From a16f3baecc6cd5da2fe71faac49650b5ff766cd7 Mon Sep 17 00:00:00 2001
From: vivian-ng <vivian@maplerain.com>
Date: Fri, 14 Feb 2020 14:22:52 +0900
Subject: [PATCH 01/11] Add ESPAsyncTCP to lib_ignore (#16844)

---
 platformio.ini | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/platformio.ini b/platformio.ini
index 5ea93ab8e0de..450fc32eb9d1 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -762,7 +762,7 @@ lib_deps      = ${common.lib_deps}
   ESP3DLib=https://github.com/luc-github/ESP3DLib.git
   arduinoWebSockets=https://github.com/Links2004/arduinoWebSockets.git
   ESP32SSDP=https://github.com/luc-github/ESP32SSDP.git
-lib_ignore    = LiquidCrystal, LiquidTWI2, SailfishLCD, SailfishRGB_LED
+lib_ignore    = LiquidCrystal, LiquidTWI2, SailfishLCD, SailfishRGB_LED, ESPAsyncTCP
 src_filter    = ${common.default_src_filter} +<src/HAL/HAL_ESP32>
 upload_speed  = 115200
 #upload_port   = marlinesp.local

From ff0c931e470970a9bbbcefaa2f183fc6733ec2a9 Mon Sep 17 00:00:00 2001
From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com>
Date: Fri, 14 Feb 2020 06:28:18 +0100
Subject: [PATCH 02/11] Add RAMPS 1.4.4 to AGCM4 (#16606)

---
 .github/workflows/test-builds.yml             |   2 +-
 Marlin/src/HAL/HAL_SAMD51/timers.h            |   2 +-
 Marlin/src/core/boards.h                      |   6 +-
 Marlin/src/pins/pins.h                        |   7 +
 Marlin/src/pins/samd/pins_RAMPS_144.h         | 611 ++++++++++++++++++
 .../share/tests/SAMD51_grandcentral_m4-tests  |   7 +
 6 files changed, 632 insertions(+), 3 deletions(-)
 create mode 100644 Marlin/src/pins/samd/pins_RAMPS_144.h

diff --git a/.github/workflows/test-builds.yml b/.github/workflows/test-builds.yml
index 301165fcd0ba..59722e3ca5a3 100644
--- a/.github/workflows/test-builds.yml
+++ b/.github/workflows/test-builds.yml
@@ -32,6 +32,7 @@ jobs:
         - megaatmega2560
         - teensy31
         - teensy35
+        - SAMD51_grandcentral_m4
 
         # Extended AVR Environments
 
@@ -75,7 +76,6 @@ jobs:
         #- mks_robin_lite
         #- mks_robin_mini
         #- mks_robin_nano
-        #- SAMD51_grandcentral_m4
 
     steps:
 
diff --git a/Marlin/src/HAL/HAL_SAMD51/timers.h b/Marlin/src/HAL/HAL_SAMD51/timers.h
index 9bd2e03d6f66..7ebd1b1406ce 100644
--- a/Marlin/src/HAL/HAL_SAMD51/timers.h
+++ b/Marlin/src/HAL/HAL_SAMD51/timers.h
@@ -29,7 +29,7 @@
 typedef uint32_t hal_timer_t;
 #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
 
-#define HAL_TIMER_RATE      SystemCoreClock  // frequency of timers peripherals
+#define HAL_TIMER_RATE      F_CPU   // frequency of timers peripherals
 
 #define STEP_TIMER_NUM      0  // index of timer to use for stepper (also +1 for 32bits counter)
 #define PULSE_TIMER_NUM     STEP_TIMER_NUM
diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
index 904c25d86849..4ba9840d812f 100644
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -295,7 +295,6 @@
 #define BOARD_GTM32_MINI_A30          4022  // STM32F103VET6 controller
 #define BOARD_GTM32_REV_B             4023  // STM32F103VET6 controller
 
-
 //
 // ARM Cortex-M4F
 //
@@ -340,6 +339,11 @@
 #define BOARD_MRR_ESPE                6002
 #define BOARD_E4D_BOX                 6003  // E4d@BOX
 
+//
+// SAMD51 ARM Cortex M4
+//
+#define BOARD_AGCM4_RAMPS_144         6100  // RAMPS 1.4.4
+
 //
 // Simulations
 //
diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
index 941b21bbbf87..3ba15c1326b2 100644
--- a/Marlin/src/pins/pins.h
+++ b/Marlin/src/pins/pins.h
@@ -578,6 +578,13 @@
 #elif MB(E4D_BOX)
   #include "esp32/pins_E4D.h"                   // ESP32                                  env:esp32
 
