diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 6660da6c5a..2162d22712 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -1,5 +1,5 @@
-#ifndef __CONFIGURATION_H
-#define __CONFIGURATION_H
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
 
 // Uncomment ONE of the next three lines - the one for your RepRap machine
 //#define REPRAPPRO_HUXLEY
@@ -55,7 +55,7 @@
 
 // Set this if you want to define the constants in the thermistor circuit
 // and work out temperatures algebraically - added by AB.
-#define COMPUTE_THERMISTORS
+//#define COMPUTE_THERMISTORS
 
 #ifdef COMPUTE_THERMISTORS
 
@@ -100,9 +100,9 @@
 // -2 is thermocouple with MAX6675 (only for sensor 0)
 // -1 is thermocouple with AD595
 // 0 is not used
-// 1 is 100k thermistor
-// 2 is 200k thermistor
-// 3 is mendel-parts thermistor
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is mendel-parts thermistor (4.7k pullup)
 // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
 // 5 is ParCan supplied 104GT-2 100K
 // 6 is EPCOS 100k
@@ -113,7 +113,7 @@
 // 103 is 100k EPCOS G57540 Bed with r2=4k7
 // 104 is 10k G57540 Bed with r2=4k7
 // 105 is 10k G57540 Bed with r2=10k
-// 110 is reprappro xmas huxley hot end with 10K resistor (RS thermistor 198-961)
+// 110 is 100k RS thermistor 198-961 hot end with 10K resistor
 
 #define TEMP_SENSOR_0 110
 #define TEMP_SENSOR_1 0
@@ -123,6 +123,7 @@
 // Actual temperature must be close to target for this long before M109 returns success
 #define TEMP_RESIDENCY_TIME 10  // (seconds)
 #define TEMP_HYSTERESIS 5       // (C°) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     2       // (degC) Window around target to start the recidency timer x degC early.
 
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
 // to check that the wiring to the thermistor is not broken. 
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index baf757ea05..10ee4eb3de 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1,5 +1,5 @@
-#ifndef __CONFIGURATION_ADV_H
-#define __CONFIGURATION_ADV_H
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
 
 //===========================================================================
 //=============================Thermal Settings  ============================
@@ -150,9 +150,6 @@
 
 #endif // ADVANCE
 
-// A debugging feature to compare calculated vs performed steps, to see if steps are lost by the software.
-//#define DEBUG_STEPS
-
 // Arc interpretation settings:
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25
diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h
index 2bb5b5cbbc..31cf8cd2f7 100644
--- a/Marlin/EEPROMwrite.h
+++ b/Marlin/EEPROMwrite.h
@@ -1,5 +1,5 @@
-#ifndef __EEPROMH
-#define __EEPROMH
+#ifndef EEPROM_H
+#define EEPROM_H
 
 #include "Marlin.h"
 #include "planner.h"
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 57aa579f45..70f9062428 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -1,8 +1,8 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
 
-#ifndef __MARLINH
-#define __MARLINH
+#ifndef MARLIN_H
+#define MARLIN_H
 
 #define  HardwareSerial_h // trick to disable the standard HWserial
 
@@ -64,6 +64,7 @@
 
 
 #define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
+#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
 #define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
 #define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
 #define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');}
@@ -169,6 +170,9 @@ void ClearToSend();
 void get_coordinates();
 void prepare_move();
 void kill();
+void Stop();
+
+bool IsStopped();
 
 void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
 void prepare_arc_move(char isclockwise);
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index d3d848c515..e99cba46a1 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -39,6 +39,7 @@
 #include "watchdog.h"
 #include "EEPROMwrite.h"
 #include "language.h"
+#include "pins_arduino.h"
 
 #define VERSION_STRING  "1.0.0 RC2"
 
@@ -113,15 +114,16 @@
 // M240 - Trigger a camera to take a photograph
 // M301 - Set PID parameters P I and D
 // M302 - Allow cold extrudes
+// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 // M400 - Finish all moves
 // M500 - stores paramters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 // M503 - print the current settings (from memory not from eeprom)
-// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 // M510 - FPU Enable
 // M511 - FPU Reset
 // M512 - FPU Disable
+// M999 - Restart after being stopped by error
 
 //Stepper Movement Variables
 
@@ -160,7 +162,7 @@ float modified_destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 //===========================================================================
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 static bool home_all_axis = true;
-static long gcode_N, gcode_LastN;
+static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
 
 static bool relative_mode = false;  //Determines Absolute or Relative Coordinates
 static bool relative_mode_e = false;  //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
@@ -192,6 +194,8 @@ static unsigned long stoptime=0;
 static uint8_t tmp_extruder;
 
 
+bool Stopped=false;
+
 //===========================================================================
 //=============================ROUTINES=============================
 //===========================================================================
@@ -366,7 +370,10 @@ void get_command()
 { 
   while( MYSERIAL.available() > 0  && buflen < BUFSIZE) {
     serial_char = MYSERIAL.read();
-    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) 
+    if(serial_char == '\n' || 
+       serial_char == '\r' || 
+       (serial_char == ':' && comment_mode == false) || 
+       serial_count >= (MAX_CMD_SIZE - 1) ) 
     {
       if(!serial_count) { //if empty line
         comment_mode = false; //for new command
@@ -438,11 +445,17 @@ void get_command()
           case 1:
           case 2:
           case 3:
-	    #ifdef SDSUPPORT
-            if(card.saving)
-              break;
-	    #endif //SDSUPPORT
-            SERIAL_PROTOCOLLNPGM(MSG_OK); 
+            if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
+	      #ifdef SDSUPPORT
+              if(card.saving)
+                break;
+	      #endif //SDSUPPORT
+              SERIAL_PROTOCOLLNPGM(MSG_OK); 
+            }
+            else {
+              SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+              LCD_MESSAGEPGM(MSG_STOPPED);
+            }
             break;
           default:
             break;
@@ -467,7 +480,10 @@ void get_command()
   while( !card.eof()  && buflen < BUFSIZE) {
     int16_t n=card.get();
     serial_char = (char)n;
-    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1) 
+    if(serial_char == '\n' || 
+       serial_char == '\r' || 
+       (serial_char == ':' && comment_mode == false) || 
+       serial_count >= (MAX_CMD_SIZE - 1)||n==-1) 
     {
       if(card.eof()){
         SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
@@ -570,19 +586,25 @@ void process_commands()
     {
     case 0: // G0 -> G1
     case 1: // G1
-      get_coordinates(); // For X Y Z E F
-      prepare_move();
-      //ClearToSend();
-      return;
+      if(Stopped == false) {
+        get_coordinates(); // For X Y Z E F
+        prepare_move();
+        //ClearToSend();
+        return;
+      }
       //break;
     case 2: // G2  - CW ARC
-      get_arc_coordinates();
-      prepare_arc_move(true);
-      return;
+      if(Stopped == false) {
+        get_arc_coordinates();
+        prepare_arc_move(true);
+        return;
+      }
     case 3: // G3  - CCW ARC
-      get_arc_coordinates();
-      prepare_arc_move(false);
-      return;
+      if(Stopped == false) {
+        get_arc_coordinates();
+        prepare_arc_move(false);
+        return;
+      }
     case 4: // G4 dwell
       LCD_MESSAGEPGM(MSG_DWELL);
       codenum = 0;
@@ -873,10 +895,14 @@ void process_commands()
       }
       #if (TEMP_0_PIN > -1)
         SERIAL_PROTOCOLPGM("ok T:");
-        SERIAL_PROTOCOL(degHotend(tmp_extruder)); 
+        SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); 
+        SERIAL_PROTOCOLPGM(" /");
+        SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); 
         #if TEMP_BED_PIN > -1
           SERIAL_PROTOCOLPGM(" B:");  
-          SERIAL_PROTOCOL(degBed());
+          SERIAL_PROTOCOL_F(degBed(),1);
+          SERIAL_PROTOCOLPGM(" /");
+          SERIAL_PROTOCOL_F(degTargetBed(),1);
         #endif //TEMP_BED_PIN
       #else
         SERIAL_ERROR_START;
@@ -908,7 +934,7 @@ void process_commands()
       if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
       #ifdef AUTOTEMP
         if (code_seen('S')) autotemp_min=code_value();
-        if (code_seen('G')) autotemp_max=code_value();
+        if (code_seen('B')) autotemp_max=code_value();
         if (code_seen('F')) 
         {
           autotemp_factor=code_value();
@@ -935,9 +961,9 @@ void process_commands()
           if( (millis() - codenum) > 1000UL )
           { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
             SERIAL_PROTOCOLPGM("T:");
-            SERIAL_PROTOCOL( degHotend(tmp_extruder) ); 
+            SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); 
             SERIAL_PROTOCOLPGM(" E:");
-            SERIAL_PROTOCOL( (int)tmp_extruder ); 
+            SERIAL_PROTOCOL((int)tmp_extruder); 
             #ifdef TEMP_RESIDENCY_TIME
               SERIAL_PROTOCOLPGM(" W:");
               if(residencyStart > -1)
@@ -961,8 +987,8 @@ void process_commands()
         #ifdef TEMP_RESIDENCY_TIME
             /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
               or when current temp falls outside the hysteresis after target temp was reached */
-          if ((residencyStart == -1 &&  target_direction && !isHeatingHotend(tmp_extruder)) ||
-              (residencyStart == -1 && !target_direction && !isCoolingHotend(tmp_extruder)) ||
+          if ((residencyStart == -1 &&  target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
+              (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
               (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) 
           {
             residencyStart = millis();
@@ -987,9 +1013,10 @@ void process_commands()
             SERIAL_PROTOCOLPGM("T:");
             SERIAL_PROTOCOL(tt);
             SERIAL_PROTOCOLPGM(" E:");
-            SERIAL_PROTOCOL( (int)active_extruder ); 
+            SERIAL_PROTOCOL((int)active_extruder); 
             SERIAL_PROTOCOLPGM(" B:");
-            SERIAL_PROTOCOLLN(degBed()); 
+            SERIAL_PROTOCOL_F(degBed(),1); 
+            SERIAL_PROTOCOLLN(""); 
             codenum = millis(); 
           }
           manage_heater();
@@ -1018,6 +1045,7 @@ void process_commands()
     #if (PS_ON_PIN > -1)
       case 80: // M80 - ATX Power On
         SET_OUTPUT(PS_ON_PIN); //GND
+        WRITE(PS_ON_PIN, LOW);
         break;
       #endif
       
