♻️ Move watchdog to MarlinHAL

3 years ago · 07cd248b91
64 changed files with 510 additions and 1106 deletions
--- a/Marlin/src/HAL/AVR/HAL.cpp
+++ b/Marlin/src/HAL/AVR/HAL.cpp
@ -23,6 +23,7 @@
 #include "../../inc/MarlinConfig.h"
 #include "HAL.h"
 #include <avr/wdt.h>
 #ifdef USBCON
  DefaultSerial1 MSerial0(false, Serial);
@ -88,6 +89,58 @@ void MarlinHAL::reboot() {
  #endif
 }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #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() {
    #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
      #define WDTO_NS WDTO_8S
    #else
      #define WDTO_NS WDTO_4S
    #endif
    #if ENABLED(WATCHDOG_RESET_MANUAL)
      // Enable the watchdog timer, but only for the interrupt.
      // Take care, as this requires the correct order of operation, with interrupts disabled.
      // See the datasheet of any AVR chip for details.
      wdt_reset();
      cli();
      _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
      _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
                                                                                // So worked for up to WDTO_2S
      sei();
      wdt_reset();
    #else
      wdt_enable(WDTO_NS); // The function handles the upper bit correct.
    #endif
    //delay(10000); // test it!
  }
  //===========================================================================
  //=================================== ISR ===================================
  //===========================================================================
  // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
  #if ENABLED(WATCHDOG_RESET_MANUAL)
    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
    }
  #endif
  // Reset watchdog. MUST be called at least every 4 seconds after the
  // first watchdog_init or AVR will go into emergency procedures.
  void MarlinHAL::watchdog_refresh() { wdt_reset(); }
 #endif // USE_WATCHDOG
 // ------------------------
 // Free Memory Accessor
 // ------------------------
--- a/Marlin/src/HAL/AVR/HAL.h
+++ b/Marlin/src/HAL/AVR/HAL.h
@ -22,7 +22,6 @@
 #include "../shared/Marduino.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include "math.h"
 #ifdef USBCON
@ -185,6 +184,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/AVR/watchdog.cpp
+++ b/Marlin/src/HAL/AVR/watchdog.cpp
@ -1,70 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef __AVR__
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #include "../../MarlinCore.h"
 // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
 void watchdog_init() {
  #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
    #define WDTO_NS WDTO_8S
  #else
    #define WDTO_NS WDTO_4S
  #endif
  #if ENABLED(WATCHDOG_RESET_MANUAL)
    // Enable the watchdog timer, but only for the interrupt.
    // Take care, as this requires the correct order of operation, with interrupts disabled.
    // See the datasheet of any AVR chip for details.
    wdt_reset();
    cli();
    _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
    _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
                                                                              // So worked for up to WDTO_2S
    sei();
    wdt_reset();
  #else
    wdt_enable(WDTO_NS); // The function handles the upper bit correct.
  #endif
  //delay(10000); // test it!
 }
 //===========================================================================
 //=================================== ISR ===================================
 //===========================================================================
 // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
 #if ENABLED(WATCHDOG_RESET_MANUAL)
  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
  }
 #endif
 #endif // USE_WATCHDOG
 #endif // __AVR__
--- a/Marlin/src/HAL/AVR/watchdog.h
+++ b/Marlin/src/HAL/AVR/watchdog.h
@ -1,31 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 #include <avr/wdt.h>
 // Initialize watchdog with a 4 second interrupt time
 void watchdog_init();
 // Reset watchdog. MUST be called at least every 4 seconds after the
 // first watchdog_init or AVR will go into emergency procedures.
 inline void HAL_watchdog_refresh() { wdt_reset(); }
--- a/Marlin/src/HAL/DUE/HAL.cpp
+++ b/Marlin/src/HAL/DUE/HAL.cpp
@ -25,7 +25,7 @@
 #ifdef ARDUINO_ARCH_SAM
 #include "../../inc/MarlinConfig.h"
-#include "HAL.h"
+#include "../../MarlinCore.h"
 #include <Wire.h>
 #include "usb/usb_task.h"
@ -73,6 +73,99 @@ uint8_t MarlinHAL::get_reset_source() {
 void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  // Initialize watchdog - On SAM3X, Watchdog was already configured
  //  and enabled or disabled at startup, so no need to reconfigure it
  //  here.
  void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean
  // Reset watchdog. MUST be called at least every 4 seconds after the
  // first watchdog_init or AVR will go into emergency procedures.
  void MarlinHAL::watchdog_refresh() { watchdogReset(); }
 #endif
 // Override Arduino runtime to either config or disable the watchdog
 //
 // We need to configure the watchdog as soon as possible in the boot
 // process, because watchdog initialization at hardware reset on SAM3X8E
 // is unreliable, and there is risk of unintended resets if we delay
 // that initialization to a later time.
 void watchdogSetup() {
  #if ENABLED(USE_WATCHDOG)
    // 4 seconds timeout
    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
    // Calculate timeout value in WDT counter ticks: This assumes
    // the slow clock is running at 32.768 kHz watchdog
    // frequency is therefore 32768 / 128 = 256 Hz
    timeout = (timeout << 8) / 1000;
    if (timeout == 0)
      timeout = 1;
    else if (timeout > 0xFFF)
      timeout = 0xFFF;
    // We want to enable the watchdog with the specified timeout
    uint32_t value =
      WDT_MR_WDV(timeout) |               // With the specified timeout
      WDT_MR_WDD(timeout) |               // and no invalid write window
    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
                                          // to keep PIO controller state
    #endif
      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
    #if ENABLED(WATCHDOG_RESET_MANUAL)
      // We enable the watchdog timer, but only for the interrupt.
      // Configure WDT to only trigger an interrupt
      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
      // Disable WDT interrupt (just in case, to avoid triggering it!)
      NVIC_DisableIRQ(WDT_IRQn);
      // We NEED memory barriers to ensure Interrupts are actually disabled!
      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
      __DSB();
      __ISB();
      // Initialize WDT with the given parameters
      WDT_Enable(WDT, value);
      // Configure and enable WDT interrupt.
      NVIC_ClearPendingIRQ(WDT_IRQn);
      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
      NVIC_EnableIRQ(WDT_IRQn);
    #else
      // a WDT fault triggers a reset
      value |= WDT_MR_WDRSTEN;
      // Initialize WDT with the given parameters
      WDT_Enable(WDT, value);
    #endif
    // Reset the watchdog
    WDT_Restart(WDT);
  #else
    // Make sure to completely disable the Watchdog
    WDT_Disable(WDT);
  #endif
 }
 // ------------------------
 // Free Memory Accessor
 // ------------------------
--- a/Marlin/src/HAL/DUE/HAL.h
+++ b/Marlin/src/HAL/DUE/HAL.h
@ -32,7 +32,6 @@
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include <stdint.h>
@ -176,9 +175,13 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
-  static void init();       // Called early in setup()
+  // Watchdog
-  static void init_board(); // Called less early in setup()
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void reboot();     // Software reset
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init();          // Called early in setup()
  static void init_board();    // Called less early in setup()
  static void reboot();        // Restart the firmware
  // Interrupts
  static bool isr_state() { return !__get_PRIMASK(); }
--- a/Marlin/src/HAL/DUE/watchdog.cpp
+++ b/Marlin/src/HAL/DUE/watchdog.cpp
@ -1,114 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef ARDUINO_ARCH_SAM
 #include "../../inc/MarlinConfig.h"
 #include "../../MarlinCore.h"
 #include "watchdog.h"
 // Override Arduino runtime to either config or disable the watchdog
 //
 // We need to configure the watchdog as soon as possible in the boot
 // process, because watchdog initialization at hardware reset on SAM3X8E
 // is unreliable, and there is risk of unintended resets if we delay
 // that initialization to a later time.
