[cron] Bump distribution date (2026-02-20)

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

.devcontainer/devcontainer.json

@@ -41,11 +41,11 @@
   ]
 
   // Use 'forwardPorts' to make a list of ports inside the container available locally.
-  // "forwardPorts": [],
+  // , "forwardPorts": []
 
   // Use 'postCreateCommand' to run commands after the container is created.
-  // "postCreateCommand": "pip3 install --user -r requirements.txt",
+  // , "postCreateCommand": "pip3 install --user -r requirements.txt"
 
   // Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
-  // "remoteUser": "vscode"
+  // , "remoteUser": "vscode"
 }

.github/code_of_conduct.md

@@ -8,19 +8,19 @@ In the interest of fostering an open and welcoming environment, we as contributo
 
 Examples of behavior that contributes to creating a positive environment include:
 
-* Using welcoming and inclusive language
-* Being respectful of differing viewpoints and experiences
-* Gracefully accepting constructive criticism
-* Focusing on what is best for the community
-* Showing empathy towards other community members
+- Using welcoming and inclusive language
+- Being respectful of differing viewpoints and experiences
+- Gracefully accepting constructive criticism
+- Focusing on what is best for the community
+- Showing empathy towards other community members
 
 Examples of unacceptable behavior by participants include:
 
-* The use of sexualized language or imagery and unwelcome sexual attention or advances
-* Trolling, insulting/derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or electronic address, without explicit permission
-* Other conduct which could reasonably be considered inappropriate in a professional setting
+- The use of sexualized language or imagery and unwelcome sexual attention or advances
+- Trolling, insulting/derogatory comments, and personal or political attacks
+- Public or private harassment
+- Publishing others' private information, such as a physical or electronic address, without explicit permission
+- Other conduct which could reasonably be considered inappropriate in a professional setting
 
 ## Our Responsibilities
 

.github/contributing.md

@@ -11,18 +11,21 @@ The following is a set of guidelines for contributing to Marlin, hosted by the [
 [I don't want to read this whole thing, I just have a question!!!](#i-dont-want-to-read-this-whole-thing-i-just-have-a-question)
 
 [How Can I Contribute?](#how-can-i-contribute)
-  * [Reporting Bugs](#reporting-bugs)
-  * [Suggesting Features or Changes](#suggesting-features-or-changes)
-  * [Your First Code Contribution](#your-first-code-contribution)
-  * [Pull Requests](#pull-requests)
+
+- [Reporting Bugs](#reporting-bugs)
+- [Suggesting Features or Changes](#suggesting-features-or-changes)
+- [Your First Code Contribution](#your-first-code-contribution)
+- [Pull Requests](#pull-requests)
 
 [Styleguides](#styleguides)
-  * [Git Commit Messages](#git-commit-messages)
-  * [C++ Coding Standards](#c++-coding-standards)
-  * [Documentation Styleguide](#documentation)
+
+- [Git Commit Messages](#git-commit-messages)
+- [C++ Coding Standards](#c++-coding-standards)
+- [Documentation Styleguide](#documentation)
 
 [Additional Notes](#additional-notes)
-  * [Issue and Pull Request Labels](#issue-and-pull-request-labels)
+
+- [Issue and Pull Request Labels](#issue-and-pull-request-labels)
 
 ## Code of Conduct
 
@@ -31,6 +34,7 @@ This project and everyone participating in it is governed by the [Marlin Code of
 ## I don't want to read this whole thing I just have a question!!!
 
 > [!NOTE]
+>
 > Please don't file an issue to ask a question. You'll get faster results by using the resources below.
 
 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
@@ -43,10 +47,10 @@ We have a Message Board and a Facebook group where our knowledgable user communi
 
 If chat is more your speed, you can join the MarlinFirmware Discord server:
 
-* Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
-* Even though our Discord is pretty active, it may take a while for community members to respond — please be patient!
-* Use the `#general` channel for general questions or discussion about Marlin.
-* Other channels exist for certain topics or are limited to Patrons. Check the channel list.
+- Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
+- Even though our Discord is pretty active, it may take a while for community members to respond — please be patient!
+- Use the `#general` channel for general questions or discussion about Marlin.
+- Other channels exist for certain topics or are limited to Patrons. Check the channel list.
 
 ## How Can I Contribute?
 
@@ -57,6 +61,7 @@ This section guides you through submitting a Bug Report for Marlin. Following th
 Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster.
 
 > [!NOTE]
+>
 > Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888.
 
 #### How Do I Submit A (Good) Bug Report?
@@ -65,29 +70,29 @@ Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/).
 
 Explain the problem and include additional details to help maintainers reproduce the problem:
 
-* **Use a clear and descriptive title** for the issue to identify the problem.
-* **Describe the exact steps which reproduce the problem** in as many details as possible. For example, start by explaining how you started Marlin, e.g. which command exactly you used in the terminal, or how you started Marlin otherwise. When listing steps, **don't just say what you did, but explain how you did it**. For example, if you moved the cursor to the end of a line, explain if you used the mouse, or a keyboard shortcut or an Marlin command, and if so which one?
-* **Provide specific examples to demonstrate the steps**. Include links to files or GitHub projects, or copy/pasteable snippets, which you use in those examples. If you're providing snippets or log output in the issue, use [Markdown code blocks](https://help.github.com/articles/markdown-basics/#multiple-lines).
-* **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior.
-* **Explain which behavior you expected to see instead and why.**
-* **Include detailed log output** especially for probing and leveling. See below for usage of `DEBUG_LEVELING_FEATURE`.
-* **Include screenshots, links to videos, etc.** which clearly demonstrate the problem.
-* **Include G-code** (if relevant) that reliably causes the problem to show itself.
-* **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below.
+- **Use a clear and descriptive title** for the issue to identify the problem.
+- **Describe the exact steps which reproduce the problem** in as many details as possible. For example, start by explaining how you started Marlin, e.g. which command exactly you used in the terminal, or how you started Marlin otherwise. When listing steps, **don't just say what you did, but explain how you did it**. For example, if you moved the cursor to the end of a line, explain if you used the mouse, or a keyboard shortcut or an Marlin command, and if so which one?
+- **Provide specific examples to demonstrate the steps**. Include links to files or GitHub projects, or copy/pasteable snippets, which you use in those examples. If you're providing snippets or log output in the issue, use [Markdown code blocks](https://help.github.com/articles/markdown-basics/#multiple-lines).
+- **Describe the behavior you observed after following the steps** and point out what exactly is the problem with that behavior.
+- **Explain which behavior you expected to see instead and why.**
+- **Include detailed log output** especially for probing and leveling. See below for usage of `DEBUG_LEVELING_FEATURE`.
+- **Include screenshots, links to videos, etc.** which clearly demonstrate the problem.
+- **Include G-code** (if relevant) that reliably causes the problem to show itself.
+- **If the problem wasn't triggered by a specific action**, describe what you were doing before the problem happened and share more information using the guidelines below.
 
 Provide more context:
 
-* **Can you reproduce the problem with a minimum of options enabled?**
-* **Did the problem start happening recently** (e.g. after updating to a new version of Marlin) or was this always a problem?
-* If the problem started happening recently, **can you reproduce the problem in an older version of Marlin?** What's the most recent version in which the problem doesn't happen? You can download older versions of Marlin from [the releases page](https://github.com/MarlinFirmware/Marlin/releases).
-* **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens.
+- **Can you reproduce the problem with a minimum of options enabled?**
+- **Did the problem start happening recently** (e.g. after updating to a new version of Marlin) or was this always a problem?
+- If the problem started happening recently, **can you reproduce the problem in an older version of Marlin?** What's the most recent version in which the problem doesn't happen? You can download older versions of Marlin from [the releases page](https://github.com/MarlinFirmware/Marlin/releases).
+- **Can you reliably reproduce the issue?** If not, provide details about how often the problem happens and under which conditions it normally happens.
 
 Include details about your configuration and environment:
 
-* **Which version of Marlin are you using?** Marlin's exact version and build date can be seen in the startup message when a host connects to Marlin, or in the LCD Info menu (if enabled).
-* **What kind of 3D Printer and electronics are you using**?
-* **What kind of add-ons (probe, filament sensor) do you have**?
-* **Include your Configuration files.** Make a ZIP file containing `Configuration.h` and `Configuration_adv.h` and drop it on your reply.
+- **Which version of Marlin are you using?** Marlin's exact version and build date can be seen in the startup message when a host connects to Marlin, or in the LCD Info menu (if enabled).
+- **What kind of 3D Printer and electronics are you using**?
+- **What kind of add-ons (probe, filament sensor) do you have**?
+- **Include your Configuration files.** Make a ZIP file containing `Configuration.h` and `Configuration_adv.h` and drop it on your reply.
 
 ### Suggesting Features or Changes
 
@@ -97,52 +102,52 @@ Before creating a suggestion, please check [this list](https://github.com/Marlin
 
 #### Before Submitting a Feature Request
 
-* **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
-* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
+- **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
+- **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
 
 #### How Do I Submit A (Good) Feature Request?
 
 Feature Requests are tracked as [GitHub issues](https://guides.github.com/features/issues/). Please follow these guidelines in your request:
 
-* **Use a clear and descriptive title** for the issue to identify the suggestion.
-* **Provide a step-by-step description of the requested feature** in as much detail as possible.
-* **Provide specific examples to demonstrate the steps**.
-* **Describe the current behavior** and **explain which behavior you expected to see instead** and why.
-* **Include screenshots and links to videos** which demonstrate the feature or point out the part of Marlin to which the request is related.
-* **Explain why this feature would be useful** to most Marlin users.
-* **Name other firmwares that have this feature, if any.**
+- **Use a clear and descriptive title** for the issue to identify the suggestion.
+- **Provide a step-by-step description of the requested feature** in as much detail as possible.
+- **Provide specific examples to demonstrate the steps**.
+- **Describe the current behavior** and **explain which behavior you expected to see instead** and why.
+- **Include screenshots and links to videos** which demonstrate the feature or point out the part of Marlin to which the request is related.
+- **Explain why this feature would be useful** to most Marlin users.
+- **Name other firmwares that have this feature, if any.**
 
 ### Your First Code Contribution
 
 Unsure where to begin contributing to Marlin? You can start by looking through these `good-first-issue` and `help-wanted` issues:
 
-* [Beginner issues][good-first-issue] - issues which should only require a few lines of code, and a test or two.
-* [Help Wanted issues][help-wanted] - issues which should be a bit more involved than `beginner` issues.
+- [Beginner issues][good-first-issue] - issues which should only require a few lines of code, and a test or two.
+- [Help Wanted issues][help-wanted] - issues which should be a bit more involved than `beginner` issues.
 
 ### Pull Requests
 
-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.
+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.
-* Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
-* Follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website.
-* Document new code with clear and concise comments.
-* End all files with a newline.
+- Fill in [the required template](pull_request_template.md).
+- Don't include issue numbers in the PR title.
+- Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
+- Follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website.
+- Document new code with clear and concise comments.
+- End all files with a newline.
 
 ## Styleguides
 
 ### Git Commit Messages
 
-* Use the present tense ("Add feature" not "Added feature").
-* Use the imperative mood ("Move cursor to..." not "Moves cursor to...").
-* Limit the first line to 72 characters or fewer.
-* Reference issues and Pull Requests liberally after the first line.
+- Use the present tense ("Add feature" not "Added feature").
+- Use the imperative mood ("Move cursor to..." not "Moves cursor to...").
+- Limit the first line to 72 characters or fewer.
+- Reference issues and Pull Requests liberally after the first line.
 
 ### C++ Coding Standards
 
-* Please read and follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
+- Please read and follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
 
 ### Documentation
 
-* Guidelines for documentation are still under development. In-general, be clear, concise, and to-the-point.
+- Guidelines for documentation are still under development. In-general, be clear, concise, and to-the-point.

.github/workflows/ci-build-tests.yml

@@ -58,7 +58,7 @@ jobs:
         - at90usb1286_dfu
 
         # AVR Extended
-        - FYSETC_F6
+        - mega2560ext
         - melzi_optiboot
         - rambo
         - sanguino1284p

Makefile

@@ -1,9 +1,34 @@
 SCRIPTS_DIR := buildroot/share/scripts
+MAKESCRIPTS_DIR := buildroot/share/make
 CONTAINER_RT_BIN := docker
 CONTAINER_RT_OPTS := --rm -v $(PWD):/code -v platformio-cache:/root/.platformio
 CONTAINER_IMAGE := marlin-dev
 UNIT_TEST_CONFIG ?= default
 
+# Find a Python 3 interpreter
+ifeq ($(OS),Windows_NT)
+	# Windows: use `where` – fall back through the three common names
+	PYTHON := $(shell which python 2>nul || which python3 2>nul || which py 2>nul)
+	# Windows: Use Python script to find pins files
+	PINS := $(shell $(PYTHON) $(MAKESCRIPTS_DIR)/find.py Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+else
+	# POSIX: use `command -v` – prefer python3 over python
+	PYTHON := $(shell command -v python3 2>/dev/null || command -v python 2>/dev/null)
+	# Unix/Linux: Use find command
+	PINS := $(shell find Marlin/src/pins -mindepth 2 -name 'pins_*.h')
+endif
+
+# Check that the found interpreter is Python 3
+# Error if there's no Python 3 available
+ifneq ($(strip $(PYTHON)),)
+	PYTHON_VERSION := $(shell $(PYTHON) -c "import sys; print(sys.version_info[0])" 2>/dev/null)
+	ifneq ($(PYTHON_VERSION),3)
+		$(error $(PYTHON) is not Python 3 – install a Python‑3.x interpreter or adjust your PATH)
+	endif
+else
+	$(error No Python executable found – install Python 3.x and make sure it is in your PATH)
+endif
+
 help:
 	@echo "Tasks for local development:"
 	@echo "make marlin                    : Build Marlin for the configured board"
@@ -11,6 +36,7 @@ help:
 	@echo "make validate-lines -j         : Validate line endings, fails on trailing whitespace, etc."
 	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
 	@echo "make validate-boards -j        : Validate boards.h and pins.h for standards compliance"
+	@echo "make validate-urls             : Validate URLs in source files"
 	@echo "make tests-single-ci           : Run a single test from inside the CI"
 	@echo "make tests-single-local        : Run a single test locally"
 	@echo "make tests-single-local-docker : Run a single test locally, using docker"
@@ -20,7 +46,7 @@ help:
 	@echo "make unit-test-single-local-docker : Run unit tests for a single config locally, using docker"
 	@echo "make unit-test-all-local       : Run all code tests locally"
 	@echo "make unit-test-all-local-docker : Run all code tests locally, using docker"
-	@echo "make setup-local-docker        : Setup local docker using buildx"
+	@echo "make setup-local-docker        : Setup local docker"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -41,6 +67,9 @@ marlin:
 	./buildroot/bin/mftest -a
 .PHONY: marlin
 
+clean:
+	rm -rf .pio/build*
+
 tests-single-ci:
 	export GIT_RESET_HARD=true
 	$(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) PLATFORMIO_BUILD_FLAGS=-DGITHUB_ACTION
@@ -57,10 +86,10 @@ tests-single-local-docker:
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) make tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
 
 tests-all-local:
-	@python -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "python -m pip install pyyaml"' && exit 1)
+	@$(PYTHON) -c "import yaml" 2>/dev/null || (echo 'pyyaml module is not installed. Install it with "$(PYTHON) -m pip install pyyaml"' && exit 1)
 	export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \
 	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && for TEST_TARGET in $$(python $(SCRIPTS_DIR)/get_test_targets.py) ; do \
+	  && for TEST_TARGET in $$($(PYTHON) $(MAKESCRIPTS_DIR)/get_test_targets.py) ; do \
 	    if [ "$$TEST_TARGET" = "linux_native" ] && [ "$$(uname)" = "Darwin" ]; then \
 	      echo "Skipping tests for $$TEST_TARGET on macOS" ; \
 	      continue ; \
@@ -88,33 +117,55 @@ unit-test-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) make unit-test-all-local
 
-setup-local-docker:
-	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+USERNAME := $(shell whoami)
+USER_ID  := $(shell id -u)
+GROUP_ID := $(shell id -g)
 
-PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
+.PHONY: setup-local-docker setup-local-docker-old
+
+setup-local-docker:
+	@echo "Building marlin-dev Docker image..."
+	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) \
+	  --build-arg USERNAME=$(USERNAME) \
+	  --build-arg USER_ID=$(USER_ID) \
+	  --build-arg GROUP_ID=$(GROUP_ID) \
+	  -f docker/Dockerfile .
+	@echo
+	@echo "To run all tests in Docker:"
+	@echo "  make tests-all-local-docker"
+	@echo "To run a single test in Docker:"
+	@echo "  make tests-single-local-docker TEST_TARGET=mega2560"
+
+setup-local-docker-old:
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
 
 .PHONY: $(PINS) format-pins validate-pins
 
 $(PINS): %:
 	@echo "Formatting pins $@"
-	@python $(SCRIPTS_DIR)/pinsformat.py $< $@
+	@$(PYTHON) $(SCRIPTS_DIR)/pinsformat.py $< $@
 
 format-pins: $(PINS)
+	@echo "Processed $(words $(PINS)) pins files"
 
 validate-pins: format-pins
 	@echo "Validating pins files"
 	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)
 
-.PHONY: format-lines validate-lines
+.PHONY: format-lines validate-lines validate-urls
 
 format-lines:
 	@echo "Formatting all sources"
-	@python $(SCRIPTS_DIR)/linesformat.py buildroot
-	@python $(SCRIPTS_DIR)/linesformat.py Marlin
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py buildroot
+	@$(PYTHON) $(SCRIPTS_DIR)/linesformat.py Marlin
 
 validate-lines:
 	@echo "Validating text formatting"
-	@npx prettier --check . --editorconfig --object-wrap preserve
+	@npx prettier --check . --editorconfig --object-wrap preserve --prose-wrap never
+
+validate-urls:
+	@echo "Checking URLs in source files"
+	@$(MAKESCRIPTS_DIR)/check-urls.sh
 
 BOARDS_FILE := Marlin/src/core/boards.h
 
@@ -122,4 +173,4 @@ BOARDS_FILE := Marlin/src/core/boards.h
 
 validate-boards:
 	@echo "Validating boards.h file"
-	@python $(SCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)
+	@$(PYTHON) $(MAKESCRIPTS_DIR)/validate_boards.py $(BOARDS_FILE) || (echo "\nError: boards.h file is not valid. Please check and correct it.\n" && exit 1)

Marlin/Configuration.h

@@ -61,7 +61,7 @@
 // @section info
 
 // Author info of this build printed to the host during boot and M115
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Original author or contributor.
+#define STRING_CONFIG_H_AUTHOR "(MarlinFirmware)" // Original author or contributor.
 //#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)
 
 // @section machine
@@ -305,6 +305,18 @@
 
 #endif
 
+/**
+ * Differential Extruder
+ *
+ * The X and E steppers work together to create a differential drive system.
+ * Simple  : E steps = X + E   ; X steps = X  (E drives a loop, X stays the same)
+ * Balanced: E steps = X + E/2 ; X steps = X - E/2  (Dual loop system)
+ */
+//#define DIFFERENTIAL_EXTRUDER
+#if ENABLED(DIFFERENTIAL_EXTRUDER)
+  //#define BALANCED_DIFFERENTIAL_EXTRUDER
+#endif
+
 /**
  * Switching Toolhead
  *
@@ -456,7 +468,7 @@
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
-// @section temperature
+// @section temperature sensors
 
 /**
  * Temperature Sensors:
@@ -488,7 +500,7 @@
  *    10 : 100kΩ RS PRO 198-961
  *    11 : 100kΩ Keenovo AC silicone mats, most Wanhao i3 machines - beta 3950, 1%
  *    12 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT (#8) - calibrated for Makibox hot bed
- *    13 : 100kΩ Hisens up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1%
+ *    13 : 100kΩ Hisense up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1%
  *    14 : 100kΩ  (R25), 4092K (beta25), 4.7kΩ pull-up, bed thermistor as used in Ender-5 S1
  *    15 : 100kΩ Calibrated for JGAurora A5 hotend
  *    17 : 100kΩ Dagoma NTC white thermistor
@@ -640,6 +652,8 @@
   #define TEMP_SENSOR_REDUNDANT_MAX_DIFF  10  // (°C) Temperature difference that will trigger a print abort.
 #endif
 
