Merge pull request #240 from ZetaPhoenix/Marlin_v1_bugfix

Missing #else in temperature.cpp prevented reading bed temp when TEMP_BE...

.gitignore

@@ -0,0 +1,5 @@
+*.o
+applet/
+*~
+*.orig
+*.rej

Marlin/Configuration.h

@@ -1,229 +1,230 @@
-#ifndef __CONFIGURATION_H
-#define __CONFIGURATION_H
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
 
+// This configurtion file contains the basic settings.
+// Advanced settings can be found in Configuration_adv.h 
+// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
 
+//User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup.
+//Implementation of an idea by Prof Braino to inform user that any changes made
+//to THIS file by the user have been successfully uploaded into firmware.
+#define STRING_VERSION_CONFIG_H "2012-05-02" //Personal revision number for changes to THIS file.
+#define STRING_CONFIG_H_AUTHOR "erik" //Who made the changes.
 
 // This determines the communication speed of the printer
 #define BAUDRATE 250000
 //#define BAUDRATE 115200
-//#define BAUDRATE 230400
-
-
-// Frequency limit
-// See nophead's blog for more info
-// Not working O
-//#define XY_FREQUENCY_LIMIT  15
-
-// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
-// of the buffer and all stops. This should not be much greater than zero and should only be changed
-// if unwanted behavior is observed on a user's machine when running at very slow speeds.
-#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
-
-// If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
-
-// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
 
 //// The following define selects which electronics board you have. Please choose the one that matches your setup
-// MEGA/RAMPS up to 1.2 = 3,
-// RAMPS 1.3 = 33
-// Gen6 = 5,
+// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics"
+// Gen7 v1.1, v1.2 = 11
+// Gen7 v1.3 = 12
+// Gen7 v1.4 = 13
+// MEGA/RAMPS up to 1.2 = 3
+// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan)
+// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed)
+// Gen6 = 5
+// Gen6 deluxe = 51
 // Sanguinololu 1.2 and above = 62
-// Ultimaker = 7,
+// Melzi = 63
+// Ultimaker = 7
 // Teensylu = 8
+// Gen3+ =9
+
+#ifndef MOTHERBOARD
 #define MOTHERBOARD 7
+#endif
+
+
 
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 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 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k 
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)
 
-//// Thermistor settings:
-// 1 is 100k thermistor
-// 2 is 200k thermistor
-// 3 is mendel-parts thermistor
-// 4 is 10k thermistor
-// 5 is ParCan supplied 104GT-2 100K
-// 6 is EPCOS 100k
-// 7 is 100k Honeywell thermistor 135-104LAG-J01
-//#define THERMISTORHEATER_0 3
-//#define THERMISTORHEATER_1 3
-//#define THERMISTORBED 3
-
-//#define HEATER_0_USES_THERMISTOR
-//#define HEATER_1_USES_THERMISTOR
-#define HEATER_0_USES_AD595
-//#define HEATER_1_USES_AD595
-
-// Select one of these only to define how the bed temp is read.
-//#define BED_USES_THERMISTOR
-//#define BED_USES_AD595
-
-#define BED_CHECK_INTERVAL 5000 //ms
-
-//// Experimental watchdog and minimal temp
-// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
-// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
-/// CURRENTLY NOT IMPLEMENTED AND UNUSEABLE
-//#define WATCHPERIOD 5000 //5 seconds
+#define TEMP_SENSOR_0 -1
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_BED 0
 
 // Actual temperature must be close to target for this long before M109 returns success
-//#define TEMP_RESIDENCY_TIME 20  // (seconds)
-//#define TEMP_HYSTERESIS 5       // (C°) range of +/- temperatures considered "close" to the target one
+#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     1       // (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
+// 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. 
+// Otherwise this would lead to the heater being powered on all the time.
 #define HEATER_0_MINTEMP 5
-//#define HEATER_1_MINTEMP 5
-//#define BED_MINTEMP 5
-
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 // This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
 // You should use MINTEMP for thermistor short/failure protection.
 #define HEATER_0_MAXTEMP 275
-//#define HEATER_1_MAXTEMP 275
-//#define BED_MAXTEMP 150
-
+#define HEATER_1_MAXTEMP 275
+#define HEATER_2_MAXTEMP 275
+#define BED_MAXTEMP 150
 
+// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
+// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
+// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
+//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
 
 // PID settings:
-// Uncomment the following line to enable PID support.
-  
+// Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
+#define PID_MAX 255 // limits current to nozzle; 255=full current
 #ifdef PIDTEMP
-  #if MOTHERBOARD == 62
-    #error Sanguinololu does not support PID, sorry. Please disable it.
-  #endif
   //#define PID_DEBUG // Sends debug data to the serial port. 
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
-  
-  #define PID_MAX 255 // limits current to nozzle; 255=full current
   #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
   #define K1 0.95 //smoothing factor withing the PID
-  #define PID_dT 0.1 //sampling period of the PID
+  #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the
 
-  //To develop some PID settings for your machine, you can initiall follow 
-  // the Ziegler-Nichols method.
-  // set Ki and Kd to zero. 
-  // heat with a defined Kp and see if the temperature stabilizes
-  // ideally you do this graphically with repg.
-  // the PID_CRITIAL_GAIN should be the Kp at which temperature oscillatins are not dampned out/decreas in amplitutde
-  // PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain
-  // usually further manual tunine is necessary.
+// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
+// Ultimaker
+    #define  DEFAULT_Kp 22.2
+    #define  DEFAULT_Ki 1.08  
+    #define  DEFAULT_Kd 114  
 
-  #define PID_CRITIAL_GAIN 50
-  #define PID_SWING_AT_CRITIAL 47 //seconds
-  
-  //#define PID_PI    //no differentail term
-  #define PID_PID //normal PID
-
-  #ifdef PID_PID
-    //PID according to Ziegler-Nichols method
-//    #define  DEFAULT_Kp  (0.6*PID_CRITIAL_GAIN)
-//    #define  DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)  
-//    #define  DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)  
-
-// Ultitmaker
-    #define  DEFAULT_Kp  22.2
-    #define  DEFAULT_Ki (1.25*PID_dT)  
-    #define  DEFAULT_Kd (99/PID_dT)  
+// Makergear
+//    #define  DEFAULT_Kp 7.0
+//    #define  DEFAULT_Ki 0.1  
+//    #define  DEFAULT_Kd 12  
 
 // Mendel Parts V9 on 12V    
-//    #define  DEFAULT_Kp  63.0
-//    #define  DEFAULT_Ki (2.25*PID_dT)  
-//    #define  DEFAULT_Kd (440/PID_dT)  
-  #endif
-   
-  #ifdef PID_PI
-    //PI according to Ziegler-Nichols method
-    #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
-    #define  DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
-    #define  DEFAULT_Kd (0)
-  #endif
-  
-  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
-  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
-  #define PID_ADD_EXTRUSION_RATE  
-  #ifdef PID_ADD_EXTRUSION_RATE
-    #define  DEFAULT_Kc (3) //heatingpower=Kc*(e_speed)
-  #endif
+//    #define  DEFAULT_Kp 63.0
+//    #define  DEFAULT_Ki 2.25
+//    #define  DEFAULT_Kd 440
 #endif // PIDTEMP
 
+//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
+//can be software-disabled for whatever purposes by
+#define PREVENT_DANGEROUS_EXTRUDE
+//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
+#define PREVENT_LENGTHY_EXTRUDE
+
+#define EXTRUDE_MINTEMP 170
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
 
+// Uncomment the following line to enable CoreXY kinematics
+// #define COREXY
 
-// Endstop Settings
+// corse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
-// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
 
+#ifndef ENDSTOPPULLUPS
+  // fine Enstop settings: Individual Pullups. will be ignord if ENDSTOPPULLUPS is defined
+  #define ENDSTOPPULLUP_XMAX
+  #define ENDSTOPPULLUP_YMAX
+  #define ENDSTOPPULLUP_ZMAX
+  #define ENDSTOPPULLUP_XMIN
+  #define ENDSTOPPULLUP_YMIN
+  //#define ENDSTOPPULLUP_ZMIN
+#endif
+
+#ifdef ENDSTOPPULLUPS
+  #define ENDSTOPPULLUP_XMAX
+  #define ENDSTOPPULLUP_YMAX
+  #define ENDSTOPPULLUP_ZMAX
+  #define ENDSTOPPULLUP_XMIN
+  #define ENDSTOPPULLUP_YMIN
+  #define ENDSTOPPULLUP_ZMIN
+#endif
+
+// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+//#define DISABLE_MAX_ENDSTOPS
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
 #define Z_ENABLE_ON 0
-#define E_ENABLE_ON 0
+#define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
-#define DISABLE_E false
+#define DISABLE_E false // For all extruders
 
-// Inverting axis direction
-//#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
-//#define INVERT_Y_DIR true   // for Mendel set to true, for Orca set to false
-//#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
-//#define INVERT_E_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
-
-#define INVERT_X_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
-#define INVERT_E_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
-//// ENDSTOP SETTINGS:
+// ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 #define X_HOME_DIR -1
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
-#define max_software_endstops false  //If true, axis won't move to coordinates greater than the defined lengths below.
-#define X_MAX_LENGTH 210
-#define Y_MAX_LENGTH 210
-#define Z_MAX_LENGTH 210
+#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
+// Travel limits after homing
+#define X_MAX_POS 205
+#define X_MIN_POS 0
+#define Y_MAX_POS 205
+#define Y_MIN_POS 0
+#define Z_MAX_POS 200
+#define Z_MIN_POS 0
+
+#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
+#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
+#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
+
+// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0
+#define X_HOME_POS 0
+#define Y_HOME_POS 0
+#define Z_HOME_POS 0
 
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
 
-#define AXIS_RELATIVE_MODES {false, false, false, false}
-
-#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
-
 // default settings 
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}                    // default steps per unit for ultimaker 
-//#define DEFAULT_AXIS_STEPS_PER_UNIT   {40, 40, 3333.92, 67} //sells mendel with v9 extruder
-#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 200000}    // (mm/sec)    
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}  // default steps per unit for ultimaker 
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)    
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
 #define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
-#define DEFAULT_RETRACT_ACCELERATION  7000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
-#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
-#define DEFAULT_MINTRAVELFEEDRATE     0.0
-
-// minimum time in microseconds that a movement needs to take if the buffer is emptied.   Increase this number if you see blobs while printing high speed & high detail.  It will slowdown on the detailed stuff.
-#define DEFAULT_MINSEGMENTTIME        20000   // Obsolete delete this
-#define DEFAULT_XYJERK                30.0    // (mm/sec)
+// 
+#define DEFAULT_XYJERK                20.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
-
-
-
+#define DEFAULT_EJERK                 5.0    // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================
@@ -235,104 +236,59 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 // 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.
 //define this to enable eeprom support
-#define EEPROM_SETTINGS
+//#define EEPROM_SETTINGS
 //to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
 // please keep turned on if you can.
-#define EEPROM_CHITCHAT
-
-
-// The hardware watchdog should halt the Microcontroller, in case the firmware gets stuck somewhere. However:
-// the Watchdog is not working well, so please only enable this for testing
-// this enables the watchdog interrupt.
-//#define USE_WATCHDOG
-//#ifdef USE_WATCHDOG
-  // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
-//#define RESET_MANUAL
-//#define WATCHDOG_TIMEOUT 4  //seconds
-//#endif
-
-// extruder advance constant (s2/mm3)
-//
-// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
-//
-// hooke's law says:		force = k * distance
-// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
-// so: v ^ 2 is proportional to number of steps we advance the extruder
-//#define ADVANCE
-
-#ifdef ADVANCE
-  #define EXTRUDER_ADVANCE_K .3
-
-  #define D_FILAMENT 1.7
-  #define STEPS_MM_E 65
-  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
-  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
-
-#endif // ADVANCE
-
+//#define EEPROM_CHITCHAT
 
 //LCD and SD support
 //#define ULTRA_LCD  //general lcd support, also 16x2
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 
-//#define ULTIPANEL
+//#define ULTIMAKERCONTROLLER //as available from the ultimaker online store.
+//#define ULTIPANEL  //the ultipanel as on thingiverse
+
+
+#ifdef ULTIMAKERCONTROLLER    //automatic expansion
+ #define ULTIPANEL
+ #define NEWPANEL
+#endif 
+ 
+
 #ifdef ULTIPANEL
-  //#define NEWPANEL  //enable this if you have a click-encoder panel
+//  #define NEWPANEL  //enable this if you have a click-encoder panel
   #define SDSUPPORT
   #define ULTRA_LCD
   #define LCD_WIDTH 20
   #define LCD_HEIGHT 4
+  
+// Preheat Constants
+  #define PLA_PREHEAT_HOTEND_TEMP 180 
+  #define PLA_PREHEAT_HPB_TEMP 70
+  #define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
+  #define ABS_PREHEAT_HOTEND_TEMP 240
+  #define ABS_PREHEAT_HPB_TEMP 100
+  #define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
 #else //no panel but just lcd 
   #ifdef ULTRA_LCD
     #define LCD_WIDTH 16
-    #define LCD_HEIGHT 2
+    #define LCD_HEIGHT 2    
   #endif
 #endif
 
-// A debugging feature to compare calculated vs performed steps, to see if steps are lost by the software.
-//#define DEBUG_STEPS
+// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
+//#define FAST_PWM_FAN
 
+// M240  Triggers a camera by emulating a Canon RC-1 Remote
+// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
+// #define PHOTOGRAPH_PIN     23
 
-// Arc interpretation settings:
-#define MM_PER_ARC_SEGMENT 1
-#define N_ARC_CORRECTION 25
-
-
-//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
-//The maximum buffered steps/sec of the extruder motor are called "se".
-//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
-// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
-// you exit the value by any M109 without F*
-// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
-// on an ultimaker, some initial testing worked with M109 S215 T260 F0.1 in the start.gcode
-//#define AUTOTEMP
-#ifdef AUTOTEMP
-  #define AUTOTEMP_OLDWEIGHT 0.98
-#endif
-
-
-const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
-
-//===========================================================================
-//=============================Buffers           ============================
-//===========================================================================
-
-
-
-// The number of linear motions that can be in the plan at any give time.  
-// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
-#if defined SDSUPPORT
-  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
-#else
-  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
-#endif
-
-
-//The ASCII buffer for recieving from the serial:
-#define MAX_CMD_SIZE 96
-#define BUFSIZE 4
-
+// SF send wrong arc g-codes when using Arc Point as fillet procedure
+//#define SF_ARC_FIX
 
+#include "Configuration_adv.h"
 #include "thermistortables.h"
 
 #endif //__CONFIGURATION_H

Marlin/Configuration_adv.h

@@ -0,0 +1,263 @@
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+// Select one of these only to define how the bed temp is read.
+//
+//#define BED_LIMIT_SWITCHING
+#ifdef BED_LIMIT_SWITCHING
+  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+#endif
+#define BED_CHECK_INTERVAL 5000 //ms
+
+//// Heating sanity check:
+// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero. 
+// It can be reset with another M104/M109
+//#define WATCHPERIOD 20000 //20 seconds
+
+// Wait for Cooldown
+// This defines if the M109 call should not block if it is cooling down.
+// example: From a current temp of 220, you set M109 S200. 
+// if CooldownNoWait is defined M109 will not wait for the cooldown to finish
+#define CooldownNoWait true
+
+#ifdef PIDTEMP
+  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
+  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
+  #define PID_ADD_EXTRUSION_RATE  
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
+  #endif
+#endif
+
+
+//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+//The maximum buffered steps/sec of the extruder motor are called "se".
+//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
+// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+// you exit the value by any M109 without F*
+// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+// on an ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+#define AUTOTEMP
+#ifdef AUTOTEMP
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//  extruder run-out prevention. 
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT  
+#define EXTRUDER_RUNOUT_MINTEMP 190  
+#define EXTRUDER_RUNOUT_SECONDS 30.
+#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
+#define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
+#define EXTRUDER_RUNOUT_EXTRUDE 100
+
+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
+#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+// This defines the number of extruders
+#define EXTRUDERS 1
+
+#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+
+//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
+
+// A single Z stepper driver is usually used to drive 2 stepper motors.
+// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
+// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
+// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
+// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
+//#define Z_DUAL_STEPPER_DRIVERS
+
+#ifdef Z_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
+#define X_HOME_RETRACT_MM 5 
+#define Y_HOME_RETRACT_MM 5 
+#define Z_HOME_RETRACT_MM 1 
+//#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+
+#define AXIS_RELATIVE_MODES {false, false, false, false}
+
+#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
+
+//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
+#define INVERT_X_STEP_PIN false
+#define INVERT_Y_STEP_PIN false
+#define INVERT_Z_STEP_PIN false
+#define INVERT_E_STEP_PIN false
+
+//default stepper release if idle
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.
+#define DEFAULT_MINSEGMENTTIME        20000
+
+// If defined the movements slow down when the look ahead buffer is only half full
+#define SLOWDOWN
+
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+
+#define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // no z because of layer shift.
+
+// The hardware watchdog should halt the Microcontroller, in case the firmware gets stuck somewhere. However:
+// the Watchdog is not working well, so please only enable this for testing
+// this enables the watchdog interrupt.
+//#define USE_WATCHDOG
+//#ifdef USE_WATCHDOG
+  // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
+//#define RESET_MANUAL
+//#define WATCHDOG_TIMEOUT 4  //seconds
+//#endif
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// hooke's law says:		force = k * distance
+// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+  #define EXTRUDER_ADVANCE_K .0
+
+  #define D_FILAMENT 2.85
+  #define STEPS_MM_E 836
+  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+
+#endif // ADVANCE
+
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
+
+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+#define SDCARDDETECTINVERTED 
+
+#ifdef ULTIPANEL
+ #undef SDCARDDETECTINVERTED
+#endif
+//===========================================================================
+//=============================Buffers           ============================
+//===========================================================================
+
+// The number of linear motions that can be in the plan at any give time.  
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+#if defined SDSUPPORT
+  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+
+//The ASCII buffer for recieving from the serial:
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+
+// Firmware based and LCD controled retract
+// M207 and M208 can be used to define parameters for the retraction. 
+// The retraction can be called by the slicer using G10 and G11
+// until then, intended retractions can be detected by moves that only extrude and the direction. 
+// the moves are than replaced by the firmware controlled ones.
+
+// #define FWRETRACT  //ONLY PARTIALLY TESTED
+#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
+
+//===========================================================================
+//=============================  Define Defines  ============================
+//===========================================================================
+
+#if TEMP_SENSOR_0 > 0
+  #define THERMISTORHEATER_0 TEMP_SENSOR_0
+  #define HEATER_0_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_1 > 0
+  #define THERMISTORHEATER_1 TEMP_SENSOR_1
+  #define HEATER_1_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_2 > 0
+  #define THERMISTORHEATER_2 TEMP_SENSOR_2
+  #define HEATER_2_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_BED > 0
+  #define THERMISTORBED TEMP_SENSOR_BED
+  #define BED_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_0 == -1
+  #define HEATER_0_USES_AD595
+#endif
+#if TEMP_SENSOR_1 == -1
+  #define HEATER_1_USES_AD595
+#endif
+#if TEMP_SENSOR_2 == -1
+  #define HEATER_2_USES_AD595
+#endif
+#if TEMP_SENSOR_BED == -1
+  #define BED_USES_AD595
+#endif
+#if TEMP_SENSOR_0 == -2
+  #define HEATER_0_USES_MAX6675
+#endif
+#if TEMP_SENSOR_0 == 0
+  #undef HEATER_0_MINTEMP
+  #undef HEATER_0_MAXTEMP
+#endif
+#if TEMP_SENSOR_1 == 0
+  #undef HEATER_1_MINTEMP
+  #undef HEATER_1_MAXTEMP
+#endif
+#if TEMP_SENSOR_2 == 0
+  #undef HEATER_2_MINTEMP
+  #undef HEATER_2_MAXTEMP
+#endif
+#if TEMP_SENSOR_BED == 0
+  #undef BED_MINTEMP
+  #undef BED_MAXTEMP
+#endif
+
+
+#endif //__CONFIGURATION_ADV_H

Marlin/EEPROMwrite.h

@@ -1,17 +1,25 @@
-#ifndef __EEPROMH
-#define __EEPROMH
+#ifndef EEPROM_H
+#define EEPROM_H
 
 #include "Marlin.h"
 #include "planner.h"
 #include "temperature.h"
-#include <EEPROM.h>
+//#include <EEPROM.h>
+
+int plaPreheatHotendTemp;
+int plaPreheatHPBTemp;
+int plaPreheatFanSpeed;
+
+int absPreheatHotendTemp;
+int absPreheatHPBTemp;
+int absPreheatFanSpeed;
 
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
 {
   const byte* p = (const byte*)(const void*)&value;
   int i;
   for (i = 0; i < (int)sizeof(value); i++)
-    EEPROM.write(ee++, *p++);
+    eeprom_write_byte((unsigned char *)ee++, *p++);
   return i;
 }
 
@@ -20,7 +28,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
   byte* p = (byte*)(void*)&value;
   int i;
   for (i = 0; i < (int)sizeof(value); i++)
-    *p++ = EEPROM.read(ee++);
+    *p++ = eeprom_read_byte((unsigned char *)ee++);
   return i;
 }
 //======================================================================================
@@ -36,9 +44,9 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V04"  
+#define EEPROM_VERSION "V07"
 
-inline void StoreSettings() 
+inline void EEPROM_StoreSettings() 
 {
 #ifdef EEPROM_SETTINGS
   char ver[4]= "000";
@@ -54,6 +62,14 @@ inline void StoreSettings()
   EEPROM_writeAnything(i,minsegmenttime);
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
+  EEPROM_writeAnything(i,max_e_jerk);
+  EEPROM_writeAnything(i,add_homeing);
+  EEPROM_writeAnything(i,plaPreheatHotendTemp);
+  EEPROM_writeAnything(i,plaPreheatHPBTemp);
+  EEPROM_writeAnything(i,plaPreheatFanSpeed);
+  EEPROM_writeAnything(i,absPreheatHotendTemp);
+  EEPROM_writeAnything(i,absPreheatHPBTemp);
+  EEPROM_writeAnything(i,absPreheatFanSpeed);
   #ifdef PIDTEMP
     EEPROM_writeAnything(i,Kp);
     EEPROM_writeAnything(i,Ki);
@@ -71,7 +87,72 @@ inline void StoreSettings()
 #endif //EEPROM_SETTINGS
 }
 
-inline void RetrieveSettings(bool def=false)
+
+inline void EEPROM_printSettings()
+{  // if def=true, the default values will be used
+//  #ifdef EEPROM_SETTINGS  
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Steps per unit:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[0]);
+      SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
+      SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
+      SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
+      SERIAL_ECHOLN("");
+      
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
+      SERIAL_ECHOPAIR(" Y",max_feedrate[1] ); 
+      SERIAL_ECHOPAIR(" Z", max_feedrate[2] ); 
+      SERIAL_ECHOPAIR(" E", max_feedrate[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[0] ); 
+      SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); 
+      SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
+      SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M204 S",acceleration ); 
+      SERIAL_ECHOPAIR(" T" ,retract_acceleration);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M205 S",minimumfeedrate ); 
+      SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); 
+      SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
+      SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
+      SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+      SERIAL_ECHOPAIR(" E" ,max_e_jerk);
+      SERIAL_ECHOLN(""); 
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Home offset (mm):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M206 X",add_homeing[0] );
+      SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
+      SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
+      SERIAL_ECHOLN("");
+    #ifdef PIDTEMP
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("PID settings:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("   M301 P",Kp); 
+      SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
+      SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+      SERIAL_ECHOLN(""); 
+    #endif
+//  #endif
+} 
+
+
+inline void EEPROM_RetrieveSettings(bool def=false)
 {  // if def=true, the default values will be used
   #ifdef EEPROM_SETTINGS
     int i=EEPROM_OFFSET;
@@ -91,6 +172,14 @@ inline void RetrieveSettings(bool def=false)
       EEPROM_readAnything(i,minsegmenttime);
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
+      EEPROM_readAnything(i,max_e_jerk);
+      EEPROM_readAnything(i,add_homeing);
+	  EEPROM_readAnything(i,plaPreheatHotendTemp);
+	  EEPROM_readAnything(i,plaPreheatHPBTemp);
+	  EEPROM_readAnything(i,plaPreheatFanSpeed);
+	  EEPROM_readAnything(i,absPreheatHotendTemp);
+	  EEPROM_readAnything(i,absPreheatHPBTemp);
+	  EEPROM_readAnything(i,absPreheatFanSpeed);
       #ifndef PIDTEMP
         float Kp,Ki,Kd;
       #endif
@@ -102,6 +191,7 @@ inline void RetrieveSettings(bool def=false)
       SERIAL_ECHOLNPGM("Stored settings retreived:");
     }
     else 
+  #endif
     {
       float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
       float tmp2[]=DEFAULT_MAX_FEEDRATE;
@@ -119,62 +209,22 @@ inline void RetrieveSettings(bool def=false)
       mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
       max_xy_jerk=DEFAULT_XYJERK;
       max_z_jerk=DEFAULT_ZJERK;
+      max_e_jerk=DEFAULT_EJERK;
+      add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
       SERIAL_ECHO_START;
       SERIAL_ECHOLN("Using Default settings:");
+#ifdef ULTIPANEL
+	  plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
+	  plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP;
+	  plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
+	  absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP;
+	  absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
+	  absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
+#endif
     }
   #ifdef EEPROM_CHITCHAT
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Steps per unit:");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[0]);
-      SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
-      SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
-      SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
-      SERIAL_ECHOLN("");
-      
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]/60);
-      SERIAL_ECHOPAIR(" Y",max_feedrate[1]/60 ); 
-      SERIAL_ECHOPAIR(" Z", max_feedrate[2]/60 ); 
-      SERIAL_ECHOPAIR(" E", max_feedrate[3]/60);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[0] ); 
-      SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); 
-      SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
-      SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M204 S",acceleration ); 
-      SERIAL_ECHOPAIR(" T" ,retract_acceleration);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M205 S",minimumfeedrate/60 ); 
-      SERIAL_ECHOPAIR(" T" ,mintravelfeedrate/60 ); 
-      SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
-      SERIAL_ECHOPAIR(" X" ,max_xy_jerk/60 ); 
-      SERIAL_ECHOPAIR(" Z" ,max_z_jerk/60);
-      SERIAL_ECHOLN(""); 
-    #ifdef PIDTEMP
-      SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("PID settings:");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("   M301 P",Kp ); 
-      SERIAL_ECHOPAIR(" I" ,Ki ); 
-      SERIAL_ECHOPAIR(" D" ,Kd);
-      SERIAL_ECHOLN(""); 
-    #endif
+    EEPROM_printSettings();
   #endif
-    
-  #endif //EEPROM_SETTINGS
 }  
 
 #endif

Marlin/Gen7/boards.txt

@@ -0,0 +1,101 @@
+##############################################################
+
+Gen7-644-16.name=Gen7 with ATmega644 and 16 MHz
+Gen7-644-16.upload.protocol=stk500v2
+Gen7-644-16.upload.maximum_size=63488
+Gen7-644-16.upload.speed=115200
+Gen7-644-16.bootloader.low_fuses=0xF7
+Gen7-644-16.bootloader.high_fuses=0xD4
+Gen7-644-16.bootloader.extended_fuses=0xFD
+Gen7-644-16.bootloader.path=Gen7
+Gen7-644-16.bootloader.file=bootloader-644-16MHz.hex
+Gen7-644-16.bootloader.unlock_bits=0x3F
+Gen7-644-16.bootloader.lock_bits=0x0F
+Gen7-644-16.build.mcu=atmega644
+Gen7-644-16.build.f_cpu=16000000L
+Gen7-644-16.build.core=arduino
+
+##############################################################
+
+Gen7-644-20.name=Gen7 with ATmega644 and 20 MHz
+Gen7-644-20.upload.protocol=stk500v2
+Gen7-644-20.upload.maximum_size=63488
+Gen7-644-20.upload.speed=115200
+Gen7-644-20.bootloader.low_fuses=0xF7
+Gen7-644-20.bootloader.high_fuses=0xD4
+Gen7-644-20.bootloader.extended_fuses=0xFD
+Gen7-644-20.bootloader.path=Gen7
+Gen7-644-20.bootloader.file=bootloader-644-20MHz.hex
+Gen7-644-20.bootloader.unlock_bits=0x3F
+Gen7-644-20.bootloader.lock_bits=0x0F
+Gen7-644-20.build.mcu=atmega644
+Gen7-644-20.build.f_cpu=20000000L
+Gen7-644-20.build.core=arduino
+
+##############################################################
+
+Gen7-644P-16.name=Gen7 with ATmega644P and 16 MHz
+Gen7-644P-16.upload.protocol=stk500v2
+Gen7-644P-16.upload.maximum_size=63488
+Gen7-644P-16.upload.speed=115200
+Gen7-644P-16.bootloader.low_fuses=0xF7
+Gen7-644P-16.bootloader.high_fuses=0xD4
+Gen7-644P-16.bootloader.extended_fuses=0xFD
+Gen7-644P-16.bootloader.path=Gen7
+Gen7-644P-16.bootloader.file=bootloader-644P-16MHz.hex
+Gen7-644P-16.bootloader.unlock_bits=0x3F
+Gen7-644P-16.bootloader.lock_bits=0x0F
+Gen7-644P-16.build.mcu=atmega644p
+Gen7-644P-16.build.f_cpu=16000000L
+Gen7-644P-16.build.core=arduino
+
+##############################################################
+
+Gen7-644P-20.name=Gen7 with ATmega644P and 20 MHz
+Gen7-644P-20.upload.protocol=stk500v2
+Gen7-644P-20.upload.maximum_size=63488
+Gen7-644P-20.upload.speed=115200
+Gen7-644P-20.bootloader.low_fuses=0xF7
+Gen7-644P-20.bootloader.high_fuses=0xD4
+Gen7-644P-20.bootloader.extended_fuses=0xFD
+Gen7-644P-20.bootloader.path=Gen7
+Gen7-644P-20.bootloader.file=bootloader-644P-20MHz.hex
+Gen7-644P-20.bootloader.unlock_bits=0x3F
+Gen7-644P-20.bootloader.lock_bits=0x0F
+Gen7-644P-20.build.mcu=atmega644p
+Gen7-644P-20.build.f_cpu=20000000L
+Gen7-644P-20.build.core=arduino
+
+##############################################################
+
+Gen7-1284p-16.name=Gen7 with ATmega1284 and 16 MHz
+Gen7-1284p-16.upload.protocol=stk500v2
+Gen7-1284p-16.upload.maximum_size=129024
+Gen7-1284p-16.upload.speed=115200
+Gen7-1284p-16.bootloader.low_fuses=0xF7
+Gen7-1284p-16.bootloader.high_fuses=0xD4
+Gen7-1284p-16.bootloader.extended_fuses=0xFD
+Gen7-1284p-16.bootloader.path=Gen7
+Gen7-1284p-16.bootloader.file=bootloader-1284P-16MHz.hex
+Gen7-1284p-16.bootloader.unlock_bits=0x3F
+Gen7-1284p-16.bootloader.lock_bits=0x2F
+Gen7-1284p-16.build.mcu=atmega1284p
+Gen7-1284p-16.build.f_cpu=16000000L
+Gen7-1284p-16.build.core=arduino
+
+##############################################################
+
+Gen7-1284p-20.name=Gen7 with ATmega1284 and 20 MHz
+Gen7-1284p-20.upload.protocol=stk500v2
+Gen7-1284p-20.upload.maximum_size=129024
+Gen7-1284p-20.upload.speed=115200
+Gen7-1284p-20.bootloader.low_fuses=0xF7
+Gen7-1284p-20.bootloader.high_fuses=0xD4
+Gen7-1284p-20.bootloader.extended_fuses=0xFD
+Gen7-1284p-20.bootloader.path=Gen7
+Gen7-1284p-20.bootloader.file=bootloader-1284P-16MHz.hex
+Gen7-1284p-20.bootloader.unlock_bits=0x3F
+Gen7-1284p-20.bootloader.lock_bits=0x2F
+Gen7-1284p-20.build.mcu=atmega1284p
+Gen7-1284p-20.build.f_cpu=20000000L
+Gen7-1284p-20.build.core=arduino

Marlin/Gen7/bootloaders/Gen7/bootloader-1284P-16MHz.hex

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Marlin/Gen7/bootloaders/Gen7/bootloader-644-16MHz.hex

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Marlin/Gen7/bootloaders/Gen7/bootloader-644-20MHz.hex

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Marlin/Gen7/bootloaders/Gen7/bootloader-644P-16MHz.hex

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Marlin/Gen7/bootloaders/Gen7/bootloader-644P-20MHz.hex

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Marlin/Gen7/cores/arduino/HardwareSerial.cpp

@@ -0,0 +1,239 @@
+/*
+  HardwareSerial.cpp - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  Modified 23 November 2006 by David A. Mellis
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include "wiring.h"
+#include "wiring_private.h"
+
+#include "HardwareSerial.h"
+
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+struct ring_buffer {
+  unsigned char buffer[RX_BUFFER_SIZE];
+  int head;
+  int tail;
+};
+
+ring_buffer rx_buffer = { { 0 }, 0, 0 };
+
+#ifdef UDR1
+ring_buffer rx_buffer1 = { { 0 }, 0, 0 };
+#endif
+
+#ifdef UDR2
+ring_buffer rx_buffer2 = { { 0 }, 0, 0 };
+#endif
+#ifdef UDR3
+ring_buffer rx_buffer3 = { { 0 }, 0, 0 };
+#endif
+
+inline void store_char(unsigned char c, ring_buffer *rx_buffer)
+{
+  int i = (rx_buffer->head + 1) % RX_BUFFER_SIZE;
+
+  // if we should be storing the received character into the location
+  // just before the tail (meaning that the head would advance to the
+  // current location of the tail), we're about to overflow the buffer
+  // and so we don't write the character or advance the head.
+  if (i != rx_buffer->tail) {
+    rx_buffer->buffer[rx_buffer->head] = c;
+    rx_buffer->head = i;
+  }
+}
+
+ISR(USART0_RX_vect)
+{
+  unsigned char c = UDR0;
+  store_char(c, &rx_buffer);
+}
+
+#ifdef UDR1
+ISR(USART1_RX_vect)
+{
+  unsigned char c = UDR1;
+  store_char(c, &rx_buffer1);
+}
+
+#ifdef UDR2
+ISR(USART2_RX_vect)
+{
+  unsigned char c = UDR2;
+  store_char(c, &rx_buffer2);
+}
+
+#ifdef UDR2
+ISR(USART3_RX_vect)
+{
+  unsigned char c = UDR3;
+  store_char(c, &rx_buffer3);
+}
+#endif
+#endif
+
+#else
+
+#if defined(__AVR_ATmega8__)
+SIGNAL(SIG_UART_RECV)
+#else
+SIGNAL(USART_RX_vect)
+#endif
+{
+#if defined(__AVR_ATmega8__)
+  unsigned char c = UDR;
+#else
+  unsigned char c = UDR0;
+#endif
+  store_char(c, &rx_buffer);
+}
+
+#endif
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+HardwareSerial::HardwareSerial(ring_buffer *rx_buffer,
+  volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+  volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+  volatile uint8_t *udr,
+  uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x)
+{
+  _rx_buffer = rx_buffer;
+  _ubrrh = ubrrh;
+  _ubrrl = ubrrl;
+  _ucsra = ucsra;
+  _ucsrb = ucsrb;
+  _udr = udr;
+  _rxen = rxen;
+  _txen = txen;
+  _rxcie = rxcie;
+  _udre = udre;
+  _u2x = u2x;
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void HardwareSerial::begin(long baud)
+{
+  uint16_t baud_setting;
+  bool use_u2x;
+
+  // U2X mode is needed for baud rates higher than (CPU Hz / 16)
+  if (baud > F_CPU / 16) {
+    use_u2x = true;
+  } else {
+    // figure out if U2X mode would allow for a better connection
+    
+    // calculate the percent difference between the baud-rate specified and
+    // the real baud rate for both U2X and non-U2X mode (0-255 error percent)
+    uint8_t nonu2x_baud_error = abs((int)(255-((F_CPU/(16*(((F_CPU/8/baud-1)/2)+1))*255)/baud)));
+    uint8_t u2x_baud_error = abs((int)(255-((F_CPU/(8*(((F_CPU/4/baud-1)/2)+1))*255)/baud)));
+    
+    // prefer non-U2X mode because it handles clock skew better
+    use_u2x = (nonu2x_baud_error > u2x_baud_error);
+  }
+  
+  if (use_u2x) {
+    *_ucsra = 1 << _u2x;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  } else {
+    *_ucsra = 0;
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+  }
+
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  *_ubrrh = baud_setting >> 8;
+  *_ubrrl = baud_setting;
+
+  sbi(*_ucsrb, _rxen);
+  sbi(*_ucsrb, _txen);
+  sbi(*_ucsrb, _rxcie);
+}
+
+void HardwareSerial::end()
+{
+  cbi(*_ucsrb, _rxen);
+  cbi(*_ucsrb, _txen);
+  cbi(*_ucsrb, _rxcie);  
+}
+
+uint8_t HardwareSerial::available(void)
+{
+  return (RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE;
+}
+
+int HardwareSerial::read(void)
+{
+  // if the head isn't ahead of the tail, we don't have any characters
+  if (_rx_buffer->head == _rx_buffer->tail) {
+    return -1;
+  } else {
+    unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
+    _rx_buffer->tail = (_rx_buffer->tail + 1) % RX_BUFFER_SIZE;
+    return c;
+  }
+}
+
+void HardwareSerial::flush()
+{
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // were full, not empty.
+  _rx_buffer->head = _rx_buffer->tail;
+}
+
+void HardwareSerial::write(uint8_t c)
+{
+  while (!((*_ucsra) & (1 << _udre)))
+    ;
+
+  *_udr = c;
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+#if defined(__AVR_ATmega8__)
+HardwareSerial Serial(&rx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UDR, RXEN, TXEN, RXCIE, UDRE, U2X);
+#else
+HardwareSerial Serial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0);
+#endif
+
+#ifdef UDR1
+HardwareSerial Serial1(&rx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UDR1, RXEN1, TXEN1, RXCIE1, UDRE1, U2X1);
+#endif
+
+#ifdef UDR2
+HardwareSerial Serial2(&rx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UDR2, RXEN2, TXEN2, RXCIE2, UDRE2, U2X2);
+#endif
+#ifdef UDR3
+HardwareSerial Serial3(&rx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UDR3, RXEN3, TXEN3, RXCIE3, UDRE3, U2X3);
+#endif

Marlin/Gen7/cores/arduino/HardwareSerial.h

@@ -0,0 +1,69 @@
+/*
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef HardwareSerial_h
+#define HardwareSerial_h
+
+#include <inttypes.h>
+
+#include "Print.h"
+
+struct ring_buffer;
+
+class HardwareSerial : public Print
+{
+  private:
+    ring_buffer *_rx_buffer;
+    volatile uint8_t *_ubrrh;
+    volatile uint8_t *_ubrrl;
+    volatile uint8_t *_ucsra;
+    volatile uint8_t *_ucsrb;
+    volatile uint8_t *_udr;
+    uint8_t _rxen;
+    uint8_t _txen;
+    uint8_t _rxcie;
+    uint8_t _udre;
+    uint8_t _u2x;
+  public:
+    HardwareSerial(ring_buffer *rx_buffer,
+      volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+      volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+      volatile uint8_t *udr,
+      uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x);
+    void begin(long);
+    void end();
+    uint8_t available(void);
+    int read(void);
+    void flush(void);
+    virtual void write(uint8_t);
+    using Print::write; // pull in write(str) and write(buf, size) from Print
+};
+
+extern HardwareSerial Serial;
+
+#if defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1280__)
+extern HardwareSerial Serial1;
+#endif
+
+#if defined(__AVR_ATmega1280__)
+extern HardwareSerial Serial2;
+extern HardwareSerial Serial3;
+#endif
+
+#endif