 void watchdogSetup() {
  #if ENABLED(USE_WATCHDOG)
    // 4 seconds timeout
    uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000);
    // Calculate timeout value in WDT counter ticks: This assumes
    // the slow clock is running at 32.768 kHz watchdog
    // frequency is therefore 32768 / 128 = 256 Hz
    timeout = (timeout << 8) / 1000;
    if (timeout == 0)
      timeout = 1;
    else if (timeout > 0xFFF)
      timeout = 0xFFF;
    // We want to enable the watchdog with the specified timeout
    uint32_t value =
      WDT_MR_WDV(timeout) |               // With the specified timeout
      WDT_MR_WDD(timeout) |               // and no invalid write window
    #if !(SAMV70 || SAMV71 || SAME70 || SAMS70)
      WDT_MR_WDRPROC   |                  // WDT fault resets processor only - We want
                                          // to keep PIO controller state
    #endif
      WDT_MR_WDDBGHLT  |                  // WDT stops in debug state.
      WDT_MR_WDIDLEHLT;                   // WDT stops in idle state.
    #if ENABLED(WATCHDOG_RESET_MANUAL)
      // We enable the watchdog timer, but only for the interrupt.
      // Configure WDT to only trigger an interrupt
      value |= WDT_MR_WDFIEN;             // Enable WDT fault interrupt.
      // Disable WDT interrupt (just in case, to avoid triggering it!)
      NVIC_DisableIRQ(WDT_IRQn);
      // We NEED memory barriers to ensure Interrupts are actually disabled!
      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
      __DSB();
      __ISB();
      // Initialize WDT with the given parameters
      WDT_Enable(WDT, value);
      // Configure and enable WDT interrupt.
      NVIC_ClearPendingIRQ(WDT_IRQn);
      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
      NVIC_EnableIRQ(WDT_IRQn);
    #else
      // a WDT fault triggers a reset
      value |= WDT_MR_WDRSTEN;
      // Initialize WDT with the given parameters
      WDT_Enable(WDT, value);
    #endif
    // Reset the watchdog
    WDT_Restart(WDT);
  #else
    // Make sure to completely disable the Watchdog
    WDT_Disable(WDT);
  #endif
 }
 #if ENABLED(USE_WATCHDOG)
  // Initialize watchdog - On SAM3X, Watchdog was already configured
  //  and enabled or disabled at startup, so no need to reconfigure it
  //  here.
  void watchdog_init() {
    // Reset watchdog to start clean
    WDT_Restart(WDT);
  }
 #endif // USE_WATCHDOG
 #endif
--- a/Marlin/src/HAL/DUE/watchdog.h
+++ b/Marlin/src/HAL/DUE/watchdog.h
@ -1,33 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 // Arduino Due core now has watchdog support
 #include "HAL.h"
 // Initialize watchdog with a 4 second interrupt time
 void watchdog_init();
 // Reset watchdog. MUST be called at least every 4 seconds after the
 // first watchdog_init or AVR will go into emergency procedures.
 inline void HAL_watchdog_refresh() { watchdogReset(); }
--- a/Marlin/src/HAL/ESP32/HAL.cpp
+++ b/Marlin/src/HAL/ESP32/HAL.cpp
@ -179,6 +179,31 @@ void _delay_ms(int delay_ms) { delay(delay_ms); }
 // return free memory between end of heap (or end bss) and whatever is current
 int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
  extern "C" {
    esp_err_t esp_task_wdt_reset();
  }
  void watchdogSetup() {
    // do whatever. don't remove this function.
  }
  void MarlinHAL::watchdog_init() {
    // TODO
  }
  // Reset watchdog.
  void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); }
 #endif
 // ------------------------
 // ADC
 // ------------------------
--- a/Marlin/src/HAL/ESP32/HAL.h
+++ b/Marlin/src/HAL/ESP32/HAL.h
@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include "i2s.h"
 #if ENABLED(WIFISUPPORT)
@ -172,9 +171,13 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
-  static void init() {}  // Called early in setup()
+  // Watchdog
-  static void init_board();     // Called less early in setup()
+  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void reboot();         // Restart the firmware
+  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init() {}        // Called early in setup()
  static void init_board();    // Called less early in setup()
  static void reboot();        // Restart the firmware
  // Interrupts
  static portMUX_TYPE spinlock;
--- a/Marlin/src/HAL/ESP32/watchdog.cpp
+++ b/Marlin/src/HAL/ESP32/watchdog.cpp
@ -1,42 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef ARDUINO_ARCH_ESP32
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
 #include "watchdog.h"
 void watchdogSetup() {
  // do whatever. don't remove this function.
 }
 void watchdog_init() {
  // TODO
 }
 #endif // USE_WATCHDOG
 #endif // ARDUINO_ARCH_ESP32
--- a/Marlin/src/HAL/ESP32/watchdog.h
+++ b/Marlin/src/HAL/ESP32/watchdog.h
@ -1,38 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 #ifdef __cplusplus
  extern "C" {
 #endif
  esp_err_t esp_task_wdt_reset();
 #ifdef __cplusplus
  }
 #endif
 // Initialize watchdog with a 4 second interrupt time
 void watchdog_init();
 // Reset watchdog.
 inline void HAL_watchdog_refresh() { esp_task_wdt_reset(); }
--- a/Marlin/src/HAL/HAL.h
+++ b/Marlin/src/HAL/HAL.h
@ -45,7 +45,3 @@ extern MarlinHAL hal;
 #ifndef PGMSTR
  #define PGMSTR(NAM,STR) const char NAM[] = STR
 #endif
 inline void watchdog_refresh() {
  TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
 }
--- a/Marlin/src/HAL/LINUX/HAL.h
+++ b/Marlin/src/HAL/LINUX/HAL.h
@ -21,6 +21,8 @@
 */
 #pragma once
 #include "../../inc/MarlinConfigPre.h"
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
@ -29,12 +31,10 @@
 #include <algorithm>
 #include "hardware/Clock.h"
 #include "../shared/Marduino.h"
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include "serial.h"
 // ------------------------
@ -106,9 +106,13 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init() {}
  static void watchdog_refresh() {}
  static void init() {}        // Called early in setup()
  static void init_board() {}  // Called less early in setup()
-  static void reboot();               // Reset the application state and GPIO
+  static void reboot();        // Reset the application state and GPIO
  // Interrupts
  static bool isr_state() { return true; }
--- a/Marlin/src/HAL/LINUX/watchdog.cpp
+++ b/Marlin/src/HAL/LINUX/watchdog.cpp
@ -1,37 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef __PLAT_LINUX__
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
 void watchdog_init() {}
 void HAL_watchdog_refresh() {}
 #endif
 #endif // __PLAT_LINUX__
--- a/Marlin/src/HAL/LINUX/watchdog.h
+++ b/Marlin/src/HAL/LINUX/watchdog.h
@ -1,25 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 void watchdog_init();
 void HAL_watchdog_refresh();
--- a/Marlin/src/HAL/LPC1768/HAL.cpp
+++ b/Marlin/src/HAL/LPC1768/HAL.cpp
@ -25,10 +25,6 @@
 #include "../shared/Delay.h"
 #include "../../../gcode/parser.h"
 #if ENABLED(USE_WATCHDOG)
  #include "watchdog.h"
 #endif
 DefaultSerial1 USBSerial(false, UsbSerial);
 uint32_t MarlinHAL::adc_result = 0;
@ -61,9 +57,7 @@ uint8_t MarlinHAL::get_reset_source() {
  return RST_POWER_ON;
 }
-void MarlinHAL::clear_reset_source() {
+void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); }
  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
 }
 void flashFirmware(const int16_t) {
  delay(500);          // Give OS time to disconnect
@ -72,6 +66,52 @@ void flashFirmware(const int16_t) {
  hal.reboot();
 }
 #if ENABLED(USE_WATCHDOG)
  #include <lpc17xx_wdt.h>
  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
  void MarlinHAL::watchdog_init() {
    #if ENABLED(WATCHDOG_RESET_MANUAL)
      // We enable the watchdog timer, but only for the interrupt.