+// @section temperature
+
 // Below this temperature the heater will be switched off
 // because it probably indicates a broken thermistor wire.
 #define HEATER_0_MINTEMP   5
@@ -706,13 +720,13 @@
   #if ENABLED(PID_PARAMS_PER_HOTEND)
     // Specify up to one value per hotend here, according to your setup.
     // If there are fewer values, the last one applies to the remaining hotends.
-    #define DEFAULT_Kp_LIST {  22.20,  22.20 }
-    #define DEFAULT_Ki_LIST {   1.08,   1.08 }
-    #define DEFAULT_Kd_LIST { 114.00, 114.00 }
+    #define DEFAULT_KP_LIST {  22.20,  22.20 }
+    #define DEFAULT_KI_LIST {   1.08,   1.08 }
+    #define DEFAULT_KD_LIST { 114.00, 114.00 }
   #else
-    #define DEFAULT_Kp  22.20
-    #define DEFAULT_Ki   1.08
-    #define DEFAULT_Kd 114.00
+    #define DEFAULT_KP  22.20
+    #define DEFAULT_KI   1.08
+    #define DEFAULT_KD 114.00
   #endif
 #else
   #define BANG_MAX 255    // Limit hotend current while in bang-bang mode; 255=full current
@@ -810,9 +824,9 @@
 
   // 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)
-  #define DEFAULT_bedKp  10.00
-  #define DEFAULT_bedKi   0.023
-  #define DEFAULT_bedKd 305.4
+  #define DEFAULT_BED_KP  10.00
+  #define DEFAULT_BED_KI   0.023
+  #define DEFAULT_BED_KD 305.4
 
   // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #else
@@ -893,9 +907,9 @@
 
   // 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.
-  #define DEFAULT_chamberKp  37.04
-  #define DEFAULT_chamberKi   1.40
-  #define DEFAULT_chamberKd 655.17
+  #define DEFAULT_CHAMBER_KP  37.04
+  #define DEFAULT_CHAMBER_KI   1.40
+  #define DEFAULT_CHAMBER_KD 655.17
   // M309 P37.04 I1.04 D655.17
 
   // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles.
@@ -942,7 +956,7 @@
  * protect against a broken or disconnected thermistor wire.
  *
  * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
  * the heater on.
  *
  * If you get "Thermal Runaway" or "Heating failed" errors the
@@ -1053,7 +1067,8 @@
   // Delta radius and diagonal rod adjustments
   //#define DELTA_RADIUS_TRIM_TOWER       { 0.0, 0.0, 0.0 } // (mm)
   //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } // (mm)
-#endif
+
+#endif // DELTA
 
 // @section scara
 
@@ -1109,17 +1124,37 @@
   #define TPARA_LINKAGE_1 120     // (mm)
   #define TPARA_LINKAGE_2 120     // (mm)
 
-  // TPARA tower offset (position of Tower relative to bed zero position)
+  // Height of the Shoulder axis (pivot) relative to the tower floor
+  #define TPARA_SHOULDER_AXIS_HEIGHT 135.0     // (mm)
+
+  // The position of the last linkage relative to the robot arm origin
+  // (intersection of the base axis and floor) when at the home position
+  #define TPARA_ARM_X_HOME_POS  28.75  // (mm) Measured from shoulder axis to tool holder axis in home position
+  #define TPARA_ARM_Y_HOME_POS   0     // (mm)
+  #define TPARA_ARM_Z_HOME_POS 250.00  // (mm) Measured from tool holder axis to the floor
+
+  // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin )
   // This needs to be reasonably accurate as it defines the printbed position in the TPARA space.
-  #define TPARA_OFFSET_X    0     // (mm)
-  #define TPARA_OFFSET_Y    0     // (mm)
-  #define TPARA_OFFSET_Z    0     // (mm)
+  #define TPARA_OFFSET_X    127.0     // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable
+  #define TPARA_OFFSET_Y      0.0     // (mm)
+  #define TPARA_OFFSET_Z      0.0     // (mm)
+
+  // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis,
+  // (TCP: tool center/connection point) of the robot,
+  // the plane of measured offset must be alligned with home position plane
+  #define TPARA_TCP_OFFSET_X    27.0     // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0,
+  #define TPARA_TCP_OFFSET_Y     0.0     // (mm)
+  #define TPARA_TCP_OFFSET_Z   -65.0     // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0
 
   #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
 
   // Radius around the center where the arm cannot reach
-  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
-#endif
+  // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle
+  #define MIDDLE_DEAD_ZONE_R   100    // (mm)
+
+  // Max angle between L1 and L2
+  #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees)
+#endif // AXEL_TPARA
 
 // @section polar
 
@@ -1395,6 +1430,11 @@
  * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
  */
 //#define S_CURVE_ACCELERATION
+#if ENABLED(S_CURVE_ACCELERATION)
+  // Define to use 4th instead of 6th order motion curve
+  //#define S_CURVE_FACTOR 0.25    // Initial and final acceleration factor, ideally 0.1 to 0.4.
+                                   // Shouldn't generally require tuning.
+#endif
 
 //===========================================================================
 //============================= Z Probe Options =============================
@@ -1623,7 +1663,7 @@
  * Nozzle-to-Probe offsets { X, Y, Z }
  *
  * X and Y offset
- *   Use a caliper or ruler to measure the distance from the tip of
+ *   Use a caliper or ruler to measure the distance (in mm) from the tip of
  *   the Nozzle to the center-point of the Probe in the X and Y axes.
  *
  * Z offset
@@ -1659,7 +1699,7 @@
  *     |    [-]    |
  *     O-- FRONT --+
  */
-#define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0 }
+#define NOZZLE_TO_PROBE_OFFSET { 10, 10, 0 } // (mm) X, Y, Z distance from Nozzle tip to Probe trigger-point
 
 // Enable and set to use a specific tool for probing. Disable to allow any tool.
 #define PROBING_TOOL 0
@@ -1667,6 +1707,8 @@
   //#define PROBE_TOOLCHANGE_NO_MOVE  // Suppress motion on probe tool-change
 #endif
 
+//#define PROBE_WAKEUP_TIME_MS  30    // (ms) Time for the probe to wake up
+
 // Most probes should stay away from the edges of the bed, but
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10
@@ -1820,15 +1862,12 @@
 //#define DISABLE_V
 //#define DISABLE_W
 
-// Turn off the display blinking that warns about possible accuracy reduction
-//#define DISABLE_REDUCED_ACCURACY_WARNING
-
 // @section extruder
 
 //#define DISABLE_E               // Disable the extruder when not stepping
 #define DISABLE_OTHER_EXTRUDERS   // Keep only the active extruder enabled
 
-// @section motion
+// @section stepper drivers
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
 #define INVERT_X_DIR false
@@ -1841,8 +1880,6 @@
 //#define INVERT_V_DIR false
 //#define INVERT_W_DIR false
 
-// @section extruder
-
 // For direct drive extruder v9 set to true, for geared extruder set to false.
 #define INVERT_E0_DIR false
 #define INVERT_E1_DIR false
@@ -2487,7 +2524,7 @@
 //
 //#define TEMPERATURE_UNITS_SUPPORT
 
-// @section temperature
+// @section temperature presets
 
 //
 // Preheat Constants - Up to 10 are supported without changes
@@ -3468,6 +3505,7 @@
    * NOTOSANS  - Default font with anti-aliasing. Supports Latin Extended and non-Latin characters.
    * UNIFONT   - Lightweight font, no anti-aliasing. Supports Latin Extended and non-Latin characters.
    * HELVETICA - Lightweight font, no anti-aliasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only.
+   * :['NOTOSANS', 'UNIFONT', 'HELVETICA']
    */
   #define TFT_FONT  NOTOSANS
 
@@ -3477,6 +3515,7 @@
    * BLUE_MARLIN  - Default theme with 'midnight blue' background
    * BLACK_MARLIN - Theme with 'black' background
    * ANET_BLACK   - Theme used for Anet ET4/5
+   * :['BLUE_MARLIN', 'BLACK_MARLIN', 'ANET_BLACK']
    */
   #define TFT_THEME BLACK_MARLIN
 

Marlin/Configuration_adv.h

@@ -297,7 +297,7 @@
  * protect against a broken or disconnected thermistor wire.
  *
  * The issue: If a thermistor falls out, it will report the much lower
- * temperature of the air in the room, and the the firmware will keep
+ * temperature of the air in the room, and the firmware will keep
  * the heater on.
  *
  * The solution: Once the temperature reaches the target, start observing.
@@ -415,14 +415,19 @@
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
   //#define PID_EXTRUSION_SCALING
   #if ENABLED(PID_EXTRUSION_SCALING)
-    #define DEFAULT_Kc (100) // heating power = Kc * e_speed
     #define LPQ_MAX_LEN 50
+    #define DEFAULT_KC 100  // heating power = Kc * e_speed
+    #if ENABLED(PID_PARAMS_PER_HOTEND)
+      // Specify up to one value per hotend here, according to your setup.
+      // If there are fewer values, the last one applies to the remaining hotends.
+      #define DEFAULT_KC_LIST { DEFAULT_KC, DEFAULT_KC }  // heating power = Kc * e_speed
+    #endif
   #endif
 
   /**
    * Add an additional term to the heater power, proportional to the fan speed.
    * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan.
-   * You can either just add a constant compensation with the DEFAULT_Kf value
+   * You can either just add a constant compensation with the DEFAULT_KF value
    * or follow the instruction below to get speed-dependent compensation.
    *
    * Constant compensation (use only with fan speeds of 0% and 100%)
@@ -453,21 +458,26 @@
     #if ENABLED(PID_FAN_SCALING_ALTERNATIVE_DEFINITION)
       // The alternative definition is used for an easier configuration.
       // Just figure out Kf at full speed (255) and PID_FAN_SCALING_MIN_SPEED.
-      // DEFAULT_Kf and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly.
+      // DEFAULT_KF and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly.
 
-      #define PID_FAN_SCALING_AT_FULL_SPEED 13.0        //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_Kf
-      #define PID_FAN_SCALING_AT_MIN_SPEED   6.0        //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_Kf
+      #define PID_FAN_SCALING_AT_FULL_SPEED 13.0        //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_KF
+      #define PID_FAN_SCALING_AT_MIN_SPEED   6.0        //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_KF
       #define PID_FAN_SCALING_MIN_SPEED     10.0        // Minimum fan speed at which to enable PID_FAN_SCALING
 
-      #define DEFAULT_Kf (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED)
-      #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_Kf)/255.0
+      #define DEFAULT_KF (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED)
+      #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_KF)/255.0
 
     #else
       #define PID_FAN_SCALING_LIN_FACTOR (0)             // Power-loss due to cooling = Kf * (fan_speed)
-      #define DEFAULT_Kf 10                              // A constant value added to the PID-tuner
+      #define DEFAULT_KF 10                              // A constant value added to the PID-tuner
       #define PID_FAN_SCALING_MIN_SPEED 10               // Minimum fan speed at which to enable PID_FAN_SCALING
     #endif
   #endif
+  #if ENABLED(PID_PARAMS_PER_HOTEND)
+    // Specify up to one value per hotend here, according to your setup.
+    // If there are fewer values, the last one applies to the remaining hotends.
+    #define DEFAULT_KF_LIST { DEFAULT_KF, DEFAULT_KF }
+  #endif
 #endif
 
 /**
@@ -486,15 +496,15 @@
 #define AUTOTEMP
 #if ENABLED(AUTOTEMP)
   #define AUTOTEMP_OLDWEIGHT    0.98  // Factor used to weight previous readings (0.0 < value < 1.0)
-  #define AUTOTEMP_MIN          210
-  #define AUTOTEMP_MAX          250
+  #define AUTOTEMP_MIN        210
+  #define AUTOTEMP_MAX        250
   #define AUTOTEMP_FACTOR       0.1f
   // Turn on AUTOTEMP on M104/M109 by default using proportions set here
   //#define AUTOTEMP_PROPORTIONAL
   #if ENABLED(AUTOTEMP_PROPORTIONAL)
-    #define AUTOTEMP_MIN_P      0 // (°C) Added to the target temperature
-    #define AUTOTEMP_MAX_P      5 // (°C) Added to the target temperature
-    #define AUTOTEMP_FACTOR_P   1 // Apply this F parameter by default (overridden by M104/M109 F)
+    #define AUTOTEMP_MIN_P      0     // (°C) Added to the target temperature
+    #define AUTOTEMP_MAX_P      5     // (°C) Added to the target temperature
+    #define AUTOTEMP_FACTOR_P   1     // Apply this F parameter by default (overridden by M104/M109 F)
   #endif
 #endif
 
@@ -778,7 +788,7 @@
 
 // @section endstops
 
-// If you want endstops to stay on (by default) even when not homing
+// If you want endstops to stay on (by default) even when not homing,
 // enable this option. Override at any time with M120, M121.
 //#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
@@ -1143,65 +1153,110 @@
 
 /**
  * Fixed-time-based Motion Control -- BETA FEATURE
- * Enable/disable and set parameters with G-code M493.
+ * Enable/disable and set parameters with G-code M493 and M494.
  * See ft_types.h for named values used by FTM options.
  */
 //#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
-  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+  //#define FTM_IS_DEFAULT_MOTION               // Use FT Motion as the factory default?
+  //#define FT_MOTION_MENU                      // Provide a MarlinUI menu to set M493 and M494 parameters
+
+  //#define NO_STANDARD_MOTION                  // Disable the standard motion system entirely to save Flash and RAM
+  #if DISABLED(NO_STANDARD_MOTION)
+    //#define FTM_HOME_AND_PROBE                // Use FT Motion for homing / probing. Disable if FT Motion breaks these functions.
+  #endif
+
+  //#define FTM_DYNAMIC_FREQ                    // Enable for linear adjustment of XY shaping frequency according to Z or E
+  #if ENABLED(FTM_DYNAMIC_FREQ)
+    #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+  #endif
+
+  // Disable unused shapers if you need more free space
+  #define FTM_SHAPER_ZV
+  #define FTM_SHAPER_ZVD
+  #define FTM_SHAPER_ZVDD
+  #define FTM_SHAPER_ZVDDD
+  #define FTM_SHAPER_EI
+  #define FTM_SHAPER_2HEI
+  #define FTM_SHAPER_3HEI
+  #define FTM_SHAPER_MZV
+
   #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
+  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_X            0.1f    // Zeta used by input shapers for X axis
+  #define FTM_SHAPING_V_TOL_X           0.05f   // Vibration tolerance used by EI input shapers for X axis
+
   #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
-  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
-  #define FTM_LINEAR_ADV_DEFAULT_K      0.0f      // Default linear advance gain. (Acceleration-based scaling factor.)
-  #define FTM_SHAPING_ZETA_X            0.1f      // Zeta used by input shapers for X axis
-  #define FTM_SHAPING_ZETA_Y            0.1f      // Zeta used by input shapers for Y axis
+  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Y            0.1f    // Zeta used by input shapers for Y axis
+  #define FTM_SHAPING_V_TOL_Y           0.05f   // Vibration tolerance used by EI input shapers for Y axis
 
-  #define FTM_SHAPING_V_TOL_X           0.05f     // Vibration tolerance used by EI input shapers for X axis
-  #define FTM_SHAPING_V_TOL_Y           0.05f     // Vibration tolerance used by EI input shapers for Y axis
+  //#define FTM_SHAPER_Z                        // Include Z shaping support
+  #define FTM_DEFAULT_SHAPER_Z      ftMotionShaper_NONE // Default shaper mode on Z axis
+  #define FTM_SHAPING_DEFAULT_FREQ_Z   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_Z            0.03f   // Zeta used by input shapers for Z axis
+  #define FTM_SHAPING_V_TOL_Z           0.05f   // Vibration tolerance used by EI input shapers for Z axis
 
-  //#define FT_MOTION_MENU                        // Provide a MarlinUI menu to set M493 parameters
+  //#define FTM_SHAPER_E                        // Include E shaping support
+                                                // Required to synchronize extruder with XYZ (better quality)
+  #define FTM_DEFAULT_SHAPER_E      ftMotionShaper_NONE // Default shaper mode on Extruder axis
+  #define FTM_SHAPING_DEFAULT_FREQ_E   21.0f    // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_ZETA_E            0.03f   // Zeta used by input shapers for E axis
+  #define FTM_SHAPING_V_TOL_E           0.05f   // Vibration tolerance used by EI input shapers for E axis
+
+  //#define FTM_RESONANCE_TEST                  // Sine sweep motion for resonance study
+
+  //#define FTM_SMOOTHING                       // Smoothing can reduce artifacts and make steppers quieter
+                                                // on sharp corners, but too much will round corners.
+  #if ENABLED(FTM_SMOOTHING)
+    #define FTM_MAX_SMOOTHING_TIME      0.10f   // (s) Maximum smoothing time. Higher values consume more RAM.
+                                                // Increase smoothing time to reduce jerky motion, ghosting and noises.
+    #define FTM_SMOOTHING_TIME_X        0.00f   // (s) Smoothing time for X axis. Zero means disabled.
+    #define FTM_SMOOTHING_TIME_Y        0.00f   // (s) Smoothing time for Y axis
+    #define FTM_SMOOTHING_TIME_Z        0.00f   // (s) Smoothing time for Z axis
+    #define FTM_SMOOTHING_TIME_E        0.02f   // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
+                                                //     smoothing acceleration peaks, which may also smooth curved surfaces.
+  #endif
+
+  #define FTM_POLYS                             // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
+  #if ENABLED(FTM_POLYS)
+    #define FTM_TRAJECTORY_TYPE TRAPEZOIDAL     // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                                // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                                // POLY5:       Like POLY6 with 1.5x but uses less CPU.
+                                                // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                                // POLY trajectories not only reduce resonances without rounding corners, but also
+                                                // reduce extruder strain due to linear advance.
+
+    #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+  #endif
 
   /**
    * Advanced configuration
    */
-  #define FTM_UNIFIED_BWS                         // DON'T DISABLE unless you use Ulendo FBS (not implemented)
-  #if ENABLED(FTM_UNIFIED_BWS)
-    #define FTM_BW_SIZE               100         // Unified Window and Batch size with a ratio of 2
-  #else
-    #define FTM_WINDOW_SIZE           200         // Custom Window size for trajectory generation needed by Ulendo FBS
-    #define FTM_BATCH_SIZE            100         // Custom Batch size for trajectory generation needed by Ulendo FBS
+  #define FTM_BUFFER_SIZE             128   // Window size for trajectory generation, must be a power of 2 (e.g 64, 128, 256, ...)
+                                            // The total buffered time in seconds is (FTM_BUFFER_SIZE/FTM_FS)
+  #define FTM_FS                     1000   // (Hz) Frequency for trajectory generation.
+  #define FTM_MIN_SHAPE_FREQ           20   // (Hz) Minimum shaping frequency, lower consumes more RAM
+
+  /**
+   * TMC2208 / TMC2208_STANDALONE drivers require a brief pause after a DIR change
+   * to prevent a standstill shutdown when using StealthChop (the standalone default).
+   * These options cause FT Motion to delay for > 750µs after a DIR change on a given axis.
+   * Disable only if you are certain that this can never happen with your TMC2208s.
+   */
+  #if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE)
+    #define FTM_DIR_CHANGE_HOLD_X
+  #endif
+  #if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE)
+    #define FTM_DIR_CHANGE_HOLD_Y
+  #endif
+  #if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE)
+    #define FTM_DIR_CHANGE_HOLD_Z
+  #endif
+  #if HAS_E_DRIVER(TMC2208) || HAS_E_DRIVER(TMC2208_STANDALONE)
+    #define FTM_DIR_CHANGE_HOLD_E
   #endif
 