@@ -1106,6 +1134,12 @@ void process_commands()
       
       SERIAL_PROTOCOLLN("");
       break;
+    case 120: // M120
+      enable_endstops(false) ;
+      break;
+    case 121: // M121
+      enable_endstops(true) ;
+      break;
     case 119: // M119
       #if (X_MIN_PIN > -1)
         SERIAL_PROTOCOLPGM(MSG_X_MIN);
@@ -1248,7 +1282,7 @@ void process_commands()
      }
     break;
       
-    case 302: // finish all moves
+    case 302: // allow cold extrudes
     {
       allow_cold_extrudes(true);
     }
@@ -1260,7 +1294,7 @@ void process_commands()
       PID_autotune(temp);
     }
     break;
-    case 400: // finish all moves
+    case 400: // M400 finish all moves
     {
       st_synchronize();
     }
@@ -1292,6 +1326,11 @@ void process_commands()
       SERIAL_ECHO(freeMemory());
     }
     break;
+    case 999: // Restart after being stopped
+      Stopped = false;
+      gcode_LastN = Stopped_gcode_LastN;
+      FlushSerialRequestResend();
+    break;
     case 510: // FPU Enable
     {
       FPUEnable();
@@ -1373,8 +1412,18 @@ void get_coordinates()
 void get_arc_coordinates()
 {
    get_coordinates();
-   if(code_seen('I')) offset[0] = code_value();
-   if(code_seen('J')) offset[1] = code_value();
+   if(code_seen('I')) {
+     offset[0] = code_value();
+   } 
+   else {
+     offset[0] = 0.0;
+   }
+   if(code_seen('J')) {
+     offset[1] = code_value();
+   }
+   else {
+     offset[1] = 0.0;
+   }
 }
 
 void prepare_move()
@@ -1429,7 +1478,7 @@ void controllerFan()
   if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
   {
     lastMotorCheck = millis();
-    #if (X_ENABLE_PIN > -1 && Y_ENABLE_PIN > -1 && Z_ENABLE_PIN > -1 && E0_ENABLE_PIN > -1)
+    
     if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
     #if EXTRUDERS > 2
        || !READ(E2_ENABLE_PIN)
@@ -1441,9 +1490,6 @@ void controllerFan()
     {
       lastMotor = millis(); //... set time to NOW so the fan will turn on
     }
-    #else
-      lastMotor = millis();
-    #endif
     
     if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...   
     {
@@ -1520,4 +1566,88 @@ void kill()
   while(1); // Wait for reset
 }
 
+void Stop()
+{
+  disable_heater();
+  if(Stopped == false) {
+    Stopped = true;
+    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+    LCD_MESSAGEPGM(MSG_STOPPED);
+  }
+}
+
+bool IsStopped() { return Stopped; };
+
+#ifdef FAST_PWM_FAN
+void setPwmFrequency(uint8_t pin, int val)
+{
+  val &= 0x07;
+  switch(digitalPinToTimer(pin))
+  {
+ 
+    #if defined(TCCR0A)
+    case TIMER0A:
+    case TIMER0B:
+//         TCCR0B &= ~(CS00 | CS01 | CS02);
+//         TCCR0B |= val;
+         break;
+    #endif
+
+    #if defined(TCCR1A)
+    case TIMER1A:
+    case TIMER1B:
+//         TCCR1B &= ~(CS10 | CS11 | CS12);
+//         TCCR1B |= val;
+         break;
+    #endif
+
+    #if defined(TCCR2)
+    case TIMER2:
+    case TIMER2:
+         TCCR2 &= ~(CS10 | CS11 | CS12);
+         TCCR2 |= val;
+         break;
+    #endif
+
+    #if defined(TCCR2A)
+    case TIMER2A:
+    case TIMER2B:
+         TCCR2B &= ~(CS20 | CS21 | CS22);
+         TCCR2B |= val;
+         break;
+    #endif
+
+    #if defined(TCCR3A)
+    case TIMER3A:
+    case TIMER3B:
+    case TIMER3C:
+         TCCR3B &= ~(CS30 | CS31 | CS32);
+         TCCR3B |= val;
+         break;
+    #endif
+
+    #if defined(TCCR4A) 
+    case TIMER4A:
+    case TIMER4B:
+    case TIMER4C:
+         TCCR4B &= ~(CS40 | CS41 | CS42);
+         TCCR4B |= val;
+         break;
+   #endif
+
+    #if defined(TCCR5A) 
+    case TIMER5A:
+    case TIMER5B:
+    case TIMER5C:
+         TCCR5B &= ~(CS50 | CS51 | CS52);
+         TCCR5B |= val;
+         break;
+   #endif
+
+  }
+}
+#endif
+
 
diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp
index d6ba0b97ba..627f14442e 100644
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -53,7 +53,7 @@ void  CardReader::lsDive(const char *prepend,SdFile parent)
  
   while (parent.readDir(p) > 0)
   {
-    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename)
+    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
     {
 
       char path[13*2];
@@ -95,9 +95,11 @@ void  CardReader::lsDive(const char *prepend,SdFile parent)
         if ( p.name[1] != '.')
         continue;
       }
+      
       if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
       filenameIsDir=DIR_IS_SUBDIR(&p);
       
+      
       if(!filenameIsDir)
       {
         if(p.name[8]!='G') continue;
@@ -163,20 +165,26 @@ void CardReader::initsd()
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
   }
+  workDir=root;
   curDir=&root;
+  /*
   if(!workDir.openRoot(&volume))
   {
     SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
   }
+  */
+  
 }
 
 void CardReader::setroot()
 {
- curDir=&root;
-  if(!workDir.openRoot(&volume))
+  /*if(!workDir.openRoot(&volume))
   {
     SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
-  } 
+  }*/
+  workDir=root;
+  
+  curDir=&workDir;
 }
 void CardReader::release()
 {
diff --git a/Marlin/cardreader.h b/Marlin/cardreader.h
index 452bc0eed5..1a8aad3d3e 100644
--- a/Marlin/cardreader.h
+++ b/Marlin/cardreader.h
@@ -1,5 +1,5 @@
-#ifndef __CARDREADERH
-#define __CARDREADERH
+#ifndef CARDREADER_H
+#define CARDREADER_H
 
