_thrs());
+    #endif
+    #if V_HAS_STEALTHCHOP
+      say_M913(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_V_STR, stepperV.get_pwm_thrs());
+    #endif
+    #if W_HAS_STEALTHCHOP
+      say_M913(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_W_STR, stepperW.get_pwm_thrs());
+    #endif

    #if E0_HAS_STEALTHCHOP
      say_M913(forReplay);
@@ -484,6 +535,15 @@
        #if K_SENSORLESS
          case K_AXIS: stepperK.homing_threshold(value); break;
        #endif
+        #if U_SENSORLESS && AXIS_HAS_STALLGUARD(U)
+          case U_AXIS: stepperU.homing_threshold(value); break;
+        #endif
+        #if V_SENSORLESS && AXIS_HAS_STALLGUARD(V)
+          case V_AXIS: stepperV.homing_threshold(value); break;
+        #endif
+        #if W_SENSORLESS && AXIS_HAS_STALLGUARD(W)
+          case W_AXIS: stepperW.homing_threshold(value); break;
+        #endif
      }
    }

@@ -499,6 +559,9 @@
      TERN_(I_SENSORLESS, tmc_print_sgt(stepperI));
      TERN_(J_SENSORLESS, tmc_print_sgt(stepperJ));
      TERN_(K_SENSORLESS, tmc_print_sgt(stepperK));
+      TERN_(U_SENSORLESS, tmc_print_sgt(stepperU));
+      TERN_(V_SENSORLESS, tmc_print_sgt(stepperV));
+      TERN_(W_SENSORLESS, tmc_print_sgt(stepperW));
    }
  }

@@ -561,6 +624,18 @@
      say_M914(forReplay);
      SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.homing_threshold());
    #endif
+    #if U_SENSORLESS
+      say_M914(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_U_STR, stepperU.homing_threshold());
+    #endif
+    #if V_SENSORLESS
+      say_M914(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_V_STR, stepperV.homing_threshold());
+    #endif
+    #if W_SENSORLESS
+      say_M914(forReplay);
+      SERIAL_ECHOLNPGM_P(SP_W_STR, stepperW.homing_threshold());
+    #endif
  }

 #endif // USE_SENSORLESS
--- a/Marlin/src/gcode/feature/trinamic/M919.cpp
+++ b/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
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -88,7 +88,10 @@ axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
  | (ar_init.z << REL_Z),
  | (ar_init.i << REL_I),
  | (ar_init.j << REL_J),
-  | (ar_init.k << REL_K)
+  | (ar_init.k << REL_K),
+  | (ar_init.u << REL_U),
+  | (ar_init.v << REL_V),
+  | (ar_init.w << REL_W)
 );

 #if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)
@@ -230,7 +233,7 @@ void GcodeSuite::get_destination_from_command() {
      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.seen('S')) {
+        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;
@@ -574,6 +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
@@ -1002,14 +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.
--- a/Marlin/src/gcode/gcode.h
+++ b/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)
 *
@@ -287,7 +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)
@@ -296,9 +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)
@@ -340,7 +339,7 @@
 #endif

 enum AxisRelative : uint8_t {
-  LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z, REL_I, REL_J, REL_K)
+  LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z, REL_I, REL_J, REL_K, REL_U, REL_V, REL_W)
  #if HAS_EXTRUDERS
    , E_MODE_ABS, E_MODE_REL
  #endif
@@ -366,7 +365,8 @@ public:
    axis_relative = rel ? (0 LOGICAL_AXIS_GANG(
      | _BV(REL_E),
      | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z),
-      | _BV(REL_I), | _BV(REL_J), | _BV(REL_K)
+      | _BV(REL_I), | _BV(REL_J), | _BV(REL_K),
+      | _BV(REL_U), | _BV(REL_V), | _BV(REL_W)
    )) : 0;
  }
  #if HAS_EXTRUDERS
@@ -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); }
@@ -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
--- a/Marlin/src/gcode/geometry/G92.cpp
+++ b/Marlin/src/gcode/geometry/G92.cpp
@@ -28,7 +28,7 @@
 #endif

 /**
- * G92: Set the Current Position to the given X [Y [Z [A [B [C [E]]]]]] values.
+ * G92: Set the Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E] values.
 *
 * Behind the scenes the G92 command may modify the Current Position
 * or the Position Shift depending on settings and sub-commands.
@@ -36,14 +36,14 @@
 * Since E has no Workspace Offset, it is always set directly.
 *
 * Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS):
- *   G92   : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
+ *   G92   : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
 *
 * Using Workspace Offsets (default Marlin behavior):
- *   G92   : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [E]]]]]].
+ *   G92   : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
 *   G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
 *
 * With POWER_LOSS_RECOVERY:
- *   G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
+ *   G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [U [V [W ]]]]]]]] [E].
 */
 void GcodeSuite::G92() {

--- a/Marlin/src/gcode/geometry/M206_M428.cpp
+++ b/Marlin/src/gcode/geometry/M206_M428.cpp
@@ -57,9 +57,12 @@ void GcodeSuite::M206_report(const bool forReplay/*=true*/) {
        PSTR("  M206 X"), LINEAR_UNIT(home_offset.x),
        SP_Y_STR, LINEAR_UNIT(home_offset.y),
        SP_Z_STR, LINEAR_UNIT(home_offset.z),
-        SP_I_STR, LINEAR_UNIT(home_offset.i),
-        SP_J_STR, LINEAR_UNIT(home_offset.j),
-        SP_K_STR, LINEAR_UNIT(home_offset.k)
+        SP_I_STR, I_AXIS_UNIT(home_offset.i),
+        SP_J_STR, J_AXIS_UNIT(home_offset.j),
+        SP_K_STR, K_AXIS_UNIT(home_offset.k),
+        SP_U_STR, U_AXIS_UNIT(home_offset.u),
+        SP_V_STR, V_AXIS_UNIT(home_offset.v),
+        SP_W_STR, W_AXIS_UNIT(home_offset.w)
      )
    #else
      PSTR("  M206 Z"), LINEAR_UNIT(home_offset.z)
--- a/Marlin/src/gcode/host/M114.cpp
+++ b/Marlin/src/gcode/host/M114.cpp
@@ -28,13 +28,7 @@

 #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=XYZE, const uint8_t precision=3) {
+  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) {
      SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_LBL[a]));
@@ -84,80 +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(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));
@@ -180,7 +100,10 @@
      cartes.x, cartes.y, cartes.z,
      planner.get_axis_position_mm(I_AXIS),
      planner.get_axis_position_mm(J_AXIS),
-      planner.get_axis_position_mm(K_AXIS)
+      planner.get_axis_position_mm(K_AXIS),
+      planner.get_axis_position_mm(U_AXIS),
+      planner.get_axis_position_mm(V_AXIS),
+      planner.get_axis_position_mm(W_AXIS)
    );
    report_all_axis_pos(from_steppers);

--- a/Marlin/src/gcode/motion/G0_G1.cpp
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -55,7 +55,10 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
          | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
          | (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
          | (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
-          | (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0))
+          | (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0),
+          | (parser.seen_test(AXIS7_NAME) ? _BV(U_AXIS) : 0),
+          | (parser.seen_test(AXIS8_NAME) ? _BV(V_AXIS) : 0),
+          | (parser.seen_test(AXIS9_NAME) ? _BV(W_AXIS) : 0))
      )
    #endif
  ) {
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -48,8 +48,8 @@
  #define MIN_ARC_SEGMENT_MM MAX_ARC_SEGMENT_MM
 #endif

-#define ARC_LIJK_CODE(L,I,J,K)    CODE_N(SUB2(NUM_AXES),L,I,J,K)
-#define ARC_LIJKE_CODE(L,I,J,K,E) ARC_LIJK_CODE(L,I,J,K); CODE_ITEM_E(E)
+#define ARC_LIJKUVW_CODE(L,I,J,K,U,V,W)    CODE_N(SUB2(NUM_AXES),L,I,J,K,U,V,W)
+#define ARC_LIJKUVWE_CODE(L,I,J,K,U,V,W,E) ARC_LIJKUVW_CODE(L,I,J,K,U,V,W); CODE_ITEM_E(E)

 /**
 * Plan an arc in 2 dimensions, with linear motion in the other axes.
@@ -82,11 +82,14 @@ void plan_arc(
              rt_X = cart[axis_p] - center_P,
              rt_Y = cart[axis_q] - center_Q;

-  ARC_LIJK_CODE(
+  ARC_LIJKUVW_CODE(
    const float start_L = current_position[axis_l],
    const float start_I = current_position.i,
    const float start_J = current_position.j,
-    const float start_K = current_position.k
+    const float start_K = current_position.k,
+    const float start_U = current_position.u,
+    const float start_V = current_position.v,
+    const float start_W = current_position.w
  );

  // Angle of rotation between position and target from the circle center.
@@ -122,11 +125,14 @@ void plan_arc(
    min_segments = CEIL((MIN_CIRCLE_SEGMENTS) * portion_of_circle);     // Minimum segments for the arc
  }

-  ARC_LIJKE_CODE(
+  ARC_LIJKUVWE_CODE(
    float travel_L = cart[axis_l] - start_L,
    float travel_I = cart.i       - start_I,
    float travel_J = cart.j       - start_J,
    float travel_K = cart.k       - start_K,
+    float travel_U = cart.u       - start_U,
+    float travel_V = cart.v       - start_V,
+    float travel_W = cart.w       - start_W,
    float travel_E = cart.e       - current_position.e
  );

@@ -135,30 +141,39 @@ void plan_arc(
    const float total_angular = abs_angular_travel + circles * RADIANS(360),    // Total rotation with all circles and remainder
              part_per_circle = RADIANS(360) / total_angular;                   // Each circle's part of the total

-    ARC_LIJKE_CODE(
+    ARC_LIJKUVWE_CODE(
      const float per_circle_L = travel_L * part_per_circle,    // L movement per circle
      const float per_circle_I = travel_I * part_per_circle,
      const float per_circle_J = travel_J * part_per_circle,
      const float per_circle_K = travel_K * part_per_circle,
+      const float per_circle_U = travel_U * part_per_circle,
+      const float per_circle_V = travel_V * part_per_circle,
+      const float per_circle_W = travel_W * part_per_circle,
      const float per_circle_E = travel_E * part_per_circle     // E movement per circle
    );

    xyze_pos_t temp_position = current_position;
    for (uint16_t n = circles; n--;) {
-      ARC_LIJKE_CODE(                                           // Destination Linear Axes
+      ARC_LIJKUVWE_CODE(                                           // Destination Linear Axes
        temp_position[axis_l] += per_circle_L,
        temp_position.i       += per_circle_I,
        temp_position.j       += per_circle_J,
        temp_position.k       += per_circle_K,
+        temp_position.u       += per_circle_U,
+        temp_position.v       += per_circle_V,
+        temp_position.w       += per_circle_W,
        temp_position.e       += per_circle_E                   // Destination E axis
      );
      plan_arc(temp_position, offset, clockwise, 0);            // Plan a single whole circle
    }
-    ARC_LIJKE_CODE(
+    ARC_LIJKUVWE_CODE(
      travel_L = cart[axis_l] - current_position[axis_l],
      travel_I = cart.i       - current_position.i,
      travel_J = cart.j       - current_position.j,
      travel_K = cart.k       - current_position.k,
+      travel_U = cart.u       - current_position.u,
+      travel_V = cart.v       - current_position.v,
+      travel_W = cart.w       - current_position.w,
      travel_E = cart.e       - current_position.e
    );
  }
@@ -168,7 +183,15 @@ void plan_arc(

  // Return if the move is near zero
  if (flat_mm < 0.0001f
-    GANG_N(SUB2(NUM_AXES), && travel_L < 0.0001f, && travel_I < 0.0001f, && travel_J < 0.0001f, && travel_K < 0.0001f)
+    GANG_N(SUB2(NUM_AXES),
+      && travel_L < 0.0001f,
+      && travel_I < 0.0001f,
+      && travel_J < 0.0001f,
+      && travel_K < 0.0001f,
+      && travel_U < 0.0001f,
+      && travel_V < 0.0001f,
+      && travel_W < 0.0001f
+    )
  ) return;

  // Feedrate for the move, scaled by the feedrate multiplier
@@ -237,22 +260,28 @@ void plan_arc(
                cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation

    #if DISABLED(AUTO_BED_LEVELING_UBL)
-      ARC_LIJK_CODE(
+      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_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_LIJKE_CODE(
+    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
    );

@@ -308,13 +337,15 @@ void plan_arc(
      // Update raw location
      raw[axis_p] = center_P + rvec.a;
      raw[axis_q] = center_Q + rvec.b;
-      ARC_LIJKE_CODE(
+      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.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.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
      );
@@ -339,7 +370,11 @@ void plan_arc(
  // Ensure last segment arrives at target location.
  raw = cart;
  #if ENABLED(AUTO_BED_LEVELING_UBL)
-    ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K);
+    ARC_LIJKUVW_CODE(
+      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_W
+    );
  #endif

  apply_motion_limits(raw);
@@ -353,7 +388,11 @@ void plan_arc(
  planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);

  #if ENABLED(AUTO_BED_LEVELING_UBL)
-    ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K);
+    ARC_LIJKUVW_CODE(
+      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_W
+    );
  #endif
  current_position = raw;

@@ -396,7 +435,7 @@ void GcodeSuite::G2_G3(const bool clockwise) {
      relative_mode = true;
    #endif

-    get_destination_from_command();   // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
+    get_destination_from_command();   // Get X Y [Z[I[J[K...]]]] [E] F (and set cutter power)

    TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);

--- a/Marlin/src/gcode/parser.cpp
+++ b/Marlin/src/gcode/parser.cpp
@@ -248,7 +248,7 @@ void GCodeParser::parse(char *p) {
        case 'R': if (!WITHIN(motion_mode_codenum, 2, 3)) return;
      #endif

-      LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':, case AXIS4_NAME:, case AXIS5_NAME:, case AXIS6_NAME:)
+      LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':, case AXIS4_NAME:, case AXIS5_NAME:, case AXIS6_NAME:, case AXIS7_NAME:, case AXIS8_NAME:, case AXIS9_NAME:)
      case 'F':
        if (motion_mode_codenum < 0) return;
        command_letter = 'G';
--- a/Marlin/src/gcode/parser.h
+++ b/Marlin/src/gcode/parser.h
@@ -309,13 +309,18 @@ public:
    }

    static float axis_unit_factor(const AxisEnum axis) {
-      return (
-        #if HAS_EXTRUDERS
-          axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor
-        #else
-          linear_unit_factor
-        #endif
-      );
+      if (false
+        || TERN0(AXIS4_ROTATES, axis == I_AXIS)
+        || TERN0(AXIS5_ROTATES, axis == J_AXIS)
+        || TERN0(AXIS6_ROTATES, axis == K_AXIS)
+        || TERN0(AXIS7_ROTATES, axis == U_AXIS)
+        || TERN0(AXIS8_ROTATES, axis == V_AXIS)
+        || TERN0(AXIS9_ROTATES, axis == W_AXIS)
+      ) return 1.0f;
+      #if HAS_EXTRUDERS
+        if (axis >= E_AXIS && volumetric_enabled) return volumetric_unit_factor;
+      #endif
+      return linear_unit_factor;
    }

    static float linear_value_to_mm(const_float_t v)                  { return v * linear_unit_factor; }
@@ -340,6 +345,13 @@ public:
  #define LINEAR_UNIT(V)     parser.mm_to_linear_unit(V)
  #define VOLUMETRIC_UNIT(V) parser.mm_to_volumetric_unit(V)

+  #define I_AXIS_UNIT(V) TERN(AXIS4_ROTATES, (V), LINEAR_UNIT(V))
+  #define J_AXIS_UNIT(V) TERN(AXIS5_ROTATES, (V), LINEAR_UNIT(V))
+  #define K_AXIS_UNIT(V) TERN(AXIS6_ROTATES, (V), LINEAR_UNIT(V))
+  #define U_AXIS_UNIT(V) TERN(AXIS7_ROTATES, (V), LINEAR_UNIT(V))
+  #define V_AXIS_UNIT(V) TERN(AXIS8_ROTATES, (V), LINEAR_UNIT(V))
+  #define W_AXIS_UNIT(V) TERN(AXIS9_ROTATES, (V), LINEAR_UNIT(V))
+
  static float value_linear_units()                      { return linear_value_to_mm(value_float()); }
  static float value_axis_units(const AxisEnum axis)     { return axis_value_to_mm(axis, value_float()); }
  static float value_per_axis_units(const AxisEnum axis) { return per_axis_value(axis, value_float()); }
--- a/Marlin/src/gcode/probe/G30.cpp
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -33,7 +33,11 @@
  #include "../../feature/probe_temp_comp.h"
 #endif

-#if ENABLED(DWIN_LCD_PROUI)
+#if HAS_MULTI_HOTEND
+  #include "../../module/tool_change.h"
+#endif
+
+#if EITHER(DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
  #include "../../lcd/marlinui.h"
 #endif

@@ -49,6 +53,11 @@
 */
 void GcodeSuite::G30() {

+  #if HAS_MULTI_HOTEND
+    const uint8_t old_tool_index = active_extruder;
+    tool_change(0);
+  #endif
+
  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
                         parser.linearval('Y', current_position.y + probe.offset_xy.y) };

@@ -57,40 +66,45 @@ void GcodeSuite::G30() {
      SERIAL_ECHOLNF(GET_EN_TEXT_F(MSG_ZPROBE_OUT));
      LCD_MESSAGE(MSG_ZPROBE_OUT);
    #endif
-    return;
  }
+  else {
+    // Disable leveling so the planner won't mess with us
+    TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));

-  // Disable leveling so the planner won't mess with us
-  TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
+    remember_feedrate_scaling_off();