+//
+// Adafruit Grand Central M4 (SAMD51 ARM Cortex-M4)
+//
+
+#elif MB(AGCM4_RAMPS_144)
+  #include "samd/pins_RAMPS_144.h"              // SAMD51                                 env:SAMD51_grandcentral_m4
+
 //
 // Linux Native Debug board
 //
diff --git a/Marlin/src/pins/samd/pins_RAMPS_144.h b/Marlin/src/pins/samd/pins_RAMPS_144.h
new file mode 100644
index 000000000000..107ef9f57e95
--- /dev/null
+++ b/Marlin/src/pins/samd/pins_RAMPS_144.h
@@ -0,0 +1,611 @@
+/**
+ * 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * AGCM4 with RAMPS v1.4.4 pin assignments
+ */
+
+#ifndef ARDUINO_GRAND_CENTRAL_M4
+  #error "Oops! Select 'Adafruit Grand Central M4' in 'Tools > Board.'"
+#endif
+
+#ifndef BOARD_INFO_NAME
+  #define BOARD_INFO_NAME "AGCM4 RAMPS 1.4.4"
+#endif
+
+//
+// Servos
+//
+#define SERVO0_PIN         11
+#define SERVO1_PIN          6
+#define SERVO2_PIN          5
+#define SERVO3_PIN          4
+
+//
+// EEPROM
+//
+#define E2END 0x7FFF  // 32Kb (24lc256)
+#define I2C_EEPROM    // EEPROM on I2C-0
+
+//
+// Limit Switches
+//
+#define X_MIN_PIN           3
+#define X_MAX_PIN           2
+#define Y_MIN_PIN          14
+#define Y_MAX_PIN          15
+#define Z_MIN_PIN          18
+#define Z_MAX_PIN          19
+
+//
+// Z Probe (when not Z_MIN_PIN)
+//
+#ifndef Z_MIN_PROBE_PIN
+  #define Z_MIN_PROBE_PIN  18
+#endif
+
+//
+// Steppers
+//
+#define X_STEP_PIN         67     // Mega/Due:54 - AGCM4:67
+#define X_DIR_PIN          68     // Mega/Due:55 - AGCM4:68
+#define X_ENABLE_PIN       38
+#ifndef X_CS_PIN
+  #define X_CS_PIN         47
+#endif
+
+#define Y_STEP_PIN         73     // Mega/Due:60 - AGCM4:73
+#define Y_DIR_PIN          74     // Mega/Due:61 - AGCM4:74
+#define Y_ENABLE_PIN       69     // Mega/Due:56 - AGCM4:69
+#ifndef Y_CS_PIN
+  #define Y_CS_PIN         45
+#endif
+
+#define Z_STEP_PIN         46
+#define Z_DIR_PIN          48
+#define Z_ENABLE_PIN       54     // Mega/Due:62 - AGCM4:54
+#ifndef Z_CS_PIN
+  #define Z_CS_PIN         32
+#endif
+
+#define Z2_STEP_PIN        36
+#define Z2_DIR_PIN         34
+#define Z2_ENABLE_PIN      30
+#ifndef Z2_CS_PIN
+  #define Z2_CS_PIN        22
+#endif
+
+#define E0_STEP_PIN        26
+#define E0_DIR_PIN         28
+#define E0_ENABLE_PIN      24
+#ifndef E0_CS_PIN
+  #define E0_CS_PIN        43
+#endif
+
+//
+// Temperature Sensors
+//
+#define TEMP_0_PIN         13
+#define TEMP_BED_PIN       14
+#define TEMP_CHAMBER_PIN   15
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN       10
+#define HEATER_BED_PIN      8
+#define FAN_PIN             9
+#define FAN1_PIN            7
+#define FAN2_PIN           12
+
+//
+// Misc. Functions
+//
+#define SDSS               53
+#define LED_PIN            13
+
+#ifndef FILWIDTH_PIN
+  #define FILWIDTH_PIN      5   // Analog Input on AUX2
+#endif
+
+// RAMPS 1.4 DIO 4 on the servos connector
+#ifndef FIL_RUNOUT_PIN
+  #define FIL_RUNOUT_PIN    4
+#endif
+
+#ifndef PS_ON_PIN
+  #define PS_ON_PIN        39
+#endif
+
+#if ENABLED(CASE_LIGHT_ENABLE) && !defined(CASE_LIGHT_PIN) && !defined(SPINDLE_LASER_ENA_PIN)
+  #if NUM_SERVOS <= 1 // Prefer the servo connector
+    #define CASE_LIGHT_PIN  6   // Hardware PWM
+  #endif
+#endif
+
+//
+// M3/M4/M5 - Spindle/Laser Control
+//
+#if HAS_CUTTER && !defined(SPINDLE_LASER_ENA_PIN)
+  #if !NUM_SERVOS                      // Use servo connector if possible
+    #define SPINDLE_LASER_ENA_PIN  4   // Pullup or pulldown!
+    #define SPINDLE_LASER_PWM_PIN  6   // Hardware PWM
+    #define SPINDLE_DIR_PIN        5
+  #else
+    #error "No auto-assignable Spindle/Laser pins available."
+  #endif
+#endif
+
+//
+// TMC software SPI
+//
+#if ENABLED(TMC_USE_SW_SPI)
+  #ifndef TMC_SW_MOSI
+    #define TMC_SW_MOSI    58     // Mega/Due:66 - AGCM4:58
+  #endif
+  #ifndef TMC_SW_MISO
+    #define TMC_SW_MISO    44
+  #endif
+  #ifndef TMC_SW_SCK
+    #define TMC_SW_SCK     56     // Mega/Due:64 - AGCM4:56
+  #endif
+#endif
+
+#if HAS_TMC220x
+  /**
+   * TMC2208/TMC2209 stepper drivers
+   *
+   * Hardware serial communication ports.
+   * If undefined software serial is used according to the pins below
+   */
+  //#define X_HARDWARE_SERIAL  Serial1
+  //#define X2_HARDWARE_SERIAL Serial1
+  //#define Y_HARDWARE_SERIAL  Serial1
+  //#define Y2_HARDWARE_SERIAL Serial1
+  //#define Z_HARDWARE_SERIAL  Serial1
+  //#define Z2_HARDWARE_SERIAL Serial1
+  //#define E0_HARDWARE_SERIAL Serial1
+  //#define E1_HARDWARE_SERIAL Serial1
+  //#define E2_HARDWARE_SERIAL Serial1
+  //#define E3_HARDWARE_SERIAL Serial1
+  //#define E4_HARDWARE_SERIAL Serial1
+
+  //
+  // Software serial
+  //
+
+  #ifndef X_SERIAL_TX_PIN
+    #define X_SERIAL_TX_PIN  47
+  #endif
+  #ifndef X_SERIAL_RX_PIN
+    #define X_SERIAL_RX_PIN  47
+  #endif
+  #ifndef X2_SERIAL_TX_PIN
+    #define X2_SERIAL_TX_PIN -1
+  #endif
+  #ifndef X2_SERIAL_RX_PIN
+    #define X2_SERIAL_RX_PIN -1
+  #endif
+
+  #ifndef Y_SERIAL_TX_PIN
+    #define Y_SERIAL_TX_PIN  45
+  #endif
+  #ifndef Y_SERIAL_RX_PIN
+    #define Y_SERIAL_RX_PIN  45
+  #endif
+  #ifndef Y2_SERIAL_TX_PIN
+    #define Y2_SERIAL_TX_PIN -1
+  #endif
+  #ifndef Y2_SERIAL_RX_PIN
+    #define Y2_SERIAL_RX_PIN -1
+  #endif
+
+  #ifndef Z_SERIAL_TX_PIN
+    #define Z_SERIAL_TX_PIN  32
+  #endif
+  #ifndef Z_SERIAL_RX_PIN
+    #define Z_SERIAL_RX_PIN  32
+  #endif
+  #ifndef Z2_SERIAL_TX_PIN
+    #define Z2_SERIAL_TX_PIN 22
+  #endif
+  #ifndef Z2_SERIAL_RX_PIN
+    #define Z2_SERIAL_RX_PIN 22
+  #endif
+
+  #ifndef E0_SERIAL_TX_PIN
+    #define E0_SERIAL_TX_PIN 43
+  #endif
+  #ifndef E0_SERIAL_RX_PIN
+    #define E0_SERIAL_RX_PIN 43
+  #endif
+  #ifndef E1_SERIAL_TX_PIN
+    #define E1_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E1_SERIAL_RX_PIN
+    #define E1_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E2_SERIAL_TX_PIN
+    #define E2_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E2_SERIAL_RX_PIN
+    #define E2_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E3_SERIAL_TX_PIN
+    #define E3_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E3_SERIAL_RX_PIN
+    #define E3_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E4_SERIAL_TX_PIN
+    #define E4_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E4_SERIAL_RX_PIN
+    #define E4_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E5_SERIAL_TX_PIN
+    #define E5_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E5_SERIAL_RX_PIN
+    #define E5_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E6_SERIAL_TX_PIN
+    #define E6_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E6_SERIAL_RX_PIN
+    #define E6_SERIAL_RX_PIN -1
+  #endif
+  #ifndef E7_SERIAL_TX_PIN
+    #define E7_SERIAL_TX_PIN -1
+  #endif
+  #ifndef E7_SERIAL_RX_PIN
+    #define E7_SERIAL_RX_PIN -1
+  #endif
+#endif
+
+//////////////////////////
+// LCDs and Controllers //
+//////////////////////////
+
+#if HAS_SPI_LCD
+
+  //
+  // LCD Display output pins
+  //
+  #if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
+
+    // TO TEST
+    // #define LCD_PINS_RS         49   // CS chip select /SS chip slave select
+    // #define LCD_PINS_ENABLE     51   // SID (MOSI)
+    // #define LCD_PINS_D4         52   // SCK (CLK) clock
+
+  #elif BOTH(NEWPANEL, PANEL_ONE)
+
+    // TO TEST
+    // #define LCD_PINS_RS         40
+    // #define LCD_PINS_ENABLE     42
+    // #define LCD_PINS_D4         57     // Mega/Due:65 - AGCM4:57
+    // #define LCD_PINS_D5         58     // Mega/Due:66 - AGCM4:58
+    // #define LCD_PINS_D6         44
+    // #define LCD_PINS_D7         56     // Mega/Due:64 - AGCM4:56
+
+  #else
+
+    #if ENABLED(CR10_STOCKDISPLAY)
+
+      // TO TEST
+      // #define LCD_PINS_RS       27
+      // #define LCD_PINS_ENABLE   29
+      // #define LCD_PINS_D4       25
+
+      #if DISABLED(NEWPANEL)
+        // TO TEST
+        // #define BEEPER_PIN      37
+      #endif
+
+    #elif ENABLED(ZONESTAR_LCD)
+
+      // TO TEST
+      // #define LCD_PINS_RS       56     // Mega/Due:64 - AGCM4:56
+      // #define LCD_PINS_ENABLE   44
+      // #define LCD_PINS_D4       55     // Mega/Due:63 - AGCM4:55
+      // #define LCD_PINS_D5       40
+      // #define LCD_PINS_D6       42
+      // #define LCD_PINS_D7       57     // Mega/Due:65 - AGCM4:57
+
+    #else
+
+      #if EITHER(MKS_12864OLED, MKS_12864OLED_SSD1306)
+        // TO TEST
+        // #define LCD_PINS_DC     25   // Set as output on init
+        // #define LCD_PINS_RS     27   // Pull low for 1s to init
+        // DOGM SPI LCD Support
+        // #define DOGLCD_CS       16
+        // #define DOGLCD_MOSI     17
+        // #define DOGLCD_SCK      23
+        // #define DOGLCD_A0       LCD_PINS_DC
+      #else
+        #define LCD_PINS_RS        16
+        #define LCD_PINS_ENABLE    17
+        #define LCD_PINS_D4        23
+        #define LCD_PINS_D5        25
+        #define LCD_PINS_D6        27
+      #endif
+
+      #define LCD_PINS_D7          29
+
+      #if DISABLED(NEWPANEL)
+        #define BEEPER_PIN         33
+      #endif
+
+    #endif
+
+    #if DISABLED(NEWPANEL)
+      // Buttons attached to a shift register
+      // Not wired yet
+      //#define SHIFT_CLK          38
+      //#define SHIFT_LD           42
+      //#define SHIFT_OUT          40
+      //#define SHIFT_EN           17
+    #endif
+
+  #endif
+
+  //
+  // LCD Display input pins
+  //
+  #if ENABLED(NEWPANEL)
+
+    #if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
+
+      #define BEEPER_PIN           37
+
+      #if ENABLED(CR10_STOCKDISPLAY)
+        // TO TEST
+        // #define BTN_EN1         17
+        // #define BTN_EN2         23
+      #else
+        #define BTN_EN1            31
+        #define BTN_EN2            33
+      #endif
+
+      #define BTN_ENC              35
+      #ifndef SD_DETECT_PIN
+        #define SD_DETECT_PIN      49
+      #endif
+      #define KILL_PIN             41
+
+      #if ENABLED(BQ_LCD_SMART_CONTROLLER)
+        // TO TEST
+        // #define LCD_BACKLIGHT_PIN 39
+      #endif
+
+    #elif ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
+
+      // TO TEST
+      // #define BTN_EN1           56     // Mega/Due:64 - AGCM4:56
+      // #define BTN_EN2           72     // Mega/Due:59 - AGCM4:72
+      // #define BTN_ENC           55
+      // #define SD_DETECT_PIN     42
+
+    #elif ENABLED(LCD_I2C_PANELOLU2)
+
+      // TO TEST
+      // #define BTN_EN1           47
+      // #define BTN_EN2           43
+      // #define BTN_ENC           32
+      // #define LCD_SDSS          SDSS
+      // #define KILL_PIN          41
+
+    #elif ENABLED(LCD_I2C_VIKI)
+
+      // TO TEST
+      // #define BTN_EN1           40   // http://files.panucatt.com/datasheets/viki_wiring_diagram.pdf explains 40/42.
+      // #define BTN_EN2           42
+      // #define BTN_ENC           -1
+
+      // #define LCD_SDSS SDSS
+      // #define SD_DETECT_PIN     49
+
+    #elif ANY(VIKI2, miniVIKI)
+
+      // TO TEST
+      // #define DOGLCD_CS         45
+      // #define DOGLCD_A0         44
+      // #define LCD_SCREEN_ROT_180
+
+      // #define BEEPER_PIN        33
+      // #define STAT_LED_RED_PIN  32
+      // #define STAT_LED_BLUE_PIN 35
+
+      // #define BTN_EN1           22
+      // #define BTN_EN2            7
+      // #define BTN_ENC           39
+
+      // #define SD_DETECT_PIN     -1   // Pin 49 for display SD interface, 72 for easy adapter board
+      // #define KILL_PIN          31
+
+    #elif ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
+
+      // TO TEST
+      // #define DOGLCD_CS         29
+      // #define DOGLCD_A0         27
+
+      // #define BEEPER_PIN        23
+      // #define LCD_BACKLIGHT_PIN 33
+
+      // #define BTN_EN1           35
+      // #define BTN_EN2           37
+      // #define BTN_ENC           31
+
+      // #define LCD_SDSS          SDSS
+      // #define SD_DETECT_PIN     49
+      // #define KILL_PIN          41
+
+    #elif EITHER(MKS_MINI_12864, FYSETC_MINI_12864)
+
+      // TO TEST
+      //#define BEEPER_PIN         37
+      //#define BTN_ENC            35
+      //#define SD_DETECT_PIN      49
+
+      //#ifndef KILL_PIN
+      //  #define KILL_PIN         41
+      //#endif
+
+      #if ENABLED(MKS_MINI_12864)   // Added in Marlin 1.1.6
+
+        // TO TEST
+        // #define DOGLCD_A0       27
+        // #define DOGLCD_CS       25
+
+        // GLCD features
+        // Uncomment screen orientation
+        // #define LCD_SCREEN_ROT_90
+        // #define LCD_SCREEN_ROT_180
+        // #define LCD_SCREEN_ROT_270
+
+        // not connected to a pin
+        // #define LCD_BACKLIGHT_PIN 57    // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
+
+        // #define BTN_EN1         31
+        // #define BTN_EN2         33
+
+      #elif ENABLED(FYSETC_MINI_12864)
+
+        // From https://wiki.fysetc.com/Mini12864_Panel/?fbclid=IwAR1FyjuNdVOOy9_xzky3qqo_WeM5h-4gpRnnWhQr_O1Ef3h0AFnFXmCehK8
+
+        // TO TEST
+        // #define DOGLCD_A0       16
+        // #define DOGLCD_CS       17
+
+        // #define BTN_EN1         33
+        // #define BTN_EN2         31
+
+        //#define FORCE_SOFT_SPI    // Use this if default of hardware SPI causes display problems
+                                    //   results in LCD soft SPI mode 3, SD soft SPI mode 0
+
+        // #define LCD_RESET_PIN   23   // Must be high or open for LCD to operate normally.
+
+        #if EITHER(FYSETC_MINI_12864_1_2, FYSETC_MINI_12864_2_0)
+          #ifndef RGB_LED_R_PIN
+            // TO TEST
+            // #define RGB_LED_R_PIN 25
+          #endif
+          #ifndef RGB_LED_G_PIN
+            // TO TEST
+            // #define RGB_LED_G_PIN 27
+          #endif
+          #ifndef RGB_LED_B_PIN
+            // TO TEST
+            // #define RGB_LED_B_PIN 29
+          #endif
+        #elif ENABLED(FYSETC_MINI_12864_2_1)
+          // TO TEST
+          // #define NEOPIXEL_PIN    25
+        #endif
+
+      #endif
+
+    #elif ENABLED(MINIPANEL)
+
+      // TO TEST
+      // #define BEEPER_PIN        42
+      // not connected to a pin
+      // #define LCD_BACKLIGHT_PIN 57    // backlight LED on A11/D? (Mega/Due:65 - AGCM4:57)
+
+      // #define DOGLCD_A0         44
+      // #define DOGLCD_CS         58    // Mega/Due:66 - AGCM4:58
+
+      // GLCD features
+      // Uncomment screen orientation
+      // #define LCD_SCREEN_ROT_90
+      // #define LCD_SCREEN_ROT_180
+      // #define LCD_SCREEN_ROT_270
+
+      // #define BTN_EN1           40
+      // #define BTN_EN2           55    // Mega/Due:63 - AGCM4:55
+      // #define BTN_ENC           72    // Mega/Due:59 - AGCM4:72
+
+      // #define SD_DETECT_PIN     49
+      // #define KILL_PIN          56    // Mega/Due:64 - AGCM4:56
+
+    #elif ENABLED(ZONESTAR_LCD)
+
+      // TO TEST
+      // #define ADC_KEYPAD_PIN    12
+
+    #elif ENABLED(AZSMZ_12864)
+
+      // TO TEST
+
+    #else
+
+      // Beeper on AUX-4
+      // #define BEEPER_PIN        33
+
+      // Buttons are directly attached to AUX-2
+      #if ENABLED(REPRAPWORLD_KEYPAD)
+        // TO TEST
+        // #define SHIFT_OUT       40
+        // #define SHIFT_CLK       44
+        // #define SHIFT_LD        42
+        // #define BTN_EN1         56    // Mega/Due:64 - AGCM4:56
+        // #define BTN_EN2         72    // Mega/Due:59 - AGCM4:72
+        // #define BTN_ENC         55    // Mega/Due:63 - AGCM4:55
+      #elif ENABLED(PANEL_ONE)
+        // TO TEST
+        // #define BTN_EN1         72    // AUX2 PIN 3 (Mega/Due:59 - AGCM4:72)
+        // #define BTN_EN2         55    // AUX2 PIN 4 (Mega/Due:63 - AGCM4:55)
+        // #define BTN_ENC         49    // AUX3 PIN 7
+      #else
+        // TO TEST
+        // #define BTN_EN1         37
+        // #define BTN_EN2         35
+        // #define BTN_ENC         31
+      #endif
+
+      #if ENABLED(G3D_PANEL)
+        // TO TEST
+        // #define SD_DETECT_PIN   49
+        // #define KILL_PIN        41
+      #endif
+
+    #endif
+  #endif // NEWPANEL
+
+#endif // HAS_SPI_LCD
+
+//
+// SD Support
+//
+#ifndef SDCARD_CONNECTION
+  #define SDCARD_CONNECTION ONBOARD
+#endif
+
+#if SD_CONNECTION_IS(ONBOARD)
+  #undef SDSS
+  #define SDSS             83
+  #undef SD_DETECT_PIN
+  #define SD_DETECT_PIN    95
+#endif
diff --git a/buildroot/share/tests/SAMD51_grandcentral_m4-tests b/buildroot/share/tests/SAMD51_grandcentral_m4-tests
index 898a58560472..f7157b1ed8b1 100644
--- a/buildroot/share/tests/SAMD51_grandcentral_m4-tests
+++ b/buildroot/share/tests/SAMD51_grandcentral_m4-tests
@@ -6,5 +6,12 @@
 # exit on first failure
 set -e
 