      // Configure WDT to only trigger an interrupt
      // Disable WDT interrupt (just in case, to avoid triggering it!)
      NVIC_DisableIRQ(WDT_IRQn);
      // We NEED memory barriers to ensure Interrupts are actually disabled!
      // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
      __DSB();
      __ISB();
      // Configure WDT to only trigger an interrupt
      // Initialize WDT with the given parameters
      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
      // Configure and enable WDT interrupt.
      NVIC_ClearPendingIRQ(WDT_IRQn);
      NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
      NVIC_EnableIRQ(WDT_IRQn);
    #else
      WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
    #endif
    WDT_Start(WDT_TIMEOUT_US);
  }
  void MarlinHAL::watchdog_refresh() {
    WDT_Feed();
    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
      TOGGLE(LED_PIN);  // heartbeat indicator
    #endif
  }
  // Timeout state
  bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
  void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
 #endif // USE_WATCHDOG
 // For M42/M43, scan command line for pin code
 //   return index into pin map array if found and the pin is valid.
 //   return dval if not found or not a valid pin.
--- a/Marlin/src/HAL/LPC1768/HAL.h
+++ b/Marlin/src/HAL/LPC1768/HAL.h
@ -38,7 +38,6 @@ extern "C" volatile uint32_t _millis;
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include "MarlinSerial.h"
 #include <adc.h>
@ -199,9 +198,9 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
-  static void init();                 // Called early in setup()
+  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
-  static void reboot();               // Restart the firmware from 0x0
+  static void reboot();        // Restart the firmware from 0x0
  // Interrupts
  static bool isr_state() { return !__get_PRIMASK(); }
@ -210,6 +209,12 @@ public:
  static void delay_ms(const int ms) { _delay_ms(ms); }
  // Watchdog
  static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  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()
  static void idletask();
--- a/Marlin/src/HAL/LPC1768/watchdog.cpp
+++ b/Marlin/src/HAL/LPC1768/watchdog.cpp
@ -1,72 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef TARGET_LPC1768
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include <lpc17xx_wdt.h>
 #include "watchdog.h"
 #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
 void watchdog_init() {
  #if ENABLED(WATCHDOG_RESET_MANUAL)
    // We enable the watchdog timer, but only for the interrupt.
    // Configure WDT to only trigger an interrupt
    // Disable WDT interrupt (just in case, to avoid triggering it!)
    NVIC_DisableIRQ(WDT_IRQn);
    // We NEED memory barriers to ensure Interrupts are actually disabled!
    // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
    __DSB();
    __ISB();
    // Configure WDT to only trigger an interrupt
    // Initialize WDT with the given parameters
    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY);
    // Configure and enable WDT interrupt.
    NVIC_ClearPendingIRQ(WDT_IRQn);
    NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups
    NVIC_EnableIRQ(WDT_IRQn);
  #else
    WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET);
  #endif
  WDT_Start(WDT_TIMEOUT_US);
 }
 void HAL_watchdog_refresh() {
  WDT_Feed();
  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
    TOGGLE(LED_PIN);  // heartbeat indicator
  #endif
 }
 // Timeout state
 bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
 void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
 #endif // USE_WATCHDOG
 #endif // TARGET_LPC1768
--- a/Marlin/src/HAL/LPC1768/watchdog.h
+++ b/Marlin/src/HAL/LPC1768/watchdog.h
@ -1,28 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 void watchdog_init();
 void HAL_watchdog_refresh();
 bool watchdog_timed_out();
 void watchdog_clear_timeout_flag();
--- a/Marlin/src/HAL/NATIVE_SIM/HAL.h
+++ b/Marlin/src/HAL/NATIVE_SIM/HAL.h
@ -45,7 +45,6 @@ uint8_t _getc();
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include "serial.h"
 // ------------------------
@ -208,6 +207,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init() {}        // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/NATIVE_SIM/watchdog.h
+++ b/Marlin/src/HAL/NATIVE_SIM/watchdog.h
@ -1,27 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2021 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
 #define WDT_TIMEOUT   4000000 // 4 second timeout
 void watchdog_init();
 void HAL_watchdog_refresh();
--- a/Marlin/src/HAL/SAMD51/HAL.cpp
+++ b/Marlin/src/HAL/SAMD51/HAL.cpp
@ -203,6 +203,40 @@ enum ADCIndex {
  ADC_COUNT
 };
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
  void MarlinHAL::watchdog_init() {
    // The low-power oscillator used by the WDT runs at 32,768 Hz with
    // a 1:32 prescale, thus 1024 Hz, though probably not super precise.
    // Setup WDT clocks
    MCLK->APBAMASK.bit.OSC32KCTRL_ = true;
    MCLK->APBAMASK.bit.WDT_ = true;
    OSC32KCTRL->OSCULP32K.bit.EN1K = true;  // Enable out 1K (this is what WDT uses)
    WDT->CTRLA.bit.ENABLE = false;          // Disable watchdog for config
    SYNC(WDT->SYNCBUSY.bit.ENABLE);
    WDT->INTENCLR.reg = WDT_INTENCLR_EW;    // Disable early warning interrupt
    WDT->CONFIG.reg = WDT_TIMEOUT_REG;      // Set a 4s or 8s period for chip reset
    hal.watchdog_refresh();
    WDT->CTRLA.reg = WDT_CTRLA_ENABLE;      // Start watchdog now in normal mode
    SYNC(WDT->SYNCBUSY.bit.ENABLE);
  }
  // Reset watchdog. MUST be called at least every 4 seconds after the
  // first watchdog_init or SAMD will go into emergency procedures.
  void MarlinHAL::watchdog_refresh() {
    SYNC(WDT->SYNCBUSY.bit.CLEAR);        // Test first if previous is 'ongoing' to save time waiting for command execution
    WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
  }
 #endif
 // ------------------------
 // Types
 // ------------------------
--- a/Marlin/src/HAL/SAMD51/HAL.h
+++ b/Marlin/src/HAL/SAMD51/HAL.h
@ -26,7 +26,6 @@
 #include "../shared/math_32bit.h"
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #ifdef ADAFRUIT_GRAND_CENTRAL_M4
  #include "MarlinSerial_AGCM4.h"
@ -157,6 +156,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/SAMD51/watchdog.cpp
+++ b/Marlin/src/HAL/SAMD51/watchdog.cpp
@ -1,54 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 *
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
 *
 * 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/>.
