branch brought up to date

Simplified stepper inactive time

.gitignore

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+*~

Marlin/.gitignore

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

Marlin/Configuration.h

@@ -1,229 +1,274 @@
-#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 
+// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
+
+//User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup.
+//Implementation of an idea by Prof Braino to inform user that any changes made
+//to THIS file by the user have been successfully uploaded into firmware.
+#define STRING_VERSION_CONFIG_H "2012-06-25-1" //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
-//#define BAUDRATE 230400
-
-
-// Frequency limit
-// See nophead's blog for more info
-// Not working O
-//#define XY_FREQUENCY_LIMIT  15
-
-// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
-// of the buffer and all stops. This should not be much greater than zero and should only be changed
-// if unwanted behavior is observed on a user's machine when running at very slow speeds.
-#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
-
-// If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
-
-// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
 
 //// The following define selects which electronics board you have. Please choose the one that matches your setup
-// MEGA/RAMPS up to 1.2 = 3,
-// RAMPS 1.3 = 33
-// Gen6 = 5,
+// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics"
+// Gen7 v1.1, v1.2 = 11
+// Gen7 v1.3 = 12
+// Gen7 v1.4 = 13
+// MEGA/RAMPS up to 1.2 = 3
+// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan)
+// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed)
+// Gen6 = 5
+// Gen6 deluxe = 51
 // Sanguinololu 1.2 and above = 62
-// Ultimaker = 7,
+// Melzi 63
+// Ultimaker = 7
 // Teensylu = 8
-#define MOTHERBOARD 7
+// Gen3+ =9
+#define MOTHERBOARD 62
 
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
 
-//// Thermistor settings:
-// 1 is 100k thermistor
-// 2 is 200k thermistor
-// 3 is mendel-parts thermistor
-// 4 is 10k thermistor
+// 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 - 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
-//#define THERMISTORHEATER_0 3
-//#define THERMISTORHEATER_1 3
-//#define THERMISTORBED 3
+// 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 HEATER_0_USES_THERMISTOR
-//#define HEATER_1_USES_THERMISTOR
-#define HEATER_0_USES_AD595
-//#define HEATER_1_USES_AD595
-
-// Select one of these only to define how the bed temp is read.
-//#define BED_USES_THERMISTOR
-//#define BED_USES_AD595
-
-#define BED_CHECK_INTERVAL 5000 //ms
-
-//// Experimental watchdog and minimal temp
-// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
-// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
-/// CURRENTLY NOT IMPLEMENTED AND UNUSEABLE
-//#define WATCHPERIOD 5000 //5 seconds
+#define TEMP_SENSOR_0 102
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_BED 101
 
 // Actual temperature must be close to target for this long before M109 returns success
-//#define TEMP_RESIDENCY_TIME 20  // (seconds)
-//#define TEMP_HYSTERESIS 5       // (C°) range of +/- temperatures considered "close" to the target one
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_HYSTERESIS 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
-#define HEATER_0_MINTEMP 5
+// 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 1
 //#define HEATER_1_MINTEMP 5
-//#define BED_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_0_MAXTEMP 399
 //#define HEATER_1_MAXTEMP 275
-//#define BED_MAXTEMP 150
-
+//#define HEATER_2_MAXTEMP 275
+#define BED_MAXTEMP 150
 
 
 // PID settings:
-// Uncomment the following line to enable PID support.
-  
+// Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
+#define PID_MAX 255 // limits current to nozzle; 255=full current
+#define FULL_PID_BAND 150 // Full power is applied when pid_error[e] > FULL_PID_BAND
 #ifdef PIDTEMP
-  #if MOTHERBOARD == 62
-    #error Sanguinololu does not support PID, sorry. Please disable it.
-  #endif
   //#define PID_DEBUG // Sends debug data to the serial port. 
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
-  
-  #define PID_MAX 255 // limits current to nozzle; 255=full current
-  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX 125  //limit for the integral term
   #define K1 0.95 //smoothing factor withing the PID
-  #define PID_dT 0.1 //sampling period of the PID
+  #define PID_dT 0.122 //sampling period of the PID
 
-  //To develop some PID settings for your machine, you can initiall follow 
-  // the Ziegler-Nichols method.
-  // set Ki and Kd to zero. 
-  // heat with a defined Kp and see if the temperature stabilizes
-  // ideally you do this graphically with repg.
-  // the PID_CRITIAL_GAIN should be the Kp at which temperature oscillatins are not dampned out/decreas in amplitutde
-  // PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain
-  // usually further manual tunine is necessary.
+// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
+// Ultimaker
+//    #define  DEFAULT_Kp  22.2
+//    #define  DEFAULT_Ki (1.25*PID_dT)  
+//    #define  DEFAULT_Kd (99/PID_dT)  
 
-  #define PID_CRITIAL_GAIN 50
-  #define PID_SWING_AT_CRITIAL 47 //seconds
-  
-  //#define PID_PI    //no differentail term
-  #define PID_PID //normal PID
+// Makergear
+//    #define  DEFAULT_Kp 7.0
+//    #define  DEFAULT_Ki 0.1  
+//    #define  DEFAULT_Kd 12  
 
-  #ifdef PID_PID
-    //PID according to Ziegler-Nichols method
-//    #define  DEFAULT_Kp  (0.6*PID_CRITIAL_GAIN)
-//    #define  DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)  
-//    #define  DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)  
-
-// Ultitmaker
-    #define  DEFAULT_Kp  22.2
-    #define  DEFAULT_Ki (1.25*PID_dT)  
-    #define  DEFAULT_Kd (99/PID_dT)  
+// 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
-   
-  #ifdef PID_PI
-    //PI according to Ziegler-Nichols method
-    #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
-    #define  DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
-    #define  DEFAULT_Kd (0)
-  #endif
-  
-  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
-  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
-  #define PID_ADD_EXTRUSION_RATE  
-  #ifdef PID_ADD_EXTRUSION_RATE
-    #define  DEFAULT_Kc (3) //heatingpower=Kc*(e_speed)
-  #endif
+//    #define  DEFAULT_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===========================
 //===========================================================================
 
-
 // Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
-// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
 
+// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
+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
 #define Y_ENABLE_ON 0
 #define Z_ENABLE_ON 0
-#define E_ENABLE_ON 0
+#define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
 #define DISABLE_X false
 #define DISABLE_Y false
-#define DISABLE_Z false
-#define DISABLE_E false
+#define DISABLE_Z true
+#define DISABLE_E false // For all extruders
 
-// Inverting axis direction
-//#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
-//#define INVERT_Y_DIR true   // for Mendel set to true, for Orca set to false
-//#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
-//#define INVERT_E_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
-
-#define INVERT_X_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
-#define INVERT_E_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_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:
+// ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 #define X_HOME_DIR -1
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
-#define max_software_endstops false  //If true, axis won't move to coordinates greater than the defined lengths below.
-#define X_MAX_LENGTH 210
-#define Y_MAX_LENGTH 210
-#define Z_MAX_LENGTH 210
+#define min_software_endstops true //If true, axis won't move to coordinates less than zero.
+#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
+
+// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0
+#define X_HOME_POS 0
+#define Y_HOME_POS 0
+#define Z_HOME_POS 0
 
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
-#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
 
-#define AXIS_RELATIVE_MODES {false, false, false, false}
+#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
 
-#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
 
 // default settings 
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}                    // default steps per unit for ultimaker 
-//#define DEFAULT_AXIS_STEPS_PER_UNIT   {40, 40, 3333.92, 67} //sells mendel with v9 extruder
-#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 200000}    // (mm/sec)    
-#define DEFAULT_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  7000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
-#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
-#define DEFAULT_MINTRAVELFEEDRATE     0.0
+#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
 
-// minimum time in microseconds that a movement needs to take if the buffer is emptied.   Increase this number if you see blobs while printing high speed & high detail.  It will slowdown on the detailed stuff.
-#define DEFAULT_MINSEGMENTTIME        20000   // Obsolete delete this
-#define DEFAULT_XYJERK                30.0    // (mm/sec)
+// 
+#define DEFAULT_XYJERK                15.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
-
-
-
+#define DEFAULT_EJERK                 15.0    // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================
@@ -240,40 +285,9 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 // please keep turned on if you can.
 #define EEPROM_CHITCHAT
 
-
-// The hardware watchdog should halt the Microcontroller, in case the firmware gets stuck somewhere. However:
-// the Watchdog is not working well, so please only enable this for testing
-// this enables the watchdog interrupt.
-//#define USE_WATCHDOG
-//#ifdef USE_WATCHDOG
-  // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
-//#define RESET_MANUAL
-//#define WATCHDOG_TIMEOUT 4  //seconds
-//#endif
-
-// extruder advance constant (s2/mm3)
-//
-// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
-//
-// hooke's law says:		force = k * distance
-// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
-// so: v ^ 2 is proportional to number of steps we advance the extruder
-//#define ADVANCE
-
-#ifdef ADVANCE
-  #define EXTRUDER_ADVANCE_K .3
-
-  #define D_FILAMENT 1.7
-  #define STEPS_MM_E 65
-  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
-  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
-
-#endif // ADVANCE
-
-
 //LCD and SD support
 //#define ULTRA_LCD  //general lcd support, also 16x2
-//#define SDSUPPORT // Enable SD Card Support in Hardware Console
+#define SDSUPPORT // Enable SD Card Support in Hardware Console
 
 //#define ULTIPANEL
 #ifdef ULTIPANEL
@@ -282,6 +296,16 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
   #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
@@ -289,50 +313,14 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
   #endif
 #endif
 
-// 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
-
-
-//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
-//The maximum buffered steps/sec of the extruder motor are called "se".
-//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
-// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
-// you exit the value by any M109 without F*
-// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
-// on an ultimaker, some initial testing worked with M109 S215 T260 F0.1 in the start.gcode
-//#define AUTOTEMP
-#ifdef AUTOTEMP
-  #define AUTOTEMP_OLDWEIGHT 0.98
-#endif
-
-
-const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
-
-//===========================================================================
-//=============================Buffers           ============================
-//===========================================================================
-
-
-
-// The number of linear motions that can be in the plan at any give time.  
-// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
-#if defined SDSUPPORT
-  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
-#else
-  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
-#endif
-
-
-//The ASCII buffer for recieving from the serial:
-#define MAX_CMD_SIZE 96
-#define BUFSIZE 4
+// 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
 
+#include "Configuration_adv.h"
 #include "thermistortables.h"
 
 #endif //__CONFIGURATION_H

Marlin/Configuration_adv.h

@@ -0,0 +1,237 @@
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+// Select one of these only to define how the bed temp is read.
+//
+//#define BED_LIMIT_SWITCHING
+#ifdef BED_LIMIT_SWITCHING
+  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+#endif
+#define BED_CHECK_INTERVAL 5000 //ms
+
+//// Heating sanity check:
+// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero. 
+// It can be reset with another M104/M109
+//#define WATCHPERIOD 20000 //20 seconds
+
+// Wait for Cooldown
+// This defines if the M109 call should not block if it is cooling down.
+// example: From a current temp of 220, you set M109 S200. 
+// if CooldownNoWait is defined M109 will not wait for the cooldown to finish
+#define CooldownNoWait true
+
+#ifdef PIDTEMP
+  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
+  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
+  //#define PID_ADD_EXTRUSION_RATE  
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
+  #endif
+#endif
+
+
+//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+//The maximum buffered steps/sec of the extruder motor are called "se".
+//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
+// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+// you exit the value by any M109 without F*
+// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+// on an ultimaker, some initial testing worked with M109 S215 T260 F0.1 in the start.gcode
+//#define AUTOTEMP
+#ifdef AUTOTEMP
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//  extruder run-out prevention. 
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT  
+#define EXTRUDER_RUNOUT_MINTEMP 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===========================
+//===========================================================================
+
+// 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 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 50000 // Max step frequency for Ultimaker (5000 pps / half step)
+
+//default stepper release if idle
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.   Increase this number if you see blobs while printing high speed & high detail.  It will slowdown on the detailed stuff.
+#define DEFAULT_MINSEGMENTTIME        20000   // Obsolete delete this
+
+// If defined the movements slow down when the look ahead buffer is only half full
+#define SLOWDOWN
+
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+
+#define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // no z because of layer shift.
+
+// The hardware watchdog should halt the Microcontroller, in case the firmware gets stuck somewhere. However:
+// the Watchdog is not working well, so please only enable this for testing
+// this enables the watchdog interrupt.
+//#define USE_WATCHDOG
+//#ifdef USE_WATCHDOG
+  // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
+//#define RESET_MANUAL
+//#define WATCHDOG_TIMEOUT 4  //seconds
+//#endif
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// hooke's law says:		force = k * distance
+// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+  #define EXTRUDER_ADVANCE_K .0
+
+  #define D_FILAMENT 2.85
+  #define STEPS_MM_E 836
+  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+
+#endif // ADVANCE
+
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
+
+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+//#define SDCARDDETECTINVERTED 
+
+//===========================================================================
+//=============================Buffers           ============================
+//===========================================================================
+
+// The number of linear motions that can be in the plan at any give time.  
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+#if defined SDSUPPORT
+  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+// Chuck size for fast sd transfer
+    #define SD_FAST_XFER_CHUNK_SIZE 1024
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+
+//The ASCII buffer for recieving from the serial:
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+//===========================================================================
+//=============================  Define Defines  ============================
+//===========================================================================
+
+#if TEMP_SENSOR_0 > 0
+  #define THERMISTORHEATER_0 TEMP_SENSOR_0
+  #define HEATER_0_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_1 > 0
+  #define THERMISTORHEATER_1 TEMP_SENSOR_1
+  #define HEATER_1_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_2 > 0
+  #define THERMISTORHEATER_2 TEMP_SENSOR_2
+  #define HEATER_2_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_BED > 0
+  #define THERMISTORBED TEMP_SENSOR_BED
+  #define BED_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_0 == -1
+  #define HEATER_0_USES_AD595
+#endif
+#if TEMP_SENSOR_1 == -1
+  #define HEATER_1_USES_AD595
+#endif
+#if TEMP_SENSOR_2 == -1
+  #define HEATER_2_USES_AD595
+#endif
+#if TEMP_SENSOR_BED == -1
+  #define BED_USES_AD595
+#endif
+#if TEMP_SENSOR_0 == -2
+  #define HEATER_0_USES_MAX6675
+#endif
+#if TEMP_SENSOR_0 == 0
+  #undef HEATER_0_MINTEMP
+  #undef HEATER_0_MAXTEMP
+#endif
+#if TEMP_SENSOR_1 == 0
+  #undef HEATER_1_MINTEMP
+  #undef HEATER_1_MAXTEMP
+#endif
+#if TEMP_SENSOR_2 == 0
+  #undef HEATER_2_MINTEMP
+  #undef HEATER_2_MAXTEMP
+#endif
+#if TEMP_SENSOR_BED == 0
+  #undef BED_MINTEMP
+  #undef BED_MAXTEMP
+#endif
+
+
+#endif //__CONFIGURATION_ADV_H

Marlin/EEPROMwrite.h

@@ -1,17 +1,20 @@
-#ifndef __EEPROMH
-#define __EEPROMH
+#ifndef EEPROM_H
+#define EEPROM_H
 
 #include "Marlin.h"
 #include "planner.h"
 #include "temperature.h"
-#include <EEPROM.h>
+#include "FPUTransform.h"
+//#include <EEPROM.h>
+
+
 
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
 {
   const byte* p = (const byte*)(const void*)&value;
   int i;
   for (i = 0; i < (int)sizeof(value); i++)
-    EEPROM.write(ee++, *p++);
+    eeprom_write_byte((unsigned char *)ee++, *p++);
   return i;
 }
 
@@ -20,7 +23,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
   byte* p = (byte*)(void*)&value;
   int i;
   for (i = 0; i < (int)sizeof(value); i++)
-    *p++ = EEPROM.read(ee++);
+    *p++ = eeprom_read_byte((unsigned char *)ee++);
   return i;
 }
 //======================================================================================
@@ -36,9 +39,9 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V04"  
+#define EEPROM_VERSION "V05"  
 
