update from 2.0.x

Marlin/Configuration.h

@@ -374,6 +374,10 @@
 
   //#define PSU_DEFAULT_OFF               // Keep power off until enabled directly with M80
   //#define PSU_POWERUP_DELAY      250    // (ms) Delay for the PSU to warm up to full power
+  //#define LED_POWEROFF_TIMEOUT 10000    // (ms) Turn off LEDs after power-off, with this amount of delay
+
+  //#define POWER_OFF_TIMER               // Enable M81 D<seconds> to power off after a delay
+  //#define POWER_OFF_WAIT_FOR_COOLDOWN   // Enable M81 S to power off only after cooldown
 
   //#define PSU_POWERUP_GCODE  "M355 S1"  // G-code to run after power-on (e.g., case light on)
   //#define PSU_POWEROFF_GCODE "M355 S0"  // G-code to run before power-off (e.g., case light off)
@@ -385,12 +389,14 @@
     #define AUTO_POWER_CONTROLLERFAN
     #define AUTO_POWER_CHAMBER_FAN
     #define AUTO_POWER_COOLER_FAN
-    //#define AUTO_POWER_E_TEMP        50 // (°C) Turn on PSU if any extruder is over this temperature
-    //#define AUTO_POWER_CHAMBER_TEMP  30 // (°C) Turn on PSU if the chamber is over this temperature
-    //#define AUTO_POWER_COOLER_TEMP   26 // (°C) Turn on PSU if the cooler is over this temperature
     #define POWER_TIMEOUT              30 // (s) Turn off power if the machine is idle for this duration
     //#define POWER_OFF_DELAY          60 // (s) Delay of poweroff after M81 command. Useful to let fans run for extra time.
   #endif
+  #if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN)
+    //#define AUTO_POWER_E_TEMP        50 // (°C) PSU on if any extruder is over this temperature
+    //#define AUTO_POWER_CHAMBER_TEMP  30 // (°C) PSU on if the chamber is over this temperature
+    //#define AUTO_POWER_COOLER_TEMP   26 // (°C) PSU on if the cooler is over this temperature
+  #endif
 #endif
 
 //===========================================================================
@@ -432,6 +438,9 @@
  *     5 : 100kΩ  ATC Semitec 104GT-2/104NT-4-R025H42G - Used in ParCan, J-Head, and E3D, SliceEngineering 300°C
  *   501 : 100kΩ  Zonestar - Tronxy X3A
  *   502 : 100kΩ  Zonestar - used by hot bed in Zonestar Průša P802M
+ *   503 : 100kΩ  Zonestar (Z8XM2) Heated Bed thermistor
+ *   504 : 100kΩ  Zonestar P802QR2 (Part# QWG-104F-B3950) Hotend Thermistor
+ *   505 : 100kΩ  Zonestar P802QR2 (Part# QWG-104F-3950) Bed Thermistor
  *   512 : 100kΩ  RPW-Ultra hotend
  *     6 : 100kΩ  EPCOS - Not as accurate as table #1 (created using a fluke thermocouple)
  *     7 : 100kΩ  Honeywell 135-104LAG-J01
@@ -451,6 +460,7 @@
  *    61 : 100kΩ  Formbot/Vivedino 350°C Thermistor - beta 3950
  *    66 : 4.7MΩ  Dyze Design High Temperature Thermistor
  *    67 : 500kΩ  SliceEngineering 450°C Thermistor
+ *    68 : PT100 amplifier board from Dyze Design
  *    70 : 100kΩ  bq Hephestos 2
  *    75 : 100kΩ  Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32
  *  2000 : 100kΩ  Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor
@@ -1089,6 +1099,17 @@
  */
 //#define BLTOUCH
 
+/**
+ * MagLev V4 probe by MDD
+ *
+ * This probe is deployed and activated by powering a built-in electromagnet.
+ */
+//#define MAGLEV4
+#if ENABLED(MAGLEV4)
+  //#define MAGLEV_TRIGGER_PIN 11     // Set to the connected digital output
+  #define MAGLEV_TRIGGER_DELAY 15     // Changing this risks overheating the coil
+#endif
+
 /**
  * Touch-MI Probe by hotends.fr
  *
@@ -1976,7 +1997,7 @@ EEPROM_W25Q
 // @section temperature
 
 //
-// Preheat Constants - Up to 5 are supported without changes
+// Preheat Constants - Up to 6 are supported without changes
 //
 #define PREHEAT_1_LABEL       "PETG"
 #define PREHEAT_1_TEMP_HOTEND  235
@@ -2004,8 +2025,7 @@ EEPROM_W25Q
 #if ENABLED(NOZZLE_PARK_FEATURE)
   // Specify a park position as { X, Y, Z_raise }
   #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), 10, 20 }
-  //#define NOZZLE_PARK_X_ONLY          // X move only is required to park
-  //#define NOZZLE_PARK_Y_ONLY          // Y move only is required to park
+  #define NOZZLE_PARK_MOVE          0   // Park motion: 0 = XY Move, 1 = X Only, 2 = Y Only, 3 = X before Y, 4 = Y before X
   #define NOZZLE_PARK_Z_RAISE_MIN   2   // (mm) Always raise Z by at least this distance
   #define NOZZLE_PARK_XY_FEEDRATE 100   // (mm/s) X and Y axes feedrate (also used for delta Z axis)
   #define NOZZLE_PARK_Z_FEEDRATE    5   // (mm/s) Z axis feedrate (not used for delta printers)
@@ -2675,38 +2695,38 @@ EEPROM_W25Q
 //========================== Extensible UI Displays ===========================
 //=============================================================================
 
-//
-// DGUS Touch Display with DWIN OS. (Choose one.)
-// ORIGIN : https://www.aliexpress.com/item/32993409517.html
-// FYSETC : https://www.aliexpress.com/item/32961471929.html
-// MKS    : https://www.aliexpress.com/item/1005002008179262.html
-//
-// Flash display with DGUS Displays for Marlin:
-//  - Format the SD card to FAT32 with an allocation size of 4kb.
-//  - Download files as specified for your type of display.
-//  - Plug the microSD card into the back of the display.
-//  - Boot the display and wait for the update to complete.
-//
-// ORIGIN (Marlin DWIN_SET)
-//  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// FYSETC (Supplier default)
-//  - Download https://github.com/FYSETC/FYSTLCD-2.0
-//  - Copy the downloaded SCREEN folder to the SD card.
-//
-// HIPRECY (Supplier default)
-//  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// MKS (MKS-H43) (Supplier default)
-//  - Download https://github.com/makerbase-mks/MKS-H43
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
-// RELOADED (T5UID1)
-//  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
-//  - Copy the downloaded DWIN_SET folder to the SD card.
-//
+/**
+ * DGUS Touch Display with DWIN OS. (Choose one.)
+ * ORIGIN : https://www.aliexpress.com/item/32993409517.html
+ * FYSETC : https://www.aliexpress.com/item/32961471929.html
+ * MKS    : https://www.aliexpress.com/item/1005002008179262.html
+ *
+ * Flash display with DGUS Displays for Marlin:
+ *  - Format the SD card to FAT32 with an allocation size of 4kb.
+ *  - Download files as specified for your type of display.
+ *  - Plug the microSD card into the back of the display.
+ *  - Boot the display and wait for the update to complete.
+ *
+ * ORIGIN (Marlin DWIN_SET)
+ *  - Download https://github.com/coldtobi/Marlin_DGUS_Resources
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * FYSETC (Supplier default)
+ *  - Download https://github.com/FYSETC/FYSTLCD-2.0
+ *  - Copy the downloaded SCREEN folder to the SD card.
+ *
+ * HIPRECY (Supplier default)
+ *  - Download https://github.com/HiPrecy/Touch-Lcd-LEO
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * MKS (MKS-H43) (Supplier default)
+ *  - Download https://github.com/makerbase-mks/MKS-H43
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ *
+ * RELOADED (T5UID1)
+ *  - Download https://github.com/Desuuuu/DGUS-reloaded/releases
+ *  - Copy the downloaded DWIN_SET folder to the SD card.
+ */
 //#define DGUS_LCD_UI_ORIGIN
 //#define DGUS_LCD_UI_FYSETC
 //#define DGUS_LCD_UI_HIPRECY
@@ -2898,7 +2918,7 @@ EEPROM_W25Q
 // Ender-3 v2 OEM display. A DWIN display with Rotary Encoder.
 //
 //#define DWIN_CREALITY_LCD           // Creality UI
-//#define DWIN_CREALITY_LCD_ENHANCED  // Enhanced UI
+//#define DWIN_LCD_PROUI              // Pro UI by MRiscoC
 //#define DWIN_CREALITY_LCD_JYERSUI   // Jyers UI by Jacob Myers
 //#define DWIN_MARLINUI_PORTRAIT      // MarlinUI (portrait orientation)
 //#define DWIN_MARLINUI_LANDSCAPE     // MarlinUI (landscape orientation)
@@ -2911,7 +2931,7 @@ EEPROM_W25Q
   #define BUTTON_DELAY_EDIT  50 // (ms) Button repeat delay for edit screens
   #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus
 
-  //#define TOUCH_IDLE_SLEEP 300 // (secs) Turn off the TFT backlight if set (5mn)
+  //#define TOUCH_IDLE_SLEEP 300 // (s) Turn off the TFT backlight if set (5mn)
 
   #define TOUCH_SCREEN_CALIBRATION
 
@@ -3021,7 +3041,8 @@ EEPROM_W25Q
 // Support for Adafruit NeoPixel LED driver
 //#define NEOPIXEL_LED
 #if ENABLED(NEOPIXEL_LED)
-  #define NEOPIXEL_TYPE   NEO_GRBW // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h)
+  #define NEOPIXEL_TYPE          NEO_GRBW // NEO_GRBW, NEO_RGBW, NEO_GRB, NEO_RBG, etc.
+                                          // See https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.h
   //#define NEOPIXEL_PIN                4 // LED driving pin
   //#define NEOPIXEL2_TYPE  NEOPIXEL_TYPE
   //#define NEOPIXEL2_PIN               5

Marlin/Configuration_adv.h

@@ -138,23 +138,20 @@
 #endif
 
 /**
- * Configuration options for MAX Thermocouples (-2, -3, -5).
- *   FORCE_HW_SPI:   Ignore SCK/MOSI/MISO pins and just use the CS pin & default SPI bus.
- *   MAX31865_WIRES: Set the number of wires for the probe connected to a MAX31865 board, 2-4. Default: 2
- *   MAX31865_50HZ:  Enable 50Hz filter instead of the default 60Hz.
- *   MAX31865_USE_READ_ERROR_DETECTION: Detects random read errors from value spikes (a 20°C difference in less than 1sec)
- *   MAX31865_USE_AUTO_MODE: Faster and more frequent reads than 1-shot, but bias voltage always on, slightly affecting RTD temperature.
- *   MAX31865_MIN_SAMPLING_TIME_MSEC: in 1-shot mode, the minimum time between subsequent reads. This reduces the effect of bias voltage by leaving the sensor unpowered for longer intervals.
- *   MAX31865_WIRE_OHMS: In 2-wire configurations, manually set the wire resistance for more accurate readings
- */
-//#define TEMP_SENSOR_FORCE_HW_SPI
-//#define MAX31865_SENSOR_WIRES_0 2
+ * Thermocouple Options — for MAX6675 (-2), MAX31855 (-3), and MAX31865 (-5).
+ */
+//#define TEMP_SENSOR_FORCE_HW_SPI                // Ignore SCK/MOSI/MISO pins; use CS and the default SPI bus.
+//#define MAX31865_SENSOR_WIRES_0 2               // (2-4) Number of wires for the probe connected to a MAX31865 board.
 //#define MAX31865_SENSOR_WIRES_1 2
-//#define MAX31865_50HZ_FILTER
-//#define MAX31865_USE_READ_ERROR_DETECTION
-//#define MAX31865_USE_AUTO_MODE
-//#define MAX31865_MIN_SAMPLING_TIME_MSEC 100
-//#define MAX31865_WIRE_OHMS_0 0.0f
+
+//#define MAX31865_50HZ_FILTER                    // Use a 50Hz filter instead of the default 60Hz.
+//#define MAX31865_USE_READ_ERROR_DETECTION       // Treat value spikes (20°C delta in under 1s) as read errors.
+
+//#define MAX31865_USE_AUTO_MODE                  // Read faster and more often than 1-shot; bias voltage always on; slight effect on RTD temperature.
+//#define MAX31865_MIN_SAMPLING_TIME_MSEC     100 // (ms) 1-shot: minimum read interval. Reduces bias voltage effects by leaving sensor unpowered for longer intervals.
+//#define MAX31865_IGNORE_INITIAL_FAULTY_READS 10 // Ignore some read faults (keeping the temperature reading) to work around a possible issue (#23439).
+
+//#define MAX31865_WIRE_OHMS_0              0.95f // For 2-wire, set the wire resistances for more accurate readings.
 //#define MAX31865_WIRE_OHMS_1              0.0f
 
 /**
@@ -252,20 +249,6 @@
   #endif
 #endif
 
-//
-// Laser Coolant Flow Meter
-//
-//#define LASER_COOLANT_FLOW_METER
-#if ENABLED(LASER_COOLANT_FLOW_METER)
-  #define FLOWMETER_PIN         20  // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21)
-  #define FLOWMETER_PPL       5880  // (pulses/liter) Flow meter pulses-per-liter on the input pin
-  #define FLOWMETER_INTERVAL  1000  // (ms) Flow rate calculation interval in milliseconds
-  #define FLOWMETER_SAFETY          // Prevent running the laser without the minimum flow rate set below
-  #if ENABLED(FLOWMETER_SAFETY)
-    #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled
-  #endif
-#endif
-
 /**
  * Thermal Protection provides additional protection to your printer from damage
  * and fire. Marlin always includes safe min and max temperature ranges which
@@ -349,6 +332,14 @@
   #define WATCH_COOLER_TEMP_INCREASE            3 // Degrees Celsius
 #endif
 
+#if ANY(THERMAL_PROTECTION_HOTENDS, THERMAL_PROTECTION_BED, THERMAL_PROTECTION_CHAMBER, THERMAL_PROTECTION_COOLER)
+  /**
+   * Thermal Protection Variance Monitor - EXPERIMENTAL.
+   * Kill the machine on a stuck temperature sensor. Disable if you get false positives.
+   */
+  //#define THERMAL_PROTECTION_VARIANCE_MONITOR   // Detect a sensor malfunction preventing temperature updates
+#endif
+
 #if ENABLED(PIDTEMP)
   // Add an experimental additional term to the heater power, proportional to the extrusion speed.
   // A well-chosen Kc value should add just enough power to melt the increased material volume.
@@ -567,8 +558,8 @@
  *
  * USE_OCR2A_AS_TOP [undefined by default]
  *   Boards that use TIMER2 for PWM have limitations resulting in only a few possible frequencies on TIMER2:
- *   16MHz MCUs: [62.5KHz, 31.4KHz (default), 7.8KHz, 3.92KHz, 1.95KHz, 977Hz, 488Hz, 244Hz, 60Hz, 122Hz, 30Hz]
- *   20MHz MCUs: [78.1KHz, 39.2KHz (default), 9.77KHz, 4.9KHz, 2.44KHz, 1.22KHz, 610Hz, 305Hz, 153Hz, 76Hz, 38Hz]
+ *   16MHz MCUs: [62.5kHz, 31.4kHz (default), 7.8kHz, 3.92kHz, 1.95kHz, 977Hz, 488Hz, 244Hz, 60Hz, 122Hz, 30Hz]
+ *   20MHz MCUs: [78.1kHz, 39.2kHz (default), 9.77kHz, 4.9kHz, 2.44kHz, 1.22kHz, 610Hz, 305Hz, 153Hz, 76Hz, 38Hz]
  *   A greater range can be achieved by enabling USE_OCR2A_AS_TOP. But note that this option blocks the use of
  *   PWM on pin OC2A. Only use this option if you don't need PWM on 0C2A. (Check your schematic.)
  *   USE_OCR2A_AS_TOP sacrifices duty cycle control resolution to achieve this broader range of frequencies.
@@ -615,7 +606,6 @@
 #define E7_AUTO_FAN_PIN -1
 #define CHAMBER_AUTO_FAN_PIN -1
 #define COOLER_AUTO_FAN_PIN -1
-#define COOLER_FAN_PIN -1
 
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED 255   // 255 == full speed
@@ -807,17 +797,16 @@
 //#define DUAL_X_CARRIAGE
 #if ENABLED(DUAL_X_CARRIAGE)
   #define X1_MIN_POS X_MIN_POS    // Set to X_MIN_POS
-  #define X1_MAX_POS X_BED_SIZE  // Set a maximum so the first X-carriage can't hit the parked second X-carriage
-  #define X2_MIN_POS    80       // Set a minimum to ensure the  second X-carriage can't hit the parked first X-carriage
-  #define X2_MAX_POS   353       // Set this to the distance between toolheads when both heads are homed
-  #define X2_HOME_DIR    1       // Set to 1. The second X-carriage always homes to the maximum endstop position
+  #define X1_MAX_POS X_BED_SIZE   // A max coordinate so the X1 carriage can't hit the parked X2 carriage
+  #define X2_MIN_POS    80        // A min coordinate so the X2 carriage can't hit the parked X1 carriage
+  #define X2_MAX_POS   353        // The max position of the X2 carriage, typically also the home position
+  #define X2_HOME_DIR    1        // Set to 1. The X2 carriage always homes to the max endstop position
   #define X2_HOME_POS X2_MAX_POS  // Default X2 home position. Set to X2_MAX_POS.
-                      // However: In this mode the HOTEND_OFFSET_X value for the second extruder provides a software
-                      // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
-                      // without modifying the firmware (through the "M218 T1 X???" command).
-                      // Remember: you should set the second extruder x-offset to 0 in your slicer.
+                                  // NOTE: For Dual X Carriage use M218 T1 Xn to override the X2_HOME_POS.
+                                  // This allows recalibration of endstops distance without a rebuild.
+                                  // Remember to set the second extruder's X-offset to 0 in your slicer.
 
-  // This is the default power-up mode which can be later using M605.
+  // This is the default power-up mode which can be changed later using M605 S<mode>.
   #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_AUTO_PARK_MODE
 
   // Default x offset in duplication mode (typically set to half print bed width)
@@ -958,15 +947,17 @@
     //#define Z_STEPPERS_ORIENTATION 0
   #endif
 
-  // Provide Z stepper positions for more rapid convergence in bed alignment.
-  // Requires triple stepper drivers (i.e., set NUM_Z_STEPPER_DRIVERS to 3)
-  //#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS
-  #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
-    // Define Stepper XY positions for Z1, Z2, Z3 corresponding to
-    // the Z screw positions in the bed carriage.
-    // Define one position per Z stepper in stepper driver order.
-    #define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
-  #else
+  /**
+   * Z Stepper positions for more rapid convergence in bed alignment.
+   * Requires NUM_Z_STEPPER_DRIVERS to be 3 or 4.
+   *
+   * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw
+   * positions in the bed carriage, with one position per Z stepper in stepper
+   * driver order.
+   */
+  //#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
+
+  #ifndef Z_STEPPER_ALIGN_STEPPER_XY
     // Amplification factor. Used to scale the correction step up or down in case
     // the stepper (spindle) position is farther out than the test point.
     #define Z_STEPPER_ALIGN_AMP 1.0       // Use a value > 1.0 NOTE: This may cause instability!
@@ -1253,7 +1244,7 @@
 
 // @section lcd
 
-#if ANY(HAS_LCD_MENU, EXTENSIBLE_UI, HAS_DWIN_E3V2)
+#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
   #if IS_ULTIPANEL
@@ -1276,22 +1267,42 @@
   #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440
 #endif
 
-#if HAS_LCD_MENU
+//
+// LCD Backlight Timeout
+//
+//#define LCD_BACKLIGHT_TIMEOUT 30 // (s) Timeout before turning off the backlight
 
-  // Add Probe Z Offset calibration to the Z Probe Offsets menu
-  #if HAS_BED_PROBE
-    //#define PROBE_OFFSET_WIZARD
+#if HAS_BED_PROBE && EITHER(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI)
+  //#define PROBE_OFFSET_WIZARD       // Add a Probe Z Offset calibration option to the LCD menu
   #if ENABLED(PROBE_OFFSET_WIZARD)
-      //
-      // Enable to init the Probe Z-Offset when starting the Wizard.
-      // Use a height slightly above the estimated nozzle-to-probe Z offset.
-      // For example, with an offset of -5, consider a starting height of -4.
-      //
+    /**
+     * Enable to init the Probe Z-Offset when starting the Wizard.
+     * Use a height slightly above the estimated nozzle-to-probe Z offset.
+     * For example, with an offset of -5, consider a starting height of -4.
+     */
     //#define PROBE_OFFSET_WIZARD_START_Z -4.0
 
     // Set a convenient position to do the calibration (probing point and nozzle/bed-distance)
     //#define PROBE_OFFSET_WIZARD_XY_POS { X_CENTER, Y_CENTER }
   #endif
+#endif
+
+#if HAS_MARLINUI_MENU
+
+  #if HAS_BED_PROBE
+    // Add calibration in the Probe Offsets menu to compensate for X-axis twist.
+    //#define X_AXIS_TWIST_COMPENSATION
+    #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+      /**
+       * Enable to init the Probe Z-Offset when starting the Wizard.
+       * Use a height slightly above the estimated nozzle-to-probe Z offset.
+       * For example, with an offset of -5, consider a starting height of -4.
+       */
+      #define XATC_START_Z 0.0
+      #define XATC_MAX_POINTS 3             // Number of points to probe in the wizard
+      #define XATC_Y_POSITION Y_CENTER      // (mm) Y position to probe
+      #define XATC_Z_OFFSETS { 0, 0, 0 }    // Z offsets for X axis sample points
+    #endif
 
     #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
       // Add a calibration procedure in the Probe Offsets menu
@@ -1319,6 +1330,41 @@
   // BACK menu items keep the highlight at the top
   //#define TURBO_BACK_MENU_ITEM
 
+  // Insert a menu for preheating at the top level to allow for quick access
+  //#define PREHEAT_SHORTCUT_MENU_ITEM
+
+#endif // HAS_MARLINUI_MENU
+
+#if ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI)
+  //#define SOUND_MENU_ITEM   // Add a mute option to the LCD menu
+#endif
+
+#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI)
+  // The timeout to return to the status screen from sub-menus
+  //#define LCD_TIMEOUT_TO_STATUS 15000   // (ms)
+
+  #if ENABLED(SHOW_BOOTSCREEN)
+    #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
+    #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI)
+      #define BOOT_MARLIN_LOGO_SMALL      // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
+    #endif
+  #endif
+
+  // Scroll a longer status message into view
+  //#define STATUS_MESSAGE_SCROLLING
+
+  // Apply a timeout to low-priority status messages
+  //#define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds)
+
+  // On the Info Screen, display XY with one decimal place when possible
+  //#define LCD_DECIMAL_SMALL_XY
+
+  // Add an 'M73' G-code to set the current percentage
+  //#define LCD_SET_PROGRESS_MANUALLY
+
+  // Show the E position (filament used) during printing
+  //#define LCD_SHOW_E_TOTAL
+
   /**
    * LED Control Menu
    * Add LED Control to the LCD menu
@@ -1345,37 +1391,6 @@
     #endif
   #endif
 
-  // Insert a menu for preheating at the top level to allow for quick access
-  //#define PREHEAT_SHORTCUT_MENU_ITEM
-
-#endif // HAS_LCD_MENU
-
-#if ANY(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED, DWIN_CREALITY_LCD_JYERSUI)
-  #define SOUND_MENU_ITEM   // Add a mute option to the LCD menu
-#endif
-
-#if EITHER(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED)
-  // The timeout (in ms) to return to the status screen from sub-menus
-  //#define LCD_TIMEOUT_TO_STATUS 15000
-
-  #if ENABLED(SHOW_BOOTSCREEN)
-    #define BOOTSCREEN_TIMEOUT 1000      // (ms) Total Duration to display the boot screen(s)
-    #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI)
-      #define BOOT_MARLIN_LOGO_SMALL     // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
-    #endif
-  #endif
-
-  // Scroll a longer status message into view
-  #define STATUS_MESSAGE_SCROLLING
-
-  // On the Info Screen, display XY with one decimal place when possible
-  //#define LCD_DECIMAL_SMALL_XY
-
-  // Add an 'M73' G-code to set the current percentage
-  #define LCD_SET_PROGRESS_MANUALLY
-
-  // Show the E position (filament used) during printing
-  //#define LCD_SHOW_E_TOTAL
 #endif
 
 // LCD Print Progress options
@@ -1522,35 +1537,25 @@
 
   // Allow international symbols in long filenames. To display correctly, the
   // LCD's font must contain the characters. Check your selected LCD language.
-  //#define UTF_FILENAME_SUPPORT
+  #define UTF_FILENAME_SUPPORT
 
-  // This allows hosts to request long names for files and folders with M33
-  #define LONG_FILENAME_HOST_SUPPORT
+  #define LONG_FILENAME_HOST_SUPPORT    // Get the long filename of a file/folder with 'M33 <dosname>' and list long filenames with 'M20 L'
+  #define LONG_FILENAME_WRITE_SUPPORT   // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol
 
-  // Enable this option to scroll long filenames in the SD card menu
-  #define SCROLL_LONG_FILENAMES
+  #define SCROLL_LONG_FILENAMES         // Scroll long filenames in the SD card menu
 
-  // Leave the heaters on after Stop Print (not recommended!)
-  //#define SD_ABORT_NO_COOLDOWN
+  //#define SD_ABORT_NO_COOLDOWN          // Leave the heaters on after Stop Print (not recommended!)
 