 *
 */
 #ifdef __SAMD51__
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout
 void watchdog_init() {
  // The low-power oscillator used by the WDT runs at 32,768 Hz with
  // a 1:32 prescale, thus 1024 Hz, though probably not super precise.
  // Setup WDT clocks
  MCLK->APBAMASK.bit.OSC32KCTRL_ = true;
  MCLK->APBAMASK.bit.WDT_ = true;
  OSC32KCTRL->OSCULP32K.bit.EN1K = true;      // Enable out 1K (this is what WDT uses)
  WDT->CTRLA.bit.ENABLE = false;              // Disable watchdog for config
  SYNC(WDT->SYNCBUSY.bit.ENABLE);
  WDT->INTENCLR.reg = WDT_INTENCLR_EW;        // Disable early warning interrupt
  WDT->CONFIG.reg = WDT_TIMEOUT_REG;          // Set a 4s or 8s period for chip reset
  HAL_watchdog_refresh();
  WDT->CTRLA.reg = WDT_CTRLA_ENABLE;          // Start watchdog now in normal mode
  SYNC(WDT->SYNCBUSY.bit.ENABLE);
 }
 #endif // USE_WATCHDOG
 #endif // __SAMD51__
--- a/Marlin/src/HAL/SAMD51/watchdog.h
+++ b/Marlin/src/HAL/SAMD51/watchdog.h
@ -1,31 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 *
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
 *
 * 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
 // Initialize watchdog with a 4 second interrupt time
 void watchdog_init();
 // Reset watchdog. MUST be called at least every 4 seconds after the
 // first watchdog_init or SAMD will go into emergency procedures.
 inline void HAL_watchdog_refresh() {
  SYNC(WDT->SYNCBUSY.bit.CLEAR);        // Test first if previous is 'ongoing' to save time waiting for command execution
  WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
 }
--- a/Marlin/src/HAL/STM32/HAL.cpp
+++ b/Marlin/src/HAL/STM32/HAL.cpp
@ -140,6 +140,29 @@ uint8_t MarlinHAL::get_reset_source() {
 void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
  #include <IWatchdog.h>
  void MarlinHAL::watchdog_init() {
    IF_DISABLED(DISABLE_WATCHDOG_INIT, IWatchdog.begin(WDT_TIMEOUT_US));
  }
  void MarlinHAL::watchdog_refresh() {
    IWatchdog.reload();
    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
      TOGGLE(LED_PIN);  // heartbeat indicator
    #endif
  }
 #endif
 extern "C" {
  extern unsigned int _ebss; // end of bss section
 }
--- a/Marlin/src/HAL/STM32/HAL.h
+++ b/Marlin/src/HAL/STM32/HAL.h
@ -30,7 +30,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "Servo.h"
 #include "watchdog.h"
 #include "MarlinSerial.h"
 #include "../../inc/MarlinConfigPre.h"
@ -218,9 +217,13 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
-  static void init();                 // Called early in setup()
+  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
-  static void reboot();               // Restart the firmware from 0x0
+  static void reboot();        // Restart the firmware from 0x0
  // Interrupts
  static bool isr_state() { return !__get_PRIMASK(); }
--- a/Marlin/src/HAL/STM32/MinSerial.cpp
+++ b/Marlin/src/HAL/STM32/MinSerial.cpp
@ -29,7 +29,6 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
 #include "../shared/MinSerial.h"
 #include "watchdog.h"
 /* Instruction Synchronization Barrier */
 #define isb() __asm__ __volatile__ ("isb" : : : "memory")
@ -120,7 +119,7 @@ static void TX(char c) {
  #if WITHIN(SERIAL_PORT, 1, 6)
    constexpr uint32_t usart_sr_txe = _BV(7);
    while (!(regs->SR & usart_sr_txe)) {
-      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      hal.watchdog_refresh();
      sw_barrier();
    }
    regs->DR = c;
--- a/Marlin/src/HAL/STM32/msc_sd.cpp
+++ b/Marlin/src/HAL/STM32/msc_sd.cpp
@ -57,7 +57,7 @@ public:
    auto sd2card = diskIODriver();
    // single block
    if (blkLen == 1) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      sd2card->writeBlock(blkAddr, pBuf);
      return true;
    }
@ -65,7 +65,7 @@ public:
    // multi block optimization
    sd2card->writeStart(blkAddr, blkLen);
    while (blkLen--) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      sd2card->writeData(pBuf);
      pBuf += BLOCK_SIZE;
    }
@ -77,7 +77,7 @@ public:
    auto sd2card = diskIODriver();
    // single block
    if (blkLen == 1) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      sd2card->readBlock(blkAddr, pBuf);
      return true;
    }
@ -85,7 +85,7 @@ public:
    // multi block optimization
    sd2card->readStart(blkAddr);
    while (blkLen--) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      sd2card->readData(pBuf);
      pBuf += BLOCK_SIZE;
    }
--- a/Marlin/src/HAL/STM32/sdio.cpp
+++ b/Marlin/src/HAL/STM32/sdio.cpp
@ -208,7 +208,7 @@ bool SDIO_Init() {
  uint8_t retry_Cnt = retryCnt;
  for (;;) {
-    TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+    hal.watchdog_refresh();
    status = (bool) HAL_SD_Init(&hsd);
    if (!status) break;
    if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
@ -219,7 +219,7 @@ bool SDIO_Init() {
  #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined
    retry_Cnt = retryCnt;
    for (;;) {
-      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      hal.watchdog_refresh();
      if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break;  // some cards are only 1 bit wide so a pass here is not required
      if (!--retry_Cnt) break;
    }
@ -228,7 +228,7 @@ bool SDIO_Init() {
      SD_LowLevel_Init();
      retry_Cnt = retryCnt;
      for (;;) {
-        TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+        hal.watchdog_refresh();
        status = (bool) HAL_SD_Init(&hsd);
        if (!status) break;
        if (!--retry_Cnt) return false;   // return failing status if retries are exhausted
@ -243,7 +243,7 @@ bool SDIO_Init() {
 static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) {
  if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false;
-  TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+  hal.watchdog_refresh();
  HAL_StatusTypeDef ret;
  if (src) {
--- a/Marlin/src/HAL/STM32/watchdog.cpp
+++ b/Marlin/src/HAL/STM32/watchdog.cpp
@ -1,52 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #include "../platforms.h"
 #ifdef HAL_STM32
 #include "../../inc/MarlinConfigPre.h"
 #if ENABLED(USE_WATCHDOG)
 #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout
 #include "../../inc/MarlinConfig.h"
 #include "watchdog.h"
 #include <IWatchdog.h>
 void watchdog_init() {
  #if DISABLED(DISABLE_WATCHDOG_INIT)
    IWatchdog.begin(WDT_TIMEOUT_US);
  #endif
 }
 void HAL_watchdog_refresh() {
  IWatchdog.reload();
  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
    TOGGLE(LED_PIN);  // heartbeat indicator
  #endif
 }
 #endif // USE_WATCHDOG
 #endif // HAL_STM32
--- a/Marlin/src/HAL/STM32/watchdog.h
+++ b/Marlin/src/HAL/STM32/watchdog.h
@ -1,25 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 void watchdog_init();
 void HAL_watchdog_refresh();
--- a/Marlin/src/HAL/STM32F1/HAL.cpp
+++ b/Marlin/src/HAL/STM32F1/HAL.cpp
@ -113,6 +113,47 @@
  #endif
 #endif
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #include <libmaple/iwdg.h>
  void watchdogSetup() {
    // do whatever. don't remove this function.