+#
+# Build with the default configurations
+#
+restore_configs
+opt_set MOTHERBOARD BOARD_AGCM4_RAMPS_144
+exec_test $1 $2 "Build Grand Central M4 Default Configuration"
+
 # clean up
 restore_configs

From 00ba053c90ebbe6d430a48912bc3e00c8a1041c8 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Thu, 13 Feb 2020 23:39:27 -0600
Subject: [PATCH 03/11] Clean up host actions code (#16856)

---
 Marlin/src/feature/host_actions.cpp | 96 ++++++++++++++++-------------
 Marlin/src/feature/host_actions.h   | 10 +--
 Marlin/src/feature/pause.cpp        | 41 +++++-------
 Marlin/src/feature/pause.h          | 17 ++---
 Marlin/src/feature/runout.cpp       |  6 +-
 Marlin/src/gcode/host/M876.cpp      |  2 +
 6 files changed, 85 insertions(+), 87 deletions(-)

diff --git a/Marlin/src/feature/host_actions.cpp b/Marlin/src/feature/host_actions.cpp
index 3633a7b75f5b..c9e87a62377b 100644
--- a/Marlin/src/feature/host_actions.cpp
+++ b/Marlin/src/feature/host_actions.cpp
@@ -84,70 +84,78 @@ void host_action(const char * const pstr, const bool eol) {
     if (eol) SERIAL_EOL();
   }
 
-  void host_action_prompt_plus(const char * const ptype, const char * const pstr, const bool eol=true) {
+  void host_action_prompt_plus(const char * const ptype, const char * const pstr, const char extra_char='\0') {
     host_action_prompt(ptype, false);
     SERIAL_CHAR(' ');
     serialprintPGM(pstr);
-    if (eol) SERIAL_EOL();
+    if (extra_char != '\0') SERIAL_CHAR(extra_char);
+    SERIAL_EOL();
+  }
+  void host_action_prompt_begin(const PromptReason reason, const char * const pstr, const char extra_char/*='\0'*/) {
+    host_action_prompt_end();
+    host_prompt_reason = reason;
+    host_action_prompt_plus(PSTR("begin"), pstr, extra_char);
   }
-  void host_action_prompt_begin(const char * const pstr, const bool eol/*=true*/) { host_action_prompt_plus(PSTR("begin"), pstr, eol); }
   void host_action_prompt_button(const char * const pstr) { host_action_prompt_plus(PSTR("button"), pstr); }
   void host_action_prompt_end() { host_action_prompt(PSTR("end")); }
   void host_action_prompt_show() { host_action_prompt(PSTR("show")); }
-  void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const pbtn/*=nullptr*/) {
-    host_prompt_reason = reason;
-    host_action_prompt_end();
-    host_action_prompt_begin(pstr);
-    if (pbtn) host_action_prompt_button(pbtn);
+  void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const btn1/*=nullptr*/, const char * const btn2/*=nullptr*/) {
+    host_action_prompt_begin(reason, pstr);
+    if (btn1) host_action_prompt_button(btn1);
+    if (btn2) host_action_prompt_button(btn2);
     host_action_prompt_show();
   }
 
-  inline void say_m876_response(const char * const pstr) {
-    SERIAL_ECHOPGM("M876 Responding PROMPT_");
-    serialprintPGM(pstr);
-    SERIAL_EOL();
+  void filament_load_host_prompt() {
+    const bool disable_to_continue = (false
+      #if HAS_FILAMENT_SENSOR
+        || runout.filament_ran_out
+      #endif
+    );
+    host_prompt_do(PROMPT_FILAMENT_RUNOUT, PSTR("Paused"), PSTR("PurgeMore"),
+      disable_to_continue ? PSTR("DisableRunout") : CONTINUE_STR
+    );
   }
 
+  //
+  // Handle responses from the host, such as:
+  //  - Filament runout responses: Purge More, Continue
+  //  - General "Continue" response
+  //  - Resume Print response
+  //  - Dismissal of info
+  //
   void host_response_handler(const uint8_t response) {
     #ifdef DEBUG_HOST_ACTIONS
-      SERIAL_ECHOLNPAIR("M876 Handle Reason: ", host_prompt_reason);
-      SERIAL_ECHOLNPAIR("M876 Handle Response: ", response);
+      static const char m876_prefix[] PROGMEM = "M876 Handle Re";
+      serialprintPGM(m876_prefix); SERIAL_ECHOLNPAIR("ason: ", host_prompt_reason);
+      serialprintPGM(m876_prefix); SERIAL_ECHOLNPAIR("sponse: ", response);
     #endif
     const char *msg = PSTR("UNKNOWN STATE");
     const PromptReason hpr = host_prompt_reason;
-    host_prompt_reason = PROMPT_NOT_DEFINED;
+    host_prompt_reason = PROMPT_NOT_DEFINED;  // Reset now ahead of logic
     switch (hpr) {
       case PROMPT_FILAMENT_RUNOUT:
         msg = PSTR("FILAMENT_RUNOUT");
-        if (response == 0) {
-          #if ENABLED(ADVANCED_PAUSE_FEATURE)
-            pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE;
-          #endif
-          host_action_prompt_end();   // Close current prompt
-          host_action_prompt_begin(PSTR("Paused"));
-          host_action_prompt_button(PSTR("Purge More"));
-          if (false
+        switch (response) {
+
+          case 0: // "Purge More" button
+            #if HAS_LCD_MENU && ENABLED(ADVANCED_PAUSE_FEATURE)
+              pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE;  // Simulate menu selection (menu exits, doesn't extrude more)
+            #endif
+            filament_load_host_prompt();                          // Initiate another host prompt. (NOTE: The loop in load_filament may also do this!)
+            break;
+
+          case 1: // "Continue" / "Disable Runout" button
+            #if HAS_LCD_MENU && ENABLED(ADVANCED_PAUSE_FEATURE)
+              pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT;  // Simulate menu selection
+            #endif
             #if HAS_FILAMENT_SENSOR
-              || runout.filament_ran_out
+              if (runout.filament_ran_out) {                      // Disable a triggered sensor
+                runout.enabled = false;
+                runout.reset();
+              }
             #endif
-          )
-            host_action_prompt_button(PSTR("DisableRunout"));
-          else {
-            host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
-            host_action_prompt_button(CONTINUE_STR);
-          }
-          host_action_prompt_show();
-        }
-        else if (response == 1) {
-          #if HAS_FILAMENT_SENSOR
-            if (runout.filament_ran_out) {
-              runout.enabled = false;
-              runout.reset();
-            }
-          #endif
-          #if ENABLED(ADVANCED_PAUSE_FEATURE)
-            pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT;
-          #endif
+            break;
         }
         break;
       case PROMPT_USER_CONTINUE:
@@ -168,7 +176,9 @@ void host_action(const char * const pstr, const bool eol) {
         break;
       default: break;
     }
-    say_m876_response(msg);
+    SERIAL_ECHOPGM("M876 Responding PROMPT_");
+    serialprintPGM(msg);
+    SERIAL_EOL();
   }
 
 #endif // HOST_PROMPT_SUPPORT
diff --git a/Marlin/src/feature/host_actions.h b/Marlin/src/feature/host_actions.h
index 939f0be2de67..d90a21b1f1e4 100644
--- a/Marlin/src/feature/host_actions.h
+++ b/Marlin/src/feature/host_actions.h
@@ -61,13 +61,15 @@ void host_action(const char * const pstr, const bool eol=true);
 
   void host_response_handler(const uint8_t response);
   void host_action_notify(const char * const message);
-  void host_action_prompt_begin(const char * const pstr, const bool eol=true);
+  void host_action_prompt_begin(const PromptReason reason, const char * const pstr, const char extra_char='\0');
   void host_action_prompt_button(const char * const pstr);
   void host_action_prompt_end();
   void host_action_prompt_show();
-  void host_prompt_do(const PromptReason type, const char * const pstr, const char * const pbtn=nullptr);
-  inline void host_prompt_open(const PromptReason reason, const char * const pstr, const char * const pbtn=nullptr) {
-    if (host_prompt_reason == PROMPT_NOT_DEFINED) host_prompt_do(reason, pstr, pbtn);
+  void host_prompt_do(const PromptReason reason, const char * const pstr, const char * const btn1=nullptr, const char * const btn2=nullptr);
+  inline void host_prompt_open(const PromptReason reason, const char * const pstr, const char * const btn1=nullptr, const char * const btn2=nullptr) {
+    if (host_prompt_reason == PROMPT_NOT_DEFINED) host_prompt_do(reason, pstr, btn1, btn2);
   }
 
+  void filament_load_host_prompt();
+
 #endif
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index 0bf8fe4b9889..5a7cde204669 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -67,9 +67,10 @@
 
 static xyze_pos_t resume_position;
 
-PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
-
-PauseMenuResponse pause_menu_response;
+#if HAS_LCD_MENU
+  PauseMenuResponse pause_menu_response;
+  PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
+#endif
 
 fil_change_settings_t fc_settings[EXTRUDERS];
 
@@ -85,7 +86,11 @@ fil_change_settings_t fc_settings[EXTRUDERS];
 
 #if HAS_BUZZER
   static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
-    if (pause_mode == PAUSE_MODE_PAUSE_PRINT) return;
+
+    #if HAS_LCD_MENU
+      if (pause_mode == PAUSE_MODE_PAUSE_PRINT) return;
+    #endif
+
     static millis_t next_buzz = 0;
     static int8_t runout_beep = 0;
 
@@ -186,11 +191,7 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
           + active_extruder
         #endif
       ;
-      host_prompt_reason = PROMPT_USER_CONTINUE;
-      host_action_prompt_end();
-      host_action_prompt_begin(PSTR("Load Filament T"), false);
-      SERIAL_CHAR(tool);
-      SERIAL_EOL();
+      host_action_prompt_begin(PROMPT_USER_CONTINUE, PSTR("Load Filament T"), tool);
       host_action_prompt_button(CONTINUE_STR);
       host_action_prompt_show();
     #endif
@@ -247,10 +248,10 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
 
     wait_for_user = true;
     #if ENABLED(HOST_PROMPT_SUPPORT)
-      host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purge Running..."), CONTINUE_STR);
+      host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purging..."), CONTINUE_STR);
     #endif
     #if ENABLED(EXTENSIBLE_UI)
-      ExtUI::onUserConfirmRequired_P(PSTR("Filament Purge Running..."));
+      ExtUI::onUserConfirmRequired_P(PSTR("Filament Purging..."));
     #endif
     for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
       do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
@@ -269,27 +270,13 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
         do_pause_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
       }
 