-  remember_feedrate_scaling_off();
-
-  TERN_(DWIN_LCD_PROUI, process_subcommands_now(F("G28O")));
-
-  const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
-
-  TERN_(HAS_PTC, ptc.set_enabled(!parser.seen('C') || parser.value_bool()));
-  const float measured_z = probe.probe_at_point(pos, raise_after, 1);
-  TERN_(HAS_PTC, ptc.set_enabled(true));
-  if (!isnan(measured_z)) {
-    SERIAL_ECHOLNPGM("Bed X: ", pos.x, " Y: ", pos.y, " Z: ", measured_z);
-    #if ENABLED(DWIN_LCD_PROUI)
-      char msg[31], str_1[6], str_2[6], str_3[6];
-      sprintf_P(msg, PSTR("X:%s, Y:%s, Z:%s"),
-        dtostrf(pos.x, 1, 1, str_1),
-        dtostrf(pos.y, 1, 1, str_2),
-        dtostrf(measured_z, 1, 2, str_3)
-      );
-      ui.set_status(msg);
+    #if EITHER(DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
+      process_subcommands_now(F("G28O"));
    #endif
+
+    const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
+
+    TERN_(HAS_PTC, ptc.set_enabled(!parser.seen('C') || parser.value_bool()));
+    const float measured_z = probe.probe_at_point(pos, raise_after, 1);
+    TERN_(HAS_PTC, ptc.set_enabled(true));
+    if (!isnan(measured_z)) {
+      SERIAL_ECHOLNPGM("Bed X: ", pos.x, " Y: ", pos.y, " Z: ", measured_z);
+      #if EITHER(DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
+        char msg[31], str_1[6], str_2[6], str_3[6];
+        sprintf_P(msg, PSTR("X:%s, Y:%s, Z:%s"),
+          dtostrf(pos.x, 1, 1, str_1),
+          dtostrf(pos.y, 1, 1, str_2),
+          dtostrf(measured_z, 1, 2, str_3)
+        );
+        ui.set_status(msg);
+      #endif
+    }
+
+    restore_feedrate_and_scaling();
+
+    if (raise_after == PROBE_PT_STOW)
+      probe.move_z_after_probing();
+
+    report_current_position();
  }

-  restore_feedrate_and_scaling();
-
-  if (raise_after == PROBE_PT_STOW)
-    probe.move_z_after_probing();
-
-  report_current_position();
+  // Restore the active tool
+  TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index));
 }

 #endif // HAS_BED_PROBE
--- a/Marlin/src/gcode/probe/M102.cpp
+++ b/Marlin/src/gcode/probe/M102.cpp
@@ -0,0 +1,57 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M102.cpp - Configure Bed Distance Sensor
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BD_SENSOR)
+
+#include "../gcode.h"
+#include "../../feature/bedlevel/bdl/bdl.h"
+
+/**
+ * M102: Configure the Bed Distance Sensor
+ *
+ *   M102 S<10ths> : Set adjustable Z height in 10ths of a mm (e.g., 'M102 S4' enables adjusting for Z <= 0.4mm.)
+ *   M102 S0       : Disable adjustable Z height.
+ *
+ * Negative S values are commands:
+ *   M102 S-1       : Read sensor information
+ *   M102 S-5       : Read raw Calibration data
+ *   M102 S-6       : Start Calibration
+ */
+void GcodeSuite::M102() {
+  if (parser.seenval('S'))
+    bdl.config_state = parser.value_int();
+  else
+    M102_report();
+}
+
+void GcodeSuite::M102_report(const bool forReplay/*=true*/) {
+  report_heading(forReplay, F("Bed Distance Sensor"));
+  SERIAL_ECHOLNPGM("  M102 S", bdl.config_state);
+}
+
+#endif // BD_SENSOR
--- a/Marlin/src/gcode/temp/M106_M107.cpp
+++ b/Marlin/src/gcode/temp/M106_M107.cpp
@@ -85,6 +85,8 @@ void GcodeSuite::M106() {
  if (!got_preset && parser.seenval('S'))
    speed = parser.value_ushort();

+  TERN_(FOAMCUTTER_XYUV, speed *= 2.55); // Get command in % of max heat
+
  // Set speed, with constraint
  thermalManager.set_fan_speed(pfan, speed);

--- a/Marlin/src/gcode/temp/M303.cpp
+++ b/Marlin/src/gcode/temp/M303.cpp
@@ -48,7 +48,7 @@

 void GcodeSuite::M303() {

-  #if ANY(PID_DEBUG, PID_BED_DEBUG, PID_CHAMBER_DEBUG)
+  #if HAS_PID_DEBUG
    if (parser.seen_test('D')) {
      thermalManager.pid_debug_flag ^= true;
      SERIAL_ECHO_START();
--- a/Marlin/src/inc/Conditionals_LCD.h
+++ b/Marlin/src/inc/Conditionals_LCD.h
@@ -99,7 +99,7 @@
  #define IS_ULTIPANEL 1
  #define STD_ENCODER_PULSES_PER_STEP 2

-#elif ANY(miniVIKI, VIKI2, WYH_L12864, ELB_FULL_GRAPHIC_CONTROLLER, AZSMZ_12864)
+#elif ANY(miniVIKI, VIKI2, WYH_L12864, ELB_FULL_GRAPHIC_CONTROLLER, AZSMZ_12864, EMOTION_TECH_LCD)

  #define DOGLCD
  #define IS_DOGM_12864 1
@@ -116,6 +116,9 @@
    #define IS_U8GLIB_LM6059_AF 1
  #elif ENABLED(AZSMZ_12864)
    #define IS_U8GLIB_ST7565_64128N 1
+  #elif ENABLED(EMOTION_TECH_LCD)
+    #define IS_U8GLIB_ST7565_64128N 1
+    #define ST7565_VOLTAGE_DIVIDER_VALUE 0x07
  #endif

 #elif ENABLED(OLED_PANEL_TINYBOY2)
@@ -665,16 +668,47 @@
  #define E_MANUAL EXTRUDERS
 #endif

-/**
- * Number of Linear Axes (e.g., XYZIJK)
- * All the logical axes except for the tool (E) axis
- */
-#ifdef LINEAR_AXES
-  #undef LINEAR_AXES
-  #define LINEAR_AXES_WARNING 1
+#if E_STEPPERS <= 7
+  #undef INVERT_E7_DIR
+  #if E_STEPPERS <= 6
+    #undef INVERT_E6_DIR
+    #if E_STEPPERS <= 5
+      #undef INVERT_E5_DIR
+      #if E_STEPPERS <= 4
+        #undef INVERT_E4_DIR
+        #if E_STEPPERS <= 3
+          #undef INVERT_E3_DIR
+          #if E_STEPPERS <= 2
+            #undef INVERT_E2_DIR
+            #if E_STEPPERS <= 1
+              #undef INVERT_E1_DIR
+              #if E_STEPPERS == 0
+                #undef INVERT_E0_DIR
+              #endif
+            #endif
+          #endif
+        #endif
+      #endif
+    #endif
+  #endif
 #endif

-#ifdef K_DRIVER_TYPE
+/**
+ * Number of Linear Axes (e.g., XYZIJKUVW)
+ * All the logical axes except for the tool (E) axis
+ */
+#ifdef NUM_AXES
+  #undef NUM_AXES
+  #define NUM_AXES_WARNING 1
+#endif
+
+#ifdef W_DRIVER_TYPE
+  #define NUM_AXES 9
+#elif defined(V_DRIVER_TYPE)
+  #define NUM_AXES 8
+#elif defined(U_DRIVER_TYPE)
+  #define NUM_AXES 7
+#elif defined(K_DRIVER_TYPE)
  #define NUM_AXES 6
 #elif defined(J_DRIVER_TYPE)
  #define NUM_AXES 5
@@ -706,6 +740,15 @@
        #define HAS_J_AXIS 1
        #if NUM_AXES >= 6
          #define HAS_K_AXIS 1
+          #if NUM_AXES >= 7
+            #define HAS_U_AXIS 1
+            #if NUM_AXES >= 8
+              #define HAS_V_AXIS 1
+              #if NUM_AXES >= 9
+                #define HAS_W_AXIS 1
+              #endif
+            #endif
+          #endif
        #endif
      #endif
    #endif
@@ -750,6 +793,9 @@
  #undef Y_MIN_POS
  #undef Y_MAX_POS
  #undef MANUAL_Y_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_Y
+  #undef MAX_SOFTWARE_ENDSTOP_Y
+  #undef SAFE_BED_LEVELING_START_Y
 #endif

 #if !HAS_Z_AXIS
@@ -767,6 +813,9 @@
  #undef Z_MIN_POS
  #undef Z_MAX_POS
  #undef MANUAL_Z_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_Z
+  #undef MAX_SOFTWARE_ENDSTOP_Z
+  #undef SAFE_BED_LEVELING_START_Z
 #endif

 #if !HAS_I_AXIS
@@ -781,6 +830,9 @@
  #undef I_MIN_POS
  #undef I_MAX_POS
  #undef MANUAL_I_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_I
+  #undef MAX_SOFTWARE_ENDSTOP_I
+  #undef SAFE_BED_LEVELING_START_I
 #endif

 #if !HAS_J_AXIS
@@ -795,6 +847,9 @@
  #undef J_MIN_POS
  #undef J_MAX_POS
  #undef MANUAL_J_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_J
+  #undef MAX_SOFTWARE_ENDSTOP_J
+  #undef SAFE_BED_LEVELING_START_J
 #endif

 #if !HAS_K_AXIS
@@ -809,6 +864,60 @@
  #undef K_MIN_POS
  #undef K_MAX_POS
  #undef MANUAL_K_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_K
+  #undef MAX_SOFTWARE_ENDSTOP_K
+  #undef SAFE_BED_LEVELING_START_K
+#endif
+
+#if !HAS_U_AXIS
+  #undef ENDSTOPPULLUP_UMIN
+  #undef ENDSTOPPULLUP_UMAX
+  #undef U_MIN_ENDSTOP_INVERTING
+  #undef U_MAX_ENDSTOP_INVERTING
+  #undef U_ENABLE_ON
+  #undef DISABLE_U
+  #undef INVERT_U_DIR
+  #undef U_HOME_DIR
+  #undef U_MIN_POS
+  #undef U_MAX_POS
+  #undef MANUAL_U_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_U
+  #undef MAX_SOFTWARE_ENDSTOP_U
+  #undef SAFE_BED_LEVELING_START_U
+#endif
+
+#if !HAS_V_AXIS
+  #undef ENDSTOPPULLUP_VMIN
+  #undef ENDSTOPPULLUP_VMAX
+  #undef V_MIN_ENDSTOP_INVERTING
+  #undef V_MAX_ENDSTOP_INVERTING
+  #undef V_ENABLE_ON
+  #undef DISABLE_V
+  #undef INVERT_V_DIR
+  #undef V_HOME_DIR
+  #undef V_MIN_POS
+  #undef V_MAX_POS
+  #undef MANUAL_V_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_V
+  #undef MAX_SOFTWARE_ENDSTOP_V
+  #undef SAFE_BED_LEVELING_START_V
+#endif
+
+#if !HAS_W_AXIS
+  #undef ENDSTOPPULLUP_WMIN
+  #undef ENDSTOPPULLUP_WMAX
+  #undef W_MIN_ENDSTOP_INVERTING
+  #undef W_MAX_ENDSTOP_INVERTING
+  #undef W_ENABLE_ON
+  #undef DISABLE_W
+  #undef INVERT_W_DIR
+  #undef W_HOME_DIR
+  #undef W_MIN_POS
+  #undef W_MAX_POS
+  #undef MANUAL_W_HOME_POS
+  #undef MIN_SOFTWARE_ENDSTOP_W
+  #undef MAX_SOFTWARE_ENDSTOP_W
+  #undef SAFE_BED_LEVELING_START_W
 #endif

 #ifdef X2_DRIVER_TYPE
@@ -831,14 +940,42 @@
 #endif

 /**
- * Number of Secondary Axes (e.g., IJK)
+ * Number of Secondary Axes (e.g., IJKUVW)
 * All linear/rotational axes between XYZ and E.
 */
 #define SECONDARY_AXES SUB3(NUM_AXES)

 /**
- * Number of Logical Axes (e.g., XYZIJKE)
- * All the logical axes that can be commanded directly by G-code.
+ * Number of Rotational Axes (e.g., IJK)
+ * All axes for which AXIS*_ROTATES is defined.
+ * For these axes, positions are specified in angular degrees.
+ */
+#if ENABLED(AXIS9_ROTATES)
+  #define ROTATIONAL_AXES 6
+#elif ENABLED(AXIS8_ROTATES)
+  #define ROTATIONAL_AXES 5
+#elif ENABLED(AXIS7_ROTATES)
+  #define ROTATIONAL_AXES 4
+#elif ENABLED(AXIS6_ROTATES)
+  #define ROTATIONAL_AXES 3
+#elif ENABLED(AXIS5_ROTATES)
+  #define ROTATIONAL_AXES 2
+#elif ENABLED(AXIS4_ROTATES)
+  #define ROTATIONAL_AXES 1
+#else
+  #define ROTATIONAL_AXES 0
+#endif
+
+/**
+ * Number of Secondary Linear Axes (e.g., UVW)
+ * All secondary axes for which AXIS*_ROTATES is not defined.
+ * Excluding primary axes and excluding duplicate axes (X2, Y2, Z2, Z3, Z4)
+ */
+#define SECONDARY_LINEAR_AXES (NUM_AXES - PRIMARY_LINEAR_AXES - ROTATIONAL_AXES)
+
+/**
+ * Number of Logical Axes (e.g., XYZIJKUVWE)
+ * All logical axes that can be commanded directly by G-code.
 * Delta maps stepper-specific values to ABC steppers.
 */
 #if HAS_EXTRUDERS
@@ -963,7 +1100,10 @@
 /**
 * Set flags for any form of bed probe
 */
-#if ANY(HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, SOLENOID_PROBE, SENSORLESS_PROBING, RACK_AND_PINION_PROBE, MAGLEV4)
+#if ANY(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY, SOLENOID_PROBE, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE)
+  #define HAS_STOWABLE_PROBE 1
+#endif
+#if ANY(HAS_STOWABLE_PROBE, HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, BD_SENSOR, NOZZLE_AS_PROBE)
  #define HAS_BED_PROBE 1
 #endif

@@ -1092,6 +1232,21 @@
 #elif K_HOME_DIR < 0
  #define K_HOME_TO_MIN 1
 #endif
+#if U_HOME_DIR > 0
+  #define U_HOME_TO_MAX 1
+#elif U_HOME_DIR < 0
+  #define U_HOME_TO_MIN 1
+#endif
+#if V_HOME_DIR > 0
+  #define V_HOME_TO_MAX 1
+#elif V_HOME_DIR < 0
+  #define V_HOME_TO_MIN 1
+#endif
+#if W_HOME_DIR > 0
+  #define W_HOME_TO_MAX 1
+#elif W_HOME_DIR < 0
+  #define W_HOME_TO_MIN 1
+#endif

 /**
 * Conditionals based on the type of Bed Probe
@@ -1112,7 +1267,7 @@
  #ifndef Z_PROBE_LOW_POINT
    #define Z_PROBE_LOW_POINT -5
  #endif
-  #if ENABLED(Z_PROBE_ALLEN_KEY)
+  #if EITHER(Z_PROBE_ALLEN_KEY, MAG_MOUNTED_PROBE)
    #define PROBE_TRIGGERED_WHEN_STOWED_TEST 1 // Extra test for Allen Key Probe
  #endif
  #if MULTIPLE_PROBING > 1
@@ -1292,6 +1447,10 @@
  #define EXTRUDE_MINTEMP 170
 #endif

+#if ANY(PID_DEBUG, PID_BED_DEBUG, PID_CHAMBER_DEBUG)
+  #define HAS_PID_DEBUG 1
+#endif
+
 /**
 * TFT Displays
 *
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@@ -79,6 +79,10 @@
  #define SERVO_DELAY { 50 }
 #endif

+#if !HAS_STOWABLE_PROBE
+  #undef PROBE_DEPLOY_STOW_MENU
+#endif
+
 #if !HAS_EXTRUDERS
  #define NO_VOLUMETRICS
  #undef TEMP_SENSOR_0
@@ -112,6 +116,31 @@
  #undef STEALTHCHOP_E
 #endif

+#if HOTENDS <= 7
+  #undef E7_AUTO_FAN_PIN
+  #if HOTENDS <= 6
+    #undef E6_AUTO_FAN_PIN
+    #if HOTENDS <= 5
+      #undef E5_AUTO_FAN_PIN
+      #if HOTENDS <= 4
+        #undef E4_AUTO_FAN_PIN
+        #if HOTENDS <= 3
+          #undef E3_AUTO_FAN_PIN
+          #if HOTENDS <= 2
+            #undef E2_AUTO_FAN_PIN
+            #if HOTENDS <= 1
+              #undef E1_AUTO_FAN_PIN
+              #if HOTENDS == 0
+                #undef E0_AUTO_FAN_PIN
+              #endif
+            #endif
+          #endif
+        #endif
+      #endif
+    #endif
+  #endif
+#endif
+
 /**
 * Temperature Sensors; define what sensor(s) we have.
 */
@@ -150,8 +179,7 @@
  #define REDUNDANT_TEMP_MATCH(...) 0
 #endif

-#if TEMP_SENSOR_0 == -5 || TEMP_SENSOR_0 == -3 || TEMP_SENSOR_0 == -2
-  #define TEMP_SENSOR_0_IS_MAX_TC 1
+#if TEMP_SENSOR_IS_MAX_TC(0)
  #if TEMP_SENSOR_0 == -5
    #define TEMP_SENSOR_0_IS_MAX31865 1
    #define TEMP_SENSOR_0_MAX_TC_TMIN    0
@@ -187,8 +215,7 @@
  #undef HEATER_0_MAXTEMP
 #endif

-#if TEMP_SENSOR_1 == -5 || TEMP_SENSOR_1 == -3 || TEMP_SENSOR_1 == -2
-  #define TEMP_SENSOR_1_IS_MAX_TC 1
+#if TEMP_SENSOR_IS_MAX_TC(1)
  #if TEMP_SENSOR_1 == -5
    #define TEMP_SENSOR_1_IS_MAX31865 1
    #define TEMP_SENSOR_1_MAX_TC_TMIN    0
@@ -234,9 +261,7 @@
  #undef HEATER_1_MAXTEMP
 #endif

