Merge github.com:ErikZalm/Marlin into Marlin_v1

ArduinoAddons/Arduino_0.xx/Gen6/bootloaders/atmega644p/ATmegaBOOT.c

     WDTCSR = 0;
 
     // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
-    if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+    if (! (ch &  _BV(EXTRF))) // if it's a not an external reset...
       app_start();  // skip bootloader
 #endif
 

ArduinoAddons/Arduino_0.xx/Sanguino/bootloaders/atmega644p/ATmegaBOOT.c

     WDTCSR = 0;
 
     // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
-    if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+    if (! (ch &  _BV(EXTRF))) // if it's a not an external reset...
       app_start();  // skip bootloader
 #endif
 

ArduinoAddons/Arduino_0.xx/libraries/LiquidCrystal/LiquidCrystal.cpp

 //    S = 0; No shift 
 //
 // Note, however, that resetting the Arduino doesn't reset the LCD, so we
-// can't assume that its in that state when a sketch starts (and the
+// can't assume that it's in that state when a sketch starts (and the
 // LiquidCrystal constructor is called).
 
 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

ArduinoAddons/Arduino_0.xx/libraries/U8glib/utility/chessengine.c

 	- Castling: Need to check for fields under attack
 	    --> done
 	
-	- Check for WIN / LOOSE situation, perhaps call ce_Eval() once on the top-level board setup
+	- Check for WIN / LOSE situation, perhaps call ce_Eval() once on the top-level board setup
 	    just after the real move
 	- cleanup cu_Move
 	    --> almost done

ArduinoAddons/Arduino_1.x.x/libraries/LiquidCrystal/LiquidCrystal.cpp

 //    S = 0; No shift 
 //
 // Note, however, that resetting the Arduino doesn't reset the LCD, so we
-// can't assume that its in that state when a sketch starts (and the
+// can't assume that it's in that state when a sketch starts (and the
 // LiquidCrystal constructor is called).
 
 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

ArduinoAddons/Arduino_1.x.x/libraries/U8glib/utility/chessengine.c

 	- Castling: Need to check for fields under attack
 	    --> done
 	
-	- Check for WIN / LOOSE situation, perhaps call ce_Eval() once on the top-level board setup
+	- Check for WIN / LOSE situation, perhaps call ce_Eval() once on the top-level board setup
 	    just after the real move
 	- cleanup cu_Move
 	    --> almost done

ArduinoAddons/Arduino_1.x.x/sanguino/bootloaders/atmega/ATmegaBOOT_168.c

 	WDTCSR = 0;
 
 	// Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
-	if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+	if (! (ch &  _BV(EXTRF))) // if it's a not an external reset...
 		app_start();  // skip bootloader
 #else
 	asm volatile("nop\n\t");

ArduinoAddons/Arduino_1.x.x/sanguino/bootloaders/atmega644p/ATmegaBOOT.c

     WDTCSR = 0;
 
     // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
-    if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+    if (! (ch &  _BV(EXTRF))) // if it's a not an external reset...
       app_start();  // skip bootloader
 #endif
 

ArduinoAddons/Arduino_1.x.x/sanguino/bootloaders/atmega644p/ATmegaBOOT.c.tst

     WDTCSR = 0;
 
     // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot.
-    if (! (ch &  _BV(EXTRF))) // if its a not an external reset...
+    if (! (ch &  _BV(EXTRF))) // if it's a not an external reset...
       app_start();  // skip bootloader
 #endif
 

Marlin/Configuration.h

 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
-// This configurtion file contains the basic settings.
+// This configuration 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 build 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 build by the user have been successfully uploaded into firmware.
+// User-specified version info of this build 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
+// build by the user have been successfully uploaded into firmware.
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" //Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
 
 // SERIAL_PORT selects which serial port should be used for communication with the host.
 // This allows the connection of wireless adapters (for instance) to non-default port pins.
 // 12 = Gen7 v1.3
 // 13 = Gen7 v1.4
 // 3  = MEGA/RAMPS up to 1.2 = 3
-// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Bed, Fan)
+// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)
 // 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
 // 4  = Duemilanove w/ ATMega328P pin assignment
 // 5  = Gen6
 // 62 = Sanguinololu 1.2 and above
 // 63 = Melzi
 // 64 = STB V1.1
+// 65 = Azteeg X1
+// 66 = Melzi with ATmega1284 (MaKr3d version)
 // 7  = Ultimaker
 // 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+// 77 = 3Drag Controller
 // 8  = Teensylu
 // 80 = Rumba
 // 81 = Printrboard (AT90USB1286)
 // 90 = Alpha OMCA board
 // 91 = Final OMCA board
 // 301 = Rambo
+// 21 = Elefu Ra Board (v3)
 