-      // Show "Purge More" / "Resume" menu and wait for reply
       #if ENABLED(HOST_PROMPT_SUPPORT)
-        host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
-        host_action_prompt_end();   // Close current prompt
-        host_action_prompt_begin(PSTR("Paused"));
-        host_action_prompt_button(PSTR("PurgeMore"));
-        if (false
-          #if HAS_FILAMENT_SENSOR
-            || runout.filament_ran_out
-          #endif
-        )
-          host_action_prompt_button(PSTR("DisableRunout"));
-        else {
-          host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
-          host_action_prompt_button(CONTINUE_STR);
-        }
-        host_action_prompt_show();
+        filament_load_host_prompt();  // Initiate another host prompt. (NOTE: host_response_handler may also do this!)
       #endif
 
       #if HAS_LCD_MENU
         if (show_lcd) {
+          // Show "Purge More" / "Resume" menu and wait for reply
           KEEPALIVE_STATE(PAUSED_FOR_USER);
           wait_for_user = false;
           lcd_pause_show_message(PAUSE_MESSAGE_OPTION);
diff --git a/Marlin/src/feature/pause.h b/Marlin/src/feature/pause.h
index f88dd349c59e..5ac67a565c36 100644
--- a/Marlin/src/feature/pause.h
+++ b/Marlin/src/feature/pause.h
@@ -59,14 +59,15 @@ enum PauseMessage : char {
   PAUSE_MESSAGE_HEATING
 };
 
-enum PauseMenuResponse : char {
-  PAUSE_RESPONSE_WAIT_FOR,
-  PAUSE_RESPONSE_EXTRUDE_MORE,
-  PAUSE_RESPONSE_RESUME_PRINT
-};
-
-extern PauseMode pause_mode;
-extern PauseMenuResponse pause_menu_response;
+#if HAS_LCD_MENU
+  enum PauseMenuResponse : char {
+    PAUSE_RESPONSE_WAIT_FOR,
+    PAUSE_RESPONSE_EXTRUDE_MORE,
+    PAUSE_RESPONSE_RESUME_PRINT
+  };
+  extern PauseMenuResponse pause_menu_response;
+  extern PauseMode pause_mode;
+#endif
 
 extern fil_change_settings_t fc_settings[EXTRUDERS];
 
diff --git a/Marlin/src/feature/runout.cpp b/Marlin/src/feature/runout.cpp
index 3acda2f7a254..3cf81303ddbe 100644
--- a/Marlin/src/feature/runout.cpp
+++ b/Marlin/src/feature/runout.cpp
@@ -92,11 +92,7 @@ void event_filament_runout() {
 
   //action:out_of_filament
   #if ENABLED(HOST_PROMPT_SUPPORT)
-    host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
-    host_action_prompt_end();
-    host_action_prompt_begin(PSTR("FilamentRunout T"), false);
-    SERIAL_CHAR(tool);
-    SERIAL_EOL();
+    host_action_prompt_begin(PROMPT_FILAMENT_RUNOUT, PSTR("FilamentRunout T"), tool);
     host_action_prompt_show();
   #endif
 
diff --git a/Marlin/src/gcode/host/M876.cpp b/Marlin/src/gcode/host/M876.cpp
index 8e83185e0246..fe0ca1541abe 100644
--- a/Marlin/src/gcode/host/M876.cpp
+++ b/Marlin/src/gcode/host/M876.cpp
@@ -31,7 +31,9 @@
  * M876: Handle Prompt Response
  */
 void GcodeSuite::M876() {
+
   if (parser.seenval('S')) host_response_handler((uint8_t)parser.value_int());
+
 }
 
 #endif // HOST_PROMPT_SUPPORT && !EMERGENCY_PARSER

From 073e4443e8b8624078138a0c6f422cccc2959a86 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Fri, 14 Feb 2020 00:05:06 -0600
Subject: [PATCH 04/11] Optimize "Dismiss" string

---
 Marlin/src/MarlinCore.cpp           | 2 +-
 Marlin/src/feature/host_actions.cpp | 3 ++-
 Marlin/src/feature/host_actions.h   | 2 +-
 Marlin/src/feature/pause.cpp        | 4 ++--
 Marlin/src/gcode/sdcard/M24_M25.cpp | 2 +-
 Marlin/src/lcd/ultralcd.cpp         | 2 +-
 6 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index ecfdcc21b3da..b1e895d97f81 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -345,7 +345,7 @@ void disable_all_steppers() {
 
   void event_probe_recover() {
     #if ENABLED(HOST_PROMPT_SUPPORT)
-      host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), PSTR("Dismiss"));
+      host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), DISMISS_STR);
     #endif
     #ifdef ACTION_ON_G29_RECOVER
       host_action(PSTR(ACTION_ON_G29_RECOVER));
diff --git a/Marlin/src/feature/host_actions.cpp b/Marlin/src/feature/host_actions.cpp
index c9e87a62377b..2108f4e7f427 100644
--- a/Marlin/src/feature/host_actions.cpp
+++ b/Marlin/src/feature/host_actions.cpp
@@ -64,7 +64,8 @@ void host_action(const char * const pstr, const bool eol) {
 
 #if ENABLED(HOST_PROMPT_SUPPORT)
 
-  const char CONTINUE_STR[] PROGMEM = "Continue";
+  const char CONTINUE_STR[] PROGMEM = "Continue",
+             DISMISS_STR[] PROGMEM = "Dismiss";
 
   #if HAS_RESUME_CONTINUE
     extern bool wait_for_user;
diff --git a/Marlin/src/feature/host_actions.h b/Marlin/src/feature/host_actions.h
index d90a21b1f1e4..3667b7f4308e 100644
--- a/Marlin/src/feature/host_actions.h
+++ b/Marlin/src/feature/host_actions.h
@@ -46,7 +46,7 @@ void host_action(const char * const pstr, const bool eol=true);
 
 #if ENABLED(HOST_PROMPT_SUPPORT)
 
-  extern const char CONTINUE_STR[];
+  extern const char CONTINUE_STR[], DISMISS_STR[];
 
   enum PromptReason : uint8_t {
     PROMPT_NOT_DEFINED,
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index 5a7cde204669..9fd279fe5d61 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -396,7 +396,7 @@ bool pause_print(const float &retract, const xyz_pos_t &park_point, const float
   #endif
 
   #if ENABLED(HOST_PROMPT_SUPPORT)
-    host_prompt_open(PROMPT_INFO, PSTR("Pause"), PSTR("Dismiss"));
+    host_prompt_open(PROMPT_INFO, PSTR("Pause"), DISMISS_STR);
   #endif
 
   if (!DEBUGGING(DRYRUN) && unload_length && thermalManager.targetTooColdToExtrude(active_extruder)) {
@@ -667,7 +667,7 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
   --did_pause_print;
 
   #if ENABLED(HOST_PROMPT_SUPPORT)
-    host_prompt_open(PROMPT_INFO, PSTR("Resuming"), PSTR("Dismiss"));
+    host_prompt_open(PROMPT_INFO, PSTR("Resuming"), DISMISS_STR);
   #endif
 
   #if ENABLED(SDSUPPORT)
diff --git a/Marlin/src/gcode/sdcard/M24_M25.cpp b/Marlin/src/gcode/sdcard/M24_M25.cpp
index 02ba5acb3928..967b6dfdf37e 100644
--- a/Marlin/src/gcode/sdcard/M24_M25.cpp
+++ b/Marlin/src/gcode/sdcard/M24_M25.cpp
@@ -74,7 +74,7 @@ void GcodeSuite::M24() {
       host_action_resume();
     #endif
     #if ENABLED(HOST_PROMPT_SUPPORT)
-      host_prompt_open(PROMPT_INFO, PSTR("Resuming SD"), PSTR("Dismiss"));
+      host_prompt_open(PROMPT_INFO, PSTR("Resuming SD"), DISMISS_STR);
     #endif
   #endif
 
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 717a3f05d826..8ad02acfbaf7 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -1504,7 +1504,7 @@ void MarlinUI::update() {
       host_action_cancel();
     #endif
     #if ENABLED(HOST_PROMPT_SUPPORT)
-      host_prompt_open(PROMPT_INFO, PSTR("UI Aborted"), PSTR("Dismiss"));
+      host_prompt_open(PROMPT_INFO, PSTR("UI Aborted"), DISMISS_STR);
     #endif
     print_job_timer.stop();
     set_status_P(GET_TEXT(MSG_PRINT_ABORTED));

From 0b984519c30f453fdb5b4efb8008a07c69688824 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Fri, 14 Feb 2020 05:14:37 -0600
Subject: [PATCH 05/11] Clean up stepper and babystep (#16857)

---
 Marlin/src/HAL/HAL_ESP32/i2s.cpp  |   4 +-
 Marlin/src/feature/babystep.cpp   |   8 --
 Marlin/src/feature/babystep.h     |  10 +-
 Marlin/src/module/planner.cpp     | 110 +++++++++++++++++--
 Marlin/src/module/planner.h       |  97 ++---------------
 Marlin/src/module/stepper.cpp     | 173 ++++++++++++++++--------------
 Marlin/src/module/stepper.h       |  75 +++++--------
 Marlin/src/module/temperature.cpp |   5 +-
 8 files changed, 242 insertions(+), 240 deletions(-)

diff --git a/Marlin/src/HAL/HAL_ESP32/i2s.cpp b/Marlin/src/HAL/HAL_ESP32/i2s.cpp
index de5ef397ddb2..9f72fcbb0fdb 100644
--- a/Marlin/src/HAL/HAL_ESP32/i2s.cpp
+++ b/Marlin/src/HAL/HAL_ESP32/i2s.cpp
@@ -153,8 +153,8 @@ void stepperTask(void* parameter) {
         remaining--;
       }
       else {
-        Stepper::stepper_pulse_phase_isr();
-        remaining = Stepper::stepper_block_phase_isr();
+        Stepper::pulse_phase_isr();
+        remaining = Stepper::block_phase_isr();
       }
     }
   }
diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index c6e7628a154e..eedd8f6196c8 100644
--- a/Marlin/src/feature/babystep.cpp
+++ b/Marlin/src/feature/babystep.cpp
@@ -49,14 +49,6 @@ void Babystep::step_axis(const AxisEnum axis) {
   }
 }
 
-void Babystep::task() {
-  #if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
-    LOOP_XYZ(axis) step_axis((AxisEnum)axis);
-  #else
-    step_axis(Z_AXIS);
-  #endif
-}
-
 void Babystep::add_mm(const AxisEnum axis, const float &mm) {
   add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
 }
diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h
index 3322b4a24633..63ea0e3e24a0 100644
--- a/Marlin/src/feature/babystep.h
+++ b/Marlin/src/feature/babystep.h
@@ -55,7 +55,15 @@ class Babystep {
 
   static void add_steps(const AxisEnum axis, const int16_t distance);
   static void add_mm(const AxisEnum axis, const float &mm);
-  static void task();
+
+  //
+  // Called by the Temperature ISR to
+  // apply accumulated babysteps to the axes.
+  //
+  static inline void task() {
+    LOOP_L_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
+  }
+
 private:
   static void step_axis(const AxisEnum axis);
 };
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 72dfeed46ff3..b39ac993b40b 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -709,6 +709,59 @@ void Planner::init() {
 