   /**
-   * This option allows you to abort SD printing when any endstop is triggered.
-   * This feature must be enabled with "M540 S1" or from the LCD menu.
-   * To have any effect, endstops must be enabled during SD printing.
+   * Abort SD printing when any endstop is triggered.
+   * This feature is enabled with 'M540 S1' or from the LCD menu.
+   * Endstops must be activated for this option to work.
    */
   //#define SD_ABORT_ON_ENDSTOP_HIT
 
-  /**
-   * This option makes it easier to print the same SD Card file again.
-   * On print completion the LCD Menu will open with the file selected.
-   * You can just click to start the print, or navigate elsewhere.
-   */
-  //#define SD_REPRINT_LAST_SELECTED_FILE
+  //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file
 
-  /**
-   * Auto-report SdCard status with M27 S<seconds>
-   */
-  #define AUTO_REPORT_SD_STATUS
+  #define AUTO_REPORT_SD_STATUS         // Auto-report media status with 'M27 S<seconds>'
 
   /**
    * Support for USB thumb drives using an Arduino USB Host Shield or
@@ -1619,6 +1624,11 @@
   // Add an optimized binary file transfer mode, initiated with 'M28 B1'
   //#define BINARY_FILE_TRANSFER
 
+  #if ENABLED(BINARY_FILE_TRANSFER)
+    // Include extra facilities (e.g., 'M20 F') supporting firmware upload via BINARY_FILE_TRANSFER
+    //#define CUSTOM_FIRMWARE_UPLOAD
+  #endif
+
   /**
    * Set this option to one of the following (or the board's defaults apply):
    *
@@ -1633,7 +1643,10 @@
   // Enable if SD detect is rendered useless (e.g., by using an SD extender)
   //#define NO_SD_DETECT
 
-  // Multiple volume support - EXPERIMENTAL.
+  /**
+   * Multiple volume support - EXPERIMENTAL.
+   * Adds 'M21 Pm' / 'M21 S' / 'M21 U' to mount SD Card / USB Drive.
+   */
   //#define MULTI_VOLUME
   #if ENABLED(MULTI_VOLUME)
     #define VOLUME_SD_ONBOARD
@@ -2344,6 +2357,15 @@
 // For serial echo, the number of digits after the decimal point
 //#define SERIAL_FLOAT_PRECISION 4
 
+/**
+ * Set the number of proportional font spaces required to fill up a typical character space.
+ * This can help to better align the output of commands like `G29 O` Mesh Output.
+ *
+ * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
+ * Otherwise, adjust according to your client and font.
+ */
+#define PROPORTIONAL_FONT_RATIO 1.0
+
 // @section extras
 
 /**
@@ -2424,7 +2446,7 @@
   #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
     // Load / Unload
     #define TOOLCHANGE_FS_LENGTH              12  // (mm) Load / Unload length
-    #define TOOLCHANGE_FS_EXTRA_RESUME_LENGTH  0  // (mm) Extra length for better restart, fine tune by LCD/Gcode)
+    #define TOOLCHANGE_FS_EXTRA_RESUME_LENGTH  0  // (mm) Extra length for better restart. Adjust with LCD or M217 B.
     #define TOOLCHANGE_FS_RETRACT_SPEED   (50*60) // (mm/min) (Unloading)
     #define TOOLCHANGE_FS_UNRETRACT_SPEED (25*60) // (mm/min) (On SINGLENOZZLE or Bowden loading must be slowed down)
 
@@ -2438,12 +2460,12 @@
     #define TOOLCHANGE_FS_FAN_SPEED          255  // 0-255
     #define TOOLCHANGE_FS_FAN_TIME            10  // (seconds)
 
-    // Swap uninitialized extruder with TOOLCHANGE_FS_PRIME_SPEED for all lengths (recover + prime)
+    // Swap uninitialized extruder (using TOOLCHANGE_FS_PRIME_SPEED feedrate)
     // (May break filament if not retracted beforehand.)
     //#define TOOLCHANGE_FS_INIT_BEFORE_SWAP
 
-    // Prime on the first T0 (If other, TOOLCHANGE_FS_INIT_BEFORE_SWAP applied)
-    // Enable it (M217 V[0/1]) before printing, to avoid unwanted priming on host connect
+    // Prime on the first T0 (For other tools use TOOLCHANGE_FS_INIT_BEFORE_SWAP)
+    // Enable with M217 V1 before printing to avoid unwanted priming on host connect
     //#define TOOLCHANGE_FS_PRIME_FIRST_USED
 
     /**
@@ -3217,7 +3239,7 @@
     #define Z4_SLEW_RATE                 1
   #endif
 
-  #if AXIS_DRIVER_TYPE_I(L6470)
+  #if AXIS_IS_L64XX(I)
     #define I_MICROSTEPS      128
     #define I_OVERCURRENT    2000
     #define I_STALLCURRENT   1500
@@ -3226,7 +3248,7 @@
     #define I_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_J(L6470)
+  #if AXIS_IS_L64XX(J)
     #define J_MICROSTEPS      128
     #define J_OVERCURRENT    2000
     #define J_STALLCURRENT   1500
@@ -3235,7 +3257,7 @@
     #define J_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_K(L6470)
+  #if AXIS_IS_L64XX(K)
     #define K_MICROSTEPS      128
     #define K_OVERCURRENT    2000
     #define K_STALLCURRENT   1500
@@ -3438,7 +3460,7 @@
  * You'll need to select a pin for the ON/OFF function and optionally choose a 0-5V
  * hardware PWM pin for the speed control and a pin for the rotation direction.
  *
- * See https://marlinfw.org/docs/configuration/laser_spindle.html for more config details.
+ * See https://marlinfw.org/docs/configuration/2.0.9/laser_spindle.html for more config details.
  */
 //#define SPINDLE_FEATURE
 //#define LASER_FEATURE
@@ -3448,7 +3470,7 @@
   #define SPINDLE_LASER_USE_PWM                // Enable if your controller supports setting the speed/power
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     #define SPINDLE_LASER_PWM_INVERT    false  // Set to "true" if the speed/power goes up when you want it to go slower
-    #define SPINDLE_LASER_FREQUENCY     2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)
+    #define SPINDLE_LASER_FREQUENCY     2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC)
   #endif
 
   //#define AIR_EVACUATION                     // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11
@@ -3609,6 +3631,20 @@
       #define I2C_AMMETER_SHUNT_RESISTOR  0.1    // (Ohms) Calibration shunt resistor value
     #endif
 
+    //
+    // Laser Coolant Flow Meter
+    //
+    //#define LASER_COOLANT_FLOW_METER
+    #if ENABLED(LASER_COOLANT_FLOW_METER)
+      #define FLOWMETER_PIN         20  // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21)
+      #define FLOWMETER_PPL       5880  // (pulses/liter) Flow meter pulses-per-liter on the input pin
+      #define FLOWMETER_INTERVAL  1000  // (ms) Flow rate calculation interval in milliseconds
+      #define FLOWMETER_SAFETY          // Prevent running the laser without the minimum flow rate set below
+      #if ENABLED(FLOWMETER_SAFETY)
+        #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled
+      #endif
+    #endif
+
   #endif
 #endif // SPINDLE_FEATURE || LASER_FEATURE
 
@@ -3787,15 +3823,6 @@
 
 //#define REPORT_FAN_CHANGE   // Report the new fan speed when changed by M106 (and others)
 
-/**
- * Set the number of proportional font spaces required to fill up a typical character space.
- * This can help to better align the output of commands like `G29 O` Mesh Output.
- *
- * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
- * Otherwise, adjust according to your client and font.
- */
-#define PROPORTIONAL_FONT_RATIO 1.0
-
 /**
  * Spend 28 bytes of SRAM to optimize the G-code parser
  */
@@ -3959,8 +3986,11 @@
  */
 //#define HOST_ACTION_COMMANDS
 #if ENABLED(HOST_ACTION_COMMANDS)
-  //#define HOST_PAUSE_M76
-  //#define HOST_PROMPT_SUPPORT
+  //#define HOST_PAUSE_M76                // Tell the host to pause in response to M76
+  //#define HOST_PROMPT_SUPPORT           // Initiate host prompts to get user feedback
+  #if ENABLED(HOST_PROMPT_SUPPORT)
+    //#define HOST_STATUS_NOTIFICATIONS   // Send some status messages to the host as notifications
+  #endif
   //#define HOST_START_MENU_ITEM          // Add a menu item that tells the host to start
   //#define HOST_SHUTDOWN_MENU_ITEM       // Add a menu item that tells the host to shut down
 #endif
@@ -4097,12 +4127,12 @@
 
 /**
  * Instant freeze / unfreeze functionality
- * Specified pin has pullup and connecting to ground will instantly pause motion.
  * Potentially useful for emergency stop that allows being resumed.
  */
 //#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
 #endif
 
 /**

Marlin/Makefile

@@ -132,7 +132,7 @@ CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ )
 CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ )
 CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) )))
 ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1)
-  @echo This version of GCC is likely broken. Enabling relocation workaround.
+  $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.)
   RELOC_WORKAROUND = 1
 endif
 

Marlin/src/HAL/AVR/HAL.cpp

@@ -36,7 +36,7 @@
 // ------------------------
 
 // Don't initialize/override variable (which would happen in .init4)
-uint8_t reset_reason __attribute__((section(".noinit")));
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
@@ -45,22 +45,22 @@ uint8_t reset_reason __attribute__((section(".noinit")));
 __attribute__((naked))             // Don't output function pro- and epilogue
 __attribute__((used))              // Output the function, even if "not used"
 __attribute__((section(".init3"))) // Put in an early user definable section
-void HAL_save_reset_reason() {
+void save_reset_reason() {
   #if ENABLED(OPTIBOOT_RESET_REASON)
     __asm__ __volatile__(
       A("STS %0, r2")
-      : "=m"(reset_reason)
+      : "=m"(hal.reset_reason)
     );
   #else
-    reset_reason = MCUSR;
+    hal.reset_reason = MCUSR;
   #endif
 
   // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
-  MCUSR = 0;
+  hal.clear_reset_source();
   wdt_disable();
 }
 
-void HAL_init() {
+void MarlinHAL::init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -75,9 +75,11 @@ void HAL_init() {
   #if HAS_SERVO_3
     INIT_SERVO(3);
   #endif
+
+  init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 }
 
-void HAL_reboot() {
+void MarlinHAL::reboot() {
   #if ENABLED(USE_WATCHDOG)
     while (1) { /* run out the watchdog */ }
   #else
@@ -93,7 +95,7 @@ void HAL_reboot() {
 
 #else // !SDSUPPORT
 
-extern "C" {
+  extern "C" {
     extern char __bss_end;
     extern char __heap_start;
     extern void* __brkval;
@@ -106,7 +108,7 @@ extern "C" {
         free_memory = ((int)&free_memory) - ((int)__brkval);
       return free_memory;
     }
-}
+  }
 
 #endif // !SDSUPPORT
 

Marlin/src/HAL/AVR/HAL.h

@@ -74,9 +74,9 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 
 // ------------------------
 // Types
@@ -84,16 +84,15 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
-// Public Variables
+// Serial ports
 // ------------------------
 
-extern uint8_t reset_reason;
-
-// Serial ports
 #ifdef USBCON
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -142,20 +141,31 @@ extern uint8_t reset_reason;
   #endif
 #endif
 
-// ------------------------
-// Public functions
-// ------------------------
+//
+// ADC
+//
+#define HAL_ADC_VREF        5.0
+#define HAL_ADC_RESOLUTION 10
 
-void HAL_init();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-//void cli();
+#define HAL_SENSITIVE_PINS 0, 1,
 
-//void _delay_ms(const int delay);
+#ifdef __AVR_AT90USB1286__
+  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
+#endif
 
-inline void HAL_clear_reset_source() { }
-inline uint8_t HAL_get_reset_source() { return reset_reason; }
+// AVR compatibility
+#define strtof strtod
 
-void HAL_reboot();
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -166,63 +176,96 @@ extern "C" int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-inline void HAL_adc_init() {
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {
     ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
     DIDR0 = 0;
     #ifdef DIDR2
       DIDR2 = 0;
     #endif
-}
-
-#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC)
-#ifdef MUX5
-  #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#else
-  #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch)
-#endif
-
-#define HAL_ADC_VREF        5.0
-#define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
-
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  }
 
-#define HAL_SENSITIVE_PINS 0, 1,
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
 
-#ifdef __AVR_AT90USB1286__
-  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
-#endif
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
 
-// AVR compatibility
-#define strtof strtod
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
 
-/**
- *  set_pwm_frequency
- *  Sets the frequency of the timer corresponding to the provided pin
- *  as close as possible to the provided desired frequency. Internally
- *  calculates the required waveform generation mode, prescaler and
- *  resolution values required and sets the timer registers accordingly.
- *  NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
- *  NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings)
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
    */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
    */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/AVR/HAL_SPI.cpp

@@ -35,22 +35,20 @@
 
 void spiBegin() {
   #if PIN_EXISTS(SD_SS)
+    // Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway.
+    #if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+      // SS must be in output mode even it is not chip select
+      SET_OUTPUT(SD_SS_PIN);
+    #else
+      // set SS high - may be chip select for another SPI device
       OUT_WRITE(SD_SS_PIN, HIGH);
     #endif
+  #endif
   SET_OUTPUT(SD_SCK_PIN);
   SET_INPUT(SD_MISO_PIN);
   SET_OUTPUT(SD_MOSI_PIN);
 
-  #if DISABLED(SOFTWARE_SPI)
-    // SS must be in output mode even it is not chip select
-    //SET_OUTPUT(SD_SS_PIN);
-    // set SS high - may be chip select for another SPI device
-    //#if SET_SPI_SS_HIGH
-      //WRITE(SD_SS_PIN, HIGH);
-    //#endif
-    // set a default rate
-    spiInit(1);
-  #endif
+  IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED));
 }
 
 #if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -486,7 +486,7 @@ void MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -534,7 +534,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !B_TXC) {

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -191,13 +191,13 @@
                    rx_framing_errors;
     static ring_buffer_pos_t rx_max_enqueued;
 
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head();
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head();
 
     static volatile bool rx_tail_value_not_stable;
     static volatile uint16_t rx_tail_value_backup;
 
-    static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value);
-    static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail();
+    FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value);
+    FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail();
 
   public:
     FORCE_INLINE static void store_rxd_char();

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -301,5 +301,6 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif
+
   // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -21,10 +21,7 @@
  */
 #ifdef __AVR__
 
-#include "../../inc/MarlinConfigPre.h"
-#include "HAL.h"
-
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
+#include "../../inc/MarlinConfig.h"
 
 struct Timer {
   volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
@@ -32,229 +29,194 @@ struct Timer {
   volatile uint16_t* ICRn;      // max 1 ICR register per timer
   uint8_t n;                    // the timer number [0->5]
   uint8_t q;                    // the timer output [0->2] (A->C)
+  bool isPWM;                   // True if pin is a "hardware timer"
+  bool isProtected;             // True if timer is protected
 };
 
+// Macros for the Timer structure
+#define _SET_WGMnQ(T, V) do{ \
+    *(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
+    *(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
+  }while(0)
+
+// Set TCCR CS bits
+#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
+
+// Set TCCR COM bits
+#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
+
+// Set OCRnQ register
+#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF)
+
+// Set ICRn register (one per timer)
+#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF)
+
 /**
- * get_pwm_timer
- *  Get the timer information and register of the provided pin.
- *  Return a Timer struct containing this information.
- *  Used by set_pwm_frequency, set_pwm_duty
+ * Return a Timer struct describing a pin's timer.
  */
-Timer get_pwm_timer(const pin_t pin) {
+const Timer get_pwm_timer(const pin_t pin) {
+
   uint8_t q = 0;
+
   switch (digitalPinToTimer(pin)) {
-    // Protect reserved timers (TIMER0 & TIMER1)
     #ifdef TCCR0A
-      #if !AVR_AT90USB1286_FAMILY
-        case TIMER0A:
-      #endif
-      case TIMER0B:
+      IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:)
     #endif
     #ifdef TCCR1A
       case TIMER1A: case TIMER1B:
     #endif
-                                        break;
-    #if HAS_TCCR2 || defined(TCCR2A)
+
+    break;    // Protect reserved timers (TIMER0 & TIMER1)
+
+    #ifdef TCCR0A
+      case TIMER0B:   // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only
+        return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true });
+    #endif
+
     #if HAS_TCCR2
-        case TIMER2: {
-          Timer timer = {
-            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
-            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
-            /*ICRn*/      nullptr,
-            /*n, q*/      2, 0
-          };
-        }
+      case TIMER2:
+        return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false });
+    #elif ENABLED(USE_OCR2A_AS_TOP)
+      case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B
+      case TIMER2B:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false });
     #elif defined(TCCR2A)
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          case TIMER2A:   break; // protect TIMER2A
-          case TIMER2B: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-              /*n, q*/      2, 1
-            };
-            return timer;
-          }
-        #else
-          case TIMER2B:   ++q;
-          case TIMER2A: {
-            Timer timer = {
-              /*TCCRnQ*/  { &TCCR2A,  &TCCR2B,  nullptr },
-              /*OCRnQ*/   { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr },
-              /*ICRn*/      nullptr,
-                            2, q
-            };
-            return timer;
-          }
-        #endif
-      #endif
+      case TIMER2B: ++q; case TIMER2A:
+        return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false });
     #endif
+
     #ifdef OCR3C
-      case TIMER3C:   ++q;
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  &TCCR3C },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,   &OCR3C },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C  }, &ICR3, 3, q, true, false });
     #elif defined(OCR3B)
-      case TIMER3B:   ++q;
-      case TIMER3A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR3A,  &TCCR3B,  nullptr },
-          /*OCRnQ*/   { &OCR3A,   &OCR3B,  nullptr },
-          /*ICRn*/      &ICR3,
-          /*n, q*/      3, q
-        };
-        return timer;
-      }
+      case TIMER3B: ++q; case TIMER3A:
+        return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false });
     #endif
+
     #ifdef TCCR4A
-      case TIMER4C:   ++q;
-      case TIMER4B:   ++q;
-      case TIMER4A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR4A,  &TCCR4B,  &TCCR4C },
-          /*OCRnQ*/   { &OCR4A,   &OCR4B,   &OCR4C },
-          /*ICRn*/      &ICR4,
-          /*n, q*/      4, q
-        };
-        return timer;
-      }
+      case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A:
+        return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false });
     #endif
+
     #ifdef TCCR5A
-      case TIMER5C:   ++q;
-      case TIMER5B:   ++q;
-      case TIMER5A: {
-        Timer timer = {
-          /*TCCRnQ*/  { &TCCR5A,  &TCCR5B,  &TCCR5C },
-          /*OCRnQ*/   { &OCR5A,   &OCR5B,   &OCR5C },
-          /*ICRn*/      &ICR5,
-          /*n, q*/      5, q
-        };
-        return timer;
-      }
+      case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A:
+        return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false });
     #endif
   }
-  Timer timer = {
-      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
-      /*OCRnQ*/   { nullptr, nullptr, nullptr },
-      /*ICRn*/      nullptr,
-                    0, 0
-  };
-  return timer;
+
+  return Timer();
 }
 
-void set_pwm_frequency(const pin_t pin, int f_desired) {
-  Timer timer = get_pwm_timer(pin);
-  if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
-  uint16_t size;
-  if (timer.n == 2) size = 255; else size = 65535;
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+  const Timer timer = get_pwm_timer(pin);
+  if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
-  uint16_t res = 255;   // resolution (TOP value)
-  uint8_t j = 0;        // prescaler index
-  uint8_t wgm = 1;      // waveform generation mode
+  const bool is_timer2 = timer.n == 2;
+  const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF;
+
+  uint16_t res = 0xFF;        // resolution (TOP value)
+  uint8_t j = CS_NONE;        // prescaler index
+  uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode
 
   // Calculating the prescaler and resolution to use to achieve closest frequency
   if (f_desired != 0) {
-    int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable
-    uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 };
-
-    // loop over prescaler values
-    LOOP_S_L_N(i, 1, 8) {
-      uint16_t res_temp_fast = 255, res_temp_phase_correct = 255;
-      if (timer.n == 2) {
-        // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
-        #if ENABLED(USE_OCR2A_AS_TOP)
-          const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-          res_temp_fast = rtf - 1;
-          res_temp_phase_correct = rtf / 2;
+    constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 };  // (*) are Timer 2 only
+    uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1;           // Start with the lowest non-zero frequency achievable (1 or 31)
+
+    LOOP_L_N(i, COUNT(prescaler)) {                           // Loop through all prescaler values
+      const uint16_t p = prescaler[i];
+      uint16_t res_fast_temp, res_pc_temp;
+      if (is_timer2) {
+        #if ENABLED(USE_OCR2A_AS_TOP)                         // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP
+          const uint16_t rft = (F_CPU) / (p * f_desired);
+          res_fast_temp = rft - 1;
+          res_pc_temp = rft / 2;
+        #else
+          res_fast_temp = res_pc_temp = maxtop;
         #endif
       }
       else {
-        // Skip TIMER2 specific prescalers when not TIMER2
-        if (i == 3 || i == 5) continue;
-        const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired);
-        res_temp_fast = rtf - 1;
-        res_temp_phase_correct = rtf / 2;
+        if (p == 32 || p == 128) continue;                    // Skip TIMER2 specific prescalers when not TIMER2
+        const uint16_t rft = (F_CPU) / (p * f_desired);
+        res_fast_temp = rft - 1;
+        res_pc_temp = rft / 2;
       }
 
-      LIMIT(res_temp_fast, 1U, size);
-      LIMIT(res_temp_phase_correct, 1U, size);
+      LIMIT(res_fast_temp, 1U, maxtop);
+      LIMIT(res_pc_temp, 1U, maxtop);
+
       // Calculate frequencies of test prescaler and resolution values
-      const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)),
-                f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct),
-                f_diff = ABS(f - f_desired),
-                f_fast_diff = ABS(f_temp_fast - f_desired),
-                f_phase_diff = ABS(f_temp_phase_correct - f_desired);
+      const uint32_t f_diff      = _MAX(f, f_desired) - _MIN(f, f_desired),
+                     f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)),
+                     f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired),
+                     f_pc_temp   = (F_CPU) / (2 * p * res_pc_temp),
+                     f_pc_diff   = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired);
 
-      // If FAST values are closest to desired f
-      if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) {
-        // Remember this combination
-        f = f_temp_fast;
-        res = res_temp_fast;
-        j = i;
+      if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f
         // Set the Wave Generation Mode to FAST PWM
-        if (timer.n == 2)
-          wgm = TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM);
-        else
-          wgm = WGM_FAST_PWM_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn);
+        // Remember this combination
+        f = f_fast_temp; res = res_fast_temp; j = i + 1;
       }
-      // If PHASE CORRECT values are closes to desired f
-      else if (f_phase_diff < f_diff) {
-        f = f_temp_phase_correct;
-        res = res_temp_phase_correct;
-        j = i;
+      else if (f_pc_diff < f_diff) {                          // PHASE CORRECT values are closes to desired f
         // Set the Wave Generation Mode to PWM PHASE CORRECT
-        if (timer.n == 2)
-          wgm = TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_FAST_PWM);
-        else
-          wgm = WGM_PWM_PC_ICRn;
+        wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn);
+        f = f_pc_temp; res = res_pc_temp; j = i + 1;
       }
     }
   }
-  _SET_WGMnQ(timer.TCCRnQ, wgm);
-  _SET_CSn(timer.TCCRnQ, j);
 
-  if (timer.n == 2) {
-    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer.OCRnQ, 0, res));  // Set OCR2A value (TOP) = res
+  _SET_WGMnQ(timer, wgm);
+  _SET_CSn(timer, j);
+
+  if (is_timer2) {
+    TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res
   }
   else
-    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
+    _SET_ICRn(timer, res);                              // Set ICRn value (TOP) = res
 }
 
-#endif // NEEDS_HARDWARE_PWM
-
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  #if NEEDS_HARDWARE_PWM
-
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
-    // Note that digitalWrite also disables pwm output for us (sets COM bit to 0)
+  // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
   if (v == 0)
     digitalWrite(pin, invert);
   else if (v == v_size)
     digitalWrite(pin, !invert);
   else {
-      Timer timer = get_pwm_timer(pin);
-      if (timer.n == 0) return; // Don't proceed if protected timer or not recognized
-      // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
-      _SET_COMnQ(timer.TCCRnQ, timer.q TERN_(HAS_TCCR2, + (timer.q == 2)), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2
+    const Timer timer = get_pwm_timer(pin);
+    if (timer.isPWM) {
+      if (timer.n == 0) {
+        _SET_COMnQ(timer, timer.q, COM_CLEAR_SET);  // Only allow a TIMER0B select...
+        _SET_OCRnQ(timer, timer.q, v);              // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted.
+      }
+      else if (!timer.isProtected) {
         const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn;
-      _SET_OCRnQ(timer.OCRnQ, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
+        _SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert);   // COM20 is on bit 4 of TCCR2, so +1 for q==2
+        _SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value
       }
+    }
+    else
+      digitalWrite(pin, v < v_size / 2 ? LOW : HIGH);
+  }
+}
 
