branch brought up to date

.gitignore

@@ -0,0 +1 @@
+*~

Marlin/.gitignore

@@ -0,0 +1,3 @@
+*.o
+*.~
+applet/

Marlin/Configuration.h

@@ -1,5 +1,22 @@
-#ifndef __CONFIGURATION_H
-#define __CONFIGURATION_H
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+// Uncomment ONE of the next three lines - the one for your RepRap machine
+#define REPRAPPRO_HUXLEY
+//#define REPRAPPRO_MENDEL
+//#define REPRAPPRO_WALLACE
+
+#ifndef REPRAPPRO_HUXLEY
+#ifndef REPRAPPRO_MENDEL
+#ifndef REPRAPPRO_WALLACE
+#error Uncomment one of #define REPRAPPRO_HUXLEY, REPRAPPRO_MENDEL or REPRAPPRO_WALLACE at the start of the file Configuration.h
+#endif
+#endif
+#endif
+
+// Uncomment this if you are experimenting, know what you are doing, and want to switch off some safety
+// features, e.g. allow extrude at low temperature etc.
+//#define DEVELOPING
 
 // This configurtion file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h 
@@ -8,97 +25,164 @@
 //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 "2012-02-08j" //Personal revision number for changes to THIS file.
-#define STRING_CONFIG_H_AUTHOR "username" //Who made the changes.
+#define STRING_VERSION_CONFIG_H "2012-06-25-1" //Personal revision number for changes to THIS file.
+#define STRING_CONFIG_H_AUTHOR "RepRapPro" //Who made the changes.
 
 // This determines the communication speed of the printer
 #define BAUDRATE 250000
 //#define BAUDRATE 115200
 
 //// 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,
-// Teensylu = 8,
+// Melzi 63
+// Ultimaker = 7
+// Teensylu = 8
 // Gen3+ =9
-#define MOTHERBOARD 7
+#define MOTHERBOARD 62
 
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
 
+// Set this if you want to define the constants in the thermistor circuit
+// and work out temperatures algebraically - added by AB.
+//#define COMPUTE_THERMISTORS
+
+#ifdef COMPUTE_THERMISTORS
+
+// See http://en.wikipedia.org/wiki/Thermistor#B_or_.CE.B2_parameter_equation
+
+// BETA is the B value
+// RS is the value of the series resistor in ohms
+// R_INF is R0.exp(-BETA/T0), where R0 is the thermistor resistance at T0 (T0 is in kelvin)
+// Normally T0 is 298.15K (25 C).  If you write that expression in brackets in the #define the compiler 
+// should compute it for you (i.e. it won't need to be calculated at run time).
+
+// If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023)
+// then the thermistor resistance, R = V.RS/(1023 - V)
+// and the temperature, T = BETA/ln(R/R_INF)
+// To get degrees celsius (instead of kelvin) add -273.15 to T
+
+// This DOES assume that all extruders use the same thermistor type.
+
+#define ABS_ZERO -273.15
+#define AD_RANGE 16383
+
+// RS 198-961
+#define E_BETA 3960.0
+#define E_RS 4700.0
+#define E_R_INF ( 100000.0*exp(-E_BETA/298.15) )
+
+// RS 484-0149; EPCOS B57550G103J
+#define BED_BETA 3480.0
+#define BED_RS 4700.0
+#define BED_R_INF ( 10000.0*exp(-BED_BETA/298.15) )
+
+#define BED_USES_THERMISTOR
+#define HEATER_0_USES_THERMISTOR
+//#define HEATER_1_USES_THERMISTOR
+//#define HEATER_2_USES_THERMISTOR
+
+#endif
+
+
+
 //// 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
-// 2 is 200k thermistor
-// 3 is mendel-parts thermistor
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is mendel-parts thermistor (4.7k pullup)
 // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
 // 5 is ParCan supplied 104GT-2 100K
 // 6 is EPCOS 100k
 // 7 is 100k Honeywell thermistor 135-104LAG-J01
+// 100 is 100k GE Sensing AL03006-58.2K-97-G1 with r2=4k7
+// 101 is 100k 0603 SMD Vishay NTCS0603E3104FXT with r2=4k7
+// 102 is 100k EPCOS G57540 Nozzle with r2=4k7
+// 103 is 100k EPCOS G57540 Bed with r2=4k7
+// 104 is 10k G57540 Bed with r2=4k7
+// 105 is 10k G57540 Bed with r2=10k
+// 110 is 100k RS thermistor 198-961 hot end with 10K resistor
 
-#define TEMP_SENSOR_0 -1
+#define TEMP_SENSOR_0 102
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
-#define TEMP_SENSOR_BED 0
+#define TEMP_SENSOR_BED 101
 
 // Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 30  // (seconds)
-#define TEMP_HYSTERESIS 3       // (C°) range of +/- temperatures considered "close" to the target one
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_HYSTERESIS 5       // (C°) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     2       // (degC) Window around target to start the recidency timer x degC early.
 
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
 // to check that the wiring to the thermistor is not broken. 
 // Otherwise this would lead to the heater being powered on all the time.
-#define HEATER_0_MINTEMP 5
-#define HEATER_1_MINTEMP 5
-#define HEATER_2_MINTEMP 5
-#define BED_MINTEMP 5
+#define HEATER_0_MINTEMP 1
+//#define HEATER_1_MINTEMP 5
+//#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 1
 
 // 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 HEATER_2_MAXTEMP 275
+#define HEATER_0_MAXTEMP 399
+//#define HEATER_1_MAXTEMP 275
+//#define HEATER_2_MAXTEMP 275
 #define BED_MAXTEMP 150
 
+
 // PID settings:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define PID_MAX 255 // limits current to nozzle; 255=full current
+#define FULL_PID_BAND 150 // Full power is applied when pid_error[e] > FULL_PID_BAND
 #ifdef PIDTEMP
   //#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_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX 125  //limit for the integral term
   #define K1 0.95 //smoothing factor withing the PID
-  #define PID_dT 0.128 //sampling period of the PID
+  #define PID_dT 0.122 //sampling period of the PID
 
 // 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 (1.25*PID_dT)  
-    #define  DEFAULT_Kd (99/PID_dT)  
+//    #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  
 
+// RepRapPro Huxley + Mendel
+    #define  DEFAULT_Kp 12.0
+    #define  DEFAULT_Ki (2.2*PID_dT)
+    #define  DEFAULT_Kd (80/PID_dT)
+
 // Mendel Parts V9 on 12V    
 //    #define  DEFAULT_Kp  63.0
 //    #define  DEFAULT_Ki (2.25*PID_dT)  
 //    #define  DEFAULT_Kd (440/PID_dT)
 #endif // PIDTEMP
 
+#ifndef DEVELOPING
 //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
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
+#endif
 
 //===========================================================================
 //=============================Mechanical Settings===========================
@@ -108,9 +192,9 @@
 #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 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. 
+const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. 
+const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. 
+const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. 
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
@@ -121,15 +205,15 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // Disables axis when it's not being used.
 #define DISABLE_X false
 #define DISABLE_Y false
-#define DISABLE_Z false
+#define DISABLE_Z true
 #define DISABLE_E false // For all extruders
 
 #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_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
+#define INVERT_Z_DIR false     // for Mendel set to false, for Orca set to true
+#define INVERT_E0_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR true    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E2_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
@@ -139,26 +223,52 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 
 #define min_software_endstops true //If true, axis won't move to coordinates less than zero.
 #define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
-#define X_MAX_LENGTH 205
-#define Y_MAX_LENGTH 205
-#define Z_MAX_LENGTH 200
+
+// 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)
+
+#ifdef REPRAPPRO_MENDEL
+
+#define X_MAX_LENGTH 210
+#define Y_MAX_LENGTH 210
+#define Z_MAX_LENGTH 140
+#define HOMING_FEEDRATE {10*60, 10*60, 1*60, 0}  // set the homing speeds (mm/min)
+#define FAST_HOME_FEEDRATE {50*60, 50*60, 1*60, 0}  // set the homing speeds (mm/min)
+#define DEFAULT_MAX_FEEDRATE  {500, 500, 3, 45}
+#define DEFAULT_MAX_FEEDRATE          {300, 300, 3, 45}    // (mm/sec)    
+#define DEFAULT_MAX_ACCELERATION      {800,800,30,250}    // X, Y, Z, E maximum start speed for accelerated moves. E default values
+
+#else
+
+#define X_MAX_LENGTH 155
+#define Y_MAX_LENGTH 150
+#define Z_MAX_LENGTH 90
+#define HOMING_FEEDRATE {10*60, 10*60, 1*60, 0}  // set the homing speeds (mm/min)
+#define FAST_HOME_FEEDRATE {80*60, 80*60, 4*60, 0}  // set the homing speeds (mm/min)
+#define DEFAULT_MAX_FEEDRATE  {500, 500, 5, 45}    // (mm/sec)
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)    
+#define DEFAULT_MAX_ACCELERATION      {1000,1000,50,250}    // X, Y, Z, E maximum start speed for accelerated moves. E default values
+
+#endif
+
 
 // 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_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_AXIS_STEPS_PER_UNIT   {91.4286, 91.4286,4000,875}                    // default steps per unit for ultimaker 
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+
+#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#define DEFAULT_RETRACT_ACCELERATION  1000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
 // 
-#define DEFAULT_XYJERK                20.0    // (mm/sec)
+#define DEFAULT_XYJERK                15.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
+#define DEFAULT_EJERK                 15.0    // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================
@@ -170,10 +280,10 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // 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
+#define EEPROM_CHITCHAT
 
 //LCD and SD support
 //#define ULTRA_LCD  //general lcd support, also 16x2
@@ -186,6 +296,16 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   #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
@@ -193,6 +313,9 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   #endif
 #endif
 
+// Enable uM-FPU support:
+#define UMFPUSUPPORT 1
+
 // 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

Marlin/Configuration_adv.h

@@ -1,5 +1,5 @@
-#ifndef __CONFIGURATION_ADV_H
-#define __CONFIGURATION_ADV_H
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
 
 //===========================================================================
 //=============================Thermal Settings  ============================
@@ -25,13 +25,10 @@
 // if CooldownNoWait is defined M109 will not wait for the cooldown to finish
 #define CooldownNoWait true
 
-//Do not wait for M109 to finish when printing from SD card
-//#define STOP_HEATING_WAIT_WHEN_SD_PRINTING
-
 #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  
+  //#define PID_ADD_EXTRUSION_RATE  
   #ifdef PID_ADD_EXTRUSION_RATE
     #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
   #endif
@@ -53,12 +50,23 @@
 //  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_MINTEMP 175  
 #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===========================
 //===========================================================================
@@ -66,19 +74,22 @@
 // This defines the number of extruders
 #define EXTRUDERS 1
 
+#define Z_INCREMENT .0040   //Probe Movement Increment - 1 Full step on Huxley = 1/250
+#define PROBE_N 3
+
 #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.
 
 //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 X_HOME_RETRACT_MM 4 
+#define Y_HOME_RETRACT_MM 4 
+#define Z_HOME_RETRACT_MM 2 
+//#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)
+#define MAX_STEP_FREQUENCY 50000 // Max step frequency for Ultimaker (5000 pps / half step)
 
 //default stepper release if idle
 #define DEFAULT_STEPPER_DEACTIVE_TIME 60
@@ -139,15 +150,18 @@
 
 #endif // ADVANCE
 
-// A debugging feature to compare calculated vs performed steps, to see if steps are lost by the software.
-//#define DEBUG_STEPS
-
 // Arc interpretation settings:
 #define MM_PER_ARC_SEGMENT 1
 #define N_ARC_CORRECTION 25
 
 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 
+
 //===========================================================================
 //=============================Buffers           ============================
 //===========================================================================
@@ -156,6 +170,8 @@ const int dropsegments=5; //everything with less than this number of steps will
 // 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
+// Chuck size for fast sd transfer
+    #define SD_FAST_XFER_CHUNK_SIZE 1024
 #else
   #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif

Marlin/EEPROMwrite.h

@@ -1,9 +1,10 @@
-#ifndef __EEPROMH
-#define __EEPROMH
+#ifndef EEPROM_H
+#define EEPROM_H
 
 #include "Marlin.h"
 #include "planner.h"
 #include "temperature.h"
+#include "FPUTransform.h"
 //#include <EEPROM.h>
 
 
@@ -38,7 +39,7 @@ 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 "V05"  
 
 inline void EEPROM_StoreSettings() 
 {
@@ -56,15 +57,21 @@ inline void EEPROM_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);
   #ifdef PIDTEMP
     EEPROM_writeAnything(i,Kp);
     EEPROM_writeAnything(i,Ki);
     EEPROM_writeAnything(i,Kd);
+    EEPROM_writeAnything(i,Ki_Max);
   #else
     EEPROM_writeAnything(i,3000);
     EEPROM_writeAnything(i,0);
     EEPROM_writeAnything(i,0);
   #endif
+  #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+  EEPROM_writeAnything(i,FPUEnabled);
+  #endif
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_writeAnything(i,ver2); // validate data
@@ -116,7 +123,13 @@ inline void EEPROM_printSettings()
       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_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:");
@@ -124,6 +137,11 @@ inline void EEPROM_printSettings()
       SERIAL_ECHOPAIR("   M301 P",Kp); 
       SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
       SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+      SERIAL_ECHOPAIR(" W" ,Ki_Max);
+      SERIAL_ECHOLN(""); 
+    #endif
+      #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+      SERIAL_ECHOPAIR(" FPU Enabled" , FPUEnabled?" yes":" no");
       SERIAL_ECHOLN(""); 
     #endif
   #endif
@@ -150,12 +168,19 @@ inline void EEPROM_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);
       #ifndef PIDTEMP
         float Kp,Ki,Kd;
+        int Ki_Max;
       #endif
       EEPROM_readAnything(i,Kp);
       EEPROM_readAnything(i,Ki);
       EEPROM_readAnything(i,Kd);
+      EEPROM_readAnything(i,Ki_Max);
+	  #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+	  EEPROM_readAnything(i,FPUEnabled);
+	  #endif
 
       SERIAL_ECHO_START;
       SERIAL_ECHOLNPGM("Stored settings retreived:");
@@ -179,6 +204,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
       mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
       max_xy_jerk=DEFAULT_XYJERK;
       max_z_jerk=DEFAULT_ZJERK;
+      max_e_jerk=DEFAULT_EJERK;
       SERIAL_ECHO_START;
       SERIAL_ECHOLN("Using Default settings:");
     }

