Fix bilinear_line_to_destination definition

See #19431

.circleci/config.yml

@@ -1,293 +0,0 @@
-# Python CircleCI 2.0 configuration file
-#
-# Check https://circleci.com/docs/2.0/language-python/ for more details
-#
-version: 2
-jobs:
-  build:
-    docker:
-      # specify the version you desire here
-      # use `-browsers` prefix for selenium tests, e.g. `3.6.1-browsers`
-      - image: circleci/python:2.7.13
-
-      # Specify service dependencies here if necessary
-      # CircleCI maintains a library of pre-built images
-      # documented at https://circleci.com/docs/2.0/circleci-images/
-      # - image: circleci/postgres:9.4
-    environment:
-      TEST_PLATFORM: "-e megaatmega2560"
-
-    working_directory: ~/Marlin
-
-    steps:
-      - checkout
-
-      - restore_cache:
-          paths:
-          - ~/.platformio
-          - ~/Marlin/.piolibdeps
-          keys:
-          - v1-dependencies-{{ checksum "~/Marlin/platformio.ini" }}
-          # fallback to using the latest cache if no exact match is found
-          - v1-dependencies-
-
-      - run:
-          name: install dependencies
-          command: |
-            sudo pip install -U platformio
-
-      # run tests!
-      - run:
-          name: run tests
-          command: |
-            #
-            #
-            # Fetch the tag information for the current branch
-            ls -la
-            git fetch origin --tags
-            #
-            # Publish the buildroot script folder
-            chmod +x buildroot/bin/*
-            export PATH=`pwd`/buildroot/bin/:${PATH}
-
-            # Generate custom version include
-            generate_version ./Marlin/src/inc
-            cat ./Marlin/src/inc/_Version.h
-            #
-            # Backup pins_RAMPS.h
-            #
-            cp Marlin/src/pins/pins_RAMPS.h Marlin/src/pins/pins_RAMPS.h.backup
-            #
-
-            env_backup
-
-            #################################
-            # Build all sample configurations
-            #################################
-
-            echo testing megaatmega2560 targets...
-            export TEST_PLATFORM="-e megaatmega2560"
-            restore_configs
-            echo use_example_configs adafruit/ST7565
-            use_example_configs adafruit/ST7565
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs BQ/Hephestos
-            use_example_configs BQ/Hephestos
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs BQ/Hephestos_2
-            use_example_configs BQ/Hephestos_2
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs BQ/WITBOX
-            use_example_configs BQ/WITBOX
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs AliExpress/CL-260
-            use_example_configs AliExpress/CL-260
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Cartesio
-            use_example_configs Cartesio
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs delta/FLSUN/auto_calibrate
-            use_example_configs delta/FLSUN/auto_calibrate
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs delta/FLSUN/kossel_mini
-            use_example_configs delta/FLSUN/kossel_mini
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs delta/generic
-            use_example_configs delta/generic
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs delta/kossel_mini
-            use_example_configs delta/kossel_mini
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs delta/kossel_xl
-            use_example_configs delta/kossel_xl
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Felix
-            use_example_configs Felix
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Felix/DUAL
-            use_example_configs Felix/DUAL
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs gCreate/gMax1.5+
-            use_example_configs gCreate/gMax1.5+
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Geeetech/GT2560
-            use_example_configs Geeetech/GT2560
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Geeetech/I3_Pro_X-GT2560
-            use_example_configs Geeetech/I3_Pro_X-GT2560
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Infitary/i3-M508
-            use_example_configs Infitary/i3-M508
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            #
-            # Disabled due to compile failure on E0_AUTO_FAN_PIN PB8
-            #
-            #  use_example_configs Malyan/M200
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-            #  restore_configs
-            echo use_example_configs Micromake/C1/basic
-            use_example_configs Micromake/C1/basic
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Micromake/C1/enhanced
-            use_example_configs Micromake/C1/enhanced
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs RepRapWorld/Megatronics
-            use_example_configs RepRapWorld/Megatronics
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs RigidBot
-            use_example_configs RigidBot
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs SCARA
-            use_example_configs SCARA
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Velleman/K8200
-            use_example_configs Velleman/K8200
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Velleman/K8400/Dual-head
-            use_example_configs Velleman/K8400/Dual-head
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Velleman/K8400
-            use_example_configs Velleman/K8400
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Wanhao/Duplicator6
-            use_example_configs Wanhao/Duplicator6
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            #
-            # Disabled due to compile failure on https://github.com/stawel/SlowSoftI2CMaster
-            #
-            #  - Requires https://github.com/stawel/SlowSoftI2CMaster
-            #  restore_configs
-            #  use_example_configs wt150
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            echo testing anet10 targets...
-            export TEST_PLATFORM="-e anet10"
-            restore_configs
-            echo use_example_configs Anet/A6
-            use_example_configs Anet/A6
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Anet/A8
-            use_example_configs Anet/A8
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Creality/CR-10
-            use_example_configs Creality/CR-10
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Malyan/M150
-            use_example_configs Malyan/M150
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Sanguinololu
-            use_example_configs Sanguinololu
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs TinyBoy2
-            use_example_configs TinyBoy2
-            build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            echo testing rambo targets...
-            export TEST_PLATFORM="-e rambo"
-            restore_configs
-            echo use_example_configs AlephObjects/TAZ4
-            use_example_configs AlephObjects/TAZ4
-            build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            echo testing teensy20 targets...
-            export TEST_PLATFORM="-e teensy20"
-            #
-            # Disabled due to Z_MIN_PIN related compile failure
-            #
-            #  restore_configs
-            #  use_example_configs delta/kossel_pro
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs makibox
-            use_example_configs makibox
-            build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            echo testing sanguino_atmega644p targets...
-            export TEST_PLATFORM="-e sanguino_atmega644p"
-            restore_configs
-            echo use_example_configs tvrrug/Round2
-            use_example_configs tvrrug/Round2
-            build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            echo testing LPC1768 targets...
-            export TEST_PLATFORM="-e LPC1768"
-            restore_configs
-            echo use_example_configs FolgerTech/i3-2020
-            use_example_configs FolgerTech/i3-2020
-            build_marlin_pio ./ ${TEST_PLATFORM}
-            restore_configs
-            echo use_example_configs Mks/Sbase
-            use_example_configs Mks/Sbase
-            build_marlin_pio ./ ${TEST_PLATFORM}
-
-            #
-            # Disabled due to numerous compile failures
-            #
-            #  echo testing STM32F1 targets...
-            #  export TEST_PLATFORM="-e STM32F1"
-            #  restore_configs
-            #  use_example_configs STM32F10
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-            #  restore_configs
-            #  use_example_configs stm32f103ret6
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-
-
-            #
-            # Disabled due do pin related compile failures
-            #
-            #  echo testing DUE targets...
-            #  export TEST_PLATFORM="-e DUE"
-            #  restore_configs
-            #  use_example_configs UltiMachine/Archim2
-            #  build_marlin_pio ./ ${TEST_PLATFORM}
-
-            #
-            # Remove temp files from dependencies tree prior to caching
-            rm -rf ~/Marlin/.piolibdeps/_tmp_*
-
-            #
-            # Restore the environment
-            #
-            env_restore
-
-      - save_cache:
-          paths:
-          - ~/.platformio
-          - ~/Marlin/.piolibdeps
-          key: v1-dependencies-{{ checksum "~/Marlin/platformio.ini" }}

.editorconfig

@@ -0,0 +1,19 @@
+# editorconfig.org
+root = true
+
+[{*.patch,syntax_test_*}]
+trim_trailing_whitespace = false
+
+[{*.c,*.cpp,*.h}]
+charset = utf-8
+
+[{*.c,*.cpp,*.h,Makefile}]
+trim_trailing_whitespace = true
+insert_final_newline = true
+end_of_line = lf
+indent_style = space
+indent_size = 2
+
+[{*.py,*.conf,*.sublime-project}]
+indent_style = tab
+indent_size = 4

.github/FUNDING.yml

@@ -0,0 +1,3 @@
+github: [thinkyhead]
+patreon: thinkyhead
+custom: ["https://www.thinkyhead.com/donate-to-marlin"]

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,59 @@
+---
+name: Bug report
+about: Report a bug in Marlin
+title: "[BUG] (short description)"
+labels: ''
+assignees: ''
+
+---
+
+<!--
+
+Please follow the instructions below. Failure to do so may result in your issue being closed.
+
+### Before Reporting a Bug
+
+1. Test with the `bugfix-2.0.x` branch to see whether the issue still exists.
+
+2. Get troubleshooting help from the Marlin community to confirm it's a bug and not just a configuration error. Links at https://github.com/MarlinFirmware/Marlin/issues/new/choose
+
+### Instructions
+
+1. Fill out every section of the template below.
+
+2. Always attach configuration files, regardless of whether you think they are involved.
+
+3. Read and understand Marlin's Code of Conduct. By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md
+
+-->
+
+### Bug Description
+
+<!-- Describe the bug in this section. (You can remove this invisible comment.) -->
+
+### Configuration Files
+
+**Required:** Include a ZIP file containing `Configuration.h` and `Configuration_adv.h`.
+
+If you've made any other modifications describe them in detail here.
+
+### Steps to Reproduce
+
+<!-- Describe the steps needed to reproduce the issue. (You can remove this invisible comment.) -->
+
+1. [First Step]
+2. [Second Step]
+3. [and so on...]
+
+**Expected behavior:**
+
+<!-- Describe what you expected to happen here. (You can remove this invisible comment.) -->
+
+**Actual behavior:**
+
+<!-- Describe what actually happens here. (You can remove this invisible comment.) -->
+
+#### Additional Information
+
+* Provide pictures or links to videos that clearly demonstrate the issue.
+* See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/2.0.x/.github/contributing.md) for additional guidelines.

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,17 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Marlin Documentation
+    url: http://marlinfw.org/
+    about: Lots of documentation on installing and using Marlin.
+  - name: MarlinFirmware Facebook group
+    url: https://www.facebook.com/groups/1049718498464482
+    about: Please ask and answer questions here.
+  - name: Marlin on Discord
+    url: https://discord.gg/n5NJ59y
+    about: Join the Discord server for support and discussion.
+  - name: Marlin Discussion Forum
+    url: http://forums.reprap.org/list.php?415
+    about: A searchable web forum hosted by RepRap dot org.
+  - name: Marlin Videos on YouTube
+    url: https://www.youtube.com/results?search_query=marlin+firmware
+    about: Tutorials and more from Marlin users all around the world. Great for new users!

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,35 @@
+---
+name: Feature request
+about: Request a Feature
+title: "[FR] (feature request title)"
+labels: 'T: Feature Request'
+assignees: ''
+
+---
+
+<!--
+
+Have you read Marlin's Code of Conduct? By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md
+
+Do you want to ask a question? Are you looking for support? Please don't post here. Instead please use one of the support links at https://github.com/MarlinFirmware/Marlin/issues/new/choose
+
+Before filing an issue be sure to test the "bugfix" branches to see whether the issue has been resolved.
+
+-->
+
+### Description
+
+<!-- Description of the requested feature -->
+
+### Feature Workflow
+
+<!-- Please describe the feature's behavior, user interaction, etc. -->
+
+1. [First Action]
+2. [Second Action]
+3. [and so on...]
+
+#### Additional Information
+
+* Provide pictures or links that demonstrate a similar feature or concept.
+* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines.

.github/contributing.md

@@ -34,16 +34,15 @@ This project and everyone participating in it is governed by the [Marlin Code of
 
 We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions.
 
-* [Marlin RepRap forum](http://forums.reprap.org/list.php?415)
+* [Marlin RepRap forum](https://reprap.org/forum/list.php?415)
 * [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/)
 
-If chat is more your speed, you can join the MarlinFirmware Slack team:
+If chat is more your speed, you can join the MarlinFirmware Discord server:
 
-* Join the Marlin Slack Team
-  * To obtain group access, please [send a request](http://www.thinkyhead.com/contact/9) to @thinkyhead.
-  * Even though Slack is a chat service, sometimes it takes several hours for community members to respond — please be patient!
-  * Use the `#general` channel for general questions or discussion about Marlin.
-  * Other channels exist for certain topics. Check the channel list.
+* Use the link https://discord.gg/n5NJ59y to join up as a General User.
+* Even though our Discord is pretty active, it may take a while for community members to respond — please be patient!
+* Use the `#general` channel for general questions or discussion about Marlin.
+* Other channels exist for certain topics or are limited to Patrons. Check the channel list.
 
 ## How Can I Contribute?
 
@@ -93,7 +92,7 @@ Before creating a suggestion, please check [this list](#before-submitting-a-sugg
 
 #### Before Submitting a Feature Request
 
-* **Check the [Marlin website](http://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](http://marlinfw.org/docs/configuration/configuration.html).
+* **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html).
 * **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one.
 
 #### How Do I Submit A (Good) Feature Request?
@@ -117,12 +116,12 @@ Unsure where to begin contributing to Marlin? You can start by looking through t
 
 ### Pull Requests
 
-Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](http://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
+Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation.
 
 * Fill in [the required template](pull_request_template.md).
 * Don't include issue numbers in the PR title.
 * Include pictures, diagrams, and links to videos in your Pull Request to demonstrate your changes, if needed.
-* Follow the [Coding Standards](http://marlinfw.org/docs/development/coding_standards.html) posted on our website.
+* Follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website.
 * Document new code with clear and concise comments.
 * End all files with a newline.
 
@@ -137,7 +136,7 @@ Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x
 
 ### C++ Coding Standards
 
-* Please read and follow the [Coding Standards](http://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
+* Please read and follow the [Coding Standards](https://marlinfw.org/docs/development/coding_standards.html) posted on our website. Failure to follow these guidelines will delay evaluation and acceptance of Pull Requests.
 
 ### Documentation
 

.github/issue_template.md

@@ -1,31 +1,11 @@
-<!--
+# NO SUPPORT REQUESTS PLEASE
 
-Have you read Marlin's Code of Conduct? By filing an Issue, you are expected to comply with it, including treating everyone with respect: https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md
+Do you want to ask a question? Are you looking for support? Please don't post here. Support Requests posted here will be automatically closed!
 
-Do you want to ask a question? Are you looking for support? Please don't post here. Instead please use the Marlin Firmware forum at http://forums.reprap.org/list.php?415 or the Marlin Facebook Group https://www.facebook.com/groups/1049718498464482/.
+Instead use one of the following options:
 
-Before filing an issue be sure to test the 1.1 and/or 2.0 "bugfix" branches to see whether the issue is already addressed.
+- The Marlin Firmware forum at https://reprap.org/forum/list.php?415
+- The MarlinFirmware Facebook Group at https://www.facebook.com/groups/1049718498464482/
+- The MarlinFirmware Discord Server at https://discord.gg/n5NJ59y.
 
--->
-
-### Description
-
-<!-- Description of the bug or requested feature -->
-
-### Steps to Reproduce
-
-<!-- If this is a Bug Report, please describe the steps needed to reproduce the issue -->
-
-1. [First Step]
-2. [Second Step]
-3. [and so on...]
-
-**Expected behavior:** [What you expect to happen]
-
-**Actual behavior:** [What actually happens]
-
-#### Additional Information
-
-* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files.
-* Provide pictures or links to videos that clearly demonstrate the issue.
-* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines.
+Before filing an issue be sure to test the latest "bugfix" branch to see whether the issue is already addressed.

.github/lock.yml

@@ -0,0 +1,40 @@
+#
+# Configuration for Lock Threads - https://github.com/dessant/lock-threads-app
+#
+
+# Number of days of inactivity before a closed issue or pull request is locked
+daysUntilLock: 60
+
+# Skip issues and pull requests created before a given timestamp. Timestamp must
+# follow ISO 8601 (`YYYY-MM-DD`). Set to `false` to disable
+skipCreatedBefore: false
+
+# Issues and pull requests with these labels will be ignored. Set to `[]` to disable
+exemptLabels: [ 'no-locking' ]
+
+# Label to add before locking, such as `outdated`. Set to `false` to disable
+lockLabel: false
+
+# Comment to post before locking. Set to `false` to disable
+lockComment: >
+  This thread has been automatically locked since there has not been
+  any recent activity after it was closed. Please open a new issue for
+  related bugs.
+
+# Assign `resolved` as the reason for locking. Set to `false` to disable
+setLockReason: true
+
+# Limit to only `issues` or `pulls`
+# only: issues
+
+# Optionally, specify configuration settings just for `issues` or `pulls`
+# issues:
+#   exemptLabels:
+#     - help-wanted
+#   lockLabel: outdated
+
+# pulls:
+#   daysUntilLock: 30
+
+# Repository to extend settings from
+# _extends: repo

.github/pull_request_template.md

@@ -14,6 +14,10 @@ We must be able to understand your proposed change from this description. If we
 
 <!-- What does this fix or improve? -->
 
+### Configurations
+
+<!-- Attach any Configuration.h, Configuration_adv.h, or platformio.ini files needed to compile/test your Pull Request. -->
+
 ### Related Issues
 
 <!-- Whether this fixes a bug or fulfills a feature request, please list any related Issues here. -->

.github/workflows/bump-date.yml

@@ -0,0 +1,35 @@
+#
+# bump-date.yml
+# Bump the distribution date once per day
+#
+
+name: Bump Distribution Date
+
+on:
+  schedule:
+    - cron: '0 0 * * *'
+
+jobs:
+  bump_date:
+    name: Bump Distribution Date
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: Check out bugfix-2.0.x
+      uses: actions/checkout@v2
+      with:
+        ref: bugfix-2.0.x
+
+    - name: Bump Distribution Date
+      run: |
+        # Inline Bump Script
+        DIST=$( date +"%Y-%m-%d" )
+        eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \
+        git config user.name "${GITHUB_ACTOR}" && \
+        git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \
+        git add . && \
+        git commit -m "[cron] Bump distribution date ($DIST)" && \
+        git push

.github/workflows/check-pr.yml

@@ -0,0 +1,33 @@
+#
+# check-pr.yml
+# Close PRs directed at release branches
+#
+
+name: PR Bad Target
+
+on:
+  pull_request:
+    branches:
+    - 1.0.x
+    - 1.1.x
+    - 2.0.x
+
+jobs:
+  bad_target:
+    name: PR Bad Target
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: peter-evans/close-pull@v1
+      with:
+        delete-branch: false
+        comment: >
+          Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases.
+
+          Please redo this PR starting with the `bugfix-2.0.x` branch and be careful to target `bugfix-2.0.x` when resubmitting the PR.
+
+          It may help to set your fork's default branch to `bugfix-2.0.x`.
+
+          See [this page](http://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions.

.github/workflows/close-stale.yml

@@ -0,0 +1,27 @@
+#
+# close-stale.yml
+# Close open issues after a period of inactivity
+#
+
+name: Close Stale Issues
+
+on:
+  schedule:
+  - cron: "22 1 * * *"
+
+jobs:
+  stale:
+    name: Close Stale Issues
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/stale@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-issue-message: 'This issue has had no activity in the last 30 days. Please add a reply if you want to keep this issue active, otherwise it will be automatically closed within 7 days.'
+        days-before-stale: 30
+        days-before-close: 7
+        stale-issue-label: 'stale-closing-soon'
+        exempt-issue-labels: 'T: Feature Request'

.github/workflows/lock-closed.yml

@@ -0,0 +1,32 @@
+#
+# lock-closed.yml
+# Lock closed issues after a period of inactivity
+#
+
+name: Lock Closed Issues
+
+on:
+  schedule:
+    - cron: '0 1/13 * * *'
+
+jobs:
+  lock:
+    name: Lock Closed Issues
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: dessant/lock-threads@v2
+      with:
+        github-token: ${{ github.token }}
+        process-only: 'issues'
+        issue-lock-inactive-days: '60'
+        issue-exclude-created-before: ''
+        issue-exclude-labels: 'no-locking'
+        issue-lock-labels: ''
+        issue-lock-comment: >
+          This issue has been automatically locked since there
+          has not been any recent activity after it was closed.
+          Please open a new issue for related bugs.
+        issue-lock-reason: ''

.github/workflows/test-builds.yml

@@ -0,0 +1,123 @@
+#
+# test-builds.yml
+# Do test builds to catch compile errors
+#
+
+name: CI
+
+on:
+  pull_request:
+    branches:
+    - bugfix-2.0.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+  push:
+    branches:
+    - bugfix-2.0.x
+    paths-ignore:
+    - config/**
+    - data/**
+    - docs/**
+    - '**/*.md'
+
+jobs:
+  test_builds:
+    name: Run All Tests
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        test-platform:
+        # Base Environments
+
+        - DUE
+        - esp32
+        - linux_native
+        - mega2560
+        - teensy31
+        - teensy35
+        - teensy41
+        - SAMD51_grandcentral_m4
+
+        # Extended AVR Environments
+
+        - FYSETC_F6_13
+        - mega1280
+        - rambo
+        - sanguino1284p
+        - sanguino644p
+
+        # Extended STM32 Environments
+
+        - STM32F103RC_btt
+        - STM32F103RC_btt_USB
+        - STM32F103RE_btt
+        - STM32F103RE_btt_USB
+        - STM32F103RC_fysetc
+        - STM32F103RC_meeb
+        - jgaurora_a5s_a1
+        - STM32F103VE_longer
+        - STM32F407VE_black
+        - STM32F401VE_STEVAL
+        - BIGTREE_BTT002
+        - BIGTREE_SKR_PRO
+        - BIGTREE_GTR_V1_0
+        - mks_robin
+        - mks_robin_stm32
+        - ARMED
+        - FYSETC_S6
+        - STM32F070CB_malyan
+        - STM32F070RB_malyan
+        - malyan_M300
+        - mks_robin_lite
+        - FLYF407ZG
+        - rumba32
+        - mks_robin_pro
+        - STM32F103RET6_creality
+        - LERDGEX
+        - mks_robin_nano35
+
+        # Put lengthy tests last
+
+        - LPC1768
+        - LPC1769
+
+        # STM32 with non-STM framework. both broken for now. they should use HAL_STM32 which is working.
+
+        #- STM32F4
+        #- STM32F7
+
+        # Non-working environment tests
+        #- at90usb1286_cdc
+        #- at90usb1286_dfu
+        #- STM32F103CB_malyan
+        #- mks_robin_mini
+
+    steps:
+
+    - name: Select Python 3.7
+      uses: actions/setup-python@v1
+      with:
+        python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax.
+        architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified
+
+    - name: Install PlatformIO
+      run: |
+        pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
+        platformio update
+
+    - name: Check out the PR
+      uses: actions/checkout@v2
+
+    - name: Run ${{ matrix.test-platform }} Tests
+      run: |
+        # Inline tests script
+        chmod +x buildroot/bin/*
+        chmod +x buildroot/tests/*
+        export PATH=./buildroot/bin/:./buildroot/tests/:${PATH}
+        run_tests . ${{ matrix.test-platform }}

.github/workflows/unlock-reopened.yml

@@ -0,0 +1,22 @@
+#
+# unlock-reopened.yml
+# Unlock an issue whenever it is re-opened
+#
+
+name: "Unlock reopened issue"
+
+on:
+  issues:
+    types: [reopened]
+
+jobs:
+  unlock:
+    name: Unlock Reopened
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: OSDKDev/unlock-issues@v1.1
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"

.gitignore

@@ -1,9 +1,9 @@
 #
 # Marlin 3D Printer Firmware
-# Copyright (C) 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+# Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 #
 # Based on Sprinter and grbl.
-# Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+# 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
@@ -16,7 +16,7 @@
 # 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 <http://www.gnu.org/licenses/>.
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
 #
 
 # Our automatic versioning scheme generates the following file
@@ -146,6 +146,9 @@ Marlin/*/*/readme.txt
 Marlin/*/*/*/readme.txt
 Marlin/*/*/*/*/readme.txt
 
+# Secure Credentials
+Configuration_Secure.h
+
 #Visual Studio
 *.sln
 *.vcxproj
@@ -171,3 +174,13 @@ CMakeListsPrivate.txt
 
 #CLion
 cmake-build-*
+
+#Eclipse
+.project
+.cproject
+.pydevproject
+.settings
+.classpath
+
+#Python
+__pycache__

.travis.yml

@@ -1,52 +0,0 @@
-dist: trusty
-sudo: false
-
-language: python
-python:
-  - "2.7"
-
-notifications:
-  email: false
-
-# Cache PlatformIO packages using Travis CI container-based infrastructure
-sudo: false
-cache:
-  pip: true
-  directories:
-  - "~/.platformio"
-
-env:
-  - TEST_PLATFORM="megaatmega2560"
-  - TEST_PLATFORM="LPC1768"
-  - TEST_PLATFORM="DUE"
-  - TEST_PLATFORM="STM32F1"
-  - TEST_PLATFORM="teensy35"
-
-before_install:
-  #
-  # Fetch the tag information for the current branch
-  - git fetch origin --tags
-  #
-  # Publish the buildroot script folder
-  - chmod +x ${TRAVIS_BUILD_DIR}/buildroot/bin/*
-  - export PATH=${TRAVIS_BUILD_DIR}/buildroot/bin/:${PATH}
-  - chmod +x ${TRAVIS_BUILD_DIR}/buildroot/share/tests/*
-  - export PATH=${TRAVIS_BUILD_DIR}/buildroot/share/tests/:${PATH}
-
-install:
-  #- pip install -U platformio
-  - pip install -U https://github.com/platformio/platformio-core/archive/develop.zip
-
-before_script:
-  # Update PlatformIO packages
-  - platformio update
-  #
-  # Change current working directory to the build dir
-  - cd ${TRAVIS_BUILD_DIR}
-  #
-  # Generate custom version include
-  - generate_version ${TRAVIS_BUILD_DIR}/Marlin/src/inc
-  - cat ${TRAVIS_BUILD_DIR}/Marlin/src/inc/_Version.h
-  #
-script:
-  - start_tests ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}

LICENSE

@@ -3,7 +3,7 @@
                     GNU GENERAL PUBLIC LICENSE
                        Version 3, 29 June 2007
 
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Copyright (c) 2007 Free Software Foundation, Inc. <https://www.fsf.org/>
  Everyone is permitted to copy and distribute verbatim copies
  of this license document, but changing it is not allowed.
 
@@ -634,7 +634,7 @@ state the exclusion of warranty; and each file should have at least
 the "copyright" line and a pointer to where the full notice is found.
 
     {one line to give the program's name and a brief idea of what it does.}
-    Copyright (C) {year}  {name of author}
+    Copyright (c) {year}  {name of author}
 
     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
@@ -647,14 +647,14 @@ the "copyright" line and a pointer to where the full notice is found.
     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 <http://www.gnu.org/licenses/>.
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 Also add information on how to contact you by electronic and paper mail.
 
   If the program does terminal interaction, make it output a short
 notice like this when it starts in an interactive mode:
 
-    {project}  Copyright (C) {year}  {fullname}
+    {project}  Copyright (c) {year}  {fullname}
     This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
     This is free software, and you are welcome to redistribute it
     under certain conditions; type `show c' for details.
@@ -666,12 +666,11 @@ might be different; for a GUI interface, you would use an "about box".
   You should also get your employer (if you work as a programmer) or school,
 if any, to sign a "copyright disclaimer" for the program, if necessary.
 For more information on this, and how to apply and follow the GNU GPL, see
-<http://www.gnu.org/licenses/>.
+<https://www.gnu.org/licenses/>.
 
   The GNU General Public License does not permit incorporating your program
 into proprietary programs.  If your program is a subroutine library, you
 may consider it more useful to permit linking proprietary applications with
 the library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.  But first, please read
-<http://www.gnu.org/philosophy/why-not-lgpl.html>.
-
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

Marlin/Marlin.ino

@@ -1,9 +1,8 @@
-/*
-================================================================================
+/*==============================================================================
 
   Marlin Firmware
 
-  (c) 2011-2018 MarlinFirmware
+  (c) 2011-2020 MarlinFirmware
   Portions of Marlin are (c) by their respective authors.
   All code complies with GPLv2 and/or GPLv3
 
@@ -12,30 +11,33 @@
 Greetings! Thank you for choosing Marlin 2 as your 3D printer firmware.
 
 To configure Marlin you must edit Configuration.h and Configuration_adv.h
-located in the root 'Marlin' folder. Check the config/examples folder to see if
-there's a more suitable starting-point for your specific hardware.
+located in the root 'Marlin' folder. Check our Configurations repository to
+see if there's a more suitable starting-point for your specific hardware.
 
 Before diving in, we recommend the following essential links:
 
 Marlin Firmware Official Website
 
-  - http://marlinfw.org/
+  - https://marlinfw.org/
     The official Marlin Firmware website contains the most up-to-date
     documentation. Contributions are always welcome!
 
 Configuration
 
+  - https://github.com/MarlinFirmware/Configurations
+    Example configurations for several printer models.
+
   - https://www.youtube.com/watch?v=3gwWVFtdg-4
     A good 20-minute overview of Marlin configuration by Tom Sanladerer.
     (Applies to Marlin 1.0.x, so Jerk and Acceleration should be halved.)
     Also... https://www.google.com/search?tbs=vid%3A1&q=configure+marlin
 
-  - http://marlinfw.org/docs/configuration/configuration.html
+  - https://marlinfw.org/docs/configuration/configuration.html
     Marlin's configuration options are explained in more detail here.
 
 Getting Help
 
-  - http://forums.reprap.org/list.php?415
+  - https://reprap.org/forum/list.php?415
     The Marlin Discussion Forum is a great place to get help from other Marlin
     users who may have experienced similar issues to your own.
 
@@ -45,9 +47,11 @@ Getting Help
 
 Contributing
 
-  - http://marlinfw.org/docs/development/contributing.html
+  - https://marlinfw.org/docs/development/contributing.html
     If you'd like to contribute to Marlin, read this first!
 
-  - http://marlinfw.org/docs/development/coding_standards.html
+  - https://marlinfw.org/docs/development/coding_standards.html
     Before submitting code get to know the Coding Standards.
-*/
+
+
+------------------------------------------------------------------------------*/

Marlin/Version.h

@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+////////////////////////////
+// VENDOR VERSION EXAMPLE //
+////////////////////////////
+
+/**
+ * Marlin release version identifier
+ */
+//#define SHORT_BUILD_VERSION "2.0.7.2"
+
+/**
+ * Verbose version identifier which should contain a reference to the location
+ * from where the binary was downloaded or the source code was compiled.
+ */
+//#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION
+
+/**
+ * The STRING_DISTRIBUTION_DATE represents when the binary file was built,
+ * here we define this default string as the date where the latest release
+ * version was tagged.
+ */
+//#define STRING_DISTRIBUTION_DATE "2020-07-09"
+
+/**
+ * Defines a generic printer name to be output to the LCD after booting Marlin.
+ */
+//#define MACHINE_NAME "3D Printer"
+
+/**
+ * The SOURCE_CODE_URL is the location where users will find the Marlin Source
+ * Code which is installed on the device. In most cases —unless the manufacturer
+ * has a distinct Github fork— the Source Code URL should just be the main
+ * Marlin repository.
+ */
+//#define SOURCE_CODE_URL "https://github.com/MarlinFirmware/Marlin"
+
+/**
+ * Default generic printer UUID.
+ */
+//#define DEFAULT_MACHINE_UUID "cede2a2f-41a2-4748-9b12-c55c62f367ff"
+
+/**
+ * The WEBSITE_URL is the location where users can get more information such as
+ * documentation about a specific Marlin release.
+ */
+//#define WEBSITE_URL "https://marlinfw.org"
+
+/**
+ * Set the vendor info the serial USB interface, if changable
+ * Currently only supported by DUE platform
+ */
+//#define USB_DEVICE_VENDOR_ID           0x0000
+//#define USB_DEVICE_PRODUCT_ID          0x0000
+//#define USB_DEVICE_MANUFACTURE_NAME    WEBSITE_URL

Marlin/lib/readme.txt

@@ -33,4 +33,4 @@ PlatformIO will find your libraries automatically, configure preprocessor's
 include paths and build them.
 
 More information about PlatformIO Library Dependency Finder
-- http://docs.platformio.org/page/librarymanager/ldf.html
+- https://docs.platformio.org/page/librarymanager/ldf.html

Marlin/src/HAL/AVR/HAL.cpp

@@ -0,0 +1,78 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+//uint8_t MCUSR;
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void HAL_init() {
+  // Init Servo Pins
+  #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
+  #if HAS_SERVO_0
+    INIT_SERVO(0);
+  #endif
+  #if HAS_SERVO_1
+    INIT_SERVO(1);
+  #endif
+  #if HAS_SERVO_2
+    INIT_SERVO(2);
+  #endif
+  #if HAS_SERVO_3
+    INIT_SERVO(3);
+  #endif
+}
+
+#if ENABLED(SDSUPPORT)
+
+  #include "../../sd/SdFatUtil.h"
+  int freeMemory() { return SdFatUtil::FreeRam(); }
+
+#else // !SDSUPPORT
+
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
+
+  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;
+  }
+}
+
+#endif // !SDSUPPORT
+
+#endif // __AVR__

Marlin/src/HAL/AVR/HAL.h

@@ -0,0 +1,191 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../shared/Marduino.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "watchdog.h"
+#include "math.h"
+
+#ifdef IS_AT90USB
+  #include <HardwareSerial.h>
+#else
+  #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion
+  #include "MarlinSerial.h"
+#endif
+
+#include <stdint.h>
+#include <util/delay.h>
+#include <avr/eeprom.h>
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+
+#ifndef pgm_read_ptr
+  // Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for
+  // Windows Subsystem for Linux on Windows 10 as of 10/18/2019
+  #define pgm_read_ptr_far(address_long) (void*)__ELPM_word((uint32_t)(address_long))
+  #define pgm_read_ptr_near(address_short) (void*)__LPM_word((uint16_t)(address_short))
+  #define pgm_read_ptr(address_short) pgm_read_ptr_near(address_short)
+#endif
+
+// ------------------------
+// Defines
+// ------------------------
+
+// AVR PROGMEM extension for sprintf_P
+#define S_FMT "%S"
+
+// AVR PROGMEM extension for string define
+#define PGMSTR(NAM,STR) const char NAM[] PROGMEM = STR
+
+#ifndef CRITICAL_SECTION_START
+  #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()
+
+// ------------------------
+// Types
+// ------------------------
+
+typedef int8_t pin_t;
+
+#define SHARED_SERVOS HAS_SERVOS
+#define HAL_SERVO_LIB Servo
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+//extern uint8_t MCUSR;
+
+// Serial ports
+#ifdef IS_AT90USB
+  #define MYSERIAL0 TERN(BLUETOOTH, bluetoothSerial, Serial)
+#else
+  #if !WITHIN(SERIAL_PORT, -1, 3)
+    #error "SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #endif
+  #define MYSERIAL0 customizedSerial1
+
+  #ifdef SERIAL_PORT_2
+    #if !WITHIN(SERIAL_PORT_2, -1, 3)
+      #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+    #endif
+    #define MYSERIAL1 customizedSerial2
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if !WITHIN(LCD_SERIAL_PORT, -1, 3)
+    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #endif
+  #define LCD_SERIAL lcdSerial
+  #if HAS_DGUS_LCD
+    #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.get_tx_buffer_free()
+  #endif
+#endif
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void HAL_init();
+
+//void cli();
+
+//void _delay_ms(const int delay);
+
+inline void HAL_clear_reset_source() { MCUSR = 0; }
+inline uint8_t HAL_get_reset_source() { return MCUSR; }
+
+inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+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
+
+inline void HAL_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
+
+#ifdef __AVR_AT90USB1286__
+  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
+#endif
+
+// AVR compatibility
+#define strtof strtod
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+
+/**
+ *  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)
+ */
+void set_pwm_frequency(const pin_t pin, int f_desired);
+
+/**
+ * set_pwm_duty
+ *  Sets 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);

Marlin/src/HAL/AVR/HAL_SPI.cpp

@@ -0,0 +1,253 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Adapted from Arduino Sd2Card Library
+ * Copyright (c) 2009 by William Greiman
+ */
+
+/**
+ * HAL for AVR - SPI functions
+ */
+
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfig.h"
+
+void spiBegin() {
+  OUT_WRITE(SS_PIN, HIGH);
+  SET_OUTPUT(SCK_PIN);
+  SET_INPUT(MISO_PIN);
+  SET_OUTPUT(MOSI_PIN);
+
+  #if DISABLED(SOFTWARE_SPI)
+    // SS must be in output mode even it is not chip select
+    //SET_OUTPUT(SS_PIN);
+    // set SS high - may be chip select for another SPI device
+    //#if SET_SPI_SS_HIGH
+      //WRITE(SS_PIN, HIGH);
+    //#endif
+    // set a default rate
+    spiInit(1);
+  #endif
+}
+
+#if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI)
+
+  // ------------------------
+  // Hardware SPI
+  // ------------------------
+
+  // make sure SPCR rate is in expected bits
+  #if (SPR0 != 0 || SPR1 != 1)
+    #error "unexpected SPCR bits"
+  #endif
+
+  /**
+   * Initialize hardware SPI
+   * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
+   */
+  void spiInit(uint8_t spiRate) {
+    // See avr processor documentation
+    CBI(
+      #ifdef PRR
+        PRR
+      #elif defined(PRR0)
+        PRR0
+      #endif
+        , PRSPI);
+
+    SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1);
+    SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X);
+  }
+
+  /** SPI receive a byte */
+  uint8_t spiRec() {
+    SPDR = 0xFF;
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+    return SPDR;
+  }
+
+  /** SPI read data  */
+  void spiRead(uint8_t* buf, uint16_t nbyte) {
+    if (nbyte-- == 0) return;
+    SPDR = 0xFF;
+    for (uint16_t i = 0; i < nbyte; i++) {
+      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+      buf[i] = SPDR;
+      SPDR = 0xFF;
+    }
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+    buf[nbyte] = SPDR;
+  }
+
+  /** SPI send a byte */
+  void spiSend(uint8_t b) {
+    SPDR = b;
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+  }
+
+  /** SPI send block  */
+  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+    SPDR = token;
+    for (uint16_t i = 0; i < 512; i += 2) {
+      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+      SPDR = buf[i];
+      while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+      SPDR = buf[i + 1];
+    }
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+  }
+
+
+  /** begin spi transaction */
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+    // Based on Arduino SPI library
+    // Clock settings are defined as follows. Note that this shows SPI2X
+    // inverted, so the bits form increasing numbers. Also note that
+    // fosc/64 appears twice
+    // SPR1 SPR0 ~SPI2X Freq
+    //   0    0     0   fosc/2
+    //   0    0     1   fosc/4
+    //   0    1     0   fosc/8
+    //   0    1     1   fosc/16
+    //   1    0     0   fosc/32
+    //   1    0     1   fosc/64
+    //   1    1     0   fosc/64
+    //   1    1     1   fosc/128
+
+    // We find the fastest clock that is less than or equal to the
+    // given clock rate. The clock divider that results in clock_setting
+    // is 2 ^^ (clock_div + 1). If nothing is slow enough, we'll use the
+    // slowest (128 == 2 ^^ 7, so clock_div = 6).
+    uint8_t clockDiv;
+
+    // When the clock is known at compiletime, use this if-then-else
+    // cascade, which the compiler knows how to completely optimize
+    // away. When clock is not known, use a loop instead, which generates
+    // shorter code.
+    if (__builtin_constant_p(spiClock)) {
+      if (spiClock >= F_CPU / 2)       clockDiv = 0;
+      else if (spiClock >= F_CPU / 4)  clockDiv = 1;
+      else if (spiClock >= F_CPU / 8)  clockDiv = 2;
+      else if (spiClock >= F_CPU / 16) clockDiv = 3;
+      else if (spiClock >= F_CPU / 32) clockDiv = 4;
+      else if (spiClock >= F_CPU / 64) clockDiv = 5;
+      else                             clockDiv = 6;
+    }
+    else {
+      uint32_t clockSetting = F_CPU / 2;
+      clockDiv = 0;
+      while (clockDiv < 6 && spiClock < clockSetting) {
+        clockSetting /= 2;
+        clockDiv++;
+      }
+    }
+
+    // Compensate for the duplicate fosc/64
+    if (clockDiv == 6) clockDiv = 7;
+
+    // Invert the SPI2X bit
+    clockDiv ^= 0x1;
+
+    SPCR = _BV(SPE) | _BV(MSTR) | ((bitOrder == LSBFIRST) ? _BV(DORD) : 0) |
+      (dataMode << CPHA) | ((clockDiv >> 1) << SPR0);
+    SPSR = clockDiv | 0x01;
+  }
+
+
+#else // SOFTWARE_SPI || FORCE_SOFT_SPI
+
+  // ------------------------
+  // Software SPI
+  // ------------------------
+
+  // nop to tune soft SPI timing
+  #define nop asm volatile ("\tnop\n")
+
+  void spiInit(uint8_t) { /* do nothing */ }
+
+  // Begin SPI transaction, set clock, bit order, data mode
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ }
+
+  // Soft SPI receive byte
+  uint8_t spiRec() {
+    uint8_t data = 0;
+    // no interrupts during byte receive - about 8µs
+    cli();
+    // output pin high - like sending 0xFF
+    WRITE(MOSI_PIN, HIGH);
+
+    LOOP_L_N(i, 8) {
+      WRITE(SCK_PIN, HIGH);
+
+      nop; // adjust so SCK is nice
+      nop;
+
+      data <<= 1;
+
+      if (READ(MISO_PIN)) data |= 1;
+
+      WRITE(SCK_PIN, LOW);
+    }
+
+    sei();
+    return data;
+  }
+
+  // Soft SPI read data
+  void spiRead(uint8_t* buf, uint16_t nbyte) {
+    for (uint16_t i = 0; i < nbyte; i++)
+      buf[i] = spiRec();
+  }
+
+  // Soft SPI send byte
+  void spiSend(uint8_t data) {
+    // no interrupts during byte send - about 8µs
+    cli();
+    LOOP_L_N(i, 8) {
+      WRITE(SCK_PIN, LOW);
+      WRITE(MOSI_PIN, data & 0x80);
+      data <<= 1;
+      WRITE(SCK_PIN, HIGH);
+    }
+
+    nop; // hold SCK high for a few ns
+    nop;
+    nop;
+    nop;
+
+    WRITE(SCK_PIN, LOW);
+
+    sei();
+  }
+
+  // Soft SPI send block
+  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+    spiSend(token);
+    for (uint16_t i = 0; i < 512; i++)
+      spiSend(buf[i]);
+  }
+
+#endif // SOFTWARE_SPI || FORCE_SOFT_SPI
+
+#endif // __AVR__