-  #else
-
-    analogWrite(pin, v);
-    UNUSED(v_size);
-    UNUSED(invert);
-
+void MarlinHAL::init_pwm_timers() {
+  // Init some timer frequencies to a default 1KHz
+  const pin_t pwm_pin[] = {
+    #ifdef __AVR_ATmega2560__
+      10, 5, 6, 46
+    #elif defined(__AVR_ATmega1280__)
+      12, 31
+    #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__)
+      15, 6
+    #elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128)
+      16, 24
     #endif
+  };
+
+  LOOP_L_N(i, COUNT(pwm_pin))
+    set_pwm_frequency(pwm_pin[i], 1000);
 }
 
 #endif // __AVR__

Marlin/src/HAL/AVR/fastio.cpp

@@ -245,7 +245,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
   float count = 0;
   if (hz > 0 && (dca || dcb || dcc)) {
     count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
-    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5KHz (>31)
+    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5kHz (>31)
 
          if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
     else if (count >= 255. * 64.)  { prescaler = 256;  SET_CS(5,  PRESCALER_256); }
@@ -277,7 +277,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb
     // Restore the default for Timer 5
     SET_WGM(5, PWM_PC_8);                 // PWM 8-bit (Phase Correct)
     SET_COMS(5, NORMAL, NORMAL, NORMAL);  // Do nothing
-    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250KHz
+    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250kHz
     OCR5A = OCR5B = OCR5C = 0;
   }
   return round(count);

Marlin/src/HAL/AVR/fastio.h

@@ -118,7 +118,7 @@
  */
 
 // Waveform Generation Modes
-enum WaveGenMode : char {
+enum WaveGenMode : uint8_t {
   WGM_NORMAL,          //  0
   WGM_PWM_PC_8,        //  1
   WGM_PWM_PC_9,        //  2
@@ -138,7 +138,7 @@ enum WaveGenMode : char {
 };
 
 // Wavefore Generation Modes (Timer 2 only)
-enum WaveGenMode2 : char {
+enum WaveGenMode2 : uint8_t {
   WGM2_NORMAL,         // 0
   WGM2_PWM_PC,         // 1
   WGM2_CTC_OCR2A,      // 2
@@ -150,7 +150,7 @@ enum WaveGenMode2 : char {
 };
 
 // Compare Modes
-enum CompareMode : char {
+enum CompareMode : uint8_t {
   COM_NORMAL,          //  0
   COM_TOGGLE,          //  1  Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
   COM_CLEAR_SET,       //  2  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
@@ -158,7 +158,7 @@ enum CompareMode : char {
 };
 
 // Clock Sources
-enum ClockSource : char {
+enum ClockSource : uint8_t {
   CS_NONE,             //  0
   CS_PRESCALER_1,      //  1
   CS_PRESCALER_8,      //  2
@@ -170,7 +170,7 @@ enum ClockSource : char {
 };
 
 // Clock Sources (Timer 2 only)
-enum ClockSource2 : char {
+enum ClockSource2 : uint8_t {
   CS2_NONE,            //  0
   CS2_PRESCALER_1,     //  1
   CS2_PRESCALER_8,     //  2
@@ -203,11 +203,6 @@ enum ClockSource2 : char {
     TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
   }while(0)
 #define SET_WGM(T,V) _SET_WGM(T,WGM_##V)
-// Runtime (see set_pwm_frequency):
-#define _SET_WGMnQ(TCCRnQ, V) do{ \
-    *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V)       & 0x3) << 0); \
-    *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \
-  }while(0)
 
 // Set Clock Select bits
 // Ex: SET_CS3(PRESCALER_64);
@@ -235,8 +230,6 @@ enum ClockSource2 : char {
 #define SET_CS4(V) _SET_CS4(CS_##V)
 #define SET_CS5(V) _SET_CS5(CS_##V)
 #define SET_CS(T,V) SET_CS##T(V)
-// Runtime (see set_pwm_frequency)
-#define _SET_CSn(TCCRnQ, V) (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0))
 
 // Set Compare Mode bits
 // Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
@@ -246,16 +239,6 @@ enum ClockSource2 : char {
 #define SET_COMB(T,V) SET_COM(T,B,V)
 #define SET_COMC(T,V) SET_COM(T,C,V)
 #define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0)
-// Runtime (see set_pwm_duty)
-#define _SET_COMnQ(TCCRnQ, Q, V) (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q))))
-
-// Set OCRnQ register
-// Runtime (see set_pwm_duty):
-#define _SET_OCRnQ(OCRnQ, Q, V) (*(OCRnQ)[Q] = int(V) & 0xFFFF)
-
-// Set ICRn register (one per timer)
-// Runtime (see set_pwm_frequency)
-#define _SET_ICRn(ICRn, V) (*(ICRn) = int(V) & 0xFFFF)
 
 // Set Noise Canceler bit
 // Ex: SET_ICNC(2,1)

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

@@ -29,7 +29,15 @@
  * Checks for FAST PWM
  */
 #if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2)
-  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2."
+#endif
+
+/**
+ * Checks for SOFT PWM
+ */
+#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER)
+  #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)."
+  #error "Disable SPEAKER or enable FAN_SOFT_PWM."
 #endif
 
 /**
@@ -42,7 +50,7 @@
   #elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5)
     #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system."
   #endif
-#elif defined(SPINDLE_LASER_FREQUENCY)
+#elif SPINDLE_LASER_FREQUENCY
   #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM."
 #endif
 
@@ -63,3 +71,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not supported on AVR boards."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on AVR boards."
+#endif

Marlin/src/HAL/AVR/math.h

@@ -35,7 +35,7 @@
 // C B A is longIn1
 // D C B A is longIn2
 //
-static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
+FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
   uint8_t tmp1;
   uint8_t tmp2;
   uint16_t intRes;
@@ -89,7 +89,7 @@ static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
 // uses:
 // r26 to store 0
 // r27 to store the byte 1 of the 24 bit result
-static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
+FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
   uint8_t tmp;
   uint16_t intRes;
   __asm__ __volatile__ (

Marlin/src/HAL/AVR/timers.h

@@ -58,9 +58,9 @@ typedef uint16_t hal_timer_t;
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
 #define STEPPER_ISR_ENABLED()             TEST(TIMSK1, OCIE1A)
 
-#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0B)
-#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0B)
-#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0B)
+#define ENABLE_TEMPERATURE_INTERRUPT()     SBI(TIMSK0, OCIE0A)
+#define DISABLE_TEMPERATURE_INTERRUPT()    CBI(TIMSK0, OCIE0A)
+#define TEMPERATURE_ISR_ENABLED()         TEST(TIMSK0, OCIE0A)
 
 FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
   switch (timer_num) {
@@ -87,7 +87,7 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
     case MF_TIMER_TEMP:
       // Use timer0 for temperature measurement
       // Interleave temperature interrupt with millies interrupt
-      OCR0B = 128;
+      OCR0A = 128;
       break;
   }
 }
@@ -109,12 +109,12 @@ 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)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
 
-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
 
+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
@@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \
     :                                   \
     : [timsk0] "i" ((uint16_t)&TIMSK0), \
       [timsk1] "i" ((uint16_t)&TIMSK1), \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)),\
       [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
     : \
   ); \
@@ -193,9 +193,9 @@ void TIMER1_COMPA_vect_bottom()
 
 /* 14 cycles maximum latency */
 #define HAL_TEMP_TIMER_ISR() \
-extern "C" void TIMER0_COMPB_vect() __attribute__ ((signal, naked, used, externally_visible)); \
-extern "C" void TIMER0_COMPB_vect_bottom()  asm ("TIMER0_COMPB_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
-void TIMER0_COMPB_vect() { \
+extern "C" void TIMER0_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
+extern "C" void TIMER0_COMPA_vect_bottom()  asm ("TIMER0_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \
+void TIMER0_COMPA_vect() { \
   __asm__ __volatile__ ( \
     A("push r16")                       /* 2 Save R16 */ \
     A("in r16, __SREG__")               /* 1 Get SREG */ \
@@ -223,7 +223,7 @@ void TIMER0_COMPB_vect() { \
     A("push r30")                       \
     A("push r31")                       \
     A("clr r1")                         /* C runtime expects this register to be 0 */ \
-    A("call TIMER0_COMPB_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
+    A("call TIMER0_COMPA_vect_bottom")  /* Call the bottom handler - No inlining allowed, otherwise registers used are not saved */   \
     A("pop r31")                        \
     A("pop r30")                        \
     A("pop r27")                        \
@@ -251,10 +251,10 @@ void TIMER0_COMPB_vect() { \
     A("reti")                           /* 4 Return from interrupt */ \
     :                                   \
     : [timsk0] "i"((uint16_t)&TIMSK0),  \
-      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
+      [msk0] "M" ((uint8_t)(1<<OCIE0A)) \
     : \
   ); \
 } \
-void TIMER0_COMPB_vect_bottom()
+void TIMER0_COMPA_vect_bottom()
 
 #endif // HAL_TEMP_TIMER_ISR

Marlin/src/HAL/DUE/HAL.cpp

@@ -34,7 +34,7 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
@@ -42,8 +42,7 @@ uint16_t HAL_adc_result;
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-// HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   // Initialize the USB stack
   #if ENABLED(SDSUPPORT)
     OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
@@ -52,21 +51,15 @@ void HAL_init() {
   TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler
 }
 
-// HAL idle task
-void HAL_idletask() {
-  // Perform USB stack housekeeping
-  usb_task_idle();
+void MarlinHAL::init_board() {
+  #ifdef BOARD_INIT
+    BOARD_INIT();
+  #endif
 }
 
-// Disable interrupts
-void cli() { noInterrupts(); }
-
-// Enable interrupts
-void sei() { interrupts(); }
-
-void HAL_clear_reset_source() { }
+void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping
 
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   switch ((RSTC->RSTC_SR >> 8) & 0x07) {
     case 0: return RST_POWER_ON;
     case 1: return RST_BACKUP;
@@ -77,12 +70,7 @@ uint8_t HAL_get_reset_source() {
   }
 }
 
-void HAL_reboot() { rstc_start_software_reset(RSTC); }
-
-void _delay_ms(const int delay_ms) {
-  // Todo: port for Due?
-  delay(delay_ms);
-}
+void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
@@ -94,19 +82,6 @@ int freeMemory() {
   return (int)&free_memory - (heap_end ?: (int)&_ebss);
 }
 
-// ------------------------
-// ADC
-// ------------------------
-
-void HAL_adc_start_conversion(const uint8_t ch) {
-  HAL_adc_result = analogRead(ch);
-}
-
-uint16_t HAL_adc_get_result() {
-  // nop
-  return HAL_adc_result;
-}
-
 // Forward the default serial ports
 #if USING_HW_SERIAL0
   DefaultSerial1 MSerial0(false, Serial);

Marlin/src/HAL/DUE/HAL.h

@@ -38,6 +38,10 @@
 
 #include "../../core/serial_hook.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
 typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2;
 typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3;
@@ -97,60 +101,38 @@ extern DefaultSerial4 MSerial3;
 #include "MarlinSerial.h"
 #include "MarlinSerialUSB.h"
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
+// ------------------------
+// Types
+// ------------------------
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
-
-void cli();                     // Disable interrupts
-void sei();                     // Enable interrupts
+#define sei() noInterrupts()
+#define cli() interrupts()
 
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
+#define CRITICAL_SECTION_START()  const bool _irqon = hal.isr_state(); hal.isr_off()
+#define CRITICAL_SECTION_END()    if (_irqon) hal.isr_on()
 
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // result of last ADC conversion
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
 
 #ifndef analogInputToDigitalPin
   #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
 #endif
 
-#define HAL_ANALOG_SELECT(ch)
-
-inline void HAL_adc_init() {}//todo
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(ch)   HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-//
-// PWM
 //
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-//
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -159,27 +141,18 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-void HAL_idletask();
-void HAL_init();
-
-//
-// Utility functions
-//
-void _delay_ms(const int delay);
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-int freeMemory();
-
 #pragma GCC diagnostic pop
 
 #ifdef __cplusplus
@@ -189,3 +162,69 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s
 #ifdef __cplusplus
   }
 #endif
+
+// Return free RAM between end of heap (or end bss) and whatever is current
+int freeMemory();
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();       // Called early in setup()
+  static void init_board(); // Called less early in setup()
+  static void reboot();     // Software reset
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -406,7 +406,7 @@ size_t MarlinSerial<Cfg>::write(const uint8_t c) {
     const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1);
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Make room by polling if it is possible to transmit, and do so!
       while (i == tx_buffer.tail) {
@@ -454,7 +454,7 @@ void MarlinSerial<Cfg>::flushTX() {
     if (!_written) return;
 
     // If global interrupts are disabled (as the result of being called from an ISR)...
-    if (!ISRS_ENABLED()) {
+    if (!hal.isr_state()) {
 
       // Wait until everything was transmitted - We must do polling, as interrupts are disabled
       while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {

Marlin/src/HAL/DUE/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

Marlin/src/HAL/DUE/fastio/G2_PWM.cpp

@@ -25,7 +25,7 @@
  * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
  * that interrupt.
  *
- * All PWMs use the same repetition rate.  The G2 needs about 10KHz min in order to
+ * All PWMs use the same repetition rate.  The G2 needs about 10kHz min in order to
  * not have obvious ripple on the Vref signals.
  *
  * The data structures are setup to minimize the computation done by the ISR which

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

@@ -59,3 +59,7 @@
 #if HAS_TMC_SW_SERIAL
   #error "TMC220x Software Serial is not supported on the DUE platform."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on DUE boards."
+#endif

Marlin/src/HAL/DUE/pinsDebug.h

@@ -53,7 +53,7 @@
  *     The net result is that both the g_pinStatus[pin] array and the PIO_OSR register
  *     needs to be looked at when determining if a pin is an input or an output.
  *
- * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1KHz
+ * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs.  FYI - they run at 1kHz
  *
  * c) NUM_DIGITAL_PINS does not include the analog pins
  *
@@ -86,7 +86,6 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
           || pwm_status(pin));
 }
 
-
 void pwm_details(int32_t pin) {
   if (pwm_status(pin)) {
     uint32_t chan = g_APinDescription[pin].ulPWMChannel;

Marlin/src/HAL/DUE/timers.h

@@ -125,4 +125,4 @@ 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)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/HAL.cpp

@@ -52,7 +52,7 @@
 // Externs
 // ------------------------
 
-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 // ------------------------
 // Local defines
@@ -64,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private Variables
@@ -73,9 +73,16 @@ uint16_t HAL_adc_result;
 esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX];
 adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {};
 uint32_t thresholds[ADC_ATTEN_MAX];
-volatile int numPWMUsed = 0,
-             pwmPins[MAX_PWM_PINS],
-             pwmValues[MAX_PWM_PINS];
+
+volatile int numPWMUsed = 0;
+volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS];
+
+pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32
+
+struct {
+  uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet!
+  uint16_t res;
+} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2];
 
 // ------------------------
 // Public functions
@@ -95,20 +102,22 @@ volatile int numPWMUsed = 0,
 #endif
 
 #if ENABLED(USE_ESP32_EXIO)
+
   HardwareSerial YSerial2(2);
 
   void Write_EXIO(uint8_t IO, uint8_t v) {
-    if (ISRS_ENABLED()) {
-      DISABLE_ISRS();
+    if (hal.isr_state()) {
+      hal.isr_off();
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
-      ENABLE_ISRS();
+      hal.isr_on();
     }
     else
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
   }
+
 #endif
 
-void HAL_init_board() {
+void MarlinHAL::init_board() {
   #if ENABLED(USE_ESP32_TASK_WDT)
     esp_task_wdt_init(10, true);
   #endif
@@ -154,27 +163,26 @@ void HAL_init_board() {
   #endif
 }
 
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if BOTH(WIFISUPPORT, OTASUPPORT)
     OTA_handle();
   #endif
   TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }
 
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
-void HAL_reboot() { ESP.restart(); }
+void MarlinHAL::reboot() { ESP.restart(); }
 
 void _delay_ms(int delay_ms) { delay(delay_ms); }
 
 // return free memory between end of heap (or end bss) and whatever is current
-int freeMemory() { return ESP.getFreeHeap(); }
+int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 
 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
 
 adc1_channel_t get_channel(int pin) {
@@ -196,7 +204,7 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
   }
 }
 
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
   // Configure ADC
   adc1_config_width(ADC_WIDTH_12Bit);
 
@@ -211,7 +219,9 @@ void HAL_adc_init() {
   TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
   TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
   TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
   TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
+  TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
   TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
 
   // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
@@ -226,11 +236,16 @@ void HAL_adc_init() {
   }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+#ifndef ADC_REFERENCE_VOLTAGE
+  #define ADC_REFERENCE_VOLTAGE 3.3
+#endif
+
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+
+  adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000);
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;
@@ -247,25 +262,81 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
   adc1_set_attenuation(chan, atten);
 }
 
-void analogWrite(pin_t pin, int value) {
-  // Use ledc hardware for internal pins
-  if (pin < 34) {
-    static int cnt_channel = 1, pin_to_channel[40] = { 0 };
-    if (pin_to_channel[pin] == 0) {
-      ledcAttachPin(pin, cnt_channel);
-      ledcSetup(cnt_channel, 490, 8);
-      ledcWrite(cnt_channel, value);
-      pin_to_channel[pin] = cnt_channel++;
+// ------------------------
+// PWM
+// ------------------------
+
+int8_t channel_for_pin(const uint8_t pin) {
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++)
+    if (chan_pin[i] == pin) return i;
+  return -1;
+}
+
+// get PWM channel for pin - if none then attach a new one
+// return -1 if fail or invalid pin#, channel # (0-15) if success
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) {
+  if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin!
+  int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) return cid;
+
+  // Find an empty adjacent channel (same timer & freq/res)
+  for (int i = 0; i <= CHANNEL_MAX_NUM; i++) {
+    if (chan_pin[i] == 0) {
+      if (chan_pin[i ^ 0x1] != 0) {
+        if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) {
+          chan_pin[i] = pin; // Allocate PWM to this channel
+          ledcAttachPin(pin, i);
+          return i;
+        }
+      }
+      else if (cid == -1)    // Pair of empty channels?
+        cid = i & 0xFE;      // Save lower channel number
+    }
+  }
+  // not attached, is an empty timer slot avail?
+  if (cid >= 0) {
+    chan_pin[cid] = pin;
+    pwmInfo[cid / 2].freq = freq;
+    pwmInfo[cid / 2].res = res;
+    ledcSetup(cid, freq, res);
+    ledcAttachPin(pin, cid);
+  }
+  return cid; // -1 if no channel avail
+}
+
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) {
+  const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION);
+  if (cid >= 0) {
+    uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1);
+    ledcWrite(cid, duty);
+  }
+}
+
+int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) {
+  const int8_t cid = channel_for_pin(pin);
+  if (cid >= 0) {
+    if (f_desired == ledcReadFreq(cid)) return cid; // no freq change
+    ledcDetachPin(chan_pin[cid]);
+    chan_pin[cid] = 0;              // remove old freq channel
   }
-    ledcWrite(pin_to_channel[pin], value);
+  return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one
+}
+
+// use hardware PWM if avail, if not then ISR
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution!
+  // Use ledc hardware for internal pins
+  const int8_t cid = get_pwm_channel(pin, freq, res);
+  if (cid >= 0) {
+    ledcWrite(cid, value); // set duty value
     return;
   }
 
+  // not a hardware PWM pin OR no PWM channels available
   int idx = -1;
 
   // Search Pin
   for (int i = 0; i < numPWMUsed; ++i)
-    if (pwmPins[i] == pin) { idx = i; break; }
+    if (pwmState[i].pin == pin) { idx = i; break; }
 
   // not found ?
   if (idx < 0) {
@@ -274,7 +345,7 @@ void analogWrite(pin_t pin, int value) {
 
     // Take new slot for pin
     idx = numPWMUsed;
-    pwmPins[idx] = pin;
+    pwmState[idx].pin = pin;
     // Start timer on first use
     if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY);
 
@@ -282,7 +353,7 @@ void analogWrite(pin_t pin, int value) {
   }
 
   // Use 7bit internal value - add 1 to have 100% high at 255
-  pwmValues[idx] = (value + 1) / 2;
+  pwmState[idx].value = (value + 1) / 2;
 }
 
 // Handle PWM timer interrupt
@@ -293,9 +364,9 @@ HAL_PWM_TIMER_ISR() {
 
   for (int i = 0; i < numPWMUsed; ++i) {
     if (count == 0)                   // Start of interval
-      WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW);
-    else if (pwmValues[i] == count)   // End of duration
-      WRITE(pwmPins[i], LOW);
+      digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW);
+    else if (pwmState[i].value == count)   // End of duration
+      digitalWrite(pwmState[i].pin, LOW);
   }
 
   // 128 for 7 Bit resolution

Marlin/src/HAL/ESP32/HAL.h

@@ -49,8 +49,6 @@
 // Defines
 // ------------------------
 
-extern portMUX_TYPE spinlock;
-
 #define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -65,24 +63,22 @@ extern portMUX_TYPE spinlock;
 
 #define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&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
 
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
 typedef int16_t pin_t;
 
-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
 // Public functions
@@ -91,59 +87,18 @@ extern uint16_t HAL_adc_result;
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
+int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res);
+void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8);
 
-// clear reset reason
-void HAL_clear_reset_source();
-
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(int delay);
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
-void analogWrite(pin_t pin, int value);
-
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Pin Map
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board();
-void HAL_idletask();
-inline void HAL_init() {}
-void HAL_init_board();
-
 #if ENABLED(USE_ESP32_EXIO)
   void Write_EXIO(uint8_t IO, uint8_t v);
 #endif
@@ -188,3 +143,90 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
   }
 
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  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;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * If not already allocated, allocate a hardware PWM channel
+   * to the pin and set the duty cycle..
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Allocate and set the frequency of a hardware PWM pin
+   * Returns -1 if no pin available.
+   */
+  static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired);
+
+};

Marlin/src/HAL/ESP32/Servo.cpp

@@ -31,20 +31,18 @@
 // so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
 int Servo::channel_next_free = 12;
 
-Servo::Servo() {
-  channel = channel_next_free++;
-}
+Servo::Servo() {}
 
 int8_t Servo::attach(const int inPin) {
-  if (channel >= CHANNEL_MAX_NUM) return -1;
   if (inPin > 0) pin = inPin;
-
-  ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
-  ledcAttachPin(pin, channel);
-  return true;
+  channel = get_pwm_channel(pin, 50u, 16u);
+  return channel; // -1 if no PWM avail.
 }
 
-void Servo::detach() { ledcDetachPin(pin); }
+// leave channel connected to servo - set duty to zero
+void Servo::detach() {
+  if (channel >= 0) ledcWrite(channel, 0);
+}
 
 int Servo::read() { return degrees; }
 
@@ -52,7 +50,7 @@ void Servo::write(int inDegrees) {
   degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
   int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
   int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
-  ledcWrite(channel, duty);
+  if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
 }
 
 void Servo::move(const int value) {

Marlin/src/HAL/ESP32/Servo.h

@@ -30,8 +30,7 @@ class Servo {
                    MAX_PULSE_WIDTH = 2400,  // Longest pulse sent to a servo
                    TAU_MSEC = 20,
                    TAU_USEC = (TAU_MSEC * 1000),
-                   MAX_COMPARE = _BV(16) - 1, // 65535
-                   CHANNEL_MAX_NUM = 16;
+                   MAX_COMPARE = _BV(16) - 1; // 65535
 
 public:
   Servo();

Marlin/src/HAL/ESP32/Tone.cpp

@@ -35,7 +35,7 @@
 static pin_t tone_pin;
 volatile static int32_t toggles;
 
-void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) {
   tone_pin = _pin;
   toggles = 2 * frequency * duration / 1000;
   HAL_timer_start(MF_TIMER_TONE, 2 * frequency);

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

@@ -25,8 +25,8 @@
   #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue."
 #endif
 
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
-  #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32."
+#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125)
+  #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32."
 #endif
 
 #if HAS_TMC_SW_SERIAL
@@ -40,3 +40,11 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32."
 #endif
+
+#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN)
+  #error "FAST_PWM_FAN is not available on TinyBee."
+#endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on ESP32 boards."
+#endif

Marlin/src/HAL/ESP32/timers.cpp

@@ -81,7 +81,7 @@ void IRAM_ATTR timer_isr(void *para) {
  * @param timer_num timer number to initialize
  * @param frequency frequency of the timer
  */
-void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
   const tTimerConfig timer = timer_config[timer_num];
 
   timer_config_t config;

Marlin/src/HAL/ESP32/timers.h

@@ -127,7 +127,7 @@ extern const tTimerConfig timer_config[];
 // Public functions
 // ------------------------
 
-void HAL_timer_start (const uint8_t timer_num, uint32_t frequency);
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
 void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp

@@ -0,0 +1,101 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * Copypaste of 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 ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#include <U8glib-HAL.h>
+#include "Arduino.h"
+#include "../shared/HAL_SPI.h"
+#include "HAL.h"
+#include "SPI.h"
+
+static SPISettings spiConfig;
+
+#define MDOGLCD_MOSI    23
+#define MDOGLCD_SCK     18
+#define MLCD_RESET_PIN   0
+#define MLCD_PINS_DC     4
+#define MDOGLCD_CS      21
+#define MDOGLCD_A0       4
+
+#ifndef LCD_SPI_SPEED
+  #ifdef SD_SPI_SPEED
+    #define LCD_SPI_SPEED SD_SPI_SPEED    // Assume SPI speed shared with SD
+  #else
+    #define LCD_SPI_SPEED SPI_FULL_SPEED  // Use full speed if SD speed is not supplied
+  #endif
+#endif
+
+uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT
+  if (msgInitCount) {
+    if (msg == U8G_COM_MSG_INIT) msgInitCount--;
+    if (msgInitCount) return -1;
+  }
+
+  switch (msg) {
+    case U8G_COM_MSG_STOP: break;
+
+    case U8G_COM_MSG_INIT:
+      OUT_WRITE(MDOGLCD_CS, HIGH);
+      OUT_WRITE(MDOGLCD_A0, HIGH);
+      OUT_WRITE(MLCD_RESET_PIN, HIGH);
+      u8g_Delay(5);
+      spiBegin();
+      spiInit(LCD_SPI_SPEED);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:           /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      WRITE(MDOGLCD_A0, arg_val ? HIGH : LOW);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:       /* arg_val == 0 means HIGH level of U8G_PI_CS */
+      WRITE(MDOGLCD_CS, arg_val ? LOW : HIGH);
+      break;
+
+    case U8G_COM_MSG_RESET:
+      WRITE(MLCD_RESET_PIN, arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      spiSend((uint8_t)arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ:
+      uint8_t *ptr = (uint8_t*) arg_ptr;
+      while (arg_val > 0) {
+        spiSend(*ptr++);
+        arg_val--;
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1)
+
+#endif // ARDUINO_ARCH_ESP32

Marlin/src/HAL/LINUX/HAL.cpp

@@ -24,6 +24,10 @@
 #include "../../inc/MarlinConfig.h"
 #include "../shared/Delay.h"
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true));
 
 // U8glib required functions
@@ -37,42 +41,21 @@ extern "C" {
 //************************//
 
 // return free heap space
-int freeMemory() {
-  return 0;
-}
+int freeMemory() { return 0; }
 
 // ------------------------
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
-
-}
-
-void HAL_adc_enable_channel(const uint8_t ch) {
-
-}
-
-uint8_t active_ch = 0;
-void HAL_adc_start_conversion(const uint8_t ch) {
-  active_ch = ch;
-}
-
-bool HAL_adc_finished() {
-  return true;
-}
+uint8_t MarlinHAL::active_ch = 0;
 
-uint16_t HAL_adc_get_result() {
-  pin_t pin = analogInputToDigitalPin(active_ch);
+uint16_t MarlinHAL::adc_value() {
+  const pin_t pin = analogInputToDigitalPin(active_ch);
   if (!VALID_PIN(pin)) return 0;
-  uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
+  const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF);
   return data;    // return 10bit value as Marlin expects
 }
 
-void HAL_pwm_init() {
-
-}
-
-void HAL_reboot() { /* Reset the application state and GPIO */ }
+void MarlinHAL::reboot() { /* Reset the application state and GPIO */ }
 
 #endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/HAL.h

@@ -21,25 +21,42 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-
-#define F_CPU 100000000UL
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 
-void _printf (const  char *format, ...);
+#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"
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+void _printf(const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -49,36 +66,27 @@ uint8_t _getc();
 #define B01 1
 #define B10 2
 
-#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"
-
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT usb_serial;
 #define MYSERIAL1 usb_serial
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
 
-inline void HAL_init() {}
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10
+
+// ------------------------
+// Class Utilities
+// ------------------------
 
-// Utility functions
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
@@ -88,29 +96,66 @@ int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#define HAL_ADC_VREF           5.0
-#define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  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
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
 
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
 
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+  //
+  // ADC Methods
+  //
 
-void HAL_reboot(); // Reset the application state and GPIO
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
 
-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
+  static void set_pwm_frequency(const pin_t, int) {}
+};

Marlin/src/HAL/LINUX/arduino.cpp

@@ -31,9 +31,7 @@ void cli() { } // Disable
 void sei() { } // Enable
 
 // Time functions
-void _delay_ms(const int delay_ms) {
-  delay(delay_ms);
-}
+void _delay_ms(const int ms) { delay(ms); }
 
 uint32_t millis() {
   return (uint32_t)Clock::millis();

Marlin/src/HAL/LINUX/include/Arduino.h

@@ -59,10 +59,9 @@ typedef uint8_t byte;
 #endif
 
 #define sq(v) ((v) * (v))
-#define square(v) sq(v)
 #define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value)))
 
-//Interrupts
+// Interrupts
 void cli(); // Disable
 void sei(); // Enable
 void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode);
@@ -74,8 +73,8 @@ extern "C" {
 }
 
 // Time functions
-extern "C" void delay(const int milis);
-void _delay_ms(const int delay);
+extern "C" void delay(const int ms);
+void _delay_ms(const int ms);
 void delayMicroseconds(unsigned long);
 uint32_t millis();
 

Marlin/src/HAL/LINUX/timers.h

@@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -31,7 +31,7 @@
 
 DefaultSerial1 USBSerial(false, UsbSerial);
 
-uint32_t HAL_adc_reading = 0;
+uint32_t MarlinHAL::adc_result = 0;
 
 // U8glib required functions
 extern "C" {
@@ -41,8 +41,6 @@ extern "C" {
   void u8g_Delay(uint16_t val)       { delay(val); }
 }
 
-//************************//
-
 // return free heap space
 int freeMemory() {
   char stack_end;
@@ -54,33 +52,33 @@ int freeMemory() {
   return result;
 }
 
-// scan command line for code
-//   return index into pin map array if found and the pin is valid.
-//   return dval if not found or not a valid pin.
-int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
-  const uint16_t val = (uint16_t)parser.intval(code, -1), port = val / 100, pin = val % 100;
-  const  int16_t ind = (port < ((NUM_DIGITAL_PINS) >> 5) && pin < 32) ? ((port << 5) | pin) : -2;
-  return ind > -1 ? ind : dval;
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  #if ENABLED(USE_WATCHDOG)
+    if (watchdog_timed_out()) return RST_WATCHDOG;
+  #endif
+  return RST_POWER_ON;
+}
+
+void MarlinHAL::clear_reset_source() {
+  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
 }
 
 void flashFirmware(const int16_t) {
   delay(500);          // Give OS time to disconnect
   USB_Connect(false);  // USB clear connection
   delay(1000);         // Give OS time to notice
-  HAL_reboot();
+  hal.reboot();
 }
 
-void HAL_clear_reset_source(void) {
-  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
-}
-
-uint8_t HAL_get_reset_source(void) {
-  #if ENABLED(USE_WATCHDOG)
-    if (watchdog_timed_out()) return RST_WATCHDOG;
-  #endif
-  return RST_POWER_ON;
+// 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.
+int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
+  const uint16_t val = (uint16_t)parser.intval(code, -1), port = val / 100, pin = val % 100;
+  const  int16_t ind = (port < ((NUM_DIGITAL_PINS) >> 5) && pin < 32) ? ((port << 5) | pin) : -2;
+  return ind > -1 ? ind : dval;
 }
 
-void HAL_reboot() { NVIC_SystemReset(); }
-
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.h

@@ -28,8 +28,6 @@
 
 #define CPU_32_BIT
 
-void HAL_init();
-
 #include <stdint.h>
 #include <stdarg.h>
 #include <algorithm>
@@ -47,12 +45,9 @@ extern "C" volatile uint32_t _millis;
 #include <pinmapping.h>
 #include <CDCSerial.h>
 
-//
-// Default graphical display delays
-//
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
+// ------------------------
+// Serial ports
+// ------------------------
 
 typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1;
 extern DefaultSerial1 USBSerial;
@@ -114,26 +109,12 @@ extern DefaultSerial1 USBSerial;
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
-
-//
-// Utility functions
-//
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
 
-#pragma GCC diagnostic pop
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
 //
-// ADC API
+// ADC
 //
 
 #define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift),
@@ -152,20 +133,9 @@ int freeMemory();
 #define HAL_ADC_RESOLUTION     12   // 15 bit maximum, raw temperature is stored as int16_t
 #define HAL_ADC_FILTERED            // Disable oversampling done in Marlin as ADC values already filtered in HAL
 
-using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
-extern uint32_t HAL_adc_reading;
-[[gnu::always_inline]] inline void HAL_adc_start_conversion(const pin_t pin) {
-  HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
-}
-[[gnu::always_inline]] inline uint16_t HAL_adc_get_result() {
-  return HAL_adc_reading;
-}
-
-#define HAL_adc_init()
-#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin)
-#define HAL_START_ADC(pin)     HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()         HAL_adc_get_result()
-#define HAL_ADC_READY()        (true)
+//
+// Pin Mapping for M42, M43, M226
+//
 
 // Test whether the pin is valid
 constexpr bool VALID_PIN(const pin_t pin) {
@@ -192,32 +162,101 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
 // P0.6 thru P0.9 are for the onboard SD card
 #define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09,
 
-#define HAL_IDLETASK 1
-void HAL_idletask();
+// ------------------------
+// Defines
+// ------------------------
 
 #define PLATFORM_M997_SUPPORT
 void flashFirmware(const int16_t);
 
 #define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Hardware PWM pins run at the same frequency and all
- *  Software PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+// Default graphical display delays
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();                 // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
 
-// Reset source
-void HAL_clear_reset_source(void);
-uint8_t HAL_get_reset_source(void);
+  static void delay_ms(const int ms) { _delay_ms(ms); }
 
-void HAL_reboot();
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {
+    FilteredADC::enable_channel(pin);
+  }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static uint32_t adc_result;
+  static void adc_start(const pin_t pin) {
+    adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return uint16_t(adc_result); }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer corresponding to the provided pin
+   * All Hardware PWM pins will run at the same frequency and
+   * All Software PWM pins will run at the same frequency
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/LPC1768/Servo.h

@@ -65,4 +65,5 @@ class libServo: public Servo {
   }
 };
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;

Marlin/src/HAL/LPC1768/eeprom_wired.cpp

@@ -34,7 +34,7 @@
 #include "../shared/eeprom_api.h"
 
 #ifndef MARLIN_EEPROM_SIZE
-  #define MARLIN_EEPROM_SIZE           0x8000 // 32KB‬
+  #define MARLIN_EEPROM_SIZE           0x8000 // 32K
 #endif
 size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
 

Marlin/src/HAL/LPC1768/fast_pwm.cpp

@@ -21,21 +21,17 @@
  */
 #ifdef TARGET_LPC1768
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 #include <pwm.h>
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   if (!LPC176x::pin_is_valid(pin)) return;
   if (LPC176x::pwm_attach_pin(pin))
     LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);  // map 1-254 onto PWM range
 }
 
-#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
-
-  void set_pwm_frequency(const pin_t pin, int f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   LPC176x::pwm_set_frequency(pin, f_desired);
-  }
-
-#endif
+}
 
 #endif // TARGET_LPC1768

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

@@ -113,7 +113,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
   #define _IS_RX1_1 IS_RX1
   #if IS_TX1(TMC_SW_SCK)
     #error "Serial port pins (1) conflict with other pins!"
-  #elif HAS_WIRED_LCD
+  #elif HAS_ROTARY_ENCODER
     #if IS_TX1(BTN_EN2) || IS_RX1(BTN_EN1)
       #error "Serial port pins (1) conflict with Encoder Buttons!"
     #elif ANY_TX(1, SD_SCK_PIN, LCD_PINS_D4, DOGLCD_SCK, LCD_RESET_PIN, LCD_PINS_RS, SHIFT_CLK_PIN) \

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

@@ -29,7 +29,7 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-#if MB(MKS_SBASE)
+#if ENABLED(DIGIPOT_MCP4451) && MB(MKS_SBASE)
 
 #ifdef __cplusplus
   extern "C" {
@@ -37,35 +37,6 @@
 
 #include "digipot_mcp4451_I2C_routines.h"
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
-  // Make sure start bit is not active
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
-
 uint8_t digipot_mcp4451_start(uint8_t sla) {  // send slave address and write bit
   // Sometimes TX data ACK or NAK status is returned.  That mean the start state didn't
   // happen which means only the value of the slave address was send.  Keep looping until
@@ -102,5 +73,5 @@ uint8_t digipot_mcp4451_send_byte(uint8_t data) {
   }
 #endif
 
-#endif // MB(MKS_SBASE)
+#endif // DIGIPOT_MCP4451 && MKS_SBASE
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/include/i2c_util.c

@@ -63,6 +63,32 @@ void configure_i2c(const uint8_t clock_option) {
   I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE);
 }
 
+//////////////////////////////////////////////////////////////////////////////////////
+// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
+// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
+
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
+  // Reset STA, STO, SI
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
+
+  // Enter to Master Transmitter mode
+  I2Cx->I2CONSET = I2C_I2CONSET_STA;
+
+  // Wait for complete
+  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
+  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
+}
+
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) {
+  /* Make sure start bit is not active */
+  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
+    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
+
+  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
+  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
+}
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/include/i2c_util.h

@@ -51,6 +51,11 @@
 
 void configure_i2c(const uint8_t clock_option);
 
+uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx);
+void _I2C_Stop(LPC_I2C_TypeDef *I2Cx);
+
+#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/LPC1768/main.cpp

@@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); }
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-void HAL_init() {
+void MarlinHAL::init() {
 
   // Init LEDs
   #if PIN_EXISTS(LED)
@@ -130,7 +130,7 @@ void HAL_init() {
   const millis_t usb_timeout = millis() + 2000;
   while (!USB_Configuration && PENDING(millis(), usb_timeout)) {
     delay(50);
-    HAL_idletask();
+    idletask();
     #if PIN_EXISTS(LED)
       TOGGLE(LED_PIN);     // Flash quickly during USB initialization
     #endif
@@ -142,7 +142,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // If Marlin is using the SD card we need to lock it to prevent access from
     // a PC via USB.

Marlin/src/HAL/LPC1768/timers.h

@@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

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

@@ -36,40 +36,7 @@ extern int millis();
 
 //////////////////////////////////////////////////////////////////////////////////////
 
-// These two routines are exact copies of the lpc17xx_i2c.c routines.  Couldn't link to
-// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them.
-
-static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) {
-  // Reset STA, STO, SI
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC;
-
-  // Enter to Master Transmitter mode
-  I2Cx->I2CONSET = I2C_I2CONSET_STA;
-
-  // Wait for complete
-  while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI));
-  I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-  return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK);
-}
-
-static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx) {
-  /* Make sure start bit is not active */
-  if (I2Cx->I2CONSET & I2C_I2CONSET_STA)
-    I2Cx->I2CONCLR = I2C_I2CONCLR_STAC;
-
-  I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA;
-  I2Cx->I2CONCLR = I2C_I2CONCLR_SIC;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////
-
-#define I2CDEV_S_ADDR   0x78  // from SSD1306  //actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write
-
-#define BUFFER_SIZE                     0x1  // only do single byte transfers with LCDs
-
-I2C_M_SETUP_Type transferMCfg;
-
-#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK)
+#define I2CDEV_S_ADDR   0x78  // From SSD1306 (actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write)
 
 // Send slave address and write bit
 uint8_t u8g_i2c_start(const uint8_t sla) {
@@ -115,7 +82,6 @@ uint8_t u8g_i2c_send_byte(uint8_t data) {
 void u8g_i2c_stop() {
 }
 
-
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -21,18 +21,10 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-#define HAL_IDLETASK
-void HAL_idletask();
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 #include "pinmapping.h"
 
@@ -40,8 +32,6 @@ void _printf (const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -58,7 +48,23 @@ uint8_t _getc();
 #include "watchdog.h"
 #include "serial.h"
 
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000
+#define SystemCoreClock F_CPU
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT serial_stream_0;
 extern MSerialT serial_stream_1;
@@ -98,47 +104,19 @@ extern MSerialT serial_stream_3;
   #endif
 #endif
 
-
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//
+// ------------------------
 // Interrupts
-//
+// ------------------------
+
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
 
+// ------------------------
 // ADC
+// ------------------------
+
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
-
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
 
 void HAL_reboot();
 
@@ -159,29 +137,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
   // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
   if (str != nullptr) {
     std::size_t i = 0;
-    while (str[i] != '\0') {
-      ++i;
-    }
-
+    while (str[i] != '\0') ++i;
     return i;
   }
-
   return 0;
 }
 
 constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
   // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
-  if (lhs == nullptr || rhs == nullptr) {
+  if (lhs == nullptr || rhs == nullptr)
     return rhs != nullptr ? -1 : 1;
-  }
 
-  for (std::size_t i = 0; i < count; ++i) {
-    if (lhs[i] != rhs[i]) {
+  for (std::size_t i = 0; i < count; ++i)
+    if (lhs[i] != rhs[i])
       return lhs[i] < rhs[i] ? -1 : 1;
-    } else if (lhs[i] == '\0') {
+    else if (lhs[i] == '\0')
       return 0;
-    }
-  }
 
   return 0;
 }
@@ -193,14 +164,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
-
   return str;
 }
 
@@ -211,12 +179,87 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
   return str;
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch);
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const uint8_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready();
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/NATIVE_SIM/timers.h

@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

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

@@ -38,13 +38,13 @@
 #ifdef __cplusplus
   extern "C" {
 #endif
-void u8g_SetPinOutput(uint8_t internal_pin_number){SET_DIR_OUTPUT(internal_pin_number);}
-void u8g_SetPinInput(uint8_t internal_pin_number){SET_DIR_INPUT(internal_pin_number);}
-void u8g_SetPinLevel(uint8_t  pin, uint8_t  pin_status){WRITE_PIN(pin, pin_status);}
-uint8_t u8g_GetPinLevel(uint8_t pin){return READ_PIN(pin);}
-void usleep(uint64_t microsec){
-assert(false); // why we here?
-}
+
+void u8g_SetPinOutput(uint8_t internal_pin_number) { SET_DIR_OUTPUT(internal_pin_number); }
+void u8g_SetPinInput(uint8_t internal_pin_number) { SET_DIR_INPUT(internal_pin_number); }
+void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status) { WRITE_PIN(pin, pin_status); }
+uint8_t u8g_GetPinLevel(uint8_t pin) { return READ_PIN(pin); }
+void usleep(uint64_t microsec) { assert(false); /* why we here? */ }
+
 #ifdef __cplusplus
   }
 #endif

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -42,10 +42,6 @@
   #endif
 #endif
 
-// ------------------------
-// Local defines
-// ------------------------
-
 #define GET_TEMP_0_ADC()          TERN(HAS_TEMP_ADC_0,        PIN_TO_ADC(TEMP_0_PIN),       -1)
 #define GET_TEMP_1_ADC()          TERN(HAS_TEMP_ADC_1,        PIN_TO_ADC(TEMP_1_PIN),       -1)
 #define GET_TEMP_2_ADC()          TERN(HAS_TEMP_ADC_2,        PIN_TO_ADC(TEMP_2_PIN),       -1)
@@ -54,22 +50,28 @@
 #define GET_TEMP_5_ADC()          TERN(HAS_TEMP_ADC_5,        PIN_TO_ADC(TEMP_5_PIN),       -1)
 #define GET_TEMP_6_ADC()          TERN(HAS_TEMP_ADC_6,        PIN_TO_ADC(TEMP_6_PIN),       -1)
 #define GET_TEMP_7_ADC()          TERN(HAS_TEMP_ADC_7,        PIN_TO_ADC(TEMP_7_PIN),       -1)
-#define GET_PROBE_ADC()           TERN(HAS_TEMP_PROBE,        PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_BED_ADC()             TERN(HAS_TEMP_ADC_BED,      PIN_TO_ADC(TEMP_BED_PIN),     -1)
 #define GET_CHAMBER_ADC()         TERN(HAS_TEMP_ADC_CHAMBER,  PIN_TO_ADC(TEMP_CHAMBER_PIN), -1)
+#define GET_PROBE_ADC()           TERN(HAS_TEMP_ADC_PROBE,    PIN_TO_ADC(TEMP_PROBE_PIN),   -1)
 #define GET_COOLER_ADC()          TERN(HAS_TEMP_ADC_COOLER,   PIN_TO_ADC(TEMP_COOLER_PIN),  -1)
+#define GET_BOARD_ADC()           TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),   -1)
 #define GET_FILAMENT_WIDTH_ADC()  TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),     -1)
 #define GET_BUTTONS_ADC()         TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),   -1)
+#define GET_JOY_ADC_X()           TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),        -1)
+#define GET_JOY_ADC_Y()           TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),        -1)
+#define GET_JOY_ADC_Z()           TERN(HAS_JOY_ADC_Z,         PIN_TO_ADC(JOY_Z_PIN),        -1)
 
 #define IS_ADC_REQUIRED(n) ( \
      GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
   || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
-  || GET_PROBE_ADC() == n          \
   || GET_BED_ADC() == n \
   || GET_CHAMBER_ADC() == n \
+  || GET_PROBE_ADC() == n \
   || GET_COOLER_ADC() == n \
+  || GET_BOARD_ADC() == n \
   || GET_FILAMENT_WIDTH_ADC() == n \
   || GET_BUTTONS_ADC() == n \
+  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
 )
 
 #if IS_ADC_REQUIRED(0)
@@ -89,6 +91,118 @@
   #define DMA_IS_REQUIRED 1
 #endif
 
+enum ADCIndex {
+  #if GET_TEMP_0_ADC() == 0
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 0
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 0
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 0
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 0
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 0
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 0
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 0
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 0
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 0
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 0
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 0
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 0
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 0
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 0
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 0
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 0
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 0
+    JOY_Z,
+  #endif
+  #if GET_TEMP_0_ADC() == 1
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 1
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 1
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 1
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 1
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 1
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 1
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 1
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 1
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 1
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 1
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 1
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 1
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 1
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 1
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 1
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 1
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 1
+    JOY_Z,
+  #endif
+  ADC_COUNT
+};
+
 // ------------------------
 // Types
 // ------------------------
@@ -106,12 +220,10 @@
 // Private Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
-
 #if ADC_IS_REQUIRED
 
   // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
-  const uint8_t adc_pins[] = {
+  static constexpr uint8_t adc_pins[ADC_COUNT] = {
     // ADC0 pins
     #if GET_TEMP_0_ADC() == 0
       TEMP_0_PIN,
@@ -137,24 +249,36 @@ uint16_t HAL_adc_result;
     #if GET_TEMP_7_ADC() == 0
       TEMP_7_PIN,
     #endif
-    #if GET_PROBE_ADC() == 0
-      TEMP_PROBE_PIN,
-    #endif
     #if GET_BED_ADC() == 0
       TEMP_BED_PIN,
     #endif
     #if GET_CHAMBER_ADC() == 0
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_PROBE_ADC() == 0
+      TEMP_PROBE_PIN,
+    #endif
     #if GET_COOLER_ADC() == 0
       TEMP_COOLER_PIN,
     #endif
+    #if GET_BOARD_ADC() == 0
+      TEMP_BOARD_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 0
       FILWIDTH_PIN,
     #endif
     #if GET_BUTTONS_ADC() == 0
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 0
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 0
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 0
+      JOY_Z_PIN,
+    #endif
     // ADC1 pins
     #if GET_TEMP_0_ADC() == 1
       TEMP_0_PIN,
@@ -180,33 +304,44 @@ uint16_t HAL_adc_result;
     #if GET_TEMP_7_ADC() == 1
       TEMP_7_PIN,
     #endif
-    #if GET_PROBE_ADC() == 1
-      TEMP_PROBE_PIN,
-    #endif
     #if GET_BED_ADC() == 1
       TEMP_BED_PIN,
     #endif
     #if GET_CHAMBER_ADC() == 1
       TEMP_CHAMBER_PIN,
     #endif
+    #if GET_PROBE_ADC() == 1
+      TEMP_PROBE_PIN,
+    #endif
     #if GET_COOLER_ADC() == 1
       TEMP_COOLER_PIN,
     #endif
+    #if GET_BOARD_ADC() == 1
+      TEMP_BOARD_PIN,
+    #endif
     #if GET_FILAMENT_WIDTH_ADC() == 1
       FILWIDTH_PIN,
     #endif
     #if GET_BUTTONS_ADC() == 1
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 1
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 1
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 1
+      JOY_Z_PIN,
+    #endif
   };
 
-  uint16_t HAL_adc_results[COUNT(adc_pins)];
+  static uint16_t adc_results[ADC_COUNT];
 
   #if ADC0_IS_REQUIRED
-    Adafruit_ZeroDMA adc0DMAProgram,
-                     adc0DMARead;
+    Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;
 
-    const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -231,34 +366,45 @@ uint16_t HAL_adc_result;
       #if GET_TEMP_7_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
       #endif
-      #if GET_PROBE_ADC() == 0
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
       #if GET_BED_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
       #endif
       #if GET_CHAMBER_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_PROBE_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
       #if GET_COOLER_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
       #endif
+      #if GET_BOARD_ADC() == 0
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 0
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
       #if GET_BUTTONS_ADC() == 0
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 0
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 0
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 0
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC0_AINCOUNT   COUNT(adc0_dma_regs_list)
   #endif // ADC0_IS_REQUIRED
 
   #if ADC1_IS_REQUIRED
-    Adafruit_ZeroDMA adc1DMAProgram,
-                     adc1DMARead;
+    Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;
 