-#if TEMP_SENSOR_REDUNDANT == -5 || TEMP_SENSOR_REDUNDANT == -3 || TEMP_SENSOR_REDUNDANT == -2
-  #define TEMP_SENSOR_REDUNDANT_IS_MAX_TC 1
-
+#if TEMP_SENSOR_IS_MAX_TC(REDUNDANT)
  #if TEMP_SENSOR_REDUNDANT == -5
    #if !REDUNDANT_TEMP_MATCH(SOURCE, E0) && !REDUNDANT_TEMP_MATCH(SOURCE, E1)
      #error "MAX31865 Thermocouples (-5) not supported for TEMP_SENSOR_REDUNDANT_SOURCE other than TEMP_SENSOR_0/TEMP_SENSOR_1 (0/1)."
@@ -278,7 +303,7 @@
    #endif
  #endif

-  #if (TEMP_SENSOR_0_IS_MAX_TC && TEMP_SENSOR_REDUNDANT != TEMP_SENSOR_0) || (TEMP_SENSOR_1_IS_MAX_TC && TEMP_SENSOR_REDUNDANT != TEMP_SENSOR_1)
+  #if (TEMP_SENSOR_IS_MAX_TC(0) && TEMP_SENSOR_REDUNDANT != TEMP_SENSOR_0) || (TEMP_SENSOR_IS_MAX_TC(1) && TEMP_SENSOR_REDUNDANT != TEMP_SENSOR_1)
    #if   TEMP_SENSOR_REDUNDANT == -5
      #error "If MAX31865 Thermocouple (-5) is used for TEMP_SENSOR_0/TEMP_SENSOR_1 then TEMP_SENSOR_REDUNDANT must match."
    #elif TEMP_SENSOR_REDUNDANT == -3
@@ -300,7 +325,7 @@
  #endif
 #endif

-#if TEMP_SENSOR_0_IS_MAX_TC || TEMP_SENSOR_1_IS_MAX_TC || TEMP_SENSOR_REDUNDANT_IS_MAX_TC
+#if TEMP_SENSOR_IS_MAX_TC(0) || TEMP_SENSOR_IS_MAX_TC(1) || TEMP_SENSOR_IS_MAX_TC(REDUNDANT)
  #define HAS_MAX_TC 1
 #endif
 #if TEMP_SENSOR_0_IS_MAX6675 || TEMP_SENSOR_1_IS_MAX6675 || TEMP_SENSOR_REDUNDANT_IS_MAX6675
@@ -905,30 +930,45 @@
 #endif

 // Remove unused STEALTHCHOP flags
-#if NUM_AXES < 6
-  #undef STEALTHCHOP_K
-  #undef CALIBRATION_MEASURE_KMIN
-  #undef CALIBRATION_MEASURE_KMAX
-  #if NUM_AXES < 5
-    #undef STEALTHCHOP_J
-    #undef CALIBRATION_MEASURE_JMIN
-    #undef CALIBRATION_MEASURE_JMAX
-    #if NUM_AXES < 4
-      #undef STEALTHCHOP_I
-      #undef CALIBRATION_MEASURE_IMIN
-      #undef CALIBRATION_MEASURE_IMAX
-      #if NUM_AXES < 3
-        #undef Z_IDLE_HEIGHT
-        #undef STEALTHCHOP_Z
-        #undef Z_PROBE_SLED
-        #undef Z_SAFE_HOMING
-        #undef HOME_Z_FIRST
-        #undef HOMING_Z_WITH_PROBE
-        #undef ENABLE_LEVELING_FADE_HEIGHT
-        #undef NUM_Z_STEPPERS
-        #undef CNC_WORKSPACE_PLANES
-        #if NUM_AXES < 2
-          #undef STEALTHCHOP_Y
+#if NUM_AXES < 9
+  #undef STEALTHCHOP_W
+  #undef CALIBRATION_MEASURE_WMIN
+  #undef CALIBRATION_MEASURE_WMAX
+  #if NUM_AXES < 8
+    #undef STEALTHCHOP_V
+    #undef CALIBRATION_MEASURE_VMIN
+    #undef CALIBRATION_MEASURE_VMAX
+    #if NUM_AXES < 7
+      #undef STEALTHCHOP_U
+      #undef CALIBRATION_MEASURE_UMIN
+      #undef CALIBRATION_MEASURE_UMAX
+      #if NUM_AXES < 6
+        #undef STEALTHCHOP_K
+        #undef CALIBRATION_MEASURE_KMIN
+        #undef CALIBRATION_MEASURE_KMAX
+        #if NUM_AXES < 5
+          #undef STEALTHCHOP_J
+          #undef CALIBRATION_MEASURE_JMIN
+          #undef CALIBRATION_MEASURE_JMAX
+          #if NUM_AXES < 4
+            #undef STEALTHCHOP_I
+            #undef CALIBRATION_MEASURE_IMIN
+            #undef CALIBRATION_MEASURE_IMAX
+            #if NUM_AXES < 3
+              #undef Z_IDLE_HEIGHT
+              #undef STEALTHCHOP_Z
+              #undef Z_PROBE_SLED
+              #undef Z_SAFE_HOMING
+              #undef HOME_Z_FIRST
+              #undef HOMING_Z_WITH_PROBE
+              #undef ENABLE_LEVELING_FADE_HEIGHT
+              #undef NUM_Z_STEPPERS
+              #undef CNC_WORKSPACE_PLANES
+              #if NUM_AXES < 2
+                #undef STEALTHCHOP_Y
+              #endif
+            #endif
+          #endif
        #endif
      #endif
    #endif
@@ -1027,8 +1067,3 @@
 #if ANY(DISABLE_INACTIVE_X, DISABLE_INACTIVE_Y, DISABLE_INACTIVE_Z, DISABLE_INACTIVE_I, DISABLE_INACTIVE_J, DISABLE_INACTIVE_K, DISABLE_INACTIVE_U, DISABLE_INACTIVE_V, DISABLE_INACTIVE_W, DISABLE_INACTIVE_E)
  #define HAS_DISABLE_INACTIVE_AXIS 1
 #endif
-
-// Delay Sensorless Homing/Probing
-#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) && !defined(SENSORLESS_STALLGUARD_DELAY)
-  #define SENSORLESS_STALLGUARD_DELAY 0
-#endif
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -87,6 +87,19 @@
 #if HAS_K_AXIS && !defined(AXIS6_NAME)
  #define AXIS6_NAME 'C'
 #endif
+#if HAS_U_AXIS && !defined(AXIS7_NAME)
+  #define AXIS7_NAME 'U'
+#endif
+#if HAS_V_AXIS && !defined(AXIS8_NAME)
+  #define AXIS8_NAME 'V'
+#endif
+#if HAS_W_AXIS && !defined(AXIS9_NAME)
+  #define AXIS9_NAME 'W'
+#endif
+
+#if ANY(AXIS4_ROTATES, AXIS5_ROTATES, AXIS6_ROTATES, AXIS7_ROTATES, AXIS8_ROTATES, AXIS9_ROTATES)
+  #define HAS_ROTATIONAL_AXES 1
+#endif

 #define X_MAX_LENGTH (X_MAX_POS - (X_MIN_POS))
 #if HAS_Y_AXIS
@@ -106,6 +119,15 @@
 #if HAS_K_AXIS
  #define K_MAX_LENGTH (K_MAX_POS - (K_MIN_POS))
 #endif
+#if HAS_U_AXIS
+  #define U_MAX_LENGTH (U_MAX_POS - (U_MIN_POS))
+#endif
+#if HAS_V_AXIS
+  #define V_MAX_LENGTH (V_MAX_POS - (V_MIN_POS))
+#endif
+#if HAS_W_AXIS
+  #define W_MAX_LENGTH (W_MAX_POS - (W_MIN_POS))
+#endif

 // Defined only if the sanity-check is bypassed
 #ifndef X_BED_SIZE
@@ -123,6 +145,15 @@
 #if HAS_K_AXIS && !defined(K_BED_SIZE)
  #define K_BED_SIZE K_MAX_LENGTH
 #endif
+#if HAS_U_AXIS && !defined(U_BED_SIZE)
+  #define U_BED_SIZE U_MAX_LENGTH
+#endif
+#if HAS_V_AXIS && !defined(V_BED_SIZE)
+  #define V_BED_SIZE V_MAX_LENGTH
+#endif
+#if HAS_W_AXIS && !defined(W_BED_SIZE)
+  #define W_BED_SIZE W_MAX_LENGTH
+#endif

 // Require 0,0 bed center for Delta and SCARA
 #if IS_KINEMATIC
@@ -143,6 +174,15 @@
 #if HAS_K_AXIS
  #define _K_HALF_KMAX ((K_BED_SIZE) / 2)
 #endif
+#if HAS_U_AXIS
+  #define _U_HALF_UMAX ((U_BED_SIZE) / 2)
+#endif
+#if HAS_V_AXIS
+  #define _V_HALF_VMAX ((V_BED_SIZE) / 2)
+#endif
+#if HAS_W_AXIS
+  #define _W_HALF_WMAX ((W_BED_SIZE) / 2)
+#endif

 #define X_CENTER TERN(BED_CENTER_AT_0_0, 0, _X_HALF_BED)
 #if HAS_Y_AXIS
@@ -158,6 +198,15 @@
 #if HAS_K_AXIS
  #define K_CENTER TERN(BED_CENTER_AT_0_0, 0, _K_HALF_BED)
 #endif
+#if HAS_U_AXIS
+  #define U_CENTER TERN(BED_CENTER_AT_0_0, 0, _U_HALF_BED)
+#endif
+#if HAS_V_AXIS
+  #define V_CENTER TERN(BED_CENTER_AT_0_0, 0, _V_HALF_BED)
+#endif
+#if HAS_W_AXIS
+  #define W_CENTER TERN(BED_CENTER_AT_0_0, 0, _W_HALF_BED)
+#endif

 // Get the linear boundaries of the bed
 #define X_MIN_BED (X_CENTER - _X_HALF_BED)
@@ -178,6 +227,18 @@
  #define K_MINIM (K_CENTER - _K_HALF_BED_SIZE)
  #define K_MAXIM (K_MINIM + K_BED_SIZE)
 #endif
+#if HAS_U_AXIS
+  #define U_MINIM (U_CENTER - _U_HALF_BED_SIZE)
+  #define U_MAXIM (U_MINIM + U_BED_SIZE)
+#endif
+#if HAS_V_AXIS
+  #define V_MINIM (V_CENTER - _V_HALF_BED_SIZE)
+  #define V_MAXIM (V_MINIM + V_BED_SIZE)
+#endif
+#if HAS_W_AXIS
+  #define W_MINIM (W_CENTER - _W_HALF_BED_SIZE)
+  #define W_MAXIM (W_MINIM + W_BED_SIZE)
+#endif

 /**
 * Dual X Carriage
@@ -274,6 +335,27 @@
    #define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS)
  #endif
 #endif
+#if HAS_U_AXIS
+  #ifdef MANUAL_U_HOME_POS
+    #define U_HOME_POS MANUAL_U_HOME_POS
+  #else
+    #define U_HOME_POS (U_HOME_DIR < 0 ? U_MIN_POS : U_MAX_POS)
+  #endif
+#endif
+#if HAS_V_AXIS
+  #ifdef MANUAL_V_HOME_POS
+    #define V_HOME_POS MANUAL_V_HOME_POS
+  #else
+    #define V_HOME_POS (V_HOME_DIR < 0 ? V_MIN_POS : V_MAX_POS)
+  #endif
+#endif
+#if HAS_W_AXIS
+  #ifdef MANUAL_W_HOME_POS
+    #define W_HOME_POS MANUAL_W_HOME_POS
+  #else
+    #define W_HOME_POS (W_HOME_DIR < 0 ? W_MIN_POS : W_MAX_POS)
+  #endif
+#endif

 /**
 * If DELTA_HEIGHT isn't defined use the old setting
@@ -599,7 +681,7 @@
 #if HAS_MAX_TC

  // Translate old _SS, _CS, _SCK, _DO, _DI, _MISO, and _MOSI PIN defines.
-  #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
+  #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1))

    #if !PIN_EXISTS(TEMP_0_CS) // SS, CS
      #if PIN_EXISTS(MAX6675_SS)
@@ -666,9 +748,9 @@
      #endif
    #endif

-  #endif // TEMP_SENSOR_0_IS_MAX_TC
+  #endif // TEMP_SENSOR_IS_MAX_TC(0)

-  #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))

    #if !PIN_EXISTS(TEMP_1_CS) // SS2, CS2
      #if PIN_EXISTS(MAX6675_SS2)
@@ -735,7 +817,7 @@
      #endif
    #endif

-  #endif // TEMP_SENSOR_1_IS_MAX_TC
+  #endif // TEMP_SENSOR_IS_MAX_TC(1)

  //
  // User-defined thermocouple libraries
@@ -1450,6 +1532,15 @@
  #if ENABLED(USE_KMAX_PLUG)
    #define ENDSTOPPULLUP_KMAX
  #endif
+  #if ENABLED(USE_UMAX_PLUG)
+    #define ENDSTOPPULLUP_UMAX
+  #endif
+  #if ENABLED(USE_VMAX_PLUG)
+    #define ENDSTOPPULLUP_VMAX
+  #endif
+  #if ENABLED(USE_WMAX_PLUG)
+    #define ENDSTOPPULLUP_WMAX
+  #endif
  #if ENABLED(USE_XMIN_PLUG)
    #define ENDSTOPPULLUP_XMIN
  #endif
@@ -1468,6 +1559,15 @@
  #if ENABLED(USE_KMIN_PLUG)
    #define ENDSTOPPULLUP_KMIN
  #endif
+  #if ENABLED(USE_UMIN_PLUG)
+    #define ENDSTOPPULLUP_UMIN
+  #endif
+  #if ENABLED(USE_VMIN_PLUG)
+    #define ENDSTOPPULLUP_VMIN
+  #endif
+  #if ENABLED(USE_WMIN_PLUG)
+    #define ENDSTOPPULLUP_WMIN
+  #endif
 #endif

 /**
@@ -1512,7 +1612,7 @@
  #define HAS_X_MS_PINS 1
 #endif

-#if PIN_EXISTS(X2_ENABLE) || AXIS_IS_L64XX(X2) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2))
+#if PIN_EXISTS(X2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(X2))
  #define HAS_X2_ENABLE 1
 #endif
 #if PIN_EXISTS(X2_DIR)
@@ -1533,7 +1633,7 @@
 #endif

 #if HAS_Y_AXIS
-  #if PIN_EXISTS(Y_ENABLE) || AXIS_IS_L64XX(Y) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y))
+  #if PIN_EXISTS(Y_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y))
    #define HAS_Y_ENABLE 1
  #endif
  #if PIN_EXISTS(Y_DIR)
@@ -1546,7 +1646,7 @@
    #define HAS_Y_MS_PINS 1
  #endif

-  #if PIN_EXISTS(Y2_ENABLE) || AXIS_IS_L64XX(Y2) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2))
+  #if PIN_EXISTS(Y2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2))
    #define HAS_Y2_ENABLE 1
  #endif
  #if PIN_EXISTS(Y2_DIR)
@@ -1566,7 +1666,7 @@
 #endif

 #if HAS_Z_AXIS
-  #if PIN_EXISTS(Z_ENABLE) || AXIS_IS_L64XX(Z) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z))
+  #if PIN_EXISTS(Z_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z))
    #define HAS_Z_ENABLE 1
  #endif
  #if PIN_EXISTS(Z_DIR)
@@ -1586,7 +1686,7 @@
 #endif

 #if NUM_Z_STEPPERS >= 2
-  #if PIN_EXISTS(Z2_ENABLE) || AXIS_IS_L64XX(Z2) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2))
+  #if PIN_EXISTS(Z2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2))
    #define HAS_Z2_ENABLE 1
  #endif
  #if PIN_EXISTS(Z2_DIR)
@@ -1601,7 +1701,7 @@
 #endif

 #if NUM_Z_STEPPERS >= 3
-  #if PIN_EXISTS(Z3_ENABLE) || AXIS_IS_L64XX(Z3) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3))
+  #if PIN_EXISTS(Z3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3))
    #define HAS_Z3_ENABLE 1
  #endif
  #if PIN_EXISTS(Z3_DIR)
@@ -1616,7 +1716,7 @@
 #endif

 #if NUM_Z_STEPPERS >= 4
-  #if PIN_EXISTS(Z4_ENABLE) || AXIS_IS_L64XX(Z4) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4))
+  #if PIN_EXISTS(Z4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4))
    #define HAS_Z4_ENABLE 1
  #endif
  #if PIN_EXISTS(Z4_DIR)
@@ -1631,7 +1731,7 @@
 #endif

 #if HAS_I_AXIS
-  #if PIN_EXISTS(I_ENABLE) || AXIS_IS_L64XX(I) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(I))
+  #if PIN_EXISTS(I_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(I))
    #define HAS_I_ENABLE 1
  #endif
  #if PIN_EXISTS(I_DIR)
@@ -1651,7 +1751,7 @@
 #endif

 #if HAS_J_AXIS
-  #if PIN_EXISTS(J_ENABLE) || AXIS_IS_L64XX(J) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(J))
+  #if PIN_EXISTS(J_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(J))
    #define HAS_J_ENABLE 1
  #endif
  #if PIN_EXISTS(J_DIR)
@@ -1671,7 +1771,7 @@
 #endif

 #if HAS_K_AXIS
-  #if PIN_EXISTS(K_ENABLE) || AXIS_IS_L64XX(K) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(K))
+  #if PIN_EXISTS(K_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(K))
    #define HAS_K_ENABLE 1
  #endif
  #if PIN_EXISTS(K_DIR)
@@ -1690,10 +1790,70 @@
  #undef DISABLE_INACTIVE_K
 #endif