  }
  /**
   *  The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0).
   */
  #define STM32F1_WD_RELOAD TERN(WATCHDOG_DURATION_8S, 1250, 625) // 4 or 8 second timeout
  /**
   * @brief  Initialize the independent hardware watchdog.
   *
   * @return No return
   *
   * @details The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0).
   */
  void MarlinHAL::watchdog_init() {
    #if DISABLED(DISABLE_WATCHDOG_INIT)
      iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD);
    #endif
  }
  // Reset watchdog. MUST be called every 4 or 8 seconds after the
  // first watchdog_init or the STM32F1 will reset.
  void MarlinHAL::watchdog_refresh() {
    #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
      TOGGLE(LED_PIN);  // heartbeat indicator
    #endif
    iwdg_feed();
  }
 #endif // USE_WATCHDOG
 // ------------------------
 // ADC
 // ------------------------
--- a/Marlin/src/HAL/STM32F1/HAL.h
+++ b/Marlin/src/HAL/STM32F1/HAL.h
@ -34,7 +34,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include <stdint.h>
 #include <util/atomic.h>
@ -247,6 +246,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init();          // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/STM32F1/MinSerial.cpp
+++ b/Marlin/src/HAL/STM32F1/MinSerial.cpp
@ -27,7 +27,6 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
 #include "../shared/MinSerial.h"
 #include "watchdog.h"
 #include <libmaple/usart.h>
 #include <libmaple/rcc.h>
@ -82,7 +81,7 @@ static void TX(char c) {
  #if WITHIN(SERIAL_PORT, 1, 6)
    struct usart_dev* dev = MYSERIAL1.c_dev();
    while (!(dev->regs->SR & USART_SR_TXE)) {
-      TERN_(USE_WATCHDOG, HAL_watchdog_refresh());
+      hal.watchdog_refresh();
      sw_barrier();
    }
    dev->regs->DR = c;
--- a/Marlin/src/HAL/STM32F1/watchdog.cpp
+++ b/Marlin/src/HAL/STM32F1/watchdog.cpp
@ -1,66 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 /**
 * HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
 */
 #ifdef __STM32F1__
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include <libmaple/iwdg.h>
 #include "watchdog.h"
 /**
 *  The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0).
 */
 #define STM32F1_WD_RELOAD TERN(WATCHDOG_DURATION_8S, 1250, 625) // 4 or 8 second timeout
 void HAL_watchdog_refresh() {
  #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
    TOGGLE(LED_PIN);  // heartbeat indicator
  #endif
  iwdg_feed();
 }
 void watchdogSetup() {
  // do whatever. don't remove this function.
 }
 /**
 * @brief  Initialized the independent hardware watchdog.
 *
 * @return No return
 *
 * @details The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0).
 */
 void watchdog_init() {
  #if DISABLED(DISABLE_WATCHDOG_INIT)
    iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD);
  #endif
 }
 #endif // USE_WATCHDOG
 #endif // __STM32F1__
--- a/Marlin/src/HAL/STM32F1/watchdog.h
+++ b/Marlin/src/HAL/STM32F1/watchdog.h
@ -1,35 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 /**
 * HAL for stm32duino.com based on Libmaple and compatible (STM32F1)
 */
 #include <libmaple/iwdg.h>
 // Initialize watchdog with a 4 or 8 second countdown time
 void watchdog_init();
 // Reset watchdog. MUST be called every 4 or 8 seconds after the
 // first watchdog_init or the STM32F1 will reset.
 void HAL_watchdog_refresh();
--- a/Marlin/src/HAL/TEENSY31_32/HAL.cpp
+++ b/Marlin/src/HAL/TEENSY31_32/HAL.cpp
@ -62,6 +62,28 @@ uint8_t MarlinHAL::get_reset_source() {
  return 0;
 }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout
  void MarlinHAL::watchdog_init() {
    WDOG_TOVALH = 0;
    WDOG_TOVALL = WDT_TIMEOUT_MS;
    WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
  }
  void MarlinHAL::watchdog_refresh() {
    // Watchdog refresh sequence
    WDOG_REFRESH = 0xA602;
    WDOG_REFRESH = 0xB480;
  }
 #endif
 // ------------------------
 // ADC
 // ------------------------
--- a/Marlin/src/HAL/TEENSY31_32/HAL.h
+++ b/Marlin/src/HAL/TEENSY31_32/HAL.h
@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include <stdint.h>
@ -135,6 +134,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init() {}        // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/TEENSY31_32/watchdog.cpp
+++ b/Marlin/src/HAL/TEENSY31_32/watchdog.cpp
@ -1,40 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef __MK20DX256__
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout
 void watchdog_init() {
  WDOG_TOVALH = 0;
  WDOG_TOVALL = WDT_TIMEOUT_MS;
  WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
 }
 #endif // USE_WATCHDOG
 #endif // __MK20DX256__
--- a/Marlin/src/HAL/TEENSY31_32/watchdog.h
+++ b/Marlin/src/HAL/TEENSY31_32/watchdog.h
@ -1,34 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 #include "HAL.h"
 // Arduino Due core now has watchdog support
 void watchdog_init();
 inline void HAL_watchdog_refresh() {
  // Watchdog refresh sequence
  WDOG_REFRESH = 0xA602;
  WDOG_REFRESH = 0xB480;
 }
--- a/Marlin/src/HAL/TEENSY35_36/HAL.cpp
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.cpp
@ -61,6 +61,28 @@ uint8_t MarlinHAL::get_reset_source() {
  return 0;
 }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout
  void MarlinHAL::watchdog_init() {
    WDOG_TOVALH = 0;
    WDOG_TOVALL = WDT_TIMEOUT_MS;
    WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
  }
  void MarlinHAL::watchdog_refresh() {
    // Watchdog refresh sequence
    WDOG_REFRESH = 0xA602;
    WDOG_REFRESH = 0xB480;
  }
 #endif
 // ------------------------
 // ADC
 // ------------------------
--- a/Marlin/src/HAL/TEENSY35_36/HAL.h
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.h
@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include <stdint.h>
 #include <util/atomic.h>
@ -140,6 +139,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init() {}        // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/TEENSY35_36/watchdog.cpp
+++ b/Marlin/src/HAL/TEENSY35_36/watchdog.cpp
@ -1,40 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #if defined(__MK64FX512__) || defined(__MK66FX1M0__)
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout
 void watchdog_init() {
  WDOG_TOVALH = 0;
  WDOG_TOVALL = WDT_TIMEOUT_MS;
  WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
 }
 #endif // USE_WATCHDOG
 #endif // __MK64FX512__ || __MK66FX1M0__
--- a/Marlin/src/HAL/TEENSY35_36/watchdog.h
+++ b/Marlin/src/HAL/TEENSY35_36/watchdog.h
@ -1,30 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 void watchdog_init();
 inline void HAL_watchdog_refresh() {
  // Watchdog refresh sequence
  WDOG_REFRESH = 0xA602;
  WDOG_REFRESH = 0xB480;
 }
--- a/Marlin/src/HAL/TEENSY40_41/HAL.cpp
+++ b/Marlin/src/HAL/TEENSY40_41/HAL.cpp
@ -78,6 +78,31 @@ void MarlinHAL::clear_reset_source() {
  SRC_SRSR = reset_source;
 }
 // ------------------------
 // Watchdog Timer
 // ------------------------
 #if ENABLED(USE_WATCHDOG)
  #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout
  constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f;
  void MarlinHAL::watchdog_init() {
    CCM_CCGR3 |= CCM_CCGR3_WDOG1(3);  // enable WDOG1 clocks
    WDOG1_WMCR = 0;                   // disable power down PDE
    WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval);
    WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE;
  }
  void MarlinHAL::watchdog_refresh() {
    // Watchdog refresh sequence
    WDOG1_WSR = 0x5555;
    WDOG1_WSR = 0xAAAA;
  }
 #endif
 // ------------------------
 // ADC
 // ------------------------
--- a/Marlin/src/HAL/TEENSY40_41/HAL.h
+++ b/Marlin/src/HAL/TEENSY40_41/HAL.h
@ -32,7 +32,6 @@
 #include "../shared/HAL_SPI.h"
 #include "fastio.h"
 #include "watchdog.h"
 #include <stdint.h>
 #include <util/atomic.h>
@ -162,6 +161,10 @@ public:
  // Earliest possible init, before setup()
  MarlinHAL() {}
  // Watchdog
  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
  static void init() {}        // Called early in setup()
  static void init_board() {}  // Called less early in setup()
  static void reboot();        // Restart the firmware from 0x0
--- a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp
+++ b/Marlin/src/HAL/TEENSY40_41/watchdog.cpp
@ -1,52 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #ifdef __IMXRT1062__
 /**
 * HAL Watchdog for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A)
 */
 #include "../../inc/MarlinConfig.h"
 #if ENABLED(USE_WATCHDOG)
 #include "watchdog.h"
 #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout
 constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f;
 void watchdog_init() {
  CCM_CCGR3 |= CCM_CCGR3_WDOG1(3);  // enable WDOG1 clocks
  WDOG1_WMCR = 0;                   // disable power down PDE
  WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval);
  WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE;
 }
 void HAL_watchdog_refresh() {
  // Watchdog refresh sequence
  WDOG1_WSR = 0x5555;
  WDOG1_WSR = 0xAAAA;
 }
 #endif // USE_WATCHDOG
 #endif // __IMXRT1062__
--- a/Marlin/src/HAL/TEENSY40_41/watchdog.h
+++ b/Marlin/src/HAL/TEENSY40_41/watchdog.h
@ -1,30 +0,0 @@
 /**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */
 #pragma once
 /**
 * HAL Watchdog for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A)
 */
 void watchdog_init();
 void HAL_watchdog_refresh();
--- a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp
+++ b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp
@ -221,7 +221,7 @@ bool resume_from_fault() {
  // So we'll just need to refresh the watchdog for a while and then stop for the system to reboot
  uint32_t last = start;
  while (PENDING(last, end)) {
-    watchdog_refresh();
+    hal.watchdog_refresh();
    while (millis() == last) { /* nada */ }
    last = millis();
    MinSerial::TX('.');
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@ -931,18 +931,18 @@ void minkill(const bool steppers_off/*=false*/) {
    // Wait for both KILL and ENC to be released
    while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed()))
-      watchdog_refresh();
+      hal.watchdog_refresh();
    // Wait for either KILL or ENC to be pressed again
    while (TERN1(HAS_KILL, !kill_state()) && TERN1(SOFT_RESET_ON_KILL, !ui.button_pressed()))
-      watchdog_refresh();
+      hal.watchdog_refresh();
    // Reboot the board
    hal.reboot();
  #else
-    for (;;) watchdog_refresh();  // Wait for RESET button or power-cycle
+    for (;;) hal.watchdog_refresh();  // Wait for RESET button or power-cycle
  #endif
 }
@ -1549,7 +1549,7 @@ void setup() {
  #endif
  #if ENABLED(USE_WATCHDOG)
-    SETUP_RUN(watchdog_init());       // Reinit watchdog after hal.get_reset_source call
+    SETUP_RUN(hal.watchdog_init());   // Reinit watchdog after hal.get_reset_source call
  #endif
  #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
--- a/Marlin/src/gcode/config/M43.cpp
+++ b/Marlin/src/gcode/config/M43.cpp
@ -69,7 +69,7 @@ inline void toggle_pins() {
      SERIAL_EOL();
    }
    else {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      report_pin_state_extended(pin, ignore_protection, true, F("Pulsing   "));
      #ifdef __STM32F1__
        const auto prior_mode = _GET_MODE(i);
@ -98,10 +98,10 @@ inline void toggle_pins() {
      {
        pinMode(pin, OUTPUT);
        for (int16_t j = 0; j < repeat; j++) {
-          watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
+          hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
-          watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait);
+          hal.watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait);
-          watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
+          hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
-          watchdog_refresh();
+          hal.watchdog_refresh();
        }
      }
      #ifdef __STM32F1__
--- a/Marlin/src/gcode/feature/L6470/M916-M918.cpp
+++ b/Marlin/src/gcode/feature/L6470/M916-M918.cpp
@ -309,7 +309,6 @@ void GcodeSuite::M917() {
        }
        DEBUG_ECHOLNPGM(".");
        reset_stepper_timeout(); // keep steppers powered
        watchdog_refresh();
        safe_delay(5000);
        status_composite_temp = 0;
        for (j = 0; j < driver_count; j++) {
--- a/Marlin/src/gcode/gcode_d.cpp