 #ifdef SDSUPPORT
 
@@ -47,7 +47,7 @@ public:
   bool saving;
   bool sdprinting ;  
   bool cardOK ;
-  char filename[11];
+  char filename[12];
   bool filenameIsDir;
   int lastnr; //last number of the autostart;
   char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1];
diff --git a/Marlin/language.h b/Marlin/language.h
index 2cdbc59426..7db579750b 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -61,8 +61,8 @@
 	#define MSG_MAIN_WIDE " Main        \003"
 	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
 	#define MSG_MOTION_WIDE " Motion      \x7E"
-	#define MSG_STORE_EPROM " Store EPROM"
-	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_STORE_EPROM " Store memory"
+	#define MSG_LOAD_EPROM " Load memory"
 	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
 	#define MSG_REFRESH "\004Refresh"
 	#define MSG_WATCH " Watch   \003"
@@ -74,10 +74,12 @@
 	#define MSG_CARD_MENU " Card Menu    \x7E"
 	#define MSG_NO_CARD " No Card"
 	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
-	#define MSG_DWELL "DWELL..."		
+	#define MSG_DWELL "Sleep..."
+	#define MSG_USERWAIT "Wait for user..."
 	#define MSG_NO_MOVE "No move."
 	#define MSG_PART_RELEASE "Partial Release"
 	#define MSG_KILLED "KILLED. "
+	#define MSG_STOPPED "STOPPED. "
 	#define MSG_PREHEAT_PLA " Preheat PLA"
 	#define MSG_PREHEAT_ABS " Preheat ABS"
 	#define MSG_STEPPER_RELEASED "Released."
@@ -91,7 +93,7 @@
 	#define MSG_BROWNOUT_RESET " Brown out Reset"
 	#define MSG_WATCHDOG_RESET " Watchdog Reset"
 	#define MSG_SOFTWARE_RESET " Software Reset"
-	#define MSG_MARLIN "Marlin: "
+	#define MSG_MARLIN "Marlin "
 	#define MSG_AUTHOR " | Author: "
 	#define MSG_CONFIGURATION_VER " Last Updated: "
 	#define MSG_FREE_MEMORY " Free Memory: "
@@ -116,6 +118,7 @@
 	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
 	#define MSG_COUNT_X " Count X:"
 	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!. (Temperature is reset. Set it before restarting)"
 	#define MSG_RESEND "Resend:"
 	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
 	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
@@ -153,7 +156,7 @@
 
 // LCD Menu Messages
 
-	#define WELCOME_MSG "UltiMARLIN Ready."
+	#define WELCOME_MSG "MARLIN Ready."
 
 	#define MSG_SD_INSERTED "Card inserted"
 	#define MSG_SD_REMOVED "Card removed"
@@ -259,6 +262,7 @@
 	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
 	#define MSG_COUNT_X " Count X:"
 	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!"
 	#define MSG_RESEND "Resend:"
 	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
 	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp
index 67619b86f3..f11d8c8b8e 100644
--- a/Marlin/motion_control.cpp
+++ b/Marlin/motion_control.cpp
@@ -47,6 +47,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
   if (millimeters_of_travel < 0.001) { return; }
   uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
+  if(segments == 0) segments = 1;
+  
   /*  
     // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
     // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
diff --git a/Marlin/pins.h b/Marlin/pins.h
index 26c69e39a2..56b7651108 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -579,16 +579,16 @@
 
 #define Z_STEP_PIN         3
 #define Z_DIR_PIN          2
-#define Z_MIN_PIN          20 //for Melzi Z bed probe, 20 for standard Z endstop
+#define Z_MIN_PIN          20
 #define Z_MAX_PIN          -1
 
 #define E0_STEP_PIN         1
 #define E0_DIR_PIN          0
 
-#define PROBE_PIN          -1    //29 on Melzi1284p A2, 11 on SL1.3a
+#define PROBE_PIN          -1
 
-#define LED_PIN            27//27    //27 on Melzi1284p
-#define FAN_PIN            4    //4 on Melzi1284p
+#define LED_PIN            -1
+#define FAN_PIN            -1
 
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
@@ -654,6 +654,8 @@
 #define E0_STEP_PIN         1
 #define E0_DIR_PIN          0
 
+#define PROBE_PIN          -1    //29 on Melzi1284p A2
+
 #define LED_PIN            27
 
 #define FAN_PIN            4 
@@ -730,7 +732,7 @@
 
 #define E1_STEP_PIN         49
 #define E1_DIR_PIN          47
-#define E1_ENABLE_PIN       51
+#define E1_ENABLE_PIN       48
 
 #define SDPOWER            -1
 #define SDSS               53
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 628620652f..58b94527ed 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -51,9 +51,6 @@
     IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
 */
                                                                                                             
-
-
-
 #include "Marlin.h"
 #include "planner.h"
 #include "stepper.h"
@@ -378,20 +375,26 @@ void plan_init() {
 void getHighESpeed()
 {
   static float oldt=0;
-  if(!autotemp_enabled)
+  if(!autotemp_enabled){
     return;
-  if(degTargetHotend0()+2<autotemp_min)  //probably temperature set to zero.
+  }
+  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
     return; //do nothing
+  }
   
-  float high=0;
+  float high=0.0;
   uint8_t block_index = block_buffer_tail;
   
   while(block_index != block_buffer_head) {
-    float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
-    //se; units steps/sec;
-    if(se>high)
-    {
-      high=se;
+    if((block_buffer[block_index].steps_x != 0) ||
+       (block_buffer[block_index].steps_y != 0) ||
+       (block_buffer[block_index].steps_z != 0)) {
+      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+      //se; mm/sec;
+      if(se>high)
+      {
+        high=se;
+      }
     }
     block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
   }
@@ -408,10 +411,6 @@ void getHighESpeed()
   }
   oldt=t;
   setTargetHotend0(t);
-//   SERIAL_ECHO_START;
-//   SERIAL_ECHOPAIR("highe",high);
-//   SERIAL_ECHOPAIR(" t",t);
-//   SERIAL_ECHOLN("");
 }
 #endif
 
@@ -514,7 +513,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
 
   // Bail if this is a zero-length block
-  if (block->step_event_count <=dropsegments) { return; };
+  if (block->step_event_count <= dropsegments) { return; };
 
   block->fan_speed = FanSpeed;
   
@@ -537,7 +536,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // Enable all
   if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
 
-
   if (block->steps_e == 0) {
         if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
   }
@@ -545,61 +543,54 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
   } 
   
-  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-  #ifdef SLOWDOWN
-    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-  #endif
-
   float delta_mm[4];
   delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
   delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
   delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
   delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
-//  if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
-//    block->millimeters = abs(delta_mm[E_AXIS]);
-//  } else {
-//    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
-//  }
+  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
+    block->millimeters = abs(delta_mm[E_AXIS]);
+  } else {
+    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+  }
 
   // TODO - JMG - SORT OUT RETRACTS WHEN e IS NOT ALONE
-  block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
-                            square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
+//  block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
+//                            square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
   float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
   
   // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
   float inverse_second = feed_rate * inverse_millimeters;
   
+  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+ 
+  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+  #ifdef OLD_SLOWDOWN
+    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+  #endif
+
+  #ifdef SLOWDOWN
+  //  segment time im micro seconds
+  unsigned long segment_time = lround(1000000.0/inverse_second);
+  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
+    if (segment_time < minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
+        inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
+    }
+  }
+  #endif
+  //  END OF SLOW DOWN SECTION    
+
+  
   block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
   block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
 
-
-/*
-  //  segment time im micro seconds
-  long segment_time = lround(1000000.0/inverse_second);
-  if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
-    if (segment_time<minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-        segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
-    }
-  }
-  else {
-    if (segment_time<minsegmenttime) segment_time=minsegmenttime;
-  }
-  //  END OF SLOW DOWN SECTION    
-*/
-
-
- // Calculate speed in mm/sec for each axis
+ // Calculate and limit speed in mm/sec for each axis
   float current_speed[4];
-  for(int i=0; i < 4; i++) {
-    current_speed[i] = delta_mm[i] * inverse_second;
-  }
-
-  // Limit speed per axis
   float speed_factor = 1.0; //factor <=1 do decrease speed
   for(int i=0; i < 4; i++) {
-    if(abs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
+    current_speed[i] = delta_mm[i] * inverse_second;
+    if(fabs(current_speed[i]) > max_feedrate[i])
+      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
   }
 
 // Max segement time in us.
@@ -634,17 +625,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 
   // Correct the speed  
   if( speed_factor < 1.0) {
-//    Serial.print("speed factor : "); Serial.println(speed_factor);
-    for(int i=0; i < 4; i++) {
-    if(abs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
- /*     
-      if(speed_factor < 0.1) {
-        Serial.print("speed factor : "); Serial.println(speed_factor);
-        Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
-      }
- */
-  }
     for(unsigned char i=0; i < 4; i++) {
       current_speed[i] *= speed_factor;
     }
@@ -714,25 +694,25 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2;  
-  if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) 
+  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
     vmax_junction = max_z_jerk/2;
   vmax_junction = min(vmax_junction, block->nominal_speed);
-  if(abs(current_speed[E_AXIS]) > max_e_jerk/2) 
+  if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
     vmax_junction = min(vmax_junction, max_e_jerk/2);
     