-    const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -283,24 +429,36 @@ uint16_t HAL_adc_result;
       #if GET_TEMP_7_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_7_PIN) },
       #endif
-      #if GET_PROBE_ADC() == 1
-        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
-      #endif
       #if GET_BED_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_BED_PIN) },
       #endif
       #if GET_CHAMBER_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) },
       #endif
+      #if GET_PROBE_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) },
+      #endif
       #if GET_COOLER_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) },
       #endif
+      #if GET_BOARD_ADC() == 1
+        { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) },
+      #endif
       #if GET_FILAMENT_WIDTH_ADC() == 1
         { PIN_TO_INPUTCTRL(FILWIDTH_PIN) },
       #endif
       #if GET_BUTTONS_ADC() == 1
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 1
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 1
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 1
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC1_AINCOUNT   COUNT(adc1_dma_regs_list)
@@ -312,9 +470,10 @@ uint16_t HAL_adc_result;
 // Private functions
 // ------------------------
 
-#if DMA_IS_REQUIRED
+void MarlinHAL::dma_init() {
+
+  #if DMA_IS_REQUIRED
 
-  void dma_init() {
     DmacDescriptor *descriptor;
 
     #if ADC0_IS_REQUIRED
@@ -343,7 +502,7 @@ uint16_t HAL_adc_result;
       if (adc0DMARead.allocate() == DMA_STATUS_OK) {
         adc0DMARead.addDescriptor(
           (void *)&ADC0->RESULT.reg,          // SRC
-          &HAL_adc_results,                   // DEST
+          &adc_results,                       // DEST
           ADC0_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -380,7 +539,7 @@ uint16_t HAL_adc_result;
       if (adc1DMARead.allocate() == DMA_STATUS_OK) {
         adc1DMARead.addDescriptor(
           (void *)&ADC1->RESULT.reg,          // SRC
-          &HAL_adc_results[ADC0_AINCOUNT],    // DEST
+          &adc_results[ADC0_AINCOUNT],        // DEST
           ADC1_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -393,16 +552,16 @@ uint16_t HAL_adc_result;
     #endif
 
     DMAC->PRICTRL0.bit.RRLVLEN0 = true;                         // Activate round robin for DMA channels required by ADCs
-  }
 
-#endif // DMA_IS_REQUIRED
+  #endif // DMA_IS_REQUIRED
+}
 
 // ------------------------
 // Public functions
 // ------------------------
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   TERN_(DMA_IS_REQUIRED, dma_init());
   #if ENABLED(SDSUPPORT)
     #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
@@ -412,17 +571,9 @@ void HAL_init() {
   #endif
 }
 
-// HAL idle task
-/*
-void HAL_idletask() {
-}
-*/
-
-void HAL_clear_reset_source() { }
-
 #pragma push_macro("WDT")
 #undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   RSTC_RCAUSE_Type resetCause;
 
   resetCause.reg = REG_RSTC_RCAUSE;
@@ -436,7 +587,7 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")
 
-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 extern "C" {
   void * _sbrk(int incr);
@@ -454,9 +605,11 @@ int freeMemory() {
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
   #if ADC_IS_REQUIRED
-    memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results));                 // Fill result with invalid values
+    memset(adc_results, 0xFF, sizeof(adc_results));                         // Fill result with invalid values
 
     LOOP_L_N(pi, COUNT(adc_pins))
       pinPeripheral(adc_pins[pi], PIO_ANALOG);
@@ -491,17 +644,13 @@ void HAL_adc_init() {
   #endif // ADC_IS_REQUIRED
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
   #if ADC_IS_REQUIRED
-    LOOP_L_N(pi, COUNT(adc_pins)) {
-      if (adc_pin == adc_pins[pi]) {
-        HAL_adc_result = HAL_adc_results[pi];
-        return;
-      }
-    }
+    LOOP_L_N(pi, COUNT(adc_pins))
+      if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
   #endif
 
-  HAL_adc_result = 0xFFFF;
+  adc_result = 0xFFFF;
 }
 
 #endif // __SAMD51__

Marlin/src/HAL/SAMD51/HAL.h

@@ -89,51 +89,30 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 //
 // Interrupts
 //
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
 #define cli() __disable_irq() // Disable interrupts
 #define sei() __enable_irq()  // Enable interrupts
 
-void HAL_clear_reset_source();  // clear reset reason
-uint8_t HAL_get_reset_source(); // get reset reason
-
-void HAL_reboot();
-
 //
 // ADC
 //
-extern uint16_t HAL_adc_result;     // Most recent ADC conversion
-
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
 
 //#define HAL_ADC_FILTERED          // Disable Marlin's oversampling. The HAL filters ADC values.
 #define HAL_ADC_VREF         3.3
 #define HAL_ADC_RESOLUTION  10      // ... 12
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-//
-// PWM
 //
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-//
-// Pin Map
+// Pin Mapping for M42, M43, M226
 //
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
@@ -142,35 +121,93 @@ inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255,
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// Enable hooks into idle and setup for HAL
-void HAL_init();
-/*
-#define HAL_IDLETASK 1
-void HAL_idletask();
-*/
-
-//
-// Utility functions
-//
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
 #endif
 
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
 #ifdef __cplusplus
   extern "C" {
 #endif
+
 char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+
+extern "C" int freeMemory();
+
 #ifdef __cplusplus
   }
 #endif
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
+
+  static void delay_ms(const int ms) { delay(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+private:
+  static void dma_init();
+};

Marlin/src/HAL/SAMD51/timers.cpp

@@ -79,7 +79,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
     rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
 
     // RTC clock setup
-    OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K;  // External 32.768KHz oscillator
+    OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K;  // External 32.768kHz oscillator
 
     // Stop timer, just in case, to be able to reconfigure it
     rtc->MODE0.CTRLA.bit.ENABLE = false;

Marlin/src/HAL/STM32/HAL.cpp

@@ -53,16 +53,18 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
 
 // HAL initialization task
-void HAL_init() {
+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.
@@ -87,7 +89,7 @@ void HAL_init() {
 
   SetTimerInterruptPriorities();
 
-  #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+  #if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)
     USB_Hook_init();
   #endif
 
@@ -103,7 +105,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // Stm32duino currently doesn't have a "loop/idle" method
     CDC_resume_receive();
@@ -111,9 +113,9 @@ void HAL_idletask() {
   #endif
 }
 
-void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   return
     #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
@@ -137,24 +139,14 @@ uint8_t HAL_get_reset_source() {
   ;
 }
 
-void HAL_reboot() { NVIC_SystemReset(); }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
 
-// ------------------------
-// ADC
-// ------------------------
-
-// TODO: Make sure this doesn't cause any delay
-void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
 // Reset the system to initiate a firmware flash
-WEAK void flashFirmware(const int16_t) { HAL_reboot(); }
+WEAK void flashFirmware(const int16_t) { hal.reboot(); }
 
 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;

Marlin/src/HAL/STM32/HAL.h

@@ -44,9 +44,9 @@
 #define CPU_ST7920_DELAY_2  40
 #define CPU_ST7920_DELAY_3 340
 
-//
-// Serial Ports
-//
+// ------------------------
+// Serial ports
+// ------------------------
 #ifdef USBCON
   #include <USBSerial.h>
   #include "../../core/serial_hook.h"
@@ -115,64 +115,81 @@
   #define analogInputToDigitalPin(p) (p)
 #endif
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 #define cli() __disable_irq()
 #define sei() __enable_irq()
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
 // ------------------------
 // Types
 // ------------------------
 
+typedef double isr_float_t;   // FPU ops are used for single-precision, so use double for ISRs.
+
 #ifdef STM32G0B1xx
   typedef int32_t pin_t;
 #else
   typedef int16_t pin_t;
 #endif
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;
 #define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
 #define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
 
 // ------------------------
-// Public Variables
+// ADC
 // ------------------------
 
-// result of last ADC conversion
-extern uint16_t HAL_adc_result;
+#ifdef ADC_RESOLUTION
+  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
+#else
+  #define HAL_ADC_RESOLUTION 12
+#endif
 
-// ------------------------
-// Public functions
-// ------------------------
+#define HAL_ADC_VREF         3.3
 
-// Memory related
-#define __bss_end __bss_end__
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into  setup for HAL
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
+#ifdef STM32F1xx
+  #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE)
+  #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE)
+  #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG
+#endif
 
-// Clear reset reason
-void HAL_clear_reset_source();
+#define PLATFORM_M997_SUPPORT
+void flashFirmware(const int16_t);
 
-// Reset reason
-uint8_t HAL_get_reset_source();
+// Maple Compatibility
+typedef void (*systickCallback_t)(void);
+void systick_attach_callback(systickCallback_t cb);
+void HAL_SYSTICK_Callback();
 
-void HAL_reboot();
+extern volatile uint32_t systick_uptime_millis;
 
-void _delay_ms(const int delay);
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+// Memory related
+#define __bss_end __bss_end__
 
 extern "C" char* _sbrk(int incr);
 
 #pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
 static inline int freeMemory() {
   volatile char top;
@@ -181,62 +198,71 @@ static inline int freeMemory() {
 
 #pragma GCC diagnostic pop
 
-//
-// ADC
-//
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
+class MarlinHAL {
+public:
 
-#ifdef ADC_RESOLUTION
-  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
-#else
-  #define HAL_ADC_RESOLUTION 12
-#endif
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
+  static void init();                 // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Restart the firmware from 0x0
 
-inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
+  static void delay_ms(const int ms) { delay(ms); }
 
-uint16_t HAL_adc_get_result();
+  // Tasks, called from idle()
+  static void idletask();
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
 
-#ifdef STM32F1xx
-  #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE)
-  #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE)
-  #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG
-#endif
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-#define PLATFORM_M997_SUPPORT
-void flashFirmware(const int16_t);
+  //
+  // ADC Methods
+  //
 
-// Maple Compatibility
-typedef void (*systickCallback_t)(void);
-void systick_attach_callback(systickCallback_t cb);
-void HAL_SYSTICK_Callback();
+  static uint16_t adc_result;
 
-extern volatile uint32_t systick_uptime_millis;
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    analogReadResolution(HAL_ADC_RESOLUTION);
+  }
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin) { adc_result = analogRead(pin); }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
    */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
    */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};

Marlin/src/HAL/STM32/HAL_SPI.cpp

@@ -102,9 +102,9 @@ static SPISettings spiConfig;
 
   // Soft SPI receive byte
   uint8_t spiRec() {
-    DISABLE_ISRS();                                               // No interrupts during byte receive
+    hal.isr_off();                                                // No interrupts during byte receive
     const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF);
-    ENABLE_ISRS();                                                // Enable interrupts
+    hal.isr_on();                                                 // Enable interrupts
     return data;
   }
 
@@ -116,9 +116,9 @@ static SPISettings spiConfig;
 
   // Soft SPI send byte
   void spiSend(uint8_t data) {
-    DISABLE_ISRS();                         // No interrupts during byte send
+    hal.isr_off();                          // No interrupts during byte send
     HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received
-    ENABLE_ISRS();                          // Enable interrupts
+    hal.isr_on();                           // Enable interrupts
   }
 
   // Soft SPI send block

Marlin/src/HAL/STM32/eeprom_flash.cpp

@@ -174,9 +174,9 @@ bool PersistentStore::access_finish() {
         UNLOCK_FLASH();
 
         TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-        DISABLE_ISRS();
+        hal.isr_off();
         status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError);
-        ENABLE_ISRS();
+        hal.isr_on();
         TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
         if (status != HAL_OK) {
           DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status);
@@ -229,9 +229,9 @@ bool PersistentStore::access_finish() {
       // output. Servo output still glitches with interrupts disabled, but recovers after the
       // erase.
       TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
-      DISABLE_ISRS();
+      hal.isr_off();
       eeprom_buffer_flush();
-      ENABLE_ISRS();
+      hal.isr_on();
       TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
 
       eeprom_data_written = false;

Marlin/src/HAL/STM32/fast_pwm.cpp

@@ -29,8 +29,9 @@
 // Array to support sticky frequency sets per timer
 static uint16_t timer_freq[TIMER_NUM];
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  const uint16_t duty = invert ? v_size - v : v;
+  if (PWM_PIN(pin)) {
     const PinName pin_name = digitalPinToPinName(pin);
     TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM);
 
@@ -50,13 +51,17 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
 
     // Note the resolution is sticky here, the input can be upto 16 bits and that would require RESOLUTION_16B_COMPARE_FORMAT (16)
     // If such a need were to manifest then we would need to calc the resolution based on the v_size parameter and add code for it.
-  const uint16_t value = invert ? v_size - v : v;
-  HT->setCaptureCompare(channel, value, RESOLUTION_8B_COMPARE_FORMAT); // Sets the duty, the calc is done in the library :)
+    HT->setCaptureCompare(channel, duty, RESOLUTION_8B_COMPARE_FORMAT); // Set the duty, the calc is done in the library :)
     pinmap_pinout(pin_name, PinMap_PWM); // Make sure the pin output state is set.
     if (previousMode != TIMER_OUTPUT_COMPARE_PWM1) HT->resume();
+  }
+  else {
+    pinMode(pin, OUTPUT);
+    digitalWrite(pin, duty < v_size / 2 ? LOW : HIGH);
+  }
 }
 
-void set_pwm_frequency(const pin_t pin, int f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
   const PinName pin_name = digitalPinToPinName(pin);
   TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance

Marlin/src/HAL/STM32/pinsDebug.h

@@ -79,7 +79,6 @@
 // make a list of the Arduino pin numbers in the Port/Pin order
 //
 
-#define _PIN_ADD_2(NAME_ALPHA, ARDUINO_NUM) { {NAME_ALPHA}, ARDUINO_NUM },
 #define _PIN_ADD(NAME_ALPHA, ARDUINO_NUM) { NAME_ALPHA, ARDUINO_NUM },
 #define PIN_ADD(NAME) _PIN_ADD(#NAME, NAME)
 
@@ -108,14 +107,17 @@ const XrefInfo pin_xref[] PROGMEM = {
 /**
  * Translation of routines & variables used by pinsDebug.h
  */
-#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+
+#if PA0 >= NUM_DIGITAL_PINS
+  #define HAS_HIGH_ANALOG_PINS 1
+#endif
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)
 #define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL)
 #define 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 PRINT_PORT(ANUM) port_print(ANUM)
 #define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
-#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
 
 // x is a variable used to search pin_array
 #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
@@ -123,6 +125,11 @@ const XrefInfo pin_xref[] PROGMEM = {
 #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
 
+//
+// Pin Mapping for M43
+//
+#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
+
 #ifndef M43_NEVER_TOUCH
   #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
   #ifdef KILL_PIN
@@ -160,17 +167,20 @@ bool GET_PINMODE(const pin_t Ard_num) {
   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;
+int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
+  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_FIRST + NUM_ANALOG_INPUTS - 1))
+    return Ard_num - NUM_ANALOG_FIRST;
+
+  const uint32_t ind = digitalPinToAnalogInput(Ard_num);
+  return (ind < NUM_ANALOG_INPUTS) ? ind : -1;
 }
 
 bool IS_ANALOG(const pin_t Ard_num) {
   return get_pin_mode(Ard_num) == MODE_PIN_ANALOG;
 }
 
-bool is_digital(const pin_t x) {
-  const uint8_t pin_mode = get_pin_mode(pin_array[x].pin);
+bool is_digital(const pin_t Ard_num) {
+  const uint8_t pin_mode = get_pin_mode(pin_array[Ard_num].pin);
   return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
 }
 
@@ -196,10 +206,15 @@ void port_print(const pin_t Ard_num) {
     SERIAL_ECHO_SP(7);
 
   // Print number to be used with M42
-  sprintf_P(buffer, PSTR(" M42 P%d "), Ard_num);
-  SERIAL_ECHO(buffer);
-  if (Ard_num < 10) SERIAL_CHAR(' ');
-  if (Ard_num < 100) SERIAL_CHAR(' ');
+  int calc_p = Ard_num % (NUM_DIGITAL_PINS + 1);
+  if (Ard_num > NUM_DIGITAL_PINS && calc_p > 7) calc_p += 8;
+  SERIAL_ECHOPGM(" M42 P", calc_p);
+  SERIAL_CHAR(' ');
+  if (calc_p < 100) {
+    SERIAL_CHAR(' ');
+    if (calc_p <  10)
+      SERIAL_CHAR(' ');
+  }
 }
 
 bool pwm_status(const pin_t Ard_num) {
@@ -221,19 +236,19 @@ void pwm_details(const pin_t Ard_num) {
         case 'D' : alt_all = GPIOD->AFR[ind]; break;
         #ifdef PE_0
           case 'E' : alt_all = GPIOE->AFR[ind]; break;
-        #elif defined (PF_0)
+        #elif defined(PF_0)
           case 'F' : alt_all = GPIOF->AFR[ind]; break;
-        #elif defined (PG_0)
+        #elif defined(PG_0)
           case 'G' : alt_all = GPIOG->AFR[ind]; break;
-        #elif defined (PH_0)
+        #elif defined(PH_0)
           case 'H' : alt_all = GPIOH->AFR[ind]; break;
-        #elif defined (PI_0)
+        #elif defined(PI_0)
           case 'I' : alt_all = GPIOI->AFR[ind]; break;
-        #elif defined (PJ_0)
+        #elif defined(PJ_0)
           case 'J' : alt_all = GPIOJ->AFR[ind]; break;
-        #elif defined (PK_0)
+        #elif defined(PK_0)
           case 'K' : alt_all = GPIOK->AFR[ind]; break;
-        #elif defined (PL_0)
+        #elif defined(PL_0)
           case 'L' : alt_all = GPIOL->AFR[ind]; break;
         #endif
       }

Marlin/src/HAL/STM32/sdio.cpp

@@ -59,7 +59,7 @@ DMA_HandleTypeDef hdma_sdio;
 /*
   SDIO_INIT_CLK_DIV is 118
   SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2)
-  SDIO init clock frequency should not exceed 400KHz = 48MHz / (118 + 2)
+  SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2)
 
   Default TRANSFER_CLOCK_DIV is 2 (118 / 40)
   Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz

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

@@ -242,5 +242,29 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun
   Abort();
 }
 
+#if ENABLED(USE_SPI_DMA_TC)
+
+  void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) {
+
+    DMAtx.Init.MemInc = MemoryIncrease;
+    HAL_DMA_Init(&DMAtx);
+
+    if (TFT_MISO_PIN == TFT_MOSI_PIN)
+      SPI_1LINE_TX(&SPIx);
+
+    DataTransferBegin();
+
+    HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+    HAL_DMA_Start_IT(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count);
+    __HAL_SPI_ENABLE(&SPIx);
+
+    SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN);   // Enable Tx DMA Request
+  }
+
+  extern "C" void DMA2_Stream3_IRQHandler(void) { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); }
+
+#endif
+
 #endif // HAS_SPI_TFT
 #endif // HAL_STM32

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

@@ -43,13 +43,18 @@
 class TFT_SPI {
 private:
   static SPI_HandleTypeDef SPIx;
-  static DMA_HandleTypeDef DMAtx;
+
 
   static uint32_t ReadID(uint16_t Reg);
   static void Transmit(uint16_t Data);
   static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+  #if ENABLED(USE_SPI_DMA_TC)
+    static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count);
+  #endif
 
 public:
+  static DMA_HandleTypeDef DMAtx;
+
   static void Init();
   static uint32_t GetID();
   static bool isBusy();
@@ -63,6 +68,11 @@ public:
   static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); }
 
   static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); }
+
+  #if ENABLED(USE_SPI_DMA_TC)
+    static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); }
+  #endif
+
   static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); }
   static void WriteMultiple(uint16_t Color, uint32_t Count) {
     static uint16_t Data; Data = Color;

Marlin/src/HAL/STM32/timers.cpp

@@ -74,10 +74,10 @@
   #define MCU_STEP_TIMER  4
   #define MCU_TEMP_TIMER  2
 #elif defined(STM32F401xC) || defined(STM32F401xE)
-  #define MCU_STEP_TIMER  9
+  #define MCU_STEP_TIMER  9           // STM32F401 has no TIM6, TIM7, or TIM8
   #define MCU_TEMP_TIMER 10
 #elif defined(STM32F4xx) || defined(STM32F7xx) || defined(STM32H7xx)
-  #define MCU_STEP_TIMER  6           // STM32F401 has no TIM6, TIM7, or TIM8
+  #define MCU_STEP_TIMER  6
   #define MCU_TEMP_TIMER 14           // TIM7 is consumed by Software Serial if used.
 #endif
 
@@ -303,16 +303,16 @@ enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP };
 // This cannot yet account for timers used for PWM output, such as for fans.
 static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = {
   #if HAS_TMC_SW_SERIAL
-    {TP_SERIAL, get_timer_num_from_base_address(timer_serial[0])},  // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_SERIAL, get_timer_num_from_base_address(timer_serial[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
   #if ENABLED(SPEAKER)
-    {TP_TONE, get_timer_num_from_base_address(timer_tone[0])},    // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_TONE, get_timer_num_from_base_address(timer_tone[0]) },     // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
   #if HAS_SERVOS
-    {TP_SERVO, get_timer_num_from_base_address(timer_servo[0])},   // Set in variant.h, or as a define in platformio.h if not present in variant.h
+    { TP_SERVO, get_timer_num_from_base_address(timer_servo[0]) },   // Set in variant.h, or as a define in platformio.h if not present in variant.h
   #endif
-  {TP_STEP, STEP_TIMER},
-  {TP_TEMP, TEMP_TIMER},
+  { TP_STEP, STEP_TIMER },
+  { TP_TEMP, TEMP_TIMER },
 };
 
 static constexpr bool verify_no_timer_conflicts() {

Marlin/src/HAL/STM32/timers.h

@@ -116,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
   }
 }
 
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/STM32/usb_serial.cpp

@@ -26,7 +26,7 @@
 
 #include "../../inc/MarlinConfigPre.h"
 
-#if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC
+#if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC)
 
 #include "usb_serial.h"
 #include "../../feature/e_parser.h"

Marlin/src/HAL/STM32F1/HAL.cpp

@@ -79,7 +79,7 @@
 #define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
 
 // ------------------------
-// Public Variables
+// Serial ports
 // ------------------------
 
 #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE
@@ -112,148 +112,37 @@
   #endif
 #endif
 
-uint16_t HAL_adc_result;
-
 // ------------------------
-// Private Variables
+// ADC
 // ------------------------
-STM32ADC adc(ADC1);
 
-const uint8_t adc_pins[] = {
-  #if HAS_TEMP_ADC_0
-    TEMP_0_PIN,
-  #endif
-  #if HAS_TEMP_ADC_PROBE
-    TEMP_PROBE_PIN,
-  #endif
-  #if HAS_HEATED_BED
-    TEMP_BED_PIN,
-  #endif
-  #if HAS_TEMP_CHAMBER
-    TEMP_CHAMBER_PIN,
-  #endif
-  #if HAS_TEMP_COOLER
-    TEMP_COOLER_PIN,
-  #endif
-  #if HAS_TEMP_ADC_1
-    TEMP_1_PIN,
-  #endif
-  #if HAS_TEMP_ADC_2
-    TEMP_2_PIN,
-  #endif
-  #if HAS_TEMP_ADC_3
-    TEMP_3_PIN,
-  #endif
-  #if HAS_TEMP_ADC_4
-    TEMP_4_PIN,
-  #endif
-  #if HAS_TEMP_ADC_5
-    TEMP_5_PIN,
-  #endif
-  #if HAS_TEMP_ADC_6
-    TEMP_6_PIN,
-  #endif
-  #if HAS_TEMP_ADC_7
-    TEMP_7_PIN,
-  #endif
-  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    FILWIDTH_PIN,
-  #endif
-  #if HAS_ADC_BUTTONS
-    ADC_KEYPAD_PIN,
-  #endif
-  #if HAS_JOY_ADC_X
-    JOY_X_PIN,
-  #endif
-  #if HAS_JOY_ADC_Y
-    JOY_Y_PIN,
-  #endif
-  #if HAS_JOY_ADC_Z
-    JOY_Z_PIN,
-  #endif
-  #if ENABLED(POWER_MONITOR_CURRENT)
-    POWER_MONITOR_CURRENT_PIN,
-  #endif
-  #if ENABLED(POWER_MONITOR_VOLTAGE)
-    POWER_MONITOR_VOLTAGE_PIN,
-  #endif
-};
+// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t)
 
-enum TempPinIndex : char {
-  #if HAS_TEMP_ADC_0
-    TEMP_0,
-  #endif
-  #if HAS_TEMP_ADC_PROBE
-    TEMP_PROBE,
-  #endif
-  #if HAS_HEATED_BED
-    TEMP_BED,
-  #endif
-  #if HAS_TEMP_CHAMBER
-    TEMP_CHAMBER,
-  #endif
-  #if HAS_TEMP_COOLER
-    TEMP_COOLER_PIN,
-  #endif
-  #if HAS_TEMP_ADC_1
-    TEMP_1,
-  #endif
-  #if HAS_TEMP_ADC_2
-    TEMP_2,
-  #endif
-  #if HAS_TEMP_ADC_3
-    TEMP_3,
-  #endif
-  #if HAS_TEMP_ADC_4
-    TEMP_4,
-  #endif
-  #if HAS_TEMP_ADC_5
-    TEMP_5,
-  #endif
-  #if HAS_TEMP_ADC_6
-    TEMP_6,
-  #endif
-  #if HAS_TEMP_ADC_7
-    TEMP_7,
-  #endif
-  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    FILWIDTH,
-  #endif
-  #if HAS_ADC_BUTTONS
-    ADC_KEY,
-  #endif
-  #if HAS_JOY_ADC_X
-    JOY_X,
-  #endif
-  #if HAS_JOY_ADC_Y
-    JOY_Y,
-  #endif
-  #if HAS_JOY_ADC_Z
-    JOY_Z,
-  #endif
-  #if ENABLED(POWER_MONITOR_CURRENT)
-    POWERMON_CURRENT,
-  #endif
-  #if ENABLED(POWER_MONITOR_VOLTAGE)
-    POWERMON_VOLTS,
-  #endif
-  ADC_PIN_COUNT
-};
+uint16_t analogRead(const pin_t pin) {
+  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
+  return is_analog ? analogRead(uint8_t(pin)) : 0;
+}
+
+// Wrapper to maple unprotected analogWrite
+void analogWrite(const pin_t pin, int pwm_val8) {
+  if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
+}
 