Marlin/src/HAL/AVR/MarlinSerial.cpp

@@ -0,0 +1,802 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * MarlinSerial.cpp - Hardware serial library for Wiring
+ * Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+ *
+ * Modified 23 November 2006 by David A. Mellis
+ * Modified 28 September 2010 by Mark Sproul
+ * Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
+ * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
+ * Modified 10 June 2018 by Eduardo José Tagle (See #10991)
+ * Templatized 01 October 2018 by Eduardo José Tagle to allow multiple instances
+ */
+
+#ifdef __AVR__
+
+// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
+
+#include "../../inc/MarlinConfig.h"
+
+#if !IS_AT90USB && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
+
+#include "MarlinSerial.h"
+#include "../../MarlinCore.h"
+
+#if ENABLED(DIRECT_STEPPING)
+  #include "../../feature/direct_stepping.h"
+#endif
+
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
+template<typename Cfg> bool     MarlinSerial<Cfg>::_written = false;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::xon_xoff_state = MarlinSerial<Cfg>::XON_XOFF_CHAR_SENT | MarlinSerial<Cfg>::XON_CHAR;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_dropped_bytes = 0;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_buffer_overruns = 0;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_framing_errors = 0;
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::rx_max_enqueued = 0;
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() asm volatile("": : :"memory");
+
+#include "../../feature/e_parser.h"
+
+// "Atomically" read the RX head index value without disabling interrupts:
+// This MUST be called with RX interrupts enabled, and CAN'T be called
+// from the RX ISR itself!
+template<typename Cfg>
+FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_head() {
+  if (Cfg::RX_SIZE > 256) {
+    // Keep reading until 2 consecutive reads return the same value,
+    // meaning there was no update in-between caused by an interrupt.
+    // This works because serial RX interrupts happen at a slower rate
+    // than successive reads of a variable, so 2 consecutive reads with
+    // the same value means no interrupt updated it.
+    ring_buffer_pos_t vold, vnew = rx_buffer.head;
+    sw_barrier();
+    do {
+      vold = vnew;
+      vnew = rx_buffer.head;
+      sw_barrier();
+    } while (vold != vnew);
+    return vnew;
+  }
+  else {
+    // With an 8bit index, reads are always atomic. No need for special handling
+    return rx_buffer.head;
+  }
+}
+
+template<typename Cfg>
+volatile bool MarlinSerial<Cfg>::rx_tail_value_not_stable = false;
+template<typename Cfg>
+volatile uint16_t MarlinSerial<Cfg>::rx_tail_value_backup = 0;
+
+// Set RX tail index, taking into account the RX ISR could interrupt
+//  the write to this variable in the middle - So a backup strategy
+//  is used to ensure reads of the correct values.
+//    -Must NOT be called from the RX ISR -
+template<typename Cfg>
+FORCE_INLINE void MarlinSerial<Cfg>::atomic_set_rx_tail(typename MarlinSerial<Cfg>::ring_buffer_pos_t value) {
+  if (Cfg::RX_SIZE > 256) {
+    // Store the new value in the backup
+    rx_tail_value_backup = value;
+    sw_barrier();
+    // Flag we are about to change the true value
+    rx_tail_value_not_stable = true;
+    sw_barrier();
+    // Store the new value
+    rx_buffer.tail = value;
+    sw_barrier();
+    // Signal the new value is completely stored into the value
+    rx_tail_value_not_stable = false;
+    sw_barrier();
+  }
+  else
+    rx_buffer.tail = value;
+}
+
+// Get the RX tail index, taking into account the read could be
+//  interrupting in the middle of the update of that index value
+//    -Called from the RX ISR -
+template<typename Cfg>
+FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_tail() {
+  if (Cfg::RX_SIZE > 256) {
+    // If the true index is being modified, return the backup value
+    if (rx_tail_value_not_stable) return rx_tail_value_backup;
+  }
+  // The true index is stable, return it
+  return rx_buffer.tail;
+}
+
+// (called with RX interrupts disabled)
+template<typename Cfg>
+FORCE_INLINE void MarlinSerial<Cfg>::store_rxd_char() {
+
+  static EmergencyParser::State emergency_state; // = EP_RESET
+
+  // This must read the R_UCSRA register before reading the received byte to detect error causes
+  if (Cfg::DROPPED_RX && B_DOR && !++rx_dropped_bytes) --rx_dropped_bytes;
+  if (Cfg::RX_OVERRUNS && B_DOR && !++rx_buffer_overruns) --rx_buffer_overruns;
+  if (Cfg::RX_FRAMING_ERRORS && B_FE && !++rx_framing_errors) --rx_framing_errors;
+
+  // Read the character from the USART
+  uint8_t c = R_UDR;
+
+  #if ENABLED(DIRECT_STEPPING)
+    if (page_manager.maybe_store_rxd_char(c)) return;
+  #endif
+
+  // Get the tail - Nothing can alter its value while this ISR is executing, but there's
+  // a chance that this ISR interrupted the main process while it was updating the index.
+  // The backup mechanism ensures the correct value is always returned.
+  const ring_buffer_pos_t t = atomic_read_rx_tail();
+
+  // Get the head pointer - This ISR is the only one that modifies its value, so it's safe to read here
+  ring_buffer_pos_t h = rx_buffer.head;
+
+  // Get the next element
+  ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+  if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
+
+  // If the character is to be stored at the index just before the tail
+  // (such that the head would advance to the current tail), the RX FIFO is
+  // full, so don't write the character or advance the head.
+  if (i != t) {
+    rx_buffer.buffer[h] = c;
+    h = i;
+  }
+  else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+    --rx_dropped_bytes;
+
+  if (Cfg::MAX_RX_QUEUED) {
+    // Calculate count of bytes stored into the RX buffer
+    const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+    // Keep track of the maximum count of enqueued bytes
+    NOLESS(rx_max_enqueued, rx_count);
+  }
+
+  if (Cfg::XONOFF) {
+    // If the last char that was sent was an XON
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
+
+      // Bytes stored into the RX buffer
+      const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+      // If over 12.5% of RX buffer capacity, send XOFF before running out of
+      // RX buffer space .. 325 bytes @ 250kbits/s needed to let the host react
+      // and stop sending bytes. This translates to 13mS propagation time.
+      if (rx_count >= (Cfg::RX_SIZE) / 8) {
+
+        // At this point, definitely no TX interrupt was executing, since the TX ISR can't be preempted.
+        // Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens
+        // to be in the middle of trying to disable the RX interrupt in the main program, eventually the
+        // enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure
+        // the sending of the XOFF char is to send it HERE AND NOW.
+
+        // About to send the XOFF char
+        xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
+
+        // Wait until the TX register becomes empty and send it - Here there could be a problem
+        // - While waiting for the TX register to empty, the RX register could receive a new
+        //   character. This must also handle that situation!
+        while (!B_UDRE) {
+
+          if (B_RXC) {
+            // A char arrived while waiting for the TX buffer to be empty - Receive and process it!
+
+            i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+            // Read the character from the USART
+            c = R_UDR;
+
+            if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
+
+            // If the character is to be stored at the index just before the tail
+            // (such that the head would advance to the current tail), the FIFO is
+            // full, so don't write the character or advance the head.
+            if (i != t) {
+              rx_buffer.buffer[h] = c;
+              h = i;
+            }
+            else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+              --rx_dropped_bytes;
+          }
+          sw_barrier();
+        }
+
+        R_UDR = XOFF_CHAR;
+
+        // Clear the TXC bit -- "can be cleared by writing a one to its bit
+        // location". This makes sure flush() won't return until the bytes
+        // actually got written
+        B_TXC = 1;
+
+        // At this point there could be a race condition between the write() function
+        // and this sending of the XOFF char. This interrupt could happen between the
+        // wait to be empty TX buffer loop and the actual write of the character. Since
+        // the TX buffer is full because it's sending the XOFF char, the only way to be
+        // sure the write() function will succeed is to wait for the XOFF char to be
+        // completely sent. Since an extra character could be received during the wait
+        // it must also be handled!
+        while (!B_UDRE) {
+
+          if (B_RXC) {
+            // A char arrived while waiting for the TX buffer to be empty - Receive and process it!
+
+            i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+            // Read the character from the USART
+            c = R_UDR;
+
+            if (Cfg::EMERGENCYPARSER)
+              emergency_parser.update(emergency_state, c);
+
+            // If the character is to be stored at the index just before the tail
+            // (such that the head would advance to the current tail), the FIFO is
+            // full, so don't write the character or advance the head.
+            if (i != t) {
+              rx_buffer.buffer[h] = c;
+              h = i;
+            }
+            else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+              --rx_dropped_bytes;
+          }
+          sw_barrier();
+        }
+
+        // At this point everything is ready. The write() function won't
+        // have any issues writing to the UART TX register if it needs to!
+      }
+    }
+  }
+
+  // Store the new head value - The main loop will retry until the value is stable
+  rx_buffer.head = h;
+}
+
+// (called with TX irqs disabled)
+template<typename Cfg>
+FORCE_INLINE void MarlinSerial<Cfg>::_tx_udr_empty_irq() {
+  if (Cfg::TX_SIZE > 0) {
+    // Read positions
+    uint8_t t = tx_buffer.tail;
+    const uint8_t h = tx_buffer.head;
+
+    if (Cfg::XONOFF) {
+      // If an XON char is pending to be sent, do it now
+      if (xon_xoff_state == XON_CHAR) {
+
+        // Send the character
+        R_UDR = XON_CHAR;
+
+        // clear the TXC bit -- "can be cleared by writing a one to its bit
+        // location". This makes sure flush() won't return until the bytes
+        // actually got written
+        B_TXC = 1;
+
+        // Remember we sent it.
+        xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+
+        // If nothing else to transmit, just disable TX interrupts.
+        if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
+
+        return;
+      }
+    }
+
+    // If nothing to transmit, just disable TX interrupts. This could
+    // happen as the result of the non atomicity of the disabling of RX
+    // interrupts that could end reenabling TX interrupts as a side effect.
+    if (h == t) {
+      B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
+      return;
+    }
+
+    // There is something to TX, Send the next byte
+    const uint8_t c = tx_buffer.buffer[t];
+    t = (t + 1) & (Cfg::TX_SIZE - 1);
+    R_UDR = c;
+    tx_buffer.tail = t;
+
+    // Clear the TXC bit (by writing a one to its bit location).
+    // Ensures flush() won't return until the bytes are actually written/
+    B_TXC = 1;
+
+    // Disable interrupts if there is nothing to transmit following this byte
+    if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
+  }
+}
+
+// Public Methods
+template<typename Cfg>
+void MarlinSerial<Cfg>::begin(const long baud) {
+  uint16_t baud_setting;
+  bool useU2X = true;
+
+  #if F_CPU == 16000000UL && SERIAL_PORT == 0
+    // Hard-coded exception for compatibility with the bootloader shipped
+    // with the Duemilanove and previous boards, and the firmware on the
+    // 8U2 on the Uno and Mega 2560.
+    if (baud == 57600) useU2X = false;
+  #endif
+
+  R_UCSRA = 0;
+  if (useU2X) {
+    B_U2X = 1;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  }
+  else
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  R_UBRRH = baud_setting >> 8;
+  R_UBRRL = baud_setting;
+
+  B_RXEN = 1;
+  B_TXEN = 1;
+  B_RXCIE = 1;
+  if (Cfg::TX_SIZE > 0) B_UDRIE = 0;
+  _written = false;
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::end() {
+  B_RXEN = 0;
+  B_TXEN = 0;
+  B_RXCIE = 0;
+  B_UDRIE = 0;
+}
+
+template<typename Cfg>
+int MarlinSerial<Cfg>::peek() {
+  const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
+  return h == t ? -1 : rx_buffer.buffer[t];
+}
+
+template<typename Cfg>
+int MarlinSerial<Cfg>::read() {
+  const ring_buffer_pos_t h = atomic_read_rx_head();
+
+  // Read the tail. Main thread owns it, so it is safe to directly read it
+  ring_buffer_pos_t t = rx_buffer.tail;
+
+  // If nothing to read, return now
+  if (h == t) return -1;
+
+  // Get the next char
+  const int v = rx_buffer.buffer[t];
+  t = (ring_buffer_pos_t)(t + 1) & (Cfg::RX_SIZE - 1);
+
+  // Advance tail - Making sure the RX ISR will always get an stable value, even
+  // if it interrupts the writing of the value of that variable in the middle.
+  atomic_set_rx_tail(t);
+
+  if (Cfg::XONOFF) {
+    // If the XOFF char was sent, or about to be sent...
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+      // Get count of bytes in the RX buffer
+      const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+      if (rx_count < (Cfg::RX_SIZE) / 10) {
+        if (Cfg::TX_SIZE > 0) {
+          // Signal we want an XON character to be sent.
+          xon_xoff_state = XON_CHAR;
+          // Enable TX ISR. Non atomic, but it will eventually enable them
+          B_UDRIE = 1;
+        }
+        else {
+          // If not using TX interrupts, we must send the XON char now
+          xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+          while (!B_UDRE) sw_barrier();
+          R_UDR = XON_CHAR;
+        }
+      }
+    }
+  }
+
+  return v;
+}
+
+template<typename Cfg>
+typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::available() {
+  const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail;
+  return (ring_buffer_pos_t)(Cfg::RX_SIZE + h - t) & (Cfg::RX_SIZE - 1);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::flush() {
+
+  // Set the tail to the head:
+  //  - Read the RX head index in a safe way. (See atomic_read_rx_head.)
+  //  - Set the tail, making sure the RX ISR will always get a stable value, even
+  //    if it interrupts the writing of the value of that variable in the middle.
+  atomic_set_rx_tail(atomic_read_rx_head());
+
+  if (Cfg::XONOFF) {
+    // If the XOFF char was sent, or about to be sent...
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+      if (Cfg::TX_SIZE > 0) {
+        // Signal we want an XON character to be sent.
+        xon_xoff_state = XON_CHAR;
+        // Enable TX ISR. Non atomic, but it will eventually enable it.
+        B_UDRIE = 1;
+      }
+      else {
+        // If not using TX interrupts, we must send the XON char now
+        xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+        while (!B_UDRE) sw_barrier();
+        R_UDR = XON_CHAR;
+      }
+    }
+  }
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::write(const uint8_t c) {
+  if (Cfg::TX_SIZE == 0) {
+
+    _written = true;
+    while (!B_UDRE) sw_barrier();
+    R_UDR = c;
+
+  }
+  else {
+
+    _written = true;
+
+    // If the TX interrupts are disabled and the data register
+    // is empty, just write the byte to the data register and
+    // be done. This shortcut helps significantly improve the
+    // effective datarate at high (>500kbit/s) bitrates, where
+    // interrupt overhead becomes a slowdown.
+    // Yes, there is a race condition between the sending of the
+    // XOFF char at the RX ISR, but it is properly handled there
+    if (!B_UDRIE && B_UDRE) {
+      R_UDR = c;
+
+      // clear the TXC bit -- "can be cleared by writing a one to its bit
+      // location". This makes sure flush() won't return until the bytes
+      // actually got written
+      B_TXC = 1;
+      return;
+    }
+
+    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()) {
+
+      // Make room by polling if it is possible to transmit, and do so!
+      while (i == tx_buffer.tail) {
+
+        // If we can transmit another byte, do it.
+        if (B_UDRE) _tx_udr_empty_irq();
+
+        // Make sure compiler rereads tx_buffer.tail
+        sw_barrier();
+      }
+    }
+    else {
+      // Interrupts are enabled, just wait until there is space
+      while (i == tx_buffer.tail) sw_barrier();
+    }
+
+    // Store new char. head is always safe to move
+    tx_buffer.buffer[tx_buffer.head] = c;
+    tx_buffer.head = i;
+
+    // Enable TX ISR - Non atomic, but it will eventually enable TX ISR
+    B_UDRIE = 1;
+  }
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::flushTX() {
+
+  if (Cfg::TX_SIZE == 0) {
+    // No bytes written, no need to flush. This special case is needed since there's
+    // no way to force the TXC (transmit complete) bit to 1 during initialization.
+    if (!_written) return;
+
+    // Wait until everything was transmitted
+    while (!B_TXC) sw_barrier();
+
+    // At this point nothing is queued anymore (DRIE is disabled) and
+    // the hardware finished transmission (TXC is set).
+
+  }
+  else {
+
+    // No bytes written, no need to flush. This special case is needed since there's
+    // no way to force the TXC (transmit complete) bit to 1 during initialization.
+    if (!_written) return;
+
+    // If global interrupts are disabled (as the result of being called from an ISR)...
+    if (!ISRS_ENABLED()) {
+
+      // Wait until everything was transmitted - We must do polling, as interrupts are disabled
+      while (tx_buffer.head != tx_buffer.tail || !B_TXC) {
+
+        // If there is more space, send an extra character
+        if (B_UDRE) _tx_udr_empty_irq();
+
+        sw_barrier();
+      }
+
+    }
+    else {
+      // Wait until everything was transmitted
+      while (tx_buffer.head != tx_buffer.tail || !B_TXC) sw_barrier();
+    }
+
+    // At this point nothing is queued anymore (DRIE is disabled) and
+    // the hardware finished transmission (TXC is set).
+  }
+}
+
+/**
+ * Imports from print.h
+ */
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(char c, int base) {
+  print((long)c, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned char b, int base) {
+  print((unsigned long)b, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(int n, int base) {
+  print((long)n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned int n, int base) {
+  print((unsigned long)n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(long n, int base) {
+  if (base == 0) write(n);
+  else if (base == 10) {
+    if (n < 0) { print('-'); n = -n; }
+    printNumber(n, 10);
+  }
+  else
+    printNumber(n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned long n, int base) {
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(double n, int digits) {
+  printFloat(n, digits);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println() {
+  print('\r');
+  print('\n');
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(const String& s) {
+  print(s);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(const char c[]) {
+  print(c);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(char c, int base) {
+  print(c, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned char b, int base) {
+  print(b, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(int n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned int n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(long n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned long n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(double n, int digits) {
+  print(n, digits);
+  println();
+}
+
+// Private Methods
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) {
+  if (n) {
+    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
+    int8_t i = 0;
+    while (n) {
+      buf[i++] = n % base;
+      n /= base;
+    }
+    while (i--)
+      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
+  }
+  else
+    print('0');
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::printFloat(double number, uint8_t digits) {
+  // Handle negative numbers
+  if (number < 0.0) {
+    print('-');
+    number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  LOOP_L_N(i, digits) rounding *= 0.1;
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits) {
+    print('.');
+    // Extract digits from the remainder one at a time
+    while (digits--) {
+      remainder *= 10.0;
+      int toPrint = int(remainder);
+      print(toPrint);
+      remainder -= toPrint;
+    }
+  }
+}
+
+// Hookup ISR handlers
+ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _RX_vect)) {
+  MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::store_rxd_char();
+}
+
+ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) {
+  MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>::_tx_udr_empty_irq();
+}
+
+// Preinstantiate
+template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>;
+
+// Instantiate
+MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+
+#ifdef SERIAL_PORT_2
+
+  // Hookup ISR handlers
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_2, _RX_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART, SERIAL_PORT_2, _UDRE_vect)) {
+    MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>::_tx_udr_empty_irq();
+  }
+
+  // Preinstantiate
+  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>;
+
+  // Instantiate
+  MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
+
+#endif
+
+#ifdef MMU2_SERIAL_PORT
+
+  ISR(SERIAL_REGNAME(USART, MMU2_SERIAL_PORT, _RX_vect)) {
+    MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART, MMU2_SERIAL_PORT, _UDRE_vect)) {
+    MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>::_tx_udr_empty_irq();
+  }
+
+  // Preinstantiate
+  template class MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>>;
+
+  // Instantiate
+  MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>> mmuSerial;
+
+#endif
+
+#ifdef LCD_SERIAL_PORT
+
+  ISR(SERIAL_REGNAME(USART, LCD_SERIAL_PORT, _RX_vect)) {
+    MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>>::store_rxd_char();
+  }
+
+  ISR(SERIAL_REGNAME(USART, LCD_SERIAL_PORT, _UDRE_vect)) {
+    MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>>::_tx_udr_empty_irq();
+  }
+
+  // Preinstantiate
+  template class MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>>;
+
+  // Instantiate
+  MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>> lcdSerial;
+
+  #if HAS_DGUS_LCD
+    template<typename Cfg>
+    typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::get_tx_buffer_free() {
+      const ring_buffer_pos_t t = tx_buffer.tail,  // next byte to send.
+                              h = tx_buffer.head;  // next pos for queue.
+      int ret = t - h - 1;
+      if (ret < 0) ret += Cfg::TX_SIZE + 1;
+      return ret;
+    }
+  #endif
+
+#endif
+
+#endif // !IS_AT90USB && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
+
+// For AT90USB targets use the UART for BT interfacing
+#if BOTH(IS_AT90USB, BLUETOOTH)
+  HardwareSerial bluetoothSerial;
+#endif
+
+#endif // __AVR__

Marlin/src/HAL/AVR/MarlinSerial.h

@@ -0,0 +1,332 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * MarlinSerial.h - Hardware serial library for Wiring
+ * Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+ *
+ * Modified 28 September 2010 by Mark Sproul
+ * Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
+ * Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
+ * Templatized 01 October 2018 by Eduardo José Tagle to allow multiple instances
+ */
+
+#include <WString.h>
+
+#include "../../inc/MarlinConfigPre.h"
+
+#ifndef SERIAL_PORT
+  #define SERIAL_PORT 0
+#endif
+
+#ifndef USBCON
+
+  // The presence of the UBRRH register is used to detect a UART.
+  #define UART_PRESENT(port) ((port == 0 && (defined(UBRRH) || defined(UBRR0H))) || \
+                              (port == 1 && defined(UBRR1H)) || (port == 2 && defined(UBRR2H)) || \
+                              (port == 3 && defined(UBRR3H)))
+
+  // These are macros to build serial port register names for the selected SERIAL_PORT (C preprocessor
+  // requires two levels of indirection to expand macro values properly)
+  #define SERIAL_REGNAME(registerbase,number,suffix) _SERIAL_REGNAME(registerbase,number,suffix)
+  #if SERIAL_PORT == 0 && (!defined(UBRR0H) || !defined(UDR0)) // use un-numbered registers if necessary
+    #define _SERIAL_REGNAME(registerbase,number,suffix) registerbase##suffix
+  #else
+    #define _SERIAL_REGNAME(registerbase,number,suffix) registerbase##number##suffix
+  #endif
+
+  // Registers used by MarlinSerial class (expanded depending on selected serial port)
+
+  // Templated 8bit register (generic)
+  #define UART_REGISTER_DECL_BASE(registerbase, suffix) \
+    template<int portNr> struct R_##registerbase##x##suffix {}
+
+  // Templated 8bit register (specialization for each port)
+  #define UART_REGISTER_DECL(port, registerbase, suffix) \
+    template<> struct R_##registerbase##x##suffix<port> { \
+      constexpr R_##registerbase##x##suffix(int) {} \
+      FORCE_INLINE void operator=(uint8_t newVal) const { SERIAL_REGNAME(registerbase,port,suffix) = newVal; } \
+      FORCE_INLINE operator uint8_t() const { return SERIAL_REGNAME(registerbase,port,suffix); } \
+    }
+
+  // Templated 1bit register (generic)
+  #define UART_BIT_DECL_BASE(registerbase, suffix, bit) \
+    template<int portNr>struct B_##bit##x {}
+
+  // Templated 1bit register (specialization for each port)
+  #define UART_BIT_DECL(port, registerbase, suffix, bit) \
+    template<> struct B_##bit##x<port> { \
+      constexpr B_##bit##x(int) {} \
+      FORCE_INLINE void operator=(int newVal) const { \
+        if (newVal) \
+          SBI(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); \
+        else \
+          CBI(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); \
+      } \
+      FORCE_INLINE operator bool() const { return TEST(SERIAL_REGNAME(registerbase,port,suffix),SERIAL_REGNAME(bit,port,)); } \
+    }
+
+  #define UART_DECL_BASE() \
+    UART_REGISTER_DECL_BASE(UCSR,A);\
+    UART_REGISTER_DECL_BASE(UDR,);\
+    UART_REGISTER_DECL_BASE(UBRR,H);\
+    UART_REGISTER_DECL_BASE(UBRR,L);\
+    UART_BIT_DECL_BASE(UCSR,B,RXEN);\
+    UART_BIT_DECL_BASE(UCSR,B,TXEN);\
+    UART_BIT_DECL_BASE(UCSR,A,TXC);\
+    UART_BIT_DECL_BASE(UCSR,B,RXCIE);\
+    UART_BIT_DECL_BASE(UCSR,A,UDRE);\
+    UART_BIT_DECL_BASE(UCSR,A,FE);\
+    UART_BIT_DECL_BASE(UCSR,A,DOR);\
+    UART_BIT_DECL_BASE(UCSR,B,UDRIE);\
+    UART_BIT_DECL_BASE(UCSR,A,RXC);\
+    UART_BIT_DECL_BASE(UCSR,A,U2X)
+
+  #define UART_DECL(port) \
+    UART_REGISTER_DECL(port,UCSR,A);\
+    UART_REGISTER_DECL(port,UDR,);\
+    UART_REGISTER_DECL(port,UBRR,H);\
+    UART_REGISTER_DECL(port,UBRR,L);\
+    UART_BIT_DECL(port,UCSR,B,RXEN);\
+    UART_BIT_DECL(port,UCSR,B,TXEN);\
+    UART_BIT_DECL(port,UCSR,A,TXC);\
+    UART_BIT_DECL(port,UCSR,B,RXCIE);\
+    UART_BIT_DECL(port,UCSR,A,UDRE);\
+    UART_BIT_DECL(port,UCSR,A,FE);\
+    UART_BIT_DECL(port,UCSR,A,DOR);\
+    UART_BIT_DECL(port,UCSR,B,UDRIE);\
+    UART_BIT_DECL(port,UCSR,A,RXC);\
+    UART_BIT_DECL(port,UCSR,A,U2X)
+
+  // Declare empty templates
+  UART_DECL_BASE();
+
+  // And all the specializations for each possible serial port
+  #if UART_PRESENT(0)
+    UART_DECL(0);
+  #endif
+  #if UART_PRESENT(1)
+    UART_DECL(1);
+  #endif
+  #if UART_PRESENT(2)
+    UART_DECL(2);
+  #endif
+  #if UART_PRESENT(3)
+    UART_DECL(3);
+  #endif
+
+  #define DEC 10
+  #define HEX 16
+  #define OCT 8
+  #define BIN 2
+  #define BYTE 0
+
+  // Templated type selector
+  template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
+  template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
+
+  template<typename Cfg>
+  class MarlinSerial {
+  protected:
+    // Registers
+    static constexpr R_UCSRxA<Cfg::PORT> R_UCSRA = 0;
+    static constexpr R_UDRx<Cfg::PORT>   R_UDR   = 0;
+    static constexpr R_UBRRxH<Cfg::PORT> R_UBRRH = 0;
+    static constexpr R_UBRRxL<Cfg::PORT> R_UBRRL = 0;
+
+    // Bits
+    static constexpr B_RXENx<Cfg::PORT>  B_RXEN  = 0;
+    static constexpr B_TXENx<Cfg::PORT>  B_TXEN  = 0;
+    static constexpr B_TXCx<Cfg::PORT>   B_TXC   = 0;
+    static constexpr B_RXCIEx<Cfg::PORT> B_RXCIE = 0;
+    static constexpr B_UDREx<Cfg::PORT>  B_UDRE  = 0;
+    static constexpr B_FEx<Cfg::PORT>    B_FE    = 0;
+    static constexpr B_DORx<Cfg::PORT>   B_DOR   = 0;
+    static constexpr B_UDRIEx<Cfg::PORT> B_UDRIE = 0;
+    static constexpr B_RXCx<Cfg::PORT>   B_RXC   = 0;
+    static constexpr B_U2Xx<Cfg::PORT>   B_U2X   = 0;
+
+    // Base size of type on buffer size
+    typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t;
+
+    struct ring_buffer_r {
+      volatile ring_buffer_pos_t head, tail;
+      unsigned char buffer[Cfg::RX_SIZE];
+    };
+
+    struct ring_buffer_t {
+      volatile uint8_t head, tail;
+      unsigned char buffer[Cfg::TX_SIZE];
+    };
+
+    static ring_buffer_r rx_buffer;
+    static ring_buffer_t tx_buffer;
+    static bool _written;
+
+    static constexpr uint8_t XON_XOFF_CHAR_SENT = 0x80,  // XON / XOFF Character was sent
+                             XON_XOFF_CHAR_MASK = 0x1F;  // XON / XOFF character to send
+
+    // XON / XOFF character definitions
+    static constexpr uint8_t XON_CHAR  = 17, XOFF_CHAR = 19;
+    static uint8_t xon_xoff_state,
+                   rx_dropped_bytes,
+                   rx_buffer_overruns,
+                   rx_framing_errors;
+    static ring_buffer_pos_t rx_max_enqueued;
+
+    static FORCE_INLINE 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();
+
+    public:
+
+    FORCE_INLINE static void store_rxd_char();
+    FORCE_INLINE static void _tx_udr_empty_irq();
+
+    public:
+      MarlinSerial() {};
+      static void begin(const long);
+      static void end();
+      static int peek();
+      static int read();
+      static void flush();
+      static ring_buffer_pos_t available();
+      static void write(const uint8_t c);
+      static void flushTX();
+      #if HAS_DGUS_LCD
+        static ring_buffer_pos_t get_tx_buffer_free();
+      #endif
+
+      static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+
+      FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
+      FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
+      FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
+      FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
+
+      FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
+      FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
+      FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
+      FORCE_INLINE static void print(const char* str) { write(str); }
+
+      static void print(char, int = BYTE);
+      static void print(unsigned char, int = BYTE);
+      static void print(int, int = DEC);
+      static void print(unsigned int, int = DEC);
+      static void print(long, int = DEC);
+      static void print(unsigned long, int = DEC);
+      static void print(double, int = 2);
+
+      static void println(const String& s);
+      static void println(const char[]);
+      static void println(char, int = BYTE);
+      static void println(unsigned char, int = BYTE);
+      static void println(int, int = DEC);
+      static void println(unsigned int, int = DEC);
+      static void println(long, int = DEC);
+      static void println(unsigned long, int = DEC);
+      static void println(double, int = 2);
+      static void println();
+      operator bool() { return true; }
+
+    private:
+      static void printNumber(unsigned long, const uint8_t);
+      static void printFloat(double, uint8_t);
+  };
+
+  template <uint8_t serial>
+  struct MarlinSerialCfg {
+    static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = RX_BUFFER_SIZE;
+    static constexpr unsigned int TX_SIZE   = TX_BUFFER_SIZE;
+    static constexpr bool XONOFF            = ENABLED(SERIAL_XON_XOFF);
+    static constexpr bool EMERGENCYPARSER   = ENABLED(EMERGENCY_PARSER);
+    static constexpr bool DROPPED_RX        = ENABLED(SERIAL_STATS_DROPPED_RX);
+    static constexpr bool RX_OVERRUNS       = ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS);
+    static constexpr bool RX_FRAMING_ERRORS = ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS);
+    static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
+  };
+  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+
+  #ifdef SERIAL_PORT_2
+
+    extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
+
+  #endif
+
+#endif // !USBCON
+
+#ifdef MMU2_SERIAL_PORT
+  template <uint8_t serial>
+  struct MMU2SerialCfg {
+    static constexpr int PORT               = serial;
+    static constexpr bool XONOFF            = false;
+    static constexpr bool EMERGENCYPARSER   = false;
+    static constexpr bool DROPPED_RX        = false;
+    static constexpr bool RX_FRAMING_ERRORS = false;
+    static constexpr bool MAX_RX_QUEUED     = false;
+    static constexpr unsigned int RX_SIZE   = 32;
+    static constexpr unsigned int TX_SIZE   = 32;
+    static constexpr bool RX_OVERRUNS       = false;
+  };
+
+  extern MarlinSerial<MMU2SerialCfg<MMU2_SERIAL_PORT>> mmuSerial;
+#endif
+
+#ifdef LCD_SERIAL_PORT
+
+  template <uint8_t serial>
+  struct LCDSerialCfg {
+    static constexpr int PORT                 = serial;
+    static constexpr bool XONOFF              = false;
+    static constexpr bool EMERGENCYPARSER     = ENABLED(EMERGENCY_PARSER);
+    static constexpr bool DROPPED_RX          = false;
+    static constexpr bool RX_FRAMING_ERRORS   = false;
+    static constexpr bool MAX_RX_QUEUED       = false;
+    #if HAS_DGUS_LCD
+      static constexpr unsigned int RX_SIZE   = DGUS_RX_BUFFER_SIZE;
+      static constexpr unsigned int TX_SIZE   = DGUS_TX_BUFFER_SIZE;
+      static constexpr bool RX_OVERRUNS       = ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS);
+    #elif EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON)
+      static constexpr unsigned int RX_SIZE   = 64;
+      static constexpr unsigned int TX_SIZE   = 128;
+      static constexpr bool RX_OVERRUNS       = false;
+    #else
+      static constexpr unsigned int RX_SIZE   = 64;
+      static constexpr unsigned int TX_SIZE   = 128;
+      static constexpr bool RX_OVERRUNS       = false
+    #endif
+  };
+
+  extern MarlinSerial<LCDSerialCfg<LCD_SERIAL_PORT>> lcdSerial;
+
+#endif
+
+// Use the UART for Bluetooth in AT90USB configurations
+#if BOTH(IS_AT90USB, BLUETOOTH)
+  extern HardwareSerial bluetoothSerial;
+#endif

Marlin/src/HAL/AVR/Servo.cpp

@@ -0,0 +1,216 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ * Copyright (c) 2009 Michael Margolis.  All right reserved.
+ */
+
+/**
+ * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ * The servos are pulsed in the background using the value most recently written using the write() method
+ *
+ * Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+ * Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+ *
+ * The methods are:
+ *
+ * Servo - Class for manipulating servo motors connected to Arduino pins.
+ *
+ * attach(pin)           - Attach a servo motor to an i/o pin.
+ * attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
+ *                         Default min is 544, max is 2400
+ *
+ * write()               - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
+ * writeMicroseconds()   - Set the servo pulse width in microseconds.
+ * move(pin, angle)      - Sequence of attach(pin), write(angle), safe_delay(servo_delay[servoIndex]).
+ *                         With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
+ * read()                - Get the last-written servo pulse width as an angle between 0 and 180.
+ * readMicroseconds()    - Get the last-written servo pulse width in microseconds.
+ * attached()            - Return true if a servo is attached.
+ * detach()              - Stop an attached servo from pulsing its i/o pin.
+ */
+
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include <avr/interrupt.h>
+
+#include "../shared/servo.h"
+#include "../shared/servo_private.h"
+
+static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
+  if (Channel[timer] < 0)
+    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else {
+    if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
+      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
+  }
+
+  Channel[timer]++;    // increment to the next channel
+  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
+    if (SERVO(timer, Channel[timer]).Pin.isActive)    // check if activated
+      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL))    // allow a few ticks to ensure the next OCR1A not missed
+      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
+    else
+      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
+
+  // Interrupt handlers for Arduino
+  #ifdef _useTimer1
+    SIGNAL(TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
+  #endif
+
+  #ifdef _useTimer3
+    SIGNAL(TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
+  #endif
+
+  #ifdef _useTimer4
+    SIGNAL(TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); }
+  #endif
+
+  #ifdef _useTimer5
+    SIGNAL(TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); }
+  #endif
+
+#else // WIRING
+
+  // Interrupt handlers for Wiring
+  #ifdef _useTimer1
+    void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
+  #endif
+  #ifdef _useTimer3
+    void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
+  #endif
+
+#endif // WIRING
+
+/****************** end of static functions ******************************/
+
+void initISR(timer16_Sequence_t timer) {
+  #ifdef _useTimer1
+    if (timer == _timer1) {
+      TCCR1A = 0;             // normal counting mode
+      TCCR1B = _BV(CS11);     // set prescaler of 8
+      TCNT1 = 0;              // clear the timer count
+      #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
+        SBI(TIFR, OCF1A);      // clear any pending interrupts;
+        SBI(TIMSK, OCIE1A);    // enable the output compare interrupt
+      #else
+        // here if not ATmega8 or ATmega128
+        SBI(TIFR1, OCF1A);     // clear any pending interrupts;
+        SBI(TIMSK1, OCIE1A);   // enable the output compare interrupt
+      #endif
+      #ifdef WIRING
+        timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+      #endif
+    }
+  #endif
+
+  #ifdef _useTimer3
+    if (timer == _timer3) {
+      TCCR3A = 0;             // normal counting mode
+      TCCR3B = _BV(CS31);     // set prescaler of 8
+      TCNT3 = 0;              // clear the timer count
+      #ifdef __AVR_ATmega128__
+        SBI(TIFR, OCF3A);     // clear any pending interrupts;
+        SBI(ETIMSK, OCIE3A);  // enable the output compare interrupt
+      #else
+        SBI(TIFR3, OCF3A);   // clear any pending interrupts;
+        SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
+      #endif
+      #ifdef WIRING
+        timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+      #endif
+    }
+  #endif
+
+  #ifdef _useTimer4
+    if (timer == _timer4) {
+      TCCR4A = 0;             // normal counting mode
+      TCCR4B = _BV(CS41);     // set prescaler of 8
+      TCNT4 = 0;              // clear the timer count
+      TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+      TIMSK4 = _BV(OCIE4A);   // enable the output compare interrupt
+    }
+  #endif
+
+  #ifdef _useTimer5
+    if (timer == _timer5) {
+      TCCR5A = 0;             // normal counting mode
+      TCCR5B = _BV(CS51);     // set prescaler of 8
+      TCNT5 = 0;              // clear the timer count
+      TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+      TIMSK5 = _BV(OCIE5A);   // enable the output compare interrupt
+    }
+  #endif
+}
+
+void finISR(timer16_Sequence_t timer) {
+  // Disable use of the given timer
+  #ifdef WIRING
+    if (timer == _timer1) {
+      CBI(
+        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+          TIMSK1
+        #else
+          TIMSK
+        #endif
+          , OCIE1A);    // disable timer 1 output compare interrupt
+      timerDetach(TIMER1OUTCOMPAREA_INT);
+    }
+    else if (timer == _timer3) {
+      CBI(
+        #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+          TIMSK3
+        #else
+          ETIMSK
+        #endif
+          , OCIE3A);    // disable the timer3 output compare A interrupt
+      timerDetach(TIMER3OUTCOMPAREA_INT);
+    }
+  #else // !WIRING
+    // For arduino - in future: call here to a currently undefined function to reset the timer
+    UNUSED(timer);
+  #endif
+}
+
+#endif // HAS_SERVOS
+
+#endif // __AVR__

Marlin/src/HAL/AVR/ServoTimers.h

@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * ServoTimers.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ * Copyright (c) 2009 Michael Margolis.  All right reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/**
+ * Defines for 16 bit timers used with  Servo library
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ */
+
+/**
+ * AVR Only definitions
+ * --------------------
+ */
+
+#define TRIM_DURATION           2   // compensation ticks to trim adjust for digitalWrite delays
+#define SERVO_TIMER_PRESCALER   8   // timer prescaler
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+  //#define _useTimer1
+  #define _useTimer4
+  #if NUM_SERVOS > SERVOS_PER_TIMER
+    #define _useTimer3
+    #if !HAS_MOTOR_CURRENT_PWM && SERVOS > 2 * SERVOS_PER_TIMER
+      #define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
+    #endif
+  #endif
+#elif defined(__AVR_ATmega32U4__)
+  #define _useTimer3
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+  #define _useTimer3
+#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
+  #define _useTimer3
+#else
+  // everything else
+#endif
+
+typedef enum {
+  #ifdef _useTimer1
+    _timer1,
+  #endif
+  #ifdef _useTimer3
+    _timer3,
+  #endif
+  #ifdef _useTimer4
+    _timer4,
+  #endif
+  #ifdef _useTimer5
+    _timer5,
+  #endif
+  _Nbr_16timers
+} timer16_Sequence_t;

Marlin/src/HAL/AVR/eeprom.cpp

@@ -0,0 +1,74 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfig.h"
+
+#if EITHER(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE)
+
+/**
+ * PersistentStore for Arduino-style EEPROM interface
+ * with implementations supplied by the framework.
+ */
+
+#include "../shared/eeprom_api.h"
+
+#ifndef MARLIN_EEPROM_SIZE
+  #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
+#endif
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+bool PersistentStore::access_start()  { return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t v = *value;
+    // EEPROM has only ~100,000 write cycles,
+    // so only write bytes that have changed!
+    if (v != eeprom_read_byte(p)) {
+      eeprom_write_byte(p, v);
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+        return true;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  do {
+    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;  // always assume success for AVR's
+}
+
+#endif // EEPROM_SETTINGS || SD_FIRMWARE_UPDATE
+#endif // __AVR__

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -0,0 +1,261 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the temperature-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate either an
+ * 'external interrupt' or a 'pin change interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#include "../../module/endstops.h"
+
+#include <stdint.h>
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+/**
+ * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
+ *
+ * These macros for the Arduino MEGA do not include the two connected pins on Port J (D14, D15).
+ * So we extend them here because these are the normal pins for Y_MIN and Y_MAX on RAMPS.
+ * There are more PCI-enabled processor pins on Port J, but they are not connected to Arduino MEGA.
+ */
+#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
+
+  #define digitalPinHasPCICR(p)   (WITHIN(p, 10, 15) || WITHIN(p, 50, 53) || WITHIN(p, 62, 69))
+
+  #undef  digitalPinToPCICR
+  #define digitalPinToPCICR(p)    (digitalPinHasPCICR(p) ? (&PCICR) : nullptr)
+
+  #undef  digitalPinToPCICRbit
+  #define digitalPinToPCICRbit(p) (WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? 0 : \
+                                   WITHIN(p, 14, 15) ? 1 : \
+                                   WITHIN(p, 62, 69) ? 2 : \
+                                   0)
+
+  #undef  digitalPinToPCMSK
+  #define digitalPinToPCMSK(p)    (WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? (&PCMSK0) : \
+                                   WITHIN(p, 14, 15) ? (&PCMSK1) : \
+                                   WITHIN(p, 62, 69) ? (&PCMSK2) : \
+                                   nullptr)
+
+  #undef  digitalPinToPCMSKbit
+  #define digitalPinToPCMSKbit(p) (WITHIN(p, 10, 13) ? ((p) - 6) : \
+                                   (p) == 14 || (p) == 51 ? 2 : \
+                                   (p) == 15 || (p) == 52 ? 1 : \
+                                   (p) == 50 ? 3 : \
+                                   (p) == 53 ? 0 : \
+                                   WITHIN(p, 62, 69) ? ((p) - 62) : \
+                                   0)
+
+#elif defined(__AVR_ATmega164A__) || defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324A__) || \
+      defined(__AVR_ATmega324P__) || defined(__AVR_ATmega324PA__) || defined(__AVR_ATmega324PB__) || \
+      defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284__) || \
+      defined(__AVR_ATmega1284P__)
+
+  #define digitalPinHasPCICR(p)   WITHIN(p, 0, NUM_DIGITAL_PINS)
+
+#else
+
+  #error "Unsupported AVR variant!"
+
+#endif
+
+
+// Install Pin change interrupt for a pin. Can be called multiple times.
+void pciSetup(const int8_t pin) {
+  if (digitalPinHasPCICR(pin)) {
+    SBI(*digitalPinToPCMSK(pin), digitalPinToPCMSKbit(pin));  // enable pin
+    SBI(PCIFR, digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
+    SBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group
+  }
+}
+
+// Handlers for pin change interrupts
+#ifdef PCINT0_vect
+  ISR(PCINT0_vect) { endstop_ISR(); }
+#endif
+
+#ifdef PCINT1_vect
+  ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
+#endif
+
+#ifdef PCINT2_vect
+  ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
+#endif
+
+#ifdef PCINT3_vect
+  ISR(PCINT3_vect, ISR_ALIASOF(PCINT0_vect));
+#endif
+
+void setup_endstop_interrupts() {
+  #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE)
+  #if HAS_X_MAX
+    #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(X_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(X_MAX_PIN), "X_MAX_PIN is not interrupt-capable");
+      pciSetup(X_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_X_MIN
+    #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(X_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(X_MIN_PIN), "X_MIN_PIN is not interrupt-capable");
+      pciSetup(X_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Y_MAX
+    #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Y_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Y_MAX_PIN), "Y_MAX_PIN is not interrupt-capable");
+      pciSetup(Y_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Y_MIN
+    #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Y_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Y_MIN_PIN), "Y_MIN_PIN is not interrupt-capable");
+      pciSetup(Y_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Z_MAX
+    #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z_MAX_PIN), "Z_MAX_PIN is not interrupt-capable");
+      pciSetup(Z_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Z_MIN
+    #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z_MIN_PIN), "Z_MIN_PIN is not interrupt-capable");
+      pciSetup(Z_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_X2_MAX
+    #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(X2_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(X2_MAX_PIN), "X2_MAX_PIN is not interrupt-capable");
+      pciSetup(X2_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_X2_MIN
+    #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(X2_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(X2_MIN_PIN), "X2_MIN_PIN is not interrupt-capable");
+      pciSetup(X2_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Y2_MAX
+    #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Y2_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Y2_MAX_PIN), "Y2_MAX_PIN is not interrupt-capable");
+      pciSetup(Y2_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Y2_MIN
+    #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Y2_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Y2_MIN_PIN), "Y2_MIN_PIN is not interrupt-capable");
+      pciSetup(Y2_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Z2_MAX
+    #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z2_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z2_MAX_PIN), "Z2_MAX_PIN is not interrupt-capable");
+      pciSetup(Z2_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Z2_MIN
+    #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z2_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z2_MIN_PIN), "Z2_MIN_PIN is not interrupt-capable");
+      pciSetup(Z2_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Z3_MAX
+    #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z3_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable");
+      pciSetup(Z3_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Z3_MIN
+    #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z3_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable");
+      pciSetup(Z3_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Z4_MAX
+    #if (digitalPinToInterrupt(Z4_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z4_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z4_MAX_PIN), "Z4_MAX_PIN is not interrupt-capable");
+      pciSetup(Z4_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Z4_MIN
+    #if (digitalPinToInterrupt(Z4_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z4_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z4_MIN_PIN), "Z4_MIN_PIN is not interrupt-capable");
+      pciSetup(Z4_MIN_PIN);
+    #endif
+  #endif
+  #if HAS_Z_MIN_PROBE_PIN
+    #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z_MIN_PROBE_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z_MIN_PROBE_PIN), "Z_MIN_PROBE_PIN is not interrupt-capable");
+      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

@@ -0,0 +1,282 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
+
+#include "HAL.h"
+
+struct Timer {
+  volatile uint8_t* TCCRnQ[3];  // max 3 TCCR registers per timer
+  volatile uint16_t* OCRnQ[3];  // max 3 OCR registers per 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)
+};
+
+/**
+ * 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
+ */
+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:
+    #endif
+    #ifdef TCCR1A
+      case TIMER1A: case TIMER1B:
+    #endif
+                                        break;
+    #if defined(TCCR2) || defined(TCCR2A)
+      #ifdef TCCR2
+        case TIMER2: {
+          Timer timer = {
+            /*TCCRnQ*/  { &TCCR2, nullptr, nullptr },
+            /*OCRnQ*/   { (uint16_t*)&OCR2, nullptr, nullptr },
+            /*ICRn*/      nullptr,
+            /*n, q*/      2, 0
+          };
+        }
+      #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
+    #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;
+      }
+    #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;
+      }
+    #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;
+      }
+    #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;
+      }
+    #endif
+  }
+  Timer timer = {
+      /*TCCRnQ*/  { nullptr, nullptr, nullptr },
+      /*OCRnQ*/   { nullptr, nullptr, nullptr },
+      /*ICRn*/      nullptr,
+                    0, 0
+  };
+  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 recognised
+  uint16_t size;
+  if (timer.n == 2) size = 255; else size = 65535;
+
+  uint16_t res = 255;   // resolution (TOP value)
+  uint8_t j = 0;        // prescaler index
+  uint8_t wgm = 1;      // 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;
+        #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;
+      }
+
+      LIMIT(res_temp_fast, 1U, size);
+      LIMIT(res_temp_phase_correct, 1U, size);
+      // 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);
+
+      // 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;
+        // Set the Wave Generation Mode to FAST PWM
+        if (timer.n == 2) {
+          wgm = (
+            #if ENABLED(USE_OCR2A_AS_TOP)
+              WGM2_FAST_PWM_OCR2A
+            #else
+              WGM2_FAST_PWM
+            #endif
+          );
+        }
+        else wgm = WGM_FAST_PWM_ICRn;
+      }
+      // 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;
+        // Set the Wave Generation Mode to PWM PHASE CORRECT
+        if (timer.n == 2) {
+          wgm = (
+            #if ENABLED(USE_OCR2A_AS_TOP)
+              WGM2_PWM_PC_OCR2A
+            #else
+              WGM2_PWM_PC
+            #endif
+          );
+        }
+        else wgm = WGM_PWM_PC_ICRn;
+      }
+    }
+  }
+  _SET_WGMnQ(timer.TCCRnQ, wgm);
+  _SET_CSn(timer.TCCRnQ, j);
+
+  if (timer.n == 2) {
+    #if ENABLED(USE_OCR2A_AS_TOP)
+      _SET_OCRnQ(timer.OCRnQ, 0, res);  // Set OCR2A value (TOP) = res
+    #endif
+  }
+  else
+    _SET_ICRn(timer.ICRn, res);         // Set ICRn value (TOP) = res
+}
+
+void 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)
+  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 recognised
+    // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted)
+    _SET_COMnQ(timer.TCCRnQ, (timer.q
+        #ifdef TCCR2
+          + (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro
+        #endif
+      ), COM_CLEAR_SET + invert
+    );
+
+    uint16_t top;
+    if (timer.n == 2) { // if TIMER2
+      top = (
+        #if ENABLED(USE_OCR2A_AS_TOP)
+          *timer.OCRnQ[0] // top = OCR2A
+        #else
+          255 // top = 0xFF (max)
+        #endif
+      );
+    }
+    else
+      top = *timer.ICRn; // top = ICRn
+
+    _SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top) / float(v_size)); // Scale 8/16-bit v to top value
+  }
+}
+
+#endif // NEEDS_HARDWARE_PWM
+#endif // __AVR__

Marlin/src/HAL/AVR/fastio.cpp

@@ -0,0 +1,288 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Fast I/O for extended pins
+ */
+
+#ifdef __AVR__
+
+#include "fastio.h"
+
+#ifdef FASTIO_EXT_START
+
+#include "../shared/Marduino.h"
+
+#define _IS_EXT(P) WITHIN(P, FASTIO_EXT_START, FASTIO_EXT_END)
+
+void extDigitalWrite(const int8_t pin, const uint8_t state) {
+  #define _WCASE(N) case N: WRITE(N, state); break
+  switch (pin) {
+    default: digitalWrite(pin, state);
+    #if _IS_EXT(70)
+      _WCASE(70);
+    #endif
+    #if _IS_EXT(71)
+      _WCASE(71);
+    #endif
+    #if _IS_EXT(72)
+      _WCASE(72);
+    #endif
+    #if _IS_EXT(73)
+      _WCASE(73);
+    #endif
+    #if _IS_EXT(74)
+      _WCASE(74);
+    #endif
+    #if _IS_EXT(75)
+      _WCASE(75);
+    #endif
+    #if _IS_EXT(76)
+      _WCASE(76);
+    #endif
+    #if _IS_EXT(77)
+      _WCASE(77);
+    #endif
+    #if _IS_EXT(78)
+      _WCASE(78);
+    #endif
+    #if _IS_EXT(79)
+      _WCASE(79);
+    #endif
+    #if _IS_EXT(80)
+      _WCASE(80);
+    #endif
+    #if _IS_EXT(81)
+      _WCASE(81);
+    #endif
+    #if _IS_EXT(82)
+      _WCASE(82);
+    #endif
+    #if _IS_EXT(83)
+      _WCASE(83);
+    #endif
+    #if _IS_EXT(84)
+      _WCASE(84);
+    #endif
+    #if _IS_EXT(85)
+      _WCASE(85);
+    #endif
+    #if _IS_EXT(86)
+      _WCASE(86);
+    #endif
+    #if _IS_EXT(87)
+      _WCASE(87);
+    #endif
+    #if _IS_EXT(88)
+      _WCASE(88);
+    #endif
+    #if _IS_EXT(89)
+      _WCASE(89);
+    #endif
+    #if _IS_EXT(90)
+      _WCASE(90);
+    #endif
+    #if _IS_EXT(91)
+      _WCASE(91);
+    #endif
+    #if _IS_EXT(92)
+      _WCASE(92);
+    #endif
+    #if _IS_EXT(93)
+      _WCASE(93);
+    #endif
+    #if _IS_EXT(94)
+      _WCASE(94);
+    #endif
+    #if _IS_EXT(95)
+      _WCASE(95);
+    #endif
+    #if _IS_EXT(96)
+      _WCASE(96);
+    #endif
+    #if _IS_EXT(97)
+      _WCASE(97);
+    #endif
+    #if _IS_EXT(98)
+      _WCASE(98);
+    #endif
+    #if _IS_EXT(99)
+      _WCASE(99);
+    #endif
+    #if _IS_EXT(100)
+      _WCASE(100);
+    #endif
+  }
+}
+
+uint8_t extDigitalRead(const int8_t pin) {
+  #define _RCASE(N) case N: return READ(N)
+  switch (pin) {
+    default: return digitalRead(pin);
+    #if _IS_EXT(70)
+      _RCASE(70);
+    #endif
+    #if _IS_EXT(71)
+      _RCASE(71);
+    #endif
+    #if _IS_EXT(72)
+      _RCASE(72);
+    #endif
+    #if _IS_EXT(73)
+      _RCASE(73);
+    #endif
+    #if _IS_EXT(74)
+      _RCASE(74);
+    #endif
+    #if _IS_EXT(75)
+      _RCASE(75);
+    #endif
+    #if _IS_EXT(76)
+      _RCASE(76);
+    #endif
+    #if _IS_EXT(77)
+      _RCASE(77);
+    #endif
+    #if _IS_EXT(78)
+      _RCASE(78);
+    #endif
+    #if _IS_EXT(79)
+      _RCASE(79);
+    #endif
+    #if _IS_EXT(80)
+      _RCASE(80);
+    #endif
+    #if _IS_EXT(81)
+      _RCASE(81);
+    #endif
+    #if _IS_EXT(82)
+      _RCASE(82);
+    #endif
+    #if _IS_EXT(83)
+      _RCASE(83);
+    #endif
+    #if _IS_EXT(84)
+      _RCASE(84);
+    #endif
+    #if _IS_EXT(85)
+      _RCASE(85);
+    #endif
+    #if _IS_EXT(86)
+      _RCASE(86);
+    #endif
+    #if _IS_EXT(87)
+      _RCASE(87);
+    #endif
+    #if _IS_EXT(88)
+      _RCASE(88);
+    #endif
+    #if _IS_EXT(89)
+      _RCASE(89);
+    #endif
+    #if _IS_EXT(90)
+      _RCASE(90);
+    #endif
+    #if _IS_EXT(91)
+      _RCASE(91);
+    #endif
+    #if _IS_EXT(92)
+      _RCASE(92);
+    #endif
+    #if _IS_EXT(93)
+      _RCASE(93);
+    #endif
+    #if _IS_EXT(94)
+      _RCASE(94);
+    #endif
+    #if _IS_EXT(95)
+      _RCASE(95);
+    #endif
+    #if _IS_EXT(96)
+      _RCASE(96);
+    #endif
+    #if _IS_EXT(97)
+      _RCASE(97);
+    #endif
+    #if _IS_EXT(98)
+      _RCASE(98);
+    #endif
+    #if _IS_EXT(99)
+      _RCASE(99);
+    #endif
+    #if _IS_EXT(100)
+      _RCASE(100);
+    #endif
+  }
+}
+
+#if 0
+/**
+ * Set Timer 5 PWM frequency in Hz, from 3.8Hz up to ~16MHz
+ * with a minimum resolution of 100 steps.
+ *
+ * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
+ */
+uint16_t set_pwm_frequency_hz(const float &hz, const float dca, const float dcb, const float dcc) {
+  float count = 0;
+  if (hz > 0 && (dca || dcb || dcc)) {
+    count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
+    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); }
+    else if (count >= 255. * 8.)   { prescaler = 64;   SET_CS(5,   PRESCALER_64); }
+    else if (count >= 255.)        { prescaler = 8;    SET_CS(5,    PRESCALER_8); }
+    else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }
+
+    count /= float(prescaler);
+    const float pwm_top = round(count);   // Get the rounded count
+
+    ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
+    OCR5A = pwm_top * ABS(dca);          // Update and scale DCs
+    OCR5B = pwm_top * ABS(dcb);
+    OCR5C = pwm_top * ABS(dcc);
+    _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
+    _SET_COM(5, B, dcb ? (dcb < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL);
+    _SET_COM(5, C, dcc ? (dcc < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL);
+
+    SET_WGM(5, FAST_PWM_ICRn);            // Fast PWM with ICR5 as TOP
+
+    //SERIAL_ECHOLNPGM("Timer 5 Settings:");
+    //SERIAL_ECHOLNPAIR("  Prescaler=", prescaler);
+    //SERIAL_ECHOLNPAIR("        TOP=", ICR5);
+    //SERIAL_ECHOLNPAIR("      OCR5A=", OCR5A);
+    //SERIAL_ECHOLNPAIR("      OCR5B=", OCR5B);
+    //SERIAL_ECHOLNPAIR("      OCR5C=", OCR5C);
+  }
+  else {
+    // 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
+    OCR5A = OCR5B = OCR5C = 0;
+  }
+  return round(count);
+}
+#endif
+
+#endif // FASTIO_EXT_START
+#endif // __AVR__