-inline void StoreSettings() 
+inline void EEPROM_StoreSettings() 
 {
 #ifdef EEPROM_SETTINGS
   char ver[4]= "000";
@@ -54,15 +57,21 @@ inline void StoreSettings()
   EEPROM_writeAnything(i,minsegmenttime);
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
+  EEPROM_writeAnything(i,max_e_jerk);
+  EEPROM_writeAnything(i,add_homeing);
   #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
@@ -71,7 +80,75 @@ inline void StoreSettings()
 #endif //EEPROM_SETTINGS
 }
 
-inline void RetrieveSettings(bool def=false)
+
+inline void EEPROM_printSettings()
+{  // if def=true, the default values will be used
+  #ifdef EEPROM_SETTINGS  
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Steps per unit:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[0]);
+      SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
+      SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
+      SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
+      SERIAL_ECHOLN("");
+      
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
+      SERIAL_ECHOPAIR(" Y",max_feedrate[1] ); 
+      SERIAL_ECHOPAIR(" Z", max_feedrate[2] ); 
+      SERIAL_ECHOPAIR(" E", max_feedrate[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[0] ); 
+      SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); 
+      SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
+      SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M204 S",acceleration ); 
+      SERIAL_ECHOPAIR(" T" ,retract_acceleration);
+      SERIAL_ECHOLN("");
+    SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M205 S",minimumfeedrate ); 
+      SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); 
+      SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
+      SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
+      SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+      SERIAL_ECHOPAIR(" E" ,max_e_jerk);
+      SERIAL_ECHOLN(""); 
+    SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("  M206 X",add_homeing[0]);
+      SERIAL_ECHOPAIR(" Y",add_homeing[1] ); 
+      SERIAL_ECHOPAIR(" Z", add_homeing[2] ); 
+      SERIAL_ECHOLN("");
+    #ifdef PIDTEMP
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM("PID settings:");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPAIR("   M301 P",Kp); 
+      SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
+      SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+      SERIAL_ECHOPAIR(" W" ,Ki_Max);
+      SERIAL_ECHOLN(""); 
+    #endif
+      #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) 
+      SERIAL_ECHOPAIR(" FPU Enabled" , FPUEnabled?" yes":" no");
+      SERIAL_ECHOLN(""); 
+    #endif
+  #endif
+} 
+
+
+inline void EEPROM_RetrieveSettings(bool def=false)
 {  // if def=true, the default values will be used
   #ifdef EEPROM_SETTINGS
     int i=EEPROM_OFFSET;
@@ -91,17 +168,25 @@ inline void RetrieveSettings(bool def=false)
       EEPROM_readAnything(i,minsegmenttime);
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
+      EEPROM_readAnything(i,max_e_jerk);
+      EEPROM_readAnything(i,add_homeing);
       #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:");
     }
     else 
+  #endif
     {
       float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
       float tmp2[]=DEFAULT_MAX_FEEDRATE;
@@ -119,62 +204,13 @@ inline void 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:");
     }
   #ifdef EEPROM_CHITCHAT
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Steps per unit:");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[0]);
-      SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
-      SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
-      SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
-      SERIAL_ECHOLN("");
-      
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]/60);
-      SERIAL_ECHOPAIR(" Y",max_feedrate[1]/60 ); 
-      SERIAL_ECHOPAIR(" Z", max_feedrate[2]/60 ); 
-      SERIAL_ECHOPAIR(" E", max_feedrate[3]/60);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[0] ); 
-      SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); 
-      SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
-      SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M204 S",acceleration ); 
-      SERIAL_ECHOPAIR(" T" ,retract_acceleration);
-      SERIAL_ECHOLN("");
-    SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("  M205 S",minimumfeedrate/60 ); 
-      SERIAL_ECHOPAIR(" T" ,mintravelfeedrate/60 ); 
-      SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
-      SERIAL_ECHOPAIR(" X" ,max_xy_jerk/60 ); 
-      SERIAL_ECHOPAIR(" Z" ,max_z_jerk/60);
-      SERIAL_ECHOLN(""); 
-    #ifdef PIDTEMP
-      SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM("PID settings:");
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPAIR("   M301 P",Kp ); 
-      SERIAL_ECHOPAIR(" I" ,Ki ); 
-      SERIAL_ECHOPAIR(" D" ,Kd);
-      SERIAL_ECHOLN(""); 
-    #endif
+    EEPROM_printSettings();
   #endif
-    
-  #endif //EEPROM_SETTINGS
 }  
 
 #endif

Marlin/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

@@ -1,51 +1,74 @@
+# Sprinter Arduino Project Makefile
+# 
+# Makefile Based on:
+# Arduino 0011 Makefile
+# Arduino adaptation by mellis, eighthave, oli.keller
+#
+# This has been tested with Arduino 0022.
+# 
+# This makefile allows you to build sketches from the command line
+# without the Arduino environment (or Java).
+#
+# Detailed instructions for using the makefile:
+#
+#  1. Modify the line containg "INSTALL_DIR" to point to the directory that
+#     contains the Arduino installation (for example, under Mac OS X, this
+#     might be /Applications/arduino-0012).
+#
+#  2. Modify the line containing "PORT" to refer to the filename
+#     representing the USB or serial connection to your Arduino board
+#     (e.g. PORT = /dev/tty.USB0).  If the exact name of this file
+#     changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*).
+#
+#  3. Set the line containing "MCU" to match your board's processor. 
+#     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
+#     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
+#     change F_CPU to 8000000. If you are using Gen7 electronics, you
+#     probably need to use 20000000. Either way, you must regenerate
+#     the speed lookup table with create_speed_lookuptable.py.
+#
+#  4. Type "make" and press enter to compile/verify your program.
+#
+#  5. Type "make upload", reset your Arduino board, and press enter to
+#     upload your program to the Arduino board.
+#
+# $Id$
+
+#For "old" Arduino Mega
+MCU = atmega1280
+#For Arduino Mega2560
+#MCU = atmega2560
+#For Sanguinololu
+#MCU = atmega644p 
+
+#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
+AVRDUDE_PROGRAMMER = arduino
+PORT = /dev/arduino
+
 TARGET = $(notdir $(CURDIR))
-# CHANGE BELOW:
-#~ INSTALL_DIR = /Applications/Arduino.app/Contents/Resources/Java
-INSTALL_DIR = /home/bkubicek/software/arduino-0022
-#~ PORT = /dev/cu.usbserial*
-PORT = /dev/ttyACM0
 
-# Get these values from:
-#     $(INSTALL_DIR)/hardware/boards.txt
-#     (arduino-0022/hardware/arduino/boards.txt)
-# The values below are for the "Arduino Duemilanove or Nano w/ ATmega328"
-# now for "Arduino Mega 2560"
-UPLOAD_SPEED = 115200
-UPLOAD_PROTOCOL = stk500v2
-BUILD_MCU = atmega2560
-BUILD_F_CPU = 16000000L
-TERM=bash
-
-# getting undefined reference to `__cxa_pure_virtual'
-#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
-#~ http://www.arduino.cc/playground/OpenBSD/CLI
-#~ [http://arduino.cc/forum/index.php?topic=52041.0 A "simple" makefile for Arduino]
-#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1275488191 Arduino Forum - Configuring avr-gcc options in arduino IDE]
-# found in /usr/lib/gcc/avr/4.3.5/cc1plus; fixed with -Wl,--gc-section
 
 ############################################################################
 # Below here nothing should be changed...
 
 ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
-#
-#~ AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
-# in Ubuntu, avr-gcc is installed separate;
-# only avrdude comes with the IDE
-AVR_TOOLS_PATH = /usr/bin
-AVR_DUDE_PATH = $(INSTALL_DIR)/hardware/tools
-#
-SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
-    $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
-    $(ARDUINO)/wiring_pulse.c \
-    $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
-# added applet/$(TARGET).cpp as in IDE 0022
-CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
-    $(ARDUINO)/Print.cpp \
-    $(ARDUINO)/main.cpp
-#    applet/$(TARGET).cpp # no need, having a rule now for applet/$(TARGET).cpp.o
-# added main.cpp, as in 0022
+AVR_TOOLS_PATH = 
+SRC =  $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
+	$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
+	$(ARDUINO)/wiring_pulse.c \
+	$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
+CXXSRC = $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.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
 
+
 # Name of this Makefile (used for "make depend").
 MAKEFILE = Makefile
 
@@ -54,189 +77,135 @@ MAKEFILE = Makefile
 # AVR (extended) COFF requires stabs, plus an avr-objcopy run.
 DEBUG = stabs
 
-OPT = 2
+OPT = s
 
 # Place -D or -U options here
-#~ CDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
-#~ CXXDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
-# now called DF_CPU
-CDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
-CXXDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
+CDEFS = -DF_CPU=$(F_CPU)
+CXXDEFS = -DF_CPU=$(F_CPU)
 
 # Place -I options here
-CINCS = -I$(ARDUINO) -I$(INSTALL_DIR)/libraries/LiquidCrystal/ -I$(INSTALL_DIR)/libraries/EEPROM/
+CINCS = -I$(ARDUINO)
 CXXINCS = -I$(ARDUINO)
 
 # Compiler flag to set the C Standard level.
-# c89 - "ANSI" C
+# c89   - "ANSI" C
 # gnu89 - c89 plus GCC extensions
-# c99 - ISO C99 standard (not yet fully implemented)
+# c99   - ISO C99 standard (not yet fully implemented)
 # gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
+#CSTANDARD = -std=gnu99
 CDEBUG = -g$(DEBUG)
-# note that typically, IDE 0022 uses -w to suppress warnings (both in cpp and c)!
-CWARN = -Wall
-#~ CWARN = -w
-#  "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++:
-CCWARN = -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CWARN = -Wall -Wstrict-prototypes
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22
 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
 
-# to eliminate pins_ardiuno warnings:
-# http://arduino.cc/pipermail/developers_arduino.cc/2010-December/004005.html
-
-# [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
-#~ For building the objects files "-ffunction-sections -fdata-sections" was missing
-#~ and the final avr-gcc call needs "-Wl,--gc-section".
-CXSECTF = -fno-exceptions -ffunction-sections -fdata-sections
-CFINALF = -Wl,--gc-section
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CCWARN) $(CSTANDARD) $(CEXTRA)
-# added CWARN also to .cpp
-CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CXSECTF)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING)
+CXXFLAGS =         $(CDEFS) $(CINCS) -O$(OPT) -Wall    $(CEXTRA) $(CTUNING)
+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 
 LDFLAGS = -lm
 
+
 # Programming support using avrdude. Settings and variables.
 AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -V -F \
-    -p $(BUILD_MCU) -P $(AVRDUDE_PORT) -c $(UPLOAD_PROTOCOL) \
-    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avrdude.conf
-#    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
+AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i
+AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \
+	-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
+	-b $(UPLOAD_RATE)
 
 # Program settings
-CC = $(AVR_TOOLS_PATH)/avr-gcc
-CXX = $(AVR_TOOLS_PATH)/avr-g++
-OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
-OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
-AR = $(AVR_TOOLS_PATH)/avr-ar
-SIZE = $(AVR_TOOLS_PATH)/avr-size
-NM = $(AVR_TOOLS_PATH)/avr-nm
-#~ AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
-AVRDUDE = $(AVR_DUDE_PATH)/avrdude
+CC = $(AVR_TOOLS_PATH)avr-gcc
+CXX = $(AVR_TOOLS_PATH)avr-g++
+OBJCOPY = $(AVR_TOOLS_PATH)avr-objcopy
+OBJDUMP = $(AVR_TOOLS_PATH)avr-objdump
+AR  = $(AVR_TOOLS_PATH)avr-ar
+SIZE = $(AVR_TOOLS_PATH)avr-size
+NM = $(AVR_TOOLS_PATH)avr-nm
+AVRDUDE = avrdude
 REMOVE = rm -f
 MV = mv -f
 
 # Define all object files.
-# NOTE: obj files will be created in respective src directories (libraries or $(INSTALL_DIR));
-#  make clean deletes them fine
-# note that srcs are in libraries or other directories;
-# $(CXXSRC:.cpp=.o) will cause obj files to be in same loc as src files
-#~ OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-# to change the output directory for object files;
-# must change the obj list here!
-# and then, match to corresponding rule somehow?
-# or leave this - and parse in rule (auth automatic variable $(@F))?
-# "Suffix Replacement"
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# added - OBJ list, transformed into applet/
-OBJT = $(addprefix applet/,$(notdir $(OBJ)))
-ALLSRC = $(SRC) $(CXXSRC) $(ASRC)
+OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) 
 
 # Define all listing files.
 LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
 
 # Combine all necessary flags and optional flags.
 # Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(BUILD_MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(BUILD_MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(BUILD_MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
+ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
-# depended libraries of .pde need to be added from
-# $(INSTALL_DIR)/libraries (TODO: and/or ~/sketchbook/libraries)
-# grep for 'include', test if exists, add...
-# note: prefix "a real tab character" http://www.delorie.com/djgpp/doc/ug/larger/makefiles.html
-# $$ to escape $ for shell;
-# note: must NOT put comments # inside bash execution;
-# those would get removed by make; making shell see "EOF in backquote substitution"
-#		 echo $$ix ; \
-# 'shell' twice - for each subprocess! Backtick doesn't get expanded?
-GREPRES:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
-		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
-			LINCS="$$LINCS -I$(INSTALL_DIR)/libraries/$$ix" ;\
-		fi; \
-	done; \
-	echo $$LINCS)
-# append includes:
-CINCS += $(GREPRES)
-CXXINCS += $(GREPRES)
-# append library source .cpp files too (CXXSRC)
-GREPRESB:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
-		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
-			CPPSRCS="$$CPPSRCS $(INSTALL_DIR)/libraries/$$ix/*.cpp" ;\
-		fi; \
-	done; \
-	echo $$CPPSRCS)
-CXXSRC += $(GREPRESB)
-# added - only CXX obj from libraries:
-CXXLIBOBJ = $(GREPRESB:.cpp=.o)
 
 # Default target.
-all: applet_files build sizeafter
+all: build sizeafter
 
-build: elf hex
+build: elf hex 
 
-applet_files: $(TARGET).pde
-    # Here is the "preprocessing".
-    # It creates a .cpp file based with the same name as the .pde file.
-    # On top of the new .cpp file comes the WProgram.h header.
-    # At the end there is a generic main() function attached.
-    # Then the .cpp file will be compiled. Errors during compile will
-    # refer to this new, automatically generated, file.
-    # Not the original .pde file you actually edit...
-	test -d applet || mkdir applet
-    # @ supresses printout of the cmdline itself; so only the out of echo is printed
-	@echo ALL OBJT: $(OBJT)
-	@echo ALL CXXLIBOBJ: $(CXXLIBOBJ)
-#	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	@echo "#include \"WProgram.h\"\nvoid setup();\nvoid loop();\n" > applet/$(TARGET).cpp
-	cat $(TARGET).pde >> applet/$(TARGET).cpp
-    # no more need to cat main.cpp (v0022) - now it is compiled in
-#	cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
+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.
+# At the end there is a generic main() function attached.
+# Then the .cpp file will be compiled. Errors during compile will
+# refer to this new, automatically generated, file. 
+# Not the original .pde file you actually edit...
+	@echo "  WR    $@"
+	@test -d $(dir $@) || mkdir $(dir $@)
+	@echo '#include "WProgram.h"' > $@
+	@cat $< >> $@
+	@cat $(ARDUINO)/main.cpp >> $@
 
 elf: applet/$(TARGET).elf
 hex: applet/$(TARGET).hex
 eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss
+lss: applet/$(TARGET).lss 
 sym: applet/$(TARGET).sym
 
-# Program the device.
+# Program the device.  
 upload: applet/$(TARGET).hex
+	stty hup < $(PORT); true
 	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
+	stty -hup < $(PORT); true
 