 #define MINIMAL_STEP_RATE 120
 
+/**
+ * Get the current block for processing
+ * and mark the block as busy.
+ * Return nullptr if the buffer is empty
+ * or if there is a first-block delay.
+ *
+ * WARNING: Called from Stepper ISR context!
+ */
+block_t* Planner::get_current_block() {
+  // Get the number of moves in the planner queue so far
+  const uint8_t nr_moves = movesplanned();
+
+  // If there are any moves queued ...
+  if (nr_moves) {
+
+    // If there is still delay of delivery of blocks running, decrement it
+    if (delay_before_delivering) {
+      --delay_before_delivering;
+      // If the number of movements queued is less than 3, and there is still time
+      //  to wait, do not deliver anything
+      if (nr_moves < 3 && delay_before_delivering) return nullptr;
+      delay_before_delivering = 0;
+    }
+
+    // If we are here, there is no excuse to deliver the block
+    block_t * const block = &block_buffer[block_buffer_tail];
+
+    // No trapezoid calculated? Don't execute yet.
+    if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
+
+    #if HAS_SPI_LCD
+      block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
+    #endif
+
+    // As this block is busy, advance the nonbusy block pointer
+    block_buffer_nonbusy = next_block_index(block_buffer_tail);
+
+    // Push block_buffer_planned pointer, if encountered.
+    if (block_buffer_tail == block_buffer_planned)
+      block_buffer_planned = block_buffer_nonbusy;
+
+    // Return the block
+    return block;
+  }
+
+  // The queue became empty
+  #if HAS_SPI_LCD
+    clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
+  #endif
+
+  return nullptr;
+}
+
 /**
  * Calculate trapezoid parameters, multiplying the entry- and exit-speeds
  * by the provided factors.
@@ -1498,8 +1551,7 @@ void Planner::quick_stop() {
   // must be handled: The tail could change between the read and the assignment
   // so this must be enclosed in a critical section
 
-  const bool was_enabled = STEPPER_ISR_ENABLED();
-  if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+  const bool was_enabled = stepper.suspend();
 
   // Drop all queue entries
   block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail;
@@ -1517,7 +1569,7 @@ void Planner::quick_stop() {
   cleaning_buffer_counter = 1000;
 
   // Reenable Stepper ISR
-  if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+  if (was_enabled) stepper.wake_up();
 
   // And stop the stepper ISR
   stepper.quick_stop();
@@ -1548,13 +1600,12 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
     if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
 
       // Protect the access to the position.
-      const bool was_enabled = STEPPER_ISR_ENABLED();
-      if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+      const bool was_enabled = stepper.suspend();
 
       const int32_t p1 = stepper.position(CORE_AXIS_1),
                     p2 = stepper.position(CORE_AXIS_2);
 
-      if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+      if (was_enabled) stepper.wake_up();
 
       // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
       // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
@@ -2004,13 +2055,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
   #if HAS_SPI_LCD
     // Protect the access to the position.
-    const bool was_enabled = STEPPER_ISR_ENABLED();
-    if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+    const bool was_enabled = stepper.suspend();
 
     block_buffer_runtime_us += segment_time_us;
     block->segment_time_us = segment_time_us;
 
-    if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+    if (was_enabled) stepper.wake_up();
   #endif
 
   block->nominal_speed_sqr = sq(block->millimeters * inverse_secs);   // (mm/sec)^2 Always > 0
@@ -2822,6 +2872,48 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
   #endif
 }
 
+#if HAS_SPI_LCD
+
+  uint16_t Planner::block_buffer_runtime() {
+    #ifdef __AVR__
+      // Protect the access to the variable. Only required for AVR, as
+      //  any 32bit CPU offers atomic access to 32bit variables
+      const bool was_enabled = stepper.suspend();
+    #endif
+
+    millis_t bbru = block_buffer_runtime_us;
+
+    #ifdef __AVR__
+      // Reenable Stepper ISR
+      if (was_enabled) stepper.wake_up();
+    #endif
+
+    // To translate µs to ms a division by 1000 would be required.
+    // We introduce 2.4% error here by dividing by 1024.
+    // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
+    bbru >>= 10;
+    // limit to about a minute.
+    NOMORE(bbru, 0xFFFFul);
+    return bbru;
+  }
+
+  void Planner::clear_block_buffer_runtime() {
+    #ifdef __AVR__
+      // Protect the access to the variable. Only required for AVR, as
+      //  any 32bit CPU offers atomic access to 32bit variables
+      const bool was_enabled = stepper.suspend();
+    #endif
+
+    block_buffer_runtime_us = 0;
+
+    #ifdef __AVR__
+      // Reenable Stepper ISR
+      if (was_enabled) stepper.wake_up();
+    #endif
+  }
+
+#endif
+
 #if ENABLED(AUTOTEMP)
 
   void Planner::autotemp_M104_M109() {
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 37f0112cc81e..6942ec602876 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -763,60 +763,18 @@ class Planner {
     FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
 
     /**
-     * The current block. nullptr if the buffer is empty.
-     * This also marks the block as busy.
+     * Get the current block for processing
+     * and mark the block as busy.
+     * Return nullptr if the buffer is empty
+     * or if there is a first-block delay.
+     *
      * WARNING: Called from Stepper ISR context!
      */
-    static block_t* get_current_block() {
-
-      // Get the number of moves in the planner queue so far
-      const uint8_t nr_moves = movesplanned();
-
-      // If there are any moves queued ...
-      if (nr_moves) {
-
-        // If there is still delay of delivery of blocks running, decrement it
-        if (delay_before_delivering) {
-          --delay_before_delivering;
-          // If the number of movements queued is less than 3, and there is still time
-          //  to wait, do not deliver anything
-          if (nr_moves < 3 && delay_before_delivering) return nullptr;
-          delay_before_delivering = 0;
-        }
-
-        // If we are here, there is no excuse to deliver the block
-        block_t * const block = &block_buffer[block_buffer_tail];
-
-        // No trapezoid calculated? Don't execute yet.
-        if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
-
-        #if HAS_SPI_LCD
-          block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
-        #endif
-
-        // As this block is busy, advance the nonbusy block pointer
-        block_buffer_nonbusy = next_block_index(block_buffer_tail);
-
-        // Push block_buffer_planned pointer, if encountered.
-        if (block_buffer_tail == block_buffer_planned)
-          block_buffer_planned = block_buffer_nonbusy;
-
-        // Return the block
-        return block;
-      }
-
-      // The queue became empty
-      #if HAS_SPI_LCD
-        clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
-      #endif
-
-      return nullptr;
-    }
+    static block_t* get_current_block();
 
     /**
      * "Discard" the block and "release" the memory.
      * Called when the current block is no longer needed.
-     * NB: There MUST be a current block to call this function!!
      */
     FORCE_INLINE static void discard_current_block() {
       if (has_blocks_queued())
@@ -824,47 +782,8 @@ class Planner {
     }
 
     #if HAS_SPI_LCD
-
-      static uint16_t block_buffer_runtime() {
-        #ifdef __AVR__
-          // Protect the access to the variable. Only required for AVR, as
-          //  any 32bit CPU offers atomic access to 32bit variables
-          bool was_enabled = STEPPER_ISR_ENABLED();
-          if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
-        #endif
-
-        millis_t bbru = block_buffer_runtime_us;
-
-        #ifdef __AVR__
-          // Reenable Stepper ISR
-          if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
-        #endif
-
-        // To translate µs to ms a division by 1000 would be required.
-        // We introduce 2.4% error here by dividing by 1024.
-        // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
-        bbru >>= 10;
-        // limit to about a minute.
-        NOMORE(bbru, 0xFFFFul);
-        return bbru;
-      }
-
-      static void clear_block_buffer_runtime() {
-        #ifdef __AVR__
-          // Protect the access to the variable. Only required for AVR, as
-          //  any 32bit CPU offers atomic access to 32bit variables
-          bool was_enabled = STEPPER_ISR_ENABLED();
-          if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
-        #endif
-
-        block_buffer_runtime_us = 0;
-
-        #ifdef __AVR__
-          // Reenable Stepper ISR
-          if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
-        #endif
-      }
-
+      static uint16_t block_buffer_runtime();
+      static void clear_block_buffer_runtime();
     #endif
 
     #if ENABLED(AUTOTEMP)
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index bc08e3537747..6e0a318fcb2b 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -203,11 +203,8 @@ uint32_t Stepper::advance_divisor = 0,
   bool Stepper::bezier_2nd_half;    // =false If Bézier curve has been initialized or not
 #endif
 
-uint32_t Stepper::nextMainISR = 0;
-
 #if ENABLED(LIN_ADVANCE)
 
-  constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
   uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER,
            Stepper::LA_isr_rate = LA_ADV_NEVER;
   uint16_t Stepper::LA_current_adv_steps = 0,
@@ -402,13 +399,13 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
 #define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS)))
 #define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS)))
 
-#define USING_TIMED_PULSE() hal_timer_t end_tick_count = 0
-#define START_TIMED_PULSE(DIR) (end_tick_count = HAL_timer_get_count(PULSE_TIMER_NUM) + PULSE_##DIR##_TICK_COUNT)
-#define AWAIT_TIMED_PULSE() while (HAL_timer_get_count(PULSE_TIMER_NUM) < end_tick_count) { }
+#define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0
+#define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(PULSE_TIMER_NUM))
+#define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(PULSE_TIMER_NUM) - start_pulse_count) { }
 #define START_HIGH_PULSE()  START_TIMED_PULSE(HIGH)
+#define AWAIT_HIGH_PULSE()  AWAIT_TIMED_PULSE(HIGH)
 #define START_LOW_PULSE()   START_TIMED_PULSE(LOW)
-#define AWAIT_HIGH_PULSE()  AWAIT_TIMED_PULSE()
-#define AWAIT_LOW_PULSE()   AWAIT_TIMED_PULSE()
+#define AWAIT_LOW_PULSE()   AWAIT_TIMED_PULSE(LOW)
 
 #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
   #define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY)
@@ -422,11 +419,6 @@ constexpr uint32_t NS_TO_PULSE_TIMER_TICKS(uint32_t NS) { return (NS + (NS_PER_P
   #define DIR_WAIT_AFTER()
 #endif
 
-void Stepper::wake_up() {
-  // TCNT1 = 0;
-  ENABLE_STEPPER_DRIVER_INTERRUPT();
-}
-
 /**
  * Set the stepper direction of each axis
  *
@@ -1334,6 +1326,9 @@ HAL_STEP_TIMER_ISR() {
 #endif
 
 void Stepper::isr() {
+
+  static uint32_t nextMainISR = 0;  // Interval until the next main Stepper Pulse phase (0 = Now)
+
   #ifndef __AVR__
     // Disable interrupts, to avoid ISR preemption while we reprogram the period
     // (AVR enters the ISR with global interrupts disabled, so no need to do it here)
@@ -1357,35 +1352,35 @@ void Stepper::isr() {
     // Enable ISRs to reduce USART processing latency
     ENABLE_ISRS();
 
-    // Run main stepping pulse phase ISR if we have to
-    if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
+    if (!nextMainISR) pulse_phase_isr();                            // 0 = Do coordinated axes Stepper pulses
 
     #if ENABLED(LIN_ADVANCE)
-      // Run linear advance stepper ISR if we have to
-      if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
+      if (!nextAdvanceISR) nextAdvanceISR = advance_isr();          // 0 = Do Linear Advance E Stepper pulses
     #endif
 
     // ^== Time critical. NOTHING besides pulse generation should be above here!!!
 