+#if HAS_U_AXIS
+  #if PIN_EXISTS(U_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(U))
+    #define HAS_U_ENABLE 1
+  #endif
+  #if PIN_EXISTS(U_DIR)
+    #define HAS_U_DIR 1
+  #endif
+  #if PIN_EXISTS(U_STEP)
+    #define HAS_U_STEP 1
+  #endif
+  #if PIN_EXISTS(U_MS1)
+    #define HAS_U_MS_PINS 1
+  #endif
+  #if !defined(DISABLE_INACTIVE_U) && ENABLED(DISABLE_U)
+    #define DISABLE_INACTIVE_U 1
+  #endif
+#else
+  #undef DISABLE_INACTIVE_U
+#endif
+
+#if HAS_V_AXIS
+  #if PIN_EXISTS(V_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(V))
+    #define HAS_V_ENABLE 1
+  #endif
+  #if PIN_EXISTS(V_DIR)
+    #define HAS_V_DIR 1
+  #endif
+  #if PIN_EXISTS(V_STEP)
+    #define HAS_V_STEP 1
+  #endif
+  #if PIN_EXISTS(V_MS1)
+    #define HAS_V_MS_PINS 1
+  #endif
+  #if !defined(DISABLE_INACTIVE_V) && ENABLED(DISABLE_V)
+    #define DISABLE_INACTIVE_V 1
+  #endif
+#else
+  #undef DISABLE_INACTIVE_V
+#endif
+
+#if HAS_W_AXIS
+  #if PIN_EXISTS(W_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(W))
+    #define HAS_W_ENABLE 1
+  #endif
+  #if PIN_EXISTS(W_DIR)
+    #define HAS_W_DIR 1
+  #endif
+  #if PIN_EXISTS(W_STEP)
+    #define HAS_W_STEP 1
+  #endif
+  #if PIN_EXISTS(W_MS1)
+    #define HAS_W_MS_PINS 1
+  #endif
+  #if !defined(DISABLE_INACTIVE_W) && ENABLED(DISABLE_W)
+    #define DISABLE_INACTIVE_W 1
+  #endif
+#else
+  #undef DISABLE_INACTIVE_W
+#endif
+
 // Extruder steppers and solenoids
 #if HAS_EXTRUDERS

-  #if PIN_EXISTS(E0_ENABLE) || AXIS_IS_L64XX(E0) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0))
+  #if PIN_EXISTS(E0_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0))
    #define HAS_E0_ENABLE 1
  #endif
  #if PIN_EXISTS(E0_DIR)
@@ -1707,7 +1867,7 @@
  #endif

  #if E_STEPPERS > 1 || ENABLED(E_DUAL_STEPPER_DRIVERS)
-    #if PIN_EXISTS(E1_ENABLE) || AXIS_IS_L64XX(E1) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1))
+    #if PIN_EXISTS(E1_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1))
      #define HAS_E1_ENABLE 1
    #endif
    #if PIN_EXISTS(E1_DIR)
@@ -1722,7 +1882,7 @@
  #endif

  #if E_STEPPERS > 2
-    #if PIN_EXISTS(E2_ENABLE) || AXIS_IS_L64XX(E2) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2))
+    #if PIN_EXISTS(E2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2))
      #define HAS_E2_ENABLE 1
    #endif
    #if PIN_EXISTS(E2_DIR)
@@ -1737,7 +1897,7 @@
  #endif

  #if E_STEPPERS > 3
-    #if PIN_EXISTS(E3_ENABLE) || AXIS_IS_L64XX(E3) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3))
+    #if PIN_EXISTS(E3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3))
      #define HAS_E3_ENABLE 1
    #endif
    #if PIN_EXISTS(E3_DIR)
@@ -1752,7 +1912,7 @@
  #endif

  #if E_STEPPERS > 4
-    #if PIN_EXISTS(E4_ENABLE) || AXIS_IS_L64XX(E4) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4))
+    #if PIN_EXISTS(E4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4))
      #define HAS_E4_ENABLE 1
    #endif
    #if PIN_EXISTS(E4_DIR)
@@ -1767,7 +1927,7 @@
  #endif

  #if E_STEPPERS > 5
-    #if PIN_EXISTS(E5_ENABLE) || AXIS_IS_L64XX(E5) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5))
+    #if PIN_EXISTS(E5_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5))
      #define HAS_E5_ENABLE 1
    #endif
    #if PIN_EXISTS(E5_DIR)
@@ -1782,7 +1942,7 @@
  #endif

  #if E_STEPPERS > 6
-    #if PIN_EXISTS(E6_ENABLE) || AXIS_IS_L64XX(E6) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E6))
+    #if PIN_EXISTS(E6_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E6))
      #define HAS_E6_ENABLE 1
    #endif
    #if PIN_EXISTS(E6_DIR)
@@ -1797,7 +1957,7 @@
  #endif

  #if E_STEPPERS > 7
-    #if PIN_EXISTS(E7_ENABLE) || AXIS_IS_L64XX(E7) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E7))
+    #if PIN_EXISTS(E7_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E7))
      #define HAS_E7_ENABLE 1
    #endif
    #if PIN_EXISTS(E7_DIR)
@@ -1858,7 +2018,7 @@
 //

 #if HAS_TRINAMIC_CONFIG
-  #if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K)
+  #if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K, STEALTHCHOP_U, STEALTHCHOP_V, STEALTHCHOP_W)
    #define STEALTHCHOP_ENABLED 1
  #endif
  #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
@@ -1947,6 +2107,15 @@
        #define Y2_SLAVE_ADDRESS 0
      #endif
    #endif
+    #if HAS_U_AXIS
+      #define U_SPI_SENSORLESS U_SENSORLESS
+    #endif
+    #if HAS_V_AXIS
+      #define V_SPI_SENSORLESS V_SENSORLESS
+    #endif
+    #if HAS_W_AXIS
+      #define W_SPI_SENSORLESS W_SENSORLESS
+    #endif
  #endif

  #if AXIS_IS_TMC(Z)
@@ -2084,6 +2253,69 @@
    #endif
  #endif

+  #if AXIS_IS_TMC(U)
+    #if defined(U_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(U)
+      #define U_SENSORLESS 1
+    #endif
+    #if AXIS_HAS_STEALTHCHOP(U)
+      #define U_HAS_STEALTHCHOP 1
+    #endif
+    #if ENABLED(SPI_ENDSTOPS)
+      #define U_SPI_SENSORLESS U_SENSORLESS
+    #endif
+    #ifndef U_INTERPOLATE
+      #define U_INTERPOLATE INTERPOLATE
+    #endif
+    #ifndef U_HOLD_MULTIPLIER
+      #define U_HOLD_MULTIPLIER HOLD_MULTIPLIER
+    #endif
+    #ifndef U_SLAVE_ADDRESS
+      #define U_SLAVE_ADDRESS 0
+    #endif
+  #endif
+
+  #if AXIS_IS_TMC(V)
+    #if defined(V_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(V)
+      #define V_SENSORLESS 1
+    #endif
+    #if AXIS_HAS_STEALTHCHOP(V)
+      #define V_HAS_STEALTHCHOP 1
+    #endif
+    #if ENABLED(SPI_ENDSTOPS)
+      #define V_SPI_SENSORLESS V_SENSORLESS
+    #endif
+    #ifndef V_INTERPOLATE
+      #define V_INTERPOLATE INTERPOLATE
+    #endif
+    #ifndef V_HOLD_MULTIPLIER
+      #define V_HOLD_MULTIPLIER HOLD_MULTIPLIER
+    #endif
+    #ifndef V_SLAVE_ADDRESS
+      #define V_SLAVE_ADDRESS 0
+    #endif
+  #endif
+
+  #if AXIS_IS_TMC(W)
+    #if defined(W_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(W)
+      #define W_SENSORLESS 1
+    #endif
+    #if AXIS_HAS_STEALTHCHOP(W)
+      #define W_HAS_STEALTHCHOP 1
+    #endif
+    #if ENABLED(SPI_ENDSTOPS)
+      #define W_SPI_SENSORLESS W_SENSORLESS
+    #endif
+    #ifndef W_INTERPOLATE
+      #define W_INTERPOLATE INTERPOLATE
+    #endif
+    #ifndef W_HOLD_MULTIPLIER
+      #define W_HOLD_MULTIPLIER HOLD_MULTIPLIER
+    #endif
+    #ifndef W_SLAVE_ADDRESS
+      #define W_SLAVE_ADDRESS 0
+    #endif
+  #endif
+
  #if AXIS_IS_TMC(E0)
    #if AXIS_HAS_STEALTHCHOP(E0)
      #define E0_HAS_STEALTHCHOP 1
@@ -2225,6 +2457,7 @@
 #define ANY_SERIAL_IS(N) (  CONF_SERIAL_IS(N) \
                         || TMC_UART_IS(X,  N) || TMC_UART_IS(Y , N) || TMC_UART_IS(Z , N) \
                         || TMC_UART_IS(I,  N) || TMC_UART_IS(J , N) || TMC_UART_IS(K , N) \
+                         || TMC_UART_IS(U,  N) || TMC_UART_IS(V , N) || TMC_UART_IS(W , N) \
                         || TMC_UART_IS(X2, N) || TMC_UART_IS(Y2, N) || TMC_UART_IS(Z2, N) || TMC_UART_IS(Z3, N) || TMC_UART_IS(Z4, N) \
                         || TMC_UART_IS(E0, N) || TMC_UART_IS(E1, N) || TMC_UART_IS(E2, N) || TMC_UART_IS(E3, N) || TMC_UART_IS(E4, N) )

@@ -2359,6 +2592,24 @@
 #if _HAS_STOP(K,MAX)
  #define HAS_K_MAX 1
 #endif
+#if _HAS_STOP(U,MIN)
+  #define HAS_U_MIN 1
+#endif
+#if _HAS_STOP(U,MAX)
+  #define HAS_U_MAX 1
+#endif
+#if _HAS_STOP(V,MIN)
+  #define HAS_V_MIN 1
+#endif
+#if _HAS_STOP(V,MAX)
+  #define HAS_V_MAX 1
+#endif
+#if _HAS_STOP(W,MIN)
+  #define HAS_W_MIN 1
+#endif
+#if _HAS_STOP(W,MAX)
+  #define HAS_W_MAX 1
+#endif
 #if PIN_EXISTS(X2_MIN)
  #define HAS_X2_MIN 1
 #endif
@@ -2405,7 +2656,7 @@
 //
 // ADC Temp Sensors (Thermistor or Thermocouple with amplifier ADC interface)
 //
-#define HAS_ADC_TEST(P) (PIN_EXISTS(TEMP_##P) && TEMP_SENSOR_##P != 0 && NONE(TEMP_SENSOR_##P##_IS_MAX_TC, TEMP_SENSOR_##P##_IS_DUMMY))
+#define HAS_ADC_TEST(P) (PIN_EXISTS(TEMP_##P) && TEMP_SENSOR_##P != 0 && !TEMP_SENSOR_IS_MAX_TC(P) && !TEMP_SENSOR_##P##_IS_DUMMY)
 #if HOTENDS > 0 && HAS_ADC_TEST(0)
  #define HAS_TEMP_ADC_0 1
 #endif
@@ -2449,7 +2700,7 @@
  #define HAS_TEMP_ADC_REDUNDANT 1
 #endif

-#define HAS_TEMP(N) ANY(HAS_TEMP_ADC_##N, TEMP_SENSOR_##N##_IS_MAX_TC, TEMP_SENSOR_##N##_IS_DUMMY)
+#define HAS_TEMP(N) (TEMP_SENSOR_IS_MAX_TC(N) || EITHER(HAS_TEMP_ADC_##N, TEMP_SENSOR_##N##_IS_DUMMY))
 #if HAS_HOTEND && HAS_TEMP(0)
  #define HAS_TEMP_HOTEND 1
 #endif
@@ -2859,7 +3110,7 @@
 #if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  #define HAS_MOTOR_CURRENT_PWM_E 1
 #endif
-#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
+#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
  #define HAS_MOTOR_CURRENT_PWM 1
 #endif

@@ -2869,7 +3120,7 @@
 #if ANY(HAS_E0_MS_PINS, HAS_E1_MS_PINS, HAS_E2_MS_PINS, HAS_E3_MS_PINS, HAS_E4_MS_PINS, HAS_E5_MS_PINS, HAS_E6_MS_PINS, HAS_E7_MS_PINS)
  #define HAS_SOME_E_MS_PINS 1
 #endif
-#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_I_MS_PINS, HAS_J_MS_PINS, HAS_K_MS_PINS, HAS_SOME_E_MS_PINS)
+#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_I_MS_PINS, HAS_J_MS_PINS, HAS_K_MS_PINS, HAS_U_MS_PINS, HAS_V_MS_PINS, HAS_W_MS_PINS, HAS_SOME_E_MS_PINS)
  #define HAS_MICROSTEPS 1
 #endif

--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -35,8 +35,8 @@
 #endif

 // Strings for sanity check messages
-#define _NUM_AXES_STR NUM_AXIS_GANG("X ", "Y ", "Z ", "I ", "J ", "K ")
-#define _LOGICAL_AXES_STR LOGICAL_AXIS_GANG("E ", "X ", "Y ", "Z ", "I ", "J ", "K ")
+#define _NUM_AXES_STR NUM_AXIS_GANG("X ", "Y ", "Z ", "I ", "J ", "K ", "U ", "V ", "W ")
+#define _LOGICAL_AXES_STR LOGICAL_AXIS_GANG("E ", "X ", "Y ", "Z ", "I ", "J ", "K ", "U ", "V ", "W ")

 // Make sure macros aren't borked
 #define TEST1
@@ -350,7 +350,7 @@
 #elif defined(HAVE_TMC2208)
  #error "HAVE_TMC2208 is now [AXIS]_DRIVER_TYPE TMC2208."
 #elif defined(HAVE_L6470DRIVER)
-  #error "HAVE_L6470DRIVER is now [AXIS]_DRIVER_TYPE L6470."
+  #error "HAVE_L6470DRIVER is obsolete. L64xx stepper drivers are no longer supported in Marlin."
 #elif defined(X_IS_TMC) || defined(X2_IS_TMC) || defined(Y_IS_TMC) || defined(Y2_IS_TMC) || defined(Z_IS_TMC) || defined(Z2_IS_TMC) || defined(Z3_IS_TMC) \
   || defined(E0_IS_TMC) || defined(E1_IS_TMC) || defined(E2_IS_TMC) || defined(E3_IS_TMC) || defined(E4_IS_TMC) || defined(E5_IS_TMC) || defined(E6_IS_TMC) || defined(E7_IS_TMC)
  #error "[AXIS]_IS_TMC is now [AXIS]_DRIVER_TYPE TMC26X."
@@ -363,9 +363,6 @@
 #elif defined(X_IS_TMC2208) || defined(X2_IS_TMC2208) || defined(Y_IS_TMC2208) || defined(Y2_IS_TMC2208) || defined(Z_IS_TMC2208) || defined(Z2_IS_TMC2208) || defined(Z3_IS_TMC2208) \
   || defined(E0_IS_TMC2208) || defined(E1_IS_TMC2208) || defined(E2_IS_TMC2208) || defined(E3_IS_TMC2208) || defined(E4_IS_TMC2208) || defined(E5_IS_TMC2208) || defined(E6_IS_TMC2208) || defined(E7_IS_TMC2208)
  #error "[AXIS]_IS_TMC2208 is now [AXIS]_DRIVER_TYPE TMC2208."
-#elif defined(X_IS_L6470) || defined(X2_IS_L6470) || defined(Y_IS_L6470) || defined(Y2_IS_L6470) || defined(Z_IS_L6470) || defined(Z2_IS_L6470) || defined(Z3_IS_L6470) \
-   || defined(E0_IS_L6470) || defined(E1_IS_L6470) || defined(E2_IS_L6470) || defined(E3_IS_L6470) || defined(E4_IS_L6470) || defined(E5_IS_L6470) || defined(E6_IS_L6470) || defined(E7_IS_L6470)
-  #error "[AXIS]_IS_L6470 is now [AXIS]_DRIVER_TYPE L6470."
 #elif defined(AUTOMATIC_CURRENT_CONTROL)
  #error "AUTOMATIC_CURRENT_CONTROL is now MONITOR_DRIVER_STATUS."
 #elif defined(FILAMENT_CHANGE_LOAD_LENGTH)
@@ -632,7 +629,7 @@
 #elif defined(DWIN_CREALITY_LCD_ENHANCED)
  #error "DWIN_CREALITY_LCD_ENHANCED is now DWIN_LCD_PROUI."
 #elif defined(LINEAR_AXES)
-  #error "LINEAR_AXES is now NUM_AXES."
+  #error "LINEAR_AXES is now NUM_AXES (to account for rotational axes)."
 #elif defined(X_DUAL_STEPPER_DRIVERS)
  #error "X_DUAL_STEPPER_DRIVERS is no longer needed and should be removed."
 #elif defined(Y_DUAL_STEPPER_DRIVERS)
@@ -647,6 +644,26 @@
  #error "LEVEL_CENTER_TOO is now BED_TRAMMING_INCLUDE_CENTER."
 #endif

+// L64xx stepper drivers have been removed
+#define _L6470              0x6470
+#define _L6474              0x6474
+#define _L6480              0x6480
+#define _POWERSTEP01        0xF00D
+#if HAS_DRIVER(L6470)
+  #error "L6470 stepper drivers are no longer supported in Marlin."
+#elif HAS_DRIVER(L6474)
+  #error "L6474 stepper drivers are no longer supported in Marlin."
+#elif HAS_DRIVER(L6480)
+  #error "L6480 stepper drivers are no longer supported in Marlin."
+#elif HAS_DRIVER(POWERSTEP01)
+  #error "POWERSTEP01 stepper drivers are no longer supported in Marlin."
+#endif
+#undef _L6470
+#undef _L6474
+#undef _L6480
+#undef _POWERSTEP01
+
+// Check AXIS_RELATIVE_MODES
 constexpr float arm[] = AXIS_RELATIVE_MODES;
 static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements.");