-# Display size of file.
+
+	# Display size of file.
 HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
-ELFSIZE = $(SIZE) applet/$(TARGET).elf
+ELFSIZE = $(SIZE)  applet/$(TARGET).elf
 sizebefore:
 	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
 
 sizeafter:
-	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
+	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+
 
 # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
 COFFCONVERT=$(OBJCOPY) --debugging \
-    --change-section-address .data-0x800000 \
-    --change-section-address .bss-0x800000 \
-    --change-section-address .noinit-0x800000 \
-    --change-section-address .eeprom-0x810000
+	--change-section-address .data-0x800000 \
+	--change-section-address .bss-0x800000 \
+	--change-section-address .noinit-0x800000 \
+	--change-section-address .eeprom-0x810000 
+
 
 coff: applet/$(TARGET).elf
 	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
 
+
 extcoff: $(TARGET).elf
 	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
 
+
 .SUFFIXES: .elf .hex .eep .lss .sym
+.PRECIOUS: .o
 
 .elf.hex:
-	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
+	@echo "  COPY  $@"
+	@$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
 .elf.eep:
-    -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
-    --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+		--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
 # Create extended listing file from ELF output file.
 .elf.lss:
@@ -246,76 +215,40 @@ extcoff: $(TARGET).elf
 .elf.sym:
 	$(NM) -n $< > $@
 
-# Link: create ELF output file from library.
-# NOTE: applet/$(TARGET).cpp.o MUST BE BEFORE applet/core.a
-#  in the dependency list, so its rule runs first!
-applet/$(TARGET).elf: $(TARGET).pde applet/$(TARGET).cpp.o applet/core.a
-#	$(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
-# changed as in IDE v0022: link cpp obj files
-	@echo $$(tput bold)$$(tput setaf 2) $(CC) $$(tput sgr0) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
-	@$(CC) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
+	# Link: create ELF output file from library.
+applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h
+	@echo "  CXX   $@"
+	@$(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
 
-# added: cpp.o depends on cpp (and .pde which generates it)
-# $< "first item in the dependencies list"; $@ "left side of the :"; $^ "right side of the :"
-# http://www.cs.colby.edu/maxwell/courses/tutorials/maketutor/
-applet/$(TARGET).cpp.o: applet/$(TARGET).cpp
-	@echo $$(tput bold) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $< -o $@
+applet/core.a: $(OBJ) Configuration.h
+	@for i in $(OBJ); do echo "  AR    $$i"; $(AR) rcs applet/core.a $$i; done
+
+%.o: %.c Configuration.h $(MAKEFILE)
+	@echo "  CC    $@"
+	@$(CC) -c $(ALL_CFLAGS) $< -o $@
+
+%.o: %.cpp Configuration.h $(MAKEFILE)
+	@echo "  CXX   $@"
 	@$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
 
-#~ applet/core.a: $(OBJ)
-#~	 @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
-
-applet/core.a: $(OBJT)
-	 @for i in $(OBJT); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
-
-# iterate through OBJ to find the original location; then build depending on source extension
-# TODO: add handling of assembler files
-applet/%.o:
-	@for iob in $(OBJ); do \
-		if [ "`basename $$iob`" = "`basename $@`" ]; then \
-			for ios in $(ALLSRC); do \
-				if [ "$${iob%%.*}" = "$${ios%%.*}" ]; then \
-					case $${ios##*.} in \
-						"cpp") \
-							echo "$$(tput bold)$$(tput setaf 1) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $$ios -o $@"; \
-							$(CXX) -c $(ALL_CXXFLAGS) $$ios -o $@;; \
-						"c") \
-							echo "$$(tput bold)$$(tput setaf 1) $(CC) $$(tput sgr0) -c $(ALL_CFLAGS) $$ios -o $@"; \
-							$(CC) -c $(ALL_CFLAGS) $$ios -o $@;; \
-					esac; \
-				fi; \
-			done; \
-		fi; \
-	done;
-
-#~ # Compile: create object files from C++ source files.
-#~ .cpp.o:
-#~	 $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
-
-#~ # Compile: create object files from C source files.
-#~ .c.o:
-#~	 $(CC) -c $(ALL_CFLAGS) $< -o $@
-
-#~ # Compile: create assembler files from C source files.
-#~ .c.s:
-#~	 $(CC) -S $(ALL_CFLAGS) $< -o $@
-
-#~ # Assemble: create object files from assembler source files.
-#~ .S.o:
-#~	 $(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-#~ # Automatic dependencies
-#~ %.d: %.c
-#~	 $(CC) -M $(ALL_CFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
-
-#~ %.d: %.cpp
-#~	 $(CXX) -M $(ALL_CXXFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
-
 # Target: clean project.
 clean:
-	$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
-        applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
-        $(OBJT) applet/$(TARGET).cpp.o \
-        $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+	@echo "  RM    applet/*"
+	@$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
+		applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \
+		$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+	@echo "  RMDIR applet/"
+	@rmdir applet
 
-.PHONY: all build elf hex eep lss sym program coff extcoff clean applet_files sizebefore sizeafter
+depend:
+	if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
+	then \
+		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
+			$(MAKEFILE).$$$$ && \
+		$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
+	fi
+	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
+		>> $(MAKEFILE); \
+	$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)
+
+.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter

Marlin/Marlin.h

@@ -1,26 +1,74 @@
-#ifndef __MARLINH
-#define __MARLINH
-
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
-#include <WProgram.h>
-#include "fastio.h"
+
+#ifndef MARLIN_H
+#define MARLIN_H
+
+#define  HardwareSerial_h // trick to disable the standard HWserial
+
+#define  FORCE_INLINE __attribute__((always_inline)) inline
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <inttypes.h>
+
+#include <util/delay.h>
 #include <avr/pgmspace.h>
+#include <avr/eeprom.h>
+#include  <avr/wdt.h>
+#include  <avr/interrupt.h>
+
+
+#include "fastio.h"
 #include "Configuration.h"
+#include "pins.h"
 
-//#define SERIAL_ECHO(x) Serial << "echo: " << x;
-//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
-//#define SERIAL_ERROR(x) Serial << "Error: " << x;
-//#define SERIAL_ERRORLN(x) Serial << "Error: " << x<<endl;
-//#define SERIAL_PROTOCOL(x) Serial << x;
-//#define SERIAL_PROTOCOLLN(x) Serial << x<<endl;
+#if ARDUINO >= 100 
+  #if defined(__AVR_ATmega644P__) || defined (__AVR_ATmega1284P__)
+    #include "WProgram.h"
+  #else
+    #include "Arduino.h"
+  #endif
+#else
+   #include "WProgram.h"
+#endif
+
+#include "MarlinSerial.h"
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+#ifndef sbi
+#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+#include "WString.h"
+
+#if MOTHERBOARD == 8  // Teensylu
+  #define MYSERIAL Serial
+#else
+  #define MYSERIAL MSerial
+#endif
+
+//this is a unfinsihed attemp to removes a lot of warning messages, see:
+// http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011
+//typedef char prog_char PROGMEM; 
+// //#define PSTR    (s )        ((const PROGMEM char *)(s))
+// //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) 
+// //#define MYPGM(s) ((const prog_char *g PROGMEM=s))
+#define MYPGM(s) PSTR(s)
+//#define MYPGM(s)  (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];}))  //This is the normal behaviour
+//#define MYPGM(s)  (__extension__({static prog_char __c[]  = (s); &__c[0];})) //this does not work but hides the warnings
 
 
+#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
+#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
+#define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
+#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
+#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');}
 
-#define SERIAL_PROTOCOL(x) Serial.print(x);
-#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
-#define SERIAL_PROTOCOLLN(x) {Serial.print(x);Serial.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));Serial.write('\n');}
 
 const char errormagic[] PROGMEM ="Error:";
 const char echomagic[] PROGMEM ="echo:";
@@ -40,17 +88,24 @@ const char echomagic[] PROGMEM ="echo:";
 
 
 //things to write to serial from Programmemory. saves 400 to 2k of RAM.
-#define SerialprintPGM(x) serialprintPGM(PSTR(x))
-inline void serialprintPGM(const char *str)
+#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
+FORCE_INLINE void serialprintPGM(const char *str)
 {
   char ch=pgm_read_byte(str);
   while(ch)
   {
-    Serial.write(ch);
+    MYSERIAL.write(ch);
     ch=pgm_read_byte(++str);
   }
 }
 
+// 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();
@@ -81,14 +136,31 @@ void manage_inactivity(byte debug);
   #define disable_z() ;
 #endif
 
-#if E_ENABLE_PIN > -1
-  #define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
+#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
+  #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
 #else
-  #define enable_e() ;
-  #define disable_e() ;
+  #define enable_e0()  /* nothing */
+  #define disable_e0() /* nothing */
 #endif
 
+#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
+  #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e1()  /* nothing */
+  #define disable_e1() /* nothing */
+#endif
+
+#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
+  #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
+#else
+  #define enable_e2()  /* nothing */
+  #define disable_e2() /* nothing */
+#endif
+
+
 enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
 
 
@@ -98,6 +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);
@@ -108,7 +183,21 @@ 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 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;
 
 #endif

Marlin/MarlinSerial.cpp

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

Marlin/MarlinSerial.h

@@ -0,0 +1,150 @@
+/*
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 28 September 2010 by Mark Sproul
+*/
+
+#ifndef MarlinSerial_h
+#define MarlinSerial_h
+#include "Marlin.h"
+
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+
+#if MOTHERBOARD != 8 // ! teensylu
+// Define constants and variables for buffering incoming serial data.  We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+
+struct ring_buffer
+{
+  unsigned char buffer[RX_BUFFER_SIZE];
+  int head;
+  int tail;
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+  extern ring_buffer rx_buffer;
+#endif
+
+class MarlinSerial //: public Stream
+{
+
+  public:
+    MarlinSerial();
+    void begin(long);
+    void end();
+    int peek(void);
+    int read(void);
+    void flush(void);
+    
+    FORCE_INLINE int available(void)
+    {
+      return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
+    }
+    
+    FORCE_INLINE void write(uint8_t c)
+    {
+      while (!((UCSR0A) & (1 << UDRE0)))
+        ;
+
+      UDR0 = c;
+    }
+    
+    
+    FORCE_INLINE void checkRx(void)
+    {
+      if((UCSR0A & (1<<RXC0)) != 0) {
+        unsigned char c  =  UDR0;
+        int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+
+        // if we should be storing the received character into the location
+        // just before the tail (meaning that the head would advance to the
+        // current location of the tail), we're about to overflow the buffer
+        // and so we don't write the character or advance the head.
+        if (i != rx_buffer.tail) {
+          rx_buffer.buffer[rx_buffer.head] = c;
+          rx_buffer.head = i;
+        }
+      }
+    }
+    
+    
+    private:
+    void printNumber(unsigned long, uint8_t);
+    void printFloat(double, uint8_t);
+    
+    
+  public:
+    
+    FORCE_INLINE void write(const char *str)
+    {
+      while (*str)
+        write(*str++);
+    }
+
+
+    FORCE_INLINE void write(const uint8_t *buffer, size_t size)
+    {
+      while (size--)
+        write(*buffer++);
+    }
+
+    FORCE_INLINE void print(const String &s)
+    {
+      for (int i = 0; i < (int)s.length(); i++) {
+        write(s[i]);
+      }
+    }
+    
+    FORCE_INLINE void print(const char *str)
+    {
+      write(str);
+    }
+    void print(char, int = BYTE);
+    void print(unsigned char, int = BYTE);
+    void print(int, int = DEC);
+    void print(unsigned int, int = DEC);
+    void print(long, int = DEC);
+    void print(unsigned long, int = DEC);
+    void print(double, int = 2);
+
+    void println(const String &s);
+    void println(const char[]);
+    void println(char, int = BYTE);
+    void println(unsigned char, int = BYTE);
+    void println(int, int = DEC);
+    void println(unsigned int, int = DEC);
+    void println(long, int = DEC);
+    void println(unsigned long, int = DEC);
+    void println(double, int = 2);
+    void println(void);
+};
+
+extern MarlinSerial MSerial;
+#endif // ! teensylu
+
+#endif

Marlin/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/Sanguino/cores/arduino/wiring.h

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

Marlin/Sanguino/cores/arduino/wiring_private.h

@@ -24,7 +24,7 @@
 
 #ifndef WiringPrivate_h
 #define WiringPrivate_h
-
+#include <math.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/delay.h>

Marlin/Sd2Card.cpp

@@ -17,11 +17,9 @@
  * along with the Arduino Sd2Card Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
+#include "Marlin.h"
+
+#ifdef SDSUPPORT
 #include "Sd2Card.h"
 //------------------------------------------------------------------------------
 #ifndef SOFTWARE_SPI
@@ -640,3 +638,6 @@ bool Sd2Card::writeStop() {
   chipSelectHigh();
   return false;
 }
+
+
+#endif

Marlin/Sd2Card.h

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

Marlin/Sd2PinMap.h

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

Marlin/SdBaseFile.cpp

@@ -17,6 +17,10 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #include "SdBaseFile.h"
 //------------------------------------------------------------------------------
 // pointer to cwd directory
@@ -294,20 +298,7 @@ void SdBaseFile::getpos(fpos_t* pos) {
   pos->position = curPosition_;
   pos->cluster = curCluster_;
 }
-//------------------------------------------------------------------------------
-/** List directory contents to Serial.
- *
- * \param[in] flags The inclusive OR of
- *
- * LS_DATE - %Print file modification date
- *
- * LS_SIZE - %Print file size.
- *
- * LS_R - Recursive list of subdirectories.
- */
-void SdBaseFile::ls(uint8_t flags) {
-  ls(&Serial, flags, 0);
-}
+
 //------------------------------------------------------------------------------
 /** List directory contents.
  *
@@ -324,14 +315,14 @@ void SdBaseFile::ls(uint8_t flags) {
  * \param[in] indent Amount of space before file name. Used for recursive
  * list to indicate subdirectory level.
  */
-void SdBaseFile::ls(Print* pr, uint8_t flags, uint8_t indent) {
+void SdBaseFile::ls(uint8_t flags, uint8_t indent) {
   rewind();
   int8_t status;
-  while ((status = lsPrintNext(pr, flags, indent))) {
+  while ((status = lsPrintNext( flags, indent))) {
     if (status > 1 && (flags & LS_R)) {
       uint16_t index = curPosition()/32 - 1;
       SdBaseFile s;
-      if (s.open(this, index, O_READ)) s.ls(pr, flags, indent + 2);
+      if (s.open(this, index, O_READ)) s.ls( flags, indent + 2);
       seekSet(32 * (index + 1));
     }
   }
@@ -339,7 +330,7 @@ void SdBaseFile::ls(Print* pr, uint8_t flags, uint8_t indent) {
 //------------------------------------------------------------------------------
 // saves 32 bytes on stack for ls recursion
 // return 0 - EOF, 1 - normal file, or 2 - directory
-int8_t SdBaseFile::lsPrintNext(Print *pr, uint8_t flags, uint8_t indent) {
+int8_t SdBaseFile::lsPrintNext( uint8_t flags, uint8_t indent) {
   dir_t dir;
   uint8_t w = 0;
 
@@ -352,38 +343,38 @@ int8_t SdBaseFile::lsPrintNext(Print *pr, uint8_t flags, uint8_t indent) {
       && DIR_IS_FILE_OR_SUBDIR(&dir)) break;
   }
   // indent for dir level
-  for (uint8_t i = 0; i < indent; i++) pr->write(' ');
+  for (uint8_t i = 0; i < indent; i++) MYSERIAL.write(' ');
 