Marlin/FPUTransform.cpp

@@ -0,0 +1,190 @@
+#include "FPUTransform.h"
+
+#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1)
+
+#include "MatrixMath.h"
+
+float MasterTransform[4][4]; // this is the transform that describes how to move from
+							 // ideal coordinates to real world coords
+
+// private functions
+void loadMatrix(float X4, float Y3, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4);
+void transformDestination(float &X, float &Y, float &Z);
+
+bool FPUEnabled; // this is a bypass switch so that with one command the FPU can be
+				 // turned off
+
+void loadMatrix(float X4, float Y1, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4)
+{
+float Xdiff = X4 - X3;
+	serialPrintFloat(Xdiff);
+	SERIAL_ECHOLN("");
+float Ydiff = Y2 - Y1;
+	serialPrintFloat(Ydiff);
+	SERIAL_ECHOLN("");
+//clockwise
+float ZdiffX = Z4 - Z3;
+	serialPrintFloat(ZdiffX);
+	SERIAL_ECHOLN("");
+//anti clockwise
+float ZdiffY = Z1 - Z2;
+	serialPrintFloat(ZdiffY);
+	SERIAL_ECHOLN("");
+
+
+//modified to take advantage of small angle trig.
+float Xtheta = ZdiffX / Xdiff;
+//	serialPrintFloat(Xtheta);
+//	SERIAL_ECHOLN("");
+float Ytheta = ZdiffY / Ydiff;
+//	serialPrintFloat(Ytheta);
+//	SERIAL_ECHOLN("");
+float cosxtheta = 1-(Xtheta*Xtheta)/2;
+//	serialPrintFloat(cosxtheta);
+//	SERIAL_ECHOLN("");
+float sinxtheta = Xtheta;
+//	serialPrintFloat(sinxtheta);
+//	SERIAL_ECHOLN("");
+float cosytheta = 1-(Ytheta*Ytheta)/2;
+//	serialPrintFloat(cosytheta);
+//	SERIAL_ECHOLN("");
+float sinytheta = Ytheta;
+//	serialPrintFloat(sinytheta);
+//	SERIAL_ECHOLN("");
+
+//these transforms are to set the origin for each rotation
+float TranslateX0[4][4] = {{1.0, 0.0, 0.0, -X3},
+						    {0.0, 1.0, 0.0, -Y1}, 
+						    {0.0, 0.0, 1.0, -Z3}, 
+						    {0.0, 0.0, 0.0, 1.0}};
+
+float TranslateY0[4][4] = {{1.0, 0.0, 0.0, -X2},
+						   {0.0, 1.0, 0.0, -Y1}, 
+						   {0.0, 0.0, 1.0, -Z1}, 
+						   {0.0, 0.0, 0.0, 1.0}};
+
+//rotate in Y using XZ 
+float TransformY[4][4] = {{cosxtheta, 0.0, sinxtheta, 0.0},
+						  {      0.0, 1.0,        0.0, 0.0}, 
+						  {-sinxtheta, 0.0,  cosxtheta, 0.0}, 
+						  {      0.0, 0.0,        0.0, 1.0}};
+//rotate in X using YZ 
+float TransformX[4][4] = {{ 1.0,         0.0,         0.0, 0.0},
+						  { 0.0, cosytheta, sinytheta, 0.0}, 
+						  { 0.0,sinytheta, cosytheta, 0.0}, 
+						  { 0.0,         0.0,         0.0, 1.0}};
+
+
+// first translate point1 to 0 then rotate in Y then translate back
+float MatrixStage1[4][4];
+float MatrixStage2[4][4];
+//matrixMaths.MatrixMult((float*)TranslateY0, (float*)TransformX, 4, 4, 4, (float*)MatrixStage1);
+//matrixMaths.MatrixPrint((float*)MatrixStage1, 4, 4, "MatrixStage1");
+//TranslateY0[0][3] = -TranslateY0[0][3];
+//TranslateY0[1][3] = -TranslateY0[1][3];
+//TranslateY0[2][3] = -TranslateY0[2][3];
+//matrixMaths.MatrixPrint((float*)TranslateY0, 4, 4, "TranslateY0");
+//matrixMaths.MatrixMult((float*)MatrixStage1, (float*)TranslateY0, 4, 4, 4, (float*)MatrixStage2);
+//matrixMaths.MatrixPrint((float*)MatrixStage2, 4, 4, "MatrixStage2");
+//Now translate point3 to 0 and rotate in x before translating back
+float MatrixStage3[4][4];
+float MatrixStage4[4][4];
+//matrixMaths.MatrixMult((float*)MatrixStage2, (float*)TranslateX0, 4, 4, 4, (float*)MatrixStage3);
+//matrixMaths.MatrixPrint((float*)MatrixStage3, 4, 4, "MatrixStage3");
+//matrixMaths.MatrixMult((float*)MatrixStage3, (float*)TransformY, 4, 4, 4, (float*)MatrixStage4);
+matrixMaths.MatrixMult((float*)TransformX, (float*)TransformY, 4, 4, 4, (float*)MasterTransform);
+matrixMaths.MatrixPrint((float*)MatrixStage4, 4, 4, "MatrixStage4");
+//TranslateX0[0][3] = -TranslateX0[0][3];
+//TranslateX0[1][3] = -TranslateX0[1][3];
+//TranslateX0[2][3] = -TranslateX0[2][3];
+//matrixMaths.MatrixPrint((float*)TranslateX0, 4, 4, "TranslateX0");
+//matrixMaths.MatrixMult((float*)MatrixStage4, (float*)TranslateX0, 4, 4, 4, (float*)MasterTransform);
+//matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform (pre-invert)");
+
+// We now have a way to translate from real-world coordinates to idealised coortdinates, 
+// but what we actually want is a way to transform from the idealised g-code coordinates
+// to real world coordinates. 
+// This is simply the inverse.
+matrixMaths.MatrixInvert((float*)MasterTransform, 4);
+matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform");
+}
+
+void transformDestination(float &X, float &Y, float &Z)
+{
+float oldPoint[4][1]={{X}, {Y}, {Z}, {1.0}};
+float newPoint[1][4]={{0.0,0.0,0.0,0.0}};
+matrixMaths.MatrixMult((float*)MasterTransform, (float*)oldPoint, 4, 4, 1, (float*)newPoint);
+X=newPoint[0][0];
+Y=newPoint[0][1];
+Z=newPoint[0][2];
+}
+
+void FPUTransform_init()
+{
+if (FPUEnabled == true)
+  {
+  // It is important to ensure that if the bed levelling routine has not been called the 
+  // printer behaves as if the real world and idealised world are one and the same
+  matrixMaths.MatrixIdentity((float*)MasterTransform,4,4);
+  SERIAL_ECHO("transform configured to identity");
+  }
+else
+  {
+  SERIAL_ECHO("transform correction not enabled");
+  }
+}
+
+void FPUEnable()
+{
+	FPUEnabled = true;
+	FPUTransform_init();
+}
+
+void FPUReset()
+{
+	FPUTransform_init();
+}
+
+void FPUDisable()
+{
+	FPUEnabled = false;
+}
+
+void FPUTransform_determineBedOrientation()
+{
+int X3 = 15;
+float X4 = X_MAX_LENGTH - 20; 
+float X2 = (X4 + X3) / 2;
+int Y1 = 15;
+float Y2 = Y_MAX_LENGTH - 5;  
+float Z1;
+float Z2; 
+float Z3;
+float Z4;
+
+//get Z for X15 Y15, X15 Y(Y_MAX_LENGTH - 15) and X(X_MAX_LENGTH - 15) Y15
+Z3 = Probe_Bed(X3,Y1,PROBE_N);
+Z4 = Probe_Bed(X4,Y1,PROBE_N);
+Z1 = (Z3 + Z4) / 2;
+Z2 = Probe_Bed(X2,Y2,PROBE_N);
+if(FPUEnabled)
+	{
+	loadMatrix(X4, Y1, Z1, X2, Y2, Z2, X3, Z3, Z4);
+	}
+}
+
+void FPUTransform_transformDestination()
+{
+float XPoint = destination[X_AXIS];          // float variable 
+float YPoint = destination[Y_AXIS];          // float variable 
+float ZPoint = destination[Z_AXIS];          // float variable 
+if(FPUEnabled)
+	{
+	transformDestination(XPoint, YPoint, ZPoint);
+	}    
+modified_destination[X_AXIS] = XPoint;       // float variable 
+modified_destination[Y_AXIS] = YPoint;       // float variable 
+modified_destination[Z_AXIS] = ZPoint;       // float variable 
+}	
+
+#endif //UMFPUSUPPORT

Marlin/FPUTransform.h

@@ -0,0 +1,21 @@
+#ifndef __FPUTRANSFORM
+
+#define __FPUTRANSFORM
+#include "Marlin.h"
+#include "z_probe.h"
+
+#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+  extern bool FPUEnabled;
+  void FPUTransform_init();
+  void FPUEnable();
+  void FPUReset();
+  void FPUDisable();
+  void FPUTransform_determineBedOrientation();
+  void FPUTransform_transformDestination(); 
+
+#else //no UMFPU SUPPORT
+  FORCE_INLINE void FPUTransform_init() {};
+
+#endif //UMFPUSUPPORT
+
+#endif //__FPUTRANSFORM

Marlin/Makefile

@@ -23,7 +23,9 @@
 #  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.
+#     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.
 #
@@ -42,6 +44,8 @@ MCU = atmega1280
 #Arduino install directory
 INSTALL_DIR = ../../arduino-0022/
 
+# 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
@@ -61,7 +65,7 @@ SRC =  $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
 	$(ARDUINO)/wiring_pulse.c \
 	$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
 CXXSRC = $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\
-	$(ARDUINO)/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
+	$(ARDUINO)/Print.cpp applet/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
 FORMAT = ihex
 
 
@@ -138,6 +142,8 @@ all: build sizeafter
 build: elf hex 
 
 applet/$(TARGET).cpp: $(TARGET).pde $(MAKEFILE)
+
+applet/%.cpp: %.pde
 # Here is the "preprocessing".
 # It creates a .cpp file based with the same name as the .pde file.
 # On top of the new .cpp file comes the WProgram.h header.
@@ -145,11 +151,11 @@ applet/$(TARGET).cpp: $(TARGET).pde $(MAKEFILE)
 # Then the .cpp file will be compiled. Errors during compile will
 # refer to this new, automatically generated, file. 
 # Not the original .pde file you actually edit...
-	@echo "  WR    applet/$(TARGET).cpp"
-	@test -d applet || mkdir applet
-	@echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	@cat $(TARGET).pde >> applet/$(TARGET).cpp
-	@cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
+	@echo "  WR    $@"
+	@test -d $(dir $@) || mkdir $(dir $@)
+	@echo '#include "WProgram.h"' > $@
+	@cat $< >> $@
+	@cat $(ARDUINO)/main.cpp >> $@
 
 elf: applet/$(TARGET).elf
 hex: applet/$(TARGET).hex

Marlin/Marlin.h

@@ -1,8 +1,8 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
 
-#ifndef __MARLINH
-#define __MARLINH
+#ifndef MARLIN_H
+#define MARLIN_H
 
 #define  HardwareSerial_h // trick to disable the standard HWserial
 
@@ -26,7 +26,7 @@
 #include "pins.h"
 
 #if ARDUINO >= 100 
-  #if defined(__AVR_ATmega644P__)
+  #if defined(__AVR_ATmega644P__) || defined (__AVR_ATmega1284P__)
     #include "WProgram.h"
   #else
     #include "Arduino.h"
@@ -64,6 +64,7 @@
 
 
 #define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
+#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
 #define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
 #define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
 #define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');}
@@ -98,6 +99,13 @@ FORCE_INLINE void serialprintPGM(const char *str)
   }
 }
 
+// printing floats to 3DP
+FORCE_INLINE void serialPrintFloat( float f){
+  SERIAL_ECHO((int)f);
+  SERIAL_ECHOPGM(".");
+  int mantissa = (f - (int)f) * 1000;
+  SERIAL_ECHO( abs(mantissa) );
+}
 
 void get_command();
 void process_commands();
@@ -162,6 +170,9 @@ void ClearToSend();
 void get_coordinates();
 void prepare_move();
 void kill();
+void Stop();
+
+bool IsStopped();
 
 void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
 void prepare_arc_move(char isclockwise);
@@ -172,10 +183,19 @@ void prepare_arc_move(char isclockwise);
 #endif //CRITICAL_SECTION_START
 
 extern float homing_feedrate[];
+extern float fast_home_feedrate[];
 extern bool axis_relative_modes[];
+extern volatile int feedmultiply;
+extern int saved_feedmultiply;
 extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
-extern bool stop_heating_wait;
+extern unsigned char FanSpeed;
+
+extern float destination[NUM_AXIS];
+extern float modified_destination[NUM_AXIS];
+extern float offset[3];
+extern float feedrate, next_feedrate, saved_feedrate;
+
 
 // Handling multiple extruders pins
 extern uint8_t active_extruder;

Marlin/MatrixMath.cpp

@@ -0,0 +1,206 @@
+/*
+ *  MatrixMath.cpp Library for MatrixMath
+ *
+ *  Created by Charlie Matlack on 12/18/10.
+ *  Modified from code by RobH45345 on Arduino Forums, taken from unknown source.
+ *  MatrixMath.cpp 
+ */
+
+#include "Marlin.h"
+#include "MatrixMath.h"
+
+#define NR_END 1
+
+MatrixMath::MatrixMath()
+{
+}
+
+// Matrix Printing Routine
+// Uses tabs to separate numbers under assumption printed float width won't cause problems
+void MatrixMath::MatrixPrint(float* A, int m, int n, String label){
+	// A = input matrix (m x n)
+	int i,j;
+	SERIAL_ECHOLN(' ');
+	SERIAL_ECHOLN(label);
+	for (i=0; i<m; i++){
+		for (j=0;j<n;j++){
+			serialPrintFloat(A[n*i+j]);
+			SERIAL_ECHO("\t");
+		}
+		SERIAL_ECHOLN(' ');
+	}
+}
+
+void MatrixMath::MatrixCopy(float* A, int n, int m, float* B)
+{
+	int i, j, k;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+		{
+			B[n*i+j] = A[n*i+j];
+		}
+}
+	
+//Matrix Multiplication Routine
+// C = A*B
+void MatrixMath::MatrixMult(float* A, float* B, int m, int p, int n, float* C)
+{
+	// A = input matrix (m x p)
+	// B = input matrix (p x n)
+	// m = number of rows in A
+	// p = number of columns in A = number of rows in B
+	// n = number of columns in B
+	// C = output matrix = A*B (m x n)
+	int i, j, k;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+		{
+			C[n*i+j]=0;
+			for (k=0;k<p;k++)
+				C[n*i+j]= C[n*i+j]+A[p*i+k]*B[n*k+j];
+		}
+}
+
+
+//Matrix Addition Routine
+void MatrixMath::MatrixAdd(float* A, float* B, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// B = input matrix (m x n)
+	// m = number of rows in A = number of rows in B
+	// n = number of columns in A = number of columns in B
+	// C = output matrix = A+B (m x n)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[n*i+j]=A[n*i+j]+B[n*i+j];
+}
+
+
+//Matrix Subtraction Routine
+void MatrixMath::MatrixSubtract(float* A, float* B, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// B = input matrix (m x n)
+	// m = number of rows in A = number of rows in B
+	// n = number of columns in A = number of columns in B
+	// C = output matrix = A-B (m x n)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[n*i+j]=A[n*i+j]-B[n*i+j];
+}
+
+
+//Matrix Transpose Routine
+void MatrixMath::MatrixTranspose(float* A, int m, int n, float* C)
+{
+	// A = input matrix (m x n)
+	// m = number of rows in A
+	// n = number of columns in A
+	// C = output matrix = the transpose of A (n x m)
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			C[m*j+i]=A[n*i+j];
+}
+
+
+//Matrix Inversion Routine
+// * This function inverts a matrix based on the Gauss Jordan method.
+// * Specifically, it uses partial pivoting to improve numeric stability.
+// * The algorithm is drawn from those presented in 
+//	 NUMERICAL RECIPES: The Art of Scientific Computing.
+// * The function returns 1 on success, 0 on failure.
+// * NOTE: The argument is ALSO the result matrix, meaning the input matrix is REPLACED
+int MatrixMath::MatrixInvert(float* A, int n)
+{
+	// A = input matrix AND result matrix
+	// n = number of rows = number of columns in A (n x n)
+	int pivrow;		// keeps track of current pivot row
+	int k,i,j;		// k: overall index along diagonal; i: row index; j: col index
+	int pivrows[n]; // keeps track of rows swaps to undo at end
+	float tmp;		// used for finding max value and making column swaps
+	
+	for (k = 0; k < n; k++)
+	{
+		// find pivot row, the row with biggest entry in current column
+		tmp = 0;
+		for (i = k; i < n; i++)
+		{
+			if (abs(A[i*n+k]) >= tmp)	// 'Avoid using other functions inside abs()?'
+			{
+				tmp = abs(A[i*n+k]);
+				pivrow = i;
+			}
+		}
+		
+		// check for singular matrix
+		if (A[pivrow*n+k] == 0.0f)
+		{
+			SERIAL_ECHOLNPGM("Inversion failed due to singular matrix");
+			return 0;
+		}
+		
+		// Execute pivot (row swap) if needed
+		if (pivrow != k)
+		{
+			// swap row k with pivrow
+			for (j = 0; j < n; j++)
+			{
+				tmp = A[k*n+j];
+				A[k*n+j] = A[pivrow*n+j];
+				A[pivrow*n+j] = tmp;
+			}
+		}
+		pivrows[k] = pivrow;	// record row swap (even if no swap happened)
+		
+		tmp = 1.0f/A[k*n+k];	// invert pivot element
+		A[k*n+k] = 1.0f;		// This element of input matrix becomes result matrix
+		
+		// Perform row reduction (divide every element by pivot)
+		for (j = 0; j < n; j++)
+		{
+			A[k*n+j] = A[k*n+j]*tmp;
+		}
+		
+		// Now eliminate all other entries in this column
+		for (i = 0; i < n; i++)
+		{
+			if (i != k)
+			{
+				tmp = A[i*n+k];
+				A[i*n+k] = 0.0f;  // The other place where in matrix becomes result mat
+				for (j = 0; j < n; j++)
+				{
+					A[i*n+j] = A[i*n+j] - A[k*n+j]*tmp;
+				}
+			}
+		}
+	}
+	
+	// Done, now need to undo pivot row swaps by doing column swaps in reverse order
+	for (k = n-1; k >= 0; k--)
+	{
+		if (pivrows[k] != k)
+		{
+			for (i = 0; i < n; i++)
+			{
+				tmp = A[i*n+k];
+				A[i*n+k] = A[i*n+pivrows[k]];
+				A[i*n+pivrows[k]] = tmp;
+			}
+		}
+	}
+	return 1;
+}
+
+void MatrixMath::MatrixIdentity(float* A, int m, int n)
+{
+	int i, j;
+	for (i=0;i<m;i++)
+		for(j=0;j<n;j++)
+			A[n*i+j]=i==j?1:0;
+}
+
+MatrixMath matrixMaths; //instance