+++ b/Marlin/src/gcode/gcode_d.cpp
@ -214,7 +214,7 @@ void GcodeSuite::D(const int16_t dcode) {
        c = 1024 * 4;
        while (c--) {
-          TERN_(USE_WATCHDOG, watchdog_refresh());
+          hal.watchdog_refresh();
          card.write(buf, COUNT(buf));
        }
        SERIAL_ECHOLNPGM(" done");
@ -231,7 +231,7 @@ void GcodeSuite::D(const int16_t dcode) {
        __attribute__((aligned(sizeof(size_t)))) uint8_t buf[512];
        uint16_t c = 1024 * 4;
        while (c--) {
-          TERN_(USE_WATCHDOG, watchdog_refresh());
+          hal.watchdog_refresh();
          card.read(buf, COUNT(buf));
          bool error = false;
          for (uint16_t i = 0; i < COUNT(buf); i++) {
--- a/Marlin/src/lcd/e3v2/proui/meshviewer.cpp
+++ b/Marlin/src/lcd/e3v2/proui/meshviewer.cpp
@ -74,7 +74,7 @@ void MeshViewerClass::DrawMesh(bed_mesh_t zval, const uint8_t sizex, const uint8
  LOOP_S_L_N(x, 1, sizex - 1) DrawMeshVLine(x);
  LOOP_S_L_N(y, 1, sizey - 1) DrawMeshHLine(y);
  LOOP_L_N(y, sizey) {
-    watchdog_refresh();
+    hal.watchdog_refresh();
    LOOP_L_N(x, sizex) {
      uint16_t color = DWINUI::RainbowInt(zmesh[x][y], _MIN(-5, minz), _MAX(5, maxz));
      uint8_t radius = rm(zmesh[x][y]);
--- a/Marlin/src/lcd/extui/mks_ui/draw_print_file.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/draw_print_file.cpp
@ -402,7 +402,7 @@ void lv_gcode_file_read(uint8_t *data_buf) {
    char temp_test[200];
    volatile uint16_t *p_index;
-    watchdog_refresh();
+    hal.watchdog_refresh();
    memset(public_buf, 0, 200);
    while (card.isFileOpen()) {
--- a/Marlin/src/lcd/extui/mks_ui/draw_z_offset_wizard.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/draw_z_offset_wizard.cpp
@ -104,7 +104,7 @@ static void event_handler(lv_obj_t *obj, lv_event_t event) {
      sync_plan_position();
      // Raise Z as if it was homed
      do_z_clearance(Z_POST_CLEARANCE);
-      watchdog_refresh();
+      hal.watchdog_refresh();
      draw_return_ui();
      return;
    case ID_M_RETURN:
@ -117,7 +117,7 @@ static void event_handler(lv_obj_t *obj, lv_event_t event) {
      #else // Otherwise do a Z clearance move like after Homing
        do_z_clearance(Z_POST_CLEARANCE);
      #endif
-      watchdog_refresh();
+      hal.watchdog_refresh();
      draw_return_ui();
      return;
  }
--- a/Marlin/src/lcd/extui/mks_ui/pic_manager.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/pic_manager.cpp
@ -267,12 +267,12 @@ void spiFlashErase_PIC() {
  W25QXX.init(SPI_QUARTER_SPEED);
  // erase 0x001000 -64K
  for (pic_sectorcnt = 0; pic_sectorcnt < (64 - 4) / 4; pic_sectorcnt++) {
-    watchdog_refresh();
+    hal.watchdog_refresh();
    W25QXX.SPI_FLASH_SectorErase(PICINFOADDR + pic_sectorcnt * 4 * 1024);
  }
  // erase 64K -- 6M
  for (pic_sectorcnt = 0; pic_sectorcnt < (PIC_SIZE_xM * 1024 / 64 - 1); pic_sectorcnt++) {
-    watchdog_refresh();
+    hal.watchdog_refresh();
    W25QXX.SPI_FLASH_BlockErase((pic_sectorcnt + 1) * 64 * 1024);
  }
 }
@ -282,7 +282,7 @@ void spiFlashErase_PIC() {
    volatile uint32_t Font_sectorcnt = 0;
    W25QXX.init(SPI_QUARTER_SPEED);
    for (Font_sectorcnt = 0; Font_sectorcnt < 32 - 1; Font_sectorcnt++) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      W25QXX.SPI_FLASH_BlockErase(FONTINFOADDR + Font_sectorcnt * 64 * 1024);
    }
  }
@ -414,7 +414,7 @@ uint32_t Pic_Info_Write(uint8_t *P_name, uint32_t P_size) {
      return;
    }
-    watchdog_refresh();
+    hal.watchdog_refresh();
    disp_assets_update_progress(fn);
    W25QXX.init(SPI_QUARTER_SPEED);
@ -427,21 +427,21 @@ uint32_t Pic_Info_Write(uint8_t *P_name, uint32_t P_size) {
    totalSizeLoaded += pfileSize;
    if (assetType == ASSET_TYPE_LOGO) {
      do {
-        watchdog_refresh();
+        hal.watchdog_refresh();
        pbr = file.read(public_buf, BMP_WRITE_BUF_LEN);
        Pic_Logo_Write((uint8_t*)fn, public_buf, pbr);
      } while (pbr >= BMP_WRITE_BUF_LEN);
    }
    else if (assetType == ASSET_TYPE_TITLE_LOGO) {
      do {
-        watchdog_refresh();
+        hal.watchdog_refresh();
        pbr = file.read(public_buf, BMP_WRITE_BUF_LEN);
        Pic_TitleLogo_Write((uint8_t*)fn, public_buf, pbr);
      } while (pbr >= BMP_WRITE_BUF_LEN);
    }
    else if (assetType == ASSET_TYPE_G_PREVIEW) {
      do {
-        watchdog_refresh();
+        hal.watchdog_refresh();
        pbr = file.read(public_buf, BMP_WRITE_BUF_LEN);
        default_view_Write(public_buf, pbr);
      } while (pbr >= BMP_WRITE_BUF_LEN);
@ -451,7 +451,7 @@ uint32_t Pic_Info_Write(uint8_t *P_name, uint32_t P_size) {
      SPIFlash.beginWrite(Pic_Write_Addr);
      #if HAS_SPI_FLASH_COMPRESSION
        do {
-          watchdog_refresh();
+          hal.watchdog_refresh();
          pbr = file.read(public_buf, SPI_FLASH_PageSize);
          TERN_(MARLIN_DEV_MODE, totalSizes += pbr);
          SPIFlash.writeData(public_buf, SPI_FLASH_PageSize);
@ -472,7 +472,7 @@ uint32_t Pic_Info_Write(uint8_t *P_name, uint32_t P_size) {
    else if (assetType == ASSET_TYPE_FONT) {
      Pic_Write_Addr = UNIGBK_FLASH_ADDR;
      do {
-        watchdog_refresh();
+        hal.watchdog_refresh();
        pbr = file.read(public_buf, BMP_WRITE_BUF_LEN);
        W25QXX.SPI_FLASH_BufferWrite(public_buf, Pic_Write_Addr, pbr);
        Pic_Write_Addr += pbr;
@ -493,11 +493,11 @@ uint32_t Pic_Info_Write(uint8_t *P_name, uint32_t P_size) {
      disp_assets_update();
      disp_assets_update_progress(F("Erasing pics..."));
-      watchdog_refresh();
+      hal.watchdog_refresh();
      spiFlashErase_PIC();
      #if HAS_SPI_FLASH_FONT
        disp_assets_update_progress(F("Erasing fonts..."));
-        watchdog_refresh();
+        hal.watchdog_refresh();
        spiFlashErase_FONT();
      #endif
--- a/Marlin/src/lcd/extui/mks_ui/tft_lvgl_configuration.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/tft_lvgl_configuration.cpp
@ -125,13 +125,13 @@ void tft_lvgl_init() {
  ui_cfg_init();
  disp_language_init();
-  watchdog_refresh();     // LVGL init takes time
+  hal.watchdog_refresh();     // LVGL init takes time
  // Init TFT first!