-  if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
+  if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
     float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
-    if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
+    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
       vmax_junction = block->nominal_speed;
     }
     if (jerk > max_xy_jerk) {
       vmax_junction *= (max_xy_jerk/jerk);
     } 
-    if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
-      vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+    if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
+      vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
     } 
-    if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
-      vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+    if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+      vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
     } 
   }
   block->max_entry_speed = vmax_junction;
@@ -756,6 +736,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // Update previous path unit_vector and nominal speed
   memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
   previous_nominal_speed = block->nominal_speed;
+
   
   #ifdef ADVANCE
     // Calculate advance rate
@@ -784,9 +765,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     */
   #endif // ADVANCE
 
-
-
-
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
     MINIMUM_PLANNER_SPEED/block->nominal_speed);
     
@@ -797,9 +775,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   memcpy(position, target, sizeof(target)); // position[] = target[]
 
   planner_recalculate();
-  #ifdef AUTOTEMP
-    getHighESpeed();
-  #endif
+
   st_wake_up();
 }
 
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 873441bb05..fc0d83c2b8 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -45,10 +45,10 @@ typedef struct {
   #endif
 
   // Fields used by the motion planner to manage acceleration
-//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/minute for each axis
-  float nominal_speed;                               // The nominal speed for this block in mm/min  
-  float entry_speed;                                 // Entry speed at previous-current junction in mm/min
-  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/min
+//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/sec for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/sec 
+  float entry_speed;                                 // Entry speed at previous-current junction in mm/sec
+  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec
   float millimeters;                                 // The total travel of this block in mm
   float acceleration;                                // acceleration mm/sec^2
   unsigned char recalculate_flag;                    // Planner flag to recalculate trapezoids on entry junction
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index f66d869d4c..597d320011 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -57,7 +57,6 @@ volatile static unsigned long step_events_completed; // The number of step event
   static long old_advance = 0;
 #endif
 static long e_steps[3];
-static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
 static unsigned short acc_step_rate; // needed for deccelaration start point
@@ -84,11 +83,7 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 //=============================functions         ============================
 //===========================================================================
 
-#ifdef ENDSTOPS_ONLY_FOR_HOMING
-  #define CHECK_ENDSTOPS  if(check_endstops)
-#else
-  #define CHECK_ENDSTOPS
-#endif
+#define CHECK_ENDSTOPS  if(check_endstops)
 
 // intRes = intIn1 * intIn2 >> 16
 // uses:
@@ -217,7 +212,6 @@ void enable_endstops(bool check)
 
 void st_wake_up() {
   //  TCNT1 = 0;
-  if(busy == false) 
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
@@ -296,6 +290,7 @@ ISR(TIMER1_COMPA_vect)
     // Anything in the buffer?
     current_block = plan_get_current_block();
     if (current_block != NULL) {
+      current_block->busy = true;
       trapezoid_generator_reset();
       counter_x = -(current_block->step_event_count >> 1);
       counter_y = counter_x;
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index dcc491616f..17446a7bf6 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -96,17 +96,6 @@ static unsigned long  previous_millis_bed_heater;
   static int maxttemp[EXTRUDERS] = { 16383 }; // the first value used for all
   static int bed_minttemp = 0;
   static int bed_maxttemp = 16383;
-  static int heater_pin_map[EXTRUDERS] = { HEATER_0_PIN
-#if EXTRUDERS > 1
-                                         , HEATER_1_PIN
-#endif
-#if EXTRUDERS > 2
-                                         , HEATER_2_PIN
-#endif
-#if EXTRUDERS > 3
-  #error Unsupported number of extruders
-#endif
-  };
   static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable
 #if EXTRUDERS > 1
                                             , (void *)heater_1_temptable
@@ -139,7 +128,6 @@ void PID_autotune(float temp)
   float input;
   int cycles=0;
   bool heating = true;
-  soft_pwm[0] = 255>>1;
 
   unsigned long temp_millis = millis();
   unsigned long t1=temp_millis;
@@ -147,14 +135,18 @@ void PID_autotune(float temp)
   long t_high;
   long t_low;
 
-  long bias=127;
-  long d = 127;
+  long bias=PID_MAX/2;
+  long d = PID_MAX/2;
   float Ku, Tu;
   float Kp, Ki, Kd;
   float max, min;
   
   SERIAL_ECHOLN("PID Autotune start");
-
+  
+  disable_heater(); // switch off all heaters.
+  
+  soft_pwm[0] = PID_MAX/2;
+    
   for(;;) {
 
     if(temp_meas_ready == true) { // temp sample ready
@@ -181,8 +173,8 @@ void PID_autotune(float temp)
           t_low=t2 - t1;
           if(cycles > 0) {
             bias += (d*(t_high - t_low))/(t_low + t_high);
-            bias = constrain(bias, 20 ,235);
-            if(bias > 127) d = 254 - bias;
+            bias = constrain(bias, 20 ,PID_MAX-FULL_PID_BAND);
+            if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
             else d = bias;
 
             SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
@@ -201,6 +193,7 @@ void PID_autotune(float temp)
               SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
               SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
               SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              /*
               Kp = 0.33*Ku;
               Ki = Kp/Tu;
               Kd = Kp*Tu/3;
@@ -215,6 +208,7 @@ void PID_autotune(float temp)
               SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
               SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
               SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              */
             }
           }
           soft_pwm[0] = (bias + d) >> 1;
@@ -224,7 +218,7 @@ void PID_autotune(float temp)
       } 
     }
     if(input > (temp + 20)) {
-      SERIAL_PROTOCOLLNPGM("PID Autotune failed !, Temperature to high");
+      SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high");
       return;
     }
     if(millis() - temp_millis > 2000) {
@@ -234,6 +228,14 @@ void PID_autotune(float temp)
       SERIAL_PROTOCOLPGM(" @:");
       SERIAL_PROTOCOLLN(getHeaterPower(0));       
     }
+    if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
+      SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
+      return;
+    }
+    if(cycles > 5) {
+      SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
+      return;
+    }
     LCD_STATUS;
   }
 }
@@ -312,11 +314,9 @@ void manage_heater()
     // Check if temperature is within the correct range
     if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e])) 
     {
-      //analogWrite(heater_pin_map[e], pid_output);
       soft_pwm[e] = (int)pid_output >> 1;
     }
     else {
-      //analogWrite(heater_pin_map[e], 0);
       soft_pwm[e] = 0;
     }
   } // End extruder for loop
@@ -705,7 +705,7 @@ void disable_heater()
   target_raw[0]=0;
   soft_pwm[0]=0;
    #if HEATER_0_PIN > -1  
-     digitalWrite(HEATER_0_PIN,LOW);
+     WRITE(HEATER_0_PIN,LOW);
    #endif
   #endif
      
@@ -713,7 +713,7 @@ void disable_heater()
     target_raw[1]=0;
     soft_pwm[1]=0;
     #if HEATER_1_PIN > -1 
-      digitalWrite(HEATER_1_PIN,LOW);
+      WRITE(HEATER_1_PIN,LOW);
     #endif
   #endif
       
@@ -721,36 +721,44 @@ void disable_heater()
     target_raw[2]=0;
     soft_pwm[2]=0;
     #if HEATER_2_PIN > -1  
-      digitalWrite(HEATER_2_PIN,LOW);
+      WRITE(HEATER_2_PIN,LOW);
     #endif
   #endif 
 
   #if TEMP_BED_PIN > -1
     target_raw_bed=0;
     #if HEATER_BED_PIN > -1  
-      digitalWrite(HEATER_BED_PIN,LOW);
+      WRITE(HEATER_BED_PIN,LOW);
     #endif
   #endif 
 }
 
 void max_temp_error(uint8_t e) {
-  digitalWrite(heater_pin_map[e], 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLN(e);
-  SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
+  disable_heater();
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLN((int)e);
+    SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
+  }
 }
 
 void min_temp_error(uint8_t e) {
-  digitalWrite(heater_pin_map[e], 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLN(e);
-  SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
+  disable_heater();
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLN((int)e);
+    SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
+  }
 }
 
 void bed_max_temp_error(void) {
-  digitalWrite(HEATER_BED_PIN, 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
+#if HEATER_BED_PIN > -1
+  WRITE(HEATER_BED_PIN, 0);
+#endif
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
+  }
 }
 
