diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 8cfaa95787..149ac610f5 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -3387,6 +3387,15 @@
#define POWER_MONITOR_VOLTAGE_OFFSET 0 // Offset (in volts) applied to the calculated voltage
#endif
+/**
+ * Stepper Driver Anti-SNAFU Protection
+ *
+ * If the SAFE_POWER_PIN is defined for your board, Marlin will check
+ * that stepper drivers are properly plugged in before applying power.
+ * Disable protection if your stepper drivers don't support the feature.
+ */
+//#define DISABLE_DRIVER_SAFE_POWER_PROTECT
+
/**
* CNC Coordinate Systems
*
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 7139d54f25..209c9b59d0 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -232,6 +232,10 @@
#include "lcd/extui/lib/dgus/DGUSScreenHandler.h"
#endif
+#if HAS_DRIVER_SAFE_POWER_PROTECT
+ #include "feature/stepper_driver_safety.h"
+#endif
+
PGMSTR(M112_KILL_STR, "M112 Shutdown");
MarlinState marlin_state = MF_INITIALIZING;
@@ -1223,6 +1227,15 @@ void setup() {
SETUP_RUN(ui.reset_status()); // Load welcome message early. (Retained if no errors exist.)
#endif
+ #if PIN_EXISTS(SAFE_POWER)
+ #if HAS_DRIVER_SAFE_POWER_PROTECT
+ SETUP_RUN(stepper_driver_backward_check());
+ #else
+ SETUP_LOG("SAFE_POWER");
+ OUT_WRITE(SAFE_POWER_PIN, HIGH);
+ #endif
+ #endif
+
#if ENABLED(PROBE_TARE)
SETUP_RUN(probe.tare_init());
#endif
@@ -1467,6 +1480,10 @@ void setup() {
SETUP_RUN(test_tmc_connection(true, true, true, true));
#endif
+ #if HAS_DRIVER_SAFE_POWER_PROTECT
+ SETUP_RUN(stepper_driver_backward_report());
+ #endif
+
#if HAS_PRUSA_MMU2
SETUP_RUN(mmu2.init());
#endif
diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
index 377147504f..614a3b6e9e 100644
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -363,25 +363,26 @@
#define BOARD_BLACK_STM32F407VE 4204 // BLACK_STM32F407VE
#define BOARD_BLACK_STM32F407ZE 4205 // BLACK_STM32F407ZE
#define BOARD_STEVAL_3DP001V1 4206 // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1 4207 // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2 4208 // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0 4209 // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_SKR_PRO_V1_1 4207 // BigTreeTech SKR Pro v1.1 (STM32F407ZGT6)
+#define BOARD_BTT_SKR_PRO_V1_2 4208 // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6)
+#define BOARD_BTT_BTT002_V1_0 4209 // BigTreeTech BTT002 v1.0 (STM32F407VGT6)
#define BOARD_BTT_E3_RRF 4210 // BigTreeTech E3 RRF (STM32F407VGT6)
-#define BOARD_BTT_GTR_V1_0 4211 // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_LERDGE_K 4212 // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S 4213 // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X 4214 // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D 4215 // VAkE 403D (STM32F446VET6)
-#define BOARD_FYSETC_S6 4216 // FYSETC S6 (STM32F446VET6)
-#define BOARD_FYSETC_S6_V2_0 4217 // FYSETC S6 v2.0 (STM32F446VET6)
-#define BOARD_FYSETC_SPIDER 4218 // FYSETC Spider (STM32F446VET6)
-#define BOARD_FLYF407ZG 4219 // FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2 4220 // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2 4221 // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3 4222 // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_ANET_ET4 4223 // ANET ET4 V1.x (STM32F407VGT6)
-#define BOARD_ANET_ET4P 4224 // ANET ET4P V1.x (STM32F407VGT6)
-#define BOARD_FYSETC_CHEETAH_V20 4225 // FYSETC Cheetah V2.0
+#define BOARD_BTT_SKR_V2_0 4211 // BigTreeTech SKR v2.0 (STM32F407VGT6)
+#define BOARD_BTT_GTR_V1_0 4212 // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_LERDGE_K 4213 // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S 4214 // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X 4215 // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D 4216 // VAkE 403D (STM32F446VET6)
+#define BOARD_FYSETC_S6 4217 // FYSETC S6 (STM32F446VET6)
+#define BOARD_FYSETC_S6_V2_0 4218 // FYSETC S6 v2.0 (STM32F446VET6)
+#define BOARD_FYSETC_SPIDER 4219 // FYSETC Spider (STM32F446VET6)
+#define BOARD_FLYF407ZG 4220 // FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2 4221 // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2 4222 // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3 4223 // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_ANET_ET4 4224 // ANET ET4 V1.x (STM32F407VGT6)
+#define BOARD_ANET_ET4P 4225 // ANET ET4P V1.x (STM32F407VGT6)
+#define BOARD_FYSETC_CHEETAH_V20 4226 // FYSETC Cheetah V2.0
//
// ARM Cortex M7
diff --git a/Marlin/src/feature/stepper_driver_safety.cpp b/Marlin/src/feature/stepper_driver_safety.cpp
new file mode 100644
index 0000000000..991f5a5906
--- /dev/null
+++ b/Marlin/src/feature/stepper_driver_safety.cpp
@@ -0,0 +1,171 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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/>.