   // print name
   for (uint8_t i = 0; i < 11; i++) {
     if (dir.name[i] == ' ')continue;
     if (i == 8) {
-      pr->write('.');
+      MYSERIAL.write('.');
       w++;
     }
-    pr->write(dir.name[i]);
+    MYSERIAL.write(dir.name[i]);
     w++;
   }
   if (DIR_IS_SUBDIR(&dir)) {
-    pr->write('/');
+    MYSERIAL.write('/');
     w++;
   }
   if (flags & (LS_DATE | LS_SIZE)) {
-    while (w++ < 14) pr->write(' ');
+    while (w++ < 14) MYSERIAL.write(' ');
   }
   // print modify date/time if requested
   if (flags & LS_DATE) {
-    pr->write(' ');
-    printFatDate(pr, dir.lastWriteDate);
-    pr->write(' ');
-    printFatTime(pr, dir.lastWriteTime);
+    MYSERIAL.write(' ');
+    printFatDate( dir.lastWriteDate);
+    MYSERIAL.write(' ');
+    printFatTime( dir.lastWriteTime);
   }
   // print size if requested
   if (!DIR_IS_SUBDIR(&dir) && (flags & LS_SIZE)) {
-    pr->write(' ');
-    pr->print(dir.fileSize);
+    MYSERIAL.write(' ');
+    MYSERIAL.print(dir.fileSize);
   }
-  pr->println();
+  MYSERIAL.println();
   return DIR_IS_FILE(&dir) ? 1 : 2;
 }
 //------------------------------------------------------------------------------
@@ -940,17 +931,7 @@ int SdBaseFile::peek() {
   if (c >= 0) setpos(&pos);
   return c;
 }
-//------------------------------------------------------------------------------
-/** %Print the name field of a directory entry in 8.3 format to Serial.
- *
- * \param[in] dir The directory structure containing the name.
- * \param[in] width Blank fill name if length is less than \a width.
- * \param[in] printSlash Print '/' after directory names if true.
- */
-void SdBaseFile::printDirName(const dir_t& dir,
-  uint8_t width, bool printSlash) {
-  printDirName(&Serial, dir, width, printSlash);
-}
+
 //------------------------------------------------------------------------------
 /** %Print the name field of a directory entry in 8.3 format.
  * \param[in] pr Print stream for output.
@@ -958,32 +939,32 @@ void SdBaseFile::printDirName(const dir_t& dir,
  * \param[in] width Blank fill name if length is less than \a width.
  * \param[in] printSlash Print '/' after directory names if true.
  */
-void SdBaseFile::printDirName(Print* pr, const dir_t& dir,
+void SdBaseFile::printDirName(const dir_t& dir,
   uint8_t width, bool printSlash) {
   uint8_t w = 0;
   for (uint8_t i = 0; i < 11; i++) {
     if (dir.name[i] == ' ')continue;
     if (i == 8) {
-      pr->write('.');
+      MYSERIAL.write('.');
       w++;
     }
-    pr->write(dir.name[i]);
+    MYSERIAL.write(dir.name[i]);
     w++;
   }
   if (DIR_IS_SUBDIR(&dir) && printSlash) {
-    pr->write('/');
+    MYSERIAL.write('/');
     w++;
   }
   while (w < width) {
-    pr->write(' ');
+    MYSERIAL.write(' ');
     w++;
   }
 }
 //------------------------------------------------------------------------------
 // print uint8_t with width 2
-static void print2u(Print* pr, uint8_t v) {
-  if (v < 10) pr->write('0');
-  pr->print(v, DEC);
+static void print2u( uint8_t v) {
+  if (v < 10) MYSERIAL.write('0');
+  MYSERIAL.print(v, DEC);
 }
 //------------------------------------------------------------------------------
 /** %Print a directory date field to Serial.
@@ -992,9 +973,7 @@ static void print2u(Print* pr, uint8_t v) {
  *
  * \param[in] fatDate The date field from a directory entry.
  */
-void SdBaseFile::printFatDate(uint16_t fatDate) {
-  printFatDate(&Serial, fatDate);
-}
+
 //------------------------------------------------------------------------------
 /** %Print a directory date field.
  *
@@ -1003,23 +982,14 @@ void SdBaseFile::printFatDate(uint16_t fatDate) {
  * \param[in] pr Print stream for output.
  * \param[in] fatDate The date field from a directory entry.
  */
-void SdBaseFile::printFatDate(Print* pr, uint16_t fatDate) {
-  pr->print(FAT_YEAR(fatDate));
-  pr->write('-');
-  print2u(pr, FAT_MONTH(fatDate));
-  pr->write('-');
-  print2u(pr, FAT_DAY(fatDate));
-}
-//------------------------------------------------------------------------------
-/** %Print a directory time field to Serial.
- *
- * Format is hh:mm:ss.
- *
- * \param[in] fatTime The time field from a directory entry.
- */
-void SdBaseFile::printFatTime(uint16_t fatTime) {
-  printFatTime(&Serial, fatTime);
+void SdBaseFile::printFatDate(uint16_t fatDate) {
+  MYSERIAL.print(FAT_YEAR(fatDate));
+  MYSERIAL.write('-');
+  print2u( FAT_MONTH(fatDate));
+  MYSERIAL.write('-');
+  print2u( FAT_DAY(fatDate));
 }
+
 //------------------------------------------------------------------------------
 /** %Print a directory time field.
  *
@@ -1028,12 +998,12 @@ void SdBaseFile::printFatTime(uint16_t fatTime) {
  * \param[in] pr Print stream for output.
  * \param[in] fatTime The time field from a directory entry.
  */
-void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
-  print2u(pr, FAT_HOUR(fatTime));
-  pr->write(':');
-  print2u(pr, FAT_MINUTE(fatTime));
-  pr->write(':');
-  print2u(pr, FAT_SECOND(fatTime));
+void SdBaseFile::printFatTime( uint16_t fatTime) {
+  print2u( FAT_HOUR(fatTime));
+  MYSERIAL.write(':');
+  print2u( FAT_MINUTE(fatTime));
+  MYSERIAL.write(':');
+  print2u( FAT_SECOND(fatTime));
 }
 //------------------------------------------------------------------------------
 /** Print a file's name to Serial
@@ -1044,7 +1014,7 @@ void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
 bool SdBaseFile::printName() {
   char name[13];
   if (!getFilename(name)) return false;
-  Serial.print(name);
+  MYSERIAL.print(name);
   return true;
 }
 //------------------------------------------------------------------------------
@@ -1816,3 +1786,6 @@ int16_t SdBaseFile::write(const void* buf, uint16_t nbyte) {
 #if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN)
 void (*SdBaseFile::oldDateTime_)(uint16_t& date, uint16_t& time) = 0;  // NOLINT
 #endif  // ALLOW_DEPRECATED_FUNCTIONS
+
+
+#endif

Marlin/SdBaseFile.h

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

Marlin/SdFatConfig.h

@@ -21,6 +21,9 @@
  * \file
  * \brief configuration definitions
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdFatConfig_h
 #define SdFatConfig_h
 #include <stdint.h>
@@ -106,3 +109,6 @@ uint8_t const SOFT_SPI_SCK_PIN = 13;
  */
 #define USE_CXA_PURE_VIRTUAL 1
 #endif  // SdFatConfig_h
+
+
+#endif

Marlin/SdFatStructs.h

@@ -17,6 +17,9 @@
  * along with the Arduino SdFat Library.  If not, see
  * <http://www.gnu.org/licenses/>.
  */
+#include "Marlin.h"
+#ifdef SDSUPPORT
+
 #ifndef SdFatStructs_h
 #define SdFatStructs_h
 /**
@@ -602,3 +605,6 @@ static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
   return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
 }
 #endif  // SdFatStructs_h
+
+
+#endif

Marlin/SdFatUtil.cpp

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

Marlin/SdFatUtil.h

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

Marlin/SdFile.cpp

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

Marlin/SdFile.h

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

Marlin/SdInfo.h

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

Marlin/SdVolume.cpp

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

Marlin/SdVolume.h

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

Marlin/cardreader.cpp

@@ -1,7 +1,14 @@
+#include "Marlin.h"
 #include "cardreader.h"
-//#include <unistd.h>
+#include "ultralcd.h"
+#include "stepper.h"
+#include "temperature.h"
+#include "language.h"
+
 #ifdef SDSUPPORT
 
+
+
 CardReader::CardReader()
 {
    filesize = 0;
@@ -12,6 +19,7 @@ CardReader::CardReader()
    autostart_atmillis=0;
 
    autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+   lastnr=0;
   //power to SD reader
   #if SDPOWER > -1
     SET_OUTPUT(SDPOWER); 
@@ -38,14 +46,14 @@ char *createFilename(char *buffer,const dir_t &p) //buffer>12characters
 }
 
 
-void  CardReader::lsDive(char *prepend,SdFile parent)
+void  CardReader::lsDive(const char *prepend,SdFile parent)
 {
   dir_t p;
  uint8_t cnt=0;
  
   while (parent.readDir(p) > 0)
   {
-    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename)
+    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
     {
 
       char path[13*2];
@@ -69,7 +77,7 @@ void  CardReader::lsDive(char *prepend,SdFile parent)
         if(lsAction==LS_SerialPrint)
         {
           SERIAL_ECHO_START;
-          SERIAL_ECHOLN("Cannot open subdir");
+          SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
           SERIAL_ECHOLN(lfilename);
         }
       }
@@ -87,9 +95,11 @@ void  CardReader::lsDive(char *prepend,SdFile parent)
         if ( p.name[1] != '.')
         continue;
       }
+      
       if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
       filenameIsDir=DIR_IS_SUBDIR(&p);
       
+      
       if(!filenameIsDir)
       {
         if(p.name[8]!='G') continue;
@@ -137,29 +147,44 @@ void CardReader::initsd()
   {
     //if (!card.init(SPI_HALF_SPEED,SDSS))
     SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("SD init fail");
+    SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL);
   }
   else if (!volume.init(&card))
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("volume.init failed");
+    SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL);
   }
   else if (!root.openRoot(&volume)) 
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("openRoot failed");
+    SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL);
   }
   else 
   {
     cardOK = true;
     SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("SD card ok");
+    SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
   }
+  workDir=root;
   curDir=&root;
+  /*
   if(!workDir.openRoot(&volume))
   {
-    SERIAL_ECHOLNPGM("workDir open failed");
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
   }
+  */
+  
+}
+
+void CardReader::setroot()
+{
+  /*if(!workDir.openRoot(&volume))
+  {
+    SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
+  }*/
+  workDir=root;
+  
+  curDir=&workDir;
 }
 void CardReader::release()
 {
@@ -215,7 +240,7 @@ void CardReader::openFile(char* name,bool read)
         SERIAL_ECHOLN(subdirname);
         if(!myDir.open(curDir,subdirname,O_READ))
         {
-          SERIAL_PROTOCOLPGM("open failed, File: ");
+          SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
           SERIAL_PROTOCOL(subdirname);
           SERIAL_PROTOCOLLNPGM(".");
           return;
@@ -245,18 +270,18 @@ void CardReader::openFile(char* name,bool read)
     if (file.open(curDir, fname, O_READ)) 
     {
       filesize = file.fileSize();
-      SERIAL_PROTOCOLPGM("File opened:");
+      SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
       SERIAL_PROTOCOL(fname);
-      SERIAL_PROTOCOLPGM(" Size:");
+      SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
       SERIAL_PROTOCOLLN(filesize);
       sdpos = 0;
       
-      SERIAL_PROTOCOLLNPGM("File selected");
+      SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
       LCD_MESSAGE(fname);
     }
     else
     {
-      SERIAL_PROTOCOLPGM("open failed, File: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
@@ -265,14 +290,14 @@ void CardReader::openFile(char* name,bool read)
   { //write
     if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
     {
-      SERIAL_PROTOCOLPGM("open failed, File: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
     else
     {
       saving = true;
-      SERIAL_PROTOCOLPGM("Writing to file: ");
+      SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
       SERIAL_PROTOCOLLN(name);
       LCD_MESSAGE(fname);
     }
@@ -280,16 +305,85 @@ void CardReader::openFile(char* name,bool read)
   
 }
 
+void CardReader::removeFile(char* name)
+{
+  if(!cardOK)
+    return;
+  file.close();
+  sdprinting = false;
+  
+  
+  SdFile myDir;
+  curDir=&root;
+  char *fname=name;
+  
+  char *dirname_start,*dirname_end;
+  if(name[0]=='/')
+  {
+    dirname_start=strchr(name,'/')+1;
+    while(dirname_start>0)
+    {
+      dirname_end=strchr(dirname_start,'/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
+      if(dirname_end>0 && dirname_end>dirname_start)
+      {
+        char subdirname[13];
+        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
+        subdirname[dirname_end-dirname_start]=0;
+        SERIAL_ECHOLN(subdirname);
+        if(!myDir.open(curDir,subdirname,O_READ))
+        {
+          SERIAL_PROTOCOLPGM("open failed, File: ");
+          SERIAL_PROTOCOL(subdirname);
+          SERIAL_PROTOCOLLNPGM(".");
+          return;
+        }
+        else
+          ;//SERIAL_ECHOLN("dive ok");
+          
+        curDir=&myDir; 
+        dirname_start=dirname_end+1;
+      }
+      else // the reminder after all /fsa/fdsa/ is the filename
+      {
+        fname=dirname_start;
+        //SERIAL_ECHOLN("remaider");
+        //SERIAL_ECHOLN(fname);
+        break;
+      }
+      
+    }
+  }
+  else //relative path
+  {
+    curDir=&workDir;
+  }
+    if (file.remove(curDir, fname)) 
+    {
+      SERIAL_PROTOCOLPGM("File deleted:");
+      SERIAL_PROTOCOL(fname);
+      sdpos = 0;
+    }
+    else
+    {
+      SERIAL_PROTOCOLPGM("Deletion failed, File: ");
+      SERIAL_PROTOCOL(fname);
+      SERIAL_PROTOCOLLNPGM(".");
+    }
+  
+}
+
 void CardReader::getStatus()
 {
   if(cardOK){
-    SERIAL_PROTOCOLPGM("SD printing byte ");
+    SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
     SERIAL_PROTOCOL(sdpos);
     SERIAL_PROTOCOLPGM("/");
     SERIAL_PROTOCOLLN(filesize);
   }
   else{
-    SERIAL_PROTOCOLLNPGM("Not SD printing");
+    SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
   }
 }
 void CardReader::write_command(char *buf)
@@ -311,7 +405,7 @@ void CardReader::write_command(char *buf)
   if (file.writeError)
   {
     SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM("error writing to file");
+    SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE);
   }
 }
 
@@ -332,7 +426,7 @@ void CardReader::checkautostart(bool force)
     if(!cardOK) //fail
       return;
   }
-  static int lastnr=0;
+  
   char autoname[30];
   sprintf(autoname,"auto%i.g",lastnr);
   for(int8_t i=0;i<(int)strlen(autoname);i++)
@@ -405,7 +499,7 @@ void CardReader::chdir(const char * relpath)
   if(!newfile.open(*parent,relpath, O_READ))
   {
    SERIAL_ECHO_START;
-   SERIAL_ECHOPGM("Cannot enter subdir:");
+   SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
    SERIAL_ECHOLN(relpath);
   }
   else
@@ -426,4 +520,115 @@ void CardReader::updir()
   }
 }
 
-#endif //SDSUPPORT
+
+void CardReader::printingHasFinished()
+{
+ st_synchronize();
+ quickStop();
+ sdprinting = false;
+ if(SD_FINISHED_STEPPERRELEASE)
+ {
+   //finishAndDisableSteppers();
+   enquecommand(SD_FINISHED_RELEASECOMMAND);
+ }
+ 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

@@ -1,8 +1,8 @@
-#ifndef __CARDREADERH
-#define __CARDREADERH
+#ifndef CARDREADER_H
+#define CARDREADER_H
 
 #ifdef SDSUPPORT
- 
+
 #include "SdFile.h"
 enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
 class CardReader
@@ -17,11 +17,13 @@ public:
 
   void checkautostart(bool x); 
   void openFile(char* name,bool read);
+  void removeFile(char* name);
   void closefile();
   void release();
   void startFileprint();
   void pauseSDPrint();
   void getStatus();
+  void printingHasFinished();
 
   void getfilename(const uint8_t nr);
   uint16_t getnrfilenames();
@@ -30,18 +32,25 @@ public:
   void ls();
   void chdir(const char * relpath);
   void updir();
+  void setroot();
+  
+  void fast_xfer(char* strchr_pointer);
 