-    // Run main stepping block processing ISR if we have to
-    if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
+    if (!nextMainISR) nextMainISR = block_phase_isr();  // Manage acc/deceleration, get next block
 
-    uint32_t interval =
+    // Get the interval to the next ISR call
+    const uint32_t interval = _MIN(
+      nextMainISR                                       // Time until the next Stepper ISR
       #if ENABLED(LIN_ADVANCE)
-        _MIN(nextAdvanceISR, nextMainISR)  // Nearest time interval
-      #else
-        nextMainISR                       // Remaining stepper ISR time
+        , nextAdvanceISR                                // Come back early for Linear Advance?
       #endif
-    ;
+      , uint32_t(HAL_TIMER_TYPE_MAX)                    // Come back in a very long time
+    );
 
-    // Limit the value to the maximum possible value of the timer
-    NOMORE(interval, uint32_t(HAL_TIMER_TYPE_MAX));
+    //
+    // Compute remaining time for each ISR phase
+    //     NEVER : The phase is idle
+    //      Zero : The phase will occur on the next ISR call
+    //  Non-zero : The phase will occur on a future ISR call
+    //
 
-    // Compute the time remaining for the main isr
     nextMainISR -= interval;
 
     #if ENABLED(LIN_ADVANCE)
-      // Compute the time remaining for the advance isr
       if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval;
     #endif
 
@@ -1471,7 +1466,7 @@ void Stepper::isr() {
  * call to this method that might cause variation in the timing. The aim
  * is to keep pulse timing as regular as possible.
  */
-void Stepper::stepper_pulse_phase_isr() {
+void Stepper::pulse_phase_isr() {
 
   // If we must abort the current block, do so!
   if (abort_current_block) {
@@ -1548,7 +1543,7 @@ void Stepper::stepper_pulse_phase_isr() {
           // Don't step E here - But remember the number of steps to perform
           motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
         #else
-          step_needed.e = delta_error.e >= 0;
+          step_needed.e = true;
         #endif
       }
     #elif HAS_E0_STEP
@@ -1604,20 +1599,14 @@ void Stepper::stepper_pulse_phase_isr() {
 
     #if DISABLED(LIN_ADVANCE)
       #if ENABLED(MIXING_EXTRUDER)
-
         if (delta_error.e >= 0) {
           delta_error.e -= advance_divisor;
           E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
         }
-
-      #else // !MIXING_EXTRUDER
-
-        #if HAS_E0_STEP
-          PULSE_STOP(E);
-        #endif
-
-      #endif  // !MIXING_EXTRUDER
-    #endif // !LIN_ADVANCE
+      #elif HAS_E0_STEP
+        PULSE_STOP(E);
+      #endif
+    #endif
 
     #if ISR_MULTI_STEPS
       if (events_to_do) START_LOW_PULSE();
@@ -1630,10 +1619,10 @@ void Stepper::stepper_pulse_phase_isr() {
 // properly schedules blocks from the planner. This is executed after creating
 // the step pulses, so it is not time critical, as pulses are already done.
 
-uint32_t Stepper::stepper_block_phase_isr() {
+uint32_t Stepper::block_phase_isr() {
 
-  // If no queued movements, just wait 1ms for the next move
-  uint32_t interval = (STEPPER_TIMER_RATE) / 1000;
+  // If no queued movements, just wait 1ms for the next block
+  uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL;
 
   // If there is a current block
   if (current_block) {
@@ -1667,16 +1656,14 @@ uint32_t Stepper::stepper_block_phase_isr() {
         // acc_step_rate is in steps/second
 
         // step_rate to timer interval and steps per stepper isr
-        interval = calc_timer_interval(acc_step_rate, oversampling_factor, &steps_per_isr);
+        interval = calc_timer_interval(acc_step_rate, &steps_per_isr);
         acceleration_time += interval;
 
         #if ENABLED(LIN_ADVANCE)
-          if (LA_use_advance_lead) {
-            // Fire ISR if final adv_rate is reached
-            if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
-          }
-          else if (LA_steps) nextAdvanceISR = 0;
-        #endif // LIN_ADVANCE
+          // Fire ISR if final adv_rate is reached
+          if (LA_steps && (!LA_use_advance_lead || LA_isr_rate != current_block->advance_speed))
+            initiateLA();
+        #endif
       }
       // Are we in Deceleration phase ?
       else if (step_events_completed > decelerate_after) {
@@ -1712,32 +1699,32 @@ uint32_t Stepper::stepper_block_phase_isr() {
         // step_rate is in steps/second
 
         // step_rate to timer interval and steps per stepper isr
-        interval = calc_timer_interval(step_rate, oversampling_factor, &steps_per_isr);
+        interval = calc_timer_interval(step_rate, &steps_per_isr);
         deceleration_time += interval;
 
         #if ENABLED(LIN_ADVANCE)
           if (LA_use_advance_lead) {
             // Wake up eISR on first deceleration loop and fire ISR if final adv_rate is reached
             if (step_events_completed <= decelerate_after + steps_per_isr || (LA_steps && LA_isr_rate != current_block->advance_speed)) {
-              nextAdvanceISR = 0;
+              initiateLA();
               LA_isr_rate = current_block->advance_speed;
             }
           }
-          else if (LA_steps) nextAdvanceISR = 0;
-        #endif // LIN_ADVANCE
+          else if (LA_steps) initiateLA();
+        #endif
       }
       // We must be in cruise phase otherwise
       else {
 
         #if ENABLED(LIN_ADVANCE)
           // If there are any esteps, fire the next advance_isr "now"
-          if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
+          if (LA_steps && LA_isr_rate != current_block->advance_speed) initiateLA();
         #endif
 
         // Calculate the ticks_nominal for this nominal speed, if not done yet
         if (ticks_nominal < 0) {
           // step_rate to timer interval and loops for the nominal speed
-          ticks_nominal = calc_timer_interval(current_block->nominal_rate, oversampling_factor, &steps_per_isr);
+          ticks_nominal = calc_timer_interval(current_block->nominal_rate, &steps_per_isr);
         }
 
         // The timer interval is just the nominal value for the nominal speed
@@ -1846,17 +1833,17 @@ uint32_t Stepper::stepper_block_phase_isr() {
       // No acceleration / deceleration time elapsed so far
       acceleration_time = deceleration_time = 0;
 
-      uint8_t oversampling = 0;                         // Assume we won't use it
+      uint8_t oversampling = 0;                           // Assume no axis smoothing (via oversampling)
 
       #if ENABLED(ADAPTIVE_STEP_SMOOTHING)
-        // At this point, we must decide if we can use Stepper movement axis smoothing.
+        // Decide if axis smoothing is possible
         uint32_t max_rate = current_block->nominal_rate;  // Get the maximum rate (maximum event speed)
-        while (max_rate < MIN_STEP_ISR_FREQUENCY) {
-          max_rate <<= 1;
-          if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break;
-          ++oversampling;
+        while (max_rate < MIN_STEP_ISR_FREQUENCY) {         // As long as more ISRs are possible...
+          max_rate <<= 1;                                   // Try to double the rate
+          if (max_rate >= MAX_STEP_ISR_FREQUENCY_1X) break; // Don't exceed the estimated ISR limit
+          ++oversampling;                                   // Increase the oversampling (used for left-shift)
         }
-        oversampling_factor = oversampling;
+        oversampling_factor = oversampling;                 // For all timer interval calculations
       #endif
 
       // Based on the oversampling factor, do the calculations
@@ -1894,8 +1881,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
         if ((LA_use_advance_lead = current_block->use_advance_lead)) {
           LA_final_adv_steps = current_block->final_adv_steps;
           LA_max_adv_steps = current_block->max_adv_steps;
-          //Start the ISR
-          nextAdvanceISR = 0;
+          initiateLA(); // Start the ISR
           LA_isr_rate = current_block->advance_speed;
         }
         else LA_isr_rate = LA_ADV_NEVER;
@@ -1954,7 +1940,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
       #endif
 
       // Calculate the initial timer interval
-      interval = calc_timer_interval(current_block->initial_rate, oversampling_factor, &steps_per_isr);
+      interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr);
     }
   }
 
@@ -2054,6 +2040,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
 
     return interval;
   }
+
 #endif // LIN_ADVANCE
 
 // Check if the given block is busy or not - Must not be called from ISR contexts
@@ -2093,7 +2080,7 @@ void Stepper::init() {
       digipot_motor = 255 * (motor_current[i] / 2.5);
       dac084s085::setValue(i, digipot_motor);
     }
-  #endif//MB(ALLIGATOR)
+  #endif
 
   // Init Microstepping Pins
   #if HAS_MICROSTEPS
@@ -2287,7 +2274,7 @@ void Stepper::init() {
 
   #if DISABLED(I2S_STEPPER_STREAM)
     HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
-    ENABLE_STEPPER_DRIVER_INTERRUPT();
+    wake_up();
     sei();
   #endif
 
@@ -2341,19 +2328,43 @@ int32_t Stepper::position(const AxisEnum axis) {
   #ifdef __AVR__
     // Protect the access to the position. Only required for AVR, as
     //  any 32bit CPU offers atomic access to 32bit variables
-    const bool was_enabled = STEPPER_ISR_ENABLED();
-    if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+    const bool was_enabled = suspend();
   #endif
 
   const int32_t v = count_position[axis];
 
   #ifdef __AVR__
     // Reenable Stepper ISR
-    if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+    if (was_enabled) wake_up();
   #endif
   return v;
 }
 
+// Set the current position in steps
+void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
+  planner.synchronize();
+  const bool was_enabled = suspend();
+  _set_position(a, b, c, e);
+  if (was_enabled) wake_up();
+}
+
+void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
+  planner.synchronize();
+
+  #ifdef __AVR__
+    // Protect the access to the position. Only required for AVR, as
+    //  any 32bit CPU offers atomic access to 32bit variables
+    const bool was_enabled = suspend();
+  #endif
+
+  count_position[a] = v;
+
+  #ifdef __AVR__
+    // Reenable Stepper ISR
+    if (was_enabled) wake_up();
+  #endif
+}
+
 // Signal endstops were triggered - This function can be called from
 // an ISR context  (Temperature, Stepper or limits ISR), so we must
 // be very careful here. If the interrupt being preempted was the
@@ -2362,8 +2373,7 @@ int32_t Stepper::position(const AxisEnum axis) {
 // is properly canceled
 void Stepper::endstop_triggered(const AxisEnum axis) {
 
-  const bool was_enabled = STEPPER_ISR_ENABLED();
-  if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+  const bool was_enabled = suspend();
   endstops_trigsteps[axis] = (
     #if IS_CORE
       (axis == CORE_AXIS_2
@@ -2378,22 +2388,21 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
   // Discard the rest of the move if there is a current block
   quick_stop();
 
-  if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+  if (was_enabled) wake_up();
 }
 
 int32_t Stepper::triggered_position(const AxisEnum axis) {
   #ifdef __AVR__
     // Protect the access to the position. Only required for AVR, as
     //  any 32bit CPU offers atomic access to 32bit variables
-    const bool was_enabled = STEPPER_ISR_ENABLED();
-    if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+    const bool was_enabled = suspend();
   #endif
 
   const int32_t v = endstops_trigsteps[axis];
 
   #ifdef __AVR__
     // Reenable Stepper ISR
-    if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+    if (was_enabled) wake_up();
   #endif
 
   return v;
@@ -2403,14 +2412,13 @@ void Stepper::report_positions() {
 
   #ifdef __AVR__
     // Protect the access to the position.
-    const bool was_enabled = STEPPER_ISR_ENABLED();
-    if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
+    const bool was_enabled = suspend();
   #endif
 
   const xyz_long_t pos = count_position;
 
   #ifdef __AVR__
-    if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+    if (was_enabled) wake_up();
   #endif
 
   #if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
@@ -2571,16 +2579,21 @@ void Stepper::report_positions() {
           Z_STEP_WRITE(INVERT_Z_STEP_PIN);
 
           // Restore direction bits
+          DIR_WAIT_BEFORE();
+
           X_DIR_WRITE(old_dir.x);
           Y_DIR_WRITE(old_dir.y);
           Z_DIR_WRITE(old_dir.z);
 
+          DIR_WAIT_AFTER();
+
         #endif
 
       } break;
 
       default: break;
     }
+
     sei();
   }
 
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 6b8d0f362890..ed07bfd5df32 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -321,13 +321,13 @@ class Stepper {
       static bool bezier_2nd_half; // If Bézier curve has been initialized or not
     #endif
 
-    static uint32_t nextMainISR;   // time remaining for the next Step ISR
     #if ENABLED(LIN_ADVANCE)
+      static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
       static uint32_t nextAdvanceISR, LA_isr_rate;
       static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
       static int8_t LA_steps;
       static bool LA_use_advance_lead;
-    #endif // LIN_ADVANCE
+    #endif
 
     static int32_t ticks_nominal;
     #if DISABLED(S_CURVE_ACCELERATION)
@@ -351,28 +351,36 @@ class Stepper {
 
   public:
 
-    //
-    // Constructor / initializer
-    //
-    Stepper() {};
-
     // Initialize stepper hardware
     static void init();
 
