♻️ Refactor HAL as singleton (#23357)

Marlin/src/HAL/AVR/HAL.cpp

@@ -36,7 +36,7 @@
 // ------------------------
 
 // Don't initialize/override variable (which would happen in .init4)
-uint8_t reset_reason __attribute__((section(".noinit")));
+uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit")));
 
 // ------------------------
 // Public functions
@@ -45,22 +45,22 @@ uint8_t reset_reason __attribute__((section(".noinit")));
 __attribute__((naked))             // Don't output function pro- and epilogue
 __attribute__((used))              // Output the function, even if "not used"
 __attribute__((section(".init3"))) // Put in an early user definable section
-void HAL_save_reset_reason() {
+void save_reset_reason() {
   #if ENABLED(OPTIBOOT_RESET_REASON)
     __asm__ __volatile__(
       A("STS %0, r2")
-      : "=m"(reset_reason)
+      : "=m"(hal.reset_reason)
     );
   #else
-    reset_reason = MCUSR;
+    hal.reset_reason = MCUSR;
   #endif
 
   // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop
-  MCUSR = 0;
+  hal.clear_reset_source();
   wdt_disable();
 }
 
-void HAL_init() {
+void MarlinHAL::init() {
   // Init Servo Pins
   #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW)
   #if HAS_SERVO_0
@@ -79,7 +79,7 @@ void HAL_init() {
   init_pwm_timers();   // Init user timers to default frequency - 1000HZ
 }
 
-void HAL_reboot() {
+void MarlinHAL::reboot() {
   #if ENABLED(USE_WATCHDOG)
     while (1) { /* run out the watchdog */ }
   #else
@@ -95,20 +95,20 @@ void HAL_reboot() {
 
 #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;
+  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
 

Marlin/src/HAL/AVR/HAL.h

@@ -74,9 +74,9 @@
   #define CRITICAL_SECTION_START()  unsigned char _sreg = SREG; cli()
   #define CRITICAL_SECTION_END()    SREG = _sreg
 #endif
-#define ISRS_ENABLED() TEST(SREG, SREG_I)
-#define ENABLE_ISRS()  sei()
-#define DISABLE_ISRS() cli()
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
 
 // ------------------------
 // Types
@@ -84,16 +84,15 @@
 
 typedef int8_t pin_t;
 
-#define SHARED_SERVOS HAS_SERVOS
-#define HAL_SERVO_LIB Servo
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
-// Public Variables
+// Serial ports
 // ------------------------
 
-extern uint8_t reset_reason;
-
-// Serial ports
 #ifdef USBCON
   #include "../../core/serial_hook.h"
   typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1;
@@ -142,20 +141,31 @@ extern uint8_t reset_reason;
   #endif
 #endif
 
-// ------------------------
-// Public functions
-// ------------------------
+//
+// ADC
+//
+#define HAL_ADC_VREF        5.0
+#define HAL_ADC_RESOLUTION 10
 
-void HAL_init();
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-//void cli();
+#define HAL_SENSITIVE_PINS 0, 1,
 
-//void _delay_ms(const int delay);
+#ifdef __AVR_AT90USB1286__
+  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
+#endif
 
-inline void HAL_clear_reset_source() { }
-inline uint8_t HAL_get_reset_source() { return reset_reason; }
+// AVR compatibility
+#define strtof strtod
 
-void HAL_reboot();
+// ------------------------
+// Class Utilities
+// ------------------------
 
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
@@ -166,70 +176,96 @@ extern "C" int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#ifdef DIDR2
-  #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0)
-#else
-  #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind);
-#endif
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-inline void HAL_adc_init() {
-  ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
-  DIDR0 = 0;
-  #ifdef DIDR2
-    DIDR2 = 0;
-  #endif
-}
+class MarlinHAL {
+public:
 
-#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
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ADC_VREF        5.0
-#define HAL_ADC_RESOLUTION 10
-#define HAL_READ_ADC()  ADC
-#define HAL_ADC_READY() !TEST(ADCSRA, ADSC)
+  static void init();          // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Interrupts
+  static bool isr_state() { return TEST(SREG, SREG_I); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
 
-#define HAL_SENSITIVE_PINS 0, 1,
+  static void delay_ms(const int ms) { _delay_ms(ms); }
 
-#ifdef __AVR_AT90USB1286__
-  #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0)
-#endif
+  // Tasks, called from idle()
+  static void idletask() {}
 
-// AVR compatibility
-#define strtof strtod
+  // Reset
+  static uint8_t reset_reason;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() { MCUSR = 0; }
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
-#define PWM_FREQUENCY 1000     // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency()
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-/**
- *  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, const uint16_t f_desired);
+  //
+  // ADC Methods
+  //
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
+    DIDR0 = 0;
+    #ifdef DIDR2
+      DIDR2 = 0;
+    #endif
+  }
 
-/*
- * init_pwm_timers
- * sets the default frequency for timers 2-5 to 1000HZ
- */
-void init_pwm_timers();
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch) {
+    #ifdef DIDR2
+      if (ch > 7) { SBI(DIDR2, ch & 0x07); return; }
+    #endif
+    SBI(DIDR0, ch);
+  }
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) {
+    #ifdef MUX5
+      ADCSRB = ch > 7 ? _BV(MUX5) : 0;
+    #else
+      ADCSRB = 0;
+    #endif
+    ADMUX = _BV(REFS0) | (ch & 0x07);
+    SBI(ADCSRA, ADSC);
+  }
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return !TEST(ADCSRA, ADSC); }
+
+  // The current value of the ADC register
+  static __typeof__(ADC) adc_value() { return ADC; }
+
+  /**
+   * init_pwm_timers
+   * Set the default frequency for timers 2-5 to 1000HZ
+   */
+  static void init_pwm_timers();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin as close as
+   * possible to the provided desired frequency. Internally calculate
+   * the required waveform generation mode, prescaler, and resolution
+   * values and set timer registers accordingly.
+   * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B)
+   * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings)
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+};

Marlin/src/HAL/AVR/MarlinSerial.cpp

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

Marlin/src/HAL/AVR/MarlinSerial.h

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

Marlin/src/HAL/AVR/fast_pwm.cpp

@@ -107,7 +107,7 @@ const Timer get_pwm_timer(const pin_t pin) {
   return Timer();
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   const Timer timer = get_pwm_timer(pin);
   if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized
 
@@ -176,7 +176,7 @@ void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
     _SET_ICRn(timer, 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*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   // If v is 0 or v_size (max), digitalWrite to LOW or HIGH.
   // Note that digitalWrite also disables PWM output for us (sets COM bit to 0)
   if (v == 0)
@@ -201,7 +201,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
   }
 }
 
-void init_pwm_timers() {
+void MarlinHAL::init_pwm_timers() {
   // Init some timer frequencies to a default 1KHz
   const pin_t pwm_pin[] = {
     #ifdef __AVR_ATmega2560__

Marlin/src/HAL/AVR/math.h

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

Marlin/src/HAL/AVR/timers.h

@@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(T)
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_prologue(T) NOOP
+#define HAL_timer_isr_epilogue(T) NOOP
 
-/* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
 
+/* 18 cycles maximum latency */
 #define HAL_STEP_TIMER_ISR() \
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \
 extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \

Marlin/src/HAL/DUE/HAL.cpp

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

Marlin/src/HAL/DUE/HAL.h

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

Marlin/src/HAL/DUE/MarlinSerial.cpp

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

Marlin/src/HAL/DUE/Tone.cpp

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

Marlin/src/HAL/DUE/timers.h

@@ -125,4 +125,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(T)
+#define HAL_timer_isr_epilogue(T) NOOP

Marlin/src/HAL/ESP32/HAL.cpp

@@ -52,7 +52,7 @@
 // Externs
 // ------------------------
 
-portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 // ------------------------
 // Local defines
@@ -64,7 +64,7 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private Variables
@@ -95,20 +95,22 @@ volatile int numPWMUsed = 0,
 #endif
 
 #if ENABLED(USE_ESP32_EXIO)
+
   HardwareSerial YSerial2(2);
 
   void Write_EXIO(uint8_t IO, uint8_t v) {
-    if (ISRS_ENABLED()) {
-      DISABLE_ISRS();
+    if (hal.isr_state()) {
+      hal.isr_off();
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
-      ENABLE_ISRS();
+      hal.isr_on();
     }
     else
       YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100));
   }
+
 #endif
 
-void HAL_init_board() {
+void MarlinHAL::init_board() {
   #if ENABLED(USE_ESP32_TASK_WDT)
     esp_task_wdt_init(10, true);
   #endif
@@ -154,27 +156,24 @@ void HAL_init_board() {
   #endif
 }
 
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if BOTH(WIFISUPPORT, OTASUPPORT)
     OTA_handle();
   #endif
   TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask());
 }
 
-void HAL_clear_reset_source() { }
-
-uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
+uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
-void HAL_reboot() { ESP.restart(); }
-
-void _delay_ms(int delay_ms) { delay(delay_ms); }
+void MarlinHAL::reboot() { ESP.restart(); }
 
 // return free memory between end of heap (or end bss) and whatever is current
-int freeMemory() { return ESP.getFreeHeap(); }
+int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 
 // ------------------------
 // ADC
 // ------------------------
+
 #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL
 
 adc1_channel_t get_channel(int pin) {
@@ -196,7 +195,7 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) {
   }
 }
 
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
   // Configure ADC
   adc1_config_width(ADC_WIDTH_12Bit);
 
@@ -228,11 +227,11 @@ void HAL_adc_init() {
   }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
-  const adc1_channel_t chan = get_channel(adc_pin);
+void MarlinHAL::adc_start(const pin_t pin) {
+  const adc1_channel_t chan = get_channel(pin);
   uint32_t mv;
   esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
-  HAL_adc_result = mv * 1023.0 / 3300.0;
+  adc_result = mv * 1023.0 / 3300.0;
 
   // Change the attenuation level based on the new reading
   adc_atten_t atten;

Marlin/src/HAL/ESP32/HAL.h

@@ -49,8 +49,6 @@
 // Defines
 // ------------------------
 
-extern portMUX_TYPE spinlock;
-
 #define MYSERIAL1 flushableSerial
 
 #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT)
@@ -65,9 +63,6 @@ extern portMUX_TYPE spinlock;
 
 #define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock)
 #define CRITICAL_SECTION_END()   portEXIT_CRITICAL(&spinlock)
-#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL)
-#define ENABLE_ISRS()  if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock)
-#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock)
 
 // ------------------------
 // Types
@@ -75,14 +70,8 @@ extern portMUX_TYPE spinlock;
 
 typedef int16_t pin_t;
 
-#define HAL_SERVO_LIB Servo
-
-// ------------------------
-// Public Variables
-// ------------------------
-
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+class Servo;
+typedef Servo hal_servo_t;
 
 // ------------------------
 // Public functions
@@ -91,59 +80,18 @@ extern uint16_t HAL_adc_result;
 //
 // Tone
 //
-void toneInit();
 void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0);
 void noTone(const pin_t _pin);
 
-// clear reset reason
-void HAL_clear_reset_source();
-
-// reset reason
-uint8_t HAL_get_reset_source();
-
-void HAL_reboot();
-
-void _delay_ms(int delay);
-
-#pragma GCC diagnostic push
-#if GCC_VERSION <= 50000
-  #pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-int freeMemory();
-
-#pragma GCC diagnostic pop
-
 void analogWrite(pin_t pin, int value);
 
-// ADC
-#define HAL_ANALOG_SELECT(pin)
-
-void HAL_adc_init();
-
-#define HAL_ADC_VREF         3.3
-#define HAL_ADC_RESOLUTION  10
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
-
-void HAL_adc_start_conversion(const uint8_t adc_pin);
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Pin Map
+//
+// Pin Mapping for M42, M43, M226
+//
 #define GET_PIN_MAP_PIN(index) index
 #define GET_PIN_MAP_INDEX(pin) pin
 #define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into idle and setup for HAL
-#define HAL_IDLETASK 1
-#define BOARD_INIT() HAL_init_board()
-void HAL_idletask();
-inline void HAL_init() {}
-void HAL_init_board();
-
 #if ENABLED(USE_ESP32_EXIO)
   void Write_EXIO(uint8_t IO, uint8_t v);
 #endif
@@ -188,3 +136,85 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) {
   }
 
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+void _delay_ms(const int ms);
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+#define HAL_ADC_VREF         3.3
+#define HAL_ADC_RESOLUTION  10
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}  // Called early in setup()
+  static void init_board();     // Called less early in setup()
+  static void reboot();         // Restart the firmware
+
+  // Interrupts
+  static portMUX_TYPE spinlock;
+  static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; }
+  static void isr_on()  { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); }
+  static void isr_off() { portENTER_CRITICAL(&spinlock); }
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory();
+
+  //
+  // ADC Methods
+  //
+
+  static uint16_t adc_result;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) {}
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const pin_t pin);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No inverting the duty cycle in this HAL.
+   * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/ESP32/Tone.cpp

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

Marlin/src/HAL/ESP32/timers.cpp

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

Marlin/src/HAL/ESP32/timers.h

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

Marlin/src/HAL/LINUX/HAL.cpp

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

Marlin/src/HAL/LINUX/HAL.h

@@ -21,25 +21,42 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-
-#define F_CPU 100000000UL
-#define SystemCoreClock F_CPU
 #include <iostream>
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 
-void _printf (const  char *format, ...);
+#include "hardware/Clock.h"
+
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+#include "fastio.h"
+#include "watchdog.h"
+#include "serial.h"
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000UL
+#define SystemCoreClock F_CPU
+
+#define DELAY_CYCLES(x) Clock::delayCycles(x)
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+void _printf(const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -49,36 +66,27 @@ uint8_t _getc();
 #define B01 1
 #define B10 2
 
-#include "hardware/Clock.h"
-
-#include "../shared/Marduino.h"
-#include "../shared/math_32bit.h"
-#include "../shared/HAL_SPI.h"
-#include "fastio.h"
-#include "watchdog.h"
-#include "serial.h"
-
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT usb_serial;
 #define MYSERIAL1 usb_serial
 
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
 //
 // Interrupts
 //
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
 
-inline void HAL_init() {}
+// ADC
+#define HAL_ADC_VREF           5.0
+#define HAL_ADC_RESOLUTION    10
+
+// ------------------------
+// Class Utilities
+// ------------------------
 
-// Utility functions
 #pragma GCC diagnostic push
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic ignored "-Wunused-function"
@@ -88,29 +96,66 @@ int freeMemory();
 
 #pragma GCC diagnostic pop
 
-// ADC
-#define HAL_ADC_VREF           5.0
-#define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Reset the application state and GPIO
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask() {}
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init() {}
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t) {}
 
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch) { active_ch = ch; }
 
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
 
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
+  // The current value of the ADC register
+  static uint16_t adc_value();
 
-void HAL_reboot(); // Reset the application state and GPIO
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to change the resolution or invert the duty cycle.
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
 
-/* ---------------- Delay in cycles */
-FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
-  Clock::delayCycles(x);
-}
+  static void set_pwm_frequency(const pin_t, int) {}
+};

Marlin/src/HAL/LINUX/arduino.cpp

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

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

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

Marlin/src/HAL/LINUX/timers.h

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

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -31,7 +31,7 @@
 
 DefaultSerial1 USBSerial(false, UsbSerial);
 
-uint32_t HAL_adc_reading = 0;
+uint32_t MarlinHAL::adc_result = 0;
 
 // U8glib required functions
 extern "C" {
@@ -41,8 +41,6 @@ extern "C" {
   void u8g_Delay(uint16_t val)       { delay(val); }
 }
 
-//************************//
-
 // return free heap space
 int freeMemory() {
   char stack_end;
@@ -54,33 +52,33 @@ int freeMemory() {
   return result;
 }
 
-// scan command line for code
-//   return index into pin map array if found and the pin is valid.
-//   return dval if not found or not a valid pin.
-int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
-  const uint16_t val = (uint16_t)parser.intval(code, -1), port = val / 100, pin = val % 100;
-  const  int16_t ind = (port < ((NUM_DIGITAL_PINS) >> 5) && pin < 32) ? ((port << 5) | pin) : -2;
-  return ind > -1 ? ind : dval;
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
+
+uint8_t MarlinHAL::get_reset_source() {
+  #if ENABLED(USE_WATCHDOG)
+    if (watchdog_timed_out()) return RST_WATCHDOG;
+  #endif
+  return RST_POWER_ON;
+}
+
+void MarlinHAL::clear_reset_source() {
+  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
 }
 
 void flashFirmware(const int16_t) {
   delay(500);          // Give OS time to disconnect
   USB_Connect(false);  // USB clear connection
   delay(1000);         // Give OS time to notice
-  HAL_reboot();
+  hal.reboot();
 }
 
-void HAL_clear_reset_source(void) {
-  TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag());
-}
-
-uint8_t HAL_get_reset_source(void) {
-  #if ENABLED(USE_WATCHDOG)
-    if (watchdog_timed_out()) return RST_WATCHDOG;
-  #endif
-  return RST_POWER_ON;
+// For M42/M43, scan command line for pin code
+//   return index into pin map array if found and the pin is valid.
+//   return dval if not found or not a valid pin.
+int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) {
+  const uint16_t val = (uint16_t)parser.intval(code, -1), port = val / 100, pin = val % 100;
+  const  int16_t ind = (port < ((NUM_DIGITAL_PINS) >> 5) && pin < 32) ? ((port << 5) | pin) : -2;
+  return ind > -1 ? ind : dval;
 }
 
-void HAL_reboot() { NVIC_SystemReset(); }
-
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.h

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

Marlin/src/HAL/LPC1768/Servo.h

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

Marlin/src/HAL/LPC1768/fast_pwm.cpp

@@ -21,16 +21,16 @@
  */
 #ifdef TARGET_LPC1768
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 #include <pwm.h>
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   if (!LPC176x::pin_is_valid(pin)) return;
   if (LPC176x::pwm_attach_pin(pin))
     LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);  // map 1-254 onto PWM range
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   LPC176x::pwm_set_frequency(pin, f_desired);
 }
 

Marlin/src/HAL/LPC1768/main.cpp

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

Marlin/src/HAL/LPC1768/timers.h

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

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -21,18 +21,10 @@
  */
 #pragma once
 
-#define CPU_32_BIT
-#define HAL_IDLETASK
-void HAL_idletask();
-
-#define F_CPU 100000000
-#define SystemCoreClock F_CPU
 #include <stdint.h>
 #include <stdarg.h>
-
 #undef min
 #undef max
-
 #include <algorithm>
 #include "pinmapping.h"
 
@@ -40,8 +32,6 @@ void _printf (const  char *format, ...);
 void _putc(uint8_t c);
 uint8_t _getc();
 
-//extern "C" volatile uint32_t _millis;
-
 //arduino: Print.h
 #define DEC 10
 #define HEX 16
@@ -58,7 +48,23 @@ uint8_t _getc();
 #include "watchdog.h"
 #include "serial.h"
 
-#define SHARED_SERVOS HAS_SERVOS
+// ------------------------
+// Defines
+// ------------------------
+
+#define CPU_32_BIT
+#define SHARED_SERVOS HAS_SERVOS  // Use shared/servos.cpp
+
+#define F_CPU 100000000
+#define SystemCoreClock F_CPU
+
+#define CPU_ST7920_DELAY_1 600
+#define CPU_ST7920_DELAY_2 750
+#define CPU_ST7920_DELAY_3 750
+
+// ------------------------
+// Serial ports
+// ------------------------
 
 extern MSerialT serial_stream_0;
 extern MSerialT serial_stream_1;
@@ -98,49 +104,19 @@ extern MSerialT serial_stream_3;
   #endif
 #endif
 
-
-#define CPU_ST7920_DELAY_1 600
-#define CPU_ST7920_DELAY_2 750
-#define CPU_ST7920_DELAY_3 750
-
-//
+// ------------------------
 // Interrupts
-//
+// ------------------------
+
 #define CRITICAL_SECTION_START()
 #define CRITICAL_SECTION_END()
-#define ISRS_ENABLED()
-#define ENABLE_ISRS()
-#define DISABLE_ISRS()
-
-inline void HAL_init() {}
-
-// Utility functions
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-int freeMemory();
-#pragma GCC diagnostic pop
 
+// ------------------------
 // ADC
+// ------------------------
+
 #define HAL_ADC_VREF           5.0
 #define HAL_ADC_RESOLUTION    10
-#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch)
-#define HAL_START_ADC(ch)     HAL_adc_start_conversion(ch)
-#define HAL_READ_ADC()        HAL_adc_get_result()
-#define HAL_ADC_READY()       true
-
-void HAL_adc_init();
-void HAL_adc_enable_channel(const uint8_t ch);
-void HAL_adc_start_conversion(const uint8_t ch);
-uint16_t HAL_adc_get_result();
-
-// PWM
-inline void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { analogWrite(pin, v); }
-
-// Reset source
-inline void HAL_clear_reset_source(void) {}
-inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
-
-void HAL_reboot();
 
 /* ---------------- Delay in cycles */
 
@@ -159,29 +135,22 @@ constexpr inline std::size_t strlen_constexpr(const char* str) {
   // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329
   if (str != nullptr) {
     std::size_t i = 0;
-    while (str[i] != '\0') {
-      ++i;
-    }
-
+    while (str[i] != '\0') ++i;
     return i;
   }
-
   return 0;
 }
 
 constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) {
   // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655
-  if (lhs == nullptr || rhs == nullptr) {
+  if (lhs == nullptr || rhs == nullptr)
     return rhs != nullptr ? -1 : 1;
-  }
 
-  for (std::size_t i = 0; i < count; ++i) {
-    if (lhs[i] != rhs[i]) {
+  for (std::size_t i = 0; i < count; ++i)
+    if (lhs[i] != rhs[i])
       return lhs[i] < rhs[i] ? -1 : 1;
-    } else if (lhs[i] == '\0') {
+    else if (lhs[i] == '\0')
       return 0;
-    }
-  }
 
   return 0;
 }
@@ -193,14 +162,11 @@ constexpr inline const char* strstr_constexpr(const char* str, const char* targe
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
-
   return str;
 }
 
@@ -211,12 +177,87 @@ constexpr inline char* strstr_constexpr(char* str, const char* target) {
     do {
       char sc = {};
       do {
-        if ((sc = *str++) == '\0') {
-          return nullptr;
-        }
+        if ((sc = *str++) == '\0') return nullptr;
       } while (sc != c);
     } while (strncmp_constexpr(str, target, len) != 0);
     --str;
   }
   return str;
 }
+
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#pragma GCC diagnostic push
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+int freeMemory();
+
+#pragma GCC diagnostic pop
+
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+class MarlinHAL {
+public:
+
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
+
+  static void init() {}        // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();        // Restart the firmware from 0x0
+
+  // Interrupts
+  static bool isr_state() { return true; }
+  static void isr_on()  {}
+  static void isr_off() {}
+
+  static void delay_ms(const int ms) { _delay_ms(ms); }
+
+  // Tasks, called from idle()
+  static void idletask();
+
+  // Reset
+  static constexpr uint8_t reset_reason = RST_POWER_ON;
+  static uint8_t get_reset_source() { return reset_reason; }
+  static void clear_reset_source() {}
+
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
+
+  //
+  // ADC Methods
+  //
+
+  static uint8_t active_ch;
+
+  // Called by Temperature::init once at startup
+  static void adc_init();
+
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const uint8_t ch);
+
+  // Begin ADC sampling on the given channel
+  static void adc_start(const uint8_t ch);
+
+  // Is the ADC ready for reading?
+  static bool adc_ready();
+
+  // The current value of the ADC register
+  static uint16_t adc_value();
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * No option to invert the duty cycle [default = false]
+   * No option to change the scale of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) {
+    analogWrite(pin, v);
+  }
+
+};

Marlin/src/HAL/NATIVE_SIM/timers.h

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

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -42,10 +42,6 @@
   #endif
 #endif
 
-// ------------------------
-// Local defines
-// ------------------------
-
 #define GET_TEMP_0_ADC()          TERN(HAS_TEMP_ADC_0,        PIN_TO_ADC(TEMP_0_PIN),       -1)
 #define GET_TEMP_1_ADC()          TERN(HAS_TEMP_ADC_1,        PIN_TO_ADC(TEMP_1_PIN),       -1)
 #define GET_TEMP_2_ADC()          TERN(HAS_TEMP_ADC_2,        PIN_TO_ADC(TEMP_2_PIN),       -1)
@@ -61,17 +57,21 @@
 #define GET_BOARD_ADC()           TERN(HAS_TEMP_ADC_BOARD,    PIN_TO_ADC(TEMP_BOARD_PIN),   -1)
 #define GET_FILAMENT_WIDTH_ADC()  TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN),     -1)
 #define GET_BUTTONS_ADC()         TERN(HAS_ADC_BUTTONS,       PIN_TO_ADC(ADC_KEYPAD_PIN),   -1)
+#define GET_JOY_ADC_X()           TERN(HAS_JOY_ADC_X,         PIN_TO_ADC(JOY_X_PIN),        -1)
+#define GET_JOY_ADC_Y()           TERN(HAS_JOY_ADC_Y,         PIN_TO_ADC(JOY_Y_PIN),        -1)
+#define GET_JOY_ADC_Z()           TERN(HAS_JOY_ADC_Z,         PIN_TO_ADC(JOY_Z_PIN),        -1)
 
 #define IS_ADC_REQUIRED(n) ( \
      GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \
   || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \
-  || GET_BED_ADC() == n            \
-  || GET_CHAMBER_ADC() == n        \
-  || GET_PROBE_ADC() == n          \
-  || GET_COOLER_ADC() == n         \
-  || GET_BOARD_ADC() == n          \
+  || GET_BED_ADC() == n \
+  || GET_CHAMBER_ADC() == n \
+  || GET_PROBE_ADC() == n \
+  || GET_COOLER_ADC() == n \
+  || GET_BOARD_ADC() == n \
   || GET_FILAMENT_WIDTH_ADC() == n \
-  || GET_BUTTONS_ADC() == n        \
+  || GET_BUTTONS_ADC() == n \
+  || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \
 )
 
 #if IS_ADC_REQUIRED(0)
@@ -91,6 +91,118 @@
   #define DMA_IS_REQUIRED 1
 #endif
 
+enum ADCIndex {
+  #if GET_TEMP_0_ADC() == 0
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 0
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 0
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 0
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 0
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 0
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 0
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 0
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 0
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 0
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 0
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 0
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 0
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 0
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 0
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 0
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 0
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 0
+    JOY_Z,
+  #endif
+  #if GET_TEMP_0_ADC() == 1
+    TEMP_0,
+  #endif
+  #if GET_TEMP_1_ADC() == 1
+    TEMP_1,
+  #endif
+  #if GET_TEMP_2_ADC() == 1
+    TEMP_2,
+  #endif
+  #if GET_TEMP_3_ADC() == 1
+    TEMP_3,
+  #endif
+  #if GET_TEMP_4_ADC() == 1
+    TEMP_4,
+  #endif
+  #if GET_TEMP_5_ADC() == 1
+    TEMP_5,
+  #endif
+  #if GET_TEMP_6_ADC() == 1
+    TEMP_6,
+  #endif
+  #if GET_TEMP_7_ADC() == 1
+    TEMP_7,
+  #endif
+  #if GET_BED_ADC() == 1
+    TEMP_BED,
+  #endif
+  #if GET_CHAMBER_ADC() == 1
+    TEMP_CHAMBER,
+  #endif
+  #if GET_PROBE_ADC() == 1
+    TEMP_PROBE,
+  #endif
+  #if GET_COOLER_ADC() == 1
+    TEMP_COOLER,
+  #endif
+  #if GET_BOARD_ADC() == 1
+    TEMP_BOARD,
+  #endif
+  #if GET_FILAMENT_WIDTH_ADC() == 1
+    FILWIDTH,
+  #endif
+  #if GET_BUTTONS_ADC() == 1
+    ADC_KEY,
+  #endif
+  #if GET_JOY_ADC_X() == 1
+    JOY_X,
+  #endif
+  #if GET_JOY_ADC_Y() == 1
+    JOY_Y,
+  #endif
+  #if GET_JOY_ADC_Z() == 1
+    JOY_Z,
+  #endif
+  ADC_COUNT
+};
+
 // ------------------------
 // Types
 // ------------------------
@@ -108,12 +220,10 @@
 // Private Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
-
 #if ADC_IS_REQUIRED
 
   // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1
-  const uint8_t adc_pins[] = {
+  static constexpr uint8_t adc_pins[ADC_COUNT] = {
     // ADC0 pins
     #if GET_TEMP_0_ADC() == 0
       TEMP_0_PIN,
@@ -160,6 +270,15 @@ uint16_t HAL_adc_result;
     #if GET_BUTTONS_ADC() == 0
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 0
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 0
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 0
+      JOY_Z_PIN,
+    #endif
     // ADC1 pins
     #if GET_TEMP_0_ADC() == 1
       TEMP_0_PIN,
@@ -206,15 +325,23 @@ uint16_t HAL_adc_result;
     #if GET_BUTTONS_ADC() == 1
       ADC_KEYPAD_PIN,
     #endif
+    #if GET_JOY_ADC_X() == 1
+      JOY_X_PIN,
+    #endif
+    #if GET_JOY_ADC_Y() == 1
+      JOY_Y_PIN,
+    #endif
+    #if GET_JOY_ADC_Z() == 1
+      JOY_Z_PIN,
+    #endif
   };
 
-  uint16_t HAL_adc_results[COUNT(adc_pins)];
+  static uint16_t adc_results[ADC_COUNT];
 
   #if ADC0_IS_REQUIRED
-    Adafruit_ZeroDMA adc0DMAProgram,
-                     adc0DMARead;
+    Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead;
 
-    const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 0
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -260,16 +387,24 @@ uint16_t HAL_adc_result;
       #if GET_BUTTONS_ADC() == 0
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 0
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 0
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 0
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC0_AINCOUNT   COUNT(adc0_dma_regs_list)
   #endif // ADC0_IS_REQUIRED
 
   #if ADC1_IS_REQUIRED
-    Adafruit_ZeroDMA adc1DMAProgram,
-                     adc1DMARead;
+    Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead;
 
-    const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
+    static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = {
       #if GET_TEMP_0_ADC() == 1
         { PIN_TO_INPUTCTRL(TEMP_0_PIN) },
       #endif
@@ -315,6 +450,15 @@ uint16_t HAL_adc_result;
       #if GET_BUTTONS_ADC() == 1
         { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) },
       #endif
+      #if GET_JOY_ADC_X() == 1
+        { PIN_TO_INPUTCTRL(JOY_X_PIN) },
+      #endif
+      #if GET_JOY_ADC_Y() == 1
+        { PIN_TO_INPUTCTRL(JOY_Y_PIN) },
+      #endif
+      #if GET_JOY_ADC_Z() == 1
+        { PIN_TO_INPUTCTRL(JOY_Z_PIN) },
+      #endif
     };
 
     #define ADC1_AINCOUNT   COUNT(adc1_dma_regs_list)
@@ -326,9 +470,10 @@ uint16_t HAL_adc_result;
 // Private functions
 // ------------------------
 
-#if DMA_IS_REQUIRED
+void MarlinHAL::dma_init() {
+
+  #if DMA_IS_REQUIRED
 
-  void dma_init() {
     DmacDescriptor *descriptor;
 
     #if ADC0_IS_REQUIRED
@@ -357,7 +502,7 @@ uint16_t HAL_adc_result;
       if (adc0DMARead.allocate() == DMA_STATUS_OK) {
         adc0DMARead.addDescriptor(
           (void *)&ADC0->RESULT.reg,          // SRC
-          &HAL_adc_results,                   // DEST
+          &adc_results,                       // DEST
           ADC0_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -394,7 +539,7 @@ uint16_t HAL_adc_result;
       if (adc1DMARead.allocate() == DMA_STATUS_OK) {
         adc1DMARead.addDescriptor(
           (void *)&ADC1->RESULT.reg,          // SRC
-          &HAL_adc_results[ADC0_AINCOUNT],    // DEST
+          &adc_results[ADC0_AINCOUNT],        // DEST
           ADC1_AINCOUNT,                      // CNT
           DMA_BEAT_SIZE_HWORD,
           false,                              // SRCINC
@@ -407,16 +552,16 @@ uint16_t HAL_adc_result;
     #endif
 
     DMAC->PRICTRL0.bit.RRLVLEN0 = true;                         // Activate round robin for DMA channels required by ADCs
-  }
 
-#endif // DMA_IS_REQUIRED
+  #endif // DMA_IS_REQUIRED
+}
 
 // ------------------------
 // Public functions
 // ------------------------
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   TERN_(DMA_IS_REQUIRED, dma_init());
   #if ENABLED(SDSUPPORT)
     #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT)
@@ -426,17 +571,9 @@ void HAL_init() {
   #endif
 }
 
-// HAL idle task
-/*
-void HAL_idletask() {
-}
-*/
-
-void HAL_clear_reset_source() { }
-
 #pragma push_macro("WDT")
 #undef WDT    // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   RSTC_RCAUSE_Type resetCause;
 
   resetCause.reg = REG_RSTC_RCAUSE;
@@ -450,7 +587,7 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")
 
-void HAL_reboot() { NVIC_SystemReset(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
 extern "C" {
   void * _sbrk(int incr);
@@ -468,9 +605,11 @@ int freeMemory() {
 // ADC
 // ------------------------
 
-void HAL_adc_init() {
+uint16_t MarlinHAL::adc_result;
+
+void MarlinHAL::adc_init() {
   #if ADC_IS_REQUIRED
-    memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results));                 // Fill result with invalid values
+    memset(adc_results, 0xFF, sizeof(adc_results));                         // Fill result with invalid values
 
     LOOP_L_N(pi, COUNT(adc_pins))
       pinPeripheral(adc_pins[pi], PIO_ANALOG);
@@ -505,17 +644,13 @@ void HAL_adc_init() {
   #endif // ADC_IS_REQUIRED
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
   #if ADC_IS_REQUIRED
-    LOOP_L_N(pi, COUNT(adc_pins)) {
-      if (adc_pin == adc_pins[pi]) {
-        HAL_adc_result = HAL_adc_results[pi];
-        return;
-      }
-    }
+    LOOP_L_N(pi, COUNT(adc_pins))
+      if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; }
   #endif
 
-  HAL_adc_result = 0xFFFF;
+  adc_result = 0xFFFF;
 }
 
 #endif // __SAMD51__

Marlin/src/HAL/SAMD51/HAL.h

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

Marlin/src/HAL/STM32/HAL.cpp

@@ -53,16 +53,18 @@
 // Public Variables
 // ------------------------
 
-uint16_t HAL_adc_result;
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Public functions
 // ------------------------
 
-TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
+#if ENABLED(POSTMORTEM_DEBUGGING)
+  extern void install_min_serial();
+#endif
 
 // HAL initialization task
-void HAL_init() {
+void MarlinHAL::init() {
   // Ensure F_CPU is a constant expression.
   // If the compiler breaks here, it means that delay code that should compute at compile time will not work.
   // So better safe than sorry here.
@@ -103,7 +105,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // Stm32duino currently doesn't have a "loop/idle" method
     CDC_resume_receive();
@@ -111,9 +113,9 @@ void HAL_idletask() {
   #endif
 }
 
-void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
+void MarlinHAL::reboot() { NVIC_SystemReset(); }
 
-uint8_t HAL_get_reset_source() {
+uint8_t MarlinHAL::get_reset_source() {
   return
     #ifdef RCC_FLAG_IWDGRST // Some sources may not exist...
       RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST)  ? RST_WATCHDOG :
@@ -137,24 +139,14 @@ uint8_t HAL_get_reset_source() {
   ;
 }
 
-void HAL_reboot() { NVIC_SystemReset(); }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
 }
 
-// ------------------------
-// ADC
-// ------------------------
-
-// TODO: Make sure this doesn't cause any delay
-void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
 // Reset the system to initiate a firmware flash
-WEAK void flashFirmware(const int16_t) { HAL_reboot(); }
+WEAK void flashFirmware(const int16_t) { hal.reboot(); }
 
 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;

Marlin/src/HAL/STM32/HAL.h

@@ -44,9 +44,9 @@
 #define CPU_ST7920_DELAY_2  40
 #define CPU_ST7920_DELAY_3 340
 
-//
-// Serial Ports
-//
+// ------------------------
+// Serial ports
+// ------------------------
 #ifdef USBCON
   #include <USBSerial.h>
   #include "../../core/serial_hook.h"
@@ -115,17 +115,14 @@
   #define analogInputToDigitalPin(p) (p)
 #endif
 
-#define CRITICAL_SECTION_START()  uint32_t primask = __get_PRIMASK(); __disable_irq()
-#define CRITICAL_SECTION_END()    if (!primask) __enable_irq()
-#define ISRS_ENABLED() (!__get_PRIMASK())
-#define ENABLE_ISRS()  __enable_irq()
-#define DISABLE_ISRS() __disable_irq()
+//
+// Interrupts
+//
+#define CRITICAL_SECTION_START()  const bool irqon = !__get_PRIMASK(); __disable_irq()
+#define CRITICAL_SECTION_END()    if (irqon) __enable_irq()
 #define cli() __disable_irq()
 #define sei() __enable_irq()
 