Marlin/Gen7/cores/arduino/Makefile

@@ -0,0 +1,243 @@
+# Arduino 0011 Makefile
+# Arduino adaptation by mellis, eighthave, oli.keller
+#
+# This makefile allows you to build sketches from the command line
+# without the Arduino environment (or Java).
+#
+# Detailed instructions for using the makefile:
+#
+#  1. Copy this file into the folder with your sketch. There should be a
+#     file with the same name as the folder and with the extension .pde
+#     (e.g. foo.pde in the foo/ folder).
+#
+#  2. Modify the line containg "INSTALL_DIR" to point to the directory that
+#     contains the Arduino installation (for example, under Mac OS X, this
+#     might be /Applications/arduino-0012).
+#
+#  3. Modify the line containing "PORT" to refer to the filename
+#     representing the USB or serial connection to your Arduino board
+#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
+#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*).
+#
+#  4. Set the line containing "MCU" to match your board's processor. 
+#     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
+#     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
+#     change F_CPU to 8000000.
+#
+#  5. At the command line, change to the directory containing your
+#     program's file and the makefile.
+#
+#  6. Type "make" and press enter to compile/verify your program.
+#
+#  7. Type "make upload", reset your Arduino board, and press enter to
+#     upload your program to the Arduino board.
+#
+# $Id$
+
+TARGET = $(notdir $(CURDIR))
+INSTALL_DIR = /Users/dmellis/Source/arduino/trunk/build/macosx/build/work
+PORT = /dev/tty.usb*
+UPLOAD_RATE = 19200
+AVRDUDE_PROGRAMMER = stk500v1
+MCU = atmega168
+F_CPU = 16000000
+
+############################################################################
+# Below here nothing should be changed...
+
+ARDUINO = $(INSTALL_DIR)/hardware/cores/arduino
+AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
+SRC =  $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
+$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
+$(ARDUINO)/wiring_pulse.c $(ARDUINO)/wiring_serial.c \
+$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
+CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp
+FORMAT = ihex
+
+
+# Name of this Makefile (used for "make depend").
+MAKEFILE = Makefile
+
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs
+
+OPT = s
+
+# Place -D or -U options here
+CDEFS = -DF_CPU=$(F_CPU)
+CXXDEFS = -DF_CPU=$(F_CPU)
+
+# Place -I options here
+CINCS = -I$(ARDUINO)
+CXXINCS = -I$(ARDUINO)
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+CDEBUG = -g$(DEBUG)
+CWARN = -Wall -Wstrict-prototypes
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
+
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
+CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT)
+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
+LDFLAGS = -lm
+
+
+# Programming support using avrdude. Settings and variables.
+AVRDUDE_PORT = $(PORT)
+AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
+AVRDUDE_FLAGS = -V -F -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf \
+-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
+-b $(UPLOAD_RATE)
+
+# Program settings
+CC = $(AVR_TOOLS_PATH)/avr-gcc
+CXX = $(AVR_TOOLS_PATH)/avr-g++
+OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
+OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
+AR  = $(AVR_TOOLS_PATH)/avr-ar
+SIZE = $(AVR_TOOLS_PATH)/avr-size
+NM = $(AVR_TOOLS_PATH)/avr-nm
+AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
+REMOVE = rm -f
+MV = mv -f
+
+# Define all object files.
+OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) 
+
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
+ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+# Default target.
+all: applet_files build sizeafter
+
+build: elf hex 
+
+applet_files: $(TARGET).pde
+	# Here is the "preprocessing".
+	# It creates a .cpp file based with the same name as the .pde file.
+	# On top of the new .cpp file comes the WProgram.h header.
+	# At the end there is a generic main() function attached.
+	# Then the .cpp file will be compiled. Errors during compile will
+	# refer to this new, automatically generated, file. 
+	# Not the original .pde file you actually edit...
+	test -d applet || mkdir applet
+	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
+	cat $(TARGET).pde >> applet/$(TARGET).cpp
+	cat $(ARDUINO)/main.cxx >> applet/$(TARGET).cpp
+
+elf: applet/$(TARGET).elf
+hex: applet/$(TARGET).hex
+eep: applet/$(TARGET).eep
+lss: applet/$(TARGET).lss 
+sym: applet/$(TARGET).sym
+
+# Program the device.  
+upload: applet/$(TARGET).hex
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
+
+
+	# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
+ELFSIZE = $(SIZE)  applet/$(TARGET).elf
+sizebefore:
+	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
+
+sizeafter:
+	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+--change-section-address .data-0x800000 \
+--change-section-address .bss-0x800000 \
+--change-section-address .noinit-0x800000 \
+--change-section-address .eeprom-0x810000 
+
+
+coff: applet/$(TARGET).elf
+	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
+
+
+.SUFFIXES: .elf .hex .eep .lss .sym
+
+.elf.hex:
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+
+.elf.eep:
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+
+# Create extended listing file from ELF output file.
+.elf.lss:
+	$(OBJDUMP) -h -S $< > $@
+
+# Create a symbol table from ELF output file.
+.elf.sym:
+	$(NM) -n $< > $@
+
+	# Link: create ELF output file from library.
+applet/$(TARGET).elf: $(TARGET).pde applet/core.a 
+	$(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
+
+applet/core.a: $(OBJ)
+	@for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
+
+
+
+# Compile: create object files from C++ source files.
+.cpp.o:
+	$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
+
+# Compile: create object files from C source files.
+.c.o:
+	$(CC) -c $(ALL_CFLAGS) $< -o $@ 
+
+
+# Compile: create assembler files from C source files.
+.c.s:
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+.S.o:
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+
+# Target: clean project.
+clean:
+	$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
+	applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
+	$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+
+depend:
+	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
+	then \
+		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
+			$(MAKEFILE).$$$$ && \
+		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
+	fi
+	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
+		>> $(MAKEFILE); \
+	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)
+
+.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter

Marlin/Gen7/cores/arduino/Print.cpp

@@ -0,0 +1,203 @@
+/*
+ Print.cpp - Base class that provides print() and println()
+ Copyright (c) 2008 David A. Mellis.  All right reserved.
+ 
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+ 
+ This library 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
+ Lesser General Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ 
+ Modified 23 November 2006 by David A. Mellis
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include <math.h>
+#include "wiring.h"
+
+#include "Print.h"
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void Print::print(uint8_t b)
+{
+  this->write(b);
+}
+
+void Print::print(char c)
+{
+  print((byte) c);
+}
+
+void Print::print(const char c[])
+{
+  while (*c)
+    print(*c++);
+}
+
+void Print::print(int n)
+{
+  print((long) n);
+}
+
+void Print::print(unsigned int n)
+{
+  print((unsigned long) n);
+}
+
+void Print::print(long n)
+{
+  if (n < 0) {
+    print('-');
+    n = -n;
+  }
+  printNumber(n, 10);
+}
+
+void Print::print(unsigned long n)
+{
+  printNumber(n, 10);
+}
+
+void Print::print(long n, int base)
+{
+  if (base == 0)
+    print((char) n);
+  else if (base == 10)
+    print(n);
+  else
+    printNumber(n, base);
+}
+
+void Print::print(double n)
+{
+  printFloat(n, 2);
+}
+
+void Print::println(void)
+{
+  print('\r');
+  print('\n');  
+}
+
+void Print::println(char c)
+{
+  print(c);
+  println();  
+}
+
+void Print::println(const char c[])
+{
+  print(c);
+  println();
+}
+
+void Print::println(uint8_t b)
+{
+  print(b);
+  println();
+}
+
+void Print::println(int n)
+{
+  print(n);
+  println();
+}
+
+void Print::println(unsigned int n)
+{
+  print(n);
+  println();
+}
+
+void Print::println(long n)
+{
+  print(n);
+  println();  
+}
+
+void Print::println(unsigned long n)
+{
+  print(n);
+  println();  
+}
+
+void Print::println(long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void Print::println(double n)
+{
+  print(n);
+  println();
+}
+
+// Private Methods /////////////////////////////////////////////////////////////
+
+void Print::printNumber(unsigned long n, uint8_t base)
+{
+  unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. 
+  unsigned long i = 0;
+
+  if (n == 0) {
+    print('0');
+    return;
+  } 
+
+  while (n > 0) {
+    buf[i++] = n % base;
+    n /= base;
+  }
+
+  for (; i > 0; i--)
+    print((char) (buf[i - 1] < 10 ?
+      '0' + buf[i - 1] :
+      'A' + buf[i - 1] - 10));
+}
+
+void Print::printFloat(double number, uint8_t digits) 
+{ 
+  // Handle negative numbers
+  if (number < 0.0)
+  {
+     print('-');
+     number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  for (uint8_t i=0; i<digits; ++i)
+    rounding /= 10.0;
+  
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits > 0)
+    print("."); 
+
+  // Extract digits from the remainder one at a time
+  while (digits-- > 0)
+  {
+    remainder *= 10.0;
+    int toPrint = int(remainder);
+    print(toPrint);
+    remainder -= toPrint; 
+  } 
+}

Marlin/Gen7/cores/arduino/Print.h

@@ -0,0 +1,59 @@
+/*
+  Print.h - Base class that provides print() and println()
+  Copyright (c) 2008 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef Print_h
+#define Print_h
+
+#include <inttypes.h>
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+class Print
+{
+  private:
+    void printNumber(unsigned long, uint8_t);
+    void printFloat(double, uint8_t);
+  public:
+    virtual void write(uint8_t);
+    void print(char);
+    void print(const char[]);
+    void print(uint8_t);
+    void print(int);
+    void print(unsigned int);
+    void print(long);
+    void print(unsigned long);
+    void print(long, int);
+    void print(double);
+    void println(void);
+    void println(char);
+    void println(const char[]);
+    void println(uint8_t);
+    void println(int);
+    void println(unsigned int);
+    void println(long);
+    void println(unsigned long);
+    void println(long, int);
+    void println(double);
+};
+
+#endif

Marlin/Gen7/cores/arduino/Tone.cpp

@@ -0,0 +1,515 @@
+/* Tone.cpp
+
+  A Tone Generator Library
+
+  Written by Brett Hagman
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+Version Modified By Date     Comments
+------- ----------- -------- --------
+0001    B Hagman    09/08/02 Initial coding
+0002    B Hagman    09/08/18 Multiple pins
+0003    B Hagman    09/08/18 Moved initialization from constructor to begin()
+0004    B Hagman    09/09/26 Fixed problems with ATmega8
+0005    B Hagman    09/11/23 Scanned prescalars for best fit on 8 bit timers
+                    09/11/25 Changed pin toggle method to XOR
+                    09/11/25 Fixed timer0 from being excluded
+0006    D Mellis    09/12/29 Replaced objects with functions
+
+*************************************************/
+
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <wiring.h>
+#include <pins_arduino.h>
+
+#if defined(__AVR_ATmega8__)
+#define TCCR2A TCCR2
+#define TCCR2B TCCR2
+#define COM2A1 COM21
+#define COM2A0 COM20
+#define OCR2A OCR2
+#define TIMSK2 TIMSK
+#define OCIE2A OCIE2
+#define TIMER2_COMPA_vect TIMER2_COMP_vect
+#define TIMSK1 TIMSK
+#endif
+
+// timerx_toggle_count:
+//  > 0 - duration specified
+//  = 0 - stopped
+//  < 0 - infinitely (until stop() method called, or new play() called)
+
+#if !defined(__AVR_ATmega8__)
+volatile long timer0_toggle_count;
+volatile uint8_t *timer0_pin_port;
+volatile uint8_t timer0_pin_mask;
+#endif
+
+volatile long timer1_toggle_count;
+volatile uint8_t *timer1_pin_port;
+volatile uint8_t timer1_pin_mask;
+volatile long timer2_toggle_count;
+volatile uint8_t *timer2_pin_port;
+volatile uint8_t timer2_pin_mask;
+
+#if defined(__AVR_ATmega1280__)
+volatile long timer3_toggle_count;
+volatile uint8_t *timer3_pin_port;
+volatile uint8_t timer3_pin_mask;
+volatile long timer4_toggle_count;
+volatile uint8_t *timer4_pin_port;
+volatile uint8_t timer4_pin_mask;
+volatile long timer5_toggle_count;
+volatile uint8_t *timer5_pin_port;
+volatile uint8_t timer5_pin_mask;
+#endif
+
+
+#if defined(__AVR_ATmega1280__)
+
+#define AVAILABLE_TONE_PINS 1
+
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ };
+
+#elif defined(__AVR_ATmega8__)
+
+#define AVAILABLE_TONE_PINS 1
+
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
+
+#else
+
+#define AVAILABLE_TONE_PINS 1
+
+// Leave timer 0 to last.
+const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ };
+static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ };
+
+#endif
+
+
+
+static int8_t toneBegin(uint8_t _pin)
+{
+  int8_t _timer = -1;
+
+  // if we're already using the pin, the timer should be configured.  
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == _pin) {
+      return pgm_read_byte(tone_pin_to_timer_PGM + i);
+    }
+  }
+  
+  // search for an unused timer.
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == 255) {
+      tone_pins[i] = _pin;
+      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
+      break;
+    }
+  }
+  
+  if (_timer != -1)
+  {
+    // Set timer specific stuff
+    // All timers in CTC mode
+    // 8 bit timers will require changing prescalar values,
+    // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar
+    switch (_timer)
+    {
+#if !defined(__AVR_ATmega8__)
+      case 0:
+        // 8 bit timer
+        TCCR0A = 0;
+        TCCR0B = 0;
+        bitWrite(TCCR0A, WGM01, 1);
+        bitWrite(TCCR0B, CS00, 1);
+        timer0_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer0_pin_mask = digitalPinToBitMask(_pin);
+        break;
+#endif
+
+      case 1:
+        // 16 bit timer
+        TCCR1A = 0;
+        TCCR1B = 0;
+        bitWrite(TCCR1B, WGM12, 1);
+        bitWrite(TCCR1B, CS10, 1);
+        timer1_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer1_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      case 2:
+        // 8 bit timer
+        TCCR2A = 0;
+        TCCR2B = 0;
+        bitWrite(TCCR2A, WGM21, 1);
+        bitWrite(TCCR2B, CS20, 1);
+        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer2_pin_mask = digitalPinToBitMask(_pin);
+        break;
+
+#if defined(__AVR_ATmega1280__)
+      case 3:
+        // 16 bit timer
+        TCCR3A = 0;
+        TCCR3B = 0;
+        bitWrite(TCCR3B, WGM32, 1);
+        bitWrite(TCCR3B, CS30, 1);
+        timer3_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer3_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      case 4:
+        // 16 bit timer
+        TCCR4A = 0;
+        TCCR4B = 0;
+        bitWrite(TCCR4B, WGM42, 1);
+        bitWrite(TCCR4B, CS40, 1);
+        timer4_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer4_pin_mask = digitalPinToBitMask(_pin);
+        break;
+      case 5:
+        // 16 bit timer
+        TCCR5A = 0;
+        TCCR5B = 0;
+        bitWrite(TCCR5B, WGM52, 1);
+        bitWrite(TCCR5B, CS50, 1);
+        timer5_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer5_pin_mask = digitalPinToBitMask(_pin);
+        break;
+#endif
+    }
+  }
+
+  return _timer;
+}
+
+
+
+// frequency (in hertz) and duration (in milliseconds).
+
+void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
+{
+  uint8_t prescalarbits = 0b001;
+  long toggle_count = 0;
+  uint32_t ocr = 0;
+  int8_t _timer;
+
+  _timer = toneBegin(_pin);
+
+  if (_timer >= 0)
+  {
+    // Set the pinMode as OUTPUT
+    pinMode(_pin, OUTPUT);
+    
+    // if we are using an 8 bit timer, scan through prescalars to find the best fit
+    if (_timer == 0 || _timer == 2)
+    {
+      ocr = F_CPU / frequency / 2 - 1;
+      prescalarbits = 0b001;  // ck/1: same for both timers
+      if (ocr > 255)
+      {
+        ocr = F_CPU / frequency / 2 / 8 - 1;
+        prescalarbits = 0b010;  // ck/8: same for both timers
+
+        if (_timer == 2 && ocr > 255)
+        {
+          ocr = F_CPU / frequency / 2 / 32 - 1;
+          prescalarbits = 0b011;
+        }
+
+        if (ocr > 255)
+        {
+          ocr = F_CPU / frequency / 2 / 64 - 1;
+          prescalarbits = _timer == 0 ? 0b011 : 0b100;
+
+          if (_timer == 2 && ocr > 255)
+          {
+            ocr = F_CPU / frequency / 2 / 128 - 1;
+            prescalarbits = 0b101;
+          }
+
+          if (ocr > 255)
+          {
+            ocr = F_CPU / frequency / 2 / 256 - 1;
+            prescalarbits = _timer == 0 ? 0b100 : 0b110;
+            if (ocr > 255)
+            {
+              // can't do any better than /1024
+              ocr = F_CPU / frequency / 2 / 1024 - 1;
+              prescalarbits = _timer == 0 ? 0b101 : 0b111;
+            }
+          }
+        }
+      }
+
+#if !defined(__AVR_ATmega8__)
+      if (_timer == 0)
+        TCCR0B = prescalarbits;
+      else
+#endif
+        TCCR2B = prescalarbits;
+    }
+    else
+    {
+      // two choices for the 16 bit timers: ck/1 or ck/64
+      ocr = F_CPU / frequency / 2 - 1;
+
+      prescalarbits = 0b001;
+      if (ocr > 0xffff)
+      {
+        ocr = F_CPU / frequency / 2 / 64 - 1;
+        prescalarbits = 0b011;
+      }
+
+      if (_timer == 1)
+        TCCR1B = (TCCR1B & 0b11111000) | prescalarbits;
+#if defined(__AVR_ATmega1280__)
+      else if (_timer == 3)
+        TCCR3B = (TCCR3B & 0b11111000) | prescalarbits;
+      else if (_timer == 4)
+        TCCR4B = (TCCR4B & 0b11111000) | prescalarbits;
+      else if (_timer == 5)
+        TCCR5B = (TCCR5B & 0b11111000) | prescalarbits;
+#endif
+
+    }
+    
+
+    // Calculate the toggle count
+    if (duration > 0)
+    {
+      toggle_count = 2 * frequency * duration / 1000;
+    }
+    else
+    {
+      toggle_count = -1;
+    }
+
+    // Set the OCR for the given timer,
+    // set the toggle count,
+    // then turn on the interrupts
+    switch (_timer)
+    {
+
+#if !defined(__AVR_ATmega8__)
+      case 0:
+        OCR0A = ocr;
+        timer0_toggle_count = toggle_count;
+        bitWrite(TIMSK0, OCIE0A, 1);
+        break;
+#endif
+
+      case 1:
+        OCR1A = ocr;
+        timer1_toggle_count = toggle_count;
+        bitWrite(TIMSK1, OCIE1A, 1);
+        break;
+      case 2:
+        OCR2A = ocr;
+        timer2_toggle_count = toggle_count;
+        bitWrite(TIMSK2, OCIE2A, 1);
+        break;
+
+#if defined(__AVR_ATmega1280__)
+      case 3:
+        OCR3A = ocr;
+        timer3_toggle_count = toggle_count;
+        bitWrite(TIMSK3, OCIE3A, 1);
+        break;
+      case 4:
+        OCR4A = ocr;
+        timer4_toggle_count = toggle_count;
+        bitWrite(TIMSK4, OCIE4A, 1);
+        break;
+      case 5:
+        OCR5A = ocr;
+        timer5_toggle_count = toggle_count;
+        bitWrite(TIMSK5, OCIE5A, 1);
+        break;
+#endif
+
+    }
+  }
+}
+
+
+void noTone(uint8_t _pin)
+{
+  int8_t _timer = -1;
+  
+  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
+    if (tone_pins[i] == _pin) {
+      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
+      tone_pins[i] = 255;
+    }
+  }
+  
+  switch (_timer)
+  {
+#if defined(__AVR_ATmega8__)
+    case 1:
+      bitWrite(TIMSK1, OCIE1A, 0);
+      break;
+    case 2:
+      bitWrite(TIMSK2, OCIE2A, 0);
+      break;
+
+#else
+    case 0:
+      TIMSK0 = 0;
+      break;
+    case 1:
+      TIMSK1 = 0;
+      break;
+    case 2:
+      TIMSK2 = 0;
+      break;
+#endif
+
+#if defined(__AVR_ATmega1280__)
+    case 3:
+      TIMSK3 = 0;
+      break;
+    case 4:
+      TIMSK4 = 0;
+      break;
+    case 5:
+      TIMSK5 = 0;
+      break;
+#endif
+  }
+
+  digitalWrite(_pin, 0);
+}
+
+#if 0
+#if !defined(__AVR_ATmega8__)
+ISR(TIMER0_COMPA_vect)
+{
+  if (timer0_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer0_pin_port ^= timer0_pin_mask;
+
+    if (timer0_toggle_count > 0)
+      timer0_toggle_count--;
+  }
+  else
+  {
+    TIMSK0 = 0;   // disable the interrupt
+    *timer0_pin_port &= ~(timer0_pin_mask);  // keep pin low after stop
+  }
+}
+#endif
+
+
+ISR(TIMER1_COMPA_vect)
+{
+  if (timer1_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer1_pin_port ^= timer1_pin_mask;
+
+    if (timer1_toggle_count > 0)
+      timer1_toggle_count--;
+  }
+  else
+  {
+    TIMSK1 = 0;   // disable the interrupt
+    *timer1_pin_port &= ~(timer1_pin_mask);  // keep pin low after stop
+  }
+}
+#endif
+
+
+ISR(TIMER2_COMPA_vect)
+{
+
+  if (timer2_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer2_pin_port ^= timer2_pin_mask;
+
+    if (timer2_toggle_count > 0)
+      timer2_toggle_count--;
+  }
+  else
+  {
+    TIMSK2 = 0;   // disable the interrupt
+    *timer2_pin_port &= ~(timer2_pin_mask);  // keep pin low after stop
+  }
+}
+
+
+
+//#if defined(__AVR_ATmega1280__)
+#if 0
+
+ISR(TIMER3_COMPA_vect)
+{
+  if (timer3_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer3_pin_port ^= timer3_pin_mask;
+
+    if (timer3_toggle_count > 0)
+      timer3_toggle_count--;
+  }
+  else
+  {
+    TIMSK3 = 0;   // disable the interrupt
+    *timer3_pin_port &= ~(timer3_pin_mask);  // keep pin low after stop
+  }
+}
+
+ISR(TIMER4_COMPA_vect)
+{
+  if (timer4_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer4_pin_port ^= timer4_pin_mask;
+
+    if (timer4_toggle_count > 0)
+      timer4_toggle_count--;
+  }
+  else
+  {
+    TIMSK4 = 0;   // disable the interrupt
+    *timer4_pin_port &= ~(timer4_pin_mask);  // keep pin low after stop
+  }
+}
+
+ISR(TIMER5_COMPA_vect)
+{
+  if (timer5_toggle_count != 0)
+  {
+    // toggle the pin
+    *timer5_pin_port ^= timer5_pin_mask;
+
+    if (timer5_toggle_count > 0)
+      timer5_toggle_count--;
+  }
+  else
+  {
+    TIMSK5 = 0;   // disable the interrupt
+    *timer5_pin_port &= ~(timer5_pin_mask);  // keep pin low after stop
+  }
+}
+
+#endif

Marlin/Gen7/cores/arduino/WCharacter.h

@@ -0,0 +1,168 @@
+/*
+ WCharacter.h - Character utility functions for Wiring & Arduino
+ Copyright (c) 2010 Hernando Barragan.  All right reserved.
+ 
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+ 
+ This library 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
+ Lesser General Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#ifndef Character_h
+#define Character_h
+
+#include <ctype.h>
+
+// WCharacter.h prototypes
+inline boolean isAlphaNumeric(int c) __attribute__((always_inline));
+inline boolean isAlpha(int c) __attribute__((always_inline));
+inline boolean isAscii(int c) __attribute__((always_inline));
+inline boolean isWhitespace(int c) __attribute__((always_inline));
+inline boolean isControl(int c) __attribute__((always_inline));
+inline boolean isDigit(int c) __attribute__((always_inline));
+inline boolean isGraph(int c) __attribute__((always_inline));
+inline boolean isLowerCase(int c) __attribute__((always_inline));
+inline boolean isPrintable(int c) __attribute__((always_inline));
+inline boolean isPunct(int c) __attribute__((always_inline));
+inline boolean isSpace(int c) __attribute__((always_inline));
+inline boolean isUpperCase(int c) __attribute__((always_inline));
+inline boolean isHexadecimalDigit(int c) __attribute__((always_inline));
+inline int toAscii(int c) __attribute__((always_inline));
+inline int toLowerCase(int c) __attribute__((always_inline));
+inline int toUpperCase(int c)__attribute__((always_inline));
+
+
+// Checks for an alphanumeric character. 
+// It is equivalent to (isalpha(c) || isdigit(c)).
+inline boolean isAlphaNumeric(int c) 
+{
+  return ( isalnum(c) == 0 ? false : true);
+}
+
+
+// Checks for an alphabetic character. 
+// It is equivalent to (isupper(c) || islower(c)).
+inline boolean isAlpha(int c)
+{
+  return ( isalpha(c) == 0 ? false : true);
+}
+
+
+// Checks whether c is a 7-bit unsigned char value 
+// that fits into the ASCII character set.
+inline boolean isAscii(int c)
+{
+  return ( isascii (c) == 0 ? false : true);
+}
+
+
+// Checks for a blank character, that is, a space or a tab.
+inline boolean isWhitespace(int c)
+{
+  return ( isblank (c) == 0 ? false : true);
+}
+
+
+// Checks for a control character.
+inline boolean isControl(int c)
+{
+  return ( iscntrl (c) == 0 ? false : true);
+}
+
+
+// Checks for a digit (0 through 9).
+inline boolean isDigit(int c)
+{
+  return ( isdigit (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character except space.
+inline boolean isGraph(int c)
+{
+  return ( isgraph (c) == 0 ? false : true);
+}
+
+
+// Checks for a lower-case character.
+inline boolean isLowerCase(int c)
+{
+  return (islower (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character including space.
+inline boolean isPrintable(int c)
+{
+  return ( isprint (c) == 0 ? false : true);
+}
+
+
+// Checks for any printable character which is not a space 
+// or an alphanumeric character.
+inline boolean isPunct(int c)
+{
+  return ( ispunct (c) == 0 ? false : true);
+}
+
+
+// Checks for white-space characters. For the avr-libc library, 
+// these are: space, formfeed ('\f'), newline ('\n'), carriage 
+// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v').
+inline boolean isSpace(int c)
+{
+  return ( isspace (c) == 0 ? false : true);
+}
+
+
+// Checks for an uppercase letter.
+inline boolean isUpperCase(int c)
+{
+  return ( isupper (c) == 0 ? false : true);
+}
+
+
+// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 
+// 8 9 a b c d e f A B C D E F.
+inline boolean isHexadecimalDigit(int c)
+{
+  return ( isxdigit (c) == 0 ? false : true);
+}
+
+
+// Converts c to a 7-bit unsigned char value that fits into the 
+// ASCII character set, by clearing the high-order bits.
+inline int toAscii(int c)
+{
+  return toascii (c);
+}
+
+
+// Warning:
+// Many people will be unhappy if you use this function. 
+// This function will convert accented letters into random 
+// characters.
+
+// Converts the letter c to lower case, if possible.
+inline int toLowerCase(int c)
+{
+  return tolower (c);
+}
+
+
+// Converts the letter c to upper case, if possible.
+inline int toUpperCase(int c)
+{
+  return toupper (c);
+}
+
+#endif

Marlin/Gen7/cores/arduino/WConstants.h

@@ -0,0 +1 @@
+#include "wiring.h"

Marlin/Gen7/cores/arduino/WInterrupts.c

@@ -0,0 +1,87 @@
+/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
+/*
+  Part of the Wiring project - http://wiring.uniandes.edu.co
+
+  Copyright (c) 2004-05 Hernando Barragan
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+  
+  Modified 24 November 2006 by David A. Mellis
+*/
+
+#include <inttypes.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <stdio.h>
+
+#include "WConstants.h"
+#include "wiring_private.h"
+
+volatile static voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS];
+// volatile static voidFuncPtr twiIntFunc;
+
+void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode)
+{
+	if(interruptNum < EXTERNAL_NUM_INTERRUPTS)
+	{
+		intFunc[interruptNum] = userFunc;
+
+		//clear the config for the change settings
+		EICRA &= ~(B00000011 << (interruptNum * 2));
+
+		//set our mode.
+		EICRA |= (mode << (interruptNum * 2));
+
+		// Enable the interrupt.
+		EIMSK |= (1 << interruptNum);
+	}
+}
+
+void detachInterrupt(uint8_t interruptNum)
+{
+	if(interruptNum < EXTERNAL_NUM_INTERRUPTS)
+	{
+		// Disable the interrupt.
+		EIMSK &= ~(1 << interruptNum);
+
+		intFunc[interruptNum] = 0;
+	}
+}
+
+ISR(INT0_vect) {
+  if(intFunc[EXTERNAL_INT_0])
+    intFunc[EXTERNAL_INT_0]();
+}
+
+ISR(INT1_vect) {
+  if(intFunc[EXTERNAL_INT_1])
+    intFunc[EXTERNAL_INT_1]();
+}
+
+ISR(INT2_vect) {
+  if(intFunc[EXTERNAL_INT_2])
+    intFunc[EXTERNAL_INT_2]();
+}
+
+/*
+SIGNAL(SIG_2WIRE_SERIAL) {
+  if(twiIntFunc)
+    twiIntFunc();
+}
+*/
+

Marlin/Gen7/cores/arduino/WMath.cpp

@@ -0,0 +1,60 @@
+/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
+
+/*
+  Part of the Wiring project - http://wiring.org.co
+  Copyright (c) 2004-06 Hernando Barragan
+  Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/
+  
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+  
+  $Id$
+*/
+
+extern "C" {
+  #include "stdlib.h"
+}
+
+void randomSeed(unsigned int seed)
+{
+  if (seed != 0){
+    srandom(seed);
+  }
+}
+
+long random(long howbig)
+{
+  if (howbig == 0) {
+    return 0;
+  }
+  return random() % howbig;
+}
+
+long random(long howsmall, long howbig)
+{
+  if (howsmall >= howbig) {
+    return howsmall;
+  }
+  long diff = howbig - howsmall;
+  return random(diff) + howsmall;
+}
+
+long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+unsigned int makeWord(unsigned int w) { return w; }
+unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; }

Marlin/Gen7/cores/arduino/WProgram.h

@@ -0,0 +1,34 @@
+#ifndef WProgram_h
+#define WProgram_h
+
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <avr/interrupt.h>
+
+#include "wiring.h"
+
+#ifdef __cplusplus
+#include "WCharacter.h"
+#include "WString.h"
+#include "HardwareSerial.h"
+
+uint16_t makeWord(uint16_t w);
+uint16_t makeWord(byte h, byte l);
+
+#define word(...) makeWord(__VA_ARGS__)
+
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
+
+void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0);
+void noTone(uint8_t _pin);
+
+// WMath prototypes
+long random(long);
+long random(long, long);
+void randomSeed(unsigned int);
+long map(long, long, long, long, long);
+#endif
+
+#endif

Marlin/Gen7/cores/arduino/WString.cpp

@@ -0,0 +1,443 @@
+/*
+  WString.cpp - String library for Wiring & Arduino
+  Copyright (c) 2009-10 Hernando Barragan.  All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include <stdlib.h>
+#include "WProgram.h"
+#include "WString.h"
+
+
+String::String( const char *value )
+{
+  if ( value == NULL )
+    value = "";
+  getBuffer( _length = strlen( value ) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, value );
+}
+
+String::String( const String &value )
+{
+  getBuffer( _length = value._length );
+  if ( _buffer != NULL )
+    strcpy( _buffer, value._buffer );
+}
+
+String::String( const char value )
+{
+  _length = 1;
+  getBuffer(1);
+  if ( _buffer != NULL ) {
+    _buffer[0] = value;
+    _buffer[1] = 0;
+  }
+}
+
+String::String( const unsigned char value )
+{
+  _length = 1;
+  getBuffer(1);
+  if ( _buffer != NULL) {
+    _buffer[0] = value;
+    _buffer[1] = 0;
+  }
+}
+
+String::String( const int value, const int base )
+{
+  char buf[33];   
+  itoa((signed long)value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const unsigned int value, const int base )
+{
+  char buf[33];   
+  ultoa((unsigned long)value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const long value, const int base )
+{
+  char buf[33];   
+  ltoa(value, buf, base);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+String::String( const unsigned long value, const int base )
+{
+  char buf[33];   
+  ultoa(value, buf, 10);
+  getBuffer( _length = strlen(buf) );
+  if ( _buffer != NULL )
+    strcpy( _buffer, buf );
+}
+
+char String::charAt( unsigned int loc ) const
+{
+  return operator[]( loc );
+}
+
+void String::setCharAt( unsigned int loc, const char aChar ) 
+{
+  if(_buffer == NULL) return;
+  if(_length > loc) {
+    _buffer[loc] = aChar;
+  }
+}
+
+int String::compareTo( const String &s2 ) const
+{
+  return strcmp( _buffer, s2._buffer );
+}
+
+const String & String::concat( const String &s2 )
+{
+  return (*this) += s2;
+}
+
+const String & String::operator=( const String &rhs )
+{
+  if ( this == &rhs )
+    return *this;
+
+  if ( rhs._length > _length )
+  {
+    free(_buffer);
+    getBuffer( rhs._length );
+  }
+  
+  if ( _buffer != NULL ) {
+    _length = rhs._length;
+    strcpy( _buffer, rhs._buffer );
+  }
+  return *this;
+}
+
+//const String & String::operator+=( const char aChar )
+//{
+//  if ( _length == _capacity )
+//    doubleBuffer();
+//
+//  _buffer[ _length++ ] = aChar;
+//  _buffer[ _length ] = '\0';
+//  return *this;
+//}
+
+const String & String::operator+=( const String &other )
+{
+  _length += other._length;
+  if ( _length > _capacity )
+  {
+    char *temp = (char *)realloc(_buffer, _length + 1);
+    if ( temp != NULL ) {
+      _buffer = temp;
+      _capacity = _length;
+    } else {
+      _length -= other._length;
+      return *this;
+    }
+  }
+  strcat( _buffer, other._buffer );
+  return *this;
+}
+
+
+int String::operator==( const String &rhs ) const
+{
+  return ( _length == rhs._length && strcmp( _buffer, rhs._buffer ) == 0 );
+}
+
+int String::operator!=( const String &rhs ) const
+{
+  return ( _length != rhs.length() || strcmp( _buffer, rhs._buffer ) != 0 );
+}
+
+int String::operator<( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) < 0;
+}
+
+int String::operator>( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) > 0;
+}
+
+int String::operator<=( const String &rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) <= 0;
+}
+
+int String::operator>=( const String & rhs ) const
+{
+  return strcmp( _buffer, rhs._buffer ) >= 0;
+}
+
+char & String::operator[]( unsigned int index )
+{
+  static char dummy_writable_char;
+  if (index >= _length || !_buffer) {
+    dummy_writable_char = 0;
+    return dummy_writable_char;
+  }
+  return _buffer[ index ];
+}
+
+char String::operator[]( unsigned int index ) const
+{
+  // need to check for valid index, to do later
+  return _buffer[ index ];
+}
+
+boolean String::endsWith( const String &s2 ) const
+{
+  if ( _length < s2._length )
+    return 0;
+
+  return strcmp( &_buffer[ _length - s2._length], s2._buffer ) == 0;
+}
+
+boolean String::equals( const String &s2 ) const
+{
+  return ( _length == s2._length && strcmp( _buffer,s2._buffer ) == 0 );
+}
+
+boolean String::equalsIgnoreCase( const String &s2 ) const
+{
+  if ( this == &s2 )
+    return true; //1;
+  else if ( _length != s2._length )
+    return false; //0;
+
+  return strcmp(toLowerCase()._buffer, s2.toLowerCase()._buffer) == 0;
+}
+
+String String::replace( char findChar, char replaceChar )
+{
+  if ( _buffer == NULL ) return *this;
+  String theReturn = _buffer;
+  char* temp = theReturn._buffer;
+  while( (temp = strchr( temp, findChar )) != 0 )
+    *temp = replaceChar;
+
+  return theReturn;
+}
+
+String String::replace( const String& match, const String& replace )
+{
+  if ( _buffer == NULL ) return *this;
+  String temp = _buffer, newString;
+
+  int loc;
+  while ( (loc = temp.indexOf( match )) != -1 )
+  {
+    newString += temp.substring( 0, loc );
+    newString += replace;
+    temp = temp.substring( loc + match._length );
+  }
+  newString += temp;  
+  return newString;
+}
+
+int String::indexOf( char temp ) const
+{
+  return indexOf( temp, 0 );
+}
+
+int String::indexOf( char ch, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  const char* temp = strchr( &_buffer[fromIndex], ch );
+  if ( temp == NULL )
+    return -1;
+
+  return temp - _buffer;
+}
+
+int String::indexOf( const String &s2 ) const
+{
+  return indexOf( s2, 0 );
+}
+
+int String::indexOf( const String &s2, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  const char *theFind = strstr( &_buffer[ fromIndex ], s2._buffer );
+
+  if ( theFind == NULL )
+    return -1;
+
+  return theFind - _buffer; // pointer subtraction
+}
+
+int String::lastIndexOf( char theChar ) const
+{
+  return lastIndexOf( theChar, _length - 1 );
+}
+
+int String::lastIndexOf( char ch, unsigned int fromIndex ) const
+{
+  if ( fromIndex >= _length )
+    return -1;
+
+  char tempchar = _buffer[fromIndex + 1];
+  _buffer[fromIndex + 1] = '\0';
+  char* temp = strrchr( _buffer, ch );
+  _buffer[fromIndex + 1] = tempchar;
+
+  if ( temp == NULL )
+    return -1;
+
+  return temp - _buffer;
+}
+
+int String::lastIndexOf( const String &s2 ) const
+{
+  return lastIndexOf( s2, _length - s2._length );
+}
+
+int String::lastIndexOf( const String &s2, unsigned int fromIndex ) const
+{
+  // check for empty strings
+  if ( s2._length == 0 || s2._length - 1 > fromIndex || fromIndex >= _length )
+    return -1;
+
+  // matching first character
+  char temp = s2[ 0 ];
+
+  for ( int i = fromIndex; i >= 0; i-- )
+  {
+    if ( _buffer[ i ] == temp && (*this).substring( i, i + s2._length ).equals( s2 ) )
+    return i;
+  }
+  return -1;
+}
+
+boolean String::startsWith( const String &s2 ) const
+{
+  if ( _length < s2._length )
+    return 0;
+
+  return startsWith( s2, 0 );
+}
+
+boolean String::startsWith( const String &s2, unsigned int offset ) const
+{
+  if ( offset > _length - s2._length )
+    return 0;
+
+  return strncmp( &_buffer[offset], s2._buffer, s2._length ) == 0;
+}
+
+String String::substring( unsigned int left ) const
+{
+  return substring( left, _length );
+}
+
+String String::substring( unsigned int left, unsigned int right ) const
+{
+  if ( left > right )
+  {
+    int temp = right;
+    right = left;
+    left = temp;
+  }
+
+  if ( right > _length )
+  {
+    right = _length;
+  } 
+
+  char temp = _buffer[ right ];  // save the replaced character
+  _buffer[ right ] = '\0';	
+  String outPut = ( _buffer + left );  // pointer arithmetic
+  _buffer[ right ] = temp;  //restore character
+  return outPut;
+}
+
+String String::toLowerCase() const
+{
+  String temp = _buffer;
+
+  for ( unsigned int i = 0; i < _length; i++ )
+    temp._buffer[ i ] = (char)tolower( temp._buffer[ i ] );
+  return temp;
+}
+
+String String::toUpperCase() const
+{
+  String temp = _buffer;
+
+  for ( unsigned int i = 0; i < _length; i++ )
+    temp._buffer[ i ] = (char)toupper( temp._buffer[ i ] );
+  return temp;
+}
+
+String String::trim() const
+{
+  if ( _buffer == NULL ) return *this;
+  String temp = _buffer;
+  unsigned int i,j;
+
+  for ( i = 0; i < _length; i++ )
+  {
+    if ( !isspace(_buffer[i]) )
+      break;
+  }
+
+  for ( j = temp._length - 1; j > i; j-- )
+  {
+    if ( !isspace(_buffer[j]) )
+      break;
+  }
+
+  return temp.substring( i, j + 1);
+}
+
+void String::getBytes(unsigned char *buf, unsigned int bufsize)
+{
+  if (!bufsize || !buf) return;
+  unsigned int len = bufsize - 1;
+  if (len > _length) len = _length;
+  strncpy((char *)buf, _buffer, len);
+  buf[len] = 0;
+}
+
+void String::toCharArray(char *buf, unsigned int bufsize)
+{
+  if (!bufsize || !buf) return;
+  unsigned int len = bufsize - 1;
+  if (len > _length) len = _length;
+  strncpy(buf, _buffer, len);
+  buf[len] = 0;
+}
+
+
+long String::toInt() {
+  return atol(_buffer);
+}

Marlin/Gen7/cores/arduino/WString.h

@@ -0,0 +1,112 @@
+/*
+  WString.h - String library for Wiring & Arduino
+  Copyright (c) 2009-10 Hernando Barragan.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef String_h
+#define String_h
+
+//#include "WProgram.h"
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+
+class String
+{
+  public:
+    // constructors
+    String( const char *value = "" );
+    String( const String &value );
+    String( const char );
+    String( const unsigned char );
+    String( const int, const int base=10);
+    String( const unsigned int, const int base=10 );
+    String( const long, const int base=10 );
+    String( const unsigned long, const int base=10 );
+    ~String() { free(_buffer); _length = _capacity = 0;}     //added _length = _capacity = 0;
+
+    // operators
+    const String & operator = ( const String &rhs );
+    const String & operator +=( const String &rhs );
+    //const String & operator +=( const char );
+    int operator ==( const String &rhs ) const;
+    int	operator !=( const String &rhs ) const;
+    int	operator < ( const String &rhs ) const;
+    int	operator > ( const String &rhs ) const;
+    int	operator <=( const String &rhs ) const;
+    int	operator >=( const String &rhs ) const;
+    char operator []( unsigned int index ) const;
+    char& operator []( unsigned int index );
+    //operator const char *() const { return _buffer; }
+    
+    // general methods
+    char charAt( unsigned int index ) const;
+    int	compareTo( const String &anotherString ) const;
+    unsigned char endsWith( const String &suffix ) const;
+    unsigned char equals( const String &anObject ) const;
+    unsigned char equalsIgnoreCase( const String &anotherString ) const;
+    int	indexOf( char ch ) const;
+    int	indexOf( char ch, unsigned int fromIndex ) const;
+    int	indexOf( const String &str ) const;
+    int	indexOf( const String &str, unsigned int fromIndex ) const;
+    int	lastIndexOf( char ch ) const;
+    int	lastIndexOf( char ch, unsigned int fromIndex ) const;
+    int	lastIndexOf( const String &str ) const;
+    int	lastIndexOf( const String &str, unsigned int fromIndex ) const;
+    const unsigned int length( ) const { return _length; }
+    void setCharAt(unsigned int index, const char ch);
+    unsigned char startsWith( const String &prefix ) const;
+    unsigned char startsWith( const String &prefix, unsigned int toffset ) const;
+    String substring( unsigned int beginIndex ) const;
+    String substring( unsigned int beginIndex, unsigned int endIndex ) const;
+    String toLowerCase( ) const;
+    String toUpperCase( ) const;
+    String trim( ) const;
+    void getBytes(unsigned char *buf, unsigned int bufsize);
+    void toCharArray(char *buf, unsigned int bufsize);
+    long toInt( );
+    const String& concat( const String &str );
+    String replace( char oldChar, char newChar );
+    String replace( const String& match, const String& replace );
+    friend String operator + ( String lhs, const String &rhs );
+
+  protected:
+    char *_buffer;	     // the actual char array
+    unsigned int _capacity;  // the array length minus one (for the '\0')
+    unsigned int _length;    // the String length (not counting the '\0')
+
+    void getBuffer(unsigned int maxStrLen);
+
+  private:
+
+};
+
+// allocate buffer space
+inline void String::getBuffer(unsigned int maxStrLen)
+{
+  _capacity = maxStrLen;
+  _buffer = (char *) malloc(_capacity + 1);
+  if (_buffer == NULL) _length = _capacity = 0;
+}
+
+inline String operator+( String lhs, const String &rhs )
+{
+  return lhs += rhs;
+}
+
+
+#endif

Marlin/Gen7/cores/arduino/binary.h

@@ -0,0 +1,515 @@
+#ifndef Binary_h
+#define Binary_h
+
+#define B0 0
+#define B00 0
+#define B000 0
+#define B0000 0
+#define B00000 0
+#define B000000 0
+#define B0000000 0
+#define B00000000 0
+#define B1 1
+#define B01 1
+#define B001 1
+#define B0001 1
+#define B00001 1
+#define B000001 1
+#define B0000001 1
+#define B00000001 1
+#define B10 2
+#define B010 2
+#define B0010 2
+#define B00010 2
+#define B000010 2
+#define B0000010 2
+#define B00000010 2
+#define B11 3
+#define B011 3
+#define B0011 3
+#define B00011 3
+#define B000011 3
+#define B0000011 3
+#define B00000011 3
+#define B100 4
+#define B0100 4
+#define B00100 4
+#define B000100 4
+#define B0000100 4
+#define B00000100 4
+#define B101 5
+#define B0101 5
+#define B00101 5
+#define B000101 5
+#define B0000101 5
+#define B00000101 5
+#define B110 6
+#define B0110 6
+#define B00110 6
+#define B000110 6
+#define B0000110 6
+#define B00000110 6
+#define B111 7
+#define B0111 7
+#define B00111 7
+#define B000111 7
+#define B0000111 7
+#define B00000111 7
+#define B1000 8
+#define B01000 8
+#define B001000 8
+#define B0001000 8
+#define B00001000 8
+#define B1001 9
+#define B01001 9
+#define B001001 9
+#define B0001001 9
+#define B00001001 9
+#define B1010 10
+#define B01010 10
+#define B001010 10
+#define B0001010 10
+#define B00001010 10
+#define B1011 11
+#define B01011 11
+#define B001011 11
+#define B0001011 11
+#define B00001011 11
+#define B1100 12
+#define B01100 12
+#define B001100 12
+#define B0001100 12
+#define B00001100 12
+#define B1101 13
+#define B01101 13
+#define B001101 13
+#define B0001101 13
+#define B00001101 13
+#define B1110 14
+#define B01110 14
+#define B001110 14
+#define B0001110 14
+#define B00001110 14
+#define B1111 15
+#define B01111 15
+#define B001111 15
+#define B0001111 15
+#define B00001111 15
+#define B10000 16
+#define B010000 16
+#define B0010000 16
+#define B00010000 16
+#define B10001 17
+#define B010001 17
+#define B0010001 17
+#define B00010001 17
+#define B10010 18
+#define B010010 18
+#define B0010010 18
+#define B00010010 18
+#define B10011 19
+#define B010011 19
+#define B0010011 19
+#define B00010011 19
+#define B10100 20
+#define B010100 20
+#define B0010100 20
+#define B00010100 20
+#define B10101 21
+#define B010101 21
+#define B0010101 21
+#define B00010101 21
+#define B10110 22
+#define B010110 22
+#define B0010110 22
+#define B00010110 22
+#define B10111 23
+#define B010111 23
+#define B0010111 23
+#define B00010111 23
+#define B11000 24
+#define B011000 24
+#define B0011000 24
+#define B00011000 24
+#define B11001 25
+#define B011001 25
+#define B0011001 25
+#define B00011001 25
+#define B11010 26
+#define B011010 26
+#define B0011010 26
+#define B00011010 26
+#define B11011 27
+#define B011011 27
+#define B0011011 27
+#define B00011011 27
+#define B11100 28
+#define B011100 28
+#define B0011100 28
+#define B00011100 28
+#define B11101 29
+#define B011101 29
+#define B0011101 29
+#define B00011101 29
+#define B11110 30
+#define B011110 30
+#define B0011110 30
+#define B00011110 30
+#define B11111 31
+#define B011111 31
+#define B0011111 31
+#define B00011111 31
+#define B100000 32
+#define B0100000 32
+#define B00100000 32
+#define B100001 33
+#define B0100001 33
+#define B00100001 33
+#define B100010 34
+#define B0100010 34
+#define B00100010 34
+#define B100011 35
+#define B0100011 35
+#define B00100011 35
+#define B100100 36
+#define B0100100 36
+#define B00100100 36
+#define B100101 37
+#define B0100101 37
+#define B00100101 37
+#define B100110 38
+#define B0100110 38
+#define B00100110 38
+#define B100111 39
+#define B0100111 39
+#define B00100111 39
+#define B101000 40
+#define B0101000 40
+#define B00101000 40
+#define B101001 41
+#define B0101001 41
+#define B00101001 41
+#define B101010 42
+#define B0101010 42
+#define B00101010 42
+#define B101011 43
+#define B0101011 43
+#define B00101011 43
+#define B101100 44
+#define B0101100 44
+#define B00101100 44
+#define B101101 45
+#define B0101101 45
+#define B00101101 45
+#define B101110 46
+#define B0101110 46
+#define B00101110 46
+#define B101111 47
+#define B0101111 47
+#define B00101111 47
+#define B110000 48
+#define B0110000 48
+#define B00110000 48
+#define B110001 49
+#define B0110001 49
+#define B00110001 49
+#define B110010 50
+#define B0110010 50
+#define B00110010 50
+#define B110011 51
+#define B0110011 51
+#define B00110011 51
+#define B110100 52
+#define B0110100 52
+#define B00110100 52
+#define B110101 53
+#define B0110101 53
+#define B00110101 53
+#define B110110 54
+#define B0110110 54
+#define B00110110 54
+#define B110111 55
+#define B0110111 55
+#define B00110111 55
+#define B111000 56
+#define B0111000 56
+#define B00111000 56
+#define B111001 57
+#define B0111001 57
+#define B00111001 57
+#define B111010 58
+#define B0111010 58
+#define B00111010 58
+#define B111011 59
+#define B0111011 59
+#define B00111011 59
+#define B111100 60
+#define B0111100 60
+#define B00111100 60
+#define B111101 61
+#define B0111101 61
+#define B00111101 61
+#define B111110 62
+#define B0111110 62
+#define B00111110 62
+#define B111111 63
+#define B0111111 63
+#define B00111111 63
+#define B1000000 64
+#define B01000000 64
+#define B1000001 65
+#define B01000001 65
+#define B1000010 66
+#define B01000010 66
+#define B1000011 67
+#define B01000011 67
+#define B1000100 68
+#define B01000100 68
+#define B1000101 69
+#define B01000101 69
+#define B1000110 70
+#define B01000110 70
+#define B1000111 71
+#define B01000111 71
+#define B1001000 72
+#define B01001000 72
+#define B1001001 73
+#define B01001001 73
+#define B1001010 74
+#define B01001010 74
+#define B1001011 75
+#define B01001011 75
+#define B1001100 76
+#define B01001100 76
+#define B1001101 77
+#define B01001101 77
+#define B1001110 78
+#define B01001110 78
+#define B1001111 79
+#define B01001111 79
+#define B1010000 80
+#define B01010000 80
+#define B1010001 81
+#define B01010001 81
+#define B1010010 82
+#define B01010010 82
+#define B1010011 83
+#define B01010011 83
+#define B1010100 84
+#define B01010100 84
+#define B1010101 85
+#define B01010101 85
+#define B1010110 86
+#define B01010110 86
+#define B1010111 87
+#define B01010111 87
+#define B1011000 88
+#define B01011000 88
+#define B1011001 89
+#define B01011001 89
+#define B1011010 90
+#define B01011010 90
+#define B1011011 91
+#define B01011011 91
+#define B1011100 92
+#define B01011100 92
+#define B1011101 93
+#define B01011101 93
+#define B1011110 94
+#define B01011110 94
+#define B1011111 95
+#define B01011111 95
+#define B1100000 96
+#define B01100000 96
+#define B1100001 97
+#define B01100001 97
+#define B1100010 98
+#define B01100010 98
+#define B1100011 99
+#define B01100011 99
+#define B1100100 100
+#define B01100100 100
+#define B1100101 101
+#define B01100101 101
+#define B1100110 102
+#define B01100110 102
+#define B1100111 103
+#define B01100111 103
+#define B1101000 104
+#define B01101000 104
+#define B1101001 105
+#define B01101001 105
+#define B1101010 106
+#define B01101010 106
+#define B1101011 107
+#define B01101011 107
+#define B1101100 108
+#define B01101100 108
+#define B1101101 109
+#define B01101101 109
+#define B1101110 110
+#define B01101110 110
+#define B1101111 111
+#define B01101111 111
+#define B1110000 112
+#define B01110000 112
+#define B1110001 113
+#define B01110001 113
+#define B1110010 114
+#define B01110010 114
+#define B1110011 115
+#define B01110011 115
+#define B1110100 116
+#define B01110100 116
+#define B1110101 117
+#define B01110101 117
+#define B1110110 118
+#define B01110110 118
+#define B1110111 119
+#define B01110111 119
+#define B1111000 120
+#define B01111000 120
+#define B1111001 121
+#define B01111001 121
+#define B1111010 122
+#define B01111010 122
+#define B1111011 123
+#define B01111011 123
+#define B1111100 124
+#define B01111100 124
+#define B1111101 125
+#define B01111101 125
+#define B1111110 126
+#define B01111110 126
+#define B1111111 127
+#define B01111111 127
+#define B10000000 128
+#define B10000001 129
+#define B10000010 130
+#define B10000011 131
+#define B10000100 132
+#define B10000101 133
+#define B10000110 134
+#define B10000111 135
+#define B10001000 136
+#define B10001001 137
+#define B10001010 138
+#define B10001011 139
+#define B10001100 140
+#define B10001101 141
+#define B10001110 142
+#define B10001111 143
+#define B10010000 144
+#define B10010001 145
+#define B10010010 146
+#define B10010011 147
+#define B10010100 148
+#define B10010101 149
+#define B10010110 150
+#define B10010111 151
+#define B10011000 152
+#define B10011001 153
+#define B10011010 154
+#define B10011011 155
+#define B10011100 156
+#define B10011101 157
+#define B10011110 158
+#define B10011111 159
+#define B10100000 160
+#define B10100001 161
+#define B10100010 162
+#define B10100011 163
+#define B10100100 164
+#define B10100101 165
+#define B10100110 166
+#define B10100111 167
+#define B10101000 168
+#define B10101001 169
+#define B10101010 170
+#define B10101011 171
+#define B10101100 172
+#define B10101101 173
+#define B10101110 174
+#define B10101111 175
+#define B10110000 176
+#define B10110001 177
+#define B10110010 178
+#define B10110011 179
+#define B10110100 180
+#define B10110101 181
+#define B10110110 182
+#define B10110111 183
+#define B10111000 184
+#define B10111001 185
+#define B10111010 186
+#define B10111011 187
+#define B10111100 188
+#define B10111101 189
+#define B10111110 190
+#define B10111111 191
+#define B11000000 192
+#define B11000001 193
+#define B11000010 194
+#define B11000011 195
+#define B11000100 196
+#define B11000101 197
+#define B11000110 198
+#define B11000111 199
+#define B11001000 200
+#define B11001001 201
+#define B11001010 202
+#define B11001011 203
+#define B11001100 204
+#define B11001101 205
+#define B11001110 206
+#define B11001111 207
+#define B11010000 208
+#define B11010001 209
+#define B11010010 210
+#define B11010011 211
+#define B11010100 212
+#define B11010101 213
+#define B11010110 214
+#define B11010111 215
+#define B11011000 216
+#define B11011001 217
+#define B11011010 218
+#define B11011011 219
+#define B11011100 220
+#define B11011101 221
+#define B11011110 222
+#define B11011111 223
+#define B11100000 224
+#define B11100001 225
+#define B11100010 226
+#define B11100011 227
+#define B11100100 228
+#define B11100101 229
+#define B11100110 230
+#define B11100111 231
+#define B11101000 232
+#define B11101001 233
+#define B11101010 234
+#define B11101011 235
+#define B11101100 236
+#define B11101101 237
+#define B11101110 238
+#define B11101111 239
+#define B11110000 240
+#define B11110001 241
+#define B11110010 242
+#define B11110011 243
+#define B11110100 244
+#define B11110101 245
+#define B11110110 246
+#define B11110111 247
+#define B11111000 248
+#define B11111001 249
+#define B11111010 250
+#define B11111011 251
+#define B11111100 252
+#define B11111101 253
+#define B11111110 254
+#define B11111111 255
+
+#endif

Marlin/Gen7/cores/arduino/main.cpp

@@ -0,0 +1,14 @@
+#include <WProgram.h>
+
+int main(void)
+{
+	init();
+
+	setup();
+    
+	for (;;)
+		loop();
+        
+	return 0;
+}
+

Marlin/Gen7/cores/arduino/main.cxx

@@ -0,0 +1,12 @@
+int main(void)
+{
+	init();
+
+	setup();
+    
+	for (;;)
+		loop();
+        
+	return 0;
+}
+

Marlin/Gen7/cores/arduino/pins_arduino.c

@@ -0,0 +1,200 @@
+/*
+  pins_arduino.c - pin definitions for the Arduino board
+  Part of Arduino / Wiring Lite
+
+  Copyright (c) 2005 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: pins_arduino.c 254 2007-04-20 23:17:38Z mellis $
+*/
+
+#include <avr/io.h>
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+// On the Sanguino board, digital pins are also used
+// for the analog output (software PWM).  Analog input
+// pins are a separate set.
+
+// ATMEL ATMEGA644P / SANGUINO
+//
+//                   +---\/---+
+//  INT0 (D 0) PB0  1|        |40  PA0 (AI 0 / D31)
+//  INT1 (D 1) PB1  2|        |39  PA1 (AI 1 / D30)
+//  INT2 (D 2) PB2  3|        |38  PA2 (AI 2 / D29)
+//   PWM (D 3) PB3  4|        |37  PA3 (AI 3 / D28)
+//   PWM (D 4) PB4  5|        |36  PA4 (AI 4 / D27)
+//  MOSI (D 5) PB5  6|        |35  PA5 (AI 5 / D26)
+//  MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
+//   SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
+//             RST  9|        |32  AREF
+//             VCC 10|        |31  GND 
+//             GND 11|        |30  AVCC
+//           XTAL2 12|        |29  PC7 (D 23)
+//           XTAL1 13|        |28  PC6 (D 22)
+//  RX0 (D 8)  PD0 14|        |27  PC5 (D 21) TDI
+//  TX0 (D 9)  PD1 15|        |26  PC4 (D 20) TDO
+//  RX1 (D 10) PD2 16|        |25  PC3 (D 19) TMS
+//  TX1 (D 11) PD3 17|        |24  PC2 (D 18) TCK
+//  PWM (D 12) PD4 18|        |23  PC1 (D 17) SDA
+//  PWM (D 13) PD5 19|        |22  PC0 (D 16) SCL
+//  PWM (D 14) PD6 20|        |21  PD7 (D 15) PWM
+//                   +--------+
+//
+
+#define PA 1
+#define PB 2
+#define PC 3
+#define PD 4
+
+// these arrays map port names (e.g. port B) to the
+// appropriate addresses for various functions (e.g. reading
+// and writing)
+const uint8_t PROGMEM port_to_mode_PGM[] =
+{
+	NOT_A_PORT,
+        (uint8_t) &DDRA,
+	(uint8_t) &DDRB,
+	(uint8_t) &DDRC,
+	(uint8_t) &DDRD,
+};
+
+const uint8_t PROGMEM port_to_output_PGM[] =
+{
+	NOT_A_PORT,
+	(uint8_t) &PORTA,
+	(uint8_t) &PORTB,
+	(uint8_t) &PORTC,
+	(uint8_t) &PORTD,
+};
+
+const uint8_t PROGMEM port_to_input_PGM[] =
+{
+	NOT_A_PORT,
+	(uint8_t) &PINA,
+	(uint8_t) &PINB,
+	(uint8_t) &PINC,
+	(uint8_t) &PIND,
+};
+
+const uint8_t PROGMEM digital_pin_to_port_PGM[] =
+{
+	PB, /* 0 */
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PB,
+	PD, /* 8 */
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PD,
+	PC, /* 16 */
+	PC,
+	PC,
+	PC,
+	PC,
+	PC,
+   	PC,
+	PC,
+	PA, /* 24 */
+	PA,
+	PA,
+	PA,
+	PA,
+	PA,
+	PA,
+	PA  /* 31 */
+};
+
+const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[] =
+{
+	_BV(0), /* 0, port B */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(0), /* 8, port D */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(0), /* 16, port C */
+	_BV(1),
+	_BV(2),
+	_BV(3),
+	_BV(4),
+	_BV(5),
+	_BV(6),
+	_BV(7),
+	_BV(7), /* 24, port A */
+	_BV(6),
+	_BV(5),
+	_BV(4),
+	_BV(3),
+	_BV(2),
+	_BV(1),
+	_BV(0)
+};
+
+const uint8_t PROGMEM digital_pin_to_timer_PGM[] =
+{
+	NOT_ON_TIMER, 	/* 0  - PB0 */
+	NOT_ON_TIMER, 	/* 1  - PB1 */
+	NOT_ON_TIMER, 	/* 2  - PB2 */
+	TIMER0A,     	/* 3  - PB3 */
+	TIMER0B, 		/* 4  - PB4 */
+	NOT_ON_TIMER, 	/* 5  - PB5 */
+	NOT_ON_TIMER, 	/* 6  - PB6 */
+	NOT_ON_TIMER,	/* 7  - PB7 */
+	NOT_ON_TIMER, 	/* 8  - PD0 */
+	NOT_ON_TIMER, 	/* 9  - PD1 */
+	NOT_ON_TIMER, 	/* 10 - PD2 */
+	NOT_ON_TIMER, 	/* 11 - PD3 */
+	TIMER1B,     	/* 12 - PD4 */
+	TIMER1A,     	/* 13 - PD5 */
+	TIMER2B,     	/* 14 - PD6 */
+	TIMER2A,     	/* 15 - PD7 */
+	NOT_ON_TIMER, 	/* 16 - PC0 */
+	NOT_ON_TIMER,   /* 17 - PC1 */
+	NOT_ON_TIMER,   /* 18 - PC2 */
+	NOT_ON_TIMER,   /* 19 - PC3 */
+	NOT_ON_TIMER,   /* 20 - PC4 */
+	NOT_ON_TIMER,   /* 21 - PC5 */
+	NOT_ON_TIMER,   /* 22 - PC6 */
+	NOT_ON_TIMER,   /* 23 - PC7 */
+	NOT_ON_TIMER,   /* 24 - PA0 */
+	NOT_ON_TIMER,   /* 25 - PA1 */
+	NOT_ON_TIMER,   /* 26 - PA2 */
+	NOT_ON_TIMER,   /* 27 - PA3 */
+	NOT_ON_TIMER,   /* 28 - PA4 */
+	NOT_ON_TIMER,   /* 29 - PA5 */
+	NOT_ON_TIMER,   /* 30 - PA6 */
+	NOT_ON_TIMER   /* 31 - PA7 */
+};

Marlin/Gen7/cores/arduino/pins_arduino.h

@@ -0,0 +1,65 @@
+/*
+  pins_arduino.h - Pin definition functions for Arduino
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2007 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.h 249 2007-02-03 16:52:51Z mellis $
+*/
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+#include <avr/pgmspace.h>
+
+#define NOT_A_PIN 0
+#define NOT_A_PORT 0
+
+#define NOT_ON_TIMER 0
+#define TIMER0A 1
+#define TIMER0B 2
+#define TIMER1A 3
+#define TIMER1B 4
+#define TIMER2  5
+#define TIMER2A 6
+#define TIMER2B 7
+
+extern const uint8_t PROGMEM port_to_mode_PGM[];
+extern const uint8_t PROGMEM port_to_input_PGM[];
+extern const uint8_t PROGMEM port_to_output_PGM[];
+
+extern const uint8_t PROGMEM digital_pin_to_port_PGM[];
+extern const uint8_t PROGMEM digital_pin_to_bit_PGM[];
+extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];
+
+extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
+
+// Get the bit location within the hardware port of the given virtual pin.
+// This comes from the pins_*.c file for the active board configuration.
+// 
+// These perform slightly better as macros compared to inline functions
+//
+#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
+#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
+#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
+#define analogInPinToBit(P) (P)
+#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_output_PGM + (P))) )
+#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_input_PGM + (P))) )
+#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_mode_PGM + (P))) )
+
+#endif

Marlin/Gen7/cores/arduino/wiring.c

@@ -0,0 +1,203 @@
+/*
+  wiring.c - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 388 2008-03-08 22:05:23Z mellis $
+*/
+
+#include "wiring_private.h"
+
+volatile unsigned long timer0_overflow_count = 0;
+volatile unsigned long timer0_clock_cycles = 0;
+volatile unsigned long timer0_millis = 0;
+
+SIGNAL(TIMER0_OVF_vect)
+{
+	timer0_overflow_count++;
+	// timer 0 prescale factor is 64 and the timer overflows at 256
+	timer0_clock_cycles += 64UL * 256UL;
+	while (timer0_clock_cycles > clockCyclesPerMicrosecond() * 1000UL) {
+		timer0_clock_cycles -= clockCyclesPerMicrosecond() * 1000UL;
+		timer0_millis++;
+	}
+}
+
+unsigned long millis()
+{
+	unsigned long m;
+	uint8_t oldSREG = SREG;
+	
+	// disable interrupts while we read timer0_millis or we might get an
+	// inconsistent value (e.g. in the middle of the timer0_millis++)
+	cli();
+	m = timer0_millis;
+	SREG = oldSREG;
+	
+	return m;
+}
+
+unsigned long micros() {
+	unsigned long m, t;
+	uint8_t oldSREG = SREG;
+	
+	cli();	
+	t = TCNT0;
+  
+#ifdef TIFR0
+	if ((TIFR0 & _BV(TOV0)) && (t == 0))
+		t = 256;
+#else
+	if ((TIFR & _BV(TOV0)) && (t == 0))
+		t = 256;
+#endif
+
+	m = timer0_overflow_count;
+	SREG = oldSREG;
+	
+	return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
+}
+
+void delay(unsigned long ms)
+{
+	unsigned long start = millis();
+	
+	while (millis() - start <= ms)
+		;
+}
+
+/* Delay for the given number of microseconds.  Assumes a 8 or 16 MHz clock. 
+ * Disables interrupts, which will disrupt the millis() function if used
+ * too frequently. */
+void delayMicroseconds(unsigned int us)
+{
+	uint8_t oldSREG;
+
+	// calling avrlib's delay_us() function with low values (e.g. 1 or
+	// 2 microseconds) gives delays longer than desired.
+	//delay_us(us);
+
+#if F_CPU >= 16000000L
+	// for the 16 MHz clock on most Arduino boards
+
+	// for a one-microsecond delay, simply return.  the overhead
+	// of the function call yields a delay of approximately 1 1/8 us.
+	if (--us == 0)
+		return;
+
+	// the following loop takes a quarter of a microsecond (4 cycles)
+	// per iteration, so execute it four times for each microsecond of
+	// delay requested.
+	us <<= 2;
+
+	// account for the time taken in the preceeding commands.
+	us -= 2;
+#else
+	// for the 8 MHz internal clock on the ATmega168
+
+	// for a one- or two-microsecond delay, simply return.  the overhead of
+	// the function calls takes more than two microseconds.  can't just
+	// subtract two, since us is unsigned; we'd overflow.
+	if (--us == 0)
+		return;
+	if (--us == 0)
+		return;
+
+	// the following loop takes half of a microsecond (4 cycles)
+	// per iteration, so execute it twice for each microsecond of
+	// delay requested.
+	us <<= 1;
+
+	// partially compensate for the time taken by the preceeding commands.
+	// we can't subtract any more than this or we'd overflow w/ small delays.
+	us--;
+#endif
+
+	// disable interrupts, otherwise the timer 0 overflow interrupt that
+	// tracks milliseconds will make us delay longer than we want.
+	oldSREG = SREG;
+	cli();
+
+	// busy wait
+	__asm__ __volatile__ (
+		"1: sbiw %0,1" "\n\t" // 2 cycles
+		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
+	);
+
+	// reenable interrupts.
+	SREG = oldSREG;
+}
+
+void init()
+{
+	// this needs to be called before setup() or some functions won't
+	// work there
+	sei();
+	
+	// on the ATmega168, timer 0 is also used for fast hardware pwm
+	// (using phase-correct PWM would mean that timer 0 overflowed half as often
+	// resulting in different millis() behavior on the ATmega8 and ATmega168)
+	sbi(TCCR0A, WGM01);
+	sbi(TCCR0A, WGM00);
+
+	// set timer 0 prescale factor to 64
+	sbi(TCCR0B, CS01);
+	sbi(TCCR0B, CS00);
+
+	// enable timer 0 overflow interrupt
+	sbi(TIMSK0, TOIE0);
+
+	// timers 1 and 2 are used for phase-correct hardware pwm
+	// this is better for motors as it ensures an even waveform
+	// note, however, that fast pwm mode can achieve a frequency of up
+	// 8 MHz (with a 16 MHz clock) at 50% duty cycle
+
+	// set timer 1 prescale factor to 64
+	sbi(TCCR1B, CS11);
+	sbi(TCCR1B, CS10);
+
+	// put timer 1 in 8-bit phase correct pwm mode
+	sbi(TCCR1A, WGM10);
+
+	// set timer 2 prescale factor to 64
+	sbi(TCCR2B, CS22);
+
+	// configure timer 2 for phase correct pwm (8-bit)
+	sbi(TCCR2A, WGM20);
+
+	// set a2d prescale factor to 128
+	// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
+	// XXX: this will not work properly for other clock speeds, and
+	// this code should use F_CPU to determine the prescale factor.
+	sbi(ADCSRA, ADPS2);
+	sbi(ADCSRA, ADPS1);
+	sbi(ADCSRA, ADPS0);
+
+	// enable a2d conversions
+	sbi(ADCSRA, ADEN);
+
+	// the bootloader connects pins 0 and 1 to the USART; disconnect them
+	// here so they can be used as normal digital i/o; they will be
+	// reconnected in Serial.begin()
+	UCSR0B = 0;
+	#if defined(__AVR_ATmega644P__)
+	//TODO: test to see if disabling this helps?
+	//UCSR1B = 0;
+	#endif
+}

Marlin/Gen7/cores/arduino/wiring.h

@@ -0,0 +1,133 @@
+/*
+  wiring.h - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.h 387 2008-03-08 21:30:00Z mellis $
+*/
+
+#ifndef Wiring_h
+#define Wiring_h
+
+#include <avr/io.h>
+#include "binary.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#define HIGH 0x1
+#define LOW  0x0
+
+#define INPUT 0x0
+#define OUTPUT 0x1
+
+#define true 0x1
+#define false 0x0
+
+#define PI 3.14159265
+#define HALF_PI 1.57079
+#define TWO_PI 6.283185
+#define DEG_TO_RAD 0.01745329
+#define RAD_TO_DEG 57.2957786
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+#define INTERNAL 3
+#define DEFAULT 1
+#define EXTERNAL 0
+
+// undefine stdlib's abs if encountered
+#ifdef abs
+#undef abs
+#endif
+
+#define min(a,b) ((a)<(b)?(a):(b))
+#define max(a,b) ((a)>(b)?(a):(b))
+#define abs(x) ((x)>0?(x):-(x))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
+#define sq(x) ((x)*(x))
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
+#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
+
+#define lowByte(w) ((w) & 0xff)
+#define highByte(w) ((w) >> 8)
+
+#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
+#define bitSet(value, bit) ((value) |= (1UL << (bit)))
+#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+
+typedef unsigned int word;
+
+#define bit(b) (1 << (b))
+
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+void init(void);
+
+void pinMode(uint8_t, uint8_t);
+void digitalWrite(uint8_t, uint8_t);
+int digitalRead(uint8_t);
+int analogRead(uint8_t);
+void analogReference(uint8_t mode);
+void analogWrite(uint8_t, int);
+
+void beginSerial(uint8_t, long);
+void serialWrite(uint8_t, unsigned char);
+int serialAvailable(uint8_t);
+int serialRead(uint8_t);
+void serialFlush(uint8_t);
+
+unsigned long millis(void);
+unsigned long micros(void);
+void delay(unsigned long);
+void delayMicroseconds(unsigned int us);
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, byte val);
+
+void attachInterrupt(uint8_t, void (*)(void), int mode);
+void detachInterrupt(uint8_t);
+
+void setup(void);
+void loop(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

Marlin/Gen7/cores/arduino/wiring_analog.c

@@ -0,0 +1,116 @@
+/*
+  wiring_analog.c - analog input and output
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+uint8_t analog_reference = DEFAULT;
+
+void analogReference(uint8_t mode)
+{
+	// can't actually set the register here because the default setting
+	// will connect AVCC and the AREF pin, which would cause a short if
+	// there's something connected to AREF.
+	analog_reference = mode;
+}
+
+int analogRead(uint8_t pin)
+{
+	uint8_t low, high, ch = analogInPinToBit(pin);
+
+	// set the analog reference (high two bits of ADMUX) and select the
+	// channel (low 4 bits).  this also sets ADLAR (left-adjust result)
+	// to 0 (the default).
+	// the final AND is to clear the pos/neg reference bits
+	ADMUX = ((analog_reference << 6) | (pin & 0x0f)) & B11000111;
+
+	// without a delay, we seem to read from the wrong channel
+	//delay(1);
+
+	// start the conversion
+	sbi(ADCSRA, ADSC);
+
+	// ADSC is cleared when the conversion finishes
+	while (bit_is_set(ADCSRA, ADSC));
+
+	// we have to read ADCL first; doing so locks both ADCL
+	// and ADCH until ADCH is read.  reading ADCL second would
+	// cause the results of each conversion to be discarded,
+	// as ADCL and ADCH would be locked when it completed.
+	low = ADCL;
+	high = ADCH;
+
+	// combine the two bytes
+	return (high << 8) | low;
+}
+
+// Right now, PWM output only works on the pins with
+// hardware support.  These are defined in the appropriate
+// pins_*.c file.  For the rest of the pins, we default
+// to digital output.
+void analogWrite(uint8_t pin, int val)
+{
+	// We need to make sure the PWM output is enabled for those pins
+	// that support it, as we turn it off when digitally reading or
+	// writing with them.  Also, make sure the pin is in output mode
+	// for consistenty with Wiring, which doesn't require a pinMode
+	// call for the analog output pins.
+	pinMode(pin, OUTPUT);
+	
+	if (digitalPinToTimer(pin) == TIMER1A) {
+		// connect pwm to pin on timer 1, channel A
+		sbi(TCCR1A, COM1A1);
+		// set pwm duty
+		OCR1A = val;
+	} else if (digitalPinToTimer(pin) == TIMER1B) {
+		// connect pwm to pin on timer 1, channel B
+		sbi(TCCR1A, COM1B1);
+		// set pwm duty
+		OCR1B = val;
+	} else if (digitalPinToTimer(pin) == TIMER0A) {
+		// connect pwm to pin on timer 0, channel A
+		sbi(TCCR0A, COM0A1);
+		// set pwm duty
+		OCR0A = val;	
+	} else if (digitalPinToTimer(pin) == TIMER0B) {
+		// connect pwm to pin on timer 0, channel B
+		sbi(TCCR0A, COM0B1);
+		// set pwm duty
+		OCR0B = val;
+	} else if (digitalPinToTimer(pin) == TIMER2A) {
+		// connect pwm to pin on timer 2, channel A
+		sbi(TCCR2A, COM2A1);
+		// set pwm duty
+		OCR2A = val;	
+	} else if (digitalPinToTimer(pin) == TIMER2B) {
+		// connect pwm to pin on timer 2, channel B
+		sbi(TCCR2A, COM2B1);
+		// set pwm duty
+		OCR2B = val;
+	} else if (val < 128)
+	//fail semi-intelligently
+		digitalWrite(pin, LOW);
+	else
+		digitalWrite(pin, HIGH);
+}

Marlin/Gen7/cores/arduino/wiring_digital.c

@@ -0,0 +1,95 @@
+/*
+  wiring_digital.c - digital input and output functions
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+void pinMode(uint8_t pin, uint8_t mode)
+{
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *reg;
+
+	if (port == NOT_A_PIN) return;
+
+	// JWS: can I let the optimizer do this?
+	reg = portModeRegister(port);
+
+	if (mode == INPUT) *reg &= ~bit;
+	else *reg |= bit;
+}
+
+// Forcing this inline keeps the callers from having to push their own stuff
+// on the stack. It is a good performance win and only takes 1 more byte per
+// user than calling. (It will take more bytes on the 168.)
+//
+// But shouldn't this be moved into pinMode? Seems silly to check and do on
+// each digitalread or write.
+//
+static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
+static inline void turnOffPWM(uint8_t timer)
+{
+	if (timer == TIMER0A) cbi(TCCR0A, COM0A1);
+	if (timer == TIMER0B) cbi(TCCR0A, COM0B1);
+	if (timer == TIMER1A) cbi(TCCR1A, COM1A1);
+	if (timer == TIMER1B) cbi(TCCR1A, COM1B1);
+	if (timer == TIMER2A) cbi(TCCR2A, COM2A1);
+	if (timer == TIMER2B) cbi(TCCR2A, COM2B1);
+}
+
+void digitalWrite(uint8_t pin, uint8_t val)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *out;
+
+	if (port == NOT_A_PIN) return;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before doing a digital write.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	out = portOutputRegister(port);
+
+	if (val == LOW) *out &= ~bit;
+	else *out |= bit;
+}
+
+int digitalRead(uint8_t pin)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+
+	if (port == NOT_A_PIN) return LOW;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before getting a digital reading.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	if (*portInputRegister(port) & bit) return HIGH;
+	
+	return LOW;
+}

Marlin/Gen7/cores/arduino/wiring_private.h

@@ -0,0 +1,60 @@
+/*
+  wiring_private.h - Internal header file.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.h 239 2007-01-12 17:58:39Z mellis $
+*/
+
+#ifndef WiringPrivate_h
+#define WiringPrivate_h
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/signal.h>
+#include <avr/delay.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#include "wiring.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+#define EXTERNAL_INT_0 0
+#define EXTERNAL_INT_1 1
+#define EXTERNAL_INT_2 2
+
+#define EXTERNAL_NUM_INTERRUPTS 3
+
+typedef void (*voidFuncPtr)(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

Marlin/Gen7/cores/arduino/wiring_pulse.c

@@ -0,0 +1,66 @@
+/*
+  wiring_pulse.c - pulseIn() function
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH
+ * or LOW, the type of pulse to measure.  Works on pulses from 2-3 microseconds
+ * to 3 minutes in length, but must be called at least a few dozen microseconds
+ * before the start of the pulse. */
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout)
+{
+	// cache the port and bit of the pin in order to speed up the
+	// pulse width measuring loop and achieve finer resolution.  calling
+	// digitalRead() instead yields much coarser resolution.
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	uint8_t stateMask = (state ? bit : 0);
+	unsigned long width = 0; // keep initialization out of time critical area
+	
+	// convert the timeout from microseconds to a number of times through
+	// the initial loop; it takes 16 clock cycles per iteration.
+	unsigned long numloops = 0;
+	unsigned long maxloops = microsecondsToClockCycles(timeout) / 16;
+	
+	// wait for any previous pulse to end
+	while ((*portInputRegister(port) & bit) == stateMask)
+		if (numloops++ == maxloops)
+			return 0;
+	
+	// wait for the pulse to start
+	while ((*portInputRegister(port) & bit) != stateMask)
+		if (numloops++ == maxloops)
+			return 0;
+	
+	// wait for the pulse to stop
+	while ((*portInputRegister(port) & bit) == stateMask)
+		width++;
+
+	// convert the reading to microseconds. The loop has been determined
+	// to be 10 clock cycles long and have about 16 clocks between the edge
+	// and the start of the loop. There will be some error introduced by
+	// the interrupt handlers.
+	return clockCyclesToMicroseconds(width * 10 + 16); 
+}