-    // Interrupt Service Routines
+    // Interrupt Service Routine and phases
+
+    // The stepper subsystem goes to sleep when it runs out of things to execute.
+    // Call this to notify the subsystem that it is time to go to work.
+    static inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); }
+
+    static inline bool is_awake() { return STEPPER_ISR_ENABLED(); }
+
+    static inline bool suspend() {
+      const bool awake = is_awake();
+      if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT();
+      return awake;
+    }
 
     // The ISR scheduler
     static void isr();
 
-    // The stepper pulse phase ISR
-    static void stepper_pulse_phase_isr();
+    // The stepper pulse ISR phase
+    static void pulse_phase_isr();
 
-    // The stepper block processing phase ISR
-    static uint32_t stepper_block_phase_isr();
+    // The stepper block processing ISR phase
+    static uint32_t block_phase_isr();
 
     #if ENABLED(LIN_ADVANCE)
-      // The Linear advance stepper ISR
+      // The Linear advance ISR phase
       static uint32_t advance_isr();
+      FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
     #endif
 
     // Check if the given block is busy or not - Must not be called from ISR contexts
@@ -381,13 +389,14 @@ class Stepper {
     // Get the position of a stepper, in steps
     static int32_t position(const AxisEnum axis);
 
+    // Set the current position in steps
+    static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
+    static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
+    static void set_axis_position(const AxisEnum a, const int32_t &v);
+
     // Report the positions of the steppers, in steps
     static void report_positions();
 
-    // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
-    // to notify the subsystem that it is time to go to work.
-    static void wake_up();
-
     // Quickly stop all steppers
     FORCE_INLINE static void quick_stop() { abort_current_block = true; }
 
@@ -453,34 +462,6 @@ class Stepper {
       static void refresh_motor_power();
     #endif
 
-    // Set the current position in steps
-    static inline void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
-      planner.synchronize();
-      const bool was_enabled = STEPPER_ISR_ENABLED();
-      if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
-      _set_position(a, b, c, e);
-      if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
-    }
-    static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); }
-
-    static inline void set_axis_position(const AxisEnum a, const int32_t &v) {
-      planner.synchronize();
-
-      #ifdef __AVR__
-        // Protect the access to the position. Only required for AVR, as
-        //  any 32bit CPU offers atomic access to 32bit variables
-        const bool was_enabled = STEPPER_ISR_ENABLED();
-        if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
-      #endif
-
-      count_position[a] = v;
-
-      #ifdef __AVR__
-        // Reenable Stepper ISR
-        if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
-      #endif
-    }
-
     // Set direction bits for all steppers
     static void set_directions();
 
@@ -490,11 +471,11 @@ class Stepper {
     static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
     FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); }
 
-    FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
+    FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) {
       uint32_t timer;
 
       // Scale the frequency, as requested by the caller
-      step_rate <<= scale;
+      step_rate <<= oversampling_factor;
 
       uint8_t multistep = 1;
       #if DISABLED(DISABLE_MULTI_STEPPING)
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
index f07f943213c2..cfb799001072 100644
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@@ -65,15 +65,12 @@
   #include "../libs/private_spi.h"
 #endif
 
-#if EITHER(BABYSTEPPING, PID_EXTRUSION_SCALING)
+#if ENABLED(PID_EXTRUSION_SCALING)
   #include "stepper.h"
 #endif
 
 #if ENABLED(BABYSTEPPING)
   #include "../feature/babystep.h"
-  #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
-    #include "../gcode/gcode.h"
-  #endif
 #endif
 
 #include "printcounter.h"

From 63dd0f249d3a82f8f253a1bd0f7c2edb7d4447e4 Mon Sep 17 00:00:00 2001
From: George Fu <nailao_5918@163.com>
Date: Fri, 14 Feb 2020 21:18:57 +0800
Subject: [PATCH 06/11] Fysetc S6 pins / LCD updates (#16830)

---
 Marlin/Configuration_adv.h                         |  4 +++-
 .../extensible_ui/lib/ftdi_eve_touch_ui/compat.h   |  4 ++++
 .../lib/ftdi_eve_touch_ui/pin_mappings.h           |  9 +++++++++
 Marlin/src/pins/stm32/pins_FYSETC_S6.h             | 14 ++++++++++----
 4 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 2e0a5b5c50fc..cb2bdc08b4c5 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1333,9 +1333,11 @@
   //#define AO_EXP1_PINMAP    // AlephObjects CLCD UI EXP1 mapping
   //#define AO_EXP2_PINMAP    // AlephObjects CLCD UI EXP2 mapping
   //#define CR10_TFT_PINMAP   // Rudolph Riedel's CR10 pin mapping
+  //#define S6_TFT_PINMAP     // FYSETC S6 pin mapping
+
   //#define OTHER_PIN_LAYOUT  // Define pins manually below
   #if ENABLED(OTHER_PIN_LAYOUT)
-    // The pins for CS and MOD_RESET (PD) must be chosen.
+    // Pins for CS and MOD_RESET (PD) must be chosen
     #define CLCD_MOD_RESET  9
     #define CLCD_SPI_CS    10
 
diff --git a/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/compat.h b/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/compat.h
index 90fd615a5d73..c3e8052a0e51 100644
--- a/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/compat.h
+++ b/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/compat.h
@@ -37,6 +37,10 @@
 #ifdef __MARLIN_FIRMWARE__
   // __MARLIN_FIRMWARE__ exists when compiled within Marlin.
   #include "pin_mappings.h"
+  #undef max
+  #define max(a,b) ((a)>(b)?(a):(b))
+  #undef min
+  #define min(a,b) ((a)<(b)?(a):(b))
 #else
   namespace UI {
     static inline uint32_t safe_millis() {return millis();};
diff --git a/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/pin_mappings.h b/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/pin_mappings.h
index d474644b8c75..548c6c7439d4 100644
--- a/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/pin_mappings.h
+++ b/Marlin/src/lcd/extensible_ui/lib/ftdi_eve_touch_ui/pin_mappings.h
@@ -27,6 +27,15 @@
  * without adding new pin definitions to the board.
  */
 
+#ifdef S6_TFT_PINMAP
+  #ifndef __MARLIN_FIRMWARE__
+    #error "This pin mapping requires Marlin."
+  #endif
+
+  #define CLCD_SPI_CS         PC7
+  #define CLCD_MOD_RESET      PC6
+#endif
+
 #ifdef CR10_TFT_PINMAP
   #ifndef __MARLIN_FIRMWARE__
     #error "This pin mapping requires Marlin."
diff --git a/Marlin/src/pins/stm32/pins_FYSETC_S6.h b/Marlin/src/pins/stm32/pins_FYSETC_S6.h
index 4b85e6097cd9..16f176a376f7 100644
--- a/Marlin/src/pins/stm32/pins_FYSETC_S6.h
+++ b/Marlin/src/pins/stm32/pins_FYSETC_S6.h
@@ -48,6 +48,11 @@
   #define E2END 0xFFF // 4KB
 #endif
 
+//
+// Servos
+//
+#define SERVO0_PIN         PA3
+
 //
 // Limit Switches
 //
@@ -59,10 +64,11 @@
 #define Z_MAX_PIN          PA3
 
 //
-// Servos
-// share with Z_MAX_PIN
+// Filament Sensor
 //
-#define SERVO0_PIN         PA3
+#ifndef FIL_RUNOUT_PIN
+  #define FIL_RUNOUT_PIN   PA1
+#endif
 
 //
 // Steppers
@@ -160,6 +166,7 @@
 //#define KILL_PIN           PC5
 
 #define SDSS               PA4
+#define SD_DETECT_PIN  	   PB10
 
 //
 // LCD / Controller
@@ -189,7 +196,6 @@
 
     #define BTN_EN1        PC6
     #define BTN_EN2        PC7
-    #define SD_DETECT_PIN  PB10
 
     #define LCD_SDSS       PA4
 

From 150237f7125c20aba6e81f93d04e48d166abe8a6 Mon Sep 17 00:00:00 2001
From: thinkyhead <thinkyhead@users.noreply.github.com>
Date: Sat, 15 Feb 2020 00:03:59 +0000
Subject: [PATCH 07/11] [cron] Bump distribution date (2020-02-15)

---
 Marlin/src/inc/Version.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h
index d1938116fd10..41dd9ffb8ec8 100644
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2020-02-14"
+  #define STRING_DISTRIBUTION_DATE "2020-02-15"
 #endif
 
 /**

From 1087e318e517571e166241222eff6ae7074bb49d Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 15 Feb 2020 01:45:24 -0600
Subject: [PATCH 08/11] Fix a BORG compile warning

---
 Marlin/src/pins/stm32/pins_THE_BORG.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Marlin/src/pins/stm32/pins_THE_BORG.h b/Marlin/src/pins/stm32/pins_THE_BORG.h
index 08da40029c5a..bfc9507c451e 100644
--- a/Marlin/src/pins/stm32/pins_THE_BORG.h
+++ b/Marlin/src/pins/stm32/pins_THE_BORG.h
@@ -30,7 +30,9 @@
 #define BOARD_INFO_NAME      "The-Borge"
 #define DEFAULT_MACHINE_NAME BOARD_INFO_NAME
 
-#define E2END 0xFFF   // EEPROM end address
+#ifndef E2END
+  #define E2END 0xFFF   // EEPROM end address
+#endif
 
 // Ignore temp readings during development.
 //#define BOGUS_TEMPERATURE_GRACE_PERIOD 2000

From 71ec89a112b941818beed6ee54ac5cca444eff61 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 15 Feb 2020 01:23:36 -0600
Subject: [PATCH 09/11] Fix mftest -b and -u. Add --help.

---
 buildroot/share/git/mftest | 46 ++++++++++++++++++++++++--------------
 1 file changed, 29 insertions(+), 17 deletions(-)

diff --git a/buildroot/share/git/mftest b/buildroot/share/git/mftest
index 6db441478675..f647b8a2a6c8 100755
--- a/buildroot/share/git/mftest
+++ b/buildroot/share/git/mftest
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
 #
 #  mftest                             Select a test to apply and build
-#  mftest -b                          Build the auto-detected environment
-#  mftest -u                          Upload the auto-detected environment
+#  mftest -b [#]                      Build the auto-detected environment
+#  mftest -u [#]                      Upload the auto-detected environment
 #  mftest [name] [index] [-y]         Set config options and optionally build a test
 #
 
@@ -38,15 +38,27 @@ case $TESTENV in
     m256) TESTENV='megaatmega2560' ;;
     mega) TESTENV='megaatmega2560' ;;
      stm) TESTENV='STM32F103RE' ;;
-     f1)  TESTENV='STM32F103RE' ;;
-     f4)  TESTENV='STM32F4' ;;
-     f7)  TESTENV='STM32F7' ;;
-     s6)  TESTENV='FYSETC_S6' ;;
+      f1) TESTENV='STM32F103RE' ;;
+      f4) TESTENV='STM32F4' ;;
+      f7) TESTENV='STM32F7' ;;
+      s6) TESTENV='FYSETC_S6' ;;
   teensy) TESTENV='teensy31' ;;
      t31) TESTENV='teensy31' ;;
      t32) TESTENV='teensy31' ;;
      t35) TESTENV='teensy35' ;;
      t36) TESTENV='teensy35' ;;
+
+-h|--help)  echo -e "$(basename $0) : Marlin Firmware test, build, and upload\n"
+            echo "Usage: $(basename $0) ................. Select env and test to apply / run"
+            echo "       $(basename $0) [-y] env ........ Select a test for env to apply / run"
+            echo "       $(basename $0) [-y] env test ... Apply / run the specified env test"
+            echo "       $(basename $0) -b [variant] .... Auto-build the specified variant"
+            echo "       $(basename $0) -u [variant] .... Auto-build and upload the specified variant"
+            echo
+            echo "env shortcuts: tree due esp lin lpc|lpc8 lpc9 m128 m256|mega stm|f1 f4 f7 s6 teensy|t31|t32 t35|t36"
+            exit
+            ;;
+
           # Build with the last-built env
       -r) [[ -f "$STATE_FILE" ]] || { echo "No previous (-r) build state found." ; exit 1 ; }
           read TESTENV <"$STATE_FILE"
@@ -54,26 +66,26 @@ case $TESTENV in
           exit
           ;;
 