-  inline bool eof() { return sdpos>=filesize ;};
-  inline int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
-  inline void setIndex(long index) {sdpos = index;file.seekSet(index);};
-  inline uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+
+  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
+  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
+  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
+  FORCE_INLINE uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
 
 public:
   bool saving;
   bool sdprinting ;  
   bool cardOK ;
-  char filename[11];
+  char filename[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;
@@ -57,41 +66,15 @@ private:
   LsAction lsAction; //stored for recursion.
   int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
   char* diveDirName;
-  void lsDive(char *prepend,SdFile parent);
+  void lsDive(const char *prepend,SdFile parent);
+  int lastxferchar;
+  long xferbytes;
 };
-  
+#define IS_SD_PRINTING (card.sdprinting)
 
 #else
 
-#define dir_t bool 
-class CardReader
-{
-public:
-  inline CardReader(){};
-  
-  inline static void initsd(){};
-  inline static void write_command(char *buf){};
-  
-  inline static void checkautostart(bool x) {}; 
-  
-  inline static void openFile(char* name,bool read){};
-  inline static void closefile() {};
-  inline static void release(){};
-  inline static void startFileprint(){};
-  inline static void startFilewrite(char *name){};
-  inline static void pauseSDPrint(){};
-  inline static void getStatus(){};
-  
-  inline static void selectFile(char* name){};
-  inline static void getfilename(const uint8_t nr){};
-  inline static uint8_t getnrfilenames(){return 0;};
-  
+#define IS_SD_PRINTING (false)
 
-  inline static void ls() {};
-  inline static bool eof() {return true;};
-  inline static char get() {return 0;};
-  inline static void setIndex(){};
-  inline uint8_t percentDone(){return 0;};
-};
 #endif //SDSUPPORT
-#endif
+#endif

Marlin/create_speed_lookuptable.py

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

Marlin/language.h

@@ -0,0 +1,299 @@
+#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

@@ -19,7 +19,6 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#include "Configuration.h"
 #include "Marlin.h"
 #include "stepper.h"
 #include "planner.h"
@@ -27,7 +26,7 @@
 // The arc is approximated by generating a huge number of tiny, linear segments. The length of each 
 // segment is configured in settings.mm_per_arc_segment.  
 void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, 
-  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
+  uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
 {      
   //   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
   //   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
@@ -46,8 +45,10 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   if (isclockwise) { angular_travel -= 2*M_PI; }
   
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
-  if (millimeters_of_travel == 0.0) { return; }
+  if (millimeters_of_travel < 0.001) { return; }
   uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
+  if(segments == 0) segments = 1;
+  
   /*  
     // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
     // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
@@ -123,11 +124,23 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
     arc_target[axis_1] = center_axis1 + r_axis1;
     arc_target[axis_linear] += linear_per_segment;
     arc_target[E_AXIS] += extruder_per_segment;
-    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate);
+
+    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);
     
   }
   // Ensure last segment arrives at target location.
-  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
+  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
 
   //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
 }

Marlin/motion_control.h

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

Marlin/planner.cpp

@@ -51,19 +51,13 @@
     IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
 */
                                                                                                             
-
-//#include <inttypes.h>
-//#include <math.h>       
-//#include <stdlib.h>
-
 #include "Marlin.h"
-#include "Configuration.h"
-#include "pins.h"
-#include "fastio.h"
 #include "planner.h"
 #include "stepper.h"
 #include "temperature.h"
 #include "ultralcd.h"
+#include "language.h"
+#include "led.h"
 
 //===========================================================================
 //=============================public variables ============================
@@ -78,6 +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];
 
@@ -86,25 +81,34 @@ long position[4];   //rescaled from extern when axis_steps_per_unit are changed
 static float previous_speed[4]; // Speed of previous path line segment
 static float previous_nominal_speed; // Nominal speed of previous path line segment
 
+extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
+
 #ifdef AUTOTEMP
     float autotemp_max=250;
     float autotemp_min=210;
-    float autotemp_factor=1;
+    float autotemp_factor=0.1;
     bool autotemp_enabled=false;
 #endif
 
+//===========================================================================
+//=================semi-private variables, used in inline  functions    =====
+//===========================================================================
+block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+volatile unsigned char block_buffer_tail;           // Index of the block to process now
 
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
-static block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
-static volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-static volatile unsigned char block_buffer_tail;           // Index of the block to process now
-
-// Used for the frequency limit
-static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
-static long y_segment_time[3]={0,0,0};
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+  bool allow_cold_extrude=false;
+#endif
+#ifdef XY_FREQUENCY_LIMIT
+  // Used for the frequency limit
+  static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+  static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
+  static long y_segment_time[3]={0,0,0};
+#endif
 
 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
@@ -128,7 +132,8 @@ static int8_t prev_block_index(int8_t block_index) {
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
-inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+{
   if (acceleration!=0) {
   return((target_rate*target_rate-initial_rate*initial_rate)/
          (2.0*acceleration));
@@ -143,7 +148,8 @@ inline float estimate_acceleration_distance(float initial_rate, float target_rat
 // a total travel of distance. This can be used to compute the intersection point between acceleration and
 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
 
-inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) 
+{
  if (acceleration!=0) {
   return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
          (4.0*acceleration) );
@@ -184,13 +190,12 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
   }
 
   #ifdef ADVANCE
-    long initial_advance = block->advance*entry_factor*entry_factor;
-    long final_advance = block->advance*exit_factor*exit_factor;
+    volatile long initial_advance = block->advance*entry_factor*entry_factor; 
+    volatile long final_advance = block->advance*exit_factor*exit_factor;
   #endif // ADVANCE
   
  // block->accelerate_until = accelerate_steps;
  // block->decelerate_after = accelerate_steps+plateau_steps;
-  
   CRITICAL_SECTION_START;  // Fill variables used by the stepper in a critical section
   if(block->busy == false) { // Don't update variables if block is busy.
     block->accelerate_until = accelerate_steps;
@@ -207,7 +212,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
 
 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
 // acceleration within the allotted distance.
-inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
+FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
   return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
 }
 
@@ -247,7 +252,7 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the reverse pass.
 void planner_reverse_pass() {
-  char block_index = block_buffer_head;
+  uint8_t block_index = block_buffer_head;
   if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
     block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
     block_t *block[3] = { NULL, NULL, NULL };
@@ -286,7 +291,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the forward pass.
 void planner_forward_pass() {
-  char block_index = block_buffer_tail;
+  uint8_t block_index = block_buffer_tail;
   block_t *block[3] = { NULL, NULL, NULL };
 
   while(block_index != block_buffer_head) {
@@ -364,39 +369,32 @@ void plan_init() {
 }
 
 
-void plan_discard_current_block() {
-  if (block_buffer_head != block_buffer_tail) {
-    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
-  }
-}
 
-block_t *plan_get_current_block() {
-  if (block_buffer_head == block_buffer_tail) { 
-    return(NULL); 
-  }
-  block_t *block = &block_buffer[block_buffer_tail];
-  block->busy = true;
-  return(block);
-}
 
 #ifdef AUTOTEMP
 void getHighESpeed()
 {
   static float oldt=0;
-  if(!autotemp_enabled)
+  if(!autotemp_enabled){
     return;
-  if(degTargetHotend0()+2<autotemp_min)  //probably temperature set to zero.
+  }
+  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
     return; //do nothing
+  }
   
-  float high=0;
-  char block_index = block_buffer_tail;
+  float high=0.0;
+  uint8_t block_index = block_buffer_tail;
   
   while(block_index != block_buffer_head) {
-    float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
-    //se; units steps/sec;
-    if(se>high)
-    {
-      high=se;
+    if((block_buffer[block_index].steps_x != 0) ||
+       (block_buffer[block_index].steps_y != 0) ||
+       (block_buffer[block_index].steps_z != 0)) {
+      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+      //se; mm/sec;
+      if(se>high)
+      {
+        high=se;
+      }
     }
     block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
   }
@@ -413,10 +411,6 @@ void getHighESpeed()
   }
   oldt=t;
   setTargetHotend0(t);
-//   SERIAL_ECHO_START;
-//   SERIAL_ECHOPAIR("highe",high);
-//   SERIAL_ECHOPAIR(" t",t);
-//   SERIAL_ECHOLN("");
 }
 #endif
 
@@ -425,23 +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) {
-    char block_index = block_buffer_tail;
+    uint8_t block_index = block_buffer_tail;
+    tail_fan_speed = block_buffer[block_index].fan_speed;
     while(block_index != block_buffer_head) {
       block = &block_buffer[block_index];
       if(block->steps_x != 0) x_active++;
       if(block->steps_y != 0) y_active++;
       if(block->steps_z != 0) z_active++;
       if(block->steps_e != 0) e_active++;
+      if(block->fan_speed != 0) fan_speed++;
       block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
     }
   }
+  else {
+    #if FAN_PIN > -1
+      if (FanSpeed != 0) analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
+    #endif
+  }
   if((DISABLE_X) && (x_active == 0)) disable_x();
   if((DISABLE_Y) && (y_active == 0)) disable_y();
   if((DISABLE_Z) && (z_active == 0)) disable_z();
-  if((DISABLE_E) && (e_active == 0)) disable_e();
+  if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
+  #if FAN_PIN > -1
+    if((FanSpeed == 0) && (fan_speed ==0)) analogWrite(FAN_PIN, 0);
+  #endif
+  if (FanSpeed != 0 && tail_fan_speed !=0) { 
+    analogWrite(FAN_PIN,tail_fan_speed);
+  }
 }
 
 
@@ -449,7 +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)
+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);
@@ -460,8 +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
@@ -469,7 +479,23 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
   target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); 
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+  
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    if(target[E_AXIS]!=position[E_AXIS])
+    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+    }
+    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+    }
+  #endif
   
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
@@ -482,42 +508,33 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
   block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
   block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps_e *= extrudemultiply;
+  block->steps_e /= 100;
   block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
 
   // Bail if this is a zero-length block
-  if (block->step_event_count <=dropsegments) { return; };
+  if (block->step_event_count <= dropsegments) { return; };
 
-  // Compute direction bits for this block
+  block->fan_speed = FanSpeed;
+  
+  // Compute direction bits for this block 
   block->direction_bits = 0;
   if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
   if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
   if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
   if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
   
+  block->active_extruder = extruder;
+  
   //enable active axes
   if(block->steps_x != 0) enable_x();
   if(block->steps_y != 0) enable_y();
-  if(block->steps_z != 0) enable_z();
-  if(block->steps_e != 0) enable_e();
+  #ifndef Z_LATE_ENABLE
+    if(block->steps_z != 0) enable_z();
+  #endif
 
-  float delta_mm[4];
-  delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
-  delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
-  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
-  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;
-  
-  block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
-  block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
-
-  //  segment time im micro seconds
-  long segment_time = lround(1000000.0/inverse_second);
- 
+  // Enable all
+  if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
 
   if (block->steps_e == 0) {
         if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
@@ -526,37 +543,54 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
   } 
   
-#ifdef SLOWDOWN
-  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-  
-  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate / ((BLOCK_BUFFER_SIZE * 0.5)/moves_queued); 
-#endif
+  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]));
+//  }
 
-/*
-  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);
+// 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);
+ 
+  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+  #ifdef OLD_SLOWDOWN
+    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+  #endif
+
+  #ifdef SLOWDOWN
+  //  segment time im micro seconds
+  unsigned long segment_time = lround(1000000.0/inverse_second);
+  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
+    if (segment_time < minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
+        inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
     }
   }
-  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.
@@ -591,17 +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;
     }
@@ -671,20 +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 ((block_buffer_head != block_buffer_tail) && (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;
@@ -708,6 +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
@@ -718,7 +747,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     else {
       long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
       float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
-        (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
+        (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
       block->advance = advance;
       if(acc_dist == 0) {
         block->advance_rate = 0;
@@ -727,11 +756,15 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
         block->advance_rate = advance / (float)acc_dist;
       }
     }
+    /*
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM("advance :");
+    SERIAL_ECHO(block->advance/256.0);
+    SERIAL_ECHOPGM("advance rate :");
+    SERIAL_ECHOLN(block->advance_rate/256.0);
+    */
   #endif // ADVANCE
 
-
-
-
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
     MINIMUM_PLANNER_SPEED/block->nominal_speed);
     
@@ -742,9 +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();
 }
 
@@ -762,7 +793,20 @@ void plan_set_position(const float &x, const float &y, const float &z, const flo
   previous_speed[3] = 0.0;
 }
 
+void plan_set_e_position(const float &e)
+{
+  position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
+  st_set_e_position(position[E_AXIS]);
+}
+
 uint8_t movesplanned()
 {
  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }
+
+void allow_cold_extrudes(bool allow)
+{
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    allow_cold_extrude=allow;
+  #endif
+}

Marlin/planner.h

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

Marlin/speed_lookuptable.h

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

Marlin/stepper.cpp

@@ -21,15 +21,13 @@
 /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
    and Philipp Tiefenbacher. */
 
-#include "stepper.h"
-#include "Configuration.h"
 #include "Marlin.h"
+#include "stepper.h"
 #include "planner.h"
-#include "pins.h"
-#include "fastio.h"
 #include "temperature.h"
 #include "ultralcd.h"
-
+#include "language.h"
+#include "led.h"
 #include "speed_lookuptable.h"
 
 
@@ -38,7 +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;
 
 
 //===========================================================================
@@ -52,23 +51,30 @@ static long counter_x,       // Counter variables for the bresenham line tracer
             counter_y, 
             counter_z,       
             counter_e;
-static unsigned long step_events_completed; // The number of step events executed in the current block
+volatile static unsigned long step_events_completed; // The number of step events executed in the current block
 #ifdef ADVANCE
   static long advance_rate, advance, final_advance = 0;
-  static short old_advance = 0;
+  static long old_advance = 0;
 #endif
-static short e_steps;
-static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
+static long e_steps[3];
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
 static unsigned short acc_step_rate; // needed for deccelaration start point
 static char step_loops;
+static unsigned short OCR1A_nominal;
 
 volatile long endstops_trigsteps[3]={0,0,0};
 volatile long endstops_stepsTotal,endstops_stepsDone;
 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_max_endstop=false;
+
+static bool check_endstops = true;
 
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@@ -76,7 +82,8 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 //===========================================================================
 //=============================functions         ============================
 //===========================================================================
-  
+
+#define CHECK_ENDSTOPS  if(check_endstops)
 
 // intRes = intIn1 * intIn2 >> 16
 // uses:
@@ -153,11 +160,12 @@ asm volatile ( \
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  TIMSK1 |= (1<<OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
 
+
 void checkHitEndstops()
 {
  if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
    SERIAL_ECHO_START;
-   SERIAL_ECHOPGM("endstops hit: ");
+   SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
    if(endstop_x_hit) {
      SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
    }
@@ -181,6 +189,11 @@ void endstops_hit_on_purpose()
   endstop_z_hit=false;
 }
 
+void enable_endstops(bool check)
+{
+  check_endstops = check;
+}
+
 //         __________________________
 //        /|                        |\     _________________         ^
 //       / |                        | \   /|               |\        |
@@ -199,11 +212,10 @@ void endstops_hit_on_purpose()
 
 void st_wake_up() {
   //  TCNT1 = 0;
-  if(busy == false) 
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
-inline unsigned short calc_timer(unsigned short step_rate) {
+FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
   
@@ -219,8 +231,8 @@ inline unsigned short calc_timer(unsigned short step_rate) {
     step_loops = 1;
   } 
   
-  if(step_rate < 32) step_rate = 32;
-  step_rate -= 32; // Correct for minimal speed
+  if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
+  step_rate -= (F_CPU/500000); // Correct for minimal speed
   if(step_rate >= (8*256)){ // higher step rate 
     unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
     unsigned char tmp_step_rate = (step_rate & 0x00ff);
@@ -234,55 +246,72 @@ inline unsigned short calc_timer(unsigned short step_rate) {
     timer = (unsigned short)pgm_read_word_near(table_address);
     timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
   }
-  if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
+  if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
   return timer;
 }
 