+ *
+ */
+#include "../inc/MarlinConfig.h"
+#include "../lcd/marlinui.h"
+
+#if HAS_DRIVER_SAFE_POWER_PROTECT
+
+#include "stepper_driver_safety.h"
+
+static uint32_t axis_plug_backward = 0;
+
+void stepper_driver_backward_error(PGM_P str) {
+ SERIAL_ERROR_START();
+ SERIAL_ECHOPGM_P(str);
+ SERIAL_ECHOLNPGM(" driver is backward!");
+ ui.status_printf_P(2, PSTR(S_FMT S_FMT), str, GET_TEXT(MSG_DRIVER_BACKWARD));
+}
+
+void stepper_driver_backward_check() {
+
+ OUT_WRITE(SAFE_POWER_PIN, LOW);
+
+ #define TEST_BACKWARD(AXIS, BIT) do { \
+ SET_INPUT(AXIS##_ENABLE_PIN); \
+ OUT_WRITE(AXIS##_STEP_PIN, false); \
+ delay(20); \
+ if (READ(AXIS##_ENABLE_PIN) == false) { \
+ SBI(axis_plug_backward, BIT); \
+ stepper_driver_backward_error(PSTR(STRINGIFY(AXIS))); \
+ } \
+ }while(0)
+
+ #if HAS_X_ENABLE
+ TEST_BACKWARD(X, 0);
+ #endif
+ #if HAS_X2_ENABLE
+ TEST_BACKWARD(X2, 1);
+ #endif
+
+ #if HAS_Y_ENABLE
+ TEST_BACKWARD(Y, 2);
+ #endif
+ #if HAS_Y2_ENABLE
+ TEST_BACKWARD(Y2, 3);
+ #endif
+
+ #if HAS_Z_ENABLE
+ TEST_BACKWARD(Z, 4);
+ #endif
+ #if HAS_Z2_ENABLE
+ TEST_BACKWARD(Z2, 5);
+ #endif
+ #if HAS_Z3_ENABLE
+ TEST_BACKWARD(Z3, 6);
+ #endif
+ #if HAS_Z4_ENABLE
+ TEST_BACKWARD(Z4, 7);
+ #endif
+
+ #if HAS_E0_ENABLE
+ TEST_BACKWARD(E0, 8);
+ #endif
+ #if HAS_E1_ENABLE
+ TEST_BACKWARD(E1, 9);
+ #endif
+ #if HAS_E2_ENABLE
+ TEST_BACKWARD(E2, 10);
+ #endif
+ #if HAS_E3_ENABLE
+ TEST_BACKWARD(E3, 11);
+ #endif
+ #if HAS_E4_ENABLE
+ TEST_BACKWARD(E4, 12);
+ #endif
+ #if HAS_E5_ENABLE
+ TEST_BACKWARD(E5, 13);
+ #endif
+ #if HAS_E6_ENABLE
+ TEST_BACKWARD(E6, 14);
+ #endif
+ #if HAS_E7_ENABLE
+ TEST_BACKWARD(E7, 15);
+ #endif
+
+ if (!axis_plug_backward)
+ WRITE(SAFE_POWER_PIN, HIGH);
+}
+
+void stepper_driver_backward_report() {
+ if (!axis_plug_backward) return;
+
+ auto _report_if_backward = [](PGM_P axis, uint8_t bit) {
+ if (TEST(axis_plug_backward, bit))
+ stepper_driver_backward_error(axis);
+ };
+
+ #define REPORT_BACKWARD(axis, bit) _report_if_backward(PSTR(STRINGIFY(axis)), bit)
+
+ #if HAS_X_ENABLE
+ REPORT_BACKWARD(X, 0);
+ #endif
+ #if HAS_X2_ENABLE
+ REPORT_BACKWARD(X2, 1);
+ #endif
+
+ #if HAS_Y_ENABLE
+ REPORT_BACKWARD(Y, 2);
+ #endif
+ #if HAS_Y2_ENABLE
+ REPORT_BACKWARD(Y2, 3);
+ #endif
+
+ #if HAS_Z_ENABLE
+ REPORT_BACKWARD(Z, 4);
+ #endif
+ #if HAS_Z2_ENABLE
+ REPORT_BACKWARD(Z2, 5);
+ #endif
+ #if HAS_Z3_ENABLE
+ REPORT_BACKWARD(Z3, 6);
+ #endif
+ #if HAS_Z4_ENABLE
+ REPORT_BACKWARD(Z4, 7);
+ #endif
+
+ #if HAS_E0_ENABLE
+ REPORT_BACKWARD(E0, 8);
+ #endif
+ #if HAS_E1_ENABLE
+ REPORT_BACKWARD(E1, 9);
+ #endif
+ #if HAS_E2_ENABLE
+ REPORT_BACKWARD(E2, 10);
+ #endif
+ #if HAS_E3_ENABLE
+ REPORT_BACKWARD(E3, 11);
+ #endif
+ #if HAS_E4_ENABLE
+ REPORT_BACKWARD(E4, 12);
+ #endif
+ #if HAS_E5_ENABLE
+ REPORT_BACKWARD(E5, 13);
+ #endif
+ #if HAS_E6_ENABLE
+ REPORT_BACKWARD(E6, 14);
+ #endif
+ #if HAS_E7_ENABLE
+ REPORT_BACKWARD(E7, 15);
+ #endif
+}
+
+#endif // HAS_DRIVER_SAFE_POWER_PROTECT
diff --git a/Marlin/src/feature/stepper_driver_safety.h b/Marlin/src/feature/stepper_driver_safety.h
new file mode 100644
index 0000000000..46edf3390d
--- /dev/null
+++ b/Marlin/src/feature/stepper_driver_safety.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+
+#include "../inc/MarlinConfigPre.h"
+
+void stepper_driver_backward_check();
+void stepper_driver_backward_report();
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 772c8bc3c1..208c875982 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -3042,3 +3042,7 @@
#if BUTTONS_EXIST(EN1, EN2, ENC)
#define HAS_ROTARY_ENCODER 1
#endif
+
+#if PIN_EXISTS(SAFE_POWER) && DISABLED(DISABLE_DRIVER_SAFE_POWER_PROTECT)
+ #define HAS_DRIVER_SAFE_POWER_PROTECT 1
+#endif
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index 12c5a6e42d..f217c96749 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -706,6 +706,8 @@ namespace Language_en {
PROGMEM Language_Str MSG_BOTTOM_RIGHT = _UxGT("Bottom Right");
PROGMEM Language_Str MSG_CALIBRATION_COMPLETED = _UxGT("Calibration Completed");
PROGMEM Language_Str MSG_CALIBRATION_FAILED = _UxGT("Calibration Failed");
+
+ PROGMEM Language_Str MSG_DRIVER_BACKWARD = _UxGT(" driver backward");
}
#if FAN_COUNT == 1
diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
index c2d6b30703..adcf29e5c6 100644
--- a/Marlin/src/pins/pins.h
+++ b/Marlin/src/pins/pins.h
@@ -596,6 +596,8 @@
#include "stm32f4/pins_BTT_BTT002_V1_0.h" // STM32F4 env:BIGTREE_BTT002
#elif MB(BTT_E3_RRF)
#include "stm32f4/pins_BTT_E3_RRF.h" // STM32F4 env:BIGTREE_E3_RRF
+#elif MB(BTT_SKR_V2_0)
+ #include "stm32f4/pins_BTT_SKR_V2_0.h" // STM32F4 env:BIGTREE_SKR_2
#elif MB(LERDGE_K)
#include "stm32f4/pins_LERDGE_K.h" // STM32F4 env:LERDGEK env:LERDGEK_usb_flash_drive
#elif MB(LERDGE_S)
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0.h b/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0.h
new file mode 100644
index 0000000000..fa08aedbb0
--- /dev/null
+++ b/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0.h
@@ -0,0 +1,495 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "env_validate.h"
+
+#define BOARD_INFO_NAME "BTT SKR V2.0"
+
+// Use one of these or SDCard-based Emulation will be used
+#if NO_EEPROM_SELECTED
+ //#define SRAM_EEPROM_EMULATION // Use BackSRAM-based EEPROM emulation
+ #define FLASH_EEPROM_EMULATION // Use Flash-based EEPROM emulation
+#endif
+
+#if ENABLED(FLASH_EEPROM_EMULATION)
+ // Decrease delays and flash wear by spreading writes across the
+ // 128 kB sector allocated for EEPROM emulation.
+ #define FLASH_EEPROM_LEVELING
+#endif
+
+// USB Flash Drive support
+#define HAS_OTG_USB_HOST_SUPPORT
+
+// Avoid conflict with TIMER_TONE
+#define STEP_TIMER 10
+
+//
+// Servos
+//
+#define SERVO0_PIN PE5
+
+//
+// Trinamic Stallguard pins
+//
+#define X_DIAG_PIN PC1 // X-STOP
+#define Y_DIAG_PIN PC3 // Y-STOP
+#define Z_DIAG_PIN PC0 // Z-STOP
+#define E0_DIAG_PIN PC2 // E0DET
+#define E1_DIAG_PIN PA0 // E1DET
+
+//
+// Limit Switches
+//
+#ifdef X_STALL_SENSITIVITY
+ #define X_STOP_PIN X_DIAG_PIN
+ #if X_HOME_DIR < 0
+ #define X_MAX_PIN PC2 // E0DET
+ #else
+ #define X_MIN_PIN PC2 // E0DET
+ #endif
+#elif ENABLED(X_DUAL_ENDSTOPS)
+ #ifndef X_MIN_PIN
+ #define X_MIN_PIN PC1 // X-STOP
+ #endif
+ #ifndef X_MAX_PIN
+ #define X_MAX_PIN PC2 // E0DET
+ #endif
+#else
+ #define X_STOP_PIN PC1 // X-STOP
+#endif
+
+#ifdef Y_STALL_SENSITIVITY
+ #define Y_STOP_PIN Y_DIAG_PIN
+ #if Y_HOME_DIR < 0
+ #define Y_MAX_PIN PA0 // E1DET
+ #else
+ #define Y_MIN_PIN PA0 // E1DET
+ #endif
+#elif ENABLED(Y_DUAL_ENDSTOPS)
+ #ifndef Y_MIN_PIN
+ #define Y_MIN_PIN PC3 // Y-STOP
+ #endif
+ #ifndef Y_MAX_PIN
+ #define Y_MAX_PIN PA0 // E1DET
+ #endif
+#else
+ #define Y_STOP_PIN PC3 // Y-STOP
+#endif
+
+#ifdef Z_STALL_SENSITIVITY
+ #define Z_STOP_PIN Z_DIAG_PIN
+ #if Z_HOME_DIR < 0
+ #define Z_MAX_PIN PC15 // PWRDET
+ #else
+ #define Z_MIN_PIN PC15 // PWRDET
+ #endif
+#elif ENABLED(Z_MULTI_ENDSTOPS)
+ #ifndef Z_MIN_PIN
+ #define Z_MIN_PIN PC0 // Z-STOP
+ #endif
+ #ifndef Z_MAX_PIN
+ #define Z_MAX_PIN PC15 // PWRDET
+ #endif
+#else
+ #ifndef Z_STOP_PIN
+ #define Z_STOP_PIN PC0 // Z-STOP
+ #endif
+#endif
+
+//
+// Z Probe (when not Z_MIN_PIN)
+//
+#ifndef Z_MIN_PROBE_PIN
+ #define Z_MIN_PROBE_PIN PE4
+#endif
+
+//
+// Filament Runout Sensor
+//
+#define FIL_RUNOUT_PIN PC2 // E0DET
+#define FIL_RUNOUT2_PIN PA0 // E1DET
+
+//
+// Power Supply Control
+//
+#ifndef PS_ON_PIN
+ #define PS_ON_PIN PE8 // PS-ON
+#endif
+
+//
+// Power Loss Detection
+//
+#ifndef POWER_LOSS_PIN
+ #define POWER_LOSS_PIN PC15 // PWRDET
+#endif
+
+//
+// NeoPixel LED
+//
+#ifndef NEOPIXEL_PIN
+ #define NEOPIXEL_PIN PE6
+#endif
+
+//
+// Control pin of driver/heater/fan power supply
+//
+#define SAFE_POWER_PIN PC13
+
+//
+// Steppers
+//
+#define X_STEP_PIN PE2
+#define X_DIR_PIN PE1
+#define X_ENABLE_PIN PE3
+#ifndef X_CS_PIN
+ #define X_CS_PIN PE0
+#endif
+
+#define Y_STEP_PIN PD5
+#define Y_DIR_PIN PD4
+#define Y_ENABLE_PIN PD6
+#ifndef Y_CS_PIN
+ #define Y_CS_PIN PD3
+#endif
+
+#define Z_STEP_PIN PA15
+#define Z_DIR_PIN PA8
+#define Z_ENABLE_PIN PD1