-   -[bu]) MB=$( grep "define MOTHERBOARD" Marlin/Configuration.h | awk '{ print $3 }' | $SED 's/BOARD_//' )
-          [[ -z $MB ]] && { echo "Error - Unable to read MOTHERBOARD setting." ; exit 1 ; }
-          BLINE=$( grep "define BOARD_$MB" Marlin/src/core/boards.h )
+   -[bu]) MB=$( grep -E "^\s*#define MOTHERBOARD" Marlin/Configuration.h | awk '{ print $3 }' | $SED 's/BOARD_//' )
+          [[ -z $MB ]] && { echo "Error - Can't read MOTHERBOARD setting." ; exit 1 ; }
+          BLINE=$( grep -E "define\s+BOARD_$MB\b" Marlin/src/core/boards.h )
           BNUM=$( $SED -E 's/^.+BOARD_[^ ]+ +([0-9]+).+$/\1/' <<<"$BLINE" )
           BDESC=$( $SED -E 's/^.+\/\/ *(.+)$/\1/' <<<"$BLINE" )
-          [[ -z $BNUM ]] && { echo "Error - Unable to $MB in boards list." ; exit 1 ; }
-          readarray -t ENVS <<< $( grep -A1 "MB($MB)" Marlin/src/pins/pins.h | $SED -n '2 p' | grep -oE 'env:[^ ]+' | $SED -E 's/env://' )
-          [[ -z $ENVS ]] && { echo "Error - Unable to find target(s) for $MB ($BNUM)." ; exit 1 ; }
+          [[ -z $BNUM ]] && { echo "Error - Can't find $MB in boards list." ; exit 1 ; }
+          readarray -t ENVS <<< $( grep -EA1 "MB\(.*\b$MB\b.*\)" Marlin/src/pins/pins.h | $SED -n '2 p' | grep -oE 'env:[^ ]+' | $SED -E 's/env://' )
+          [[ -z $ENVS ]] && { echo "Error - Can't find target(s) for $MB ($BNUM)." ; exit 1 ; }
           ECOUNT=${#ENVS[*]}
 
           if [[ $ECOUNT == 1 ]]; then
             TARGET=$ENVS
           else
-            #
-            # List env names and numbers. Get selection.
-            #
             if [[ $CHOICE == 0 ]]; then
+              #
+              # List env names and numbers. Get selection.
+              #
               echo "Available targets for \"$BDESC\" | $MB ($BNUM):"
 
-              IND=0 ; for ENV in "${ENVS[@]}"; do echo " $IND) $ENV" ; done
+              IND=0 ; for ENV in "${ENVS[@]}"; do let IND++ ; echo " $IND) $ENV" ; done
 
               if [[ $ECOUNT > 1 ]]; then
                 for (( ; ; ))
@@ -87,7 +99,7 @@ case $TESTENV in
               fi
             else
               echo "Detected \"$BDESC\" | $MB ($BNUM)."
-              [[ $CHOICE > $ECOUNT ]] && { echo "Environment selection is out of range." ; exit 1 ; }
+              [[ $CHOICE > $ECOUNT ]] && { echo "Environment selection out of range." ; exit 1 ; }
             fi
             TARGET="${ENVS[$CHOICE-1]}"
             echo "Selected $TARGET"

From efdaf940a557e38a0446421309c862c8d7fccd3e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 15 Feb 2020 02:35:36 -0600
Subject: [PATCH 10/11] Fix byte-to-percent display

Fixes #16866
---
 Marlin/src/lcd/menu/menu.h | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/Marlin/src/lcd/menu/menu.h b/Marlin/src/lcd/menu/menu.h
index 4020385a1508..de531e5a324e 100644
--- a/Marlin/src/lcd/menu/menu.h
+++ b/Marlin/src/lcd/menu/menu.h
@@ -234,10 +234,10 @@ template<typename NAME>
 class TMenuEditItem : MenuEditItemBase {
   private:
     typedef typename NAME::type_t type_t;
-    static inline float unscale(const float value)    { return value * (1.0f / NAME::scale);  }
-    static inline float scale(const float value)      { return value * NAME::scale;           }
-    static void load(void *ptr, const int32_t value)  { *((type_t*)ptr) = unscale(value);     }
+    static inline float scale(const float value)      { return NAME::scale(value);            }
+    static inline float unscale(const float value)    { return NAME::unscale(value);          }
     static const char* to_string(const int32_t value) { return NAME::strfunc(unscale(value)); }
+    static void load(void *ptr, const int32_t value)  { *((type_t*)ptr) = unscale(value);     }
   public:
     FORCE_INLINE static void draw(const bool sel, const uint8_t row, PGM_P const pstr, type_t * const data, ...) {
       MenuEditItemBase::draw(sel, row, pstr, NAME::strfunc(*(data)));
@@ -266,16 +266,17 @@ class TMenuEditItem : MenuEditItemBase {
 // Provide a set of Edit Item Types which encompass a primitive
 // type, a string function, and a scale factor for edit and display.
 // These items call the Edit Item draw method passing the prepared string.
-#define DEFINE_MENU_EDIT_ITEM_TYPE(TYPE, NAME, STRFUNC, SCALE) \
-  struct MenuEditItemInfo_##NAME { \
-    typedef TYPE type_t; \
-    static constexpr float scale = SCALE; \
+#define DEFINE_MENU_EDIT_ITEM_TYPE(TYPE, NAME, STRFUNC, SCALE, V...)                      \
+  struct MenuEditItemInfo_##NAME {                                                        \
+    typedef TYPE type_t;                                                                  \
+    static inline float scale(const float value)   { return value * (SCALE) + (V+0); }    \
+    static inline float unscale(const float value) { return value / (SCALE) + (V+0); }    \
     static inline const char* strfunc(const float value) { return STRFUNC((TYPE)value); } \
-  }; \
+  };                                                                                      \
   typedef TMenuEditItem<MenuEditItemInfo_##NAME> MenuItem_##NAME
 
 //                         TYPE      NAME         STRFUNC       SCALE
-DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  percent,     ui8tostr4pct, 100.0/255);   // 100%       right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  percent,     ui8tostr4pct, 100.0/255, 0.5);  // 100%   right-justified
 DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int3,        i16tostr3,       1     );   // 123, -12   right-justified
 DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int4,        i16tostr4sign,   1     );   // 1234, -123 right-justified
 DEFINE_MENU_EDIT_ITEM_TYPE(int8_t,   int8,        i8tostr3,        1     );   // 123, -12   right-justified

From 5584da388c4a425207dd8460bf66538b29954bc2 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 15 Feb 2020 02:44:34 -0600
Subject: [PATCH 11/11] Conceal float rounding errors on display

Fix #16866
---
 Marlin/src/lcd/menu/menu.h | 52 +++++++++++++++++++-------------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/Marlin/src/lcd/menu/menu.h b/Marlin/src/lcd/menu/menu.h
index de531e5a324e..5299fefde2b7 100644
--- a/Marlin/src/lcd/menu/menu.h
+++ b/Marlin/src/lcd/menu/menu.h
@@ -266,35 +266,35 @@ class TMenuEditItem : MenuEditItemBase {
 // Provide a set of Edit Item Types which encompass a primitive
 // type, a string function, and a scale factor for edit and display.
 // These items call the Edit Item draw method passing the prepared string.
-#define DEFINE_MENU_EDIT_ITEM_TYPE(TYPE, NAME, STRFUNC, SCALE, V...)                      \
-  struct MenuEditItemInfo_##NAME {                                                        \
-    typedef TYPE type_t;                                                                  \
-    static inline float scale(const float value)   { return value * (SCALE) + (V+0); }    \
-    static inline float unscale(const float value) { return value / (SCALE) + (V+0); }    \
-    static inline const char* strfunc(const float value) { return STRFUNC((TYPE)value); } \
-  };                                                                                      \
+#define DEFINE_MENU_EDIT_ITEM_TYPE(TYPE, NAME, FIX, STRFUNC, SCALE, V...) \
+  struct MenuEditItemInfo_##NAME { \
+    typedef TYPE type_t; \
+    static inline float scale(const float value)   { return value * (SCALE) + (V+0); } \
+    static inline float unscale(const float value) { return value / (SCALE) + (V+0); } \
+    static inline const char* strfunc(const float value) { return STRFUNC((TYPE)(FIX ? FIXFLOAT(value) : value)); } \
+  }; \
   typedef TMenuEditItem<MenuEditItemInfo_##NAME> MenuItem_##NAME
 
 //                         TYPE      NAME         STRFUNC       SCALE
-DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  percent,     ui8tostr4pct, 100.0/255, 0.5);  // 100%   right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int3,        i16tostr3,       1     );   // 123, -12   right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int4,        i16tostr4sign,   1     );   // 1234, -123 right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(int8_t,   int8,        i8tostr3,        1     );   // 123, -12   right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  uint8,       ui8tostr3,       1     );   // 123        right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_3,    ui16tostr3,      1     );   // 123        right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_4,    ui16tostr4,      0.1   );   // 1234       right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_5,    ui16tostr5,      0.01  );   // 12345      right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float3,      ftostr3,         1     );   // 123        right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float52,     ftostr42_52,   100     );   // _2.34, 12.34, -2.34 or 123.45, -23.45
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float43,     ftostr43sign, 1000     );   // 1.234
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float5,      ftostr5rj,       1     );   // 12345      right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float5_25,   ftostr5rj,       0.04f );   // 12345      right-justified (25 increment)
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float51,     ftostr51rj,     10     );   // 1234.5     right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float41sign, ftostr41sign,   10     );   // +123.4
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float51sign, ftostr51sign,   10     );   // +1234.5
-DEFINE_MENU_EDIT_ITEM_TYPE(float,    float52sign, ftostr52sign,  100     );   // +123.45
-DEFINE_MENU_EDIT_ITEM_TYPE(uint32_t, long5,       ftostr5rj,       0.01f );   // 12345      right-justified
-DEFINE_MENU_EDIT_ITEM_TYPE(uint32_t, long5_25,    ftostr5rj,       0.04f );   // 12345      right-justified (25 increment)
+DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  percent,     0, ui8tostr4pct, 100.0/255, 0.5);  // 100%   right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int3,        0, i16tostr3,       1     );   // 123, -12   right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(int16_t,  int4,        0, i16tostr4sign,   1     );   // 1234, -123 right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(int8_t,   int8,        0, i8tostr3,        1     );   // 123, -12   right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint8_t,  uint8,       0, ui8tostr3,       1     );   // 123        right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_3,    0, ui16tostr3,      1     );   // 123        right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_4,    0, ui16tostr4,      0.1   );   // 1234       right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint16_t, uint16_5,    0, ui16tostr5,      0.01  );   // 12345      right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float3,      1, ftostr3,         1     );   // 123        right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float52,     1, ftostr42_52,   100     );   // _2.34, 12.34, -2.34 or 123.45, -23.45
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float43,     1, ftostr43sign, 1000     );   // 1.234
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float5,      1, ftostr5rj,       1     );   // 12345      right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float5_25,   1, ftostr5rj,       0.04f );   // 12345      right-justified (25 increment)
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float51,     1, ftostr51rj,     10     );   // 1234.5     right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float41sign, 1, ftostr41sign,   10     );   // +123.4
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float51sign, 1, ftostr51sign,   10     );   // +1234.5
+DEFINE_MENU_EDIT_ITEM_TYPE(float,    float52sign, 1, ftostr52sign,  100     );   // +123.45
+DEFINE_MENU_EDIT_ITEM_TYPE(uint32_t, long5,       0, ftostr5rj,       0.01f );   // 12345      right-justified
+DEFINE_MENU_EDIT_ITEM_TYPE(uint32_t, long5_25,    0, ftostr5rj,       0.04f );   // 12345      right-justified (25 increment)
 
 class MenuItem_bool : public MenuEditItemBase {
   public: