Merge branch 'bugfix-2.1.x' of https://github.com/MarlinFirmware/Marlin…

… into bugfix-2.1.x

Marlin/Configuration.h

@@ -79,7 +79,7 @@
  * Serial port -1 is the USB emulated serial port, if available.
  * Note: The first serial port (-1 or 0) will always be used by the Arduino bootloader.
  *
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
  */
 #define SERIAL_PORT 2
 
@@ -100,22 +100,22 @@
 /**
  * Select a secondary serial port on the board to use for communication with the host.
  * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
  */
 #define SERIAL_PORT_2 -1
 //#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 /**
  * Select a third serial port on the board to use for communication with the host.
  * Currently only supported for AVR, DUE, LPC1768/9 and STM32/STM32F1
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
  */
 //#define SERIAL_PORT_3 1
 //#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE
 
 /**
  * Select a serial port to communicate with RS485 protocol
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
  */
 //#define RS485_SERIAL_PORT 1
 #ifdef RS485_SERIAL_PORT

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2024-07-12"
+//#define STRING_DISTRIBUTION_DATE "2024-07-13"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/ESP32/timers.h

@@ -53,12 +53,11 @@ typedef uint64_t hal_timer_t;
 #if ENABLED(I2S_STEPPER_STREAM)
   #define STEPPER_TIMER_PRESCALE     1
   #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
 #else
   #define STEPPER_TIMER_PRESCALE     40
   #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)              // stepper timer ticks per µs
 #endif
+#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
 
 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts
 

Marlin/src/HAL/STM32/MarlinSerial.cpp

@@ -37,6 +37,9 @@
 #ifndef USART5
   #define USART5 UART5
 #endif
+#ifndef USART6
+  #define USART6 UART6
+#endif
 #ifndef USART7
   #define USART7 UART7
 #endif

Marlin/src/HAL/TEENSY31_32/timers.h

@@ -41,7 +41,7 @@ typedef uint32_t hal_timer_t;
 #define FTM0_TIMER_PRESCALE_BITS 0b011
 #define FTM1_TIMER_PRESCALE_BITS 0b010
 
-#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7500kHz
+#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7.5MHz
 #define FTM1_TIMER_RATE (F_BUS / (FTM1_TIMER_PRESCALE)) // 60MHz / 4 = 15MHz
 
 #define HAL_TIMER_RATE         (FTM0_TIMER_RATE)

Marlin/src/inc/Version.h

@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2024-07-12"
+  #define STRING_DISTRIBUTION_DATE "2024-07-13"
 #endif
 
 /**

Marlin/src/module/endstops.h

@@ -31,7 +31,7 @@
 #define _ES_ENUM(A,M) A##_##M
 #define ES_ENUM(A,M) _ES_ENUM(A,M)
 
-#define _ES_ITEM(N) N,
+#define _ES_ITEM(N) , N
 #define ES_ITEM(K,N) TERN(K,_ES_ITEM,_IF_1_ELSE)(N)
 
 #define _ESN_ITEM(K,A,M) ES_ITEM(K,ES_ENUM(A,M))
@@ -57,7 +57,9 @@
  * - Z_MIN_PROBE is an alias to Z_MIN when the Z_MIN_PIN is being used as the probe pin.
  * - When homing with the probe Z_ENDSTOP is a Z_MIN_PROBE alias, otherwise a Z_MIN/MAX alias.
  */
-enum EndstopEnum : char {
+enum EndstopEnum : int8_t {
+  _ES_START_ = -1
+
   // Common XYZ (ABC) endstops.
   ES_MINMAX(X) ES_MINMAX(Y) ES_MINMAX(Z)
   ES_MINMAX(I) ES_MINMAX(J) ES_MINMAX(K)
@@ -70,12 +72,18 @@ enum EndstopEnum : char {
   ES_ITEM(HAS_CALIBRATION_STATE, CALIBRATION)
 
   // Bed Probe state is distinct or shared with Z_MIN (i.e., when the probe is the only Z endstop)
-  ES_ITEM(HAS_Z_PROBE_STATE, Z_MIN_PROBE IF_DISABLED(USE_Z_MIN_PROBE, = Z_MIN))
+  #if HAS_Z_PROBE_STATE && USE_Z_MIN_PROBE
+    , Z_MIN_PROBE
+  #endif
 
-  // The total number of states
-  NUM_ENDSTOP_STATES
+  // The total number of distinct states
+  , NUM_ENDSTOP_STATES
 
   // Endstop aliases
+  #if HAS_Z_PROBE_STATE && !USE_Z_MIN_PROBE
+    , Z_MIN_PROBE = Z_MIN
+  #endif
+
   #if HAS_X_STATE
     , X_ENDSTOP = TERN(X_HOME_TO_MAX, X_MAX, X_MIN)
   #endif
@@ -88,7 +96,6 @@ enum EndstopEnum : char {
   #if HAS_Y2_STATE
     , Y2_ENDSTOP = TERN(Y_HOME_TO_MAX, Y2_MAX, Y2_MIN)
   #endif
-
   #if HOMING_Z_WITH_PROBE
     , Z_ENDSTOP = Z_MIN_PROBE // "Z" endstop alias when homing with the probe
   #elif HAS_Z_STATE

Marlin/src/module/planner.cpp

@@ -729,8 +729,6 @@ void Planner::init() {
   #endif
 #endif
 
-#define MINIMAL_STEP_RATE 120
-
 /**
  * Get the current block for processing
  * and mark the block as busy.
@@ -796,13 +794,9 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
   uint32_t initial_rate = entry_speed ? LROUND(entry_speed * spmm) : block->initial_rate,
            final_rate = LROUND(exit_speed * spmm);
 
-  // Removing code to constrain values produces judder in direction-switching moves because the
-  // current discrete stepping math diverges from physical motion under constant acceleration
-  // when acceleration_steps_per_s2 is large compared to initial/final_rate.
-  NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
-  NOLESS(final_rate,   uint32_t(MINIMAL_STEP_RATE));
-  NOMORE(initial_rate, block->nominal_rate);  // NOTE: The nominal rate may be less than MINIMAL_STEP_RATE!
-  NOMORE(final_rate,   block->nominal_rate);
+  NOLESS(initial_rate,        stepper.minimal_step_rate);
+  NOLESS(final_rate,          stepper.minimal_step_rate);
+  NOLESS(block->nominal_rate, stepper.minimal_step_rate);
 
   #if ANY(S_CURVE_ACCELERATION, LIN_ADVANCE)
     // If we have some plateau time, the cruise rate will be the nominal rate

Marlin/src/module/stepper.cpp

@@ -2201,12 +2201,10 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
   #ifdef CPU_32_BIT
 
     // A fast processor can just do integer division
-    constexpr uint32_t min_step_rate = uint32_t(STEPPER_TIMER_RATE) / HAL_TIMER_TYPE_MAX;
-    return step_rate > min_step_rate ? uint32_t(STEPPER_TIMER_RATE) / step_rate : HAL_TIMER_TYPE_MAX;
+    return step_rate > minimal_step_rate ? uint32_t(STEPPER_TIMER_RATE) / step_rate : HAL_TIMER_TYPE_MAX;
 
   #else
 
-    constexpr uint32_t min_step_rate = (F_CPU) / 500000U; // i.e., 32 or 40
     if (step_rate >= 0x0800) {  // higher step rate
       // AVR is able to keep up at around 65kHz Stepping ISR rate at most.
       // So values for step_rate > 65535 might as well be truncated.
@@ -2220,8 +2218,8 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
       const uint8_t gain = uint8_t(pgm_read_byte(table_address + 2));
       return base - MultiU8X8toH8(uint8_t(step_rate & 0x00FF), gain);
     }
-    else if (step_rate > min_step_rate) { // lower step rates
-      step_rate -= min_step_rate; // Correct for minimal speed
+    else if (step_rate > minimal_step_rate) { // lower step rates
+      step_rate -= minimal_step_rate; // Correct for minimal speed
       const uintptr_t table_address = uintptr_t(&speed_lookuptable_slow[uint8_t(step_rate >> 3)]);
       return uint16_t(pgm_read_word(table_address))
              - ((uint16_t(pgm_read_word(table_address + 2)) * uint8_t(step_rate & 0x0007)) >> 3);

Marlin/src/module/stepper.h

@@ -295,6 +295,16 @@ class Stepper {
 
   public:
 
+    // The minimal step rate ensures calculations stay within limits
+    // and avoid the most unreasonably slow step rates.
+    static constexpr uint32_t minimal_step_rate = (
+      #ifdef CPU_32_BIT
+        _MAX((STEPPER_TIMER_RATE) / HAL_TIMER_TYPE_MAX, 1U) // 32-bit shouldn't go below 1
+      #else
+        (F_CPU) / 500000U   // AVR shouldn't go below 32 (16MHz) or 40 (20MHz)
+      #endif
+    );
+
     #if ANY(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
       static bool separate_multi_axis;
     #endif

Marlin/src/pins/ramps/pins_MKS_BASE_14.h

@@ -43,10 +43,10 @@
 #ifndef RGB_LED_R_PIN
   #define RGB_LED_R_PIN                       50
 #endif
-#ifndef RGB_LED_R_PIN
+#ifndef RGB_LED_G_PIN
   #define RGB_LED_G_PIN                       51
 #endif
-#ifndef RGB_LED_R_PIN
+#ifndef RGB_LED_B_PIN
   #define RGB_LED_B_PIN                       52
 #endif