Marlin/Gen7/cores/arduino/wiring_serial.c

@@ -0,0 +1,138 @@
+/*
+  wiring_serial.c - serial functions.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+  Modified 29 January 2009, Marius Kintel for Sanguino - http://www.sanguino.cc/
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+
+#include "wiring_private.h"
+
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+#if defined(__AVR_ATmega644P__)
+unsigned char rx_buffer[2][RX_BUFFER_SIZE];
+int rx_buffer_head[2] = {0, 0};
+int rx_buffer_tail[2] = {0, 0};
+#else
+unsigned char rx_buffer[1][RX_BUFFER_SIZE];
+int rx_buffer_head[1] = {0};
+int rx_buffer_tail[1] = {0};
+#endif
+
+
+#define BEGIN_SERIAL(uart_, baud_) \
+{ \
+    UBRR##uart_##H = ((F_CPU / 16 + baud / 2) / baud - 1) >> 8; \
+    UBRR##uart_##L = ((F_CPU / 16 + baud / 2) / baud - 1); \
+    \
+    /* reset config for UART */ \
+    UCSR##uart_##A = 0; \
+    UCSR##uart_##B = 0; \
+    UCSR##uart_##C = 0; \
+    \
+    /* enable rx and tx */ \
+    sbi(UCSR##uart_##B, RXEN##uart_);\
+    sbi(UCSR##uart_##B, TXEN##uart_);\
+    \
+    /* enable interrupt on complete reception of a byte */ \
+    sbi(UCSR##uart_##B, RXCIE##uart_); \
+    UCSR##uart_##C = _BV(UCSZ##uart_##1)|_BV(UCSZ##uart_##0); \
+    /* defaults to 8-bit, no parity, 1 stop bit */ \
+}
+
+void beginSerial(uint8_t uart, long baud)
+{
+  if (uart == 0) BEGIN_SERIAL(0, baud)
+#if defined(__AVR_ATmega644P__)
+  else BEGIN_SERIAL(1, baud)
+#endif
+}
+
+#define SERIAL_WRITE(uart_, c_) \
+    while (!(UCSR##uart_##A & (1 << UDRE##uart_))) \
+      ; \
+    UDR##uart_ = c
+
+void serialWrite(uint8_t uart, unsigned char c)
+{
+  if (uart == 0) {
+    SERIAL_WRITE(0, c);
+  }
+#if defined(__AVR_ATmega644P__)
+  else {
+    SERIAL_WRITE(1, c);
+  }
+#endif
+}
+
+int serialAvailable(uint8_t uart)
+{
+  return (RX_BUFFER_SIZE + rx_buffer_head[uart] - rx_buffer_tail[uart]) % RX_BUFFER_SIZE;
+}
+
+int serialRead(uint8_t uart)
+{
+  // if the head isn't ahead of the tail, we don't have any characters
+  if (rx_buffer_head[uart] == rx_buffer_tail[uart]) {
+    return -1;
+  } else {
+    unsigned char c = rx_buffer[uart][rx_buffer_tail[uart]];
+    rx_buffer_tail[uart] = (rx_buffer_tail[uart] + 1) % RX_BUFFER_SIZE;
+    return c;
+  }
+}
+
+void serialFlush(uint8_t uart)
+{
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // were full, not empty.
+  rx_buffer_head[uart] = rx_buffer_tail[uart];
+}
+
+#define UART_ISR(uart_) \
+ISR(USART##uart_##_RX_vect) \
+{ \
+  unsigned char c = UDR##uart_; \
+  \
+  int i = (rx_buffer_head[uart_] + 1) % RX_BUFFER_SIZE; \
+  \  
+  /* if we should be storing the received character into the location \
+     just before the tail (meaning that the head would advance to the \
+     current location of the tail), we're about to overflow the buffer \
+     and so we don't write the character or advance the head. */ \
+  if (i != rx_buffer_tail[uart_]) { \
+    rx_buffer[uart_][rx_buffer_head[uart_]] = c; \
+    rx_buffer_head[uart_] = i; \
+  } \
+}
+
+UART_ISR(0)
+#if defined(__AVR_ATmega644P__) 
+UART_ISR(1)
+#endif

Marlin/Gen7/cores/arduino/wiring_shift.c

@@ -0,0 +1,40 @@
+/*
+  wiring_shift.c - shiftOut() function
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#include "wiring_private.h"
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, byte val)
+{
+	int i;
+
+	for (i = 0; i < 8; i++)  {
+		if (bitOrder == LSBFIRST)
+			digitalWrite(dataPin, !!(val & (1 << i)));
+		else	
+			digitalWrite(dataPin, !!(val & (1 << (7 - i))));
+			
+		digitalWrite(clockPin, HIGH);
+		digitalWrite(clockPin, LOW);		
+	}
+}

Marlin/Makefile

@@ -1,49 +1,100 @@
+# Sprinter Arduino Project Makefile
+# 
+# Makefile Based on:
+# Arduino 0011 Makefile
+# Arduino adaptation by mellis, eighthave, oli.keller
+#
+# This has been tested with Arduino 0022.
+# 
+# This makefile allows you to build sketches from the command line
+# without the Arduino environment (or Java).
+#
+# Detailed instructions for using the makefile:
+#
+#  1. Modify the line containg "INSTALL_DIR" to point to the directory that
+#     contains the Arduino installation (for example, under Mac OS X, this
+#     might be /Applications/arduino-0012).
+#
+#  2. Modify the line containing "PORT" to refer to the filename
+#     representing the USB or serial connection to your Arduino board
+#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
+#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*).
+#
+#  3. Set the line containing "MCU" to match your board's processor. 
+#     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
+#     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
+#     change F_CPU to 8000000. If you are using Gen7 electronics, you
+#     probably need to use 20000000. Either way, you must regenerate
+#     the speed lookup table with create_speed_lookuptable.py.
+#
+#  4. Type "make" and press enter to compile/verify your program.
+#
+#  5. Type "make upload", reset your Arduino board, and press enter to
+#     upload your program to the Arduino board.
+#
+# $Id$
+
+#For "old" Arduino Mega
+#MCU = atmega1280
+#For Arduino Mega2560
+#MCU = atmega2560
+#For Sanguinololu
+MCU = atmega644p 
+
+# Here you select "arduino", "Sanguino", "Gen7", ...
+HARDWARE_VARIANT 		= Sanguino
+# This defined the board you are compiling for
+HARDWARE_MOTHERBOARD	= 91
+
+# Arduino source install directory
+INSTALL_DIR = ../../arduino-0022
+
+# Arduino containd the main source code for the Arduino
+# Libraries, the "hardware variant" are for boards
+# that derives from that, and their source are present in
+# the main Marlin source directory
+ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
+
+ifeq (${HARDWARE_VARIANT}, arduino)
+HARDWARE_SRC= $(ARDUINO)
+else
+HARDWARE_SRC= $(HARDWARE_VARIANT)/cores/arduino
+endif
+
+# Be sure to regenerate speed_lookuptable.h with create_speed_lookuptable.py
+# if you are setting this to something other than 16MHz
+F_CPU = 16000000
+
+UPLOAD_RATE = 115200
+AVRDUDE_PROGRAMMER = arduino
+PORT = /dev/arduino
+
 TARGET = $(notdir $(CURDIR))
-# CHANGE BELOW:
-#~ INSTALL_DIR = /Applications/Arduino.app/Contents/Resources/Java
-INSTALL_DIR = /home/bkubicek/software/arduino-0022
-#~ PORT = /dev/cu.usbserial*
-PORT = /dev/ttyACM0
 
-# Get these values from:
-#     $(INSTALL_DIR)/hardware/boards.txt
-#     (arduino-0022/hardware/arduino/boards.txt)
-# The values below are for the "Arduino Duemilanove or Nano w/ ATmega328"
-# now for "Arduino Mega 2560"
-UPLOAD_SPEED = 115200
-UPLOAD_PROTOCOL = stk500v2
-BUILD_MCU = atmega2560
-BUILD_F_CPU = 16000000L
-TERM=bash
+# VPATH tells make to look into these directory for source files,
+# there is no need to specify explicit pathnames as long as the
+# directory is added here
 
-# getting undefined reference to `__cxa_pure_virtual'
-#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
-#~ http://www.arduino.cc/playground/OpenBSD/CLI
-#~ [http://arduino.cc/forum/index.php?topic=52041.0 A "simple" makefile for Arduino]
-#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1275488191 Arduino Forum - Configuring avr-gcc options in arduino IDE]
-# found in /usr/lib/gcc/avr/4.3.5/cc1plus; fixed with -Wl,--gc-section
+VPATH = .
+VPATH += applet
+VPATH += $(HARDWARE_SRC)
+VPATH += $(ARDUINO)
+VPATH += $(INSTALL_DIR)/libraries/LiquidCrystal
 
 ############################################################################
 # Below here nothing should be changed...
 
-ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
-#
-#~ AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
-# in Ubuntu, avr-gcc is installed separate;
-# only avrdude comes with the IDE
-AVR_TOOLS_PATH = /usr/bin
-AVR_DUDE_PATH = $(INSTALL_DIR)/hardware/tools
-#
-SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
-    $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
-    $(ARDUINO)/wiring_pulse.c \
-    $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
-# added applet/$(TARGET).cpp as in IDE 0022
-CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
-    $(ARDUINO)/Print.cpp \
-    $(ARDUINO)/main.cpp
-#    applet/$(TARGET).cpp # no need, having a rule now for applet/$(TARGET).cpp.o
-# added main.cpp, as in 0022
+AVR_TOOLS_PATH = 
+SRC =  pins_arduino.c wiring.c \
+	wiring_analog.c wiring_digital.c \
+	wiring_pulse.c \
+	wiring_shift.c WInterrupts.c
+CXXSRC = WMath.cpp WString.cpp Print.cpp \
+	Marlin.cpp MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp \
+	SdFatUtil.cpp SdFile.cpp SdVolume.cpp motion_control.cpp \
+	planner.cpp stepper.cpp temperature.cpp cardreader.cpp
+#CXXSRC += LiquidCrystal.cpp ultralcd.cpp
+#CXXSRC += ultralcd.cpp
 FORMAT = ihex
 
 # Name of this Makefile (used for "make depend").
@@ -54,189 +105,157 @@ MAKEFILE = Makefile
 # AVR (extended) COFF requires stabs, plus an avr-objcopy run.
 DEBUG = stabs
 
-OPT = 2
+OPT = s
 
 # Place -D or -U options here
-#~ CDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
-#~ CXXDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
-# now called DF_CPU
-CDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
-CXXDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
+CDEFS = -DF_CPU=$(F_CPU)
+CXXDEFS = -DF_CPU=$(F_CPU)
 
-# Place -I options here
-CINCS = -I$(ARDUINO) -I$(INSTALL_DIR)/libraries/LiquidCrystal/ -I$(INSTALL_DIR)/libraries/EEPROM/
-CXXINCS = -I$(ARDUINO)
+# Add all the source directories as include directories too
+CINCS = ${addprefix -I ,${VPATH}}
+CXXINCS = ${addprefix -I ,${VPATH}}
 
 # Compiler flag to set the C Standard level.
-# c89 - "ANSI" C
+# c89   - "ANSI" C
 # gnu89 - c89 plus GCC extensions
-# c99 - ISO C99 standard (not yet fully implemented)
+# c99   - ISO C99 standard (not yet fully implemented)
 # gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
+#CSTANDARD = -std=gnu99
 CDEBUG = -g$(DEBUG)
-# note that typically, IDE 0022 uses -w to suppress warnings (both in cpp and c)!
-CWARN = -Wall
-#~ CWARN = -w
-#  "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++:
-CCWARN = -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CWARN = -Wall -Wstrict-prototypes
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct \
+	-fshort-enums -w -ffunction-sections -fdata-sections \
+	-DARDUINO=22
+ifneq (${HARDWARE_MOTHERBOARD},)
+CTUNING += -DMOTHERBOARD=${HARDWARE_MOTHERBOARD}
+endif
 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
 
-# to eliminate pins_ardiuno warnings:
-# http://arduino.cc/pipermail/developers_arduino.cc/2010-December/004005.html
-
-# [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
-#~ For building the objects files "-ffunction-sections -fdata-sections" was missing
-#~ and the final avr-gcc call needs "-Wl,--gc-section".
-CXSECTF = -fno-exceptions -ffunction-sections -fdata-sections
-CFINALF = -Wl,--gc-section
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CCWARN) $(CSTANDARD) $(CEXTRA)
-# added CWARN also to .cpp
-CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CXSECTF)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING)
+CXXFLAGS =         $(CDEFS) $(CINCS) -O$(OPT) -Wall    $(CEXTRA) $(CTUNING)
+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
 LDFLAGS = -lm
 
+
 # Programming support using avrdude. Settings and variables.
 AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -V -F \
-    -p $(BUILD_MCU) -P $(AVRDUDE_PORT) -c $(UPLOAD_PROTOCOL) \
-    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avrdude.conf
-#    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
+AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i
+AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \
+	-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
+	-b $(UPLOAD_RATE)
 
 # Program settings
-CC = $(AVR_TOOLS_PATH)/avr-gcc
-CXX = $(AVR_TOOLS_PATH)/avr-g++
-OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
-OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
-AR = $(AVR_TOOLS_PATH)/avr-ar
-SIZE = $(AVR_TOOLS_PATH)/avr-size
-NM = $(AVR_TOOLS_PATH)/avr-nm
-#~ AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
-AVRDUDE = $(AVR_DUDE_PATH)/avrdude
+CC = $(AVR_TOOLS_PATH)avr-gcc
+CXX = $(AVR_TOOLS_PATH)avr-g++
+OBJCOPY = $(AVR_TOOLS_PATH)avr-objcopy
+OBJDUMP = $(AVR_TOOLS_PATH)avr-objdump
+AR  = $(AVR_TOOLS_PATH)avr-ar
+SIZE = $(AVR_TOOLS_PATH)avr-size
+NM = $(AVR_TOOLS_PATH)avr-nm
+AVRDUDE = avrdude
 REMOVE = rm -f
 MV = mv -f
 
 # Define all object files.
-# NOTE: obj files will be created in respective src directories (libraries or $(INSTALL_DIR));
-#  make clean deletes them fine
-# note that srcs are in libraries or other directories;
-# $(CXXSRC:.cpp=.o) will cause obj files to be in same loc as src files
-#~ OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-# to change the output directory for object files;
-# must change the obj list here!
-# and then, match to corresponding rule somehow?
-# or leave this - and parse in rule (auth automatic variable $(@F))?
-# "Suffix Replacement"
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# added - OBJ list, transformed into applet/
-OBJT = $(addprefix applet/,$(notdir $(OBJ)))
-ALLSRC = $(SRC) $(CXXSRC) $(ASRC)
+OBJ = ${patsubst %.c, applet/%.o, ${SRC}}
+OBJ += ${patsubst %.cpp, applet/%.o, ${CXXSRC}}
+OBJ += ${patsubst %.S, applet/%.o, ${ASRC}}
 
 # Define all listing files.
 LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
 
 # Combine all necessary flags and optional flags.
 # Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(BUILD_MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(BUILD_MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(BUILD_MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
+ALL_CXXFLAGS = -mmcu=$(MCU) $(CXXFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -x assembler-with-cpp $(ASFLAGS)
 
-# depended libraries of .pde need to be added from
-# $(INSTALL_DIR)/libraries (TODO: and/or ~/sketchbook/libraries)
-# grep for 'include', test if exists, add...
-# note: prefix "a real tab character" http://www.delorie.com/djgpp/doc/ug/larger/makefiles.html
-# $$ to escape $ for shell;
-# note: must NOT put comments # inside bash execution;
-# those would get removed by make; making shell see "EOF in backquote substitution"
-#		 echo $$ix ; \
-# 'shell' twice - for each subprocess! Backtick doesn't get expanded?
-GREPRES:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
-		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
-			LINCS="$$LINCS -I$(INSTALL_DIR)/libraries/$$ix" ;\
-		fi; \
-	done; \
-	echo $$LINCS)
-# append includes:
-CINCS += $(GREPRES)
-CXXINCS += $(GREPRES)
-# append library source .cpp files too (CXXSRC)
-GREPRESB:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
-		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
-			CPPSRCS="$$CPPSRCS $(INSTALL_DIR)/libraries/$$ix/*.cpp" ;\
-		fi; \
-	done; \
-	echo $$CPPSRCS)
-CXXSRC += $(GREPRESB)
-# added - only CXX obj from libraries:
-CXXLIBOBJ = $(GREPRESB:.cpp=.o)
+# set V=1 (eg, "make V=1") to print the full commands etc.
+ifneq ($V,1)
+ Pecho=@echo
+ P=@
+else
+ Pecho=@:
+ P=
+endif
 
 # Default target.
-all: applet_files build sizeafter
+all: sizeafter
 
-build: elf hex
+build: applet elf hex 
 
-applet_files: $(TARGET).pde
-    # Here is the "preprocessing".
-    # It creates a .cpp file based with the same name as the .pde file.
-    # On top of the new .cpp file comes the WProgram.h header.
-    # At the end there is a generic main() function attached.
-    # Then the .cpp file will be compiled. Errors during compile will
-    # refer to this new, automatically generated, file.
-    # Not the original .pde file you actually edit...
-	test -d applet || mkdir applet
-    # @ supresses printout of the cmdline itself; so only the out of echo is printed
-	@echo ALL OBJT: $(OBJT)
-	@echo ALL CXXLIBOBJ: $(CXXLIBOBJ)
-#	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	@echo "#include \"WProgram.h\"\nvoid setup();\nvoid loop();\n" > applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-    # no more need to cat main.cpp (v0022) - now it is compiled in
-#	cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
+# Creates the object directory
+applet: 
+	$P mkdir -p applet
 
+# the .cpp for Marlin depends on the .pde
+#applet/$(TARGET).cpp: $(TARGET).pde
+# ..and the .o depends from the .cpp
+#applet/%.o: applet/%.cpp
+
+applet/%.cpp: %.pde $(MAKEFILE)
+# Here is the "preprocessing".
+# It creates a .cpp file based with the same name as the .pde file.
+# On top of the new .cpp file comes the WProgram.h header.
+	$(Pecho) "  WR    $@"
+	$P echo '#include "WProgram.h"' > $@
+	$P echo '#include "$<"' >>$@
+	$P echo '#include "$(ARDUINO)/main.cpp"' >> $@
 
 elf: applet/$(TARGET).elf
 hex: applet/$(TARGET).hex
 eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss
+lss: applet/$(TARGET).lss 
 sym: applet/$(TARGET).sym
 
-# Program the device.
+# Program the device.  
+# Do not try to reset an arduino if it's not one
 upload: applet/$(TARGET).hex
+ifeq (${AVRDUDE_PROGRAMMER}, arduino)
+	stty hup < $(PORT); true
+endif
 	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
+ifeq (${AVRDUDE_PROGRAMMER}, arduino)
+	stty -hup < $(PORT); true
+endif
 
-# Display size of file.
+	# Display size of file.
 HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
-ELFSIZE = $(SIZE) applet/$(TARGET).elf
+ELFSIZE = $(SIZE) --mcu=$(MCU) -C applet/$(TARGET).elf; \
+          $(SIZE)  applet/$(TARGET).elf
 sizebefore:
-	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
+	$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
+
+sizeafter: build
+	$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
-sizeafter:
-	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
 
 # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
 COFFCONVERT=$(OBJCOPY) --debugging \
-    --change-section-address .data-0x800000 \
-    --change-section-address .bss-0x800000 \
-    --change-section-address .noinit-0x800000 \
-    --change-section-address .eeprom-0x810000
+	--change-section-address .data-0x800000 \
+	--change-section-address .bss-0x800000 \
+	--change-section-address .noinit-0x800000 \
+	--change-section-address .eeprom-0x810000 
+
 
 coff: applet/$(TARGET).elf
 	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
 
+
 extcoff: $(TARGET).elf
 	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
 
+
 .SUFFIXES: .elf .hex .eep .lss .sym
+.PRECIOUS: .o
 
 .elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+	$(Pecho) "  COPY  $@"
+	$P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
 .elf.eep:
-    -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-    --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+		--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
 # Create extended listing file from ELF output file.
 .elf.lss:
@@ -246,76 +265,34 @@ extcoff: $(TARGET).elf
 .elf.sym:
 	$(NM) -n $< > $@
 
-# Link: create ELF output file from library.
-# NOTE: applet/$(TARGET).cpp.o MUST BE BEFORE applet/core.a
-#  in the dependency list, so its rule runs first!
-applet/$(TARGET).elf: $(TARGET).pde applet/$(TARGET).cpp.o applet/core.a
-#	$(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
-# changed as in IDE v0022: link cpp obj files
-	@echo $$(tput bold)$$(tput setaf 2) $(CC) $$(tput sgr0) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
-	@$(CC) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
+	# Link: create ELF output file from library.
+applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h
+	$(Pecho) "  CXX   $@"
+	$P $(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
 
-# added: cpp.o depends on cpp (and .pde which generates it)
-# $< "first item in the dependencies list"; $@ "left side of the :"; $^ "right side of the :"
-# http://www.cs.colby.edu/maxwell/courses/tutorials/maketutor/
-applet/$(TARGET).cpp.o: applet/$(TARGET).cpp
-	@echo $$(tput bold) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $< -o $@
-	@$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
+applet/core.a: $(OBJ)
+	$P for i in $(OBJ); do echo "  AR    $$i"; $(AR) rcs applet/core.a $$i; done
 
-#~ applet/core.a: $(OBJ)
-#~	 @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
+applet/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
+	$(Pecho) "  CC    $@"
+	$P $(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
 
-applet/core.a: $(OBJT)
-	 @for i in $(OBJT); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
+applet/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
+	$(Pecho) "  CXX   $@"
+	$P $(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
 
-# iterate through OBJ to find the original location; then build depending on source extension
-# TODO: add handling of assembler files
-applet/%.o:
-	@for iob in $(OBJ); do \
-		if [ "`basename $$iob`" = "`basename $@`" ]; then \
-			for ios in $(ALLSRC); do \
-				if [ "$${iob%%.*}" = "$${ios%%.*}" ]; then \
-					case $${ios##*.} in \
-						"cpp") \
-							echo "$$(tput bold)$$(tput setaf 1) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $$ios -o $@"; \
-							$(CXX) -c $(ALL_CXXFLAGS) $$ios -o $@;; \
-						"c") \
-							echo "$$(tput bold)$$(tput setaf 1) $(CC) $$(tput sgr0) -c $(ALL_CFLAGS) $$ios -o $@"; \
-							$(CC) -c $(ALL_CFLAGS) $$ios -o $@;; \
-					esac; \
-				fi; \
-			done; \
-		fi; \
-	done;
-
-#~ # Compile: create object files from C++ source files.
-#~ .cpp.o:
-#~	 $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
-
-#~ # Compile: create object files from C source files.
-#~ .c.o:
-#~	 $(CC) -c $(ALL_CFLAGS) $< -o $@
-
-#~ # Compile: create assembler files from C source files.
-#~ .c.s:
-#~	 $(CC) -S $(ALL_CFLAGS) $< -o $@
-
-#~ # Assemble: create object files from assembler source files.
-#~ .S.o:
-#~	 $(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-#~ # Automatic dependencies
-#~ %.d: %.c
-#~	 $(CC) -M $(ALL_CFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
-
-#~ %.d: %.cpp
-#~	 $(CXX) -M $(ALL_CXXFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
 
 # Target: clean project.
 clean:
-	$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
-        applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
-        $(OBJT) applet/$(TARGET).cpp.o \
-        $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+	$(Pecho) "  RM    applet/*"
+	$P $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
+		applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \
+		$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+	$(Pecho) "  RMDIR applet/"
+	$P rm -rf applet
 
-.PHONY: all build elf hex eep lss sym program coff extcoff clean applet_files sizebefore sizeafter
+
+.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter
+
+# Automaticaly include the dependency files created by gcc
+-include ${wildcard applet/*.d}

Marlin/Marlin.h

@@ -1,26 +1,74 @@
-#ifndef __MARLINH
-#define __MARLINH
-
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
-#include <WProgram.h>
-#include "fastio.h"
+
+#ifndef MARLIN_H
+#define MARLIN_H
+
+#define  HardwareSerial_h // trick to disable the standard HWserial
+
+#define  FORCE_INLINE __attribute__((always_inline)) inline
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <inttypes.h>
+
+#include <util/delay.h>
 #include <avr/pgmspace.h>
+#include <avr/eeprom.h>
+#include  <avr/wdt.h>
+#include  <avr/interrupt.h>
+
+
+#include "fastio.h"
 #include "Configuration.h"
+#include "pins.h"
 
-//#define SERIAL_ECHO(x) Serial << "echo: " << x;
-//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
-//#define SERIAL_ERROR(x) Serial << "Error: " << x;
-//#define SERIAL_ERRORLN(x) Serial << "Error: " << x<<endl;
-//#define SERIAL_PROTOCOL(x) Serial << x;
-//#define SERIAL_PROTOCOLLN(x) Serial << x<<endl;
+#if ARDUINO >= 100 
+  #if defined(__AVR_ATmega644P__)
+    #include "WProgram.h"
+  #else
+    #include "Arduino.h"
+  #endif
+#else
+   #include "WProgram.h"
+#endif
+
+#include "MarlinSerial.h"
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+#include "WString.h"
+
+#if MOTHERBOARD == 8  // Teensylu
+  #define MYSERIAL Serial
+#else
+  #define MYSERIAL MSerial
+#endif
+
+//this is a unfinsihed attemp to removes a lot of warning messages, see:
+// http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011
+//typedef char prog_char PROGMEM; 
+// //#define PSTR    (s )        ((const PROGMEM char *)(s))
+// //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) 
+// //#define MYPGM(s) ((const prog_char *g PROGMEM=s))
+#define MYPGM(s) PSTR(s)
+//#define MYPGM(s)  (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];}))  //This is the normal behaviour
+//#define MYPGM(s)  (__extension__({static prog_char __c[]  = (s); &__c[0];})) //this does not work but hides the warnings
 
 
+#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');}
 
-#define SERIAL_PROTOCOL(x) Serial.print(x);
-#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
-#define SERIAL_PROTOCOLLN(x) {Serial.print(x);Serial.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));Serial.write('\n');}
 
 const char errormagic[] PROGMEM ="Error:";
 const char echomagic[] PROGMEM ="echo:";
@@ -36,17 +84,21 @@ const char echomagic[] PROGMEM ="echo:";
 #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
 #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
 
-#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
+#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
+
+void serial_echopair_P(const char *s_P, float v);
+void serial_echopair_P(const char *s_P, double v);
+void serial_echopair_P(const char *s_P, unsigned long v);
 
 
 //things to write to serial from Programmemory. saves 400 to 2k of RAM.
-#define SerialprintPGM(x) serialprintPGM(PSTR(x))
-inline void serialprintPGM(const char *str)
+#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
+FORCE_INLINE void serialprintPGM(const char *str)
 {
   char ch=pgm_read_byte(str);
   while(ch)
   {
-    Serial.write(ch);
+    MYSERIAL.write(ch);
     ch=pgm_read_byte(++str);
   }
 }
@@ -55,7 +107,7 @@ inline void serialprintPGM(const char *str)
 void get_command();
 void process_commands();
 
-void manage_inactivity(byte debug);
+void manage_inactivity();
 
 #if X_ENABLE_PIN > -1
   #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
@@ -74,21 +126,43 @@ void manage_inactivity(byte debug);
 #endif
 
 #if Z_ENABLE_PIN > -1
-  #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-  #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+  #ifdef Z_DUAL_STEPPER_DRIVERS
+    #define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
+    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); }
+  #else
+    #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+    #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+  #endif
 #else
   #define enable_z() ;
   #define disable_z() ;
 #endif
 
-#if E_ENABLE_PIN > -1
-  #define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
+#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
+  #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
 #else
-  #define enable_e() ;
-  #define disable_e() ;
+  #define enable_e0()  /* nothing */
+  #define disable_e0() /* nothing */
 #endif
 
+#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
+  #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e1()  /* nothing */
+  #define disable_e1() /* nothing */
+#endif
+
+#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
+  #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e2()  /* nothing */
+  #define disable_e2() /* nothing */
+#endif
+
+
 enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
 
 
@@ -98,9 +172,17 @@ 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);
+void clamp_to_software_endstops(float target[3]);
+
+#ifdef FAST_PWM_FAN
+void setPwmFrequency(uint8_t pin, int val);
+#endif
 
 #ifndef CRITICAL_SECTION_START
   #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
@@ -110,5 +192,12 @@ void prepare_arc_move(char isclockwise);
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern float current_position[NUM_AXIS] ;
+extern float add_homeing[3];
+extern float min_pos[3];
+extern float max_pos[3];
+extern unsigned char FanSpeed;
+
+// Handling multiple extruders pins
+extern uint8_t active_extruder;
 
 #endif

Marlin/MarlinSerial.cpp

@@ -0,0 +1,329 @@
+/*
+  HardwareSerial.cpp - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  Modified 23 November 2006 by David A. Mellis
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#include "Marlin.h"
+#include "MarlinSerial.h"
+
+#if MOTHERBOARD != 8 // !teensylu
+// this next line disables the entire HardwareSerial.cpp, 
+// this is so I can support Attiny series and any other chip without a uart
+#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
+
+#if defined(UBRRH) || defined(UBRR0H)
+  ring_buffer rx_buffer  =  { { 0 }, 0, 0 };
+#endif
+
+FORCE_INLINE void store_char(unsigned char c)
+{
+  int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+
+  // if we should be storing the received character into the location
+  // just before the tail (meaning that the head would advance to the
+  // current location of the tail), we're about to overflow the buffer
+  // and so we don't write the character or advance the head.
+  if (i != rx_buffer.tail) {
+    rx_buffer.buffer[rx_buffer.head] = c;
+    rx_buffer.head = i;
+  }
+}
+
+
+//#elif defined(SIG_USART_RECV)
+#if defined(USART0_RX_vect)
+  // fixed by Mark Sproul this is on the 644/644p
+  //SIGNAL(SIG_USART_RECV)
+  SIGNAL(USART0_RX_vect)
+  {
+  #if defined(UDR0)
+    unsigned char c  =  UDR0;
+  #elif defined(UDR)
+    unsigned char c  =  UDR;  //  atmega8, atmega32
+  #else
+    #error UDR not defined
+  #endif
+    store_char(c);
+  }
+#endif
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+MarlinSerial::MarlinSerial()
+{
+
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void MarlinSerial::begin(long baud)
+{
+  uint16_t baud_setting;
+  bool useU2X0 = true;
+
+#if F_CPU == 16000000UL
+  // hardcoded exception for compatibility with the bootloader shipped
+  // with the Duemilanove and previous boards and the firmware on the 8U2
+  // on the Uno and Mega 2560.
+  if (baud == 57600) {
+    useU2X0 = false;
+  }
+#endif
+  
+  if (useU2X0) {
+    UCSR0A = 1 << U2X0;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  } else {
+    UCSR0A = 0;
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+  }
+
+  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+  UBRR0H = baud_setting >> 8;
+  UBRR0L = baud_setting;
+
+  sbi(UCSR0B, RXEN0);
+  sbi(UCSR0B, TXEN0);
+  sbi(UCSR0B, RXCIE0);
+}
+
+void MarlinSerial::end()
+{
+  cbi(UCSR0B, RXEN0);
+  cbi(UCSR0B, TXEN0);
+  cbi(UCSR0B, RXCIE0);  
+}
+
+
+
+int MarlinSerial::peek(void)
+{
+  if (rx_buffer.head == rx_buffer.tail) {
+    return -1;
+  } else {
+    return rx_buffer.buffer[rx_buffer.tail];
+  }
+}
+
+int MarlinSerial::read(void)
+{
+  // if the head isn't ahead of the tail, we don't have any characters
+  if (rx_buffer.head == rx_buffer.tail) {
+    return -1;
+  } else {
+    unsigned char c = rx_buffer.buffer[rx_buffer.tail];
+    rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
+    return c;
+  }
+}
+
+void MarlinSerial::flush()
+{
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // don't reverse this or there may be problems if the RX interrupt
+  // occurs after reading the value of rx_buffer_head but before writing
+  // the value to rx_buffer_tail; the previous value of rx_buffer_head
+  // may be written to rx_buffer_tail, making it appear as if the buffer
+  // were full, not empty.
+  rx_buffer.head = rx_buffer.tail;
+}
+
+
+
+
+/// imports from print.h
+
+
+
+
+void MarlinSerial::print(char c, int base)
+{
+  print((long) c, base);
+}
+
+void MarlinSerial::print(unsigned char b, int base)
+{
+  print((unsigned long) b, base);
+}
+
+void MarlinSerial::print(int n, int base)
+{
+  print((long) n, base);
+}
+
+void MarlinSerial::print(unsigned int n, int base)
+{
+  print((unsigned long) n, base);
+}
+
+void MarlinSerial::print(long n, int base)
+{
+  if (base == 0) {
+    write(n);
+  } else if (base == 10) {
+    if (n < 0) {
+      print('-');
+      n = -n;
+    }
+    printNumber(n, 10);
+  } else {
+    printNumber(n, base);
+  }
+}
+
+void MarlinSerial::print(unsigned long n, int base)
+{
+  if (base == 0) write(n);
+  else printNumber(n, base);
+}
+
+void MarlinSerial::print(double n, int digits)
+{
+  printFloat(n, digits);
+}
+
+void MarlinSerial::println(void)
+{
+  print('\r');
+  print('\n');  
+}
+
+void MarlinSerial::println(const String &s)
+{
+  print(s);
+  println();
+}
+
+void MarlinSerial::println(const char c[])
+{
+  print(c);
+  println();
+}
+
+void MarlinSerial::println(char c, int base)
+{
+  print(c, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned char b, int base)
+{
+  print(b, base);
+  println();
+}
+
+void MarlinSerial::println(int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned int n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(unsigned long n, int base)
+{
+  print(n, base);
+  println();
+}
+
+void MarlinSerial::println(double n, int digits)
+{
+  print(n, digits);
+  println();
+}
+
+// Private Methods /////////////////////////////////////////////////////////////
+
+void MarlinSerial::printNumber(unsigned long n, uint8_t base)
+{
+  unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. 
+  unsigned long i = 0;
+
+  if (n == 0) {
+    print('0');
+    return;
+  } 
+
+  while (n > 0) {
+    buf[i++] = n % base;
+    n /= base;
+  }
+
+  for (; i > 0; i--)
+    print((char) (buf[i - 1] < 10 ?
+      '0' + buf[i - 1] :
+      'A' + buf[i - 1] - 10));
+}
+
+void MarlinSerial::printFloat(double number, uint8_t digits) 
+{ 
+  // Handle negative numbers
+  if (number < 0.0)
+  {
+     print('-');
+     number = -number;
+  }
+
+  // Round correctly so that print(1.999, 2) prints as "2.00"
+  double rounding = 0.5;
+  for (uint8_t i=0; i<digits; ++i)
+    rounding /= 10.0;
+  
+  number += rounding;
+
+  // Extract the integer part of the number and print it
+  unsigned long int_part = (unsigned long)number;
+  double remainder = number - (double)int_part;
+  print(int_part);
+
+  // Print the decimal point, but only if there are digits beyond
+  if (digits > 0)
+    print("."); 
+
+  // Extract digits from the remainder one at a time
+  while (digits-- > 0)
+  {
+    remainder *= 10.0;
+    int toPrint = int(remainder);
+    print(toPrint);
+    remainder -= toPrint; 
+  } 
+}
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+
+MarlinSerial MSerial;
+
+#endif // whole file
+#endif //teensylu
+

Marlin/MarlinSerial.h

@@ -0,0 +1,150 @@
+/*
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#ifndef MarlinSerial_h
+#define MarlinSerial_h
+#include "Marlin.h"
+
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+
+#if MOTHERBOARD != 8 // ! teensylu
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+
+struct ring_buffer
+{
+  unsigned char buffer[RX_BUFFER_SIZE];
+  int head;
+  int tail;
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+  extern ring_buffer rx_buffer;
+#endif
+
+class MarlinSerial //: public Stream
+{
+
+  public:
+    MarlinSerial();
+    void begin(long);
+    void end();
+    int peek(void);
+    int read(void);
+    void flush(void);
+    
+    FORCE_INLINE int available(void)
+    {
+      return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
+    }
+    
+    FORCE_INLINE void write(uint8_t c)
+    {
+      while (!((UCSR0A) & (1 << UDRE0)))
+        ;
+
+      UDR0 = c;
+    }
+    
+    
+    FORCE_INLINE void checkRx(void)
+    {
+      if((UCSR0A & (1<<RXC0)) != 0) {
+        unsigned char c  =  UDR0;
+        int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+
+        // if we should be storing the received character into the location
+        // just before the tail (meaning that the head would advance to the
+        // current location of the tail), we're about to overflow the buffer
+        // and so we don't write the character or advance the head.
+        if (i != rx_buffer.tail) {
+          rx_buffer.buffer[rx_buffer.head] = c;
+          rx_buffer.head = i;
+        }
+      }
+    }
+    
+    
+    private:
+    void printNumber(unsigned long, uint8_t);
+    void printFloat(double, uint8_t);
+    
+    
+  public:
+    
+    FORCE_INLINE void write(const char *str)
+    {
+      while (*str)
+        write(*str++);
+    }
+
+
+    FORCE_INLINE void write(const uint8_t *buffer, size_t size)
+    {
+      while (size--)
+        write(*buffer++);
+    }
+
+    FORCE_INLINE void print(const String &s)
+    {
+      for (int i = 0; i < (int)s.length(); i++) {
+        write(s[i]);
+      }
+    }
+    
+    FORCE_INLINE void print(const char *str)
+    {
+      write(str);
+    }
+    void print(char, int = BYTE);
+    void print(unsigned char, int = BYTE);
+    void print(int, int = DEC);
+    void print(unsigned int, int = DEC);
+    void print(long, int = DEC);
+    void print(unsigned long, int = DEC);
+    void print(double, int = 2);
+
+    void println(const String &s);
+    void println(const char[]);
+    void println(char, int = BYTE);
+    void println(unsigned char, int = BYTE);
+    void println(int, int = DEC);
+    void println(unsigned int, int = DEC);
+    void println(long, int = DEC);
+    void println(unsigned long, int = DEC);
+    void println(double, int = 2);
+    void println(void);
+};
+
+extern MarlinSerial MSerial;
+#endif // ! teensylu
+
+#endif

Marlin/Sanguino/cores/arduino/pins_arduino.c

@@ -67,28 +67,28 @@
 const uint8_t PROGMEM port_to_mode_PGM[] =
 {
 	NOT_A_PORT,
-    &DDRA,
-	&DDRB,
-	&DDRC,
-	&DDRD,
+	(uint8_t) (uint16_t) &DDRA,
+	(uint8_t) (uint16_t) &DDRB,
+	(uint8_t) (uint16_t) &DDRC,
+	(uint8_t) (uint16_t) &DDRD,
 };
 
 const uint8_t PROGMEM port_to_output_PGM[] =
 {
 	NOT_A_PORT,
-	&PORTA,
-	&PORTB,
-	&PORTC,
-	&PORTD,
+	(uint8_t) (uint16_t) &PORTA,
+	(uint8_t) (uint16_t) &PORTB,
+	(uint8_t) (uint16_t) &PORTC,
+	(uint8_t) (uint16_t) &PORTD,
 };
 
 const uint8_t PROGMEM port_to_input_PGM[] =
 {
 	NOT_A_PORT,
-	&PINA,
-	&PINB,
-	&PINC,
-	&PIND,
+	(uint8_t) (uint16_t) &PINA,
+	(uint8_t) (uint16_t) &PINB,
+	(uint8_t) (uint16_t) &PINC,
+	(uint8_t) (uint16_t) &PIND,
 };
 
 const uint8_t PROGMEM digital_pin_to_port_PGM[] =

Marlin/Sanguino/cores/arduino/pins_arduino.h

@@ -58,8 +58,8 @@ extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
 #define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
 #define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
 #define analogInPinToBit(P) (P)
-#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_output_PGM + (P))) )
-#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_input_PGM + (P))) )
-#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_mode_PGM + (P))) )
+#define portOutputRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_output_PGM + (P))) )
+#define portInputRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_input_PGM + (P))) )
+#define portModeRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_mode_PGM + (P))) )
 
 #endif

Marlin/Sanguino/cores/arduino/wiring.h

@@ -25,6 +25,7 @@
 #ifndef Wiring_h
 #define Wiring_h
 
+#include <math.h>
 #include <avr/io.h>
 #include <stdlib.h>
 #include "binary.h"

Marlin/Sanguino/cores/arduino/wiring_private.h

@@ -24,10 +24,10 @@
 
 #ifndef WiringPrivate_h
 #define WiringPrivate_h
-
+#include <math.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
-#include <avr/delay.h>
+#include <util/delay.h>
 #include <stdio.h>
 #include <stdarg.h>
 

Marlin/Sd2Card.cpp

@@ -17,11 +17,9 @@
  * along with the Arduino Sd2Card Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
 #include "Sd2Card.h"
 //------------------------------------------------------------------------------
 #ifndef SOFTWARE_SPI
@@ -371,7 +369,6 @@ bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
  *
  * \param[in] blockNumber Logical block to be read.
  * \param[out] dst Pointer to the location that will receive the data.
-
  * \return The value one, true, is returned for success and
  * the value zero, false, is returned for failure.
  */
@@ -640,3 +637,5 @@ bool Sd2Card::writeStop() {
   chipSelectHigh();
   return false;
 }
+
+#endif