+#ifndef Z_CS_PIN
+ #define Z_CS_PIN PD0
+#endif
+
+#define E0_STEP_PIN PD15
+#define E0_DIR_PIN PD14
+#define E0_ENABLE_PIN PC7
+#ifndef E0_CS_PIN
+ #define E0_CS_PIN PC6
+#endif
+
+#define E1_STEP_PIN PD11
+#define E1_DIR_PIN PD10
+#define E1_ENABLE_PIN PD13
+#ifndef E1_CS_PIN
+ #define E1_CS_PIN PD12
+#endif
+
+//
+// Temperature Sensors
+//
+#define TEMP_BED_PIN PA1 // TB
+#define TEMP_0_PIN PA2 // TH0
+#define TEMP_1_PIN PA3 // TH1
+
+//
+// Heaters / Fans
+//
+#define HEATER_0_PIN PB3 // Heater0
+#define HEATER_1_PIN PB4 // Heater1
+#define HEATER_BED_PIN PD7 // Hotbed
+#define FAN_PIN PB7 // Fan0
+#define FAN1_PIN PB6 // Fan1
+#define FAN2_PIN PB5 // Fan2
+
+//
+// Software SPI pins for TMC2130 stepper drivers
+//
+#if ENABLED(TMC_USE_SW_SPI)
+ #ifndef TMC_SW_MOSI
+ #define TMC_SW_MOSI PE14
+ #endif
+ #ifndef TMC_SW_MISO
+ #define TMC_SW_MISO PA14
+ #endif
+ #ifndef TMC_SW_SCK
+ #define TMC_SW_SCK PE15
+ #endif
+#endif
+
+#if HAS_TMC_UART
+ /**
+ * TMC2208/TMC2209 stepper drivers
+ *
+ * Hardware serial communication ports.
+ * If undefined software serial is used according to the pins below
+ */
+ //#define X_HARDWARE_SERIAL Serial1
+ //#define X2_HARDWARE_SERIAL Serial1
+ //#define Y_HARDWARE_SERIAL Serial1
+ //#define Y2_HARDWARE_SERIAL Serial1
+ //#define Z_HARDWARE_SERIAL Serial1
+ //#define Z2_HARDWARE_SERIAL Serial1
+ //#define E0_HARDWARE_SERIAL Serial1
+ //#define E1_HARDWARE_SERIAL Serial1
+ //#define E2_HARDWARE_SERIAL Serial1
+ //#define E3_HARDWARE_SERIAL Serial1
+ //#define E4_HARDWARE_SERIAL Serial1
+
+ //
+ // Software serial
+ //
+ #define X_SERIAL_TX_PIN PE0
+ #define X_SERIAL_RX_PIN PE0
+
+ #define Y_SERIAL_TX_PIN PD3
+ #define Y_SERIAL_RX_PIN PD3
+
+ #define Z_SERIAL_TX_PIN PD0
+ #define Z_SERIAL_RX_PIN PD0
+
+ #define E0_SERIAL_TX_PIN PC6
+ #define E0_SERIAL_RX_PIN PC6
+
+ #define E1_SERIAL_TX_PIN PD12
+ #define E1_SERIAL_RX_PIN PD12
+
+ // Reduce baud rate to improve software serial reliability
+ #define TMC_BAUD_RATE 19200
+#endif
+
+//
+// SD Connection
+//
+#ifndef SDCARD_CONNECTION
+ #define SDCARD_CONNECTION LCD
+#endif
+
+/**
+ * ----- -----
+ * NC | 1 2 | GND 5V | 1 2 | GND
+ * RESET | 3 4 | PC4 (SD_DETECT) (LCD_D7) PE13 | 3 4 | PE12 (LCD_D6)
+ * (MOSI) PA7 | 5 6 PB2 (BTN_EN2) (LCD_D5) PE11 | 5 6 PE10 (LCD_D4)
+ * (SD_SS) PA4 | 7 8 | PE7 (BTN_EN1) (LCD_RS) PE9 | 7 8 | PB1 (LCD_EN)
+ * (SCK) PA5 | 9 10| PA6 (MISO) (BTN_ENC) PB0 | 9 10| PC5 (BEEPER)
+ * ----- -----
+ * EXP2 EXP1
+ */
+
+#define EXP1_03_PIN PE13
+#define EXP1_04_PIN PE12