Marlin/MatrixMath.h

@@ -0,0 +1,29 @@
+/*
+ *  MatrixMath.h Library for Matrix Math
+ *
+ *  Created by Charlie Matlack on 12/18/10.
+ *  Modified from code by RobH45345 on Arduino Forums, taken from unknown source.
+ */
+
+#ifndef MatrixMath_h
+#define MatrixMath_h
+
+#include "Marlin.h"
+
+class MatrixMath
+{
+public:
+	MatrixMath();
+	void MatrixPrint(float* A, int m, int n, String label);
+	void MatrixCopy(float* A, int n, int m, float* B);
+	void MatrixMult(float* A, float* B, int m, int p, int n, float* C);
+	void MatrixAdd(float* A, float* B, int m, int n, float* C);
+	void MatrixSubtract(float* A, float* B, int m, int n, float* C);
+	void MatrixTranspose(float* A, int m, int n, float* C);
+	int MatrixInvert(float* A, int n);
+	void MatrixIdentity(float* A, int m, int n);
+};
+
+extern MatrixMath matrixMaths;
+
+#endif

Marlin/cardreader.cpp

@@ -3,6 +3,8 @@
 #include "ultralcd.h"
 #include "stepper.h"
 #include "temperature.h"
+#include "language.h"
+
 #ifdef SDSUPPORT
 
 
@@ -51,7 +53,7 @@ void  CardReader::lsDive(const char *prepend,SdFile parent)
  
   while (parent.readDir(p) > 0)
   {
-    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename)
+    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
     {
 
       char path[13*2];
@@ -75,7 +77,7 @@ void  CardReader::lsDive(const 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);
         }
       }
@@ -93,9 +95,11 @@ void  CardReader::lsDive(const char *prepend,SdFile parent)
         if ( p.name[1] != '.')
         continue;
       }
+      
       if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
       filenameIsDir=DIR_IS_SUBDIR(&p);
       
+      
       if(!filenameIsDir)
       {
         if(p.name[8]!='G') continue;
@@ -143,38 +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()
 {
- curDir=&root;
-  if(!workDir.openRoot(&volume))
+  /*if(!workDir.openRoot(&volume))
   {
-    SERIAL_ECHOLNPGM("workDir open failed");
-  } 
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
+  }*/
+  workDir=root;
+  
+  curDir=&workDir;
 }
 void CardReader::release()
 {
@@ -230,7 +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;
@@ -260,18 +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(".");
     }
@@ -280,14 +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);
     }
@@ -295,16 +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)
@@ -326,7 +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);
   }
 }
 
@@ -420,7 +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
@@ -447,9 +526,6 @@ void CardReader::printingHasFinished()
  st_synchronize();
  quickStop();
  sdprinting = false;
- #ifdef STOP_HEATING_WAIT_FOR_SD_PRINTING
- stop_heating_wait=true;
- #endif
  if(SD_FINISHED_STEPPERRELEASE)
  {
    //finishAndDisableSteppers();
@@ -457,4 +533,102 @@ void CardReader::printingHasFinished()
  }
  autotempShutdown();
 }
+void CardReader::fast_xfer(char* strchr_pointer)
+  {
+    char *pstr;
+    boolean done = false;
+    
+    //force heater pins low
+    if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW);
+    if(HEATER_BED_PIN > -1) WRITE(HEATER_BED_PIN,LOW);
+    
+    lastxferchar = 1;
+    xferbytes = 0;
+    
+    pstr = strstr(strchr_pointer, " ");
+    //pstr = strchr_pointer;
+
+    if(pstr == NULL)
+    {
+      SERIAL_ECHOLN("invalid command");
+      return;
+    }
+    
+    *pstr = '\0';
+    
+    //check mode (currently only RAW is supported
+    if(strcmp(strchr_pointer, "RAW") != 0)
+    {
+      SERIAL_ECHOLN("Invalid transfer codec");
+      return;
+    }else{
+      SERIAL_ECHOPGM("Selected codec: ");
+      SERIAL_ECHOLN(strchr_pointer+4);
+    }
+    
+    if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
+    {
+      SERIAL_ECHOPGM("open failed, File: ");
+      SERIAL_ECHOLN(pstr+1);
+      SERIAL_ECHOPGM(".");
+    }else{
+      SERIAL_ECHOPGM("Writing to file: ");
+      SERIAL_ECHOLN(pstr+1);
+    }
+        
+    SERIAL_ECHOLN("ok");
+    
+    //RAW transfer codec
+    //Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0
+    //when host is done, it sends \0\0.
+    //if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer.
+    
+    //read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved)
+    while(!done)
+    {
+      while(!MYSERIAL.available())
+      {
+      }
+      if(MYSERIAL.peek() != 0)
+      {
+        //host has failed, this isn't a RAW chunk, it's an actual command
+        file.sync();
+        file.close();
+        SERIAL_ECHOLN("Not RAW data");
+        return;
+      }
+      //clear the initial 0
+      MYSERIAL.read();
+      for(int i=0;i<SD_FAST_XFER_CHUNK_SIZE+1;i++)
+      {
+        while(!MYSERIAL.available())
+        {
+        }
+        lastxferchar = MYSERIAL.read();
+        //buffer the data...
+        fastxferbuffer[i] = lastxferchar;
+        
+        xferbytes++;
+        
+        if(lastxferchar == 0)
+          break;
+      }
+      
+      if(fastxferbuffer[0] != 0)
+      {
+        fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE] = 0;
+        file.write(fastxferbuffer);
+        SERIAL_ECHOLN("ok");
+      }else{
+        SERIAL_ECHOPGM("Wrote ");
+        SERIAL_ECHO(xferbytes);
+        SERIAL_ECHOLN(" bytes.");
+        done = true;
+      }
+    }
+
+    file.sync();
+    file.close();
+  }
+
 #endif //SDSUPPORT

Marlin/cardreader.h

@@ -1,5 +1,5 @@
-#ifndef __CARDREADERH
-#define __CARDREADERH
+#ifndef CARDREADER_H
+#define CARDREADER_H
 
 #ifdef SDSUPPORT
 
@@ -17,6 +17,7 @@ public:
 
   void checkautostart(bool x); 
   void openFile(char* name,bool read);
+  void removeFile(char* name);
   void closefile();
   void release();
   void startFileprint();
@@ -32,6 +33,8 @@ public:
   void chdir(const char * relpath);
   void updir();
   void setroot();
+  
+  void fast_xfer(char* strchr_pointer);
 
 
   FORCE_INLINE bool eof() { return sdpos>=filesize ;};
@@ -44,9 +47,10 @@ public:
   bool saving;
   bool sdprinting ;  
   bool cardOK ;
-  char filename[11];
+  char filename[12];
   bool filenameIsDir;
   int lastnr; //last number of the autostart;
+  char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1];
 private:
   SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
   Sd2Card card;
@@ -63,40 +67,14 @@ private:
   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(const char *prepend,SdFile parent);
+  int lastxferchar;
+  long xferbytes;
 };
-  
+#define IS_SD_PRINTING (card.sdprinting)
 
 #else
 
-#define dir_t bool 
-class CardReader
-{
-public:
-  FORCE_INLINE CardReader(){};
-  
-  FORCE_INLINE static void initsd(){};
-  FORCE_INLINE static void write_command(char *buf){};
-  
-  FORCE_INLINE static void checkautostart(bool x) {}; 
-  
-  FORCE_INLINE static void openFile(char* name,bool read){};
-  FORCE_INLINE static void closefile() {};
-  FORCE_INLINE static void release(){};
-  FORCE_INLINE static void startFileprint(){};
-  FORCE_INLINE static void startFilewrite(char *name){};
-  FORCE_INLINE static void pauseSDPrint(){};
-  FORCE_INLINE static void getStatus(){};
-  
-  FORCE_INLINE static void selectFile(char* name){};
-  FORCE_INLINE static void getfilename(const uint8_t nr){};
-  FORCE_INLINE static uint8_t getnrfilenames(){return 0;};
-  
+#define IS_SD_PRINTING (false)
 
-  FORCE_INLINE static void ls() {};
-  FORCE_INLINE static bool eof() {return true;};
-  FORCE_INLINE static char get() {return 0;};
-  FORCE_INLINE static void setIndex(){};
-  FORCE_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/fastio.h

@@ -424,7 +424,7 @@ pins
 #define PD7_PWM			NULL
 #endif	/*	_AVR_ATmega{168,328,328P}__ */
 
-#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__)
+#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) || defined (__AVR_ATmega1284__) || defined (__AVR_ATmega1284P__)
 // UART
 #define	RXD					DIO8
 #define	TXD					DIO9

Marlin/language.h

@@ -0,0 +1,299 @@
+#ifndef LANGUAGE_H
+#define LANGUAGE_H
+
+// Languages
+// 1  Custom (For you to add your own messages)
+// 2  English 
+// 3  French	(Waiting translation)
+// 4  German	(Waiting translation)
+// 5  Etc
+
+#define LANGUAGE_CHOICE 1  // Pick your language from the list above
+
+#if LANGUAGE_CHOICE == 1
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "Printer 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_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+	#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_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_TEMPERATURE_WIDE " Temperature \x7E"
+	#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_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+	#define MSG_DWELL "Sleep..."
+	#define MSG_USERWAIT "Wait for user..."
+	#define MSG_NO_MOVE "No move."
+	#define MSG_PART_RELEASE "Partial Release"
+	#define MSG_KILLED "KILLED. "
+	#define MSG_STOPPED "STOPPED. "
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_STEPPER_RELEASED "Released."
+
+
+// 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:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
+	#define MSG_COUNT_X " Count X:"
+	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!. (Temperature is reset. Set it before restarting)"
+	#define MSG_RESEND "Resend:"
+	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
+	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
+	#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 "MARLIN 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 " Stepper abschalten"
+	#define MSG_AUTO_HOME " Auto Heim"
+	#define MSG_SET_ORIGIN " Position setzen"
+	#define MSG_PREHEAT_PLA " Aufheizen PLA"
+	#define MSG_PREHEAT_ABS " Aufheizen ABS"
+	#define MSG_COOLDOWN " Abkuehlen"
+	#define MSG_EXTRUDE " Extrude"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_MOVE_AXIS " Move Axis      \x7E"
+        #define MSG_MOVE_AXIS " Achsen verfahren   \x7E"
+	#define MSG_SPEED " Geschw:"
+	#define MSG_NOZZLE " \002Duese:"
+	#define MSG_BED " \002Bett:"
+	#define MSG_FAN_SPEED " Luefter geschw.:"
+	#define MSG_FLOW " Fluss:"
+	#define MSG_CONTROL " Kontrolle \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 " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperatur \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " EPROM speichern"
+	#define MSG_LOAD_EPROM "  EPROM laden"
+	#define MSG_RESTORE_FAILSAFE " Standard Konfig."
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Beobachten   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_PREPARE_ALT " Prepare \003"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Druck stoppen   \x7E"
+	#define MSG_CARD_MENU " SDKarten Menue    \x7E"
+	#define MSG_NO_CARD " Keine SDKarte"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Fehler in der  Menuestruktur."
+	#define MSG_DWELL "DWELL..."		
+	#define MSG_NO_MOVE "No move."
+	#define MSG_PART_RELEASE "Partial Release"
+	#define MSG_KILLED "KILLED. "
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_STEPPER_RELEASED "Released."
+
+
+// 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:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n"
+	#define MSG_COUNT_X " Count X:"
+	#define MSG_ERR_KILLED "Printer halted. kill() called !!"
+	#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!"
+	#define MSG_RESEND "Resend:"
+	#define MSG_UNKNOWN_COMMAND "Unknown command:\""
+	#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
+	#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
+#endif // ifndef LANGUAGE_H

Marlin/led.cpp

@@ -0,0 +1,35 @@
+#include "led.h"
+#if (LED_PIN > -1)
+#include "Marlin.h"
+#include "temperature.h"
+
+static unsigned long previous_millis_led=0;
+static unsigned long previous_millis_toggle=0;
+
+void led_init()
+{
+    SET_OUTPUT(LED_PIN);
+}
+
+void led_status()
+{
+  if (((millis() - previous_millis_led) < LED_UPDATE_INTERVAL))
+    return;
+  previous_millis_led=millis();
+  if (degTargetHotend(active_extruder) > HEATER_0_MINTEMP)
+  {
+    if (((millis() - previous_millis_toggle) < LED_HOTEND_ACTIVE_FLASH))
+        return;
+    previous_millis_toggle=millis();
+    TOGGLE(LED_PIN);
+  }
+  else
+  {
+    WRITE(LED_PIN, HIGH);
+  }
+}
+
+
+#endif //LED_PIN > -1
+
+

Marlin/led.h

@@ -0,0 +1,20 @@
+#ifndef __LEDH
+
+#define __LEDH
+#include "Marlin.h"
+
+#if (LED_PIN > -1) 
+  void led_status();
+  void led_init();
+
+  #define LED_UPDATE_INTERVAL 100
+  #define LED_HOTEND_ACTIVE_FLASH 800
+  #define LED_ERROR_FLASH 200
+  #define LED_STATUS led_status()
+
+#else //no led
+  #define LED_STATUS
+  FORCE_INLINE void led_status() {};
+#endif //LED_PIN > -1
+
+#endif

Marlin/motion_control.cpp

@@ -47,6 +47,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
   if (millimeters_of_travel < 0.001) { return; }
   uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
+  if(segments == 0) segments = 1;
+  
   /*  
     // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
     // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
@@ -122,6 +124,18 @@ 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;
+
+    if (min_software_endstops) {
+      if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
+      if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
+      if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
+    }
+
+    if (max_software_endstops) {
+      if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
+      if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
+      if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
+    }
     plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
     
   }

Marlin/pins.h

@@ -45,225 +45,195 @@
 #endif /* 99 */
 
 /****************************************************************************************
-* Arduino pin assignment
-*
-*                  ATMega168
-*                   +-\/-+
-*             PC6  1|    |28  PC5 (AI 5 / D19)
-*       (D 0) PD0  2|    |27  PC4 (AI 4 / D18)
-*       (D 1) PD1  3|    |26  PC3 (AI 3 / D17)
-*       (D 2) PD2  4|    |25  PC2 (AI 2 / D16)
-*  PWM+ (D 3) PD3  5|    |24  PC1 (AI 1 / D15)
-*       (D 4) PD4  6|    |23  PC0 (AI 0 / D14)
-*             VCC  7|    |22  GND
-*             GND  8|    |21  AREF
-*             PB6  9|    |20  AVCC
-*             PB7 10|    |19  PB5 (D 13)
-*  PWM+ (D 5) PD5 11|    |18  PB4 (D 12)
-*  PWM+ (D 6) PD6 12|    |17  PB3 (D 11) PWM
-*       (D 7) PD7 13|    |16  PB2 (D 10) PWM
-*       (D 8) PB0 14|    |15  PB1 (D 9)  PWM
-*                   +----+
-****************************************************************************************/
-#if MOTHERBOARD == 0
-#define KNOWN_BOARD 1
-
-#ifndef __AVR_ATmega168__
-#error Oops!  Make sure you have 'Arduino Diecimila' selected from the boards menu.
-#endif
-
-#define X_STEP_PIN          2
-#define X_DIR_PIN           3
-#define X_ENABLE_PIN       -1
-#define X_MIN_PIN           4
-#define X_MAX_PIN           9
-
-#define Y_STEP_PIN         10
-#define Y_DIR_PIN           7
-#define Y_ENABLE_PIN       -1
-#define Y_MIN_PIN           8
-#define Y_MAX_PIN          13
-
-#define Z_STEP_PIN         19
-#define Z_DIR_PIN          18
-#define Z_ENABLE_PIN        5
-#define Z_MIN_PIN          17
-#define Z_MAX_PIN          16
-
-#define E0_STEP_PIN         11
-#define E0_DIR_PIN          12
-#define E0_ENABLE_PIN       -1
-
-#define SDPOWER          -1
-#define SDSS          -1
-#define LED_PIN            -1
-#define FAN_PIN            -1
-#define PS_ON_PIN          15
-#define KILL_PIN           -1
-
-#define HEATER_0_PIN        6
-#define HEATER_1_PIN        -1
-#define HEATER_2_PIN        -1
-#define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_2_PIN          -1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define HEATER_BED_PIN      -1
-#define TEMP_BED_PIN        -1
-#endif
-
-
-
-/****************************************************************************************
-* Sanguino/RepRap Motherboard with direct-drive extruders
-*
-*                        ATMega644P
-*
-*                        +---\/---+
-*            (D 0) PB0  1|        |40  PA0 (AI 0 / D31)
-*            (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
-*  INT0 RX1 (D 10) PD2 16|        |25  PC3 (D 19) TMS
-*  INT1 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
-*                        +--------+
+* Gen7 v1.1, v1.2, v1.3, v1.4 pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 1
-#define KNOWN_BOARD 1
 
-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+
+#if MOTHERBOARD == 13
+#define MOTHERBOARD 11
+#define GEN7_VERSION 14 // v1.4
 #endif
 
-#define X_STEP_PIN         15
-#define X_DIR_PIN          18
-#define X_ENABLE_PIN       19
-#define X_MIN_PIN          20
-#define X_MAX_PIN          21
-
-#define Y_STEP_PIN         23
-#define Y_DIR_PIN          22
-#define Y_ENABLE_PIN       19
-#define Y_MIN_PIN          25
-#define Y_MAX_PIN          26
-
-#define Z_STEP_PIN         29
-#define Z_DIR_PIN          30
-#define Z_ENABLE_PIN       31
-#define Z_MIN_PIN           2
-#define Z_MAX_PIN           1
-
-#define E0_STEP_PIN         12
-#define E0_DIR_PIN          16
-#define E0_ENABLE_PIN        3
-
-#define SDPOWER          -1
-#define SDSS          -1
-#define LED_PIN             0
-#define FAN_PIN            -1
-#define PS_ON_PIN          -1
-#define KILL_PIN           -1
-
-#define HEATER_0_PIN       14
-#define HEATER_1_PIN       -1
-#define HEATER_2_PIN       -1
-#define TEMP_0_PIN          4 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN         -1 
-#define TEMP_2_PIN         -1 
-#define HEATER_BED_PIN     -1
-#define TEMP_BED_PIN       -1
-/*  Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31)  */
+#if MOTHERBOARD == 12
+#define MOTHERBOARD 11
+#define GEN7_VERSION 13 // v1.3
+#endif
 
+#if MOTHERBOARD == 11
+#define KNOWN_BOARD
 
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
+#error Oops! Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.
 
 #endif
 
-
-/****************************************************************************************
-* RepRap Motherboard  ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
-*
-****************************************************************************************/
-#if MOTHERBOARD == 2
-#define KNOWN_BOARD 1
-
-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#ifndef GEN7_VERSION
+#define GEN7_VERSION 12 // v1.x
 #endif
 
-#define X_STEP_PIN      15
-#define X_DIR_PIN       18
-#define X_ENABLE_PIN    19
-#define X_MIN_PIN       20
-#define X_MAX_PIN       21
+//x axis pins
+#define X_STEP_PIN 19
+#define X_DIR_PIN 18
+#define X_ENABLE_PIN 24
+#define X_MIN_PIN 7
+#define X_MAX_PIN -1
 
-#define Y_STEP_PIN      23
-#define Y_DIR_PIN       22
-#define Y_ENABLE_PIN    24
-#define Y_MIN_PIN       25
-#define Y_MAX_PIN       26
+//y axis pins
+#define Y_STEP_PIN 23
+#define Y_DIR_PIN 22
+#define Y_ENABLE_PIN 24
+#define Y_MIN_PIN 5
+#define Y_MAX_PIN -1
 
-#define Z_STEP_PINN     27
-#define Z_DIR_PINN      28
-#define Z_ENABLE_PIN    29
-#define Z_MIN_PIN       30
-#define Z_MAX_PIN       31
+//z axis pins
+#define Z_STEP_PIN 26
+#define Z_DIR_PIN 25
+#define Z_ENABLE_PIN 24
+#define Z_MIN_PIN 1
+#define Z_MAX_PIN 0
 
-#define E0_STEP_PIN      17
-#define E0_DIR_PIN       16
-#define E0_ENABLE_PIN    -1
+//extruder pins
+#define E0_STEP_PIN 28
+#define E0_DIR_PIN 27
+#define E0_ENABLE_PIN 24
 
-#define SDPOWER          -1
-#define SDSS          4
-#define LED_PIN          0
+#define TEMP_0_PIN 1
+#define TEMP_1_PIN -1
+#define TEMP_2_PIN -1
+#define TEMP_BED_PIN 2
 
-#define SD_CARD_WRITE    2
-#define SD_CARD_DETECT   3
-#define SD_CARD_SELECT   4
+#define HEATER_0_PIN 4
+#define HEATER_1_PIN -1
+#define HEATER_2_PIN -1
+#define HEATER_BED_PIN 3
+
+
+#define SDPOWER -1
+#define SDSS -1 // SCL pin of I2C header
+#define LED_PIN -1
+
+#if (GEN7_VERSION >= 13)
+// Gen7 v1.3 removed the fan pin
+#define FAN_PIN -1
+#else
+#define FAN_PIN 31
+#endif
+#define PS_ON_PIN 15
+
+#if (GEN7_VERSION < 14)
+// Gen 1.3 and earlier supplied thermistor power via PS_ON
+// Need to ignore the bad thermistor readings on those units
+#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+#endif
+
+//our pin for debugging.
+#define DEBUG_PIN 0
 
 //our RS485 pins
-#define TX_ENABLE_PIN	12
-#define RX_ENABLE_PIN	13
+#define TX_ENABLE_PIN 12
+#define RX_ENABLE_PIN 13
 
-//pin for controlling the PSU.
-#define PS_ON_PIN       14
+#endif
 
-#define FAN_PIN         -1
-#define KILL_PIN        -1
+/*******************************************************************************
+*********
+* Gen7 Alfons3  pin assignment
+*
+********************************************************************************
+********/
+/* These Pins are assigned for the modified GEN7 Board from Alfons3 Please review the pins and adjust it for your needs*/
 
-#define HEATER_0_PIN    -1
-#define HEATER_1_PIN    -1
-#define HEATER_2_PIN    -1
-#define TEMP_0_PIN      -1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN      -1    
-#define TEMP_2_PIN      -1    
-#define HEATER_BED_PIN  -1
-#define TEMP_BED_PIN    -1
+#if MOTHERBOARD == 10
+#define KNOWN_BOARD
 
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
+    #error Oops!  Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.
+
+#endif
+
+//x axis pins
+    #define X_STEP_PIN      21                  //different from stanard GEN7
+    #define X_DIR_PIN       20				    //different from stanard GEN7
+    #define X_ENABLE_PIN    24
+    #define X_MIN_PIN       0
+    #define X_MAX_PIN       -1
+
+    //y axis pins
+    #define Y_STEP_PIN      23
+    #define Y_DIR_PIN       22
+    #define Y_ENABLE_PIN    24
+    #define Y_MIN_PIN       1
+    #define Y_MAX_PIN       -1
+
+    //z axis pins
+    #define Z_STEP_PIN      26
+    #define Z_DIR_PIN       25
+    #define Z_ENABLE_PIN    24
+    #define Z_MIN_PIN       2
+    #define Z_MAX_PIN       -1
+
+    //extruder pins
+    #define E0_STEP_PIN      28
+    #define E0_DIR_PIN       27
+    #define E0_ENABLE_PIN    24
+    
+    #define TEMP_0_PIN      2
+    #define TEMP_1_PIN      -1
+    #define TEMP_2_PIN      -1
+    #define TEMP_BED_PIN        1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
+     
+    #define HEATER_0_PIN    4
+    #define HEATER_1_PIN    -1   
+    #define HEATER_2_PIN    -1
+    #define HEATER_BED_PIN      3  // (bed)
+
+    #define SDPOWER         -1
+    #define SDSS            31                  // SCL pin of I2C header || CS Pin for SD Card support
+    #define LED_PIN         -1
+
+    #define FAN_PIN         -1
+    #define PS_ON_PIN       19
+    //our pin for debugging.
+
+    #define DEBUG_PIN        -1
+
+    //our RS485 pins
+    //#define TX_ENABLE_PIN       12
+    //#define RX_ENABLE_PIN       13
+    
+    #define BEEPER -1	
+	#define SDCARDDETECT -1 		
+    #define SUICIDE_PIN -1						//has to be defined; otherwise Power_off doesn't work
+	
+	//Pins for 4bit LCD Support 
+    #define LCD_PINS_RS 18 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 16
+    #define LCD_PINS_D5 15 
+    #define LCD_PINS_D6 13
+    #define LCD_PINS_D7 14
+    
+     //buttons are directly attached
+    #define BTN_EN1 11
+    #define BTN_EN2 10
+    #define BTN_ENC 12  //the click
+    
+    #define BLEN_C 2
+    #define BLEN_B 1
+    #define BLEN_A 0
+
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
 #endif
 
 /****************************************************************************************
 * Arduino Mega pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 33
-#define MOTHERBOARD 3
-#define RAMPS_V_1_3
-#endif
-#if MOTHERBOARD == 3
+#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34
 #define KNOWN_BOARD 1
 
 //////////////////FIX THIS//////////////
@@ -277,7 +247,7 @@
 // #define RAMPS_V_1_3
 // #define RAMPS_V_1_0
 
-#ifdef RAMPS_V_1_3
+#if MOTHERBOARD == 33 || MOTHERBOARD == 34
 
 #define X_STEP_PIN         54
 #define X_DIR_PIN          55
@@ -295,7 +265,7 @@
 #define Z_DIR_PIN          48
 #define Z_ENABLE_PIN       62
 #define Z_MIN_PIN          18
-#define Z_MAX_PIN          19   //19
+#define Z_MAX_PIN          19
 
 #define E0_STEP_PIN        26
 #define E0_DIR_PIN         28
@@ -308,19 +278,96 @@
 #define SDPOWER            -1
 #define SDSS               53
 #define LED_PIN            13
-#define FAN_PIN            4
+
+#if MOTHERBOARD == 33
+#define FAN_PIN            9 // (Sprinter config)
+#else
+#define FAN_PIN            4 // IO pin. Buffer needed
+#endif
 #define PS_ON_PIN          12
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN       10   // EXTRUDER 1
-#define HEATER_1_PIN       9    // EXTRUDER 2
-#define HEATER_2_PIN       -1   // EXTRUDER 2
+#if MOTHERBOARD == 33
+#define HEATER_1_PIN       -1
+#else
+#define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
+#endif
+#define HEATER_2_PIN       -1   
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 #define TEMP_1_PIN         15   // ANALOG NUMBERING
 #define TEMP_2_PIN         -1   // ANALOG NUMBERING
 #define HEATER_BED_PIN     8    // BED
 #define TEMP_BED_PIN       14   // ANALOG NUMBERING
 
+#ifdef ULTRA_LCD
+
+  #ifdef NEWPANEL
+  //arduino pin which triggers an piezzo beeper
+    #define BEEPER 33			// Beeper on AUX-4
+
+    #define LCD_PINS_RS 16 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 23
+    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D6 27
+    #define LCD_PINS_D7 29
+    
+    //buttons are directly attached using AUX-2
+    #define BTN_EN1 37
+    #define BTN_EN2 35
+    #define BTN_ENC 31  //the click
+    
+    #define BLEN_C 2
+    #define BLEN_B 1
+    #define BLEN_A 0
+    
+    #define SDCARDDETECT -1		// Ramps does not use this port
+    
+      //encoder rotation values
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
+
+  #else //old style panel with shift register
+    //arduino pin witch triggers an piezzo beeper
+    #define BEEPER 33		No Beeper added
+
+    //buttons are attached to a shift register
+	// Not wired this yet
+    //#define SHIFT_CLK 38
+    //#define SHIFT_LD 42
+    //#define SHIFT_OUT 40
+    //#define SHIFT_EN 17
+    
+    #define LCD_PINS_RS 16 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 23
+    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D6 27
+    #define LCD_PINS_D7 29
+    
+    //encoder rotation values
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
+
+    
+    //bits in the shift register that carry the buttons for:
+    // left up center down right red
+    #define BL_LE 7
+    #define BL_UP 6
+    #define BL_MI 5
+    #define BL_DW 4
+    #define BL_RI 3
+    #define BL_ST 2
+
+    #define BLEN_B 1
+    #define BLEN_A 0
+  #endif 
+#endif //ULTRA_LCD
 
 #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
 
@@ -352,8 +399,6 @@
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
 
-
-
 #ifdef RAMPS_V_1_0 // RAMPS_V_1_0
   #define HEATER_0_PIN     12    // RAMPS 1.0
   #define HEATER_BED_PIN   -1    // RAMPS 1.0
@@ -440,11 +485,13 @@
 * Gen6 pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 5
+#if MOTHERBOARD == 5 || MOTHERBOARD == 51
 #define KNOWN_BOARD 1
 
 #ifndef __AVR_ATmega644P__
-    #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#ifndef __AVR_ATmega1284P__
+#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
 #endif
 
 //x axis pins
@@ -474,13 +521,19 @@
     #define E0_ENABLE_PIN    3    //Added @ EJE Electronics 20100715
     #define TEMP_0_PIN      5     //changed @ rkoeppl 20110410
     #define TEMP_1_PIN      -1    //changed @ rkoeppl 20110410
+
+
     #define TEMP_2_PIN      -1    //changed @ rkoeppl 20110410
     #define HEATER_0_PIN    14    //changed @ rkoeppl 20110410
     #define HEATER_1_PIN    -1
     #define HEATER_2_PIN    -1
+    #if MOTHERBOARD == 5
     #define HEATER_BED_PIN  -1    //changed @ rkoeppl 20110410
     #define TEMP_BED_PIN    -1    //changed @ rkoeppl 20110410
-    
+    #else
+    #define HEATER_BED_PIN   1    //changed @ rkoeppl 20110410
+    #define TEMP_BED_PIN     0    //changed @ rkoeppl 20110410
+    #endif
     #define SDPOWER          -1
     #define SDSS          17
     #define LED_PIN         -1    //changed @ rkoeppl 20110410
@@ -502,14 +555,17 @@
 *
 ****************************************************************************************/
 #if MOTHERBOARD == 62
+#undef MOTHERBOARD
 #define MOTHERBOARD 6
 #define SANGUINOLOLU_V_1_2 
 #endif
 #if MOTHERBOARD == 6
 #define KNOWN_BOARD 1
 #ifndef __AVR_ATmega644P__
+#ifndef __AVR_ATmega1284P__
 #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
 #endif
+#endif
 
 #define X_STEP_PIN         15
 #define X_DIR_PIN          21
@@ -529,9 +585,10 @@
 #define E0_STEP_PIN         1
 #define E0_DIR_PIN          0
 
-#define LED_PIN            -1
+#define PROBE_PIN          20
 
-#define FAN_PIN            -1 
+#define LED_PIN            -1
+#define FAN_PIN            -1
 
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
@@ -542,7 +599,7 @@
 
 #ifdef SANGUINOLOLU_V_1_2
 
-#define HEATER_BED_PIN     12 // (bed)
+#define HEATER_BED_PIN     10 // (bed) - 10 for spare DIO pin and bed MOSFET, 12 for SL MOSFET
 #define X_ENABLE_PIN       14
 #define Y_ENABLE_PIN       14
 #define Z_ENABLE_PIN       26
@@ -567,6 +624,65 @@
 