Marlin/Sd2Card.h

@@ -17,6 +17,10 @@
  * along with the Arduino Sd2Card Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef Sd2Card_h
 #define Sd2Card_h
 /**
@@ -232,3 +236,6 @@ class Sd2Card {
   bool writeData(uint8_t token, const uint8_t* src);
 };
 #endif  // Sd2Card_h
+
+
+#endif

Marlin/Sd2PinMap.h

@@ -18,6 +18,9 @@
  * <http://www.gnu.org/licenses/>.
  */
 // Warning this file was generated by a program.
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef Sd2PinMap_h
 #define Sd2PinMap_h
 #include <avr/io.h>
@@ -38,6 +41,8 @@ struct pin_map_t {
 uint8_t const SDA_PIN = 20;  // D1
 uint8_t const SCL_PIN = 21;  // D0
 
+#undef MOSI_PIN
+#undef MISO_PIN
 // SPI port
 uint8_t const SS_PIN = 53;    // B0
 uint8_t const MOSI_PIN = 51;  // B2
@@ -358,3 +363,6 @@ static inline __attribute__((always_inline))
   }
 }
 #endif  // Sd2PinMap_h
+
+
+#endif

Marlin/SdBaseFile.cpp

@@ -17,6 +17,10 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #include "SdBaseFile.h"
 //------------------------------------------------------------------------------
 // pointer to cwd directory
@@ -294,20 +298,7 @@ void SdBaseFile::getpos(fpos_t* pos) {
   pos->position = curPosition_;
   pos->cluster = curCluster_;
 }
-//------------------------------------------------------------------------------
-/** List directory contents to Serial.
- *
- * \param[in] flags The inclusive OR of
- *
- * LS_DATE - %Print file modification date
- *
- * LS_SIZE - %Print file size.
- *
- * LS_R - Recursive list of subdirectories.
- */
-void SdBaseFile::ls(uint8_t flags) {
-  ls(&Serial, flags, 0);
-}
+
 //------------------------------------------------------------------------------
 /** List directory contents.
  *
@@ -324,14 +315,14 @@ void SdBaseFile::ls(uint8_t flags) {
  * \param[in] indent Amount of space before file name. Used for recursive
  * list to indicate subdirectory level.
  */
-void SdBaseFile::ls(Print* pr, uint8_t flags, uint8_t indent) {
+void SdBaseFile::ls(uint8_t flags, uint8_t indent) {
   rewind();
   int8_t status;
-  while ((status = lsPrintNext(pr, flags, indent))) {
+  while ((status = lsPrintNext( flags, indent))) {
     if (status > 1 && (flags & LS_R)) {
       uint16_t index = curPosition()/32 - 1;
       SdBaseFile s;
-      if (s.open(this, index, O_READ)) s.ls(pr, flags, indent + 2);
+      if (s.open(this, index, O_READ)) s.ls( flags, indent + 2);
       seekSet(32 * (index + 1));
     }
   }
@@ -339,7 +330,7 @@ void SdBaseFile::ls(Print* pr, uint8_t flags, uint8_t indent) {
 //------------------------------------------------------------------------------
 // saves 32 bytes on stack for ls recursion
 // return 0 - EOF, 1 - normal file, or 2 - directory
-int8_t SdBaseFile::lsPrintNext(Print *pr, uint8_t flags, uint8_t indent) {
+int8_t SdBaseFile::lsPrintNext( uint8_t flags, uint8_t indent) {
   dir_t dir;
   uint8_t w = 0;
 
@@ -352,38 +343,38 @@ int8_t SdBaseFile::lsPrintNext(Print *pr, uint8_t flags, uint8_t indent) {
       && DIR_IS_FILE_OR_SUBDIR(&dir)) break;
   }
   // indent for dir level
-  for (uint8_t i = 0; i < indent; i++) pr->write(' ');
+  for (uint8_t i = 0; i < indent; i++) MYSERIAL.write(' ');
 
   // print name
   for (uint8_t i = 0; i < 11; i++) {
     if (dir.name[i] == ' ')continue;
     if (i == 8) {
-      pr->write('.');
+      MYSERIAL.write('.');
       w++;
     }
-    pr->write(dir.name[i]);
+    MYSERIAL.write(dir.name[i]);
     w++;
   }
   if (DIR_IS_SUBDIR(&dir)) {
-    pr->write('/');
+    MYSERIAL.write('/');
     w++;
   }
   if (flags & (LS_DATE | LS_SIZE)) {
-    while (w++ < 14) pr->write(' ');
+    while (w++ < 14) MYSERIAL.write(' ');
   }
   // print modify date/time if requested
   if (flags & LS_DATE) {
-    pr->write(' ');
-    printFatDate(pr, dir.lastWriteDate);
-    pr->write(' ');
-    printFatTime(pr, dir.lastWriteTime);
+    MYSERIAL.write(' ');
+    printFatDate( dir.lastWriteDate);
+    MYSERIAL.write(' ');
+    printFatTime( dir.lastWriteTime);
   }
   // print size if requested
   if (!DIR_IS_SUBDIR(&dir) && (flags & LS_SIZE)) {
-    pr->write(' ');
-    pr->print(dir.fileSize);
+    MYSERIAL.write(' ');
+    MYSERIAL.print(dir.fileSize);
   }
-  pr->println();
+  MYSERIAL.println();
   return DIR_IS_FILE(&dir) ? 1 : 2;
 }
 //------------------------------------------------------------------------------
@@ -876,7 +867,7 @@ bool SdBaseFile::openParent(SdBaseFile* dir) {
   }
   // search for parent in '../..'
   do {
-    if (file.readDir(&entry) != 32) goto fail;
+    if (file.readDir(&entry, NULL) != 32) goto fail;
     c = entry.firstClusterLow;
     c |= (uint32_t)entry.firstClusterHigh << 16;
   } while (c != cluster);
@@ -940,17 +931,7 @@ int SdBaseFile::peek() {
   if (c >= 0) setpos(&pos);
   return c;
 }
-//------------------------------------------------------------------------------
-/** %Print the name field of a directory entry in 8.3 format to Serial.
- *
- * \param[in] dir The directory structure containing the name.
- * \param[in] width Blank fill name if length is less than \a width.
- * \param[in] printSlash Print '/' after directory names if true.
- */
-void SdBaseFile::printDirName(const dir_t& dir,
-  uint8_t width, bool printSlash) {
-  printDirName(&Serial, dir, width, printSlash);
-}
+
 //------------------------------------------------------------------------------
 /** %Print the name field of a directory entry in 8.3 format.
  * \param[in] pr Print stream for output.
@@ -958,32 +939,32 @@ void SdBaseFile::printDirName(const dir_t& dir,
  * \param[in] width Blank fill name if length is less than \a width.
  * \param[in] printSlash Print '/' after directory names if true.
  */
-void SdBaseFile::printDirName(Print* pr, const dir_t& dir,
+void SdBaseFile::printDirName(const dir_t& dir,
   uint8_t width, bool printSlash) {
   uint8_t w = 0;
   for (uint8_t i = 0; i < 11; i++) {
     if (dir.name[i] == ' ')continue;
     if (i == 8) {
-      pr->write('.');
+      MYSERIAL.write('.');
       w++;
     }
-    pr->write(dir.name[i]);
+    MYSERIAL.write(dir.name[i]);
     w++;
   }
   if (DIR_IS_SUBDIR(&dir) && printSlash) {
-    pr->write('/');
+    MYSERIAL.write('/');
     w++;
   }
   while (w < width) {
-    pr->write(' ');
+    MYSERIAL.write(' ');
     w++;
   }
 }
 //------------------------------------------------------------------------------
 // print uint8_t with width 2
-static void print2u(Print* pr, uint8_t v) {
-  if (v < 10) pr->write('0');
-  pr->print(v, DEC);
+static void print2u( uint8_t v) {
+  if (v < 10) MYSERIAL.write('0');
+  MYSERIAL.print(v, DEC);
 }
 //------------------------------------------------------------------------------
 /** %Print a directory date field to Serial.
@@ -992,9 +973,7 @@ static void print2u(Print* pr, uint8_t v) {
  *
  * \param[in] fatDate The date field from a directory entry.
  */
-void SdBaseFile::printFatDate(uint16_t fatDate) {
-  printFatDate(&Serial, fatDate);
-}
+
 //------------------------------------------------------------------------------
 /** %Print a directory date field.
  *
@@ -1003,23 +982,14 @@ void SdBaseFile::printFatDate(uint16_t fatDate) {
  * \param[in] pr Print stream for output.
  * \param[in] fatDate The date field from a directory entry.
  */
-void SdBaseFile::printFatDate(Print* pr, uint16_t fatDate) {
-  pr->print(FAT_YEAR(fatDate));
-  pr->write('-');
-  print2u(pr, FAT_MONTH(fatDate));
-  pr->write('-');
-  print2u(pr, FAT_DAY(fatDate));
-}
-//------------------------------------------------------------------------------
-/** %Print a directory time field to Serial.
- *
- * Format is hh:mm:ss.
- *
- * \param[in] fatTime The time field from a directory entry.
- */
-void SdBaseFile::printFatTime(uint16_t fatTime) {
-  printFatTime(&Serial, fatTime);
+void SdBaseFile::printFatDate(uint16_t fatDate) {
+  MYSERIAL.print(FAT_YEAR(fatDate));
+  MYSERIAL.write('-');
+  print2u( FAT_MONTH(fatDate));
+  MYSERIAL.write('-');
+  print2u( FAT_DAY(fatDate));
 }
+
 //------------------------------------------------------------------------------
 /** %Print a directory time field.
  *
@@ -1028,12 +998,12 @@ void SdBaseFile::printFatTime(uint16_t fatTime) {
  * \param[in] pr Print stream for output.
  * \param[in] fatTime The time field from a directory entry.
  */
-void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
-  print2u(pr, FAT_HOUR(fatTime));
-  pr->write(':');
-  print2u(pr, FAT_MINUTE(fatTime));
-  pr->write(':');
-  print2u(pr, FAT_SECOND(fatTime));
+void SdBaseFile::printFatTime( uint16_t fatTime) {
+  print2u( FAT_HOUR(fatTime));
+  MYSERIAL.write(':');
+  print2u( FAT_MINUTE(fatTime));
+  MYSERIAL.write(':');
+  print2u( FAT_SECOND(fatTime));
 }
 //------------------------------------------------------------------------------
 /** Print a file's name to Serial
@@ -1044,7 +1014,7 @@ void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
 bool SdBaseFile::printName() {
   char name[13];
   if (!getFilename(name)) return false;
-  Serial.print(name);
+  MYSERIAL.print(name);
   return true;
 }
 //------------------------------------------------------------------------------
@@ -1138,10 +1108,16 @@ int16_t SdBaseFile::read(void* buf, uint16_t nbyte) {
  * readDir() called before a directory has been opened, this is not
  * a directory file or an I/O error occurred.
  */
-int8_t SdBaseFile::readDir(dir_t* dir) {
+int8_t SdBaseFile::readDir(dir_t* dir, char* longFilename) {
   int16_t n;
   // if not a directory file or miss-positioned return an error
   if (!isDir() || (0X1F & curPosition_)) return -1;
+  
+  //If we have a longFilename buffer, mark it as invalid. If we find a long filename it will be filled automaticly.
+  if (longFilename != NULL)
+  {
+  	longFilename[0] = '\0';
+  }
 
   while (1) {
     n = read(dir, sizeof(dir_t));
@@ -1150,6 +1126,34 @@ int8_t SdBaseFile::readDir(dir_t* dir) {
     if (dir->name[0] == DIR_NAME_FREE) return 0;
     // skip empty entries and entry for .  and ..
     if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == '.') continue;
+    //Fill the long filename if we have a long filename entry,
+	// long filename entries are stored before the actual filename.
+	if (DIR_IS_LONG_NAME(dir) && longFilename != NULL)
+    {
+    	vfat_t *VFAT = (vfat_t*)dir;
+		//Sanity check the VFAT entry. The first cluster is always set to zero. And th esequence number should be higher then 0
+    	if (VFAT->firstClusterLow == 0 && (VFAT->sequenceNumber & 0x1F) > 0 && (VFAT->sequenceNumber & 0x1F) <= MAX_VFAT_ENTRIES)
+    	{
+			//TODO: Store the filename checksum to verify if a none-long filename aware system modified the file table.
+    		n = ((VFAT->sequenceNumber & 0x1F) - 1) * 13;
+			longFilename[n+0] = VFAT->name1[0];
+			longFilename[n+1] = VFAT->name1[1];
+			longFilename[n+2] = VFAT->name1[2];
+			longFilename[n+3] = VFAT->name1[3];
+			longFilename[n+4] = VFAT->name1[4];
+			longFilename[n+5] = VFAT->name2[0];
+			longFilename[n+6] = VFAT->name2[1];
+			longFilename[n+7] = VFAT->name2[2];
+			longFilename[n+8] = VFAT->name2[3];
+			longFilename[n+9] = VFAT->name2[4];
+			longFilename[n+10] = VFAT->name2[5];
+			longFilename[n+11] = VFAT->name3[0];
+			longFilename[n+12] = VFAT->name3[1];
+			//If this VFAT entry is the last one, add a NUL terminator at the end of the string
+			if (VFAT->sequenceNumber & 0x40)
+				longFilename[n+13] = '\0';
+		}
+    }
     // return if normal file or subdirectory
     if (DIR_IS_FILE_OR_SUBDIR(dir)) return n;
   }
@@ -1816,3 +1820,6 @@ int16_t SdBaseFile::write(const void* buf, uint16_t nbyte) {
 #if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN)
 void (*SdBaseFile::oldDateTime_)(uint16_t& date, uint16_t& time) = 0;  // NOLINT
 #endif  // ALLOW_DEPRECATED_FUNCTIONS
+
+
+#endif

Marlin/SdBaseFile.h

@@ -17,18 +17,16 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdBaseFile_h
 #define SdBaseFile_h
 /**
  * \file
  * \brief SdBaseFile class
  */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
+#include "Marlin.h"
 #include "SdFatConfig.h"
 #include "SdVolume.h"
 //------------------------------------------------------------------------------
@@ -268,8 +266,7 @@ class SdBaseFile {
   bool isRoot() const {
     return type_ == FAT_FILE_TYPE_ROOT_FIXED || type_ == FAT_FILE_TYPE_ROOT32;
   }
-  void ls(Print* pr, uint8_t flags = 0, uint8_t indent = 0);
-  void ls(uint8_t flags = 0);
+  void ls( uint8_t flags = 0, uint8_t indent = 0);
   bool mkdir(SdBaseFile* dir, const char* path, bool pFlag = true);
   // alias for backward compactability
   bool makeDir(SdBaseFile* dir, const char* path) {
@@ -282,13 +279,11 @@ class SdBaseFile {
   bool openRoot(SdVolume* vol);
   int peek();
   static void printFatDate(uint16_t fatDate);
-  static void printFatDate(Print* pr, uint16_t fatDate);
-  static void printFatTime(uint16_t fatTime);
-  static void printFatTime(Print* pr, uint16_t fatTime);
+  static void printFatTime( uint16_t fatTime);
   bool printName();
   int16_t read();
   int16_t read(void* buf, uint16_t nbyte);
-  int8_t readDir(dir_t* dir);
+  int8_t readDir(dir_t* dir, char* longFilename);
   static bool remove(SdBaseFile* dirFile, const char* path);
   bool remove();
   /** Set the file's current position to zero. */
@@ -357,7 +352,7 @@ class SdBaseFile {
   bool addCluster();
   bool addDirCluster();
   dir_t* cacheDirEntry(uint8_t action);
-  int8_t lsPrintNext(Print *pr, uint8_t flags, uint8_t indent);
+  int8_t lsPrintNext( uint8_t flags, uint8_t indent);
   static bool make83Name(const char* str, uint8_t* name, const char** ptr);
   bool mkdir(SdBaseFile* parent, const uint8_t dname[11]);
   bool open(SdBaseFile* dirFile, const uint8_t dname[11], uint8_t oflag);
@@ -365,9 +360,7 @@ class SdBaseFile {
   dir_t* readDirCache();
 //------------------------------------------------------------------------------
 // to be deleted
-  static void printDirName(const dir_t& dir,
-    uint8_t width, bool printSlash);
-  static void printDirName(Print* pr, const dir_t& dir,
+  static void printDirName( const dir_t& dir,
     uint8_t width, bool printSlash);
 //------------------------------------------------------------------------------
 // Deprecated functions  - suppress cpplint warnings with NOLINT comment
@@ -462,7 +455,7 @@ class SdBaseFile {
    * \param[out] dir The dir_t struct that will receive the data.
    * \return bytes read for success zero for eof or -1 for failure.
    */
-  int8_t readDir(dir_t& dir) {return readDir(&dir);}  // NOLINT
+  int8_t readDir(dir_t& dir, char* longFilename) {return readDir(&dir, longFilename);}  // NOLINT
   /** \deprecated Use:
    * static uint8_t remove(SdBaseFile* dirFile, const char* path);
    * \param[in] dirFile The directory that contains the file.
@@ -487,3 +480,4 @@ class SdBaseFile {
 };
 
 #endif  // SdBaseFile_h
+#endif

Marlin/SdFatConfig.h

@@ -21,6 +21,9 @@
  * \file
  * \brief configuration definitions
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdFatConfig_h
 #define SdFatConfig_h
 #include <stdint.h>
@@ -105,4 +108,14 @@ uint8_t const SOFT_SPI_SCK_PIN = 13;
  * a pure virtual function is called.
  */
 #define USE_CXA_PURE_VIRTUAL 1
+/**
+ * Defines for long (vfat) filenames
+ */
+/** Number of VFAT entries used. Every entry has 13 UTF-16 characters */
+#define MAX_VFAT_ENTRIES (2)
+/** Total size of the buffer used to store the long filenames */
+#define LONG_FILENAME_LENGTH (13*MAX_VFAT_ENTRIES+1)
 #endif  // SdFatConfig_h
+
+
+#endif

Marlin/SdFatStructs.h

@@ -17,8 +17,13 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdFatStructs_h
 #define SdFatStructs_h
+
+#define PACKED __attribute__((__packed__))
 /**
  * \file
  * \brief FAT file structures
@@ -92,7 +97,7 @@ struct partitionTable {
   uint32_t firstSector;
            /** Length of the partition, in blocks. */
   uint32_t totalSectors;
-};
+} PACKED;
 /** Type name for partitionTable */
 typedef struct partitionTable part_t;
 //------------------------------------------------------------------------------
@@ -116,7 +121,7 @@ struct masterBootRecord {
   uint8_t  mbrSig0;
            /** Second MBR signature byte. Must be 0XAA */
   uint8_t  mbrSig1;
-};
+} PACKED;
 /** Type name for masterBootRecord */
 typedef struct masterBootRecord mbr_t;
 //------------------------------------------------------------------------------
@@ -244,7 +249,7 @@ struct fat_boot {
   uint8_t  bootSectorSig0;
            /** must be 0XAA */
   uint8_t  bootSectorSig1;
-};
+} PACKED;
 /** Type name for FAT Boot Sector */
 typedef struct fat_boot fat_boot_t;
 //------------------------------------------------------------------------------
@@ -398,7 +403,7 @@ struct fat32_boot {
   uint8_t  bootSectorSig0;
            /** must be 0XAA */
   uint8_t  bootSectorSig1;
-};
+} PACKED;
 /** Type name for FAT32 Boot Sector */
 typedef struct fat32_boot fat32_boot_t;
 //------------------------------------------------------------------------------
@@ -438,7 +443,7 @@ struct fat32_fsinfo {
   uint8_t  reserved2[12];
            /** must be 0X00, 0X00, 0X55, 0XAA */
   uint8_t  tailSignature[4];
-};
+} PACKED;
 /** Type name for FAT32 FSINFO Sector */
 typedef struct fat32_fsinfo fat32_fsinfo_t;
 //------------------------------------------------------------------------------
@@ -536,12 +541,46 @@ struct directoryEntry {
   uint16_t firstClusterLow;
            /** 32-bit unsigned holding this file's size in bytes. */
   uint32_t fileSize;
-};
+} PACKED;
+/**
+ * \struct directoryVFATEntry
+ * \brief VFAT long filename directory entry
+ *
+ * directoryVFATEntries are found in the same list as normal directoryEntry.
+ * But have the attribute field set to DIR_ATT_LONG_NAME.
+ * 
+ * Long filenames are saved in multiple directoryVFATEntries.
+ * Each entry containing 13 UTF-16 characters.
+ */
+struct directoryVFATEntry {
+  /**
+   * Sequence number. Consists of 2 parts:
+   *  bit 6:   indicates first long filename block for the next file
+   *  bit 0-4: the position of this long filename block (first block is 1)
+   */
+  uint8_t  sequenceNumber;
+  /** First set of UTF-16 characters */
+  uint16_t name1[5];//UTF-16
+  /** attributes (at the same location as in directoryEntry), always 0x0F */
+  uint8_t  attributes;
+  /** Reserved for use by Windows NT. Always 0. */
+  uint8_t  reservedNT;
+  /** Checksum of the short 8.3 filename, can be used to checked if the file system as modified by a not-long-filename aware implementation. */
+  uint8_t  checksum;
+  /** Second set of UTF-16 characters */
+  uint16_t name2[6];//UTF-16
+  /** firstClusterLow is always zero for longFilenames */
+  uint16_t firstClusterLow;
+  /** Third set of UTF-16 characters */
+  uint16_t name3[2];//UTF-16
+} PACKED;
 //------------------------------------------------------------------------------
 // Definitions for directory entries
 //
 /** Type name for directoryEntry */
 typedef struct directoryEntry dir_t;
+/** Type name for directoryVFATEntry */
+typedef struct directoryVFATEntry vfat_t;
 /** escape for name[0] = 0XE5 */
 uint8_t const DIR_NAME_0XE5 = 0X05;
 /** name[0] value for entry that is free after being "deleted" */
@@ -602,3 +641,6 @@ static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
   return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
 }
 #endif  // SdFatStructs_h
+
+
+#endif

Marlin/SdFatUtil.cpp

@@ -17,7 +17,11 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
 #include "SdFatUtil.h"
+
 //------------------------------------------------------------------------------
 /** Amount of free RAM
  * \return The number of free bytes.
@@ -43,8 +47,8 @@ int SdFatUtil::FreeRam() {
  * \param[in] pr Print object for output.
  * \param[in] str Pointer to string stored in flash memory.
  */
-void SdFatUtil::print_P(Print* pr, PGM_P str) {
-  for (uint8_t c; (c = pgm_read_byte(str)); str++) pr->write(c);
+void SdFatUtil::print_P( PGM_P str) {
+  for (uint8_t c; (c = pgm_read_byte(str)); str++) MYSERIAL.write(c);
 }
 //------------------------------------------------------------------------------
 /** %Print a string in flash memory followed by a CR/LF.
@@ -52,9 +56,9 @@ void SdFatUtil::print_P(Print* pr, PGM_P str) {
  * \param[in] pr Print object for output.
  * \param[in] str Pointer to string stored in flash memory.
  */
-void SdFatUtil::println_P(Print* pr, PGM_P str) {
-  print_P(pr, str);
-  pr->println();
+void SdFatUtil::println_P( PGM_P str) {
+  print_P( str);
+  MYSERIAL.println();
 }
 //------------------------------------------------------------------------------
 /** %Print a string in flash memory to Serial.
@@ -62,7 +66,7 @@ void SdFatUtil::println_P(Print* pr, PGM_P str) {
  * \param[in] str Pointer to string stored in flash memory.
  */
 void SdFatUtil::SerialPrint_P(PGM_P str) {
-  print_P(&Serial, str);
+  print_P(str);
 }
 //------------------------------------------------------------------------------
 /** %Print a string in flash memory to Serial followed by a CR/LF.
@@ -70,5 +74,6 @@ void SdFatUtil::SerialPrint_P(PGM_P str) {
  * \param[in] str Pointer to string stored in flash memory.
  */
 void SdFatUtil::SerialPrintln_P(PGM_P str) {
-  println_P(&Serial, str);
+  println_P( str);
 }
+#endif

Marlin/SdFatUtil.h

@@ -17,18 +17,17 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdFatUtil_h
 #define SdFatUtil_h
 /**
  * \file
  * \brief Useful utility functions.
  */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
+#include "Marlin.h"
+#include "MarlinSerial.h"
 /** Store and print a string in flash memory.*/
 #define PgmPrint(x) SerialPrint_P(PSTR(x))
 /** Store and print a string in flash memory followed by a CR/LF.*/
@@ -36,11 +35,14 @@
 
 namespace SdFatUtil {
   int FreeRam();
-  void print_P(Print* pr, PGM_P str);
-  void println_P(Print* pr, PGM_P str);
+  void print_P( PGM_P str);
+  void println_P( PGM_P str);
   void SerialPrint_P(PGM_P str);
   void SerialPrintln_P(PGM_P str);
 }
 
 using namespace SdFatUtil;  // NOLINT
 #endif  // #define SdFatUtil_h
+
+
+#endif

Marlin/SdFile.cpp

@@ -17,6 +17,9 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
 #include "SdFile.h"
 /**  Create a file object and open it in the current working directory.
  *
@@ -51,7 +54,12 @@ int16_t SdFile::write(const void* buf, uint16_t nbyte) {
  * \param[in] b the byte to be written.
  * Use writeError to check for errors.
  */
-void SdFile::write(uint8_t b) {
+#if ARDUINO >= 100
+    size_t SdFile::write(uint8_t b)
+#else
+  void SdFile::write(uint8_t b)
+#endif
+{
   SdBaseFile::write(&b, 1);
 }
 //------------------------------------------------------------------------------
@@ -79,3 +87,6 @@ void SdFile::writeln_P(PGM_P str) {
   write_P(str);
   write_P(PSTR("\r\n"));
 }
+
+
+#endif

Marlin/SdFile.h

@@ -21,7 +21,11 @@
  * \file
  * \brief SdFile class
  */
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
 #include "SdBaseFile.h"
+#include <Print.h>
 #ifndef SdFile_h
 #define SdFile_h
 //------------------------------------------------------------------------------
@@ -33,10 +37,18 @@ class SdFile : public SdBaseFile, public Print {
  public:
   SdFile() {}
   SdFile(const char* name, uint8_t oflag);
-  void write(uint8_t b);
+  #if ARDUINO >= 100
+      size_t write(uint8_t b);
+  #else
+   void write(uint8_t b);
+  #endif
+  
   int16_t write(const void* buf, uint16_t nbyte);
   void write(const char* str);
   void write_P(PGM_P str);
   void writeln_P(PGM_P str);
 };
 #endif  // SdFile_h
+
+
+#endif

Marlin/SdInfo.h

@@ -17,6 +17,9 @@
  * along with the Arduino Sd2Card Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdInfo_h
 #define SdInfo_h
 #include <stdint.h>
@@ -273,3 +276,5 @@ union csd_t {
   csd2_t v2;
 };
 #endif  // SdInfo_h
+
+#endif

Marlin/SdVolume.cpp

@@ -17,6 +17,9 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #include "SdVolume.h"
 //------------------------------------------------------------------------------
 #if !USE_MULTIPLE_CARDS
@@ -399,3 +402,4 @@ bool SdVolume::init(Sd2Card* dev, uint8_t part) {
  fail:
   return false;
 }
+#endif

Marlin/SdVolume.h

@@ -17,6 +17,8 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
 #ifndef SdVolume_h
 #define SdVolume_h
 /**
@@ -209,3 +211,4 @@ class SdVolume {
 #endif  // ALLOW_DEPRECATED_FUNCTIONS
 };
 #endif  // SdVolume
+#endif

Marlin/cardreader.cpp

@@ -1,7 +1,14 @@
+#include "Marlin.h"
 #include "cardreader.h"
-//#include <unistd.h>
+#include "ultralcd.h"
+#include "stepper.h"
+#include "temperature.h"
+#include "language.h"
+
 #ifdef SDSUPPORT
 
+
+
 CardReader::CardReader()
 {
    filesize = 0;
@@ -12,6 +19,7 @@ CardReader::CardReader()
    autostart_atmillis=0;
 
    autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+   lastnr=0;
   //power to SD reader
   #if SDPOWER > -1
     SET_OUTPUT(SDPOWER); 
@@ -38,14 +46,14 @@ char *createFilename(char *buffer,const dir_t &p) //buffer>12characters
 }
 
 
-void  CardReader::lsDive(char *prepend,SdFile parent)
+void  CardReader::lsDive(const char *prepend,SdFile parent)
 {
   dir_t p;
  uint8_t cnt=0;
  
-  while (parent.readDir(p) > 0)
+  while (parent.readDir(p, longFilename) > 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];
@@ -69,7 +77,7 @@ void  CardReader::lsDive(char *prepend,SdFile parent)
         if(lsAction==LS_SerialPrint)
         {
           SERIAL_ECHO_START;
-          SERIAL_ECHOLN("Cannot open subdir");
+          SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
           SERIAL_ECHOLN(lfilename);
         }
       }
@@ -87,9 +95,11 @@ void  CardReader::lsDive(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;
@@ -137,29 +147,44 @@ void CardReader::initsd()
   {
     //if (!card.init(SPI_HALF_SPEED,SDSS))
     SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("SD init fail");
+    SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL);
   }
   else if (!volume.init(&card))
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("volume.init failed");
+    SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL);
   }
   else if (!root.openRoot(&volume)) 
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("openRoot failed");
+    SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL);
   }
   else 
   {
     cardOK = true;
     SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("SD card ok");
+    SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
   }
+  workDir=root;
   curDir=&root;
+  /*
   if(!workDir.openRoot(&volume))
   {
-    SERIAL_ECHOLNPGM("workDir open failed");
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
   }
+  */
+  
+}
+
+void CardReader::setroot()
+{
+  /*if(!workDir.openRoot(&volume))
+  {
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
+  }*/
+  workDir=root;
+  
+  curDir=&workDir;
 }
 void CardReader::release()
 {
@@ -215,7 +240,7 @@ void CardReader::openFile(char* name,bool read)
         SERIAL_ECHOLN(subdirname);
         if(!myDir.open(curDir,subdirname,O_READ))
         {
-          SERIAL_PROTOCOLPGM("open failed, File: ");
+          SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
           SERIAL_PROTOCOL(subdirname);
           SERIAL_PROTOCOLLNPGM(".");
           return;
@@ -245,18 +270,18 @@ void CardReader::openFile(char* name,bool read)
     if (file.open(curDir, fname, O_READ)) 
     {
       filesize = file.fileSize();
-      SERIAL_PROTOCOLPGM("File opened:");
+      SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
       SERIAL_PROTOCOL(fname);
-      SERIAL_PROTOCOLPGM(" Size:");
+      SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
       SERIAL_PROTOCOLLN(filesize);
       sdpos = 0;
       
-      SERIAL_PROTOCOLLNPGM("File selected");
+      SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
       LCD_MESSAGE(fname);
     }
     else
     {
-      SERIAL_PROTOCOLPGM("open failed, File: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
@@ -265,14 +290,14 @@ void CardReader::openFile(char* name,bool read)
   { //write
     if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
     {
-      SERIAL_PROTOCOLPGM("open failed, File: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
     else
     {
       saving = true;
-      SERIAL_PROTOCOLPGM("Writing to file: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
       SERIAL_PROTOCOLLN(name);
       LCD_MESSAGE(fname);
     }
@@ -280,16 +305,85 @@ void CardReader::openFile(char* name,bool read)
   
 }
 
+void CardReader::removeFile(char* name)
+{
+  if(!cardOK)
+    return;
+  file.close();
+  sdprinting = false;
+  
+  
+  SdFile myDir;
+  curDir=&root;
+  char *fname=name;
+  
+  char *dirname_start,*dirname_end;
+  if(name[0]=='/')
+  {
+    dirname_start=strchr(name,'/')+1;
+    while(dirname_start>0)
+    {
+      dirname_end=strchr(dirname_start,'/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
+      if(dirname_end>0 && dirname_end>dirname_start)
+      {
+        char subdirname[13];
+        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
+        subdirname[dirname_end-dirname_start]=0;
+        SERIAL_ECHOLN(subdirname);
+        if(!myDir.open(curDir,subdirname,O_READ))
+        {
+          SERIAL_PROTOCOLPGM("open failed, File: ");
+          SERIAL_PROTOCOL(subdirname);
+          SERIAL_PROTOCOLLNPGM(".");
+          return;
+        }
+        else
+          ;//SERIAL_ECHOLN("dive ok");
+          
+        curDir=&myDir; 
+        dirname_start=dirname_end+1;
+      }
+      else // the reminder after all /fsa/fdsa/ is the filename
+      {
+        fname=dirname_start;
+        //SERIAL_ECHOLN("remaider");
+        //SERIAL_ECHOLN(fname);
+        break;
+      }
+      
+    }
+  }
+  else //relative path
+  {
+    curDir=&workDir;
+  }
+    if (file.remove(curDir, fname)) 
+    {
+      SERIAL_PROTOCOLPGM("File deleted:");
+      SERIAL_PROTOCOL(fname);
+      sdpos = 0;
+    }
+    else
+    {
+      SERIAL_PROTOCOLPGM("Deletion failed, File: ");
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLLNPGM(".");
+    }
+  
+}
+
 void CardReader::getStatus()
 {
   if(cardOK){
-    SERIAL_PROTOCOLPGM("SD printing byte ");
+    SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
     SERIAL_PROTOCOL(sdpos);
     SERIAL_PROTOCOLPGM("/");
     SERIAL_PROTOCOLLN(filesize);
   }
   else{
-    SERIAL_PROTOCOLLNPGM("Not SD printing");
+    SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
   }
 }
 void CardReader::write_command(char *buf)
@@ -311,7 +405,7 @@ void CardReader::write_command(char *buf)
   if (file.writeError)
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("error writing to file");
+    SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE);
   }
 }
 
@@ -332,19 +426,19 @@ void CardReader::checkautostart(bool force)
     if(!cardOK) //fail
       return;
   }
-  static int lastnr=0;
+  
   char autoname[30];
   sprintf(autoname,"auto%i.g",lastnr);
-  for(int8_t i=0;i<(int)strlen(autoname);i++)
+  for(int8_t i=0;i<(int8_t)strlen(autoname);i++)
     autoname[i]=tolower(autoname[i]);
   dir_t p;
 
   root.rewind();
   
   bool found=false;
-  while (root.readDir(p) > 0) 
+  while (root.readDir(p, NULL) > 0) 
   {
-    for(int8_t i=0;i<(int)strlen((char*)p.name);i++)
+    for(int8_t i=0;i<(int8_t)strlen((char*)p.name);i++)
     p.name[i]=tolower(p.name[i]);
     //Serial.print((char*)p.name);
     //Serial.print(" ");
@@ -405,7 +499,7 @@ void CardReader::chdir(const char * relpath)
   if(!newfile.open(*parent,relpath, O_READ))
   {
    SERIAL_ECHO_START;
-   SERIAL_ECHOPGM("Cannot enter subdir:");
+   SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
    SERIAL_ECHOLN(relpath);
   }
   else
@@ -426,4 +520,17 @@ void CardReader::updir()
   }
 }
 
-#endif //SDSUPPORT
+
+void CardReader::printingHasFinished()
+{
+ st_synchronize();
+ quickStop();
+ sdprinting = false;
+ if(SD_FINISHED_STEPPERRELEASE)
+ {
+   //finishAndDisableSteppers();
+   enquecommand(SD_FINISHED_RELEASECOMMAND);
+ }
+ autotempShutdown();
+}
+#endif //SDSUPPORT

Marlin/cardreader.h

@@ -1,8 +1,8 @@
-#ifndef __CARDREADERH
-#define __CARDREADERH
+#ifndef CARDREADER_H
+#define CARDREADER_H
 
 #ifdef SDSUPPORT
- 
+
 #include "SdFile.h"
 enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
 class CardReader
@@ -17,11 +17,13 @@ public:
 
   void checkautostart(bool x); 
   void openFile(char* name,bool read);
+  void removeFile(char* name);
   void closefile();
   void release();
   void startFileprint();
   void pauseSDPrint();
   void getStatus();
+  void printingHasFinished();
 
   void getfilename(const uint8_t nr);
   uint16_t getnrfilenames();
@@ -30,18 +32,23 @@ public:
   void ls();
   void chdir(const char * relpath);
   void updir();
+  void setroot();
 
-  inline bool eof() { return sdpos>=filesize ;};
-  inline int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
-  inline void setIndex(long index) {sdpos = index;file.seekSet(index);};
-  inline uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+
+  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
+  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
+  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
+  FORCE_INLINE uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
 
 public:
   bool saving;
   bool sdprinting ;  
   bool cardOK ;
-  char filename[11];
+  char filename[13];
+  char longFilename[LONG_FILENAME_LENGTH];
   bool filenameIsDir;
+  int lastnr; //last number of the autostart;
 private:
   SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
   Sd2Card card;
@@ -57,41 +64,13 @@ private:
   LsAction lsAction; //stored for recursion.
   int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
   char* diveDirName;
-  void lsDive(char *prepend,SdFile parent);
+  void lsDive(const char *prepend,SdFile parent);
 };
-  
+#define IS_SD_PRINTING (card.sdprinting)
 
 #else
 
-#define dir_t bool 
-class CardReader
-{
-public:
-  inline CardReader(){};
-  
-  inline static void initsd(){};
-  inline static void write_command(char *buf){};
-  
-  inline static void checkautostart(bool x) {}; 
-  
-  inline static void openFile(char* name,bool read){};
-  inline static void closefile() {};
-  inline static void release(){};
-  inline static void startFileprint(){};
-  inline static void startFilewrite(char *name){};
-  inline static void pauseSDPrint(){};
-  inline static void getStatus(){};
-  
-  inline static void selectFile(char* name){};
-  inline static void getfilename(const uint8_t nr){};
-  inline static uint8_t getnrfilenames(){return 0;};
-  
+#define IS_SD_PRINTING (false)
 
-  inline static void ls() {};
-  inline static bool eof() {return true;};
-  inline static char get() {return 0;};
-  inline static void setIndex(){};
-  inline uint8_t percentDone(){return 0;};
-};
 #endif //SDSUPPORT
-#endif
+#endif

Marlin/create_speed_lookuptable.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+
+""" Generate the stepper delay lookup table for Marlin firmware. """
+
+import argparse
+
+__author__ = "Ben Gamari <bgamari@gmail.com>"
+__copyright__ = "Copyright 2012, Ben Gamari"
+__license__ = "GPL"
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('-f', '--cpu-freq', type=int, default=16, help='CPU clockrate in MHz (default=16)')
+parser.add_argument('-d', '--divider', type=int, default=8, help='Timer/counter pre-scale divider (default=8)')
+args = parser.parse_args()
+
+cpu_freq = args.cpu_freq * 1000000
+timer_freq = cpu_freq / args.divider
+
+print "#ifndef SPEED_LOOKUPTABLE_H"
+print "#define SPEED_LOOKUPTABLE_H"
+print
+print '#include "Marlin.h"'
+print
+
+print "const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {"
+a = [ timer_freq / ((i*256)+(args.cpu_freq*2)) for i in range(256) ]
+b = [ a[i] - a[i+1] for i in range(255) ]
+b.append(b[-1])
+for i in range(32):
+    print "  ",
+    for j in range(8):
+        print "{%d, %d}," % (a[8*i+j], b[8*i+j]),
+    print 
+print "};"
+print
+
+print "const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {"
+a = [ timer_freq / ((i*8)+(args.cpu_freq*2)) for i in range(256) ]
+b = [ a[i] - a[i+1] for i in range(255) ]
+b.append(b[-1])
+for i in range(32):
+    print "  ",
+    for j in range(8):
+        print "{%d, %d}," % (a[8*i+j], b[8*i+j]),
+    print 
+print "};"
+print
+
+print "#endif"
+