 #define HEAT_INTERVAL 250
@@ -942,14 +950,14 @@ ISR(TIMER0_COMPB_vect)
     
   if(temp_count >= 16) // 8 ms * 16 = 128ms.
   {
-    #ifdef HEATER_0_USES_AD595
+    #if defined(HEATER_0_USES_AD595) || defined(HEATER_0_USES_MAX6675)
       current_raw[0] = raw_temp_0_value;
     #else
       current_raw[0] = 16383 - raw_temp_0_value;
     #endif
 
 #if EXTRUDERS > 1    
-    #ifdef HEATER_1_USES_AD595 || defined HEATER_0_USES_MAX6675
+    #ifdef HEATER_1_USES_AD595
       current_raw[1] = raw_temp_1_value;
     #else
       current_raw[1] = 16383 - raw_temp_1_value;
@@ -983,7 +991,7 @@ ISR(TIMER0_COMPB_vect)
           max_temp_error(e);
           #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
           {
-            kill();;
+            Stop();;
           }
           #endif
        }
@@ -992,7 +1000,7 @@ ISR(TIMER0_COMPB_vect)
           min_temp_error(e);
           #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
           {
-            kill();
+            Stop();
           }
           #endif
        }
@@ -1002,7 +1010,7 @@ ISR(TIMER0_COMPB_vect)
     if(current_raw_bed >= bed_maxttemp) {
        target_raw_bed = 0;
        bed_max_temp_error();
-       kill();
+       Stop();
     }
 #endif
   }
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 1cfdae0243..1e6c1be3ae 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -130,6 +130,8 @@ FORCE_INLINE bool isCoolingBed() {
 #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
 #define isHeatingHotend1() isHeatingHotend(1)
 #define isCoolingHotend1() isCoolingHotend(1)
+#else
+#define setTargetHotend1(_celsius) do{}while(0)
 #endif
 #if EXTRUDERS > 2
 #define degHotend2() degHotend(2)
@@ -137,6 +139,8 @@ FORCE_INLINE bool isCoolingBed() {
 #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
 #define isHeatingHotend2() isHeatingHotend(2)
 #define isCoolingHotend2() isCoolingHotend(2)
+#else
+#define setTargetHotend2(_celsius) do{}while(0)
 #endif
 #if EXTRUDERS > 3
 #error Invalid number of extruders
diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h
index 5da8a40fe6..8d2e710ad6 100644
--- a/Marlin/thermistortables.h
+++ b/Marlin/thermistortables.h
@@ -73,27 +73,41 @@ const short temptable_1[][2] PROGMEM = {
 #endif
 #if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor
 const short temptable_2[][2] PROGMEM = {
+//200k ATC Semitec 204GT-2
+//Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
    {1*OVERSAMPLENR, 848},
-   {54*OVERSAMPLENR, 275},
-   {107*OVERSAMPLENR, 228},
-   {160*OVERSAMPLENR, 202},
-   {213*OVERSAMPLENR, 185},
-   {266*OVERSAMPLENR, 171},
-   {319*OVERSAMPLENR, 160},
-   {372*OVERSAMPLENR, 150},
-   {425*OVERSAMPLENR, 141},
-   {478*OVERSAMPLENR, 133},
-   {531*OVERSAMPLENR, 125},
-   {584*OVERSAMPLENR, 118},
-   {637*OVERSAMPLENR, 110},
-   {690*OVERSAMPLENR, 103},
-   {743*OVERSAMPLENR, 95},
-   {796*OVERSAMPLENR, 86},
-   {849*OVERSAMPLENR, 77},
-   {902*OVERSAMPLENR, 65},
-   {955*OVERSAMPLENR, 49},
-   {1008*OVERSAMPLENR, 17},
-   {1020*OVERSAMPLENR, 0} //safety
+   {30*OVERSAMPLENR, 300}, //top rating 300C
+   {34*OVERSAMPLENR, 290},
+   {39*OVERSAMPLENR, 280},
+   {46*OVERSAMPLENR, 270},
+   {53*OVERSAMPLENR, 260},
+   {63*OVERSAMPLENR, 250},
+   {74*OVERSAMPLENR, 240},
+   {87*OVERSAMPLENR, 230},
+   {104*OVERSAMPLENR, 220},
+   {124*OVERSAMPLENR, 210},
+   {148*OVERSAMPLENR, 200},
+   {176*OVERSAMPLENR, 190},
+   {211*OVERSAMPLENR, 180},
+   {252*OVERSAMPLENR, 170},
+   {301*OVERSAMPLENR, 160},
+   {357*OVERSAMPLENR, 150},
+   {420*OVERSAMPLENR, 140},
+   {489*OVERSAMPLENR, 130},
+   {562*OVERSAMPLENR, 120},
+   {636*OVERSAMPLENR, 110},
+   {708*OVERSAMPLENR, 100},
+   {775*OVERSAMPLENR, 90},
+   {835*OVERSAMPLENR, 80},
+   {884*OVERSAMPLENR, 70},
+   {924*OVERSAMPLENR, 60},
+   {955*OVERSAMPLENR, 50},
+   {977*OVERSAMPLENR, 40},
+   {993*OVERSAMPLENR, 30},
+   {1004*OVERSAMPLENR, 20},
+   {1012*OVERSAMPLENR, 10},
+   {1016*OVERSAMPLENR, 0},
 };
 
 #endif
@@ -157,73 +171,48 @@ const short temptable_4[][2] PROGMEM = {
 
 #if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORHEATER_2 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
 const short temptable_5[][2] PROGMEM = {
-{1*OVERSAMPLENR, 713},
-{18*OVERSAMPLENR, 316},
-{35*OVERSAMPLENR, 266},
-{52*OVERSAMPLENR, 239},
-{69*OVERSAMPLENR, 221},
-{86*OVERSAMPLENR, 208},
-{103*OVERSAMPLENR, 197},
-{120*OVERSAMPLENR, 188},
-{137*OVERSAMPLENR, 181},
-{154*OVERSAMPLENR, 174},
-{171*OVERSAMPLENR, 169},
-{188*OVERSAMPLENR, 163},
-{205*OVERSAMPLENR, 159},
-{222*OVERSAMPLENR, 154},
-{239*OVERSAMPLENR, 150},
-{256*OVERSAMPLENR, 147},
-{273*OVERSAMPLENR, 143},
-{290*OVERSAMPLENR, 140},
-{307*OVERSAMPLENR, 136},
-{324*OVERSAMPLENR, 133},
-{341*OVERSAMPLENR, 130},
-{358*OVERSAMPLENR, 128},
-{375*OVERSAMPLENR, 125},
-{392*OVERSAMPLENR, 122},
-{409*OVERSAMPLENR, 120},
-{426*OVERSAMPLENR, 117},
-{443*OVERSAMPLENR, 115},
-{460*OVERSAMPLENR, 112},
-{477*OVERSAMPLENR, 110},
-{494*OVERSAMPLENR, 108},
-{511*OVERSAMPLENR, 106},
-{528*OVERSAMPLENR, 103},
-{545*OVERSAMPLENR, 101},
-{562*OVERSAMPLENR, 99},
-{579*OVERSAMPLENR, 97},
-{596*OVERSAMPLENR, 95},
-{613*OVERSAMPLENR, 92},
-{630*OVERSAMPLENR, 90},
-{647*OVERSAMPLENR, 88},
-{664*OVERSAMPLENR, 86},
-{681*OVERSAMPLENR, 84},
-{698*OVERSAMPLENR, 81},
-{715*OVERSAMPLENR, 79},
-{732*OVERSAMPLENR, 77},
-{749*OVERSAMPLENR, 75},
-{766*OVERSAMPLENR, 72},
-{783*OVERSAMPLENR, 70},
-{800*OVERSAMPLENR, 67},
-{817*OVERSAMPLENR, 64},
-{834*OVERSAMPLENR, 61},
-{851*OVERSAMPLENR, 58},
-{868*OVERSAMPLENR, 55},
-{885*OVERSAMPLENR, 52},
-{902*OVERSAMPLENR, 48},
-{919*OVERSAMPLENR, 44},
-{936*OVERSAMPLENR, 40},
-{953*OVERSAMPLENR, 34},
-{970*OVERSAMPLENR, 28},
-{987*OVERSAMPLENR, 20},
-{1004*OVERSAMPLENR, 8},
-{1021*OVERSAMPLENR, 0}
+// ATC Semitec 104GT-2 (Used in ParCan)
+// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+   {1*OVERSAMPLENR, 713},
+   {17*OVERSAMPLENR, 300}, //top rating 300C
+   {20*OVERSAMPLENR, 290},
+   {23*OVERSAMPLENR, 280},
+   {27*OVERSAMPLENR, 270},
+   {31*OVERSAMPLENR, 260},
+   {37*OVERSAMPLENR, 250},
+   {43*OVERSAMPLENR, 240},
+   {51*OVERSAMPLENR, 230},
+   {61*OVERSAMPLENR, 220},
+   {73*OVERSAMPLENR, 210},
+   {87*OVERSAMPLENR, 200},
+   {106*OVERSAMPLENR, 190},
+   {128*OVERSAMPLENR, 180},
+   {155*OVERSAMPLENR, 170},
+   {189*OVERSAMPLENR, 160},
+   {230*OVERSAMPLENR, 150},
+   {278*OVERSAMPLENR, 140},
+   {336*OVERSAMPLENR, 130},
+   {402*OVERSAMPLENR, 120},
+   {476*OVERSAMPLENR, 110},
+   {554*OVERSAMPLENR, 100},
+   {635*OVERSAMPLENR, 90},
+   {713*OVERSAMPLENR, 80},
+   {784*OVERSAMPLENR, 70},
+   {846*OVERSAMPLENR, 60},
+   {897*OVERSAMPLENR, 50},
+   {937*OVERSAMPLENR, 40},
+   {966*OVERSAMPLENR, 30},
+   {986*OVERSAMPLENR, 20},
+   {1000*OVERSAMPLENR, 10},
+   {1010*OVERSAMPLENR, 0}
 };
 #endif
 