 #endif
 
+/****************************************************************************************
+* Melzi pin assignment
+*
+****************************************************************************************/
+#if MOTHERBOARD == 63
+#define KNOWN_BOARD 1
+#ifndef __AVR_ATmega644P__
+#ifndef __AVR_ATmega1284P__
+#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+#endif
+
+#define X_STEP_PIN         15
+#define X_DIR_PIN          21
+#define X_MIN_PIN          18
+#define X_MAX_PIN           -2
+
+#define Y_STEP_PIN         22
+#define Y_DIR_PIN          23
+#define Y_MIN_PIN          19
+#define Y_MAX_PIN          -1
+
+#define Z_STEP_PIN         3
+#define Z_DIR_PIN          2
+#define Z_MIN_PIN          20
+#define Z_MAX_PIN          -1
+
+#define E0_STEP_PIN         1
+#define E0_DIR_PIN          0
+
+#define PROBE_PIN          -1    //29 on Melzi1284p A2
+
+#define LED_PIN            27
+
+#define FAN_PIN            4 
+
+#define PS_ON_PIN          -1
+#define KILL_PIN           -1
+
+#define HEATER_0_PIN       13 // (extruder)
+#define HEATER_1_PIN       -1
+#define HEATER_2_PIN       -1
+
+#define HEATER_BED_PIN     12 // bed (change to 10 for gate pin of MOSFET on heated bed)
+#define X_ENABLE_PIN       14
+#define Y_ENABLE_PIN       14
+#define Z_ENABLE_PIN       26
+#define E0_ENABLE_PIN      14
+
+#define TEMP_0_PIN          7   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
+#define TEMP_1_PIN         -1
+#define TEMP_2_PIN         -1
+#define TEMP_BED_PIN        6   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
+#define SDPOWER            -1
+#define SDSS               31
+
+#endif
+
+
 
 #if MOTHERBOARD == 7
 #define KNOWN_BOARD
@@ -616,7 +732,7 @@
 
 #define E1_STEP_PIN         49
 #define E1_DIR_PIN          47
-#define E1_ENABLE_PIN       51
+#define E1_ENABLE_PIN       48
 
 #define SDPOWER            -1
 #define SDSS               53
@@ -678,7 +794,7 @@
     #define encrot2 3
     #define encrot3 1
 
-    
+    #define SDCARDDETECT -1
     //bits in the shift register that carry the buttons for:
     // left up center down right red
     #define BL_LE 7
@@ -829,8 +945,10 @@
 #define MOTHERBOARD 6
 #define KNOWN_BOARD 1
 #ifndef __AVR_ATmega644P__
+#ifndef __AVR_ATmega1284P__
 #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
 #endif
+#endif
 
 #define X_STEP_PIN         15
 #define X_DIR_PIN          18
@@ -882,22 +1000,26 @@
 #endif
 
 //List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
-#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN
-#if EXTRUDERS == 3
-  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN
-  #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN
-#elif EXTRUDERS == 2
-  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN
-  #define _E2_PINS -1
-#elif EXTRUDERS == 1
-  #define _E1_PINS -1 
-  #define _E2_PINS -1
+#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, 
+#if EXTRUDERS > 1
+  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
 #else
-  #error Unsupported number of extruders
+  #define _E1_PINS
 #endif
+#if EXTRUDERS > 2
+  #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN, HEATER_2_PIN,
+#else
+  #define _E2_PINS
+#endif
+
+#ifdef DISABLE_MAX_ENDSTOPS
+#define X_MAX_PIN          -1
+#define Y_MAX_PIN          -1
+#define Z_MAX_PIN          -1
+#endif
+
 #define SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, LED_PIN, PS_ON_PIN, \
-                        HEATER_0_PIN, HEATER_1_PIN, HEATER_2_PIN, \
                         HEATER_BED_PIN, FAN_PIN,                  \
-                        _E0_PINS, _E1_PINS, _E2_PINS,             \
+                        _E0_PINS _E1_PINS _E2_PINS             \
                         TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN, TEMP_BED_PIN }
 #endif

Marlin/planner.cpp

@@ -51,14 +51,13 @@
     IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
 */
                                                                                                             
-
-
-
 #include "Marlin.h"
 #include "planner.h"
 #include "stepper.h"
 #include "temperature.h"
 #include "ultralcd.h"
+#include "language.h"
+#include "led.h"
 
 //===========================================================================
 //=============================public variables ============================
@@ -73,6 +72,7 @@ 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];
 
@@ -81,6 +81,8 @@ 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;
@@ -373,20 +375,26 @@ void plan_init() {
 void getHighESpeed()
 {
   static float oldt=0;
-  if(!autotemp_enabled)
+  if(!autotemp_enabled){
     return;
-  if(degTargetHotend0()+2<autotemp_min)  //probably temperature set to zero.
+  }
+  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
     return; //do nothing
+  }
   
-  float high=0;
+  float high=0.0;
   uint8_t block_index = block_buffer_tail;
   
   while(block_index != block_buffer_head) {
-    float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
-    //se; units steps/sec;
-    if(se>high)
-    {
-      high=se;
+    if((block_buffer[block_index].steps_x != 0) ||
+       (block_buffer[block_index].steps_y != 0) ||
+       (block_buffer[block_index].steps_z != 0)) {
+      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+      //se; mm/sec;
+      if(se>high)
+      {
+        high=se;
+      }
     }
     block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
   }
@@ -403,10 +411,6 @@ void getHighESpeed()
   }
   oldt=t;
   setTargetHotend0(t);
-//   SERIAL_ECHO_START;
-//   SERIAL_ECHOPAIR("highe",high);
-//   SERIAL_ECHOPAIR(" t",t);
-//   SERIAL_ECHOLN("");
 }
 #endif
 
@@ -415,23 +419,38 @@ 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) {
     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_e0();disable_e1();disable_e2(); }
+  #if FAN_PIN > -1
+    if((FanSpeed == 0) && (fan_speed ==0)) analogWrite(FAN_PIN, 0);
+  #endif
+  if (FanSpeed != 0 && tail_fan_speed !=0) { 
+    analogWrite(FAN_PIN,tail_fan_speed);
+  }
 }
 
 
@@ -439,7 +458,7 @@ 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, const uint8_t &extruder)
+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);
@@ -450,8 +469,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     manage_heater(); 
     manage_inactivity(1); 
     LCD_STATUS;
+    LED_STATUS;
   }
-
+  
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
@@ -467,13 +487,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     {
       position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
       SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM(" cold extrusion prevented");
+      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
     }
     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(" too long extrusion prevented");
+      SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
     }
   #endif
   
@@ -488,11 +508,15 @@ 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; };
 
+  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); }
@@ -512,63 +536,61 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // Enable all
   if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
 
-  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];
-  if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
-    block->millimeters = abs(delta_mm[E_AXIS]);
-  } else {
-    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
-  }
-  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
-  
-  // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
-  float inverse_second = feed_rate * inverse_millimeters;
-  
-  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
-
   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])*extrudemultiply/100.0;
+//  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
+//    block->millimeters = abs(delta_mm[E_AXIS]);
+//  } else {
+//    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+//  }
 
-  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+// TODO - JMG - SORT OUT RETRACTS WHEN e IS NOT ALONE
+  block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
+                            square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
+  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
+  
+  // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
+  float inverse_second = feed_rate * inverse_millimeters;
+  
   int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-#ifdef SLOWDOWN
-  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-#endif
+ 
+  // 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
-  long segment_time = lround(1000000.0/inverse_second);
-  if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
-    if (segment_time<minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-        segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
+  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));
     }
   }
-  else {
-    if (segment_time<minsegmenttime) segment_time=minsegmenttime;
-  }
+  #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
 
- // 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.
@@ -603,17 +625,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 
   // Correct the speed  
   if( speed_factor < 1.0) {
-//    Serial.print("speed factor : "); Serial.println(speed_factor);
-    for(int i=0; i < 4; i++) {
-    if(abs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
- /*     
-      if(speed_factor < 0.1) {
-        Serial.print("speed factor : "); Serial.println(speed_factor);
-        Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
-      }
- */
-  }
     for(unsigned char i=0; i < 4; i++) {
       current_speed[i] *= speed_factor;
     }
@@ -683,20 +694,25 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2;  
-  if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) 
+  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
     vmax_junction = max_z_jerk/2;
   vmax_junction = min(vmax_junction, block->nominal_speed);
-
-  if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
+  if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
+    vmax_junction = min(vmax_junction, max_e_jerk/2);
+    
+  if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
     float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
-    if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
+    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
       vmax_junction = block->nominal_speed;
     }
     if (jerk > max_xy_jerk) {
       vmax_junction *= (max_xy_jerk/jerk);
     } 
-    if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
-      vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+    if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
+      vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+    } 
+    if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+      vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
     } 
   }
   block->max_entry_speed = vmax_junction;
@@ -720,6 +736,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // Update previous path unit_vector and nominal speed
   memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
   previous_nominal_speed = block->nominal_speed;
+
   
   #ifdef ADVANCE
     // Calculate advance rate
@@ -748,9 +765,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     */
   #endif // ADVANCE
 
-
-
-
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
     MINIMUM_PLANNER_SPEED/block->nominal_speed);
     
@@ -761,9 +775,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   memcpy(position, target, sizeof(target)); // position[] = target[]
 
   planner_recalculate();
-  #ifdef AUTOTEMP
-    getHighESpeed();
-  #endif
+
   st_wake_up();
 }
 

Marlin/planner.h

@@ -45,10 +45,10 @@ typedef struct {
   #endif
 
   // Fields used by the motion planner to manage acceleration
-//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/minute for each axis
-  float nominal_speed;                               // The nominal speed for this block in mm/min  
-  float entry_speed;                                 // Entry speed at previous-current junction in mm/min
-  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/min
+//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/sec for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/sec 
+  float entry_speed;                                 // Entry speed at previous-current junction in mm/sec
+  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec
   float millimeters;                                 // The total travel of this block in mm
   float acceleration;                                // acceleration mm/sec^2
   unsigned char recalculate_flag;                    // Planner flag to recalculate trapezoids on entry junction
@@ -59,6 +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;
 
@@ -87,6 +88,7 @@ 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];
 

Marlin/speed_lookuptable.h

@@ -3,6 +3,8 @@
 
 #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}, 
@@ -73,4 +75,78 @@ const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
 { 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 +21,13 @@
 /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
    and Philipp Tiefenbacher. */
 
-
-
-
 #include "Marlin.h"
 #include "stepper.h"
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
-
+#include "language.h"
+#include "led.h"
 #include "speed_lookuptable.h"
 
 
@@ -38,6 +36,8 @@
 //=============================public variables  ============================
 //===========================================================================
 block_t *current_block;  // A pointer to the block currently being traced
+volatile bool endstop_z_hit=false;
+bool old_z_min_endstop=false;
 
 
 //===========================================================================
@@ -57,7 +57,6 @@ volatile static unsigned long step_events_completed; // The number of step event
   static long old_advance = 0;
 #endif
 static long e_steps[3];
-static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
 static unsigned short acc_step_rate; // needed for deccelaration start point
@@ -68,13 +67,11 @@ volatile long endstops_trigsteps[3]={0,0,0};
 volatile long endstops_stepsTotal,endstops_stepsDone;
 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;
@@ -86,11 +83,7 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 //=============================functions         ============================
 //===========================================================================
 
-#ifdef ENDSTOPS_ONLY_FOR_HOMING
-  #define CHECK_ENDSTOPS  if(check_endstops)
-#else
-  #define CHECK_ENDSTOPS
-#endif
+#define CHECK_ENDSTOPS  if(check_endstops)
 
 // intRes = intIn1 * intIn2 >> 16
 // uses:
@@ -172,7 +165,7 @@ 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]);
    }
@@ -219,7 +212,6 @@ void enable_endstops(bool check)
 
 void st_wake_up() {
   //  TCNT1 = 0;
-  if(busy == false) 
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
@@ -239,8 +231,8 @@ FORCE_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);
@@ -254,7 +246,7 @@ FORCE_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; MYSERIAL.print("Steprate to high : "); MYSERIAL.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;
 }
 
@@ -298,12 +290,14 @@ ISR(TIMER1_COMPA_vect)
     // Anything in the buffer?
     current_block = plan_get_current_block();
     if (current_block != NULL) {
+      current_block->busy = true;
       trapezoid_generator_reset();
       counter_x = -(current_block->step_event_count >> 1);
       counter_y = counter_x;
       counter_z = counter_x;
       counter_e = counter_x;
-      step_events_completed = 0;
+      step_events_completed = 0; 
+      
       #ifdef Z_LATE_ENABLE 
         if(current_block->steps_z > 0) {
           enable_z();
@@ -432,7 +426,7 @@ ISR(TIMER1_COMPA_vect)
       }
       else { // +direction
         NORM_E_DIR();
-        count_direction[E_AXIS]=-1;
+        count_direction[E_AXIS]=1;
       }
     #endif //!ADVANCE
     
@@ -716,23 +710,45 @@ void st_init()
   //Initialize Step Pins
   #if (X_STEP_PIN > -1) 
     SET_OUTPUT(X_STEP_PIN);
+    #if X_ENABLE_PIN > -1
+      if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
+    #endif
   #endif  
   #if (Y_STEP_PIN > -1) 
     SET_OUTPUT(Y_STEP_PIN);
+    #if Y_ENABLE_PIN > -1
+      if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
+    #endif
   #endif  
   #if (Z_STEP_PIN > -1) 
     SET_OUTPUT(Z_STEP_PIN);
+    #if Z_ENABLE_PIN > -1
+      if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+    #endif
   #endif  
   #if (E0_STEP_PIN > -1) 
     SET_OUTPUT(E0_STEP_PIN);
+    #if E0_ENABLE_PIN > -1
+      if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
+    #endif
   #endif  
   #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) 
     SET_OUTPUT(E1_STEP_PIN);
+    #if E1_ENABLE_PIN > -1
+      if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
+    #endif
   #endif  
   #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) 
     SET_OUTPUT(E2_STEP_PIN);
+    #if E2_ENABLE_PIN > -1
+      if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
+    #endif
   #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);
@@ -742,7 +758,13 @@ 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;
@@ -808,7 +830,7 @@ long st_get_position(uint8_t axis)
 void finishAndDisableSteppers()
 {
   st_synchronize(); 
-  LCD_MESSAGEPGM("Released.");
+  LCD_MESSAGEPGM(MSG_STEPPER_RELEASED);
   disable_x(); 
   disable_y(); 
   disable_z(); 
@@ -822,6 +844,7 @@ void quickStop()
   DISABLE_STEPPER_DRIVER_INTERRUPT();
   while(blocks_queued())
     plan_discard_current_block();
+  current_block = NULL;
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 

Marlin/stepper.h

@@ -66,6 +66,9 @@ void checkStepperErrors(); //Print errors detected by the stepper
 void finishAndDisableSteppers();
 
 extern block_t *current_block;  // A pointer to the block currently being traced
+extern volatile long endstops_trigsteps[];
+extern volatile bool endstop_z_hit;
+extern bool old_z_min_endstop;
 
 void quickStop();
 #endif

Marlin/temperature.cpp

@@ -52,6 +52,7 @@ int current_raw_bed = 0;
   
   float Kp=DEFAULT_Kp;
   float Ki=DEFAULT_Ki;
+  int Ki_Max=PID_INTEGRAL_DRIVE_MAX;
   float Kd=DEFAULT_Kd;
   #ifdef PID_ADD_EXTRUSION_RATE
     float Kc=DEFAULT_Kc;
@@ -62,7 +63,7 @@ int current_raw_bed = 0;
 //===========================================================================
 //=============================private variables============================
 //===========================================================================
-static bool temp_meas_ready = false;
+static volatile bool temp_meas_ready = false;
 
 static unsigned long  previous_millis_bed_heater;
 //static unsigned long previous_millis_heater;
@@ -95,17 +96,6 @@ static unsigned long  previous_millis_bed_heater;
   static int maxttemp[EXTRUDERS] = { 16383 }; // the first value used for all
   static int bed_minttemp = 0;
   static int bed_maxttemp = 16383;
-  static int heater_pin_map[EXTRUDERS] = { HEATER_0_PIN
-#if EXTRUDERS > 1
-                                         , HEATER_1_PIN
-#endif
-#if EXTRUDERS > 2
-                                         , HEATER_2_PIN
-#endif
-#if EXTRUDERS > 3
-  #error Unsupported number of extruders
-#endif
-  };
   static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable
 #if EXTRUDERS > 1
                                             , (void *)heater_1_temptable
@@ -132,12 +122,129 @@ static unsigned long  previous_millis_bed_heater;
 //===========================================================================
 //=============================   functions      ============================
 //===========================================================================
+
+void PID_autotune(float temp)
+{
+  float input;
+  int cycles=0;
+  bool heating = true;
+
+  unsigned long temp_millis = millis();
+  unsigned long t1=temp_millis;
+  unsigned long t2=temp_millis;
+  long t_high;
+  long t_low;
+
+  long bias=PID_MAX/2;
+  long d = PID_MAX/2;
+  float Ku, Tu;
+  float Kp, Ki, Kd;
+  float max, min;
   