Marlin/language.h

@@ -0,0 +1,498 @@
+#ifndef LANGUAGE_H
+#define LANGUAGE_H
+
+// NOTE: IF YOU CHANGE THIS FILE / MERGE THIS FILE WITH CHANGES
+//
+//   ==> ALWAYS TRY TO COMPILE MARLIN WITH/WITHOUT "ULTIPANEL" / "ULTRALCD" / "SDSUPPORT" #define IN "Configuration.h" 
+//   ==> ALSO TRY ALL AVAILABLE "LANGUAGE_CHOICE" OPTIONS
+
+// Languages
+// 1  English
+// 2  -
+// 3  French	(Waiting translation)
+// 4  German
+// 5  Spanish
+// 6  Etc
+
+#define LANGUAGE_CHOICE 1  // Pick your language from the list above
+
+#define PROTOCOL_VERSION "1.0"
+
+#if MOTHERBOARD == 7 || MOTHERBOARD == 71
+	#define MACHINE_NAME "Ultimaker"
+	#define FIRMWARE_URL "http://firmware.ultimaker.com"
+#else
+	#define MACHINE_NAME "Mendel"
+	#define FIRMWARE_URL "http://www.mendel-parts.com"
+#endif
+
+#define STRINGIFY_(n) #n
+#define STRINGIFY(n) STRINGIFY_(n)
+
+#if LANGUAGE_CHOICE == 1
+
+// LCD Menu Messages
+	#define WELCOME_MSG MACHINE_NAME " Ready."
+	#define MSG_SD_INSERTED "Card inserted"
+	#define MSG_SD_REMOVED "Card removed"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_PLA_SETTINGS " Preheat PLA Setting"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_PREHEAT_ABS_SETTINGS " Preheat ABS Setting"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+	#define MSG_RETRACT " Retract"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_NOZZLE1 " \002Nozzle2:"
+	#define MSG_NOZZLE2 " \002Nozzle3:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_RECTRACT_WIDE " Rectract    \x7E"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_TEMPERATURE_RTN " Temperature  \003"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#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"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_PREPARE_ALT " Prepare \003"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_RETRACT_ARROW " Retract \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_PAUSE_PRINT " Pause Print \x7E"
+	#define MSG_RESUME_PRINT " Resume Print \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#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_STEPPER_RELEASED "Released."
+	#define MSG_CONTROL_RETRACT  " Retract mm:"
+	#define MSG_CONTROL_RETRACTF " Retract  F:"
+	#define MSG_CONTROL_RETRACT_ZLIFT " Hop mm:"
+	#define MSG_CONTROL_RETRACT_RECOVER " UnRet +mm:"
+	#define MSG_CONTROL_RETRACT_RECOVERF " UnRet  F:"
+	#define MSG_AUTORETRACT " AutoRetr.:"
+        #define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+// Serial Console Messages
+
+	#define MSG_Enqueing "enqueing \""
+	#define MSG_POWERUP "PowerUp"
+	#define MSG_EXTERNAL_RESET " External Reset"
+	#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_AUTHOR " | Author: "
+	#define MSG_CONFIGURATION_VER " Last Updated: "
+	#define MSG_FREE_MEMORY " Free Memory: "
+	#define MSG_PLANNER_BUFFER_BYTES "  PlannerBufferBytes: "
+	#define MSG_OK "ok"
+	#define MSG_FILE_SAVED "Done saving file."
+	#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:"
+	#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:"
+	#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:"
+	#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:"
+	#define MSG_FILE_PRINTED "Done printing file"
+	#define MSG_BEGIN_FILE_LIST "Begin file list"
+	#define MSG_END_FILE_LIST "End file list"
+	#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
+	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
+	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+	#define MSG_HEATING "Heating..."
+	#define MSG_HEATING_COMPLETE "Heating done."
+	#define MSG_BED_HEATING "Bed Heating."
+	#define MSG_BED_DONE "Bed done."
+	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) "\n"
+	#define MSG_COUNT_X " Count X:"
+	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped deu 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: "
+	#define MSG_INVALID_EXTRUDER "Invalid extruder"
+	#define MSG_X_MIN "x_min:"
+	#define MSG_X_MAX "x_max:"
+	#define MSG_Y_MIN "y_min:"
+	#define MSG_Y_MAX "y_max:"
+	#define MSG_Z_MIN "z_min:"
+	#define MSG_Z_MAX "z_max:"
+
+	#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
+	#define MSG_SD_INIT_FAIL "SD init fail"
+	#define MSG_SD_VOL_INIT_FAIL "volume.init failed"
+	#define MSG_SD_OPENROOT_FAIL "openRoot failed"
+	#define MSG_SD_CARD_OK "SD card ok"
+	#define MSG_SD_WORKDIR_FAIL "workDir open failed"
+	#define MSG_SD_OPEN_FILE_FAIL "open failed, File: "
+	#define MSG_SD_FILE_OPENED "File opened:"
+	#define MSG_SD_SIZE " Size:"
+	#define MSG_SD_FILE_SELECTED "File selected"
+	#define MSG_SD_WRITE_TO_FILE "Writing to file: "
+	#define MSG_SD_PRINTING_BYTE "SD printing byte "
+	#define MSG_SD_NOT_PRINTING "Not SD printing"
+	#define MSG_SD_ERR_WRITE_TO_FILE "error writing to file"
+	#define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:"
+
+	#define MSG_STEPPER_TO_HIGH "Steprate to high : "
+	#define MSG_ENDSTOPS_HIT "endstops hit: "
+	#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
+	#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+
+#endif
+#if LANGUAGE_CHOICE == 4
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG MACHINE_NAME " Bereit."
+
+	#define MSG_SD_INSERTED      "SDKarte erkannt"
+	#define MSG_SD_REMOVED       "SDKarte entfernt"
+	#define MSG_MAIN             " Hauptmneü \003"
+	#define MSG_AUTOSTART        " Autostart"
+	#define MSG_DISABLE_STEPPERS " Stepper abschalten"
+	#define MSG_AUTO_HOME        " Auto Nullpunkt"
+	#define MSG_SET_ORIGIN       " Setze Nullpunkt"
+	#define MSG_PREHEAT_PLA      " Vorwärmen PLA"
+	#define MSG_PREHEAT_PLA_SETTINGS " Vorwärmen PLA Einstellungen"
+	#define MSG_PREHEAT_ABS      " Vorwärmen ABS"
+	#define MSG_PREHEAT_ABS_SETTINGS "  Vorwärmen ABS Einstellungen"
+	#define MSG_COOLDOWN         " Abkühlen"
+	#define MSG_EXTRUDE          " Extrude"
+	#define MSG_RETRACT          " Retract"
+	#define MSG_MOVE_AXIS        " Achsen bewegen\x7E"
+	#define MSG_SPEED            " Geschw:"
+	#define MSG_NOZZLE           " \002Düse:"
+	#define MSG_NOZZLE1          " \002Düse2:"
+	#define MSG_NOZZLE2          " \002Düse3:"
+	#define MSG_BED              " \002Bett:"
+	#define MSG_FAN_SPEED        " Lüftergeschw.:"
+	#define MSG_FLOW             " Fluß:"
+	#define MSG_CONTROL          " Einstellungen \003"
+	#define MSG_MIN              " \002 Min:"
+	#define MSG_MAX              " \002 Max:"
+	#define MSG_FACTOR           " \002 Faktor:"
+	#define MSG_AUTOTEMP         " AutoTemp:"
+	#define MSG_ON               "Ein "
+	#define MSG_OFF              "Aus "
+	#define MSG_PID_P            " PID-P: "
+	#define MSG_PID_I            " PID-I: "
+	#define MSG_PID_D            " PID-D: "
+	#define MSG_PID_C            " PID-C: "
+	#define MSG_ACC              " Acc:"
+	#define MSG_VXY_JERK         " Vxy-jerk: "
+	#define MSG_VMAX             " Vmax "
+	#define MSG_X                "x:"
+	#define MSG_Y                "y:"
+	#define MSG_Z                "z:"
+	#define MSG_E                "e:"
+	#define MSG_VMIN             " Vmin:"
+	#define MSG_VTRAV_MIN        " VTrav min:"
+	#define MSG_AMAX             " Amax "
+	#define MSG_A_RETRACT        " A-Retract:"
+	#define MSG_XSTEPS           " Xsteps/mm:"
+	#define MSG_YSTEPS           " Ysteps/mm:"
+	#define MSG_ZSTEPS           " Zsteps/mm:"
+	#define MSG_ESTEPS           " Esteps/mm:"
+	#define MSG_MAIN_WIDE        " Hauptmenü     \003"
+	#define MSG_RECTRACT_WIDE    " Rectract      \x7E"
+	#define MSG_WATCH            " Beobachten    \003"
+	#define MSG_TEMPERATURE_WIDE " Temperatur    \x7E"
+        #define MSG_TEMPERATURE_RTN  " Temperatur    \003"
+	#define MSG_MOTION_WIDE      " Bewegung      \x7E"
+	#define MSG_STORE_EPROM      " EPROM speichern"
+	#define MSG_LOAD_EPROM       " EPROM laden"
+	#define MSG_RESTORE_FAILSAFE " Standardkonfig."
+	#define MSG_REFRESH          "\004Aktualisieren"
+	#define MSG_PREPARE          " Vorbereitung  \x7E"
+	#define MSG_PREPARE_ALT      " Vorbereitung  \003"
+	#define MSG_CONTROL_ARROW    " Einstellungen \x7E"
+	#define MSG_TUNE             " Justierung    \x7E"
+	#define MSG_PAUSE_PRINT      " Druck anhalten\x7E"
+	#define MSG_RESUME_PRINT     " Druck fortsetz\x7E"
+	#define MSG_STOP_PRINT       " Druck stoppen \x7E"
+	#define MSG_CARD_MENU        " SDKarten Menü \x7E"
+	#define MSG_NO_CARD          " Keine SDKarte"
+	#define MSG_DWELL            "Warten..."		
+	#define MSG_USERWAIT         "Warte auf Nutzer..."
+	#define MSG_NO_MOVE          "Kein Zug."
+	#define MSG_PART_RELEASE     "Stepper tlw frei"
+	#define MSG_KILLED           "KILLED"
+	#define MSG_STOPPED          "GESTOPPT"
+	#define MSG_STEPPER_RELEASED "Stepper frei"
+        #define MSG_CONTROL_RETRACT  " Retract mm:"
+        #define MSG_CONTROL_RETRACTF " Retract  F:"
+        #define MSG_CONTROL_RETRACT_ZLIFT " Hop mm:"
+        #define MSG_CONTROL_RETRACT_RECOVER " UnRet +mm:"
+        #define MSG_CONTROL_RETRACT_RECOVERF " UnRet  F:"
+        #define MSG_AUTORETRACT      " AutoRetr.:"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Fehler in Menüstruktur."
+	
+// Serial Console Messages
+
+	#define MSG_Enqueing "enqueing \""
+	#define MSG_POWERUP "PowerUp"
+	#define MSG_EXTERNAL_RESET " External Reset"
+	#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_AUTHOR " | Author: "
+	#define MSG_CONFIGURATION_VER " Last Updated: "
+	#define MSG_FREE_MEMORY " Free Memory: "
+	#define MSG_PLANNER_BUFFER_BYTES "  PlannerBufferBytes: "
+	#define MSG_OK "ok"
+	#define MSG_FILE_SAVED "Done saving file."
+	#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:"
+	#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:"
+	#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:"
+	#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:"
+	#define MSG_FILE_PRINTED "Done printing file"
+	#define MSG_BEGIN_FILE_LIST "Begin file list"
+	#define MSG_END_FILE_LIST "End file list"
+	#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
+	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
+	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
+	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+	#define MSG_HEATING "Heating..."
+	#define MSG_HEATING_COMPLETE "Heating done."
+	#define MSG_BED_HEATING "Bed Heating."
+	#define MSG_BED_DONE "Bed done."
+	#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) "\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: "
+	#define MSG_INVALID_EXTRUDER "Invalid extruder"
+	#define MSG_X_MIN "x_min:"
+	#define MSG_X_MAX "x_max:"
+	#define MSG_Y_MIN "y_min:"
+	#define MSG_Y_MAX "y_max:"
+	#define MSG_Z_MIN "z_min:"
+	#define MSG_Z_MAX "z_max:"
+
+	#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
+	#define MSG_SD_INIT_FAIL "SD init fail"
+	#define MSG_SD_VOL_INIT_FAIL "volume.init failed"
+	#define MSG_SD_OPENROOT_FAIL "openRoot failed"
+	#define MSG_SD_CARD_OK "SD card ok"
+	#define MSG_SD_WORKDIR_FAIL "workDir open failed"
+	#define MSG_SD_OPEN_FILE_FAIL "open failed, File: "
+	#define MSG_SD_FILE_OPENED "File opened:"
+	#define MSG_SD_SIZE " Size:"
+	#define MSG_SD_FILE_SELECTED "File selected"
+	#define MSG_SD_WRITE_TO_FILE "Writing to file: "
+	#define MSG_SD_PRINTING_BYTE "SD printing byte "
+	#define MSG_SD_NOT_PRINTING "Not SD printing"
+	#define MSG_SD_ERR_WRITE_TO_FILE "error writing to file"
+	#define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:"
+
+	#define MSG_STEPPER_TO_HIGH "Steprate to high : "
+	#define MSG_ENDSTOPS_HIT "endstops hit: "
+	#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
+	#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
+
+#endif
+
+#if LANGUAGE_CHOICE == 5
+
+// LCD Menu Messages
+#define WELCOME_MSG MACHINE_NAME " Lista."
+#define MSG_SD_INSERTED "Tarjeta SD Colocada"
+#define MSG_SD_REMOVED "Tarjeta SD Retirada"
+#define MSG_MAIN " Menu Principal \003"
+#define MSG_AUTOSTART " Autostart"
+#define MSG_DISABLE_STEPPERS " Apagar Motores"
+#define MSG_AUTO_HOME " Llevar Ejes al Cero"
+#define MSG_SET_ORIGIN " Establecer Cero"
+#define MSG_COOLDOWN " Enfriar"
+#define MSG_EXTRUDE " Extruir"
+#define MSG_RETRACT " Retract"
+#define MSG_PREHEAT_PLA " Precalentar PLA"
+#define MSG_PREHEAT_PLA_SETTINGS " Precalentar PLA Setting"
+#define MSG_PREHEAT_ABS " Precalentar ABS"
+#define MSG_PREHEAT_ABS_SETTINGS " Precalentar ABS Setting"
+#define MSG_MOVE_AXIS " Mover Ejes      \x7E"
+#define MSG_SPEED " Velocidad:"
+#define MSG_NOZZLE " \002Nozzle:"
+#define MSG_NOZZLE1 " \002Nozzle2:"
+#define MSG_NOZZLE2 " \002Nozzle3:"
+#define MSG_BED " \002Base:"
+#define MSG_FAN_SPEED " Ventilador:"
+#define MSG_FLOW " Flujo:"
+#define MSG_CONTROL " Control \003"
+#define MSG_MIN " \002 Min:"
+#define MSG_MAX " \002 Max:"
+#define MSG_FACTOR " \002 Fact:"
+#define MSG_AUTOTEMP " Autotemp:"
+#define MSG_ON "On "
+#define MSG_OFF "Off"
+#define MSG_PID_P " PID-P: "
+#define MSG_PID_I " PID-I: "
+#define MSG_PID_D " PID-D: "
+#define MSG_PID_C " PID-C: "
+#define MSG_ACC  " Acc:"
+#define MSG_VXY_JERK " Vxy-jerk: "
+#define MSG_VMAX " Vmax "
+#define MSG_X "x:"
+#define MSG_Y "y:"
+#define MSG_Z "z:"
+#define MSG_E "e:"
+#define MSG_VMIN " Vmin:"
+#define MSG_VTRAV_MIN " VTrav min:"
+#define MSG_AMAX " Amax "
+#define MSG_A_RETRACT " A-retrac.:"
+#define MSG_XSTEPS " Xpasos/mm:"
+#define MSG_YSTEPS " Ypasos/mm:"
+#define MSG_ZSTEPS " Zpasos/mm:"
+#define MSG_ESTEPS " Epasos/mm:"
+#define MSG_MAIN_WIDE " Menu Principal  \003"
+#define MSG_RECTRACT_WIDE " Retraer         \x7E"
+#define MSG_TEMPERATURE_WIDE " Temperatura     \x7E"
+#define MSG_TEMPERATURE_RTN  " Temperatura     \003"
+#define MSG_MOTION_WIDE " Movimiento      \x7E"
+#define MSG_STORE_EPROM " Guardar Memoria"
+#define MSG_LOAD_EPROM " Cargar Memoria"
+#define MSG_RESTORE_FAILSAFE " Rest. de emergencia"
+#define MSG_REFRESH "\004Volver a cargar"
+#define MSG_WATCH " Monitorizar \003"
+#define MSG_PREPARE " Preparar \x7E"
+#define MSG_PREPARE_ALT " Preparar \003"
+#define MSG_CONTROL_ARROW " Control  \x7E"
+#define MSG_RETRACT_ARROW " Control  \x7E"
+#define MSG_TUNE " Ajustar \x7E"
+#define MSG_PAUSE_PRINT " Pause Print \x7E"
+#define MSG_RESUME_PRINT " Resume Print \x7E"
+#define MSG_STOP_PRINT " Detener Impresion \x7E"
+#define MSG_CARD_MENU " Menu de SD    \x7E"
+#define MSG_NO_CARD " No hay Tarjeta SD"
+#define MSG_DWELL "Reposo..."
+#define MSG_USERWAIT "Esperando Ordenes..."
+#define MSG_NO_MOVE "Sin movimiento"
+#define MSG_PART_RELEASE "Desacople Parcial"
+#define MSG_KILLED "PARADA DE EMERGENCIA. "
+#define MSG_STOPPED "PARADA. "
+#define MSG_STEPPER_RELEASED "Desacoplada."
+#define MSG_CONTROL_RETRACT  " Retraer mm:"
+#define MSG_CONTROL_RETRACTF " Retraer  F:"
+#define MSG_CONTROL_RETRACT_ZLIFT " Levantar mm:"
+#define MSG_CONTROL_RETRACT_RECOVER " DesRet +mm:"
+#define MSG_CONTROL_RETRACT_RECOVERF " DesRet F:"
+#define MSG_AUTORETRACT " AutoRetr.:"
+#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Hay un error en la estructura del menu"
+
+// Serial Console Messages
+
+#define MSG_Enqueing "En cola \""
+#define MSG_POWERUP "PowerUp"
+#define MSG_EXTERNAL_RESET " Reset Externo"
+#define MSG_BROWNOUT_RESET " Reset por Voltaje Incorrecto"
+#define MSG_WATCHDOG_RESET " Reset por Bloqueo"
+#define MSG_SOFTWARE_RESET " Reset por Software"
+#define MSG_MARLIN "Marlin "
+#define MSG_AUTHOR " | Autor: "
+#define MSG_CONFIGURATION_VER " Ultima actualizacion: "
+#define MSG_FREE_MEMORY " Memoria libre: "
+#define MSG_PLANNER_BUFFER_BYTES "  PlannerBufferBytes: "
+#define MSG_OK "ok"
+#define MSG_FILE_SAVED "Guardado."
+#define MSG_ERR_LINE_NO "El Numero de Linea no es igual al Ultimo Numero de Linea+1, Ultima Linea:"
+#define MSG_ERR_CHECKSUM_MISMATCH "el checksum no coincide, Ultima Linea:"
+#define MSG_ERR_NO_CHECKSUM "No se pudo hallar el Checksum con el numero de linea, Ultima Linea:"
+#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No se hallo el Numero de Linea con el Checksum, Ultima Linea:"
+#define MSG_FILE_PRINTED "Impresion terminada"
+#define MSG_BEGIN_FILE_LIST "Comienzo de la lista de archivos"
+#define MSG_END_FILE_LIST "Fin de la lista de archivos"
+#define MSG_M104_INVALID_EXTRUDER "M104 Extrusor Invalido "
+#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
+#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
+#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
+#define MSG_HEATING "Calentando..."
+#define MSG_HEATING_COMPLETE "Calentamiento Hecho."
+#define MSG_BED_HEATING "Calentando la base."
+#define MSG_BED_DONE "Base Caliente."
+#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) "\n"
+#define MSG_COUNT_X " Cuenta X:"
+#define MSG_ERR_KILLED "¡¡Impresora Parada con kill()!!"
+#define MSG_ERR_STOPPED "¡Impresora parada por errores. Arregle el error y use M999 Para reiniciar!. (La temperatura se reestablece. Ajustela antes de continuar)"
+#define MSG_RESEND "Reenviar:"
+#define MSG_UNKNOWN_COMMAND "Comando Desconocido:\""
+#define MSG_ACTIVE_EXTRUDER "Extrusor Activo: "
+#define MSG_INVALID_EXTRUDER "Extrusor Invalido"
+#define MSG_X_MIN "x_min:"
+#define MSG_X_MAX "x_max:"
+#define MSG_Y_MIN "y_min:"
+#define MSG_Y_MAX "y_max:"
+#define MSG_Z_MIN "z_min:"
+#define MSG_Z_MAX "z_max:"
+
+#define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta."
+#define MSG_SD_INIT_FAIL "Fallo al iniciar la SD"
+#define MSG_SD_VOL_INIT_FAIL "Fallo al montar el volumen"
+#define MSG_SD_OPENROOT_FAIL "Fallo al abrir la carpeta raiz"
+#define MSG_SD_CARD_OK "Tarjeta SD OK"
+#define MSG_SD_WORKDIR_FAIL "Fallo al abrir la carpeta de trabajo"
+#define MSG_SD_OPEN_FILE_FAIL "Error al abrir, Archivo: "
+#define MSG_SD_FILE_OPENED "Archivo abierto:"
+#define MSG_SD_SIZE " Tamaño:"
+#define MSG_SD_FILE_SELECTED "Archivo Seleccionado"
+#define MSG_SD_WRITE_TO_FILE "Escribiendo en el archivo: "
+#define MSG_SD_PRINTING_BYTE "SD imprimiendo el byte "
+#define MSG_SD_NOT_PRINTING "No se esta imprimiendo con SD"
+#define MSG_SD_ERR_WRITE_TO_FILE "Error al escribir en el archivo"
+#define MSG_SD_CANT_ENTER_SUBDIR "No se puede entrar en la carpeta:"
+
+#define MSG_STEPPER_TO_HIGH "Steprate demasiado alto : "
+#define MSG_ENDSTOPS_HIT "Se ha tocado el fin de carril: "
+#define MSG_ERR_COLD_EXTRUDE_STOP " extrusion fria evitada"
+#define MSG_ERR_LONG_EXTRUDE_STOP " extrusion demasiado larga evitada"
+
+#endif
+#endif // ifndef LANGUAGE_H

Marlin/motion_control.cpp

@@ -19,7 +19,6 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "Configuration.h"
 #include "Marlin.h"
 #include "stepper.h"
 #include "planner.h"
@@ -27,7 +26,7 @@
 // The arc is approximated by generating a huge number of tiny, linear segments. The length of each 
 // segment is configured in settings.mm_per_arc_segment.  
 void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, 
-  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
+  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
 {      
   //   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
   //   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
@@ -46,8 +45,10 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   if (isclockwise) { angular_travel -= 2*M_PI; }
   
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
-  if (millimeters_of_travel == 0.0) { return; }
+  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 
@@ -123,11 +124,13 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
     arc_target[axis_1] = center_axis1 + r_axis1;
     arc_target[axis_linear] += linear_per_segment;
     arc_target[E_AXIS] += extruder_per_segment;
-    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate);
+
+    clamp_to_software_endstops(arc_target);
+    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
     
   }
   // Ensure last segment arrives at target location.
-  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
+  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
 
   //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
 }

Marlin/motion_control.h

@@ -27,6 +27,6 @@
 // the direction of helical travel, radius == circle radius, isclockwise boolean. Used
 // for vector transformation direction.
 void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
-  unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise);
+  unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder);
   
 #endif

Marlin/planner.cpp

@@ -1,69 +1,62 @@
 /*
   planner.c - buffers movement commands and manages the acceleration profile plan
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-
-  Grbl 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.
-
-  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
+ Part of Grbl
+ 
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+ 
+ Grbl 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.
+ 
+ Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
 /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
 
 /*  
-  Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
-  
-  s == speed, a == acceleration, t == time, d == distance
-
-  Basic definitions:
-
-    Speed[s_, a_, t_] := s + (a*t) 
-    Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
-
-  Distance to reach a specific speed with a constant acceleration:
-
-    Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
-      d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
-
-  Speed after a given distance of travel with constant acceleration:
-
-    Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
-      m -> Sqrt[2 a d + s^2]    
-
-    DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
-
-  When to start braking (di) to reach a specified destionation speed (s2) after accelerating
-  from initial speed s1 without ever stopping at a plateau:
-
-    Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
-      di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
-
-    IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
-*/
-                                                                                                            
-
-//#include <inttypes.h>
-//#include <math.h>       
-//#include <stdlib.h>
+ Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
+ 
+ s == speed, a == acceleration, t == time, d == distance
+ 
+ Basic definitions:
+ 
+ Speed[s_, a_, t_] := s + (a*t) 
+ Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
+ 
+ Distance to reach a specific speed with a constant acceleration:
+ 
+ Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
+ d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
+ 
+ Speed after a given distance of travel with constant acceleration:
+ 
+ Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
+ m -> Sqrt[2 a d + s^2]    
+ 
+ DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
+ 
+ When to start braking (di) to reach a specified destionation speed (s2) after accelerating
+ from initial speed s1 without ever stopping at a plateau:
+ 
+ Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
+ di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
+ 
+ IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
+ */
 
 #include "Marlin.h"
-#include "Configuration.h"
-#include "pins.h"
-#include "fastio.h"
 #include "planner.h"
 #include "stepper.h"
 #include "temperature.h"
 #include "ultralcd.h"
+#include "language.h"
 
 //===========================================================================
 //=============================public variables ============================
@@ -78,6 +71,7 @@ float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT A
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 float max_z_jerk;
+float max_e_jerk;
 float mintravelfeedrate;
 unsigned long axis_steps_per_sqr_second[NUM_AXIS];
 
@@ -86,38 +80,53 @@ long position[4];   //rescaled from extern when axis_steps_per_unit are changed
 static float previous_speed[4]; // Speed of previous path line segment
 static float previous_nominal_speed; // Nominal speed of previous path line segment
 
+extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
+
 #ifdef AUTOTEMP
-    float autotemp_max=250;
-    float autotemp_min=210;
-    float autotemp_factor=1;
-    bool autotemp_enabled=false;
+float autotemp_max=250;
+float autotemp_min=210;
+float autotemp_factor=0.1;
+bool autotemp_enabled=false;
 #endif
 
+//===========================================================================
+//=================semi-private variables, used in inline  functions    =====
+//===========================================================================
+block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+volatile unsigned char block_buffer_tail;           // Index of the block to process now
 
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
-static block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
-static volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-static volatile unsigned char block_buffer_tail;           // Index of the block to process now
-
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+bool allow_cold_extrude=false;
+#endif
+#ifdef XY_FREQUENCY_LIMIT
 // Used for the frequency limit
 static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
-static long y_segment_time[3]={0,0,0};
+static long x_segment_time[3]={
+  0,0,0};                     // Segment times (in us). Used for speed calculations
+static long y_segment_time[3]={
+  0,0,0};
+#endif
 
 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
 static int8_t next_block_index(int8_t block_index) {
   block_index++;
-  if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
+  if (block_index == BLOCK_BUFFER_SIZE) { 
+    block_index = 0; 
+  }
   return(block_index);
 }
 
 
 // Returns the index of the previous block in the ring buffer
 static int8_t prev_block_index(int8_t block_index) {
-  if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
+  if (block_index == 0) { 
+    block_index = BLOCK_BUFFER_SIZE; 
+  }
   block_index--;
   return(block_index);
 }
@@ -128,10 +137,11 @@ static int8_t prev_block_index(int8_t block_index) {
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
-inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+{
   if (acceleration!=0) {
-  return((target_rate*target_rate-initial_rate*initial_rate)/
-         (2.0*acceleration));
+    return((target_rate*target_rate-initial_rate*initial_rate)/
+      (2.0*acceleration));
   }
   else {
     return 0.0;  // acceleration was 0, set acceleration distance to 0
@@ -143,10 +153,11 @@ inline float estimate_acceleration_distance(float initial_rate, float target_rat
 // a total travel of distance. This can be used to compute the intersection point between acceleration and
 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
 
-inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
- if (acceleration!=0) {
-  return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
-         (4.0*acceleration) );
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) 
+{
+  if (acceleration!=0) {
+    return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
+      (4.0*acceleration) );
   }
   else {
     return 0.0;  // acceleration was 0, set intersection distance to 0
@@ -160,54 +171,57 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
   unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
 
   // Limit minimal step rate (Otherwise the timer will overflow.)
-  if(initial_rate <120) {initial_rate=120; }
-  if(final_rate < 120) {final_rate=120;  }
-  
+  if(initial_rate <120) {
+    initial_rate=120; 
+  }
+  if(final_rate < 120) {
+    final_rate=120;  
+  }
+
   long acceleration = block->acceleration_st;
   int32_t accelerate_steps =
     ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
   int32_t decelerate_steps =
     floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
-    
+
   // Calculate the size of Plateau of Nominal Rate.
   int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
-  
+
   // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
   // have to use intersection_distance() to calculate when to abort acceleration and start braking
   // in order to reach the final_rate exactly at the end of this block.
   if (plateau_steps < 0) {
     accelerate_steps = ceil(
-      intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
+    intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
     accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
     accelerate_steps = min(accelerate_steps,block->step_event_count);
     plateau_steps = 0;
   }
 
-  #ifdef ADVANCE
-    long initial_advance = block->advance*entry_factor*entry_factor;
-    long final_advance = block->advance*exit_factor*exit_factor;
-  #endif // ADVANCE
-  
- // block->accelerate_until = accelerate_steps;
- // block->decelerate_after = accelerate_steps+plateau_steps;
-  
+#ifdef ADVANCE
+  volatile long initial_advance = block->advance*entry_factor*entry_factor; 
+  volatile long final_advance = block->advance*exit_factor*exit_factor;
+#endif // ADVANCE
+
+  // block->accelerate_until = accelerate_steps;
+  // block->decelerate_after = accelerate_steps+plateau_steps;
   CRITICAL_SECTION_START;  // Fill variables used by the stepper in a critical section
   if(block->busy == false) { // Don't update variables if block is busy.
     block->accelerate_until = accelerate_steps;
     block->decelerate_after = accelerate_steps+plateau_steps;
     block->initial_rate = initial_rate;
     block->final_rate = final_rate;
-  #ifdef ADVANCE
-      block->initial_advance = initial_advance;
-      block->final_advance = final_advance;
-  #endif //ADVANCE
+#ifdef ADVANCE
+    block->initial_advance = initial_advance;
+    block->final_advance = final_advance;
+#endif //ADVANCE
   }
   CRITICAL_SECTION_END;
 }                    
 
 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
 // acceleration within the allotted distance.
-inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
+FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
   return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
 }
 
@@ -222,24 +236,27 @@ inline float max_allowable_speed(float acceleration, float target_velocity, floa
 
 // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
 void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!current) { return; }
-  
-    if (next) {
+  if(!current) { 
+    return; 
+  }
+
+  if (next) {
     // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
     // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
     // check for maximum allowable speed reductions to ensure maximum possible planned speed.
     if (current->entry_speed != current->max_entry_speed) {
-    
+
       // If nominal length true, max junction speed is guaranteed to be reached. Only compute
       // for max allowable speed if block is decelerating and nominal length is false.
       if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
         current->entry_speed = min( current->max_entry_speed,
-          max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
-      } else {
+        max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
+      } 
+      else {
         current->entry_speed = current->max_entry_speed;
       }
       current->recalculate_flag = true;
-    
+
     }
   } // Skip last block. Already initialized and set for recalculation.
 }
@@ -247,11 +264,18 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the reverse pass.
 void planner_reverse_pass() {
-  char block_index = block_buffer_head;
-  if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+  uint8_t block_index = block_buffer_head;
+  
+  //Make a local copy of block_buffer_tail, because the interrupt can alter it
+  CRITICAL_SECTION_START;
+  unsigned char tail = block_buffer_tail;
+  CRITICAL_SECTION_END
+  
+  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
     block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
-    block_t *block[3] = { NULL, NULL, NULL };
-    while(block_index != block_buffer_tail) { 
+    block_t *block[3] = { 
+      NULL, NULL, NULL         };
+    while(block_index != tail) { 
       block_index = prev_block_index(block_index); 
       block[2]= block[1];
       block[1]= block[0];
@@ -263,8 +287,10 @@ void planner_reverse_pass() {
 
 // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
 void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!previous) { return; }
-  
+  if(!previous) { 
+    return; 
+  }
+
   // If the previous block is an acceleration block, but it is not long enough to complete the
   // full speed change within the block, we need to adjust the entry speed accordingly. Entry
   // speeds have already been reset, maximized, and reverse planned by reverse planner.
@@ -272,7 +298,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
   if (!previous->nominal_length_flag) {
     if (previous->entry_speed < current->entry_speed) {
       double entry_speed = min( current->entry_speed,
-        max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
+      max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
 
       // Check for junction speed change
       if (current->entry_speed != entry_speed) {
@@ -286,8 +312,9 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the forward pass.
 void planner_forward_pass() {
-  char block_index = block_buffer_tail;
-  block_t *block[3] = { NULL, NULL, NULL };
+  uint8_t block_index = block_buffer_tail;
+  block_t *block[3] = { 
+    NULL, NULL, NULL   };
 
   while(block_index != block_buffer_head) {
     block[0] = block[1];
@@ -306,7 +333,7 @@ void planner_recalculate_trapezoids() {
   int8_t block_index = block_buffer_tail;
   block_t *current;
   block_t *next = NULL;
-  
+
   while(block_index != block_buffer_head) {
     current = next;
     next = &block_buffer[block_index];
@@ -315,7 +342,7 @@ void planner_recalculate_trapezoids() {
       if (current->recalculate_flag || next->recalculate_flag) {
         // NOTE: Entry and exit factors always > 0 by all previous logic operations.
         calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
-          next->entry_speed/current->nominal_speed);
+        next->entry_speed/current->nominal_speed);
         current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
       }
     }
@@ -324,7 +351,7 @@ void planner_recalculate_trapezoids() {
   // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
   if(next != NULL) {
     calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
-      MINIMUM_PLANNER_SPEED/next->nominal_speed);
+    MINIMUM_PLANNER_SPEED/next->nominal_speed);
     next->recalculate_flag = false;
   }
 }
@@ -364,43 +391,36 @@ void plan_init() {
 }
 
 
-void plan_discard_current_block() {
-  if (block_buffer_head != block_buffer_tail) {
-    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
-  }
-}
 
-block_t *plan_get_current_block() {
-  if (block_buffer_head == block_buffer_tail) { 
-    return(NULL); 
-  }
-  block_t *block = &block_buffer[block_buffer_tail];
-  block->busy = true;
-  return(block);
-}
 
 #ifdef AUTOTEMP
 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;
-  char block_index = block_buffer_tail;
-  
+  }
+
+  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);
   }
-   
+
   float g=autotemp_min+high*autotemp_factor;
   float t=g;
   if(t<autotemp_min)
@@ -413,10 +433,6 @@ void getHighESpeed()
   }
   oldt=t;
   setTargetHotend0(t);
-//   SERIAL_ECHO_START;
-//   SERIAL_ECHOPAIR("highe",high);
-//   SERIAL_ECHOPAIR(" t",t);
-//   SERIAL_ECHOLN("");
 }
 #endif
 
@@ -425,23 +441,50 @@ void check_axes_activity() {
   unsigned char y_active = 0;  
   unsigned char z_active = 0;
   unsigned char e_active = 0;
+  unsigned char fan_speed = 0;
+  unsigned char tail_fan_speed = 0;
   block_t *block;
 
   if(block_buffer_tail != block_buffer_head) {
-    char block_index = block_buffer_tail;
+    uint8_t block_index = block_buffer_tail;
+    tail_fan_speed = block_buffer[block_index].fan_speed;
     while(block_index != block_buffer_head) {
       block = &block_buffer[block_index];
       if(block->steps_x != 0) x_active++;
       if(block->steps_y != 0) y_active++;
       if(block->steps_z != 0) z_active++;
       if(block->steps_e != 0) e_active++;
+      if(block->fan_speed != 0) fan_speed++;
       block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
     }
   }
+  else {
+#if FAN_PIN > -1
+    if (FanSpeed != 0){
+      analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
+    }
+#endif
+  }
   if((DISABLE_X) && (x_active == 0)) disable_x();
   if((DISABLE_Y) && (y_active == 0)) disable_y();
   if((DISABLE_Z) && (z_active == 0)) disable_z();
-  if((DISABLE_E) && (e_active == 0)) disable_e();
+  if((DISABLE_E) && (e_active == 0)) { 
+    disable_e0();
+    disable_e1();
+    disable_e2(); 
+  }
+#if FAN_PIN > -1
+  if((FanSpeed == 0) && (fan_speed ==0)) {
+    analogWrite(FAN_PIN, 0);
+  }
+
+  if (FanSpeed != 0 && tail_fan_speed !=0) { 
+    analogWrite(FAN_PIN,tail_fan_speed);
+  }
+#endif
+#ifdef AUTOTEMP
+  getHighESpeed();
+#endif
 }
 
 
@@ -449,7 +492,7 @@ float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e,  float feed_rate)
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
 {
   // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
@@ -458,7 +501,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // Rest here until there is room in the buffer.
   while(block_buffer_tail == next_buffer_head) { 
     manage_heater(); 
-    manage_inactivity(1); 
+    manage_inactivity(); 
     LCD_STATUS;
   }
 
@@ -469,11 +512,29 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
   target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); 
-  
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+  if(target[E_AXIS]!=position[E_AXIS])
+    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+    }
+#ifdef PREVENT_LENGTHY_EXTRUDE
+  if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
+  {
+    position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+  }
+#endif
+#endif
+
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
-  
+
   // Mark block as not busy (Not executed by the stepper interrupt)
   block->busy = false;
 
@@ -482,84 +543,103 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
   block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
   block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps_e *= extrudemultiply;
+  block->steps_e /= 100;
   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; 
+  };
 
-  // Compute direction bits for this block
+  block->fan_speed = FanSpeed;
+
+  // Compute direction bits for this block 
   block->direction_bits = 0;
-  if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
-  if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
-  if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
-  if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
-  
+  if (target[X_AXIS] < position[X_AXIS]) { 
+    block->direction_bits |= (1<<X_AXIS); 
+  }
+  if (target[Y_AXIS] < position[Y_AXIS]) { 
+    block->direction_bits |= (1<<Y_AXIS); 
+  }
+  if (target[Z_AXIS] < position[Z_AXIS]) { 
+    block->direction_bits |= (1<<Z_AXIS); 
+  }
+  if (target[E_AXIS] < position[E_AXIS]) { 
+    block->direction_bits |= (1<<E_AXIS); 
+  }
+
+  block->active_extruder = extruder;
+
   //enable active axes
   if(block->steps_x != 0) enable_x();
   if(block->steps_y != 0) enable_y();
+#ifndef Z_LATE_ENABLE
   if(block->steps_z != 0) enable_z();
-  if(block->steps_e != 0) enable_e();
+#endif
+
+  // 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;
+  }
+  else {
+    if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
+  } 
 
   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];
-  block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
-                            square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
+  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
+  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
+    block->millimeters = fabs(delta_mm[E_AXIS]);
+  } 
+  else {
+    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_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.
+
+    // 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 (block->steps_e == 0) {
-        if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
-  }
-  else {
-    	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
-  } 
-  
-#ifdef SLOWDOWN
-  // 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);
-  
-  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate / ((BLOCK_BUFFER_SIZE * 0.5)/moves_queued); 
-#endif
-
-/*
-  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.
+  // Max segement time in us.
 #ifdef XY_FREQUENCY_LIMIT
 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
 