-  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
-  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
-
-  #if DISABLED(COREXY)
-    #define FTM_STEPPER_FS          20000         // (Hz) Frequency for stepper I/O update
-
-    // Use this to adjust the time required to consume the command buffer.
-    // Try increasing this value if stepper motion is choppy.
-    #define FTM_STEPPERCMD_BUFF_SIZE 3000         // Size of the stepper command buffers
-
-  #else
-    // CoreXY motion needs a larger buffer size. These values are based on our testing.
-    #define FTM_STEPPER_FS          30000
-    #define FTM_STEPPERCMD_BUFF_SIZE 6000
-  #endif
-
-  #define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS)       // Interpolated stepper commands per unit time
-  #define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
-
-  #define FTM_MIN_SHAPE_FREQ           10         // Minimum shaping frequency
-  #define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
-  #define FTM_ZMAX (FTM_RATIO * 2)                // Maximum delays for shaping functions (even numbers only!)
-                                                  // Calculate as:
-                                                  //   ZV       : FTM_RATIO / 2
-                                                  //   ZVD, MZV : FTM_RATIO
-                                                  //   2HEI     : FTM_RATIO * 3 / 2
-                                                  //   3HEI     : FTM_RATIO * 2
 #endif // FT_MOTION
 
 /**
@@ -1490,6 +1545,9 @@
 
 // @section lcd
 
+// Turn off the display blinking that warns about possible accuracy reduction
+//#define DISABLE_REDUCED_ACCURACY_WARNING
+
 #if HAS_MANUAL_MOVE_MENU
   #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, E from panel
   #define FINE_MANUAL_MOVE 0.025    // (mm) Smallest manual move (< 0.1mm) applying to Z on most machines
@@ -1621,7 +1679,7 @@
     #if HAS_MARLINUI_U8GLIB
       //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash.
     #endif
-    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780)
+    #if ANY(HAS_MARLINUI_U8GLIB, TOUCH_UI_FTDI_EVE, HAS_MARLINUI_HD44780, HAS_GRAPHICAL_TFT)
       //#define SHOW_CUSTOM_BOOTSCREEN    // Show the bitmap in Marlin/_Bootscreen.h on startup.
     #endif
   #endif
@@ -1743,6 +1801,12 @@
    */
   //#define SD_SPI_SPEED SPI_HALF_SPEED
 
+  /**
+   * Reinit the LCD after SD Card insert/remove or when entering the menu.
+   * Required for some LCDs that use shared SPI with an external SD Card reader.
+   */
+  #define REINIT_NOISY_LCD
+
   // The standard SD detect circuit reads LOW when media is inserted and HIGH when empty.
   // Enable this option and set to HIGH if your SD cards are incorrectly detected.
   //#define SD_DETECT_STATE HIGH
@@ -1777,6 +1841,14 @@
     #define PE_LEDS_COMPLETED_TIME  (30*60) // (seconds) Time to keep the LED "done" color before restoring normal illumination
   #endif
 
+  /**
+   * Priming for the Remaining Time estimate
+   * Long processes at the start of a G-code file can skew the Remaining Time estimate.
+   * Enable these options to start this estimation at a later point in the G-code file.
+   */
+  //#define REMAINING_TIME_PRIME      // Provide G-code 'M75 R' to prime the Remaining Time estimate
+  //#define REMAINING_TIME_AUTOPRIME  // Prime the Remaining Time estimate later (e.g., at the end of 'M109')
+
   /**
    * Continue after Power-Loss (Creality3D)
    *
@@ -1788,6 +1860,8 @@
   //#define POWER_LOSS_RECOVERY
   #if ENABLED(POWER_LOSS_RECOVERY)
     #define PLR_ENABLED_DEFAULT       false // Power-Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
+    //#define PLR_HEAT_BED_ON_REBOOT        // Heat up bed immediately on reboot to mitigate object detaching/warping.
+    //#define PLR_HEAT_BED_EXTRA          0 // (°C) Relative increase of bed temperature for better adhesion (limited by max temp).
     //#define PLR_BED_THRESHOLD BED_MAXTEMP // (°C) Skip user confirmation at or above this bed temperature (0 to disable)
 
     //#define POWER_LOSS_PIN             44 // Pin to detect power-loss. Set to -1 to disable default pin on boards without module, or comment to use board default.
@@ -1841,16 +1915,21 @@
 
   // SD Card Sorting options
   #if ENABLED(SDCARD_SORT_ALPHA)
-    #define SDSORT_REVERSE     false  // Default to sorting file names in reverse order.
-    #define SDSORT_LIMIT       40     // Maximum number of sorted items (10-256). Costs 27 bytes each.
-    #define SDSORT_FOLDERS     -1     // -1=above  0=none  1=below
-    #define SDSORT_GCODE       false  // Enable G-code M34 to set sorting behaviors: M34 S<-1|0|1> F<-1|0|1>
-    #define SDSORT_USES_RAM    false  // Pre-allocate a static array for faster pre-sorting.
-    #define SDSORT_USES_STACK  false  // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
-    #define SDSORT_CACHE_NAMES false  // Keep sorted items in RAM longer for speedy performance. Most expensive option.
-    #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
-    #define SDSORT_CACHE_VFATS 2      // Maximum number of 13-byte VFAT entries to use for sorting.
-                                      // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM.
+    #define SDSORT_QUICK           true   // Use Quick Sort as a sorting algorithm. Otherwise use Bubble Sort.
+    #define SDSORT_REVERSE         false  // Default to sorting file names in reverse order.
+    #define SDSORT_LIMIT           40     // Maximum number of sorted items (10-256). Costs 27 bytes each.
+    #define SDSORT_FOLDERS        -1      // -1=above  0=none  1=below
+    #define SDSORT_GCODE           false  // Enable G-code M34 to set sorting behaviors: M34 S<-1|0|1> F<-1|0|1>
+    #define SDSORT_USES_STACK      false  // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
+    #define SDSORT_USES_RAM        false  // Pre-allocate a static array for faster pre-sorting.
+    #if ENABLED(SDSORT_USES_RAM)
+      #define SDSORT_CACHE_NAMES   false  // Keep sorted items in RAM longer for speedy performance. Most expensive option.
+      #if ENABLED(SDSORT_CACHE_NAMES)
+        #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
+        #define SDSORT_CACHE_VFATS 2      // Maximum number of 13-byte VFAT entries to use for sorting.
+                                          // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM.
+      #endif
+    #endif
   #endif
 
   // Allow international symbols in long filenames. To display correctly, the
@@ -2304,7 +2383,7 @@
   //#define WATCHDOG_RESET_MANUAL
 #endif
 
-// @section lcd
+// @section baby-stepping
 
 /**
  * Babystepping enables movement of the axes by tiny increments without changing
@@ -2361,13 +2440,17 @@
  * See https://marlinfw.org/docs/features/lin_advance.html for full instructions.
  */
 //#define LIN_ADVANCE
-#if ENABLED(LIN_ADVANCE)
+
+#if ANY(LIN_ADVANCE, FT_MOTION)
   #if ENABLED(DISTINCT_E_FACTORS)
-    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder
+    #define ADVANCE_K { 0.22 }    // (mm) Compression length per 1mm/s extruder speed, per extruder. Override with 'M900 T<tool> K<mm>'.
   #else
-    #define ADVANCE_K 0.22        // (mm) Compression length applying to all extruders
+    #define ADVANCE_K 0.22        // (mm) Compression length for all extruders. Override with 'M900 K<mm>'.
   #endif
-  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with M900 L.
+  //#define ADVANCE_K_EXTRA       // Add a second linear advance constant, configurable with 'M900 L'.
+#endif
+
+#if ENABLED(LIN_ADVANCE)
   //#define LA_DEBUG              // Print debug information to serial during operation. Disable for production use.
   //#define EXPERIMENTAL_I2S_LA   // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz.
 
@@ -2553,13 +2636,15 @@
   #endif
 #endif // PTC_PROBE || PTC_BED || PTC_HOTEND
 
-// @section extras
+// @section gcode
 
 //
 // G60/G61 Position Save and Return
 //
 //#define SAVED_POSITIONS 1         // Each saved position slot costs 12 bytes
 
+// @section motion
+
 //
 // G2/G3 Arc Support
 //
@@ -2591,6 +2676,8 @@
  */
 //#define DIRECT_STEPPING
 
+// @section calibrate
+
 /**
  * G38 Probe Target
  *
@@ -2712,6 +2799,11 @@
   // Enable this option to collect and display the number
   // of dropped bytes after a file transfer to SD.
   //#define SERIAL_STATS_DROPPED_RX
+
+  // Enable this option to collect and display framing errors.
+  // Framing errors occur when invalid start/stop bits or other
+  // serial protocol violations are detected.
+  //#define SERIAL_STATS_RX_FRAMING_ERRORS
 #endif
 
 // Monitor RX buffer usage
@@ -2739,8 +2831,8 @@
  *
  * Adds support for commands:
  *  S000 : Report State and Position while moving.
- *  P000 : Instant Pause / Hold while moving.
- *  R000 : Resume from Pause / Hold.
+ *  P000 : Instant Pause / Hold while moving. Enable SOFT_FEED_HOLD for soft deceleration.
+ *  R000 : Resume from Pause / Hold. Enable SOFT_FEED_HOLD for soft acceleration.
  *
  * - During Hold all Emergency Parser commands are available, as usual.
  * - Enable NANODLP_Z_SYNC and NANODLP_ALL_AXIS for move command end-state reports.
@@ -2797,7 +2889,7 @@
  */
 //#define EXTRA_FAN_SPEED
 
-// @section gcode
+// @section firmware retraction
 
 /**
  * Firmware-based and LCD-controlled retract
@@ -3614,7 +3706,7 @@
   //#define PHOTO_RETRACT_MM   6.5                          // (mm) E retract/recover for the photo move (M240 R S)
 
   // Canon RC-1 or homebrew digital camera trigger
-  // Data from: https://www.doc-diy.net/photo/rc-1_hacked/
+  // Data from: https://web.archive.org/web/20250327153953/www.doc-diy.net/photo/rc-1_hacked/
   //#define PHOTOGRAPH_PIN 23
 
   // Canon Hack Development Kit
@@ -4079,13 +4171,17 @@
 /**
  * G-code Macros
  *
- * Add G-codes M810-M819 to define and run G-code macros.
- * Macros are not saved to EEPROM.
+ * Add G-codes M810-M819 to define and run G-code macros
+ * and M820 to report the current set of macros.
+ * Macros are not saved to EEPROM unless enabled below.
  */
 //#define GCODE_MACROS
 #if ENABLED(GCODE_MACROS)
   #define GCODE_MACROS_SLOTS       5  // Up to 10 may be used
   #define GCODE_MACROS_SLOT_SIZE  50  // Maximum length of a single macro
+  #if ENABLED(EEPROM_SETTINGS)
+    //#define GCODE_MACROS_IN_EEPROM  // Include macros in EEPROM
+  #endif
 #endif
 
 /**
@@ -4107,22 +4203,27 @@
   #define MAIN_MENU_ITEM_1_DESC "Home & UBL Info"
   #define MAIN_MENU_ITEM_1_GCODE "G28\nG29 W"
   //#define MAIN_MENU_ITEM_1_CONFIRM          // Show a confirmation dialog before this action
+  //#define MAIN_MENU_ITEM_1_IMMEDIATE        // Skip the queue and execute immediately. Rarely needed.
 
   #define MAIN_MENU_ITEM_2_DESC "Preheat for " PREHEAT_1_LABEL
   #define MAIN_MENU_ITEM_2_GCODE "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
   //#define MAIN_MENU_ITEM_2_CONFIRM
+  //#define MAIN_MENU_ITEM_2_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_3_DESC "Preheat for " PREHEAT_2_LABEL
   //#define MAIN_MENU_ITEM_3_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
   //#define MAIN_MENU_ITEM_3_CONFIRM
+  //#define MAIN_MENU_ITEM_3_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_4_DESC "Heat Bed/Home/Level"
   //#define MAIN_MENU_ITEM_4_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
   //#define MAIN_MENU_ITEM_4_CONFIRM
+  //#define MAIN_MENU_ITEM_4_IMMEDIATE
 
   //#define MAIN_MENU_ITEM_5_DESC "Home & Info"
   //#define MAIN_MENU_ITEM_5_GCODE "G28\nM503"
   //#define MAIN_MENU_ITEM_5_CONFIRM
+  //#define MAIN_MENU_ITEM_5_IMMEDIATE
 #endif
 
 // @section custom config menu
@@ -4139,22 +4240,27 @@
   #define CONFIG_MENU_ITEM_1_DESC "Wifi ON"
   #define CONFIG_MENU_ITEM_1_GCODE "M118 [ESP110] WIFI-STA pwd=12345678"
   //#define CONFIG_MENU_ITEM_1_CONFIRM        // Show a confirmation dialog before this action
+  //#define CONFIG_MENU_ITEM_1_IMMEDIATE      // Skip the queue and execute immediately. Rarely needed.
 
   #define CONFIG_MENU_ITEM_2_DESC "Bluetooth ON"
   #define CONFIG_MENU_ITEM_2_GCODE "M118 [ESP110] BT pwd=12345678"
   //#define CONFIG_MENU_ITEM_2_CONFIRM
+  //#define CONFIG_MENU_ITEM_2_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_3_DESC "Radio OFF"
   //#define CONFIG_MENU_ITEM_3_GCODE "M118 [ESP110] OFF pwd=12345678"
   //#define CONFIG_MENU_ITEM_3_CONFIRM
+  //#define CONFIG_MENU_ITEM_3_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_4_DESC "Wifi ????"
   //#define CONFIG_MENU_ITEM_4_GCODE "M118 ????"
   //#define CONFIG_MENU_ITEM_4_CONFIRM
+  //#define CONFIG_MENU_ITEM_4_IMMEDIATE
 
   //#define CONFIG_MENU_ITEM_5_DESC "Wifi ????"
   //#define CONFIG_MENU_ITEM_5_GCODE "M118 ????"
   //#define CONFIG_MENU_ITEM_5_CONFIRM
+  //#define CONFIG_MENU_ITEM_5_IMMEDIATE
 #endif
 
 // @section custom buttons
@@ -4171,6 +4277,7 @@
     #define BUTTON1_WHEN_PRINTING false     // Button allowed to trigger during printing?
     #define BUTTON1_GCODE         "G28"
     #define BUTTON1_DESC          "Homing"  // Optional string to set the LCD status
+    //#define BUTTON1_IMMEDIATE             // Skip the queue and execute immediately. Rarely needed.
   #endif
 
   //#define BUTTON2_PIN -1
@@ -4179,6 +4286,7 @@
     #define BUTTON2_WHEN_PRINTING false
     #define BUTTON2_GCODE         "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
     #define BUTTON2_DESC          "Preheat for " PREHEAT_1_LABEL
+    //#define BUTTON2_IMMEDIATE
   #endif
 
   //#define BUTTON3_PIN -1
@@ -4187,6 +4295,7 @@
     #define BUTTON3_WHEN_PRINTING false
     #define BUTTON3_GCODE         "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
     #define BUTTON3_DESC          "Preheat for " PREHEAT_2_LABEL
+    //#define BUTTON3_IMMEDIATE
   #endif
 #endif
 
@@ -4234,7 +4343,7 @@
  * Developed by Chris Barr at Aus3D.
  *
  * Wiki: https://wiki.aus3d.com.au/Magnetic_Encoder
- * Github: https://github.com/Aus3D/MagneticEncoder
+ * GitHub: https://github.com/Aus3D/MagneticEncoder
  *
  * Supplier: https://aus3d.com.au/products/magnetic-encoder-module
  * Alternative Supplier: https://reliabuild3d.com/
@@ -4259,7 +4368,7 @@
   //#define I2CPE_ENC_1_TICKS_REV     (16 * 200)            // Only needed for rotary encoders; number of stepper
                                                             // steps per full revolution (motor steps/rev * microstepping)
   //#define I2CPE_ENC_1_INVERT                              // Invert the direction of axis travel.
-  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error error correction.
+  #define I2CPE_ENC_1_EC_METHOD     I2CPE_ECM_MICROSTEP     // Type of error correction.
   #define I2CPE_ENC_1_EC_THRESH     0.10                    // Threshold size for error (in mm) above which the
                                                             // printer will attempt to correct the error; errors
                                                             // smaller than this are ignored to minimize effects of
@@ -4353,15 +4462,38 @@
 #endif
 
 /**
- * Instant freeze / unfreeze functionality
- * Potentially useful for rapid stop that allows being resumed. Halts stepper movement.
- * Note this does NOT pause spindles, lasers, fans, heaters or any other auxiliary device.
- * @section interface
+ * Freeze / Unfreeze
+ *
+ * Pause / Hold that keeps power available and does not stop the spindle can be initiated by
+ * the FREEZE_PIN. Halts instantly (default) or performs a soft feed hold that decelerates and
+ * halts movement at FREEZE_JERK (requires SOFT_FEED_HOLD).
+ * Motion can be resumed by using the FREEZE_PIN.
+ *
+ * NOTE: Controls Laser PWM but does NOT pause Spindle, Fans, Heaters or other devices.
+ * @section freeze
  */
 //#define FREEZE_FEATURE
 #if ENABLED(FREEZE_FEATURE)
-  //#define FREEZE_PIN 41   // Override the default (KILL) pin here
-  #define FREEZE_STATE LOW  // State of pin indicating freeze
+  //#define FREEZE_PIN   -1   // Override the default (KILL) pin here
+  #define FREEZE_STATE  LOW   // State of pin indicating freeze
+#endif
+
+#if ANY(FREEZE_FEATURE, REALTIME_REPORTING_COMMANDS)
+  /**
+   * Command P000 (REALTIME_REPORTING_COMMANDS and EMERGENCY_PARSER) or
+   * FREEZE_PIN (FREEZE_FEATURE) initiates a soft feed hold that keeps
+   * power available and does not stop the spindle.
+   *
+   * The soft feed hold decelerates and halts movement at FREEZE_JERK.
+   * Motion can be resumed with command R000 (requires REALTIME_REPORTING_COMMANDS) or
+   * by using the FREEZE_PIN (requires FREEZE_FEATURE).
+   *
+   * NOTE: Affects Laser PWM but DOES NOT pause Spindle, Fans, Heaters or other devices.
+   */
+  //#define SOFT_FEED_HOLD
+  #if ENABLED(SOFT_FEED_HOLD)
+    #define FREEZE_JERK     2   // (mm/s) Completely halt when motion has decelerated below this value
+  #endif
 #endif
 
 /**
@@ -4691,6 +4823,11 @@
 //
 //#define PINS_DEBUGGING
 
+//
+// M265 - I2C Scanner
+//
+//#define I2C_SCANNER
+
 // Enable Tests that will run at startup and produce a report
 //#define MARLIN_TEST_BUILD
 

Marlin/Makefile

@@ -188,15 +188,15 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1033)
 else ifeq ($(HARDWARE_MOTHERBOARD),1034)
 
 # RAMPS 1.6+ (Power outputs: Hotend, Fan, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1035)
+else ifeq ($(HARDWARE_MOTHERBOARD),1040)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Bed)
-else ifeq ($(HARDWARE_MOTHERBOARD),1036)
+else ifeq ($(HARDWARE_MOTHERBOARD),1041)
 # RAMPS 1.6+ (Power outputs: Hotend, Fan0, Fan1)
-else ifeq ($(HARDWARE_MOTHERBOARD),1037)
+else ifeq ($(HARDWARE_MOTHERBOARD),1042)
 # RAMPS 1.6+ (Power outputs: Hotend0, Hotend1, Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1038)
+else ifeq ($(HARDWARE_MOTHERBOARD),1043)
 # RAMPS 1.6+ (Power outputs: Spindle, Controller Fan)
-else ifeq ($(HARDWARE_MOTHERBOARD),1039)
+else ifeq ($(HARDWARE_MOTHERBOARD),1044)
 