 #if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORHEATER_2 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
 const short temptable_6[][2] PROGMEM = {
-   {28*OVERSAMPLENR, 250},
+   {1*OVERSAMPLENR, 350},
+   {28*OVERSAMPLENR, 250}, //top rating 250C
    {31*OVERSAMPLENR, 245},
    {35*OVERSAMPLENR, 240},
    {39*OVERSAMPLENR, 235},
@@ -232,8 +221,8 @@ const short temptable_6[][2] PROGMEM = {
    {49*OVERSAMPLENR, 220},
    {53*OVERSAMPLENR, 215},
    {62*OVERSAMPLENR, 210},
-   {73*OVERSAMPLENR, 205},
-   {72*OVERSAMPLENR, 200},
+   {71*OVERSAMPLENR, 205}, //fitted graphically
+   {78*OVERSAMPLENR, 200}, //fitted graphically
    {94*OVERSAMPLENR, 190},
    {102*OVERSAMPLENR, 185},
    {116*OVERSAMPLENR, 170},
@@ -264,7 +253,8 @@ const short temptable_6[][2] PROGMEM = {
 
 #if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
 const short temptable_7[][2] PROGMEM = {
-   {46*OVERSAMPLENR, 270},
+   {1*OVERSAMPLENR, 500},
+   {46*OVERSAMPLENR, 270}, //top rating 300C
    {50*OVERSAMPLENR, 265},
    {54*OVERSAMPLENR, 260},
    {58*OVERSAMPLENR, 255},
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index 253149cbba..dc44d1cda9 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -1,5 +1,5 @@
-#ifndef __ULTRALCDH
-#define __ULTRALCDH
+#ifndef ULTRALCD_H
+#define ULTRALCD_H
 #include "Marlin.h"
 #ifdef ULTRA_LCD
   #include <LiquidCrystal.h>
@@ -7,11 +7,13 @@
   void lcd_init();
   void lcd_status(const char* message);
   void beep();
+  void buttons_init();
   void buttons_check();
 
   #define LCD_UPDATE_INTERVAL 100
   #define STATUSTIMEOUT 15000
   extern LiquidCrystal lcd;
+  extern volatile char buttons;  //the last checked buttons in a bit array.
   
   #ifdef NEWPANEL
     #define EN_C (1<<BLEN_C)
@@ -49,7 +51,7 @@
   #define blocktime 500
   #define lcdslow 5
     
-  enum MainStatus{Main_Status, Main_Menu, Main_Prepare,Sub_PrepareMove, Main_Control, Main_SD,Sub_TempControl,Sub_MotionControl};
+  enum MainStatus{Main_Status, Main_Menu, Main_Prepare,Sub_PrepareMove, Main_Control, Main_SD,Sub_TempControl,Sub_MotionControl,Sub_RetractControl};
 
   class MainMenu{
   public:
@@ -66,10 +68,11 @@
     void showControl();
     void showControlMotion();
     void showControlTemp();
+    void showControlRetract();
     void showAxisMove();
     void showSD();
     bool force_lcd_update;
-    int lastencoderpos;
+    long lastencoderpos;
     int8_t lineoffset;
     int8_t lastlineoffset;
     
@@ -78,11 +81,11 @@
     bool tune;
     
   private:
-    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
+    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos)
     {
       if(linechanging) return; // an item is changint its value, do not switch lines hence
       lastlineoffset=lineoffset; 
-      int curencoderpos=encoderpos;  
+      long curencoderpos=encoderpos;  
       force_lcd_update=false;
       if(  (abs(curencoderpos-lastencoderpos)<lcdslow) ) 
       { 
@@ -134,11 +137,12 @@
   char *ftostr3(const float &x);
 
 
-
+  #define LCD_INIT lcd_init();
   #define LCD_MESSAGE(x) lcd_status(x);
   #define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
   #define LCD_STATUS lcd_status()
 #else //no lcd
+  #define LCD_INIT
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
diff --git a/Marlin/ultralcd.pde b/Marlin/ultralcd.pde
index c1214b59f0..1b9390298f 100644
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@@ -1,6 +1,11 @@
+#include "language.h"
+#include "temperature.h"
 #include "ultralcd.h"
 #ifdef ULTRA_LCD
 #include "Marlin.h"
+#include "language.h"
+#include "temperature.h"
+#include "EEPROMwrite.h"
 #include <LiquidCrystal.h>
 //===========================================================================
 //=============================imported variables============================
@@ -13,6 +18,7 @@ extern volatile int extrudemultiply;
 
 extern long position[4];   
 #ifdef SDSUPPORT
+#include "cardreader.h"
 extern CardReader card;
 #endif
 
@@ -20,7 +26,7 @@ extern CardReader card;
 //=============================public variables============================
 //===========================================================================
 volatile char buttons=0;  //the last checked buttons in a bit array.
-int encoderpos=0;
+long encoderpos=0;
 short lastenc=0;
 
 
@@ -95,6 +101,10 @@ FORCE_INLINE void clear()
 void lcd_init()
 {
   //beep();
+  #ifdef ULTIPANEL
+    buttons_init();
+  #endif
+  
   byte Degree[8] =
   {
     B01100,
@@ -301,10 +311,6 @@ MainMenu::MainMenu()
   displayStartingRow=0;
   activeline=0;
   force_lcd_update=true;
-  #ifdef ULTIPANEL
-    buttons_init();
-  #endif
-  lcd_init();
   linechanging=false;
   tune=false;
 }
@@ -322,6 +328,8 @@ void MainMenu::showStatus()
     lcd.setCursor(0,0);lcdprintPGM("\002---/---\001 ");
     #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 
       lcd.setCursor(10,0);lcdprintPGM("B---/---\001 ");
+    #elif EXTRUDERS > 1
+      lcd.setCursor(10,0);lcdprintPGM("\002---/---\001 ");
     #endif
   }
     