@@ -568,7 +648,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   old_direction_bits = block->direction_bits;
 
   if((direction_change & (1<<X_AXIS)) == 0) {
-     x_segment_time[0] += segment_time;
+    x_segment_time[0] += segment_time;
   }
   else {
     x_segment_time[2] = x_segment_time[1];
@@ -576,7 +656,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     x_segment_time[0] = segment_time;
   }
   if((direction_change & (1<<Y_AXIS)) == 0) {
-     y_segment_time[0] += segment_time;
+    y_segment_time[0] += segment_time;
   }
   else {
     y_segment_time[2] = y_segment_time[1];
@@ -591,17 +671,6 @@ 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;
     }
@@ -628,7 +697,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   }
   block->acceleration = block->acceleration_st / steps_per_mm;
   block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
-  
+
 #if 0  // Use old jerk for now
   // Compute path unit vector
   double unit_vec[3];
@@ -636,7 +705,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
   unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
   unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
-  
+
   // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
   // Let a circle be tangent to both previous and current path line segments, where the junction
   // deviation is defined as the distance from the junction to the closest edge of the circle,
@@ -653,9 +722,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
     // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
     double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
-                       - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
-                       - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
-                           
+      - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+      - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+
     // Skip and use default max junction speed for 0 degree acute junction.
     if (cos_theta < 0.95) {
       vmax_junction = min(previous_nominal_speed,block->nominal_speed);
@@ -664,31 +733,39 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
         // Compute maximum junction velocity based on maximum acceleration and junction deviation
         double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
         vmax_junction = min(vmax_junction,
-          sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+        sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
       }
     }
   }
 #endif
   // Start with a safe speed
-  float vmax_junction = max_xy_jerk/2;  
-  if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) 
-    vmax_junction = max_z_jerk/2;
+  float vmax_junction = max_xy_jerk/2; 
+  float vmax_junction_factor = 1.0; 
+  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
+    vmax_junction = min(vmax_junction, max_z_jerk/2);
+  if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
+    vmax_junction = min(vmax_junction, max_e_jerk/2);
   vmax_junction = min(vmax_junction, block->nominal_speed);
+  float safe_speed = vmax_junction;
 
-  if ((block_buffer_head != block_buffer_tail) && (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)) {
-      vmax_junction = block->nominal_speed;
-    }
+    //    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);
+      vmax_junction_factor = (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_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
     } 
+    if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+      vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
+    } 
+    vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
   }
   block->max_entry_speed = vmax_junction;
-    
+
   // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
   double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
   block->entry_speed = min(vmax_junction, v_allowable);
@@ -701,50 +778,57 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
   // the reverse and forward planners, the corresponding block junction speed will always be at the
   // the maximum junction speed and may always be ignored for any speed reduction checks.
-  if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
-  else { block->nominal_length_flag = false; }
+  if (block->nominal_speed <= v_allowable) { 
+    block->nominal_length_flag = true; 
+  }
+  else { 
+    block->nominal_length_flag = false; 
+  }
   block->recalculate_flag = true; // Always calculate trapezoid for new block
-  
+
   // 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
-    if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
+
+
+#ifdef ADVANCE
+  // Calculate advance rate
+  if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
+    block->advance_rate = 0;
+    block->advance = 0;
+  }
+  else {
+    long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+    float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
+      (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
+    block->advance = advance;
+    if(acc_dist == 0) {
       block->advance_rate = 0;
-      block->advance = 0;
-    }
+    } 
     else {
-      long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
-      float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
-        (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
-      block->advance = advance;
-      if(acc_dist == 0) {
-        block->advance_rate = 0;
-      } 
-      else {
-        block->advance_rate = advance / (float)acc_dist;
-      }
+      block->advance_rate = advance / (float)acc_dist;
     }
-  #endif // ADVANCE
-
-
-
+  }
+  /*
+    SERIAL_ECHO_START;
+   SERIAL_ECHOPGM("advance :");
+   SERIAL_ECHO(block->advance/256.0);
+   SERIAL_ECHOPGM("advance rate :");
+   SERIAL_ECHOLN(block->advance_rate/256.0);
+   */
+#endif // ADVANCE
 
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
-    MINIMUM_PLANNER_SPEED/block->nominal_speed);
-    
+  safe_speed/block->nominal_speed);
+
   // Move buffer head
   block_buffer_head = next_buffer_head;
-  
+
   // Update position
   memcpy(position, target, sizeof(target)); // position[] = target[]
 
   planner_recalculate();
-  #ifdef AUTOTEMP
-    getHighESpeed();
-  #endif
+
   st_wake_up();
 }
 
@@ -762,7 +846,21 @@ void plan_set_position(const float &x, const float &y, const float &z, const flo
   previous_speed[3] = 0.0;
 }
 
+void plan_set_e_position(const float &e)
+{
+  position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
+  st_set_e_position(position[E_AXIS]);
+}
+
 uint8_t movesplanned()
 {
- return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }
+
+void allow_cold_extrudes(bool allow)
+{
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+  allow_cold_extrude=allow;
+#endif
+}
+

Marlin/planner.h

@@ -24,7 +24,7 @@
 #ifndef planner_h
 #define planner_h
 
-#include "Configuration.h"
+#include "Marlin.h"
 
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
 // the source g-code and may never actually be reached if acceleration management is active.
@@ -36,18 +36,19 @@ typedef struct {
   long decelerate_after;                    // The index of the step event on which to start decelerating
   long acceleration_rate;                   // The acceleration rate used for acceleration calculation
   unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+  unsigned char active_extruder;            // Selects the active extruder
   #ifdef ADVANCE
-//    long advance_rate;
-//    volatile long initial_advance;
-//    volatile long final_advance;
-//    float advance;
+    long advance_rate;
+    volatile long initial_advance;
+    volatile long final_advance;
+    float advance;
   #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
@@ -58,6 +59,7 @@ typedef struct {
   unsigned long initial_rate;                        // The jerk-adjusted step rate at start of block  
   unsigned long final_rate;                          // The minimal rate at exit
   unsigned long acceleration_st;                     // acceleration steps/sec^2
+  unsigned long fan_speed;
   volatile char busy;
 } block_t;
 
@@ -66,18 +68,13 @@ void plan_init();
 
 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
 // millimaters. Feed rate specifies the speed of the motion.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 
 // Set position. Used for G92 instructions.
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+void plan_set_e_position(const float &e);
 
 
-// Called when the current block is no longer needed. Discards the block and makes the memory
-// availible for new blocks.
-void plan_discard_current_block();
-
-// Gets the current block. Returns NULL if buffer empty
-block_t *plan_get_current_block();
 
 void check_axes_activity();
 uint8_t movesplanned(); //return the nr of buffered moves
@@ -91,10 +88,10 @@ extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DE
 extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 extern float max_z_jerk;
+extern float max_e_jerk;
 extern float mintravelfeedrate;
 extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
 
-
 #ifdef AUTOTEMP
     extern bool autotemp_enabled;
     extern float autotemp_max;
@@ -102,4 +99,41 @@ extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
     extern float autotemp_factor;
 #endif
 
+    
+
+
+extern block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+extern volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+extern volatile unsigned char block_buffer_tail; 
+// Called when the current block is no longer needed. Discards the block and makes the memory
+// availible for new blocks.    
+FORCE_INLINE void plan_discard_current_block()  
+{
+  if (block_buffer_head != block_buffer_tail) {
+    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
+  }
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE block_t *plan_get_current_block() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return(NULL); 
+  }
+  block_t *block = &block_buffer[block_buffer_tail];
+  block->busy = true;
+  return(block);
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE bool blocks_queued() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return false; 
+  }
+  else
+    return true;
+}
+
+void allow_cold_extrudes(bool allow);
 #endif

Marlin/speed_lookuptable.h

@@ -1,76 +1,152 @@
-#ifndef SPEED_LOOKUPTABLE_H
-#define SPEED_LOOKUPTABLE_H
-
-#include <avr/pgmspace.h>
-
-uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\
-{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, 
-{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, 
-{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, 
-{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, 
-{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, 
-{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, 
-{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, 
-{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, 
-{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, 
-{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, 
-{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, 
-{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, 
-{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, 
-{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, 
-{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, 
-{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, 
-{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, 
-{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, 
-{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, 
-{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, 
-{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, 
-{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, 
-{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, 
-{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, 
-{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, 
-{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, 
-{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, 
-{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, 
-{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, 
-{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, 
-{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, 
-{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0}
-};
-
-uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
-{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, 
-{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, 
-{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, 
-{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, 
-{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, 
-{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, 
-{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, 
-{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, 
-{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, 
-{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, 
-{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, 
-{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, 
-{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, 
-{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, 
-{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, 
-{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, 
-{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, 
-{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, 
-{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, 
-{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, 
-{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, 
-{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, 
-{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, 
-{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, 
-{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, 
-{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, 
-{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, 
-{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, 
-{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, 
-{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, 
-{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, 
-{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3}
-};
-
-#endif
+#ifndef SPEED_LOOKUPTABLE_H
+#define SPEED_LOOKUPTABLE_H
+
+#include "Marlin.h"
+
+#if F_CPU == 16000000
+
+const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\
+{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, 
+{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, 
+{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, 
+{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, 
+{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, 
+{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, 
+{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, 
+{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, 
+{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, 
+{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, 
+{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, 
+{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, 
+{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, 
+{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, 
+{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, 
+{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, 
+{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, 
+{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, 
+{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, 
+{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, 
+{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, 
+{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, 
+{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, 
+{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, 
+{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, 
+{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, 
+{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, 
+{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, 
+{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, 
+{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, 
+{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, 
+{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0}
+};
+
+const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
+{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, 
+{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, 
+{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, 
+{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, 
+{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, 
+{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, 
+{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, 
+{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, 
+{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, 
+{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, 
+{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, 
+{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, 
+{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, 
+{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, 
+{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, 
+{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, 
+{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, 
+{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, 
+{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, 
+{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, 
+{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, 
+{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, 
+{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, 
+{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, 
+{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, 
+{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, 
+{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, 
+{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, 
+{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, 
+{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, 
+{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, 
+{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3}
+};
+
+#else
+
+const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
+   {62500, 54055}, {8445, 3917}, {4528, 1434}, {3094, 745}, {2349, 456}, {1893, 307}, {1586, 222}, {1364, 167},
+   {1197, 131}, {1066, 105}, {961, 86}, {875, 72}, {803, 61}, {742, 53}, {689, 45}, {644, 40},
+   {604, 35}, {569, 32}, {537, 28}, {509, 25}, {484, 23}, {461, 21}, {440, 19}, {421, 17},
+   {404, 16}, {388, 15}, {373, 14}, {359, 13}, {346, 12}, {334, 11}, {323, 10}, {313, 10},
+   {303, 9}, {294, 9}, {285, 8}, {277, 7}, {270, 8}, {262, 7}, {255, 6}, {249, 6},
+   {243, 6}, {237, 6}, {231, 5}, {226, 5}, {221, 5}, {216, 5}, {211, 4}, {207, 5},
+   {202, 4}, {198, 4}, {194, 4}, {190, 3}, {187, 4}, {183, 3}, {180, 3}, {177, 4},
+   {173, 3}, {170, 3}, {167, 2}, {165, 3}, {162, 3}, {159, 2}, {157, 3}, {154, 2},
+   {152, 3}, {149, 2}, {147, 2}, {145, 2}, {143, 2}, {141, 2}, {139, 2}, {137, 2},
+   {135, 2}, {133, 2}, {131, 2}, {129, 1}, {128, 2}, {126, 2}, {124, 1}, {123, 2},
+   {121, 1}, {120, 2}, {118, 1}, {117, 1}, {116, 2}, {114, 1}, {113, 1}, {112, 2},
+   {110, 1}, {109, 1}, {108, 1}, {107, 2}, {105, 1}, {104, 1}, {103, 1}, {102, 1},
+   {101, 1}, {100, 1}, {99, 1}, {98, 1}, {97, 1}, {96, 1}, {95, 1}, {94, 1},
+   {93, 1}, {92, 1}, {91, 0}, {91, 1}, {90, 1}, {89, 1}, {88, 1}, {87, 0},
+   {87, 1}, {86, 1}, {85, 1}, {84, 0}, {84, 1}, {83, 1}, {82, 1}, {81, 0},
+   {81, 1}, {80, 1}, {79, 0}, {79, 1}, {78, 0}, {78, 1}, {77, 1}, {76, 0},
+   {76, 1}, {75, 0}, {75, 1}, {74, 1}, {73, 0}, {73, 1}, {72, 0}, {72, 1},
+   {71, 0}, {71, 1}, {70, 0}, {70, 1}, {69, 0}, {69, 1}, {68, 0}, {68, 1},
+   {67, 0}, {67, 1}, {66, 0}, {66, 1}, {65, 0}, {65, 0}, {65, 1}, {64, 0},
+   {64, 1}, {63, 0}, {63, 1}, {62, 0}, {62, 0}, {62, 1}, {61, 0}, {61, 1},
+   {60, 0}, {60, 0}, {60, 1}, {59, 0}, {59, 0}, {59, 1}, {58, 0}, {58, 0},
+   {58, 1}, {57, 0}, {57, 0}, {57, 1}, {56, 0}, {56, 0}, {56, 1}, {55, 0},
+   {55, 0}, {55, 1}, {54, 0}, {54, 0}, {54, 1}, {53, 0}, {53, 0}, {53, 0},
+   {53, 1}, {52, 0}, {52, 0}, {52, 1}, {51, 0}, {51, 0}, {51, 0}, {51, 1},
+   {50, 0}, {50, 0}, {50, 0}, {50, 1}, {49, 0}, {49, 0}, {49, 0}, {49, 1},
+   {48, 0}, {48, 0}, {48, 0}, {48, 1}, {47, 0}, {47, 0}, {47, 0}, {47, 1},
+   {46, 0}, {46, 0}, {46, 0}, {46, 0}, {46, 1}, {45, 0}, {45, 0}, {45, 0},
+   {45, 1}, {44, 0}, {44, 0}, {44, 0}, {44, 0}, {44, 1}, {43, 0}, {43, 0},
+   {43, 0}, {43, 0}, {43, 1}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, {42, 0},
+   {42, 1}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 1}, {40, 0},
+   {40, 0}, {40, 0}, {40, 0}, {40, 1}, {39, 0}, {39, 0}, {39, 0}, {39, 0},
+   {39, 0}, {39, 0}, {39, 1}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, {38, 0},
+};
+
+const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
+   {62500, 10417}, {52083, 7441}, {44642, 5580}, {39062, 4340}, {34722, 3472}, {31250, 2841}, {28409, 2368}, {26041, 2003},
+   {24038, 1717}, {22321, 1488}, {20833, 1302}, {19531, 1149}, {18382, 1021}, {17361, 914}, {16447, 822}, {15625, 745},
+   {14880, 676}, {14204, 618}, {13586, 566}, {13020, 520}, {12500, 481}, {12019, 445}, {11574, 414}, {11160, 385},
+   {10775, 359}, {10416, 336}, {10080, 315}, {9765, 296}, {9469, 278}, {9191, 263}, {8928, 248}, {8680, 235},
+   {8445, 222}, {8223, 211}, {8012, 200}, {7812, 191}, {7621, 181}, {7440, 173}, {7267, 165}, {7102, 158},
+   {6944, 151}, {6793, 145}, {6648, 138}, {6510, 133}, {6377, 127}, {6250, 123}, {6127, 118}, {6009, 113},
+   {5896, 109}, {5787, 106}, {5681, 101}, {5580, 98}, {5482, 95}, {5387, 91}, {5296, 88}, {5208, 86},
+   {5122, 82}, {5040, 80}, {4960, 78}, {4882, 75}, {4807, 73}, {4734, 70}, {4664, 69}, {4595, 67},
+   {4528, 64}, {4464, 63}, {4401, 61}, {4340, 60}, {4280, 58}, {4222, 56}, {4166, 55}, {4111, 53},
+   {4058, 52}, {4006, 51}, {3955, 49}, {3906, 48}, {3858, 48}, {3810, 45}, {3765, 45}, {3720, 44},
+   {3676, 43}, {3633, 42}, {3591, 40}, {3551, 40}, {3511, 39}, {3472, 38}, {3434, 38}, {3396, 36},
+   {3360, 36}, {3324, 35}, {3289, 34}, {3255, 34}, {3221, 33}, {3188, 32}, {3156, 31}, {3125, 31},
+   {3094, 31}, {3063, 30}, {3033, 29}, {3004, 28}, {2976, 28}, {2948, 28}, {2920, 27}, {2893, 27},
+   {2866, 26}, {2840, 25}, {2815, 25}, {2790, 25}, {2765, 24}, {2741, 24}, {2717, 24}, {2693, 23},
+   {2670, 22}, {2648, 22}, {2626, 22}, {2604, 22}, {2582, 21}, {2561, 21}, {2540, 20}, {2520, 20},
+   {2500, 20}, {2480, 20}, {2460, 19}, {2441, 19}, {2422, 19}, {2403, 18}, {2385, 18}, {2367, 18},
+   {2349, 17}, {2332, 18}, {2314, 17}, {2297, 16}, {2281, 17}, {2264, 16}, {2248, 16}, {2232, 16},
+   {2216, 16}, {2200, 15}, {2185, 15}, {2170, 15}, {2155, 15}, {2140, 15}, {2125, 14}, {2111, 14},
+   {2097, 14}, {2083, 14}, {2069, 14}, {2055, 13}, {2042, 13}, {2029, 13}, {2016, 13}, {2003, 13},
+   {1990, 13}, {1977, 12}, {1965, 12}, {1953, 13}, {1940, 11}, {1929, 12}, {1917, 12}, {1905, 12},
+   {1893, 11}, {1882, 11}, {1871, 11}, {1860, 11}, {1849, 11}, {1838, 11}, {1827, 11}, {1816, 10},
+   {1806, 11}, {1795, 10}, {1785, 10}, {1775, 10}, {1765, 10}, {1755, 10}, {1745, 9}, {1736, 10},
+   {1726, 9}, {1717, 10}, {1707, 9}, {1698, 9}, {1689, 9}, {1680, 9}, {1671, 9}, {1662, 9},
+   {1653, 9}, {1644, 8}, {1636, 9}, {1627, 8}, {1619, 9}, {1610, 8}, {1602, 8}, {1594, 8},
+   {1586, 8}, {1578, 8}, {1570, 8}, {1562, 8}, {1554, 7}, {1547, 8}, {1539, 8}, {1531, 7},
+   {1524, 8}, {1516, 7}, {1509, 7}, {1502, 7}, {1495, 7}, {1488, 7}, {1481, 7}, {1474, 7},
+   {1467, 7}, {1460, 7}, {1453, 7}, {1446, 6}, {1440, 7}, {1433, 7}, {1426, 6}, {1420, 6},
+   {1414, 7}, {1407, 6}, {1401, 6}, {1395, 7}, {1388, 6}, {1382, 6}, {1376, 6}, {1370, 6},
+   {1364, 6}, {1358, 6}, {1352, 6}, {1346, 5}, {1341, 6}, {1335, 6}, {1329, 5}, {1324, 6},
+   {1318, 5}, {1313, 6}, {1307, 5}, {1302, 6}, {1296, 5}, {1291, 5}, {1286, 6}, {1280, 5},
+   {1275, 5}, {1270, 5}, {1265, 5}, {1260, 5}, {1255, 5}, {1250, 5}, {1245, 5}, {1240, 5},
+   {1235, 5}, {1230, 5}, {1225, 5}, {1220, 5}, {1215, 4}, {1211, 5}, {1206, 5}, {1201, 5},
+};
+
+#endif
+
+#endif

Marlin/stepper.cpp

@@ -21,15 +21,12 @@
 /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
    and Philipp Tiefenbacher. */
 
-#include "stepper.h"
-#include "Configuration.h"
 #include "Marlin.h"
+#include "stepper.h"
 #include "planner.h"
-#include "pins.h"
-#include "fastio.h"
 #include "temperature.h"
 #include "ultralcd.h"
-
+#include "language.h"
 #include "speed_lookuptable.h"
 
 
@@ -40,7 +37,6 @@
 block_t *current_block;  // A pointer to the block currently being traced
 
 
-
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
@@ -52,17 +48,17 @@ static long counter_x,       // Counter variables for the bresenham line tracer
             counter_y, 
             counter_z,       
             counter_e;
-static unsigned long step_events_completed; // The number of step events executed in the current block
+volatile static unsigned long step_events_completed; // The number of step events executed in the current block
 #ifdef ADVANCE
   static long advance_rate, advance, final_advance = 0;
-  static short old_advance = 0;
+  static long old_advance = 0;
 #endif
-static short e_steps;
-static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
+static long e_steps[3];
 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
 static char step_loops;
+static unsigned short OCR1A_nominal;
 
 volatile long endstops_trigsteps[3]={0,0,0};
 volatile long endstops_stepsTotal,endstops_stepsDone;
@@ -70,13 +66,23 @@ static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
 
+static bool old_x_min_endstop=false;
+static bool old_x_max_endstop=false;
+static bool old_y_min_endstop=false;
+static bool old_y_max_endstop=false;
+static bool old_z_min_endstop=false;
+static bool old_z_max_endstop=false;
+
+static bool check_endstops = true;
+
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
 //===========================================================================
 //=============================functions         ============================
 //===========================================================================
-  
+
+#define CHECK_ENDSTOPS  if(check_endstops)
 
 // intRes = intIn1 * intIn2 >> 16
 // uses:
@@ -153,11 +159,12 @@ asm volatile ( \
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  TIMSK1 |= (1<<OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
 
+
 void checkHitEndstops()
 {
  if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
    SERIAL_ECHO_START;
-   SERIAL_ECHOPGM("endstops hit: ");
+   SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
    if(endstop_x_hit) {
      SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
    }
@@ -181,6 +188,11 @@ void endstops_hit_on_purpose()
   endstop_z_hit=false;
 }
 
+void enable_endstops(bool check)
+{
+  check_endstops = check;
+}
+
 //         __________________________
 //        /|                        |\     _________________         ^
 //       / |                        | \   /|               |\        |
@@ -199,11 +211,16 @@ void endstops_hit_on_purpose()
 
 void st_wake_up() {
   //  TCNT1 = 0;
-  if(busy == false) 
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
-inline unsigned short calc_timer(unsigned short step_rate) {
+void step_wait(){
+    for(int8_t i=0; i < 6; i++){
+    }
+}
+  
+
+FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
   
@@ -219,8 +236,8 @@ inline unsigned short calc_timer(unsigned short step_rate) {
     step_loops = 1;
   } 
   
-  if(step_rate < 32) step_rate = 32;
-  step_rate -= 32; // Correct for minimal speed
+  if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
+  step_rate -= (F_CPU/500000); // Correct for minimal speed
   if(step_rate >= (8*256)){ // higher step rate 
     unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
     unsigned char tmp_step_rate = (step_rate & 0x00ff);
@@ -234,55 +251,70 @@ inline unsigned short calc_timer(unsigned short step_rate) {
     timer = (unsigned short)pgm_read_word_near(table_address);
     timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
   }
-  if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
+  if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
   return timer;
 }
 
 // Initializes the trapezoid generator from the current block. Called whenever a new 
 // block begins.
-inline void trapezoid_generator_reset() {
+FORCE_INLINE void trapezoid_generator_reset() {
   #ifdef ADVANCE
     advance = current_block->initial_advance;
     final_advance = current_block->final_advance;
+    // Do E steps + advance steps
+    e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+    old_advance = advance >>8;  
   #endif
   deceleration_time = 0;
   // step_rate to timer interval
+  OCR1A_nominal = calc_timer(current_block->nominal_rate);
   acc_step_rate = current_block->initial_rate;
   acceleration_time = calc_timer(acc_step_rate);
   OCR1A = acceleration_time;
+  
+//    SERIAL_ECHO_START;
+//    SERIAL_ECHOPGM("advance :");
+//    SERIAL_ECHO(current_block->advance/256.0);
+//    SERIAL_ECHOPGM("advance rate :");
+//    SERIAL_ECHO(current_block->advance_rate/256.0);
+//    SERIAL_ECHOPGM("initial advance :");
+//  SERIAL_ECHO(current_block->initial_advance/256.0);
+//    SERIAL_ECHOPGM("final advance :");
+//    SERIAL_ECHOLN(current_block->final_advance/256.0);
+    
 }
 
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.  
 // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
 ISR(TIMER1_COMPA_vect)
-{        
-  if(busy){ 
-    SERIAL_ERROR_START
-    SERIAL_ERROR(*(unsigned short *)OCR1A);
-    SERIAL_ERRORLNPGM(" ISR overtaking itself.");
-    return; 
-  } // The busy-flag is used to avoid reentering this interrupt
-
-  busy = true;
-  sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
-
+{    
   // If there is no current block, attempt to pop one from the buffer
   if (current_block == NULL) {
     // 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;
       counter_z = counter_x;
       counter_e = counter_x;
-      step_events_completed = 0;
- //     #ifdef ADVANCE
-      e_steps = 0;
+      step_events_completed = 0; 
+      
+      #ifdef Z_LATE_ENABLE 
+        if(current_block->steps_z > 0) {
+          enable_z();
+          OCR1A = 2000; //1ms wait
+          return;
+        }
+      #endif
+      
+//      #ifdef ADVANCE
+//      e_steps[current_block->active_extruder] = 0;
 //      #endif
     } 
     else {
-//      DISABLE_STEPPER_DRIVER_INTERRUPT();
+        OCR1A=2000; // 1kHz.
     }    
   } 
 
@@ -291,142 +323,266 @@ ISR(TIMER1_COMPA_vect)
     out_bits = current_block->direction_bits;
 
     // Set direction en check limit switches
-    if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
-      WRITE(X_DIR_PIN, INVERT_X_DIR);
+    if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
+      #if !defined COREXY  //NOT COREXY
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+      #endif
       count_direction[X_AXIS]=-1;
-      #if X_MIN_PIN > -1
-        if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) {
-          endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-          endstop_x_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS
+      {
+        #if X_MIN_PIN > -1
+          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+          if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
+            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+            endstop_x_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_x_min_endstop = x_min_endstop;
+        #endif
+      }
     }
-    else { // +direction 
-      WRITE(X_DIR_PIN,!INVERT_X_DIR);
-      count_direction[X_AXIS]=1;
-      #if X_MAX_PIN > -1
-        if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){
-          endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-          endstop_x_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
+    else { // +direction
+      #if !defined COREXY  //NOT COREXY
+        WRITE(X_DIR_PIN,!INVERT_X_DIR);
       #endif
+      
+      count_direction[X_AXIS]=1;
+      CHECK_ENDSTOPS 
+      {
+        #if X_MAX_PIN > -1
+          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+          if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
+            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+            endstop_x_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_x_max_endstop = x_max_endstop;
+        #endif
+      }
     }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
-      WRITE(Y_DIR_PIN,INVERT_Y_DIR);
-      count_direction[Y_AXIS]=-1;
-      #if Y_MIN_PIN > -1
-        if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) {
-          endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-          endstop_y_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
+      #if !defined COREXY  //NOT COREXY
+        WRITE(Y_DIR_PIN,INVERT_Y_DIR);
       #endif
+      count_direction[Y_AXIS]=-1;
+      CHECK_ENDSTOPS
+      {
+        #if Y_MIN_PIN > -1
+          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
+            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+            endstop_y_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_y_min_endstop = y_min_endstop;
+        #endif
+      }
     }
     else { // +direction
-    WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
-      count_direction[Y_AXIS]=1;
-      #if Y_MAX_PIN > -1
-      if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){
-          endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-          endstop_y_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
+      #if !defined COREXY  //NOT COREXY
+        WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       #endif
+      count_direction[Y_AXIS]=1;
+      CHECK_ENDSTOPS
+      {
+        #if Y_MAX_PIN > -1
+          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
+            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+            endstop_y_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_y_max_endstop = y_max_endstop;
+        #endif
+      }
     }
-
+    
+    
+    #ifdef COREXY  //coreXY kinematics defined
+      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){  //+X is major axis
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+      }
+      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){  //-X is major axis
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+      }      
+      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){  //+Y is major axis
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+      }        
+      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){  //-Y is major axis
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+      }  
+    #endif //coreXY
+    
+    
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
-      count_direction[Z_AXIS]=-1;
-      #if Z_MIN_PIN > -1
-        if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) {
-          endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-          endstop_z_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
+      
+	  #ifdef Z_DUAL_STEPPER_DRIVERS
+        WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
       #endif
+      
+      count_direction[Z_AXIS]=-1;
+      CHECK_ENDSTOPS
+      {
+        #if Z_MIN_PIN > -1
+          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+          if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstop_z_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_z_min_endstop = z_min_endstop;
+        #endif
+      }
     }
     else { // +direction
       WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
-        count_direction[Z_AXIS]=1;
-      #if Z_MAX_PIN > -1
-        if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING)  && (current_block->steps_z > 0)){
-          endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-          endstop_z_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
+
+	  #ifdef Z_DUAL_STEPPER_DRIVERS
+        WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
       #endif
+
+      count_direction[Z_AXIS]=1;
+      CHECK_ENDSTOPS
+      {
+        #if Z_MAX_PIN > -1
+          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+          if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstop_z_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_z_max_endstop = z_max_endstop;
+        #endif
+      }
     }
 
     #ifndef ADVANCE
       if ((out_bits & (1<<E_AXIS)) != 0) {  // -direction
-        WRITE(E_DIR_PIN,INVERT_E_DIR);
+        REV_E_DIR();
         count_direction[E_AXIS]=-1;
       }
       else { // +direction
-        WRITE(E_DIR_PIN,!INVERT_E_DIR);
-        count_direction[E_AXIS]=-1;
+        NORM_E_DIR();
+        count_direction[E_AXIS]=1;
       }
     #endif //!ADVANCE
+    
 
+    
     for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
-    /*
+      #if MOTHERBOARD != 8 // !teensylu
+      MSerial.checkRx(); // Check for serial chars.
+      #endif 
+      
+      #ifdef ADVANCE
       counter_e += current_block->steps_e;
       if (counter_e > 0) {
         counter_e -= current_block->step_event_count;
         if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
-          CRITICAL_SECTION_START;
-          e_steps--;
-          CRITICAL_SECTION_END;
+          e_steps[current_block->active_extruder]--;
         }
         else {
-          CRITICAL_SECTION_START;
-          e_steps++;
-          CRITICAL_SECTION_END;
+          e_steps[current_block->active_extruder]++;
         }
       }    
-      */
-      /*
-      // Do E steps + advance steps
-      CRITICAL_SECTION_START;
-      e_steps += ((advance >> 16) - old_advance);
-      CRITICAL_SECTION_END;
-      old_advance = advance >> 16;  
-      */
+      #endif //ADVANCE
+
+      #if !defined COREXY      
+        counter_x += current_block->steps_x;
+        if (counter_x > 0) {
+          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          counter_x -= current_block->step_event_count;
+          count_position[X_AXIS]+=count_direction[X_AXIS];   
+          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+        }
+  
+        counter_y += current_block->steps_y;
+        if (counter_y > 0) {
+          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+          counter_y -= current_block->step_event_count; 
+          count_position[Y_AXIS]+=count_direction[Y_AXIS]; 
+          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+        }
+      #endif
+  
+      #ifdef COREXY
+        counter_x += current_block->steps_x;        
+        counter_y += current_block->steps_y;
         
-      counter_x += current_block->steps_x;
-      if (counter_x > 0) {
-        WRITE(X_STEP_PIN, HIGH);
-        counter_x -= current_block->step_event_count;
-        WRITE(X_STEP_PIN, LOW);
-        count_position[X_AXIS]+=count_direction[X_AXIS];   
-      }
-
-      counter_y += current_block->steps_y;
-      if (counter_y > 0) {
-        WRITE(Y_STEP_PIN, HIGH);
-        counter_y -= current_block->step_event_count;
-        WRITE(Y_STEP_PIN, LOW);
-        count_position[Y_AXIS]+=count_direction[Y_AXIS];
-      }
-
+        if ((counter_x > 0)&&!(counter_y>0)){  //X step only
+          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+          counter_x -= current_block->step_event_count; 
+          count_position[X_AXIS]+=count_direction[X_AXIS];         
+          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+        }
+        
+        if (!(counter_x > 0)&&(counter_y>0)){  //Y step only
+          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+          counter_y -= current_block->step_event_count; 
+          count_position[Y_AXIS]+=count_direction[Y_AXIS];
+          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+        }        
+        
+        if ((counter_x > 0)&&(counter_y>0)){  //step in both axes
+          if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){  //X and Y in different directions
+            WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+            counter_x -= current_block->step_event_count;             
+            WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+            step_wait();
+            count_position[X_AXIS]+=count_direction[X_AXIS];
+            count_position[Y_AXIS]+=count_direction[Y_AXIS];
+            WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+            counter_y -= current_block->step_event_count;
+            WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+          }
+          else{  //X and Y in same direction
+            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+            counter_x -= current_block->step_event_count;             
+            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
+            step_wait();
+            count_position[X_AXIS]+=count_direction[X_AXIS];
+            count_position[Y_AXIS]+=count_direction[Y_AXIS];
+            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
+            counter_y -= current_block->step_event_count;    
+            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);        
+          }
+        }
+      #endif //corexy
+      
       counter_z += current_block->steps_z;
       if (counter_z > 0) {
-        WRITE(Z_STEP_PIN, HIGH);
+        WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
+        
+		#ifdef Z_DUAL_STEPPER_DRIVERS
+          WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
+        #endif
+        
         counter_z -= current_block->step_event_count;
-        WRITE(Z_STEP_PIN, LOW);
         count_position[Z_AXIS]+=count_direction[Z_AXIS];
+        WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
+        
+		#ifdef Z_DUAL_STEPPER_DRIVERS
+          WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
+        #endif
       }
 
       #ifndef ADVANCE
         counter_e += current_block->steps_e;
         if (counter_e > 0) {
-          WRITE(E_STEP_PIN, HIGH);
+          WRITE_E_STEP(!INVERT_E_STEP_PIN);
           counter_e -= current_block->step_event_count;
-          WRITE(E_STEP_PIN, LOW);
           count_position[E_AXIS]+=count_direction[E_AXIS];
+          WRITE_E_STEP(INVERT_E_STEP_PIN);
         }
       #endif //!ADVANCE
       step_events_completed += 1;  
@@ -435,7 +591,8 @@ ISR(TIMER1_COMPA_vect)
     // Calculare new timer value
     unsigned short timer;
     unsigned short step_rate;
-    if (step_events_completed <= current_block->accelerate_until) {
+    if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
+      
       MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
       acc_step_rate += current_block->initial_rate;
       
@@ -445,13 +602,20 @@ ISR(TIMER1_COMPA_vect)
 
       // step_rate to timer interval
       timer = calc_timer(acc_step_rate);
-      #ifdef ADVANCE
-        advance += advance_rate;
-      #endif
-      acceleration_time += timer;
       OCR1A = timer;
+      acceleration_time += timer;
+      #ifdef ADVANCE
+        for(int8_t i=0; i < step_loops; i++) {
+          advance += advance_rate;
+        }
+        //if(advance > current_block->advance) advance = current_block->advance;
+        // Do E steps + advance steps
+        e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+        old_advance = advance >>8;  
+        
+      #endif
     } 
-    else if (step_events_completed > current_block->decelerate_after) {   
+    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {   
       MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
       
       if(step_rate > acc_step_rate) { // Check step_rate stays positive
@@ -467,27 +631,28 @@ ISR(TIMER1_COMPA_vect)
 
       // step_rate to timer interval
       timer = calc_timer(step_rate);
-      #ifdef ADVANCE
-        advance -= advance_rate;
-        if(advance < final_advance)
-          advance = final_advance;
-      #endif //ADVANCE
-      deceleration_time += timer;
       OCR1A = timer;
+      deceleration_time += timer;
+      #ifdef ADVANCE
+        for(int8_t i=0; i < step_loops; i++) {
+          advance -= advance_rate;
+        }
+        if(advance < final_advance) advance = final_advance;
+        // Do E steps + advance steps
+        e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+        old_advance = advance >>8;  
+      #endif //ADVANCE
     }
     else {
-      timer = calc_timer(current_block->nominal_rate);
-      OCR1A = timer;
+      OCR1A = OCR1A_nominal;
     }
-    
+
     // If current block is finished, reset pointer 
     if (step_events_completed >= current_block->step_event_count) {
       current_block = NULL;
       plan_discard_current_block();
     }   
   } 
-  cli(); // disable interrupts
-  busy=false;
 }
 
 #ifdef ADVANCE
@@ -496,28 +661,60 @@ ISR(TIMER1_COMPA_vect)
   // Timer 0 is shared with millies
   ISR(TIMER0_COMPA_vect)
   {
-    // Critical section needed because Timer 1 interrupt has higher priority. 
-    // The pin set functions are placed on trategic position to comply with the stepper driver timing.
-    WRITE(E_STEP_PIN, LOW);
-    // Set E direction (Depends on E direction + advance)
-    if (e_steps < 0) {
-      WRITE(E_DIR_PIN,INVERT_E_DIR);    
-      e_steps++;
-      WRITE(E_STEP_PIN, HIGH);
-    } 
-    if (e_steps > 0) {
-      WRITE(E_DIR_PIN,!INVERT_E_DIR);
-      e_steps--;
-      WRITE(E_STEP_PIN, HIGH);
-    }
-    old_OCR0A += 25; // 10kHz interrupt
+    old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
     OCR0A = old_OCR0A;
+    // Set E direction (Depends on E direction + advance)
+    for(unsigned char i=0; i<4;i++) {
+      if (e_steps[0] != 0) {
+        WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
+        if (e_steps[0] < 0) {
+          WRITE(E0_DIR_PIN, INVERT_E0_DIR);
+          e_steps[0]++;
+          WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
+        } 
+        else if (e_steps[0] > 0) {
+          WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
+          e_steps[0]--;
+          WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
+        }
+      }
+ #if EXTRUDERS > 1
+      if (e_steps[1] != 0) {
+        WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
+        if (e_steps[1] < 0) {
+          WRITE(E1_DIR_PIN, INVERT_E1_DIR);
+          e_steps[1]++;
+          WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
+        } 
+        else if (e_steps[1] > 0) {
+          WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
+          e_steps[1]--;
+          WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
+        }
+      }
+ #endif
+ #if EXTRUDERS > 2
+      if (e_steps[2] != 0) {
+        WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
+        if (e_steps[2] < 0) {
+          WRITE(E2_DIR_PIN, INVERT_E2_DIR);
+          e_steps[2]++;
+          WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
+        } 
+        else if (e_steps[2] > 0) {
+          WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
+          e_steps[2]--;
+          WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
+        }
+      }
+ #endif
+    }
   }
 #endif // ADVANCE
 
 void st_init()
 {
-    //Initialize Dir Pins
+  //Initialize Dir Pins
   #if X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
   #endif
@@ -526,9 +723,19 @@ void st_init()
   #endif
   #if Z_DIR_PIN > -1 
     SET_OUTPUT(Z_DIR_PIN);
+
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_DIR_PIN > -1)
+      SET_OUTPUT(Z2_DIR_PIN);
+    #endif
   #endif
-  #if E_DIR_PIN > -1 
-    SET_OUTPUT(E_DIR_PIN);
+  #if E0_DIR_PIN > -1 
+    SET_OUTPUT(E0_DIR_PIN);
+  #endif
+  #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
+    SET_OUTPUT(E1_DIR_PIN);
+  #endif
+  #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
+    SET_OUTPUT(E2_DIR_PIN);
   #endif
 
   //Initialize Enable Pins - steppers default to disabled.
@@ -544,74 +751,112 @@ void st_init()
   #if (Z_ENABLE_PIN > -1)
     SET_OUTPUT(Z_ENABLE_PIN);
     if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+    
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_ENABLE_PIN > -1)
+      SET_OUTPUT(Z2_ENABLE_PIN);
+      if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
+    #endif
   #endif
-  #if (E_ENABLE_PIN > -1)
-    SET_OUTPUT(E_ENABLE_PIN);
-    if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
+  #if (E0_ENABLE_PIN > -1)
+    SET_OUTPUT(E0_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
+  #endif
+  #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
+    SET_OUTPUT(E1_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
+  #endif
+  #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
+    SET_OUTPUT(E2_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
   #endif
 