 #
 # RAMPS Derivatives - ATmega1280, ATmega2560
@@ -286,60 +286,62 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1138)
 else ifeq ($(HARDWARE_MOTHERBOARD),1139)
 # Creality: CR10S, CR20, CR-X
 else ifeq ($(HARDWARE_MOTHERBOARD),1140)
-# Dagoma F5
+# Creality CR-10 V2, CR-10 V3
 else ifeq ($(HARDWARE_MOTHERBOARD),1141)
-# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
+# Dagoma F5
 else ifeq ($(HARDWARE_MOTHERBOARD),1142)
-# FYSETC F6 1.3
+# Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
 else ifeq ($(HARDWARE_MOTHERBOARD),1143)
-# FYSETC F6 1.4
+# FYSETC F6 1.3
 else ifeq ($(HARDWARE_MOTHERBOARD),1144)
-# Wanhao Duplicator i3 Plus
+# FYSETC F6 1.4
 else ifeq ($(HARDWARE_MOTHERBOARD),1145)
-# VORON Design
+# Wanhao Duplicator i3 Plus
 else ifeq ($(HARDWARE_MOTHERBOARD),1146)
-# Tronxy TRONXY-V3-1.0
+# VORON Design
 else ifeq ($(HARDWARE_MOTHERBOARD),1147)
-# Z-Bolt X Series
+# Tronxy TRONXY-V3-1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1148)
-# TT OSCAR
+# Z-Bolt X Series
 else ifeq ($(HARDWARE_MOTHERBOARD),1149)
-# BIQU Tango V1
+# TT OSCAR
 else ifeq ($(HARDWARE_MOTHERBOARD),1150)
-# MKS GEN L V2
+# BIQU Tango V1
 else ifeq ($(HARDWARE_MOTHERBOARD),1151)
-# MKS GEN L V2.1
+# MKS GEN L V2
 else ifeq ($(HARDWARE_MOTHERBOARD),1152)
-# Copymaster 3D
+# MKS GEN L V2.1
 else ifeq ($(HARDWARE_MOTHERBOARD),1153)
-# Ortur 4
+# Copymaster 3D
 else ifeq ($(HARDWARE_MOTHERBOARD),1154)
-# Tenlog D3 Hero IDEX printer
+# Ortur 4
 else ifeq ($(HARDWARE_MOTHERBOARD),1155)
-# Tenlog D3, D5, D6 IDEX Printer
+# Tenlog D3 Hero IDEX printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1156)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
+# Tenlog D3, D5, D6 IDEX Printer
 else ifeq ($(HARDWARE_MOTHERBOARD),1157)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1158)
-# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1159)
-# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
+# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
 else ifeq ($(HARDWARE_MOTHERBOARD),1160)
-# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+# Longer LK1 PRO / Alfawise U20 Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1161)
-# Pxmalion Core I3
+# Longer LKx PRO / Alfawise Uxx Pro (PRO version)
 else ifeq ($(HARDWARE_MOTHERBOARD),1162)
-# Panowin Cutlass (as found in the Panowin F1)
+# Pxmalion Core I3
 else ifeq ($(HARDWARE_MOTHERBOARD),1163)
-# Kodama Bardo V1.x (as found in the Kodama Trinus)
+# Panowin Cutlass (as found in the Panowin F1)
 else ifeq ($(HARDWARE_MOTHERBOARD),1164)
-# XTLW MFF V1.0
+# Kodama Bardo V1.x (as found in the Kodama Trinus)
 else ifeq ($(HARDWARE_MOTHERBOARD),1165)
-# XTLW MFF V2.0
+# XTLW MFF V1.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1166)
-# E3D Rumba BigBox
+# XTLW MFF V2.0
 else ifeq ($(HARDWARE_MOTHERBOARD),1167)
+# E3D Rumba BigBox
+else ifeq ($(HARDWARE_MOTHERBOARD),1168)
 
 #
 # RAMBo and derivatives
@@ -408,32 +410,34 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1319)
 else ifeq ($(HARDWARE_MOTHERBOARD),1320)
 # Geeetech GT2560 Rev B for A20(M/T/D)
 else ifeq ($(HARDWARE_MOTHERBOARD),1321)
-# Einstart retrofit
-else ifeq ($(HARDWARE_MOTHERBOARD),1322)
-# Wanhao 0ne+ i3 Mini
-else ifeq ($(HARDWARE_MOTHERBOARD),1323)
-# Overlord/Overlord Pro
-else ifeq ($(HARDWARE_MOTHERBOARD),1324)
-# ADIMLab Gantry v1
-else ifeq ($(HARDWARE_MOTHERBOARD),1325)
-# ADIMLab Gantry v2
-else ifeq ($(HARDWARE_MOTHERBOARD),1326)
-# Leapfrog Xeed 2015
-else ifeq ($(HARDWARE_MOTHERBOARD),1327)
-# PICA Shield (original version)
-else ifeq ($(HARDWARE_MOTHERBOARD),1328)
-# PICA Shield (rev C or later)
-else ifeq ($(HARDWARE_MOTHERBOARD),1329)
-# Intamsys 4.0 (Funmat HT)
-else ifeq ($(HARDWARE_MOTHERBOARD),1330)
-# Malyan M180 Mainboard Version 2 (no display function, direct G-code only)
-else ifeq ($(HARDWARE_MOTHERBOARD),1331)
-# Mega controller & Protoneer CNC Shield V3.00
-else ifeq ($(HARDWARE_MOTHERBOARD),1332)
-# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
-else ifeq ($(HARDWARE_MOTHERBOARD),1333)
 # Geeetech GT2560 V4.1B for A10(M/T/D)
+else ifeq ($(HARDWARE_MOTHERBOARD),1322)
+# Einstart retrofit
+else ifeq ($(HARDWARE_MOTHERBOARD),1323)
+# Wanhao 0ne+ i3 Mini
+else ifeq ($(HARDWARE_MOTHERBOARD),1324)
+# Wanhao D9 MK2
+else ifeq ($(HARDWARE_MOTHERBOARD),1325)
+# Overlord/Overlord Pro
+else ifeq ($(HARDWARE_MOTHERBOARD),1326)
+# ADIMLab Gantry v1
+else ifeq ($(HARDWARE_MOTHERBOARD),1327)
+# ADIMLab Gantry v2
+else ifeq ($(HARDWARE_MOTHERBOARD),1328)
+# Leapfrog Xeed 2015
+else ifeq ($(HARDWARE_MOTHERBOARD),1329)
+# PICA Shield (original version)
+else ifeq ($(HARDWARE_MOTHERBOARD),1330)
+# PICA Shield (rev C or later)
+else ifeq ($(HARDWARE_MOTHERBOARD),1331)
+# Intamsys 4.0 (Funmat HT)
+else ifeq ($(HARDWARE_MOTHERBOARD),1332)
+# Malyan M180 Mainboard Version 2
+else ifeq ($(HARDWARE_MOTHERBOARD),1333)
+# Mega controller & Protoneer CNC Shield V3.00
 else ifeq ($(HARDWARE_MOTHERBOARD),1334)
+# WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
+else ifeq ($(HARDWARE_MOTHERBOARD),1335)
 
 #
 # ATmega1281, ATmega2561
@@ -513,7 +517,7 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1511)
   MCU              ?= atmega1284p
   PROG_MCU         ?= m1284p
 # ZoneStar ZMIB V2
-else ifeq ($(HARDWARE_MOTHERBOARD),1511)
+else ifeq ($(HARDWARE_MOTHERBOARD),1512)
   HARDWARE_VARIANT ?= Sanguino
   MCU              ?= atmega1284p
   PROG_MCU         ?= m1284p
@@ -627,6 +631,10 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1707)
   MCU              ?= at90usb1286
   PROG_MCU         ?= usb1286
 
+#
+# SAM3X8E ARM Cortex-M3
+#
+
 # UltiMachine Archim1 (with DRV8825 drivers)
 else ifeq ($(HARDWARE_MOTHERBOARD),3023)
   HARDWARE_VARIANT ?= archim

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2025-09-11"
+//#define STRING_DISTRIBUTION_DATE "2026-02-20"
 
 /**
  * The protocol for communication to the host. Protocol indicates communication
@@ -58,7 +58,7 @@
 /**
  * The SOURCE_CODE_URL is the location where users will find the Marlin Source
  * Code which is installed on the device. In most cases —unless the manufacturer
- * has a distinct Github fork— the Source Code URL should just be the main
+ * has a distinct GitHub fork— the Source Code URL should just be the main
  * Marlin repository.
  */
 //#define SOURCE_CODE_URL "github.com/MarlinFirmware/Marlin"

Marlin/config.ini

@@ -86,13 +86,14 @@ heater_0_maxtemp                         = 275
 pidtemp                                  = on
 pid_k1                                   = 0.95
 pid_max                                  = 255
-pid_functional_range                     = 10
+pid_functional_range                     = 20
 
 default_kp                               = 22.20
 default_ki                               = 1.08
 default_kd                               = 114.00
 
 temp_sensor_bed                          = 1
+bed_check_interval                       = 5000
 bed_mintemp                              = 5
 bed_maxtemp                              = 150
 
@@ -163,18 +164,28 @@ min_steps_per_segment                    = 6
 default_minsegmenttime                   = 20000
 
 [config:basic]
+hotend_overshoot                         = 15
 bed_overshoot                            = 10
+max_bed_power                            = 255
+
 busy_while_heating                       = on
+host_keepalive_feature                   = on
 default_keepalive_interval               = 2
+printjob_timer_autostart                 = on
+
+jd_handle_small_segments                 = on
+validate_homing_endstops                 = on
+editable_steps_per_unit                  = on
+
 eeprom_boot_silent                       = on
 eeprom_chitchat                          = on
+
 endstoppullups                           = on
-extrude_maxlength                        = 200
+
+prevent_cold_extrusion                   = on
 extrude_mintemp                          = 170
-host_keepalive_feature                   = on
-hotend_overshoot                         = 15
-jd_handle_small_segments                 = on
-max_bed_power                            = 255
+prevent_lengthy_extrude                  = on
+extrude_maxlength                        = 200
 
 min_software_endstops                    = on
 max_software_endstops                    = on
@@ -195,21 +206,19 @@ preheat_2_temp_hotend                    = 240
 preheat_2_temp_bed                       = 110
 preheat_2_fan_speed                      = 0
 
-prevent_cold_extrusion                   = on
-prevent_lengthy_extrude                  = on
-printjob_timer_autostart                 = on
-
 temp_bed_hysteresis                      = 3
 temp_bed_residency_time                  = 10
 temp_bed_window                          = 1
 temp_residency_time                      = 10
 temp_window                              = 1
-validate_homing_endstops                 = on
-
-editable_steps_per_unit                  = on
 
 [config:advanced]
 arc_support                              = on
+min_arc_segment_mm                       = 0.1
+max_arc_segment_mm                       = 1.0
+min_circle_segments                      = 72
+n_arc_correction                         = 25
+
 auto_report_temperatures                 = on
 
 autotemp                                 = on
@@ -223,22 +232,23 @@ disable_idle_x                           = on
 disable_idle_y                           = on
 disable_idle_z                           = on
 disable_idle_e                           = on
+
 e0_auto_fan_pin                          = -1
+
 faster_gcode_parser                      = on
 debug_flags_gcode                        = 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
-tx_buffer_size                           = 0
+multistepping_limit                      = 16
 
-bed_check_interval                       = 5000
-watch_bed_temp_increase                  = 2
-watch_bed_temp_period                    = 60
+serial_overrun_protection                = on
+tx_buffer_size                           = 0
 
 watch_temp_increase                      = 2
 watch_temp_period                        = 40
+
+watch_bed_temp_increase                  = 2
+watch_bed_temp_period                    = 60

Marlin/src/HAL/AVR/HAL.cpp

@@ -96,7 +96,7 @@ void MarlinHAL::init() {
     // Might disable other peripherals using the pin; to circumvent that please undefine one of the above things!
     // The true culprit is the AVR ArduinoCore that enables peripherals redundantly.
     // (USART1 on the GeeeTech GT2560)
-    // https://www.youtube.com/watch?v=jMgCvRXkexk
+    // https://youtube.be/jMgCvRXkexk
     _ATmega_savePinAlternate(BEEPER_PIN);
 
     OUT_WRITE(BEEPER_PIN, LOW);
@@ -119,7 +119,6 @@ void MarlinHAL::reboot() {
 #if ENABLED(USE_WATCHDOG)
 
   #include <avr/wdt.h>
-  #include "../../MarlinCore.h"
 
   // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
   void MarlinHAL::watchdog_init() {
@@ -154,7 +153,7 @@ void MarlinHAL::reboot() {
     ISR(WDT_vect) {
       sei();  // With the interrupt driven serial we need to allow interrupts.
       SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
-      minkill();  // interrupt-safe final kill and infinite loop
+      marlin.minkill();  // interrupt-safe final kill and infinite loop
     }
   #endif
 

Marlin/src/HAL/AVR/HAL.h

@@ -206,7 +206,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -41,7 +41,6 @@
 #if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
 
 #include "MarlinSerial.h"
-#include "../../MarlinCore.h"
 
 #if ENABLED(DIRECT_STEPPING)
   #include "../../feature/direct_stepping.h"

Marlin/src/HAL/AVR/fastio.cpp

@@ -241,7 +241,7 @@ uint8_t extDigitalRead(const int8_t pin) {
  *
  * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
  */
-uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb, const float dcc) {
+uint16_t set_pwm_frequency_hz(const float hz, const float dca, const float dcb, const float dcc) {
   float count = 0;
   if (hz > 0 && (dca || dcb || dcc)) {
     count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
@@ -254,7 +254,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }
 
     count /= float(prescaler);
-    const float pwm_top = round(count);   // Get the rounded count
+    const float pwm_top = roundf(count);   // Get the rounded count
 
     ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
     OCR5A = pwm_top * ABS(dca);           // Update and scale DCs
@@ -280,7 +280,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
     OCR5A = OCR5B = OCR5C = 0;
   }
-  return round(count);
+  return roundf(count);
 }
 #endif
 

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

@@ -95,7 +95,7 @@
 /**
  * The Trinamic library includes SoftwareSerial.h, leading to a compile error.
  */
-#if ALL(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE)
+#if ALL(HAS_TMC_SW_SERIAL, ENDSTOP_INTERRUPTS_FEATURE)
   #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
 #endif
 

Marlin/src/HAL/AVR/registers.h

@@ -93,15 +93,15 @@ namespace AVRHelpers {
     typedef T type;
   };
   template <typename T>
-  struct voltype <T, 1u> {
+  struct voltype <T, 1U> {
     typedef uint8_t type;
   };
   template <typename T>
-  struct voltype <T, 2u> {
+  struct voltype <T, 2U> {
     typedef uint16_t type;
   };
   template <typename T>
-  struct voltype <T, 4u> {
+  struct voltype <T, 4U> {
     typedef uint32_t type;
   };
 
@@ -2007,7 +2007,7 @@ inline void _ATmega_resetperipherals() {
 
   #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM05__)
     _EEAR._EEAR = 0;
-    dwrite(_EEDR, (uint8_t)0u);
+    dwrite(_EEDR, (uint8_t)0U);
   #endif
 
   #if defined(__AVR_TRM01__) || defined(__AVR_TRM02__) || defined(__AVR_TRM03__) || defined(__AVR_TRM04__) || defined(__AVR_TRM05__)

Marlin/src/HAL/AVR/timers.h

@@ -28,7 +28,7 @@
 // ------------------------
 
 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT16_MAX)
 
 // ------------------------
 // Defines
@@ -46,15 +46,14 @@ typedef uint16_t hal_timer_t;
   #define MF_TIMER_TEMP         0
 #endif
 
-#define TEMP_TIMER_FREQUENCY    (((F_CPU) + 0x2000) / 0x4000)
+#define TEMP_TIMER_FREQUENCY        (((F_CPU) + 0x2000) / 0x4000)
 
-#define STEPPER_TIMER_RATE      HAL_TIMER_RATE
-#define STEPPER_TIMER_PRESCALE  8
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE
+#define STEPPER_TIMER_PRESCALE      8
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
 
-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE
-#define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
@@ -111,8 +110,8 @@ 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
 

Marlin/src/HAL/DUE/HAL.cpp

@@ -27,7 +27,6 @@
 #ifdef ARDUINO_ARCH_SAM
 
 #include "../../inc/MarlinConfig.h"
-#include "../../MarlinCore.h"
 
 #include <Wire.h>
 #include "usb/usb_task.h"

Marlin/src/HAL/DUE/HAL.h

@@ -132,7 +132,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -31,7 +31,6 @@
 
 #include "MarlinSerial.h"
 #include "InterruptVectors.h"
-#include "../../MarlinCore.h"
 
 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
 template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };

Marlin/src/HAL/DUE/Tone.cpp

@@ -24,7 +24,7 @@
 
 /**
  * Description: Tone function for Arduino Due and compatible (SAM3X8E)
- * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ * Derived from https://forum.arduino.cc/t/arduino-due-and-tone/133302/13
  */
 
 #ifdef ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)
 
 #define HAL_TIMER_PRESCALER    2
 #define HAL_TIMER_RATE         ((F_CPU) / (HAL_TIMER_PRESCALER))  // frequency of timers peripherals
@@ -52,19 +52,18 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TONE         6  // index of timer to use for beeper tones
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                        // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)                      // stepper timer ticks per µs
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                                    // frequency of pulse timer
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
 #define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
 #define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
@@ -127,4 +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) {}

Marlin/src/HAL/DUE/usb/.editorconfig

@@ -0,0 +1,5 @@
+# editorconfig.org
+
+[{*.c,*.cpp,*.h}]
+indent_style = tab
+indent_size = 4

Marlin/src/HAL/ESP32/HAL.cpp

@@ -271,7 +271,8 @@ void MarlinHAL::adc_start(const pin_t pin) {
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
 
-  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
+  static constexpr uint32_t adc_divisor = uint32_t((ADC_REFERENCE_VOLTAGE) * 1000UL);
+  adc_result = (mv * 1023UL) / adc_divisor;
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;

Marlin/src/HAL/ESP32/HAL.h

@@ -64,10 +64,10 @@
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&hal.spinlock)
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY  1000u   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
-#define PWM_RESOLUTION   10u   // Default PWM bit resolution
-#define CHANNEL_MAX_NUM  15u   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
-#define MAX_PWM_IOPIN    33u   // hardware pwm pins < 34
+#define PWM_FREQUENCY  1000U   // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+#define PWM_RESOLUTION   10U   // Default PWM bit resolution
+#define CHANNEL_MAX_NUM  15U   // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high)
+#define MAX_PWM_IOPIN    33U   // hardware pwm pins < 34
 #ifndef MAX_EXPANDER_BITS
   #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32)
 #endif
@@ -76,7 +76,6 @@
 // Types
 // ------------------------
 
-typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
 typedef struct pwm_pin {
@@ -194,7 +193,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/ESP32/Servo.cpp

@@ -35,7 +35,7 @@ Servo::Servo() {}
 
 int8_t Servo::attach(const int inPin) {
   if (inPin > 0) pin = inPin;
-  channel = get_pwm_channel(pin, 50u, 16u);
+  channel = get_pwm_channel(pin, 50U, 16U);
   return channel; // -1 if no PWM avail.
 }
 

Marlin/src/HAL/ESP32/Tone.cpp

@@ -24,7 +24,7 @@
 
 /**
  * Description: Tone function for ESP32
- * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ * Derived from https://forum.arduino.cc/t/arduino-due-and-tone/133302/13
  */
 
 #ifdef ARDUINO_ARCH_ESP32

Marlin/src/HAL/ESP32/i2s.cpp

@@ -156,38 +156,43 @@ void stepperTask(void *parameter) {
 
     while (dma.rw_pos < DMA_SAMPLE_COUNT) {
 
-      #if ENABLED(FT_MOTION)
+      if (using_ftMotion) {
 
-        if (using_ftMotion) {
+        #if ENABLED(FT_MOTION)
           if (!nextMainISR) stepper.ftMotion_stepper();
           nextMainISR = 0;
-        }
+        #endif
 
-      #endif
+      }
+      else {
 
-      if (!using_ftMotion) {
-        if (!nextMainISR) {
-          stepper.pulse_phase_isr();
-          nextMainISR = stepper.block_phase_isr();
-        }
-        #if ENABLED(LIN_ADVANCE)
-          else if (!nextAdvanceISR) {
-            stepper.advance_isr();
-            nextAdvanceISR = stepper.la_interval;
+        #if HAS_STANDARD_MOTION
+
+          if (!nextMainISR) {
+            stepper.pulse_phase_isr();
+            nextMainISR = stepper.block_phase_isr();
           }
-        #endif
-        else
-          i2s_push_sample();
+          #if ENABLED(LIN_ADVANCE)
+            else if (!nextAdvanceISR) {
+              stepper.advance_isr();
+              nextAdvanceISR = stepper.la_interval;
+            }
+          #endif
+          else
+            i2s_push_sample();
 
-        nextMainISR--;
+          nextMainISR--;
 