+#define EXP1_05_PIN PE11
+#define EXP1_06_PIN PE10
+#define EXP1_07_PIN PE9
+#define EXP1_08_PIN PB1
+#define EXP1_09_PIN PB0
+#define EXP1_10_PIN PC5
+
+#define EXP2_03_PIN -1
+#define EXP2_04_PIN PC4
+#define EXP2_05_PIN PA7
+#define EXP2_06_PIN PB2
+#define EXP2_07_PIN PA4
+#define EXP2_08_PIN PE7
+#define EXP2_09_PIN PA5
+#define EXP2_10_PIN PA6
+
+//
+// Onboard SD card
+// Must use soft SPI because Marlin's default hardware SPI is tied to LCD's EXP2
+//
+#if SD_CONNECTION_IS(ONBOARD)
+
+ #define SDIO_SUPPORT // Use SDIO for onboard SD
+ #define SDIO_D0_PIN PC8
+ #define SDIO_D1_PIN PC9
+ #define SDIO_D2_PIN PC10
+ #define SDIO_D3_PIN PC11
+ #define SDIO_CK_PIN PC12
+ #define SDIO_CMD_PIN PD2
+
+#elif SD_CONNECTION_IS(LCD)
+
+ #define CUSTOM_SPI_PINS
+ #define SDSS PA4
+ #define SD_SS_PIN SDSS
+ #define SD_SCK_PIN PA5
+ #define SD_MISO_PIN PA6
+ #define SD_MOSI_PIN PA7
+ #define SD_DETECT_PIN PC4
+
+#elif SD_CONNECTION_IS(CUSTOM_CABLE)
+ #error "CUSTOM_CABLE is not a supported SDCARD_CONNECTION for this board"
+#endif
+
+#if ENABLED(BTT_MOTOR_EXPANSION)
+ /**
+ * _____ _____
+ * NC | · · | GND NC | · · | GND
+ * NC | · · | PF12 (M1EN) (M2EN) PG7 | · · | PG6 (M3EN)
+ * (M1STP) PB15 | · · PF11 (M1DIR) (M1RX) PG3 | · · PG2 (M1DIAG)
+ * (M2DIR) PB12 | · · | PG10 (M2STP) (M2RX) PD10 | · · | PD11 (M2DIAG)
+ * (M3DIR) PB13 | · · | PB14 (M3STP) (M3RX) PA8 | · · | PG4 (M3DIAG)
+ * ----- -----
+ * EXP2 EXP1
+ */
+
+ // M1 on Driver Expansion Module
+ #define E3_STEP_PIN EXP2_05_PIN
+ #define E3_DIR_PIN EXP2_06_PIN
+ #define E3_ENABLE_PIN EXP2_04_PIN
+ #define E3_DIAG_PIN EXP1_06_PIN
+ #define E3_CS_PIN EXP1_05_PIN
+ #if HAS_TMC_UART
+ #define E3_SERIAL_TX_PIN EXP1_05_PIN
+ #define E3_SERIAL_RX_PIN EXP1_05_PIN
+ #endif
+
+ // M2 on Driver Expansion Module
+ #define E4_STEP_PIN EXP2_08_PIN
+ #define E4_DIR_PIN EXP2_07_PIN
+ #define E4_ENABLE_PIN EXP1_03_PIN
+ #define E4_DIAG_PIN EXP1_08_PIN
+ #define E4_CS_PIN EXP1_07_PIN
+ #if HAS_TMC_UART
+ #define E4_SERIAL_TX_PIN EXP1_07_PIN
+ #define E4_SERIAL_RX_PIN EXP1_07_PIN
+ #endif
+
+ // M3 on Driver Expansion Module
+ #define E5_STEP_PIN EXP2_10_PIN
+ #define E5_DIR_PIN EXP2_09_PIN
+ #define E5_ENABLE_PIN EXP1_04_PIN
+ #define E5_DIAG_PIN EXP1_10_PIN
+ #define E5_CS_PIN EXP1_09_PIN
+ #if HAS_TMC_UART
+ #define E5_SERIAL_TX_PIN EXP1_09_PIN
+ #define E5_SERIAL_RX_PIN EXP1_09_PIN
+ #endif
+
+#endif // BTT_MOTOR_EXPANSION
+
+//
+// LCDs and Controllers
+//
+#if IS_TFTGLCD_PANEL
+
+ #if ENABLED(TFTGLCD_PANEL_SPI)
+ #define TFTGLCD_CS EXP2_08_PIN