@@ -356,6 +364,23 @@ void MainMenu::showStatus()
       lcd.print(ftostr3(targetBed));
       oldtargetBed=targetBed;
     }
+  #elif EXTRUDERS > 1
+    static int olddegHotEnd1=-1;
+    static int oldtargetHotEnd1=-1;
+    int tHotEnd1=intround(degHotend1());
+    if((tHotEnd1!=olddegHotEnd1)||force_lcd_update)
+    {
+      lcd.setCursor(11,0);
+      lcd.print(ftostr3(tHotEnd1));
+      olddegHotEnd1=tHotEnd1;
+    }
+    int ttHotEnd1=intround(degTargetHotend1());
+    if((ttHotEnd1!=oldtargetHotEnd1)||force_lcd_update)
+    {
+      lcd.setCursor(15,0);
+      lcd.print(ftostr3(ttHotEnd1));
+      oldtargetHotEnd1=ttHotEnd1;
+    }
   #endif
   //starttime=2;
   static uint16_t oldtime=0;
@@ -430,10 +455,7 @@ void MainMenu::showStatus()
   if(force_lcd_update)  //initial display of content
   {
     encoderpos=feedmultiply;
-    lcd.setCursor(0,0);lcdprintPGM("\002123/567\001 ");
-    #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 
-    lcd.setCursor(10,0);lcdprintPGM("B123/567\001 ");
-    #endif
+    lcd.setCursor(0,0);lcdprintPGM("\002---/---\001 ");
   }
     
   int tHotEnd0=intround(degHotend0());
@@ -520,7 +542,7 @@ void MainMenu::showPrepare()
       beepshort(); );
       break;
     case ItemP_cooldown:
-      MENUITEM(  lcdprintPGM(MSG_COOLDOWN)  ,  BLOCK;setTargetHotend0(0);setTargetBed(0);beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_COOLDOWN)  ,  BLOCK;setTargetHotend0(0);setTargetHotend1(0);setTargetHotend2(0);setTargetBed(0);beepshort(); ) ;
       break;
 //    case ItemP_extrude:
   //    MENUITEM(  lcdprintPGM(" Extrude")  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ;
@@ -691,6 +713,7 @@ void MainMenu::showAxisMove()
           }
           break;
           case ItemAM_E:
+          // ErikDB: TODO: this length should be changed for volumetric.
           MENUITEM(  lcdprintPGM(MSG_EXTRUDE)  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E5");beepshort(); ) ;
           break;
           default:
@@ -864,7 +887,7 @@ void MainMenu::showTune()
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(MSG_FLOW);
-          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
+          lcd.setCursor(13,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
         }
         
         if((activeline!=line) )
@@ -875,14 +898,14 @@ void MainMenu::showTune()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)axis_steps_per_unit[3];
+              encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
           }
           else
           {
-            float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
             position[E_AXIS]=lround(position[E_AXIS]*factor);
-            //current_position[3]*=factor;
-            axis_steps_per_unit[E_AXIS]= encoderpos;
+            //current_position[E_AXIS]*=factor;
+            axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
             encoderpos=activeline*lcdslow;
               
           }
@@ -892,8 +915,8 @@ void MainMenu::showTune()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>9999) encoderpos=9999;
-          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+          if(encoderpos>999999) encoderpos=999999;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
       }break; 
@@ -923,12 +946,18 @@ void MainMenu::showTune()
 //   
 
 enum {
-  ItemCT_exit,ItemCT_nozzle,
+  ItemCT_exit,ItemCT_nozzle0,
 #ifdef AUTOTEMP
   ItemCT_autotempactive,
   ItemCT_autotempmin,ItemCT_autotempmax,ItemCT_autotempfact,
 #endif
-#if (HEATER_BED_PIN > -1)
+#if EXTRUDERS > 1
+  ItemCT_nozzle1,
+#endif
+#if EXTRUDERS > 2
+  ItemCT_nozzle2,
+#endif
+#if defined BED_USES_THERMISTOR || BED_USES_AD595
 ItemCT_bed,
 #endif  
   ItemCT_fan,
@@ -946,7 +975,7 @@ void MainMenu::showControlTemp()
     case ItemCT_exit:
       MENUITEM(  lcdprintPGM(MSG_CONTROL)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
       break;
-    case ItemCT_nozzle:
+    case ItemCT_nozzle0:
       {
         if(force_lcd_update)
         {
@@ -980,8 +1009,80 @@ void MainMenu::showControlTemp()
         }
         
       }break;
-      #ifdef AUTOTEMP
-      case ItemCT_autotempmin:
+    #if EXTRUDERS > 1
+    case ItemCT_nozzle1:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE1);
+          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend1())));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=intround(degTargetHotend1());
+          }
+          else
+          {
+            setTargetHotend1(encoderpos);
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
+      }break;
+    #endif
+    #if EXTRUDERS > 2
+    case ItemCT_nozzle2:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE2);
+          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend2())));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=intround(degTargetHotend2());
+          }
+          else
+          {
+            setTargetHotend1(encoderpos);
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
+      }break;
+    #endif
+    #ifdef AUTOTEMP
+    case ItemCT_autotempmin:
       {
         if(force_lcd_update)
         {
@@ -1015,7 +1116,7 @@ void MainMenu::showControlTemp()
         }
         
       }break;  
-      case ItemCT_autotempmax:
+    case ItemCT_autotempmax:
       {
         if(force_lcd_update)
         {
@@ -1049,7 +1150,7 @@ void MainMenu::showControlTemp()
         }
         
       }break;  
-      case ItemCT_autotempfact:
+    case ItemCT_autotempfact:
       {
         if(force_lcd_update)
         {
@@ -1083,7 +1184,7 @@ void MainMenu::showControlTemp()
         }
         
       }break;
-      case ItemCT_autotempactive:
+    case ItemCT_autotempactive:
       {
         if(force_lcd_update)
         {
@@ -1110,9 +1211,9 @@ void MainMenu::showControlTemp()
         }
         
       }break;  
-      #endif //autotemp
-      #if (HEATER_BED_PIN > -1)
-      case ItemCT_bed:
+    #endif //autotemp
+    #if defined BED_USES_THERMISTOR || BED_USES_AD595
+    case ItemCT_bed:
       {
         if(force_lcd_update)
         {
@@ -1145,8 +1246,8 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
         }
       }break;
-      #endif
-      case ItemCT_fan:
+    #endif
+    case ItemCT_fan:
       {
         if(force_lcd_update)
         {
@@ -1181,7 +1282,8 @@ void MainMenu::showControlTemp()
         }
         
       }break;
-      case ItemCT_PID_P: 
+    #ifdef PIDTEMP
+    case ItemCT_PID_P: 
       {
       if(force_lcd_update)
         {
@@ -1197,7 +1299,7 @@ void MainMenu::showControlTemp()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)Kp;
+              encoderpos=(long)Kp;
           }
           else
           {
@@ -1232,7 +1334,7 @@ void MainMenu::showControlTemp()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(Ki*10/PID_dT);
+              encoderpos=(long)(Ki*10/PID_dT);
           }
           else
           {
@@ -1251,7 +1353,7 @@ void MainMenu::showControlTemp()
         }
         
       }break;
-      case ItemCT_PID_D: 
+    case ItemCT_PID_D: 
       {
       if(force_lcd_update)
         {
@@ -1268,7 +1370,7 @@ void MainMenu::showControlTemp()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(Kd/5./PID_dT);
+              encoderpos=(long)(Kd/5./PID_dT);
           }
           else
           {
@@ -1304,7 +1406,7 @@ void MainMenu::showControlTemp()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)Kc;
+              encoderpos=(long)Kc;
           }
           else
           {
@@ -1324,6 +1426,7 @@ void MainMenu::showControlTemp()
         
       }
       #endif
+    #endif
       break;
     default:   
       break;
@@ -1376,7 +1479,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)acceleration/100;
+              encoderpos=(long)acceleration/100;
           }
           else
           {
@@ -1410,7 +1513,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)max_xy_jerk;
+              encoderpos=(long)max_xy_jerk;
           }
           else
           {
@@ -1453,7 +1556,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)max_feedrate[i-ItemCM_vmaxx];
+              encoderpos=(long)max_feedrate[i-ItemCM_vmaxx];
           }
           else
           {
@@ -1489,7 +1592,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(minimumfeedrate);
+              encoderpos=(long)(minimumfeedrate);
           }
           else
           {
@@ -1524,7 +1627,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)mintravelfeedrate;
+              encoderpos=(long)mintravelfeedrate;
           }
           else
           {
@@ -1567,7 +1670,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
+              encoderpos=(long)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
           }
           else
           {
@@ -1585,6 +1688,8 @@ void MainMenu::showControlMotion()
         }
         