-uint16_t HAL_adc_results[ADC_PIN_COUNT];
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private functions
 // ------------------------
+
 static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
   uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               // only values 0..7 are used
 
-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  SCB->AIRCR;                                                   // read old register configuration
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             // clear bits to change
   reg_value  =  (reg_value                                 |
                 ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
-                (PriorityGroupTmp << 8));                                     /* Insert write key & priority group  */
+                (PriorityGroupTmp << 8));                                     // Insert write key & priority group
   SCB->AIRCR =  reg_value;
 }
 
@@ -261,6 +150,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
 // Public functions
 // ------------------------
 
+void flashFirmware(const int16_t) { hal.reboot(); }
+
 //
 // Leave PA11/PA12 intact if USBSerial is not used
 //
@@ -280,7 +171,11 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-void HAL_init() {
+// ------------------------
+// MarlinHAL class
+// ------------------------
+
+void MarlinHAL::init() {
   NVIC_SetPriorityGrouping(0x3);
   #if PIN_EXISTS(LED)
     OUT_WRITE(LED_PIN, LOW);
@@ -299,7 +194,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // If Marlin is using the SD card we need to lock it to prevent access from
     // a PC via USB.
@@ -314,14 +209,7 @@ void HAL_idletask() {
   #endif
 }
 
-void HAL_clear_reset_source() { }
-
-/**
- * TODO: Check this and change or remove.
- */
-uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::reboot() { nvic_sys_reset(); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
@@ -355,105 +243,99 @@ extern "C" {
 }
 */
 
-// ------------------------
+//
 // ADC
-// ------------------------
+//
+
+enum ADCIndex : uint8_t {
+  OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
+  OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
+  OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
+  OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
+  OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
+  OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
+  OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
+  OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
+  OPTITEM(HAS_HEATED_BED, TEMP_BED)
+  OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
+  OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
+  OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
+  OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
+  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
+  OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
+  OPTITEM(HAS_JOY_ADC_X, JOY_X)
+  OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
+  OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
+  OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
+  OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
+  ADC_COUNT
+};
+
+static uint16_t adc_results[ADC_COUNT];
+
 // Init the AD in continuous capture mode
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
+  static const uint8_t adc_pins[] = {
+    OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
+    OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
+    OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
+    OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
+    OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
+    OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
+    OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
+    OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
+    OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
+    OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
+    OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
+    OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
+    OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
+    OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
+    OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
+    OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
+    OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
+    OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
+    OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
+    OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
+  };
+  static STM32ADC adc(ADC1);
   // configure the ADC
   adc.calibrate();
-  #if F_CPU > 72000000
-    adc.setSampleRate(ADC_SMPR_71_5); // 71.5 ADC cycles
-  #else
-    adc.setSampleRate(ADC_SMPR_41_5); // 41.5 ADC cycles
-  #endif
-  adc.setPins((uint8_t *)adc_pins, ADC_PIN_COUNT);
-  adc.setDMA(HAL_adc_results, (uint16_t)ADC_PIN_COUNT, (uint32_t)(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
+  adc.setSampleRate((F_CPU > 72000000) ? ADC_SMPR_71_5 : ADC_SMPR_41_5); // 71.5 or 41.5 ADC cycles
+  adc.setPins((uint8_t *)adc_pins, ADC_COUNT);
+  adc.setDMA(adc_results, uint16_t(ADC_COUNT), uint32_t(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
   adc.setScanMode();
   adc.setContinuous();
   adc.startConversion();
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  //TEMP_PINS pin_index;
-  TempPinIndex pin_index;
-  switch (adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
+  #define __TCASE(N,I) case N: pin_index = I; break;
+  #define _TCASE(C,N,I) TERN_(C, __TCASE(N, I))
+  ADCIndex pin_index;
+  switch (pin) {
     default: return;
-    #if HAS_TEMP_ADC_0
-      case TEMP_0_PIN: pin_index = TEMP_0; break;
-    #endif
-    #if HAS_TEMP_ADC_PROBE
-      case TEMP_PROBE_PIN: pin_index = TEMP_PROBE; break;
-    #endif
-    #if HAS_HEATED_BED
-      case TEMP_BED_PIN: pin_index = TEMP_BED; break;
-    #endif
-    #if HAS_TEMP_CHAMBER
-      case TEMP_CHAMBER_PIN: pin_index = TEMP_CHAMBER; break;
-    #endif
-    #if HAS_TEMP_COOLER
-      case TEMP_COOLER_PIN: pin_index = TEMP_COOLER; break;
-    #endif
-    #if HAS_TEMP_ADC_1
-      case TEMP_1_PIN: pin_index = TEMP_1; break;
-    #endif
-    #if HAS_TEMP_ADC_2
-      case TEMP_2_PIN: pin_index = TEMP_2; break;
-    #endif
-    #if HAS_TEMP_ADC_3
-      case TEMP_3_PIN: pin_index = TEMP_3; break;
-    #endif
-    #if HAS_TEMP_ADC_4
-      case TEMP_4_PIN: pin_index = TEMP_4; break;
-    #endif
-    #if HAS_TEMP_ADC_5
-      case TEMP_5_PIN: pin_index = TEMP_5; break;
-    #endif
-    #if HAS_TEMP_ADC_6
-      case TEMP_6_PIN: pin_index = TEMP_6; break;
-    #endif
-    #if HAS_TEMP_ADC_7
-      case TEMP_7_PIN: pin_index = TEMP_7; break;
-    #endif
-    #if HAS_JOY_ADC_X
-      case JOY_X_PIN: pin_index = JOY_X; break;
-    #endif
-    #if HAS_JOY_ADC_Y
-      case JOY_Y_PIN: pin_index = JOY_Y; break;
-    #endif
-    #if HAS_JOY_ADC_Z
-      case JOY_Z_PIN: pin_index = JOY_Z; break;
-    #endif
-    #if ENABLED(FILAMENT_WIDTH_SENSOR)
-      case FILWIDTH_PIN: pin_index = FILWIDTH; break;
-    #endif
-    #if HAS_ADC_BUTTONS
-      case ADC_KEYPAD_PIN: pin_index = ADC_KEY; break;
-    #endif
-    #if ENABLED(POWER_MONITOR_CURRENT)
-      case POWER_MONITOR_CURRENT_PIN: pin_index = POWERMON_CURRENT; break;
-    #endif
-    #if ENABLED(POWER_MONITOR_VOLTAGE)
-      case POWER_MONITOR_VOLTAGE_PIN: pin_index = POWERMON_VOLTS; break;
-    #endif
+    _TCASE(HAS_TEMP_ADC_0,        TEMP_0_PIN,                TEMP_0)
+    _TCASE(HAS_TEMP_ADC_1,        TEMP_1_PIN,                TEMP_1)
+    _TCASE(HAS_TEMP_ADC_2,        TEMP_2_PIN,                TEMP_2)
+    _TCASE(HAS_TEMP_ADC_3,        TEMP_3_PIN,                TEMP_3)
+    _TCASE(HAS_TEMP_ADC_4,        TEMP_4_PIN,                TEMP_4)
+    _TCASE(HAS_TEMP_ADC_5,        TEMP_5_PIN,                TEMP_5)
+    _TCASE(HAS_TEMP_ADC_6,        TEMP_6_PIN,                TEMP_6)
+    _TCASE(HAS_TEMP_ADC_7,        TEMP_7_PIN,                TEMP_7)
+    _TCASE(HAS_HEATED_BED,        TEMP_BED_PIN,              TEMP_BED)
+    _TCASE(HAS_TEMP_CHAMBER,      TEMP_CHAMBER_PIN,          TEMP_CHAMBER)
+    _TCASE(HAS_TEMP_ADC_PROBE,    TEMP_PROBE_PIN,            TEMP_PROBE)
+    _TCASE(HAS_TEMP_COOLER,       TEMP_COOLER_PIN,           TEMP_COOLER)
+    _TCASE(HAS_TEMP_BOARD,        TEMP_BOARD_PIN,            TEMP_BOARD)
+    _TCASE(HAS_JOY_ADC_X,         JOY_X_PIN,                 JOY_X)
+    _TCASE(HAS_JOY_ADC_Y,         JOY_Y_PIN,                 JOY_Y)
+    _TCASE(HAS_JOY_ADC_Z,         JOY_Z_PIN,                 JOY_Z)
+    _TCASE(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN,              FILWIDTH)
+    _TCASE(HAS_ADC_BUTTONS,       ADC_KEYPAD_PIN,            ADC_KEY)
+    _TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
+    _TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTS)
   }
-  HAL_adc_result = HAL_adc_results[(int)pin_index] >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
-}
-
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
-uint16_t analogRead(pin_t pin) {
-  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
-  return is_analog ? analogRead(uint8_t(pin)) : 0;
+  adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
 }
 
-// Wrapper to maple unprotected analogWrite
-void analogWrite(pin_t pin, int pwm_val8) {
-  if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
-}
-
-void HAL_reboot() { nvic_sys_reset(); }
-
-void flashFirmware(const int16_t) { HAL_reboot(); }
-
 #endif // __STM32F1__

Marlin/src/HAL/STM32F1/HAL.h

@@ -66,6 +66,10 @@
   #endif
 #endif
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 #ifdef SERIAL_USB
   typedef ForwardSerial1Class< USBSerial > DefaultSerial1;
   extern DefaultSerial1 MSerial0;
@@ -141,11 +145,6 @@
   #endif
 #endif
 
-// Set interrupt grouping for this MCU
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
-
 /**
  * TODO: review this to return 1 for pins that are not analog input
  */
@@ -158,15 +157,7 @@ void HAL_idletask();
   #define NO_COMPILE_TIME_PWM
 #endif
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_primask(); (void)__iCliRetVal()
-#define CRITICAL_SECTION_END()    if (!primask) (void)__iSeiRetVal()
-#define ISRS_ENABLED() (!__get_primask())
-#define ENABLE_ISRS()  ((void)__iSeiRetVal())
-#define DISABLE_ISRS() ((void)__iCliRetVal())
-
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
+// Reset Reason
 #define RST_POWER_ON   1
 #define RST_EXTERNAL   2
 #define RST_BROWN_OUT  4
@@ -182,46 +173,63 @@ void HAL_idletask();
 typedef int8_t pin_t;
 
 // ------------------------
-// Public Variables
+// Interrupts
 // ------------------------
 
-// Result of last ADC conversion
-extern uint16_t HAL_adc_result;
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_primask(); (void)__iCliRetVal()
+#define CRITICAL_SECTION_END()    if (!irqon) (void)__iSeiRetVal()
+#define cli() noInterrupts()
+#define sei() interrupts()
 
 // ------------------------
-// Public functions
+// ADC
 // ------------------------
 
-// Disable interrupts
-#define cli() noInterrupts()
+#ifdef ADC_RESOLUTION
+  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
+#else
+  #define HAL_ADC_RESOLUTION 12
+#endif
 
-// Enable interrupts
-#define sei() interrupts()
+#define HAL_ADC_VREF         3.3
 
-// Memory related
-#define __bss_end __bss_end__
+uint16_t analogRead(const pin_t pin); // need hal.adc_enable() first
+void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?
 
-// Clear reset reason
-void HAL_clear_reset_source();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Reset reason
-uint8_t HAL_get_reset_source();
+#define JTAG_DISABLE()    afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
+#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
 
-void HAL_reboot();
+#define PLATFORM_M997_SUPPORT
+void flashFirmware(const int16_t);
 
-void _delay_ms(const int delay);
+#define HAL_CAN_SET_PWM_FREQ      // This HAL supports PWM Frequency adjustment
+#ifndef PWM_FREQUENCY
+  #define PWM_FREQUENCY      1000 // Default PWM Frequency
+#endif
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
+// ------------------------
+// Class Utilities
+// ------------------------
 
-/*
-extern "C" {
-  int freeMemory();
-}
-*/
+// Memory related
+#define __bss_end __bss_end__
+
+void _delay_ms(const int ms);
 
 extern "C" char* _sbrk(int incr);
 
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
 static inline int freeMemory() {
   volatile char top;
   return &top - _sbrk(0);
@@ -229,58 +237,70 @@ static inline int freeMemory() {
 
 #pragma GCC diagnostic pop
 
-//
-// ADC
-//
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT_ANALOG);
+class MarlinHAL {
+public:
 
-void HAL_adc_init();
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#ifdef ADC_RESOLUTION
-  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
-#else
-  #define HAL_ADC_RESOLUTION 12
-#endif
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
 
-#define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
+  // Interrupts
+  static bool isr_state() { return !__get_primask(); }
+  static void isr_on()  { ((void)__iSeiRetVal()); }
+  static void isr_off() { ((void)__iCliRetVal()); }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-uint16_t HAL_adc_get_result();
+  static void delay_ms(const int ms) { delay(ms); }
 
-uint16_t analogRead(pin_t pin); // need HAL_ANALOG_SELECT() first
-void analogWrite(pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!?
+  // Tasks, called from idle()
+  static void idletask();
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Reset
+  static uint8_t get_reset_source() { return RST_POWER_ON; }
+  static void clear_reset_source() {}
 
-#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY)
-#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE)
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-#define PLATFORM_M997_SUPPORT
-void flashFirmware(const int16_t);
+  //
+  // ADC Methods
+  //
 
-#ifndef PWM_FREQUENCY
-  #define PWM_FREQUENCY      1000 // Default PWM Frequency
-#endif
-#define HAL_CAN_SET_PWM_FREQ      // This HAL supports PWM Frequency adjustment
+  static uint16_t adc_result;
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, int f_desired);
+  // Called by Temperature::init once at startup
+  static void adc_init();
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT_ANALOG); }
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
    * The timer must be pre-configured with set_pwm_frequency() if the default frequency is not desired.
    */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false);
+
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};

Marlin/src/HAL/STM32F1/SPI.cpp

@@ -91,6 +91,14 @@ static const spi_pins board_spi_pins[] __FLASH__ = {
   static void *_spi3_this;
 #endif
 
+/**
+ * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
+ */
+static inline void waitSpiTxEnd(spi_dev *spi_d) {
+  while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
+  while (spi_is_busy(spi_d) != 0) { /* nada */ }     // wait until BSY=0
+}
+
 /**
  * Constructor
  */

Marlin/src/HAL/STM32F1/SPI.h

@@ -414,12 +414,4 @@ private:
   */
 };
 
-/**
- * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
- */
-static void waitSpiTxEnd(spi_dev *spi_d) {
-  while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
-  while (spi_is_busy(spi_d) != 0) { /* nada */ }     // wait until BSY=0
-}
-
 extern SPIClass SPI;

Marlin/src/HAL/STM32F1/Servo.h

@@ -35,7 +35,8 @@
 #define SERVO_DEFAULT_MIN_ANGLE         0
 #define SERVO_DEFAULT_MAX_ANGLE         180
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;
 
 class libServo {
   public:

Marlin/src/HAL/STM32F1/fast_pwm.cpp

@@ -21,11 +21,9 @@
  */
 #ifdef __STM32F1__
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 
 #include <pwm.h>
-#include "HAL.h"
-#include "timers.h"
 
 #define NR_TIMERS TERN(STM32_XL_DENSITY, 14, 8) // Maple timers, 14 for STM32_XL_DENSITY (F/G chips), 8 for HIGH density (C D E)
 
@@ -38,20 +36,23 @@ inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) {
   return 0;
 }
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
-  if (!PWM_PIN(pin)) return;
-
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+  const uint16_t duty = invert ? v_size - v : v;
+  if (PWM_PIN(pin)) {
     timer_dev *timer; UNUSED(timer);
     if (timer_freq[timer_and_index_for_pin(pin, &timer)] == 0)
       set_pwm_frequency(pin, PWM_FREQUENCY);
-
     const uint8_t channel = PIN_MAP[pin].timer_channel;
-  const uint16_t duty = invert ? v_size - v : v;
     timer_set_compare(timer, channel, duty);
     timer_set_mode(timer, channel, TIMER_PWM); // PWM Output Mode
+  }
+  else {
+    pinMode(pin, OUTPUT);
+    digitalWrite(pin, duty < v_size / 2 ? LOW : HIGH);
+  }
 }
 
-void set_pwm_frequency(const pin_t pin, int f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   if (!PWM_PIN(pin)) return;                    // Don't proceed if no hardware timer
 
   timer_dev *timer; UNUSED(timer);

Marlin/src/HAL/STM32F1/onboard_sd.cpp

@@ -40,8 +40,13 @@
   #define SPI_CLOCK_MAX SPI_BAUD_PCLK_DIV_2
 #endif
 
-#define CS_LOW()  WRITE(ONBOARD_SD_CS_PIN, LOW)  // Set OnboardSPI cs low
-#define CS_HIGH() WRITE(ONBOARD_SD_CS_PIN, HIGH) // Set OnboardSPI cs high
+#if PIN_EXISTS(ONBOARD_SD_CS) && ONBOARD_SD_CS_PIN != SD_SS_PIN
+  #define CS_LOW()  WRITE(ONBOARD_SD_CS_PIN, LOW)  // Set OnboardSPI cs low
+  #define CS_HIGH() WRITE(ONBOARD_SD_CS_PIN, HIGH) // Set OnboardSPI cs high
+#else
+  #define CS_LOW()
+  #define CS_HIGH()
+#endif
 
 #define FCLK_FAST() ONBOARD_SD_SPI.setClockDivider(SPI_CLOCK_MAX)
 #define FCLK_SLOW() ONBOARD_SD_SPI.setClockDivider(SPI_BAUD_PCLK_DIV_256)

Marlin/src/HAL/STM32F1/timers.h

@@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP
 
 // No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
 // Needed here to reset ARPE=0 for stepper timer

Marlin/src/HAL/TEENSY31_32/HAL.cpp

@@ -31,6 +31,10 @@
 
 #include <Wire.h>
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
 #define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
 #if WITHIN(SERIAL_PORT, 0, 3)
@@ -40,33 +44,32 @@
 #endif
 USBSerialType USBSerial(false, SerialUSB);
 
-uint16_t HAL_adc_result;
-
-static const uint8_t pin2sc1a[] = {
-    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
-    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
-    31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
-    0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
-    26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
-};
-
-/*
-  // disable interrupts
-  void cli() { noInterrupts(); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
-  // enable interrupts
-  void sei() { interrupts(); }
-*/
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
 
-void HAL_adc_init() {
-  analog_init();
-  while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
-  NVIC_ENABLE_IRQ(IRQ_FTM1);
+  int freeMemory() {
+    int free_memory;
+    if ((int)__brkval == 0)
+      free_memory = ((int)&free_memory) - ((int)&__bss_end);
+    else
+      free_memory = ((int)&free_memory) - ((int)__brkval);
+    return free_memory;
+  }
 }
 
-void HAL_clear_reset_source() { }
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-uint8_t HAL_get_reset_source() {
+void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
+
+uint8_t MarlinHAL::get_reset_source() {
   switch (RCM_SRS0) {
     case 128: return RST_POWER_ON; break;
     case 64: return RST_EXTERNAL; break;
@@ -78,25 +81,25 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
-void HAL_reboot() { _reboot_Teensyduino_(); }
-
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+// ADC
 
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
-  }
+void MarlinHAL::adc_init() {
+  analog_init();
+  while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
+  NVIC_ENABLE_IRQ(IRQ_FTM1);
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) { ADC0_SC1A = pin2sc1a[adc_pin]; }
+void MarlinHAL::adc_start(const pin_t pin) {
+  static const uint8_t pin2sc1a[] = {
+      5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13
+      5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9)
+      31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33
+      0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13)
+      26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0.
+  };
+  ADC0_SC1A = pin2sc1a[pin];
+}
 
-uint16_t HAL_adc_get_result() { return ADC0_RA; }
+uint16_t MarlinHAL::adc_value() { return ADC0_RA; }
 
 #endif // __MK20DX256__

Marlin/src/HAL/TEENSY31_32/HAL.h

@@ -36,12 +36,9 @@
 
 #include <stdint.h>
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//#undef MOTHERBOARD
-//#define MOTHERBOARD BOARD_TEENSY31_32
+// ------------------------
+// Defines
+// ------------------------
 
 #define IS_32BIT_TEENSY 1
 #define IS_TEENSY_31_32 1
@@ -49,6 +46,14 @@
   #define IS_TEENSY32 1
 #endif
 
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------
+
 #include "../../core/serial_hook.h"
 
 #define Serial0 Serial
@@ -72,31 +77,44 @@ extern USBSerialType USBSerial;
   #error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
 #endif
 
-#define HAL_SERVO_LIB libServo
+// ------------------------
+// Types
+// ------------------------
+
+class libServo;
+typedef libServo hal_servo_t;
 
 typedef int8_t pin_t;
 
-#ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
-#endif
+// ------------------------
+// Interrupts
+// ------------------------
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+uint32_t __get_PRIMASK(void); // CMSIS
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
-inline void HAL_init() {}
+// ------------------------
+// ADC
+// ------------------------
 
-// Clear the reset reason
-void HAL_clear_reset_source();
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+#endif
 
-// Get the reason for the reset
-uint8_t HAL_get_reset_source();
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
 
-void HAL_reboot();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -107,27 +125,63 @@ extern "C" int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init();
+class MarlinHAL {
+public:
 
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_get_result()
-#define HAL_ADC_READY()     true
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ANALOG_SELECT(pin)
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-uint16_t HAL_adc_get_result();
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
 
-// PWM
+  static void delay_ms(const int ms) { delay(ms); }
 
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Tasks, called from idle()
+  static void idletask() {}
 
-// Pin Map
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t ch) {}
+
+  // Begin ADC sampling on the given channel. Called from Temperature::isr!
+  static void adc_start(const pin_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h

@@ -40,3 +40,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.1/3.2."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on Teensy 3.1/3.2 boards."
+#endif

Marlin/src/HAL/TEENSY31_32/timers.h

@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/TEENSY35_36/HAL.cpp

@@ -31,6 +31,10 @@
 
 #include <Wire.h>
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
 #define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
 #if WITHIN(SERIAL_PORT, 0, 3)
@@ -39,42 +43,34 @@
 
 USBSerialType USBSerial(false, SerialUSB);
 
-uint16_t HAL_adc_result, HAL_adc_select;
+// ------------------------
+// Class Utilities
+// ------------------------
 
-static const uint8_t pin2sc1a[] = {
-  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
-  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
-  255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
-  14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128,  // 31-39 are A12-A20
-  255, 255, 255, 255, 255, 255, 255, 255, 255,  // 40-48 are digital only
-  10+128, 11+128, // 49-50 are A23-A24
-  255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
-  255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
-  3, 19+128, // 64-65 are A10-A11
-  23, 23+128,// 66-67 are A21-A22 (DAC pins)
-  1, 1+128,  // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
-  26,        // 70 is Temperature Sensor
-  18+128     // 71 is Vref
-};
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
 
-/*
-  // disable interrupts
-  void cli() { noInterrupts(); }
+  int freeMemory() {
+    int free_memory;
+    if ((int)__brkval == 0)
+      free_memory = ((int)&free_memory) - ((int)&__bss_end);
+    else
+      free_memory = ((int)&free_memory) - ((int)__brkval);
+    return free_memory;
+  }
+}
 
-  // enable interrupts
-  void sei() { interrupts(); }
-*/
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init() {
-  analog_init();
-  while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
-  while (ADC1_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
-  NVIC_ENABLE_IRQ(IRQ_FTM1);
-}
+void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
 
-void HAL_clear_reset_source() { }
+// Reset
 
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   switch (RCM_SRS0) {
     case 128: return RST_POWER_ON; break;
     case 64: return RST_EXTERNAL; break;
@@ -86,41 +82,49 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
-void HAL_reboot() { _reboot_Teensyduino_(); }
+// ADC
 
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+int8_t MarlinHAL::adc_select;
 
-  int freeMemory() {
-    int free_memory;
-    if ((int)__brkval == 0)
-      free_memory = ((int)&free_memory) - ((int)&__bss_end);
-    else
-      free_memory = ((int)&free_memory) - ((int)__brkval);
-    return free_memory;
-  }
+void MarlinHAL::adc_init() {
+  analog_init();
+  while (ADC0_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
+  while (ADC1_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ }
+  NVIC_ENABLE_IRQ(IRQ_FTM1);
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t adc_pin) {
+  static const uint8_t pin2sc1a[] = {
+    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
+    5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
+    255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
+    14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128,  // 31-39 are A12-A20
+    255, 255, 255, 255, 255, 255, 255, 255, 255,  // 40-48 are digital only
+    10+128, 11+128, // 49-50 are A23-A24
+    255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
+    255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
+    3, 19+128, // 64-65 are A10-A11
+    23, 23+128,// 66-67 are A21-A22 (DAC pins)
+    1, 1+128,  // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
+    26,        // 70 is Temperature Sensor
+    18+128     // 71 is Vref
+  };
   const uint16_t pin = pin2sc1a[adc_pin];
   if (pin == 0xFF) {
-    // Digital only
-    HAL_adc_select = -1;
+    adc_select = -1;    // Digital only
   }
   else if (pin & 0x80) {
-    HAL_adc_select = 1;
+    adc_select = 1;
     ADC1_SC1A = pin & 0x7F;
   }
   else {
-    HAL_adc_select = 0;
+    adc_select = 0;
     ADC0_SC1A = pin;
   }
 }
 
-uint16_t HAL_adc_get_result() {
-  switch (HAL_adc_select) {
+uint16_t MarlinHAL::adc_value() {
+  switch (adc_select) {
     case 0: return ADC0_RA;
     case 1: return ADC1_RA;
   }

Marlin/src/HAL/TEENSY35_36/HAL.h

@@ -37,10 +37,6 @@
 #include <stdint.h>
 #include <util/atomic.h>
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 // ------------------------
 // Defines
 // ------------------------
@@ -53,6 +49,17 @@
   #define IS_TEENSY35 1
 #endif
 
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+#undef sq
+#define sq(x) ((x)*(x))
+
+// ------------------------
+// Serial ports
+// ------------------------
+
 #include "../../core/serial_hook.h"
 
 #define Serial0 Serial
@@ -76,34 +83,43 @@ extern USBSerialType USBSerial;
   #error "SERIAL_PORT must be from 0 to 3, or -1 for Native USB."
 #endif
 
-#define HAL_SERVO_LIB libServo
+// ------------------------
+// Types
+// ------------------------
 
-typedef int8_t pin_t;
+class libServo;
+typedef libServo hal_servo_t;
 
-#ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
-#endif
+typedef int8_t pin_t;
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_primask(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_primask())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+// ------------------------
+// Interrupts
+// ------------------------
 
-#undef sq
-#define sq(x) ((x)*(x))
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_primask(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
-inline void HAL_init() {}
+// ------------------------
+// ADC
+// ------------------------
 
-// Clear reset reason
-void HAL_clear_reset_source();
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+#endif
 
-// Reset reason
-uint8_t HAL_get_reset_source();
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
 
-void HAL_reboot();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -114,27 +130,65 @@ extern "C" int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init();
+class MarlinHAL {
+public:
 
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_get_result()
-#define HAL_ADC_READY()     true
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ANALOG_SELECT(pin)
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-uint16_t HAL_adc_get_result();
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
 
-// PWM
+  static void delay_ms(const int ms) { delay(ms); }
 
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Tasks, called from idle()
+  static void idletask() {}
 
-// Pin Map
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static int8_t adc_select;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h

@@ -40,3 +40,7 @@
 #if ENABLED(POSTMORTEM_DEBUGGING)
   #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.5/3.6."
 #endif
+
+#if USING_PULLDOWNS
+  #error "PULLDOWN pin mode is not available on Teensy 3.5/3.6 boards."
+#endif

Marlin/src/HAL/TEENSY35_36/timers.h

@@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/TEENSY40_41/HAL.cpp

@@ -33,6 +33,10 @@
 #include "timers.h"
 #include <Wire.h>
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
 #define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
 #if WITHIN(SERIAL_PORT, 0, 3)
@@ -40,9 +44,71 @@
 #endif
 USBSerialType USBSerial(false, SerialUSB);
 
-uint16_t HAL_adc_result, HAL_adc_select;
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#define __bss_end _ebss
+
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
+
+  // Doesn't work on Teensy 4.x
+  uint32_t freeMemory() {
+    uint32_t free_memory;
+    free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end));
+    return free_memory;
+  }
+}
+
+// ------------------------
+// FastIO
+// ------------------------
+
+bool is_output(pin_t pin) {
+  const struct digital_pin_bitband_and_config_table_struct *p;
+  p = digital_pin_to_info_PGM + pin;
+  return (*(p->reg + 1) & p->mask);
+}
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  switch (SRC_SRSR & 0xFF) {
+    case 1: return RST_POWER_ON; break;
+    case 2: return RST_SOFTWARE; break;
+    case 4: return RST_EXTERNAL; break;
+    //case 8: return RST_BROWN_OUT; break;
+    case 16: return RST_WATCHDOG; break;
+    case 64: return RST_JTAG; break;
+    //case 128: return RST_OVERTEMP; break;
+  }
+  return 0;
+}
+
+void MarlinHAL::clear_reset_source() {
+  uint32_t reset_source = SRC_SRSR;
+  SRC_SRSR = reset_source;
+}
+
+// ADC
+
+int8_t MarlinHAL::adc_select;
+
+void MarlinHAL::adc_init() {
+  analog_init();
+  while (ADC1_GC & ADC_GC_CAL) { /* wait */ }
+  while (ADC2_GC & ADC_GC_CAL) { /* wait */ }
+}
 
-static const uint8_t pin2sc1a[] = {
+void MarlinHAL::adc_start(const pin_t adc_pin) {
+  static const uint8_t pin2sc1a[] = {
     0x07,  // 0/A0  AD_B1_02
     0x08,  // 1/A1  AD_B1_03
     0x0C,  // 2/A2  AD_B1_07
@@ -87,91 +153,31 @@ static const uint8_t pin2sc1a[] = {
       0x09,  // 40/A16 AD_B1_04
       0x0A,  // 41/A17 AD_B1_05
     #endif
-};
-
-/*
-// disable interrupts
-void cli() { noInterrupts(); }
-
-// enable interrupts
-void sei() { interrupts(); }
-*/
-
-void HAL_adc_init() {
-  analog_init();
-  while (ADC1_GC & ADC_GC_CAL) ;
-  while (ADC2_GC & ADC_GC_CAL) ;
-}
-
-void HAL_clear_reset_source() {
-  uint32_t reset_source = SRC_SRSR;
-  SRC_SRSR = reset_source;
-}
-
-uint8_t HAL_get_reset_source() {
-  switch (SRC_SRSR & 0xFF) {
-    case 1: return RST_POWER_ON; break;
-    case 2: return RST_SOFTWARE; break;
-    case 4: return RST_EXTERNAL; break;
-    //case 8: return RST_BROWN_OUT; break;
-    case 16: return RST_WATCHDOG; break;
-    case 64: return RST_JTAG; break;
-    //case 128: return RST_OVERTEMP; break;
-  }
-  return 0;
-}
-
-void HAL_reboot() { _reboot_Teensyduino_(); }
-
-#define __bss_end _ebss
-
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
-
-  // Doesn't work on Teensy 4.x
-  uint32_t freeMemory() {
-    uint32_t free_memory;
-    if ((uint32_t)__brkval == 0)
-      free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end);
-    else
-      free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval);
-    return free_memory;
-  }
-}
-
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+  };
   const uint16_t pin = pin2sc1a[adc_pin];
   if (pin == 0xFF) {
-    HAL_adc_select = -1; // Digital only
+    adc_select = -1; // Digital only
   }
   else if (pin & 0x80) {
-    HAL_adc_select = 1;
+    adc_select = 1;
     ADC2_HC0 = pin & 0x7F;
   }
   else {
-    HAL_adc_select = 0;
+    adc_select = 0;
     ADC1_HC0 = pin;
   }
 }
 
-uint16_t HAL_adc_get_result() {
-  switch (HAL_adc_select) {
+uint16_t MarlinHAL::adc_value() {
+  switch (adc_select) {
     case 0:
-      while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait
+      while (!(ADC1_HS & ADC_HS_COCO0)) { /* wait */ }
       return ADC1_R0;
     case 1:
-      while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait
+      while (!(ADC2_HS & ADC_HS_COCO0)) { /* wait */ }
       return ADC2_R0;
   }
   return 0;
 }
 
-bool is_output(pin_t pin) {
-  const struct digital_pin_bitband_and_config_table_struct *p;
-  p = digital_pin_to_info_PGM + pin;
-  return (*(p->reg + 1) & p->mask);
-}
-
 #endif // __IMXRT1062__

Marlin/src/HAL/TEENSY40_41/HAL.h

@@ -41,10 +41,6 @@
   #include "../../feature/ethernet.h"
 #endif
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 // ------------------------
 // Defines
 // ------------------------
@@ -55,7 +51,23 @@
   #define IS_TEENSY41 1
 #endif
 
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+#undef sq
+#define sq(x) ((x)*(x))
+
+// Don't place string constants in PROGMEM
+#undef PSTR
+#define PSTR(str) ({static const char *data = (str); &data[0];})
+
+// ------------------------
+// Serial ports
+// ------------------------
+
 #include "../../core/serial_hook.h"
+
 #define Serial0 Serial
 #define _DECLARE_SERIAL(X) \
   typedef ForwardSerial1Class<decltype(Serial##X)> DefaultSerial##X; \
@@ -89,41 +101,47 @@ extern USBSerialType USBSerial;
   #endif
 #endif
 
-#define HAL_SERVO_LIB libServo
+// ------------------------
+// Types
+// ------------------------
 
-typedef int8_t pin_t;
+class libServo;
+typedef libServo hal_servo_t;
 
-#ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
-#endif
+typedef int8_t pin_t;
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_primask(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_primask())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+// ------------------------
+// Interrupts
+// ------------------------
 
-#undef sq
-#define sq(x) ((x)*(x))
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_primask(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 
-// Don't place string constants in PROGMEM
-#undef PSTR
-#define PSTR(str) ({static const char *data = (str); &data[0];})
+// ------------------------
+// ADC
+// ------------------------
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-FORCE_INLINE void HAL_idletask() {}
-FORCE_INLINE void HAL_init() {}
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+#endif
 
-// Clear reset reason
-void HAL_clear_reset_source();
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+#define HAL_ADC_FILTERED      // turn off ADC oversampling
 
-// Reset reason
-uint8_t HAL_get_reset_source();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-void HAL_reboot();
+// FastIO
+bool is_output(pin_t pin);
 
-FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -134,30 +152,65 @@ extern "C" uint32_t freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-void HAL_adc_init();
+class MarlinHAL {
+public:
 
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_ADC_FILTERED      // turn off ADC oversampling
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_get_result()
-#define HAL_ADC_READY()     true
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ANALOG_SELECT(pin)
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-uint16_t HAL_adc_get_result();
+  // Interrupts
+  static bool isr_state() { return !__get_primask(); }
+  static void isr_on()  { __enable_irq(); }
+  static void isr_off() { __disable_irq(); }
 
-// PWM
+  static void delay_ms(const int ms) { delay(ms); }
 
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Tasks, called from idle()
+  static void idletask() {}
 
-// Pin Map
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-bool is_output(pin_t pin);
+  //
+  // ADC Methods
+  //
+
+  static int8_t adc_select;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given pin. Called from Temperature::isr!
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/TEENSY40_41/timers.h

@@ -114,4 +114,4 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
 //void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/shared/Delay.h

@@ -166,6 +166,8 @@ void calibrate_delay_loop();
   // Delay in microseconds
   #define DELAY_US(x) DELAY_CYCLES((x) * ((F_CPU) / 1000000UL))
 
+  #define DELAY_CYCLES_VAR DELAY_CYCLES
+
 #elif defined(ESP32) || defined(__PLAT_LINUX__) || defined(__PLAT_NATIVE_SIM__)
 
   // DELAY_CYCLES specified inside platform

Marlin/src/HAL/shared/HAL.cpp

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL/shared/HAL.cpp
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+MarlinHAL hal;
+
+#if ENABLED(SOFT_RESET_VIA_SERIAL)
+
+  // Global for use by e_parser.h
+  void HAL_reboot() { hal.reboot(); }
+
+#endif

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

@@ -92,9 +92,9 @@ uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) {
   // First device in chain has data sent last
   extDigitalWrite(ss_pin, LOW);
 
-  DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips)
+  hal.isr_off();  // Disable interrupts during SPI transfer (can't allow partial command to chips)
   const uint8_t data_out = L6470_SpiTransfer_Mode_3(data);
-  ENABLE_ISRS();  // Enable interrupts
+  hal.isr_on();   // Enable interrupts
 
   extDigitalWrite(ss_pin, HIGH);
   return data_out;
@@ -107,9 +107,9 @@ uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain
   extDigitalWrite(ss_pin, LOW);
 
   for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) {   // Send data unless aborted
-    DISABLE_ISRS();   // Disable interrupts during SPI transfer (can't allow partial command to chips)
+    hal.isr_off();    // Disable interrupts during SPI transfer (can't allow partial command to chips)
     const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP));
-    ENABLE_ISRS();    // Enable interrupts
+    hal.isr_on();     // Enable interrupts
     if (i == chain_position) data_out = temp;
   }
 

Marlin/src/HAL/shared/math_32bit.h

@@ -26,6 +26,6 @@
 /**
  * Math helper functions for 32 bit CPUs
  */
-static FORCE_INLINE uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) {
+FORCE_INLINE static uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) {
   return ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24;
 }

Marlin/src/MarlinCore.cpp

@@ -74,8 +74,8 @@
   #include "lcd/e3v2/common/encoder.h"
   #if ENABLED(DWIN_CREALITY_LCD)
     #include "lcd/e3v2/creality/dwin.h"
-  #elif ENABLED(DWIN_CREALITY_LCD_ENHANCED)
-    #include "lcd/e3v2/enhanced/dwin.h"
+  #elif ENABLED(DWIN_LCD_PROUI)
+    #include "lcd/e3v2/proui/dwin.h"
   #elif ENABLED(DWIN_CREALITY_LCD_JYERSUI)
     #include "lcd/e3v2/jyersui/dwin.h"
   #endif
@@ -145,7 +145,7 @@
   #include "feature/encoder_i2c.h"
 #endif
 
-#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
+#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF)
   #include "feature/tmc_util.h"
 #endif
 
@@ -271,6 +271,7 @@ bool wait_for_heatup = true;
     while (wait_for_user && !(ms && ELAPSED(millis(), ms)))
       idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep));
     wait_for_user = false;
+    while (ui.button_pressed()) safe_delay(50);
   }
 
 #endif
@@ -476,7 +477,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
   #endif
 
   #if HAS_FREEZE_PIN
-    Stepper::frozen = !READ(FREEZE_PIN);
+    stepper.frozen = READ(FREEZE_PIN) == FREEZE_STATE;
   #endif
 
   #if HAS_HOME
@@ -506,7 +507,7 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
           next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N;               \
           CODE;                                                        \
           queue.inject(F(BUTTON##N##_GCODE));                     \
-          TERN_(HAS_LCD_MENU, ui.quick_feedback());                    \
+          TERN_(HAS_MARLINUI_MENU, ui.quick_feedback());                    \
         }                                                              \
       }                                                                \
     }while(0)
@@ -790,7 +791,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   #endif
 
   // Run HAL idle tasks
-  TERN_(HAL_IDLETASK, HAL_idletask());
+  hal.idletask();
 
   // Check network connection
   TERN_(HAS_ETHERNET, ethernet.check());
@@ -822,7 +823,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   TERN_(USE_BEEPER, buzzer.tick());
 
   // Handle UI input / draw events
-  TERN(HAS_DWIN_E3V2_BASIC, DWIN_Update(), ui.update());
+  TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update());
 
   // Run i2c Position Encoders
   #if ENABLED(I2C_POSITION_ENCODERS)
@@ -878,7 +879,7 @@ void kill(FSTR_P const lcd_error/*=nullptr*/, FSTR_P const lcd_component/*=nullp
   // Echo the LCD message to serial for extra context
   if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNF(lcd_error); }
 
-  #if EITHER(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED)
+  #if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI)
     ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR));
   #else
     UNUSED(lcd_error); UNUSED(lcd_component);
@@ -929,7 +930,7 @@ void minkill(const bool steppers_off/*=false*/) {
       watchdog_refresh();
 
     // Reboot the board
-    HAL_reboot();
+    hal.reboot();
 
   #else
 
@@ -1041,7 +1042,7 @@ inline void tmc_standby_setup() {
  *    • L64XX Stepper Drivers (SPI)
  *    • Stepper Driver Reset: DISABLE
  *    • TMC Stepper Drivers (SPI)
- *    • Run BOARD_INIT if defined
+ *    • Run hal.init_board() for additional pins setup
  *    • ESP WiFi
  *  - Get the Reset Reason and report it
  *  - Print startup messages and diagnostics
@@ -1119,8 +1120,8 @@ void setup() {
   tmc_standby_setup();  // TMC Low Power Standby pins must be set early or they're not usable
 
   // Check startup - does nothing if bootloader sets MCUSR to 0
-  const byte mcu = HAL_get_reset_source();
-  HAL_clear_reset_source();
+  const byte mcu = hal.get_reset_source();
+  hal.clear_reset_source();
 
   #if ENABLED(MARLIN_DEV_MODE)
     auto log_current_ms = [&](PGM_P const msg) {
@@ -1166,10 +1167,14 @@ void setup() {
     #endif
   #endif
 
-  #if HAS_FREEZE_PIN
+  #if ENABLED(FREEZE_FEATURE)
     SETUP_LOG("FREEZE_PIN");
+    #if FREEZE_STATE
+      SET_INPUT_PULLDOWN(FREEZE_PIN);
+    #else
       SET_INPUT_PULLUP(FREEZE_PIN);
     #endif
+  #endif
 
   #if HAS_SUICIDE
     SETUP_LOG("SUICIDE_PIN");
@@ -1181,23 +1186,20 @@ void setup() {
     JTAGSWD_RESET();
   #endif
 
-  #if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
-    delay(10);
   // Disable any hardware debug to free up pins for IO
   #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
+    delay(10);
     SETUP_LOG("JTAGSWD_DISABLE");
     JTAGSWD_DISABLE();
-    #elif defined(JTAG_DISABLE)
+  #elif ENABLED(DISABLE_JTAG) && defined(JTAG_DISABLE)
+    delay(10);
     SETUP_LOG("JTAG_DISABLE");
     JTAG_DISABLE();
-    #else
-      #error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
-    #endif
   #endif
 
   TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
 
-  SETUP_RUN(HAL_init());
+  SETUP_RUN(hal.init());
 
   // Init and disable SPI thermocouples; this is still needed
   #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
@@ -1243,10 +1245,7 @@ void setup() {
     SETUP_RUN(tmc_init_cs_pins());
   #endif
 
-  #ifdef BOARD_INIT
-    SETUP_LOG("BOARD_INIT");
-    BOARD_INIT();
-  #endif
+  SETUP_RUN(hal.init_board());
 
   SETUP_RUN(esp_wifi_init());
 
@@ -1266,7 +1265,7 @@ void setup() {
     );
   #endif
   SERIAL_ECHO_MSG(" Compiled: " __DATE__);
-  SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
+  SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
 
   // Some HAL need precise delay adjustment
   calibrate_delay_loop();
@@ -1294,16 +1293,7 @@ void setup() {
   // UI must be initialized before EEPROM
   // (because EEPROM code calls the UI).
 
-  #if HAS_DWIN_E3V2_BASIC
-    SETUP_RUN(DWIN_Startup());
-  #else
   SETUP_RUN(ui.init());
-    #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
-      SETUP_RUN(ui.show_bootscreen());
-      const millis_t bootscreen_ms = millis();
-    #endif
-    SETUP_RUN(ui.reset_status());     // Load welcome message early. (Retained if no errors exist.)
-  #endif
 
   #if PIN_EXISTS(SAFE_POWER)
     #if HAS_DRIVER_SAFE_POWER_PROTECT
@@ -1314,10 +1304,6 @@ void setup() {
     #endif
   #endif
 
-  #if ENABLED(PROBE_TARE)
-    SETUP_RUN(probe.tare_init());
-  #endif
-
   #if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION)
     SETUP_RUN(card.mount());          // Mount media with settings before first_load
   #endif
@@ -1325,6 +1311,15 @@ void setup() {
   SETUP_RUN(settings.first_load());   // Load data from EEPROM if available (or use defaults)
                                       // This also updates variables in the planner, elsewhere
 
+  #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
+    SETUP_RUN(ui.show_bootscreen());
+    const millis_t bootscreen_ms = millis();
+  #endif
+
+  #if ENABLED(PROBE_TARE)
+    SETUP_RUN(probe.tare_init());
+  #endif
+
   #if HAS_ETHERNET
     SETUP_RUN(ethernet.init());
   #endif
@@ -1343,6 +1338,10 @@ void setup() {
 
   SETUP_RUN(endstops.init());         // Init endstops and pullups
 
+  #if ENABLED(DELTA) && !HAS_SOFTWARE_ENDSTOPS
+    SETUP_RUN(refresh_delta_clip_start_height()); // Init safe delta height without soft endstops
+  #endif
+
   SETUP_RUN(stepper.init());          // Init stepper. This enables interrupts!
 
   #if HAS_SERVOS
@@ -1502,6 +1501,10 @@ void setup() {
     SETUP_RUN(bltouch.init(/*set_voltage=*/true));
   #endif
 
+  #if ENABLED(MAGLEV4)
+    OUT_WRITE(MAGLEV_TRIGGER_PIN, LOW);
+  #endif
+
   #if ENABLED(I2C_POSITION_ENCODERS)
     SETUP_RUN(I2CPEM.init());
   #endif
@@ -1538,7 +1541,7 @@ void setup() {
   #endif
 
   #if ENABLED(USE_WATCHDOG)
-    SETUP_RUN(watchdog_init());       // Reinit watchdog after HAL_get_reset_source call
+    SETUP_RUN(watchdog_init());       // Reinit watchdog after hal.get_reset_source call
   #endif
 
   #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
@@ -1573,11 +1576,7 @@ void setup() {
   #endif
 
   #if HAS_DWIN_E3V2_BASIC
-    SETUP_LOG("E3V2 Init");
-    Encoder_Configuration();
-    HMI_Init();
-    HMI_SetLanguageCache();
-    HMI_StartFrame(true);
+    SETUP_RUN(DWIN_InitScreen());
   #endif
 
   #if HAS_SERVICE_INTERVALS && !HAS_DWIN_E3V2_BASIC
@@ -1611,7 +1610,7 @@ void setup() {
     SETUP_RUN(password.lock_machine());      // Will not proceed until correct password provided
   #endif
 
-  #if BOTH(HAS_LCD_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI)
+  #if BOTH(HAS_MARLINUI_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI)
     SETUP_RUN(ui.check_touch_calibration());
   #endif
 
@@ -1654,6 +1653,10 @@ void loop() {
 
     queue.advance();
 
+    #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
+      powerManager.checkAutoPowerOff();
+    #endif
+
     endstops.event_handler();
 
     TERN_(HAS_TFT_LVGL_UI, printer_state_polling());

Marlin/src/core/boards.h

@@ -115,6 +115,8 @@
 #define BOARD_RAMPS_S_12_EFFB         1159  // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed)
 #define BOARD_LONGER3D_LK1_PRO        1160  // Longer LK1 PRO / Alfawise U20 Pro (PRO version)
 #define BOARD_LONGER3D_LKx_PRO        1161  // Longer LKx PRO / Alfawise Uxx Pro (PRO version)
+#define BOARD_ZRIB_V53                1162  // Zonestar zrib V5.3 (Chinese RAMPS replica)
+#define BOARD_PXMALION_CORE_I3        1163  // Pxmalion Core I3
 
 //
 // RAMBo and derivatives
@@ -162,6 +164,7 @@
 #define BOARD_MALYAN_M180             1327  // Malyan M180 Mainboard Version 2 (no display function, direct gcode only)
 #define BOARD_GT2560_V4_A20           1328  // Geeetech GT2560 Rev B for A20(M/T/D)
 #define BOARD_PROTONEER_CNC_SHIELD_V3 1329  // Mega controller & Protoneer CNC Shield V3.00
+#define BOARD_WEEDO_62A               1330  // WEEDO 62A board (TINA2, Monoprice Cadet, etc.)
 