Marlin/src/HAL/AVR/fastio.h

@@ -0,0 +1,373 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Fast I/O Routines for AVR
+ * Use direct port manipulation to save scads of processor time.
+ * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
+ */
+
+#include <avr/io.h>
+
+#if defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB1286P__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB646P__) || defined(__AVR_AT90USB647__)
+  #define AVR_AT90USB1286_FAMILY 1
+#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+  #define AVR_ATmega1284_FAMILY 1
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+  #define AVR_ATmega2560_FAMILY 1
+#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+  #define AVR_ATmega2561_FAMILY 1
+#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
+  #define AVR_ATmega328_FAMILY 1
+#endif
+
+/**
+ * Include Ports and Functions
+ */
+#if AVR_ATmega328_FAMILY
+  #include "fastio/fastio_168.h"
+#elif AVR_ATmega1284_FAMILY
+  #include "fastio/fastio_644.h"
+#elif AVR_ATmega2560_FAMILY
+  #include "fastio/fastio_1280.h"
+#elif AVR_AT90USB1286_FAMILY
+  #include "fastio/fastio_AT90USB.h"
+#elif AVR_ATmega2561_FAMILY
+  #include "fastio/fastio_1281.h"
+#else
+  #error "No FastIO definition for the selected AVR Board."
+#endif
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
+ *
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+ */
+
+#define _READ(IO)             TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
+
+#define _WRITE_NC(IO,V) do{ \
+  if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
+  else   CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
+}while(0)
+
+#define _WRITE_C(IO,V) do{ \
+  uint8_t port_bits = DIO ## IO ## _WPORT;                  /* Get a mask from the current port bits */ \
+  if (V) port_bits = ~port_bits;                            /* For setting bits, invert the mask */ \
+  DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
+}while(0)
+
+#define _WRITE(IO,V)          do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
+
+#define _TOGGLE(IO)           (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
+
+#define _SET_INPUT(IO)        CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+#define _SET_OUTPUT(IO)       SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+
+#define _IS_INPUT(IO)         !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+#define _IS_OUTPUT(IO)        TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+
+// digitalRead/Write wrappers
+#ifdef FASTIO_EXT_START
+  void extDigitalWrite(const int8_t pin, const uint8_t state);
+  uint8_t extDigitalRead(const int8_t pin);
+#else
+  #define extDigitalWrite(IO,V) digitalWrite(IO,V)
+  #define extDigitalRead(IO)    digitalRead(IO)
+#endif
+
+#define READ(IO)              _READ(IO)
+#define WRITE(IO,V)           _WRITE(IO,V)
+#define TOGGLE(IO)            _TOGGLE(IO)
+
+#define SET_INPUT(IO)         _SET_INPUT(IO)
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
+#define SET_INPUT_PULLDOWN    SET_INPUT
+#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
+#define SET_PWM               SET_OUTPUT
+
+#define IS_INPUT(IO)          _IS_INPUT(IO)
+#define IS_OUTPUT(IO)         _IS_OUTPUT(IO)
+
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
+/**
+ * Timer and Interrupt Control
+ */
+
+// Waveform Generation Modes
+enum WaveGenMode : char {
+  WGM_NORMAL,          //  0
+  WGM_PWM_PC_8,        //  1
+  WGM_PWM_PC_9,        //  2
+  WGM_PWM_PC_10,       //  3
+  WGM_CTC_OCRnA,       //  4  COM OCnx
+  WGM_FAST_PWM_8,      //  5
+  WGM_FAST_PWM_9,      //  6
+  WGM_FAST_PWM_10,     //  7
+  WGM_PWM_PC_FC_ICRn,  //  8
+  WGM_PWM_PC_FC_OCRnA, //  9  COM OCnA
+  WGM_PWM_PC_ICRn,     // 10
+  WGM_PWM_PC_OCRnA,    // 11  COM OCnA
+  WGM_CTC_ICRn,        // 12  COM OCnx
+  WGM_reserved,        // 13
+  WGM_FAST_PWM_ICRn,   // 14  COM OCnA
+  WGM_FAST_PWM_OCRnA   // 15  COM OCnA
+};
+
+// Wavefore Generation Modes (Timer 2 only)
+enum WaveGenMode2 : char {
+  WGM2_NORMAL,          // 0
+  WGM2_PWM_PC,          // 1
+  WGM2_CTC_OCR2A,       // 2
+  WGM2_FAST_PWM,        // 3
+  WGM2_reserved_1,      // 4
+  WGM2_PWM_PC_OCR2A,    // 5
+  WGM2_reserved_2,      // 6
+  WGM2_FAST_PWM_OCR2A,  // 7
+};
+
+// Compare Modes
+enum CompareMode : char {
+  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
+  COM_SET_CLEAR        //  3  Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
+};
+
+// Clock Sources
+enum ClockSource : char {
+  CS_NONE,             //  0
+  CS_PRESCALER_1,      //  1
+  CS_PRESCALER_8,      //  2
+  CS_PRESCALER_64,     //  3
+  CS_PRESCALER_256,    //  4
+  CS_PRESCALER_1024,   //  5
+  CS_EXT_FALLING,      //  6
+  CS_EXT_RISING        //  7
+};
+
+// Clock Sources (Timer 2 only)
+enum ClockSource2 : char {
+  CS2_NONE,            //  0
+  CS2_PRESCALER_1,     //  1
+  CS2_PRESCALER_8,     //  2
+  CS2_PRESCALER_32,    //  3
+  CS2_PRESCALER_64,    //  4
+  CS2_PRESCALER_128,   //  5
+  CS2_PRESCALER_256,   //  6
+  CS2_PRESCALER_1024   //  7
+};
+
+// Get interrupt bits in an orderly way
+// Ex: cs = GET_CS(0); coma1 = GET_COM(A,1);
+#define GET_WGM(T)   (((TCCR##T##A >> WGM##T##0) & 0x3) | ((TCCR##T##B >> WGM##T##2 << 2) & 0xC))
+#define GET_CS(T)    ((TCCR##T##B >> CS##T##0) & 0x7)
+#define GET_COM(T,Q) ((TCCR##T##Q >> COM##T##Q##0) & 0x3)
+#define GET_COMA(T)  GET_COM(T,A)
+#define GET_COMB(T)  GET_COM(T,B)
+#define GET_COMC(T)  GET_COM(T,C)
+#define GET_ICNC(T)  (!!(TCCR##T##B & _BV(ICNC##T)))
+#define GET_ICES(T)  (!!(TCCR##T##B & _BV(ICES##T)))
+#define GET_FOC(T,Q) (!!(TCCR##T##C & _BV(FOC##T##Q)))
+#define GET_FOCA(T)  GET_FOC(T,A)
+#define GET_FOCB(T)  GET_FOC(T,B)
+#define GET_FOCC(T)  GET_FOC(T,C)
+
+// Set Wave Generation Mode bits
+// Ex: SET_WGM(5,CTC_ICRn);
+#define _SET_WGM(T,V) do{ \
+    TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V)       & 0x3) << WGM##T##0); \
+    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);
+#define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0))
+#define _SET_CS0(V) _SET_CS(0,V)
+#define _SET_CS1(V) _SET_CS(1,V)
+#ifdef TCCR2
+  #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20))
+#else
+  #define _SET_CS2(V) _SET_CS(2,V)
+#endif
+#define _SET_CS3(V) _SET_CS(3,V)
+#define _SET_CS4(V) _SET_CS(4,V)
+#define _SET_CS5(V) _SET_CS(5,V)
+#define SET_CS0(V) _SET_CS0(CS_##V)
+#define SET_CS1(V) _SET_CS1(CS_##V)
+#ifdef TCCR2
+  #define SET_CS2(V) _SET_CS2(CS2_##V)
+#else
+  #define SET_CS2(V) _SET_CS2(CS_##V)
+#endif
+#define SET_CS3(V) _SET_CS3(CS_##V)
+#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) do{ \
+    (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \
+  }while(0)
+
+// Set Compare Mode bits
+// Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET);
+#define _SET_COM(T,Q,V) (TCCR##T##Q = (TCCR##T##Q & ~(0x3 << COM##T##Q##0)) | (int(V) << COM##T##Q##0))
+#define SET_COM(T,Q,V) _SET_COM(T,Q,COM_##V)
+#define SET_COMA(T,V) SET_COM(T,A,V)
+#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) do{ \
+    (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \
+  }while(0)
+
+// Set OCRnQ register
+// Runtime (see set_pwm_duty):
+#define _SET_OCRnQ(OCRnQ, Q, V) do{ \
+    (*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \
+  }while(0)
+
+// Set ICRn register (one per timer)
+// Runtime (see set_pwm_frequency)
+#define _SET_ICRn(ICRn, V) do{ \
+    (*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \
+  }while(0)
+
+// Set Noise Canceler bit
+// Ex: SET_ICNC(2,1)
+#define SET_ICNC(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICNC##T) : TCCR##T##B & ~_BV(ICNC##T))
+
+// Set Input Capture Edge Select bit
+// Ex: SET_ICES(5,0)
+#define SET_ICES(T,V) (TCCR##T##B = (V) ? TCCR##T##B | _BV(ICES##T) : TCCR##T##B & ~_BV(ICES##T))
+
+// Set Force Output Compare bit
+// Ex: SET_FOC(3,A,1)
+#define SET_FOC(T,Q,V) (TCCR##T##C = (V) ? TCCR##T##C | _BV(FOC##T##Q) : TCCR##T##C & ~_BV(FOC##T##Q))
+#define SET_FOCA(T,V) SET_FOC(T,A,V)
+#define SET_FOCB(T,V) SET_FOC(T,B,V)
+#define SET_FOCC(T,V) SET_FOC(T,C,V)
+
+#if 0
+
+/**
+ * PWM availability macros
+ */
+
+// Determine which harware PWMs are already in use
+#define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN)
+#if PIN_EXISTS(CONTROLLER_FAN)
+  #define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN)
+#else
+  #define PWM_CHK_FAN_B(P) _PWM_CHK_FAN_B(P)
+#endif
+
+#if ANY_PIN(FAN, FAN1, FAN2, FAN3, FAN4, FAN5, FAN6, FAN7)
+  #if PIN_EXISTS(FAN7)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN || P == FAN7_PIN)
+  #elif PIN_EXISTS(FAN6)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN || P == FAN6_PIN)
+  #elif PIN_EXISTS(FAN5)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN || P == FAN5_PIN)
+  #elif PIN_EXISTS(FAN4)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN || P == FAN4_PIN)
+  #elif PIN_EXISTS(FAN3)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN || P == FAN3_PIN)
+  #elif PIN_EXISTS(FAN2)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN || P == FAN2_PIN)
+  #elif PIN_EXISTS(FAN1)
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN || P == FAN1_PIN)
+  #else
+    #define PWM_CHK_FAN_A(P) (P == FAN0_PIN)
+  #endif
+#else
+  #define PWM_CHK_FAN_A(P) false
+#endif
+
+#if HAS_MOTOR_CURRENT_PWM
+  #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY)
+  #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z)
+  #else
+    #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E)
+  #endif
+#else
+  #define PWM_CHK_MOTOR_CURRENT(P) false
+#endif
+
+#ifdef NUM_SERVOS
+  #if AVR_ATmega2560_FAMILY
+    #define PWM_CHK_SERVO(P) (P == 5 || (NUM_SERVOS > 12 && P == 6) || (NUM_SERVOS > 24 && P == 46))  // PWMS 3A, 4A & 5A
+  #elif AVR_ATmega2561_FAMILY
+    #define PWM_CHK_SERVO(P)   (P == 5)  // PWM3A
+  #elif AVR_ATmega1284_FAMILY
+    #define PWM_CHK_SERVO(P)   false
+  #elif AVR_AT90USB1286_FAMILY
+    #define PWM_CHK_SERVO(P)   (P == 16) // PWM3A
+  #elif AVR_ATmega328_FAMILY
+    #define PWM_CHK_SERVO(P)   false
+  #endif
+#else
+  #define PWM_CHK_SERVO(P) false
+#endif
+
+#if ENABLED(BARICUDA)
+  #if HAS_HEATER_1 && HAS_HEATER_2
+    #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN || P == HEATER_2_PIN)
+  #elif HAS_HEATER_1
+    #define PWM_CHK_HEATER(P) (P == HEATER_1_PIN)
+  #endif
+#else
+    #define PWM_CHK_HEATER(P) false
+#endif
+
+#define PWM_CHK(P) (PWM_CHK_HEATER(P) || PWM_CHK_SERVO(P) || PWM_CHK_MOTOR_CURRENT(P) || PWM_CHK_FAN_A(P) || PWM_CHK_FAN_B(P))
+
+#endif // PWM_CHK is not used in Marlin
+
+// define which hardware PWMs are available for the current CPU
+// all timer 1 PWMS deleted from this list because they are never available
+#if AVR_ATmega2560_FAMILY
+  #define PWM_PIN(P)  ((P >= 2 && P <= 10) || P == 13 || P == 44 || P == 45 || P == 46)
+#elif AVR_ATmega2561_FAMILY
+  #define PWM_PIN(P)  ((P >= 2 && P <= 6) || P == 9)
+#elif AVR_ATmega1284_FAMILY
+  #define PWM_PIN(P)  (P == 3 || P == 4 || P == 14 || P == 15)
+#elif AVR_AT90USB1286_FAMILY
+  #define PWM_PIN(P)  (P == 0 || P == 1 || P == 14 || P == 15 || P == 16 || P == 24)
+#elif AVR_ATmega328_FAMILY
+  #define PWM_PIN(P)  (P == 3 || P == 5 || P == 6 || P == 11)
+#else
+  #error "unknown CPU"
+#endif

Marlin/src/HAL/AVR/fastio/fastio_1281.h

@@ -1,9 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * 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
@@ -16,9 +16,10 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * Pin mapping for the 1281 and 2561
@@ -27,10 +28,7 @@
  *   Port:        A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7 G0 G1 G2 G3 G4 G5
  */
 
-#ifndef _FASTIO_1281_H_
-#define _FASTIO_1281_H_
-
-#include "fastio_AVR.h"
+#include "../fastio.h"
 
 // change for your board
 #define DEBUG_LED   DIO46
@@ -65,13 +63,13 @@
 #define DIO0_RPORT  PINE
 #define DIO0_WPORT  PORTE
 #define DIO0_DDR    DDRE
-#define DIO0_PWM    NULL
+#define DIO0_PWM    nullptr
 
 #define DIO1_PIN    PINE1
 #define DIO1_RPORT  PINE
 #define DIO1_WPORT  PORTE
 #define DIO1_DDR    DDRE
-#define DIO1_PWM    NULL
+#define DIO1_PWM    nullptr
 
 #define DIO2_PIN    PINE4
 #define DIO2_RPORT  PINE
@@ -125,339 +123,339 @@
 #define DIO10_RPORT PINB
 #define DIO10_WPORT PORTB
 #define DIO10_DDR   DDRB
-#define DIO10_PWM   NULL
+#define DIO10_PWM   nullptr
 
 #define DIO11_PIN   PINB2
 #define DIO11_RPORT PINB
 #define DIO11_WPORT PORTB
 #define DIO11_DDR   DDRB
-#define DIO11_PWM   NULL
+#define DIO11_PWM   nullptr
 
 #define DIO12_PIN   PINB3
 #define DIO12_RPORT PINB
 #define DIO12_WPORT PORTB
 #define DIO12_DDR   DDRB
-#define DIO12_PWM   NULL
+#define DIO12_PWM   nullptr
 
 #define DIO13_PIN   PINE2
 #define DIO13_RPORT PINE
 #define DIO13_WPORT PORTE
 #define DIO13_DDR   DDRE
-#define DIO13_PWM   NULL
+#define DIO13_PWM   nullptr
 
 #define DIO14_PIN   PINE6
 #define DIO14_RPORT PINE
 #define DIO14_WPORT PORTE
 #define DIO14_DDR   DDRE
-#define DIO14_PWM   NULL
+#define DIO14_PWM   nullptr
 
 #define DIO15_PIN   PINE7
 #define DIO15_RPORT PINE
 #define DIO15_WPORT PORTE
 #define DIO15_DDR   DDRE
-#define DIO15_PWM   NULL
+#define DIO15_PWM   nullptr
 
 #define DIO16_PIN   PINB0
 #define DIO16_RPORT PINB
 #define DIO16_WPORT PORTB
 #define DIO16_DDR   DDRB
-#define DIO16_PWM   NULL
+#define DIO16_PWM   nullptr
 
 #define DIO17_PIN   PIND0
 #define DIO17_RPORT PIND
 #define DIO17_WPORT PORTD
 #define DIO17_DDR   DDRD
-#define DIO17_PWM   NULL
+#define DIO17_PWM   nullptr
 
 #define DIO18_PIN   PIND1
 #define DIO18_RPORT PIND
 #define DIO18_WPORT PORTD
 #define DIO18_DDR   DDRD
-#define DIO18_PWM   NULL
+#define DIO18_PWM   nullptr
 
 #define DIO19_PIN   PIND2
 #define DIO19_RPORT PIND
 #define DIO19_WPORT PORTD
 #define DIO19_DDR   DDRD
-#define DIO19_PWM   NULL
+#define DIO19_PWM   nullptr
 
 #define DIO20_PIN   PIND3
 #define DIO20_RPORT PIND
 #define DIO20_WPORT PORTD
 #define DIO20_DDR   DDRD
-#define DIO20_PWM   NULL
+#define DIO20_PWM   nullptr
 
 #define DIO21_PIN   PIND4
 #define DIO21_RPORT PIND
 #define DIO21_WPORT PORTD
 #define DIO21_DDR   DDRD
-#define DIO21_PWM   NULL
+#define DIO21_PWM   nullptr
 
 #define DIO22_PIN   PIND5
 #define DIO22_RPORT PIND
 #define DIO22_WPORT PORTD
 #define DIO22_DDR   DDRD
-#define DIO22_PWM   NULL
+#define DIO22_PWM   nullptr
 
 #define DIO23_PIN   PIND6
 #define DIO23_RPORT PIND
 #define DIO23_WPORT PORTD
 #define DIO23_DDR   DDRD
-#define DIO23_PWM   NULL
+#define DIO23_PWM   nullptr
 
 #define DIO24_PIN   PIND7
 #define DIO24_RPORT PIND
 #define DIO24_WPORT PORTD
 #define DIO24_DDR   DDRD
-#define DIO24_PWM   NULL
+#define DIO24_PWM   nullptr
 
 #define DIO25_PIN   PING0
 #define DIO25_RPORT PING
 #define DIO25_WPORT PORTG
 #define DIO25_DDR   DDRG
-#define DIO25_PWM   NULL
+#define DIO25_PWM   nullptr
 
 #define DIO26_PIN   PING1
 #define DIO26_RPORT PING
 #define DIO26_WPORT PORTG
 #define DIO26_DDR   DDRG
-#define DIO26_PWM   NULL
+#define DIO26_PWM   nullptr
 
 #define DIO27_PIN   PING2
 #define DIO27_RPORT PING
 #define DIO27_WPORT PORTG
 #define DIO27_DDR   DDRG
-#define DIO27_PWM   NULL
+#define DIO27_PWM   nullptr
 
 #define DIO28_PIN   PING3
 #define DIO28_RPORT PING
 #define DIO28_WPORT PORTG
 #define DIO28_DDR   DDRG
-#define DIO28_PWM   NULL
+#define DIO28_PWM   nullptr
 
 #define DIO29_PIN   PING4
 #define DIO29_RPORT PING
 #define DIO29_WPORT PORTG
 #define DIO29_DDR   DDRG
-#define DIO29_PWM   NULL
+#define DIO29_PWM   nullptr
 
 #define DIO30_PIN   PINC0
 #define DIO30_RPORT PINC
 #define DIO30_WPORT PORTC
 #define DIO30_DDR   DDRC
-#define DIO30_PWM   NULL
+#define DIO30_PWM   nullptr
 
 #define DIO31_PIN   PINC1
 #define DIO31_RPORT PINC
 #define DIO31_WPORT PORTC
 #define DIO31_DDR   DDRC
-#define DIO31_PWM   NULL
+#define DIO31_PWM   nullptr
 
 #define DIO32_PIN   PINC2
 #define DIO32_RPORT PINC
 #define DIO32_WPORT PORTC
 #define DIO32_DDR   DDRC
-#define DIO32_PWM   NULL
+#define DIO32_PWM   nullptr
 
 #define DIO33_PIN   PINC3
 #define DIO33_RPORT PINC
 #define DIO33_WPORT PORTC
 #define DIO33_DDR   DDRC
-#define DIO33_PWM   NULL
+#define DIO33_PWM   nullptr
 
 #define DIO34_PIN   PINC4
 #define DIO34_RPORT PINC
 #define DIO34_WPORT PORTC
 #define DIO34_DDR   DDRC
-#define DIO34_PWM   NULL
+#define DIO34_PWM   nullptr
 
 #define DIO35_PIN   PINC5
 #define DIO35_RPORT PINC
 #define DIO35_WPORT PORTC
 #define DIO35_DDR   DDRC
-#define DIO35_PWM   NULL
+#define DIO35_PWM   nullptr
 
 #define DIO36_PIN   PINC6
 #define DIO36_RPORT PINC
 #define DIO36_WPORT PORTC
 #define DIO36_DDR   DDRC
-#define DIO36_PWM   NULL
+#define DIO36_PWM   nullptr
 
 #define DIO37_PIN   PINC7
 #define DIO37_RPORT PINC
 #define DIO37_WPORT PORTC
 #define DIO37_DDR   DDRC
-#define DIO37_PWM   NULL
+#define DIO37_PWM   nullptr
 
 #define DIO38_PIN   PINA0
 #define DIO38_RPORT PINA
 #define DIO38_WPORT PORTA
 #define DIO38_DDR   DDRA
-#define DIO38_PWM   NULL
+#define DIO38_PWM   nullptr
 
 #define DIO39_PIN   PINA1
 #define DIO39_RPORT PINA
 #define DIO39_WPORT PORTA
 #define DIO39_DDR   DDRA
-#define DIO39_PWM   NULL
+#define DIO39_PWM   nullptr
 
 #define DIO40_PIN   PINA2
 #define DIO40_RPORT PINA
 #define DIO40_WPORT PORTA
 #define DIO40_DDR   DDRA
-#define DIO40_PWM   NULL
+#define DIO40_PWM   nullptr
 
 #define DIO41_PIN   PINA3
 #define DIO41_RPORT PINA
 #define DIO41_WPORT PORTA
 #define DIO41_DDR   DDRA
-#define DIO41_PWM   NULL
+#define DIO41_PWM   nullptr
 
 #define DIO42_PIN   PINA4
 #define DIO42_RPORT PINA
 #define DIO42_WPORT PORTA
 #define DIO42_DDR   DDRA
-#define DIO42_PWM   NULL
+#define DIO42_PWM   nullptr
 
 #define DIO43_PIN   PINA5
 #define DIO43_RPORT PINA
 #define DIO43_WPORT PORTA
 #define DIO43_DDR   DDRA
-#define DIO43_PWM   NULL
+#define DIO43_PWM   nullptr
 
 #define DIO44_PIN   PINA6
 #define DIO44_RPORT PINA
 #define DIO44_WPORT PORTA
 #define DIO44_DDR   DDRA
-#define DIO44_PWM   NULL
+#define DIO44_PWM   nullptr
 
 #define DIO45_PIN   PINA7
 #define DIO45_RPORT PINA
 #define DIO45_WPORT PORTA
 #define DIO45_DDR   DDRA
-#define DIO45_PWM   NULL
+#define DIO45_PWM   nullptr
 
 #define DIO46_PIN   PINF0
 #define DIO46_RPORT PINF
 #define DIO46_WPORT PORTF
 #define DIO46_DDR   DDRF
-#define DIO46_PWM   NULL
+#define DIO46_PWM   nullptr
 
 #define DIO47_PIN   PINF1
 #define DIO47_RPORT PINF
 #define DIO47_WPORT PORTF
 #define DIO47_DDR   DDRF
-#define DIO47_PWM   NULL
+#define DIO47_PWM   nullptr
 
 #define DIO48_PIN   PINF2
 #define DIO48_RPORT PINF
 #define DIO48_WPORT PORTF
 #define DIO48_DDR   DDRF
-#define DIO48_PWM   NULL
+#define DIO48_PWM   nullptr
 
 #define DIO49_PIN   PINF3
 #define DIO49_RPORT PINF
 #define DIO49_WPORT PORTF
 #define DIO49_DDR   DDRF
-#define DIO49_PWM   NULL
+#define DIO49_PWM   nullptr
 
 #define DIO50_PIN   PINF4
 #define DIO50_RPORT PINF
 #define DIO50_WPORT PORTF
 #define DIO50_DDR   DDRF
-#define DIO50_PWM   NULL
+#define DIO50_PWM   nullptr
 
 #define DIO51_PIN   PINF5
 #define DIO51_RPORT PINF
 #define DIO51_WPORT PORTF
 #define DIO51_DDR   DDRF
-#define DIO51_PWM   NULL
+#define DIO51_PWM   nullptr
 
 #define DIO52_PIN   PINF6
 #define DIO52_RPORT PINF
 #define DIO52_WPORT PORTF
 #define DIO52_DDR   DDRF
-#define DIO52_PWM   NULL
+#define DIO52_PWM   nullptr
 
 #define DIO53_PIN   PINF7
 #define DIO53_RPORT PINF
 #define DIO53_WPORT PORTF
 #define DIO53_DDR   DDRF
-#define DIO53_PWM   NULL
+#define DIO53_PWM   nullptr
 
 #undef PA0
 #define PA0_PIN     PINA0
 #define PA0_RPORT   PINA
 #define PA0_WPORT   PORTA
 #define PA0_DDR     DDRA
-#define PA0_PWM     NULL
+#define PA0_PWM     nullptr
 #undef PA1
 #define PA1_PIN     PINA1
 #define PA1_RPORT   PINA
 #define PA1_WPORT   PORTA
 #define PA1_DDR     DDRA
-#define PA1_PWM     NULL
+#define PA1_PWM     nullptr
 #undef PA2
 #define PA2_PIN     PINA2
 #define PA2_RPORT   PINA
 #define PA2_WPORT   PORTA
 #define PA2_DDR     DDRA
-#define PA2_PWM     NULL
+#define PA2_PWM     nullptr
 #undef PA3
 #define PA3_PIN     PINA3
 #define PA3_RPORT   PINA
 #define PA3_WPORT   PORTA
 #define PA3_DDR     DDRA
-#define PA3_PWM     NULL
+#define PA3_PWM     nullptr
 #undef PA4
 #define PA4_PIN     PINA4
 #define PA4_RPORT   PINA
 #define PA4_WPORT   PORTA
 #define PA4_DDR     DDRA
-#define PA4_PWM     NULL
+#define PA4_PWM     nullptr
 #undef PA5
 #define PA5_PIN     PINA5
 #define PA5_RPORT   PINA
 #define PA5_WPORT   PORTA
 #define PA5_DDR     DDRA
-#define PA5_PWM     NULL
+#define PA5_PWM     nullptr
 #undef PA6
 #define PA6_PIN     PINA6
 #define PA6_RPORT   PINA
 #define PA6_WPORT   PORTA
 #define PA6_DDR     DDRA
-#define PA6_PWM     NULL
+#define PA6_PWM     nullptr
 #undef PA7
 #define PA7_PIN     PINA7
 #define PA7_RPORT   PINA
 #define PA7_WPORT   PORTA
 #define PA7_DDR     DDRA
-#define PA7_PWM     NULL
+#define PA7_PWM     nullptr
 
 #undef PB0
 #define PB0_PIN     PINB0
 #define PB0_RPORT   PINB
 #define PB0_WPORT   PORTB
 #define PB0_DDR     DDRB
-#define PB0_PWM     NULL
+#define PB0_PWM     nullptr
 #undef PB1
 #define PB1_PIN     PINB1
 #define PB1_RPORT   PINB
 #define PB1_WPORT   PORTB
 #define PB1_DDR     DDRB
-#define PB1_PWM     NULL
+#define PB1_PWM     nullptr
 #undef PB2
 #define PB2_PIN     PINB2
 #define PB2_RPORT   PINB
 #define PB2_WPORT   PORTB
 #define PB2_DDR     DDRB
-#define PB2_PWM     NULL
+#define PB2_PWM     nullptr
 #undef PB3
 #define PB3_PIN     PINB3
 #define PB3_RPORT   PINB
 #define PB3_WPORT   PORTB
 #define PB3_DDR     DDRB
-#define PB3_PWM     NULL
+#define PB3_PWM     nullptr
 #undef PB4
 #define PB4_PIN     PINB4
 #define PB4_RPORT   PINB
@@ -469,13 +467,13 @@
 #define PB5_RPORT   PINB
 #define PB5_WPORT   PORTB
 #define PB5_DDR     DDRB
-#define PB5_PWM     NULL
+#define PB5_PWM     nullptr
 #undef PB6
 #define PB6_PIN     PINB6
 #define PB6_RPORT   PINB
 #define PB6_WPORT   PORTB
 #define PB6_DDR     DDRB
-#define PB6_PWM     NULL
+#define PB6_PWM     nullptr
 #undef PB7
 #define PB7_PIN     PINB7
 #define PB7_RPORT   PINB
@@ -488,117 +486,117 @@
 #define PC0_RPORT   PINC
 #define PC0_WPORT   PORTC
 #define PC0_DDR     DDRC
-#define PC0_PWM     NULL
+#define PC0_PWM     nullptr
 #undef PC1
 #define PC1_PIN     PINC1
 #define PC1_RPORT   PINC
 #define PC1_WPORT   PORTC
 #define PC1_DDR     DDRC
-#define PC1_PWM     NULL
+#define PC1_PWM     nullptr
 #undef PC2
 #define PC2_PIN     PINC2
 #define PC2_RPORT   PINC
 #define PC2_WPORT   PORTC
 #define PC2_DDR     DDRC
-#define PC2_PWM     NULL
+#define PC2_PWM     nullptr
 #undef PC3
 #define PC3_PIN     PINC3
 #define PC3_RPORT   PINC
 #define PC3_WPORT   PORTC
 #define PC3_DDR     DDRC
-#define PC3_PWM     NULL
+#define PC3_PWM     nullptr
 #undef PC4
 #define PC4_PIN     PINC4
 #define PC4_RPORT   PINC
 #define PC4_WPORT   PORTC
 #define PC4_DDR     DDRC
-#define PC4_PWM     NULL
+#define PC4_PWM     nullptr
 #undef PC5
 #define PC5_PIN     PINC5
 #define PC5_RPORT   PINC
 #define PC5_WPORT   PORTC
 #define PC5_DDR     DDRC
-#define PC5_PWM     NULL
+#define PC5_PWM     nullptr
 #undef PC6
 #define PC6_PIN     PINC6
 #define PC6_RPORT   PINC
 #define PC6_WPORT   PORTC
 #define PC6_DDR     DDRC
-#define PC6_PWM     NULL
+#define PC6_PWM     nullptr
 #undef PC7
 #define PC7_PIN     PINC7
 #define PC7_RPORT   PINC
 #define PC7_WPORT   PORTC
 #define PC7_DDR     DDRC
-#define PC7_PWM     NULL
+#define PC7_PWM     nullptr
 
 #undef PD0
 #define PD0_PIN     PIND0
 #define PD0_RPORT   PIND
 #define PD0_WPORT   PORTD
 #define PD0_DDR     DDRD
-#define PD0_PWM     NULL
+#define PD0_PWM     nullptr
 #undef PD1
 #define PD1_PIN     PIND1
 #define PD1_RPORT   PIND
 #define PD1_WPORT   PORTD
 #define PD1_DDR     DDRD
-#define PD1_PWM     NULL
+#define PD1_PWM     nullptr
 #undef PD2
 #define PD2_PIN     PIND2
 #define PD2_RPORT   PIND
 #define PD2_WPORT   PORTD
 #define PD2_DDR     DDRD
-#define PD2_PWM     NULL
+#define PD2_PWM     nullptr
 #undef PD3
 #define PD3_PIN     PIND3
 #define PD3_RPORT   PIND
 #define PD3_WPORT   PORTD
 #define PD3_DDR     DDRD
-#define PD3_PWM     NULL
+#define PD3_PWM     nullptr
 #undef PD4
 #define PD4_PIN     PIND4
 #define PD4_RPORT   PIND
 #define PD4_WPORT   PORTD
 #define PD4_DDR     DDRD
-#define PD4_PWM     NULL
+#define PD4_PWM     nullptr
 #undef PD5
 #define PD5_PIN     PIND5
 #define PD5_RPORT   PIND
 #define PD5_WPORT   PORTD
 #define PD5_DDR     DDRD
-#define PD5_PWM     NULL
+#define PD5_PWM     nullptr
 #undef PD6
 #define PD6_PIN     PIND6
 #define PD6_RPORT   PIND
 #define PD6_WPORT   PORTD
 #define PD6_DDR     DDRD
-#define PD6_PWM     NULL
+#define PD6_PWM     nullptr
 #undef PD7
 #define PD7_PIN     PIND7
 #define PD7_RPORT   PIND
 #define PD7_WPORT   PORTD
 #define PD7_DDR     DDRD
-#define PD7_PWM     NULL
+#define PD7_PWM     nullptr
 
 #undef PE0
 #define PE0_PIN     PINE0
 #define PE0_RPORT   PINE
 #define PE0_WPORT   PORTE
 #define PE0_DDR     DDRE
-#define PE0_PWM     NULL
+#define PE0_PWM     nullptr
 #undef PE1
 #define PE1_PIN     PINE1
 #define PE1_RPORT   PINE
 #define PE1_WPORT   PORTE
 #define PE1_DDR     DDRE
-#define PE1_PWM     NULL
+#define PE1_PWM     nullptr
 #undef PE2
 #define PE2_PIN     PINE2
 #define PE2_RPORT   PINE
 #define PE2_WPORT   PORTE
 #define PE2_DDR     DDRE
-#define PE2_PWM     NULL
+#define PE2_PWM     nullptr
 #undef PE3
 #define PE3_PIN     PINE3
 #define PE3_RPORT   PINE
@@ -622,98 +620,96 @@
 #define PE6_RPORT   PINE
 #define PE6_WPORT   PORTE
 #define PE6_DDR     DDRE
-#define PE6_PWM     NULL
+#define PE6_PWM     nullptr
 #undef PE7
 #define PE7_PIN     PINE7
 #define PE7_RPORT   PINE
 #define PE7_WPORT   PORTE
 #define PE7_DDR     DDRE
-#define PE7_PWM     NULL
+#define PE7_PWM     nullptr
 
 #undef PF0
 #define PF0_PIN     PINF0
 #define PF0_RPORT   PINF
 #define PF0_WPORT   PORTF
 #define PF0_DDR     DDRF
-#define PF0_PWM     NULL
+#define PF0_PWM     nullptr
 #undef PF1
 #define PF1_PIN     PINF1
 #define PF1_RPORT   PINF
 #define PF1_WPORT   PORTF
 #define PF1_DDR     DDRF
-#define PF1_PWM     NULL
+#define PF1_PWM     nullptr
 #undef PF2
 #define PF2_PIN     PINF2
 #define PF2_RPORT   PINF
 #define PF2_WPORT   PORTF
 #define PF2_DDR     DDRF
-#define PF2_PWM     NULL
+#define PF2_PWM     nullptr
 #undef PF3
 #define PF3_PIN     PINF3
 #define PF3_RPORT   PINF
 #define PF3_WPORT   PORTF
 #define PF3_DDR     DDRF
-#define PF3_PWM     NULL
+#define PF3_PWM     nullptr
 #undef PF4
 #define PF4_PIN     PINF4
 #define PF4_RPORT   PINF
 #define PF4_WPORT   PORTF
 #define PF4_DDR     DDRF
-#define PF4_PWM     NULL
+#define PF4_PWM     nullptr
 #undef PF5
 #define PF5_PIN     PINF5
 #define PF5_RPORT   PINF
 #define PF5_WPORT   PORTF
 #define PF5_DDR     DDRF
-#define PF5_PWM     NULL
+#define PF5_PWM     nullptr
 #undef PF6
 #define PF6_PIN     PINF6
 #define PF6_RPORT   PINF
 #define PF6_WPORT   PORTF
 #define PF6_DDR     DDRF
-#define PF6_PWM     NULL
+#define PF6_PWM     nullptr
 #undef PF7
 #define PF7_PIN     PINF7
 #define PF7_RPORT   PINF
 #define PF7_WPORT   PORTF
 #define PF7_DDR     DDRF
-#define PF7_PWM     NULL
+#define PF7_PWM     nullptr
 
 #undef PG0
 #define PG0_PIN     PING0
 #define PG0_RPORT   PING
 #define PG0_WPORT   PORTG
 #define PG0_DDR     DDRG
-#define PG0_PWM     NULL
+#define PG0_PWM     nullptr
 #undef PG1
 #define PG1_PIN     PING1
 #define PG1_RPORT   PING
 #define PG1_WPORT   PORTG
 #define PG1_DDR     DDRG
-#define PG1_PWM     NULL
+#define PG1_PWM     nullptr
 #undef PG2
 #define PG2_PIN     PING2
 #define PG2_RPORT   PING
 #define PG2_WPORT   PORTG
 #define PG2_DDR     DDRG
-#define PG2_PWM     NULL
+#define PG2_PWM     nullptr
 #undef PG3
 #define PG3_PIN     PING3
 #define PG3_RPORT   PING
 #define PG3_WPORT   PORTG
 #define PG3_DDR     DDRG
-#define PG3_PWM     NULL
+#define PG3_PWM     nullptr
 #undef PG4
 #define PG4_PIN     PING4
 #define PG4_RPORT   PING
 #define PG4_WPORT   PORTG
 #define PG4_DDR     DDRG
-#define PG4_PWM     NULL
+#define PG4_PWM     nullptr
 #undef PG5
 #define PG5_PIN     PING5
 #define PG5_RPORT   PING
 #define PG5_WPORT   PORTG
 #define PG5_DDR     DDRG
 #define PG5_PWM     &OCR0B
-
-#endif // _FASTIO_1281_H_

Marlin/src/HAL/AVR/fastio/fastio_168.h

@@ -1,9 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * 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
@@ -16,9 +16,10 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * Pin mapping for the 168, 328, and 328P
@@ -27,10 +28,7 @@
  *   Port:        B0 B1 B2 B3 B4 B5 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7
  */
 
-#ifndef _FASTIO_168_H_
-#define _FASTIO_168_H_
-
-#include "fastio_AVR.h"
+#include "../fastio.h"
 
 #define DEBUG_LED   AIO5
 
@@ -62,19 +60,19 @@
 #define DIO0_RPORT  PIND
 #define DIO0_WPORT  PORTD
 #define DIO0_DDR    DDRD
-#define DIO0_PWM    NULL
+#define DIO0_PWM    nullptr
 
 #define DIO1_PIN    PIND1
 #define DIO1_RPORT  PIND
 #define DIO1_WPORT  PORTD
 #define DIO1_DDR    DDRD
-#define DIO1_PWM    NULL
+#define DIO1_PWM    nullptr
 
 #define DIO2_PIN    PIND2
 #define DIO2_RPORT  PIND
 #define DIO2_WPORT  PORTD
 #define DIO2_DDR    DDRD
-#define DIO2_PWM    NULL
+#define DIO2_PWM    nullptr
 
 #define DIO3_PIN    PIND3
 #define DIO3_RPORT  PIND
@@ -86,7 +84,7 @@
 #define DIO4_RPORT  PIND
 #define DIO4_WPORT  PORTD
 #define DIO4_DDR    DDRD
-#define DIO4_PWM    NULL
+#define DIO4_PWM    nullptr
 
 #define DIO5_PIN    PIND5
 #define DIO5_RPORT  PIND
@@ -104,25 +102,25 @@
 #define DIO7_RPORT  PIND
 #define DIO7_WPORT  PORTD
 #define DIO7_DDR    DDRD
-#define DIO7_PWM    NULL
+#define DIO7_PWM    nullptr
 
 #define DIO8_PIN    PINB0
 #define DIO8_RPORT  PINB
 #define DIO8_WPORT  PORTB
 #define DIO8_DDR    DDRB
-#define DIO8_PWM    NULL
+#define DIO8_PWM    nullptr
 
 #define DIO9_PIN    PINB1
 #define DIO9_RPORT  PINB
 #define DIO9_WPORT  PORTB
 #define DIO9_DDR    DDRB
-#define DIO9_PWM    NULL
+#define DIO9_PWM    nullptr
 
 #define DIO10_PIN   PINB2
 #define DIO10_RPORT PINB
 #define DIO10_WPORT PORTB
 #define DIO10_DDR   DDRB
-#define DIO10_PWM   NULL
+#define DIO10_PWM   nullptr
 
 #define DIO11_PIN   PINB3
 #define DIO11_RPORT PINB
@@ -134,82 +132,82 @@
 #define DIO12_RPORT PINB
 #define DIO12_WPORT PORTB
 #define DIO12_DDR   DDRB
-#define DIO12_PWM   NULL
+#define DIO12_PWM   nullptr
 
 #define DIO13_PIN   PINB5
 #define DIO13_RPORT PINB
 #define DIO13_WPORT PORTB
 #define DIO13_DDR   DDRB
-#define DIO13_PWM   NULL
+#define DIO13_PWM   nullptr
 
 #define DIO14_PIN   PINC0
 #define DIO14_RPORT PINC
 #define DIO14_WPORT PORTC
 #define DIO14_DDR   DDRC
-#define DIO14_PWM   NULL
+#define DIO14_PWM   nullptr
 
 #define DIO15_PIN   PINC1
 #define DIO15_RPORT PINC
 #define DIO15_WPORT PORTC
 #define DIO15_DDR   DDRC
-#define DIO15_PWM   NULL
+#define DIO15_PWM   nullptr
 
 #define DIO16_PIN   PINC2
 #define DIO16_RPORT PINC
 #define DIO16_WPORT PORTC
 #define DIO16_DDR   DDRC
-#define DIO16_PWM   NULL
+#define DIO16_PWM   nullptr
 
 #define DIO17_PIN   PINC3
 #define DIO17_RPORT PINC
 #define DIO17_WPORT PORTC
 #define DIO17_DDR   DDRC
-#define DIO17_PWM   NULL
+#define DIO17_PWM   nullptr
 
 #define DIO18_PIN   PINC4
 #define DIO18_RPORT PINC
 #define DIO18_WPORT PORTC
 #define DIO18_DDR   DDRC
-#define DIO18_PWM   NULL
+#define DIO18_PWM   nullptr
 
 #define DIO19_PIN   PINC5
 #define DIO19_RPORT PINC
 #define DIO19_WPORT PORTC
 #define DIO19_DDR   DDRC
-#define DIO19_PWM   NULL
+#define DIO19_PWM   nullptr
 
 #define DIO20_PIN   PINC6
 #define DIO20_RPORT PINC
 #define DIO20_WPORT PORTC
 #define DIO20_DDR   DDRC
-#define DIO20_PWM   NULL
+#define DIO20_PWM   nullptr
 
 #define DIO21_PIN   PINC7
 #define DIO21_RPORT PINC
 #define DIO21_WPORT PORTC
 #define DIO21_DDR   DDRC
-#define DIO21_PWM   NULL
+#define DIO21_PWM   nullptr
 
 #undef PB0
 #define PB0_PIN     PINB0
 #define PB0_RPORT   PINB
 #define PB0_WPORT   PORTB
 #define PB0_DDR     DDRB
-#define PB0_PWM     NULL
+#define PB0_PWM     nullptr
 
 #undef PB1
 #define PB1_PIN     PINB1
 #define PB1_RPORT   PINB
 #define PB1_WPORT   PORTB
 #define PB1_DDR     DDRB
-#define PB1_PWM     NULL
+#define PB1_PWM     nullptr
 
 #undef PB2
 #define PB2_PIN     PINB2
 #define PB2_RPORT   PINB
 #define PB2_WPORT   PORTB
 #define PB2_DDR     DDRB
-#define PB2_PWM     NULL
+#define PB2_PWM     nullptr
 
 #undef PB3
 #define PB3_PIN     PINB3
@@ -223,105 +221,105 @@
 #define PB4_RPORT   PINB
 #define PB4_WPORT   PORTB
 #define PB4_DDR     DDRB
-#define PB4_PWM     NULL
+#define PB4_PWM     nullptr
 
 #undef PB5
 #define PB5_PIN     PINB5
 #define PB5_RPORT   PINB
 #define PB5_WPORT   PORTB
 #define PB5_DDR     DDRB
-#define PB5_PWM     NULL
+#define PB5_PWM     nullptr
 
 #undef PB6
 #define PB6_PIN     PINB6
 #define PB6_RPORT   PINB
 #define PB6_WPORT   PORTB
 #define PB6_DDR     DDRB
-#define PB6_PWM     NULL
+#define PB6_PWM     nullptr
 
 #undef PB7
 #define PB7_PIN     PINB7
 #define PB7_RPORT   PINB
 #define PB7_WPORT   PORTB
 #define PB7_DDR     DDRB
-#define PB7_PWM     NULL
+#define PB7_PWM     nullptr
 
 #undef PC0
 #define PC0_PIN     PINC0
 #define PC0_RPORT   PINC
 #define PC0_WPORT   PORTC
 #define PC0_DDR     DDRC
-#define PC0_PWM     NULL
+#define PC0_PWM     nullptr
 
 #undef PC1
 #define PC1_PIN     PINC1
 #define PC1_RPORT   PINC
 #define PC1_WPORT   PORTC
 #define PC1_DDR     DDRC
-#define PC1_PWM     NULL
+#define PC1_PWM     nullptr
 
 #undef PC2
 #define PC2_PIN     PINC2
 #define PC2_RPORT   PINC
 #define PC2_WPORT   PORTC
 #define PC2_DDR     DDRC
-#define PC2_PWM     NULL
+#define PC2_PWM     nullptr
 
 #undef PC3
 #define PC3_PIN     PINC3
 #define PC3_RPORT   PINC
 #define PC3_WPORT   PORTC
 #define PC3_DDR     DDRC
-#define PC3_PWM     NULL
+#define PC3_PWM     nullptr
 
 #undef PC4
 #define PC4_PIN     PINC4
 #define PC4_RPORT   PINC
 #define PC4_WPORT   PORTC
 #define PC4_DDR     DDRC
-#define PC4_PWM     NULL
+#define PC4_PWM     nullptr
 
 #undef PC5
 #define PC5_PIN     PINC5
 #define PC5_RPORT   PINC
 #define PC5_WPORT   PORTC
 #define PC5_DDR     DDRC
-#define PC5_PWM     NULL
+#define PC5_PWM     nullptr
 
 #undef PC6
 #define PC6_PIN     PINC6
 #define PC6_RPORT   PINC
 #define PC6_WPORT   PORTC
 #define PC6_DDR     DDRC
-#define PC6_PWM     NULL
+#define PC6_PWM     nullptr
 
 #undef PC7
 #define PC7_PIN     PINC7
 #define PC7_RPORT   PINC
 #define PC7_WPORT   PORTC
 #define PC7_DDR     DDRC
-#define PC7_PWM     NULL
+#define PC7_PWM     nullptr
 
 #undef PD0
 #define PD0_PIN     PIND0
 #define PD0_RPORT   PIND
 #define PD0_WPORT   PORTD
 #define PD0_DDR     DDRD
-#define PD0_PWM     NULL
+#define PD0_PWM     nullptr
 
 #undef PD1
 #define PD1_PIN     PIND1
 #define PD1_RPORT   PIND
 #define PD1_WPORT   PORTD
 #define PD1_DDR     DDRD
-#define PD1_PWM     NULL
+#define PD1_PWM     nullptr
 
 #undef PD2
 #define PD2_PIN     PIND2
 #define PD2_RPORT   PIND
 #define PD2_WPORT   PORTD
 #define PD2_DDR     DDRD
-#define PD2_PWM     NULL
+#define PD2_PWM     nullptr
 
 #undef PD3
 #define PD3_PIN     PIND3
@@ -335,7 +333,7 @@
 #define PD4_RPORT   PIND
 #define PD4_WPORT   PORTD
 #define PD4_DDR     DDRD
-#define PD4_PWM     NULL
+#define PD4_PWM     nullptr
 
 #undef PD5
 #define PD5_PIN     PIND5
@@ -356,6 +354,4 @@
 #define PD7_RPORT   PIND
 #define PD7_WPORT   PORTD
 #define PD7_DDR     DDRD
-#define PD7_PWM     NULL
-
-#endif // _FASTIO_168_H_
+#define PD7_PWM     nullptr

Marlin/src/HAL/AVR/fastio/fastio_644.h

@@ -1,9 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * 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
@@ -16,9 +16,10 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * Pin mapping for the 644, 644p, 644pa, and 1284p
@@ -53,10 +54,7 @@
  *                        +--------+
  */
 
-#ifndef _FASTIO_644_H_
-#define _FASTIO_644_H_
-
-#include "fastio_AVR.h"
+#include "../fastio.h"
 
 #define DEBUG_LED   DIO0
 
@@ -93,464 +91,462 @@
 #define DIO0_RPORT  PINB
 #define DIO0_WPORT  PORTB
 #define DIO0_DDR    DDRB
-#define DIO0_PWM    NULL
+#define DIO0_PWM    nullptr
 
 #define DIO1_PIN    PINB1
 #define DIO1_RPORT  PINB
 #define DIO1_WPORT  PORTB
 #define DIO1_DDR    DDRB
-#define DIO1_PWM    NULL
+#define DIO1_PWM    nullptr
 
 #define DIO2_PIN    PINB2
 #define DIO2_RPORT  PINB
 #define DIO2_WPORT  PORTB
 #define DIO2_DDR    DDRB
-#define DIO2_PWM    NULL
+#define DIO2_PWM    nullptr
 
 #define DIO3_PIN    PINB3
 #define DIO3_RPORT  PINB
 #define DIO3_WPORT  PORTB
 #define DIO3_DDR    DDRB
-#define DIO3_PWM    OCR0A
+#define DIO3_PWM    &OCR0A
 
 #define DIO4_PIN    PINB4
 #define DIO4_RPORT  PINB
 #define DIO4_WPORT  PORTB
 #define DIO4_DDR    DDRB
-#define DIO4_PWM    OCR0B
+#define DIO4_PWM    &OCR0B
 
 #define DIO5_PIN    PINB5
 #define DIO5_RPORT  PINB
 #define DIO5_WPORT  PORTB
 #define DIO5_DDR    DDRB
-#define DIO5_PWM    NULL
+#define DIO5_PWM    nullptr
 
 #define DIO6_PIN    PINB6
 #define DIO6_RPORT  PINB
 #define DIO6_WPORT  PORTB
 #define DIO6_DDR    DDRB
-#define DIO6_PWM    NULL
+#define DIO6_PWM    nullptr
 
 #define DIO7_PIN    PINB7
 #define DIO7_RPORT  PINB
 #define DIO7_WPORT  PORTB
 #define DIO7_DDR    DDRB
-#define DIO7_PWM    NULL
+#define DIO7_PWM    nullptr
 
 #define DIO8_PIN    PIND0
 #define DIO8_RPORT  PIND
 #define DIO8_WPORT  PORTD
 #define DIO8_DDR    DDRD
-#define DIO8_PWM    NULL
+#define DIO8_PWM    nullptr
 
 #define DIO9_PIN    PIND1
 #define DIO9_RPORT  PIND
 #define DIO9_WPORT  PORTD
 #define DIO9_DDR    DDRD
-#define DIO9_PWM    NULL
+#define DIO9_PWM    nullptr
 