@@ -832,6 +849,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "Enable only one of ENDSTOPPULLUP_J_MAX or ENDSTOPPULLDOWN_J_MAX."
 #elif BOTH(ENDSTOPPULLUP_KMAX, ENDSTOPPULLDOWN_KMAX)
  #error "Enable only one of ENDSTOPPULLUP_K_MAX or ENDSTOPPULLDOWN_K_MAX."
+#elif BOTH(ENDSTOPPULLUP_UMAX, ENDSTOPPULLDOWN_UMAX)
+  #error "Enable only one of ENDSTOPPULLUP_U_MAX or ENDSTOPPULLDOWN_U_MAX."
+#elif BOTH(ENDSTOPPULLUP_VMAX, ENDSTOPPULLDOWN_VMAX)
+  #error "Enable only one of ENDSTOPPULLUP_V_MAX or ENDSTOPPULLDOWN_V_MAX."
+#elif BOTH(ENDSTOPPULLUP_WMAX, ENDSTOPPULLDOWN_WMAX)
+  #error "Enable only one of ENDSTOPPULLUP_W_MAX or ENDSTOPPULLDOWN_W_MAX."
 #elif BOTH(ENDSTOPPULLUP_XMIN, ENDSTOPPULLDOWN_XMIN)
  #error "Enable only one of ENDSTOPPULLUP_X_MIN or ENDSTOPPULLDOWN_X_MIN."
 #elif BOTH(ENDSTOPPULLUP_YMIN, ENDSTOPPULLDOWN_YMIN)
@@ -844,6 +867,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "Enable only one of ENDSTOPPULLUP_J_MIN or ENDSTOPPULLDOWN_J_MIN."
 #elif BOTH(ENDSTOPPULLUP_KMIN, ENDSTOPPULLDOWN_KMIN)
  #error "Enable only one of ENDSTOPPULLUP_K_MIN or ENDSTOPPULLDOWN_K_MIN."
+#elif BOTH(ENDSTOPPULLUP_UMIN, ENDSTOPPULLDOWN_UMIN)
+  #error "Enable only one of ENDSTOPPULLUP_U_MIN or ENDSTOPPULLDOWN_U_MIN."
+#elif BOTH(ENDSTOPPULLUP_VMIN, ENDSTOPPULLDOWN_VMIN)
+  #error "Enable only one of ENDSTOPPULLUP_V_MIN or ENDSTOPPULLDOWN_V_MIN."
+#elif BOTH(ENDSTOPPULLUP_WMIN, ENDSTOPPULLDOWN_WMIN)
+  #error "Enable only one of ENDSTOPPULLUP_W_MIN or ENDSTOPPULLDOWN_W_MIN."
 #endif

 /**
@@ -1492,6 +1521,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "CNC_WORKSPACE_PLANES currently requires NUM_AXES >= 3"
 #elif ENABLED(DIRECT_STEPPING) && NUM_AXES > XYZ
  #error "DIRECT_STEPPING currently requires NUM_AXES 3"
+#elif ENABLED(FOAMCUTTER_XYUV) && NUM_AXES < 5
+  #error "FOAMCUTTER_XYUV requires NUM_AXES >= 5."
 #elif ENABLED(LINEAR_ADVANCE) && HAS_I_AXIS
  #error "LINEAR_ADVANCE currently requires NUM_AXES <= 3."
 #endif
@@ -1511,6 +1542,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #if HAS_J_AXIS
  #if AXIS5_NAME == AXIS4_NAME
    #error "AXIS5_NAME must be unique."
+  #elif ENABLED(AXIS5_ROTATES) && DISABLED(AXIS4_ROTATES)
+    #error "AXIS5_ROTATES requires AXIS4_ROTATES."
  #elif !defined(J_MIN_POS) || !defined(J_MAX_POS)
    #error "J_MIN_POS and J_MAX_POS are required with NUM_AXES >= 5."
  #elif !defined(J_HOME_DIR)
@@ -1522,6 +1555,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #if HAS_K_AXIS
  #if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
    #error "AXIS6_NAME must be unique."
+  #elif ENABLED(AXIS6_ROTATES) && DISABLED(AXIS5_ROTATES)
+    #error "AXIS6_ROTATES requires AXIS5_ROTATES."
  #elif !defined(K_MIN_POS) || !defined(K_MAX_POS)
    #error "K_MIN_POS and K_MAX_POS are required with NUM_AXES >= 6."
  #elif !defined(K_HOME_DIR)
@@ -1530,6 +1565,45 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    #error "K_ENABLE_ON is required for your K driver with NUM_AXES >= 6."
  #endif
 #endif
+#if HAS_U_AXIS
+  #if AXIS7_NAME == AXIS6_NAME || AXIS7_NAME == AXIS5_NAME || AXIS7_NAME == AXIS4_NAME
+    #error "AXIS7_NAME must be unique."
+  #elif ENABLED(AXIS7_ROTATES) && DISABLED(AXIS6_ROTATES)
+    #error "AXIS7_ROTATES requires AXIS6_ROTATES."
+  #elif !defined(U_MIN_POS) || !defined(U_MAX_POS)
+    #error "U_MIN_POS and U_MAX_POS are required with NUM_AXES >= 7."
+  #elif !defined(U_HOME_DIR)
+    #error "U_HOME_DIR is required with NUM_AXES >= 7."
+  #elif HAS_U_ENABLE && !defined(U_ENABLE_ON)
+    #error "U_ENABLE_ON is required for your U driver with NUM_AXES >= 7."
+  #endif
+#endif
+#if HAS_V_AXIS
+  #if AXIS8_NAME == AXIS7_NAME || AXIS8_NAME == AXIS6_NAME || AXIS8_NAME == AXIS5_NAME || AXIS8_NAME == AXIS4_NAME
+    #error "AXIS8_NAME must be unique."
+  #elif ENABLED(AXIS8_ROTATES) && DISABLED(AXIS7_ROTATES)
+    #error "AXIS8_ROTATES requires AXIS7_ROTATES."
+  #elif !defined(V_MIN_POS) || !defined(V_MAX_POS)
+    #error "V_MIN_POS and V_MAX_POS are required with NUM_AXES >= 8."
+  #elif !defined(V_HOME_DIR)
+    #error "V_HOME_DIR is required with NUM_AXES >= 8."
+  #elif HAS_V_ENABLE && !defined(V_ENABLE_ON)
+    #error "V_ENABLE_ON is required for your V driver with NUM_AXES >= 8."
+  #endif
+#endif
+#if HAS_W_AXIS
+  #if AXIS9_NAME == AXIS8_NAME || AXIS9_NAME == AXIS7_NAME || AXIS9_NAME == AXIS6_NAME || AXIS9_NAME == AXIS5_NAME || AXIS9_NAME == AXIS4_NAME
+    #error "AXIS9_NAME must be unique."
+  #elif ENABLED(AXIS9_ROTATES) && DISABLED(AXIS8_ROTATES)
+    #error "AXIS9_ROTATES requires AXIS8_ROTATES."
+  #elif !defined(W_MIN_POS) || !defined(W_MAX_POS)
+    #error "W_MIN_POS and W_MAX_POS are required with NUM_AXES >= 9."
+  #elif !defined(W_HOME_DIR)
+    #error "W_HOME_DIR is required with NUM_AXES >= 9."
+  #elif HAS_W_ENABLE && !defined(W_ENABLE_ON)
+    #error "W_ENABLE_ON is required for your W driver with NUM_AXES >= 9."
+  #endif
+#endif

 /**
 * Kinematics
@@ -1538,8 +1612,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
 * Allow only one kinematic type to be defined
 */
-#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX)
-  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, or MARKFORGED_YX."
+#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV)
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, or FOAMCUTTER_XYUV."
 #endif

 /**
@@ -1586,8 +1660,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 */
 #if 1 < 0 \
  + (DISABLED(BLTOUCH) && HAS_Z_SERVO_PROBE) \
-  + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4)
-  #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, or Z Servo."
+  + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE)
+  #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, MAG_MOUNTED_PROBE or Z Servo."
 #endif

 #if HAS_BED_PROBE
@@ -1693,13 +1767,20 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    #endif
  #endif

+  /**
+   * Mag mounted probe requirements
+   */
+  #if BOTH(MAG_MOUNTED_PROBE, USE_PROBE_FOR_Z_HOMING) && DISABLED(Z_SAFE_HOMING)
+    #error "MAG_MOUNTED_PROBE requires Z_SAFE_HOMING if it's being used to home Z."
+  #endif
+
  /**
   * MagLev V4 probe requirements
   */
  #if ENABLED(MAGLEV4)
    #if !PIN_EXISTS(MAGLEV_TRIGGER)
      #error "MAGLEV4 requires MAGLEV_TRIGGER_PIN to be defined."
-    #elif DISABLED(Z_SAFE_HOMING)
+    #elif ENABLED(HOMING_Z_WITH_PROBE) && DISABLED(Z_SAFE_HOMING)
      #error "MAGLEV4 requires Z_SAFE_HOMING."
    #elif MAGLEV_TRIGGER_DELAY != 15
      #error "MAGLEV_TRIGGER_DELAY should not be changed. Comment out this line to continue."
@@ -1924,7 +2005,10 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal to 0."),
    static_assert(hbm[I_AXIS] >= 0, "HOMING_BUMP_MM.I must be greater than or equal to 0."),
    static_assert(hbm[J_AXIS] >= 0, "HOMING_BUMP_MM.J must be greater than or equal to 0."),
-    static_assert(hbm[K_AXIS] >= 0, "HOMING_BUMP_MM.K must be greater than or equal to 0.")
+    static_assert(hbm[K_AXIS] >= 0, "HOMING_BUMP_MM.K must be greater than or equal to 0."),
+    static_assert(hbm[U_AXIS] >= 0, "HOMING_BUMP_MM.U must be greater than or equal to 0."),
+    static_assert(hbm[V_AXIS] >= 0, "HOMING_BUMP_MM.V must be greater than or equal to 0."),
+    static_assert(hbm[W_AXIS] >= 0, "HOMING_BUMP_MM.W must be greater than or equal to 0.")
  );
  static_assert(COUNT(hbd) == NUM_AXES, "HOMING_BUMP_DIVISOR must have " _NUM_AXES_STR "elements (and no others).");
  NUM_AXIS_CODE(
@@ -1933,7 +2017,10 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    static_assert(hbd[Z_AXIS] >= 1, "HOMING_BUMP_DIVISOR.Z must be greater than or equal to 1."),
    static_assert(hbd[I_AXIS] >= 1, "HOMING_BUMP_DIVISOR.I must be greater than or equal to 1."),
    static_assert(hbd[J_AXIS] >= 1, "HOMING_BUMP_DIVISOR.J must be greater than or equal to 1."),
-    static_assert(hbd[K_AXIS] >= 1, "HOMING_BUMP_DIVISOR.K must be greater than or equal to 1.")
+    static_assert(hbd[K_AXIS] >= 1, "HOMING_BUMP_DIVISOR.K must be greater than or equal to 1."),
+    static_assert(hbd[U_AXIS] >= 1, "HOMING_BUMP_DIVISOR.U must be greater than or equal to 1."),
+    static_assert(hbd[V_AXIS] >= 1, "HOMING_BUMP_DIVISOR.V must be greater than or equal to 1."),
+    static_assert(hbd[W_AXIS] >= 1, "HOMING_BUMP_DIVISOR.W must be greater than or equal to 1.")
  );
 #endif

@@ -1946,7 +2033,10 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    static_assert(hbp[Z_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.Z must be greater than or equal to 0."),
    static_assert(hbp[I_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.I must be greater than or equal to 0."),
    static_assert(hbp[J_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.J must be greater than or equal to 0."),
-    static_assert(hbp[K_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.K must be greater than or equal to 0.")
+    static_assert(hbp[K_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.K must be greater than or equal to 0."),
+    static_assert(hbp[U_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.U must be greater than or equal to 0."),
+    static_assert(hbp[V_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.V must be greater than or equal to 0."),
+    static_assert(hbp[W_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.W must be greater than or equal to 0.")
  );
 #endif

@@ -1959,7 +2049,10 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    static_assert(sbm[Z_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.Z must be greater than or equal to 0."),
    static_assert(sbm[I_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.I must be greater than or equal to 0."),
    static_assert(sbm[J_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.J must be greater than or equal to 0."),
-    static_assert(sbm[K_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.K must be greater than or equal to 0.")
+    static_assert(sbm[K_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.K must be greater than or equal to 0."),
+    static_assert(sbm[U_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.U must be greater than or equal to 0."),
+    static_assert(sbm[V_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.V must be greater than or equal to 0."),
+    static_assert(sbm[W_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.W must be greater than or equal to 0.")
  );
 #endif

@@ -1982,9 +2075,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
 * Make sure DISABLE_[XYZ] compatible with selected homing options
 */
-#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K)
+#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_U, DISABLE_V, DISABLE_W)
  #if EITHER(HOME_AFTER_DEACTIVATE, Z_SAFE_HOMING)
-    #error "DISABLE_[XYZIJK] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING."
+    #error "DISABLE_[XYZIJKUVW] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING."
  #endif
 #endif

@@ -2077,13 +2170,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 */
 #if HAS_AUTO_FAN
  #if HAS_FAN0
-    #if E0_AUTO_FAN_PIN == FAN_PIN
+    #if PIN_EXISTS(E0_AUTO_FAN) && E0_AUTO_FAN_PIN == FAN_PIN
      #error "You cannot set E0_AUTO_FAN_PIN equal to FAN_PIN."
-    #elif E1_AUTO_FAN_PIN == FAN_PIN
+    #elif PIN_EXISTS(E1_AUTO_FAN) && E1_AUTO_FAN_PIN == FAN_PIN
      #error "You cannot set E1_AUTO_FAN_PIN equal to FAN_PIN."
-    #elif E2_AUTO_FAN_PIN == FAN_PIN
+    #elif PIN_EXISTS(E2_AUTO_FAN) && E2_AUTO_FAN_PIN == FAN_PIN
      #error "You cannot set E2_AUTO_FAN_PIN equal to FAN_PIN."
-    #elif E3_AUTO_FAN_PIN == FAN_PIN
+    #elif PIN_EXISTS(E3_AUTO_FAN) &&  E3_AUTO_FAN_PIN == FAN_PIN
      #error "You cannot set E3_AUTO_FAN_PIN equal to FAN_PIN."
    #endif
  #endif
@@ -2235,9 +2328,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    #error "TEMP_SENSOR_REDUNDANT_TARGET can't be COOLER without TEMP_COOLER_PIN defined."
  #endif

-  #if TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0) && !PIN_EXISTS(TEMP_0_CS)
+  #if TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0) && !PIN_EXISTS(TEMP_0_CS)
    #error "TEMP_SENSOR_REDUNDANT MAX Thermocouple with TEMP_SENSOR_REDUNDANT_SOURCE E0 requires TEMP_0_CS_PIN."
-  #elif TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1) && !PIN_EXISTS(TEMP_1_CS)
+  #elif TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1) && !PIN_EXISTS(TEMP_1_CS)
    #error "TEMP_SENSOR_REDUNDANT MAX Thermocouple with TEMP_SENSOR_REDUNDANT_SOURCE E1 requires TEMP_1_CS_PIN."
  #endif
 #endif
@@ -2250,7 +2343,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "TEMP_0_PIN or TEMP_0_CS_PIN not defined for this board."
 #elif HAS_EXTRUDERS && !HAS_HEATER_0
  #error "HEATER_0_PIN not defined for this board."
-#elif TEMP_SENSOR_0_IS_MAX_TC && !PIN_EXISTS(TEMP_0_CS)
+#elif TEMP_SENSOR_IS_MAX_TC(0) && !PIN_EXISTS(TEMP_0_CS)
  #error "TEMP_SENSOR_0 MAX thermocouple requires TEMP_0_CS_PIN."
 #elif HAS_HOTEND && !HAS_TEMP_HOTEND && !TEMP_SENSOR_0_IS_DUMMY
  #error "TEMP_0_PIN (required for TEMP_SENSOR_0) not defined for this board."
@@ -2259,7 +2352,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #endif

 #if HAS_MULTI_HOTEND
-  #if TEMP_SENSOR_1_IS_MAX_TC && !PIN_EXISTS(TEMP_1_CS)
+  #if TEMP_SENSOR_IS_MAX_TC(1) && !PIN_EXISTS(TEMP_1_CS)
    #error "TEMP_SENSOR_1 MAX thermocouple requires TEMP_1_CS_PIN."
  #elif TEMP_SENSOR_1 == 0
    #error "TEMP_SENSOR_1 is required with 2 or more HOTENDS."
@@ -2484,7 +2577,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #define _PLUG_UNUSED_TEST(A,P) (DISABLED(USE_##P##MIN_PLUG, USE_##P##MAX_PLUG) \
  && !(ENABLED(A##_DUAL_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) \
  && !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) )
-#define _AXIS_PLUG_UNUSED_TEST(A) (1 NUM_AXIS_GANG(&& _PLUG_UNUSED_TEST(A,X), && _PLUG_UNUSED_TEST(A,Y), && _PLUG_UNUSED_TEST(A,Z), && _PLUG_UNUSED_TEST(A,I), && _PLUG_UNUSED_TEST(A,J), && _PLUG_UNUSED_TEST(A,K) ) )
+#define _AXIS_PLUG_UNUSED_TEST(A) (1 NUM_AXIS_GANG(&& _PLUG_UNUSED_TEST(A,X), && _PLUG_UNUSED_TEST(A,Y), && _PLUG_UNUSED_TEST(A,Z), \
+                                                      && _PLUG_UNUSED_TEST(A,I), && _PLUG_UNUSED_TEST(A,J), && _PLUG_UNUSED_TEST(A,K), \
+                                                      && _PLUG_UNUSED_TEST(A,U), && _PLUG_UNUSED_TEST(A,V), && _PLUG_UNUSED_TEST(A,W) ) )