+ #endif
+
+#elif HAS_WIRED_LCD
+
+ #define BEEPER_PIN EXP1_10_PIN
+ #define BTN_ENC EXP1_09_PIN
+
+ #if ENABLED(CR10_STOCKDISPLAY)
+
+ #define LCD_PINS_RS EXP1_04_PIN
+
+ #define BTN_EN1 EXP1_08_PIN
+ #define BTN_EN2 EXP1_06_PIN
+
+ #define LCD_PINS_ENABLE EXP1_03_PIN
+ #define LCD_PINS_D4 EXP1_05_PIN
+
+ // CR10_STOCKDISPLAY default timing is too fast
+ #undef BOARD_ST7920_DELAY_1
+ #undef BOARD_ST7920_DELAY_2
+ #undef BOARD_ST7920_DELAY_3
+
+ #elif ENABLED(MKS_MINI_12864)
+
+ #define DOGLCD_A0 EXP1_04_PIN
+ #define DOGLCD_CS EXP1_05_PIN
+ #define BTN_EN1 EXP2_08_PIN
+ #define BTN_EN2 EXP2_06_PIN
+
+ #else
+
+ #define LCD_PINS_RS EXP1_07_PIN
+
+ #define BTN_EN1 EXP2_08_PIN
+ #define BTN_EN2 EXP2_06_PIN
+
+ #define LCD_PINS_ENABLE EXP1_08_PIN
+ #define LCD_PINS_D4 EXP1_06_PIN
+
+ #if ENABLED(FYSETC_MINI_12864)
+ #define DOGLCD_CS EXP1_08_PIN
+ #define DOGLCD_A0 EXP1_07_PIN
+ //#define LCD_BACKLIGHT_PIN -1
+ #define LCD_RESET_PIN EXP1_06_PIN // Must be high or open for LCD to operate normally.
+ #if EITHER(FYSETC_MINI_12864_1_2, FYSETC_MINI_12864_2_0)
+ #ifndef RGB_LED_R_PIN
+ #define RGB_LED_R_PIN EXP1_05_PIN
+ #endif
+ #ifndef RGB_LED_G_PIN
+ #define RGB_LED_G_PIN EXP1_04_PIN
+ #endif
+ #ifndef RGB_LED_B_PIN
+ #define RGB_LED_B_PIN EXP1_03_PIN
+ #endif
+ #elif ENABLED(FYSETC_MINI_12864_2_1)
+ #define NEOPIXEL_PIN EXP1_05_PIN
+ #endif
+ #endif // !FYSETC_MINI_12864
+
+ #if IS_ULTIPANEL
+ #define LCD_PINS_D5 EXP1_05_PIN
+ #define LCD_PINS_D6 EXP1_04_PIN
+ #define LCD_PINS_D7 EXP1_03_PIN
+
+ #if ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
+ #define BTN_ENC_EN LCD_PINS_D7 // Detect the presence of the encoder
+ #endif
+
+ #endif
+
+ #endif
+
+#endif // HAS_WIRED_LCD
+
+// Alter timing for graphical display
+#if HAS_MARLINUI_U8GLIB
+ #ifndef BOARD_ST7920_DELAY_1
+ #define BOARD_ST7920_DELAY_1 DELAY_NS(96)
+ #endif
+ #ifndef BOARD_ST7920_DELAY_2
+ #define BOARD_ST7920_DELAY_2 DELAY_NS(48)
+ #endif
+ #ifndef BOARD_ST7920_DELAY_3
+ #define BOARD_ST7920_DELAY_3 DELAY_NS(600)
+ #endif
+#endif
+
+//
+// WIFI
+//
+
+/**
+ * -------
+ * GND | 9 | | 8 | 3.3V
+ * (ESP-CS) PB12 | 10 | | 7 | PB15 (ESP-MOSI)
+ * 3.3V | 11 | | 6 | PB14 (ESP-MISO)
+ * (ESP-IO0) PB10 | 12 | | 5 | PB13 (ESP-CLK)
+ * (ESP-IO4) PB11 | 13 | | 4 | NC
+ * NC | 14 | | 3 | 3.3V (ESP-EN)
+ * (ESP-RX) PD8 | 15 | | 2 | NC
+ * (ESP-TX) PD9 | 16 | | 1 | PC14 (ESP-RST)
+ * -------
+ * WIFI
+ */
+#define ESP_WIFI_MODULE_COM 3 // Must also set either SERIAL_PORT or SERIAL_PORT_2 to this