+  SERIAL_ECHOLN("PID Autotune start");
+  
+  disable_heater(); // switch off all heaters.
+  
+  soft_pwm[0] = PID_MAX/2;
+    
+  for(;;) {
+
+    if(temp_meas_ready == true) { // temp sample ready
+      CRITICAL_SECTION_START;
+      temp_meas_ready = false;
+      CRITICAL_SECTION_END;
+      input = analog2temp(current_raw[0], 0);
+      
+      max=max(max,input);
+      min=min(min,input);
+      if(heating == true && input > temp) {
+        if(millis() - t2 > 5000) { 
+          heating=false;
+          soft_pwm[0] = (bias - d) >> 1;
+          t1=millis();
+          t_high=t1 - t2;
+          max=temp;
+        }
+      }
+      if(heating == false && input < temp) {
+        if(millis() - t1 > 5000) {
+          heating=true;
+          t2=millis();
+          t_low=t2 - t1;
+          if(cycles > 0) {
+            bias += (d*(t_high - t_low))/(t_low + t_high);
+            bias = constrain(bias, 20 ,PID_MAX-FULL_PID_BAND);
+            if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
+            else d = bias;
+
+            SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
+            SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
+            SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
+            SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
+            if(cycles > 2) {
+              Ku = (4.0*d)/(3.14159*(max-min)/2.0);
+              Tu = ((float)(t_low + t_high)/1000.0);
+              SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
+              SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
+              Kp = 0.6*Ku;
+              Ki = 2*Kp/Tu;
+              Kd = Kp*Tu/8;
+              SERIAL_PROTOCOLLNPGM(" Clasic PID ")
+              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
+              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
+              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              /*
+              Kp = 0.33*Ku;
+              Ki = Kp/Tu;
+              Kd = Kp*Tu/3;
+              SERIAL_PROTOCOLLNPGM(" Some overshoot ")
+              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
+              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
+              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              Kp = 0.2*Ku;
+              Ki = 2*Kp/Tu;
+              Kd = Kp*Tu/3;
+              SERIAL_PROTOCOLLNPGM(" No overshoot ")
+              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
+              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
+              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              */
+            }
+          }
+          soft_pwm[0] = (bias + d) >> 1;
+          cycles++;
+          min=temp;
+        }
+      } 
+    }
+    if(input > (temp + 20)) {
+      SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high");
+      return;
+    }
+    if(millis() - temp_millis > 2000) {
+      temp_millis = millis();
+      SERIAL_PROTOCOLPGM("ok T:");
+      SERIAL_PROTOCOL(degHotend(0));   
+      SERIAL_PROTOCOLPGM(" @:");
+      SERIAL_PROTOCOLLN(getHeaterPower(0));       
+    }
+    if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
+      SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
+      return;
+    }
+    if(cycles > 5) {
+      SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
+      return;
+    }
+    LCD_STATUS;
+  }
+}
+
 void updatePID()
 {
 #ifdef PIDTEMP
   for(int e = 0; e < EXTRUDERS; e++) { 
-     temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;  
+     temp_iState_max[e] = Ki_Max / Ki;  
   }
 #endif
 }
@@ -170,11 +277,11 @@ void manage_heater()
 
     #ifndef PID_OPENLOOP
         pid_error[e] = pid_setpoint[e] - pid_input;
-        if(pid_error[e] > 10) {
+        if(pid_error[e] > FULL_PID_BAND) {
           pid_output = PID_MAX;
           pid_reset[e] = true;
         }
-        else if(pid_error[e] < -10) {
+        else if(pid_error[e] < -FULL_PID_BAND) {
           pid_output = 0;
           pid_reset[e] = true;
         }
@@ -207,11 +314,9 @@ void manage_heater()
     // Check if temperature is within the correct range
     if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e])) 
     {
-      //analogWrite(heater_pin_map[e], pid_output);
       soft_pwm[e] = (int)pid_output >> 1;
     }
     else {
-      //analogWrite(heater_pin_map[e], 0);
       soft_pwm[e] = 0;
     }
   } // End extruder for loop
@@ -271,6 +376,30 @@ void manage_heater()
 }
 
 #define PGM_RD_W(x)   (short)pgm_read_word(&x)
+
+#ifdef COMPUTE_THERMISTORS
+// Use algebra to work out temperatures, not tables
+// NB - this assumes all extruders use the same thermistor type.
+int temp2analogi(int celsius, const float& beta, const float& rs, const float& r_inf)
+{
+   float r = r_inf*exp(beta/(celsius - ABS_ZERO));
+   return AD_RANGE - (int)(0.5 + AD_RANGE*r/(r + rs));
+}
+
+float analog2tempi(int raw, const float& beta, const float& rs, const float& r_inf)
+{
+   float rawf = (float)(AD_RANGE - raw);
+   return ABS_ZERO + beta/log( (rawf*rs/(AD_RANGE - rawf))/r_inf );
+}
+
+int temp2analog(int celsius, uint8_t e) { return temp2analogi(celsius, E_BETA, E_RS, E_R_INF); }
+int temp2analogBed(int celsius) { return temp2analogi(celsius, BED_BETA, BED_RS, BED_R_INF); }
+float analog2temp(int raw, uint8_t e) { return analog2tempi(raw, E_BETA, E_RS, E_R_INF); }
+float analog2tempBed(int raw) { return analog2tempi(raw, BED_BETA, BED_RS, BED_R_INF); }
+
+#else
+
+
 // Takes hot end temperature value as input and returns corresponding raw value. 
 // For a thermistor, it uses the RepRap thermistor temp table.
 // This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
@@ -312,7 +441,7 @@ int temp2analog(int celsius, uint8_t e) {
 
     return (1023 * OVERSAMPLENR) - raw;
   }
-  return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
+  return ((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
 }
 
 // Takes bed temperature value as input and returns corresponding raw value. 
@@ -342,7 +471,7 @@ int temp2analogBed(int celsius) {
 
     return (1023 * OVERSAMPLENR) - raw;
 #elif defined BED_USES_AD595
-    return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
+    return lround(((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
 #else
     #warning No heater-type defined for the bed.
     return 0;
@@ -390,14 +519,14 @@ float analog2temp(int raw, uint8_t e) {
 
     return celsius;
   }
-  return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+  return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
 }
 
 // Derived from RepRap FiveD extruder::getTemperature()
 // For bed temperature measurement.
 float analog2tempBed(int raw) {
   #ifdef BED_USES_THERMISTOR
-    int celsius = 0;
+    float celsius = 0;
     byte i;
 
     raw = (1023 * OVERSAMPLENR) - raw;
@@ -408,9 +537,8 @@ float analog2tempBed(int raw) {
       {
         celsius  = PGM_RD_W(bedtemptable[i-1][1]) + 
           (raw - PGM_RD_W(bedtemptable[i-1][0])) * 
-          (PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1])) /
-          (PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0]));
-
+          (float)(PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1])) /
+          (float)(PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0]));
         break;
       }
     }
@@ -419,15 +547,16 @@ float analog2tempBed(int raw) {
     if (i == bedtemptable_len) celsius = PGM_RD_W(bedtemptable[i-1][1]);
 
     return celsius;
-    
   #elif defined BED_USES_AD595
-    return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
   #else
     #warning No heater-type defined for the bed.
+    return 0;
   #endif
-  return 0;
 }
 
+#endif
+
 void tp_init()
 {
   // Finish init of mult extruder arrays 
@@ -439,7 +568,7 @@ void tp_init()
     maxttemp[e] = maxttemp[0];
 #ifdef PIDTEMP
     temp_iState_min[e] = 0.0;
-    temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
+    temp_iState_max[e] = Ki_Max / Ki;
 #endif //PIDTEMP
   }
 
@@ -576,7 +705,7 @@ void disable_heater()
   target_raw[0]=0;
   soft_pwm[0]=0;
    #if HEATER_0_PIN > -1  
-     digitalWrite(HEATER_0_PIN,LOW);
+     WRITE(HEATER_0_PIN,LOW);
    #endif
   #endif
      
@@ -584,7 +713,7 @@ void disable_heater()
     target_raw[1]=0;
     soft_pwm[1]=0;
     #if HEATER_1_PIN > -1 
-      digitalWrite(HEATER_1_PIN,LOW);
+      WRITE(HEATER_1_PIN,LOW);
     #endif
   #endif
       
@@ -592,36 +721,44 @@ void disable_heater()
     target_raw[2]=0;
     soft_pwm[2]=0;
     #if HEATER_2_PIN > -1  
-      digitalWrite(HEATER_2_PIN,LOW);
+      WRITE(HEATER_2_PIN,LOW);
     #endif
   #endif 
 
   #if TEMP_BED_PIN > -1
     target_raw_bed=0;
     #if HEATER_BED_PIN > -1  
-      digitalWrite(HEATER_BED_PIN,LOW);
+      WRITE(HEATER_BED_PIN,LOW);
     #endif
   #endif 
 }
 
 void max_temp_error(uint8_t e) {
-  digitalWrite(heater_pin_map[e], 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLN(e);
-  SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
+  disable_heater();
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLN((int)e);
+    SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
+  }
 }
 
 void min_temp_error(uint8_t e) {
-  digitalWrite(heater_pin_map[e], 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLN(e);
-  SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
+  disable_heater();
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLN((int)e);
+    SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
+  }
 }
 
 void bed_max_temp_error(void) {
-  digitalWrite(HEATER_BED_PIN, 0);
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
+#if HEATER_BED_PIN > -1
+  WRITE(HEATER_BED_PIN, 0);
+#endif
+  if(IsStopped() == false) {
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
+  }
 }
 
 #define HEAT_INTERVAL 250
@@ -813,14 +950,14 @@ ISR(TIMER0_COMPB_vect)
     
   if(temp_count >= 16) // 8 ms * 16 = 128ms.
   {
-    #ifdef HEATER_0_USES_AD595
+    #if defined(HEATER_0_USES_AD595) || defined(HEATER_0_USES_MAX6675)
       current_raw[0] = raw_temp_0_value;
     #else
       current_raw[0] = 16383 - raw_temp_0_value;
     #endif
 
 #if EXTRUDERS > 1    
-    #ifdef HEATER_1_USES_AD595 || defined HEATER_0_USES_MAX6675
+    #ifdef HEATER_1_USES_AD595
       current_raw[1] = raw_temp_1_value;
     #else
       current_raw[1] = 16383 - raw_temp_1_value;
@@ -852,12 +989,20 @@ ISR(TIMER0_COMPB_vect)
        if(current_raw[e] >= maxttemp[e]) {
           target_raw[e] = 0;
           max_temp_error(e);
-          kill();;
+          #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          {
+            Stop();;
+          }
+          #endif
        }
        if(current_raw[e] <= minttemp[e]) {
           target_raw[e] = 0;
           min_temp_error(e);
-          kill();
+          #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          {
+            Stop();
+          }
+          #endif
        }
     }
   
@@ -865,7 +1010,7 @@ ISR(TIMER0_COMPB_vect)
     if(current_raw_bed >= bed_maxttemp) {
        target_raw_bed = 0;
        bed_max_temp_error();
-       kill();
+       Stop();
     }
 #endif
   }

Marlin/temperature.h

@@ -47,6 +47,7 @@ extern int current_raw_bed;
   extern int target_bed_high_temp ;
 #endif
 extern float Kp,Ki,Kd,Kc;
+extern int Ki_Max;
 
 #ifdef PIDTEMP
   extern float pid_setpoint[EXTRUDERS];
@@ -129,6 +130,8 @@ FORCE_INLINE bool isCoolingBed() {
 #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
 #define isHeatingHotend1() isHeatingHotend(1)
 #define isCoolingHotend1() isCoolingHotend(1)
+#else
+#define setTargetHotend1(_celsius) do{}while(0)
 #endif
 #if EXTRUDERS > 2
 #define degHotend2() degHotend(2)
@@ -136,6 +139,8 @@ FORCE_INLINE bool isCoolingBed() {
 #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
 #define isHeatingHotend2() isHeatingHotend(2)
 #define isCoolingHotend2() isCoolingHotend(2)
+#else
+#define setTargetHotend2(_celsius) do{}while(0)
 #endif
 #if EXTRUDERS > 3
 #error Invalid number of extruders
@@ -153,10 +158,13 @@ FORCE_INLINE void autotempShutdown(){
  if(autotemp_enabled)
  {
   autotemp_enabled=false;
-  if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
-    setTargetHotend(0,ACTIVE_EXTRUDER);
+  if(degTargetHotend(active_extruder)>autotemp_min)
+    setTargetHotend(0,active_extruder);
  }
  #endif
 }
+
+void PID_autotune(float temp);
+
 #endif
 

Marlin/thermistortables.h

@@ -73,27 +73,41 @@ const short temptable_1[][2] PROGMEM = {
 #endif
 #if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor
 const short temptable_2[][2] PROGMEM = {
+//200k ATC Semitec 204GT-2
+//Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
    {1*OVERSAMPLENR, 848},
-   {54*OVERSAMPLENR, 275},
-   {107*OVERSAMPLENR, 228},
-   {160*OVERSAMPLENR, 202},
-   {213*OVERSAMPLENR, 185},
-   {266*OVERSAMPLENR, 171},
-   {319*OVERSAMPLENR, 160},
-   {372*OVERSAMPLENR, 150},
-   {425*OVERSAMPLENR, 141},
-   {478*OVERSAMPLENR, 133},
-   {531*OVERSAMPLENR, 125},
-   {584*OVERSAMPLENR, 118},
-   {637*OVERSAMPLENR, 110},
-   {690*OVERSAMPLENR, 103},
-   {743*OVERSAMPLENR, 95},
-   {796*OVERSAMPLENR, 86},
-   {849*OVERSAMPLENR, 77},
-   {902*OVERSAMPLENR, 65},
-   {955*OVERSAMPLENR, 49},
-   {1008*OVERSAMPLENR, 17},
-   {1020*OVERSAMPLENR, 0} //safety
+   {30*OVERSAMPLENR, 300}, //top rating 300C
+   {34*OVERSAMPLENR, 290},
+   {39*OVERSAMPLENR, 280},
+   {46*OVERSAMPLENR, 270},
+   {53*OVERSAMPLENR, 260},
+   {63*OVERSAMPLENR, 250},
+   {74*OVERSAMPLENR, 240},
+   {87*OVERSAMPLENR, 230},
+   {104*OVERSAMPLENR, 220},
+   {124*OVERSAMPLENR, 210},
+   {148*OVERSAMPLENR, 200},
+   {176*OVERSAMPLENR, 190},
+   {211*OVERSAMPLENR, 180},
+   {252*OVERSAMPLENR, 170},
+   {301*OVERSAMPLENR, 160},
+   {357*OVERSAMPLENR, 150},
+   {420*OVERSAMPLENR, 140},
+   {489*OVERSAMPLENR, 130},
+   {562*OVERSAMPLENR, 120},
+   {636*OVERSAMPLENR, 110},
+   {708*OVERSAMPLENR, 100},
+   {775*OVERSAMPLENR, 90},
+   {835*OVERSAMPLENR, 80},
+   {884*OVERSAMPLENR, 70},
+   {924*OVERSAMPLENR, 60},
+   {955*OVERSAMPLENR, 50},
+   {977*OVERSAMPLENR, 40},
+   {993*OVERSAMPLENR, 30},
+   {1004*OVERSAMPLENR, 20},
+   {1012*OVERSAMPLENR, 10},
+   {1016*OVERSAMPLENR, 0},
 };
 