 #ifndef MOTHERBOARD
 #define MOTHERBOARD 7
 #endif
 
+// Define this to set a custom name for your generic Mendel,
+// #define CUSTOM_MENDEL_NAME "This Mendel"
+
 // This defines the number of extruders
 #define EXTRUDERS 1
 
 
 #define POWER_SUPPLY 1
 
+
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics
+//#define DELTA
+
+// Make delta curves from many straight lines (linear interpolation).
+// This is a trade-off between visible corners (not enough segments)
+// and processor overload (too many expensive sqrt calls).
+#define DELTA_SEGMENTS_PER_SECOND 200
+
+// Center-to-center distance of the holes in the diagonal push rods.
+#define DELTA_DIAGONAL_ROD 250.0 // mm
+
+// Horizontal offset from middle of printer to smooth rod center.
+#define DELTA_SMOOTH_ROD_OFFSET 175.0 // mm
+
+// Horizontal offset of the universal joints on the end effector.
+#define DELTA_EFFECTOR_OFFSET 33.0 // mm
+
+// Horizontal offset of the universal joints on the carriages.
+#define DELTA_CARRIAGE_OFFSET 18.0 // mm
+
+// Effective horizontal distance bridged by diagonal push rods.
+#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
+
+// Effective X/Y positions of the three vertical towers.
+#define SIN_60 0.8660254037844386
+#define COS_60 0.5
+#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower
+#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS
+#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower
+#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS
+#define DELTA_TOWER3_X 0.0 // back middle tower
+#define DELTA_TOWER3_Y DELTA_RADIUS
+
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
 // 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 60 is 100k Maker's Tool Works Kapton Bed Thermister
 //
 //    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
 //                          (but gives greater accuracy and more stable PID)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)
 
 #define TEMP_SENSOR_0 -1
-#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_1 -1
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_BED 0
 
+// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
+//#define TEMP_SENSOR_1_AS_REDUNDANT 
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
+
 // Actual temperature must be close to target for this long before M109 returns success
 #define TEMP_RESIDENCY_TIME 10  // (seconds)
 #define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
-#define TEMP_WINDOW     1       // (degC) Window around target to start the recidency timer x degC early.
+#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
 
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
 // to check that the wiring to the thermistor is not broken.
 // PID settings:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
-#define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
-#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
+#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
   //#define PID_DEBUG // Sends debug data to the serial port.
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                   // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
   #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
-  #define K1 0.95 //smoothing factor withing the PID
+  #define K1 0.95 //smoothing factor within the PID
   #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
 // If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
 #endif // PIDTEMP
 
 // Bed Temperature Control
-// Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
-// uncomment this to enable PID on the bed.   It uses the same frequency PWM as the extruder.
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
 // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
 // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
 // This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
-// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
 // shouldn't use bed PID until someone else verifies your hardware works.
 // If this is enabled, find your own PID constants below.
 //#define PIDTEMPBED
 //
 //#define BED_LIMIT_SWITCHING
 
-// This sets the max power delived to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
 // all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
-// setting this to anything other than 256 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
-#define MAX_BED_POWER 256 // limits duty cycle to bed; 256=full current
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
-//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
     #define  DEFAULT_bedKp 10.00
     #define  DEFAULT_bedKi .023
     #define  DEFAULT_bedKd 305.4
 // Uncomment the following line to enable CoreXY kinematics
 // #define COREXY
 
-// corse Endstop Settings
+// coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 
 #ifndef ENDSTOPPULLUPS
-  // fine Enstop settings: Individual Pullups. will be ignord if ENDSTOPPULLUPS is defined
-  #define ENDSTOPPULLUP_XMAX
-  #define ENDSTOPPULLUP_YMAX
-  #define ENDSTOPPULLUP_ZMAX
-  #define ENDSTOPPULLUP_XMIN
-  #define ENDSTOPPULLUP_YMIN
-  //#define ENDSTOPPULLUP_ZMIN
+  // fine Enstop settings: Individual Pullups. will be ignored if ENDSTOPPULLUPS is defined
+  // #define ENDSTOPPULLUP_XMAX
+  // #define ENDSTOPPULLUP_YMAX
+  // #define ENDSTOPPULLUP_ZMAX
+  // #define ENDSTOPPULLUP_XMIN
+  // #define ENDSTOPPULLUP_YMIN
+  // #define ENDSTOPPULLUP_ZMIN
 #endif
 