-// On AVR this is in math.h?
-#define square(x) ((x)*(x))
-
 // ------------------------
 // Types
 // ------------------------
@@ -136,43 +133,61 @@
   typedef int16_t pin_t;
 #endif
 
-#define HAL_SERVO_LIB libServo
+class libServo;
+typedef libServo hal_servo_t;
 #define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos()
 #define RESUME_SERVO_OUTPUT() libServo::resume_all_servos()
 
 // ------------------------
-// Public Variables
+// ADC
 // ------------------------
 
-// result of last ADC conversion
-extern uint16_t HAL_adc_result;
+#ifdef ADC_RESOLUTION
+  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
+#else
+  #define HAL_ADC_RESOLUTION 12
+#endif
 
-// ------------------------
-// Public functions
-// ------------------------
+#define HAL_ADC_VREF         3.3
 
-// Memory related
-#define __bss_end __bss_end__
+//
+// Pin Mapping for M42, M43, M226
+//
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
 
-// Enable hooks into  setup for HAL
-void HAL_init();
-#define HAL_IDLETASK 1
-void HAL_idletask();
+#ifdef STM32F1xx
+  #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE)
+  #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE)
+  #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG
+#endif
 
-// Clear reset reason
-void HAL_clear_reset_source();
+#define PLATFORM_M997_SUPPORT
+void flashFirmware(const int16_t);
 
-// Reset reason
-uint8_t HAL_get_reset_source();
+// Maple Compatibility
+typedef void (*systickCallback_t)(void);
+void systick_attach_callback(systickCallback_t cb);
+void HAL_SYSTICK_Callback();
 
-void HAL_reboot();
+extern volatile uint32_t systick_uptime_millis;
+
+#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+
+// ------------------------
+// Class Utilities
+// ------------------------
 
-void _delay_ms(const int delay);
+// Memory related
+#define __bss_end __bss_end__
 
 extern "C" char* _sbrk(int incr);
 
 #pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
+#if GCC_VERSION <= 50000
+  #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
 
 static inline int freeMemory() {
   volatile char top;
@@ -181,62 +196,71 @@ static inline int freeMemory() {
 
 #pragma GCC diagnostic pop
 
-//
-// ADC
-//
+// ------------------------
+// MarlinHAL Class
+// ------------------------
 
-#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
+class MarlinHAL {
+public:
 
-#ifdef ADC_RESOLUTION
-  #define HAL_ADC_RESOLUTION ADC_RESOLUTION
-#else
-  #define HAL_ADC_RESOLUTION 12
-#endif
+  // Earliest possible init, before setup()
+  MarlinHAL() {}
 
-#define HAL_ADC_VREF         3.3
-#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
-#define HAL_READ_ADC()      HAL_adc_result
-#define HAL_ADC_READY()     true
+  static void init();                 // Called early in setup()
+  static void init_board() {}  // Called less early in setup()
+  static void reboot();               // Restart the firmware from 0x0
 
-inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); }
+  // Interrupts
+  static bool isr_state() { return !__get_PRIMASK(); }
+  static void isr_on()  { sei(); }
+  static void isr_off() { cli(); }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin);
+  static void delay_ms(const int ms) { delay(ms); }
 
-uint16_t HAL_adc_get_result();
+  // Tasks, called from idle()
+  static void idletask();
 
-#define GET_PIN_MAP_PIN(index) index
-#define GET_PIN_MAP_INDEX(pin) pin
-#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
+  // Reset
+  static uint8_t get_reset_source();
+  static void clear_reset_source();
 
-#ifdef STM32F1xx
-  #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE)
-  #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE)
-  #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG
-#endif
+  // Free SRAM
+  static int freeMemory() { return ::freeMemory(); }
 
-#define PLATFORM_M997_SUPPORT
-void flashFirmware(const int16_t);
+  //
+  // ADC Methods
+  //
 
-// Maple Compatibility
-typedef void (*systickCallback_t)(void);
-void systick_attach_callback(systickCallback_t cb);
-void HAL_SYSTICK_Callback();
+  static uint16_t adc_result;
 
-extern volatile uint32_t systick_uptime_millis;
+  // Called by Temperature::init once at startup
+  static void adc_init() {
+    analogReadResolution(HAL_ADC_RESOLUTION);
+  }
 
-#define HAL_CAN_SET_PWM_FREQ   // This HAL supports PWM Frequency adjustment
+  // Called by Temperature::init for each sensor at startup
+  static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); }
 
-/**
- * set_pwm_frequency
- *  Set the frequency of the timer corresponding to the provided pin
- *  All Timer PWM pins run at the same frequency
- */
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+  // Begin ADC sampling on the given channel
+  static void adc_start(const pin_t pin) { adc_result = analogRead(pin); }
 
-/**
- * set_pwm_duty
- *  Set the PWM duty cycle of the provided pin to the provided value
- *  Optionally allows inverting the duty cycle [default = false]
- *  Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
- */
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+  // Is the ADC ready for reading?
+  static bool adc_ready() { return true; }
+
+  // The current value of the ADC register
+  static uint16_t adc_value() { return adc_result; }
+
+  /**
+   * Set the PWM duty cycle for the pin to the given value.
+   * Optionally invert the duty cycle [default = false]
+   * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255]
+   */
+  static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
+
+  /**
+   * Set the frequency of the timer for the given pin.
+   * All Timer PWM pins run at the same frequency.
+   */
+  static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired);
+
+};

Marlin/src/HAL/STM32/HAL_SPI.cpp

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

Marlin/src/HAL/STM32/eeprom_flash.cpp

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

Marlin/src/HAL/STM32/fast_pwm.cpp

@@ -29,7 +29,7 @@
 // Array to support sticky frequency sets per timer
 static uint16_t timer_freq[TIMER_NUM];
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   const uint16_t duty = invert ? v_size - v : v;
   if (PWM_PIN(pin)) {
     const PinName pin_name = digitalPinToPinName(pin);
@@ -61,7 +61,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
   }
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer
   const PinName pin_name = digitalPinToPinName(pin);
   TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance

Marlin/src/HAL/STM32/pinsDebug.h

@@ -115,7 +115,6 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
 #define PRINT_PORT(ANUM) port_print(ANUM)
 #define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
-#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
 
 // x is a variable used to search pin_array
 #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
@@ -123,6 +122,11 @@ const XrefInfo pin_xref[] PROGMEM = {
 #define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin
 
+//
+// Pin Mapping for M43
+//
+#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num
+
 #ifndef M43_NEVER_TOUCH
   #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP)
   #ifdef KILL_PIN

Marlin/src/HAL/STM32/timers.h

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

Marlin/src/HAL/STM32F1/HAL.cpp

@@ -79,7 +79,7 @@
 #define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
 
 // ------------------------
-// Public Variables
+// Serial ports
 // ------------------------
 
 #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE
@@ -112,74 +112,37 @@
   #endif
 #endif
 
-uint16_t HAL_adc_result;
-
 // ------------------------
-// Private Variables
+// ADC
 // ------------------------
-STM32ADC adc(ADC1);
-
-const uint8_t adc_pins[] = {
-  OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
-  OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
-  OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
-  OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
-  OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
-  OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
-  OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
-  OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
-  OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
-  OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
-  OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
-  OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
-  OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
-  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
-  OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
-  OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
-  OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
-  OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
-  OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
-  OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
-};
 
-enum TempPinIndex : char {
-  OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
-  OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
-  OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
-  OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
-  OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
-  OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
-  OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
-  OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
-  OPTITEM(HAS_HEATED_BED, TEMP_BED)
-  OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
-  OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
-  OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
-  OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
-  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
-  OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
-  OPTITEM(HAS_JOY_ADC_X, JOY_X)
-  OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
-  OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
-  OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
-  OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
-  ADC_PIN_COUNT
-};
+// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t)
+
+uint16_t analogRead(const pin_t pin) {
+  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
+  return is_analog ? analogRead(uint8_t(pin)) : 0;
+}
+
+// Wrapper to maple unprotected analogWrite
+void analogWrite(const pin_t pin, int pwm_val8) {
+  if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
+}
 
-uint16_t HAL_adc_results[ADC_PIN_COUNT];
+uint16_t MarlinHAL::adc_result;
 
 // ------------------------
 // Private functions
 // ------------------------
+
 static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
   uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               // only values 0..7 are used
 
-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  SCB->AIRCR;                                                   // read old register configuration
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             // clear bits to change
   reg_value  =  (reg_value                                 |
                 ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
-                (PriorityGroupTmp << 8));                                     /* Insert write key & priority group  */
+                (PriorityGroupTmp << 8));                                     // Insert write key & priority group
   SCB->AIRCR =  reg_value;
 }
 
@@ -187,6 +150,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
 // Public functions
 // ------------------------
 
+void flashFirmware(const int16_t) { hal.reboot(); }
+
 //
 // Leave PA11/PA12 intact if USBSerial is not used
 //
@@ -206,7 +171,11 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) {
 
 TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial());
 
-void HAL_init() {
+// ------------------------
+// MarlinHAL class
+// ------------------------
+
+void MarlinHAL::init() {
   NVIC_SetPriorityGrouping(0x3);
   #if PIN_EXISTS(LED)
     OUT_WRITE(LED_PIN, LOW);
@@ -225,7 +194,7 @@ void HAL_init() {
 }
 
 // HAL idle task
-void HAL_idletask() {
+void MarlinHAL::idletask() {
   #if HAS_SHARED_MEDIA
     // If Marlin is using the SD card we need to lock it to prevent access from
     // a PC via USB.
@@ -240,14 +209,7 @@ void HAL_idletask() {
   #endif
 }
 
-void HAL_clear_reset_source() { }
-
-/**
- * TODO: Check this and change or remove.
- */
-uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
-
-void _delay_ms(const int delay_ms) { delay(delay_ms); }
+void MarlinHAL::reboot() { nvic_sys_reset(); }
 
 extern "C" {
   extern unsigned int _ebss; // end of bss section
@@ -281,31 +243,76 @@ extern "C" {
 }
 */
 
-// ------------------------
+//
 // ADC
-// ------------------------
+//
+
+enum ADCIndex : uint8_t {
+  OPTITEM(HAS_TEMP_ADC_0, TEMP_0)
+  OPTITEM(HAS_TEMP_ADC_1, TEMP_1)
+  OPTITEM(HAS_TEMP_ADC_2, TEMP_2)
+  OPTITEM(HAS_TEMP_ADC_3, TEMP_3)
+  OPTITEM(HAS_TEMP_ADC_4, TEMP_4)
+  OPTITEM(HAS_TEMP_ADC_5, TEMP_5)
+  OPTITEM(HAS_TEMP_ADC_6, TEMP_6)
+  OPTITEM(HAS_TEMP_ADC_7, TEMP_7)
+  OPTITEM(HAS_HEATED_BED, TEMP_BED)
+  OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER)
+  OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE)
+  OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER)
+  OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD)
+  OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH)
+  OPTITEM(HAS_ADC_BUTTONS, ADC_KEY)
+  OPTITEM(HAS_JOY_ADC_X, JOY_X)
+  OPTITEM(HAS_JOY_ADC_Y, JOY_Y)
+  OPTITEM(HAS_JOY_ADC_Z, JOY_Z)
+  OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT)
+  OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS)
+  ADC_COUNT
+};
+
+static uint16_t adc_results[ADC_COUNT];
+
 // Init the AD in continuous capture mode
-void HAL_adc_init() {
+void MarlinHAL::adc_init() {
+  static const uint8_t adc_pins[] = {
+    OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN)
+    OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN)
+    OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN)
+    OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN)
+    OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN)
+    OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN)
+    OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN)
+    OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN)
+    OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN)
+    OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN)
+    OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN)
+    OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN)
+    OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN)
+    OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN)
+    OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN)
+    OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN)
+    OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN)
+    OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN)
+    OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN)
+    OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN)
+  };
+  static STM32ADC adc(ADC1);
   // configure the ADC
   adc.calibrate();
-  #if F_CPU > 72000000
-    adc.setSampleRate(ADC_SMPR_71_5); // 71.5 ADC cycles
-  #else
-    adc.setSampleRate(ADC_SMPR_41_5); // 41.5 ADC cycles
-  #endif
-  adc.setPins((uint8_t *)adc_pins, ADC_PIN_COUNT);
-  adc.setDMA(HAL_adc_results, (uint16_t)ADC_PIN_COUNT, (uint32_t)(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
+  adc.setSampleRate((F_CPU > 72000000) ? ADC_SMPR_71_5 : ADC_SMPR_41_5); // 71.5 or 41.5 ADC cycles
+  adc.setPins((uint8_t *)adc_pins, ADC_COUNT);
+  adc.setDMA(adc_results, uint16_t(ADC_COUNT), uint32_t(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr);
   adc.setScanMode();
   adc.setContinuous();
   adc.startConversion();
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t pin) {
   #define __TCASE(N,I) case N: pin_index = I; break;
   #define _TCASE(C,N,I) TERN_(C, __TCASE(N, I))
-  //TEMP_PINS pin_index;
-  TempPinIndex pin_index;
-  switch (adc_pin) {
+  ADCIndex pin_index;
+  switch (pin) {
     default: return;
     _TCASE(HAS_TEMP_ADC_0,        TEMP_0_PIN,                TEMP_0)
     _TCASE(HAS_TEMP_ADC_1,        TEMP_1_PIN,                TEMP_1)
@@ -328,23 +335,7 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) {
     _TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT)
     _TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTS)
   }
-  HAL_adc_result = HAL_adc_results[(int)pin_index] >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
-}
-
-uint16_t HAL_adc_get_result() { return HAL_adc_result; }
-
-uint16_t analogRead(pin_t pin) {
-  const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG;
-  return is_analog ? analogRead(uint8_t(pin)) : 0;
-}
-
-// Wrapper to maple unprotected analogWrite
-void analogWrite(pin_t pin, int pwm_val8) {
-  if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8);
+  adc_result = adc_results[(int)pin_index] >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits
 }
 