 // A machine with endstops must have a minimum of 3
 #if HAS_ENDSTOPS
@@ -2506,6 +2601,15 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #if HAS_K_AXIS && _AXIS_PLUG_UNUSED_TEST(K)
    #error "You must enable USE_KMIN_PLUG or USE_KMAX_PLUG."
  #endif
+  #if HAS_U_AXIS && _AXIS_PLUG_UNUSED_TEST(U)
+    #error "You must enable USE_UMIN_PLUG or USE_UMAX_PLUG."
+  #endif
+  #if HAS_V_AXIS && _AXIS_PLUG_UNUSED_TEST(V)
+    #error "You must enable USE_VMIN_PLUG or USE_VMAX_PLUG."
+  #endif
+  #if HAS_W_AXIS && _AXIS_PLUG_UNUSED_TEST(W)
+    #error "You must enable USE_WMIN_PLUG or USE_WMAX_PLUG."
+  #endif

  // Delta and Cartesian use 3 homing endstops
  #if NONE(IS_SCARA, SPI_ENDSTOPS)
@@ -2529,6 +2633,18 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
      #error "Enable USE_KMIN_PLUG when homing K to MIN."
    #elif HAS_K_AXIS && K_HOME_TO_MAX && DISABLED(USE_KMAX_PLUG)
      #error "Enable USE_KMAX_PLUG when homing K to MAX."
+    #elif HAS_U_AXIS && U_HOME_TO_MIN && DISABLED(USE_UMIN_PLUG)
+      #error "Enable USE_UMIN_PLUG when homing U to MIN."
+    #elif HAS_U_AXIS && U_HOME_TO_MAX && DISABLED(USE_UMAX_PLUG)
+      #error "Enable USE_UMAX_PLUG when homing U to MAX."
+    #elif HAS_V_AXIS && V_HOME_TO_MIN && DISABLED(USE_VMIN_PLUG)
+      #error "Enable USE_VMIN_PLUG when homing V to MIN."
+    #elif HAS_V_AXIS && V_HOME_TO_MAX && DISABLED(USE_VMAX_PLUG)
+      #error "Enable USE_VMAX_PLUG when homing V to MAX."
+    #elif HAS_W_AXIS && W_HOME_TO_MIN && DISABLED(USE_WMIN_PLUG)
+      #error "Enable USE_WMIN_PLUG when homing W to MIN."
+    #elif HAS_W_AXIS && W_HOME_TO_MAX && DISABLED(USE_WMAX_PLUG)
+      #error "Enable USE_WMAX_PLUG when homing W to MAX."
    #endif
  #endif

@@ -3025,6 +3141,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "An SPI driven TMC on J requires J_CS_PIN."
 #elif INVALID_TMC_SPI(K)
  #error "An SPI driven TMC on K requires K_CS_PIN."
+#elif INVALID_TMC_SPI(U)
+  #error "An SPI driven TMC on U requires U_CS_PIN."
+#elif INVALID_TMC_SPI(V)
+  #error "An SPI driven TMC on V requires V_CS_PIN."
+#elif INVALID_TMC_SPI(W)
+  #error "An SPI driven TMC on W requires W_CS_PIN."
 #endif
 #undef INVALID_TMC_SPI

@@ -3070,6 +3192,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #error "TMC2208 or TMC2209 on J requires J_HARDWARE_SERIAL or J_SERIAL_(RX|TX)_PIN."
 #elif HAS_K_AXIS && INVALID_TMC_UART(K)
  #error "TMC2208 or TMC2209 on K requires K_HARDWARE_SERIAL or K_SERIAL_(RX|TX)_PIN."
+#elif HAS_U_AXIS && INVALID_TMC_UART(U)
+  #error "TMC2208 or TMC2209 on U requires U_HARDWARE_SERIAL or U_SERIAL_(RX|TX)_PIN."
+#elif HAS_V_AXIS && INVALID_TMC_UART(V)
+  #error "TMC2208 or TMC2209 on V requires V_HARDWARE_SERIAL or V_SERIAL_(RX|TX)_PIN."
+#elif HAS_W_AXIS && INVALID_TMC_UART(W)
+  #error "TMC2208 or TMC2209 on W requires W_HARDWARE_SERIAL or W_SERIAL_(RX|TX)_PIN."
+
 #endif
 #undef INVALID_TMC_UART

@@ -3099,6 +3228,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  INVALID_TMC_ADDRESS(J);
 #elif AXIS_DRIVER_TYPE_K(TMC2209)
  INVALID_TMC_ADDRESS(K);
+#elif AXIS_DRIVER_TYPE_U(TMC2209)
+  INVALID_TMC_ADDRESS(U);
+#elif AXIS_DRIVER_TYPE_V(TMC2209)
+  INVALID_TMC_ADDRESS(V);
+#elif AXIS_DRIVER_TYPE_W(TMC2209)
+  INVALID_TMC_ADDRESS(W);
 #elif AXIS_DRIVER_TYPE_E0(TMC2209)
  INVALID_TMC_ADDRESS(E0);
 #elif AXIS_DRIVER_TYPE_E1(TMC2209)
@@ -3160,6 +3295,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  INVALID_TMC_MS(J)
 #elif HAS_K_AXIS && !TMC_MICROSTEP_IS_VALID(K)
  INVALID_TMC_MS(K)
+#elif HAS_U_AXIS && !TMC_MICROSTEP_IS_VALID(U)
+  INVALID_TMC_MS(U)
+#elif HAS_V_AXIS && !TMC_MICROSTEP_IS_VALID(V)
+  INVALID_TMC_MS(V)
+#elif HAS_W_AXIS && !TMC_MICROSTEP_IS_VALID(W)
+  INVALID_TMC_MS(W)
 #endif
 #undef INVALID_TMC_MS
 #undef TMC_MICROSTEP_IS_VALID
@@ -3189,6 +3330,15 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #if HAS_K_AXIS
    #define K_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(K,TMC2209)
  #endif
+  #if HAS_U_AXIS
+    #define U_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(U,TMC2209)
+  #endif
+  #if HAS_V_AXIS
+    #define V_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(V,TMC2209)
+  #endif
+  #if HAS_W_AXIS
+    #define W_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(W,TMC2209)
+  #endif

  #if NONE(SPI_ENDSTOPS, ONBOARD_ENDSTOPPULLUPS, ENDSTOPPULLUPS)
    #if   X_SENSORLESS && X_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_XMIN)
@@ -3215,6 +3365,19 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
    #elif ALL(HAS_K_AXIS, K_SENSORLESS, K_HOME_TO_MAX) && DISABLED(ENDSTOPPULLUP_KMAX)
      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
+    #elif HAS_U_AXIS && U_SENSORLESS && U_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_UMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMIN (or ENDSTOPPULLUPS) when homing to U_MIN."
+    #elif HAS_U_AXIS && U_SENSORLESS && U_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_UMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_UMAX (or ENDSTOPPULLUPS) when homing to U_MAX."
+    #elif HAS_V_AXIS && V_SENSORLESS && V_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_VMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMIN (or ENDSTOPPULLUPS) when homing to V_MIN."
+    #elif HAS_V_AXIS && V_SENSORLESS && V_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_VMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_VMAX (or ENDSTOPPULLUPS) when homing to V_MAX."
+    #elif HAS_W_AXIS && W_SENSORLESS && W_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_WMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMIN (or ENDSTOPPULLUPS) when homing to W_MIN."
+    #elif HAS_W_AXIS && W_SENSORLESS && W_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_WMAX)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_WMAX (or ENDSTOPPULLUPS) when homing to W_MAX."
+
    #endif
  #endif

@@ -3295,6 +3458,42 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
      #else
        #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to K_MAX."
      #endif
+    #elif ALL(HAS_U_AXIS, U_SENSORLESS, U_HOME_TO_MIN) && U_MIN_ENDSTOP_INVERTING != U_ENDSTOP_INVERTING
+      #if U_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_INVERTING = true when homing to U_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires U_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to U_MIN."
+      #endif
+    #elif ALL(HAS_U_AXIS, U_SENSORLESS, U_HOME_TO_MAX) && U_MAX_ENDSTOP_INVERTING != U_ENDSTOP_INVERTING
+      #if U_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_INVERTING = true when homing to U_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires U_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to U_MAX."
+      #endif
+    #elif ALL(HAS_V_AXIS, V_SENSORLESS, V_HOME_TO_MIN) && V_MIN_ENDSTOP_INVERTING != V_ENDSTOP_INVERTING
+      #if V_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_INVERTING = true when homing to V_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires V_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to V_MIN."
+      #endif
+    #elif ALL(HAS_V_AXIS, V_SENSORLESS, V_HOME_TO_MAX) && V_MAX_ENDSTOP_INVERTING != V_ENDSTOP_INVERTING
+      #if V_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_INVERTING = true when homing to V_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires V_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to V_MAX."
+      #endif
+    #elif ALL(HAS_W_AXIS, W_SENSORLESS, W_HOME_TO_MIN) && W_MIN_ENDSTOP_INVERTING != W_ENDSTOP_INVERTING
+      #if W_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_INVERTING = true when homing to W_MIN."
+      #else
+        #error "SENSORLESS_HOMING requires W_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to W_MIN."
+      #endif
+    #elif ALL(HAS_W_AXIS, W_SENSORLESS, W_HOME_TO_MAX0) && W_MAX_ENDSTOP_INVERTING != W_ENDSTOP_INVERTING
+      #if W_ENDSTOP_INVERTING
+        #error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_INVERTING = true when homing to W_MAX."
+      #else
+        #error "SENSORLESS_HOMING requires W_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to W_MAX."
+      #endif
    #endif
  #endif

@@ -3312,6 +3511,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  #undef I_ENDSTOP_INVERTING
  #undef J_ENDSTOP_INVERTING
  #undef K_ENDSTOP_INVERTING
+  #undef U_ENDSTOP_INVERTING
+  #undef V_ENDSTOP_INVERTING
+  #undef W_ENDSTOP_INVERTING
 #endif

 // Sensorless probing requirements
@@ -3352,7 +3554,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
 * TMC SPI Chaining
 */
-#define IN_CHAIN(A) ((A##_CHAIN_POS > 0) && !HAS_L64XX)
+#define IN_CHAIN(A) A##_CHAIN_POS > 0
 #if  IN_CHAIN(X ) || IN_CHAIN(Y ) || IN_CHAIN(Z ) || IN_CHAIN(X2) || IN_CHAIN(Y2) || IN_CHAIN(Z2) || IN_CHAIN(Z3) || IN_CHAIN(Z4) \
  || IN_CHAIN(E0) || IN_CHAIN(E1) || IN_CHAIN(E2) || IN_CHAIN(E3) || IN_CHAIN(E4) || IN_CHAIN(E5) || IN_CHAIN(E6) || IN_CHAIN(E7)
  #define BAD_CHAIN(A) (IN_CHAIN(A) && !PIN_EXISTS(A##_CS))
@@ -3380,6 +3582,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
      #define CS_COMPARE J_CS_PIN
    #elif IN_CHAIN(K)
      #define CS_COMPARE K_CS_PIN
+    #elif IN_CHAIN(U)
+      #define CS_COMPARE U_CS_PIN
+    #elif IN_CHAIN(V)
+      #define CS_COMPARE V_CS_PIN
+    #elif IN_CHAIN(W)
+      #define CS_COMPARE W_CS_PIN
    #elif IN_CHAIN(E0)
      #define CS_COMPARE E0_CS_PIN
    #elif IN_CHAIN(E1)
@@ -3400,6 +3608,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
    #define BAD_CS_PIN(A) (IN_CHAIN(A) && A##_CS_PIN != CS_COMPARE)
    #if  BAD_CS_PIN(X ) || BAD_CS_PIN(Y ) || BAD_CS_PIN(Z ) || BAD_CS_PIN(X2) || BAD_CS_PIN(Y2) || BAD_CS_PIN(Z2) || BAD_CS_PIN(Z3) || BAD_CS_PIN(Z4) \
      || BAD_CS_PIN(I) || BAD_CS_PIN(J) || BAD_CS_PIN(K) \
+      || BAD_CS_PIN(U) || BAD_CS_PIN(V) || BAD_CS_PIN(W) \
      || BAD_CS_PIN(E0) || BAD_CS_PIN(E1) || BAD_CS_PIN(E2) || BAD_CS_PIN(E3) || BAD_CS_PIN(E4) || BAD_CS_PIN(E5) || BAD_CS_PIN(E6) || BAD_CS_PIN(E7)
      #error "All chained TMC drivers must use the same CS pin."
    #endif
@@ -3410,13 +3619,6 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #endif
 #undef IN_CHAIN

-/**
- * L64XX requirement
- */
-#if HAS_L64XX && HAS_I_AXIS
-  #error "L64XX requires NUM_AXES <= 3. Homing with L64XX is not yet implemented for NUM_AXES > 3."
-#endif
-
 /**
 * Digipot requirement
 */
@@ -3710,8 +3912,8 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
  #define _PIN_CONFLICT(P) (PIN_EXISTS(P) && P##_PIN == SPINDLE_LASER_PWM_PIN)
  #if BOTH(SPINDLE_FEATURE, LASER_FEATURE)
    #error "Enable only one of SPINDLE_FEATURE or LASER_FEATURE."
-  #elif !PIN_EXISTS(SPINDLE_LASER_ENA) && DISABLED(SPINDLE_SERVO)
-    #error "(SPINDLE|LASER)_FEATURE requires SPINDLE_LASER_ENA_PIN or SPINDLE_SERVO to control the power."
+  #elif NONE(SPINDLE_SERVO, SPINDLE_LASER_USE_PWM) && !PIN_EXISTS(SPINDLE_LASER_ENA)
+    #error "(SPINDLE|LASER)_FEATURE requires SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_USE_PWM, or SPINDLE_SERVO to control the power."
  #elif ENABLED(SPINDLE_CHANGE_DIR) && !PIN_EXISTS(SPINDLE_DIR)
    #error "SPINDLE_DIR_PIN is required for SPINDLE_CHANGE_DIR."
  #elif ENABLED(SPINDLE_LASER_USE_PWM)
@@ -3892,6 +4094,15 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
 #if _BAD_DRIVER(K)
  #error "K_DRIVER_TYPE is not recognized."
 #endif
+#if _BAD_DRIVER(U)
+  #error "U_DRIVER_TYPE is not recognized."
+#endif
+#if _BAD_DRIVER(V)
+  #error "V_DRIVER_TYPE is not recognized."
+#endif
+#if _BAD_DRIVER(W)
+  #error "W_DRIVER_TYPE is not recognized."
+#endif
 #if _BAD_DRIVER(X2)
  #error "X2_DRIVER_TYPE is not recognized."
 #endif
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -25,7 +25,7 @@
 * Release version. Leave the Marlin version or apply a custom scheme.
 */
 #ifndef SHORT_BUILD_VERSION
-  #define SHORT_BUILD_VERSION "2.0.9.5"
+  #define SHORT_BUILD_VERSION "2.1.1.5"
 #endif

 /**
@@ -42,7 +42,7 @@
 * version was tagged.
 */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2022-07-29"
+  #define STRING_DISTRIBUTION_DATE "2026-01-22"
 #endif

 /**
@@ -52,7 +52,7 @@
 * to alert users to major changes.
 */

-#define MARLIN_HEX_VERSION 02000905
+#define MARLIN_HEX_VERSION 02010100
 #ifndef REQUIRED_CONFIGURATION_H_VERSION
  #define REQUIRED_CONFIGURATION_H_VERSION MARLIN_HEX_VERSION
 #endif
--- a/Marlin/src/inc/Warnings.cpp
+++ b/Marlin/src/inc/Warnings.cpp
@@ -35,8 +35,8 @@
  #warning "WARNING! Disable MARLIN_DEV_MODE for the final build!"
 #endif

-#if LINEAR_AXES_WARNING
-  #warning "Note: LINEAR_AXES is now based on the *_DRIVER_TYPE settings so you can remove LINEAR_AXES from Configuration.h."
+#if NUM_AXES_WARNING
+  #warning "Note: NUM_AXES is now based on the *_DRIVER_TYPE settings so you can remove NUM_AXES from Configuration.h."
 #endif