-        #if ENABLED(LIN_ADVANCE)
-          if (nextAdvanceISR == stepper.LA_ADV_NEVER)
-            nextAdvanceISR = stepper.la_interval;
+          #if ENABLED(LIN_ADVANCE)
+            if (nextAdvanceISR == stepper.LA_ADV_NEVER)
+              nextAdvanceISR = stepper.la_interval;
+
+            if (nextAdvanceISR && nextAdvanceISR != stepper.LA_ADV_NEVER)
+              nextAdvanceISR--;
+          #endif
+
+        #endif // HAS_STANDARD_MOTION
 
-          if (nextAdvanceISR && nextAdvanceISR != stepper.LA_ADV_NEVER)
-            nextAdvanceISR--;
-        #endif
       }
     }
   }

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

@@ -57,7 +57,7 @@
 #endif
 
 #if ALL(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA)
-  #error "I2S stream is currently incompatible with LIN_ADVANCE."
+  #error "I2S stream is currently incompatible with LIN_ADVANCE. Enable EXPERIMENTAL_I2S_LA to proceed anyway."
 #endif
 
 #if ALL(I2S_STEPPER_STREAM, PRINTCOUNTER) && PRINTCOUNTER_SAVE_INTERVAL > 0 && DISABLED(PRINTCOUNTER_SYNC)

Marlin/src/HAL/ESP32/timers.cpp

@@ -78,8 +78,8 @@ void IRAM_ATTR timer_isr(void *para) {
 
 /**
  * Enable and initialize the timer
- * @param timer_num timer number to initialize
- * @param frequency frequency of the timer
+ * @param timer_num   timer number to initialize
+ * @param frequency   frequency of the timer
  */
 void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   const tTimerConfig timer = timer_config[timer_num];

Marlin/src/HAL/ESP32/timers.h

@@ -30,41 +30,45 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT64_MAX)
 
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP         0  // Timer Index for Stepper
 #endif
 #ifndef MF_TIMER_PULSE
-  #define MF_TIMER_PULSE        MF_TIMER_STEP
+  #define MF_TIMER_PULSE        MF_TIMER_STEP // Timer Index for Pulse interval
 #endif
 #ifndef MF_TIMER_TEMP
   #define MF_TIMER_TEMP         1  // Timer Index for Temperature
 #endif
 #ifndef MF_TIMER_PWM
-  #define MF_TIMER_PWM          2  // index of timer to use for PWM outputs
+  #define MF_TIMER_PWM          2  // Timer Index for PWM outputs
 #endif
 #ifndef MF_TIMER_TONE
-  #define MF_TIMER_TONE         3  // index of timer for beeper tones
+  #define MF_TIMER_TONE         3  // Timer Index for beeper tones
 #endif
 
-#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
+#define HAL_TIMER_RATE APB_CLK_FREQ // Frequency of timer peripherals
+
+#define TEMP_TIMER_PRESCALE    1000 // Prescaler for setting Temp Timer, 72Khz
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
 #if ENABLED(I2S_STEPPER_STREAM)
   #define STEPPER_TIMER_PRESCALE     1
-  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
+  #define STEPPER_TIMER_RATE         250'000    // 250khz, 4µs pulses of i2s word clock
+  #define STEPPER_TIMER_TICKS_PER_US 0.25       // (MHz) Stepper Timer ticks per µs
 #else
   #define STEPPER_TIMER_PRESCALE     40
-  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
+  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE))  // (Hz) Frequency of Stepper Timer ISR, 2MHz
+  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1'000'000UL)           // (MHz) Stepper Timer ticks per µs
 #endif
-#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
 
 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts
 
-#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define TEMP_TIMER_PRESCALE    1000 // prescaler for setting Temp timer, 72Khz
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TONE_TIMER_PRESCALE    1000 // Arbitrary value, no idea what i'm doing here
 
 #define PWM_TIMER_PRESCALE       10
 #if ENABLED(FAST_PWM_FAN)
@@ -74,13 +78,9 @@ typedef uint64_t hal_timer_t;
 #endif
 #define MAX_PWM_PINS             32 // Number of PWM pin-slots
 
-#define PULSE_TIMER_RATE         STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE     STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
-
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
 #define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
@@ -135,5 +135,5 @@ 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) {}

Marlin/src/HAL/GD32_MFL/HAL.cpp

@@ -53,12 +53,15 @@ uint16_t MarlinHAL::adc_result;
 
 // Initializes the Marlin HAL
 void MarlinHAL::init() {
+  // Ensure F_CPU is a constant expression.
+  // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
+  // So better safe than sorry here.
   constexpr unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
-#if PIN_EXISTS(LED)
-  OUT_WRITE(LED_PIN, LOW);
-#endif
+  #if PIN_EXISTS(LED)
+    OUT_WRITE(LED_PIN, LOW);
+  #endif
 
   SetTimerInterruptPriorities();
 

Marlin/src/HAL/GD32_MFL/HAL.h

@@ -57,7 +57,6 @@
 #define __bss_end __bss_end__
 
 // Types
-typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs.
 typedef uint8_t pin_t;      // Parity with mfl platform
 
 // Servo

Marlin/src/HAL/GD32_MFL/temp_soc.h

@@ -26,4 +26,4 @@
 #define TS_TYPICAL_SLOPE  4.5
 
 // TODO: Implement voltage scaling (calibrated Vrefint) and ADC resolution scaling (when applicable)
-#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) / 1000.0f)) / ((TS_TYPICAL_SLOPE) / 1000.0f) + TS_TYPICAL_TEMP)
+#define TEMP_SOC_SENSOR(RAW) ((TS_TYPICAL_V - (RAW) / float(OVERSAMPLENR) / float(HAL_ADC_RANGE) * (float(ADC_VREF_MV) * 0.001f)) / ((TS_TYPICAL_SLOPE) * 0.001f) + TS_TYPICAL_TEMP)

Marlin/src/HAL/GD32_MFL/timers.cpp

@@ -69,10 +69,6 @@
   #endif
 #endif
 
-#ifndef HAL_TIMER_RATE
-  #define HAL_TIMER_RATE  GetStepperTimerClkFreq()
-#endif
-
 #ifndef STEP_TIMER
   #define STEP_TIMER    MF_TIMER_STEP
 #endif
@@ -121,9 +117,10 @@ void HAL_timer_start(const uint8_t timer_number, const uint32_t frequency) {
 
   if (is_step) {
     timer.setPrescaler(STEPPER_TIMER_PRESCALE);
-    timer.setRolloverValue(_MIN(static_cast<hal_timer_t>(HAL_TIMER_TYPE_MAX),
-                               (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)),
-                               TimerFormat::TICK);
+    timer.setRolloverValue(
+      _MIN(HAL_TIMER_TYPE_MAX, hal_timer_t((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE))),
+      TimerFormat::TICK
+    );
     is_step_timer_initialized = true;
   }
   else {

Marlin/src/HAL/GD32_MFL/timers.h

@@ -29,26 +29,30 @@
 // Defines
 // ------------------------
 
-// Timer configuration constants
-#define STEPPER_TIMER_RATE    2000000
-#define TEMP_TIMER_FREQUENCY  1000
-
 // Timer instance definitions
 #define MF_TIMER_STEP     3
 #define MF_TIMER_TEMP     1
 #define MF_TIMER_PULSE    MF_TIMER_STEP
 
-#define hal_timer_t         uint32_t
-#define HAL_TIMER_TYPE_MAX  UINT16_MAX
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT16_MAX)
 
-extern uint32_t GetStepperTimerClkFreq();
+#ifndef HAL_TIMER_RATE
+  extern uint32_t GetStepperTimerClkFreq();
+  #define HAL_TIMER_RATE GetStepperTimerClkFreq()
+#endif
+
+// Timer configuration constants
+#define STEPPER_TIMER_RATE    2000000
+#define TEMP_TIMER_FREQUENCY  1000
 
 // Timer prescaler calculations
-#define STEPPER_TIMER_PRESCALE      (GetStepperTimerClkFreq() / STEPPER_TIMER_RATE) // Prescaler = 30
+#define STEPPER_TIMER_PRESCALE      ((HAL_TIMER_RATE) / (STEPPER_TIMER_RATE)) // Prescaler = 30
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)        // (MHz) Stepper Timer ticks per µs
+
+// Pulse Timer (counter) calculations
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                        // (Hz) Frequency of Pulse Timer
 #define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
-#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000)                // Stepper timer ticks per µs
-#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE
-#define PULSE_TIMER_TICKS_PER_US    STEPPER_TIMER_TICKS_PER_US
 
 // Timer interrupt priorities
 #define STEP_TIMER_IRQ_PRIORITY 2
@@ -141,5 +145,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_number, const
   }
 }
 
-#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) {}

Marlin/src/HAL/HC32/MarlinHAL.h

@@ -67,7 +67,7 @@ public:
 
   static void delay_ms(const int ms);
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/HC32/MarlinSerial.cpp

@@ -30,17 +30,17 @@
  * it would not make sense to parse G-Code from TMC responses
  */
 constexpr bool serial_handles_emergency(int port) {
-  return false
+  return (false
     #ifdef SERIAL_PORT
-         || (SERIAL_PORT) == port
+      || (SERIAL_PORT) == port
     #endif
     #ifdef SERIAL_PORT_2
-         || (SERIAL_PORT_2) == port
+      || (SERIAL_PORT_2) == port
     #endif
     #ifdef LCD_SERIAL_PORT
-         || (LCD_SERIAL_PORT) == port
+      || (LCD_SERIAL_PORT) == port
     #endif
-      ;
+  );
 }
 
 //
@@ -48,7 +48,7 @@ constexpr bool serial_handles_emergency(int port) {
 //
 
 // serial port where RX and TX use IRQs
-#define DEFINE_IRQ_SERIAL_MARLIN(name, n)      \
+#define DEFINE_IRQ_SERIAL_MARLIN(name, n)    \
   MSerialT name(serial_handles_emergency(n), \
                 &USART##n##_config,          \
                 BOARD_USART##n##_TX_PIN,     \
@@ -57,7 +57,7 @@ constexpr bool serial_handles_emergency(int port) {
 // serial port where RX uses DMA and TX uses IRQs
 // all serial ports use DMA1
 // since there are 4 USARTs and 4 DMA channels, we can use the USART number as the DMA channel
-#define DEFINE_DMA_SERIAL_MARLIN(name, n)      \
+#define DEFINE_DMA_SERIAL_MARLIN(name, n)    \
   MSerialT name(serial_handles_emergency(n), \
                 &USART##n##_config,          \
                 BOARD_USART##n##_TX_PIN,     \
@@ -67,12 +67,17 @@ constexpr bool serial_handles_emergency(int port) {
 
 #define DEFINE_SERIAL_MARLIN(name, n) TERN(SERIAL_DMA, DEFINE_DMA_SERIAL_MARLIN(name, n), DEFINE_IRQ_SERIAL_MARLIN(name, n))
 
-DEFINE_SERIAL_MARLIN(MSerial1, 1);
-DEFINE_SERIAL_MARLIN(MSerial2, 2);
-
-// TODO: remove this warning when SERIAL_DMA has been tested some more
-#if ENABLED(SERIAL_DMA)
-  #warning "SERIAL_DMA may be unstable on HC32F460."
+#if PINS_EXIST(BOARD_USART1_RX, BOARD_USART1_TX)
+  DEFINE_SERIAL_MARLIN(MSerial1, 1);
+#endif
+#if PINS_EXIST(BOARD_USART2_RX, BOARD_USART2_TX)
+  DEFINE_SERIAL_MARLIN(MSerial2, 2);
+#endif
+#if PINS_EXIST(BOARD_USART3_RX, BOARD_USART3_TX)
+  DEFINE_SERIAL_MARLIN(MSerial3, 3);
+#endif
+#if PINS_EXIST(BOARD_USART4_RX, BOARD_USART4_TX)
+  DEFINE_SERIAL_MARLIN(MSerial4, 4);
 #endif
 
 //

Marlin/src/HAL/HC32/MarlinSerial.h

@@ -92,3 +92,5 @@ typedef Serial1Class<MarlinSerial> MSerialT;
 
 extern MSerialT MSerial1;
 extern MSerialT MSerial2;
+extern MSerialT MSerial3;
+extern MSerialT MSerial4;

Marlin/src/HAL/HC32/MinSerial.cpp

@@ -33,7 +33,7 @@
 // Shared by both panic and PostMortem debugging
 //
 static void minserial_begin() {
-  #if !WITHIN(SERIAL_PORT, 1, 3)
+  #if !WITHIN(SERIAL_PORT, 1, 4)
     #warning "MinSerial requires a physical UART port for output."
     #warning "Disabling MinSerial because the used serial port is not a HW port."
   #else

Marlin/src/HAL/HC32/README.md

@@ -6,7 +6,7 @@ This document provides notes on the HAL for the HC32F460 MCU.
 
 The HC32F460 HAL is designed to be generic enough for any HC32F460-based board. Adding support for a new HC32F460-based board will require the following steps:
 
-1. Follow [the usual instructions](https://marlinfw.org/docs/development/boards.html#adding-a-new-board) to add a new board to Marlin. (i.e., Add a pins file, edit `boards.h` and `pins.h`, etc.)
+1. Follow [the usual instructions](//marlinfw.org/docs/development/boards.html#adding-a-new-board) to add a new board to Marlin. (i.e., Add a pins file, edit `boards.h` and `pins.h`, etc.)
 2. Determine the flash size your board uses:
    - Examine the board's main processor. (Refer the naming key in `hc32.ini`.)
    - Extend the `HC32F460C_common` base env for 256K, or `HC32F460E_common` for 512K.
@@ -50,10 +50,12 @@ SCB->VTOR = ((uint32_t) APP_START_ADDRESS & SCB_VTOR_TBLOFF_Msk);
 Just searching for `SCB->VTOR` should yield some results. From there, you just need to look at the value that's assigned to it. The example uses `APP_START_ADDRESS`.
 
 > [!NOTE]
+>
 > Some vendors publish incomplete source code. But they sometimes leave version control related files in the repo, which can contain previous version of files that were removed. Find these by including folders like `.git` or `.svn` in your search.
 
 > [!NOTE]
-> The example is based on the [Voxelab-64/Aquila_X2](https://github.com/Voxelab-64/Aquila_X2/blob/d1f23adf96920996b979bc31023d1dce236d05db/firmware/Sources/.svn/pristine/ec/ec82bcb480b511906bc3e6658450e3a803ab9813.svn-base#L96) which actually includes deleted files in its repo.
+>
+> The example is based on the [Voxelab-64/Aquila_X2](//github.com/Voxelab-64/Aquila_X2/blob/main/firmware/Sources/.svn/pristine/ec/ec82bcb480b511906bc3e6658450e3a803ab9813.svn-base#L96) which actually includes deleted files in its repo.
 
 2. Using a linker script
 
@@ -72,7 +74,8 @@ MEMORY
 ```
 
 > [!NOTE]
-> This example is based on [Voxelab-64/Aquila_X2](https://github.com/Voxelab-64/Aquila_X2/blob/d1f23adf96920996b979bc31023d1dce236d05db/firmware/Sources/main/hdsc32core/hc32f46x_flash.ld#L55)
+>
+> This example is based on [Voxelab-64/Aquila_X2](//github.com/Voxelab-64/Aquila_X2/blob/d1f23adf96920996b979bc31023d1dce236d05db/firmware/Sources/main/hdsc32core/hc32f46x_flash.ld#L55)
 
 ## Documentation on the HC32F460
 
@@ -96,15 +99,15 @@ Contact me on Discord (@shadow578) if you need it.
 
 This HAL depends on the following projects:
 
-- [shadow578/platform-hc32f46x](https://github.com/shadow578/platform-hc32f46x) (PlatformIO platform for HC32F46x)
-- [shadow578/framework-arduino-hc32f46x](https://github.com/shadow578/framework-arduino-hc32f46x) (Arduino framework for HC32F46x)
-- [shadow578/framework-hc32f46x-ddl](https://github.com/shadow578/framework-hc32f46x-ddl) (HC32F46x DDL framework)
+- [shadow578/platform-hc32f46x](//github.com/shadow578/platform-hc32f46x) (PlatformIO platform for HC32F46x)
+- [shadow578/framework-arduino-hc32f46x](//github.com/shadow578/framework-arduino-hc32f46x) (Arduino framework for HC32F46x)
+- [shadow578/framework-hc32f46x-ddl](//github.com/shadow578/framework-hc32f46x-ddl) (HC32F46x DDL framework)
 
 ## Credits
 
 This HAL wouldn't be possible without the following projects:
 
-- [Voxelab-64/Aquila_X2](https://github.com/Voxelab-64/Aquila_X2) (original implementation)
-- [alexqzd/Marlin-H32](https://github.com/alexqzd/Marlin-H32) (misc. fixes to the original implementation)
-- [kgoveas/Arduino-Core-Template](https://github.com/kgoveas/Arduino-Core-Template) (template for Arduino headers)
-- [stm32duino/Arduino_Core_STM32](https://github.com/stm32duino/Arduino_Core_STM32) (misc. Arduino functions)
+- [Voxelab-64/Aquila_X2](//github.com/Voxelab-64/Aquila_X2) (original implementation)
+- [alexqzd/Marlin-H32](//github.com/alexqzd/Marlin-H32) (misc. fixes to the original implementation)
+- [kgoveas/Arduino-Core-Template](//github.com/kgoveas/Arduino-Core-Template) (template for Arduino headers)
+- [stm32duino/Arduino_Core_STM32](//github.com/stm32duino/Arduino_Core_STM32) (misc. Arduino functions)

Marlin/src/HAL/HC32/Servo.h

@@ -37,9 +37,9 @@ public:
   MarlinServo();
 
   /**
-   * @brief attach the pin to the servo, set pin mode, return channel number
-   * @param pin pin to attach to
-   * @return channel number, -1 if failed
+   * @brief attach   the pin to the servo, set pin mode, return channel number
+   * @param pin      pin to attach to
+   * @return         channel number, -1 if failed
    */
   int8_t attach(const pin_t apin);
 

Marlin/src/HAL/HC32/app_config.h

@@ -58,6 +58,9 @@
   #define USART_RX_DMA_SUPPORT 1
 #endif
 
+// SoftwareSerial uses STM32duino API compatibility mode
+#define SOFTWARE_SERIAL_STM32_API_COMPATIBILITY 1
+
 //
 // Misc.
 //

Marlin/src/HAL/HC32/inc/SanityCheck.h

@@ -43,8 +43,11 @@
   #error "FAST_PWM_FAN is not yet implemented for this platform."
 #endif
 
-#if !defined(HAVE_SW_SERIAL) && HAS_TMC_SW_SERIAL
-  #error "Missing SoftwareSerial implementation."
+// SoftwareSerial introduced in arduino core version 1.3.1
+#if ARDUINO_CORE_VERSION_INT < GET_VERSION_INT(1, 3, 1)
+  #if !defined(HAVE_SW_SERIAL) && HAS_TMC_SW_SERIAL
+    #error "Missing SoftwareSerial implementation."
+  #endif
 #endif
 
 #if ENABLED(SDCARD_EEPROM_EMULATION) && !HAS_MEDIA
@@ -83,7 +86,7 @@
   #error "POSTMORTEM_DEBUGGING requires CORE_DISABLE_FAULT_HANDLER to be set."
 #endif
 
-#if defined(PANIC_ENABLE)
+#ifdef PANIC_ENABLE
   #if defined(PANIC_USART1_TX_PIN) || defined(PANIC_USART2_TX_PIN) || defined(PANIC_USART3_TX_PIN) || defined(PANIC_USART3_TX_PIN)
     #error "HC32 HAL uses a custom panic handler. Do not define PANIC_USARTx_TX_PIN."
   #endif

Marlin/src/HAL/HC32/sdio.cpp

@@ -109,7 +109,7 @@ bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) {
   WITH_RETRY(SDIO_READ_RETRIES, {
     en_result_t rc = SDCARD_ReadBlocks(handle, block, 1, dst, SDIO_READ_TIMEOUT);
     if (rc == Ok) return true;
-    printf("SDIO_ReadBlock error (rc=%u; ErrorCode=%lu)\n", rc, handle->u32ErrorCode);
+    printf("SDIO_ReadBlock error (rc=%u; ErrorCode=%" PRIu32 ")\n", rc, handle->u32ErrorCode);
   })
 
   return false;
@@ -122,7 +122,7 @@ bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) {
   WITH_RETRY(SDIO_WRITE_RETRIES, {
     en_result_t rc = SDCARD_WriteBlocks(handle, block, 1, (uint8_t *)src, SDIO_WRITE_TIMEOUT);
     if (rc == Ok) return true;
-    printf("SDIO_WriteBlock error (rc=%u; ErrorCode=%lu)\n", rc, handle->u32ErrorCode);
+    printf("SDIO_WriteBlock error (rc=%u; ErrorCode=%" PRIu32 ")\n", rc, handle->u32ErrorCode);
   })
 
   return false;

Marlin/src/HAL/HC32/sysclock.cpp

@@ -171,7 +171,7 @@ void core_hook_sysclock_init() {
       panic("HRC is not 16 MHz");
     }
 
-    #if defined(BOARD_XTAL_FREQUENCY)
+    #ifdef BOARD_XTAL_FREQUENCY
       #warning "No valid XTAL frequency defined, falling back to HRC."
     #endif
 
@@ -204,7 +204,7 @@ void core_hook_sysclock_init() {
   power_mode_update_post(F_SYSTEM_CLOCK);
 
   // Verify clocks match expected values (at runtime)
-  #if ENABLED(MARLIN_DEV_MODE) || ENABLED(ALWAYS_VALIDATE_CLOCKS)
+  #if ANY(MARLIN_DEV_MODE, ALWAYS_VALIDATE_CLOCKS)
     validate_system_clocks();
   #endif
 

Marlin/src/HAL/HC32/timers.cpp

@@ -35,19 +35,19 @@ Timer0 temp_timer(&TIMER02A_config, &Temp_Handler);
  */
 Timer0 step_timer(&TIMER02B_config, &Step_Handler);
 
-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency) {
-  if (timer_num == TEMP_TIMER_NUM) {
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency) {
+  if (timer_ch == MF_TIMER_TEMP) {
     CORE_DEBUG_PRINTF("HAL_timer_start: temp timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, TEMP_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(TEMP_TIMER_PRIORITY);
+    timer_ch->start(frequency, TEMP_TIMER_PRESCALE);
+    timer_ch->setCallbackPriority(TEMP_TIMER_PRIORITY);
   }
-  else if (timer_num == STEP_TIMER_NUM) {
+  else if (timer_ch == MF_TIMER_STEP) {
     CORE_DEBUG_PRINTF("HAL_timer_start: step timer, f=%ld\n", long(frequency));
-    timer_num->start(frequency, STEPPER_TIMER_PRESCALE);
-    timer_num->setCallbackPriority(STEP_TIMER_PRIORITY);
+    timer_ch->start(frequency, STEPPER_TIMER_PRESCALE);
+    timer_ch->setCallbackPriority(STEP_TIMER_PRIORITY);
   }
   else {
-    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_num")
+    CORE_ASSERT_FAIL("HAL_timer_start: invalid timer_ch")
   }
 }
 

Marlin/src/HAL/HC32/timers.h

@@ -27,7 +27,7 @@
 //
 typedef Timer0 *timer_channel_t;
 typedef uint16_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT16_MAX)
 
 //
 // Timer instances
@@ -54,75 +54,68 @@ extern Timer0 step_timer;
 #define HAL_TIMER_RATE F_PCLK1
 
 // Temperature timer
-#define TEMP_TIMER_NUM        (&temp_timer)
+#define MF_TIMER_TEMP         (&temp_timer)
 #define TEMP_TIMER_PRIORITY   DDL_IRQ_PRIORITY_02
-#define TEMP_TIMER_PRESCALE     16UL          // 12.5MHz
+#define TEMP_TIMER_PRESCALE   16UL            // 12.5MHz
 #define TEMP_TIMER_RATE       1000            // 1kHz
 #define TEMP_TIMER_FREQUENCY  TEMP_TIMER_RATE // 1kHz also
 
 // Stepper timer
-#define STEP_TIMER_NUM         (&step_timer)
+#define MF_TIMER_STEP          (&step_timer)
 #define STEP_TIMER_PRIORITY    DDL_IRQ_PRIORITY_00  // Top priority, nothing else uses it
-#define STEPPER_TIMER_PRESCALE  16UL                // 12.5MHz
+#define STEPPER_TIMER_PRESCALE 16UL                 // 12.5MHz
 
-#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)  // 50MHz / 16 = 3.125MHz
-#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000UL)   // Integer 3
+#define STEPPER_TIMER_RATE          (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // 50MHz / 16 = 3.125MHz
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)        // Integer 3
 
 // Pulse timer (== stepper timer)
-#define PULSE_TIMER_NUM           STEP_TIMER_NUM
-#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
-
-//
-// Channel aliases
-//
-#define MF_TIMER_TEMP   TEMP_TIMER_NUM
-#define MF_TIMER_STEP   STEP_TIMER_NUM
-#define MF_TIMER_PULSE  PULSE_TIMER_NUM
+#define MF_TIMER_PULSE        MF_TIMER_STEP
+#define PULSE_TIMER_RATE      STEPPER_TIMER_RATE                        // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE  STEPPER_TIMER_PRESCALE
 
 //
 // HAL functions
 //
-void HAL_timer_start(const timer_channel_t timer_num, const uint32_t frequency);
+void HAL_timer_start(const timer_channel_t timer_ch, const uint32_t frequency);
 
 // Inlined since they are somewhat critical
 #define MARLIN_HAL_TIMER_INLINE_ATTR __attribute__((always_inline)) inline
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_num) {
-  timer_num->resume();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_enable_interrupt(const timer_channel_t timer_ch) {
+  timer_ch->resume();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_num) {
-  timer_num->pause();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_disable_interrupt(const timer_channel_t timer_ch) {
+  timer_ch->pause();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_num) {
-  return timer_num->isPaused();
+MARLIN_HAL_TIMER_INLINE_ATTR bool HAL_timer_interrupt_enabled(const timer_channel_t timer_ch) {
+  return timer_ch->isPaused();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_num, const hal_timer_t compare) {
-  timer_num->setCompareValue(compare);
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_set_compare(const timer_channel_t timer_ch, const hal_timer_t compare) {
+  timer_ch->setCompareValue(compare);
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_num) {
-  return timer_num->getCount();
+MARLIN_HAL_TIMER_INLINE_ATTR hal_timer_t HAL_timer_get_count(const timer_channel_t timer_ch) {
+  return timer_ch->getCount();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_num) {
-  timer_num->clearInterruptFlag();
+MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_prologue(const timer_channel_t timer_ch) {
+  timer_ch->clearInterruptFlag();
 }
 
-MARLIN_HAL_TIMER_INLINE_ATTR void HAL_timer_isr_epilogue(const timer_channel_t timer_num) {}
+inline void HAL_timer_isr_epilogue(const timer_channel_t) {}
 
 //
 // HAL function aliases
 //
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
-#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM);
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP);
 
 //
 // HAL ISR callbacks
@@ -131,8 +124,8 @@ void Step_Handler();
 void Temp_Handler();
 
 #ifndef HAL_STEP_TIMER_ISR
-#define HAL_STEP_TIMER_ISR() void Step_Handler()
+  #define HAL_STEP_TIMER_ISR() void Step_Handler()
 #endif
 #ifndef HAL_TEMP_TIMER_ISR
-#define HAL_TEMP_TIMER_ISR() void Temp_Handler()
+  #define HAL_TEMP_TIMER_ISR() void Temp_Handler()
 #endif

Marlin/src/HAL/LINUX/HAL.h

@@ -126,7 +126,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/LINUX/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)
 
 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals
 
@@ -49,21 +49,20 @@ typedef uint32_t hal_timer_t;
 #endif
 
 #define TEMP_TIMER_RATE        1000000
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_STEP_TIMER_ISR
@@ -93,5 +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) {}

Marlin/src/HAL/LPC1768/HAL.h

@@ -160,7 +160,7 @@ public:
   static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; });
   static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {});
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/LPC1768/HAL_SPI.cpp

@@ -40,10 +40,6 @@
  * SPI sharing pins. The SCK, MOSI & MISO pins can NOT be set/cleared with
  * WRITE nor digitalWrite when the hardware SPI module within the LPC17xx is
  * active. If any of these pins are shared then the software SPI must be used.
- *
- * A more sophisticated hardware SPI can be found at the following link.
- * This implementation has not been fully debugged.
- * https://github.com/MarlinFirmware/Marlin/tree/071c7a78f27078fd4aee9a3ef365fcf5e143531e
  */
 
 #ifdef TARGET_LPC1768

Marlin/src/HAL/LPC1768/Servo.h

@@ -49,6 +49,8 @@
 
 #include <Servo.h>
 
+#include "../../MarlinCore.h"
+
 class libServo: public Servo {
   public:
   void move(const int value) {

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

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

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

@@ -22,7 +22,7 @@
 
 /**
  * digipot_mcp4451_I2C_routines.c
- * Adapted from https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+ * Adapted from https://www-users.york.ac.uk/~pcc1/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
  */
 
 #ifdef TARGET_LPC1768

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

@@ -23,7 +23,7 @@
 
 /**
  * digipot_mcp4451_I2C_routines.h
- * Adapted from https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+ * Adapted from https://www-users.york.ac.uk/~pcc1/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
  */
 
 #ifdef __cplusplus

Marlin/src/HAL/LPC1768/timers.h

@@ -57,9 +57,9 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)
 
-#define HAL_TIMER_RATE         ((F_CPU) / 4)  // frequency of timers peripherals
+#define HAL_TIMER_RATE         ((F_CPU) / 4)  // (Hz) Frequency of timers peripherals
 
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP         0  // Timer Index for Stepper
@@ -74,22 +74,21 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_PWM          3  // Timer Index for PWM
 #endif
 
-#define TEMP_TIMER_RATE        1000000
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_RATE        1000000 // 1MHz
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1000000UL)              // (MHz) Stepper Timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_STEP_TIMER_ISR
@@ -171,4 +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) {}

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

@@ -21,7 +21,7 @@
  */
 
 // adapted from  I2C/master/master.c example
-//   https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+//   https://www-users.york.ac.uk/~pcc1/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
 
 #ifdef TARGET_LPC1768
 

Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.c

@@ -27,7 +27,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef TARGET_LPC1768

Marlin/src/HAL/LPC1768/u8g/LCD_pin_routines.h

@@ -28,7 +28,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 void u8g_SetPinOutput(uint8_t internal_pin_number);

Marlin/src/HAL/LPC1768/upload_extra_script.py

@@ -41,8 +41,8 @@ if pioutil.is_pio_build():
                 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
+                # Getting a list of drives
+                # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-windows-drives
                 drives = []
                 bitmask = windll.kernel32.GetLogicalDrives()
                 for letter in string.ascii_uppercase:

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -197,7 +197,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

Marlin/src/HAL/NATIVE_SIM/fastio.h

@@ -28,6 +28,8 @@
 #include "../shared/Marduino.h"
 #include <pinmapping.h>
 
+#define NO_COMPILE_TIME_PWM
+
 #define SET_DIR_INPUT(IO)     Gpio::setDir(IO, 1)
 #define SET_DIR_OUTPUT(IO)    Gpio::setDir(IO, 0)
 

Marlin/src/HAL/NATIVE_SIM/timers.h

@@ -34,7 +34,7 @@
 #define FORCE_INLINE __attribute__((always_inline)) inline
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT64_MAX)
 
 #define HAL_TIMER_RATE         ((SystemCoreClock) / 4)  // frequency of timers peripherals
 
@@ -52,22 +52,21 @@ typedef uint64_t hal_timer_t;
 #endif
 #define SYSTICK_TIMER_FREQUENCY 1000
 
-#define TEMP_TIMER_RATE        1000000
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_RATE        1'000'000 // (Hz) Temperature Timer count rate
+#define TEMP_TIMER_FREQUENCY        1000 // (Hz) Temperature ISR call frequency
 
-#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
-#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  ((STEPPER_TIMER_RATE) / 1'000'000)              // (MHz) Stepper Timer ticks per µs
+#define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_STEP_TIMER_ISR
@@ -88,5 +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) {}

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

@@ -21,7 +21,7 @@
  */
 
 // adapted from  I2C/master/master.c example
-//   https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+//   https://www-users.york.ac.uk/~pcc1/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
 
 #ifdef __PLAT_NATIVE_SIM__
 

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

@@ -27,7 +27,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __PLAT_NATIVE_SIM__

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

@@ -28,7 +28,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __cplusplus

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

@@ -71,13 +71,13 @@ static uint8_t SPI_speed = 0;
 
 static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) {
   for (uint8_t i = 0; i < 8; i++) {
-    WRITE_PIN(mosi_pin, !!(b & 0x80));
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, LOW, HIGH));
     DELAY_CYCLES(SPI_SPEED);
-    WRITE_PIN(sck_pin, HIGH);
+    WRITE_PIN(mosi_pin, !!(b & 0x80));
     DELAY_CYCLES(SPI_SPEED);
     b <<= 1;
     if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1;
-    WRITE_PIN(sck_pin, LOW);
+    WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
     DELAY_CYCLES(SPI_SPEED);
   }
   return b;
@@ -85,7 +85,7 @@ static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck
 
 static uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin) {
   WRITE_PIN(mosi_pin, HIGH);
-  WRITE_PIN(sck_pin, LOW);
+  WRITE_PIN(sck_pin, TERN(U8G_SPI_USE_MODE_3, HIGH, LOW));
   return spiRate;
 }
 
@@ -93,11 +93,11 @@ static void u8g_com_st7920_write_byte_sw_spi(uint8_t rs, uint8_t val) {
   static uint8_t rs_last_state = 255;
   if (rs != rs_last_state) {
     // Transfer Data (FA) or Command (F8)
-    swSpiTransfer(rs ? 0x0FA : 0x0F8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+    swSpiTransfer(rs ? 0xFA : 0xF8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
     rs_last_state = rs;
     DELAY_US(40); // Give the controller time to process the data: 20 is bad, 30 is OK, 40 is safe
   }
-  swSpiTransfer(val & 0x0F0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
+  swSpiTransfer(val & 0xF0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
   swSpiTransfer(val << 4, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL);
 }
 
@@ -169,5 +169,32 @@ uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void
   }
 #endif
 
+#if ENABLED(LIGHTWEIGHT_UI)
+
+  #define ST7920_CS()              { WRITE(LCD_PINS_RS, HIGH); }
+  #define ST7920_NCS()             { WRITE(LCD_PINS_RS, LOW); }
+  #define ST7920_SET_CMD()         { ST7920_SWSPI_SND_8BIT(0xF8); }
+  #define ST7920_SET_DAT()         { ST7920_SWSPI_SND_8BIT(0xFA); }
+  #define ST7920_WRITE_BYTE(a)     { ST7920_SWSPI_SND_8BIT((uint8_t)((a)&0xF0u)); ST7920_SWSPI_SND_8BIT((uint8_t)((a)<<4U)); }
+
+  #define ST7920_DAT(V) !!((V) & 0x80)
+
+  #define ST7920_SND_BIT(...) do{        \
+    WRITE(LCD_PINS_D4, LOW);             \
+    WRITE(LCD_PINS_EN, ST7920_DAT(val)); \
+    WRITE(LCD_PINS_D4, HIGH);            \
+    val <<= 1; }while(0);
+
+  void ST7920_SWSPI_SND_8BIT(uint8_t val) {
+    REPEAT(8, ST7920_SND_BIT);
+  }
+
+  void ST7920_cs()                          { ST7920_CS(); }
+  void ST7920_ncs()                         { ST7920_NCS(); }
+  void ST7920_set_cmd()                     { ST7920_SET_CMD(); }
+  void ST7920_set_dat()                     { ST7920_SET_DAT(); }
+  void ST7920_write_byte(const uint8_t val) { ST7920_WRITE_BYTE(val); }
+#endif // LIGHTWEIGHT_UI
+
 #endif // IS_U8GLIB_ST7920
 #endif // __PLAT_NATIVE_SIM__

Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp

@@ -127,7 +127,7 @@ uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck
 static uint8_t SPI_speed = 0;
 
 static uint8_t swSpiInit(const uint8_t spi_speed, const uint8_t clk_pin, const uint8_t mosi_pin) {
-    return spi_speed;
+  return spi_speed;
 }
 
 static void u8g_sw_spi_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) {

Marlin/src/HAL/RP2040/HAL.cpp

@@ -28,21 +28,116 @@
 
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
+#include "../../module/temperature.h"  // For OVERSAMPLENR
 
 extern "C" {
   #include "pico/bootrom.h"
   #include "hardware/watchdog.h"
+  #include "pico/multicore.h"
+  #include "hardware/adc.h"
+  #include "pico/time.h"
 }
 
 #if HAS_SD_HOST_DRIVE
   #include "msc_sd.h"
-  #include "usbd_cdc_if.h"
 #endif
 
 // ------------------------
 // Public Variables
 // ------------------------
 
+volatile uint32_t adc_accumulators[5] = {0}; // Accumulators for oversampling (sum of readings)
+volatile uint8_t adc_counts[5] = {0};        // Count of readings accumulated per channel
+volatile uint16_t adc_values[5] = {4095, 4095, 4095, 4095, 4095}; // Averaged ADC values (single reading equivalent) - initialized to max (open circuit)
+
+// Core monitoring for watchdog
+volatile uint32_t core0_last_heartbeat = 0; // Timestamp of Core 0's last activity
+volatile uint32_t core1_last_heartbeat = 0; // Timestamp of Core 1's last activity
+#if ENABLED(MARLIN_DEV_MODE)
+  volatile bool core1_freeze_test = false;  // Flag to freeze Core 1 for watchdog testing
+#endif
+volatile uint8_t current_pin;
+volatile bool MarlinHAL::adc_has_result;
+volatile uint8_t adc_channels_enabled[5] = {false}; // Track which ADC channels are enabled
+
+// Core 1 ADC reading task - dynamically reads all enabled channels with oversampling
+void core1_adc_task() {
+  static uint32_t last_temp_update = 0;
+
+  while (true) {
+    #if ENABLED(MARLIN_DEV_MODE)
+      // Check if we should freeze for watchdog test
+      if (core1_freeze_test) {
+        // Stop updating heartbeat and spin forever
+        while (core1_freeze_test) {
+          busy_wait_us(100000); // 100ms delay
+        }
+      }
+    #endif
+
+    // Scan all enabled ADC channels
+    for (uint8_t channel = 0; channel < 5; channel++) {
+      if (!adc_channels_enabled[channel]) continue;
+
+      // Enable temperature sensor if reading channel 4
+      if (channel == 4) {
+        adc_set_temp_sensor_enabled(true);
+      }
+
+      // Select and read the channel
+      adc_select_input(channel);
+      busy_wait_us(100); // Settling delay
+      adc_fifo_drain();
+      adc_run(true);
+
+      // Wait for conversion with timeout
+      uint32_t timeout = 10000;
+      while (adc_fifo_is_empty() && timeout--) {
+        busy_wait_us(1);
+      }
+
+      adc_run(false);
+      uint16_t reading = adc_fifo_is_empty() ? 0 : adc_fifo_get();
+
+      // Accumulate readings for oversampling
+      adc_accumulators[channel] += reading;
+      adc_counts[channel]++;
+
+      // When we reach the full oversampling count, calculate averaged value (Marlin ISR does its own oversampling)
+      if (adc_counts[channel] >= OVERSAMPLENR) {
+        adc_values[channel] = adc_accumulators[channel] / OVERSAMPLENR; // Return single-reading equivalent
+        adc_accumulators[channel] = 0;
+        adc_counts[channel] = 0;
+      }
+
+      // Disable temp sensor after reading to save power
+      if (channel == 4) {
+        adc_set_temp_sensor_enabled(false);
+      }
+    }
+
+    // Core 1 just provides ADC readings - don't trigger temperature updates from here
+    // Let Marlin's main temperature ISR on Core 0 handle the timing and updates
+    uint32_t now = time_us_32();
+    if (now - last_temp_update >= 100000) { // 100ms = 100000 microseconds
+      last_temp_update = now;
+      #if ENABLED(USE_WATCHDOG)
+        // Refresh watchdog here like AVR ISR does indirectly via temperature updates
+        // Use 2 second delay to allow watchdog_init to be called during boot
+        static uint32_t core1_start_time = 0;
+        if (core1_start_time == 0) core1_start_time = time_us_32();
+
+        if (time_us_32() - core1_start_time > 2000000) {
+          hal.watchdog_refresh(1); // Refresh from Core 1
+        }
+      #endif
+    }
+
+    // Delay between full scan cycles
+    busy_wait_us(10000); // 10ms between scans
+  }
+}
+
 volatile uint16_t adc_result;
 
 // ------------------------
@@ -56,7 +151,7 @@ void MarlinHAL::init() {
   // Ensure F_CPU is a constant expression.
   // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
   // So better safe than sorry here.
-  constexpr int cpuFreq = F_CPU;
+  constexpr unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
   #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
@@ -113,73 +208,91 @@ void MarlinHAL::reboot() { watchdog_reboot(0, 0, 1); }
   void MarlinHAL::watchdog_init() {
     #if DISABLED(DISABLE_WATCHDOG_INIT)
       static_assert(WDT_TIMEOUT_US > 1000, "WDT Timeout is too small, aborting");
+      // Initialize Core 0 heartbeat
+      core0_last_heartbeat = time_us_32();
       watchdog_enable(WDT_TIMEOUT_US/1000, true);
     #endif
   }
 
-  void MarlinHAL::watchdog_refresh() {
-    watchdog_update();
-    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
-      TOGGLE(LED_PIN);  // heartbeat indicator
-    #endif
+  void MarlinHAL::watchdog_refresh(const uint8_t core/*=0*/) {
+    if (core == 0) {
+      // Update Core 0 heartbeat
+      core0_last_heartbeat = time_us_32();
+
+      // Check if Core 1 is alive (2 second timeout)
+      if (time_us_32() - core1_last_heartbeat < 2000000) {
+        watchdog_update(); // Only refresh if Core 1 is responding
+        #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+          TOGGLE(LED_PIN); // Heartbeat indicator
+        #endif
+      }
+      // If Core 1 is stuck, don't refresh - let watchdog reset the system
+    }
+    else {
+      // Update Core 1 heartbeat
+      core1_last_heartbeat = time_us_32();
+
+      // Check if Core 0 is alive (2 second timeout)
+      if (time_us_32() - core0_last_heartbeat < 2000000) {
+        watchdog_update(); // Only refresh if Core 0 is responding
+        #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
+          TOGGLE(LED_PIN); // Heartbeat indicator
+        #endif
+      }
+      // If Core 0 is stuck, don't refresh - let watchdog reset the system
+    }
   }
 
-#endif
+#endif // USE_WATCHDOG
 
 // ------------------------
 // ADC
 // ------------------------
 
-volatile bool MarlinHAL::adc_has_result = false;
-
 void MarlinHAL::adc_init() {
   analogReadResolution(HAL_ADC_RESOLUTION);
   ::adc_init();
   adc_fifo_setup(true, false, 1, false, false);
-  irq_set_exclusive_handler(ADC_IRQ_FIFO, adc_exclusive_handler);
-  irq_set_enabled(ADC_IRQ_FIFO, true);
-  adc_irq_set_enabled(true);
+  // Launch Core 1 for continuous ADC reading
+  multicore_launch_core1(core1_adc_task);
+  adc_has_result = true; // Results are always available with continuous sampling
 }
 
 void MarlinHAL::adc_enable(const pin_t pin) {
-  if (pin >= A0 && pin <= A3)
+  if (pin >= A0 && pin <= A3) {
     adc_gpio_init(pin);
-  else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN)
-    adc_set_temp_sensor_enabled(true);
-}
-
-void MarlinHAL::adc_start(const pin_t pin) {
-  adc_has_result = false;
-  // Select an ADC input. 0...3 are GPIOs 26...29 respectively.
-  adc_select_input(pin == HAL_ADC_MCU_TEMP_DUMMY_PIN ? 4 : pin - A0);
-  adc_run(true);
-}
-
-void MarlinHAL::adc_exclusive_handler() {
-  adc_run(false); // Disable since we only want one result
-  irq_clear(ADC_IRQ_FIFO); // Clear the IRQ
-
-  if (adc_fifo_get_level() >= 1) {
-    adc_result = adc_fifo_get(); // Pop the result
-    adc_fifo_drain();
-    adc_has_result = true; // Signal the end of the conversion
+    adc_channels_enabled[pin - A0] = true; // Mark this channel as enabled
+  }
+  else if (pin == HAL_ADC_MCU_TEMP_DUMMY_PIN) {
+    adc_channels_enabled[4] = true; // Mark MCU temp channel as enabled
   }
 }
 
-uint16_t MarlinHAL::adc_value() { return adc_result; }
+void MarlinHAL::adc_start(const pin_t pin) {
+  // Just store which pin we need to read - values are continuously updated by Core 1
+  current_pin = pin;
+}
+
+uint16_t MarlinHAL::adc_value() {
+  // Return the latest ADC value from Core 1's continuous readings
+  const uint8_t channel = (current_pin == HAL_ADC_MCU_TEMP_DUMMY_PIN) ? 4 : (current_pin - A0);
+  return adc_values[channel];
+}
 
 // Reset the system to initiate a firmware flash
 void flashFirmware(const int16_t) { hal.reboot(); }
 
 extern "C" {
   void * _sbrk(int incr);
-  extern unsigned int __bss_end__; // end of bss section
+  extern unsigned int __StackLimit;    // Lowest address the stack can grow to
 }
 
-// Return free memory between end of heap (or end bss) and whatever is current
+// Return free memory between end of heap and start of stack
 int freeMemory() {
-  int free_memory, heap_end = (int)_sbrk(0);
-  return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
+  void* heap_end = _sbrk(0);
+  // Use the linker-provided stack limit instead of a local variable
+  // __StackLimit is the lowest address the stack can grow to
+  return (char*)&__StackLimit - (char*)heap_end;
 }
 
 #endif // __PLAT_RP2040__

Marlin/src/HAL/RP2040/HAL.h

@@ -40,12 +40,39 @@
   #include "msc_sd.h"
 #endif
 
+// ADC index 4 is the MCU temperature
+#define HAL_ADC_MCU_TEMP_DUMMY_PIN 127
+#define TEMP_SOC_PIN HAL_ADC_MCU_TEMP_DUMMY_PIN   // ADC4 is internal temp sensor
+#include "temp_soc.h"
+
 //
 // Serial Ports
 //
 
 #include "MarlinSerial.h"
 
+#if !WITHIN(SERIAL_PORT, -1, 1)
+  #error "SERIAL_PORT must be from -1 to 1."
+#endif
+
+#ifdef SERIAL_PORT_2
+  #if !WITHIN(SERIAL_PORT_2, -1, 1)
+    #error "SERIAL_PORT_2 must be from -1 to 1."
+  #endif
+#endif
+
+#ifdef SERIAL_PORT_3
+  #if !WITHIN(SERIAL_PORT_3, -1, 1)
+    #error "SERIAL_PORT_3 must be from -1 to 1."
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if !WITHIN(LCD_SERIAL_PORT, -1, 1)
+    #error "LCD_SERIAL_PORT must be from -1 to 1."
+  #endif
+#endif
+
 // ------------------------
 // Defines
 // ------------------------
@@ -85,8 +112,6 @@ typedef libServo hal_servo_t;
 #else
   #define HAL_ADC_RESOLUTION 12
 #endif
-// ADC index 4 is the MCU temperature
-#define HAL_ADC_MCU_TEMP_DUMMY_PIN 127
 
 //
 // Pin Mapping for M42, M43, M226
@@ -128,7 +153,7 @@ public:
 
   // Watchdog
   static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_refresh(const uint8_t=0) IF_DISABLED(USE_WATCHDOG, {});
 
   static void init();          // Called early in setup()
   static void init_board() {}  // Called less early in setup()
@@ -141,7 +166,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() { TERN_(HAS_SD_HOST_DRIVE, tuh_task()); }
 
   // Reset
@@ -164,9 +189,6 @@ public:
   // Begin ADC sampling on the given pin. Called from Temperature::isr!
   static void adc_start(const pin_t pin);
 
-  // This ADC runs a periodic task
-  static void adc_exclusive_handler();
-
   // Is the ADC ready for reading?
   static volatile bool adc_has_result;
   static bool adc_ready() { return adc_has_result; }

Marlin/src/HAL/RP2040/HAL_MinSerial.cpp

@@ -44,15 +44,15 @@ static void TXBegin() {
   #endif
 }
 
-static void TX(char b){
-    #if SERIAL_PORT == -1
-      USBSerial
-    #elif SERIAL_PORT == 0
-      USBSerial
-    #elif SERIAL_PORT == 1
-      Serial1
-    #endif
-    .write(b);
+static void TX(char b) {
+  #if SERIAL_PORT == -1
+    USBSerial
+  #elif SERIAL_PORT == 0
+    USBSerial
+  #elif SERIAL_PORT == 1
+    Serial1
+  #endif
+  .write(b);
 }
 
 // A SW memory barrier, to ensure GCC does not overoptimize loops

Marlin/src/HAL/RP2040/MarlinSerial.cpp

@@ -30,10 +30,40 @@
   #include "../../feature/e_parser.h"
 #endif
 
-#define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
-#define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
-#if WITHIN(SERIAL_PORT, 0, 3)
-  IMPLEMENT_SERIAL(SERIAL_PORT);
+#include <HardwareSerial.h>
+
+// Marlin uses: -1=USB, 0=UART0, 1=UART1
+// Arduino uses: Serial=USB, Serial1=UART0, Serial2=UART1
+//
+// To remap Arduino's numbering to Marlin's convention, we create MarlinSerial0/MarlinSerial1
+// as new UART instances with custom pins.
+//
+// We use distinct names (MarlinSerial0/MarlinSerial1) to avoid symbol conflicts with
+// the Arduino framework's pre-defined Serial1/Serial2 objects, which use the same
+// underlying hardware (_UART0_ and _UART1_).
+
+// Create Serial0 as UART0 with custom or default pins
+arduino::UART MarlinSerial0(
+  #if PINS_EXIST(SERIAL0_TX, SERIAL0_RX)
+    SERIAL0_TX_PIN, SERIAL0_RX_PIN  // Custom pins for UART0 (Marlin Serial0)
+  #else
+    0, 1  // Default UART0 pins (GP0/GP1)
+  #endif
+);
+
+// Not using PINS_EXIST(SERIAL1_TX, SERIAL1_RX) because SERIAL1_TX and SERIAL1_RX
+// are defined in framework-arduino-mbed/variants/RASPBERRY_PI_PICO/pins_arduino.h
+
+// Create Serial1 as UART1 with custom or default pins
+#if defined(SERIAL1_TX_PIN) && defined(SERIAL1_RX_PIN)
+  arduino::UART MarlinSerial1(SERIAL1_TX_PIN, SERIAL1_RX_PIN);  // Custom pins for UART1 (Marlin Serial1)
 #endif
 
+// Wrap the serial ports for Marlin
+DefaultSerial0 MSerial0(false, MarlinSerial0);   // Marlin Serial0 = UART0
+#if defined(SERIAL1_TX_PIN) && defined(SERIAL1_RX_PIN)
+  DefaultSerial1 MSerial1(false, MarlinSerial1); // Marlin Serial1 = UART1
+#endif
+DefaultSerial2 MSerial2(false, Serial);          // Marlin Serial2 = USB (-1)
+
 #endif // __PLAT_RP2040__

Marlin/src/HAL/RP2040/MarlinSerial.h

@@ -29,20 +29,50 @@
 
 #include "../../core/serial_hook.h"
 
-typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
-extern DefaultSerial1 MSerial0;
+/**
+ * Serial Port Configuration for RP2040 (Raspberry Pi Pico)
+ *
+ * Arduino-Pico Core Serial Objects:
+ * - Serial: USB Serial (CDC ACM)
+ * - Serial1: Hardware UART0
+ * - Serial2: Hardware UART1
+ * - SerialUSB: Alias for Serial (USB)
+ *
+ * Marlin Serial Wrappers:
+ * - MSerial0: Wrapper for MarlinSerial0 (UART0), used as Serial0
+ * - MSerial1: Wrapper for MarlinSerial1 (UART1), declared dynamically if used
+ * - MSerial2: Wrapper for Serial (USB)
+ * - USBSerial: Wrapper for SerialUSB (USB)
+ *
+ * How it all joins together:
+ * - Configuration defines SERIAL_PORT, SERIAL_PORT_2, etc. (-1 to 1 range)
+ * - shared/serial_ports.h maps these to MYSERIAL1, MYSERIAL2, etc.
+ * - MYSERIAL1 uses MSerialX based on the port index
+ * - USB ports (-1) use USB_SERIAL_PORT (MSerial2)
+ */
+
+// Forward declare our custom Serial objects (defined in MarlinSerial.cpp)
+namespace arduino { class UART; }
+extern arduino::UART MarlinSerial0;  // Always declared
+extern arduino::UART MarlinSerial1;  // Custom Marlin Serial1 to avoid conflict
+
+typedef ForwardSerial1Class< decltype(MarlinSerial0) > DefaultSerial0;
+extern DefaultSerial0 MSerial0;
+typedef ForwardSerial1Class< decltype(MarlinSerial1) > DefaultSerial1;
+extern DefaultSerial1 MSerial1;
+typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial2;
+extern DefaultSerial2 MSerial2;
 typedef ForwardSerial1Class<decltype(SerialUSB)> USBSerialType;
 extern USBSerialType USBSerial;
 
-#define Serial0 Serial
 #define _DECLARE_SERIAL(X) \
-  typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
+  typedef ForwardSerial1Class<decltype(MarlinSerial##X)> DefaultSerial##X; \
   extern DefaultSerial##X MSerial##X
 #define DECLARE_SERIAL(X) _DECLARE_SERIAL(X)
 
 #define SERIAL_INDEX_MIN 0
-#define SERIAL_INDEX_MAX 6
-#define USB_SERIAL_PORT(...) MSerial0
+#define SERIAL_INDEX_MAX 1
+#define USB_SERIAL_PORT(...) MSerial2
 #include "../shared/serial_ports.h"
 
 #if defined(LCD_SERIAL_PORT) && ANY(HAS_DGUS_LCD, EXTENSIBLE_UI)

Marlin/src/HAL/RP2040/eeprom/eeprom_flash.cpp

@@ -31,28 +31,48 @@
 
 // NOTE: The Bigtreetech SKR Pico has an onboard W25Q16 flash module
 
-// Use EEPROM.h for compatibility, for now.
-#include <EEPROM.h>
+// RP2040 Flash-based EEPROM emulation using internal flash memory
+#include <hardware/flash.h>
+#include <hardware/sync.h>
 
-static bool eeprom_data_written = false;
+// Flash sector size is already defined in hardware/flash.h as FLASH_SECTOR_SIZE
+// Place EEPROM emulation at the end of flash, before the filesystem
+// This assumes 2MB flash, adjust if using different flash size
+#define FLASH_TARGET_OFFSET (PICO_FLASH_SIZE_BYTES - FLASH_SECTOR_SIZE)
 
 #ifndef MARLIN_EEPROM_SIZE
   #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
 #endif
+
+static uint8_t eeprom_buffer[MARLIN_EEPROM_SIZE];
+static bool eeprom_data_written = false;
+static bool eeprom_initialized = false;
 size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
 
 bool PersistentStore::access_start() {
-  EEPROM.begin(); // Avoid EEPROM.h warning (do nothing)
-  eeprom_buffer_fill();
+  if (!eeprom_initialized) {
+    // Read from flash into buffer
+    const uint8_t *flash_data = (const uint8_t *)(XIP_BASE + FLASH_TARGET_OFFSET);
+    memcpy(eeprom_buffer, flash_data, MARLIN_EEPROM_SIZE);
+    eeprom_initialized = true;
+  }
   return true;
 }
 
 bool PersistentStore::access_finish() {
   if (eeprom_data_written) {
     TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-    hal.isr_off();
-    eeprom_buffer_flush();
-    hal.isr_on();
+
+    // Disable interrupts during flash write
+    const uint32_t intstate = save_and_disable_interrupts();
+
+    // Erase and program the sector
+    flash_range_erase(FLASH_TARGET_OFFSET, FLASH_SECTOR_SIZE);
+    flash_range_program(FLASH_TARGET_OFFSET, eeprom_buffer, MARLIN_EEPROM_SIZE);
+
+    // Restore interrupts
+    restore_interrupts(intstate);
+
     TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
     eeprom_data_written = false;
   }
@@ -62,8 +82,8 @@ bool PersistentStore::access_finish() {
 bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
   while (size--) {
     uint8_t v = *value;
-    if (v != eeprom_buffered_read_byte(pos)) {
-      eeprom_buffered_write_byte(pos, v);
+    if (pos < (int)MARLIN_EEPROM_SIZE && v != eeprom_buffer[pos]) {
+      eeprom_buffer[pos] = v;
       eeprom_data_written = true;
     }
     crc16(crc, &v, 1);
@@ -75,7 +95,7 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui
 
 bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
   do {
-    const uint8_t c = eeprom_buffered_read_byte(pos);
+    const uint8_t c = (pos < (int)MARLIN_EEPROM_SIZE) ? eeprom_buffer[pos] : 0xFF;
     if (writing) *value = c;
     crc16(crc, &c, 1);
     pos++;

Marlin/src/HAL/RP2040/pinsDebug.h

@@ -25,7 +25,7 @@
 #include "HAL.h"
 
 #ifndef NUM_DIGITAL_PINS
-   #error "Expected NUM_DIGITAL_PINS not found"
+  #error "Expected NUM_DIGITAL_PINS not found."
 #endif
 
 /**
@@ -74,6 +74,27 @@
  *          signal.  The Arduino pin number is listed by the M43 I command.
  */
 
+/**
+ * Pins Debugging for RP2040
+ *
+ *   - NUMBER_PINS_TOTAL
+ *   - MULTI_NAME_PAD
+ *   - getPinByIndex(index)
+ *   - printPinNameByIndex(index)
+ *   - getPinIsDigitalByIndex(index)
+ *   - digitalPinToAnalogIndex(pin)
+ *   - getValidPinMode(pin)
+ *   - isValidPin(pin)
+ *   - isAnalogPin(pin)
+ *   - digitalRead_mod(pin)
+ *   - pwm_status(pin)
+ *   - printPinPWM(pin)
+ *   - printPinPort(pin)
+ *   - printPinNumber(pin)
+ *   - printPinAnalog(pin)
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
 #define NUM_ANALOG_FIRST A0
 
 #define MODE_PIN_INPUT  0 // Input mode (reset state)
@@ -81,66 +102,66 @@
 #define MODE_PIN_ALT    2 // Alternate function mode
 #define MODE_PIN_ANALOG 3 // Analog mode
 
-#define PIN_NUM(P) (P & 0x000F)
-#define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1')
-#define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9)  ? ('0' + (P & 0x000F) - 10) : 0 )
-#define PORT_NUM(P) ((P  >> 4) & 0x0007)
-#define PORT_ALPHA(P) ('A' + (P  >> 4))
+#define getPinByIndex(x) pin_array[x].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define getPinIsDigitalByIndex(x) pin_array[x].is_digital
+#define digitalPinToAnalogIndex(P) digital_pin_to_analog_pin(P)
 
-/**
- * Translation of routines & variables used by pinsDebug.h
- */
-#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
-#define VALID_PIN(ANUM) (pin_t(ANUM) >= 0 && pin_t(ANUM) < NUMBER_PINS_TOTAL)
-#define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
-#define PRINT_PIN(Q)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
+uint8_t get_pin_mode(const pin_t pin) {
+  // Check if pin is in alternate function mode (I2C, SPI, etc.)
+  const uint32_t gpio_func = gpio_get_function(pin);
 
-// x is a variable used to search pin_array
-#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
-#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
-
-uint8_t get_pin_mode(const pin_t Ard_num) {