-void HAL_reboot() { nvic_sys_reset(); }
-
-void flashFirmware(const int16_t) { HAL_reboot(); }
-
 #endif // __STM32F1__

Marlin/src/HAL/STM32F1/HAL.h

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

Marlin/src/HAL/STM32F1/SPI.cpp

@@ -92,6 +92,14 @@ static const spi_pins board_spi_pins[] __FLASH__ = {
 #endif
 
 /**
+ * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset.
+ */
+static inline void waitSpiTxEnd(spi_dev *spi_d) {
+  while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1
+  while (spi_is_busy(spi_d) != 0) { /* nada */ }     // wait until BSY=0
+}
+
+/**
  * Constructor
  */
 SPIClass::SPIClass(uint32_t spi_num) {

Marlin/src/HAL/STM32F1/SPI.h

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

Marlin/src/HAL/STM32F1/Servo.h

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

Marlin/src/HAL/STM32F1/fast_pwm.cpp

@@ -21,11 +21,9 @@
  */
 #ifdef __STM32F1__
 
-#include "../../inc/MarlinConfigPre.h"
+#include "../../inc/MarlinConfig.h"
 
 #include <pwm.h>
-#include "HAL.h"
-#include "timers.h"
 
 #define NR_TIMERS TERN(STM32_XL_DENSITY, 14, 8) // Maple timers, 14 for STM32_XL_DENSITY (F/G chips), 8 for HIGH density (C D E)
 
@@ -38,7 +36,7 @@ inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) {
   return 0;
 }
 
-void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
+void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   const uint16_t duty = invert ? v_size - v : v;
   if (PWM_PIN(pin)) {
     timer_dev *timer; UNUSED(timer);
@@ -54,7 +52,7 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
   }
 }
 
-void set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
+void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) {
   if (!PWM_PIN(pin)) return;                    // Don't proceed if no hardware timer
 
   timer_dev *timer; UNUSED(timer);

Marlin/src/HAL/STM32F1/timers.h

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

Marlin/src/HAL/TEENSY31_32/HAL.cpp

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

Marlin/src/HAL/TEENSY31_32/HAL.h

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

Marlin/src/HAL/TEENSY31_32/timers.h

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

Marlin/src/HAL/TEENSY35_36/HAL.cpp

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

Marlin/src/HAL/TEENSY35_36/HAL.h

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

Marlin/src/HAL/TEENSY35_36/timers.h

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

Marlin/src/HAL/TEENSY40_41/HAL.cpp

@@ -33,6 +33,10 @@
 #include "timers.h"
 #include <Wire.h>
 
+// ------------------------
+// Serial ports
+// ------------------------
+
 #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X)
 #define IMPLEMENT_SERIAL(X)  _IMPLEMENT_SERIAL(X)
 #if WITHIN(SERIAL_PORT, 0, 3)
@@ -40,75 +44,42 @@
 #endif
 USBSerialType USBSerial(false, SerialUSB);
 
-uint16_t HAL_adc_result, HAL_adc_select;
-
-static const uint8_t pin2sc1a[] = {
-  0x07,  // 0/A0  AD_B1_02
-  0x08,  // 1/A1  AD_B1_03
-  0x0C,  // 2/A2  AD_B1_07
-  0x0B,  // 3/A3  AD_B1_06
-  0x06,  // 4/A4  AD_B1_01
-  0x05,  // 5/A5  AD_B1_00
-  0x0F,  // 6/A6  AD_B1_10
-  0x00,  // 7/A7  AD_B1_11
-  0x0D,  // 8/A8  AD_B1_08
-  0x0E,  // 9/A9  AD_B1_09
-  0x01,  // 24/A10 AD_B0_12
-  0x02,  // 25/A11 AD_B0_13
-  0x83,  // 26/A12 AD_B1_14 - only on ADC2, 3
-  0x84,  // 27/A13 AD_B1_15 - only on ADC2, 4
-  0x07,  // 14/A0  AD_B1_02
-  0x08,  // 15/A1  AD_B1_03
-  0x0C,  // 16/A2  AD_B1_07
-  0x0B,  // 17/A3  AD_B1_06
-  0x06,  // 18/A4  AD_B1_01
-  0x05,  // 19/A5  AD_B1_00
-  0x0F,  // 20/A6  AD_B1_10
-  0x00,  // 21/A7  AD_B1_11
-  0x0D,  // 22/A8  AD_B1_08
-  0x0E,  // 23/A9  AD_B1_09
-  0x01,  // 24/A10 AD_B0_12
-  0x02,  // 25/A11 AD_B0_13
-  0x83,  // 26/A12 AD_B1_14 - only on ADC2, 3
-  0x84,  // 27/A13 AD_B1_15 - only on ADC2, 4
-  #ifdef ARDUINO_TEENSY41
-    0xFF,  // 28
-    0xFF,  // 29
-    0xFF,  // 30
-    0xFF,  // 31
-    0xFF,  // 32
-    0xFF,  // 33
-    0xFF,  // 34
-    0xFF,  // 35
-    0xFF,  // 36
-    0xFF,  // 37
-    0x81,  // 38/A14 AD_B1_12 - only on ADC2, 1
-    0x82,  // 39/A15 AD_B1_13 - only on ADC2, 2
-    0x09,  // 40/A16 AD_B1_04
-    0x0A,  // 41/A17 AD_B1_05
-  #endif
-};
-
-/*
-// disable interrupts
-void cli() { noInterrupts(); }
-
-// enable interrupts
-void sei() { interrupts(); }
-*/
-
-void HAL_adc_init() {
-  analog_init();
-  while (ADC1_GC & ADC_GC_CAL) ;
-  while (ADC2_GC & ADC_GC_CAL) ;
+// ------------------------
+// Class Utilities
+// ------------------------
+
+#define __bss_end _ebss
+
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
+
+  // Doesn't work on Teensy 4.x
+  uint32_t freeMemory() {
+    uint32_t free_memory;
+    free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end));
+    return free_memory;
+  }
 }
 
-void HAL_clear_reset_source() {
-  uint32_t reset_source = SRC_SRSR;
-  SRC_SRSR = reset_source;
+// ------------------------
+// FastIO
+// ------------------------
+
+bool is_output(pin_t pin) {
+  const struct digital_pin_bitband_and_config_table_struct *p;
+  p = digital_pin_to_info_PGM + pin;
+  return (*(p->reg + 1) & p->mask);
 }
 
-uint8_t HAL_get_reset_source() {
+// ------------------------
+// MarlinHAL Class
+// ------------------------
+
+void MarlinHAL::reboot() { _reboot_Teensyduino_(); }
+
+uint8_t MarlinHAL::get_reset_source() {
   switch (SRC_SRSR & 0xFF) {
     case 1: return RST_POWER_ON; break;
     case 2: return RST_SOFTWARE; break;
@@ -121,57 +92,92 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
-void HAL_reboot() { _reboot_Teensyduino_(); }
+void MarlinHAL::clear_reset_source() {
+  uint32_t reset_source = SRC_SRSR;
+  SRC_SRSR = reset_source;
+}
 
-#define __bss_end _ebss
+// ADC
 
-extern "C" {
-  extern char __bss_end;
-  extern char __heap_start;
-  extern void* __brkval;
+int8_t MarlinHAL::adc_select;
 
-  // Doesn't work on Teensy 4.x
-  uint32_t freeMemory() {
-    uint32_t free_memory;
-    if ((uint32_t)__brkval == 0)
-      free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end);
-    else
-      free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval);
-    return free_memory;
-  }
+void MarlinHAL::adc_init() {
+  analog_init();
+  while (ADC1_GC & ADC_GC_CAL) { /* wait */ }
+  while (ADC2_GC & ADC_GC_CAL) { /* wait */ }
 }
 
-void HAL_adc_start_conversion(const uint8_t adc_pin) {
+void MarlinHAL::adc_start(const pin_t adc_pin) {
+  static const uint8_t pin2sc1a[] = {
+    0x07,  // 0/A0  AD_B1_02
+    0x08,  // 1/A1  AD_B1_03
+    0x0C,  // 2/A2  AD_B1_07
+    0x0B,  // 3/A3  AD_B1_06
+    0x06,  // 4/A4  AD_B1_01
+    0x05,  // 5/A5  AD_B1_00
+    0x0F,  // 6/A6  AD_B1_10
+    0x00,  // 7/A7  AD_B1_11
+    0x0D,  // 8/A8  AD_B1_08
+    0x0E,  // 9/A9  AD_B1_09
+    0x01,  // 24/A10 AD_B0_12
+    0x02,  // 25/A11 AD_B0_13
+    0x83,  // 26/A12 AD_B1_14 - only on ADC2, 3
+    0x84,  // 27/A13 AD_B1_15 - only on ADC2, 4
+    0x07,  // 14/A0  AD_B1_02
+    0x08,  // 15/A1  AD_B1_03
+    0x0C,  // 16/A2  AD_B1_07
+    0x0B,  // 17/A3  AD_B1_06
+    0x06,  // 18/A4  AD_B1_01
+    0x05,  // 19/A5  AD_B1_00
+    0x0F,  // 20/A6  AD_B1_10
+    0x00,  // 21/A7  AD_B1_11
+    0x0D,  // 22/A8  AD_B1_08
+    0x0E,  // 23/A9  AD_B1_09
+    0x01,  // 24/A10 AD_B0_12
+    0x02,  // 25/A11 AD_B0_13
+    0x83,  // 26/A12 AD_B1_14 - only on ADC2, 3
+    0x84,  // 27/A13 AD_B1_15 - only on ADC2, 4
+    #ifdef ARDUINO_TEENSY41
+      0xFF,  // 28
+      0xFF,  // 29
+      0xFF,  // 30
+      0xFF,  // 31
+      0xFF,  // 32
+      0xFF,  // 33
+      0xFF,  // 34
+      0xFF,  // 35
+      0xFF,  // 36
+      0xFF,  // 37
+      0x81,  // 38/A14 AD_B1_12 - only on ADC2, 1
+      0x82,  // 39/A15 AD_B1_13 - only on ADC2, 2
+      0x09,  // 40/A16 AD_B1_04
+      0x0A,  // 41/A17 AD_B1_05
+    #endif
+  };
   const uint16_t pin = pin2sc1a[adc_pin];
   if (pin == 0xFF) {
-    HAL_adc_select = -1; // Digital only
+    adc_select = -1; // Digital only
   }
   else if (pin & 0x80) {
-    HAL_adc_select = 1;
+    adc_select = 1;
     ADC2_HC0 = pin & 0x7F;
   }
   else {
-    HAL_adc_select = 0;
+    adc_select = 0;
     ADC1_HC0 = pin;
   }
 }
 