 // Safety Features
@@ -540,6 +540,163 @@
    #endif
  #endif

+  #if AUTO_ASSIGNED_U_STEPPER
+    #warning "Note: Auto-assigned U STEP/DIR/ENABLE_PINs to unused En_STEP/DIR/ENABLE_PINs. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_U_CS
+    #warning "Note: Auto-assigned U_CS_PIN to an unused En_CS_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_U_MS1
+    #warning "Note: Auto-assigned U_MS1_PIN to an unused En_MS1_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_U_MS2
+    #warning "Note: Auto-assigned U_MS2_PIN to an unused En_MS2_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_U_MS3
+    #warning "Note: Auto-assigned U_MS3_PIN to an unused En_MS3_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_U_DIAG
+    #if U_USE_ENDSTOP == _XMIN_
+      #warning "Note: Auto-assigned U_DIAG_PIN to X_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _XMAX_
+      #warning "Note: Auto-assigned U_DIAG_PIN to X_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif K_USE_ENDSTOP == _YMIN_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Y_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _YMAX_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Y_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _ZMIN_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Z_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _ZMAX_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Z_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _XDIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to X_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _YDIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Y_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _ZDIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to Z_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E0DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E0_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E1DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E1_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E2DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E2_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E3DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E3_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E4DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E4_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E5DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E5_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E6DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E6_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif U_USE_ENDSTOP == _E7DIAG_
+      #warning "Note: Auto-assigned U_DIAG_PIN to E7_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #endif
+  #endif
+  #if AUTO_ASSIGNED_V_STEPPER
+    #warning "Note: Auto-assigned V STEP/DIR/ENABLE_PINs to unused En_STEP/DIR/ENABLE_PINs. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_V_CS
+    #warning "Note: Auto-assigned V_CS_PIN to an unused En_CS_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_V_MS1
+    #warning "Note: Auto-assigned V_MS1_PIN to an unused En_MS1_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_V_MS2
+    #warning "Note: Auto-assigned V_MS2_PIN to an unused En_MS2_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_V_MS3
+    #warning "Note: Auto-assigned V_MS3_PIN to an unused En_MS3_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_V_DIAG
+    #if V_USE_ENDSTOP == _XMIN_
+      #warning "Note: Auto-assigned V_DIAG_PIN to X_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _XMAX_
+      #warning "Note: Auto-assigned V_DIAG_PIN to X_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _YMIN_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Y_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _YMAX_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Y_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _ZMIN_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Z_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _ZMAX_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Z_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _XDIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to X_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _YDIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Y_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _ZDIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to Z_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E0DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E0_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E1DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E1_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E2DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E2_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E3DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E3_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E4DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E4_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E5DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E5_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E6DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E6_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif V_USE_ENDSTOP == _E7DIAG_
+      #warning "Note: Auto-assigned V_DIAG_PIN to E7_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #endif
+  #endif
+  #if AUTO_ASSIGNED_W_STEPPER
+    #warning "Note: Auto-assigned W STEP/DIR/ENABLE_PINs to unused En_STEP/DIR/ENABLE_PINs. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_W_CS
+    #warning "Note: Auto-assigned W_CS_PIN to an unused En_CS_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_W_MS1
+    #warning "Note: Auto-assigned W_MS1_PIN to an unused En_MS1_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_W_MS2
+    #warning "Note: Auto-assigned W_MS2_PIN to an unused En_MS2_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_W_MS3
+    #warning "Note: Auto-assigned W_MS3_PIN to an unused En_MS3_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+  #endif
+  #if AUTO_ASSIGNED_W_DIAG
+    #if W_USE_ENDSTOP == _XMIN_
+      #warning "Note: Auto-assigned W_DIAG_PIN to X_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _XMAX_
+      #warning "Note: Auto-assigned W_DIAG_PIN to X_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _YMIN_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Y_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _YMAX_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Y_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _ZMIN_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Z_MIN_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _ZMAX_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Z_MAX_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _XDIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to X_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _YDIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Y_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _ZDIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to Z_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E0DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E0_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E1DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E1_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E2DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E2_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E3DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E3_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E4DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E4_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E5DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E5_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E6DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E6_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #elif W_USE_ENDSTOP == _E7DIAG_
+      #warning "Note: Auto-assigned W_DIAG_PIN to E7_DIAG_PIN. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
+    #endif
+  #endif
+
  #if ENABLED(CHAMBER_FAN) && !defined(CHAMBER_FAN_INDEX)
    #warning "Note: Auto-assigned CHAMBER_FAN_INDEX to the first free FAN pin. (Define NO_AUTO_ASSIGN_WARNING to suppress this warning.)"
  #endif
@@ -616,3 +773,10 @@
 #if MB(BTT_BTT002_V1_0, EINSY_RAMBO) && DISABLED(NO_MK3_FAN_PINS_WARNING)
  #warning "Define MK3_FAN_PINS to swap hotend and part cooling fan pins. (Define NO_MK3_FAN_PINS_WARNING to suppress this warning.)"
 #endif
+
+/**
+ * BD Sensor should always include BABYSTEPPING
+ */
+#if ENABLED(BD_SENSOR) && DISABLED(BABYSTEPPING)
+  #warning "BABYSTEPPING is recommended with BD_SENSOR."
+#endif
--- a/Marlin/src/lcd/e3v2/README.md
+++ b/Marlin/src/lcd/e3v2/README.md
@@ -1,6 +1,6 @@
 # DWIN for Creality Ender 3 v2

-Marlin's Ender 3 v2 support requires the `DWIN_SET` included with the Ender 3 V2 [example configuration](https://github.com/MarlinFirmware/Configurations/tree/bugfix-2.0.x/config/examples/Creality/Ender-3%20V2).
+Marlin's Ender 3 v2 support requires the `DWIN_SET` included with the Ender 3 V2 [example configuration](https://github.com/MarlinFirmware/Configurations/tree/bugfix-2.1.x/config/examples/Creality/Ender-3%20V2).

 ## Easy Install

--- a/Marlin/src/lcd/e3v2/jyersui/README.md
+++ b/Marlin/src/lcd/e3v2/jyersui/README.md
@@ -1,6 +1,6 @@
 # DWIN for Creality Ender 3 v2

-Marlin's Ender 3 v2 support requires the `DWIN_SET` included with the Ender 3 V2 [example configuration](https://github.com/MarlinFirmware/Configurations/tree/bugfix-2.0.x/config/examples/Creality/Ender-3%20V2).
+Marlin's Ender 3 v2 support requires the `DWIN_SET` included with the Ender 3 V2 [example configuration](https://github.com/MarlinFirmware/Configurations/tree/bugfix-2.1.x/config/examples/Creality/Ender-3%20V2).

 ## Easy Install

--- a/Marlin/src/lcd/extui/ui_api.cpp
+++ b/Marlin/src/lcd/extui/ui_api.cpp
@@ -420,6 +420,15 @@ namespace ExtUI {
        #if AXIS_IS_TMC(K)
          case K: return stepperK.getMilliamps();
        #endif
+        #if AXIS_IS_TMC(U)
+          case U: return stepperU.getMilliamps();
+        #endif
+        #if AXIS_IS_TMC(V)
+          case V: return stepperV.getMilliamps();
+        #endif
+        #if AXIS_IS_TMC(W)
+          case W: return stepperW.getMilliamps();
+        #endif
        #if AXIS_IS_TMC(X2)
          case X2: return stepperX2.getMilliamps();
        #endif
@@ -489,6 +498,15 @@ namespace ExtUI {
        #if AXIS_IS_TMC(K)
          case K: stepperK.rms_current(constrain(mA, 400, 1500)); break;
        #endif
+        #if AXIS_IS_TMC(U)
+          case U: stepperU.rms_current(constrain(mA, 400, 1500)); break;
+        #endif
+        #if AXIS_IS_TMC(V)
+          case V: stepperV.rms_current(constrain(mA, 400, 1500)); break;
+        #endif
+        #if AXIS_IS_TMC(W)
+          case W: stepperW.rms_current(constrain(mA, 400, 1500)); break;
+        #endif
        #if AXIS_IS_TMC(X2)
          case X2: stepperX2.rms_current(constrain(mA, 400, 1500)); break;
        #endif
@@ -546,6 +564,9 @@ namespace ExtUI {
        OPTCODE(I_SENSORLESS,  case I:  return stepperI.homing_threshold())
        OPTCODE(J_SENSORLESS,  case J:  return stepperJ.homing_threshold())
        OPTCODE(K_SENSORLESS,  case K:  return stepperK.homing_threshold())
+        OPTCODE(U_SENSORLESS,  case U:  return stepperU.homing_threshold())
+        OPTCODE(V_SENSORLESS,  case V:  return stepperV.homing_threshold())
+        OPTCODE(W_SENSORLESS,  case W:  return stepperW.homing_threshold())
        OPTCODE(X2_SENSORLESS, case X2: return stepperX2.homing_threshold())
        OPTCODE(Y2_SENSORLESS, case Y2: return stepperY2.homing_threshold())
        OPTCODE(Z2_SENSORLESS, case Z2: return stepperZ2.homing_threshold())
@@ -575,6 +596,15 @@ namespace ExtUI {
        #if K_SENSORLESS
          case K: stepperK.homing_threshold(value); break;
        #endif
+        #if U_SENSORLESS
+          case U: stepperU.homing_threshold(value); break;
+        #endif
+        #if V_SENSORLESS
+          case V: stepperV.homing_threshold(value); break;
+        #endif
+        #if W_SENSORLESS
+          case W: stepperW.homing_threshold(value); break;
+        #endif
        #if X2_SENSORLESS
          case X2: stepperX2.homing_threshold(value); break;
        #endif
--- a/Marlin/src/lcd/extui/ui_api.h
+++ b/Marlin/src/lcd/extui/ui_api.h
@@ -57,7 +57,7 @@ namespace ExtUI {

  static constexpr size_t eeprom_data_size = 48;

-  enum axis_t     : uint8_t { X, Y, Z, I, J, K, X2, Y2, Z2, Z3, Z4 };
+  enum axis_t     : uint8_t { X, Y, Z, I, J, K, U, V, W, X2, Y2, Z2, Z3, Z4 };
  enum extruder_t : uint8_t { E0, E1, E2, E3, E4, E5, E6, E7 };
  enum heater_t   : uint8_t { H0, H1, H2, H3, H4, H5, BED, CHAMBER, COOLER };
  enum fan_t      : uint8_t { FAN0, FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FAN7 };
--- a/Marlin/src/lcd/marlinui.h
+++ b/Marlin/src/lcd/marlinui.h
@@ -519,7 +519,7 @@ public:
    static FSTR_P get_preheat_label(const uint8_t m);
    static void apply_preheat(const uint8_t m, const uint8_t pmask, const uint8_t e=active_extruder);
    static void preheat_set_fan(const uint8_t m) { TERN_(HAS_FAN, apply_preheat(m, _BV(PT_FAN))); }
-    static void preheat_hotend(const uint8_t m, const uint8_t e=active_extruder) { TERN_(HAS_HOTEND, apply_preheat(m, _BV(PT_HOTEND))); }
+    static void preheat_hotend(const uint8_t m, const uint8_t e=active_extruder) { TERN_(HAS_HOTEND, apply_preheat(m, _BV(PT_HOTEND), e)); }
    static void preheat_hotend_and_fan(const uint8_t m, const uint8_t e=active_extruder) { preheat_hotend(m, e); preheat_set_fan(m); }
    static void preheat_bed(const uint8_t m) { TERN_(HAS_HEATED_BED, apply_preheat(m, _BV(PT_BED))); }
    static void preheat_all(const uint8_t m) { apply_preheat(m, PT_ALL); }
@@ -694,11 +694,7 @@ public:

    static void update_buttons();