 #define DIO10_PIN   PIND2
 #define DIO10_RPORT PIND
 #define DIO10_WPORT PORTD
 #define DIO10_DDR   DDRD
-#define DIO10_PWM   NULL
+#define DIO10_PWM   nullptr
 
 #define DIO11_PIN   PIND3
 #define DIO11_RPORT PIND
 #define DIO11_WPORT PORTD
 #define DIO11_DDR   DDRD
-#define DIO11_PWM   NULL
+#define DIO11_PWM   nullptr
 
 #define DIO12_PIN   PIND4
 #define DIO12_RPORT PIND
 #define DIO12_WPORT PORTD
 #define DIO12_DDR   DDRD
-#define DIO12_PWM   OCR1B
+#define DIO12_PWM   &OCR1B
 
 #define DIO13_PIN   PIND5
 #define DIO13_RPORT PIND
 #define DIO13_WPORT PORTD
 #define DIO13_DDR   DDRD
-#define DIO13_PWM   OCR1A
+#define DIO13_PWM   &OCR1A
 
 #define DIO14_PIN   PIND6
 #define DIO14_RPORT PIND
 #define DIO14_WPORT PORTD
 #define DIO14_DDR   DDRD
-#define DIO14_PWM   OCR2B
+#define DIO14_PWM   &OCR2B
 
 #define DIO15_PIN   PIND7
 #define DIO15_RPORT PIND
 #define DIO15_WPORT PORTD
 #define DIO15_DDR   DDRD
-#define DIO15_PWM   OCR2A
+#define DIO15_PWM   &OCR2A
 
 #define DIO16_PIN   PINC0
 #define DIO16_RPORT PINC
 #define DIO16_WPORT PORTC
 #define DIO16_DDR   DDRC
-#define DIO16_PWM   NULL
+#define DIO16_PWM   nullptr
 
 #define DIO17_PIN   PINC1
 #define DIO17_RPORT PINC
 #define DIO17_WPORT PORTC
 #define DIO17_DDR   DDRC
-#define DIO17_PWM   NULL
+#define DIO17_PWM   nullptr
 
 #define DIO18_PIN   PINC2
 #define DIO18_RPORT PINC
 #define DIO18_WPORT PORTC
 #define DIO18_DDR   DDRC
-#define DIO18_PWM   NULL
+#define DIO18_PWM   nullptr
 
 #define DIO19_PIN   PINC3
 #define DIO19_RPORT PINC
 #define DIO19_WPORT PORTC
 #define DIO19_DDR   DDRC
-#define DIO19_PWM   NULL
+#define DIO19_PWM   nullptr
 
 #define DIO20_PIN   PINC4
 #define DIO20_RPORT PINC
 #define DIO20_WPORT PORTC
 #define DIO20_DDR   DDRC
-#define DIO20_PWM   NULL
+#define DIO20_PWM   nullptr
 
 #define DIO21_PIN   PINC5
 #define DIO21_RPORT PINC
 #define DIO21_WPORT PORTC
 #define DIO21_DDR   DDRC
-#define DIO21_PWM   NULL
+#define DIO21_PWM   nullptr
 
 #define DIO22_PIN   PINC6
 #define DIO22_RPORT PINC
 #define DIO22_WPORT PORTC
 #define DIO22_DDR   DDRC
-#define DIO22_PWM   NULL
+#define DIO22_PWM   nullptr
 
 #define DIO23_PIN   PINC7
 #define DIO23_RPORT PINC
 #define DIO23_WPORT PORTC
 #define DIO23_DDR   DDRC
-#define DIO23_PWM   NULL
+#define DIO23_PWM   nullptr
 
 #define DIO24_PIN   PINA7
 #define DIO24_RPORT PINA
 #define DIO24_WPORT PORTA
 #define DIO24_DDR   DDRA
-#define DIO24_PWM   NULL
+#define DIO24_PWM   nullptr
 
 #define DIO25_PIN   PINA6
 #define DIO25_RPORT PINA
 #define DIO25_WPORT PORTA
 #define DIO25_DDR   DDRA
-#define DIO25_PWM   NULL
+#define DIO25_PWM   nullptr
 
 #define DIO26_PIN   PINA5
 #define DIO26_RPORT PINA
 #define DIO26_WPORT PORTA
 #define DIO26_DDR   DDRA
-#define DIO26_PWM   NULL
+#define DIO26_PWM   nullptr
 
 #define DIO27_PIN   PINA4
 #define DIO27_RPORT PINA
 #define DIO27_WPORT PORTA
 #define DIO27_DDR   DDRA
-#define DIO27_PWM   NULL
+#define DIO27_PWM   nullptr
 
 #define DIO28_PIN   PINA3
 #define DIO28_RPORT PINA
 #define DIO28_WPORT PORTA
 #define DIO28_DDR   DDRA
-#define DIO28_PWM   NULL
+#define DIO28_PWM   nullptr
 
 #define DIO29_PIN   PINA2
 #define DIO29_RPORT PINA
 #define DIO29_WPORT PORTA
 #define DIO29_DDR   DDRA
-#define DIO29_PWM   NULL
+#define DIO29_PWM   nullptr
 
 #define DIO30_PIN   PINA1
 #define DIO30_RPORT PINA
 #define DIO30_WPORT PORTA
 #define DIO30_DDR   DDRA
-#define DIO30_PWM   NULL
+#define DIO30_PWM   nullptr
 
 #define DIO31_PIN   PINA0
 #define DIO31_RPORT PINA
 #define DIO31_WPORT PORTA
 #define DIO31_DDR   DDRA
-#define DIO31_PWM   NULL
+#define DIO31_PWM   nullptr
 
 #define AIO0_PIN    PINA0
 #define AIO0_RPORT  PINA
 #define AIO0_WPORT  PORTA
 #define AIO0_DDR    DDRA
-#define AIO0_PWM    NULL
+#define AIO0_PWM    nullptr
 
 #define AIO1_PIN    PINA1
 #define AIO1_RPORT  PINA
 #define AIO1_WPORT  PORTA
 #define AIO1_DDR    DDRA
-#define AIO1_PWM    NULL
+#define AIO1_PWM    nullptr
 
 #define AIO2_PIN    PINA2
 #define AIO2_RPORT  PINA
 #define AIO2_WPORT  PORTA
 #define AIO2_DDR    DDRA
-#define AIO2_PWM    NULL
+#define AIO2_PWM    nullptr
 
 #define AIO3_PIN    PINA3
 #define AIO3_RPORT  PINA
 #define AIO3_WPORT  PORTA
 #define AIO3_DDR    DDRA
-#define AIO3_PWM    NULL
+#define AIO3_PWM    nullptr
 
 #define AIO4_PIN    PINA4
 #define AIO4_RPORT  PINA
 #define AIO4_WPORT  PORTA
 #define AIO4_DDR    DDRA
-#define AIO4_PWM    NULL
+#define AIO4_PWM    nullptr
 
 #define AIO5_PIN    PINA5
 #define AIO5_RPORT  PINA
 #define AIO5_WPORT  PORTA
 #define AIO5_DDR    DDRA
-#define AIO5_PWM    NULL
+#define AIO5_PWM    nullptr
 
 #define AIO6_PIN    PINA6
 #define AIO6_RPORT  PINA
 #define AIO6_WPORT  PORTA
 #define AIO6_DDR    DDRA
-#define AIO6_PWM    NULL
+#define AIO6_PWM    nullptr
 
 #define AIO7_PIN    PINA7
 #define AIO7_RPORT  PINA
 #define AIO7_WPORT  PORTA
 #define AIO7_DDR    DDRA
-#define AIO7_PWM    NULL
+#define AIO7_PWM    nullptr
 
 #undef PA0
 #define PA0_PIN     PINA0
 #define PA0_RPORT   PINA
 #define PA0_WPORT   PORTA
 #define PA0_DDR     DDRA
-#define PA0_PWM     NULL
+#define PA0_PWM     nullptr
 
 #undef PA1
 #define PA1_PIN     PINA1
 #define PA1_RPORT   PINA
 #define PA1_WPORT   PORTA
 #define PA1_DDR     DDRA
-#define PA1_PWM     NULL
+#define PA1_PWM     nullptr
 
 #undef PA2
 #define PA2_PIN     PINA2
 #define PA2_RPORT   PINA
 #define PA2_WPORT   PORTA
 #define PA2_DDR     DDRA
-#define PA2_PWM     NULL
+#define PA2_PWM     nullptr
 
 #undef PA3
 #define PA3_PIN     PINA3
 #define PA3_RPORT   PINA
 #define PA3_WPORT   PORTA
 #define PA3_DDR     DDRA
-#define PA3_PWM     NULL
+#define PA3_PWM     nullptr
 
 #undef PA4
 #define PA4_PIN     PINA4
 #define PA4_RPORT   PINA
 #define PA4_WPORT   PORTA
 #define PA4_DDR     DDRA
-#define PA4_PWM     NULL
+#define PA4_PWM     nullptr
 
 #undef PA5
 #define PA5_PIN     PINA5
 #define PA5_RPORT   PINA
 #define PA5_WPORT   PORTA
 #define PA5_DDR     DDRA
-#define PA5_PWM     NULL
+#define PA5_PWM     nullptr
 
 #undef PA6
 #define PA6_PIN     PINA6
 #define PA6_RPORT   PINA
 #define PA6_WPORT   PORTA
 #define PA6_DDR     DDRA
-#define PA6_PWM     NULL
+#define PA6_PWM     nullptr
 
 #undef PA7
 #define PA7_PIN     PINA7
 #define PA7_RPORT   PINA
 #define PA7_WPORT   PORTA
 #define PA7_DDR     DDRA
-#define PA7_PWM     NULL
+#define PA7_PWM     nullptr
 
 #undef PB0
 #define PB0_PIN     PINB0
 #define PB0_RPORT   PINB
 #define PB0_WPORT   PORTB
 #define PB0_DDR     DDRB
-#define PB0_PWM     NULL
+#define PB0_PWM     nullptr
 
 #undef PB1
 #define PB1_PIN     PINB1
 #define PB1_RPORT   PINB
 #define PB1_WPORT   PORTB
 #define PB1_DDR     DDRB
-#define PB1_PWM     NULL
+#define PB1_PWM     nullptr
 
 #undef PB2
 #define PB2_PIN     PINB2
 #define PB2_RPORT   PINB
 #define PB2_WPORT   PORTB
 #define PB2_DDR     DDRB
-#define PB2_PWM     NULL
+#define PB2_PWM     nullptr
 
 #undef PB3
 #define PB3_PIN     PINB3
 #define PB3_RPORT   PINB
 #define PB3_WPORT   PORTB
 #define PB3_DDR     DDRB
-#define PB3_PWM     OCR0A
+#define PB3_PWM     &OCR0A
 
 #undef PB4
 #define PB4_PIN     PINB4
 #define PB4_RPORT   PINB
 #define PB4_WPORT   PORTB
 #define PB4_DDR     DDRB
-#define PB4_PWM     OCR0B
+#define PB4_PWM     &OCR0B
 
 #undef PB5
 #define PB5_PIN     PINB5
 #define PB5_RPORT   PINB
 #define PB5_WPORT   PORTB
 #define PB5_DDR     DDRB
-#define PB5_PWM     NULL
+#define PB5_PWM     nullptr
 
 #undef PB6
 #define PB6_PIN     PINB6
 #define PB6_RPORT   PINB
 #define PB6_WPORT   PORTB
 #define PB6_DDR     DDRB
-#define PB6_PWM     NULL
+#define PB6_PWM     nullptr
 
 #undef PB7
 #define PB7_PIN     PINB7
 #define PB7_RPORT   PINB
 #define PB7_WPORT   PORTB
 #define PB7_DDR     DDRB
-#define PB7_PWM     NULL
+#define PB7_PWM     nullptr
 
 #undef PC0
 #define PC0_PIN     PINC0
 #define PC0_RPORT   PINC
 #define PC0_WPORT   PORTC
 #define PC0_DDR     DDRC
-#define PC0_PWM     NULL
+#define PC0_PWM     nullptr
 
 #undef PC1
 #define PC1_PIN     PINC1
 #define PC1_RPORT   PINC
 #define PC1_WPORT   PORTC
 #define PC1_DDR     DDRC
-#define PC1_PWM     NULL
+#define PC1_PWM     nullptr
 
 #undef PC2
 #define PC2_PIN     PINC2
 #define PC2_RPORT   PINC
 #define PC2_WPORT   PORTC
 #define PC2_DDR     DDRC
-#define PC2_PWM     NULL
+#define PC2_PWM     nullptr
 
 #undef PC3
 #define PC3_PIN     PINC3
 #define PC3_RPORT   PINC
 #define PC3_WPORT   PORTC
 #define PC3_DDR     DDRC
-#define PC3_PWM     NULL
+#define PC3_PWM     nullptr
 
 #undef PC4
 #define PC4_PIN     PINC4
 #define PC4_RPORT   PINC
 #define PC4_WPORT   PORTC
 #define PC4_DDR     DDRC
-#define PC4_PWM     NULL
+#define PC4_PWM     nullptr
 
 #undef PC5
 #define PC5_PIN     PINC5
 #define PC5_RPORT   PINC
 #define PC5_WPORT   PORTC
 #define PC5_DDR     DDRC
-#define PC5_PWM     NULL
+#define PC5_PWM     nullptr
 
 #undef PC6
 #define PC6_PIN     PINC6
 #define PC6_RPORT   PINC
 #define PC6_WPORT   PORTC
 #define PC6_DDR     DDRC
-#define PC6_PWM     NULL
+#define PC6_PWM     nullptr
 
 #undef PC7
 #define PC7_PIN     PINC7
 #define PC7_RPORT   PINC
 #define PC7_WPORT   PORTC
 #define PC7_DDR     DDRC
-#define PC7_PWM     NULL
+#define PC7_PWM     nullptr
 
 #undef PD0
 #define PD0_PIN     PIND0
 #define PD0_RPORT   PIND
 #define PD0_WPORT   PORTD
 #define PD0_DDR     DDRD
-#define PD0_PWM     NULL
+#define PD0_PWM     nullptr
 
 #undef PD1
 #define PD1_PIN     PIND1
 #define PD1_RPORT   PIND
 #define PD1_WPORT   PORTD
 #define PD1_DDR     DDRD
-#define PD1_PWM     NULL
+#define PD1_PWM     nullptr
 
 #undef PD2
 #define PD2_PIN     PIND2
 #define PD2_RPORT   PIND
 #define PD2_WPORT   PORTD
 #define PD2_DDR     DDRD
-#define PD2_PWM     NULL
+#define PD2_PWM     nullptr
 
 #undef PD3
 #define PD3_PIN     PIND3
 #define PD3_RPORT   PIND
 #define PD3_WPORT   PORTD
 #define PD3_DDR     DDRD
-#define PD3_PWM     NULL
+#define PD3_PWM     nullptr
 
 #undef PD4
 #define PD4_PIN     PIND4
 #define PD4_RPORT   PIND
 #define PD4_WPORT   PORTD
 #define PD4_DDR     DDRD
-#define PD4_PWM     NULL
+#define PD4_PWM     nullptr
 
 #undef PD5
 #define PD5_PIN     PIND5
 #define PD5_RPORT   PIND
 #define PD5_WPORT   PORTD
 #define PD5_DDR     DDRD
-#define PD5_PWM     NULL
+#define PD5_PWM     nullptr
 
 #undef PD6
 #define PD6_PIN     PIND6
 #define PD6_RPORT   PIND
 #define PD6_WPORT   PORTD
 #define PD6_DDR     DDRD
-#define PD6_PWM     OCR2B
+#define PD6_PWM     &OCR2B
 
 #undef PD7
 #define PD7_PIN     PIND7
 #define PD7_RPORT   PIND
 #define PD7_WPORT   PORTD
 #define PD7_DDR     DDRD
-#define PD7_PWM     OCR2A
-
-#endif // _FASTIO_644_H_
+#define PD7_PWM     &OCR2A

Marlin/src/HAL/AVR/fastio/fastio_AT90USB.h

@@ -1,9 +1,9 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * 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
@@ -16,9 +16,10 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * Pin mapping (Teensy) for AT90USB646, 647, 1286, and 1287
@@ -28,10 +29,7 @@
  *            The logical pins 46 and 47 are not supported by Teensyduino, but are supported below as E2 and E3
  */
 
-#ifndef _FASTIO_AT90USB_H_
-#define _FASTIO_AT90USB_H_
-
-#include "fastio_AVR.h"
+#include "../fastio.h"
 
 // change for your board
 #define DEBUG_LED   DIO31 /* led D5 red */
@@ -47,325 +45,325 @@
 #define DIO0_PIN    PIND0
 #define DIO0_RPORT  PIND
 #define DIO0_WPORT  PORTD
-#define DIO0_PWM    NULL
+#define DIO0_PWM    0
 #define DIO0_DDR    DDRD
 
 #define DIO1_PIN    PIND1
 #define DIO1_RPORT  PIND
 #define DIO1_WPORT  PORTD
-#define DIO1_PWM    NULL
+#define DIO1_PWM    0
 #define DIO1_DDR    DDRD
 
 #define DIO2_PIN    PIND2
 #define DIO2_RPORT  PIND
 #define DIO2_WPORT  PORTD
-#define DIO2_PWM    NULL
+#define DIO2_PWM    0
 #define DIO2_DDR    DDRD
 
 #define DIO3_PIN    PIND3
 #define DIO3_RPORT  PIND
 #define DIO3_WPORT  PORTD
-#define DIO3_PWM    NULL
+#define DIO3_PWM    0
 #define DIO3_DDR    DDRD
 
 #define DIO4_PIN    PIND4
 #define DIO4_RPORT  PIND
 #define DIO4_WPORT  PORTD
-#define DIO4_PWM    NULL
+#define DIO4_PWM    0
 #define DIO4_DDR    DDRD
 
 #define DIO5_PIN    PIND5
 #define DIO5_RPORT  PIND
 #define DIO5_WPORT  PORTD
-#define DIO5_PWM    NULL
+#define DIO5_PWM    0
 #define DIO5_DDR    DDRD
 
 #define DIO6_PIN    PIND6
 #define DIO6_RPORT  PIND
 #define DIO6_WPORT  PORTD
-#define DIO6_PWM    NULL
+#define DIO6_PWM    0
 #define DIO6_DDR    DDRD
 
 #define DIO7_PIN    PIND7
 #define DIO7_RPORT  PIND
 #define DIO7_WPORT  PORTD
-#define DIO7_PWM    NULL
+#define DIO7_PWM    0
 #define DIO7_DDR    DDRD
 
 #define DIO8_PIN    PINE0
 #define DIO8_RPORT  PINE
 #define DIO8_WPORT  PORTE
-#define DIO8_PWM    NULL
+#define DIO8_PWM    0
 #define DIO8_DDR    DDRE
 
 #define DIO9_PIN    PINE1
 #define DIO9_RPORT  PINE
 #define DIO9_WPORT  PORTE
-#define DIO9_PWM    NULL
+#define DIO9_PWM    0
 #define DIO9_DDR    DDRE
 
 #define DIO10_PIN   PINC0
 #define DIO10_RPORT PINC
 #define DIO10_WPORT PORTC
-#define DIO10_PWM   NULL
+#define DIO10_PWM   0
 #define DIO10_DDR   DDRC
 
 #define DIO11_PIN   PINC1
 #define DIO11_RPORT PINC
 #define DIO11_WPORT PORTC
-#define DIO11_PWM   NULL
+#define DIO11_PWM   0
 #define DIO11_DDR   DDRC
 
 #define DIO12_PIN   PINC2
 #define DIO12_RPORT PINC
 #define DIO12_WPORT PORTC
-#define DIO12_PWM   NULL
+#define DIO12_PWM   0
 #define DIO12_DDR   DDRC
 
 #define DIO13_PIN   PINC3
 #define DIO13_RPORT PINC
 #define DIO13_WPORT PORTC
-#define DIO13_PWM   NULL
+#define DIO13_PWM   0
 #define DIO13_DDR   DDRC
 
 #define DIO14_PIN   PINC4
 #define DIO14_RPORT PINC
 #define DIO14_WPORT PORTC
-#define DIO14_PWM   NULL
+#define DIO14_PWM   0 // OC3C
 #define DIO14_DDR   DDRC
 
 #define DIO15_PIN   PINC5
 #define DIO15_RPORT PINC
 #define DIO15_WPORT PORTC
-#define DIO15_PWM   NULL
+#define DIO15_PWM   0 // OC3B
 #define DIO15_DDR   DDRC
 
 #define DIO16_PIN   PINC6
 #define DIO16_RPORT PINC
 #define DIO16_WPORT PORTC
-#define DIO16_PWM   NULL
+#define DIO16_PWM   0 // OC3A
 #define DIO16_DDR   DDRC
 
 #define DIO17_PIN   PINC7
 #define DIO17_RPORT PINC
 #define DIO17_WPORT PORTC
-#define DIO17_PWM   NULL
+#define DIO17_PWM   0
 #define DIO17_DDR   DDRC
 
 #define DIO18_PIN   PINE6
 #define DIO18_RPORT PINE
 #define DIO18_WPORT PORTE
-#define DIO18_PWM   NULL
+#define DIO18_PWM   0
 #define DIO18_DDR   DDRE
 
 #define DIO19_PIN   PINE7
 #define DIO19_RPORT PINE
 #define DIO19_WPORT PORTE
-#define DIO19_PWM   NULL
+#define DIO19_PWM   0
 #define DIO19_DDR   DDRE
 
 #define DIO20_PIN   PINB0
 #define DIO20_RPORT PINB
 #define DIO20_WPORT PORTB
-#define DIO20_PWM   NULL
+#define DIO20_PWM   0
 #define DIO20_DDR   DDRB
 
 #define DIO21_PIN   PINB1
 #define DIO21_RPORT PINB
 #define DIO21_WPORT PORTB
-#define DIO21_PWM   NULL
+#define DIO21_PWM   0
 #define DIO21_DDR   DDRB
 
 #define DIO22_PIN   PINB2
 #define DIO22_RPORT PINB
 #define DIO22_WPORT PORTB
-#define DIO22_PWM   NULL
+#define DIO22_PWM   0
 #define DIO22_DDR   DDRB
 
 #define DIO23_PIN   PINB3
 #define DIO23_RPORT PINB
 #define DIO23_WPORT PORTB
-#define DIO23_PWM   NULL
+#define DIO23_PWM   0
 #define DIO23_DDR   DDRB
 
 #define DIO24_PIN   PINB4
 #define DIO24_RPORT PINB
 #define DIO24_WPORT PORTB
-#define DIO24_PWM   NULL
+#define DIO24_PWM   0 // OC2A
 #define DIO24_DDR   DDRB
 
 #define DIO25_PIN   PINB5
 #define DIO25_RPORT PINB
 #define DIO25_WPORT PORTB
-#define DIO25_PWM   NULL
+#define DIO25_PWM   0 // OC1A
 #define DIO25_DDR   DDRB
 
 #define DIO26_PIN   PINB6
 #define DIO26_RPORT PINB
 #define DIO26_WPORT PORTB
-#define DIO26_PWM   NULL
+#define DIO26_PWM   0 // OC1B
 #define DIO26_DDR   DDRB
 
 #define DIO27_PIN   PINB7
 #define DIO27_RPORT PINB
 #define DIO27_WPORT PORTB
-#define DIO27_PWM   NULL
+#define DIO27_PWM   0 // OC1C
 #define DIO27_DDR   DDRB
 
 #define DIO28_PIN   PINA0
 #define DIO28_RPORT PINA
 #define DIO28_WPORT PORTA
-#define DIO28_PWM   NULL
+#define DIO28_PWM   0
 #define DIO28_DDR   DDRA
 
 #define DIO29_PIN   PINA1
 #define DIO29_RPORT PINA
 #define DIO29_WPORT PORTA
-#define DIO29_PWM   NULL
+#define DIO29_PWM   0
 #define DIO29_DDR   DDRA
 
 #define DIO30_PIN   PINA2
 #define DIO30_RPORT PINA
 #define DIO30_WPORT PORTA
-#define DIO30_PWM   NULL
+#define DIO30_PWM   0
 #define DIO30_DDR   DDRA
 
 #define DIO31_PIN   PINA3
 #define DIO31_RPORT PINA
 #define DIO31_WPORT PORTA
-#define DIO31_PWM   NULL
+#define DIO31_PWM   0
 #define DIO31_DDR   DDRA
 
 #define DIO32_PIN   PINA4
 #define DIO32_RPORT PINA
 #define DIO32_WPORT PORTA
-#define DIO32_PWM   NULL
+#define DIO32_PWM   0
 #define DIO32_DDR   DDRA
 
 #define DIO33_PIN   PINA5
 #define DIO33_RPORT PINA
 #define DIO33_WPORT PORTA
-#define DIO33_PWM   NULL
+#define DIO33_PWM   0
 #define DIO33_DDR   DDRA
 
 #define DIO34_PIN   PINA6
 #define DIO34_RPORT PINA
 #define DIO34_WPORT PORTA
-#define DIO34_PWM   NULL
+#define DIO34_PWM   0
 #define DIO34_DDR   DDRA
 
 #define DIO35_PIN   PINA7
 #define DIO35_RPORT PINA
 #define DIO35_WPORT PORTA
-#define DIO35_PWM   NULL
+#define DIO35_PWM   0
 #define DIO35_DDR   DDRA
 
 #define DIO36_PIN   PINE4
 #define DIO36_RPORT PINE
 #define DIO36_WPORT PORTE
-#define DIO36_PWM   NULL
+#define DIO36_PWM   0
 #define DIO36_DDR   DDRE
 
 #define DIO37_PIN   PINE5
 #define DIO37_RPORT PINE
 #define DIO37_WPORT PORTE
-#define DIO37_PWM   NULL
+#define DIO37_PWM   0
 #define DIO37_DDR   DDRE
 
 #define DIO38_PIN   PINF0
 #define DIO38_RPORT PINF
 #define DIO38_WPORT PORTF
-#define DIO38_PWM   NULL
+#define DIO38_PWM   0
 #define DIO38_DDR   DDRF
 
 #define DIO39_PIN   PINF1
 #define DIO39_RPORT PINF
 #define DIO39_WPORT PORTF
-#define DIO39_PWM   NULL
+#define DIO39_PWM   0
 #define DIO39_DDR   DDRF
 
 #define DIO40_PIN   PINF2
 #define DIO40_RPORT PINF
 #define DIO40_WPORT PORTF
-#define DIO40_PWM   NULL
+#define DIO40_PWM   0
 #define DIO40_DDR   DDRF
 
 #define DIO41_PIN   PINF3
 #define DIO41_RPORT PINF
 #define DIO41_WPORT PORTF
-#define DIO41_PWM   NULL
+#define DIO41_PWM   0
 #define DIO41_DDR   DDRF
 
 #define DIO42_PIN   PINF4
 #define DIO42_RPORT PINF
 #define DIO42_WPORT PORTF
-#define DIO42_PWM   NULL
+#define DIO42_PWM   0
 #define DIO42_DDR   DDRF
 
 #define DIO43_PIN   PINF5
 #define DIO43_RPORT PINF
 #define DIO43_WPORT PORTF
-#define DIO43_PWM   NULL
+#define DIO43_PWM   0
 #define DIO43_DDR   DDRF
 
 #define DIO44_PIN   PINF6
 #define DIO44_RPORT PINF
 #define DIO44_WPORT PORTF
-#define DIO44_PWM   NULL
+#define DIO44_PWM   0
 #define DIO44_DDR   DDRF
 
 #define DIO45_PIN   PINF7
 #define DIO45_RPORT PINF
 #define DIO45_WPORT PORTF
-#define DIO45_PWM   NULL
+#define DIO45_PWM   0
 #define DIO45_DDR   DDRF
 
 #define AIO0_PIN    PINF0
 #define AIO0_RPORT  PINF
 #define AIO0_WPORT  PORTF
-#define AIO0_PWM    NULL
+#define AIO0_PWM    0
 #define AIO0_DDR    DDRF
 
 #define AIO1_PIN    PINF1
 #define AIO1_RPORT  PINF
 #define AIO1_WPORT  PORTF
-#define AIO1_PWM    NULL
+#define AIO1_PWM    0
 #define AIO1_DDR    DDRF
 
 #define AIO2_PIN    PINF2
 #define AIO2_RPORT  PINF
 #define AIO2_WPORT  PORTF
-#define AIO2_PWM    NULL
+#define AIO2_PWM    0
 #define AIO2_DDR    DDRF
 
 #define AIO3_PIN    PINF3
 #define AIO3_RPORT  PINF
 #define AIO3_WPORT  PORTF
-#define AIO3_PWM    NULL
+#define AIO3_PWM    0
 #define AIO3_DDR    DDRF
 
 #define AIO4_PIN    PINF4
 #define AIO4_RPORT  PINF
 #define AIO4_WPORT  PORTF
-#define AIO4_PWM    NULL
+#define AIO4_PWM    0
 #define AIO4_DDR    DDRF
 
 #define AIO5_PIN    PINF5
 #define AIO5_RPORT  PINF
 #define AIO5_WPORT  PORTF
-#define AIO5_PWM    NULL
+#define AIO5_PWM    0
 #define AIO5_DDR    DDRF
 
 #define AIO6_PIN    PINF6
 #define AIO6_RPORT  PINF
 #define AIO6_WPORT  PORTF
-#define AIO6_PWM    NULL
+#define AIO6_PWM    0
 #define AIO6_DDR    DDRF
 
 #define AIO7_PIN    PINF7
 #define AIO7_RPORT  PINF
 #define AIO7_WPORT  PORTF
-#define AIO7_PWM    NULL
+#define AIO7_PWM    0
 #define AIO7_DDR    DDRF
 
 //-- Begin not supported by Teensyduino
@@ -373,13 +371,13 @@
 #define DIO46_PIN   PINE2
 #define DIO46_RPORT PINE
 #define DIO46_WPORT PORTE
-#define DIO46_PWM   NULL
+#define DIO46_PWM   0
 #define DIO46_DDR   DDRE
 
 #define DIO47_PIN   PINE3
 #define DIO47_RPORT PINE
 #define DIO47_WPORT PORTE
-#define DIO47_PWM   NULL
+#define DIO47_PWM   0
 #define DIO47_DDR   DDRE
 
 #define TEENSY_E2   46
@@ -391,300 +389,300 @@
 #define PA0_PIN     PINA0
 #define PA0_RPORT   PINA
 #define PA0_WPORT   PORTA
-#define PA0_PWM     NULL
+#define PA0_PWM     0
 #define PA0_DDR     DDRA
 #undef PA1
 #define PA1_PIN     PINA1
 #define PA1_RPORT   PINA
 #define PA1_WPORT   PORTA
-#define PA1_PWM     NULL
+#define PA1_PWM     0
 #define PA1_DDR     DDRA
 #undef PA2
 #define PA2_PIN     PINA2
 #define PA2_RPORT   PINA
 #define PA2_WPORT   PORTA
-#define PA2_PWM     NULL
+#define PA2_PWM     0
 #define PA2_DDR     DDRA
 #undef PA3
 #define PA3_PIN     PINA3
 #define PA3_RPORT   PINA
 #define PA3_WPORT   PORTA
-#define PA3_PWM     NULL
+#define PA3_PWM     0
 #define PA3_DDR     DDRA
 #undef PA4
 #define PA4_PIN     PINA4
 #define PA4_RPORT   PINA
 #define PA4_WPORT   PORTA
-#define PA4_PWM     NULL
+#define PA4_PWM     0
 #define PA4_DDR     DDRA
 #undef PA5
 #define PA5_PIN     PINA5
 #define PA5_RPORT   PINA
 #define PA5_WPORT   PORTA
-#define PA5_PWM     NULL
+#define PA5_PWM     0
 #define PA5_DDR     DDRA
 #undef PA6
 #define PA6_PIN     PINA6
 #define PA6_RPORT   PINA
 #define PA6_WPORT   PORTA
-#define PA6_PWM     NULL
+#define PA6_PWM     0
 #define PA6_DDR     DDRA
 #undef PA7
 #define PA7_PIN     PINA7
 #define PA7_RPORT   PINA
 #define PA7_WPORT   PORTA
-#define PA7_PWM     NULL
+#define PA7_PWM     0
 #define PA7_DDR     DDRA
 
 #undef PB0
 #define PB0_PIN     PINB0
 #define PB0_RPORT   PINB
 #define PB0_WPORT   PORTB
-#define PB0_PWM     NULL
+#define PB0_PWM     0
 #define PB0_DDR     DDRB
 #undef PB1
 #define PB1_PIN     PINB1
 #define PB1_RPORT   PINB
 #define PB1_WPORT   PORTB
-#define PB1_PWM     NULL
+#define PB1_PWM     0
 #define PB1_DDR     DDRB
 #undef PB2
 #define PB2_PIN     PINB2
 #define PB2_RPORT   PINB
 #define PB2_WPORT   PORTB
-#define PB2_PWM     NULL
+#define PB2_PWM     0
 #define PB2_DDR     DDRB
 #undef PB3
 #define PB3_PIN     PINB3
 #define PB3_RPORT   PINB
 #define PB3_WPORT   PORTB
-#define PB3_PWM     NULL
+#define PB3_PWM     0
 #define PB3_DDR     DDRB
 #undef PB4
 #define PB4_PIN     PINB4
 #define PB4_RPORT   PINB
 #define PB4_WPORT   PORTB
-#define PB4_PWM     NULL
+#define PB4_PWM     0
 #define PB4_DDR     DDRB
 #undef PB5
 #define PB5_PIN     PINB5
 #define PB5_RPORT   PINB
 #define PB5_WPORT   PORTB
-#define PB5_PWM     NULL
+#define PB5_PWM     0
 #define PB5_DDR     DDRB
 #undef PB6
 #define PB6_PIN     PINB6
 #define PB6_RPORT   PINB
 #define PB6_WPORT   PORTB
-#define PB6_PWM     NULL
+#define PB6_PWM     0
 #define PB6_DDR     DDRB
 #undef PB7
 #define PB7_PIN     PINB7
 #define PB7_RPORT   PINB
 #define PB7_WPORT   PORTB
-#define PB7_PWM     NULL
+#define PB7_PWM     0
 #define PB7_DDR     DDRB
 
 #undef PC0
 #define PC0_PIN     PINC0
 #define PC0_RPORT   PINC
 #define PC0_WPORT   PORTC
-#define PC0_PWM     NULL
+#define PC0_PWM     0
 #define PC0_DDR     DDRC
 #undef PC1
 #define PC1_PIN     PINC1
 #define PC1_RPORT   PINC
 #define PC1_WPORT   PORTC
-#define PC1_PWM     NULL
+#define PC1_PWM     0
 #define PC1_DDR     DDRC
 #undef PC2
 #define PC2_PIN     PINC2
 #define PC2_RPORT   PINC
 #define PC2_WPORT   PORTC
-#define PC2_PWM     NULL
+#define PC2_PWM     0
 #define PC2_DDR     DDRC
 #undef PC3
 #define PC3_PIN     PINC3
 #define PC3_RPORT   PINC
 #define PC3_WPORT   PORTC
-#define PC3_PWM     NULL
+#define PC3_PWM     0
 #define PC3_DDR     DDRC
 #undef PC4
 #define PC4_PIN     PINC4
 #define PC4_RPORT   PINC
 #define PC4_WPORT   PORTC
-#define PC4_PWM     NULL
+#define PC4_PWM     0
 #define PC4_DDR     DDRC
 #undef PC5
 #define PC5_PIN     PINC5
 #define PC5_RPORT   PINC
 #define PC5_WPORT   PORTC
-#define PC5_PWM     NULL
+#define PC5_PWM     0
 #define PC5_DDR     DDRC
 #undef PC6
 #define PC6_PIN     PINC6
 #define PC6_RPORT   PINC
 #define PC6_WPORT   PORTC
-#define PC6_PWM     NULL
+#define PC6_PWM     0
 #define PC6_DDR     DDRC
 #undef PC7
 #define PC7_PIN     PINC7
 #define PC7_RPORT   PINC
 #define PC7_WPORT   PORTC
-#define PC7_PWM     NULL
+#define PC7_PWM     0
 #define PC7_DDR     DDRC
 
 #undef PD0
 #define PD0_PIN     PIND0
 #define PD0_RPORT   PIND
 #define PD0_WPORT   PORTD
-#define PD0_PWM     NULL
+#define PD0_PWM     0 // OC0B
 #define PD0_DDR     DDRD
 #undef PD1
 #define PD1_PIN     PIND1
 #define PD1_RPORT   PIND
 #define PD1_WPORT   PORTD
-#define PD1_PWM     NULL
+#define PD1_PWM     0 // OC2B
 #define PD1_DDR     DDRD
 #undef PD2
 #define PD2_PIN     PIND2
 #define PD2_RPORT   PIND
 #define PD2_WPORT   PORTD
-#define PD2_PWM     NULL
+#define PD2_PWM     0
 #define PD2_DDR     DDRD
 #undef PD3
 #define PD3_PIN     PIND3
 #define PD3_RPORT   PIND
 #define PD3_WPORT   PORTD
-#define PD3_PWM     NULL
+#define PD3_PWM     0
 #define PD3_DDR     DDRD
 #undef PD4
 #define PD4_PIN     PIND4
 #define PD4_RPORT   PIND
 #define PD4_WPORT   PORTD
-#define PD4_PWM     NULL
+#define PD4_PWM     0
 #define PD4_DDR     DDRD
 #undef PD5
 #define PD5_PIN     PIND5
 #define PD5_RPORT   PIND
 #define PD5_WPORT   PORTD
-#define PD5_PWM     NULL
+#define PD5_PWM     0
 #define PD5_DDR     DDRD
 #undef PD6
 #define PD6_PIN     PIND6
 #define PD6_RPORT   PIND
 #define PD6_WPORT   PORTD
-#define PD6_PWM     NULL
+#define PD6_PWM     0
 #define PD6_DDR     DDRD
 #undef PD7
 #define PD7_PIN     PIND7
 #define PD7_RPORT   PIND
 #define PD7_WPORT   PORTD
-#define PD7_PWM     NULL
+#define PD7_PWM     0
 #define PD7_DDR     DDRD
 
 #undef PE0
 #define PE0_PIN     PINE0
 #define PE0_RPORT   PINE
 #define PE0_WPORT   PORTE
-#define PE0_PWM     NULL
+#define PE0_PWM     0
 #define PE0_DDR     DDRE
 #undef PE1
 #define PE1_PIN     PINE1
 #define PE1_RPORT   PINE
 #define PE1_WPORT   PORTE
-#define PE1_PWM     NULL
+#define PE1_PWM     0
 #define PE1_DDR     DDRE
 #undef PE2
 #define PE2_PIN     PINE2
 #define PE2_RPORT   PINE
 #define PE2_WPORT   PORTE
-#define PE2_PWM     NULL
+#define PE2_PWM     0
 #define PE2_DDR     DDRE
 #undef PE3
 #define PE3_PIN     PINE3
 #define PE3_RPORT   PINE
 #define PE3_WPORT   PORTE
-#define PE3_PWM     NULL
+#define PE3_PWM     0
 #define PE3_DDR     DDRE
 #undef PE4
 #define PE4_PIN     PINE4
 #define PE4_RPORT   PINE
 #define PE4_WPORT   PORTE
-#define PE4_PWM     NULL
+#define PE4_PWM     0
 #define PE4_DDR     DDRE
 #undef PE5
 #define PE5_PIN     PINE5
 #define PE5_RPORT   PINE
 #define PE5_WPORT   PORTE
-#define PE5_PWM     NULL
+#define PE5_PWM     0
 #define PE5_DDR     DDRE
 #undef PE6
 #define PE6_PIN     PINE6
 #define PE6_RPORT   PINE
 #define PE6_WPORT   PORTE
-#define PE6_PWM     NULL
+#define PE6_PWM     0
 #define PE6_DDR     DDRE
 #undef PE7
 #define PE7_PIN     PINE7
 #define PE7_RPORT   PINE
 #define PE7_WPORT   PORTE
-#define PE7_PWM     NULL
+#define PE7_PWM     0
 #define PE7_DDR     DDRE
 
 #undef PF0
 #define PF0_PIN     PINF0
 #define PF0_RPORT   PINF
 #define PF0_WPORT   PORTF
-#define PF0_PWM     NULL
+#define PF0_PWM     0
 #define PF0_DDR     DDRF
 #undef PF1
 #define PF1_PIN     PINF1
 #define PF1_RPORT   PINF
 #define PF1_WPORT   PORTF
-#define PF1_PWM     NULL
+#define PF1_PWM     0
 #define PF1_DDR     DDRF
 #undef PF2
 #define PF2_PIN     PINF2
 #define PF2_RPORT   PINF
 #define PF2_WPORT   PORTF
-#define PF2_PWM     NULL
+#define PF2_PWM     0
 #define PF2_DDR     DDRF
 #undef PF3
 #define PF3_PIN     PINF3
 #define PF3_RPORT   PINF
 #define PF3_WPORT   PORTF
-#define PF3_PWM     NULL
+#define PF3_PWM     0
 #define PF3_DDR     DDRF
 #undef PF4
 #define PF4_PIN     PINF4
 #define PF4_RPORT   PINF
 #define PF4_WPORT   PORTF
-#define PF4_PWM     NULL
+#define PF4_PWM     0
 #define PF4_DDR     DDRF
 #undef PF5
 #define PF5_PIN     PINF5
 #define PF5_RPORT   PINF
 #define PF5_WPORT   PORTF
-#define PF5_PWM     NULL
+#define PF5_PWM     0
 #define PF5_DDR     DDRF
 #undef PF6
 #define PF6_PIN     PINF6
 #define PF6_RPORT   PINF
 #define PF6_WPORT   PORTF
-#define PF6_PWM     NULL
+#define PF6_PWM     0
 #define PF6_DDR     DDRF
 #undef PF7
 #define PF7_PIN     PINF7
 #define PF7_RPORT   PINF
 #define PF7_WPORT   PORTF
-#define PF7_PWM     NULL
+#define PF7_PWM     0
 #define PF7_DDR     DDRF
 
 
 /**
- *  some of the pin mapping functions of the Teensduino extension to the Arduino IDE
- *  do not function the same as the other Arduino extensions
+ * Some of the pin mapping functions of the Teensduino extension to the Arduino IDE
+ * do not function the same as the other Arduino extensions.
  */
 
 //digitalPinToTimer(pin) function works like Arduino but Timers are not defined
@@ -697,5 +695,3 @@
 #define TIMER3A 5
 #define TIMER3B 4
 #define TIMER3C 3
-
-#endif // _FASTIO_AT90USB_H_

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

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+  #error "Sorry! TFT displays are not available for HAL/AVR."
+#endif

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

@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once

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

@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once

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

@@ -0,0 +1,58 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Test AVR-specific configuration values for errors at compile-time.
+ */
+
+/**
+ * Checks for FAST PWM
+ */
+#if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))
+  #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2"
+#endif
+
+/**
+ * Sanity checks for Spindle / Laser PWM
+ */
+#if ENABLED(SPINDLE_LASER_PWM)
+  #include "../ServoTimers.h"   // Needed to check timer availability (_useTimer3)
+  #if SPINDLE_LASER_PWM_PIN == 4 || WITHIN(SPINDLE_LASER_PWM_PIN, 11, 13)
+    #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by a system interrupt."
+  #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)
+  #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_PWM."
+#endif
+
+/**
+ * The Trinamic library includes SoftwareSerial.h, leading to a compile error.
+ */
+#if BOTH(HAS_TRINAMIC_CONFIG, ENDSTOP_INTERRUPTS_FEATURE)
+  #error "TMCStepper includes SoftwareSerial.h which is incompatible with ENDSTOP_INTERRUPTS_FEATURE. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."
+#endif
+
+#if BOTH(HAS_TMC_SW_SERIAL, MONITOR_DRIVER_STATUS)
+  #error "MONITOR_DRIVER_STATUS causes performance issues when used with SoftwareSerial-connected drivers. Disable MONITOR_DRIVER_STATUS or use hardware serial to continue."
+#endif

Marlin/src/HAL/AVR/math.h

@@ -0,0 +1,113 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Optimized math functions for AVR
+ */
+
+// intRes = longIn1 * longIn2 >> 24
+// uses:
+// A[tmp] to store 0
+// B[tmp] to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
+// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
+// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
+// B A are bits 24-39 and are the returned value
+// C B A is longIn1
+// D C B A is longIn2
+//
+static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
+  uint8_t tmp1;
+  uint8_t tmp2;
+  uint16_t intRes;
+  __asm__ __volatile__(
+    A("clr %[tmp1]")
+    A("mul %A[longIn1], %B[longIn2]")
+    A("mov %[tmp2], r1")
+    A("mul %B[longIn1], %C[longIn2]")
+    A("movw %A[intRes], r0")
+    A("mul %C[longIn1], %C[longIn2]")
+    A("add %B[intRes], r0")
+    A("mul %C[longIn1], %B[longIn2]")
+    A("add %A[intRes], r0")
+    A("adc %B[intRes], r1")
+    A("mul %A[longIn1], %C[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %B[longIn1], %B[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %C[longIn1], %A[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %B[longIn1], %A[longIn2]")
+    A("add %[tmp2], r1")
+    A("adc %A[intRes], %[tmp1]")
+    A("adc %B[intRes], %[tmp1]")
+    A("lsr %[tmp2]")
+    A("adc %A[intRes], %[tmp1]")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %D[longIn2], %A[longIn1]")
+    A("add %A[intRes], r0")
+    A("adc %B[intRes], r1")
+    A("mul %D[longIn2], %B[longIn1]")
+    A("add %B[intRes], r0")
+    A("clr r1")
+      : [intRes] "=&r" (intRes),
+        [tmp1] "=&r" (tmp1),
+        [tmp2] "=&r" (tmp2)
+      : [longIn1] "d" (longIn1),
+        [longIn2] "d" (longIn2)
+      : "cc"
+  );
+  return intRes;
+}
+
+// intRes = intIn1 * intIn2 >> 16
+// 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) {
+  uint8_t tmp;
+  uint16_t intRes;
+  __asm__ __volatile__ (
+    A("clr %[tmp]")
+    A("mul %[charIn1], %B[intIn2]")
+    A("movw %A[intRes], r0")
+    A("mul %[charIn1], %A[intIn2]")
+    A("add %A[intRes], r1")
+    A("adc %B[intRes], %[tmp]")
+    A("lsr r0")
+    A("adc %A[intRes], %[tmp]")
+    A("adc %B[intRes], %[tmp]")
+    A("clr r1")
+      : [intRes] "=&r" (intRes),
+        [tmp] "=&r" (tmp)
+      : [charIn1] "d" (charIn1),
+        [intIn2] "d" (intIn2)
+      : "cc"
+  );
+  return intRes;
+}