 //
 // ATmega1281, ATmega2561
@@ -300,26 +303,26 @@
 #define BOARD_MALYAN_M200_V2          4000  // STM32F070CB controller
 #define BOARD_MALYAN_M300             4001  // STM32F070-based delta
 #define BOARD_STM32F103RE             4002  // STM32F103RE Libmaple-based STM32F1 controller
-#define BOARD_MALYAN_M200             4003  // STM32C8T6 Libmaple-based STM32F1 controller
+#define BOARD_MALYAN_M200             4003  // STM32C8 Libmaple-based STM32F1 controller
 #define BOARD_STM3R_MINI              4004  // STM32F103RE Libmaple-based STM32F1 controller
-#define BOARD_GTM32_PRO_VB            4005  // STM32F103VET6 controller
-#define BOARD_GTM32_MINI              4006  // STM32F103VET6 controller
-#define BOARD_GTM32_MINI_A30          4007  // STM32F103VET6 controller
-#define BOARD_GTM32_REV_B             4008  // STM32F103VET6 controller
+#define BOARD_GTM32_PRO_VB            4005  // STM32F103VE controller
+#define BOARD_GTM32_MINI              4006  // STM32F103VE controller
+#define BOARD_GTM32_MINI_A30          4007  // STM32F103VE controller
+#define BOARD_GTM32_REV_B             4008  // STM32F103VE controller
 #define BOARD_MORPHEUS                4009  // STM32F103C8 / STM32F103CB  Libmaple-based STM32F1 controller
-#define BOARD_CHITU3D                 4010  // Chitu3D (STM32F103RET6)
-#define BOARD_MKS_ROBIN               4011  // MKS Robin (STM32F103ZET6)
-#define BOARD_MKS_ROBIN_MINI          4012  // MKS Robin Mini (STM32F103VET6)
-#define BOARD_MKS_ROBIN_NANO          4013  // MKS Robin Nano (STM32F103VET6)
-#define BOARD_MKS_ROBIN_NANO_V2       4014  // MKS Robin Nano V2 (STM32F103VET6)
-#define BOARD_MKS_ROBIN_LITE          4015  // MKS Robin Lite/Lite2 (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_LITE3         4016  // MKS Robin Lite3 (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_PRO           4017  // MKS Robin Pro (STM32F103ZET6)
-#define BOARD_MKS_ROBIN_E3            4018  // MKS Robin E3 (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_E3_V1_1       4019  // MKS Robin E3 V1.1 (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_E3D           4020  // MKS Robin E3D (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_E3D_V1_1      4021  // MKS Robin E3D V1.1 (STM32F103RCT6)
-#define BOARD_MKS_ROBIN_E3P           4022  // MKS Robin E3p (STM32F103VET6)
+#define BOARD_CHITU3D                 4010  // Chitu3D (STM32F103RE)
+#define BOARD_MKS_ROBIN               4011  // MKS Robin (STM32F103ZE)
+#define BOARD_MKS_ROBIN_MINI          4012  // MKS Robin Mini (STM32F103VE)
+#define BOARD_MKS_ROBIN_NANO          4013  // MKS Robin Nano (STM32F103VE)
+#define BOARD_MKS_ROBIN_NANO_V2       4014  // MKS Robin Nano V2 (STM32F103VE)
+#define BOARD_MKS_ROBIN_LITE          4015  // MKS Robin Lite/Lite2 (STM32F103RC)
+#define BOARD_MKS_ROBIN_LITE3         4016  // MKS Robin Lite3 (STM32F103RC)
+#define BOARD_MKS_ROBIN_PRO           4017  // MKS Robin Pro (STM32F103ZE)
+#define BOARD_MKS_ROBIN_E3            4018  // MKS Robin E3 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3_V1_1       4019  // MKS Robin E3 V1.1 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3D           4020  // MKS Robin E3D (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3D_V1_1      4021  // MKS Robin E3D V1.1 (STM32F103RC)
+#define BOARD_MKS_ROBIN_E3P           4022  // MKS Robin E3p (STM32F103VE)
 #define BOARD_BTT_SKR_MINI_V1_1       4023  // BigTreeTech SKR Mini v1.1 (STM32F103RC)
 #define BOARD_BTT_SKR_MINI_E3_V1_0    4024  // BigTreeTech SKR Mini E3 (STM32F103RC)
 #define BOARD_BTT_SKR_MINI_E3_V1_2    4025  // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
@@ -328,37 +331,40 @@
 #define BOARD_BTT_SKR_MINI_MZ_V1_0    4028  // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC)
 #define BOARD_BTT_SKR_E3_DIP          4029  // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE)
 #define BOARD_BTT_SKR_CR6             4030  // BigTreeTech SKR CR6 v1.0 (STM32F103RE)
-#define BOARD_JGAURORA_A5S_A1         4031  // JGAurora A5S A1 (STM32F103ZET6)
+#define BOARD_JGAURORA_A5S_A1         4031  // JGAurora A5S A1 (STM32F103ZE)
 #define BOARD_FYSETC_AIO_II           4032  // FYSETC AIO_II
 #define BOARD_FYSETC_CHEETAH          4033  // FYSETC Cheetah
 #define BOARD_FYSETC_CHEETAH_V12      4034  // FYSETC Cheetah V1.2
-#define BOARD_LONGER3D_LK             4035  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6
+#define BOARD_LONGER3D_LK             4035  // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VE
 #define BOARD_CCROBOT_MEEB_3DP        4036  // ccrobot-online.com MEEB_3DP (STM32F103RC)
 #define BOARD_CHITU3D_V5              4037  // Chitu3D TronXY X5SA V5 Board
 #define BOARD_CHITU3D_V6              4038  // Chitu3D TronXY X5SA V6 Board
 #define BOARD_CHITU3D_V9              4039  // Chitu3D TronXY X5SA V9 Board
-#define BOARD_CREALITY_V4             4040  // Creality v4.x (STM32F103RE)
-#define BOARD_CREALITY_V423           4041  // Creality v4.2.3 (STM32F103RE)
-#define BOARD_CREALITY_V427           4042  // Creality v4.2.7 (STM32F103RE)
-#define BOARD_CREALITY_V4210          4043  // Creality v4.2.10 (STM32F103RE) as found in the CR-30
-#define BOARD_CREALITY_V431           4044  // Creality v4.3.1 (STM32F103RE)
-#define BOARD_CREALITY_V431_A         4045  // Creality v4.3.1a (STM32F103RE)
-#define BOARD_CREALITY_V431_B         4046  // Creality v4.3.1b (STM32F103RE)
-#define BOARD_CREALITY_V431_C         4047  // Creality v4.3.1c (STM32F103RE)
-#define BOARD_CREALITY_V431_D         4048  // Creality v4.3.1d (STM32F103RE)
-#define BOARD_CREALITY_V452           4049  // Creality v4.5.2 (STM32F103RE)
-#define BOARD_CREALITY_V453           4050  // Creality v4.5.3 (STM32F103RE)
-#define BOARD_CREALITY_V24S1          4051  // Creality v2.4.S1 (STM32F103RE) v101 as found in the Ender 7
-#define BOARD_TRIGORILLA_PRO          4052  // Trigorilla Pro (STM32F103ZET6)
-#define BOARD_FLY_MINI                4053  // FLYmaker FLY MINI (STM32F103RCT6)
-#define BOARD_FLSUN_HISPEED           4054  // FLSUN HiSpeedV1 (STM32F103VET6)
-#define BOARD_BEAST                   4055  // STM32F103RET6 Libmaple-based controller
-#define BOARD_MINGDA_MPX_ARM_MINI     4056  // STM32F103ZET6 Mingda MD-16
-#define BOARD_GTM32_PRO_VD            4057  // STM32F103VET6 controller
-#define BOARD_ZONESTAR_ZM3E2          4058  // Zonestar ZM3E2    (STM32F103RCT6)
-#define BOARD_ZONESTAR_ZM3E4          4059  // Zonestar ZM3E4 V1 (STM32F103VCT6)
-#define BOARD_ZONESTAR_ZM3E4V2        4060  // Zonestar ZM3E4 V2 (STM32F103VCT6)
-#define BOARD_ERYONE_ERY32_MINI       4061  // Eryone Ery32 mini (STM32F103VET6)
+#define BOARD_CREALITY_V4             4040  // Creality v4.x (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V422           4041  // Creality v4.2.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V423           4042  // Creality v4.2.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V427           4043  // Creality v4.2.7 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V4210          4044  // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30
+#define BOARD_CREALITY_V431           4045  // Creality v4.3.1 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_A         4046  // Creality v4.3.1a (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_B         4047  // Creality v4.3.1b (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_C         4048  // Creality v4.3.1c (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V431_D         4049  // Creality v4.3.1d (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V452           4050  // Creality v4.5.2 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V453           4051  // Creality v4.5.3 (STM32F103RC / STM32F103RE)
+#define BOARD_CREALITY_V24S1          4052  // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender 7
+#define BOARD_CREALITY_V24S1_301      4053  // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) as found in the Ender 3 S1
+#define BOARD_TRIGORILLA_PRO          4054  // Trigorilla Pro (STM32F103ZE)
+#define BOARD_FLY_MINI                4055  // FLYmaker FLY MINI (STM32F103RC)
+#define BOARD_FLSUN_HISPEED           4056  // FLSUN HiSpeedV1 (STM32F103VE)
+#define BOARD_BEAST                   4057  // STM32F103RE Libmaple-based controller
+#define BOARD_MINGDA_MPX_ARM_MINI     4058  // STM32F103ZE Mingda MD-16
+#define BOARD_GTM32_PRO_VD            4059  // STM32F103VE controller
+#define BOARD_ZONESTAR_ZM3E2          4060  // Zonestar ZM3E2    (STM32F103RC)
+#define BOARD_ZONESTAR_ZM3E4          4061  // Zonestar ZM3E4 V1 (STM32F103VC)
+#define BOARD_ZONESTAR_ZM3E4V2        4062  // Zonestar ZM3E4 V2 (STM32F103VC)
+#define BOARD_ERYONE_ERY32_MINI       4063  // Eryone Ery32 mini (STM32F103VE)
+#define BOARD_PANDA_PI_V29            4064  // Panda Pi V2.9 - Standalone (STM32F103RC)
 
 //
 // ARM Cortex-M4F
@@ -372,44 +378,45 @@
 //
 
 #define BOARD_ARMED                   4200  // Arm'ed STM32F4-based controller
-#define BOARD_RUMBA32_V1_0            4201  // RUMBA32 STM32F446VET6 based controller from Aus3D
-#define BOARD_RUMBA32_V1_1            4202  // RUMBA32 STM32F446VET6 based controller from Aus3D
-#define BOARD_RUMBA32_MKS             4203  // RUMBA32 STM32F446VET6 based controller from Makerbase
-#define BOARD_RUMBA32_BTT             4204  // RUMBA32 STM32F446VET6 based controller from BIGTREETECH
+#define BOARD_RUMBA32_V1_0            4201  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_V1_1            4202  // RUMBA32 STM32F446VE based controller from Aus3D
+#define BOARD_RUMBA32_MKS             4203  // RUMBA32 STM32F446VE based controller from Makerbase
+#define BOARD_RUMBA32_BTT             4204  // RUMBA32 STM32F446VE based controller from BIGTREETECH
 #define BOARD_BLACK_STM32F407VE       4205  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4206  // BLACK_STM32F407ZE
 #define BOARD_STEVAL_3DP001V1         4207  // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1        4208  // BigTreeTech SKR Pro v1.1 (STM32F407ZGT6)
-#define BOARD_BTT_SKR_PRO_V1_2        4209  // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6)
-#define BOARD_BTT_BTT002_V1_0         4210  // BigTreeTech BTT002 v1.0 (STM32F407VGT6)
-#define BOARD_BTT_E3_RRF              4211  // BigTreeTech E3 RRF (STM32F407VGT6)
-#define BOARD_BTT_SKR_V2_0_REV_A      4212  // BigTreeTech SKR v2.0 Rev A (STM32F407VGT6)
-#define BOARD_BTT_SKR_V2_0_REV_B      4213  // BigTreeTech SKR v2.0 Rev B (STM32F407VGT6/STM32F429VGT6)
+#define BOARD_BTT_SKR_PRO_V1_1        4208  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
+#define BOARD_BTT_SKR_PRO_V1_2        4209  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
+#define BOARD_BTT_BTT002_V1_0         4210  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_E3_RRF              4211  // BigTreeTech E3 RRF (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_A      4212  // BigTreeTech SKR v2.0 Rev A (STM32F407VG)
+#define BOARD_BTT_SKR_V2_0_REV_B      4213  // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG)
 #define BOARD_BTT_GTR_V1_0            4214  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_BTT_OCTOPUS_V1_0        4215  // BigTreeTech Octopus v1.0 (STM32F446ZET6)
-#define BOARD_BTT_OCTOPUS_V1_1        4216  // BigTreeTech Octopus v1.1 (STM32F446ZET6)
-#define BOARD_BTT_OCTOPUS_PRO_V1_0    4217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZET6/STM32F429ZGT6)
+#define BOARD_BTT_OCTOPUS_V1_0        4215  // BigTreeTech Octopus v1.0 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_V1_1        4216  // BigTreeTech Octopus v1.1 (STM32F446ZE)
+#define BOARD_BTT_OCTOPUS_PRO_V1_0    4217  // BigTreeTech Octopus Pro v1.0 (STM32F446ZE/STM32F429ZG)
 #define BOARD_LERDGE_K                4218  // Lerdge K (STM32F407ZG)
 #define BOARD_LERDGE_S                4219  // Lerdge S (STM32F407VE)
 #define BOARD_LERDGE_X                4220  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4221  // VAkE 403D (STM32F446VET6)
-#define BOARD_FYSETC_S6               4222  // FYSETC S6 (STM32F446VET6)
-#define BOARD_FYSETC_S6_V2_0          4223  // FYSETC S6 v2.0 (STM32F446VET6)
-#define BOARD_FYSETC_SPIDER           4224  // FYSETC Spider (STM32F446VET6)
+#define BOARD_VAKE403D                4221  // VAkE 403D (STM32F446VE)
+#define BOARD_FYSETC_S6               4222  // FYSETC S6 (STM32F446VE)
+#define BOARD_FYSETC_S6_V2_0          4223  // FYSETC S6 v2.0 (STM32F446VE)
+#define BOARD_FYSETC_SPIDER           4224  // FYSETC Spider (STM32F446VE)
 #define BOARD_FLYF407ZG               4225  // FLYmaker FLYF407ZG (STM32F407ZG)
 #define BOARD_MKS_ROBIN2              4226  // MKS_ROBIN2 (STM32F407ZE)
 #define BOARD_MKS_ROBIN_PRO_V2        4227  // MKS Robin Pro V2 (STM32F407VE)
 #define BOARD_MKS_ROBIN_NANO_V3       4228  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_MKS_MONSTER8            4229  // MKS Monster8 (STM32F407VGT6)
-#define BOARD_ANET_ET4                4230  // ANET ET4 V1.x (STM32F407VGT6)
-#define BOARD_ANET_ET4P               4231  // ANET ET4P V1.x (STM32F407VGT6)
-#define BOARD_FYSETC_CHEETAH_V20      4232  // FYSETC Cheetah V2.0
-#define BOARD_TH3D_EZBOARD_V2         4233  // TH3D EZBoard v2.0
-#define BOARD_INDEX_REV03             4234  // Index PnP Controller REV03 (STM32F407VET6/VGT6)
-#define BOARD_MKS_ROBIN_NANO_V1_3_F4  4235  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VET6)
-#define BOARD_MKS_EAGLE               4236  // MKS Eagle (STM32F407VET6)
-#define BOARD_ARTILLERY_RUBY          4237  // Artillery Ruby (STM32F401RCT6)
-#define BOARD_FYSETC_SPIDER_V2_2      4238  // FYSETC Spider V2.2 (STM32F446VET6)
+#define BOARD_MKS_ROBIN_NANO_V3_1     4229  // MKS Robin Nano V3.1 (STM32F407VE)
+#define BOARD_MKS_MONSTER8            4230  // MKS Monster8 (STM32F407VG)
+#define BOARD_ANET_ET4                4231  // ANET ET4 V1.x (STM32F407VG)
+#define BOARD_ANET_ET4P               4232  // ANET ET4P V1.x (STM32F407VG)
+#define BOARD_FYSETC_CHEETAH_V20      4233  // FYSETC Cheetah V2.0
+#define BOARD_TH3D_EZBOARD_V2         4234  // TH3D EZBoard v2.0
+#define BOARD_INDEX_REV03             4235  // Index PnP Controller REV03 (STM32F407VE/VG)
+#define BOARD_MKS_ROBIN_NANO_V1_3_F4  4236  // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE)
+#define BOARD_MKS_EAGLE               4237  // MKS Eagle (STM32F407VE)
+#define BOARD_ARTILLERY_RUBY          4238  // Artillery Ruby (STM32F401RC)
+#define BOARD_FYSETC_SPIDER_V2_2      4239  // FYSETC Spider V2.2 (STM32F446VE)
 
 //
 // ARM Cortex M7
@@ -434,12 +441,15 @@
 #define BOARD_PANDA_ZHU               6006  // Panda_ZHU
 #define BOARD_PANDA_M4                6007  // Panda_M4
 #define BOARD_MKS_TINYBEE             6008  // MKS TinyBee based on ESP32 (with I2S stepper stream)
+#define BOARD_ENWI_ESPNP              6009  // enwi ESPNP based on ESP32 (with I2S stepper stream)
 
 //
 // SAMD51 ARM Cortex M4
 //
 
 #define BOARD_AGCM4_RAMPS_144         6100  // RAMPS 1.4.4
+#define BOARD_BRICOLEMON_V1_0         6101  // Bricolemon
+#define BOARD_BRICOLEMON_LITE_V1_0    6102  // Bricolemon Lite
 
 //
 // Custom board

Marlin/src/core/drivers.h

@@ -128,7 +128,7 @@
 // Test for a driver that uses SPI - this allows checking whether a _CS_ pin
 // is considered sensitive
 #define AXIS_HAS_SPI(A)  (    AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
-                           || AXIS_DRIVER_TYPE(A,TMC2660) \
+                           || AXIS_DRIVER_TYPE(A,TMC26X)  || AXIS_DRIVER_TYPE(A,TMC2660) \
                            || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) )
 
 #define AXIS_HAS_UART(A) ( AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) )

Marlin/src/core/language.h

@@ -105,6 +105,7 @@
 
 #define STR_ENQUEUEING                      "enqueueing \""
 #define STR_POWERUP                         "PowerUp"
+#define STR_POWEROFF                        "PowerOff"
 #define STR_EXTERNAL_RESET                  " External Reset"
 #define STR_BROWNOUT_RESET                  " Brown out Reset"
 #define STR_WATCHDOG_RESET                  " Watchdog Reset"
@@ -240,6 +241,7 @@
 #define STR_REDUNDANCY                      "Heater switched off. Temperature difference between temp sensors is too high !"
 #define STR_T_HEATING_FAILED                "Heating failed"
 #define STR_T_THERMAL_RUNAWAY               "Thermal Runaway"
+#define STR_T_MALFUNCTION                   "Thermal Malfunction"
 #define STR_T_MAXTEMP                       "MAXTEMP triggered"
 #define STR_T_MINTEMP                       "MINTEMP triggered"
 #define STR_ERR_PROBING_FAILED              "Probing Failed"
@@ -253,7 +255,7 @@
 #define STR_DEBUG_ERRORS                    "ERRORS"
 #define STR_DEBUG_DRYRUN                    "DRYRUN"
 #define STR_DEBUG_COMMUNICATION             "COMMUNICATION"
-#define STR_DEBUG_LEVELING                  "LEVELING"
+#define STR_DEBUG_DETAIL                    "DETAIL"
 
 #define STR_PRINTER_LOCKED                  "Printer locked! (Unlock with M511 or LCD)"
 #define STR_WRONG_PASSWORD                  "Incorrect Password"
@@ -305,6 +307,7 @@
 #define STR_Z_PROBE_OFFSET                  "Z-Probe Offset"
 #define STR_TEMPERATURE_UNITS               "Temperature Units"
 #define STR_USER_THERMISTORS                "User thermistors"
+#define STR_DELAYED_POWEROFF                "Delayed poweroff"
 
 //
 // Endstop Names used by Endstops::report_states
@@ -383,20 +386,14 @@
     #define STR_I_MIN "w_min"
     #define STR_I_MAX "w_max"
   #else
-    #define STR_I "A"
-    #define STR_I_MIN "a_min"
-    #define STR_I_MAX "a_max"
+    #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_I   ""
 #endif
 
 #if HAS_J_AXIS
-  #if AXIS5_NAME == 'A'
-    #define STR_J "A"
-    #define STR_J_MIN "a_min"
-    #define STR_J_MAX "a_max"
-  #elif AXIS5_NAME == 'B'
+  #if AXIS5_NAME == 'B'
     #define STR_J "B"
     #define STR_J_MIN "b_min"
     #define STR_J_MAX "b_max"
@@ -417,24 +414,14 @@
     #define STR_J_MIN "w_min"
     #define STR_J_MAX "w_max"
   #else
-    #define STR_J "B"
-    #define STR_J_MIN "b_min"
-    #define STR_J_MAX "b_max"
+    #error "AXIS5_NAME can only be one of 'B', 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_J   ""
 #endif
 
 #if HAS_K_AXIS
-  #if AXIS6_NAME == 'A'
-    #define STR_K "A"
-    #define STR_K_MIN "a_min"
-    #define STR_K_MAX "a_max"
-  #elif AXIS6_NAME == 'B'
-    #define STR_K "B"
-    #define STR_K_MIN "b_min"
-    #define STR_K_MAX "b_max"
-  #elif AXIS6_NAME == 'C'
+  #if AXIS6_NAME == 'C'
     #define STR_K "C"
     #define STR_K_MIN "c_min"
     #define STR_K_MAX "c_max"
@@ -451,9 +438,7 @@
     #define STR_K_MIN "w_min"
     #define STR_K_MAX "w_max"
   #else
-    #define STR_K "C"
-    #define STR_K_MIN "c_min"
-    #define STR_K_MAX "c_max"
+    #error "AXIS6_NAME can only be one of 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_K   ""

Marlin/src/core/macros.h

@@ -70,11 +70,11 @@
 #define  FORCE_INLINE  __attribute__((always_inline)) inline
 #define NO_INLINE      __attribute__((noinline))
 #define _UNUSED      __attribute__((unused))
-#define _O0          __attribute__((optimize("O0")))
-#define _Os          __attribute__((optimize("Os")))
-#define _O1          __attribute__((optimize("O1")))
-#define _O2          __attribute__((optimize("O2")))
-#define _O3          __attribute__((optimize("O3")))
+#define __O0         __attribute__((optimize("O0")))
+#define __Os         __attribute__((optimize("Os")))
+#define __O1         __attribute__((optimize("O1")))
+#define __O2         __attribute__((optimize("O2")))
+#define __O3         __attribute__((optimize("O3")))
 
 #define IS_CONSTEXPR(...) __builtin_constant_p(__VA_ARGS__) // Only valid solution with C++14. Should use std::is_constant_evaluated() in C++20 instead
 
@@ -235,6 +235,8 @@
 #define __TERN(T,V...)      ___TERN(_CAT(_NO,T),V)  // Prepend '_NO' to get '_NOT_0' or '_NOT_1'
 #define ___TERN(P,V...)     THIRD(P,V)              // If first argument has a comma, A. Else B.
 
+#define _OPTITEM(A...)      A,
+#define OPTITEM(O,A...)     TERN_(O,DEFER4(_OPTITEM)(A))
 #define _OPTARG(A...)       , A
 #define OPTARG(O,A...)      TERN_(O,DEFER4(_OPTARG)(A))
 #define _OPTCODE(A)         A;

Marlin/src/core/multi_language.h

@@ -80,6 +80,9 @@ typedef const char Language_Str[];
 #endif
 #define GET_TEXT_F(MSG) FPSTR(GET_TEXT(MSG))
 
+#define GET_EN_TEXT(MSG) GET_LANG(en)::MSG
+#define GET_EN_TEXT_F(MSG) FPSTR(GET_EN_TEXT(MSG))
+
 #define GET_LANGUAGE_NAME(INDEX) GET_LANG(LCD_LANGUAGE_##INDEX)::LANGUAGE
 #define LANG_CHARSIZE GET_TEXT(CHARSIZE)
 #define USE_WIDE_GLYPH (LANG_CHARSIZE > 2)

Marlin/src/core/serial.cpp

@@ -78,6 +78,14 @@ void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(
 
 void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
 
+void serial_offset(const_float_t v, const uint8_t sp/*=0*/) {
+  if (v == 0 && sp == 1)
+    SERIAL_CHAR(' ');
+  else if (v > 0 || (v == 0 && sp == 2))
+    SERIAL_CHAR('+');
+  SERIAL_DECIMAL(v);
+}
+
 void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) {
   if (pre) serial_print(pre);
   serial_print(onoff ? on : off);

Marlin/src/core/serial.h

@@ -345,6 +345,7 @@ void serialprint_onoff(const bool onoff);
 void serialprintln_onoff(const bool onoff);
 void serialprint_truefalse(const bool tf);
 void serial_spaces(uint8_t count);
+void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
 
 void print_bin(const uint16_t val);
 void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);

Marlin/src/core/types.h

@@ -118,6 +118,7 @@ typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
 #define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
 #define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
 #define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)
+#define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E)
 
 //
 // feedRate_t is just a humble float
@@ -128,6 +129,7 @@ typedef float feedRate_t;
 // celsius_t is the native unit of temperature. Signed to handle a disconnected thermistor value (-14).
 // For more resolition (e.g., for a chocolate printer) this may later be changed to Celsius x 100
 //
+typedef uint16_t raw_adc_t;
 typedef int16_t celsius_t;
 typedef float celsius_float_t;
 

Marlin/src/core/utility.cpp

@@ -74,7 +74,8 @@ void safe_delay(millis_t ms) {
       TERN_(Z_PROBE_SLED, "Z_PROBE_SLED")
       TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY")
       TERN_(SOLENOID_PROBE, "SOLENOID_PROBE")
-      TERN(PROBE_SELECTED, "", "NONE")
+      TERN_(MAGLEV4, "MAGLEV4")
+      IF_DISABLED(PROBE_SELECTED, "NONE")
     );
 
     #if HAS_BED_PROBE
@@ -125,10 +126,8 @@ void safe_delay(millis_t ms) {
         #if ABL_PLANAR
           SERIAL_ECHOPGM("ABL Adjustment");
           LOOP_LINEAR_AXES(a) {
-            const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
             SERIAL_CHAR(' ', AXIS_CHAR(a));
-            if (v > 0) SERIAL_CHAR('+');
-            SERIAL_DECIMAL(v);
+            serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
           }
         #else
           #if ENABLED(AUTO_BED_LEVELING_UBL)
@@ -136,7 +135,7 @@ void safe_delay(millis_t ms) {
             const float rz = ubl.get_z_correction(current_position);
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
             SERIAL_ECHOPGM("ABL Adjustment Z");
-            const float rz = bilinear_z_offset(current_position);
+            const float rz = bbl.get_z_correction(current_position);
           #endif
           SERIAL_ECHO(ftostr43sign(rz, '+'));
           #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)