 // Initializes the trapezoid generator from the current block. Called whenever a new 
 // block begins.
-inline void trapezoid_generator_reset() {
+FORCE_INLINE void trapezoid_generator_reset() {
   #ifdef ADVANCE
     advance = current_block->initial_advance;
     final_advance = current_block->final_advance;
+    // Do E steps + advance steps
+    e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+    old_advance = advance >>8;  
   #endif
   deceleration_time = 0;
   // step_rate to timer interval
   acc_step_rate = current_block->initial_rate;
   acceleration_time = calc_timer(acc_step_rate);
   OCR1A = acceleration_time;
+  OCR1A_nominal = calc_timer(current_block->nominal_rate);
+  
+
+  
+//    SERIAL_ECHO_START;
+//    SERIAL_ECHOPGM("advance :");
+//    SERIAL_ECHO(current_block->advance/256.0);
+//    SERIAL_ECHOPGM("advance rate :");
+//    SERIAL_ECHO(current_block->advance_rate/256.0);
+//    SERIAL_ECHOPGM("initial advance :");
+//  SERIAL_ECHO(current_block->initial_advance/256.0);
+//    SERIAL_ECHOPGM("final advance :");
+//    SERIAL_ECHOLN(current_block->final_advance/256.0);
+    
 }
 
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.  
 // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
 ISR(TIMER1_COMPA_vect)
-{        
-  if(busy){ 
-    SERIAL_ERROR_START
-    SERIAL_ERROR(*(unsigned short *)OCR1A);
-    SERIAL_ERRORLNPGM(" ISR overtaking itself.");
-    return; 
-  } // The busy-flag is used to avoid reentering this interrupt
-
-  busy = true;
-  sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
-
+{    
   // If there is no current block, attempt to pop one from the buffer
   if (current_block == NULL) {
     // Anything in the buffer?
     current_block = plan_get_current_block();
     if (current_block != NULL) {
+      current_block->busy = true;
       trapezoid_generator_reset();
       counter_x = -(current_block->step_event_count >> 1);
       counter_y = counter_x;
       counter_z = counter_x;
       counter_e = counter_x;
-      step_events_completed = 0;
- //     #ifdef ADVANCE
-      e_steps = 0;
+      step_events_completed = 0; 
+      
+      #ifdef Z_LATE_ENABLE 
+        if(current_block->steps_z > 0) {
+          enable_z();
+          OCR1A = 2000; //1ms wait
+          return;
+        }
+      #endif
+      
+//      #ifdef ADVANCE
+//      e_steps[current_block->active_extruder] = 0;
 //      #endif
     } 
     else {
-//      DISABLE_STEPPER_DRIVER_INTERRUPT();
+        OCR1A=2000; // 1kHz.
     }    
   } 
 
@@ -294,108 +323,133 @@ ISR(TIMER1_COMPA_vect)
     if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       WRITE(X_DIR_PIN, INVERT_X_DIR);
       count_direction[X_AXIS]=-1;
-      #if X_MIN_PIN > -1
-        if((READ(X_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)) {
-          endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-          endstop_x_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS
+      {
+        #if X_MIN_PIN > -1
+          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+          if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
+            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+            endstop_x_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_x_min_endstop = x_min_endstop;
+        #endif
+      }
     }
     else { // +direction 
       WRITE(X_DIR_PIN,!INVERT_X_DIR);
       count_direction[X_AXIS]=1;
-      #if X_MAX_PIN > -1
-        if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x > 0)){
-          endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-          endstop_x_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS 
+      {
+        #if X_MAX_PIN > -1
+          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+          if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
+            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+            endstop_x_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_x_max_endstop = x_max_endstop;
+        #endif
+      }
     }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
       WRITE(Y_DIR_PIN,INVERT_Y_DIR);
       count_direction[Y_AXIS]=-1;
-      #if Y_MIN_PIN > -1
-        if((READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)) {
-          endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-          endstop_y_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS
+      {
+        #if Y_MIN_PIN > -1
+          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
+            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+            endstop_y_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_y_min_endstop = y_min_endstop;
+        #endif
+      }
     }
     else { // +direction
     WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       count_direction[Y_AXIS]=1;
-      #if Y_MAX_PIN > -1
-      if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y > 0)){
-          endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-          endstop_y_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS
+      {
+        #if Y_MAX_PIN > -1
+          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
+            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+            endstop_y_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_y_max_endstop = y_max_endstop;
+        #endif
+      }
     }
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
       count_direction[Z_AXIS]=-1;
-      #if Z_MIN_PIN > -1
-        if((READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z > 0)) {
-          endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-          endstop_z_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      CHECK_ENDSTOPS
+      {
+        #if Z_MIN_PIN > -1
+          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+          if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstop_z_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_z_min_endstop = z_min_endstop;
+        #endif
+      }
     }
     else { // +direction
       WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
-        count_direction[Z_AXIS]=1;
-      #if Z_MAX_PIN > -1
-        if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING)  && (current_block->steps_z > 0)){
-          endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-          endstop_z_hit=true;
-          step_events_completed = current_block->step_event_count;
-        }
-      #endif
+      count_direction[Z_AXIS]=1;
+      CHECK_ENDSTOPS
+      {
+        #if Z_MAX_PIN > -1
+          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+          if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstop_z_hit=true;
+            step_events_completed = current_block->step_event_count;
+          }
+          old_z_max_endstop = z_max_endstop;
+        #endif
+      }
     }
 
     #ifndef ADVANCE
       if ((out_bits & (1<<E_AXIS)) != 0) {  // -direction
-        WRITE(E_DIR_PIN,INVERT_E_DIR);
+        REV_E_DIR();
         count_direction[E_AXIS]=-1;
       }
       else { // +direction
-        WRITE(E_DIR_PIN,!INVERT_E_DIR);
-        count_direction[E_AXIS]=-1;
+        NORM_E_DIR();
+        count_direction[E_AXIS]=1;
       }
     #endif //!ADVANCE
+    
 
+    
     for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
-    /*
+      #if MOTHERBOARD != 8 // !teensylu
+      MSerial.checkRx(); // Check for serial chars.
+      #endif 
+      
+      #ifdef ADVANCE
       counter_e += current_block->steps_e;
       if (counter_e > 0) {
         counter_e -= current_block->step_event_count;
         if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
-          CRITICAL_SECTION_START;
-          e_steps--;
-          CRITICAL_SECTION_END;
+          e_steps[current_block->active_extruder]--;
         }
         else {
-          CRITICAL_SECTION_START;
-          e_steps++;
-          CRITICAL_SECTION_END;
+          e_steps[current_block->active_extruder]++;
         }
       }    
-      */
-      /*
-      // Do E steps + advance steps
-      CRITICAL_SECTION_START;
-      e_steps += ((advance >> 16) - old_advance);
-      CRITICAL_SECTION_END;
-      old_advance = advance >> 16;  
-      */
-        
+      #endif //ADVANCE
+      
       counter_x += current_block->steps_x;
       if (counter_x > 0) {
         WRITE(X_STEP_PIN, HIGH);
@@ -423,9 +477,9 @@ ISR(TIMER1_COMPA_vect)
       #ifndef ADVANCE
         counter_e += current_block->steps_e;
         if (counter_e > 0) {
-          WRITE(E_STEP_PIN, HIGH);
+          WRITE_E_STEP(HIGH);
           counter_e -= current_block->step_event_count;
-          WRITE(E_STEP_PIN, LOW);
+          WRITE_E_STEP(LOW);
           count_position[E_AXIS]+=count_direction[E_AXIS];
         }
       #endif //!ADVANCE
@@ -435,7 +489,8 @@ ISR(TIMER1_COMPA_vect)
     // Calculare new timer value
     unsigned short timer;
     unsigned short step_rate;
-    if (step_events_completed <= current_block->accelerate_until) {
+    if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
+      
       MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
       acc_step_rate += current_block->initial_rate;
       
@@ -445,13 +500,20 @@ ISR(TIMER1_COMPA_vect)
 
       // step_rate to timer interval
       timer = calc_timer(acc_step_rate);
-      #ifdef ADVANCE
-        advance += advance_rate;
-      #endif
-      acceleration_time += timer;
       OCR1A = timer;
+      acceleration_time += timer;
+      #ifdef ADVANCE
+        for(int8_t i=0; i < step_loops; i++) {
+          advance += advance_rate;
+        }
+        //if(advance > current_block->advance) advance = current_block->advance;
+        // Do E steps + advance steps
+        e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+        old_advance = advance >>8;  
+        
+      #endif
     } 
-    else if (step_events_completed > current_block->decelerate_after) {   
+    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {   
       MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
       
       if(step_rate > acc_step_rate) { // Check step_rate stays positive
@@ -467,27 +529,28 @@ ISR(TIMER1_COMPA_vect)
 
       // step_rate to timer interval
       timer = calc_timer(step_rate);
-      #ifdef ADVANCE
-        advance -= advance_rate;
-        if(advance < final_advance)
-          advance = final_advance;
-      #endif //ADVANCE
-      deceleration_time += timer;
       OCR1A = timer;
+      deceleration_time += timer;
+      #ifdef ADVANCE
+        for(int8_t i=0; i < step_loops; i++) {
+          advance -= advance_rate;
+        }
+        if(advance < final_advance) advance = final_advance;
+        // Do E steps + advance steps
+        e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+        old_advance = advance >>8;  
+      #endif //ADVANCE
     }
     else {
-      timer = calc_timer(current_block->nominal_rate);
-      OCR1A = timer;
+      OCR1A = OCR1A_nominal;
     }
-    
+
     // If current block is finished, reset pointer 
     if (step_events_completed >= current_block->step_event_count) {
       current_block = NULL;
       plan_discard_current_block();
     }   
   } 
-  cli(); // disable interrupts
-  busy=false;
 }
 
 #ifdef ADVANCE
@@ -496,28 +559,60 @@ ISR(TIMER1_COMPA_vect)
   // Timer 0 is shared with millies
   ISR(TIMER0_COMPA_vect)
   {
-    // Critical section needed because Timer 1 interrupt has higher priority. 
-    // The pin set functions are placed on trategic position to comply with the stepper driver timing.
-    WRITE(E_STEP_PIN, LOW);
-    // Set E direction (Depends on E direction + advance)
-    if (e_steps < 0) {
-      WRITE(E_DIR_PIN,INVERT_E_DIR);    
-      e_steps++;
-      WRITE(E_STEP_PIN, HIGH);
-    } 
-    if (e_steps > 0) {
-      WRITE(E_DIR_PIN,!INVERT_E_DIR);
-      e_steps--;
-      WRITE(E_STEP_PIN, HIGH);
-    }
-    old_OCR0A += 25; // 10kHz interrupt
+    old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
     OCR0A = old_OCR0A;
+    // Set E direction (Depends on E direction + advance)
+    for(unsigned char i=0; i<4;i++) {
+      if (e_steps[0] != 0) {
+        WRITE(E0_STEP_PIN, LOW);
+        if (e_steps[0] < 0) {
+          WRITE(E0_DIR_PIN, INVERT_E0_DIR);
+          e_steps[0]++;
+          WRITE(E0_STEP_PIN, HIGH);
+        } 
+        else if (e_steps[0] > 0) {
+          WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
+          e_steps[0]--;
+          WRITE(E0_STEP_PIN, HIGH);
+        }
+      }
+ #if EXTRUDERS > 1
+      if (e_steps[1] != 0) {
+        WRITE(E1_STEP_PIN, LOW);
+        if (e_steps[1] < 0) {
+          WRITE(E1_DIR_PIN, INVERT_E1_DIR);
+          e_steps[1]++;
+          WRITE(E1_STEP_PIN, HIGH);
+        } 
+        else if (e_steps[1] > 0) {
+          WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
+          e_steps[1]--;
+          WRITE(E1_STEP_PIN, HIGH);
+        }
+      }
+ #endif
+ #if EXTRUDERS > 2
+      if (e_steps[2] != 0) {
+        WRITE(E2_STEP_PIN, LOW);
+        if (e_steps[2] < 0) {
+          WRITE(E2_DIR_PIN, INVERT_E2_DIR);
+          e_steps[2]++;
+          WRITE(E2_STEP_PIN, HIGH);
+        } 
+        else if (e_steps[2] > 0) {
+          WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
+          e_steps[2]--;
+          WRITE(E2_STEP_PIN, HIGH);
+        }
+      }
+ #endif
+    }
   }
 #endif // ADVANCE
 
 void st_init()
 {
-    //Initialize Dir Pins
+  //Initialize Dir Pins
   #if X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
   #endif
@@ -527,8 +622,14 @@ void st_init()
   #if Z_DIR_PIN > -1 
     SET_OUTPUT(Z_DIR_PIN);
   #endif
-  #if E_DIR_PIN > -1 
-    SET_OUTPUT(E_DIR_PIN);
+  #if E0_DIR_PIN > -1 
+    SET_OUTPUT(E0_DIR_PIN);
+  #endif
+  #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
+    SET_OUTPUT(E1_DIR_PIN);
+  #endif
+  #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
+    SET_OUTPUT(E2_DIR_PIN);
   #endif
 
   //Initialize Enable Pins - steppers default to disabled.
@@ -545,9 +646,17 @@ void st_init()
     SET_OUTPUT(Z_ENABLE_PIN);
     if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
   #endif
-  #if (E_ENABLE_PIN > -1)
-    SET_OUTPUT(E_ENABLE_PIN);
-    if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
+  #if (E0_ENABLE_PIN > -1)
+    SET_OUTPUT(E0_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
+  #endif
+  #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
+    SET_OUTPUT(E1_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
+  #endif
+  #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
+    SET_OUTPUT(E2_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
   #endif
 
   //endstops and pullups
@@ -601,17 +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 (E_STEP_PIN > -1) 
-    SET_OUTPUT(E_STEP_PIN);
+  #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);
@@ -621,27 +758,47 @@ void st_init()
   // output mode = 00 (disconnected)
   TCCR1A &= ~(3<<COM1A0); 
   TCCR1A &= ~(3<<COM1B0); 
-  TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
+  
+  // Set the timer pre-scaler
+  // Generally we use a divider of 8, resulting in a 2MHz timer
+  // frequency on a 16MHz MCU. If you are going to change this, be
+  // sure to regenerate speed_lookuptable.h with
+  // create_speed_lookuptable.py
+  TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10);
 
   OCR1A = 0x4000;
   TCNT1 = 0;
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 
   #ifdef ADVANCE
-    e_steps = 0;
+  #if defined(TCCR0A) && defined(WGM01)
+    TCCR0A &= ~(1<<WGM01);
+    TCCR0A &= ~(1<<WGM00);
+  #endif  
+    e_steps[0] = 0;
+    e_steps[1] = 0;
+    e_steps[2] = 0;
     TIMSK0 |= (1<<OCIE0A);
   #endif //ADVANCE
+  
+  #ifdef ENDSTOPS_ONLY_FOR_HOMING
+    enable_endstops(false);
+  #else
+    enable_endstops(true);
+  #endif
+  
   sei();
 }
 
+
 // Block until all buffered steps are executed
 void st_synchronize()
 {
-  while(plan_get_current_block()) {
+    while( blocks_queued()) {
     manage_heater();
     manage_inactivity(1);
     LCD_STATUS;
-  }   
+  }
 }
 
 void st_set_position(const long &x, const long &y, const long &z, const long &e)
@@ -654,7 +811,14 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
   CRITICAL_SECTION_END;
 }
 
-long st_get_position(char axis)
+void st_set_e_position(const long &e)
+{
+  CRITICAL_SECTION_START;
+  count_position[E_AXIS] = e;
+  CRITICAL_SECTION_END;
+}
+
+long st_get_position(uint8_t axis)
 {
   long count_pos;
   CRITICAL_SECTION_START;
@@ -662,3 +826,25 @@ long st_get_position(char axis)
   CRITICAL_SECTION_END;
   return count_pos;
 }
+
+void finishAndDisableSteppers()
+{
+  st_synchronize(); 
+  LCD_MESSAGEPGM(MSG_STEPPER_RELEASED);
+  disable_x(); 
+  disable_y(); 
+  disable_z(); 
+  disable_e0(); 
+  disable_e1(); 
+  disable_e2(); 
+}
+
+void quickStop()
+{
+  DISABLE_STEPPER_DRIVER_INTERRUPT();
+  while(blocks_queued())
+    plan_discard_current_block();
+  current_block = NULL;
+  ENABLE_STEPPER_DRIVER_INTERRUPT();
+}
+

Marlin/stepper.h

@@ -23,6 +23,21 @@
 
 #include "planner.h"
 
+#if EXTRUDERS > 2
+  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
+  #define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(!E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(!E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
+  #define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
+#elif EXTRUDERS > 1
+  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
+  #define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
+  #define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
+#else
+  #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
+  #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
+  #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
+#endif
+
+
 // Initialize and start the stepper motor subsystem
 void st_init();
 
@@ -31,9 +46,10 @@ void st_synchronize();
 
 // Set current position in steps
 void st_set_position(const long &x, const long &y, const long &z, const long &e);
+void st_set_e_position(const long &e);
 
 // Get current position in steps
-long st_get_position(char axis);
+long st_get_position(uint8_t axis);
 
 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
 // to notify the subsystem that it is time to go to work.
@@ -43,9 +59,16 @@ void st_wake_up();
 void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
 void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
 
+void enable_endstops(bool check); // Enable/disable endstop checking
 
+void checkStepperErrors(); //Print errors detected by the stepper
+
+void finishAndDisableSteppers();
 
 extern block_t *current_block;  // A pointer to the block currently being traced
+extern volatile long endstops_trigsteps[];
+extern volatile bool endstop_z_hit;
+extern bool old_z_min_endstop;
 
-
-#endif
+void quickStop();
+#endif

Marlin/temperature.h

@@ -22,7 +22,7 @@
 #define temperature_h 
 
 #include "Marlin.h"
-#include "fastio.h"
+#include "planner.h"
 #ifdef PID_ADD_EXTRUSION_RATE
   #include "stepper.h"
 #endif
@@ -31,63 +31,140 @@
 void tp_init();  //initialise the heating
 void manage_heater(); //it is critical that this is called periodically.
 