-uint16_t HAL_adc_get_result() {
-  switch (HAL_adc_select) {
+uint16_t MarlinHAL::adc_value() {
+  switch (adc_select) {
     case 0:
-      while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait
+      while (!(ADC1_HS & ADC_HS_COCO0)) { /* wait */ }
       return ADC1_R0;
     case 1:
-      while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait
+      while (!(ADC2_HS & ADC_HS_COCO0)) { /* wait */ }
       return ADC2_R0;
   }
   return 0;
 }
 
-bool is_output(pin_t pin) {
-  const struct digital_pin_bitband_and_config_table_struct *p;
-  p = digital_pin_to_info_PGM + pin;
-  return (*(p->reg + 1) & p->mask);
-}
-
 #endif // __IMXRT1062__

Marlin/src/HAL/TEENSY40_41/HAL.h

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

Marlin/src/HAL/TEENSY40_41/timers.h

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

Marlin/src/HAL/shared/HAL.cpp

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

Marlin/src/HAL/shared/HAL_spi_L6470.cpp

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

Marlin/src/HAL/shared/math_32bit.h

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

Marlin/src/MarlinCore.cpp

@@ -790,7 +790,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   #endif
 
   // Run HAL idle tasks
-  TERN_(HAL_IDLETASK, HAL_idletask());
+  hal.idletask();
 
   // Check network connection
   TERN_(HAS_ETHERNET, ethernet.check());
@@ -929,7 +929,7 @@ void minkill(const bool steppers_off/*=false*/) {
       watchdog_refresh();
 
     // Reboot the board
-    HAL_reboot();
+    hal.reboot();
 
   #else
 
@@ -1041,7 +1041,7 @@ inline void tmc_standby_setup() {
  *    • L64XX Stepper Drivers (SPI)
  *    • Stepper Driver Reset: DISABLE
  *    • TMC Stepper Drivers (SPI)
- *    • Run BOARD_INIT if defined
+ *    • Run hal.init_board() for additional pins setup
  *    • ESP WiFi
  *  - Get the Reset Reason and report it
  *  - Print startup messages and diagnostics
@@ -1119,8 +1119,8 @@ void setup() {
   tmc_standby_setup();  // TMC Low Power Standby pins must be set early or they're not usable
 
   // Check startup - does nothing if bootloader sets MCUSR to 0
-  const byte mcu = HAL_get_reset_source();
-  HAL_clear_reset_source();
+  const byte mcu = hal.get_reset_source();
+  hal.clear_reset_source();
 
   #if ENABLED(MARLIN_DEV_MODE)
     auto log_current_ms = [&](PGM_P const msg) {
@@ -1181,23 +1181,20 @@ void setup() {
     JTAGSWD_RESET();
   #endif
 
-  #if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
+  // Disable any hardware debug to free up pins for IO
+  #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
     delay(10);
-    // Disable any hardware debug to free up pins for IO
-    #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
-      SETUP_LOG("JTAGSWD_DISABLE");
-      JTAGSWD_DISABLE();
-    #elif defined(JTAG_DISABLE)
-      SETUP_LOG("JTAG_DISABLE");
-      JTAG_DISABLE();
-    #else
-      #error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
-    #endif
+    SETUP_LOG("JTAGSWD_DISABLE");
+    JTAGSWD_DISABLE();
+  #elif ENABLED(DISABLE_JTAG) && defined(JTAG_DISABLE)
+    delay(10);
+    SETUP_LOG("JTAG_DISABLE");
+    JTAG_DISABLE();
   #endif
 
   TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
 
-  SETUP_RUN(HAL_init());
+  SETUP_RUN(hal.init());
 
   // Init and disable SPI thermocouples; this is still needed
   #if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
@@ -1243,19 +1240,16 @@ void setup() {
     SETUP_RUN(tmc_init_cs_pins());
   #endif
 
-  #ifdef BOARD_INIT
-    SETUP_LOG("BOARD_INIT");
-    BOARD_INIT();
-  #endif
+  SETUP_RUN(hal.init_board());
 
   SETUP_RUN(esp_wifi_init());
 
   // Report Reset Reason
-  if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
-  if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
+  if (mcu & RST_POWER_ON)  SERIAL_ECHOLNPGM(STR_POWERUP);
+  if (mcu & RST_EXTERNAL)  SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
   if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
-  if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
-  if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
+  if (mcu & RST_WATCHDOG)  SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
+  if (mcu & RST_SOFTWARE)  SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
 
   // Identify myself as Marlin x.x.x
   SERIAL_ECHOLNPGM("Marlin " SHORT_BUILD_VERSION);
@@ -1266,7 +1260,7 @@ void setup() {
     );
   #endif
   SERIAL_ECHO_MSG(" Compiled: " __DATE__);
-  SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
+  SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
 
   // Some HAL need precise delay adjustment
   calibrate_delay_loop();
@@ -1542,7 +1536,7 @@ void setup() {
   #endif
 
   #if ENABLED(USE_WATCHDOG)
-    SETUP_RUN(watchdog_init());       // Reinit watchdog after HAL_get_reset_source call
+    SETUP_RUN(watchdog_init());       // Reinit watchdog after hal.get_reset_source call
   #endif
 
   #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)

Marlin/src/feature/caselight.cpp

@@ -79,7 +79,7 @@ void CaseLight::update(const bool sflag) {
 
     #if CASELIGHT_USES_BRIGHTNESS
       if (pin_is_pwm())
-        set_pwm_duty(pin_t(CASE_LIGHT_PIN), (
+        hal.set_pwm_duty(pin_t(CASE_LIGHT_PIN), (
           #if CASE_LIGHT_MAX_PWM == 255
             n10ct
           #else

Marlin/src/feature/controllerfan.cpp

@@ -76,7 +76,7 @@ void ControllerFan::update() {
       thermalManager.soft_pwm_controller_speed = speed;
     #else
       if (PWM_PIN(CONTROLLER_FAN_PIN))
-        set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
+        hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
       else
         WRITE(CONTROLLER_FAN_PIN, speed > 0);
     #endif

Marlin/src/feature/e_parser.h

@@ -41,7 +41,9 @@ extern bool wait_for_user, wait_for_heatup;
   void quickresume_stepper();
 #endif
 
-void HAL_reboot();
+#if ENABLED(SOFT_RESET_VIA_SERIAL)
+  void HAL_reboot();
+#endif
 
 class EmergencyParser {
 

Marlin/src/feature/leds/leds.cpp

@@ -129,11 +129,11 @@ void LEDLights::set_color(const LEDColor &incol
 
     // This variant uses 3-4 separate pins for the RGB(W) components.
     // If the pins can do PWM then their intensity will be set.
-    #define _UPDATE_RGBW(C,c) do {                 \
-      if (PWM_PIN(RGB_LED_##C##_PIN))              \
-        set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \
-      else                                         \
-        WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW);  \
+    #define _UPDATE_RGBW(C,c) do {                     \
+      if (PWM_PIN(RGB_LED_##C##_PIN))                  \
+        hal.set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \
+      else                                             \
+        WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW);      \
     }while(0)
     #define UPDATE_RGBW(C,c) _UPDATE_RGBW(C, TERN1(CASE_LIGHT_USE_RGB_LED, caselight.on) ? incol.c : 0)
     UPDATE_RGBW(R,r); UPDATE_RGBW(G,g); UPDATE_RGBW(B,b);

Marlin/src/feature/spindle_laser.cpp

@@ -66,10 +66,10 @@ void SpindleLaser::init() {
   #endif
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     SET_PWM(SPINDLE_LASER_PWM_PIN);
-    set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
+    hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
   #endif
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-    set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
+    hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
     TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY);
   #endif
   #if ENABLED(AIR_EVACUATION)
@@ -89,9 +89,9 @@ void SpindleLaser::init() {
    */
   void SpindleLaser::_set_ocr(const uint8_t ocr) {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-      set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
+      hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
     #endif
-    set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
   }
 
   void SpindleLaser::set_ocr(const uint8_t ocr) {

Marlin/src/feature/spindle_laser.h

@@ -103,7 +103,7 @@ public:
   static void init();
 
   #if ENABLED(MARLIN_DEV_MODE)
-    static void refresh_frequency() { set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
+    static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
   #endif
 
   // Modifying this function should update everywhere

Marlin/src/gcode/control/M42.cpp

@@ -126,10 +126,10 @@ void GcodeSuite::M42() {
   extDigitalWrite(pin, pin_status);
 
   #ifdef ARDUINO_ARCH_STM32
-    // A simple I/O will be set to 0 by set_pwm_duty()
+    // A simple I/O will be set to 0 by hal.set_pwm_duty()
     if (pin_status <= 1 && !PWM_PIN(pin)) return;
   #endif
-  set_pwm_duty(pin, pin_status);
+  hal.set_pwm_duty(pin, pin_status);
 }
 
 #endif // DIRECT_PIN_CONTROL

Marlin/src/gcode/gcode_d.cpp

@@ -38,7 +38,7 @@
 #include "../sd/cardreader.h"
 #include "../MarlinCore.h" // for kill
 
-extern void dump_delay_accuracy_check();
+void dump_delay_accuracy_check();
 
 /**
  * Dn: G-code for development and testing
@@ -54,7 +54,7 @@ void GcodeSuite::D(const int16_t dcode) {
       for (;;) { /* loop forever (watchdog reset) */ }
 
     case 0:
-      HAL_reboot();
+      hal.reboot();
       break;
 
     case 10:
@@ -74,7 +74,7 @@ void GcodeSuite::D(const int16_t dcode) {
         settings.reset();
         settings.save();
       #endif
-      HAL_reboot();
+      hal.reboot();
     } break;
 
     case 2: { // D2 Read / Write SRAM
@@ -189,12 +189,12 @@ void GcodeSuite::D(const int16_t dcode) {
       SERIAL_ECHOLNPGM("(USE_WATCHDOG " TERN(USE_WATCHDOG, "ENABLED", "DISABLED") ")");
       thermalManager.disable_all_heaters();
       delay(1000); // Allow time to print
-      DISABLE_ISRS();
+      hal.isr_off();
       // Use a low-level delay that does not rely on interrupts to function
       // Do not spin forever, to avoid thermal risks if heaters are enabled and
       // watchdog does not work.
       for (int i = 10000; i--;) DELAY_US(1000UL);
-      ENABLE_ISRS();
+      hal.isr_on();
       SERIAL_ECHOLNPGM("FAILURE: Watchdog did not trigger board reset.");
     } break;
 

Marlin/src/inc/MarlinConfig.h

@@ -29,6 +29,7 @@
 
 #ifndef __MARLIN_DEPS__
   #include "../HAL/HAL.h"
+  extern MarlinHAL hal;
 #endif
 
 #include "../pins/pins.h"

Marlin/src/inc/SanityCheck.h

@@ -3891,3 +3891,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
 #undef _TEST_PWM
 #undef _LINEAR_AXES_STR
 #undef _LOGICAL_AXES_STR
+
+// JTAG support in the HAL
+#if ENABLED(DISABLE_DEBUG) && !defined(JTAGSWD_DISABLE)
+  #error "DISABLE_DEBUG is not supported for the selected MCU/Board."
+#elif ENABLED(DISABLE_JTAG) && !defined(JTAG_DISABLE)
+  #error "DISABLE_JTAG is not supported for the selected MCU/Board."
+#endif

Marlin/src/lcd/dogm/marlinui_DOGM.cpp

@@ -282,9 +282,9 @@ void MarlinUI::init_lcd() {
   #if PIN_EXISTS(LCD_RESET)
     // Perform a clean hardware reset with needed delays
     OUT_WRITE(LCD_RESET_PIN, LOW);
-    _delay_ms(5);
+    hal.delay_ms(5);
     WRITE(LCD_RESET_PIN, HIGH);
-    _delay_ms(5);
+    hal.delay_ms(5);
     u8g.begin();
   #endif
 

Marlin/src/lcd/e3v2/proui/dwin.cpp

@@ -2206,7 +2206,7 @@ void RebootPrinter() {
   thermalManager.disable_all_heaters();
   planner.finish_and_disable();
   DWIN_RebootScreen();
-  HAL_reboot();
+  hal.reboot();
 }
 
 void Goto_Info_Menu(){

Marlin/src/module/endstops.cpp

@@ -1348,7 +1348,7 @@ void Endstops::update() {
         ES_REPORT_CHANGE(K_MAX);
       #endif
       SERIAL_ECHOLNPGM("\n");
-      set_pwm_duty(pin_t(LED_PIN), local_LED_status);
+      hal.set_pwm_duty(pin_t(LED_PIN), local_LED_status);
       local_LED_status ^= 255;
       old_live_state_local = live_state_local;
     }