 #ifdef ENDSTOPPULLUPS
 const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
 const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
 //#define DISABLE_MAX_ENDSTOPS
+//#define DISABLE_MIN_ENDSTOPS
+
+// Disable max endstops for compatibility with endstop checking routine
+#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
+  #define DISABLE_MAX_ENDSTOPS
+#endif
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
+#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
 // Travel limits after homing
 #define X_MAX_POS 205
 #define X_MIN_POS 0
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
 
 //Manual homing switch locations:
+// For deltabots this means top and center of the cartesian print volume.
 #define MANUAL_X_HOME_POS 0
 #define MANUAL_Y_HOME_POS 0
 #define MANUAL_Z_HOME_POS 0
+//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
 
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 
 // default settings
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for ultimaker
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for Ultimaker
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
 #define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
 // #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
 // #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
 
-// The speed change that does not require acceleration (i.e. the software might assume it can be done instanteneously)
+// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
 #define DEFAULT_XYJERK                20.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
 #define DEFAULT_EJERK                 5.0    // (mm/sec)
 //#define ULTIMAKERCONTROLLER //as available from the ultimaker online store.
 //#define ULTIPANEL  //the ultipanel as on thingiverse
 
+// The MaKr3d Makr-Panel with graphic controller and SD support
+// http://reprap.org/wiki/MaKr3d_MaKrPanel
+//#define MAKRPANEL
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
 //#define REPRAPWORLD_KEYPAD
 //#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
 
+// The Elefu RA Board Control Panel
+// http://www.elefu.com/index.php?route=product/product&product_id=53
+// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
+//#define RA_CONTROL_PANEL
+
 //automatic expansion
+#if defined (MAKRPANEL)
+ #define DOGLCD
+ #define SDSUPPORT
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define DEFAULT_LCD_CONTRAST 17
+#endif
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920
   #define NEWPANEL
   #define ULTIPANEL
 #endif
+#if defined(RA_CONTROL_PANEL)
+ #define ULTIPANEL
+ #define NEWPANEL
+ #define LCD_I2C_TYPE_PCA8574
+ #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+#endif
 
 //I2C PANELS
 
   #endif
 #endif
 
+// default LCD contrast for dogm-like LCD displays
+#ifdef DOGLCD
+# ifndef DEFAULT_LCD_CONTRAST
+#  define DEFAULT_LCD_CONTRAST 32
+# endif
+#endif
+
 // Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
 //#define FAST_PWM_FAN
 
+// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
+// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
+// is too low, you should also increment SOFT_PWM_SCALE.
+//#define FAN_SOFT_PWM
+
+// Incrementing this by 1 will double the software PWM frequency,
+// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
+// However, control resolution will be halved for each increment;
+// at zero value, there are 128 effective control positions.
+#define SOFT_PWM_SCALE 0
+
 // 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
 //#define BARICUDA
 
 /*********************************************************************\
-*
 * R/C SERVO support
-*
 * Sponsored by TrinityLabs, Reworked by codexmas
-*
 **********************************************************************/
 
 // Number of servos
 // leaving it undefined or defining as 0 will disable the servo subsystem
 // If unsure, leave commented / disabled
 //
-// #define NUM_SERVOS 3
+//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+
+// Servo Endstops
+// 
+// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
+// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// 
+//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
+//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
 
 #include "Configuration_adv.h"
 #include "thermistortables.h"

Marlin/ConfigurationStore.cpp

 // 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 "V07"
+#define EEPROM_VERSION "V08"
 
 #ifdef EEPROM_SETTINGS
 void Config_StoreSettings() 
     EEPROM_WRITE_VAR(i,dummy);
     EEPROM_WRITE_VAR(i,dummy);
   #endif
+  #ifndef DOGLCD
+    int lcd_contrast = 32;
+  #endif
+  EEPROM_WRITE_VAR(i,lcd_contrast);
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver2); // validate data
         EEPROM_READ_VAR(i,Kp);
         EEPROM_READ_VAR(i,Ki);
         EEPROM_READ_VAR(i,Kd);
+        #ifndef DOGLCD
+        int lcd_contrast;
+        #endif
+        EEPROM_READ_VAR(i,lcd_contrast);
 