-
-  uint dir = gpio_get_dir( Ard_num);
-
-  if (dir) return MODE_PIN_OUTPUT;
-  else return MODE_PIN_INPUT;
+  // GPIO_FUNC_I2C is typically function 3 on RP2040
+  if ( gpio_func == GPIO_FUNC_I2C
+    || gpio_func == GPIO_FUNC_SPI
+    || gpio_func == GPIO_FUNC_UART
+    || gpio_func == GPIO_FUNC_PWM
+  ) {
+    return MODE_PIN_ALT;
+  }
 
+  // For GPIO mode, check direction
+  return gpio_get_dir(pin) ? MODE_PIN_OUTPUT : MODE_PIN_INPUT;
 }
 
-bool getValidPinMode(const pin_t Ard_num) {
-  const uint8_t pin_mode = get_pin_mode(Ard_num);
+bool getValidPinMode(const pin_t pin) {
+  const uint8_t pin_mode = get_pin_mode(pin);
   return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT;  // assume all alt definitions are PWM
 }
 
-int8_t digital_pin_to_analog_pin(pin_t Ard_num) {
-  Ard_num -= NUM_ANALOG_FIRST;
-  return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1;
+#define isValidPin(P) WITHIN(P, 0, pin_t(NUMBER_PINS_TOTAL - 1))
+
+int8_t digital_pin_to_analog_pin(pin_t pin) {
+  pin -= NUM_ANALOG_FIRST;
+  return (WITHIN(pin, 0, NUM_ANALOG_INPUTS - 1)) ? pin : -1;
 }
 
-bool isAnalogPin(const pin_t Ard_num) {
-  return digital_pin_to_analog_pin(Ard_num) != -1;
+bool isAnalogPin(const pin_t pin) {
+  return digital_pin_to_analog_pin(pin) != -1;
 }
 
-bool is_digital(const pin_t x) {
-  const uint8_t pin_mode = get_pin_mode(x);
-  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
+#define digitalRead_mod(A) extDigitalRead(A)  // must use Arduino pin numbers when doing reads
+#define printPinNumber(P) do{ sprintf_P(buffer, PSTR("%3d "), P); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
+#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
+
+//bool is_digital(const pin_t pin) {
+//  const uint8_t pin_mode = get_pin_mode(pin);
+//  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
+//}
+
+bool pwm_status(const pin_t pin) {
+  // Check if this pin is configured for PWM
+  return PWM_PIN(pin) && get_pin_mode(pin) == MODE_PIN_ALT;
 }
 
-void printPinPort(const pin_t Ard_num) {
-  SERIAL_ECHOPGM("Pin: ");
-  SERIAL_ECHO(Ard_num);
-}
-
-bool pwm_status(const pin_t Ard_num) {
-  return get_pin_mode(Ard_num) == MODE_PIN_ALT;
-}
-
-void printPinPWM(const pin_t Ard_num) {
-  if (PWM_PIN(Ard_num)) {
+void printPinPWM(const pin_t pin) {
+  if (pwm_status(pin)) {
+    // RP2040 has hardware PWM on specific pins
+    char buffer[22];
+    sprintf_P(buffer, PSTR("PWM:  pin %d  "), pin);
+    SERIAL_ECHO(buffer);
   }
 }
+
+void printPinPort(const pin_t pin) {}

Marlin/src/HAL/RP2040/temp_soc.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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
+
+// RP2040 internal temperature sensor
+// Formula: T = 27 - (ADC_voltage - 0.706) / 0.001721
+// ADC_voltage = (RAW / OVERSAMPLENR) * 3.3 / 4096  (RAW is accumulated over OVERSAMPLENR samples)
+// T = 27 - ((RAW / OVERSAMPLENR) * 3.3 / 4096 - 0.706) / 0.001721
+// Simplified: T = 437.423 - (RAW / OVERSAMPLENR) * 0.46875
+
+#define TEMP_SOC_SENSOR(RAW) (437.423f - ((RAW) / OVERSAMPLENR) * 0.46875f)

Marlin/src/HAL/RP2040/timers.h

@@ -41,9 +41,9 @@
 #define _HAL_TIMER_ISR(T)  __HAL_TIMER_ISR(T)
 
 typedef uint64_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT64_MAX)
 
-#define HAL_TIMER_RATE         (1000000ull)  // fixed value as we use a microsecond timesource
+#define HAL_TIMER_RATE         (1'000'000ULL)  // fixed value as we use a microsecond timesource
 #ifndef MF_TIMER_STEP
   #define MF_TIMER_STEP        0  // Timer Index for Stepper
 #endif
@@ -58,21 +58,20 @@ typedef uint64_t hal_timer_t;
 #endif
 
 #define TEMP_TIMER_RATE        HAL_TIMER_RATE
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
 #define STEPPER_TIMER_RATE     HAL_TIMER_RATE / 10 // 100khz roughly
 #define STEPPER_TIMER_TICKS_PER_US (0.1) // fixed value as we use a microsecond timesource
 #define STEPPER_TIMER_PRESCALE (10)
 
-#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
-#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
-#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP)
-#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP)
-#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP)
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
+#define STEPPER_ISR_ENABLED()               HAL_timer_interrupt_enabled(MF_TIMER_STEP)
 
-#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP)
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(MF_TIMER_TEMP)
 #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP)
 
 #ifndef HAL_STEP_TIMER_ISR
@@ -86,10 +85,10 @@ typedef uint64_t hal_timer_t;
 //#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP)
 //#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP)
 
-extern alarm_pool_t* HAL_timer_pool_0;
-extern alarm_pool_t* HAL_timer_pool_1;
-extern alarm_pool_t* HAL_timer_pool_2;
-extern alarm_pool_t* HAL_timer_pool_3;
+extern alarm_pool_t *HAL_timer_pool_0;
+extern alarm_pool_t *HAL_timer_pool_1;
+extern alarm_pool_t *HAL_timer_pool_2;
+extern alarm_pool_t *HAL_timer_pool_3;
 
 extern struct repeating_timer HAL_timer_0;
 
@@ -120,30 +119,25 @@ void HAL_timer_stop(const uint8_t timer_num);
 
 FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t compare) {
 
-  if (timer_num == MF_TIMER_STEP){
-    if (compare == HAL_TIMER_TYPE_MAX){
-       HAL_timer_stop(timer_num);
-       return;
-    }
+  if (timer_num == MF_TIMER_STEP && compare == HAL_TIMER_TYPE_MAX) {
+    HAL_timer_stop(timer_num);
+    return;
   }
 
- compare = compare *10; //Dirty fix, figure out a proper way
+ compare *= 10; // Dirty fix, figure out a proper way
 
   switch (timer_num) {
     case 0:
-      alarm_pool_add_alarm_in_us(HAL_timer_pool_0, compare, HAL_timer_alarm_pool_0_callback, 0, false);
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_0, compare, HAL_timer_alarm_pool_0_callback, 0, true);
       break;
-
     case 1:
-      alarm_pool_add_alarm_in_us(HAL_timer_pool_1, compare, HAL_timer_alarm_pool_1_callback, 0, false);
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_1, compare, HAL_timer_alarm_pool_1_callback, 0, true);
       break;
-
     case 2:
-      alarm_pool_add_alarm_in_us(HAL_timer_pool_2, compare, HAL_timer_alarm_pool_2_callback, 0, false);
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_2, compare, HAL_timer_alarm_pool_2_callback, 0, true);
       break;
-
     case 3:
-      alarm_pool_add_alarm_in_us(HAL_timer_pool_3, compare, HAL_timer_alarm_pool_3_callback, 0, false);
+      alarm_pool_add_alarm_in_us(HAL_timer_pool_3, compare, HAL_timer_alarm_pool_3_callback, 0, true);
       break;
   }
 }
@@ -151,27 +145,20 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, hal_time
 FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
   return 0;
 }
-
 FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
   if (timer_num == MF_TIMER_STEP) return 0ull;
   return time_us_64();
 }
 
-
 FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
   HAL_timer_irq_en[timer_num] = 1;
 }
-
 FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) {
   HAL_timer_irq_en[timer_num] = 0;
 }
-
 FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
-  return HAL_timer_irq_en[timer_num]; //lucky coincidence that timer_num and rp2040 irq num matches
+  return HAL_timer_irq_en[timer_num]; // Lucky coincidence that timer_num and rp2040 IRQ num matches
 }
 
-FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
-  return;
-}
-
-#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) {}

Marlin/src/HAL/RP2040/u8g/LCD_defines.h

@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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
+
+/**
+ * RP2040 LCD-specific defines
+ */
+uint8_t u8g_com_rp2040_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); // u8g_com_rp2040_ssd_i2c.cpp
+#define U8G_COM_SSD_I2C_HAL   u8g_com_rp2040_ssd_i2c_fn

Marlin/src/HAL/RP2040/u8g/u8g_com_rp2040_ssd_i2c.cpp

@@ -0,0 +1,108 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 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/>.
+ *
+ */
+
+/**
+ * 2-Wire I2C COM Driver
+ *
+ * Handles Hardware I2C on valid pin combinations.
+ * Wire library is used for Hardware I2C.
+ *
+ * Hardware I2C uses pins defined in pins_arduino.h.
+ */
+
+#ifdef __PLAT_RP2040__
+
+#include "../../../inc/MarlinConfig.h"
+
+#if HAS_U8GLIB_I2C_OLED
+
+#include <U8glib-HAL.h>
+
+#include <Wire.h>
+#ifndef MASTER_ADDRESS
+  #define MASTER_ADDRESS 0x01
+#endif
+
+/**
+ * BUFFER_LENGTH is defined in libraries\Wire\utility\WireBase.h
+ * Default value is 32
+ * Increase this value to 144 to send U8G_COM_MSG_WRITE_SEQ in single block
+ */
+#ifndef BUFFER_LENGTH
+  #define BUFFER_LENGTH 32
+#endif
+#if BUFFER_LENGTH > 144
+  #error "BUFFER_LENGTH should not be greater than 144."
+#endif
+#define I2C_MAX_LENGTH (BUFFER_LENGTH - 1)
+
+uint8_t u8g_com_rp2040_ssd_i2c_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+
+  // Hardware I2C flag
+  //static bool i2c_initialized = false;  // Flag to only run init/linking code once
+  //if (!i2c_initialized) {               // Init runtime linkages
+  //  i2c_initialized = true;             // Only do this once
+  //}
+
+  static uint8_t control;
+  // Use the global Wire instance (already initialized with correct pins for RP2040)
+  switch (msg) {
+    case U8G_COM_MSG_INIT:
+      Wire.setClock(400000);
+      // Wire already initialized in MarlinUI::init(), no need to call begin() again
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           // Define cmd (arg_val = 0) or data mode (arg_val = 1)
+      control = arg_val ? 0x40 : 0x00;
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      ::Wire.beginTransmission(0x3C);
+      ::Wire.write(control);
+      ::Wire.write(arg_val);
+      ::Wire.endTransmission();
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ: {
+      uint8_t* dataptr = (uint8_t*)arg_ptr;
+      while (arg_val > 0) {
+        ::Wire.beginTransmission(0x3C);
+        ::Wire.write(control);
+        if (arg_val <= I2C_MAX_LENGTH) {
+          ::Wire.write(dataptr, arg_val);
+          arg_val = 0;
+        }
+        else {
+          ::Wire.write(dataptr, I2C_MAX_LENGTH);
+          arg_val -= I2C_MAX_LENGTH;
+          dataptr += I2C_MAX_LENGTH;
+        }
+        ::Wire.endTransmission();
+      }
+      break;
+    }
+  }
+  return 1;
+}
+
+#endif // HAS_U8GLIB_I2C_OLED
+#endif // __PLAT_RP2040__

Marlin/src/HAL/SAMD21/HAL.h

@@ -144,7 +144,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/SAMD21/eeprom/eeprom_flash.cpp

@@ -83,7 +83,7 @@ bool PersistentStore::access_start() {
   NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC;
   while (NVMCTRL->INTFLAG.bit.READY == 0) { }
 
-  PAGE_SIZE =  pow(2,3 + NVMCTRL->PARAM.bit.PSZ);
+  PAGE_SIZE =  POW(2, 3 + NVMCTRL->PARAM.bit.PSZ);
   ROW_SIZE= PAGE_SIZE * 4;
   /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED;  // Buffered mode and segment reallocation active
   if (NVMCTRL->SEESTAT.bit.RLOCK)

Marlin/src/HAL/SAMD21/endstop_interrupts.h

@@ -32,7 +32,7 @@
  * On SAMD21, all pins support external interrupt capability.
  * Any pin can be used for external interrupts, but there are some restrictions.
  * At most 16 different external interrupts can be used at one time.
- * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD21
+ * Further, you can't just pick any 16 pins to use. This is because every pin on the SAMD21
  * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external
  * interrupts at a time
  */

Marlin/src/HAL/SAMD21/timers.cpp

@@ -165,7 +165,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
     tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt
 
     // TCn clock setup
-    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ;
+    GCLK->CLKCTRL.reg = uint16_t(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0  | GCLK_CLKCTRL_ID(GCM_TC4_TC5));
     SYNC (GCLK->STATUS.bit.SYNCBUSY);
 
     tcReset(tc); // reset TC

Marlin/src/HAL/SAMD21/timers.h

@@ -33,7 +33,7 @@
 // --------------------------------------------------------------------------
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)
 
 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
 
@@ -49,15 +49,14 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000)                  // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
-#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
@@ -143,9 +142,8 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
     Rtc * const rtc = timer_config[timer_num].pRtc;
     // Clear interrupt flag
     rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF;
-
   }
-  else if (timer_config[timer_num].type == TimerType::tcc){
+  else if (timer_config[timer_num].type == TimerType::tcc) {
     Tcc * const tc = timer_config[timer_num].pTcc;
     // Clear interrupt flag
     tc->INTFLAG.reg = TCC_INTFLAG_OVF;
@@ -157,4 +155,4 @@ 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) {}

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

@@ -25,7 +25,7 @@
  * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician)
  */
 // adapted from  I2C/master/master.c example
-//   https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
+//   https://www-users.york.ac.uk/~pcc1/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html
 
 #ifdef __SAMD21__
 

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

@@ -32,7 +32,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 #ifdef __SAMD21__

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

@@ -33,7 +33,7 @@
  *
  * Couldn't just call exact copies because the overhead killed the LCD update speed
  * With an intermediate level the softspi was running in the 10-20kHz range which
- * resulted in using about about 25% of the CPU's time.
+ * resulted in using about 25% of the CPU's time.
  */
 
 void u8g_SetPinOutput(uint8_t internal_pin_number);

Marlin/src/HAL/SAMD51/HAL.h

@@ -121,7 +121,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask() {}
 
   // Reset

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -31,7 +31,7 @@
  * On SAMD51, all pins support external interrupt capability.
  * Any pin can be used for external interrupts, but there are some restrictions.
  * At most 16 different external interrupts can be used at one time.
- * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD51
+ * Further, you can't just pick any 16 pins to use. This is because every pin on the SAMD51
  * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external
  * interrupts at a time
  */

Marlin/src/HAL/SAMD51/timers.h

@@ -32,7 +32,7 @@
 // --------------------------------------------------------------------------
 
 typedef uint32_t hal_timer_t;
-#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT32_MAX)
 
 #define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
 
@@ -48,15 +48,14 @@ typedef uint32_t hal_timer_t;
   #define MF_TIMER_TEMP         MF_TIMER_RTC // Timer Index for Temperature
 #endif
 
-#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+#define TEMP_TIMER_FREQUENCY   1000 // (Hz) Temperature ISR frequency
 
-#define STEPPER_TIMER_RATE          HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
-#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_RATE          HAL_TIMER_RATE                                  // (Hz) Frequency of Stepper Timer ISR (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US  (STEPPER_TIMER_RATE / 1000000)                  // (MHz) Stepper Timer ticks per µs
 #define STEPPER_TIMER_PRESCALE      (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
 
-#define PULSE_TIMER_RATE          STEPPER_TIMER_RATE
-#define PULSE_TIMER_PRESCALE      STEPPER_TIMER_PRESCALE
-#define PULSE_TIMER_TICKS_PER_US  STEPPER_TIMER_TICKS_PER_US
+#define PULSE_TIMER_RATE            STEPPER_TIMER_RATE                              // (Hz) Frequency of Pulse Timer
+#define PULSE_TIMER_PRESCALE        STEPPER_TIMER_PRESCALE
 
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()   HAL_timer_enable_interrupt(MF_TIMER_STEP)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(MF_TIMER_STEP)
@@ -145,4 +144,4 @@ 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) {}

Marlin/src/HAL/STM32/HAL.cpp

@@ -66,7 +66,7 @@ void MarlinHAL::init() {
   // Ensure F_CPU is a constant expression.
   // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
   // So better safe than sorry here.
-  constexpr int cpuFreq = F_CPU;
+  constexpr unsigned int cpuFreq = F_CPU;
   UNUSED(cpuFreq);
 
   #if HAS_MEDIA && DISABLED(ONBOARD_SDIO) && PIN_EXISTS(SD_SS)
@@ -114,7 +114,7 @@ void MarlinHAL::idletask() {
 void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 uint8_t MarlinHAL::get_reset_source() {
-  return
+  return (
     #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
     #endif
@@ -134,7 +134,7 @@ uint8_t MarlinHAL::get_reset_source() {
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_PORRST)   ? RST_POWER_ON :
     #endif
     0
-  ;
+  );
 }
 
 void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }

Marlin/src/HAL/STM32/HAL.h

@@ -63,8 +63,6 @@
 // Types
 // ------------------------
 
-typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
-
 typedef int32_t pin_t;        // Parity with platform/ststm32
 
 class libServo;
@@ -157,7 +155,7 @@ public:
 
   static void delay_ms(const int ms) { delay(ms); }
 
-  // Tasks, called from idle()
+  // Tasks, called from marlin.idle()
   static void idletask();
 
   // Reset

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) {

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;
 };

Marlin/src/HAL/STM32/Servo.cpp

@@ -39,8 +39,8 @@ static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM
 static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
 
 // This must be called after the STM32 Servo class has initialized the timer.
-// It may only be needed after the first call to attach(), but it is possible
-// that is is necessary after every detach() call. To be safe this is currently
+// It may only be needed after the first call to attach(), but it's possible
+// that this is needed after every detach() call. To be safe this is currently
 // called after every call to attach().
 static void fixServoTimerInterruptPriority() {
   NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);

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

@@ -29,6 +29,6 @@
 #endif
 
 // Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946)
-#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
+#if ALL(STM32F4xx, FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0
   #define PRINTCOUNTER_SYNC
 #endif

Marlin/src/HAL/STM32/pinsDebug.h

@@ -136,10 +136,8 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define printPinNumber(Q)
 #define printPinAnalog(P) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(P)); SERIAL_ECHO(buffer); }while(0)
 #define digitalPinToAnalogIndex(P) -1  // will report analog pin number in the print port routine
-
-// x is a variable used to search pin_array
-#define getPinIsDigitalByIndex(x) ((bool) pin_array[x].is_digital)
-#define getPinByIndex(x) ((pin_t) pin_array[x].pin)
+#define getPinIsDigitalByIndex(x) bool(pin_array[x].is_digital)
+#define getPinByIndex(x) pin_t(pin_array[x].pin)
 #define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
 
@@ -229,8 +227,7 @@ void printPinPort(const pin_t pin) {
     calc_p -= NUM_ANALOG_FIRST;
     if (calc_p > 7) calc_p += 8;
   }
-  SERIAL_ECHOPGM(" M42 P", calc_p);
-  SERIAL_CHAR(' ');
+  SERIAL_ECHO(F(" M42 P"), calc_p, C(' '));
   if (calc_p < 100) {
     SERIAL_CHAR(' ');
     if (calc_p <  10)

Marlin/src/HAL/STM32/sd/usb_host.cpp

@@ -88,9 +88,9 @@ void USBHost::setUsbTaskState(uint8_t state) {
     capacity = info.capacity.block_nbr / 2000;
     block_size = info.capacity.block_size;
     block_count = info.capacity.block_nbr;
-    //SERIAL_ECHOLNPGM("info.capacity.block_nbr : %ld\n", info.capacity.block_nbr);
-    //SERIAL_ECHOLNPGM("info.capacity.block_size: %d\n", info.capacity.block_size);
-    //SERIAL_ECHOLNPGM("capacity                : %d MB\n", capacity);
+    //SERIAL_ECHOLNPGM("info.capacity.block_nbr : ", info.capacity.block_nbr);
+    //SERIAL_ECHOLNPGM("info.capacity.block_size: ", info.capacity.block_size);
+    //SERIAL_ECHOLNPGM("capacity                : ", capacity, "MB");
   }
 };