   //endstops and pullups
-  #ifdef ENDSTOPPULLUPS
-    #if X_MIN_PIN > -1
-      SET_INPUT(X_MIN_PIN); 
+  
+  #if X_MIN_PIN > -1
+    SET_INPUT(X_MIN_PIN); 
+    #ifdef ENDSTOPPULLUP_XMIN
       WRITE(X_MIN_PIN,HIGH);
     #endif
-    #if X_MAX_PIN > -1
-      SET_INPUT(X_MAX_PIN); 
-      WRITE(X_MAX_PIN,HIGH);
-    #endif
-    #if Y_MIN_PIN > -1
-      SET_INPUT(Y_MIN_PIN); 
+  #endif
+      
+  #if Y_MIN_PIN > -1
+    SET_INPUT(Y_MIN_PIN); 
+    #ifdef ENDSTOPPULLUP_YMIN
       WRITE(Y_MIN_PIN,HIGH);
     #endif
-    #if Y_MAX_PIN > -1
-      SET_INPUT(Y_MAX_PIN); 
-      WRITE(Y_MAX_PIN,HIGH);
-    #endif
-    #if Z_MIN_PIN > -1
-      SET_INPUT(Z_MIN_PIN); 
+  #endif
+  
+  #if Z_MIN_PIN > -1
+    SET_INPUT(Z_MIN_PIN); 
+    #ifdef ENDSTOPPULLUP_ZMIN
       WRITE(Z_MIN_PIN,HIGH);
     #endif
-    #if Z_MAX_PIN > -1
-      SET_INPUT(Z_MAX_PIN); 
+  #endif
+      
+  #if X_MAX_PIN > -1
+    SET_INPUT(X_MAX_PIN); 
+    #ifdef ENDSTOPPULLUP_XMAX
+      WRITE(X_MAX_PIN,HIGH);
+    #endif
+  #endif
+      
+  #if Y_MAX_PIN > -1
+    SET_INPUT(Y_MAX_PIN); 
+    #ifdef ENDSTOPPULLUP_YMAX
+      WRITE(Y_MAX_PIN,HIGH);
+    #endif
+  #endif
+  
+  #if Z_MAX_PIN > -1
+    SET_INPUT(Z_MAX_PIN); 
+    #ifdef ENDSTOPPULLUP_ZMAX
       WRITE(Z_MAX_PIN,HIGH);
     #endif
-  #else //ENDSTOPPULLUPS
-    #if X_MIN_PIN > -1
-      SET_INPUT(X_MIN_PIN); 
-    #endif
-    #if X_MAX_PIN > -1
-      SET_INPUT(X_MAX_PIN); 
-    #endif
-    #if Y_MIN_PIN > -1
-      SET_INPUT(Y_MIN_PIN); 
-    #endif
-    #if Y_MAX_PIN > -1
-      SET_INPUT(Y_MAX_PIN); 
-    #endif
-    #if Z_MIN_PIN > -1
-      SET_INPUT(Z_MIN_PIN); 
-    #endif
-    #if Z_MAX_PIN > -1
-      SET_INPUT(Z_MAX_PIN); 
-    #endif
-  #endif //ENDSTOPPULLUPS
+  #endif
  
 
   //Initialize Step Pins
   #if (X_STEP_PIN > -1) 
     SET_OUTPUT(X_STEP_PIN);
+    WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
+    if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
   #endif  
   #if (Y_STEP_PIN > -1) 
     SET_OUTPUT(Y_STEP_PIN);
+    WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
+    if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
   #endif  
   #if (Z_STEP_PIN > -1) 
     SET_OUTPUT(Z_STEP_PIN);
+    WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
+    if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+    
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_STEP_PIN > -1)
+      SET_OUTPUT(Z2_STEP_PIN);
+      WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
+      if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
+    #endif
   #endif  
-  #if (E_STEP_PIN > -1) 
-    SET_OUTPUT(E_STEP_PIN);
+  #if (E0_STEP_PIN > -1) 
+    SET_OUTPUT(E0_STEP_PIN);
+    WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
+    if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
+  #endif  
+  #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) 
+    SET_OUTPUT(E1_STEP_PIN);
+    WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
+    if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
+  #endif  
+  #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) 
+    SET_OUTPUT(E2_STEP_PIN);
+    WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
+    if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
   #endif  
 
+  #ifdef CONTROLLERFAN_PIN
+    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
+  #endif
+  
   // waveform generation = 0100 = CTC
   TCCR1B &= ~(1<<WGM13);
   TCCR1B |=  (1<<WGM12);
@@ -621,27 +866,42 @@ void st_init()
   // output mode = 00 (disconnected)
   TCCR1A &= ~(3<<COM1A0); 
   TCCR1A &= ~(3<<COM1B0); 
-  TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
+  
+  // Set the timer pre-scaler
+  // Generally we use a divider of 8, resulting in a 2MHz timer
+  // frequency on a 16MHz MCU. If you are going to change this, be
+  // sure to regenerate speed_lookuptable.h with
+  // create_speed_lookuptable.py
+  TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
 
   OCR1A = 0x4000;
   TCNT1 = 0;
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 
   #ifdef ADVANCE
-    e_steps = 0;
+  #if defined(TCCR0A) && defined(WGM01)
+    TCCR0A &= ~(1<<WGM01);
+    TCCR0A &= ~(1<<WGM00);
+  #endif  
+    e_steps[0] = 0;
+    e_steps[1] = 0;
+    e_steps[2] = 0;
     TIMSK0 |= (1<<OCIE0A);
   #endif //ADVANCE
+  
+  enable_endstops(true); // Start with endstops active. After homing they can be disabled
   sei();
 }
 
+
 // Block until all buffered steps are executed
 void st_synchronize()
 {
-  while(plan_get_current_block()) {
+    while( blocks_queued()) {
     manage_heater();
-    manage_inactivity(1);
+    manage_inactivity();
     LCD_STATUS;
-  }   
+  }
 }
 
 void st_set_position(const long &x, const long &y, const long &z, const long &e)
@@ -654,7 +914,14 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
   CRITICAL_SECTION_END;
 }
 
-long st_get_position(char axis)
+void st_set_e_position(const long &e)
+{
+  CRITICAL_SECTION_START;
+  count_position[E_AXIS] = e;
+  CRITICAL_SECTION_END;
+}
+
+long st_get_position(uint8_t axis)
 {
   long count_pos;
   CRITICAL_SECTION_START;
@@ -662,3 +929,25 @@ long st_get_position(char axis)
   CRITICAL_SECTION_END;
   return count_pos;
 }
+
+void finishAndDisableSteppers()
+{
+  st_synchronize(); 
+  LCD_MESSAGEPGM(MSG_STEPPER_RELEASED);
+  disable_x(); 
+  disable_y(); 
+  disable_z(); 
+  disable_e0(); 
+  disable_e1(); 
+  disable_e2(); 
+}
+
+void quickStop()
+{
+  DISABLE_STEPPER_DRIVER_INTERRUPT();
+  while(blocks_queued())
+    plan_discard_current_block();
+  current_block = NULL;
+  ENABLE_STEPPER_DRIVER_INTERRUPT();
+}
+

Marlin/stepper.h

@@ -23,6 +23,21 @@
 
 #include "planner.h"
 
+#if EXTRUDERS > 2
+  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
+  #define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(!E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(!E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
+  #define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
+#elif EXTRUDERS > 1
+  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
+  #define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
+  #define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
+#else
+  #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
+  #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
+  #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
+#endif
+
+
 // Initialize and start the stepper motor subsystem
 void st_init();
 
@@ -31,9 +46,10 @@ void st_synchronize();
 
 // Set current position in steps
 void st_set_position(const long &x, const long &y, const long &z, const long &e);
+void st_set_e_position(const long &e);
 
 // Get current position in steps
-long st_get_position(char axis);
+long st_get_position(uint8_t axis);
 
 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
 // to notify the subsystem that it is time to go to work.
@@ -43,9 +59,13 @@ void st_wake_up();
 void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
 void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
 
+void enable_endstops(bool check); // Enable/disable endstop checking
 
+void checkStepperErrors(); //Print errors detected by the stepper
+
+void finishAndDisableSteppers();
 
 extern block_t *current_block;  // A pointer to the block currently being traced
 
-
-#endif
+void quickStop();
+#endif

Marlin/temperature.h

@@ -1,93 +1,169 @@
-/*
-  temperature.h - temperature controller
-  Part of Marlin
-
-  Copyright (c) 2011 Erik van der Zalm
-
-  Grbl 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.
-
-  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef temperature_h
-#define temperature_h 
-
-#include "Marlin.h"
-#include "fastio.h"
-#ifdef PID_ADD_EXTRUSION_RATE
-  #include "stepper.h"
-#endif
-
-// public functions
-void tp_init();  //initialise the heating
-void manage_heater(); //it is critical that this is called periodically.
-
-
-enum TempSensor {TEMPSENSOR_HOTEND_0=0,TEMPSENSOR_BED=1, TEMPSENSOR_HOTEND_1=2};
-
-//low leven conversion routines
-// do not use this routines and variables outsie of temperature.cpp
-int temp2analog(int celsius);
-int temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
-extern int target_raw[3];  
-extern int current_raw[3];
-extern float Kp,Ki,Kd,Kc;
-
-#ifdef PIDTEMP
-  extern float pid_setpoint ;
-#endif
-  
-#ifdef WATCHPERIOD
-  extern int watch_raw[3] ;
-  extern unsigned long watchmillis;
-#endif
-
-
-
-//high level conversion routines, for use outside of temperature.cpp
-//inline so that there is no performance decrease.
-//deg=degreeCelsius
-
-inline float degHotend0(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degHotend1(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_1]);};
-inline float degBed() {  return analog2tempBed(current_raw[TEMPSENSOR_BED]);};
-
-inline float degTargetHotend0() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degTargetHotend1() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);};
-inline float degTargetBed() {   return analog2tempBed(target_raw[TEMPSENSOR_BED]);};
-
-inline void setTargetHotend0(const float &celsius) 
-{  
-  target_raw[TEMPSENSOR_HOTEND_0]=temp2analog(celsius);
-  #ifdef PIDTEMP
-    pid_setpoint = celsius;
-  #endif //PIDTEMP
-};
-inline void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
-inline void setTargetBed(const float &celsius)     {  target_raw[TEMPSENSOR_BED     ]=temp2analogBed(celsius);};
-
-inline bool isHeatingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];};
-inline bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];};
-inline bool isHeatingBed() {return target_raw[TEMPSENSOR_BED] > current_raw[TEMPSENSOR_BED];};
-
-inline bool isCoolingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];};
-inline bool isCoolingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];};
-inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMPSENSOR_BED];};
-
-void disable_heater();
-void setWatch();
-void updatePID();
-
-#endif
+/*
+  temperature.h - temperature controller
+  Part of Marlin
+
+  Copyright (c) 2011 Erik van der Zalm
+
+  Grbl 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.
+
+  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef temperature_h
+#define temperature_h 
+
+#include "Marlin.h"
+#include "planner.h"
+#ifdef PID_ADD_EXTRUSION_RATE
+  #include "stepper.h"
+#endif
+
+// public functions
+void tp_init();  //initialise the heating
+void manage_heater(); //it is critical that this is called periodically.
+
+//low leven conversion routines
+// do not use this routines and variables outsie of temperature.cpp
+int temp2analog(int celsius, uint8_t e);
+int temp2analogBed(int celsius);
+float analog2temp(int raw, uint8_t e);
+float analog2tempBed(int raw);
+extern int target_raw[EXTRUDERS];  
+extern int heatingtarget_raw[EXTRUDERS];  
+extern int current_raw[EXTRUDERS];
+extern int target_raw_bed;
+extern int current_raw_bed;
+#ifdef BED_LIMIT_SWITCHING
+  extern int target_bed_low_temp ;  
+  extern int target_bed_high_temp ;
+#endif
+extern float Kp,Ki,Kd,Kc;
+
+#ifdef PIDTEMP
+  extern float pid_setpoint[EXTRUDERS];
+#endif
+  
+// #ifdef WATCHPERIOD
+  extern int watch_raw[EXTRUDERS] ;
+//   extern unsigned long watchmillis;
+// #endif
+
+
+//high level conversion routines, for use outside of temperature.cpp
+//inline so that there is no performance decrease.
+//deg=degreeCelsius
+
+FORCE_INLINE float degHotend(uint8_t extruder) {  
+  return analog2temp(current_raw[extruder], extruder);
+};
+
+FORCE_INLINE float degBed() {
+  return analog2tempBed(current_raw_bed);
+};
+
+FORCE_INLINE float degTargetHotend(uint8_t extruder) {  
+  return analog2temp(target_raw[extruder], extruder);
+};
+
+FORCE_INLINE float degTargetBed() {   
+  return analog2tempBed(target_raw_bed);
+};
+
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {  
+  target_raw[extruder] = temp2analog(celsius, extruder);
+#ifdef PIDTEMP
+  pid_setpoint[extruder] = celsius;
+#endif //PIDTEMP
+};
+
+FORCE_INLINE void setTargetBed(const float &celsius) {  
+  
+  target_raw_bed = temp2analogBed(celsius);
+  #ifdef BED_LIMIT_SWITCHING
+    if(celsius>BED_HYSTERESIS)
+    {
+    target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS);
+    target_bed_high_temp= temp2analogBed(celsius+BED_HYSTERESIS);
+    }
+    else
+    { 
+      target_bed_low_temp=0;
+      target_bed_high_temp=0;
+    }
+  #endif
+};
+
+FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
+  return target_raw[extruder] > current_raw[extruder];
+};
+
+FORCE_INLINE bool isHeatingBed() {
+  return target_raw_bed > current_raw_bed;
+};
+
+FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {  
+  return target_raw[extruder] < current_raw[extruder];
+};
+
+FORCE_INLINE bool isCoolingBed() {
+  return target_raw_bed < current_raw_bed;
+};
+
+#define degHotend0() degHotend(0)
+#define degTargetHotend0() degTargetHotend(0)
+#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
+#define isHeatingHotend0() isHeatingHotend(0)
+#define isCoolingHotend0() isCoolingHotend(0)
+#if EXTRUDERS > 1
+#define degHotend1() degHotend(1)
+#define degTargetHotend1() degTargetHotend(1)
+#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)
+#define degTargetHotend2() degTargetHotend(2)
+#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
+#endif
+
+
+
+int getHeaterPower(int heater);
+void disable_heater();
+void setWatch();
+void updatePID();
+
+FORCE_INLINE void autotempShutdown(){
+ #ifdef AUTOTEMP
+ if(autotemp_enabled)
+ {
+  autotemp_enabled=false;
+  if(degTargetHotend(active_extruder)>autotemp_min)
+    setTargetHotend(0,active_extruder);
+ }
+ #endif
+}
+
+void PID_autotune(float temp);
+
+#endif
 

Marlin/thermistortables.h

@@ -1,14 +1,13 @@
 #ifndef THERMISTORTABLES_H_
 #define THERMISTORTABLES_H_
 
-#include <avr/pgmspace.h>
+#include "Marlin.h"
 
 #define OVERSAMPLENR 16
 
-#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
+#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1)  || (THERMISTORHEATER_2 == 1) || (THERMISTORBED == 1) //100k bed thermistor
 
-#define NUMTEMPS_1 61
-const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
+const short temptable_1[][2] PROGMEM = {
 {       23*OVERSAMPLENR ,       300     },
 {       25*OVERSAMPLENR ,       295     },
 {       27*OVERSAMPLENR ,       290     },
@@ -72,36 +71,48 @@ const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
 {       1008*OVERSAMPLENR       ,       0       } //safety
 };
 #endif
-#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
-#define NUMTEMPS_2 21
-const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
+#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
-#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
-#define NUMTEMPS_3 28
-const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
+#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORHEATER_2 == 3) || (THERMISTORBED == 3) //mendel-parts
+const short temptable_3[][2] PROGMEM = {
                 {1*OVERSAMPLENR,864},
                 {21*OVERSAMPLENR,300},
                 {25*OVERSAMPLENR,290},
@@ -133,10 +144,8 @@ const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
         };
 
 #endif
-#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
-
-#define NUMTEMPS_4 20
-const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
+#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORHEATER_2 == 4) || (THERMISTORBED == 4) //10k thermistor
+const short temptable_4[][2] PROGMEM = {
    {1*OVERSAMPLENR, 430},
    {54*OVERSAMPLENR, 137},
    {107*OVERSAMPLENR, 107},
@@ -160,78 +169,50 @@ const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
 };
 #endif
 
-#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
-
-#define NUMTEMPS_5 61
-const short temptable_5[NUMTEMPS_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}
+#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORHEATER_2 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
+const short temptable_5[][2] PROGMEM = {
+// 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) || (THERMISTORBED == 6) // 100k Epcos thermistor
-#define NUMTEMPS_6 36
-const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
-   {28*OVERSAMPLENR, 250},
+#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORHEATER_2 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
+const short temptable_6[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 350},
+   {28*OVERSAMPLENR, 250}, //top rating 250C
    {31*OVERSAMPLENR, 245},
    {35*OVERSAMPLENR, 240},
    {39*OVERSAMPLENR, 235},
@@ -240,8 +221,8 @@ const short temptable_6[NUMTEMPS_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},
@@ -270,10 +251,10 @@ const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
 };
 #endif
 
-#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
-#define NUMTEMPS_7 54
-const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
-   {46*OVERSAMPLENR, 270},
+#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
+const short temptable_7[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 500},
+   {46*OVERSAMPLENR, 270}, //top rating 300C
    {50*OVERSAMPLENR, 265},
    {54*OVERSAMPLENR, 260},
    {58*OVERSAMPLENR, 255},
@@ -330,82 +311,196 @@ const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
 };
 #endif
 
-
-
-#if THERMISTORHEATER_0 == 1
-#define NUMTEMPS_HEATER_0 NUMTEMPS_1
-#define heater_0_temptable temptable_1
-#elif THERMISTORHEATER_0 == 2
-#define NUMTEMPS_HEATER_0 NUMTEMPS_2
-#define heater_0_temptable temptable_2
-#elif THERMISTORHEATER_0 == 3
-#define NUMTEMPS_HEATER_0 NUMTEMPS_3
-#define heater_0_temptable temptable_3
-#elif THERMISTORHEATER_0 == 4
-#define NUMTEMPS_HEATER_0 NUMTEMPS_4
-#define heater_0_temptable temptable_4
-#elif THERMISTORHEATER_0 == 5
-#define NUMTEMPS_HEATER_0 NUMTEMPS_5
-#define heater_0_temptable temptable_5
-#elif THERMISTORHEATER_0 == 6
-#define NUMTEMPS_HEATER_0 NUMTEMPS_6
-#define heater_0_temptable temptable_6
-#elif THERMISTORHEATER_0 == 7
-#define NUMTEMPS_HEATER_0 NUMTEMPS_7
-#define heater_0_temptable temptable_7
-#elif defined HEATER_0_USES_THERMISTOR
-#error No heater 0 thermistor table specified
+#if (THERMISTORHEATER_0 == 51) || (THERMISTORHEATER_1 == 51) || (THERMISTORHEATER_2 == 51) || (THERMISTORBED == 51) 
+// 100k EPCOS (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!)
+// Verified by linagee.
+// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+// Advantage: Twice the resolution and better linearity from 150C to 200C
+const short temptable_51[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 350},
+   {190*OVERSAMPLENR, 250}, //top rating 250C
+   {203*OVERSAMPLENR, 245},
+   {217*OVERSAMPLENR, 240},
+   {232*OVERSAMPLENR, 235},
+   {248*OVERSAMPLENR, 230},
+   {265*OVERSAMPLENR, 225},
+   {283*OVERSAMPLENR, 220},
+   {302*OVERSAMPLENR, 215},
+   {322*OVERSAMPLENR, 210},
+   {344*OVERSAMPLENR, 205},
+   {366*OVERSAMPLENR, 200},
+   {390*OVERSAMPLENR, 195},
+   {415*OVERSAMPLENR, 190},
+   {440*OVERSAMPLENR, 185},
+   {467*OVERSAMPLENR, 180},
+   {494*OVERSAMPLENR, 175},
+   {522*OVERSAMPLENR, 170},
+   {551*OVERSAMPLENR, 165},
+   {580*OVERSAMPLENR, 160},
+   {609*OVERSAMPLENR, 155},
+   {638*OVERSAMPLENR, 150},
+   {666*OVERSAMPLENR, 145},
+   {695*OVERSAMPLENR, 140},
+   {722*OVERSAMPLENR, 135},
+   {749*OVERSAMPLENR, 130},
+   {775*OVERSAMPLENR, 125},
+   {800*OVERSAMPLENR, 120},
+   {823*OVERSAMPLENR, 115},
+   {845*OVERSAMPLENR, 110},
+   {865*OVERSAMPLENR, 105},
+   {884*OVERSAMPLENR, 100},
+   {901*OVERSAMPLENR, 95},
+   {917*OVERSAMPLENR, 90},
+   {932*OVERSAMPLENR, 85},
+   {944*OVERSAMPLENR, 80},
+   {956*OVERSAMPLENR, 75},
+   {966*OVERSAMPLENR, 70},
+   {975*OVERSAMPLENR, 65},
+   {982*OVERSAMPLENR, 60},
+   {989*OVERSAMPLENR, 55},
+   {995*OVERSAMPLENR, 50},
+   {1000*OVERSAMPLENR, 45},
+   {1004*OVERSAMPLENR, 40},
+   {1007*OVERSAMPLENR, 35},
+   {1010*OVERSAMPLENR, 30},
+   {1013*OVERSAMPLENR, 25},
+   {1015*OVERSAMPLENR, 20},
+   {1017*OVERSAMPLENR, 15},
+   {1018*OVERSAMPLENR, 10},
+   {1019*OVERSAMPLENR, 5},
+   {1020*OVERSAMPLENR, 0},
+   {1021*OVERSAMPLENR, -5}
+};
 #endif
 
-#if THERMISTORHEATER_1 == 1
-#define NUMTEMPS_HEATER_1 NUMTEMPS_1
-#define heater_1_temptable temptable_1
-#elif THERMISTORHEATER_1 == 2
-#define NUMTEMPS_HEATER_1 NUMTEMPS_2
-#define heater_1_temptable temptable_2
-#elif THERMISTORHEATER_1 == 3
-#define NUMTEMPS_HEATER_1 NUMTEMPS_3
-#define heater_1_temptable temptable_3
-#elif THERMISTORHEATER_1 == 4
-#define NUMTEMPS_HEATER_1 NUMTEMPS_4
-#define heater_1_temptable temptable_4
-#elif THERMISTORHEATER_1 == 5
-#define NUMTEMPS_HEATER_1 NUMTEMPS_5
-#define heater_1_temptable temptable_5
-#elif THERMISTORHEATER_1 == 6
-#define NUMTEMPS_HEATER_1 NUMTEMPS_6
-#define heater_1_temptable temptable_6
-#elif THERMISTORHEATER_1 == 7
-#define NUMTEMPS_HEATER_1 NUMTEMPS_7
-#define heater_1_temptable temptable_7
-#elif defined HEATER_1_USES_THERMISTOR
-#error No heater 1 thermistor table specified
+#if (THERMISTORHEATER_0 == 52) || (THERMISTORHEATER_1 == 52) || (THERMISTORHEATER_2 == 52) || (THERMISTORBED == 52) 
+// 200k ATC Semitec 204GT-2 (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!)
+// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+// Advantage: More resolution and better linearity from 150C to 200C
+const short temptable_52[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 500},
+   {125*OVERSAMPLENR, 300}, //top rating 300C
+   {142*OVERSAMPLENR, 290},
+   {162*OVERSAMPLENR, 280},
+   {185*OVERSAMPLENR, 270},
+   {211*OVERSAMPLENR, 260},
+   {240*OVERSAMPLENR, 250},
+   {274*OVERSAMPLENR, 240},
+   {312*OVERSAMPLENR, 230},
+   {355*OVERSAMPLENR, 220},
+   {401*OVERSAMPLENR, 210},
+   {452*OVERSAMPLENR, 200},
+   {506*OVERSAMPLENR, 190},
+   {563*OVERSAMPLENR, 180},
+   {620*OVERSAMPLENR, 170},
+   {677*OVERSAMPLENR, 160},
+   {732*OVERSAMPLENR, 150},
+   {783*OVERSAMPLENR, 140},
+   {830*OVERSAMPLENR, 130},
+   {871*OVERSAMPLENR, 120},
+   {906*OVERSAMPLENR, 110},
+   {935*OVERSAMPLENR, 100},
+   {958*OVERSAMPLENR, 90},
+   {976*OVERSAMPLENR, 80},
+   {990*OVERSAMPLENR, 70},
+   {1000*OVERSAMPLENR, 60},
+   {1008*OVERSAMPLENR, 50},
+   {1013*OVERSAMPLENR, 40},
+   {1017*OVERSAMPLENR, 30},
+   {1019*OVERSAMPLENR, 20},
+   {1021*OVERSAMPLENR, 10},
+   {1022*OVERSAMPLENR, 0}
+};
 #endif
 
+#if (THERMISTORHEATER_0 == 55) || (THERMISTORHEATER_1 == 55) || (THERMISTORHEATER_2 == 55) || (THERMISTORBED == 55) 
+// 100k ATC Semitec 104GT-2 (Used on ParCan) (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!)
+// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+// Advantage: More resolution and better linearity from 150C to 200C
+const short temptable_55[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 500},
+   {76*OVERSAMPLENR, 300},
+   {87*OVERSAMPLENR, 290},
+   {100*OVERSAMPLENR, 280},
+   {114*OVERSAMPLENR, 270},
+   {131*OVERSAMPLENR, 260},
+   {152*OVERSAMPLENR, 250},
+   {175*OVERSAMPLENR, 240},
+   {202*OVERSAMPLENR, 230},
+   {234*OVERSAMPLENR, 220},
+   {271*OVERSAMPLENR, 210},
+   {312*OVERSAMPLENR, 200},
+   {359*OVERSAMPLENR, 190},
+   {411*OVERSAMPLENR, 180},
+   {467*OVERSAMPLENR, 170},
+   {527*OVERSAMPLENR, 160},
+   {590*OVERSAMPLENR, 150},
+   {652*OVERSAMPLENR, 140},
+   {713*OVERSAMPLENR, 130},
+   {770*OVERSAMPLENR, 120},
+   {822*OVERSAMPLENR, 110},
+   {867*OVERSAMPLENR, 100},
+   {905*OVERSAMPLENR, 90},
+   {936*OVERSAMPLENR, 80},
+   {961*OVERSAMPLENR, 70},
+   {979*OVERSAMPLENR, 60},
+   {993*OVERSAMPLENR, 50},
+   {1003*OVERSAMPLENR, 40},
+   {1010*OVERSAMPLENR, 30},
+   {1015*OVERSAMPLENR, 20},
+   {1018*OVERSAMPLENR, 10},
+   {1020*OVERSAMPLENR, 0}
+};
+#endif
 
-#if THERMISTORBED == 1
-#define BNUMTEMPS NUMTEMPS_1
-#define bedtemptable temptable_1
-#elif THERMISTORBED == 2
-#define BNUMTEMPS NUMTEMPS_2
-#define bedtemptable temptable_2
-#elif THERMISTORBED == 3
-#define BNUMTEMPS NUMTEMPS_3
-#define bedtemptable temptable_3
-#elif THERMISTORBED == 4
-#define BNUMTEMPS NUMTEMPS_4
-#define bedtemptable temptable_4
-#elif THERMISTORBED == 5
-#define BNUMTEMPS NUMTEMPS_5
-#define bedtemptable temptable_5
-#elif THERMISTORBED == 6
-#define BNUMTEMPS NUMTEMPS_6
-#define bedtemptable temptable_6
-#elif THERMISTORBED == 7
-#define BNUMTEMPS NUMTEMPS_7
-#define bedtemptable temptable_7
-#elif defined BED_USES_THERMISTOR
-#error No bed thermistor table specified
+#define _TT_NAME(_N) temptable_ ## _N
+#define TT_NAME(_N) _TT_NAME(_N)
+
+#ifdef THERMISTORHEATER_0
+  #define heater_0_temptable TT_NAME(THERMISTORHEATER_0)
+  #define heater_0_temptable_len (sizeof(heater_0_temptable)/sizeof(*heater_0_temptable))
+#else
+#ifdef HEATER_0_USES_THERMISTOR
+  #error No heater 0 thermistor table specified
+#else  // HEATER_0_USES_THERMISTOR
+  #define heater_0_temptable 0
+  #define heater_0_temptable_len 0
+#endif // HEATER_0_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORHEATER_1
+  #define heater_1_temptable TT_NAME(THERMISTORHEATER_1)
+  #define heater_1_temptable_len (sizeof(heater_1_temptable)/sizeof(*heater_1_temptable))
+#else
+#ifdef HEATER_1_USES_THERMISTOR
+  #error No heater 1 thermistor table specified
+#else  // HEATER_1_USES_THERMISTOR
+  #define heater_1_temptable 0
+  #define heater_1_temptable_len 0
+#endif // HEATER_1_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORHEATER_2
+  #define heater_2_temptable TT_NAME(THERMISTORHEATER_2)
+  #define heater_2_temptable_len (sizeof(heater_2_temptable)/sizeof(*heater_2_temptable))
+#else
+#ifdef HEATER_2_USES_THERMISTOR
+  #error No heater 2 thermistor table specified
+#else  // HEATER_2_USES_THERMISTOR
+  #define heater_2_temptable 0
+  #define heater_2_temptable_len 0
+#endif // HEATER_2_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORBED
+  #define bedtemptable TT_NAME(THERMISTORBED)
+  #define bedtemptable_len (sizeof(bedtemptable)/sizeof(*bedtemptable))
+#else
+#ifdef BED_USES_THERMISTOR
+  #error No bed thermistor table specified
+#endif // BED_USES_THERMISTOR
 #endif
 
 #endif //THERMISTORTABLES_H_

Marlin/ultralcd.h

@@ -1,35 +1,35 @@
-#ifndef __ULTRALCDH
-#define __ULTRALCDH
-#include "Configuration.h"
-
+#ifndef ULTRALCD_H
+#define ULTRALCD_H
+#include "Marlin.h"
 #ifdef ULTRA_LCD
-
+  #include <LiquidCrystal.h>
   void lcd_status();
   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
-
-
-  #include <LiquidCrystal.h>
   extern LiquidCrystal lcd;
-
-
+  extern volatile char buttons;  //the last checked buttons in a bit array.
+  
   #ifdef NEWPANEL
-
-    
     #define EN_C (1<<BLEN_C)
     #define EN_B (1<<BLEN_B)
     #define EN_A (1<<BLEN_A)
     
     #define CLICKED (buttons&EN_C)
     #define BLOCK {blocking=millis()+blocktime;}
-    #define CARDINSERTED (READ(SDCARDDETECT)==0)
-    
+    #if (SDCARDDETECT > -1)
+      #ifdef SDCARDDETECTINVERTED 
+        #define CARDINSERTED (READ(SDCARDDETECT)!=0)
+      #else
+        #define CARDINSERTED (READ(SDCARDDETECT)==0)
+      #endif
+    #endif  //SDCARDTETECTINVERTED
+
   #else
 
     //atomatic, do not change
@@ -46,12 +46,14 @@
     #define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;}
     
   #endif
+
+
     
   // blocking time for recognizing a new keypress of one key, ms
   #define blocktime 500
   #define lcdslow 5
     
-  enum MainStatus{Main_Status, Main_Menu, Main_Prepare, 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, Sub_PreheatPLASettings, Sub_PreheatABSSettings};
 
   class MainMenu{
   public:
@@ -68,9 +70,13 @@
     void showControl();
     void showControlMotion();
     void showControlTemp();
+    void showControlRetract();
+    void showAxisMove();
     void showSD();
+	void showPLAsettings();
+	void showABSsettings();
     bool force_lcd_update;
-    int lastencoderpos;
+    long lastencoderpos;
     int8_t lineoffset;
     int8_t lastlineoffset;
     
@@ -79,11 +85,11 @@
     bool tune;
     
   private:
-    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) ) 
       { 
@@ -104,7 +110,6 @@
             curencoderpos=maxlines*lcdslow; 
         } 
         lastencoderpos=encoderpos=curencoderpos;
-        int lastactiveline=activeline;
         activeline=curencoderpos/lcdslow;
         if(activeline<0) activeline=0;
         if(activeline>LCD_HEIGHT-1) activeline=LCD_HEIGHT-1;
@@ -119,7 +124,7 @@
       } 
     }
     
-    inline void clearIfNecessary()
+    FORCE_INLINE void clearIfNecessary()
     {
       if(lastlineoffset!=lineoffset ||force_lcd_update)
       {
@@ -131,27 +136,37 @@
 
   //conversion routines, could need some overworking
   char *ftostr51(const float &x);
+  char *ftostr52(const float &x);
   char *ftostr31(const float &x);
   char *ftostr3(const float &x);
 
 
-
+  #define LCD_INIT lcd_init();
   #define LCD_MESSAGE(x) lcd_status(x);
-  #define LCD_MESSAGEPGM(x) lcd_statuspgm(PSTR(x));
+  #define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
+  #define LCD_ALERTMESSAGEPGM(x) lcd_alertstatuspgm(MYPGM(x));
   #define LCD_STATUS lcd_status()
 #else //no lcd
+  #define LCD_INIT
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
-  inline void lcd_status() {};
-#endif
-  
-#ifndef ULTIPANEL  
- #define CLICKED false
+  #define LCD_ALERTMESSAGEPGM(x)
+  FORCE_INLINE void lcd_status() {};
+
+  #define CLICKED false
   #define BLOCK ;
 #endif 
   
 void lcd_statuspgm(const char* message);
+void lcd_alertstatuspgm(const char* message);
   
+char *ftostr3(const float &x);
+char *itostr2(const uint8_t &x);
+char *ftostr31(const float &x);
+char *ftostr32(const float &x);
+char *itostr31(const int &xx);
+char *itostr3(const int &xx);
+char *itostr4(const int &xx);
+char *ftostr51(const float &x);
 #endif //ULTRALCD
-

Marlin/watchdog.h

@@ -1,6 +1,6 @@
-#ifndef __WATCHDOGH
-#define __WATCHDOGH
-#include "Configuration.h"
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
+#include "Marlin.h"
 #ifdef USE_WATCHDOG
 
   // intialise watch dog with a 1 sec interrupt time
@@ -9,8 +9,8 @@
   void wd_reset();
 
 #else
-  inline void wd_init() {};
-  inline void wd_reset() {};
+  FORCE_INLINE void wd_init() {};
+  FORCE_INLINE void wd_reset() {};
 #endif
 
 #endif

Marlin/watchdog.pde

@@ -1,7 +1,6 @@
 #ifdef USE_WATCHDOG
+#include "Marlin.h"
 #include "watchdog.h"
-#include  <avr/wdt.h>
-#include  <avr/interrupt.h>
 
 //===========================================================================
 //=============================private variables  ============================

Marlin/wiring.h

@@ -0,0 +1,141 @@
+/*
+ * fixed by this patch:
+ * http://code.google.com/p/arduino/issues/detail?id=604
+ * */
+/*
+  wiring.h - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id$
+*/
+
+#ifndef Wiring_h
+#define Wiring_h
+
+#include <avr/io.h>
+#include <stdlib.h>
+#include "binary.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#define HIGH 0x1
+#define LOW  0x0
+
+#define INPUT 0x0
+#define OUTPUT 0x1
+
+#define true 0x1
+#define false 0x0
+
+#define PI 3.1415926535897932384626433832795
+#define HALF_PI 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+#define DEG_TO_RAD 0.017453292519943295769236907684886
+#define RAD_TO_DEG 57.295779513082320876798154814105
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define INTERNAL1V1 2
+#define INTERNAL2V56 3
+#else
+#define INTERNAL 3
+#endif
+#define DEFAULT 1
+#define EXTERNAL 0
+
+// undefine stdlib's abs if encountered
+#ifdef abs
+#undef abs
+#endif
+
+#define min(a,b) ((a)<(b)?(a):(b))
+#define max(a,b) ((a)>(b)?(a):(b))
+#define abs(x) ((x)>0?(x):-(x))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#if __AVR_LIBC_VERSION__ < 10701UL
+#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+#endif
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
+#define sq(x) ((x)*(x))
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )
+#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )
+
+#define lowByte(w) ((uint8_t) ((w) & 0xff))
+#define highByte(w) ((uint8_t) ((w) >> 8))
+
+#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
+#define bitSet(value, bit) ((value) |= (1UL << (bit)))
+#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+
+
+typedef unsigned int word;
+
+#define bit(b) (1UL << (b))
+
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+void init(void);
+
+void pinMode(uint8_t, uint8_t);
+void digitalWrite(uint8_t, uint8_t);
+int digitalRead(uint8_t);
+int analogRead(uint8_t);
+void analogReference(uint8_t mode);
+void analogWrite(uint8_t, int);
+
+unsigned long millis(void);
+unsigned long micros(void);
+void delay(unsigned long);
+void delayMicroseconds(unsigned int us);
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
+uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
+
+void attachInterrupt(uint8_t, void (*)(void), int mode);
+void detachInterrupt(uint8_t);
+
+void setup(void);
+void loop(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

README

@@ -1,64 +0,0 @@
-This RepRap firmware is a mashup between Sprinter, grbl and many original parts.
- (https://github.com/kliment/Sprinter)
- (https://github.com/simen/grbl/tree)
-
-Derived from Sprinter and Grbl by Erik van der Zalm.
-Sprinters lead developers are Kliment and caru.
-Grbls lead developer is Simen Svale Skogsrud.
-It has been adapted to the Ultimaker Printer by:
-Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
-
-
-Features:
- - Interrupt based movement with real linear acceleration
- - High steprate
- - Look ahead (Keep the speed high when possible. High cornering speed)
- - Interrupt based temperature protection
- - preliminary support for Matthew Roberts advance algorithm 
-   For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- - Full endstop support
- - Simple LCD support (16x2)
- - SD Card support
- - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
-
-This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
-
-The default baudrate is 115200. 
-
-
-========================================================================================
-
-Configuring and compilation
-
-
-Install the latest arduino software IDE/toolset (currently 0022)
-   http://www.arduino.cc/en/Main/Software
-
-Install Ultimaker's RepG 25 build
-    http://software.ultimaker.com
-(or alternatively install Kliment's printrun/pronterface  https://github.com/kliment/Printrun_)
-
-Copy the Ultimaker Marlin firmware
-   https:/github.com/bkubicek/Marlin
-   (Use the download button)
-
-Start the arduino IDE.
-Select Tools -> Board -> Arduino Mega 2560 
-Select the correct serial port in Tools ->Serial Port
-Open Marlin.pde
-
-Click the Verify/Compile button
-
-Click the Upload button
-If all goes well the firmware is uploading
-
-Start Ultimaker's Custom RepG 25
-Make sure Show Experimental Profiles is enabled in Preferences
-Select Sprinter as the Driver
-
-Press the Connect button.
-
-KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
-
-That's ok.  Enjoy Silky Smooth Printing.
-

README.md

@@ -1,7 +1,12 @@
-
 WARNING: 
 --------
-THIS IS THE BETA 1 FOR MARLIN 1.0.0
+THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
+
+The configuration is now split in two files
+Configuration.h for the normal settings
+Configuration_adv.h for the advanced settings
+
+Gen7T is not supported.
 
 Quick Information
 ===================
@@ -26,6 +31,7 @@ Features:
 *   Full endstop support
 *   SD Card support
 *   SD Card folders (works in pronterface)
+*   SD Card autostart support
 *   LCD support (ideally 20x4) 
 *   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
 *   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
@@ -37,6 +43,8 @@ Features:
 *   Endstop trigger reporting to the host software.
 *   Updated sdcardlib
 *   Heater power reporting. Useful for PID monitoring.
+*   PID tuning
+*   CoreXY kinematics (www.corexy.com/theory.html)
 
 The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
 
@@ -54,7 +62,7 @@ It leads to less over-deposition at corners, especially at flat angles.
 
 *Arc support:*
 
-Splic3r can find curves that, although broken into segments, were ment to describe an arc.
+Slic3r can find curves that, although broken into segments, were ment to describe an arc.
 Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
 and can perform the arc with nearly constant velocity, resulting in a nice finish. 
 Also, less serial communication is needed.
@@ -94,6 +102,11 @@ If you have an SD card reader attached to your controller, also folders work now
 You can write to file in a subfolder by specifying a similar text using small letters in the path.
 Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
 
+*SD card folders:*
+
+If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
+First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
+
 *Endstop trigger reporting:*
 
 If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
@@ -139,21 +152,33 @@ Movement variables:
 *   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 *   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 *   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
 *   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
-*   M301 - Set PID parameters P I and D
+*   M221 - set the extrude multiplying S:factor in percent
 *   M400 - Finish all buffered moves.
 
+Temperature variables:
+*   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)
+
 Advance:
 
 *   M200 - Set filament diameter for advance
-*   M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+*   M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
 
 EEPROM:
 
-*   M500 - stores paramters in EEPROM
+*   M500 - stores paramters in EEPROM. This parameters are stored:  axis_steps_per_unit,  max_feedrate, max_acceleration  ,acceleration,retract_acceleration,
+  minimumfeedrate,mintravelfeedrate,minsegmenttime,  jerk velocities, PID
 *   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)
 
+MISC:
+
+*   M240 - Trigger a camera to take a photograph
+*   M999 - Restart after being stopped by error
 
 Configuring and compilation:
 ============================