 #endif
@@ -157,73 +171,48 @@ const short temptable_4[][2] PROGMEM = {
 
 #if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORHEATER_2 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
 const short temptable_5[][2] PROGMEM = {
-{1*OVERSAMPLENR, 713},
-{18*OVERSAMPLENR, 316},
-{35*OVERSAMPLENR, 266},
-{52*OVERSAMPLENR, 239},
-{69*OVERSAMPLENR, 221},
-{86*OVERSAMPLENR, 208},
-{103*OVERSAMPLENR, 197},
-{120*OVERSAMPLENR, 188},
-{137*OVERSAMPLENR, 181},
-{154*OVERSAMPLENR, 174},
-{171*OVERSAMPLENR, 169},
-{188*OVERSAMPLENR, 163},
-{205*OVERSAMPLENR, 159},
-{222*OVERSAMPLENR, 154},
-{239*OVERSAMPLENR, 150},
-{256*OVERSAMPLENR, 147},
-{273*OVERSAMPLENR, 143},
-{290*OVERSAMPLENR, 140},
-{307*OVERSAMPLENR, 136},
-{324*OVERSAMPLENR, 133},
-{341*OVERSAMPLENR, 130},
-{358*OVERSAMPLENR, 128},
-{375*OVERSAMPLENR, 125},
-{392*OVERSAMPLENR, 122},
-{409*OVERSAMPLENR, 120},
-{426*OVERSAMPLENR, 117},
-{443*OVERSAMPLENR, 115},
-{460*OVERSAMPLENR, 112},
-{477*OVERSAMPLENR, 110},
-{494*OVERSAMPLENR, 108},
-{511*OVERSAMPLENR, 106},
-{528*OVERSAMPLENR, 103},
-{545*OVERSAMPLENR, 101},
-{562*OVERSAMPLENR, 99},
-{579*OVERSAMPLENR, 97},
-{596*OVERSAMPLENR, 95},
-{613*OVERSAMPLENR, 92},
-{630*OVERSAMPLENR, 90},
-{647*OVERSAMPLENR, 88},
-{664*OVERSAMPLENR, 86},
-{681*OVERSAMPLENR, 84},
-{698*OVERSAMPLENR, 81},
-{715*OVERSAMPLENR, 79},
-{732*OVERSAMPLENR, 77},
-{749*OVERSAMPLENR, 75},
-{766*OVERSAMPLENR, 72},
-{783*OVERSAMPLENR, 70},
-{800*OVERSAMPLENR, 67},
-{817*OVERSAMPLENR, 64},
-{834*OVERSAMPLENR, 61},
-{851*OVERSAMPLENR, 58},
-{868*OVERSAMPLENR, 55},
-{885*OVERSAMPLENR, 52},
-{902*OVERSAMPLENR, 48},
-{919*OVERSAMPLENR, 44},
-{936*OVERSAMPLENR, 40},
-{953*OVERSAMPLENR, 34},
-{970*OVERSAMPLENR, 28},
-{987*OVERSAMPLENR, 20},
-{1004*OVERSAMPLENR, 8},
-{1021*OVERSAMPLENR, 0}
+// ATC Semitec 104GT-2 (Used in ParCan)
+// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+   {1*OVERSAMPLENR, 713},
+   {17*OVERSAMPLENR, 300}, //top rating 300C
+   {20*OVERSAMPLENR, 290},
+   {23*OVERSAMPLENR, 280},
+   {27*OVERSAMPLENR, 270},
+   {31*OVERSAMPLENR, 260},
+   {37*OVERSAMPLENR, 250},
+   {43*OVERSAMPLENR, 240},
+   {51*OVERSAMPLENR, 230},
+   {61*OVERSAMPLENR, 220},
+   {73*OVERSAMPLENR, 210},
+   {87*OVERSAMPLENR, 200},
+   {106*OVERSAMPLENR, 190},
+   {128*OVERSAMPLENR, 180},
+   {155*OVERSAMPLENR, 170},
+   {189*OVERSAMPLENR, 160},
+   {230*OVERSAMPLENR, 150},
+   {278*OVERSAMPLENR, 140},
+   {336*OVERSAMPLENR, 130},
+   {402*OVERSAMPLENR, 120},
+   {476*OVERSAMPLENR, 110},
+   {554*OVERSAMPLENR, 100},
+   {635*OVERSAMPLENR, 90},
+   {713*OVERSAMPLENR, 80},
+   {784*OVERSAMPLENR, 70},
+   {846*OVERSAMPLENR, 60},
+   {897*OVERSAMPLENR, 50},
+   {937*OVERSAMPLENR, 40},
+   {966*OVERSAMPLENR, 30},
+   {986*OVERSAMPLENR, 20},
+   {1000*OVERSAMPLENR, 10},
+   {1010*OVERSAMPLENR, 0}
 };
 #endif
 
 #if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORHEATER_2 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
 const short temptable_6[][2] PROGMEM = {
-   {28*OVERSAMPLENR, 250},
+   {1*OVERSAMPLENR, 350},
+   {28*OVERSAMPLENR, 250}, //top rating 250C
    {31*OVERSAMPLENR, 245},
    {35*OVERSAMPLENR, 240},
    {39*OVERSAMPLENR, 235},
@@ -232,8 +221,8 @@ const short temptable_6[][2] PROGMEM = {
    {49*OVERSAMPLENR, 220},
    {53*OVERSAMPLENR, 215},
    {62*OVERSAMPLENR, 210},
-   {73*OVERSAMPLENR, 205},
-   {72*OVERSAMPLENR, 200},
+   {71*OVERSAMPLENR, 205}, //fitted graphically
+   {78*OVERSAMPLENR, 200}, //fitted graphically
    {94*OVERSAMPLENR, 190},
    {102*OVERSAMPLENR, 185},
    {116*OVERSAMPLENR, 170},
@@ -264,7 +253,8 @@ const short temptable_6[][2] PROGMEM = {
 
 #if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
 const short temptable_7[][2] PROGMEM = {
-   {46*OVERSAMPLENR, 270},
+   {1*OVERSAMPLENR, 500},
+   {46*OVERSAMPLENR, 270}, //top rating 300C
    {50*OVERSAMPLENR, 265},
    {54*OVERSAMPLENR, 260},
    {58*OVERSAMPLENR, 255},
@@ -320,6 +310,269 @@ const short temptable_7[][2] PROGMEM = {
    {1005*OVERSAMPLENR, 5}
 };
 #endif
+//
+#if (THERMISTORHEATER_0 == 100) || (THERMISTORHEATER_1 == 100) || (THERMISTORHEATER_2 == 100) || (THERMISTORBED == 100) // 100k DO-35 NTC
+const short temptable_100[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 929},
+   {36*OVERSAMPLENR, 299},
+   {71*OVERSAMPLENR, 246},
+   {106*OVERSAMPLENR, 217},
+   {141*OVERSAMPLENR, 198},
+   {176*OVERSAMPLENR, 184},
+   {211*OVERSAMPLENR, 173},
+   {246*OVERSAMPLENR, 163},
+   {281*OVERSAMPLENR, 154},
+   {316*OVERSAMPLENR, 147},
+   {351*OVERSAMPLENR, 140},
+   {386*OVERSAMPLENR, 134},
+   {421*OVERSAMPLENR, 128},
+   {456*OVERSAMPLENR, 122},
+   {491*OVERSAMPLENR, 117},
+   {526*OVERSAMPLENR, 112},
+   {561*OVERSAMPLENR, 107},
+   {596*OVERSAMPLENR, 102},
+   {631*OVERSAMPLENR, 97},
+   {666*OVERSAMPLENR, 91},
+   {701*OVERSAMPLENR, 86},
+   {736*OVERSAMPLENR, 81},
+   {771*OVERSAMPLENR, 76},
+   {806*OVERSAMPLENR, 70},
+   {841*OVERSAMPLENR, 63},
+   {876*OVERSAMPLENR, 56},
+   {911*OVERSAMPLENR, 48},
+   {946*OVERSAMPLENR, 38},
+   {981*OVERSAMPLENR, 23},
+   {1005*OVERSAMPLENR, 5},
+   {1016*OVERSAMPLENR, 0}
+};
+#endif
+#if (THERMISTORHEATER_0 == 101) || (THERMISTORHEATER_1 == 101) || (THERMISTORHEATER_2 == 101) || (THERMISTORBED == 101) // 100k Honeywell 135-104LAG-J01
+const short temptable_101[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 704},
+   {54*OVERSAMPLENR, 216},
+   {107*OVERSAMPLENR, 175},
+   {160*OVERSAMPLENR, 152},
+   {213*OVERSAMPLENR, 137},
+   {266*OVERSAMPLENR, 125},
+   {319*OVERSAMPLENR, 115},
+   {372*OVERSAMPLENR, 106},
+   {425*OVERSAMPLENR, 99},
+   {478*OVERSAMPLENR, 91},
+   {531*OVERSAMPLENR, 85},
+   {584*OVERSAMPLENR, 78},
+   {637*OVERSAMPLENR, 71},
+   {690*OVERSAMPLENR, 65},
+   {743*OVERSAMPLENR, 58},
+   {796*OVERSAMPLENR, 50},
+   {849*OVERSAMPLENR, 42},
+   {902*OVERSAMPLENR, 31},
+   {955*OVERSAMPLENR, 17},
+   {1008*OVERSAMPLENR, 0}
+};
+#endif
+#if (THERMISTORHEATER_0 == 102) || (THERMISTORHEATER_1 == 102) || (THERMISTORHEATER_2 == 102) || (THERMISTORBED == 102) // EPCOS G57540
+const short temptable_102[][2] PROGMEM = {
+{15*OVERSAMPLENR,286},
+{16*OVERSAMPLENR,282},
+{17*OVERSAMPLENR,278},
+{18*OVERSAMPLENR,274},
+{19*OVERSAMPLENR,270},
+{20*OVERSAMPLENR,266},
+{21*OVERSAMPLENR,262},
+{22*OVERSAMPLENR,258},
+{23*OVERSAMPLENR,254},
+{25*OVERSAMPLENR,250},
+{27*OVERSAMPLENR,246},
+{28*OVERSAMPLENR,242},
+{31*OVERSAMPLENR,238},
+{33*OVERSAMPLENR,234},
+{35*OVERSAMPLENR,230},
+{38*OVERSAMPLENR,226},
+{41*OVERSAMPLENR,222},
+{44*OVERSAMPLENR,218},
+{48*OVERSAMPLENR,214},
+{52*OVERSAMPLENR,210},
+{56*OVERSAMPLENR,206},
+{61*OVERSAMPLENR,202},
+{66*OVERSAMPLENR,198},
+{71*OVERSAMPLENR,194},
+{78*OVERSAMPLENR,190},
+{84*OVERSAMPLENR,186},
+{92*OVERSAMPLENR,182},
+{100*OVERSAMPLENR,178},
+{109*OVERSAMPLENR,174},
+{120*OVERSAMPLENR,170},
+{131*OVERSAMPLENR,166},
+{143*OVERSAMPLENR,162},
+{156*OVERSAMPLENR,158},
+{171*OVERSAMPLENR,154},
+{187*OVERSAMPLENR,150},
+{205*OVERSAMPLENR,146},
+{224*OVERSAMPLENR,142},
+{224*OVERSAMPLENR,160},
+{245*OVERSAMPLENR,155},
+{268*OVERSAMPLENR,150},
+{293*OVERSAMPLENR,145},
+{320*OVERSAMPLENR,140},
+{348*OVERSAMPLENR,135},
+{379*OVERSAMPLENR,130},
+{411*OVERSAMPLENR,125},
+{480*OVERSAMPLENR,115},
+{553*OVERSAMPLENR,105},
+{628*OVERSAMPLENR,95},
+{702*OVERSAMPLENR,85},
+{770*OVERSAMPLENR,75},
+{830*OVERSAMPLENR,65},
+{881*OVERSAMPLENR,55},
+{922*OVERSAMPLENR,45},
+{954*OVERSAMPLENR,35},
+{977*OVERSAMPLENR,25},
+{993*OVERSAMPLENR,15},
+{999*OVERSAMPLENR,10},
+{1008*OVERSAMPLENR,0},
+};
+#endif
+#if (THERMISTORHEATER_0 == 103) || (THERMISTORHEATER_1 == 103) || (THERMISTORHEATER_2 == 103) || (THERMISTORBED == 103) // EPCOS G57540
+const short temptable_103[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 628},
+   {187*OVERSAMPLENR, 156},
+   {218*OVERSAMPLENR, 148},
+   {249*OVERSAMPLENR, 141},
+   {280*OVERSAMPLENR, 135},
+   {311*OVERSAMPLENR, 129},
+   {342*OVERSAMPLENR, 124},
+   {373*OVERSAMPLENR, 120},
+   {404*OVERSAMPLENR, 115},
+   {435*OVERSAMPLENR, 111},
+   {466*OVERSAMPLENR, 107},
+   {497*OVERSAMPLENR, 103},
+   {528*OVERSAMPLENR, 99},
+   {559*OVERSAMPLENR, 96},
+   {590*OVERSAMPLENR, 92},
+   {621*OVERSAMPLENR, 88},
+   {652*OVERSAMPLENR, 84},
+   {683*OVERSAMPLENR, 81},
+   {714*OVERSAMPLENR, 77},
+   {745*OVERSAMPLENR, 73},
+   {776*OVERSAMPLENR, 68},
+   {807*OVERSAMPLENR, 64},
+   {838*OVERSAMPLENR, 59},
+   {869*OVERSAMPLENR, 54},
+   {900*OVERSAMPLENR, 48},
+   {931*OVERSAMPLENR, 40},
+   {962*OVERSAMPLENR, 31},
+   {993*OVERSAMPLENR, 17},
+   {1008*OVERSAMPLENR,0}
+};
+#endif
+#if (THERMISTORHEATER_0 == 104) || (THERMISTORHEATER_1 == 104) || (THERMISTORHEATER_2 == 104) || (THERMISTORBED == 104) // EPCOS G57540G103F - r2=4k7
+const short temptable_104[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 599},
+   {54*OVERSAMPLENR, 160},
+   {107*OVERSAMPLENR, 123},
+   {160*OVERSAMPLENR, 103},
+   {213*OVERSAMPLENR, 90},
+   {266*OVERSAMPLENR, 79},
+   {319*OVERSAMPLENR, 70},
+   {372*OVERSAMPLENR, 62},
+   {425*OVERSAMPLENR, 55},
+   {478*OVERSAMPLENR, 49},
+   {531*OVERSAMPLENR, 43},
+   {584*OVERSAMPLENR, 37},
+   {637*OVERSAMPLENR, 31},
+   {690*OVERSAMPLENR, 25},
+   {743*OVERSAMPLENR, 19},
+   {796*OVERSAMPLENR, 12},
+   {849*OVERSAMPLENR, 5},
+   {902*OVERSAMPLENR, -3},
+   {955*OVERSAMPLENR, -16},
+   {1008*OVERSAMPLENR, -42}
+};
+#endif
+#if (THERMISTORHEATER_0 == 105) || (THERMISTORHEATER_1 == 105) || (THERMISTORHEATER_2 == 105) || (THERMISTORBED == 105) // EPCOS G57540G103F - r2=10k
+const short temptable_105[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 460},
+   {54*OVERSAMPLENR, 123},
+   {107*OVERSAMPLENR, 92},
+   {160*OVERSAMPLENR, 75},
+   {213*OVERSAMPLENR, 63},
+   {266*OVERSAMPLENR, 54},
+   {319*OVERSAMPLENR, 46},
+   {372*OVERSAMPLENR, 40},
+   {425*OVERSAMPLENR, 34},
+   {478*OVERSAMPLENR, 28},
+   {531*OVERSAMPLENR, 23},
+   {584*OVERSAMPLENR, 17},
+   {637*OVERSAMPLENR, 12},
+   {690*OVERSAMPLENR, 7},
+   {743*OVERSAMPLENR, 2},
+   {796*OVERSAMPLENR, -3},
+   {849*OVERSAMPLENR, -10},
+   {902*OVERSAMPLENR, -18},
+   {955*OVERSAMPLENR, -29},
+   {1008*OVERSAMPLENR, -53}
+};
+#endif
+
+#if (THERMISTORHEATER_0 == 110) || (THERMISTORHEATER_1 == 110) || (THERMISTORHEATER_2 == 110) || (THERMISTORBED == 110) // RS thermistor 198-961
+const short temptable_110[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 704},
+   {15*OVERSAMPLENR, 280},
+   {21*OVERSAMPLENR, 266},
+   {41*OVERSAMPLENR, 234},
+   {61*OVERSAMPLENR, 208},
+   {81*OVERSAMPLENR, 191},
+   {101*OVERSAMPLENR, 178},
+   {121*OVERSAMPLENR, 168},
+   {141*OVERSAMPLENR, 159},
+   {161*OVERSAMPLENR, 152},
+   {181*OVERSAMPLENR, 146},
+   {221*OVERSAMPLENR, 135},
+   {261*OVERSAMPLENR, 126},
+   {301*OVERSAMPLENR, 118},
+   {341*OVERSAMPLENR, 111},
+   {381*OVERSAMPLENR, 105},
+   {421*OVERSAMPLENR, 99},
+   {461*OVERSAMPLENR, 94},
+   {501*OVERSAMPLENR, 88},
+   {541*OVERSAMPLENR, 83},
+   {581*OVERSAMPLENR, 78},
+   {621*OVERSAMPLENR, 73},
+   {661*OVERSAMPLENR, 68},
+   {741*OVERSAMPLENR, 58},
+   {781*OVERSAMPLENR, 52},
+   {821*OVERSAMPLENR, 46},
+   {861*OVERSAMPLENR, 40},
+   {901*OVERSAMPLENR, 32},
+   {981*OVERSAMPLENR, 7},
+   {1008*OVERSAMPLENR, 0}
+};
+#endif
+
+#if (THERMISTORHEATER_0 == 111) || (THERMISTORHEATER_1 == 111) || (THERMISTORHEATER_2 == 111) || (THERMISTORBED == 111) //100k EPCOS
+const short temptable_111[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 704},
+   {54*OVERSAMPLENR, 216},
+   {107*OVERSAMPLENR, 175},
+   {160*OVERSAMPLENR, 152},
+   {213*OVERSAMPLENR, 137},
+   {266*OVERSAMPLENR, 125},
+   {319*OVERSAMPLENR, 115},
+   {372*OVERSAMPLENR, 106},
+   {425*OVERSAMPLENR, 99},
+   {478*OVERSAMPLENR, 91},
+   {531*OVERSAMPLENR, 85},
+   {584*OVERSAMPLENR, 78},
+   {637*OVERSAMPLENR, 71},
+   {690*OVERSAMPLENR, 65},
+   {743*OVERSAMPLENR, 58},
+   {796*OVERSAMPLENR, 50},
+   {849*OVERSAMPLENR, 42},
+   {902*OVERSAMPLENR, 31},
+   {955*OVERSAMPLENR, 17},
+   {1008*OVERSAMPLENR, 0}
+};
+#endif
 