Marlin/src/HAL/AVR/pinsDebug.h

@@ -0,0 +1,403 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * PWM print routines for Atmel 8 bit AVR CPUs
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+
+#if MB(BQ_ZUM_MEGA_3D, MIGHTYBOARD_REVE, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14)
+  #define AVR_ATmega2560_FAMILY_PLUS_70 1
+#endif
+
+#if AVR_AT90USB1286_FAMILY
+
+  // Working with Teensyduino extension so need to re-define some things
+  #include "pinsDebug_Teensyduino.h"
+  // Can't use the "digitalPinToPort" function from the Teensyduino type IDEs
+  // portModeRegister takes a different argument
+  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
+  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
+  #define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p)
+  #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
+
+#elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70
+
+  #include "pinsDebug_plus_70.h"
+  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer_plus_70(p)
+  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask_plus_70(p)
+  #define digitalPinToPort_DEBUG(p) digitalPinToPort_plus_70(p)
+  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+
+#else
+
+  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
+  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
+  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
+  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  #define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+
+#endif
+
+#define VALID_PIN(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0)
+#if AVR_ATmega1284_FAMILY
+  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(analogInputToDigitalPin(0) - (P))
+  #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(7) && (P) <= analogInputToDigitalPin(0))
+#else
+  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int((P) - analogInputToDigitalPin(0))
+  #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && ((P) <= analogInputToDigitalPin(15) || (P) <= analogInputToDigitalPin(7)))
+#endif
+#define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+#define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin
+
+void PRINT_ARRAY_NAME(uint8_t x) {
+  char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name);
+  LOOP_L_N(y, MAX_NAME_LENGTH) {
+    char temp_char = pgm_read_byte(name_mem_pointer + y);
+    if (temp_char != 0)
+      SERIAL_CHAR(temp_char);
+    else {
+      LOOP_L_N(i, MAX_NAME_LENGTH - y) SERIAL_CHAR(' ');
+      break;
+    }
+  }
+}
+
+#define GET_ARRAY_IS_DIGITAL(x)   pgm_read_byte(&pin_array[x].is_digital)
+
+
+#if defined(__AVR_ATmega1284P__)  // 1284 IDE extensions set this to the number of
+  #undef NUM_DIGITAL_PINS         // digital only pins while all other CPUs have it
+  #define NUM_DIGITAL_PINS 32     // set to digital only + digital/analog
+#endif
+
+#define PWM_PRINT(V) do{ sprintf_P(buffer, PSTR("PWM:  %4d"), V); SERIAL_ECHO(buffer); }while(0)
+#define PWM_CASE(N,Z)                                           \
+  case TIMER##N##Z:                                             \
+    if (TCCR##N##A & (_BV(COM##N##Z##1) | _BV(COM##N##Z##0))) { \
+      PWM_PRINT(OCR##N##Z);                                     \
+      return true;                                              \
+    } else return false
+
+
+
+/**
+ * Print a pin's PWM status.
+ * Return true if it's currently a PWM pin.
+ */
+static bool pwm_status(uint8_t pin) {
+  char buffer[20];   // for the sprintf statements
+
+  switch (digitalPinToTimer_DEBUG(pin)) {
+
+    #if defined(TCCR0A) && defined(COM0A1)
+      #ifdef TIMER0A
+        #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
+          PWM_CASE(0, A);
+        #endif
+      #endif
+      PWM_CASE(0, B);
+    #endif
+
+    #if defined(TCCR1A) && defined(COM1A1)
+      PWM_CASE(1, A);
+      PWM_CASE(1, B);
+     #if defined(COM1C1) && defined(TIMER1C)
+      PWM_CASE(1, C);
+     #endif
+    #endif
+
+    #if defined(TCCR2A) && defined(COM2A1)
+      PWM_CASE(2, A);
+      PWM_CASE(2, B);
+    #endif
+
+    #if defined(TCCR3A) && defined(COM3A1)
+      PWM_CASE(3, A);
+      PWM_CASE(3, B);
+      #ifdef COM3C1
+        PWM_CASE(3, C);
+      #endif
+    #endif
+
+    #ifdef TCCR4A
+      PWM_CASE(4, A);
+      PWM_CASE(4, B);
+      PWM_CASE(4, C);
+    #endif
+
+    #if defined(TCCR5A) && defined(COM5A1)
+      PWM_CASE(5, A);
+      PWM_CASE(5, B);
+      PWM_CASE(5, C);
+    #endif
+
+    case NOT_ON_TIMER:
+    default:
+      return false;
+  }
+  SERIAL_ECHO_SP(2);
+} // pwm_status
+
+
+const volatile uint8_t* const PWM_other[][3] PROGMEM = {
+    { &TCCR0A, &TCCR0B, &TIMSK0 },
+    { &TCCR1A, &TCCR1B, &TIMSK1 },
+  #if defined(TCCR2A) && defined(COM2A1)
+    { &TCCR2A, &TCCR2B, &TIMSK2 },
+  #endif
+  #if defined(TCCR3A) && defined(COM3A1)
+    { &TCCR3A, &TCCR3B, &TIMSK3 },
+  #endif
+  #ifdef TCCR4A
+    { &TCCR4A, &TCCR4B, &TIMSK4 },
+  #endif
+  #if defined(TCCR5A) && defined(COM5A1)
+    { &TCCR5A, &TCCR5B, &TIMSK5 },
+  #endif
+};
+
+
+const volatile uint8_t* const PWM_OCR[][3] PROGMEM = {
+
+  #ifdef TIMER0A
+    { &OCR0A, &OCR0B, 0 },
+  #else
+    { 0, &OCR0B, 0 },
+  #endif
+
+  #if defined(COM1C1) && defined(TIMER1C)
+   { (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, (const uint8_t*)&OCR1C },
+  #else
+   { (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, 0 },
+  #endif
+
+  #if defined(TCCR2A) && defined(COM2A1)
+    { &OCR2A, &OCR2B, 0 },
+  #endif
+
+  #if defined(TCCR3A) && defined(COM3A1)
+    #ifdef COM3C1
+      { (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, (const uint8_t*)&OCR3C },
+    #else
+      { (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, 0 },
+    #endif
+  #endif
+
+  #ifdef TCCR4A
+    { (const uint8_t*)&OCR4A, (const uint8_t*)&OCR4B, (const uint8_t*)&OCR4C },
+  #endif
+
+  #if defined(TCCR5A) && defined(COM5A1)
+    { (const uint8_t*)&OCR5A, (const uint8_t*)&OCR5B, (const uint8_t*)&OCR5C },
+  #endif
+};
+
+
+#define TCCR_A(T)   pgm_read_word(&PWM_other[T][0])
+#define TCCR_B(T)   pgm_read_word(&PWM_other[T][1])
+#define TIMSK(T)    pgm_read_word(&PWM_other[T][2])
+#define CS_0       0
+#define CS_1       1
+#define CS_2       2
+#define WGM_0      0
+#define WGM_1      1
+#define WGM_2      3
+#define WGM_3      4
+#define TOIE       0
+
+#define OCR_VAL(T, L)   pgm_read_word(&PWM_OCR[T][L])
+
+static void err_is_counter()     { SERIAL_ECHOPGM("   non-standard PWM mode"); }
+static void err_is_interrupt()   { SERIAL_ECHOPGM("   compare interrupt enabled"); }
+static void err_prob_interrupt() { SERIAL_ECHOPGM("   overflow interrupt enabled"); }
+static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin"); SERIAL_ECHO_SP(14); }
+
+inline void com_print(const uint8_t N, const uint8_t Z) {
+  const uint8_t *TCCRA = (uint8_t*)TCCR_A(N);
+  SERIAL_ECHOPGM("    COM");
+  SERIAL_CHAR('0' + N, Z);
+  SERIAL_ECHOPAIR(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
+}
+
+void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N - WGM bit layout
+  char buffer[20];   // for the sprintf statements
+  const uint8_t *TCCRB = (uint8_t*)TCCR_B(T),
+                *TCCRA = (uint8_t*)TCCR_A(T);
+  uint8_t WGM = (((*TCCRB & _BV(WGM_2)) >> 1) | (*TCCRA & (_BV(WGM_0) | _BV(WGM_1))));
+  if (N == 4) WGM |= ((*TCCRB & _BV(WGM_3)) >> 1);
+
+  SERIAL_ECHOPGM("    TIMER");
+  SERIAL_CHAR(T + '0', L);
+  SERIAL_ECHO_SP(3);
+
+  if (N == 3) {
+    const uint8_t *OCRVAL8 = (uint8_t*)OCR_VAL(T, L - 'A');
+    PWM_PRINT(*OCRVAL8);
+  }
+  else {
+    const uint16_t *OCRVAL16 = (uint16_t*)OCR_VAL(T, L - 'A');
+    PWM_PRINT(*OCRVAL16);
+  }
+  SERIAL_ECHOPAIR("    WGM: ", WGM);
+  com_print(T,L);
+  SERIAL_ECHOPAIR("    CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) ));
+
+  SERIAL_ECHOPGM("    TCCR");
+  SERIAL_CHAR(T + '0');
+  SERIAL_ECHOPAIR("A: ", *TCCRA);
+
+  SERIAL_ECHOPGM("    TCCR");
+  SERIAL_CHAR(T + '0');
+  SERIAL_ECHOPAIR("B: ", *TCCRB);
+
+  const uint8_t *TMSK = (uint8_t*)TIMSK(T);
+  SERIAL_ECHOPGM("    TIMSK");
+  SERIAL_CHAR(T + '0');
+  SERIAL_ECHOPAIR(": ", *TMSK);
+
+  const uint8_t OCIE = L - 'A' + 1;
+  if (N == 3) { if (WGM == 0 || WGM == 2 || WGM ==  4 || WGM ==  6) err_is_counter(); }
+  else        { if (WGM == 0 || WGM == 4 || WGM == 12 || WGM == 13) err_is_counter(); }
+  if (TEST(*TMSK, OCIE)) err_is_interrupt();
+  if (TEST(*TMSK, TOIE)) err_prob_interrupt();
+}
+
+static void pwm_details(uint8_t pin) {
+  switch (digitalPinToTimer_DEBUG(pin)) {
+
+    #if defined(TCCR0A) && defined(COM0A1)
+      #ifdef TIMER0A
+        #if !AVR_AT90USB1286_FAMILY  // not available in Teensyduino type IDEs
+          case TIMER0A: timer_prefix(0, 'A', 3); break;
+        #endif
+      #endif
+      case TIMER0B: timer_prefix(0, 'B', 3); break;
+    #endif
+
+    #if defined(TCCR1A) && defined(COM1A1)
+      case TIMER1A: timer_prefix(1, 'A', 4); break;
+      case TIMER1B: timer_prefix(1, 'B', 4); break;
+      #if defined(COM1C1) && defined(TIMER1C)
+        case TIMER1C: timer_prefix(1, 'C', 4); break;
+      #endif
+    #endif
+
+    #if defined(TCCR2A) && defined(COM2A1)
+      case TIMER2A: timer_prefix(2, 'A', 3); break;
+      case TIMER2B: timer_prefix(2, 'B', 3); break;
+    #endif
+
+    #if defined(TCCR3A) && defined(COM3A1)
+      case TIMER3A: timer_prefix(3, 'A', 4); break;
+      case TIMER3B: timer_prefix(3, 'B', 4); break;
+      #ifdef COM3C1
+        case TIMER3C: timer_prefix(3, 'C', 4); break;
+      #endif
+    #endif
+
+    #ifdef TCCR4A
+      case TIMER4A: timer_prefix(4, 'A', 4); break;
+      case TIMER4B: timer_prefix(4, 'B', 4); break;
+      case TIMER4C: timer_prefix(4, 'C', 4); break;
+    #endif
+
+    #if defined(TCCR5A) && defined(COM5A1)
+      case TIMER5A: timer_prefix(5, 'A', 4); break;
+      case TIMER5B: timer_prefix(5, 'B', 4); break;
+      case TIMER5C: timer_prefix(5, 'C', 4); break;
+    #endif
+
+    case NOT_ON_TIMER: break;
+
+  }
+  SERIAL_ECHOPGM("  ");
+
+  // on pins that have two PWMs, print info on second PWM
+  #if AVR_ATmega2560_FAMILY || AVR_AT90USB1286_FAMILY
+    // looking for port B7 - PWMs 0A and 1C
+    if (digitalPinToPort_DEBUG(pin) == 'B' - 64 && 0x80 == digitalPinToBitMask_DEBUG(pin)) {
+      #if !AVR_AT90USB1286_FAMILY
+        SERIAL_ECHOPGM("\n .");
+        SERIAL_ECHO_SP(18);
+        SERIAL_ECHOPGM("TIMER1C");
+        print_is_also_tied();
+        timer_prefix(1, 'C', 4);
+      #else
+        SERIAL_ECHOPGM("\n .");
+        SERIAL_ECHO_SP(18);
+        SERIAL_ECHOPGM("TIMER0A");
+        print_is_also_tied();
+        timer_prefix(0, 'A', 3);
+      #endif
+    }
+  #else
+    UNUSED(print_is_also_tied);
+  #endif
+} // pwm_details
+
+
+#ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
+  int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed
+    const uint8_t port = digitalPinToPort_DEBUG(pin);
+    return (port != NOT_A_PIN) && (*portInputRegister(port) & digitalPinToBitMask_DEBUG(pin)) ? HIGH : LOW;
+  }
+#endif
+
+#ifndef PRINT_PORT
+
+  void print_port(int8_t pin) {   // print port number
+    #ifdef digitalPinToPort_DEBUG
+      uint8_t x;
+      SERIAL_ECHOPGM("  Port: ");
+      #if AVR_AT90USB1286_FAMILY
+        x = (pin == 46 || pin == 47) ? 'E' : digitalPinToPort_DEBUG(pin) + 64;
+      #else
+        x = digitalPinToPort_DEBUG(pin) + 64;
+      #endif
+      SERIAL_CHAR(x);
+
+      #if AVR_AT90USB1286_FAMILY
+        if (pin == 46)
+          x = '2';
+        else if (pin == 47)
+          x = '3';
+        else {
+          uint8_t temp = digitalPinToBitMask_DEBUG(pin);
+          for (x = '0'; x < '9' && temp != 1; x++) temp >>= 1;
+        }
+      #else
+        uint8_t temp = digitalPinToBitMask_DEBUG(pin);
+        for (x = '0'; x < '9' && temp != 1; x++) temp >>= 1;
+      #endif
+      SERIAL_CHAR(x);
+    #else
+      SERIAL_ECHO_SP(10);
+    #endif
+  }
+
+  #define PRINT_PORT(p) print_port(p)
+
+#endif
+
+#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)

Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h

@@ -1,9 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * 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
@@ -16,12 +13,10 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
-
-#ifndef _PINSDEBUG_TEENSYSUINO_H_
-#define _PINSDEBUG_TEENSYSUINO_H_
+#pragma once
 
 //
 //  some of the pin mapping functions of the Teensduino extension to the Arduino IDE
@@ -107,9 +102,7 @@ const uint8_t PROGMEM digital_pin_to_port_PGM[] = {
 
 // digitalPinToBitMask(pin) is OK
 
-#define digitalRead_mod(p)  digitalRead(p)   // Teensyduino's version of digitalRead doesn't
-                                             // disable the PWMs so we can use it as is
+#define digitalRead_mod(p)  extDigitalRead(p)   // Teensyduino's version of digitalRead doesn't
+                                                // disable the PWMs so we can use it as is
 
 // portModeRegister(pin) is OK
-
-#endif // _PINSDEBUG_TEENSYSUINO_H_

Marlin/src/HAL/AVR/pinsDebug_plus_70.h

@@ -1,10 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (C) 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * 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
@@ -17,26 +13,21 @@
  * 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 <http://www.gnu.org/licenses/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * Structures for 2560 family boards that use more than 70 pins
  */
 
-#ifndef _PINSDEBUG_PLUS_70_H_
-#define _PINSDEBUG_PLUS_70_H_
-
-#undef NUM_DIGITAL_PINS
-#if MB(BQ_ZUM_MEGA_3D)
+#if MB(BQ_ZUM_MEGA_3D, MINIRAMBO, SCOOVO_X9H, TRIGORILLA_14)
+  #undef NUM_DIGITAL_PINS
   #define NUM_DIGITAL_PINS            85
 #elif MB(MIGHTYBOARD_REVE)
+  #undef NUM_DIGITAL_PINS
   #define NUM_DIGITAL_PINS            80
-#elif MB(MINIRAMBO)
-  #define NUM_DIGITAL_PINS            85
-#elif MB(SCOOVO_X9H)
-  #define NUM_DIGITAL_PINS            85
 #endif
 
 #define PA 1
@@ -53,7 +44,7 @@
 
 const uint8_t PROGMEM digital_pin_to_port_PGM_plus_70[] = {
   // PORTLIST
-  // -------------------------------------------
+  // ------------------------
   PE  , // PE 0 ** 0 ** USART0_RX
   PE  , // PE 1 ** 1 ** USART0_TX
   PE  , // PE 4 ** 2 ** PWM2
@@ -146,7 +137,7 @@ const uint8_t PROGMEM digital_pin_to_port_PGM_plus_70[] = {
 
 const uint8_t PROGMEM digital_pin_to_bit_mask_PGM_plus_70[] = {
   // PIN IN PORT
-  // -------------------------------------------
+  // ------------------------
   _BV( 0 )  , // PE 0 ** 0 ** USART0_RX
   _BV( 1 )  , // PE 1 ** 1 ** USART0_TX
   _BV( 4 )  , // PE 4 ** 2 ** PWM2
@@ -240,7 +231,7 @@ const uint8_t PROGMEM digital_pin_to_bit_mask_PGM_plus_70[] = {
 
 const uint8_t PROGMEM digital_pin_to_timer_PGM_plus_70[] = {
   // TIMERS
-  // -------------------------------------------
+  // ------------------------
   NOT_ON_TIMER  , // PE 0 ** 0 ** USART0_RX
   NOT_ON_TIMER  , // PE 1 ** 1 ** USART0_TX
   TIMER3B , // PE 4 ** 2 ** PWM2
@@ -336,6 +327,3 @@ const uint8_t PROGMEM digital_pin_to_timer_PGM_plus_70[] = {
  *  PCINT14 J5 76
  *  PCINT15 J6 77
  */
-
-
-#endif // _PINSDEBUG_PLUS_70_H_

Marlin/src/HAL/AVR/spi_pins.h

@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Define SPI Pins: SCK, MISO, MOSI, SS
+ */
+#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
+  #define AVR_SCK_PIN  13
+  #define AVR_MISO_PIN 12
+  #define AVR_MOSI_PIN 11
+  #define AVR_SS_PIN   10
+#elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
+  #define AVR_SCK_PIN  7
+  #define AVR_MISO_PIN 6
+  #define AVR_MOSI_PIN 5
+  #define AVR_SS_PIN   4
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+  #define AVR_SCK_PIN  52
+  #define AVR_MISO_PIN 50
+  #define AVR_MOSI_PIN 51
+  #define AVR_SS_PIN   53
+#elif defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
+  #define AVR_SCK_PIN  21
+  #define AVR_MISO_PIN 23
+  #define AVR_MOSI_PIN 22
+  #define AVR_SS_PIN   20
+#elif defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+  #define AVR_SCK_PIN  10
+  #define AVR_MISO_PIN 12
+  #define AVR_MOSI_PIN 11
+  #define AVR_SS_PIN   16
+#endif
+
+#ifndef SCK_PIN
+  #define SCK_PIN  AVR_SCK_PIN
+#endif
+#ifndef MISO_PIN
+  #define MISO_PIN AVR_MISO_PIN
+#endif
+#ifndef MOSI_PIN
+  #define MOSI_PIN AVR_MOSI_PIN
+#endif
+#ifndef SS_PIN
+  #define SS_PIN   AVR_SS_PIN
+#endif

Marlin/src/HAL/AVR/timers.h

@@ -0,0 +1,260 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+// ------------------------
+// Types
+// ------------------------
+
+typedef uint16_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFF
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define HAL_TIMER_RATE          ((F_CPU) / 8)    // i.e., 2MHz or 2.5MHz
+
+#ifndef STEP_TIMER_NUM
+  #define STEP_TIMER_NUM        1
+#endif
+#ifndef PULSE_TIMER_NUM
+  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#endif
+#ifndef TEMP_TIMER_NUM
+  #define TEMP_TIMER_NUM        0
+#endif
+
+#define TEMP_TIMER_FREQUENCY    ((F_CPU) / 64.0 / 256.0)
+
+#define STEPPER_TIMER_RATE      HAL_TIMER_RATE
+#define STEPPER_TIMER_PRESCALE  8
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // Cannot be of type double
+
+#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
+#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)
+
+FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
+  switch (timer_num) {
+    case STEP_TIMER_NUM:
+      // waveform generation = 0100 = CTC
+      SET_WGM(1, CTC_OCRnA);
+
+      // output mode = 00 (disconnected)
+      SET_COMA(1, NORMAL);
+
+      // Set the timer pre-scaler
+      // Generally we use a divider of 8, resulting in a 2MHz timer
+      // frequency on a 16MHz MCU. If you are going to change this, be
+      // sure to regenerate speed_lookuptable.h with
+      // create_speed_lookuptable.py
+      SET_CS(1, PRESCALER_8);  //  CS 2 = 1/8 prescaler
+
+      // Init Stepper ISR to 122 Hz for quick starting
+      // (F_CPU) / (STEPPER_TIMER_PRESCALE) / frequency
+      OCR1A = 0x4000;
+      TCNT1 = 0;
+      break;
+
+    case TEMP_TIMER_NUM:
+      // Use timer0 for temperature measurement
+      // Interleave temperature interrupt with millies interrupt
+      OCR0B = 128;
+      break;
+  }
+}
+
+#define TIMER_OCR_1             OCR1A
+#define TIMER_COUNTER_1         TCNT1
+
+#define TIMER_OCR_0             OCR0A
+#define TIMER_COUNTER_0         TCNT0
+
+#define _CAT(a,V...) a##V
+#define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
+#define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
+#define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
+
+/**
+ * On AVR there is no hardware prioritization and preemption of
+ * interrupts, so this emulates it. The UART has first priority
+ * (otherwise, characters will be lost due to UART overflow).
+ * Then: Stepper, Endstops, Temperature, and -finally- all others.
+ */
+#define HAL_timer_isr_prologue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(TIMER_NUM)
+
+/* 18 cycles maximum latency */
+#ifndef HAL_STEP_TIMER_ISR
+
+#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)); \
+void TIMER1_COMPA_vect() { \
+  __asm__ __volatile__ ( \
+    A("push r16")                      /* 2 Save R16 */ \
+    A("in r16, __SREG__")              /* 1 Get SREG */ \
+    A("push r16")                      /* 2 Save SREG into stack */ \
+    A("lds r16, %[timsk0]")            /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
+    A("push r16")                      /* 2 Save TIMSK0 into the stack */ \
+    A("andi r16,~%[msk0]")             /* 1 Disable the temperature ISR */ \
+    A("sts %[timsk0], r16")            /* 2 And set the new value */ \
+    A("lds r16, %[timsk1]")            /* 2 Load into R0 the stepper timer Interrupt mask register [TIMSK1] */ \
+    A("andi r16,~%[msk1]")             /* 1 Disable the stepper ISR */ \
+    A("sts %[timsk1], r16")            /* 2 And set the new value */ \
+    A("push r16")                      /* 2 Save TIMSK1 into stack */ \
+    A("in r16, 0x3B")                  /* 1 Get RAMPZ register */ \
+    A("push r16")                      /* 2 Save RAMPZ into stack */ \
+    A("in r16, 0x3C")                  /* 1 Get EIND register */ \
+    A("push r0")                       /* C runtime can modify all the following registers without restoring them */ \
+    A("push r1")                       \
+    A("push r18")                      \
+    A("push r19")                      \
+    A("push r20")                      \
+    A("push r21")                      \
+    A("push r22")                      \
+    A("push r23")                      \
+    A("push r24")                      \
+    A("push r25")                      \
+    A("push r26")                      \
+    A("push r27")                      \
+    A("push r30")                      \
+    A("push r31")                      \
+    A("clr r1")                        /* C runtime expects this register to be 0 */ \
+    A("call TIMER1_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")                       \
+    A("pop r26")                       \
+    A("pop r25")                       \
+    A("pop r24")                       \
+    A("pop r23")                       \
+    A("pop r22")                       \
+    A("pop r21")                       \
+    A("pop r20")                       \
+    A("pop r19")                       \
+    A("pop r18")                       \
+    A("pop r1")                        \
+    A("pop r0")                        \
+    A("out 0x3C, r16")                 /* 1 Restore EIND register */ \
+    A("pop r16")                       /* 2 Get the original RAMPZ register value */ \
+    A("out 0x3B, r16")                 /* 1 Restore RAMPZ register to its original value */ \
+    A("pop r16")                       /* 2 Get the original TIMSK1 value but with stepper ISR disabled */ \
+    A("ori r16,%[msk1]")               /* 1 Reenable the stepper ISR */ \
+    A("cli")                           /* 1 Disable global interrupts - Reenabling Stepper ISR can reenter amd temperature can reenter, and we want that, if it happens, after this ISR has ended */ \
+    A("sts %[timsk1], r16")            /* 2 And restore the old value - This reenables the stepper ISR */ \
+    A("pop r16")                       /* 2 Get the temperature timer Interrupt mask register [TIMSK0] */ \
+    A("sts %[timsk0], r16")            /* 2 And restore the old value - This reenables the temperature ISR */ \
+    A("pop r16")                       /* 2 Get the old SREG value */ \
+    A("out __SREG__, r16")             /* 1 And restore the SREG value */ \
+    A("pop r16")                       /* 2 Restore R16 value */ \
+    A("reti")                          /* 4 Return from interrupt */ \
+    :                                   \
+    : [timsk0] "i" ((uint16_t)&TIMSK0), \
+      [timsk1] "i" ((uint16_t)&TIMSK1), \
+      [msk0] "M" ((uint8_t)(1<<OCIE0B)),\
+      [msk1] "M" ((uint8_t)(1<<OCIE1A)) \
+    : \
+  ); \
+} \
+void TIMER1_COMPA_vect_bottom()
+
+#endif // HAL_STEP_TIMER_ISR
+
+#ifndef HAL_TEMP_TIMER_ISR
+
+/* 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() { \
+  __asm__ __volatile__ ( \
+    A("push r16")                       /* 2 Save R16 */ \
+    A("in r16, __SREG__")               /* 1 Get SREG */ \
+    A("push r16")                       /* 2 Save SREG into stack */ \
+    A("lds r16, %[timsk0]")             /* 2 Load into R0 the Temperature timer Interrupt mask register */ \
+    A("andi r16,~%[msk0]")              /* 1 Disable the temperature ISR */ \
+    A("sts %[timsk0], r16")             /* 2 And set the new value */ \
+    A("sei")                            /* 1 Enable global interrupts - It is safe, as the temperature ISR is disabled, so we cannot reenter it */    \
+    A("push r16")                       /* 2 Save TIMSK0 into stack */ \
+    A("in r16, 0x3B")                   /* 1 Get RAMPZ register */ \
+    A("push r16")                       /* 2 Save RAMPZ into stack */ \
+    A("in r16, 0x3C")                   /* 1 Get EIND register */ \
+    A("push r0")                        /* C runtime can modify all the following registers without restoring them */ \
+    A("push r1")                        \
+    A("push r18")                       \
+    A("push r19")                       \
+    A("push r20")                       \
+    A("push r21")                       \
+    A("push r22")                       \
+    A("push r23")                       \
+    A("push r24")                       \
+    A("push r25")                       \
+    A("push r26")                       \
+    A("push r27")                       \
+    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("pop r31")                        \
+    A("pop r30")                        \
+    A("pop r27")                        \
+    A("pop r26")                        \
+    A("pop r25")                        \
+    A("pop r24")                        \
+    A("pop r23")                        \
+    A("pop r22")                        \
+    A("pop r21")                        \
+    A("pop r20")                        \
+    A("pop r19")                        \
+    A("pop r18")                        \
+    A("pop r1")                         \
+    A("pop r0")                         \
+    A("out 0x3C, r16")                  /* 1 Restore EIND register */ \
+    A("pop r16")                        /* 2 Get the original RAMPZ register value */ \
+    A("out 0x3B, r16")                  /* 1 Restore RAMPZ register to its original value */ \
+    A("pop r16")                        /* 2 Get the original TIMSK0 value but with temperature ISR disabled */ \
+    A("ori r16,%[msk0]")                /* 1 Enable temperature ISR */ \
+    A("cli")                            /* 1 Disable global interrupts - We must do this, as we will reenable the temperature ISR, and we don't want to reenter this handler until the current one is done */ \
+    A("sts %[timsk0], r16")             /* 2 And restore the old value */ \
+    A("pop r16")                        /* 2 Get the old SREG */ \
+    A("out __SREG__, r16")              /* 1 And restore the SREG value */ \
+    A("pop r16")                        /* 2 Restore R16 */ \
+    A("reti")                           /* 4 Return from interrupt */ \
+    :                                   \
+    : [timsk0] "i"((uint16_t)&TIMSK0),  \
+      [msk0] "M" ((uint8_t)(1<<OCIE0B)) \
+    : \
+  ); \
+} \
+void TIMER0_COMPB_vect_bottom()
+
+#endif // HAL_TEMP_TIMER_ISR

Marlin/src/HAL/AVR/u8g_com_HAL_AVR_sw_spi.cpp

@@ -0,0 +1,193 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Based on u8g_com_st7920_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2011, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this list
+ *    of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice, this
+ *    list of conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#if defined(ARDUINO) && !defined(ARDUINO_ARCH_STM32) && !defined(ARDUINO_ARCH_SAM)
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_MARLINUI_U8GLIB
+
+#include "../shared/Marduino.h"
+#include "../shared/Delay.h"
+
+#include <U8glib.h>
+
+uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock;
+volatile uint8_t *u8g_outData, *u8g_outClock;
+
+static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin) {
+  u8g_outData = portOutputRegister(digitalPinToPort(dataPin));
+  u8g_outClock = portOutputRegister(digitalPinToPort(clockPin));
+  u8g_bitData = digitalPinToBitMask(dataPin);
+  u8g_bitClock = digitalPinToBitMask(clockPin);
+
+  u8g_bitNotClock = u8g_bitClock;
+  u8g_bitNotClock ^= 0xFF;
+
+  u8g_bitNotData = u8g_bitData;
+  u8g_bitNotData ^= 0xFF;
+}
+
+void u8g_spiSend_sw_AVR_mode_0(uint8_t val) {
+  uint8_t bitData = u8g_bitData,
+          bitNotData = u8g_bitNotData,
+          bitClock = u8g_bitClock,
+          bitNotClock = u8g_bitNotClock;
+  volatile uint8_t *outData = u8g_outData,
+                   *outClock = u8g_outClock;
+  U8G_ATOMIC_START();
+  LOOP_L_N(i, 8) {
+    if (val & 0x80)
+      *outData |= bitData;
+    else
+      *outData &= bitNotData;
+    *outClock |= bitClock;
+    val <<= 1;
+    *outClock &= bitNotClock;
+  }
+  U8G_ATOMIC_END();
+}
+
+void u8g_spiSend_sw_AVR_mode_3(uint8_t val) {
+  uint8_t bitData = u8g_bitData,
+          bitNotData = u8g_bitNotData,
+          bitClock = u8g_bitClock,
+          bitNotClock = u8g_bitNotClock;
+  volatile uint8_t *outData = u8g_outData,
+                   *outClock = u8g_outClock;
+  U8G_ATOMIC_START();
+  LOOP_L_N(i, 8) {
+    *outClock &= bitNotClock;
+    if (val & 0x80)
+      *outData |= bitData;
+    else
+      *outData &= bitNotData;
+    *outClock |= bitClock;
+    val <<= 1;
+  }
+  U8G_ATOMIC_END();
+}
+
+
+#if ENABLED(FYSETC_MINI_12864)
+  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_3
+#else
+  #define SPISEND_SW_AVR u8g_spiSend_sw_AVR_mode_0
+#endif
+
+uint8_t u8g_com_HAL_AVR_sw_sp_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  switch (msg) {
+    case U8G_COM_MSG_INIT:
+      u8g_com_arduino_init_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK]);
+      u8g_com_arduino_assign_pin_output_high(u8g);
+      u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, 0);
+      u8g_com_arduino_digital_write(u8g, U8G_PI_MOSI, 0);
+      break;
+
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_RESET:
+      if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_com_arduino_digital_write(u8g, U8G_PI_RESET, arg_val);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:
+      #if ENABLED(FYSETC_MINI_12864)           // LCD SPI is running mode 3 while SD card is running mode 0
+        if (arg_val) {                         //   SCK idle state needs to be set to the proper idle state before
+                                               //   the next chip select goes active
+          u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, 1);  // Set SCK to mode 3 idle state before CS goes active
+          u8g_com_arduino_digital_write(u8g, U8G_PI_CS, LOW);
+        }
+        else {
+          u8g_com_arduino_digital_write(u8g, U8G_PI_CS, HIGH);
+          u8g_com_arduino_digital_write(u8g, U8G_PI_SCK, 0);  // Set SCK to mode 0 idle state after CS goes inactive
+        }
+      #else
+        u8g_com_arduino_digital_write(u8g, U8G_PI_CS, !arg_val);
+      #endif
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      SPISEND_SW_AVR(arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ: {
+        uint8_t *ptr = (uint8_t *)arg_ptr;
+        while (arg_val > 0) {
+          SPISEND_SW_AVR(*ptr++);
+          arg_val--;
+        }
+      }
+      break;
+
+      case U8G_COM_MSG_WRITE_SEQ_P: {
+        uint8_t *ptr = (uint8_t *)arg_ptr;
+        while (arg_val > 0) {
+          SPISEND_SW_AVR(u8g_pgm_read(ptr));
+          ptr++;
+          arg_val--;
+        }
+      }
+      break;
+
+    case U8G_COM_MSG_ADDRESS:                     /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      u8g_com_arduino_digital_write(u8g, U8G_PI_A0, arg_val);
+      break;
+  }
+  return 1;
+}
+
+#endif // HAS_MARLINUI_U8GLIB
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/AVR/watchdog.cpp

@@ -0,0 +1,70 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __AVR__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(USE_WATCHDOG)
+
+#include "watchdog.h"
+
+#include "../../MarlinCore.h"
+
+// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s.
+void watchdog_init() {
+  #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S)
+    #define WDTO_NS WDTO_8S
+  #else
+    #define WDTO_NS WDTO_4S
+  #endif
+  #if ENABLED(WATCHDOG_RESET_MANUAL)
+    // Enable the watchdog timer, but only for the interrupt.
+    // Take care, as this requires the correct order of operation, with interrupts disabled.
+    // See the datasheet of any AVR chip for details.
+    wdt_reset();
+    cli();
+    _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE);
+    _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5
+                                                                              // So worked for up to WDTO_2S
+    sei();
+    wdt_reset();
+  #else
+    wdt_enable(WDTO_NS); // The function handles the upper bit correct.
+  #endif
+  //delay(10000); // test it!
+}
+
+//===========================================================================
+//=================================== ISR ===================================
+//===========================================================================
+
+// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled.
+#if ENABLED(WATCHDOG_RESET_MANUAL)
+  ISR(WDT_vect) {
+    sei();  // With the interrupt driven serial we need to allow interrupts.
+    SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED);
+    minkill();  // interrupt-safe final kill and infinite loop
+  }
+#endif
+
+#endif // USE_WATCHDOG
+#endif // __AVR__

Marlin/src/HAL/AVR/watchdog.h

@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <avr/wdt.h>
+
+// Initialize watchdog with a 4 second interrupt time
+void watchdog_init();
+
+// Reset watchdog. MUST be called at least every 4 seconds after the
+// first watchdog_init or AVR will go into emergency procedures.
+inline void HAL_watchdog_refresh() { wdt_reset(); }

Marlin/src/HAL/DUE/DebugMonitor.cpp

@@ -0,0 +1,342 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../core/macros.h"
+#include "../../core/serial.h"
+
+#include "../shared/backtrace/unwinder.h"
+#include "../shared/backtrace/unwmemaccess.h"
+
+#include <stdarg.h>
+
+// Debug monitor that dumps to the Programming port all status when
+// an exception or WDT timeout happens - And then resets the board
+
+// All the Monitor routines must run with interrupts disabled and
+// under an ISR execution context. That is why we cannot reuse the
+// Serial interrupt routines or any C runtime, as we don't know the
+// state we are when running them
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() __asm__ volatile("": : :"memory");
+
+// (re)initialize UART0 as a monitor output to 250000,n,8,1
+static void TXBegin() {
+
+  // Disable UART interrupt in NVIC
+  NVIC_DisableIRQ( UART_IRQn );
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  // Disable clock
+  pmc_disable_periph_clk( ID_UART );
+
+  // Configure PMC
+  pmc_enable_periph_clk( ID_UART );
+
+  // Disable PDC channel
+  UART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
+
+  // Reset and disable receiver and transmitter
+  UART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+
+  // Configure mode: 8bit, No parity, 1 bit stop
+  UART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
+
+  // Configure baudrate (asynchronous, no oversampling) to BAUDRATE bauds
+  UART->UART_BRGR = (SystemCoreClock / (BAUDRATE << 4));
+
+  // Enable receiver and transmitter
+  UART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
+}
+
+// Send character through UART with no interrupts
+static void TX(char c) {
+  while (!(UART->UART_SR & UART_SR_TXRDY)) { WDT_Restart(WDT); sw_barrier(); };
+  UART->UART_THR = c;
+}
+
+// Send String through UART
+static void TX(const char* s) {
+  while (*s) TX(*s++);
+}
+
+static void TXDigit(uint32_t d) {
+  if (d < 10) TX((char)(d+'0'));
+  else if (d < 16) TX((char)(d+'A'-10));
+  else TX('?');
+}
+
+// Send Hex number thru UART
+static void TXHex(uint32_t v) {
+  TX("0x");
+  for (uint8_t i = 0; i < 8; i++, v <<= 4)
+    TXDigit((v >> 28) & 0xF);
+}
+
+// Send Decimal number thru UART
+static void TXDec(uint32_t v) {
+  if (!v) {
+    TX('0');
+    return;
+  }
+
+  char nbrs[14];
+  char *p = &nbrs[0];
+  while (v != 0) {
+    *p++ = '0' + (v % 10);
+    v /= 10;
+  }
+  do {
+    p--;
+    TX(*p);
+  } while (p != &nbrs[0]);
+}
+
+// Dump a backtrace entry
+static bool UnwReportOut(void* ctx, const UnwReport* bte) {
+  int* p = (int*)ctx;
+
+  (*p)++;
+  TX('#'); TXDec(*p); TX(" : ");
+  TX(bte->name?bte->name:"unknown"); TX('@'); TXHex(bte->function);
+  TX('+'); TXDec(bte->address - bte->function);
+  TX(" PC:");TXHex(bte->address); TX('\n');
+  return true;
+}
+
+#ifdef UNW_DEBUG
+  void UnwPrintf(const char* format, ...) {
+    char dest[256];
+    va_list argptr;
+    va_start(argptr, format);
+    vsprintf(dest, format, argptr);
+    va_end(argptr);
+    TX(&dest[0]);
+  }
+#endif
+
+/* Table of function pointers for passing to the unwinder */
+static const UnwindCallbacks UnwCallbacks = {
+  UnwReportOut,
+  UnwReadW,
+  UnwReadH,
+  UnwReadB
+  #ifdef UNW_DEBUG
+   , UnwPrintf
+  #endif
+};
+
+/**
+ * HardFaultHandler_C:
+ * This is called from the HardFault_HandlerAsm with a pointer the Fault stack
+ * as the parameter. We can then read the values from the stack and place them
+ * into local variables for ease of reading.
+ * We then read the various Fault Status and Address Registers to help decode
+ * cause of the fault.
+ * The function ends with a BKPT instruction to force control back into the debugger
+ */
+extern "C"
+void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause) {
+
+  static const char* causestr[] = {
+    "NMI","Hard","Mem","Bus","Usage","Debug","WDT","RSTC"
+  };
+
+  UnwindFrame btf;
+
+  // Dump report to the Programming port (interrupts are DISABLED)
+  TXBegin();
+  TX("\n\n## Software Fault detected ##\n");
+  TX("Cause: "); TX(causestr[cause]); TX('\n');
+
+  TX("R0   : "); TXHex(((unsigned long)sp[0])); TX('\n');
+  TX("R1   : "); TXHex(((unsigned long)sp[1])); TX('\n');
+  TX("R2   : "); TXHex(((unsigned long)sp[2])); TX('\n');
+  TX("R3   : "); TXHex(((unsigned long)sp[3])); TX('\n');
+  TX("R12  : "); TXHex(((unsigned long)sp[4])); TX('\n');
+  TX("LR   : "); TXHex(((unsigned long)sp[5])); TX('\n');
+  TX("PC   : "); TXHex(((unsigned long)sp[6])); TX('\n');
+  TX("PSR  : "); TXHex(((unsigned long)sp[7])); TX('\n');
+
+  // Configurable Fault Status Register
+  // Consists of MMSR, BFSR and UFSR
+  TX("CFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED28)))); TX('\n');
+
+  // Hard Fault Status Register
+  TX("HFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED2C)))); TX('\n');
+
+  // Debug Fault Status Register
+  TX("DFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED30)))); TX('\n');
+
+  // Auxiliary Fault Status Register
+  TX("AFSR : "); TXHex((*((volatile unsigned long *)(0xE000ED3C)))); TX('\n');
+
+  // Read the Fault Address Registers. These may not contain valid values.
+  // Check BFARVALID/MMARVALID to see if they are valid values
+  // MemManage Fault Address Register
+  TX("MMAR : "); TXHex((*((volatile unsigned long *)(0xE000ED34)))); TX('\n');
+
+  // Bus Fault Address Register
+  TX("BFAR : "); TXHex((*((volatile unsigned long *)(0xE000ED38)))); TX('\n');
+
+  TX("ExcLR: "); TXHex(lr); TX('\n');
+  TX("ExcSP: "); TXHex((unsigned long)sp); TX('\n');
+
+  btf.sp = ((unsigned long)sp) + 8*4; // The original stack pointer
+  btf.fp = btf.sp;
+  btf.lr = ((unsigned long)sp[5]);
+  btf.pc = ((unsigned long)sp[6]) | 1; // Force Thumb, as CORTEX only support it
+
+  // Perform a backtrace
+  TX("\nBacktrace:\n\n");
+  int ctr = 0;
+  UnwindStart(&btf, &UnwCallbacks, &ctr);
+
+  // Disable all NVIC interrupts
+  NVIC->ICER[0] = 0xFFFFFFFF;
+  NVIC->ICER[1] = 0xFFFFFFFF;
+
+  // Relocate VTOR table to default position
+  SCB->VTOR = 0;
+
+  // Disable USB
+  otg_disable();
+
+  // Restart watchdog
+  WDT_Restart(WDT);
+
+  // Reset controller
+  NVIC_SystemReset();
+  for (;;) WDT_Restart(WDT);
+}
+
+__attribute__((naked)) void NMI_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#0")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void HardFault_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#1")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void MemManage_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#2")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void BusFault_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#3")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void UsageFault_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#4")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void DebugMon_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#5")
+    A("b HardFault_HandlerC")
+  );
+}
+
+/* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */
+__attribute__((naked)) void WDT_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#6")
+    A("b HardFault_HandlerC")
+  );
+}
+
+__attribute__((naked)) void RSTC_Handler() {
+  __asm__ __volatile__ (
+    ".syntax unified" "\n\t"
+    A("tst lr, #4")
+    A("ite eq")
+    A("mrseq r0, msp")
+    A("mrsne r0, psp")
+    A("mov r1,lr")
+    A("mov r2,#7")
+    A("b HardFault_HandlerC")
+  );
+}
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.cpp

@@ -0,0 +1,105 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL for Arduino Due and compatible (SAM3X8E)
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
+#include <Wire.h>
+#include "usb/usb_task.h"
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+uint16_t HAL_adc_result;
+
+// ------------------------
+// Public functions
+// ------------------------
+
+// HAL initialization task
+void HAL_init() {
+  // Initialize the USB stack
+  #if ENABLED(SDSUPPORT)
+    OUT_WRITE(SDSS, HIGH);  // Try to set SDSS inactive before any other SPI users start up
+  #endif
+  usb_task_init();
+}
+
+// HAL idle task
+void HAL_idletask() {
+  // Perform USB stack housekeeping
+  usb_task_idle();
+}
+
+// Disable interrupts
+void cli() { noInterrupts(); }
+
+// Enable interrupts
+void sei() { interrupts(); }
+
+void HAL_clear_reset_source() { }
+
+uint8_t HAL_get_reset_source() {
+  switch ((RSTC->RSTC_SR >> 8) & 0x07) {
+    case 0: return RST_POWER_ON;
+    case 1: return RST_BACKUP;
+    case 2: return RST_WATCHDOG;
+    case 3: return RST_SOFTWARE;
+    case 4: return RST_EXTERNAL;
+    default: return 0;
+  }
+}
+
+void _delay_ms(const int delay_ms) {
+  // Todo: port for Due?
+  delay(delay_ms);
+}
+
+extern "C" {
+  extern unsigned int _ebss; // end of bss section
+}
+
+// Return free memory between end of heap (or end bss) and whatever is current
+int freeMemory() {
+  int free_memory, heap_end = (int)_sbrk(0);
+  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;
+}
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/HAL.h

@@ -0,0 +1,167 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL for Arduino Due and compatible (SAM3X8E)
+ */
+
+#define CPU_32_BIT
+
+#include "../shared/Marduino.h"
+#include "../shared/eeprom_if.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "watchdog.h"
+
+#include <stdint.h>
+
+#define _MSERIAL(X) Serial##X
+#define MSERIAL(X) _MSERIAL(X)
+#define Serial0 Serial
+
+// Define MYSERIAL0/1 before MarlinSerial includes!
+#if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER)
+  #define MYSERIAL0 customizedSerial1
+#elif WITHIN(SERIAL_PORT, 0, 3)
+  #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+#else
+  #error "The required SERIAL_PORT must be from -1 to 3. Please update your configuration."
+#endif
+
+#ifdef SERIAL_PORT_2
+  #if SERIAL_PORT_2 == -1 || ENABLED(EMERGENCY_PARSER)
+    #define MYSERIAL1 customizedSerial2
+  #elif WITHIN(SERIAL_PORT_2, 0, 3)
+    #define MYSERIAL1 MSERIAL(SERIAL_PORT_2)
+  #else
+    #error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
+  #endif
+#endif
+
+#ifdef LCD_SERIAL_PORT
+  #if LCD_SERIAL_PORT == -1
+    #define LCD_SERIAL lcdSerial
+  #elif WITHIN(LCD_SERIAL_PORT, 0, 3)
+    #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT)
+  #else
+    #error "LCD_SERIAL_PORT must be from -1 to 3. Please update your configuration."
+  #endif
+#endif
+
+#include "MarlinSerial.h"
+#include "MarlinSerialUSB.h"
+
+// On AVR this is in math.h?
+#define square(x) ((x)*(x))
+
+#ifndef strncpy_P
+  #define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
+#endif
+
+// Fix bug in pgm_read_ptr
+#undef pgm_read_ptr
+#define pgm_read_ptr(addr) (*((void**)(addr)))
+#undef pgm_read_word
+#define pgm_read_word(addr) (*((uint16_t*)(addr)))
+
+typedef int8_t pin_t;
+
+#define SHARED_SERVOS HAS_SERVOS
+#define HAL_SERVO_LIB Servo
+
+//
+// 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
+
+void HAL_clear_reset_source();  // clear reset reason
+uint8_t HAL_get_reset_source(); // get reset reason
+
+inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+
+//
+// ADC
+//
+extern uint16_t HAL_adc_result;     // result of last ADC conversion
+
+#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();
+
+//
+// Pin Map
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+
+//
+// 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);
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+int freeMemory();
+#pragma GCC diagnostic pop
+
+#ifdef __cplusplus
+  extern "C" {
+#endif
+char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s);
+#ifdef __cplusplus
+  }
+#endif