       }break;
+     
+    
     case ItemCM_aret://float retract_acceleration = 7000;
     {
         if(force_lcd_update)
@@ -1601,7 +1706,7 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)retract_acceleration/100;
+              encoderpos=(long)retract_acceleration/100;
           }
           else
           {
@@ -1625,7 +1730,7 @@ void MainMenu::showControlMotion()
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(MSG_XSTEPS);
-          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[0]));
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[X_AXIS]));
         }
         
         if((activeline!=line) )
@@ -1636,13 +1741,13 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(axis_steps_per_unit[0]*100.0);
+              encoderpos=(long)(axis_steps_per_unit[X_AXIS]*100.0);
           }
           else
           {
-            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[0]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[X_AXIS]);
             position[X_AXIS]=lround(position[X_AXIS]*factor);
-            //current_position[3]*=factor;
+            //current_position[X_AXIS]*=factor;
             axis_steps_per_unit[X_AXIS]= encoderpos/100.0;
             encoderpos=activeline*lcdslow;
           }
@@ -1652,7 +1757,7 @@ void MainMenu::showControlMotion()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>32000) encoderpos=32000;//TODO: This is a problem, encoderpos is 16bit, but steps_per_unit for e can be wel over 800
+          if(encoderpos>999999) encoderpos=999999;
           lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
@@ -1662,7 +1767,7 @@ void MainMenu::showControlMotion()
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(MSG_YSTEPS);
-          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[1]));
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Y_AXIS]));
         }
         
         if((activeline!=line) )
@@ -1673,13 +1778,13 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(axis_steps_per_unit[1]*100.0);
+              encoderpos=(long)(axis_steps_per_unit[Y_AXIS]*100.0);
           }
           else
           {
-            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[1]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Y_AXIS]);
             position[Y_AXIS]=lround(position[Y_AXIS]*factor);
-            //current_position[3]*=factor;
+            //current_position[Y_AXIS]*=factor;
             axis_steps_per_unit[Y_AXIS]= encoderpos/100.0;
             encoderpos=activeline*lcdslow;
               
@@ -1690,7 +1795,7 @@ void MainMenu::showControlMotion()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>9999) encoderpos=9999;
+          if(encoderpos>999999) encoderpos=999999;
           lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
@@ -1700,7 +1805,7 @@ void MainMenu::showControlMotion()
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(MSG_ZSTEPS);
-          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[2]));
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Z_AXIS]));
         }
         
         if((activeline!=line) )
@@ -1711,13 +1816,13 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(axis_steps_per_unit[2]*100.0);
+              encoderpos=(long)(axis_steps_per_unit[Z_AXIS]*100.0);
           }
           else
           {
-            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[2]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Z_AXIS]);
             position[Z_AXIS]=lround(position[Z_AXIS]*factor);
-            //current_position[3]*=factor;
+            //current_position[Z_AXIS]*=factor;
             axis_steps_per_unit[Z_AXIS]= encoderpos/100.0;
             encoderpos=activeline*lcdslow;
               
@@ -1728,7 +1833,7 @@ void MainMenu::showControlMotion()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>9999) encoderpos=9999;
+          if(encoderpos>999999) encoderpos=999999;
           lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
@@ -1739,7 +1844,7 @@ void MainMenu::showControlMotion()
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(MSG_ESTEPS);
-          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[3]));
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
         }
         
         if((activeline!=line) )
@@ -1750,13 +1855,13 @@ void MainMenu::showControlMotion()
           linechanging=!linechanging;
           if(linechanging)
           {
-              encoderpos=(int)(axis_steps_per_unit[3]*100.0);
+              encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
           }
           else
           {
-            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[3]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
             position[E_AXIS]=lround(position[E_AXIS]*factor);
-            //current_position[3]*=factor;
+            //current_position[E_AXIS]*=factor;
             axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
             encoderpos=activeline*lcdslow;
               
@@ -1767,7 +1872,7 @@ void MainMenu::showControlMotion()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>9999) encoderpos=9999;
+          if(encoderpos>999999) encoderpos=999999;
           lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
@@ -1781,8 +1886,252 @@ void MainMenu::showControlMotion()
 }
 
 
+enum {
+  ItemR_exit,
+  ItemR_autoretract,
+  ItemR_retract_length,ItemR_retract_feedrate,ItemR_retract_zlift,
+  ItemR_unretract_length,ItemR_unretract_feedrate,
+  
+};
+
+
+
+void MainMenu::showControlRetract()
+{
+#ifdef FWRETRACT
+ uint8_t line=0;
+ clearIfNecessary();
+ for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++)
+ {
+  switch(i)
+  {
+    case ItemR_exit:
+      MENUITEM(  lcdprintPGM(MSG_CONTROL)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
+      break;
+    
+      //float retract_length=2, retract_feedrate=1200, retract_zlift=0.4;
+  //float retract_recover_length=0, retract_recover_feedrate=500;
+      case ItemR_autoretract:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_AUTORETRACT);
+          lcd.setCursor(13,line);
+          if(autoretract_enabled)
+            lcdprintPGM(MSG_ON);
+          else
+            lcdprintPGM(MSG_OFF);
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          autoretract_enabled=!autoretract_enabled;
+          lcd.setCursor(13,line);
+          if(autoretract_enabled)
+            lcdprintPGM(MSG_ON);
+          else
+            lcdprintPGM(MSG_OFF);
+          BLOCK;
+        }
+        
+      }break;  
+    
+      case ItemR_retract_length:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_length));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_length*100);
+          }
+          else
+          {
+            retract_length= encoderpos/100.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.));
+        }
+        
+      }break;
+      case ItemR_retract_feedrate:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACTF);
+          lcd.setCursor(13,line);lcd.print(itostr4(retract_feedrate));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_feedrate/5);
+          }
+          else
+          {
+            retract_feedrate= encoderpos*5.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5));
+        }
+        
+      }break;
+      case ItemR_retract_zlift://float retract_acceleration = 7000;
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_ZLIFT);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_zlift));;
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_zlift*10);
+          }
+          else
+          {
+            retract_zlift= encoderpos/10.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/10.));
+        }
+        
+      }break;
+      case ItemR_unretract_length:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVER);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_recover_length));;
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_recover_length*100);
+          }
+          else
+          {
+            retract_recover_length= encoderpos/100.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.));
+        }
+        
+      }break;
+      
+      case ItemR_unretract_feedrate:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVERF);
+          lcd.setCursor(13,line);lcd.print(itostr4(retract_recover_feedrate));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)retract_recover_feedrate/5;
+          }
+          else
+          {
+            retract_recover_feedrate= encoderpos*5.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5));
+        }
+        
+      }break;
+    
+    default:   
+      break;
+  }
+  line++;
+ }
+ updateActiveLines(ItemR_unretract_feedrate,encoderpos);
+#endif
+}
+
+
+
 enum {
   ItemC_exit,ItemC_temp,ItemC_move,
+#ifdef FWRETRACT
+  ItemC_rectract,
+#endif
   ItemC_store, ItemC_load,ItemC_failsafe
 };
 
@@ -1803,6 +2152,11 @@ void MainMenu::showControl()
    case ItemC_move:
       MENUITEM(  lcdprintPGM(MSG_MOTION_WIDE)  ,  BLOCK;status=Sub_MotionControl;beepshort(); ) ;
       break;
+#ifdef FWRETRACT
+    case ItemC_rectract:
+      MENUITEM(  lcdprintPGM(MSG_RECTRACT_WIDE)  ,  BLOCK;status=Sub_RetractControl;beepshort(); ) ;
+      break;
+#endif
     case ItemC_store:
     {
       if(force_lcd_update)
@@ -2008,9 +2362,10 @@ void MainMenu::showMainMenu()
     }
   } 
   clearIfNecessary();
-  for(int8_t line=0;line<LCD_HEIGHT;line++)
+  uint8_t line=0;
+  for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++)
   {
-    switch(line)
+    switch(i)
     { 
       case ItemM_watch:
         MENUITEM(  lcdprintPGM(MSG_WATCH)  ,  BLOCK;status=Main_Status;beepshort(); ) ;
@@ -2064,6 +2419,7 @@ void MainMenu::showMainMenu()
         SERIAL_ERRORLNPGM(MSG_SERIAL_ERROR_MENU_STRUCTURE);
       break;
     }
+    line++;
   }
   updateActiveLines(3,encoderpos);
 }
@@ -2078,6 +2434,7 @@ void MainMenu::update()
     {
       force_lcd_update=true;
       oldcardstatus=CARDINSERTED;
+      lcd_init(); // to maybe revive the lcd if static electricty killed it.
       //Serial.println("echo: SD CHANGE");
       if(CARDINSERTED)
       {
@@ -2144,6 +2501,10 @@ void MainMenu::update()
       {
         showControlMotion(); 
       }break;
+      case Sub_RetractControl:
+      {
+        showControlRetract(); 
+      }break;
       case Sub_TempControl:
       {
         showControlTemp(); 
diff --git a/Marlin/watchdog.h b/Marlin/watchdog.h
index ff6af60afd..937379b696 100644
--- a/Marlin/watchdog.h
+++ b/Marlin/watchdog.h
@@ -1,5 +1,5 @@
-#ifndef __WATCHDOGH
-#define __WATCHDOGH
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
 #include "Marlin.h"
 #ifdef USE_WATCHDOG