-
-enum TempSensor {TEMPSENSOR_HOTEND_0=0,TEMPSENSOR_BED=1, TEMPSENSOR_HOTEND_1=2};
-
 //low leven conversion routines
 // do not use this routines and variables outsie of temperature.cpp
-int temp2analog(int celsius);
+int temp2analog(int celsius, uint8_t e);
 int temp2analogBed(int celsius);
-float analog2temp(int raw);
+float analog2temp(int raw, uint8_t e);
 float analog2tempBed(int raw);
-extern int target_raw[3];  
-extern int current_raw[3];
+extern int target_raw[EXTRUDERS];  
+extern int heatingtarget_raw[EXTRUDERS];  
+extern int current_raw[EXTRUDERS];
+extern int target_raw_bed;
+extern int current_raw_bed;
+#ifdef BED_LIMIT_SWITCHING
+  extern int target_bed_low_temp ;  
+  extern int target_bed_high_temp ;
+#endif
 extern float Kp,Ki,Kd,Kc;
+extern int Ki_Max;
 
 #ifdef PIDTEMP
-  extern float pid_setpoint ;
+  extern float pid_setpoint[EXTRUDERS];
 #endif
   
-#ifdef WATCHPERIOD
-  extern int watch_raw[3] ;
-  extern unsigned long watchmillis;
-#endif
-
+// #ifdef WATCHPERIOD
+  extern int watch_raw[EXTRUDERS] ;
+//   extern unsigned long watchmillis;
+// #endif
 
 
 //high level conversion routines, for use outside of temperature.cpp
 //inline so that there is no performance decrease.
 //deg=degreeCelsius
 
-inline float degHotend0(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degHotend1(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_1]);};
-inline float degBed() {  return analog2tempBed(current_raw[TEMPSENSOR_BED]);};
-
-inline float degTargetHotend0() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degTargetHotend1() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);};
-inline float degTargetBed() {   return analog2tempBed(target_raw[TEMPSENSOR_BED]);};
-
-inline void setTargetHotend0(const float &celsius) 
-{  
-  target_raw[TEMPSENSOR_HOTEND_0]=temp2analog(celsius);
-  #ifdef PIDTEMP
-    pid_setpoint = celsius;
-  #endif //PIDTEMP
+FORCE_INLINE float degHotend(uint8_t extruder) {  
+  return analog2temp(current_raw[extruder], extruder);
 };
-inline void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
-inline void setTargetBed(const float &celsius)     {  target_raw[TEMPSENSOR_BED     ]=temp2analogBed(celsius);};
 
-inline bool isHeatingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];};
-inline bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];};
-inline bool isHeatingBed() {return target_raw[TEMPSENSOR_BED] > current_raw[TEMPSENSOR_BED];};
+FORCE_INLINE float degBed() {
+  return analog2tempBed(current_raw_bed);
+};
 
-inline bool isCoolingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];};
-inline bool isCoolingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];};
-inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMPSENSOR_BED];};
+FORCE_INLINE float degTargetHotend(uint8_t extruder) {  
+  return analog2temp(target_raw[extruder], extruder);
+};
 
+FORCE_INLINE float degTargetBed() {   
+  return analog2tempBed(target_raw_bed);
+};
+
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {  
+  target_raw[extruder] = temp2analog(celsius, extruder);
+#ifdef PIDTEMP
+  pid_setpoint[extruder] = celsius;
+#endif //PIDTEMP
+};
+
+FORCE_INLINE void setTargetBed(const float &celsius) {  
+  
+  target_raw_bed = temp2analogBed(celsius);
+  #ifdef BED_LIMIT_SWITCHING
+    if(celsius>BED_HYSTERESIS)
+    {
+    target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS);
+    target_bed_high_temp= temp2analogBed(celsius+BED_HYSTERESIS);
+    }
+    else
+    { 
+      target_bed_low_temp=0;
+      target_bed_high_temp=0;
+    }
+  #endif
+};
+
+FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
+  return target_raw[extruder] > current_raw[extruder];
+};
+
+FORCE_INLINE bool isHeatingBed() {
+  return target_raw_bed > current_raw_bed;
+};
+
+FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {  
+  return target_raw[extruder] < current_raw[extruder];
+};
+
+FORCE_INLINE bool isCoolingBed() {
+  return target_raw_bed < current_raw_bed;
+};
+
+#define degHotend0() degHotend(0)
+#define degTargetHotend0() degTargetHotend(0)
+#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
+#define isHeatingHotend0() isHeatingHotend(0)
+#define isCoolingHotend0() isCoolingHotend(0)
+#if EXTRUDERS > 1
+#define degHotend1() degHotend(1)
+#define degTargetHotend1() degTargetHotend(1)
+#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
+#define isHeatingHotend1() isHeatingHotend(1)
+#define isCoolingHotend1() isCoolingHotend(1)
+#else
+#define setTargetHotend1(_celsius) do{}while(0)
+#endif
+#if EXTRUDERS > 2
+#define degHotend2() degHotend(2)
+#define degTargetHotend2() degTargetHotend(2)
+#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
+#define isHeatingHotend2() isHeatingHotend(2)
+#define isCoolingHotend2() isCoolingHotend(2)
+#else
+#define setTargetHotend2(_celsius) do{}while(0)
+#endif
+#if EXTRUDERS > 3
+#error Invalid number of extruders
+#endif
+
+
+
+int getHeaterPower(int heater);
 void disable_heater();
 void setWatch();
 void updatePID();
 
+FORCE_INLINE void autotempShutdown(){
+ #ifdef AUTOTEMP
+ if(autotemp_enabled)
+ {
+  autotemp_enabled=false;
+  if(degTargetHotend(active_extruder)>autotemp_min)
+    setTargetHotend(0,active_extruder);
+ }
+ #endif
+}
+
+void PID_autotune(float temp);
+
 #endif
 

Marlin/thermistortables.h

@@ -1,14 +1,13 @@
 #ifndef THERMISTORTABLES_H_
 #define THERMISTORTABLES_H_
 
-#include <avr/pgmspace.h>
+#include "Marlin.h"
 
 #define OVERSAMPLENR 16
 
-#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
+#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1)  || (THERMISTORHEATER_2 == 1) || (THERMISTORBED == 1) //100k bed thermistor
 
-#define NUMTEMPS_1 61
-const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
+const short temptable_1[][2] PROGMEM = {
 {       23*OVERSAMPLENR ,       300     },
 {       25*OVERSAMPLENR ,       295     },
 {       27*OVERSAMPLENR ,       290     },
@@ -72,36 +71,48 @@ const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
 {       1008*OVERSAMPLENR       ,       0       } //safety
 };
 #endif
-#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
-#define NUMTEMPS_2 21
-const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
+#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor
+const short temptable_2[][2] PROGMEM = {
+//200k ATC Semitec 204GT-2
+//Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
    {1*OVERSAMPLENR, 848},
-   {54*OVERSAMPLENR, 275},
-   {107*OVERSAMPLENR, 228},
-   {160*OVERSAMPLENR, 202},
-   {213*OVERSAMPLENR, 185},
-   {266*OVERSAMPLENR, 171},
-   {319*OVERSAMPLENR, 160},
-   {372*OVERSAMPLENR, 150},
-   {425*OVERSAMPLENR, 141},
-   {478*OVERSAMPLENR, 133},
-   {531*OVERSAMPLENR, 125},
-   {584*OVERSAMPLENR, 118},
-   {637*OVERSAMPLENR, 110},
-   {690*OVERSAMPLENR, 103},
-   {743*OVERSAMPLENR, 95},
-   {796*OVERSAMPLENR, 86},
-   {849*OVERSAMPLENR, 77},
-   {902*OVERSAMPLENR, 65},
-   {955*OVERSAMPLENR, 49},
-   {1008*OVERSAMPLENR, 17},
-   {1020*OVERSAMPLENR, 0} //safety
+   {30*OVERSAMPLENR, 300}, //top rating 300C
+   {34*OVERSAMPLENR, 290},
+   {39*OVERSAMPLENR, 280},
+   {46*OVERSAMPLENR, 270},
+   {53*OVERSAMPLENR, 260},
+   {63*OVERSAMPLENR, 250},
+   {74*OVERSAMPLENR, 240},
+   {87*OVERSAMPLENR, 230},
+   {104*OVERSAMPLENR, 220},
+   {124*OVERSAMPLENR, 210},
+   {148*OVERSAMPLENR, 200},
+   {176*OVERSAMPLENR, 190},
+   {211*OVERSAMPLENR, 180},
+   {252*OVERSAMPLENR, 170},
+   {301*OVERSAMPLENR, 160},
+   {357*OVERSAMPLENR, 150},
+   {420*OVERSAMPLENR, 140},
+   {489*OVERSAMPLENR, 130},
+   {562*OVERSAMPLENR, 120},
+   {636*OVERSAMPLENR, 110},
+   {708*OVERSAMPLENR, 100},
+   {775*OVERSAMPLENR, 90},
+   {835*OVERSAMPLENR, 80},
+   {884*OVERSAMPLENR, 70},
+   {924*OVERSAMPLENR, 60},
+   {955*OVERSAMPLENR, 50},
+   {977*OVERSAMPLENR, 40},
+   {993*OVERSAMPLENR, 30},
+   {1004*OVERSAMPLENR, 20},
+   {1012*OVERSAMPLENR, 10},
+   {1016*OVERSAMPLENR, 0},
 };
 
 #endif
-#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
-#define NUMTEMPS_3 28
-const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
+#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORHEATER_2 == 3) || (THERMISTORBED == 3) //mendel-parts
+const short temptable_3[][2] PROGMEM = {
                 {1*OVERSAMPLENR,864},
                 {21*OVERSAMPLENR,300},
                 {25*OVERSAMPLENR,290},
@@ -133,10 +144,8 @@ const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
         };
 
 #endif
-#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
-
-#define NUMTEMPS_4 20
-const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
+#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORHEATER_2 == 4) || (THERMISTORBED == 4) //10k thermistor
+const short temptable_4[][2] PROGMEM = {
    {1*OVERSAMPLENR, 430},
    {54*OVERSAMPLENR, 137},
    {107*OVERSAMPLENR, 107},
@@ -160,78 +169,50 @@ const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
 };
 #endif
 
-#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
-
-#define NUMTEMPS_5 61
-const short temptable_5[NUMTEMPS_5][2] PROGMEM = {
-{1*OVERSAMPLENR, 713},
-{18*OVERSAMPLENR, 316},
-{35*OVERSAMPLENR, 266},
-{52*OVERSAMPLENR, 239},
-{69*OVERSAMPLENR, 221},
-{86*OVERSAMPLENR, 208},
-{103*OVERSAMPLENR, 197},
-{120*OVERSAMPLENR, 188},
-{137*OVERSAMPLENR, 181},
-{154*OVERSAMPLENR, 174},
-{171*OVERSAMPLENR, 169},
-{188*OVERSAMPLENR, 163},
-{205*OVERSAMPLENR, 159},
-{222*OVERSAMPLENR, 154},
-{239*OVERSAMPLENR, 150},
-{256*OVERSAMPLENR, 147},
-{273*OVERSAMPLENR, 143},
-{290*OVERSAMPLENR, 140},
-{307*OVERSAMPLENR, 136},
-{324*OVERSAMPLENR, 133},
-{341*OVERSAMPLENR, 130},
-{358*OVERSAMPLENR, 128},
-{375*OVERSAMPLENR, 125},
-{392*OVERSAMPLENR, 122},
-{409*OVERSAMPLENR, 120},
-{426*OVERSAMPLENR, 117},
-{443*OVERSAMPLENR, 115},
-{460*OVERSAMPLENR, 112},
-{477*OVERSAMPLENR, 110},
-{494*OVERSAMPLENR, 108},
-{511*OVERSAMPLENR, 106},
-{528*OVERSAMPLENR, 103},
-{545*OVERSAMPLENR, 101},
-{562*OVERSAMPLENR, 99},
-{579*OVERSAMPLENR, 97},
-{596*OVERSAMPLENR, 95},
-{613*OVERSAMPLENR, 92},
-{630*OVERSAMPLENR, 90},
-{647*OVERSAMPLENR, 88},
-{664*OVERSAMPLENR, 86},
-{681*OVERSAMPLENR, 84},
-{698*OVERSAMPLENR, 81},
-{715*OVERSAMPLENR, 79},
-{732*OVERSAMPLENR, 77},
-{749*OVERSAMPLENR, 75},
-{766*OVERSAMPLENR, 72},
-{783*OVERSAMPLENR, 70},
-{800*OVERSAMPLENR, 67},
-{817*OVERSAMPLENR, 64},
-{834*OVERSAMPLENR, 61},
-{851*OVERSAMPLENR, 58},
-{868*OVERSAMPLENR, 55},
-{885*OVERSAMPLENR, 52},
-{902*OVERSAMPLENR, 48},
-{919*OVERSAMPLENR, 44},
-{936*OVERSAMPLENR, 40},
-{953*OVERSAMPLENR, 34},
-{970*OVERSAMPLENR, 28},
-{987*OVERSAMPLENR, 20},
-{1004*OVERSAMPLENR, 8},
-{1021*OVERSAMPLENR, 0}
+#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORHEATER_2 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
+const short temptable_5[][2] PROGMEM = {
+// ATC Semitec 104GT-2 (Used in ParCan)
+// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+   {1*OVERSAMPLENR, 713},
+   {17*OVERSAMPLENR, 300}, //top rating 300C
+   {20*OVERSAMPLENR, 290},
+   {23*OVERSAMPLENR, 280},
+   {27*OVERSAMPLENR, 270},
+   {31*OVERSAMPLENR, 260},
+   {37*OVERSAMPLENR, 250},
+   {43*OVERSAMPLENR, 240},
+   {51*OVERSAMPLENR, 230},
+   {61*OVERSAMPLENR, 220},
+   {73*OVERSAMPLENR, 210},
+   {87*OVERSAMPLENR, 200},
+   {106*OVERSAMPLENR, 190},
+   {128*OVERSAMPLENR, 180},
+   {155*OVERSAMPLENR, 170},
+   {189*OVERSAMPLENR, 160},
+   {230*OVERSAMPLENR, 150},
+   {278*OVERSAMPLENR, 140},
+   {336*OVERSAMPLENR, 130},
+   {402*OVERSAMPLENR, 120},
+   {476*OVERSAMPLENR, 110},
+   {554*OVERSAMPLENR, 100},
+   {635*OVERSAMPLENR, 90},
+   {713*OVERSAMPLENR, 80},
+   {784*OVERSAMPLENR, 70},
+   {846*OVERSAMPLENR, 60},
+   {897*OVERSAMPLENR, 50},
+   {937*OVERSAMPLENR, 40},
+   {966*OVERSAMPLENR, 30},
+   {986*OVERSAMPLENR, 20},
+   {1000*OVERSAMPLENR, 10},
+   {1010*OVERSAMPLENR, 0}
 };
 #endif
 