Marlin/src/HAL/DUE/HAL_SPI.cpp

@@ -0,0 +1,825 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Software SPI functions originally from Arduino Sd2Card Library
+ * Copyright (c) 2009 by William Greiman
+ *
+ * Completely rewritten and tuned by Eduardo José Tagle in 2017/2018
+ * in ARM thumb2 inline assembler and tuned for maximum speed and performance
+ * allowing SPI clocks of up to 12 Mhz to increase SD card read/write performance
+ */
+
+/**
+ * HAL for Arduino Due and compatible (SAM3X8E)
+ *
+ * For ARDUINO_ARCH_SAM
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+#include "../shared/Delay.h"
+
+// ------------------------
+// Public functions
+// ------------------------
+
+#if EITHER(DUE_SOFTWARE_SPI, FORCE_SOFT_SPI)
+
+  // ------------------------
+  // Software SPI
+  // ------------------------
+
+  // Make sure GCC optimizes this file.
+  // Note that this line triggers a bug in GCC which is fixed by casting.
+  // See the note below.
+  #pragma GCC optimize (3)
+
+  typedef uint8_t (*pfnSpiTransfer)(uint8_t b);
+  typedef void    (*pfnSpiRxBlock)(uint8_t* buf, uint32_t nbyte);
+  typedef void    (*pfnSpiTxBlock)(const uint8_t* buf, uint32_t nbyte);
+
+  /* ---------------- Macros to be able to access definitions from asm */
+  #define _PORT(IO) DIO ##  IO ## _WPORT
+  #define _PIN_MASK(IO) MASK(DIO ## IO ## _PIN)
+  #define _PIN_SHIFT(IO) DIO ## IO ## _PIN
+  #define PORT(IO) _PORT(IO)
+  #define PIN_MASK(IO) _PIN_MASK(IO)
+  #define PIN_SHIFT(IO) _PIN_SHIFT(IO)
+
+  // run at ~8 .. ~10Mhz - Tx version (Rx data discarded)
+  static uint8_t spiTransferTx0(uint8_t bout) { // using Mode 0
+    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(MOSI_PIN)) + 0x30;  /* SODR of port */
+    uint32_t MOSI_MASK = PIN_MASK(MOSI_PIN);
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+    uint32_t idx = 0;
+
+    /* Negate bout, as the assembler requires a negated value */
+    bout = ~bout;
+
+    /* The software SPI routine */
+    __asm__ __volatile__(
+      A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
+
+      /* Bit 7 */
+      A("ubfx %[idx],%[txval],#7,#1")                      /* Place bit 7 in bit 0 of idx*/
+
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#6,#1")                      /* Place bit 6 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 6 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#5,#1")                      /* Place bit 5 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 5 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#4,#1")                      /* Place bit 4 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 4 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#3,#1")                      /* Place bit 3 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 3 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#2,#1")                      /* Place bit 2 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 2 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#1,#1")                      /* Place bit 1 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 1 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[idx],%[txval],#0,#1")                      /* Place bit 0 in bit 0 of idx*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 0 */
+      A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]")  /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("nop")                                             /* Result will be 0 */
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      : [idx]"+r"( idx )
+      : [txval]"r"( bout ) ,
+        [mosi_mask]"r"( MOSI_MASK ),
+        [mosi_port]"r"( MOSI_PORT_PLUS30 ),
+        [sck_mask]"r"( SCK_MASK ),
+        [sck_port]"r"( SCK_PORT_PLUS30 )
+      : "cc"
+    );
+
+    return 0;
+  }
+
+   // Calculates the bit band alias address and returns a pointer address to word.
+   // addr: The byte address of bitbanding bit.
+   // bit:  The bit position of bitbanding bit.
+  #define BITBAND_ADDRESS(addr, bit) \
+    (((uint32_t)(addr) & 0xF0000000) + 0x02000000 + ((uint32_t)(addr)&0xFFFFF)*32 + (bit)*4)
+
+  // run at ~8 .. ~10Mhz - Rx version (Tx line not altered)
+  static uint8_t spiTransferRx0(uint8_t) { // using Mode 0
+    uint32_t bin = 0;
+    uint32_t work = 0;
+    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(MISO_PIN))+0x3C, PIN_SHIFT(MISO_PIN));  /* PDSR of port in bitband area */
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+
+    /* The software SPI routine */
+    __asm__ __volatile__(
+      A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
+
+      /* bit 7 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#7,#1")                /* Store read bit as the bit 7 */
+
+      /* bit 6 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#6,#1")                /* Store read bit as the bit 6 */
+
+      /* bit 5 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#5,#1")                /* Store read bit as the bit 5 */
+
+      /* bit 4 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#4,#1")                /* Store read bit as the bit 4 */
+
+      /* bit 3 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#3,#1")                /* Store read bit as the bit 3 */
+
+      /* bit 2 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#2,#1")                /* Store read bit as the bit 2 */
+
+      /* bit 1 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#1,#1")                /* Store read bit as the bit 1 */
+
+      /* bit 0 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#0,#1")                /* Store read bit as the bit 0 */
+
+      : [bin]"+r"(bin),
+        [work]"+r"(work)
+      : [bitband_miso_port]"r"( BITBAND_MISO_PORT ),
+        [sck_mask]"r"( SCK_MASK ),
+        [sck_port]"r"( SCK_PORT_PLUS30 )
+      : "cc"
+    );
+
+    return bin;
+  }
+
+  // run at ~4Mhz
+  static uint8_t spiTransfer1(uint8_t b) { // using Mode 0
+    int bits = 8;
+    do {
+      WRITE(MOSI_PIN, b & 0x80);
+      b <<= 1;        // little setup time
+
+      WRITE(SCK_PIN, HIGH);
+      DELAY_NS(125);  // 10 cycles @ 84mhz
+
+      b |= (READ(MISO_PIN) != 0);
+
+      WRITE(SCK_PIN, LOW);
+      DELAY_NS(125);  // 10 cycles @ 84mhz
+    } while (--bits);
+    return b;
+  }
+
+  // all the others
+  static uint32_t spiDelayCyclesX4 = (F_CPU) / 1000000; // 4µs => 125khz
+
+  static uint8_t spiTransferX(uint8_t b) { // using Mode 0
+    int bits = 8;
+    do {
+      WRITE(MOSI_PIN, b & 0x80);
+      b <<= 1; // little setup time
+
+      WRITE(SCK_PIN, HIGH);
+      __delay_4cycles(spiDelayCyclesX4);
+
+      b |= (READ(MISO_PIN) != 0);
+
+      WRITE(SCK_PIN, LOW);
+      __delay_4cycles(spiDelayCyclesX4);
+    } while (--bits);
+    return b;
+  }
+
+  // Pointers to generic functions for byte transfers
+
+  /**
+   * Note: The cast is unnecessary, but without it, this file triggers a GCC 4.8.3-2014 bug.
+   * Later GCC versions do not have this problem, but at this time (May 2018) Arduino still
+   * uses that buggy and obsolete GCC version!!
+   */
+  static pfnSpiTransfer spiTransferRx = (pfnSpiTransfer)spiTransferX;
+  static pfnSpiTransfer spiTransferTx = (pfnSpiTransfer)spiTransferX;
+
+  // Block transfers run at ~8 .. ~10Mhz - Tx version (Rx data discarded)
+  static void spiTxBlock0(const uint8_t* ptr, uint32_t todo) {
+    uint32_t MOSI_PORT_PLUS30 = ((uint32_t) PORT(MOSI_PIN)) + 0x30;  /* SODR of port */
+    uint32_t MOSI_MASK = PIN_MASK(MOSI_PIN);
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+    uint32_t work = 0;
+    uint32_t txval = 0;
+
+    /* The software SPI routine */
+    __asm__ __volatile__(
+      A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax
+
+      L("loop%=")
+      A("ldrb.w %[txval], [%[ptr]], #1")                   /* Load value to send, increment buffer */
+      A("mvn %[txval],%[txval]")                           /* Negate value */
+
+      /* Bit 7 */
+      A("ubfx %[work],%[txval],#7,#1")                     /* Place bit 7 in bit 0 of work*/
+
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#6,#1")                     /* Place bit 6 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 6 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#5,#1")                     /* Place bit 5 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 5 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#4,#1")                     /* Place bit 4 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 4 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#3,#1")                     /* Place bit 3 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 3 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#2,#1")                     /* Place bit 2 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 2 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#1,#1")                     /* Place bit 1 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 1 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("ubfx %[work],%[txval],#0,#1")                     /* Place bit 0 in bit 0 of work*/
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+
+      /* Bit 0 */
+      A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */
+      A("str %[sck_mask],[%[sck_port]]")                   /* SODR */
+      A("subs %[todo],#1")                                 /* Decrement count of pending words to send, update status */
+      A("str %[sck_mask],[%[sck_port],#0x4]")              /* CODR */
+      A("bne.n loop%=")                                    /* Repeat until done */
+
+      : [ptr]"+r" ( ptr ) ,
+        [todo]"+r" ( todo ) ,
+        [work]"+r"( work ) ,
+        [txval]"+r"( txval )
+      : [mosi_mask]"r"( MOSI_MASK ),
+        [mosi_port]"r"( MOSI_PORT_PLUS30 ),
+        [sck_mask]"r"( SCK_MASK ),
+        [sck_port]"r"( SCK_PORT_PLUS30 )
+      : "cc"
+    );
+  }
+
+  static void spiRxBlock0(uint8_t* ptr, uint32_t todo) {
+    uint32_t bin = 0;
+    uint32_t work = 0;
+    uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(MISO_PIN))+0x3C, PIN_SHIFT(MISO_PIN));  /* PDSR of port in bitband area */
+    uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30;    /* SODR of port */
+    uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
+
+    /* The software SPI routine */
+    __asm__ __volatile__(
+      A(".syntax unified")                  // is to prevent CM0,CM1 non-unified syntax
+
+      L("loop%=")
+
+      /* bit 7 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#7,#1")                /* Store read bit as the bit 7 */
+
+      /* bit 6 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#6,#1")                /* Store read bit as the bit 6 */
+
+      /* bit 5 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#5,#1")                /* Store read bit as the bit 5 */
+
+      /* bit 4 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#4,#1")                /* Store read bit as the bit 4 */
+
+      /* bit 3 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#3,#1")                /* Store read bit as the bit 3 */
+
+      /* bit 2 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#2,#1")                /* Store read bit as the bit 2 */
+
+      /* bit 1 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#1,#1")                /* Store read bit as the bit 1 */
+
+      /* bit 0 */
+      A("str %[sck_mask],[%[sck_port]]")           /* SODR */
+      A("ldr %[work],[%[bitband_miso_port]]")      /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */
+      A("str %[sck_mask],[%[sck_port],#0x4]")      /* CODR */
+      A("bfi %[bin],%[work],#0,#1")                /* Store read bit as the bit 0 */
+
+      A("subs %[todo],#1")                         /* Decrement count of pending words to send, update status */
+      A("strb.w %[bin], [%[ptr]], #1")             /* Store read value into buffer, increment buffer pointer */
+      A("bne.n loop%=")                            /* Repeat until done */
+
+      : [ptr]"+r"(ptr),
+        [todo]"+r"(todo),
+        [bin]"+r"(bin),
+        [work]"+r"(work)
+      : [bitband_miso_port]"r"( BITBAND_MISO_PORT ),
+        [sck_mask]"r"( SCK_MASK ),
+        [sck_port]"r"( SCK_PORT_PLUS30 )
+      : "cc"
+    );
+  }
+
+  static void spiTxBlockX(const uint8_t* buf, uint32_t todo) {
+    do {
+      (void)spiTransferTx(*buf++);
+    } while (--todo);
+  }
+
+  static void spiRxBlockX(uint8_t* buf, uint32_t todo) {
+    do {
+      *buf++ = spiTransferRx(0xFF);
+    } while (--todo);
+  }
+
+  // Pointers to generic functions for block tranfers
+  static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
+  static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
+
+  #if MB(ALLIGATOR)
+    #define _SS_WRITE(S) WRITE(SS_PIN, S)
+  #else
+    #define _SS_WRITE(S) NOOP
+  #endif
+
+  void spiBegin() {
+    SET_OUTPUT(SS_PIN);
+    _SS_WRITE(HIGH);
+    SET_OUTPUT(SCK_PIN);
+    SET_INPUT(MISO_PIN);
+    SET_OUTPUT(MOSI_PIN);
+  }
+
+  uint8_t spiRec() {
+    _SS_WRITE(LOW);
+    WRITE(MOSI_PIN, HIGH); // Output 1s 1
+    uint8_t b = spiTransferRx(0xFF);
+    _SS_WRITE(HIGH);
+    return b;
+  }
+
+  void spiRead(uint8_t* buf, uint16_t nbyte) {
+    if (nbyte) {
+      _SS_WRITE(LOW);
+      WRITE(MOSI_PIN, HIGH); // Output 1s 1
+      spiRxBlock(buf, nbyte);
+      _SS_WRITE(HIGH);
+    }
+  }
+
+  void spiSend(uint8_t b) {
+    _SS_WRITE(LOW);
+    (void)spiTransferTx(b);
+    _SS_WRITE(HIGH);
+  }
+
+  void spiSendBlock(uint8_t token, const uint8_t* buf) {
+    _SS_WRITE(LOW);
+    (void)spiTransferTx(token);
+    spiTxBlock(buf, 512);
+    _SS_WRITE(HIGH);
+  }
+
+  /**
+   * spiRate should be
+   *  0 :  8 - 10 MHz
+   *  1 :  4 - 5 MHz
+   *  2 :  2 - 2.5 MHz
+   *  3 :  1 - 1.25 MHz
+   *  4 :  500 - 625 kHz
+   *  5 :  250 - 312 kHz
+   *  6 :  125 - 156 kHz
+   */
+  void spiInit(uint8_t spiRate) {
+    switch (spiRate) {
+      case 0:
+        spiTransferTx = (pfnSpiTransfer)spiTransferTx0;
+        spiTransferRx = (pfnSpiTransfer)spiTransferRx0;
+        spiTxBlock = (pfnSpiTxBlock)spiTxBlock0;
+        spiRxBlock = (pfnSpiRxBlock)spiRxBlock0;
+        break;
+      case 1:
+        spiTransferTx = (pfnSpiTransfer)spiTransfer1;
+        spiTransferRx = (pfnSpiTransfer)spiTransfer1;
+        spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
+        spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
+        break;
+      default:
+        spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate);
+        spiTransferTx = (pfnSpiTransfer)spiTransferX;
+        spiTransferRx = (pfnSpiTransfer)spiTransferX;
+        spiTxBlock = (pfnSpiTxBlock)spiTxBlockX;
+        spiRxBlock = (pfnSpiRxBlock)spiRxBlockX;
+        break;
+    }
+
+    _SS_WRITE(HIGH);
+    WRITE(MOSI_PIN, HIGH);
+    WRITE(SCK_PIN, LOW);
+  }
+
+  /** Begin SPI transaction, set clock, bit order, data mode */
+  void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+    // TODO: to be implemented
+  }
+
+  #pragma GCC reset_options
+
+#else // !SOFTWARE_SPI
+
+  #define WHILE_TX(N) while ((SPI0->SPI_SR & SPI_SR_TDRE) == (N))
+  #define WHILE_RX(N) while ((SPI0->SPI_SR & SPI_SR_RDRF) == (N))
+  #define FLUSH_TX() do{ WHILE_RX(1) SPI0->SPI_RDR; }while(0)
+
+  #if MB(ALLIGATOR)
+
+    // slave selects controlled by SPI controller
+    // doesn't support changing SPI speeds for SD card
+
+    // ------------------------
+    // hardware SPI
+    // ------------------------
+    static bool spiInitialized = false;
+
+    void spiInit(uint8_t spiRate) {
+      if (spiInitialized) return;
+
+      // 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz
+      constexpr int spiDivider[] = { 10, 21, 42, 84, 168, 255, 255 };
+      if (spiRate > 6) spiRate = 1;
+
+      // Set SPI mode 1, clock, select not active after transfer, with delay between transfers
+      SPI_ConfigureNPCS(SPI0, SPI_CHAN_DAC,
+                        SPI_CSR_CSAAT | SPI_CSR_SCBR(spiDivider[spiRate]) |
+                        SPI_CSR_DLYBCT(1));
+      // Set SPI mode 0, clock, select not active after transfer, with delay between transfers
+      SPI_ConfigureNPCS(SPI0, SPI_CHAN_EEPROM1, SPI_CSR_NCPHA |
+                        SPI_CSR_CSAAT | SPI_CSR_SCBR(spiDivider[spiRate]) |
+                        SPI_CSR_DLYBCT(1));
+
+      // Set SPI mode 0, clock, select not active after transfer, with delay between transfers
+      SPI_ConfigureNPCS(SPI0, SPI_CHAN, SPI_CSR_NCPHA |
+                        SPI_CSR_CSAAT | SPI_CSR_SCBR(spiDivider[spiRate]) |
+                        SPI_CSR_DLYBCT(1));
+      SPI_Enable(SPI0);
+      spiInitialized = true;
+    }
+
+    void spiBegin() {
+      if (spiInitialized) return;
+
+      // Configure SPI pins
+      PIO_Configure(
+         g_APinDescription[SCK_PIN].pPort,
+         g_APinDescription[SCK_PIN].ulPinType,
+         g_APinDescription[SCK_PIN].ulPin,
+         g_APinDescription[SCK_PIN].ulPinConfiguration);
+      PIO_Configure(
+         g_APinDescription[MOSI_PIN].pPort,
+         g_APinDescription[MOSI_PIN].ulPinType,
+         g_APinDescription[MOSI_PIN].ulPin,
+         g_APinDescription[MOSI_PIN].ulPinConfiguration);
+      PIO_Configure(
+         g_APinDescription[MISO_PIN].pPort,
+         g_APinDescription[MISO_PIN].ulPinType,
+         g_APinDescription[MISO_PIN].ulPin,
+         g_APinDescription[MISO_PIN].ulPinConfiguration);
+
+      // set master mode, peripheral select, fault detection
+      SPI_Configure(SPI0, ID_SPI0, SPI_MR_MSTR | SPI_MR_MODFDIS | SPI_MR_PS);
+      SPI_Enable(SPI0);
+
+      SET_OUTPUT(DAC0_SYNC);
+      #if HAS_MULTI_EXTRUDER
+        SET_OUTPUT(DAC1_SYNC);
+        WRITE(DAC1_SYNC, HIGH);
+      #endif
+      SET_OUTPUT(SPI_EEPROM1_CS);
+      SET_OUTPUT(SPI_EEPROM2_CS);
+      SET_OUTPUT(SPI_FLASH_CS);
+      WRITE(DAC0_SYNC, HIGH);
+      WRITE(SPI_EEPROM1_CS, HIGH);
+      WRITE(SPI_EEPROM2_CS, HIGH);
+      WRITE(SPI_FLASH_CS, HIGH);
+      WRITE(SS_PIN, HIGH);
+
+      OUT_WRITE(SDSS, LOW);
+
+      PIO_Configure(
+        g_APinDescription[SPI_PIN].pPort,
+        g_APinDescription[SPI_PIN].ulPinType,
+        g_APinDescription[SPI_PIN].ulPin,
+        g_APinDescription[SPI_PIN].ulPinConfiguration
+      );
+
+      spiInit(1);
+    }
+
+    // Read single byte from SPI
+    uint8_t spiRec() {
+      // write dummy byte with address and end transmission flag
+      SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER;
+
+      WHILE_TX(0);
+      WHILE_RX(0);
+
+      //DELAY_US(1U);
+      return SPI0->SPI_RDR;
+    }
+
+    uint8_t spiRec(uint32_t chan) {
+
+      WHILE_TX(0);
+      FLUSH_RX();
+
+      // write dummy byte with address and end transmission flag
+      SPI0->SPI_TDR = 0x000000FF | SPI_PCS(chan) | SPI_TDR_LASTXFER;
+      WHILE_RX(0);
+
+      return SPI0->SPI_RDR;
+    }
+
+    // Read from SPI into buffer
+    void spiRead(uint8_t* buf, uint16_t nbyte) {
+      if (!nbyte) return;
+      --nbyte;
+      for (int i = 0; i < nbyte; i++) {
+        //WHILE_TX(0);
+        SPI0->SPI_TDR = 0x000000FF | SPI_PCS(SPI_CHAN);
+        WHILE_RX(0);
+        buf[i] = SPI0->SPI_RDR;
+        //DELAY_US(1U);
+      }
+      buf[nbyte] = spiRec();
+    }
+
+    // Write single byte to SPI
+    void spiSend(const byte b) {
+      // write byte with address and end transmission flag
+      SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(SPI_CHAN) | SPI_TDR_LASTXFER;
+      WHILE_TX(0);
+      WHILE_RX(0);
+      SPI0->SPI_RDR;
+      //DELAY_US(1U);
+    }
+
+    void spiSend(const uint8_t* buf, size_t nbyte) {
+      if (!nbyte) return;
+      --nbyte;
+      for (size_t i = 0; i < nbyte; i++) {
+        SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN);
+        WHILE_TX(0);
+        WHILE_RX(0);
+        SPI0->SPI_RDR;
+        //DELAY_US(1U);
+      }
+      spiSend(buf[nbyte]);
+    }
+
+    void spiSend(uint32_t chan, byte b) {
+      WHILE_TX(0);
+      // write byte with address and end transmission flag
+      SPI0->SPI_TDR = (uint32_t)b | SPI_PCS(chan) | SPI_TDR_LASTXFER;
+      WHILE_RX(0);
+      FLUSH_RX();
+    }
+
+    void spiSend(uint32_t chan, const uint8_t* buf, size_t nbyte) {
+      if (!nbyte) return;
+      --nbyte;
+      for (size_t i = 0; i < nbyte; i++) {
+        WHILE_TX(0);
+        SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(chan);
+        WHILE_RX(0);
+        FLUSH_RX();
+      }
+      spiSend(chan, buf[nbyte]);
+    }
+
+    // Write from buffer to SPI
+    void spiSendBlock(uint8_t token, const uint8_t* buf) {
+      SPI0->SPI_TDR = (uint32_t)token | SPI_PCS(SPI_CHAN);
+      WHILE_TX(0);
+      //WHILE_RX(0);
+      //SPI0->SPI_RDR;
+      for (int i = 0; i < 511; i++) {
+        SPI0->SPI_TDR = (uint32_t)buf[i] | SPI_PCS(SPI_CHAN);
+        WHILE_TX(0);
+        WHILE_RX(0);
+        SPI0->SPI_RDR;
+        //DELAY_US(1U);
+      }
+      spiSend(buf[511]);
+    }
+
+    /** Begin SPI transaction, set clock, bit order, data mode */
+    void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+      // TODO: to be implemented
+    }
+
+  #else // U8G compatible hardware SPI
+
+    #define SPI_MODE_0_DUE_HW 2  // DUE CPHA control bit is inverted
+    #define SPI_MODE_1_DUE_HW 3
+    #define SPI_MODE_2_DUE_HW 0
+    #define SPI_MODE_3_DUE_HW 1
+
+    /**
+     *  The DUE SPI controller is set up so the upper word of the longword
+     *  written to the transmit data register selects which SPI Chip Select
+     *  Register is used. This allows different streams to have different SPI
+     *  settings.
+     *
+     *  In practice it's spooky. Some combinations hang the system, while others
+     *  upset the peripheral device.
+     *
+     *  SPI mode should be the same for all streams. The FYSETC_MINI_12864 gets
+     *  upset if the clock phase changes after chip select goes active.
+     *
+     *  SPI_CSR_CSAAT should be set for all streams. If not the WHILE_TX(0)
+     *  macro returns immediately which can result in the SPI chip select going
+     *  inactive before all the data has been sent.
+     *
+     *  The TMC2130 library uses SPI0->SPI_CSR[3].
+     *
+     *  The U8G hardware SPI uses SPI0->SPI_CSR[0]. The system hangs and/or the
+     *  FYSETC_MINI_12864 gets upset if lower baud rates are used and the SD card
+     *  is inserted or removed.
+     *
+     *  The SD card uses SPI0->SPI_CSR[3]. Efforts were made to use [1] and [2]
+     *  but they all resulted in hangs or garbage on the LCD.
+     *
+     *  The SPI controlled chip selects are NOT enabled in the GPIO controller.
+     *  The application must control the chip select.
+     *
+     *  All of the above can be avoided by defining FORCE_SOFT_SPI to force the
+     *  display to use software SPI.
+     */
+
+    void spiInit(uint8_t spiRate=6) {  // Default to slowest rate if not specified)
+                                       // Also sets U8G SPI rate to 4MHz and the SPI mode to 3
+
+      // 8.4 MHz, 4 MHz, 2 MHz, 1 MHz, 0.5 MHz, 0.329 MHz, 0.329 MHz
+      constexpr int spiDivider[] = { 10, 21, 42, 84, 168, 255, 255 };
+      if (spiRate > 6) spiRate = 1;
+
+      // Enable PIOA and SPI0
+      REG_PMC_PCER0 = (1UL << ID_PIOA) | (1UL << ID_SPI0);
+
+      // Disable PIO on A26 and A27
+      REG_PIOA_PDR = 0x0C000000;
+      OUT_WRITE(SDSS, HIGH);
+
+      // Reset SPI0 (from sam lib)
+      SPI0->SPI_CR = SPI_CR_SPIDIS;
+      SPI0->SPI_CR = SPI_CR_SWRST;
+      SPI0->SPI_CR = SPI_CR_SWRST;
+      SPI0->SPI_CR = SPI_CR_SPIEN;
+
+      // TMC2103 compatible setup
+      // Master mode, no fault detection, PCS bits in data written to TDR select CSR register
+      SPI0->SPI_MR = SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS;
+      // SPI mode 3, 8 Bit data transfer, baud rate
+      SPI0->SPI_CSR[3] = SPI_CSR_SCBR(spiDivider[spiRate]) | SPI_CSR_CSAAT | SPI_MODE_3_DUE_HW;  // use same CSR as TMC2130
+      SPI0->SPI_CSR[0] = SPI_CSR_SCBR(spiDivider[1]) | SPI_CSR_CSAAT | SPI_MODE_3_DUE_HW;  // U8G default to 4MHz
+    }
+
+    void spiBegin() { spiInit(); }
+
+    static uint8_t spiTransfer(uint8_t data) {
+      WHILE_TX(0);
+      SPI0->SPI_TDR = (uint32_t)data | 0x00070000UL;  // Add TMC2130 PCS bits to every byte (use SPI0->SPI_CSR[3])
+      WHILE_TX(0);
+      WHILE_RX(0);
+      return SPI0->SPI_RDR;
+    }
+
+    uint8_t spiRec() { return (uint8_t)spiTransfer(0xFF); }
+
+    void spiRead(uint8_t* buf, uint16_t nbyte) {
+      for (int i = 0; i < nbyte; i++)
+        buf[i] = spiTransfer(0xFF);
+    }
+
+    void spiSend(uint8_t data) { spiTransfer(data); }
+
+    void spiSend(const uint8_t* buf, size_t nbyte) {
+      for (uint16_t i = 0; i < nbyte; i++)
+        spiTransfer(buf[i]);
+    }
+
+    void spiSendBlock(uint8_t token, const uint8_t* buf) {
+      spiTransfer(token);
+      for (uint16_t i = 0; i < 512; i++)
+        spiTransfer(buf[i]);
+    }
+
+  #endif // !ALLIGATOR
+#endif // !SOFTWARE_SPI
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/InterruptVectors.cpp

@@ -0,0 +1,98 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * InterruptVectors_Due.cpp - This module relocates the Interrupt vector table to SRAM,
+ *  allowing to register new interrupt handlers at runtime. Specially valuable and needed
+ * because Arduino runtime allocates some interrupt handlers that we NEED to override to
+ * properly support extended functionality, as for example, USB host or USB device (MSD, MTP)
+ * and custom serial port handlers, and we don't actually want to modify and/or recompile the
+ * Arduino runtime. We just want to run as much as possible on Stock Arduino
+ *
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+#include "InterruptVectors.h"
+
+/* The relocated Exception/Interrupt Table - According to the ARM
+   reference manual, alignment to 128 bytes should suffice, but in
+   practice, we need alignment to 256 bytes to make this work in all
+   cases */
+__attribute__ ((aligned(256)))
+static DeviceVectors ram_tab = { nullptr };
+
+/**
+ * This function checks if the exception/interrupt table is already in SRAM or not.
+ * If it is not, then it copies the ROM table to the SRAM and relocates the table
+ * by reprogramming the NVIC registers
+ */
+static pfnISR_Handler* get_relocated_table_addr() {
+  // Get the address of the interrupt/exception table
+  uint32_t isrtab = SCB->VTOR;
+
+  // If already relocated, we are done!
+  if (isrtab >= IRAM0_ADDR)
+    return (pfnISR_Handler*)isrtab;
+
+  // Get the address of the table stored in FLASH
+  const pfnISR_Handler* romtab = (const pfnISR_Handler*)isrtab;
+
+  // Copy it to SRAM
+  memcpy(&ram_tab, romtab, sizeof(ram_tab));
+
+  // Disable global interrupts
+  CRITICAL_SECTION_START();
+
+  // Set the vector table base address to the SRAM copy
+  SCB->VTOR = (uint32_t)(&ram_tab);
+
+  // Reenable interrupts
+  CRITICAL_SECTION_END();
+
+  // Return the address of the table
+  return (pfnISR_Handler*)(&ram_tab);
+}
+
+pfnISR_Handler install_isr(IRQn_Type irq, pfnISR_Handler newHandler) {
+  // Get the address of the relocated table
+  pfnISR_Handler *isrtab = get_relocated_table_addr();
+
+  // Disable global interrupts
+  CRITICAL_SECTION_START();
+
+  // Get the original handler
+  pfnISR_Handler oldHandler = isrtab[irq + 16];
+
+  // Install the new one
+  isrtab[irq + 16] = newHandler;
+
+  // Reenable interrupts
+  CRITICAL_SECTION_END();
+
+  // Return the original one
+  return oldHandler;
+}
+
+#endif

Marlin/src/HAL/DUE/InterruptVectors.h

@@ -0,0 +1,45 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * InterruptVectors_Due.h
+ *
+ * This module relocates the Interrupt vector table to SRAM, allowing new
+ * interrupt handlers to be added at runtime. This is required because the
+ * Arduino runtime steals interrupt handlers that Marlin MUST use to support
+ * extended functionality such as USB hosts and USB devices (MSD, MTP) and
+ * custom serial port handlers. Rather than modifying and/or recompiling the
+ * Arduino runtime, We just want to run as much as possible on Stock Arduino.
+ *
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+// ISR handler type
+typedef void (*pfnISR_Handler)();
+
+// Install a new interrupt vector handler for the given irq, returning the old one
+pfnISR_Handler install_isr(IRQn_Type irq, pfnISR_Handler newHandler);
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.cpp

@@ -0,0 +1,641 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+
+#include "MarlinSerial.h"
+#include "InterruptVectors.h"
+#include "../../MarlinCore.h"
+
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0, 0, { 0 } };
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 };
+template<typename Cfg> bool     MarlinSerial<Cfg>::_written = false;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::xon_xoff_state = MarlinSerial<Cfg>::XON_XOFF_CHAR_SENT | MarlinSerial<Cfg>::XON_CHAR;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_dropped_bytes = 0;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_buffer_overruns = 0;
+template<typename Cfg> uint8_t  MarlinSerial<Cfg>::rx_framing_errors = 0;
+template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::rx_max_enqueued = 0;
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() asm volatile("": : :"memory");
+
+#include "../../feature/e_parser.h"
+
+// (called with RX interrupts disabled)
+template<typename Cfg>
+FORCE_INLINE void MarlinSerial<Cfg>::store_rxd_char() {
+
+  static EmergencyParser::State emergency_state; // = EP_RESET
+
+  // Get the tail - Nothing can alter its value while we are at this ISR
+  const ring_buffer_pos_t t = rx_buffer.tail;
+
+  // Get the head pointer
+  ring_buffer_pos_t h = rx_buffer.head;
+
+  // Get the next element
+  ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+  // Read the character from the USART
+  uint8_t c = HWUART->UART_RHR;
+
+  if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
+
+  // If the character is to be stored at the index just before the tail
+  // (such that the head would advance to the current tail), the RX FIFO is
+  // full, so don't write the character or advance the head.
+  if (i != t) {
+    rx_buffer.buffer[h] = c;
+    h = i;
+  }
+  else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+    --rx_dropped_bytes;
+
+  const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+  // Calculate count of bytes stored into the RX buffer
+
+  // Keep track of the maximum count of enqueued bytes
+  if (Cfg::MAX_RX_QUEUED) NOLESS(rx_max_enqueued, rx_count);
+
+  if (Cfg::XONOFF) {
+    // If the last char that was sent was an XON
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
+
+      // Bytes stored into the RX buffer
+      const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+      // If over 12.5% of RX buffer capacity, send XOFF before running out of
+      // RX buffer space .. 325 bytes @ 250kbits/s needed to let the host react
+      // and stop sending bytes. This translates to 13mS propagation time.
+      if (rx_count >= (Cfg::RX_SIZE) / 8) {
+
+        // At this point, definitely no TX interrupt was executing, since the TX isr can't be preempted.
+        // Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens
+        // to be in the middle of trying to disable the RX interrupt in the main program, eventually the
+        // enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure
+        // the sending of the XOFF char is to send it HERE AND NOW.
+
+        // About to send the XOFF char
+        xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
+
+        // Wait until the TX register becomes empty and send it - Here there could be a problem
+        // - While waiting for the TX register to empty, the RX register could receive a new
+        //   character. This must also handle that situation!
+        uint32_t status;
+        while (!((status = HWUART->UART_SR) & UART_SR_TXRDY)) {
+
+          if (status & UART_SR_RXRDY) {
+            // We received a char while waiting for the TX buffer to be empty - Receive and process it!
+
+            i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+            // Read the character from the USART
+            c = HWUART->UART_RHR;
+
+            if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
+
+            // If the character is to be stored at the index just before the tail
+            // (such that the head would advance to the current tail), the FIFO is
+            // full, so don't write the character or advance the head.
+            if (i != t) {
+              rx_buffer.buffer[h] = c;
+              h = i;
+            }
+            else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+              --rx_dropped_bytes;
+          }
+          sw_barrier();
+        }
+
+        HWUART->UART_THR = XOFF_CHAR;
+
+        // At this point there could be a race condition between the write() function
+        // and this sending of the XOFF char. This interrupt could happen between the
+        // wait to be empty TX buffer loop and the actual write of the character. Since
+        // the TX buffer is full because it's sending the XOFF char, the only way to be
+        // sure the write() function will succeed is to wait for the XOFF char to be
+        // completely sent. Since an extra character could be received during the wait
+        // it must also be handled!
+        while (!((status = HWUART->UART_SR) & UART_SR_TXRDY)) {
+
+          if (status & UART_SR_RXRDY) {
+            // A char arrived while waiting for the TX buffer to be empty - Receive and process it!
+
+            i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+
+            // Read the character from the USART
+            c = HWUART->UART_RHR;
+
+            if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c);
+
+            // If the character is to be stored at the index just before the tail
+            // (such that the head would advance to the current tail), the FIFO is
+            // full, so don't write the character or advance the head.
+            if (i != t) {
+              rx_buffer.buffer[h] = c;
+              h = i;
+            }
+            else if (Cfg::DROPPED_RX && !++rx_dropped_bytes)
+              --rx_dropped_bytes;
+          }
+          sw_barrier();
+        }
+
+        // At this point everything is ready. The write() function won't
+        // have any issues writing to the UART TX register if it needs to!
+      }
+    }
+  }
+
+  // Store the new head value
+  rx_buffer.head = h;
+}
+
+template<typename Cfg>
+FORCE_INLINE void MarlinSerial<Cfg>::_tx_thr_empty_irq() {
+  if (Cfg::TX_SIZE > 0) {
+    // Read positions
+    uint8_t t = tx_buffer.tail;
+    const uint8_t h = tx_buffer.head;
+
+    if (Cfg::XONOFF) {
+      // If an XON char is pending to be sent, do it now
+      if (xon_xoff_state == XON_CHAR) {
+
+        // Send the character
+        HWUART->UART_THR = XON_CHAR;
+
+        // Remember we sent it.
+        xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+
+        // If nothing else to transmit, just disable TX interrupts.
+        if (h == t) HWUART->UART_IDR = UART_IDR_TXRDY;
+
+        return;
+      }
+    }
+
+    // If nothing to transmit, just disable TX interrupts. This could
+    // happen as the result of the non atomicity of the disabling of RX
+    // interrupts that could end reenabling TX interrupts as a side effect.
+    if (h == t) {
+      HWUART->UART_IDR = UART_IDR_TXRDY;
+      return;
+    }
+
+    // There is something to TX, Send the next byte
+    const uint8_t c = tx_buffer.buffer[t];
+    t = (t + 1) & (Cfg::TX_SIZE - 1);
+    HWUART->UART_THR = c;
+    tx_buffer.tail = t;
+
+    // Disable interrupts if there is nothing to transmit following this byte
+    if (h == t) HWUART->UART_IDR = UART_IDR_TXRDY;
+  }
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::UART_ISR() {
+  const uint32_t status = HWUART->UART_SR;
+
+  // Data received?
+  if (status & UART_SR_RXRDY) store_rxd_char();
+
+  if (Cfg::TX_SIZE > 0) {
+    // Something to send, and TX interrupts are enabled (meaning something to send)?
+    if ((status & UART_SR_TXRDY) && (HWUART->UART_IMR & UART_IMR_TXRDY)) _tx_thr_empty_irq();
+  }
+
+  // Acknowledge errors
+  if ((status & UART_SR_OVRE) || (status & UART_SR_FRAME)) {
+    if (Cfg::DROPPED_RX && (status & UART_SR_OVRE) && !++rx_dropped_bytes) --rx_dropped_bytes;
+    if (Cfg::RX_OVERRUNS && (status & UART_SR_OVRE) && !++rx_buffer_overruns) --rx_buffer_overruns;
+    if (Cfg::RX_FRAMING_ERRORS && (status & UART_SR_FRAME) && !++rx_framing_errors) --rx_framing_errors;
+
+    // TODO: error reporting outside ISR
+    HWUART->UART_CR = UART_CR_RSTSTA;
+  }
+}
+
+// Public Methods
+template<typename Cfg>
+void MarlinSerial<Cfg>::begin(const long baud_setting) {
+
+  // Disable UART interrupt in NVIC
+  NVIC_DisableIRQ( HWUART_IRQ );
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  // Disable clock
+  pmc_disable_periph_clk( HWUART_IRQ_ID );
+
+  // Configure PMC
+  pmc_enable_periph_clk( HWUART_IRQ_ID );
+
+  // Disable PDC channel
+  HWUART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
+
+  // Reset and disable receiver and transmitter
+  HWUART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+
+  // Configure mode: 8bit, No parity, 1 bit stop
+  HWUART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
+
+  // Configure baudrate (asynchronous, no oversampling)
+  HWUART->UART_BRGR = (SystemCoreClock / (baud_setting << 4));
+
+  // Configure interrupts
+  HWUART->UART_IDR = 0xFFFFFFFF;
+  HWUART->UART_IER = UART_IER_RXRDY | UART_IER_OVRE | UART_IER_FRAME;
+
+  // Install interrupt handler
+  install_isr(HWUART_IRQ, UART_ISR);
+
+  // Configure priority. We need a very high priority to avoid losing characters
+  // and we need to be able to preempt the Stepper ISR and everything else!
+  // (this could probably be fixed by using DMA with the Serial port)
+  NVIC_SetPriority(HWUART_IRQ, 1);
+
+  // Enable UART interrupt in NVIC
+  NVIC_EnableIRQ(HWUART_IRQ);
+
+  // Enable receiver and transmitter
+  HWUART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
+
+  if (Cfg::TX_SIZE > 0) _written = false;
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::end() {
+  // Disable UART interrupt in NVIC
+  NVIC_DisableIRQ( HWUART_IRQ );
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  pmc_disable_periph_clk( HWUART_IRQ_ID );
+}
+
+template<typename Cfg>
+int MarlinSerial<Cfg>::peek() {
+  const int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
+  return v;
+}
+
+template<typename Cfg>
+int MarlinSerial<Cfg>::read() {
+
+  const ring_buffer_pos_t h = rx_buffer.head;
+  ring_buffer_pos_t t = rx_buffer.tail;
+
+  if (h == t) return -1;
+
+  int v = rx_buffer.buffer[t];
+  t = (ring_buffer_pos_t)(t + 1) & (Cfg::RX_SIZE - 1);
+
+  // Advance tail
+  rx_buffer.tail = t;
+
+  if (Cfg::XONOFF) {
+    // If the XOFF char was sent, or about to be sent...
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+      // Get count of bytes in the RX buffer
+      const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1);
+      // When below 10% of RX buffer capacity, send XON before running out of RX buffer bytes
+      if (rx_count < (Cfg::RX_SIZE) / 10) {
+        if (Cfg::TX_SIZE > 0) {
+          // Signal we want an XON character to be sent.
+          xon_xoff_state = XON_CHAR;
+          // Enable TX isr.
+          HWUART->UART_IER = UART_IER_TXRDY;
+        }
+        else {
+          // If not using TX interrupts, we must send the XON char now
+          xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+          while (!(HWUART->UART_SR & UART_SR_TXRDY)) sw_barrier();
+          HWUART->UART_THR = XON_CHAR;
+        }
+      }
+    }
+  }
+
+  return v;
+}
+
+template<typename Cfg>
+typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::available() {
+  const ring_buffer_pos_t h = rx_buffer.head, t = rx_buffer.tail;
+  return (ring_buffer_pos_t)(Cfg::RX_SIZE + h - t) & (Cfg::RX_SIZE - 1);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::flush() {
+  rx_buffer.tail = rx_buffer.head;
+
+  if (Cfg::XONOFF) {
+    if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+      if (Cfg::TX_SIZE > 0) {
+        // Signal we want an XON character to be sent.
+        xon_xoff_state = XON_CHAR;
+        // Enable TX isr.
+        HWUART->UART_IER = UART_IER_TXRDY;
+      }
+      else {
+        // If not using TX interrupts, we must send the XON char now
+        xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+        while (!(HWUART->UART_SR & UART_SR_TXRDY)) sw_barrier();
+        HWUART->UART_THR = XON_CHAR;
+      }
+    }
+  }
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::write(const uint8_t c) {
+  _written = true;
+
+  if (Cfg::TX_SIZE == 0) {
+    while (!(HWUART->UART_SR & UART_SR_TXRDY)) sw_barrier();
+    HWUART->UART_THR = c;
+  }
+  else {
+
+    // If the TX interrupts are disabled and the data register
+    // is empty, just write the byte to the data register and
+    // be done. This shortcut helps significantly improve the
+    // effective datarate at high (>500kbit/s) bitrates, where
+    // interrupt overhead becomes a slowdown.
+    // Yes, there is a race condition between the sending of the
+    // XOFF char at the RX isr, but it is properly handled there
+    if (!(HWUART->UART_IMR & UART_IMR_TXRDY) && (HWUART->UART_SR & UART_SR_TXRDY)) {
+      HWUART->UART_THR = c;
+      return;
+    }
+
+    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()) {
+
+      // Make room by polling if it is possible to transmit, and do so!
+      while (i == tx_buffer.tail) {
+        // If we can transmit another byte, do it.
+        if (HWUART->UART_SR & UART_SR_TXRDY) _tx_thr_empty_irq();
+        // Make sure compiler rereads tx_buffer.tail
+        sw_barrier();
+      }
+    }
+    else {
+      // Interrupts are enabled, just wait until there is space
+      while (i == tx_buffer.tail) sw_barrier();
+    }
+
+    // Store new char. head is always safe to move
+    tx_buffer.buffer[tx_buffer.head] = c;
+    tx_buffer.head = i;
+
+    // Enable TX isr - Non atomic, but it will eventually enable TX isr
+    HWUART->UART_IER = UART_IER_TXRDY;
+  }
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::flushTX() {
+  // TX
+
+  if (Cfg::TX_SIZE == 0) {
+    // No bytes written, no need to flush. This special case is needed since there's
+    // no way to force the TXC (transmit complete) bit to 1 during initialization.
+    if (!_written) return;
+
+    // Wait until everything was transmitted
+    while (!(HWUART->UART_SR & UART_SR_TXEMPTY)) sw_barrier();
+
+    // At this point nothing is queued anymore (DRIE is disabled) and
+    // the hardware finished transmission (TXC is set).
+
+  }
+  else {
+    // If we have never written a byte, no need to flush. This special
+    // case is needed since there is no way to force the TXC (transmit
+    // complete) bit to 1 during initialization
+    if (!_written) return;
+
+    // If global interrupts are disabled (as the result of being called from an ISR)...
+    if (!ISRS_ENABLED()) {
+
+      // 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)) {
+        // If there is more space, send an extra character
+        if (HWUART->UART_SR & UART_SR_TXRDY) _tx_thr_empty_irq();
+        sw_barrier();
+      }
+
+    }
+    else {
+      // Wait until everything was transmitted
+      while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) sw_barrier();
+    }
+
+    // At this point nothing is queued anymore (DRIE is disabled) and
+    // the hardware finished transmission (TXC is set).
+  }
+}
+
+/**
+ * Imports from print.h
+ */
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(char c, int base) {
+  print((long)c, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned char b, int base) {
+  print((unsigned long)b, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(int n, int base) {
+  print((long)n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned int n, int base) {
+  print((unsigned long)n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(long n, int base) {
+  if (base == 0) write(n);
+  else if (base == 10) {
+    if (n < 0) { print('-'); n = -n; }
+    printNumber(n, 10);
+  }
+  else
+    printNumber(n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(unsigned long n, int base) {
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::print(double n, int digits) {
+  printFloat(n, digits);
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println() {
+  print('\r');
+  print('\n');
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(const String& s) {
+  print(s);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(const char c[]) {
+  print(c);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(char c, int base) {
+  print(c, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned char b, int base) {
+  print(b, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(int n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned int n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(long n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(unsigned long n, int base) {
+  print(n, base);
+  println();
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::println(double n, int digits) {
+  print(n, digits);
+  println();
+}
+
+// Private Methods
+template<typename Cfg>
+void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) {
+  if (n) {
+    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
+    int8_t i = 0;
+    while (n) {
+      buf[i++] = n % base;
+      n /= base;
+    }
+    while (i--)
+      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
+  }
+  else
+    print('0');
+}
+
+template<typename Cfg>
+void MarlinSerial<Cfg>::printFloat(double number, uint8_t digits) {
+  // Handle negative numbers
+  if (number < 0.0) {
+    print('-');
+    number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  LOOP_L_N(i, digits) rounding *= 0.1;
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits) {
+    print('.');
+    // Extract digits from the remainder one at a time
+    while (digits--) {
+      remainder *= 10.0;
+      int toPrint = int(remainder);
+      print(toPrint);
+      remainder -= toPrint;
+    }
+  }
+}
+
+// If not using the USB port as serial port
+#if SERIAL_PORT >= 0
+  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT>>;      // Define
+  MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;   // Instantiate
+#endif
+
+#if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
+  template class MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>>;    // Define
+  MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2; // Instantiate
+#endif
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerial.h

@@ -0,0 +1,182 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * MarlinSerial_Due.h - Hardware serial library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+ */
+
+#include <WString.h>
+
+#include "../../inc/MarlinConfigPre.h"
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+// 256 is the max limit due to uint8_t head and tail. Use only powers of 2. (...,16,32,64,128,256)
+#ifndef RX_BUFFER_SIZE
+  #define RX_BUFFER_SIZE 128
+#endif
+#ifndef TX_BUFFER_SIZE
+  #define TX_BUFFER_SIZE 32
+#endif
+
+//#if ENABLED(SERIAL_XON_XOFF) && RX_BUFFER_SIZE < 1024
+//  #error "SERIAL_XON_XOFF requires RX_BUFFER_SIZE >= 1024 for reliable transfers without drops."
+//#elif RX_BUFFER_SIZE && (RX_BUFFER_SIZE < 2 || !IS_POWER_OF_2(RX_BUFFER_SIZE))
+//  #error "RX_BUFFER_SIZE must be a power of 2 greater than 1."
+//#elif TX_BUFFER_SIZE && (TX_BUFFER_SIZE < 2 || TX_BUFFER_SIZE > 256 || !IS_POWER_OF_2(TX_BUFFER_SIZE))
+//  #error "TX_BUFFER_SIZE must be 0, a power of 2 greater than 1, and no greater than 256."
+//#endif
+
+// Templated type selector
+template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
+template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
+
+// Templated structure wrapper
+template<typename S, unsigned int addr> struct StructWrapper {
+  constexpr StructWrapper(int) {}
+  FORCE_INLINE S* operator->() const { return (S*)addr; }
+};
+
+template<typename Cfg>
+class MarlinSerial {
+protected:
+  // Information for all supported UARTs
+  static constexpr uint32_t BASES[] = {0x400E0800U, 0x40098000U, 0x4009C000U, 0x400A0000U, 0x400A4000U};
+  static constexpr IRQn_Type IRQS[] = {  UART_IRQn, USART0_IRQn, USART1_IRQn, USART2_IRQn, USART3_IRQn};
+  static constexpr int    IRQ_IDS[] = {    ID_UART,   ID_USART0,   ID_USART1,   ID_USART2,   ID_USART3};
+
+  // Alias for shorter code
+  static constexpr StructWrapper<Uart,BASES[Cfg::PORT]> HWUART = 0;
+  static constexpr IRQn_Type HWUART_IRQ = IRQS[Cfg::PORT];
+  static constexpr int HWUART_IRQ_ID = IRQ_IDS[Cfg::PORT];
+
+  // Base size of type on buffer size
+  typedef typename TypeSelector<(Cfg::RX_SIZE>256), uint16_t, uint8_t>::type ring_buffer_pos_t;
+
+  struct ring_buffer_r {
+    volatile ring_buffer_pos_t head, tail;
+    unsigned char buffer[Cfg::RX_SIZE];
+  };
+
+  struct ring_buffer_t {
+    volatile uint8_t head, tail;
+    unsigned char buffer[Cfg::TX_SIZE];
+  };
+
+  static ring_buffer_r rx_buffer;
+  static ring_buffer_t tx_buffer;
+  static bool _written;
+
+  static constexpr uint8_t XON_XOFF_CHAR_SENT = 0x80,  // XON / XOFF Character was sent
+                           XON_XOFF_CHAR_MASK = 0x1F;  // XON / XOFF character to send
+
+  // XON / XOFF character definitions
+  static constexpr uint8_t XON_CHAR  = 17, XOFF_CHAR = 19;
+  static uint8_t xon_xoff_state,
+                 rx_dropped_bytes,
+                 rx_buffer_overruns,
+                 rx_framing_errors;
+  static ring_buffer_pos_t rx_max_enqueued;
+
+  FORCE_INLINE static void store_rxd_char();
+  FORCE_INLINE static void _tx_thr_empty_irq();
+  static void UART_ISR();
+
+public:
+  MarlinSerial() {};
+  static void begin(const long);
+  static void end();
+  static int peek();
+  static int read();
+  static void flush();
+  static ring_buffer_pos_t available();
+  static void write(const uint8_t c);
+  static void flushTX();
+
+  static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; }
+
+  FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; }
+  FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; }
+  FORCE_INLINE static uint8_t framing_errors() { return Cfg::RX_FRAMING_ERRORS ? rx_framing_errors : 0; }
+  FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return Cfg::MAX_RX_QUEUED ? rx_max_enqueued : 0; }
+
+  FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
+  FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
+  FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
+  FORCE_INLINE static void print(const char* str) { write(str); }
+
+  static void print(char, int = 0);
+  static void print(unsigned char, int = 0);
+  static void print(int, int = DEC);
+  static void print(unsigned int, int = DEC);
+  static void print(long, int = DEC);
+  static void print(unsigned long, int = DEC);
+  static void print(double, int = 2);
+
+  static void println(const String& s);
+  static void println(const char[]);
+  static void println(char, int = 0);
+  static void println(unsigned char, int = 0);
+  static void println(int, int = DEC);
+  static void println(unsigned int, int = DEC);
+  static void println(long, int = DEC);
+  static void println(unsigned long, int = DEC);
+  static void println(double, int = 2);
+  static void println();
+  operator bool() { return true; }
+
+private:
+  static void printNumber(unsigned long, const uint8_t);
+  static void printFloat(double, uint8_t);
+};
+
+// Serial port configuration
+template <uint8_t serial>
+struct MarlinSerialCfg {
+  static constexpr int PORT               = serial;
+  static constexpr unsigned int RX_SIZE   = RX_BUFFER_SIZE;
+  static constexpr unsigned int TX_SIZE   = TX_BUFFER_SIZE;
+  static constexpr bool XONOFF            = ENABLED(SERIAL_XON_XOFF);
+  static constexpr bool EMERGENCYPARSER   = ENABLED(EMERGENCY_PARSER);
+  static constexpr bool DROPPED_RX        = ENABLED(SERIAL_STATS_DROPPED_RX);
+  static constexpr bool RX_OVERRUNS       = ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS);
+  static constexpr bool RX_FRAMING_ERRORS = ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS);
+  static constexpr bool MAX_RX_QUEUED     = ENABLED(SERIAL_STATS_MAX_RX_QUEUED);
+};
+
+#if SERIAL_PORT >= 0
+  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT>> customizedSerial1;
+#endif
+
+#if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0
+  extern MarlinSerial<MarlinSerialCfg<SERIAL_PORT_2>> customizedSerial2;
+#endif

Marlin/src/HAL/DUE/MarlinSerialUSB.cpp

@@ -0,0 +1,290 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_USB_SERIAL
+
+#include "MarlinSerialUSB.h"
+
+#if ENABLED(EMERGENCY_PARSER)
+  #include "../../feature/e_parser.h"
+#endif
+
+// Imports from Atmel USB Stack/CDC implementation
+extern "C" {
+  bool usb_task_cdc_isenabled();
+  bool usb_task_cdc_dtr_active();
+  bool udi_cdc_is_rx_ready();
+  int udi_cdc_getc();
+  bool udi_cdc_is_tx_ready();
+  int udi_cdc_putc(int value);
+};
+
+// Pending character
+static int pending_char = -1;
+
+#if ENABLED(EMERGENCY_PARSER)
+  static EmergencyParser::State emergency_state; // = EP_RESET
+#endif
+
+// Public Methods
+void MarlinSerialUSB::begin(const long) {}
+
+void MarlinSerialUSB::end() {}
+
+int MarlinSerialUSB::peek() {
+  if (pending_char >= 0)
+    return pending_char;
+
+  // If USB CDC not enumerated or not configured on the PC side
+  if (!usb_task_cdc_isenabled())
+    return -1;
+
+  // If no bytes sent from the PC
+  if (!udi_cdc_is_rx_ready())
+    return -1;
+
+  pending_char = udi_cdc_getc();
+
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(emergency_state, (char)pending_char));
+
+  return pending_char;
+}
+
+int MarlinSerialUSB::read() {
+  if (pending_char >= 0) {
+    int ret = pending_char;
+    pending_char = -1;
+    return ret;
+  }
+
+  // If USB CDC not enumerated or not configured on the PC side
+  if (!usb_task_cdc_isenabled())
+    return -1;
+
+  // If no bytes sent from the PC
+  if (!udi_cdc_is_rx_ready())
+    return -1;
+
+  int c = udi_cdc_getc();
+
+  TERN_(EMERGENCY_PARSER, emergency_parser.update(emergency_state, (char)c));
+
+  return c;
+}
+
+bool MarlinSerialUSB::available() {
+    /* If Pending chars */
+  return pending_char >= 0 ||
+    /* or USB CDC enumerated and configured on the PC side and some
+       bytes where sent to us */
+      (usb_task_cdc_isenabled() && udi_cdc_is_rx_ready());
+}
+
+void MarlinSerialUSB::flush() { }
+void MarlinSerialUSB::flushTX() { }
+
+void MarlinSerialUSB::write(const uint8_t c) {
+
+  /* Do not even bother sending anything if USB CDC is not enumerated
+     or not configured on the PC side or there is no program on the PC
+     listening to our messages */
+  if (!usb_task_cdc_isenabled() || !usb_task_cdc_dtr_active())
+    return;
+
+  /* Wait until the PC has read the pending to be sent data */
+  while (usb_task_cdc_isenabled() &&
+         usb_task_cdc_dtr_active() &&
+        !udi_cdc_is_tx_ready()) {
+  };
+
+  /* Do not even bother sending anything if USB CDC is not enumerated
+     or not configured on the PC side or there is no program on the PC
+     listening to our messages at this point */
+  if (!usb_task_cdc_isenabled() || !usb_task_cdc_dtr_active())
+    return;
+
+  // Fifo full
+  //  udi_cdc_signal_overrun();
+  udi_cdc_putc(c);
+}
+
+/**
+ * Imports from print.h
+ */
+
+void MarlinSerialUSB::print(char c, int base) {
+  print((long)c, base);
+}
+
+void MarlinSerialUSB::print(unsigned char b, int base) {
+  print((unsigned long)b, base);
+}
+
+void MarlinSerialUSB::print(int n, int base) {
+  print((long)n, base);
+}
+
+void MarlinSerialUSB::print(unsigned int n, int base) {
+  print((unsigned long)n, base);
+}
+
+void MarlinSerialUSB::print(long n, int base) {
+  if (base == 0)
+    write(n);
+  else if (base == 10) {
+    if (n < 0) {
+      print('-');
+      n = -n;
+    }
+    printNumber(n, 10);
+  }
+  else
+    printNumber(n, base);
+}
+
+void MarlinSerialUSB::print(unsigned long n, int base) {
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+void MarlinSerialUSB::print(double n, int digits) {
+  printFloat(n, digits);
+}
+
+void MarlinSerialUSB::println() {
+  print('\r');
+  print('\n');
+}
+
+void MarlinSerialUSB::println(const String& s) {
+  print(s);
+  println();
+}
+
+void MarlinSerialUSB::println(const char c[]) {
+  print(c);
+  println();
+}
+
+void MarlinSerialUSB::println(char c, int base) {
+  print(c, base);
+  println();
+}
+
+void MarlinSerialUSB::println(unsigned char b, int base) {
+  print(b, base);
+  println();
+}
+
+void MarlinSerialUSB::println(int n, int base) {
+  print(n, base);
+  println();
+}
+
+void MarlinSerialUSB::println(unsigned int n, int base) {
+  print(n, base);
+  println();
+}
+
+void MarlinSerialUSB::println(long n, int base) {
+  print(n, base);
+  println();
+}
+
+void MarlinSerialUSB::println(unsigned long n, int base) {
+  print(n, base);
+  println();
+}
+
+void MarlinSerialUSB::println(double n, int digits) {
+  print(n, digits);
+  println();
+}
+
+// Private Methods
+
+void MarlinSerialUSB::printNumber(unsigned long n, uint8_t base) {
+  if (n) {
+    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
+    int8_t i = 0;
+    while (n) {
+      buf[i++] = n % base;
+      n /= base;
+    }
+    while (i--)
+      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
+  }
+  else
+    print('0');
+}
+
+void MarlinSerialUSB::printFloat(double number, uint8_t digits) {
+  // Handle negative numbers
+  if (number < 0.0) {
+    print('-');
+    number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  LOOP_L_N(i, digits)
+    rounding *= 0.1;
+
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits) {
+    print('.');
+    // Extract digits from the remainder one at a time
+    while (digits--) {
+      remainder *= 10.0;
+      int toPrint = int(remainder);
+      print(toPrint);
+      remainder -= toPrint;
+    }
+  }
+}
+
+// Preinstantiate
+#if SERIAL_PORT == -1
+  MarlinSerialUSB customizedSerial1;
+#endif
+#if SERIAL_PORT_2 == -1
+  MarlinSerialUSB customizedSerial2;
+#endif
+
+#endif // HAS_USB_SERIAL
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/MarlinSerialUSB.h