  SPI_TFT.spi_init(SPI_FULL_SPEED);
  SPI_TFT.LCD_init();
-  watchdog_refresh();     // LVGL init takes time
+  hal.watchdog_refresh();     // LVGL init takes time
  #if ENABLED(USB_FLASH_DRIVE_SUPPORT)
    uint16_t usb_flash_loop = 1000;
@ -142,21 +142,21 @@ void tft_lvgl_init() {
    #endif
    do {
      card.media_driver_usbFlash.idle();
-      watchdog_refresh();
+      hal.watchdog_refresh();
      delay(2);
    } while (!card.media_driver_usbFlash.isInserted() && usb_flash_loop--);
    card.mount();
  #elif HAS_LOGO_IN_FLASH
    delay(1000);
-    watchdog_refresh();
+    hal.watchdog_refresh();
    delay(1000);
  #endif
-  watchdog_refresh();     // LVGL init takes time
+  hal.watchdog_refresh();     // LVGL init takes time
  #if ENABLED(SDSUPPORT)
    UpdateAssets();
-    watchdog_refresh();   // LVGL init takes time
+    hal.watchdog_refresh();   // LVGL init takes time
    TERN_(MKS_TEST, mks_test_get());
  #endif
--- a/Marlin/src/lcd/extui/mks_ui/wifi_module.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/wifi_module.cpp
@ -123,7 +123,7 @@ uint32_t getWifiTickDiff(int32_t lastTick, int32_t curTick) {
 void wifi_delay(int n) {
  const uint32_t start = getWifiTick();
  while (getWifiTickDiff(start, getWifiTick()) < (uint32_t)n)
-    watchdog_refresh();
+    hal.watchdog_refresh();
 }
 void wifi_reset() {
@ -1882,7 +1882,7 @@ void wifi_rcv_handle() {
 void wifi_looping() {
  do {
    wifi_rcv_handle();
-    watchdog_refresh();
+    hal.watchdog_refresh();
  } while (wifi_link_state == WIFI_TRANS_FILE);
 }
@ -1897,7 +1897,7 @@ void mks_esp_wifi_init() {
  esp_state = TRANSFER_IDLE;
  esp_port_begin(1);
-  watchdog_refresh();
+  hal.watchdog_refresh();
  wifi_reset();
  #if 0
@ -1950,14 +1950,14 @@ void mks_esp_wifi_init() {
 }
 void mks_wifi_firmware_update() {
-  watchdog_refresh();
+  hal.watchdog_refresh();
  card.openFileRead((char *)ESP_FIRMWARE_FILE);
  if (card.isFileOpen()) {
    card.closefile();
    wifi_delay(2000);
-    watchdog_refresh();
+    hal.watchdog_refresh();
    if (usartFifoAvailable((SZ_USART_FIFO *)&WifiRxFifo) < 20) return;
    clear_cur_ui();
@ -1965,7 +1965,7 @@ void mks_wifi_firmware_update() {
    lv_draw_dialog(DIALOG_TYPE_UPDATE_ESP_FIRMWARE);
    lv_task_handler();
-    watchdog_refresh();
+    hal.watchdog_refresh();
    if (wifi_upload(0) >= 0) {
      card.removeFile((char *)ESP_FIRMWARE_FILE_RENAME);
--- a/Marlin/src/lcd/extui/mks_ui/wifi_upload.cpp
+++ b/Marlin/src/lcd/extui/mks_ui/wifi_upload.cpp
@ -265,7 +265,7 @@ EspUploadResult readPacket(uint8_t op, uint32_t *valp, size_t *bodyLen, uint32_t
    EspUploadResult stat;
    //IWDG_ReloadCounter();
-    watchdog_refresh();
+    hal.watchdog_refresh();
    if (getWifiTickDiff(startTime, getWifiTick()) > msTimeout)
      return timeout;
@ -445,7 +445,7 @@ EspUploadResult Sync(uint16_t timeout) {
    for (;;) {
      size_t bodyLen;
      EspUploadResult rc = readPacket(ESP_SYNC, 0, &bodyLen, defaultTimeout);
-      watchdog_refresh();
+      hal.watchdog_refresh();
      if (rc != success || bodyLen != 2) break;
    }
  }
@ -673,7 +673,7 @@ int32_t wifi_upload(int type) {
  while (esp_upload.state != upload_idle) {
    upload_spin();
-    watchdog_refresh();
+    hal.watchdog_refresh();
  }
  ResetWiFiForUpload(1);
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@ -1226,10 +1226,10 @@ inline void loud_kill(FSTR_P const lcd_msg, const heater_id_t heater_id) {
  thermalManager.disable_all_heaters();
  #if HAS_BEEPER
    for (uint8_t i = 20; i--;) {
-      watchdog_refresh();
+      hal.watchdog_refresh();
      buzzer.click(25);
      delay(80);
-      watchdog_refresh();
+      hal.watchdog_refresh();
    }
    buzzer.on();
  #endif
@ -1274,7 +1274,7 @@ void Temperature::_temp_error(const heater_id_t heater_id, FSTR_P const serial_m
  }
  disable_all_heaters(); // always disable (even for bogus temp)
-  watchdog_refresh();
+  hal.watchdog_refresh();
  #if BOGUS_TEMPERATURE_GRACE_PERIOD
    const millis_t ms = millis();
@ -1638,7 +1638,7 @@ void Temperature::min_temp_error(const heater_id_t heater_id) {
 *  - Update the heated bed PID output value
 */
 void Temperature::manage_heater() {
-  if (marlin_state == MF_INITIALIZING) return watchdog_refresh(); // If Marlin isn't started, at least reset the watchdog!
+  if (marlin_state == MF_INITIALIZING) return hal.watchdog_refresh(); // If Marlin isn't started, at least reset the watchdog!
  static bool no_reentry = false;  // Prevent recursion
  if (no_reentry) return;
@ -2387,7 +2387,7 @@ void Temperature::manage_heater() {
 */
 void Temperature::updateTemperaturesFromRawValues() {
-  watchdog_refresh(); // Reset because raw_temps_ready was set by the interrupt
+  hal.watchdog_refresh(); // Reset because raw_temps_ready was set by the interrupt
  TERN_(TEMP_SENSOR_0_IS_MAX_TC, temp_hotend[0].setraw(READ_MAX_TC(0)));
  TERN_(TEMP_SENSOR_1_IS_MAX_TC, temp_hotend[1].setraw(READ_MAX_TC(1)));
--- a/Marlin/src/sd/Sd2Card.cpp
+++ b/Marlin/src/sd/Sd2Card.cpp
@ -249,7 +249,7 @@ bool DiskIODriver_SPI_SD::init(const uint8_t sckRateID, const pin_t chipSelectPi
  const millis_t init_timeout = millis() + SD_INIT_TIMEOUT;
  uint32_t arg;
-  watchdog_refresh(); // In case init takes too long
+  hal.watchdog_refresh(); // In case init takes too long
  // Set pin modes
  #if ENABLED(ZONESTAR_12864OLED)
@ -270,7 +270,7 @@ bool DiskIODriver_SPI_SD::init(const uint8_t sckRateID, const pin_t chipSelectPi
  // Must supply min of 74 clock cycles with CS high.
  LOOP_L_N(i, 10) spiSend(0xFF);
-  watchdog_refresh(); // In case init takes too long
+  hal.watchdog_refresh(); // In case init takes too long
  // Command to go idle in SPI mode
  while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
@ -284,7 +284,7 @@ bool DiskIODriver_SPI_SD::init(const uint8_t sckRateID, const pin_t chipSelectPi
    crcSupported = (cardCommand(CMD59, 1) == R1_IDLE_STATE);
  #endif
-  watchdog_refresh(); // In case init takes too long
+  hal.watchdog_refresh(); // In case init takes too long
  // check SD version
  for (;;) {
@ -306,7 +306,7 @@ bool DiskIODriver_SPI_SD::init(const uint8_t sckRateID, const pin_t chipSelectPi
    }
  }
-  watchdog_refresh(); // In case init takes too long
+  hal.watchdog_refresh(); // In case init takes too long
  // Initialize card and send host supports SDHC if SD2
  arg = type() == SD_CARD_TYPE_SD2 ? 0x40000000 : 0;