-#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
-#define NUMTEMPS_6 36
-const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
-   {28*OVERSAMPLENR, 250},
+#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORHEATER_2 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
+const short temptable_6[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 350},
+   {28*OVERSAMPLENR, 250}, //top rating 250C
    {31*OVERSAMPLENR, 245},
    {35*OVERSAMPLENR, 240},
    {39*OVERSAMPLENR, 235},
@@ -240,8 +221,8 @@ const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
    {49*OVERSAMPLENR, 220},
    {53*OVERSAMPLENR, 215},
    {62*OVERSAMPLENR, 210},
-   {73*OVERSAMPLENR, 205},
-   {72*OVERSAMPLENR, 200},
+   {71*OVERSAMPLENR, 205}, //fitted graphically
+   {78*OVERSAMPLENR, 200}, //fitted graphically
    {94*OVERSAMPLENR, 190},
    {102*OVERSAMPLENR, 185},
    {116*OVERSAMPLENR, 170},
@@ -270,10 +251,10 @@ const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
 };
 #endif
 
-#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
-#define NUMTEMPS_7 54
-const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
-   {46*OVERSAMPLENR, 270},
+#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
+const short temptable_7[][2] PROGMEM = {
+   {1*OVERSAMPLENR, 500},
+   {46*OVERSAMPLENR, 270}, //top rating 300C
    {50*OVERSAMPLENR, 265},
    {54*OVERSAMPLENR, 260},
    {58*OVERSAMPLENR, 255},
@@ -329,83 +310,316 @@ const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
    {1005*OVERSAMPLENR, 5}
 };
 #endif
-
-
-
-#if THERMISTORHEATER_0 == 1
-#define NUMTEMPS_HEATER_0 NUMTEMPS_1
-#define heater_0_temptable temptable_1
-#elif THERMISTORHEATER_0 == 2
-#define NUMTEMPS_HEATER_0 NUMTEMPS_2
-#define heater_0_temptable temptable_2
-#elif THERMISTORHEATER_0 == 3
-#define NUMTEMPS_HEATER_0 NUMTEMPS_3
-#define heater_0_temptable temptable_3
-#elif THERMISTORHEATER_0 == 4
-#define NUMTEMPS_HEATER_0 NUMTEMPS_4
-#define heater_0_temptable temptable_4
-#elif THERMISTORHEATER_0 == 5
-#define NUMTEMPS_HEATER_0 NUMTEMPS_5
-#define heater_0_temptable temptable_5
-#elif THERMISTORHEATER_0 == 6
-#define NUMTEMPS_HEATER_0 NUMTEMPS_6
-#define heater_0_temptable temptable_6
-#elif THERMISTORHEATER_0 == 7
-#define NUMTEMPS_HEATER_0 NUMTEMPS_7
-#define heater_0_temptable temptable_7
-#elif defined HEATER_0_USES_THERMISTOR
-#error No heater 0 thermistor table specified
+//
+#if (THERMISTORHEATER_0 == 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_1 == 1
-#define NUMTEMPS_HEATER_1 NUMTEMPS_1
-#define heater_1_temptable temptable_1
-#elif THERMISTORHEATER_1 == 2
-#define NUMTEMPS_HEATER_1 NUMTEMPS_2
-#define heater_1_temptable temptable_2
-#elif THERMISTORHEATER_1 == 3
-#define NUMTEMPS_HEATER_1 NUMTEMPS_3
-#define heater_1_temptable temptable_3
-#elif THERMISTORHEATER_1 == 4
-#define NUMTEMPS_HEATER_1 NUMTEMPS_4
-#define heater_1_temptable temptable_4
-#elif THERMISTORHEATER_1 == 5
-#define NUMTEMPS_HEATER_1 NUMTEMPS_5
-#define heater_1_temptable temptable_5
-#elif THERMISTORHEATER_1 == 6
-#define NUMTEMPS_HEATER_1 NUMTEMPS_6
-#define heater_1_temptable temptable_6
-#elif THERMISTORHEATER_1 == 7
-#define NUMTEMPS_HEATER_1 NUMTEMPS_7
-#define heater_1_temptable temptable_7
-#elif defined HEATER_1_USES_THERMISTOR
-#error No heater 1 thermistor table specified
+#if (THERMISTORHEATER_0 == 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
 
-#if THERMISTORBED == 1
-#define BNUMTEMPS NUMTEMPS_1
-#define bedtemptable temptable_1
-#elif THERMISTORBED == 2
-#define BNUMTEMPS NUMTEMPS_2
-#define bedtemptable temptable_2
-#elif THERMISTORBED == 3
-#define BNUMTEMPS NUMTEMPS_3
-#define bedtemptable temptable_3
-#elif THERMISTORBED == 4
-#define BNUMTEMPS NUMTEMPS_4
-#define bedtemptable temptable_4
-#elif THERMISTORBED == 5
-#define BNUMTEMPS NUMTEMPS_5
-#define bedtemptable temptable_5
-#elif THERMISTORBED == 6
-#define BNUMTEMPS NUMTEMPS_6
-#define bedtemptable temptable_6
-#elif THERMISTORBED == 7
-#define BNUMTEMPS NUMTEMPS_7
-#define bedtemptable temptable_7
-#elif defined BED_USES_THERMISTOR
-#error No bed thermistor table specified
+#define _TT_NAME(_N) temptable_ ## _N
+#define TT_NAME(_N) _TT_NAME(_N)
+
+#ifdef THERMISTORHEATER_0
+  #define heater_0_temptable TT_NAME(THERMISTORHEATER_0)
+  #define heater_0_temptable_len (sizeof(heater_0_temptable)/sizeof(*heater_0_temptable))
+#else
+#ifdef HEATER_0_USES_THERMISTOR
+  #error No heater 0 thermistor table specified
+#else  // HEATER_0_USES_THERMISTOR
+  #define heater_0_temptable 0
+  #define heater_0_temptable_len 0
+#endif // HEATER_0_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORHEATER_1
+  #define heater_1_temptable TT_NAME(THERMISTORHEATER_1)
+  #define heater_1_temptable_len (sizeof(heater_1_temptable)/sizeof(*heater_1_temptable))
+#else
+#ifdef HEATER_1_USES_THERMISTOR
+  #error No heater 1 thermistor table specified
+#else  // HEATER_1_USES_THERMISTOR
+  #define heater_1_temptable 0
+  #define heater_1_temptable_len 0
+#endif // HEATER_1_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORHEATER_2
+  #define heater_2_temptable TT_NAME(THERMISTORHEATER_2)
+  #define heater_2_temptable_len (sizeof(heater_2_temptable)/sizeof(*heater_2_temptable))
+#else
+#ifdef HEATER_2_USES_THERMISTOR
+  #error No heater 2 thermistor table specified
+#else  // HEATER_2_USES_THERMISTOR
+  #define heater_2_temptable 0
+  #define heater_2_temptable_len 0
+#endif // HEATER_2_USES_THERMISTOR
+#endif
+
+#ifdef THERMISTORBED
+  #define bedtemptable TT_NAME(THERMISTORBED)
+  #define bedtemptable_len (sizeof(bedtemptable)/sizeof(*bedtemptable))
+#else
+#ifdef BED_USES_THERMISTOR
+  #error No bed thermistor table specified
+#endif // BED_USES_THERMISTOR
 #endif
 
 #endif //THERMISTORTABLES_H_

Marlin/ultralcd.h

@@ -1,35 +1,35 @@
-#ifndef __ULTRALCDH
-#define __ULTRALCDH
-#include "Configuration.h"
-
+#ifndef ULTRALCD_H
+#define ULTRALCD_H
+#include "Marlin.h"
 #ifdef ULTRA_LCD
-
+  #include <LiquidCrystal.h>
   void lcd_status();
   void lcd_init();
   void lcd_status(const char* message);
   void beep();
+  void buttons_init();
   void buttons_check();
 
-
   #define LCD_UPDATE_INTERVAL 100
   #define STATUSTIMEOUT 15000
-
-
-  #include <LiquidCrystal.h>
   extern LiquidCrystal lcd;
-
-
+  extern volatile char buttons;  //the last checked buttons in a bit array.
+  
   #ifdef NEWPANEL
-
-    
     #define EN_C (1<<BLEN_C)
     #define EN_B (1<<BLEN_B)
     #define EN_A (1<<BLEN_A)
     
     #define CLICKED (buttons&EN_C)
     #define BLOCK {blocking=millis()+blocktime;}
-    #define CARDINSERTED (READ(SDCARDDETECT)==0)
-    
+    #if (SDCARDDETECT > -1)
+      #ifdef SDCARDDETECTINVERTED 
+        #define CARDINSERTED (READ(SDCARDDETECT)!=0)
+      #else
+        #define CARDINSERTED (READ(SDCARDDETECT)==0)
+      #endif
+    #endif  //SDCARDTETECTINVERTED
+
   #else
 
     //atomatic, do not change
@@ -51,7 +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:
@@ -68,9 +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;
     
@@ -79,11 +81,11 @@
     bool tune;
     
   private:
-    inline void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
+    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos)
     {
       if(linechanging) return; // an item is changint its value, do not switch lines hence
       lastlineoffset=lineoffset; 
-      int curencoderpos=encoderpos;  
+      long curencoderpos=encoderpos;  
       force_lcd_update=false;
       if(  (abs(curencoderpos-lastencoderpos)<lcdslow) ) 
       { 
@@ -104,7 +106,6 @@
             curencoderpos=maxlines*lcdslow; 
         } 
         lastencoderpos=encoderpos=curencoderpos;
-        int lastactiveline=activeline;
         activeline=curencoderpos/lcdslow;
         if(activeline<0) activeline=0;
         if(activeline>LCD_HEIGHT-1) activeline=LCD_HEIGHT-1;
@@ -119,7 +120,7 @@
       } 
     }
     
-    inline void clearIfNecessary()
+    FORCE_INLINE void clearIfNecessary()
     {
       if(lastlineoffset!=lineoffset ||force_lcd_update)
       {
@@ -131,27 +132,34 @@
 
   //conversion routines, could need some overworking
   char *ftostr51(const float &x);
+  char *ftostr52(const float &x);
   char *ftostr31(const float &x);
   char *ftostr3(const float &x);
 
 
-
+  #define LCD_INIT lcd_init();
   #define LCD_MESSAGE(x) lcd_status(x);
-  #define LCD_MESSAGEPGM(x) lcd_statuspgm(PSTR(x));
+  #define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
   #define LCD_STATUS lcd_status()
 #else //no lcd
+  #define LCD_INIT
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
-  inline void lcd_status() {};
-#endif
-  
-#ifndef ULTIPANEL  
- #define CLICKED false
+  FORCE_INLINE void lcd_status() {};
+
+  #define CLICKED false
   #define BLOCK ;
 #endif 
   
 void lcd_statuspgm(const char* message);
   
+char *ftostr3(const float &x);
+char *itostr2(const uint8_t &x);
+char *ftostr31(const float &x);
+char *ftostr32(const float &x);
+char *itostr31(const int &xx);
+char *itostr3(const int &xx);
+char *itostr4(const int &xx);
+char *ftostr51(const float &x);
 #endif //ULTRALCD
-

Marlin/watchdog.h

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

Marlin/watchdog.pde

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

Marlin/wiring.h

@@ -0,0 +1,141 @@
+/*
+ * fixed by this patch:
+ * http://code.google.com/p/arduino/issues/detail?id=604
+ * */
+/*
+  wiring.h - Partial implementation of the Wiring API for the ATmega8.
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2005-2006 David A. Mellis
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id$
+*/
+
+#ifndef Wiring_h
+#define Wiring_h
+
+#include <avr/io.h>
+#include <stdlib.h>
+#include "binary.h"
+
+#ifdef __cplusplus
+extern "C"{
+#endif
+
+#define HIGH 0x1
+#define LOW  0x0
+
+#define INPUT 0x0
+#define OUTPUT 0x1
+
+#define true 0x1
+#define false 0x0
+
+#define PI 3.1415926535897932384626433832795
+#define HALF_PI 1.5707963267948966192313216916398
+#define TWO_PI 6.283185307179586476925286766559
+#define DEG_TO_RAD 0.017453292519943295769236907684886
+#define RAD_TO_DEG 57.295779513082320876798154814105
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define INTERNAL1V1 2
+#define INTERNAL2V56 3
+#else
+#define INTERNAL 3
+#endif
+#define DEFAULT 1
+#define EXTERNAL 0
+
+// undefine stdlib's abs if encountered
+#ifdef abs
+#undef abs
+#endif
+
+#define min(a,b) ((a)<(b)?(a):(b))
+#define max(a,b) ((a)>(b)?(a):(b))
+#define abs(x) ((x)>0?(x):-(x))
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+#if __AVR_LIBC_VERSION__ < 10701UL
+#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+#endif
+#define radians(deg) ((deg)*DEG_TO_RAD)
+#define degrees(rad) ((rad)*RAD_TO_DEG)
+#define sq(x) ((x)*(x))
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )
+#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )
+
+#define lowByte(w) ((uint8_t) ((w) & 0xff))
+#define highByte(w) ((uint8_t) ((w) >> 8))
+
+#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
+#define bitSet(value, bit) ((value) |= (1UL << (bit)))
+#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+
+
+typedef unsigned int word;
+
+#define bit(b) (1UL << (b))
+
+typedef uint8_t boolean;
+typedef uint8_t byte;
+
+void init(void);
+
+void pinMode(uint8_t, uint8_t);
+void digitalWrite(uint8_t, uint8_t);
+int digitalRead(uint8_t);
+int analogRead(uint8_t);
+void analogReference(uint8_t mode);
+void analogWrite(uint8_t, int);
+
+unsigned long millis(void);
+unsigned long micros(void);
+void delay(unsigned long);
+void delayMicroseconds(unsigned int us);
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
+
+void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
+uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
+
+void attachInterrupt(uint8_t, void (*)(void), int mode);
+void detachInterrupt(uint8_t);
+
+void setup(void);
+void loop(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif

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.md

@@ -1,7 +1,10 @@
-
 WARNING: 
 --------
-THIS IS THE BETA 1 FOR MARLIN 1.0.0
+THIS IS RELEASE CANDIDATE 1 FOR MARLIN 1.0.0
+
+The configuration is now split in two files
+Configuration.h for the normal settings
+Configuration_adv.h for the advanced settings
 
 Quick Information
 ===================
@@ -54,7 +57,7 @@ It leads to less over-deposition at corners, especially at flat angles.
 
 *Arc support:*
 
-Splic3r can find curves that, although broken into segments, were ment to describe an arc.
+Slic3r can find curves that, although broken into segments, were ment to describe an arc.
 Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
 and can perform the arc with nearly constant velocity, resulting in a nice finish. 
 Also, less serial communication is needed.

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