Marlin/src/module/planner.cpp

@@ -703,7 +703,7 @@ void Planner::init() {
     // All other 32-bit MPUs can easily do inverse using hardware division,
     // so we don't need to reduce precision or to use assembly language at all.
     // This routine, for all other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d
-    static FORCE_INLINE uint32_t get_period_inverse(const uint32_t d) {
+    FORCE_INLINE static uint32_t get_period_inverse(const uint32_t d) {
       return d ? 0xFFFFFFFF / d : 0xFFFFFFFF;
     }
   #endif
@@ -1260,7 +1260,7 @@ void Planner::recalculate() {
     #if ENABLED(FAN_SOFT_PWM)
       #define _FAN_SET(F) thermalManager.soft_pwm_amount_fan[F] = CALC_FAN_SPEED(F);
     #else
-      #define _FAN_SET(F) set_pwm_duty(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F));
+      #define _FAN_SET(F) hal.set_pwm_duty(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F));
     #endif
     #define FAN_SET(F) do{ kickstart_fan(fan_speed, ms, F); _FAN_SET(F); }while(0)
 
@@ -1397,8 +1397,8 @@ void Planner::check_axes_activity() {
   TERN_(AUTOTEMP, autotemp_task());
 
   #if ENABLED(BARICUDA)
-    TERN_(HAS_HEATER_1, set_pwm_duty(pin_t(HEATER_1_PIN), tail_valve_pressure));
-    TERN_(HAS_HEATER_2, set_pwm_duty(pin_t(HEATER_2_PIN), tail_e_to_p_pressure));
+    TERN_(HAS_HEATER_1, hal.set_pwm_duty(pin_t(HEATER_1_PIN), tail_valve_pressure));
+    TERN_(HAS_HEATER_2, hal.set_pwm_duty(pin_t(HEATER_2_PIN), tail_e_to_p_pressure));
   #endif
 }
 

Marlin/src/module/servo.cpp

@@ -30,7 +30,7 @@
 
 #include "servo.h"
 
-HAL_SERVO_LIB servo[NUM_SERVOS];
+hal_servo_t servo[NUM_SERVOS];
 
 #if ENABLED(EDITABLE_SERVO_ANGLES)
   uint16_t servo_angles[NUM_SERVOS][2];

Marlin/src/module/servo.h

@@ -112,5 +112,5 @@
 #define MOVE_SERVO(I, P) servo[I].move(P)
 #define DETACH_SERVO(I) servo[I].detach()
 
-extern HAL_SERVO_LIB servo[NUM_SERVOS];
+extern hal_servo_t servo[NUM_SERVOS];
 void servo_init();

Marlin/src/module/stepper.cpp

@@ -1474,7 +1474,7 @@ void Stepper::isr() {
   #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)
-    DISABLE_ISRS();
+    hal.isr_off();
   #endif
 
   // Program timer compare for the maximum period, so it does NOT
@@ -1492,7 +1492,7 @@ void Stepper::isr() {
   hal_timer_t min_ticks;
   do {
     // Enable ISRs to reduce USART processing latency
-    ENABLE_ISRS();
+    hal.isr_on();
 
     if (!nextMainISR) pulse_phase_isr();                            // 0 = Do coordinated axes Stepper pulses
 
@@ -1576,7 +1576,7 @@ void Stepper::isr() {
      * is less than the current count due to something preempting between the
      * read and the write of the new period value).
      */
-    DISABLE_ISRS();
+    hal.isr_off();
 
     /**
      * Get the current tick value + margin
@@ -1611,7 +1611,7 @@ void Stepper::isr() {
   HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
 
   // Don't forget to finally reenable interrupts
-  ENABLE_ISRS();
+  hal.isr_on();
 }
 
 #if MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE
@@ -3260,33 +3260,33 @@ void Stepper::report_positions() {
 
       #elif HAS_MOTOR_CURRENT_PWM
 
-        #define _WRITE_CURRENT_PWM_DUTY(P) set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
+        #define _WRITE_CURRENT_PWM(P) hal.set_pwm_duty(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE))
         switch (driver) {
           case 0:
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_X)
-              _WRITE_CURRENT_PWM_DUTY(X);
+              _WRITE_CURRENT_PWM(X);
             #endif
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y)
-              _WRITE_CURRENT_PWM_DUTY(Y);
+              _WRITE_CURRENT_PWM(Y);
             #endif
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
-              _WRITE_CURRENT_PWM_DUTY(XY);
+              _WRITE_CURRENT_PWM(XY);
             #endif
             break;
           case 1:
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
-              _WRITE_CURRENT_PWM_DUTY(Z);
+              _WRITE_CURRENT_PWM(Z);
             #endif
             break;
           case 2:
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
-              _WRITE_CURRENT_PWM_DUTY(E);
+              _WRITE_CURRENT_PWM(E);
             #endif
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0)
-              _WRITE_CURRENT_PWM_DUTY(E0);
+              _WRITE_CURRENT_PWM(E0);
             #endif
             #if PIN_EXISTS(MOTOR_CURRENT_PWM_E1)
-              _WRITE_CURRENT_PWM_DUTY(E1);
+              _WRITE_CURRENT_PWM(E1);
             #endif
             break;
         }
@@ -3308,7 +3308,7 @@ void Stepper::report_positions() {
         #ifdef __SAM3X8E__
           #define _RESET_CURRENT_PWM_FREQ(P) NOOP
         #else
-          #define _RESET_CURRENT_PWM_FREQ(P) set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
+          #define _RESET_CURRENT_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), MOTOR_CURRENT_PWM_FREQUENCY)
         #endif
         #define INIT_CURRENT_PWM(P) do{ SET_PWM(MOTOR_CURRENT_PWM_## P ##_PIN); _RESET_CURRENT_PWM_FREQ(MOTOR_CURRENT_PWM_## P ##_PIN); }while(0)
 

Marlin/src/module/temperature.cpp

@@ -327,7 +327,7 @@ PGMSTR(str_t_heating_failed, STR_T_HEATING_FAILED);
   #define _INIT_FAN_PIN(P) do{ if (PWM_PIN(P)) SET_PWM(P); else _INIT_SOFT_FAN(P); }while(0)
 #endif
 #if ENABLED(FAST_PWM_FAN)
-  #define SET_FAST_PWM_FREQ(P) set_pwm_frequency(P, FAST_PWM_FAN_FREQUENCY)
+  #define SET_FAST_PWM_FREQ(P) hal.set_pwm_frequency(pin_t(P), FAST_PWM_FAN_FREQUENCY)
 #else
   #define SET_FAST_PWM_FREQ(P) NOOP
 #endif
@@ -818,7 +818,7 @@ volatile bool Temperature::raw_temps_ready = false;
       }
 
       // Run HAL idle tasks
-      TERN_(HAL_IDLETASK, HAL_idletask());
+      hal.idletask();
 
       // Run UI update
       TERN(HAS_DWIN_E3V2_BASIC, DWIN_Update(), ui.update());
@@ -907,7 +907,7 @@ int16_t Temperature::getHeaterPower(const heater_id_t heater_id) {
 
     #define _UPDATE_AUTO_FAN(P,D,A) do{                   \
       if (PWM_PIN(P##_AUTO_FAN_PIN) && A < 255)           \
-        set_pwm_duty(pin_t(P##_AUTO_FAN_PIN), D ? A : 0); \
+        hal.set_pwm_duty(pin_t(P##_AUTO_FAN_PIN), D ? A : 0); \
       else                                                \
         WRITE(P##_AUTO_FAN_PIN, D);                       \
     }while(0)
@@ -2321,74 +2321,33 @@ void Temperature::init() {
 
   TERN_(HAS_MAXTC_SW_SPI, max_tc_spi.init());
 
-  HAL_adc_init();
+  hal.adc_init();
+
+  TERN_(HAS_TEMP_ADC_0,         hal.adc_enable(TEMP_0_PIN));
+  TERN_(HAS_TEMP_ADC_1,         hal.adc_enable(TEMP_1_PIN));
+  TERN_(HAS_TEMP_ADC_2,         hal.adc_enable(TEMP_2_PIN));
+  TERN_(HAS_TEMP_ADC_3,         hal.adc_enable(TEMP_3_PIN));
+  TERN_(HAS_TEMP_ADC_4,         hal.adc_enable(TEMP_4_PIN));
+  TERN_(HAS_TEMP_ADC_5,         hal.adc_enable(TEMP_5_PIN));
+  TERN_(HAS_TEMP_ADC_6,         hal.adc_enable(TEMP_6_PIN));
+  TERN_(HAS_TEMP_ADC_7,         hal.adc_enable(TEMP_7_PIN));
+  TERN_(HAS_JOY_ADC_X,          hal.adc_enable(JOY_X_PIN));
+  TERN_(HAS_JOY_ADC_Y,          hal.adc_enable(JOY_Y_PIN));
+  TERN_(HAS_JOY_ADC_Z,          hal.adc_enable(JOY_Z_PIN));
+  TERN_(HAS_TEMP_ADC_BED,       hal.adc_enable(TEMP_BED_PIN));
+  TERN_(HAS_TEMP_ADC_CHAMBER,   hal.adc_enable(TEMP_CHAMBER_PIN));
+  TERN_(HAS_TEMP_ADC_PROBE,     hal.adc_enable(TEMP_PROBE_PIN));
+  TERN_(HAS_TEMP_ADC_COOLER,    hal.adc_enable(TEMP_COOLER_PIN));
+  TERN_(HAS_TEMP_ADC_BOARD,     hal.adc_enable(TEMP_BOARD_PIN));
+  TERN_(HAS_TEMP_ADC_REDUNDANT, hal.adc_enable(TEMP_REDUNDANT_PIN));
+  TERN_(FILAMENT_WIDTH_SENSOR,  hal.adc_enable(FILWIDTH_PIN));
+  TERN_(HAS_ADC_BUTTONS,        hal.adc_enable(ADC_KEYPAD_PIN));
+  TERN_(POWER_MONITOR_CURRENT,  hal.adc_enable(POWER_MONITOR_CURRENT_PIN));
+  TERN_(POWER_MONITOR_VOLTAGE,  hal.adc_enable(POWER_MONITOR_VOLTAGE_PIN));
 
-  #if HAS_TEMP_ADC_0
-    HAL_ANALOG_SELECT(TEMP_0_PIN);
-  #endif
-  #if HAS_TEMP_ADC_1
-    HAL_ANALOG_SELECT(TEMP_1_PIN);
-  #endif
-  #if HAS_TEMP_ADC_2
-    HAL_ANALOG_SELECT(TEMP_2_PIN);
-  #endif
-  #if HAS_TEMP_ADC_3
-    HAL_ANALOG_SELECT(TEMP_3_PIN);
-  #endif
-  #if HAS_TEMP_ADC_4
-    HAL_ANALOG_SELECT(TEMP_4_PIN);
-  #endif
-  #if HAS_TEMP_ADC_5
-    HAL_ANALOG_SELECT(TEMP_5_PIN);
-  #endif
-  #if HAS_TEMP_ADC_6
-    HAL_ANALOG_SELECT(TEMP_6_PIN);
-  #endif
-  #if HAS_TEMP_ADC_7
-    HAL_ANALOG_SELECT(TEMP_7_PIN);
-  #endif
-  #if HAS_JOY_ADC_X
-    HAL_ANALOG_SELECT(JOY_X_PIN);
-  #endif
-  #if HAS_JOY_ADC_Y
-    HAL_ANALOG_SELECT(JOY_Y_PIN);
-  #endif
-  #if HAS_JOY_ADC_Z
-    HAL_ANALOG_SELECT(JOY_Z_PIN);
-  #endif
   #if HAS_JOY_ADC_EN
     SET_INPUT_PULLUP(JOY_EN_PIN);
   #endif
-  #if HAS_TEMP_ADC_BED
-    HAL_ANALOG_SELECT(TEMP_BED_PIN);
-  #endif
-  #if HAS_TEMP_ADC_CHAMBER
-    HAL_ANALOG_SELECT(TEMP_CHAMBER_PIN);
-  #endif
-  #if HAS_TEMP_ADC_PROBE
-    HAL_ANALOG_SELECT(TEMP_PROBE_PIN);
-  #endif
-  #if HAS_TEMP_ADC_COOLER
-    HAL_ANALOG_SELECT(TEMP_COOLER_PIN);
-  #endif
-  #if HAS_TEMP_ADC_BOARD
-    HAL_ANALOG_SELECT(TEMP_BOARD_PIN);
-  #endif
-  #if HAS_TEMP_ADC_REDUNDANT
-    HAL_ANALOG_SELECT(TEMP_REDUNDANT_PIN);
-  #endif
-  #if ENABLED(FILAMENT_WIDTH_SENSOR)
-    HAL_ANALOG_SELECT(FILWIDTH_PIN);
-  #endif
-  #if HAS_ADC_BUTTONS
-    HAL_ANALOG_SELECT(ADC_KEYPAD_PIN);
-  #endif
-  #if ENABLED(POWER_MONITOR_CURRENT)
-    HAL_ANALOG_SELECT(POWER_MONITOR_CURRENT_PIN);
-  #endif
-  #if ENABLED(POWER_MONITOR_VOLTAGE)
-    HAL_ANALOG_SELECT(POWER_MONITOR_VOLTAGE_PIN);
-  #endif
 