@@ -0,0 +1,99 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * MarlinSerialUSB_Due.h - Hardware Serial over USB (CDC) library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_USB_SERIAL
+
+#include <WString.h>
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+
+class MarlinSerialUSB {
+
+public:
+  MarlinSerialUSB() {};
+  static void begin(const long);
+  static void end();
+  static int peek();
+  static int read();
+  static void flush();
+  static void flushTX();
+  static bool available();
+  static void write(const uint8_t c);
+
+  #if ENABLED(SERIAL_STATS_DROPPED_RX)
+    FORCE_INLINE static uint32_t dropped() { return 0; }
+  #endif
+
+  #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+    FORCE_INLINE static int rxMaxEnqueued() { return 0; }
+  #endif
+
+  FORCE_INLINE static void write(const char* str) { while (*str) write(*str++); }
+  FORCE_INLINE static void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
+  FORCE_INLINE static void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
+  FORCE_INLINE static void print(const char* str) { write(str); }
+
+  static void print(char, int = 0);
+  static void print(unsigned char, int = 0);
+  static void print(int, int = DEC);
+  static void print(unsigned int, int = DEC);
+  static void print(long, int = DEC);
+  static void print(unsigned long, int = DEC);
+  static void print(double, int = 2);
+
+  static void println(const String& s);
+  static void println(const char[]);
+  static void println(char, int = 0);
+  static void println(unsigned char, int = 0);
+  static void println(int, int = DEC);
+  static void println(unsigned int, int = DEC);
+  static void println(long, int = DEC);
+  static void println(unsigned long, int = DEC);
+  static void println(double, int = 2);
+  static void println();
+  operator bool() { return true; }
+
+private:
+  static void printNumber(unsigned long, const uint8_t);
+  static void printFloat(double, uint8_t);
+};
+
+#if SERIAL_PORT == -1
+  extern MarlinSerialUSB customizedSerial1;
+#endif
+
+#if SERIAL_PORT_2 == -1
+  extern MarlinSerialUSB customizedSerial2;
+#endif
+
+#endif // HAS_USB_SERIAL

Marlin/src/HAL/DUE/Servo.cpp

@@ -0,0 +1,159 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/*
+  Copyright (c) 2013 Arduino LLC. All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "../shared/servo.h"
+#include "../shared/servo_private.h"
+
+static volatile int8_t Channel[_Nbr_16timers];              // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+// ------------------------
+/// Interrupt handler for the TC0 channel 1.
+// ------------------------
+void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
+
+#ifdef _useTimer1
+  void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
+#endif
+#ifdef _useTimer2
+  void HANDLER_FOR_TIMER2() { Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); }
+#endif
+#ifdef _useTimer3
+  void HANDLER_FOR_TIMER3() { Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); }
+#endif
+#ifdef _useTimer4
+  void HANDLER_FOR_TIMER4() { Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); }
+#endif
+#ifdef _useTimer5
+  void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
+#endif
+
+void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
+  // clear interrupt
+  tc->TC_CHANNEL[channel].TC_SR;
+  if (Channel[timer] < 0)
+    tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
+    extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
+
+  Channel[timer]++;    // increment to the next channel
+  if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
+    if (SERVO(timer,Channel[timer]).Pin.isActive)    // check if activated
+      extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    tc->TC_CHANNEL[channel].TC_RA =
+      tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4
+        ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed
+        : tc->TC_CHANNEL[channel].TC_CV + 4;        // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
+  pmc_enable_periph_clk(id);
+  TC_Configure(tc, channel,
+    TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
+    TC_CMR_WAVE |                // Waveform mode
+    TC_CMR_WAVSEL_UP_RC );       // Counter running up and reset when equals to RC
+
+  /* 84MHz, MCK/32, for 1.5ms: 3937 */
+  TC_SetRA(tc, channel, 2625); // 1ms
+
+  /* Configure and enable interrupt */
+  NVIC_EnableIRQ(irqn);
+  // TC_IER_CPAS: RA Compare
+  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
+
+  // Enables the timer clock and performs a software reset to start the counting
+  TC_Start(tc, channel);
+}
+
+void initISR(timer16_Sequence_t timer) {
+  #ifdef _useTimer1
+    if (timer == _timer1)
+      _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
+  #endif
+  #ifdef _useTimer2
+    if (timer == _timer2)
+      _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
+  #endif
+  #ifdef _useTimer3
+    if (timer == _timer3)
+      _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
+  #endif
+  #ifdef _useTimer4
+    if (timer == _timer4)
+      _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
+  #endif
+  #ifdef _useTimer5
+    if (timer == _timer5)
+      _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
+  #endif
+}
+
+void finISR(timer16_Sequence_t) {
+  #ifdef _useTimer1
+    TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
+  #endif
+  #ifdef _useTimer2
+    TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
+  #endif
+  #ifdef _useTimer3
+    TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
+  #endif
+  #ifdef _useTimer4
+    TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
+  #endif
+  #ifdef _useTimer5
+    TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
+  #endif
+}
+
+#endif // HAS_SERVOS
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/ServoTimers.h

@@ -0,0 +1,107 @@
+/**
+ * Copyright (c) 2013 Arduino LLC. All right reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * Defines for 16 bit timers used with  Servo library
+ *
+ * If _useTimerX is defined then TimerX is a 32 bit timer on the current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many timers are available.
+ */
+
+/**
+ * SAM Only definitions
+ * --------------------
+ */
+
+// For SAM3X:
+//!#define _useTimer1
+//!#define _useTimer2
+#define _useTimer3
+//!#define _useTimer4
+#define _useTimer5
+
+#define TRIM_DURATION             2   // compensation ticks to trim adjust for digitalWrite delays
+#define SERVO_TIMER_PRESCALER     32  // timer prescaler
+
+/*
+  TC0, chan 0 => TC0_Handler
+  TC0, chan 1 => TC1_Handler
+  TC0, chan 2 => TC2_Handler
+  TC1, chan 0 => TC3_Handler
+  TC1, chan 1 => TC4_Handler
+  TC1, chan 2 => TC5_Handler
+  TC2, chan 0 => TC6_Handler
+  TC2, chan 1 => TC7_Handler
+  TC2, chan 2 => TC8_Handler
+ */
+
+#ifdef _useTimer1
+  #define TC_FOR_TIMER1       TC1
+  #define CHANNEL_FOR_TIMER1  0
+  #define ID_TC_FOR_TIMER1    ID_TC3
+  #define IRQn_FOR_TIMER1     TC3_IRQn
+  #define HANDLER_FOR_TIMER1  TC3_Handler
+#endif
+#ifdef _useTimer2
+  #define TC_FOR_TIMER2       TC1
+  #define CHANNEL_FOR_TIMER2  1
+  #define ID_TC_FOR_TIMER2    ID_TC4
+  #define IRQn_FOR_TIMER2     TC4_IRQn
+  #define HANDLER_FOR_TIMER2  TC4_Handler
+#endif
+#ifdef _useTimer3
+  #define TC_FOR_TIMER3       TC1
+  #define CHANNEL_FOR_TIMER3  2
+  #define ID_TC_FOR_TIMER3    ID_TC5
+  #define IRQn_FOR_TIMER3     TC5_IRQn
+  #define HANDLER_FOR_TIMER3  TC5_Handler
+#endif
+#ifdef _useTimer4
+  #define TC_FOR_TIMER4       TC0
+  #define CHANNEL_FOR_TIMER4  2
+  #define ID_TC_FOR_TIMER4    ID_TC2
+  #define IRQn_FOR_TIMER4     TC2_IRQn
+  #define HANDLER_FOR_TIMER4  TC2_Handler
+#endif
+#ifdef _useTimer5
+  #define TC_FOR_TIMER5       TC0
+  #define CHANNEL_FOR_TIMER5  0
+  #define ID_TC_FOR_TIMER5    ID_TC0
+  #define IRQn_FOR_TIMER5     TC0_IRQn
+  #define HANDLER_FOR_TIMER5  TC0_Handler
+#endif
+
+typedef enum : unsigned char {
+  #ifdef _useTimer1
+    _timer1,
+  #endif
+  #ifdef _useTimer2
+    _timer2,
+  #endif
+  #ifdef _useTimer3
+    _timer3,
+  #endif
+  #ifdef _useTimer4
+    _timer4,
+  #endif
+  #ifdef _useTimer5
+    _timer5,
+  #endif
+  _Nbr_16timers
+} timer16_Sequence_t;

Marlin/src/HAL/DUE/Tone.cpp

@@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * Description: Tone function for Arduino Due and compatible (SAM3X8E)
+ * Derived from https://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
+static pin_t tone_pin;
+volatile static int32_t toggles;
+
+void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
+  tone_pin = _pin;
+  toggles = 2 * frequency * duration / 1000;
+  HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
+}
+
+void noTone(const pin_t _pin) {
+  HAL_timer_disable_interrupt(TONE_TIMER_NUM);
+  extDigitalWrite(_pin, LOW);
+}
+
+HAL_TONE_TIMER_ISR() {
+  static uint8_t pin_state = 0;
+  HAL_timer_isr_prologue(TONE_TIMER_NUM);
+
+  if (toggles) {
+    toggles--;
+    extDigitalWrite(tone_pin, (pin_state ^= 1));
+  }
+  else noTone(tone_pin);                         // turn off interrupt
+}
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp

@@ -0,0 +1,149 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+
+/**
+ * Based on u8g_com_msp430_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2012, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or other
+ * materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef __SAM3X8E__
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if HAS_MARLINUI_U8GLIB
+
+#include <U8glib.h>
+
+#include "../../../MarlinCore.h"
+
+void spiBegin();
+void spiInit(uint8_t spiRate);
+void spiSend(uint8_t b);
+void spiSend(const uint8_t* buf, size_t n);
+
+#include "../../shared/Marduino.h"
+#include "../fastio.h"
+
+void u8g_SetPIOutput_DUE_hw_spi(u8g_t *u8g, uint8_t pin_index) {
+   PIO_Configure(g_APinDescription[u8g->pin_list[pin_index]].pPort, PIO_OUTPUT_1,
+     g_APinDescription[u8g->pin_list[pin_index]].ulPin, g_APinDescription[u8g->pin_list[pin_index]].ulPinConfiguration);  // OUTPUT
+}
+
+void u8g_SetPILevel_DUE_hw_spi(u8g_t *u8g, uint8_t pin_index, uint8_t level) {
+  volatile Pio* port = g_APinDescription[u8g->pin_list[pin_index]].pPort;
+  uint32_t mask = g_APinDescription[u8g->pin_list[pin_index]].ulPin;
+  if (level) port->PIO_SODR = mask;
+  else port->PIO_CODR = mask;
+}
+
+uint8_t u8g_com_HAL_DUE_shared_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  switch (msg) {
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_INIT:
+      u8g_SetPILevel_DUE_hw_spi(u8g, U8G_PI_CS, 1);
+      u8g_SetPILevel_DUE_hw_spi(u8g, U8G_PI_A0, 1);
+
+      u8g_SetPIOutput_DUE_hw_spi(u8g, U8G_PI_CS);
+      u8g_SetPIOutput_DUE_hw_spi(u8g, U8G_PI_A0);
+
+      u8g_Delay(5);
+
+      spiBegin();
+
+      #ifndef SPI_SPEED
+        #define SPI_SPEED SPI_FULL_SPEED  // use same SPI speed as SD card
+      #endif
+      spiInit(2);
+
+      break;
+
+    case U8G_COM_MSG_ADDRESS:                     /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      u8g_SetPILevel_DUE_hw_spi(u8g, U8G_PI_A0, arg_val);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:
+      u8g_SetPILevel_DUE_hw_spi(u8g, U8G_PI_CS, (arg_val ? 0 : 1));
+      break;
+
+    case U8G_COM_MSG_RESET:
+      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;
+
+    case U8G_COM_MSG_WRITE_SEQ_P: {
+        uint8_t *ptr = (uint8_t*) arg_ptr;
+        while (arg_val > 0) {
+          spiSend(*ptr++);
+          arg_val--;
+        }
+      }
+      break;
+  }
+  return 1;
+}
+
+#endif // HAS_MARLINUI_U8GLIB
+
+#endif // __SAM3X8E__

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp

@@ -0,0 +1,185 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Based on u8g_com_st7920_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2011, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this list
+ *    of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice, this
+ *    list of conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if ENABLED(U8GLIB_ST7920)
+
+#include "../../shared/Delay.h"
+
+#include <U8glib.h>
+
+#include "u8g_com_HAL_DUE_sw_spi_shared.h"
+
+#define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_0
+
+static uint8_t rs_last_state = 255;
+
+static void u8g_com_DUE_st7920_write_byte_sw_spi(uint8_t rs, uint8_t val) {
+  if (rs != rs_last_state) {  // time to send a command/data byte
+    rs_last_state = rs;
+    SPISEND_SW_DUE(rs ? 0x0FA : 0x0F8); // Command or Data
+    DELAY_US(40); // give the controller some time to process the data: 20 is bad, 30 is OK, 40 is safe
+  }
+  SPISEND_SW_DUE(val & 0xF0);
+  SPISEND_SW_DUE(val << 4);
+}
+
+uint8_t u8g_com_HAL_DUE_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  switch (msg) {
+    case U8G_COM_MSG_INIT:
+      SCK_pPio = g_APinDescription[u8g->pin_list[U8G_PI_SCK]].pPort;
+      SCK_dwMask = g_APinDescription[u8g->pin_list[U8G_PI_SCK]].ulPin;
+      MOSI_pPio = g_APinDescription[u8g->pin_list[U8G_PI_MOSI]].pPort;
+      MOSI_dwMask = g_APinDescription[u8g->pin_list[U8G_PI_MOSI]].ulPin;
+
+      u8g_SetPILevel_DUE(u8g, U8G_PI_CS, 0);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_CS);
+      u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 0);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_SCK);
+      u8g_SetPILevel_DUE(u8g, U8G_PI_MOSI, 0);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_MOSI);
+
+      SCK_pPio->PIO_CODR = SCK_dwMask;   //SCK low - needed at power up but not after reset
+      MOSI_pPio->PIO_CODR = MOSI_dwMask; //MOSI low - needed at power up but not after reset
+
+      u8g_Delay(5);
+
+      u8g->pin_list[U8G_PI_A0_STATE] = 0;       /* initial RS state: command mode */
+      break;
+
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_RESET:
+       if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPILevel_DUE(u8g, U8G_PI_RESET, arg_val);
+      break;
+
+    case U8G_COM_MSG_ADDRESS:                     /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      u8g->pin_list[U8G_PI_A0_STATE] = arg_val;
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:
+      if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_CS])
+        u8g_SetPILevel_DUE(u8g, U8G_PI_CS, arg_val);  //note: the st7920 has an active high chip select
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+
+      u8g_com_DUE_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ: {
+        uint8_t *ptr = (uint8_t*) arg_ptr;
+        while (arg_val > 0) {
+          u8g_com_DUE_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], *ptr++);
+          arg_val--;
+        }
+      }
+      break;
+
+      case U8G_COM_MSG_WRITE_SEQ_P: {
+        uint8_t *ptr = (uint8_t*) arg_ptr;
+        while (arg_val > 0) {
+          u8g_com_DUE_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], *ptr++);
+          arg_val--;
+        }
+      }
+      break;
+  }
+  return 1;
+}
+
+#if ENABLED(LIGHTWEIGHT_UI)
+  #include "../../../lcd/ultralcd.h"
+  #include "../../shared/HAL_ST7920.h"
+
+  #define ST7920_CS_PIN LCD_PINS_RS
+
+  #if DOGM_SPI_DELAY_US > 0
+    #define U8G_DELAY() DELAY_US(DOGM_SPI_DELAY_US)
+  #else
+    #define U8G_DELAY() DELAY_US(10)
+  #endif
+
+  void ST7920_cs() {
+    WRITE(ST7920_CS_PIN, HIGH);
+    U8G_DELAY();
+  }
+
+  void ST7920_ncs() {
+    WRITE(ST7920_CS_PIN, LOW);
+  }
+
+  void ST7920_set_cmd() {
+    SPISEND_SW_DUE(0xF8);
+    DELAY_US(40);
+  }
+
+  void ST7920_set_dat() {
+    SPISEND_SW_DUE(0xFA);
+    DELAY_US(40);
+  }
+
+  void ST7920_write_byte(const uint8_t val) {
+    SPISEND_SW_DUE(val & 0xF0);
+    SPISEND_SW_DUE(val << 4);
+  }
+#endif // LIGHTWEIGHT_UI
+
+#endif // U8GLIB_ST7920
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp

@@ -0,0 +1,148 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Based on u8g_com_std_sw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2015, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this list
+ *    of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice, this
+ *    list of conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if HAS_MARLINUI_U8GLIB && DISABLED(U8GLIB_ST7920)
+
+#undef SPI_SPEED
+#define SPI_SPEED 2  // About 2 MHz
+
+#include "u8g_com_HAL_DUE_sw_spi_shared.h"
+
+#include "../../shared/Marduino.h"
+#include "../../shared/Delay.h"
+
+#include <U8glib.h>
+
+#if ENABLED(FYSETC_MINI_12864)
+  #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_3
+#else
+  #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_0
+#endif
+
+uint8_t u8g_com_HAL_DUE_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {
+  switch (msg) {
+    case U8G_COM_MSG_INIT:
+      SCK_pPio = g_APinDescription[u8g->pin_list[U8G_PI_SCK]].pPort;
+      SCK_dwMask = g_APinDescription[u8g->pin_list[U8G_PI_SCK]].ulPin;
+      MOSI_pPio = g_APinDescription[u8g->pin_list[U8G_PI_MOSI]].pPort;
+      MOSI_dwMask = g_APinDescription[u8g->pin_list[U8G_PI_MOSI]].ulPin;
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_SCK);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_MOSI);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_CS);
+      u8g_SetPIOutput_DUE(u8g, U8G_PI_A0);
+      if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPIOutput_DUE(u8g, U8G_PI_RESET);
+      u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 0);
+      u8g_SetPILevel_DUE(u8g, U8G_PI_MOSI, 0);
+      break;
+
+    case U8G_COM_MSG_STOP:
+      break;
+
+    case U8G_COM_MSG_RESET:
+      if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPILevel_DUE(u8g, U8G_PI_RESET, arg_val);
+      break;
+
+    case U8G_COM_MSG_CHIP_SELECT:
+      #if ENABLED(FYSETC_MINI_12864)           // LCD SPI is running mode 3 while SD card is running mode 0
+        if (arg_val) {                        //   SCK idle state needs to be set to the proper idle state before
+                                               //   the next chip select goes active
+          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 1);  //set SCK to mode 3 idle state before CS goes active
+          u8g_SetPILevel_DUE(u8g, U8G_PI_CS, LOW);
+        }
+        else {
+          u8g_SetPILevel_DUE(u8g, U8G_PI_CS, HIGH);
+          u8g_SetPILevel_DUE(u8g, U8G_PI_SCK, 0); //set SCK to mode 0 idle state after CS goes inactive
+        }
+      #else
+        u8g_SetPILevel_DUE(u8g, U8G_PI_CS, !arg_val);
+      #endif
+      break;
+
+    case U8G_COM_MSG_WRITE_BYTE:
+      SPISEND_SW_DUE(arg_val);
+      break;
+
+    case U8G_COM_MSG_WRITE_SEQ: {
+        uint8_t *ptr = (uint8_t *)arg_ptr;
+        while (arg_val > 0) {
+          SPISEND_SW_DUE(*ptr++);
+          arg_val--;
+        }
+      }
+      break;
+
+      case U8G_COM_MSG_WRITE_SEQ_P: {
+        uint8_t *ptr = (uint8_t *)arg_ptr;
+        while (arg_val > 0) {
+          SPISEND_SW_DUE(u8g_pgm_read(ptr));
+          ptr++;
+          arg_val--;
+        }
+      }
+      break;
+
+    case U8G_COM_MSG_ADDRESS:                     /* define cmd (arg_val = 0) or data mode (arg_val = 1) */
+      u8g_SetPILevel_DUE(u8g, U8G_PI_A0, arg_val);
+      break;
+  }
+  return 1;
+}
+
+#endif // HAS_MARLINUI_U8GLIB && !U8GLIB_ST7920
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp

@@ -0,0 +1,112 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Based on u8g_com_st7920_hw_spi.c
+ *
+ * Universal 8bit Graphics Library
+ *
+ * Copyright (c) 2011, olikraus@gmail.com
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this list
+ *    of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice, this
+ *    list of conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if HAS_MARLINUI_U8GLIB
+
+#include "../../shared/Delay.h"
+
+#include <U8glib.h>
+
+#include "u8g_com_HAL_DUE_sw_spi_shared.h"
+
+void u8g_SetPIOutput_DUE(u8g_t *u8g, uint8_t pin_index) {
+  PIO_Configure(g_APinDescription[u8g->pin_list[pin_index]].pPort, PIO_OUTPUT_1,
+    g_APinDescription[u8g->pin_list[pin_index]].ulPin, g_APinDescription[u8g->pin_list[pin_index]].ulPinConfiguration);  // OUTPUT
+}
+
+void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level) {
+  volatile Pio* port = g_APinDescription[u8g->pin_list[pin_index]].pPort;
+  uint32_t mask = g_APinDescription[u8g->pin_list[pin_index]].ulPin;
+  if (level) port->PIO_SODR = mask; else port->PIO_CODR = mask;
+}
+
+Pio *SCK_pPio, *MOSI_pPio;
+uint32_t SCK_dwMask, MOSI_dwMask;
+
+void u8g_spiSend_sw_DUE_mode_0(uint8_t val) { // 3MHz
+  LOOP_L_N(i, 8) {
+    if (val & 0x80)
+      MOSI_pPio->PIO_SODR = MOSI_dwMask;
+    else
+      MOSI_pPio->PIO_CODR = MOSI_dwMask;
+    DELAY_NS(48);
+    SCK_pPio->PIO_SODR = SCK_dwMask;
+    DELAY_NS(905);
+    val <<= 1;
+    SCK_pPio->PIO_CODR = SCK_dwMask;
+  }
+}
+
+void u8g_spiSend_sw_DUE_mode_3(uint8_t val) { // 3.5MHz
+  LOOP_L_N(i, 8) {
+    SCK_pPio->PIO_CODR = SCK_dwMask;
+    DELAY_NS(50);
+    if (val & 0x80)
+      MOSI_pPio->PIO_SODR = MOSI_dwMask;
+    else
+      MOSI_pPio->PIO_CODR = MOSI_dwMask;
+    val <<= 1;
+    DELAY_NS(10);
+    SCK_pPio->PIO_SODR = SCK_dwMask;
+    DELAY_NS(70);
+  }
+}
+
+#endif // HAS_MARLINUI_U8GLIB
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h

@@ -0,0 +1,35 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfigPre.h"
+#include "../../shared/Marduino.h"
+#include <U8glib.h>
+
+void u8g_SetPIOutput_DUE(u8g_t *u8g, uint8_t pin_index);
+void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level);
+
+void u8g_spiSend_sw_DUE_mode_0(uint8_t val);
+void u8g_spiSend_sw_DUE_mode_3(uint8_t val);
+
+extern Pio *SCK_pPio, *MOSI_pPio;
+extern uint32_t SCK_dwMask, MOSI_dwMask;

Marlin/src/HAL/DUE/eeprom_wired.cpp

@@ -0,0 +1,77 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+
+#if USE_WIRED_EEPROM
+
+/**
+ * PersistentStore for Arduino-style EEPROM interface
+ * with simple implementations supplied by Marlin.
+ */
+
+#include "../shared/eeprom_if.h"
+#include "../shared/eeprom_api.h"
+
+#ifndef MARLIN_EEPROM_SIZE
+  #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM."
+#endif
+size_t PersistentStore::capacity()    { return MARLIN_EEPROM_SIZE; }
+bool PersistentStore::access_start()  { eeprom_init(); return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+  while (size--) {
+    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t v = *value;
+    // EEPROM has only ~100,000 write cycles,
+    // so only write bytes that have changed!
+    if (v != eeprom_read_byte(p)) {
+      eeprom_write_byte(p, v);
+      delay(2);
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+        return true;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  }
+  return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t* value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+  do {
+    uint8_t c = eeprom_read_byte((uint8_t*)pos);
+    if (writing) *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+  return false;
+}
+
+#endif // USE_WIRED_EEPROM
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/endstop_interrupts.h

@@ -0,0 +1,67 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the temperature-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#include "../../module/endstops.h"
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+/**
+ *  Endstop interrupts for Due based targets.
+ *  On Due, all pins support external interrupt capability.
+ */
+
+void setup_endstop_interrupts() {
+  #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE)
+  TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN));
+  TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN));
+  TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN));
+  TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN));
+  TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN));
+  TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN));
+  TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN));
+  TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN));
+  TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN));
+  TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN));
+  TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN));
+  TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN));
+  TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN));
+  TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN));
+  TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
+  TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
+  TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+}

Marlin/src/HAL/DUE/fastio.h

@@ -0,0 +1,562 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Fast I/O Routines for SAM3X8E
+ * Use direct port manipulation to save scads of processor time.
+ * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
+ */
+
+/**
+ * Description: Fast IO functions for Arduino Due and compatible (SAM3X8E)
+ *
+ * For ARDUINO_ARCH_SAM
+ * Note the code here was specifically crafted by disassembling what GCC produces
+ * out of it, so GCC is able to optimize it out as much as possible to the least
+ * amount of instructions. Be very carefull if you modify them, as "clean code"
+ * leads to less efficient compiled code!!
+ */
+
+#include <pins_arduino.h>
+
+#include "../../inc/MarlinConfigPre.h"
+
+/**
+ * Utility functions
+ */
+
+// Due has 12 PWMs assigned to logical pins 2-13.
+// 6, 7, 8 & 9 come from the PWM controller. The others come from the timers.
+#define PWM_PIN(P)              WITHIN(P, 2, 13)
+
+#ifndef MASK
+  #define MASK(PIN) (1 << PIN)
+#endif
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW);
+ *
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+ */
+
+// Read a pin
+#define _READ(IO) bool(DIO ## IO ## _WPORT -> PIO_PDSR & MASK(DIO ## IO ## _PIN))
+
+// Write to a pin
+#define _WRITE(IO,V) do { \
+  volatile Pio* port = (DIO ##  IO ## _WPORT); \
+  const uint32_t mask = MASK(DIO ## IO ## _PIN); \
+  if (V) port->PIO_SODR = mask; \
+  else port->PIO_CODR = mask; \
+}while(0)
+
+// Toggle a pin
+#define _TOGGLE(IO) _WRITE(IO, !READ(IO))
+
+#if MB(PRINTRBOARD_G2)
+
+  #include "fastio/G2_pins.h"
+
+  // Set pin as input
+  #define _SET_INPUT(IO) do{ \
+    pmc_enable_periph_clk(G2_g_APinDescription[IO].ulPeripheralId); \
+    PIO_Configure((DIO ## IO ## _WPORT), PIO_INPUT, MASK(DIO ## IO ## _PIN), 0); \
+  }while(0)
+
+  // Set pin as output
+  #define _SET_OUTPUT(IO) do{ \
+    uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \
+    if ((PMC->PMC_PCSR0 & mask) != (mask)) PMC->PMC_PCER0 = mask; \
+    volatile Pio* port = (DIO ## IO ## _WPORT); \
+    mask = MASK(DIO ## IO ## _PIN); \
+    if (_READ(IO)) port->PIO_SODR = mask; \
+    else port->PIO_CODR = mask; \
+    port->PIO_IDR = mask; \
+    const uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \
+    if (pin_config & PIO_PULLUP) port->PIO_PUER = mask; \
+    else port->PIO_PUDR = mask; \
+    if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \
+    else port->PIO_MDDR = mask; \
+    port->PIO_PER = mask; \
+    port->PIO_OER = mask; \
+    g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
+  }while(0)
+
+ /**
+  *  Set pin as output with comments
+  *  #define _SET_OUTPUT(IO) do{ \
+  *    uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \
+  *    if ((PMC->PMC_PCSR0 & mask ) != (mask))  PMC->PMC_PCER0 = mask; \  // enable PIO clock if not already enabled
+  *
+  *    volatile Pio* port = (DIO ##  IO ## _WPORT); \
+  *    const uint32_t mask = MASK(DIO ## IO ## _PIN); \
+  *    if (_READ(IO)) port->PIO_SODR = mask; \ // set output to match input BEFORE setting direction or will glitch the output
+  *    else port->PIO_CODR = mask; \
+  *
+  *    port->PIO_IDR = mask; \ // disable interrupt
+  *
+  *    uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \
+  *    if (pin_config & PIO_PULLUP) pPio->PIO_PUER = mask; \  // enable pullup if necessary
+  *    else  pPio->PIO_PUDR = mask; \
+  *
+  *    if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \ // Enable multi-drive if necessary
+  *    else  port->PIO_MDDR = mask; \
+  *
+  *    port->PIO_PER = mask; \
+  *    port->PIO_OER = mask; \  // set to output
+  *
+  *    g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
+  *  }while(0)
+  */
+
+#else
+
+    // Set pin as input
+  #define _SET_INPUT(IO) do{ \
+    pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
+    PIO_Configure(digitalPinToPort(IO), PIO_INPUT, digitalPinToBitMask(IO), 0); \
+  }while(0)
+
+  // Set pin as output
+  #define _SET_OUTPUT(IO) do{ \
+    pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
+    PIO_Configure(digitalPinToPort(IO), _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, digitalPinToBitMask(IO), g_APinDescription[IO].ulPinConfiguration); \
+    g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
+  }while(0)
+#endif
+
+// Set pin as input with pullup mode
+#define _PULLUP(IO,V)        pinMode(IO, (V) ? INPUT_PULLUP : INPUT)
+
+// Read a pin (wrapper)
+#define READ(IO)             _READ(IO)
+
+// Write to a pin (wrapper)
+#define WRITE(IO,V)          _WRITE(IO,V)
+
+// Toggle a pin (wrapper)
+#define TOGGLE(IO)           _TOGGLE(IO)
+
+// Set pin as input (wrapper)
+#define SET_INPUT(IO)        _SET_INPUT(IO)
+// Set pin as input with pullup (wrapper)
+#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+// Set pin as output (wrapper) -  reads the pin and sets the output to that value
+#define SET_OUTPUT(IO)       _SET_OUTPUT(IO)
+// Set pin as PWM
+#define SET_PWM               SET_OUTPUT
+
+// Check if pin is an input
+#define IS_INPUT(IO)         ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) == 0)
+// Check if pin is an output
+#define IS_OUTPUT(IO)        ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) != 0)
+
+// Shorthand
+#define OUT_WRITE(IO,V)      do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO)    digitalRead(IO)
+#define extDigitalWrite(IO,V) digitalWrite(IO,V)
+
+/**
+ * Ports and functions
+ * Added as necessary or if I feel like it- not a comprehensive list!
+ */
+
+// UART
+#define RXD        DIO0
+#define TXD        DIO1
+
+// TWI (I2C)
+#define SCL        DIO21
+#define SDA        DIO20
+
+/**
+ * pins
+ */
+
+#define DIO0_PIN 8
+#define DIO0_WPORT PIOA
+
+#define DIO1_PIN 9
+#define DIO1_WPORT PIOA
+
+#define DIO2_PIN 25
+#define DIO2_WPORT PIOB
+
+#define DIO3_PIN 28
+#define DIO3_WPORT PIOC
+
+#define DIO4_PIN 26
+#define DIO4_WPORT PIOC
+
+#define DIO5_PIN 25
+#define DIO5_WPORT PIOC
+
+#define DIO6_PIN 24
+#define DIO6_WPORT PIOC
+
+#define DIO7_PIN 23
+#define DIO7_WPORT PIOC
+
+#define DIO8_PIN 22
+#define DIO8_WPORT PIOC
+
+#define DIO9_PIN 21
+#define DIO9_WPORT PIOC
+
+#define DIO10_PIN 29
+#define DIO10_WPORT PIOC
+
+#define DIO11_PIN 7
+#define DIO11_WPORT PIOD
+
+#define DIO12_PIN 8
+#define DIO12_WPORT PIOD
+
+#define DIO13_PIN 27
+#define DIO13_WPORT PIOB
+
+#define DIO14_PIN 4
+#define DIO14_WPORT PIOD
+
+#define DIO15_PIN 5
+#define DIO15_WPORT PIOD
+
+#define DIO16_PIN 13
+#define DIO16_WPORT PIOA
+
+#define DIO17_PIN 12
+#define DIO17_WPORT PIOA
+
+#define DIO18_PIN 11
+#define DIO18_WPORT PIOA
+
+#define DIO19_PIN 10
+#define DIO19_WPORT PIOA
+
+#define DIO20_PIN 12
+#define DIO20_WPORT PIOB
+
+#define DIO21_PIN 13
+#define DIO21_WPORT PIOB
+
+#define DIO22_PIN 26
+#define DIO22_WPORT PIOB
+
+#define DIO23_PIN 14
+#define DIO23_WPORT PIOA
+
+#define DIO24_PIN 15
+#define DIO24_WPORT PIOA
+
+#define DIO25_PIN 0
+#define DIO25_WPORT PIOD
+
+#define DIO26_PIN 1
+#define DIO26_WPORT PIOD
+
+#define DIO27_PIN 2
+#define DIO27_WPORT PIOD
+
+#define DIO28_PIN 3
+#define DIO28_WPORT PIOD
+
+#define DIO29_PIN 6
+#define DIO29_WPORT PIOD
+
+#define DIO30_PIN 9
+#define DIO30_WPORT PIOD
+
+#define DIO31_PIN 7
+#define DIO31_WPORT PIOA
+
+#define DIO32_PIN 10
+#define DIO32_WPORT PIOD
+
+#define DIO33_PIN 1
+#define DIO33_WPORT PIOC
+
+#if !MB(PRINTRBOARD_G2)    // normal DUE pin mapping
+
+  #define DIO34_PIN 2
+  #define DIO34_WPORT PIOC
+
+  #define DIO35_PIN 3
+  #define DIO35_WPORT PIOC
+
+  #define DIO36_PIN 4
+  #define DIO36_WPORT PIOC
+
+  #define DIO37_PIN 5
+  #define DIO37_WPORT PIOC
+
+  #define DIO38_PIN 6
+  #define DIO38_WPORT PIOC
+
+  #define DIO39_PIN 7
+  #define DIO39_WPORT PIOC
+
+  #define DIO40_PIN 8
+  #define DIO40_WPORT PIOC
+
+  #define DIO41_PIN 9
+  #define DIO41_WPORT PIOC
+
+#endif // !PRINTRBOARD_G2
+
+#define DIO42_PIN 19
+#define DIO42_WPORT PIOA
+
+#define DIO43_PIN 20
+#define DIO43_WPORT PIOA
+
+#define DIO44_PIN 19
+#define DIO44_WPORT PIOC
+
+#define DIO45_PIN 18
+#define DIO45_WPORT PIOC
+
+#define DIO46_PIN 17
+#define DIO46_WPORT PIOC
+
+#define DIO47_PIN 16
+#define DIO47_WPORT PIOC
+
+#define DIO48_PIN 15
+#define DIO48_WPORT PIOC
+
+#define DIO49_PIN 14
+#define DIO49_WPORT PIOC
+
+#define DIO50_PIN 13
+#define DIO50_WPORT PIOC
+
+#define DIO51_PIN 12
+#define DIO51_WPORT PIOC
+
+#define DIO52_PIN 21
+#define DIO52_WPORT PIOB
+
+#define DIO53_PIN 14
+#define DIO53_WPORT PIOB
+
+#define DIO54_PIN 16
+#define DIO54_WPORT PIOA
+
+#define DIO55_PIN 24
+#define DIO55_WPORT PIOA
+
+#define DIO56_PIN 23
+#define DIO56_WPORT PIOA
+
+#define DIO57_PIN 22
+#define DIO57_WPORT PIOA
+
+#define DIO58_PIN 6
+#define DIO58_WPORT PIOA
+
+#define DIO59_PIN 4
+#define DIO59_WPORT PIOA
+
+#define DIO60_PIN 3
+#define DIO60_WPORT PIOA
+
+#define DIO61_PIN 2
+#define DIO61_WPORT PIOA
+
+#define DIO62_PIN 17
+#define DIO62_WPORT PIOB
+
+#define DIO63_PIN 18
+#define DIO63_WPORT PIOB
+
+#define DIO64_PIN 19
+#define DIO64_WPORT PIOB
+
+#define DIO65_PIN 20
+#define DIO65_WPORT PIOB
+
+#define DIO66_PIN 15
+#define DIO66_WPORT PIOB
+
+#define DIO67_PIN 16
+#define DIO67_WPORT PIOB
+
+#define DIO68_PIN 1
+#define DIO68_WPORT PIOA
+
+#define DIO69_PIN 0
+#define DIO69_WPORT PIOA
+
+#define DIO70_PIN 17
+#define DIO70_WPORT PIOA
+
+#define DIO71_PIN 18
+#define DIO71_WPORT PIOA
+
+#define DIO72_PIN 30
+#define DIO72_WPORT PIOC
+
+#define DIO73_PIN 21
+#define DIO73_WPORT PIOA
+
+#define DIO74_PIN 25
+#define DIO74_WPORT PIOA
+
+#define DIO75_PIN 26
+#define DIO75_WPORT PIOA
+
+#define DIO76_PIN 27
+#define DIO76_WPORT PIOA
+
+#define DIO77_PIN 28
+#define DIO77_WPORT PIOA
+
+#define DIO78_PIN 23
+#define DIO78_WPORT PIOB
+
+#define DIO79_PIN 17
+#define DIO79_WPORT PIOA
+
+#define DIO80_PIN 12
+#define DIO80_WPORT PIOB
+
+#define DIO81_PIN 8
+#define DIO81_WPORT PIOA
+
+#define DIO82_PIN 11
+#define DIO82_WPORT PIOA
+
+#define DIO83_PIN 13
+#define DIO83_WPORT PIOA
+
+#define DIO84_PIN 4
+#define DIO84_WPORT PIOD
+
+#define DIO85_PIN 11
+#define DIO85_WPORT PIOB
+
+#define DIO86_PIN 21
+#define DIO86_WPORT PIOB
+
+#define DIO87_PIN 29
+#define DIO87_WPORT PIOA
+
+#define DIO88_PIN 15
+#define DIO88_WPORT PIOB
+
+#define DIO89_PIN 14
+#define DIO89_WPORT PIOB
+
+#define DIO90_PIN 1
+#define DIO90_WPORT PIOA
+
+#define DIO91_PIN 15
+#define DIO91_WPORT PIOB
+
+#if ARDUINO_SAM_ARCHIM
+
+  #define DIO92_PIN 11
+  #define DIO92_WPORT PIOC
+
+  #define DIO93_PIN 2
+  #define DIO93_WPORT PIOB
+
+  #define DIO94_PIN 1
+  #define DIO94_WPORT PIOB
+
+  #define DIO95_PIN 0
+  #define DIO95_WPORT PIOB
+
+  #define DIO96_PIN 10
+  #define DIO96_WPORT PIOC
+
+  #define DIO97_PIN 24
+  #define DIO97_WPORT PIOB
+
+  #define DIO98_PIN 7
+  #define DIO98_WPORT PIOB
+
+  #define DIO99_PIN 6
+  #define DIO99_WPORT PIOB
+
+  #define DIO100_PIN 8
+  #define DIO100_WPORT PIOB
+
+  #define DIO101_PIN 5
+  #define DIO101_WPORT PIOB
+
+  #define DIO102_PIN 4
+  #define DIO102_WPORT PIOB
+
+  #define DIO103_PIN 3
+  #define DIO103_WPORT PIOB
+
+  #define DIO104_PIN 20
+  #define DIO104_WPORT PIOC
+
+  #define DIO105_PIN 22
+  #define DIO105_WPORT PIOB
+
+  #define DIO106_PIN 27
+  #define DIO106_WPORT PIOC
+
+  #define DIO107_PIN 10
+  #define DIO107_WPORT PIOB
+
+  #define DIO108_PIN 9
+  #define DIO108_WPORT PIOB
+
+#else // !ARDUINO_SAM_ARCHIM
+
+  #define DIO92_PIN 5
+  #define DIO92_WPORT PIOA
+
+  #define DIO93_PIN 12
+  #define DIO93_WPORT PIOB
+
+  #define DIO94_PIN 22
+  #define DIO94_WPORT PIOB
+
+  #define DIO95_PIN 23
+  #define DIO95_WPORT PIOB
+
+  #define DIO96_PIN 24
+  #define DIO96_WPORT PIOB
+
+  #define DIO97_PIN 20
+  #define DIO97_WPORT PIOC
+
+  #define DIO98_PIN 27
+  #define DIO98_WPORT PIOC
+
+  #define DIO99_PIN 10
+  #define DIO99_WPORT PIOC
+
+  #define DIO100_PIN 11
+  #define DIO100_WPORT PIOC
+
+#endif // !ARDUINO_SAM_ARCHIM

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

@@ -0,0 +1,206 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * The PWM module is only used to generate interrupts at specified times. It
+ * 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
+ * not have obvious ripple on the Vref signals.
+ *
+ * The data structures are setup to minimize the computation done by the ISR which
+ * minimizes ISR execution time.  Execution times are 0.8 to 1.1 microseconds.
+ *
+ * FIve PWM interrupt sources are used.  Channel 0 sets the base period.  All Vref
+ * signals are set active when this counter overflows and resets to zero.  The compare
+ * values in channels 1-4 are set to give the desired duty cycle for that Vref pin.
+ * When counter 0 matches the compare value then that channel generates an interrupt.
+ * The ISR checks the source of the interrupt and sets the corresponding pin inactive.
+ *
+ * Some jitter in the Vref signal is OK so the interrupt priority is left at its default value.
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if MB(PRINTRBOARD_G2)
+
+#include "G2_PWM.h"
+
+#if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
+  #define G2_PWM_X 1
+#else
+  #define G2_PWM_X 0
+#endif
+#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
+  #define G2_PWM_Y 1
+#else
+  #define G2_PWM_Y 0
+#endif
+#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
+  #define G2_PWM_Z 1
+#else
+  #define G2_PWM_Z 0
+#endif
+#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
+  #define G2_PWM_E 1
+#else
+  #define G2_PWM_E 0
+#endif
+#define G2_MASK_X(V) (G2_PWM_X * (V))
+#define G2_MASK_Y(V) (G2_PWM_Y * (V))
+#define G2_MASK_Z(V) (G2_PWM_Z * (V))
+#define G2_MASK_E(V) (G2_PWM_E * (V))
+
+volatile uint32_t *SODR_A = &PIOA->PIO_SODR,
+                  *SODR_B = &PIOB->PIO_SODR,
+                  *CODR_A = &PIOA->PIO_CODR,
+                  *CODR_B = &PIOB->PIO_CODR;
+
+PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT;
+
+void Stepper::digipot_init() {
+
+  #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
+    OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0);  // init pins
+  #endif
+  #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
+    OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0);
+  #endif
+  #if G2_PWM_Z
+    OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0);
+  #endif
+  #if G2_PWM_E
+    OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0);
+  #endif
+
+  #define WPKEY          (0x50574D << 8) // “PWM” in ASCII
+  #define WPCMD_DIS_SW   0  // command to disable Write Protect SW
+  #define WPRG_ALL       (PWM_WPCR_WPRG0 | PWM_WPCR_WPRG1 | PWM_WPCR_WPRG2 | PWM_WPCR_WPRG3 | PWM_WPCR_WPRG4 | PWM_WPCR_WPRG5)  // all Write Protect Groups
+
+  #define PWM_CLOCK_F    F_CPU / 1000000UL   // set clock to 1MHz
+
+  PMC->PMC_PCER1 = PMC_PCER1_PID36;                       // enable PWM controller clock (disabled on power up)
+
+  PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW;        // enable setting of all PWM registers
+  PWM->PWM_CLK = PWM_CLOCK_F;                             // enable CLK_A and set it to 1MHz, leave CLK_B disabled
+  PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011;                    // set channel 0 to Clock A input & to left aligned
+  if (G2_PWM_X) PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011;      // set channel 1 to Clock A input & to left aligned
+  if (G2_PWM_Y) PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011;      // set channel 2 to Clock A input & to left aligned
+  if (G2_PWM_Z) PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011;      // set channel 3 to Clock A input & to left aligned
+  if (G2_PWM_E) PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011;      // set channel 4 to Clock A input & to left aligned
+
+  PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US;            // set channel 0 Period
+
+  PWM->PWM_IER2 = PWM_IER1_CHID0;                         // generate interrupt when counter0 overflows
+  PWM->PWM_IER2 = PWM_IER2_CMPM0
+    | G2_MASK_X(PWM_IER2_CMPM1)
+    | G2_MASK_Y(PWM_IER2_CMPM2)
+    | G2_MASK_Z(PWM_IER2_CMPM3)
+    | G2_MASK_E(PWM_IER2_CMPM4)
+  ; // generate interrupt on compare event
+
+  if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 1 PWM inactive
+  if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 2 PWM inactive
+  if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[1])); // interrupt when counter0 == CMPV - used to set Motor 3 PWM inactive
+  if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[2])); // interrupt when counter0 == CMPV - used to set Motor 4 PWM inactive
+
+  if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPM = 0x0001;  // enable compare event
+  if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPM = 0x0001;  // enable compare event
+  if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPM = 0x0001;  // enable compare event
+  if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPM = 0x0001;  // enable compare event
+
+  PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0
+    | G2_MASK_X(PWM_SCM_SYNC1)
+    | G2_MASK_Y(PWM_SCM_SYNC2)
+    | G2_MASK_Z(PWM_SCM_SYNC3)
+    | G2_MASK_E(PWM_SCM_SYNC4)
+  ; // sync 1-4 with 0, use mode 0 for updates
+
+  PWM->PWM_ENA = PWM_ENA_CHID0
+    | G2_MASK_X(PWM_ENA_CHID1)
+    | G2_MASK_Y(PWM_ENA_CHID2)
+    | G2_MASK_Z(PWM_ENA_CHID3)
+    | G2_MASK_E(PWM_ENA_CHID4)
+  ; // enable channels used by G2
+
+  PWM->PWM_IER1 = PWM_IER1_CHID0
+    | G2_MASK_X(PWM_IER1_CHID1)
+    | G2_MASK_Y(PWM_IER1_CHID2)
+    | G2_MASK_Z(PWM_IER1_CHID3)
+    | G2_MASK_E(PWM_IER1_CHID4)
+  ; // enable interrupts for channels used by G2
+
+  NVIC_EnableIRQ(PWM_IRQn);     // Enable interrupt handler
+  NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0));  // normal priority for PWM module (can stand some jitter on the Vref signals)
+}
+
+void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) {
+
+  if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init();  // Init PWM system if needed
+
+  switch (driver) {
+    case 0:
+      if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));    // update X & Y
+      if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));
+      if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001;  // enable compare event
+      if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001;  // enable compare event
+      if (G2_PWM_X || G2_PWM_Y) PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
+      break;
+    case 1:
+      if (G2_PWM_Z) {
+        PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));    // update Z
+        PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001;  // enable compare event
+        PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
+      }
+      break;
+    default:
+      if (G2_PWM_E) {
+        PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current));    // update E
+        PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001;  // enable compare event
+        PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle
+      }
+      break;
+  }
+}
+
+volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS;
+
+void PWM_Handler() {
+  PWM_ISR1_STATUS = PWM->PWM_ISR1;
+  PWM_ISR2_STATUS = PWM->PWM_ISR2;
+  if (PWM_ISR1_STATUS & PWM_IER1_CHID0) {                                                         // CHAN_0 interrupt
+    if (G2_PWM_X) *ISR_table[0].set_register = ISR_table[0].write_mask;                           // set X to active
+    if (G2_PWM_Y) *ISR_table[1].set_register = ISR_table[1].write_mask;                           // set Y to active
+    if (G2_PWM_Z) *ISR_table[2].set_register = ISR_table[2].write_mask;                           // set Z to active
+    if (G2_PWM_E) *ISR_table[3].set_register = ISR_table[3].write_mask;                           // set E to active
+  }
+  else {
+    if (G2_PWM_X && (PWM_ISR2_STATUS & PWM_IER2_CMPM1)) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive
+    if (G2_PWM_Y && (PWM_ISR2_STATUS & PWM_IER2_CMPM2)) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive
+    if (G2_PWM_Z && (PWM_ISR2_STATUS & PWM_IER2_CMPM3)) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive
+    if (G2_PWM_E && (PWM_ISR2_STATUS & PWM_IER2_CMPM4)) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive
+  }
+  return;
+}
+
+#endif // PRINTRBOARD_G2