 #define _TT_NAME(_N) temptable_ ## _N
 #define TT_NAME(_N) _TT_NAME(_N)

Marlin/ultralcd.h

@@ -1,5 +1,5 @@
-#ifndef __ULTRALCDH
-#define __ULTRALCDH
+#ifndef ULTRALCD_H
+#define ULTRALCD_H
 #include "Marlin.h"
 #ifdef ULTRA_LCD
   #include <LiquidCrystal.h>
@@ -7,28 +7,29 @@
   void lcd_init();
   void lcd_status(const char* message);
   void beep();
+  void buttons_init();
   void buttons_check();
 
-
   #define LCD_UPDATE_INTERVAL 100
   #define STATUSTIMEOUT 15000
-
-
-  
   extern LiquidCrystal lcd;
-
-
+  extern volatile char buttons;  //the last checked buttons in a bit array.
+  
   #ifdef NEWPANEL
-
-    
     #define EN_C (1<<BLEN_C)
     #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
@@ -50,7 +51,7 @@
   #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};
 
   class MainMenu{
   public:
@@ -67,9 +68,11 @@
     void showControl();
     void showControlMotion();
     void showControlTemp();
+    void showControlRetract();
+    void showAxisMove();
     void showSD();
     bool force_lcd_update;
-    int lastencoderpos;
+    long lastencoderpos;
     int8_t lineoffset;
     int8_t lastlineoffset;
     
@@ -78,11 +81,11 @@
     bool tune;
     
   private:
-    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
+    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos)
     {
       if(linechanging) return; // an item is changint its value, do not switch lines hence
       lastlineoffset=lineoffset; 
-      int curencoderpos=encoderpos;  
+      long curencoderpos=encoderpos;  
       force_lcd_update=false;
       if(  (abs(curencoderpos-lastencoderpos)<lcdslow) ) 
       { 
@@ -129,23 +132,23 @@
 
   //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(MYPGM(x));
   #define LCD_STATUS lcd_status()
 #else //no lcd
+  #define LCD_INIT
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
   FORCE_INLINE void lcd_status() {};
-#endif
-  
-#ifndef ULTIPANEL  
- #define CLICKED false
+
+  #define CLICKED false
   #define BLOCK ;
 #endif 
   
@@ -160,4 +163,3 @@ char *itostr3(const int &xx);
 char *itostr4(const int &xx);
 char *ftostr51(const float &x);
 #endif //ULTRALCD
-

Marlin/watchdog.h

@@ -1,5 +1,5 @@
-#ifndef __WATCHDOGH
-#define __WATCHDOGH
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
 #include "Marlin.h"
 #ifdef USE_WATCHDOG
 

Marlin/z_probe.cpp

@@ -0,0 +1,173 @@
+#include "z_probe.h"
+#if defined(PROBE_PIN) && (PROBE_PIN > -1)
+#include "Marlin.h"
+#include "stepper.h"
+#include "temperature.h"
+
+float Probe_Bed(float x_pos, float y_pos, int n)
+{
+    //returns Probed Z average height
+    float ProbeDepth[n];
+    float ProbeDepthAvg=0;
+    
+    //force bed heater off for probing
+    int save_bed_targ = target_raw_bed;
+    target_raw_bed = 0;
+    WRITE(HEATER_BED_PIN,LOW);
+    
+    if (Z_HOME_DIR==-1)
+    {
+      //int probe_flag =1;
+      float meas = 0;
+      int fails = 0;
+      saved_feedrate = feedrate;
+      saved_feedmultiply = feedmultiply;
+      feedmultiply = 100;
+      //previous_millis_cmd = millis();
+      
+      //Move to probe position
+      if (x_pos >= 0) destination[X_AXIS]=x_pos;
+      if (y_pos >= 0) destination[Y_AXIS]=y_pos;
+      //destination[Z_AXIS]=current_position[Z_AXIS];
+      destination[Z_AXIS]=Z_HOME_RETRACT_MM;
+      feedrate = 9000;
+      prepare_move();
+
+	  enable_endstops(true);
+      SERIAL_ECHO("PRE-PROBE current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
+
+	  SERIAL_ECHOLN("Ready to probe...");
+
+        //Probe bed n times
+        //*******************************************************************************************Bed Loop*************************************
+        for(int8_t i=0; i < n ; i++)
+        {
+            //int z = 0;
+
+			//fast probe 
+			//plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); 
+			destination[Z_AXIS] = 1.1 * Z_MAX_LENGTH * Z_HOME_DIR; 
+			feedrate = homing_feedrate[Z_AXIS]; 
+			plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); 
+			st_synchronize();
+		
+			//feedrate = 0.0;
+            
+            SERIAL_ECHO("current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
+            if(endstop_z_hit == true)
+            {
+	            SERIAL_ECHO("endstops_trigsteps[Z_AXIS]=");SERIAL_ECHOLN(endstops_trigsteps[Z_AXIS]);
+	            ProbeDepth[i]= endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS];
+	            meas = ProbeDepth[i];
+	            SERIAL_ECHO("ProbeDepth[");SERIAL_ECHO(i);SERIAL_ECHO("]=");SERIAL_ECHOLN(ProbeDepth[i]);
+            	//*************************************************************************************************************
+		        if (i > 0 ) //Second probe has happened so compare results
+		        {
+		            if (abs(ProbeDepth[i] - ProbeDepth[i - 1]) > .05)
+		            { //keep going until readings match to avoid sticky bed
+		              SERIAL_ECHO("Probing again: ");
+		              SERIAL_ECHO(ProbeDepth[i]); SERIAL_ECHO(" - "); SERIAL_ECHO(ProbeDepth[i - 1]);SERIAL_ECHO(" = "); SERIAL_ECHOLN(abs(ProbeDepth[i] - ProbeDepth[i - 1]));
+		              meas = ProbeDepth[i];
+		              i--; i--; //Throw out both that don't match because we don't know which one is accurate
+		              if(fails++ > 4) break;
+		            }
+		        }
+	        }else{
+	        	SERIAL_ECHOLN("Probe not triggered.");
+	        	i=n-1;
+	        }
+            //**************************************************************************************************************************************************
+            //fast move clear
+		    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], meas, current_position[E_AXIS]);
+		    destination[Z_AXIS] = Z_HOME_RETRACT_MM;
+		    feedrate = fast_home_feedrate[Z_AXIS];
+		    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+		    st_synchronize();
+
+            //check z stop isn't still triggered
+            if ( READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING )
+            {
+                SERIAL_ECHOLN("Poking Stuck Bed:");
+                destination[Z_AXIS] = -1; prepare_move();
+                destination[Z_AXIS] = Z_HOME_RETRACT_MM; prepare_move();
+			    st_synchronize();
+                i--; //Throw out this meaningless measurement
+            }
+            feedrate = 0;
+        } //end probe loop
+		#ifdef ENDSTOPS_ONLY_FOR_HOMING
+		  enable_endstops(false);
+		#endif
+		 
+		feedrate = saved_feedrate;
+		feedmultiply = saved_feedmultiply;
+		//previous_millis_cmd = millis();
+		endstops_hit_on_purpose();
+    }
+    for(int8_t i=0;i<n;i++)
+    {
+    	ProbeDepthAvg += ProbeDepth[i];
+    }
+    ProbeDepthAvg /= n;
+    SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(ProbeDepthAvg);
+    SERIAL_ECHO("RAW current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]);
+    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], Z_HOME_RETRACT_MM, current_position[E_AXIS]);
+    current_position[Z_AXIS] = Z_HOME_RETRACT_MM;
+
+    target_raw_bed = save_bed_targ;
+    return ProbeDepthAvg;
+ }
+
+void probe_init()
+{
+    SET_INPUT(PROBE_PIN);
+    WRITE(PROBE_PIN,HIGH);
+}
+
+/*Crash1 - G29 to Probe and stop on Bed
+G29 will probe bed at least twice at 3 points and take an average. G30 will probe bed at it's current location.
+Z stop should be set slightly below bed height. Solder stub wire to each hole in huxley bed and attach a ring terminal under spring.
+Wire bed probe to A2 on Melzi and duplicate cap/resistor circuit in schematic.
+  
+Use something like this in the start.gcode file:
+G29 		;Probe bed for Z height
+G92 Z0		;Set Z to Probed Depth
+G1 Z5 F200	;Lift Z out of way
+*/
+void probe_3points()
+{
+    float Probe_Avg, Point1, Point2, Point3;
+    Point1 = Probe_Bed(15,15,PROBE_N);
+    Point2 = Probe_Bed(X_MAX_LENGTH - 20,15,PROBE_N) ;
+    Point3 = Probe_Bed(X_MAX_LENGTH/2,Y_MAX_LENGTH - 5,PROBE_N);
+    Probe_Avg = (Point1 + Point2 + Point3) / 3;
+    //destination[2] = Probe_Avg;
+    //feedrate = homing_feedrate[Z_AXIS];
+    //prepare_move();
+    SERIAL_ECHOLN("**************************************");       
+    SERIAL_ECHO("Point1 ="); SERIAL_ECHOLN(Point1);
+    SERIAL_ECHO("Point2 ="); SERIAL_ECHOLN(Point2);
+    SERIAL_ECHO("Point3 ="); SERIAL_ECHOLN(Point3);
+    SERIAL_ECHO("Probed Average="); SERIAL_ECHOLN(Probe_Avg);
+    SERIAL_ECHOLN("**************************************");       
+}
+
+void probe_1point()
+{
+    float  Point;
+    Point = Probe_Bed(-1,-1,PROBE_N);
+    //destination[2] = Point +1;
+    //feedrate = homing_feedrate[Z_AXIS];
+    //prepare_move();
+    SERIAL_ECHOLN("**************************************");       
+    SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(Point);
+}
+
+void probe_status()
+{
+    SERIAL_ECHO("Probe Status = "); SERIAL_ECHOLN(READ(PROBE_PIN));
+}
+
+#endif //defined(PROBE_PIN) > -1
+
+

Marlin/z_probe.h

@@ -0,0 +1,21 @@
+#ifndef __Z_PROBEH
+
+#define __Z_PROBEH
+#include "Marlin.h"
+
+#if defined(PROBE_PIN) && (PROBE_PIN > -1) 
+  void probe_init();
+  void probe_3points();
+  void probe_1point();
+  void probe_status();
+  float Probe_Bed(float x_pos, float y_pos,int n);
+  
+#else //no probe pin
+  FORCE_INLINE void probe_init() {};
+  FORCE_INLINE void probe_3points() {};
+  FORCE_INLINE void probe_1point() {};
+  FORCE_INLINE void probe_status() {};
+  FORCE_INLINE float Probe_Bed(float x_pos, float y_pos,int n) {return 0;}
+#endif //PROBE_PIN
+
+#endif

README

@@ -1,3 +1,92 @@
+<<<<<<< HEAD
+A new beta version is avaiable.
+Look under the Marlin_v1 branch. We also made a tag that you can download.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+This firmware is a mashup between Sprinter, grbl and many original parts.
+ (https://github.com/kliment/Sprinter)
+ (https://github.com/simen/grbl/tree)
+
+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
+
+This firmware is optimized for gen6 electronics.
+
+The default baudrate is 250000. 
+This gives less communication errors then regular baudrates.
+
+========================================================================================
+
+Configuring and compilation
+
+
+Install the arduino software version 0018
+   http://www.arduino.cc/en/Main/Software
+
+Install the sanguino software, version 0018
+   http://sanguino.cc/useit
+
+Install pronterface
+   https://github.com/kliment/Printrun
+
+Copy the Marlin firmware
+   https:/github.com/ErikZalm/Marlin
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Sanguino 
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Change the printer specific setting in Configuration.h to the correct values.
+
+The following values are the most important:
+ - float axis_steps_per_unit[]....         // Set the correct steps / mm in the corresponding field
+ - const bool ENDSTOPS_INVERTING = false;  // Change if only positive moves are executed
+ - #define INVERT_x_DIR true               // Change if the motor direction is wrong
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+Start pronterface
+
+Select the correct Serial Port. Type 250000 in the baudrate field.
+Press the Connect button
+
+===============================================================================================
+Known issues
+
+On some systems we get compilation errors.
+
+This is caused by the "wiring_serial.c" and "wiring.c".
+The simple fix is to delete these files but this may have a performance impact.
+
+The best workaround is to move these files to sanguino directory. 
+(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems)
+
+
+
+
+
+=======
 This RepRap firmware is a mashup between Sprinter, grbl and many original parts.
  (https://github.com/kliment/Sprinter)
  (https://github.com/simen/grbl/tree)
@@ -62,3 +151,4 @@ KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
 
 That's ok.  Enjoy Silky Smooth Printing.
 
+>>>>>>> Mendel

README.orig

@@ -0,0 +1,154 @@
+<<<<<<< HEAD
+A new beta version is avaiable.
+Look under the Marlin_v1 branch. We also made a tag that you can download.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+This firmware is a mashup between Sprinter, grbl and many original parts.
+ (https://github.com/kliment/Sprinter)
+ (https://github.com/simen/grbl/tree)
+
+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
+
+This firmware is optimized for gen6 electronics.
+
+The default baudrate is 250000. 
+This gives less communication errors then regular baudrates.
+
+========================================================================================
+
+Configuring and compilation
+
+
+Install the arduino software version 0018
+   http://www.arduino.cc/en/Main/Software
+
+Install the sanguino software, version 0018
+   http://sanguino.cc/useit
+
+Install pronterface
+   https://github.com/kliment/Printrun
+
+Copy the Marlin firmware
+   https:/github.com/ErikZalm/Marlin
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Sanguino 
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Change the printer specific setting in Configuration.h to the correct values.
+
+The following values are the most important:
+ - float axis_steps_per_unit[]....         // Set the correct steps / mm in the corresponding field
+ - const bool ENDSTOPS_INVERTING = false;  // Change if only positive moves are executed
+ - #define INVERT_x_DIR true               // Change if the motor direction is wrong
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+Start pronterface
+
+Select the correct Serial Port. Type 250000 in the baudrate field.
+Press the Connect button
+
+===============================================================================================
+Known issues
+
+On some systems we get compilation errors.
+
+This is caused by the "wiring_serial.c" and "wiring.c".
+The simple fix is to delete these files but this may have a performance impact.
+
+The best workaround is to move these files to sanguino directory. 
+(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems)
+
+
+
+
+
+=======
+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.
+
+>>>>>>> Mendel