   HAL_timer_start(MF_TIMER_TEMP, TEMP_TIMER_FREQUENCY);
   ENABLE_TEMPERATURE_INTERRUPT();
@@ -3364,8 +3323,8 @@ void Temperature::isr() {
    * This gives each ADC 0.9765ms to charge up.
    */
   #define ACCUMULATE_ADC(obj) do{ \
-    if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; \
-    else obj.sample(HAL_READ_ADC()); \
+    if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; \
+    else obj.sample(hal.adc_value()); \
   }while(0)
 
   ADCSensorState next_sensor_state = adc_sensor_state < SensorsReady ? (ADCSensorState)(int(adc_sensor_state) + 1) : StartSampling;
@@ -3397,115 +3356,115 @@ void Temperature::isr() {
       break;
 
     #if HAS_TEMP_ADC_0
-      case PrepareTemp_0: HAL_START_ADC(TEMP_0_PIN); break;
+      case PrepareTemp_0: hal.adc_start(TEMP_0_PIN); break;
       case MeasureTemp_0: ACCUMULATE_ADC(temp_hotend[0]); break;
     #endif
 
     #if HAS_TEMP_ADC_BED
-      case PrepareTemp_BED: HAL_START_ADC(TEMP_BED_PIN); break;
+      case PrepareTemp_BED: hal.adc_start(TEMP_BED_PIN); break;
       case MeasureTemp_BED: ACCUMULATE_ADC(temp_bed); break;
     #endif
 
     #if HAS_TEMP_ADC_CHAMBER
-      case PrepareTemp_CHAMBER: HAL_START_ADC(TEMP_CHAMBER_PIN); break;
+      case PrepareTemp_CHAMBER: hal.adc_start(TEMP_CHAMBER_PIN); break;
       case MeasureTemp_CHAMBER: ACCUMULATE_ADC(temp_chamber); break;
     #endif
 
     #if HAS_TEMP_ADC_COOLER
-      case PrepareTemp_COOLER: HAL_START_ADC(TEMP_COOLER_PIN); break;
+      case PrepareTemp_COOLER: hal.adc_start(TEMP_COOLER_PIN); break;
       case MeasureTemp_COOLER: ACCUMULATE_ADC(temp_cooler); break;
     #endif
 
     #if HAS_TEMP_ADC_PROBE
-      case PrepareTemp_PROBE: HAL_START_ADC(TEMP_PROBE_PIN); break;
+      case PrepareTemp_PROBE: hal.adc_start(TEMP_PROBE_PIN); break;
       case MeasureTemp_PROBE: ACCUMULATE_ADC(temp_probe); break;
     #endif
 
     #if HAS_TEMP_ADC_BOARD
-      case PrepareTemp_BOARD: HAL_START_ADC(TEMP_BOARD_PIN); break;
+      case PrepareTemp_BOARD: hal.adc_start(TEMP_BOARD_PIN); break;
       case MeasureTemp_BOARD: ACCUMULATE_ADC(temp_board); break;
     #endif
 
     #if HAS_TEMP_ADC_REDUNDANT
-      case PrepareTemp_REDUNDANT: HAL_START_ADC(TEMP_REDUNDANT_PIN); break;
+      case PrepareTemp_REDUNDANT: hal.adc_start(TEMP_REDUNDANT_PIN); break;
       case MeasureTemp_REDUNDANT: ACCUMULATE_ADC(temp_redundant); break;
     #endif
 
     #if HAS_TEMP_ADC_1
-      case PrepareTemp_1: HAL_START_ADC(TEMP_1_PIN); break;
+      case PrepareTemp_1: hal.adc_start(TEMP_1_PIN); break;
       case MeasureTemp_1: ACCUMULATE_ADC(temp_hotend[1]); break;
     #endif
 
     #if HAS_TEMP_ADC_2
-      case PrepareTemp_2: HAL_START_ADC(TEMP_2_PIN); break;
+      case PrepareTemp_2: hal.adc_start(TEMP_2_PIN); break;
       case MeasureTemp_2: ACCUMULATE_ADC(temp_hotend[2]); break;
     #endif
 
     #if HAS_TEMP_ADC_3
-      case PrepareTemp_3: HAL_START_ADC(TEMP_3_PIN); break;
+      case PrepareTemp_3: hal.adc_start(TEMP_3_PIN); break;
       case MeasureTemp_3: ACCUMULATE_ADC(temp_hotend[3]); break;
     #endif
 
     #if HAS_TEMP_ADC_4
-      case PrepareTemp_4: HAL_START_ADC(TEMP_4_PIN); break;
+      case PrepareTemp_4: hal.adc_start(TEMP_4_PIN); break;
       case MeasureTemp_4: ACCUMULATE_ADC(temp_hotend[4]); break;
     #endif
 
     #if HAS_TEMP_ADC_5
-      case PrepareTemp_5: HAL_START_ADC(TEMP_5_PIN); break;
+      case PrepareTemp_5: hal.adc_start(TEMP_5_PIN); break;
       case MeasureTemp_5: ACCUMULATE_ADC(temp_hotend[5]); break;
     #endif
 
     #if HAS_TEMP_ADC_6
-      case PrepareTemp_6: HAL_START_ADC(TEMP_6_PIN); break;
+      case PrepareTemp_6: hal.adc_start(TEMP_6_PIN); break;
       case MeasureTemp_6: ACCUMULATE_ADC(temp_hotend[6]); break;
     #endif
 
     #if HAS_TEMP_ADC_7
-      case PrepareTemp_7: HAL_START_ADC(TEMP_7_PIN); break;
+      case PrepareTemp_7: hal.adc_start(TEMP_7_PIN); break;
       case MeasureTemp_7: ACCUMULATE_ADC(temp_hotend[7]); break;
     #endif
 
     #if ENABLED(FILAMENT_WIDTH_SENSOR)
-      case Prepare_FILWIDTH: HAL_START_ADC(FILWIDTH_PIN); break;
+      case Prepare_FILWIDTH: hal.adc_start(FILWIDTH_PIN); break;
       case Measure_FILWIDTH:
-        if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
-        else filwidth.accumulate(HAL_READ_ADC());
+        if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
+        else filwidth.accumulate(hal.adc_value());
       break;
     #endif
 
     #if ENABLED(POWER_MONITOR_CURRENT)
       case Prepare_POWER_MONITOR_CURRENT:
-        HAL_START_ADC(POWER_MONITOR_CURRENT_PIN);
+        hal.adc_start(POWER_MONITOR_CURRENT_PIN);
         break;
       case Measure_POWER_MONITOR_CURRENT:
-        if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
-        else power_monitor.add_current_sample(HAL_READ_ADC());
+        if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
+        else power_monitor.add_current_sample(hal.adc_value());
         break;
     #endif
 
     #if ENABLED(POWER_MONITOR_VOLTAGE)
       case Prepare_POWER_MONITOR_VOLTAGE:
-        HAL_START_ADC(POWER_MONITOR_VOLTAGE_PIN);
+        hal.adc_start(POWER_MONITOR_VOLTAGE_PIN);
         break;
       case Measure_POWER_MONITOR_VOLTAGE:
-        if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state
-        else power_monitor.add_voltage_sample(HAL_READ_ADC());
+        if (!hal.adc_ready()) next_sensor_state = adc_sensor_state; // Redo this state
+        else power_monitor.add_voltage_sample(hal.adc_value());
         break;
     #endif
 
     #if HAS_JOY_ADC_X
-      case PrepareJoy_X: HAL_START_ADC(JOY_X_PIN); break;
+      case PrepareJoy_X: hal.adc_start(JOY_X_PIN); break;
       case MeasureJoy_X: ACCUMULATE_ADC(joystick.x); break;
     #endif
 
     #if HAS_JOY_ADC_Y
-      case PrepareJoy_Y: HAL_START_ADC(JOY_Y_PIN); break;
+      case PrepareJoy_Y: hal.adc_start(JOY_Y_PIN); break;
       case MeasureJoy_Y: ACCUMULATE_ADC(joystick.y); break;
     #endif
 
     #if HAS_JOY_ADC_Z
-      case PrepareJoy_Z: HAL_START_ADC(JOY_Z_PIN); break;
+      case PrepareJoy_Z: hal.adc_start(JOY_Z_PIN); break;
       case MeasureJoy_Z: ACCUMULATE_ADC(joystick.z); break;
     #endif
 
@@ -3513,12 +3472,12 @@ void Temperature::isr() {
       #ifndef ADC_BUTTON_DEBOUNCE_DELAY
         #define ADC_BUTTON_DEBOUNCE_DELAY 16
       #endif
-      case Prepare_ADC_KEY: HAL_START_ADC(ADC_KEYPAD_PIN); break;
+      case Prepare_ADC_KEY: hal.adc_start(ADC_KEYPAD_PIN); break;
       case Measure_ADC_KEY:
-        if (!HAL_ADC_READY())
+        if (!hal.adc_ready())
           next_sensor_state = adc_sensor_state; // redo this state
         else if (ADCKey_count < ADC_BUTTON_DEBOUNCE_DELAY) {
-          raw_ADCKey_value = HAL_READ_ADC();
+          raw_ADCKey_value = hal.adc_value();
           if (raw_ADCKey_value <= 900UL * HAL_ADC_RANGE / 1024UL) {
             NOMORE(current_ADCKey_raw, raw_ADCKey_value);
             ADCKey_count++;

ini/features.ini

@@ -233,7 +233,7 @@ HAS_SERVOS                             = src_filter=+<src/module/servo.cpp> +<sr
 MORGAN_SCARA                           = src_filter=+<src/gcode/scara>
 HAS_MICROSTEPS                         = src_filter=+<src/gcode/control/M350_M351.cpp>
 (ESP3D_)?WIFISUPPORT                   = AsyncTCP, ESP Async WebServer
-                                         ESP3DLib=https://github.com/luc-github/ESP3DLib/archive/master.zip
+                                         ESP3DLib=https://github.com/luc-github/ESP3DLib/archive/master-2.0.7.zip
                                          arduinoWebSockets=links2004/WebSockets@2.3.4
                                          luc-github/ESP32SSDP@^1.1.1
                                          lib_ignore=ESPAsyncTCP

ini/native.ini

@@ -34,14 +34,14 @@ src_filter      = ${common.default_src_filter} +<src/HAL/LINUX>
 [simulator_common]
 platform          = native
 framework         =
-build_flags       = ${common.build_flags} -std=gnu++17 -D__PLAT_NATIVE_SIM__ -DU8G_HAL_LINKS -I/usr/include/SDL2 -IMarlin -IMarlin/src/HAL/NATIVE_SIM/include -IMarlin/src/HAL/NATIVE_SIM/u8g
+build_flags       = ${common.build_flags} -std=gnu++17 -D__PLAT_NATIVE_SIM__ -DU8G_HAL_LINKS -I/usr/include/SDL2 -IMarlin -IMarlin/src/HAL/NATIVE_SIM/u8g
 src_build_flags   = -Wall -Wno-expansion-to-defined -Wcast-align
 release_flags     = -g0 -O3 -flto
 debug_build_flags = -fstack-protector-strong -g -g3 -ggdb
 lib_compat_mode   = off
 src_filter        = ${common.default_src_filter} +<src/HAL/NATIVE_SIM>
 lib_deps          = ${common.lib_deps}
-  MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/master.zip
+  MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/0.0.2.zip
   Adafruit NeoPixel=https://github.com/p3p/Adafruit_NeoPixel/archive/marlin_sim_native.zip
   LiquidCrystal=https://github.com/p3p/LiquidCrystal/archive/master.zip
 extra_scripts = ${common.extra_scripts}