+#define ESP_WIFI_MODULE_BAUDRATE BAUDRATE // Must use same BAUDRATE as SERIAL_PORT & SERIAL_PORT_2
+#define ESP_WIFI_MODULE_RESET_PIN PC14
+#define ESP_WIFI_MODULE_GPIO0_PIN PB10
+#define ESP_WIFI_MODULE_GPIO4_PIN PB11
diff --git a/ini/features.ini b/ini/features.ini
index 118392d6d7..9d8bac5713 100644
--- a/ini/features.ini
+++ b/ini/features.ini
@@ -134,6 +134,7 @@ HAS_FILAMENT_SENSOR = src_filter=+<src/feature/runout.cpp> +<src/gcode/featu
(EXT|MANUAL)_SOLENOID.* = src_filter=+<src/feature/solenoid.cpp> +<src/gcode/control/M380_M381.cpp>
MK2_MULTIPLEXER = src_filter=+<src/feature/snmm.cpp>
HAS_CUTTER = src_filter=+<src/feature/spindle_laser.cpp> +<src/gcode/control/M3-M5.cpp>
+HAS_DRIVER_SAFE_POWER_PROTECT = src_filter=+<src/feature/stepper_driver_safety.cpp>
EXPERIMENTAL_I2CBUS = src_filter=+<src/feature/twibus.cpp> +<src/gcode/feature/i2c>
MECHANICAL_GANTRY_CAL.+ = src_filter=+<src/gcode/calibrate/G34.cpp>
Z_MULTI_ENDSTOPS = src_filter=+<src/gcode/calibrate/G34_M422.cpp>
diff --git a/ini/stm32f4.ini b/ini/stm32f4.ini
index 881dd17b01..1678b26d89 100644
--- a/ini/stm32f4.ini
+++ b/ini/stm32f4.ini
@@ -225,6 +225,26 @@ build_flags = ${common_stm32.build_flags}
extra_scripts = ${common.extra_scripts}
pre:buildroot/share/PlatformIO/scripts/generic_create_variant.py
+#
+# Bigtreetech SKR V2.0 (STM32F407VGT6 ARM Cortex-M4) with USB Flash Drive Support
+#
+[env:BIGTREE_SKR_2]
+platform = ${common_stm32.platform}
+platform_packages = ${stm_flash_drive.platform_packages}
+extends = common_stm32
+board = genericSTM32F407VGT6
+board_build.core = stm32
+board_build.variant = MARLIN_F4x7Vx
+board_build.ldscript = ldscript.ld
+board_build.offset = 0x8000
+board_upload.offset_address = 0x08008000
+extra_scripts = ${common.extra_scripts}
+ pre:buildroot/share/PlatformIO/scripts/generic_create_variant.py
+ buildroot/share/PlatformIO/scripts/stm32_bootloader.py
+build_flags = ${stm_flash_drive.build_flags}
+ -DUSE_USBHOST_HS -DUSE_USB_HS_IN_FS -DUSBD_IRQ_PRIO=5 -DUSBD_IRQ_SUBPRIO=6
+ -DHSE_VALUE=8000000U -DHAL_SD_MODULE_ENABLED
+
#
# Lerdge base
#
diff --git a/platformio.ini b/platformio.ini
index d17c283b72..bbc9ffd904 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -136,6 +136,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/feature/snmm.cpp>
-<src/feature/solenoid.cpp> -<src/gcode/control/M380_M381.cpp>
-<src/feature/spindle_laser.cpp> -<src/gcode/control/M3-M5.cpp>
+ -<src/feature/stepper_driver_safety.cpp>
-<src/feature/tmc_util.cpp> -<src/module/stepper/trinamic.cpp>
-<src/feature/tramming.cpp>
-<src/feature/twibus.cpp>