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

@@ -0,0 +1,78 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * This module is stripped down version of the LPC1768_PWM.h file from
+ * PR #7500. It is hardwired for the PRINTRBOARD_G2 Motor Current needs.
+ */
+
+#include "../../../inc/MarlinConfigPre.h"
+#include "../../../module/stepper.h"
+//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\stepper.h
+//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\HAL\HAL_DUE\G2_PWM.h
+
+#define PWM_PERIOD_US  100  // base repetition rate in micro seconds
+
+typedef struct {       // holds the data needed by the ISR to control the Vref pin
+  volatile uint32_t* set_register;
+  volatile uint32_t* clr_register;
+  uint32_t write_mask;
+} PWM_map;
+
+#define G2_VREF(I) (uint32_t)(I * 5 * 0.15)   // desired Vref * 1000 (scaled so don't loose accuracy in next step)
+
+#define G2_VREF_COUNT(Q) (uint32_t)map(constrain(Q, 500, 3.3 * 1000), 0, 3.3 * 1000, 0, PWM_PERIOD_US)  // under 500  the results are very non-linear
+
+extern volatile uint32_t *SODR_A, *SODR_B, *CODR_A, *CODR_B;
+
+#define _PIN(IO) (DIO ## IO ## _PIN)
+
+#define PWM_MAP_INIT_ROW(IO,ZZ) { ZZ == 'A' ? SODR_A : SODR_B,  ZZ == 'A' ? CODR_A : CODR_B, 1 << _PIN(IO) }
+
+
+#define PWM_MAP_INIT {  PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_X_PIN, 'B'), \
+                        PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Y_PIN, 'B'), \
+                        PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Z_PIN, 'B'), \
+                        PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_E_PIN, 'A'), \
+                     };
+
+#define NUM_PWMS 4
+
+extern PWM_map ISR_table[NUM_PWMS];
+
+extern uint32_t motor_current_setting[3];
+
+#define IR_BIT(p) (WITHIN(p, 0, 3) ? (p) : (p) + 4)
+#define COPY_ACTIVE_TABLE() do{ LOOP_L_N(i, 6) work_table[i] = active_table[i]; }while(0)
+
+#define PWM_MR0 19999         // base repetition rate minus one count - 20mS
+#define PWM_PR 24             // prescaler value - prescaler divide by 24 + 1  -  1 MHz output
+#define PWM_PCLKSEL0 0x00     // select clock source for prescaler - defaults to 25MHz on power up
+                              // 0: 25MHz, 1: 100MHz, 2: 50MHz, 3: 12.5MHZ to PWM1 prescaler
+#define MR0_MARGIN 200        // if channel value too close to MR0 the system locks up
+
+extern bool PWM_table_swap;   // flag to tell the ISR that the tables have been swapped
+
+#define HAL_G2_PWM_ISR  void PWM_Handler()
+
+extern volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS;

Marlin/src/HAL/DUE/fastio/G2_pins.h

@@ -0,0 +1,278 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+/**
+ * This file contains the custom port/pin definitions for the PRINTRBOARD_G2
+ * motherboard. This motherboard uses the SAM3X8C which is a subset of the
+ * SAM3X8E used in the DUE board.  It uses port/pin pairs that are not
+ * available using the DUE definitions.
+ *
+ * The first part is a copy of the pin descriptions in the
+ * "variants\arduino_due_x\variant.cpp" file but with pins 34-41 replaced by
+ * the G2 pins.
+ *
+ * The second part is the FASTIO port/pin definitions.
+ *
+ * THESE PINS CAN ONLY BE ACCESSED VIA FASTIO COMMANDS.
+ */
+
+/*
+  Copyright (c) 2011 Arduino.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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 Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+typedef struct _G2_PinDescription {
+  Pio* pPort;
+  uint32_t ulPin;
+  uint32_t ulPeripheralId;
+  EPioType ulPinType;
+  uint32_t ulPinConfiguration;
+  uint32_t ulPinAttribute;
+  EAnalogChannel ulAnalogChannel; /* Analog pin in the Arduino context (label on the board) */
+  EAnalogChannel ulADCChannelNumber; /* ADC Channel number in the SAM device */
+  EPWMChannel ulPWMChannel;
+  ETCChannel ulTCChannel;
+} G2_PinDescription;
+
+/**
+ * This section is a copy of the pin descriptions in the "variants\arduino_due_x\variant.cpp" file
+ * with pins 34-41 replaced by the G2 pins.
+ */
+
+/**
+ * Pins descriptions
+ */
+const G2_PinDescription G2_g_APinDescription[] = {
+  // 0 .. 53 - Digital pins
+  // ----------------------
+  // 0/1 - UART (Serial)
+  { PIOA, PIO_PA8A_URXD,     ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT,  PIN_ATTR_DIGITAL,                 NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // URXD
+  { PIOA, PIO_PA9A_UTXD,     ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT,  PIN_ATTR_DIGITAL,                 NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // UTXD
+
+  // 2
+  { PIOB, PIO_PB25B_TIOA0,   ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC0_CHA0     }, // TIOA0
+  { PIOC, PIO_PC28B_TIOA7,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHA7     }, // TIOA7
+  { PIOC, PIO_PC26B_TIOB6,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHB6     }, // TIOB6
+
+  // 5
+  { PIOC, PIO_PC25B_TIOA6,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHA6     }, // TIOA6
+  { PIOC, PIO_PC24B_PWML7,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM),   NO_ADC, NO_ADC, PWM_CH7,     NOT_ON_TIMER }, // PWML7
+  { PIOC, PIO_PC23B_PWML6,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM),   NO_ADC, NO_ADC, PWM_CH6,     NOT_ON_TIMER }, // PWML6
+  { PIOC, PIO_PC22B_PWML5,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM),   NO_ADC, NO_ADC, PWM_CH5,     NOT_ON_TIMER }, // PWML5
+  { PIOC, PIO_PC21B_PWML4,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM),   NO_ADC, NO_ADC, PWM_CH4,     NOT_ON_TIMER }, // PWML4
+  // 10
+  { PIOC, PIO_PC29B_TIOB7,   ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHB7     }, // TIOB7
+  { PIOD, PIO_PD7B_TIOA8,    ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHA8     }, // TIOA8
+  { PIOD, PIO_PD8B_TIOB8,    ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC2_CHB8     }, // TIOB8
+
+  // 13 - AMBER LED
+  { PIOB, PIO_PB27B_TIOB0,   ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM,  TC0_CHB0     }, // TIOB0
+
+  // 14/15 - USART3 (Serial3)
+  { PIOD, PIO_PD4B_TXD3,     ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TXD3
+  { PIOD, PIO_PD5B_RXD3,     ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // RXD3
+
+  // 16/17 - USART1 (Serial2)
+  { PIOA, PIO_PA13A_TXD1,    ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TXD1
+  { PIOA, PIO_PA12A_RXD1,    ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // RXD1
+
+  // 18/19 - USART0 (Serial1)
+  { PIOA, PIO_PA11A_TXD0,    ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TXD0
+  { PIOA, PIO_PA10A_RXD0,    ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // RXD0
+
+  // 20/21 - TWI1
+  { PIOB, PIO_PB12A_TWD1,    ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TWD1 - SDA0
+  { PIOB, PIO_PB13A_TWCK1,   ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TWCK1 - SCL0
+
+  // 22
+  { PIOB, PIO_PB26,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 22
+  { PIOA, PIO_PA14,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 23
+  { PIOA, PIO_PA15,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 24
+  { PIOD, PIO_PD0,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 25
+
+  // 26
+  { PIOD, PIO_PD1,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 26
+  { PIOD, PIO_PD2,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 27
+  { PIOD, PIO_PD3,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 28
+  { PIOD, PIO_PD6,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 29
+
+  // 30
+  { PIOD, PIO_PD9,           ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 30
+  { PIOA, PIO_PA7,           ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 31
+  { PIOD, PIO_PD10,          ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 32
+  { PIOC, PIO_PC1,           ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 33
+
+  // 34
+
+  // start of custom pins
+  { PIOA, PIO_PA29,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 34  Y_STEP_PIN
+  { PIOB, PIO_PB1,           ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 35  Y_DIR_PIN
+  { PIOB, PIO_PB0,           ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 36  Y_ENABLE_PIN
+  { PIOB, PIO_PB22,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 37  E0_ENABLE_PIN
+  { PIOB, PIO_PB11,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 38  E0_MS1_PIN
+  { PIOB, PIO_PB10,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 39  E0_MS3_PIN
+  { PIOA, PIO_PA5,           ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 40  HEATER_0_PIN
+  { PIOB, PIO_PB24,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 41  HEATER_BED_PIN
+  // end of custom pins
+
+  // 42
+  { PIOA, PIO_PA19,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 42
+  { PIOA, PIO_PA20,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 43
+  { PIOC, PIO_PC19,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 44
+  { PIOC, PIO_PC18,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 45
+
+  // 46
+  { PIOC, PIO_PC17,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 46
+  { PIOC, PIO_PC16,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 47
+  { PIOC, PIO_PC15,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 48
+  { PIOC, PIO_PC14,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 49
+
+  // 50
+  { PIOC, PIO_PC13,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 50
+  { PIOC, PIO_PC12,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 51
+  { PIOB, PIO_PB21,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 52
+  { PIOB, PIO_PB14,          ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // PIN 53
+
+
+  // 54 .. 65 - Analog pins
+  // ----------------------
+  { PIOA, PIO_PA16X1_AD7,    ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC0,   ADC7,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD0
+  { PIOA, PIO_PA24X1_AD6,    ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC1,   ADC6,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD1
+  { PIOA, PIO_PA23X1_AD5,    ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC2,   ADC5,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD2
+  { PIOA, PIO_PA22X1_AD4,    ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC3,   ADC4,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD3
+  // 58
+  { PIOA, PIO_PA6X1_AD3,     ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC4,   ADC3,   NOT_ON_PWM,  TC0_CHB2     }, // AD4
+  { PIOA, PIO_PA4X1_AD2,     ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC5,   ADC2,   NOT_ON_PWM,  NOT_ON_TIMER }, // AD5
+  { PIOA, PIO_PA3X1_AD1,     ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC6,   ADC1,   NOT_ON_PWM,  TC0_CHB1     }, // AD6
+  { PIOA, PIO_PA2X1_AD0,     ID_PIOA, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC7,   ADC0,   NOT_ON_PWM,  TC0_CHA1     }, // AD7
+  // 62
+  { PIOB, PIO_PB17X1_AD10,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC8,   ADC10,  NOT_ON_PWM,  NOT_ON_TIMER }, // AD8
+  { PIOB, PIO_PB18X1_AD11,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC9,   ADC11,  NOT_ON_PWM,  NOT_ON_TIMER }, // AD9
+  { PIOB, PIO_PB19X1_AD12,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC10,  ADC12,  NOT_ON_PWM,  NOT_ON_TIMER }, // AD10
+  { PIOB, PIO_PB20X1_AD13,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC11,  ADC13,  NOT_ON_PWM,  NOT_ON_TIMER }, // AD11
+
+  // 66/67 - DAC0/DAC1
+  { PIOB, PIO_PB15X1_DAC0,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC12,  DA0,    NOT_ON_PWM,  NOT_ON_TIMER }, // DAC0
+  { PIOB, PIO_PB16X1_DAC1,   ID_PIOB, PIO_INPUT,    PIO_DEFAULT, PIN_ATTR_ANALOG,                   ADC13,  DA1,    NOT_ON_PWM,  NOT_ON_TIMER }, // DAC1
+
+  // 68/69 - CANRX0/CANTX0
+  { PIOA, PIO_PA1A_CANRX0,   ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  ADC14,  NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // CANRX
+  { PIOA, PIO_PA0A_CANTX0,   ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  ADC15,  NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // CANTX
+
+  // 70/71 - TWI0
+  { PIOA, PIO_PA17A_TWD0,    ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TWD0 - SDA1
+  { PIOA, PIO_PA18A_TWCK0,   ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // TWCK0 - SCL1
+
+  // 72/73 - LEDs
+  { PIOC, PIO_PC30,          ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // LED AMBER RXL
+  { PIOA, PIO_PA21,          ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // LED AMBER TXL
+
+  // 74/75/76 - SPI
+  { PIOA, PIO_PA25A_SPI0_MISO,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // MISO
+  { PIOA, PIO_PA26A_SPI0_MOSI,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // MOSI
+  { PIOA, PIO_PA27A_SPI0_SPCK,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // SPCK
+
+  // 77 - SPI CS0
+  { PIOA, PIO_PA28A_SPI0_NPCS0,ID_PIOA,PIO_PERIPH_A,PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // NPCS0
+
+  // 78 - SPI CS3 (unconnected)
+  { PIOB, PIO_PB23B_SPI0_NPCS3,ID_PIOB,PIO_PERIPH_B,PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // NPCS3
+
+  // 79 .. 84 - "All pins" masks
+
+  // 79 - TWI0 all pins
+  { PIOA, PIO_PA17A_TWD0|PIO_PA18A_TWCK0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+  // 80 - TWI1 all pins
+  { PIOB, PIO_PB12A_TWD1|PIO_PB13A_TWCK1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+  // 81 - UART (Serial) all pins
+  { PIOA, PIO_PA8A_URXD|PIO_PA9A_UTXD, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+  // 82 - USART0 (Serial1) all pins
+  { PIOA, PIO_PA11A_TXD0|PIO_PA10A_RXD0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+  // 83 - USART1 (Serial2) all pins
+  { PIOA, PIO_PA13A_TXD1|PIO_PA12A_RXD1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+  // 84 - USART3 (Serial3) all pins
+  { PIOD, PIO_PD4B_TXD3|PIO_PD5B_RXD3, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER },
+
+  // 85 - USB
+  { PIOB, PIO_PB11A_UOTGID|PIO_PB10A_UOTGVBOF, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // ID - VBOF
+
+  // 86 - SPI CS2
+  { PIOB, PIO_PB21B_SPI0_NPCS2, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // NPCS2
+
+  // 87 - SPI CS1
+  { PIOA, PIO_PA29A_SPI0_NPCS1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // NPCS1
+
+  // 88/89 - CANRX1/CANTX1 (same physical pin for 66/53)
+  { PIOB, PIO_PB15A_CANRX1,     ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // CANRX1
+  { PIOB, PIO_PB14A_CANTX1,     ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,                  NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER }, // CANTX1
+
+  // 90 .. 91 - "All CAN pins" masks
+  // 90 - CAN0 all pins
+  { PIOA, PIO_PA1A_CANRX0|PIO_PA0A_CANTX0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC,  NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER },
+  // 91 - CAN1 all pins
+  { PIOB, PIO_PB15A_CANRX1|PIO_PB14A_CANTX1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM,  NOT_ON_TIMER },
+
+  // END
+  { nullptr, 0, 0, PIO_NOT_A_PIN, PIO_DEFAULT, 0, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }
+};
+
+// This section replaces the FASTIO definitions of pins 34-41
+
+#define DIO34_PIN 29
+#define DIO34_WPORT PIOA  // only available via FASTIO      //       34 PA29 - Y_STEP_PIN
+
+#define DIO35_PIN 1
+#define DIO35_WPORT PIOB  // only available via FASTIO      //       35 PAB1 - Y_DIR_PIN
+
+#define DIO36_PIN 0
+#define DIO36_WPORT PIOB  // only available via FASTIO      //       36 PB0 - Y_ENABLE_PIN
+
+#define DIO37_PIN 22
+#define DIO37_WPORT PIOB  // only available via FASTIO      //       37 PB22 - E0_ENABLE_PIN
+
+#define DIO38_PIN 11
+#define DIO38_WPORT PIOB  // only available via FASTIO      //       38 PB11 - E0_MS1_PIN
+
+#define DIO39_PIN 10
+#define DIO39_WPORT PIOB  // only available via FASTIO      //       39 PB10 - E0_MS3_PIN
+
+#define DIO40_PIN 5
+#define DIO40_WPORT PIOA  // only available via FASTIO      //       40 PA5  - HEATER_0_PIN
+
+#define DIO41_PIN 24
+#define DIO41_WPORT PIOB  // only available via FASTIO      //       41 PB24 - HEATER_BED_PIN

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

@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+  #error "Sorry! TFT displays are not available for HAL/DUE."
+#endif

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

@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once

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

@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if USE_FALLBACK_EEPROM
+  #define FLASH_EEPROM_EMULATION
+#elif EITHER(I2C_EEPROM, SPI_EEPROM)
+  #define USE_SHARED_EEPROM 1
+#endif

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

@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Test Arduino Due specific configuration values for errors at compile-time.
+ */
+
+/**
+ * HARDWARE VS. SOFTWARE SPI COMPATIBILITY
+ *
+ * DUE selects hardware vs. software SPI depending on whether one of the hardware-controllable SDSS pins is in use.
+ *
+ * The hardware SPI controller doesn't allow software SPIs to control any shared pins.
+ *
+ * When DUE software SPI is used then Trinamic drivers must use the TMC softSPI.
+ *
+ * When DUE hardware SPI is used then a Trinamic driver can use either its hardware SPI or, if there are no shared
+ * pins, its software SPI.
+ *
+ * Usually the hardware SPI pins are only available to the LCD. This makes the DUE hard SPI used at the same time
+ * as the TMC2130 soft SPI the most common setup.
+ */
+#define _IS_HW_SPI(P) (defined(TMC_SW_##P) && (TMC_SW_##P == MOSI_PIN || TMC_SW_##P == MISO_PIN || TMC_SW_##P == SCK_PIN))
+
+#if ENABLED(SDSUPPORT) && HAS_DRIVER(TMC2130)
+  #if ENABLED(TMC_USE_SW_SPI)
+    #if DISABLED(DUE_SOFTWARE_SPI) && (_IS_HW_SPI(MOSI) || _IS_HW_SPI(MISO) || _IS_HW_SPI(SCK))
+      #error "DUE hardware SPI is required but is incompatible with TMC2130 software SPI. Either disable TMC_USE_SW_SPI or use separate pins for the two SPIs."
+    #endif
+  #elif ENABLED(DUE_SOFTWARE_SPI)
+    #error "DUE software SPI is required but is incompatible with TMC2130 hardware SPI. Enable TMC_USE_SW_SPI to fix."
+  #endif
+#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 DUE."
+#endif
+
+#if HAS_TMC_SW_SERIAL
+  #error "TMC220x Software Serial is not supported on this platform."
+#endif

Marlin/src/HAL/DUE/pinsDebug.h

@@ -0,0 +1,182 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * 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/>.
+ *
+ */
+
+/**
+ * Support routines for Due
+ */
+
+/**
+ * Translation of routines & variables used by pinsDebug.h
+ */
+
+#include "../shared/Marduino.h"
+
+/**
+ * Due/Marlin quirks
+ *
+ * a) determining the state of a pin
+ *     The Due/Arduino status definitions for the g_pinStatus[pin] array are:
+ *       #define PIN_STATUS_DIGITAL_INPUT_PULLUP  (0x01)
+ *       #define PIN_STATUS_DIGITAL_INPUT         (0x02)
+ *       #define PIN_STATUS_DIGITAL_OUTPUT        (0x03)
+ *       #define PIN_STATUS_ANALOG                (0x04)
+ *       #define PIN_STATUS_PWM                   (0x05)
+ *       #define PIN_STATUS_TIMER                 (0x06)
+ *
+ *     These are only valid if the following Due/Arduino provided functions are used:
+ *       analogRead
+ *       analogWrite
+ *       digitalWrite
+ *       pinMode
+ *
+ *     The FASTIO routines do not touch the g_pinStatus[pin] array.
+ *
+ *     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
+ *
+ * c) NUM_DIGITAL_PINS does not include the analog pins
+ *
+ * d) Pins 0-78 are defined for Due but 78 has a comment of "unconnected!".  78 is
+ *    included just in case.
+ */
+
+#define NUMBER_PINS_TOTAL PINS_COUNT
+
+#define digitalRead_mod(p) extDigitalRead(p)  // AVR digitalRead disabled PWM before it read the pin
+#define PRINT_PORT(p)
+#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 PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
+#define GET_ARRAY_PIN(p) pin_array[p].pin
+#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
+#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL ? 1 : 0)
+#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
+#define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+#define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \
+                        ((g_APinDescription[pin].ulPinAttribute & PIN_ATTR_PWM) == PIN_ATTR_PWM))
+#define MULTI_NAME_PAD 14 // space needed to be pretty if not first name assigned to a pin
+
+bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+  volatile Pio* port = g_APinDescription[pin].pPort;
+  uint32_t mask = g_APinDescription[pin].ulPin;
+  uint8_t pin_status = g_pinStatus[pin] & 0xF;
+  return (  (pin_status == 0 && (port->PIO_OSR & mask))
+          || pin_status == PIN_STATUS_DIGITAL_OUTPUT
+          || pwm_status(pin));
+}
+
+
+void pwm_details(int32_t pin) {
+  if (pwm_status(pin)) {
+    uint32_t chan = g_APinDescription[pin].ulPWMChannel;
+    SERIAL_ECHOPAIR("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
+  }
+}
+
+/**
+ * DUE Board pin   |  PORT  | Label
+ * ----------------+--------+-------
+ *   0             |  PA8   | "RX0"
+ *   1             |  PA9   | "TX0"
+ *   2       TIOA0 |  PB25  |
+ *   3       TIOA7 |  PC28  |
+ *   4       NPCS1 |  PA29  |
+ *           TIOB6 |  PC26  |
+ *   5       TIOA6 |  PC25  |
+ *   6       PWML7 |  PC24  |
+ *   7       PWML6 |  PC23  |
+ *   8       PWML5 |  PC22  |
+ *   9       PWML4 |  PC21  |
+ *  10       NPCS0 |  PA28  |
+ *           TIOB7 |  PC29  |
+ *  11       TIOA8 |  PD7   |
+ *  12       TIOB8 |  PD8   |
+ *  13       TIOB0 |  PB27  | LED AMBER "L"
+ *  14       TXD3  |  PD4   | "TX3"
+ *  15       RXD3  |  PD5   | "RX3"
+ *  16       TXD1  |  PA13  | "TX2"
+ *  17       RXD1  |  PA12  | "RX2"
+ *  18       TXD0  |  PA11  | "TX1"
+ *  19       RXD0  |  PA10  | "RX1"
+ *  20             |  PB12  | "SDA"
+ *  21             |  PB13  | "SCL"
+ *  22             |  PB26  |
+ *  23             |  PA14  |
+ *  24             |  PA15  |
+ *  25             |  PD0   |
+ *  26             |  PD1   |
+ *  27             |  PD2   |
+ *  28             |  PD3   |
+ *  29             |  PD6   |
+ *  30             |  PD9   |
+ *  31             |  PA7   |
+ *  32             |  PD10  |
+ *  33             |  PC1   |
+ *  34             |  PC2   |
+ *  35             |  PC3   |
+ *  36             |  PC4   |
+ *  37             |  PC5   |
+ *  38             |  PC6   |
+ *  39             |  PC7   |
+ *  40             |  PC8   |
+ *  41             |  PC9   |
+ *  42             |  PA19  |
+ *  43             |  PA20  |
+ *  44             |  PC19  |
+ *  45             |  PC18  |
+ *  46             |  PC17  |
+ *  47             |  PC16  |
+ *  48             |  PC15  |
+ *  49             |  PC14  |
+ *  50             |  PC13  |
+ *  51             |  PC12  |
+ *  52       NPCS2 |  PB21  |
+ *  53             |  PB14  |
+ *  54             |  PA16  | "A0"
+ *  55             |  PA24  | "A1"
+ *  56             |  PA23  | "A2"
+ *  57             |  PA22  | "A3"
+ *  58       TIOB2 |  PA6   | "A4"
+ *  69             |  PA4   | "A5"
+ *  60       TIOB1 |  PA3   | "A6"
+ *  61       TIOA1 |  PA2   | "A7"
+ *  62             |  PB17  | "A8"
+ *  63             |  PB18  | "A9"
+ *  64             |  PB19  | "A10"
+ *  65             |  PB20  | "A11"
+ *  66             |  PB15  | "DAC0"
+ *  67             |  PB16  | "DAC1"
+ *  68             |  PA1   | "CANRX"
+ *  69             |  PA0   | "CANTX"
+ *  70             |  PA17  | "SDA1"
+ *  71             |  PA18  | "SCL1"
+ *  72             |  PC30  | LED AMBER "RX"
+ *  73             |  PA21  | LED AMBER "TX"
+ *  74       MISO  |  PA25  |
+ *  75       MOSI  |  PA26  |
+ *  76       SCLK  |  PA27  |
+ *  77       NPCS0 |  PA28  |
+ *  78       NPCS3 |  PB23  | unconnected!
+ *
+ * USB pin         |  PORT
+ * ----------------+--------
+ *  ID             |  PB11
+ *  VBOF           |  PB10
+ */

Marlin/src/HAL/DUE/spi_pins.h

@@ -0,0 +1,64 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Define SPI Pins: SCK, MISO, MOSI, SS
+ *
+ * Available chip select pins for HW SPI are 4 10 52 77
+ */
+#if SDSS == 4 || SDSS == 10 || SDSS == 52 || SDSS == 77 || SDSS == 87
+  #if SDSS == 4
+    #define SPI_PIN         87
+    #define SPI_CHAN         1
+  #elif SDSS == 10
+    #define SPI_PIN         77
+    #define SPI_CHAN         0
+  #elif SDSS == 52
+    #define SPI_PIN         86
+    #define SPI_CHAN         2
+  #elif SDSS == 77
+    #define SPI_PIN         77
+    #define SPI_CHAN         0
+  #else
+    #define SPI_PIN         87
+    #define SPI_CHAN         1
+  #endif
+  #define SCK_PIN           76
+  #define MISO_PIN          74
+  #define MOSI_PIN          75
+#else
+  // defaults
+  #define DUE_SOFTWARE_SPI
+  #ifndef SCK_PIN
+    #define SCK_PIN           52
+  #endif
+  #ifndef MISO_PIN
+    #define MISO_PIN          50
+  #endif
+  #ifndef MOSI_PIN
+    #define MOSI_PIN          51
+  #endif
+#endif
+
+/* A.28, A.29, B.21, C.26, C.29 */
+#define SS_PIN            SDSS

Marlin/src/HAL/DUE/timers.cpp

@@ -0,0 +1,132 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ *
+ * 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 Timers for Arduino Due and compatible (SAM3X8E)
+ */
+
+#ifdef ARDUINO_ARCH_SAM
+
+// ------------------------
+// Includes
+// ------------------------
+#include "../../inc/MarlinConfig.h"
+#include "HAL.h"
+
+// ------------------------
+// Local defines
+// ------------------------
+
+#define NUM_HARDWARE_TIMERS 9
+
+// ------------------------
+// Private Variables
+// ------------------------
+
+const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
+  { TC0, 0, TC0_IRQn,  3}, // 0 - [servo timer5]
+  { TC0, 1, TC1_IRQn,  0}, // 1
+  { TC0, 2, TC2_IRQn,  2}, // 2 - stepper
+  { TC1, 0, TC3_IRQn,  0}, // 3 - stepper for BOARD_ARCHIM1
+  { TC1, 1, TC4_IRQn, 15}, // 4 - temperature
+  { TC1, 2, TC5_IRQn,  3}, // 5 - [servo timer3]
+  { TC2, 0, TC6_IRQn, 14}, // 6 - tone
+  { TC2, 1, TC7_IRQn,  0}, // 7
+  { TC2, 2, TC8_IRQn,  0}, // 8
+};
+
+// ------------------------
+// Public functions
+// ------------------------
+
+/*
+  Timer_clock1: Prescaler 2 -> 42MHz
+  Timer_clock2: Prescaler 8 -> 10.5MHz
+  Timer_clock3: Prescaler 32 -> 2.625MHz
+  Timer_clock4: Prescaler 128 -> 656.25kHz
+*/
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+  Tc *tc = TimerConfig[timer_num].pTimerRegs;
+  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  uint32_t channel = TimerConfig[timer_num].channel;
+
+  // Disable interrupt, just in case it was already enabled
+  NVIC_DisableIRQ(irq);
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+
+  // Disable timer interrupt
+  tc->TC_CHANNEL[channel].TC_IDR = TC_IDR_CPCS;
+
+  // Stop timer, just in case, to be able to reconfigure it
+  TC_Stop(tc, channel);
+
+  pmc_set_writeprotect(false);
+  pmc_enable_periph_clk((uint32_t)irq);
+  NVIC_SetPriority(irq, TimerConfig [timer_num].priority);
+
+  // wave mode, reset counter on match with RC,
+  TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1);
+
+  // Set compare value
+  TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency);
+
+  // And start timer
+  TC_Start(tc, channel);
+
+  // enable interrupt on RC compare
+  tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPCS;
+
+  // Finally, enable IRQ
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  NVIC_EnableIRQ(irq);
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  NVIC_DisableIRQ(irq);
+
+  // We NEED memory barriers to ensure Interrupts are actually disabled!
+  // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+  __DSB();
+  __ISB();
+}
+
+// missing from CMSIS: Check if interrupt is enabled or not
+static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) {
+  return (NVIC->ISER[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F))) != 0;
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+  IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
+  return NVIC_GetEnabledIRQ(irq);
+}
+
+#endif // ARDUINO_ARCH_SAM

Marlin/src/HAL/DUE/timers.h

@@ -0,0 +1,128 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Timers for Arduino Due and compatible (SAM3X8E)
+ */
+
+#include <stdint.h>
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define HAL_TIMER_RATE         ((F_CPU) / 2)    // frequency of timers peripherals
+
+#ifndef STEP_TIMER_NUM
+  #define STEP_TIMER_NUM        2  // Timer Index for Stepper
+#endif
+#ifndef PULSE_TIMER_NUM
+  #define PULSE_TIMER_NUM       STEP_TIMER_NUM
+#endif
+#ifndef TEMP_TIMER_NUM
+  #define TEMP_TIMER_NUM        4  // Timer Index for Temperature
+#endif
+#ifndef TONE_TIMER_NUM
+  #define TONE_TIMER_NUM        6  // index of timer to use for beeper tones
+#endif
+
+#define TEMP_TIMER_FREQUENCY   1000 // temperature interrupt frequency
+
+#define STEPPER_TIMER_RATE     HAL_TIMER_RATE   // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+
+#define PULSE_TIMER_RATE       STEPPER_TIMER_RATE   // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE   STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt(STEP_TIMER_NUM)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+
+#define ENABLE_TEMPERATURE_INTERRUPT()  HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+
+#ifndef HAL_STEP_TIMER_ISR
+  #define HAL_STEP_TIMER_ISR() void TC2_Handler()
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+  #define HAL_TEMP_TIMER_ISR() void TC4_Handler()
+#endif
+#ifndef HAL_TONE_TIMER_ISR
+  #define HAL_TONE_TIMER_ISR() void TC6_Handler()
+#endif
+
+// ------------------------
+// Types
+// ------------------------
+
+typedef struct {
+  Tc          *pTimerRegs;
+  uint16_t    channel;
+  IRQn_Type   IRQ_Id;
+  uint8_t     priority;
+} tTimerConfig;
+
+// ------------------------
+// Public Variables
+// ------------------------
+
+extern const tTimerConfig TimerConfig[];
+
+// ------------------------
+// Public functions
+// ------------------------
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
+}
+
+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);
+
+FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
+  const tTimerConfig * const pConfig = &TimerConfig[timer_num];
+  // Reading the status register clears the interrupt flag
+  pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
+}
+
+#define HAL_timer_isr_epilogue(TIMER_NUM)

Marlin/src/HAL/DUE/upload_extra_script.py

@@ -0,0 +1,18 @@
+#
+# Set upload_command
+#
+#  Windows: bossac.exe
+#  Other: leave unchanged
+#
+
+import platform
+current_OS = platform.system()
+
+if current_OS == 'Windows':
+
+	Import("env")
+
+	# Use bossac.exe on Windows
+	env.Replace(
+	    UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE"
+	)

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

@@ -40,15 +40,12 @@
  * \asf_license_stop
  *
  */
-/*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+#pragma once
+
+/**
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
-#ifndef ARDUINO_DUE_X_H_INCLUDED
-#define ARDUINO_DUE_X_H_INCLUDED
-
-/* ------------------------------------------------------------------------ */
-
 /**
  *  \page arduino_due_x_opfreq "Arduino Due/X - Operating frequencies"
  *  This page lists several definition related to the board operating frequency
@@ -96,8 +93,5 @@
 #define USB_VBOF_GPIO               (PIO_PB10_IDX)
 #define USB_VBOF_FLAGS              (PIO_PERIPH_A | PIO_DEFAULT)
 /*! Active level of the USB_VBOF output pin. */
-#define USB_VBOF_ACTIVE_LEVEL       LOW
+#define USB_VBOF_ACTIVE_STATE       LOW
 /* ------------------------------------------------------------------------ */
-
-
-#endif /* ARDUINO_DUE_X_H_INCLUDED */

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef UTILS_COMPILER_H
@@ -105,14 +105,14 @@
  * \brief Marking \a v as a unused parameter or value.
  */
 #ifndef UNUSED
-#define UNUSED(x) (void) (x)
+  #define UNUSED(x) ((void)(x))
 #endif
 
 /**
  * \def unused
  * \brief Marking \a v as a unused parameter or value.
  */
-#define unused(v)          do { (void)(v); } while(0)
+#define unused(v)          do { (void)(v); }while(0)
 
 /**
  * \def barrier
@@ -169,15 +169,15 @@
  * heuristics and inline the function no matter how big it thinks it
  * becomes.
  */
-#if defined(__CC_ARM)
+#ifdef __CC_ARM
 #   define __always_inline   __forceinline
 #elif (defined __GNUC__)
 #ifdef __always_inline
-#	undef __always_inline
+# undef __always_inline
 #endif
-#	define __always_inline   inline __attribute__((__always_inline__))
+# define __always_inline   inline __attribute__((__always_inline__))
 #elif (defined __ICCARM__)
-#	define __always_inline   _Pragma("inline=forced")
+# define __always_inline   _Pragma("inline=forced")
 #endif
 
 /**
@@ -187,12 +187,12 @@
  * This annotation instructs the compiler to ignore its inlining
  * heuristics and not inline the function.
  */
-#if defined(__CC_ARM)
-#   define __no_inline   __attribute__((noinline))
+#ifdef __CC_ARM
+# define __no_inline   __attribute__((noinline))
 #elif (defined __GNUC__)
-#	define __no_inline   __attribute__((__noinline__))
+# define __no_inline   __attribute__((__noinline__))
 #elif (defined __ICCARM__)
-#	define __no_inline   _Pragma("inline=never")
+# define __no_inline   _Pragma("inline=never")
 #endif
 
 /*! \brief This macro is used to test fatal errors.
@@ -204,16 +204,16 @@
  *
  * \param expr  Expression to evaluate and supposed to be nonzero.
  */
-#if defined(_ASSERT_ENABLE_)
+#ifdef _ASSERT_ENABLE_
 #  if defined(TEST_SUITE_DEFINE_ASSERT_MACRO)
      // Assert() is defined in unit_test/suite.h
 #    include "unit_test/suite.h"
 #  else
 #undef TEST_SUITE_DEFINE_ASSERT_MACRO
 #    define Assert(expr) \
-	{\
-		if (!(expr)) while (true);\
-	}
+  {\
+    if (!(expr)) while (true);\
+  }
 #  endif
 #else
 #  define Assert(expr) ((void) 0)
@@ -230,7 +230,7 @@
 
 /* Define NO_INIT attribute */
 #if 0 //ndef NO_INIT
-#if defined   ( __CC_ARM   )
+#ifdef __CC_ARM
 #   define NO_INIT __attribute__((zero_init))
 #elif defined ( __ICCARM__ )
 #   define NO_INIT __no_init
@@ -262,7 +262,7 @@
 //! @{
 typedef unsigned char           Bool; //!< Boolean.
 #ifndef __cplusplus
-#if !defined(__bool_true_false_are_defined)
+#ifndef __bool_true_false_are_defined
 typedef unsigned char           bool; //!< Boolean.
 #endif
 #endif
@@ -443,9 +443,9 @@ typedef struct
 #define DISABLE   0
 #define ENABLE    1
 #ifndef __cplusplus
-#if !defined(__bool_true_false_are_defined)
-#define false 0
-#define true 1
+#ifndef __bool_true_false_are_defined
+#define false (1==0)
+#define true (1==1)
 #endif
 #endif
 #ifndef PASS
@@ -609,37 +609,37 @@ typedef struct
 #   define clz(u)              ((u) ? __CLZ(u) : 32)
 #else
 #   define clz(u)              (((u) == 0)          ? 32 : \
-                                ((u) & (1ul << 31)) ?  0 : \
-                                ((u) & (1ul << 30)) ?  1 : \
-                                ((u) & (1ul << 29)) ?  2 : \
-                                ((u) & (1ul << 28)) ?  3 : \
-                                ((u) & (1ul << 27)) ?  4 : \
-                                ((u) & (1ul << 26)) ?  5 : \
-                                ((u) & (1ul << 25)) ?  6 : \
-                                ((u) & (1ul << 24)) ?  7 : \
-                                ((u) & (1ul << 23)) ?  8 : \
-                                ((u) & (1ul << 22)) ?  9 : \
-                                ((u) & (1ul << 21)) ? 10 : \
-                                ((u) & (1ul << 20)) ? 11 : \
-                                ((u) & (1ul << 19)) ? 12 : \
-                                ((u) & (1ul << 18)) ? 13 : \
-                                ((u) & (1ul << 17)) ? 14 : \
-                                ((u) & (1ul << 16)) ? 15 : \
-                                ((u) & (1ul << 15)) ? 16 : \
-                                ((u) & (1ul << 14)) ? 17 : \
-                                ((u) & (1ul << 13)) ? 18 : \
-                                ((u) & (1ul << 12)) ? 19 : \
-                                ((u) & (1ul << 11)) ? 20 : \
-                                ((u) & (1ul << 10)) ? 21 : \
-                                ((u) & (1ul <<  9)) ? 22 : \
-                                ((u) & (1ul <<  8)) ? 23 : \
-                                ((u) & (1ul <<  7)) ? 24 : \
-                                ((u) & (1ul <<  6)) ? 25 : \
-                                ((u) & (1ul <<  5)) ? 26 : \
-                                ((u) & (1ul <<  4)) ? 27 : \
-                                ((u) & (1ul <<  3)) ? 28 : \
-                                ((u) & (1ul <<  2)) ? 29 : \
-                                ((u) & (1ul <<  1)) ? 30 : \
+                                ((u) & (1UL << 31)) ?  0 : \
+                                ((u) & (1UL << 30)) ?  1 : \
+                                ((u) & (1UL << 29)) ?  2 : \
+                                ((u) & (1UL << 28)) ?  3 : \
+                                ((u) & (1UL << 27)) ?  4 : \
+                                ((u) & (1UL << 26)) ?  5 : \
+                                ((u) & (1UL << 25)) ?  6 : \
+                                ((u) & (1UL << 24)) ?  7 : \
+                                ((u) & (1UL << 23)) ?  8 : \
+                                ((u) & (1UL << 22)) ?  9 : \
+                                ((u) & (1UL << 21)) ? 10 : \
+                                ((u) & (1UL << 20)) ? 11 : \
+                                ((u) & (1UL << 19)) ? 12 : \
+                                ((u) & (1UL << 18)) ? 13 : \
+                                ((u) & (1UL << 17)) ? 14 : \
+                                ((u) & (1UL << 16)) ? 15 : \
+                                ((u) & (1UL << 15)) ? 16 : \
+                                ((u) & (1UL << 14)) ? 17 : \
+                                ((u) & (1UL << 13)) ? 18 : \
+                                ((u) & (1UL << 12)) ? 19 : \
+                                ((u) & (1UL << 11)) ? 20 : \
+                                ((u) & (1UL << 10)) ? 21 : \
+                                ((u) & (1UL <<  9)) ? 22 : \
+                                ((u) & (1UL <<  8)) ? 23 : \
+                                ((u) & (1UL <<  7)) ? 24 : \
+                                ((u) & (1UL <<  6)) ? 25 : \
+                                ((u) & (1UL <<  5)) ? 26 : \
+                                ((u) & (1UL <<  4)) ? 27 : \
+                                ((u) & (1UL <<  3)) ? 28 : \
+                                ((u) & (1UL <<  2)) ? 29 : \
+                                ((u) & (1UL <<  1)) ? 30 : \
                                 31)
 #endif
 #endif
@@ -654,38 +654,38 @@ typedef struct
 #if (defined __GNUC__) || (defined __CC_ARM)
 #   define ctz(u)              ((u) ? __builtin_ctz(u) : 32)
 #else
-#   define ctz(u)              ((u) & (1ul <<  0) ?  0 : \
-                                (u) & (1ul <<  1) ?  1 : \
-                                (u) & (1ul <<  2) ?  2 : \
-                                (u) & (1ul <<  3) ?  3 : \
-                                (u) & (1ul <<  4) ?  4 : \
-                                (u) & (1ul <<  5) ?  5 : \
-                                (u) & (1ul <<  6) ?  6 : \
-                                (u) & (1ul <<  7) ?  7 : \
-                                (u) & (1ul <<  8) ?  8 : \
-                                (u) & (1ul <<  9) ?  9 : \
-                                (u) & (1ul << 10) ? 10 : \
-                                (u) & (1ul << 11) ? 11 : \
-                                (u) & (1ul << 12) ? 12 : \
-                                (u) & (1ul << 13) ? 13 : \
-                                (u) & (1ul << 14) ? 14 : \
-                                (u) & (1ul << 15) ? 15 : \
-                                (u) & (1ul << 16) ? 16 : \
-                                (u) & (1ul << 17) ? 17 : \
-                                (u) & (1ul << 18) ? 18 : \
-                                (u) & (1ul << 19) ? 19 : \
-                                (u) & (1ul << 20) ? 20 : \
-                                (u) & (1ul << 21) ? 21 : \
-                                (u) & (1ul << 22) ? 22 : \
-                                (u) & (1ul << 23) ? 23 : \
-                                (u) & (1ul << 24) ? 24 : \
-                                (u) & (1ul << 25) ? 25 : \
-                                (u) & (1ul << 26) ? 26 : \
-                                (u) & (1ul << 27) ? 27 : \
-                                (u) & (1ul << 28) ? 28 : \
-                                (u) & (1ul << 29) ? 29 : \
-                                (u) & (1ul << 30) ? 30 : \
-                                (u) & (1ul << 31) ? 31 : \
+#   define ctz(u)              ((u) & (1UL <<  0) ?  0 : \
+                                (u) & (1UL <<  1) ?  1 : \
+                                (u) & (1UL <<  2) ?  2 : \
+                                (u) & (1UL <<  3) ?  3 : \
+                                (u) & (1UL <<  4) ?  4 : \
+                                (u) & (1UL <<  5) ?  5 : \
+                                (u) & (1UL <<  6) ?  6 : \
+                                (u) & (1UL <<  7) ?  7 : \
+                                (u) & (1UL <<  8) ?  8 : \
+                                (u) & (1UL <<  9) ?  9 : \
+                                (u) & (1UL << 10) ? 10 : \
+                                (u) & (1UL << 11) ? 11 : \
+                                (u) & (1UL << 12) ? 12 : \
+                                (u) & (1UL << 13) ? 13 : \
+                                (u) & (1UL << 14) ? 14 : \
+                                (u) & (1UL << 15) ? 15 : \
+                                (u) & (1UL << 16) ? 16 : \
+                                (u) & (1UL << 17) ? 17 : \
+                                (u) & (1UL << 18) ? 18 : \
+                                (u) & (1UL << 19) ? 19 : \
+                                (u) & (1UL << 20) ? 20 : \
+                                (u) & (1UL << 21) ? 21 : \
+                                (u) & (1UL << 22) ? 22 : \
+                                (u) & (1UL << 23) ? 23 : \
+                                (u) & (1UL << 24) ? 24 : \
+                                (u) & (1UL << 25) ? 25 : \
+                                (u) & (1UL << 26) ? 26 : \
+                                (u) & (1UL << 27) ? 27 : \
+                                (u) & (1UL << 28) ? 28 : \
+                                (u) & (1UL << 29) ? 29 : \
+                                (u) & (1UL << 30) ? 30 : \
+                                (u) & (1UL << 31) ? 31 : \
                                 32)
 #endif
 #endif
@@ -998,14 +998,14 @@ typedef U8                  Byte;       //!< 8-bit unsigned integer.
 #endif  // #ifndef __ASSEMBLY__
 
 
-#if defined(__ICCARM__)
+#ifdef __ICCARM__
 #define SHORTENUM           __packed
 #elif defined(__GNUC__)
 #define SHORTENUM           __attribute__((packed))
 #endif
 
 /* No operation */
-#if defined(__ICCARM__)
+#ifdef __ICCARM__
 #define nop()               __no_operation()
 #elif defined(__GNUC__)
 #define nop()               (__NOP())
@@ -1106,17 +1106,16 @@ static inline uint16_t convert_byte_array_to_16_bit(uint8_t *data)
 /* Converts a 8 Byte array into a 32-Bit value */
 static inline uint32_t convert_byte_array_to_32_bit(uint8_t *data)
 {
-	union
-	{
-		uint32_t u32;
-		uint8_t u8[8];
-	}long_addr;
-	uint8_t index;
-	for (index = 0; index < 4; index++)
-	{
-		long_addr.u8[index] = *data++;
-	}
-	return long_addr.u32;
+  union
+  {
+    uint32_t u32;
+    uint8_t u8[8];
+  }long_addr;
+  uint8_t index;
+  for (index = 0; index < 4; index++) {
+    long_addr.u8[index] = *data++;
+  }
+  return long_addr.u32;
 }
 
 /**

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef _CONF_ACCESS_H_

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef CONF_CLOCK_H_INCLUDED

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

@@ -41,26 +41,22 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef _CONF_USB_H_
 #define _CONF_USB_H_
 
 #undef UNUSED                           /* To avoid a macro clash as macros.h already defines it */
-#include "../../../core/macros.h"       /* For ENABLED()/DISABLED() */
-#include "../../../../Configuration.h"  /* For CUSTOM_MACHINE_NAME definition - We just need the name, no C++ allowed! */
+#include "../../../inc/MarlinConfigPre.h"
 #include "compiler.h"
 
-
 /**
  * USB Device Configuration
  * @{
  */
 
 //! Device definition (mandatory)
-#define  USB_DEVICE_VENDOR_ID             0x03EB /* ATMEL VID */
-#define  USB_DEVICE_PRODUCT_ID            0x2424 /* MSC / CDC */
 #define  USB_DEVICE_MAJOR_VERSION         1
 #define  USB_DEVICE_MINOR_VERSION         0
 #define  USB_DEVICE_POWER                 100 // Consumption on Vbus line (mA)
@@ -70,15 +66,6 @@
 //  (USB_CONFIG_ATTR_REMOTE_WAKEUP|USB_CONFIG_ATTR_SELF_POWERED)
 //  (USB_CONFIG_ATTR_REMOTE_WAKEUP|USB_CONFIG_ATTR_BUS_POWERED)
 
-//! USB Device string definitions (Optional)
-#define  USB_DEVICE_MANUFACTURE_NAME      "marlinfw.org"
-#ifdef CUSTOM_MACHINE_NAME
-  #define  USB_DEVICE_PRODUCT_NAME        CUSTOM_MACHINE_NAME
-#else
-  #define  USB_DEVICE_PRODUCT_NAME        "3D Printer"
-#endif
-#define  USB_DEVICE_SERIAL_NAME           "123985739853"
-
 /**
  * Device speeds support
  * Low speed not supported by CDC and MSC
@@ -89,7 +76,7 @@
 //#define  USB_DEVICE_LOW_SPEED
 
 //! To define a Full speed device
-//#define  USB_DEVICE_FULL_SPEED
+//#define USB_DEVICE_FULL_SPEED
 
 //! To authorize the High speed
 #ifndef USB_DEVICE_FULL_SPEED

Marlin/src/HAL/DUE/usb/ctrl_access.c

@@ -53,7 +53,7 @@
  *
  ******************************************************************************/
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifdef ARDUINO_ARCH_SAM

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

@@ -53,7 +53,7 @@
  *
  ******************************************************************************/
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef CHIP_GENCLK_H_INCLUDED

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef _MREPEAT_H_

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef CHIP_OSC_H_INCLUDED
@@ -61,27 +61,27 @@ extern "C" {
  * Below BOARD_XXX macros are related to the specific board, and
  * should be defined by the board code, otherwise default value are used.
  */
-#if !defined(BOARD_FREQ_SLCK_XTAL)
+#ifndef BOARD_FREQ_SLCK_XTAL
 #  warning The board slow clock xtal frequency has not been defined.
 #  define BOARD_FREQ_SLCK_XTAL      (32768UL)
 #endif
 
-#if !defined(BOARD_FREQ_SLCK_BYPASS)
+#ifndef BOARD_FREQ_SLCK_BYPASS
 #  warning The board slow clock bypass frequency has not been defined.
 #  define BOARD_FREQ_SLCK_BYPASS    (32768UL)
 #endif
 
-#if !defined(BOARD_FREQ_MAINCK_XTAL)
+#ifndef BOARD_FREQ_MAINCK_XTAL
 #  warning The board main clock xtal frequency has not been defined.
 #  define BOARD_FREQ_MAINCK_XTAL    (12000000UL)
 #endif
 
-#if !defined(BOARD_FREQ_MAINCK_BYPASS)
+#ifndef BOARD_FREQ_MAINCK_BYPASS
 #  warning The board main clock bypass frequency has not been defined.
 #  define BOARD_FREQ_MAINCK_BYPASS  (12000000UL)
 #endif
 
-#if !defined(BOARD_OSC_STARTUP_US)
+#ifndef BOARD_OSC_STARTUP_US
 #  warning The board main clock xtal startup time has not been defined.
 #  define BOARD_OSC_STARTUP_US      (15625UL)
 #endif

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

@@ -41,7 +41,7 @@
  *
  */
 /*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
+ * Support and FAQ: visit <a href="https://www.atmel.com/design-support/">Atmel Support</a>
  */
 
 #ifndef CHIP_PLL_H_INCLUDED