-    #if HAS_ENCODER_NOISE
-      #ifndef ENCODER_SAMPLES
-        #define ENCODER_SAMPLES 10
-      #endif
-
+    #if ENABLED(ENCODER_NOISE_FILTER)
      /**
       * Some printers may have issues with EMI noise especially using a motherboard with 3.3V logic levels
       * it may cause the logical LOW to float into the undefined region and register as a logical HIGH
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Scott Lahteine	87c9d3a5f6	🔖 Version 2.1.1.5	2026-01-22 11:57:24 -06:00
Andrivet	305d693b2a	🐛 Fix TFT LVGL UI + Y-DIR conflict (#28291 ) Fixes #22967	2026-01-22 11:36:14 -06:00
Scott Lahteine	359efbbb42	🐛 Fix Teensy 4.x stepper timing (#28169 ) 🧑‍💻 Timer general cleanup 🩹 Teensy 4.x timer mods	2026-01-15 19:19:07 -06:00
ellensp	9844add867	🐛 Fix Hotend > 0 Preheat (#27932 )	2026-01-15 19:17:42 -06:00
ellensp	300e4fe54f	🐛 Fix RAMPS AUX1 RX/TX pins (#27745 )	2026-01-15 19:17:42 -06:00
Scott Lahteine	a0d7a13fa6	🧑‍💻 Update helper scripts	2026-01-15 19:17:41 -06:00
Scott Lahteine	a2d3cdde5a	🩹 Fix build with Color UI touch items	2024-12-16 15:07:45 -06:00
Scott Lahteine	591b856796	👔 Update .gitignore	2023-12-27 15:31:33 -06:00
Scott Lahteine	815c9163ce	🩹 Fix LONG_FILENAME_WRITE_SUPPORT typo	2023-12-11 15:42:30 -06:00
Scott Lahteine	68dbe13f85	🔨 Specify versions in INI	2023-12-11 15:42:30 -06:00
Scott Lahteine	4caa32b6dd	🔖 Version 2.1.1.1	2023-12-11 15:42:26 -06:00
Scott Lahteine	dfa748cb96	🔨 PlatformIO 6 compatibility	2023-07-20 13:44:06 -05:00
Scott Lahteine	398cae7625	🔖 Version 2.1.1	2022-08-06 18:50:49 -05:00
Scott Lahteine	8192cc12d3	🎨 Misc. config cleanup	2022-08-06 18:50:49 -05:00
ExtNeon	7f2a836251	✨ SD Endstop Abort G-Code (#24461 )	2022-08-06 18:50:49 -05:00
Mark	b02c3258b5	✨ Bed Distance Sensor (#24554 )	2022-08-06 18:50:49 -05:00
Keith Bennett	a0462eb017	🩹 Fix AUTO_FAN_PIN sanity check (#24593 )	2022-08-06 18:50:49 -05:00
Scott Lahteine	a1704c10b9	🩹 G0/G1 S seen => seenval	2022-08-06 18:50:49 -05:00
qwertymodo	7196f13125	✨ M150 K – Keep unspecified components (#24315 )	2022-08-06 18:50:49 -05:00
J.C. Nelson	e06340abd1	🔨 Trigorilla Pro disk based update (#24591 )	2022-08-06 18:50:49 -05:00
Travis Ziegler	98095ddad6	🩹 Fix LPC176x USB Host Shield (#24588 )	2022-08-06 18:50:49 -05:00
Scott Lahteine	2f4b121709	👔 Keep "Needs: More Data" open	2022-08-06 18:50:49 -05:00
Ruedi Steinmann	a0409289c8	🚸 Laser with only PWM pin (#24345 )	2022-08-06 18:50:49 -05:00
Scott Lahteine	2ccdc4f9ed	🧑‍💻 MARLIN_TEST_BUILD – for future use (#24077 )	2022-08-06 18:50:49 -05:00
Scott Lahteine	bbf2033211	🔧 Config INI, dump options (#24528 )	2022-08-06 18:50:49 -05:00
Scott Lahteine	9a42d1e577	🩹 Fix Malyan M300 with S-Curve compile Fixes #24548	2022-08-05 21:54:27 -05:00
ellensp	17794e18ae	🔧 Update 644p/1284p Serial 1 sanity check (#24575 )	2022-08-01 01:59:37 -05:00
Scott Lahteine	3b30951e83	🔨 Simplify scripts with pathlib (#24574 )	2022-08-01 01:59:37 -05:00
Mike La Spina	c3f2586445	🐛 Fix laser menu enable_state (#24557 )	2022-08-01 01:59:37 -05:00
InsanityAutomation	c0cb7e35af	✨ Configurable Switching Nozzle dwell (#24304 )	2022-08-01 01:59:37 -05:00
tombrazier	fd319928d2	Fix, improve Linear Advance (#24533 )	2022-08-01 01:59:37 -05:00
tombrazier	5dad7e0d03	🩹 Use _MIN/_MAX macros for native compatibility (#24570 )	2022-08-01 01:59:37 -05:00
DerAndere	9ee558afe1	🐛 Fix kinematic feedrate (#24568 )	2022-08-01 01:59:37 -05:00
Keith Bennett	bbaccd342e	✨ Encoder Noise Filter (#24538 )	2022-08-01 01:59:37 -05:00
lukasradek	6134d55360	📝 README Updates (#24564 )	2022-08-01 01:59:37 -05:00
Scott Lahteine	868e76b965	🎨 Renum boards.h	2022-08-01 01:59:37 -05:00
Scott Lahteine	5f105e254d	🐛 Fix M125 for 9 Axis	2022-08-01 01:59:37 -05:00
Scott Lahteine	9534c6e903	🎨 Misc. 'else' cleanup	2022-08-01 01:59:37 -05:00
Ludy	ec9a2ee557	🌐 Update German language (#24555 )	2022-08-01 01:59:37 -05:00
Scott Lahteine	d8db00e31f	🧑‍💻 Update planner/stepper includes	2022-08-01 01:59:37 -05:00
Scott Lahteine	e7c262dc30	🩹 Fix lcd_preheat compile	2022-08-01 01:59:37 -05:00
Scott Lahteine	cee9da6132	🔨 Update build/CI scripts	2022-08-01 01:59:37 -05:00
Scott Lahteine	a24b9e16ff	🎨 PIO scripts cleanup	2022-08-01 01:59:37 -05:00
Keith Bennett	1e9232723d	📺 Fix TFT Classic UI non-Touchscreen 1024x600 (#24541 )	2022-08-01 01:59:37 -05:00
Keith Bennett	66369f8236	🩹 Fix JyersUI include (#24540 )	2022-08-01 01:59:37 -05:00
Keith Bennett	0ca76bf9ed	📝 Update MPCTEMP G-Code M306 T (#24535 ) M306 simply reports current values. M306 T starts autotune process.	2022-08-01 01:59:37 -05:00
Scott Lahteine	0f3c3c419e	✨ Reinstate JyersUI	2022-08-01 01:59:37 -05:00
Scott Lahteine	89e9ae0662	🧑‍💻 Give the simulator Stepper access	2022-08-01 01:59:37 -05:00
Scott Lahteine	5b8f7686cb	🧑‍💻 Fix and improve build_all_examples	2022-08-01 01:59:37 -05:00
Scott Lahteine	6e02f15dd6	🔨 Minor build script changes	2022-08-01 01:59:37 -05:00
Scott Lahteine	c9445cfc41	🩹 Fix TFT image PACKED conflict	2022-08-01 01:59:37 -05:00
Frederik Kemner	beacb73d93	🩹 Fix gcode.h include (#24527 )	2022-08-01 01:59:37 -05:00
InsanityAutomation	53a57ff7bf	🐛 Fix Archim2 USB Hang (#24314 )	2022-08-01 01:59:37 -05:00
Scott Lahteine	d726f641a5	EXP header pin numbers redux (#24525 ) Followup to `504fec98`	2022-08-01 01:59:37 -05:00
InsanityAutomation	feafa321d7	🚸 Use Tool 0 for G30 (#24511 )	2022-08-01 01:59:37 -05:00
ellensp	f5b972bb10	📺 SKR_MINI_SCREEN_ADAPTER for BTT SKR Mini E3 V3 (#24521 )	2022-08-01 01:59:37 -05:00
Eduard Sukharev	196795c0cc	✅ More ESP32 (MKS TinyBee) tests (#24493 )	2022-08-01 01:59:36 -05:00
Keith Bennett	c3085d666f	📝 Update Contributing Guide (#24320 )	2022-08-01 01:59:36 -05:00
InsanityAutomation	807f2ef969	🚸 Machine-relative Z_STEPPER_ALIGN_XY (#24261 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-08-01 01:59:36 -05:00
Scott Lahteine	f752fe75ee	♻️ Small sound / buzz refactor (#24520 )	2022-08-01 01:59:36 -05:00
Scott Lahteine	97a73147fa	🩹 Fix manual move titles (#24518 )	2022-08-01 01:59:36 -05:00
tombrazier	915203f545	🩹 Arc/Planner optimization followup (#24509 )	2022-08-01 01:59:36 -05:00
Scott Lahteine	173eb3ff71	🚸 Renumber EXP pins to match schematics/RRF/Klipper	2022-08-01 01:59:36 -05:00
Nikolay-Po	96d3c66b64	✨ Steinhart-Hart C Coeff for Custom Thermistor (#24428 )	2022-08-01 01:59:36 -05:00
tombrazier	cc4fc28fe0	⚡️ Optimize Planner calculations (#24484 )	2022-08-01 01:59:36 -05:00
Arthur Masson	0a164a88fe	✨ Polargraph M665 settings (#24401 )	2022-08-01 01:59:36 -05:00
GHGiampy	c72fe1a2f9	🩹 Add'l ProUI fixes (#24500 , #24508 )	2022-08-01 01:59:17 -05:00
Christophe Huriaux	2add8ca4eb	✨ eMotion-Tech eMotronic (Micro-Delta rework) (#24488 )	2022-08-01 01:58:45 -05:00
Scott Lahteine	779c24122d	🔨 Update mfprep comment	2022-08-01 01:58:45 -05:00
Scott Lahteine	6ac3f2738e	🔨 Add mftest --default flag	2022-08-01 01:57:17 -05:00
Scott Lahteine	77c6d9af20	🩹 Fix TFT tImage struct packing	2022-08-01 01:57:11 -05:00
GHGiampy	929e12bf49	🔨 Remove log2file monitor filter (#24502 )	2022-08-01 01:57:01 -05:00
Keith Bennett	fd18ac5667	📝 Update board MCU comments (#24486 )	2022-07-29 18:42:42 -05:00
Scott Lahteine	06c1409843	🩹 Fix MAX31865 approximations Followup to #24407	2022-07-29 18:42:42 -05:00
Scott Lahteine	ec95e66ff0	🔧 Base NUM_AXES on defined DRIVER_TYPEs (#24106 )	2022-07-29 18:42:42 -05:00
Scott Lahteine	53ee7fce5b	🐛 Fix SDIO for STM32 (#24470 ) Followup to #24271	2022-07-29 18:42:42 -05:00
Scott Lahteine	10f5f878ce	🚑️ Fix XYZEval = N not setting E	2022-07-29 18:42:42 -05:00
tombrazier	733ca940c0	🐛 Fix 2d mesh print (#24536 )	2022-07-22 23:33:30 -05:00
Scott Lahteine	c880c7ed45	🔨 Fix and update Makefile Followup to `89fe5f6d`	2022-07-15 18:48:15 -05:00
Keith Bennett	e5e4cf920d	📌 Pin ESP32SSDP to 1.1.1 (#24489 )	2022-07-15 18:48:15 -05:00
Victor Oliveira	3315f6faa4	✨ Creality3D v4.2.5 / CR200B (#24491 )	2022-07-15 18:48:15 -05:00
GHGiampy	4a6ad1c98b	🩹 Fix ProUI LED compile (#24473 )	2022-07-15 18:48:15 -05:00
Miguel Risco-Castillo	3c9789fda8	🚸 Fix and update ProUI (#24477 )	2022-07-15 18:48:15 -05:00
toomuchwonder	3a19d34c75	🩹 Fix MKS UI extruder speed (#24476 )	2022-07-15 18:48:15 -05:00
Bob Kuhn	6b19a58f03	🔥 Drop STM L64** drivers, STEVAL_3DP001V1 (#24427 )	2022-07-15 18:48:15 -05:00
Scott Lahteine	9283859b1e	🎨 ANY => EITHER	2022-07-15 18:48:15 -05:00
GHGiampy	e840015cad	🔨 Abort firmware update on transfer error (#24472 , #24499 )	2022-07-15 18:48:15 -05:00
Scott Lahteine	efe04e1016	🧑‍💻 Update Mac Sim directions	2022-07-15 18:48:15 -05:00
Scott Lahteine	f543b3cb84	📌 Ask for PlatformIO 6.1.1 or newer (#24435 )	2022-07-15 18:48:15 -05:00
Keith Bennett	6a86c5bad3	✨ MKS Monster8 V2 (#24483 )	2022-07-15 18:48:15 -05:00
Scott Lahteine	7207a32434	🧑‍💻 Add Sim debug with lldb	2022-07-15 18:48:15 -05:00
Keith Bennett	678474d55c	🔧 Assert Probe Temp Comp requirements (#24468 )	2022-07-15 18:48:15 -05:00
Mike La Spina	24c211307d	🐛 Fix laser/fan sync (#24460 ) Followup to #22690, `307dfb15`	2022-07-15 18:48:15 -05:00
tombrazier	0c78a6f657	⚡️ Optimize G2-G3 Arcs (#24366 )	2022-07-15 18:48:15 -05:00
Jason Smith	79a332b57e	🩹 Fix LCD_BACKLIGHT_TIMEOUT compile (#24463 )	2022-07-15 18:48:15 -05:00
Pauli Jokela	d9ecbdcdbb	🩹 Fix safe homing sanity-check (#24462 )	2022-07-15 18:48:15 -05:00
Farva42	527fe2496a	✨ MAG_MOUNTED_PROBE (#24420 ) Co-Authored-By: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-07-15 18:48:14 -05:00
Scott Lahteine	6c2ffe9d34	🔥 Remove JyersUI (#24459 )	2022-07-15 18:48:14 -05:00
Scott Lahteine	0fdedfa2fb	📝 Configurations 02010100 (#24458 )	2022-07-15 18:48:14 -05:00
Meilleur Gars	e93a1dd2fa	🚸 JyersUI updates (#24451 )	2022-07-15 18:48:14 -05:00
Christophe Huriaux	03760fd79e	🩹 Fix ST7565 LCD contrast init (#24457 )	2022-07-15 18:48:14 -05:00
Bob Kuhn	d3aed23e18	🐛 Fix Sensorless Probing compile (#24455 )	2022-07-15 18:48:14 -05:00
Eduard Sukharev	893707711e	🐛 Fix MKS TinyBee compile (#24454 )	2022-07-15 18:48:14 -05:00
Mike La Spina	d965303a7a	⚡️ Fix and improve Inline Laser Power (#22690 )	2022-07-15 18:48:14 -05:00
Keith Bennett	5b6c46db29	✨ BigTreeTech SKR SE BX V3.0 (#24449 ) SKR SE BX V3.0 removes the Reverse Driver Protection feature.	2022-07-15 18:48:14 -05:00
EvilGremlin	8f40a2f257	🔨 Fix OpenBLT encode; no-bootloader envs (#24446 )	2022-07-15 18:48:14 -05:00
Scott Lahteine	e4f85e8fbc	♻️ Encapsulate PID in class (#24389 )	2022-07-15 18:48:14 -05:00
Victor Oliveira	678955949f	🔨 Disable stack protector on macOS simulator (#24443 )	2022-07-15 18:48:14 -05:00
Scott Lahteine	923d34550a	🔨 PlatformIO "--target upload" == "--target exec"	2022-07-15 18:48:14 -05:00
Scott Lahteine	ed643e634f	🔨 Fix Warnings/settings force-recompile	2022-07-15 18:48:14 -05:00
Scott Lahteine	3f4c8c31c6	Fix SDIO for STM32 Followup to #24271	2022-07-09 18:19:47 -05:00
Keith Bennett	171ed66de0	🚸 MPCTEMP: Home before cooling (#24434 )	2022-07-04 00:29:53 -05:00
Keith Bennett	5f2e4487e7	🩹 Fix MKS TinyBee ADC Vref (#24432 )	2022-07-04 00:29:53 -05:00
Scott Lahteine	80c7abd727	🩹 Remove poison wchar_t macro	2022-07-04 00:29:53 -05:00
Scott Lahteine	814b53750f	🩹 Remove obsolete split_move	2022-07-01 22:05:44 -05:00
Moonglow	23e93c51fd	🐛 Fix M149 (#24430 )	2022-07-01 07:54:53 -05:00
tombrazier	afbdcc8eee	🚸 Vertical Max7219::quantity in portrait orientation (#24415 )	2022-07-01 07:54:53 -05:00
Scott Lahteine	4820947203	✅ Update path to Ender-3 S1 configs	2022-07-01 07:54:53 -05:00
Scott Lahteine	d44aef8b6b	📝 Index Mobo Rev03 => Opulo Lumen Rev3	2022-06-30 22:10:31 -05:00
Scott Lahteine	c1c0496073	🩹 Fix memset block warning	2022-06-30 22:10:26 -05:00
Keith Bennett	a48831d600	🐛 Fix Axis Homing (#24425 ) Followup to `4520a51`	2022-06-30 22:10:26 -05:00
John Lagonikas	c076094fa9	🐛 Fix MAX31865 PT1000 normalization (#24407 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-06-30 22:10:26 -05:00
Scott Lahteine	57c137a60f	♻️ reset_acceleration_rates => refresh_…	2022-06-30 22:10:05 -05:00
Scott Lahteine	05bdc5640d	♻️ Planner flags refactor	2022-06-30 22:10:05 -05:00
Scott Lahteine	83784bd8b7	📝 Note about UBL bad splits	2022-06-30 22:10:05 -05:00
Scott Lahteine	23f19e9ce8	🎨 Misc. shorthand operators	2022-06-26 10:02:36 -05:00
Scott Lahteine	0435b2220a	🐛 Fix Manual Move axis selection (#24404 )	2022-06-26 06:49:14 -05:00
Shlee	ab2fceda2c	📝 Add STM32F4 example, Ruby (#24399 )	2022-06-26 06:39:00 -05:00
Giuliano Zaro	88dc360e9d	🌐 Update Italian language (#24398 )	2022-06-26 06:39:00 -05:00
Roman Moravčík	f5bdb8b4d2	🌐 Update Slovak language (#24397 )	2022-06-26 06:39:00 -05:00
sgparry	3e01e08989	🩹 Fix LCD contrast with K8800 board	2022-06-26 06:39:00 -05:00
tombrazier	4694a7fe74	✨ MAX7219 idle profiler (#24375 )	2022-06-26 06:39:00 -05:00
Scott Lahteine	537af0bb03	🌐 Drop unused delta strings	2022-06-24 22:09:59 -05:00
InsanityAutomation	0dc59311ec	🐛 Resolve DUE Servo pulse issue (#24305 ) Co-authored-by: sjasonsmith <20053467+sjasonsmith@users.noreply.github.com> Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-06-24 18:03:19 -05:00
tombrazier	0523874e9c	🐛 Fix G2/G3 Arcs stutter / JD speed (#24362 )	2022-06-24 18:03:19 -05:00
Scott Lahteine	106537ff43	✏️ 9-axis followup (sanity-check)	2022-06-24 18:03:19 -05:00
Bob Kuhn	ad96c36730	🐛 Fix Lerdge build / encrypt (#24391 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-06-24 18:03:19 -05:00
Victor Oliveira	a3629a7c28	✨ Classic UI BIQU BX (#24387 )	2022-06-24 18:03:19 -05:00
ellensp	b7e1b6b893	🩹 Fix DGUS (MKS) compile (#24378 )	2022-06-24 18:03:19 -05:00
Victor Oliveira	253e35e066	🚑️ Fix BIQU BX touch freeze (#24383 )	2022-06-24 18:03:19 -05:00
ellensp	831e1b5ecf	🐛 Fix M423 invocation (#24360 ) Followup to #23745	2022-06-24 18:03:19 -05:00
tombrazier	c89ca2deb8	🩹 LCD strings followup, fix warning (#24328 )	2022-06-24 18:03:19 -05:00
DerAndere	85e94038aa	✨ FOAMCUTTER_XYUV (for RAMPS) (#24325 ) Co-authored-by: Scott Lahteine <github@thinkyhead.com>	2022-06-24 18:03:19 -05:00
ellensp	7c85f25042	🚑️ Fix SD mount bug (#24319 ) Co-authored-by: Scott Lahteine <github@thinkyhead.com>	2022-06-24 18:03:19 -05:00
Scott Lahteine	eca5e46d17	🎨 Simplify move menus with substitution	2022-06-24 18:03:19 -05:00
Scott Lahteine	78b42ed387	🎨 Use MAP for home axis items	2022-06-24 18:03:19 -05:00
Scott Lahteine	95339c9561	🧑‍💻 Fix STATIC_ITEM_N arg order	2022-06-24 18:03:19 -05:00
Scott Lahteine	da6c16a9cd	🎨 Fix comments, formatting	2022-06-24 18:03:19 -05:00
ellensp	cc27cfb660	👷 CI test without src filter (emulate Arduino) (#24335 )	2022-06-24 01:19:42 -05:00
Keith Bennett	25c0593c9b	👷 Use Biqu BX for CI test (#24331 )	2022-06-24 01:19:36 -05:00
Scott Lahteine	5fff7bbef4	👔 Fix and comment use_example_configs	2022-06-24 01:11:07 -05:00
Scott Lahteine	3fd592e64b	👔 Update Marlin actions for 2.1.x	2022-06-24 01:11:07 -05:00
John Robertson	c34dd64469	⚡️ PWM for ESP32 I2S expander (#24193 )	2022-06-24 01:11:07 -05:00
Scott Lahteine	7677368aaf	🔖 Moving to bugfix-2.1.x	2022-06-24 01:11:06 -05:00
Scott Lahteine	ece124fdea	🩹 M919 9-axis update	2022-06-20 21:09:20 -05:00
luzpaz	9aa499dbe9	🌐 Fix LCD string, typos (#24324 )	2022-06-20 21:09:20 -05:00
Scott Lahteine	78a3ea0ed4	🧑‍💻 Apply F() to some LCD / TFT strings Followup to #24228	2022-06-13 21:02:31 -05:00
ellensp	c605c1ebb5	🩹 Fix missing ProUI cpp wrapper (#24313 )	2022-06-13 21:02:31 -05:00
ellensp	b2c4fb5f3a	🐛 Fix JGAurora A5S A1 build (#24326 )	2022-06-13 04:32:49 -05:00
Steven Haigh	60cedf63f2	🩹 Fix ProUI compile (#24310 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2022-06-13 04:32:49 -05:00
Scott Lahteine	1156557a47	🧑‍💻 Misc. servo code cleanup	2022-06-13 04:32:49 -05:00
Scott Lahteine	ea22640d78	🧑‍💻 Remove servo macros	2022-06-13 04:32:49 -05:00
lujios	d886320799	🩹 Fix G33 Delta Sensorless Probing compile (#24291 )	2022-06-13 04:32:30 -05:00
Scott Lahteine	a65189c637	👔 Fix and comment use_example_configs	2022-06-13 04:31:26 -05:00
tombrazier	dfc8acf376	🩹 Fix Mesh Leveling + Debug compile (#24297 )	2022-06-07 02:15:48 -05:00
ellensp	48d03ca0a9	🩹 Media Change followup (#24302 ) Followup to #24015	2022-06-07 02:00:38 -05:00
Miguel Risco-Castillo	85e8d1f9fa	🚸 ProUI G-code preview, PID plot (#24282 )	2022-06-07 02:00:38 -05:00
Scott Lahteine	679f4608ab	👔 Update mfconfig import	2022-06-06 23:40:26 -05:00
Scott Lahteine	5c225ba887	🔖 Marlin 2.1	2022-06-05 23:11:32 -05:00
ellensp	2685119332	🩹 Fix EXTRUDERS 0 manual move compile (#24255 )	2022-06-05 23:11:32 -05:00
tombrazier	fc350701b2	💥 More M306 M => M306 H (#24258 ) Followup to #24253	2022-06-05 23:11:32 -05:00
Miguel Risco-Castillo	0ad695d45a	🚸 Fix, improve, update ProUI (#24251 )	2022-06-05 23:11:32 -05:00
elimisback	f1802bc7fe	🔨 BTT STM32G0B1RE xfer build (#24245 )	2022-06-05 23:11:32 -05:00
Scott Lahteine	d6c673b9de	♻️ More updates for multi-axis	2022-06-05 23:11:32 -05:00
Scott Lahteine	6a2a592c26	🧑‍💻 Combined axis strings	2022-06-05 23:11:32 -05:00
Scott Lahteine	c4ac695c15	🧑‍💻 Forward-compatible axis strings (`167672d`, #24259 )	2022-06-05 23:11:32 -05:00
Keith Bennett	8465818754	🎨 Fix/adjust warnings (#24225 )	2022-06-05 23:11:32 -05:00
Scott Lahteine	3c482a9ba1	🧑‍💻 MAP macro for axis lists, etc. (#24191 )	2022-06-05 23:11:32 -05:00
DerAndere	ecfe7b6400	🩹 Fix some parameters w/out values (#24051 )	2022-06-05 23:11:32 -05:00
DerAndere	85599abba7	🚸 Better M350, M114 with more axes (#23986 )	2022-06-05 23:11:32 -05:00
Scott Lahteine	494a2fc80c	🚨 Fix some compiler warnings	2022-06-05 23:11:31 -05:00
Scott Lahteine	f7bea2846f	🏗️ Axis name arrays Co-Authored-By: DerAndere <26200979+DerAndere1@users.noreply.github.com>	2022-06-05 23:11:31 -05:00
Scott Lahteine	d56731cd07	🏗️ Extend AXIS_CHAR to include E Co-Authored-By: DerAndere <26200979+DerAndere1@users.noreply.github.com>	2022-06-05 23:11:31 -05:00
DerAndere	0041de1a8a	💥 Update Motor Current G-codes for extra axes (#23975 )	2022-06-05 23:11:31 -05:00
ellensp	d58497bc8e	🐛 Fix BACKLASH_COMPENSATION compile (#24072 ) Followup to #23826	2022-06-05 23:11:31 -05:00
Scott Lahteine	fd13a928c1	✨ Support for up to 9 axes (#23112 , #24036 , #24231 )	2022-06-05 23:11:31 -05:00