 		// Call updatePID (similar to when we have processed M301)
 		updatePID();
     absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
     absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
 #endif
+#ifdef DOGLCD
+    lcd_contrast = DEFAULT_LCD_CONTRAST;
+#endif
 #ifdef PIDTEMP
     Kp = DEFAULT_Kp;
     Ki = scalePID_i(DEFAULT_Ki);

Marlin/Configuration_adv.h

 //#define WATCH_TEMP_PERIOD 40000 //40 seconds
 //#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 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 EXTRUDERS 1
 #endif
 
+// Enable this for dual x-carriage printers. 
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds.
+//#define DUAL_X_CARRIAGE
+#ifdef DUAL_X_CARRIAGE
+// Configuration for second X-carriage
+// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+// the second x-carriage always homes to the maximum endstop.
+#define X2_MIN_POS 88     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+#define X2_MAX_POS 350.45 // set maximum to the distance between toolheads when both heads are homed 
+#define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position 
+    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software 
+    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+    // without modifying the firmware (through the "M218 T1 X???" command).
+    // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
+#define X2_ENABLE_PIN 29
+#define X2_STEP_PIN 25
+#define X2_DIR_PIN 23
+
+#endif // DUAL_X_CARRIAGE
+    
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================
+#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
+  #error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
+#endif
 
 #if TEMP_SENSOR_0 > 0
   #define THERMISTORHEATER_0 TEMP_SENSOR_0

Marlin/LiquidCrystalRus.cpp

 //    S = 0; No shift 
 //
 // Note, however, that resetting the Arduino doesn't reset the LCD, so we
-// can't assume that its in that state when a sketch starts (and the
+// can't assume that it's in that state when a sketch starts (and the
 // LiquidCrystal constructor is called).
 // 
 // modified 27 Jul 2011

Marlin/Makefile

 else ifeq  ($(HARDWARE_MOTHERBOARD),63)
 HARDWARE_VARIANT ?= Sanguino
 MCU              ?= atmega644p
+else ifeq  ($(HARDWARE_MOTHERBOARD),65)
+HARDWARE_VARIANT ?= Sanguino
+MCU              ?= atmega1284p
+else ifeq  ($(HARDWARE_MOTHERBOARD),66)
+HARDWARE_VARIANT ?= Sanguino
+MCU              ?= atmega1284p
 
 #Ultimaker
 else ifeq  ($(HARDWARE_MOTHERBOARD),7)
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
 	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
 	watchdog.cpp
-CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp
+CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp Tone.cpp
 
 #Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version
 ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true)
 # Programming support using avrdude. Settings and variables.
 AVRDUDE_PORT = $(UPLOAD_PORT)
 AVRDUDE_WRITE_FLASH = -U flash:w:$(BUILD_DIR)/$(TARGET).hex:i
-AVRDUDE_FLAGS = -D -C $(ARDUINO_INSTALL_DIR)/hardware/tools/avrdude.conf \
+AVRDUDE_FLAGS = -D -C $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf \
 	-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
 	-b $(UPLOAD_RATE)
 

Marlin/Marlin.h

 
 void manage_inactivity();
 
-#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
+#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
+    && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+  #define  enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
+  #define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
+#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
   #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
   #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else
 void ClearToSend();
 
 void get_coordinates();
+#ifdef DELTA
+void calculate_delta(float cartesian[3]);
+#endif
 void prepare_move();
 void kill();
 void Stop();
 extern int EtoPPressure;
 #endif
 
+#ifdef FAN_SOFT_PWM
+extern unsigned char fanSpeedSoftPwm;
+#endif
+
 #ifdef FWRETRACT
 extern bool autoretract_enabled;
 extern bool retracted;

Marlin/Marlin_main.cpp

 // G91 - Use Relative Coordinates
 // G92 - Set current position to cordinates given
 
-//RepRap M Codes
+// M Codes
 // M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
 // M1   - Same as M0
-// M104 - Set extruder target temp
-// M105 - Read current temp
-// M106 - Fan on
-// M107 - Fan off
-// M109 - Wait for extruder current temp to reach target temp.
-// M114 - Display current position
-
-//Custom M Codes
 // M17  - Enable/Power all stepper motors
 // M18  - Disable all stepper motors; same as M84
 // M20  - List SD card
 // M29  - Stop SD write
 // M30  - Delete file from SD (M30 filename.g)
 // M31  - Output time since last M109 or SD card start to serial
+// M32  - Select file and start SD print (Can be used when printing from SD card)
 // M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
 // M80  - Turn on Power Supply
 // M81  - Turn off Power Supply
 //        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
 // M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 // M92  - Set axis_steps_per_unit - same syntax as G92
+// M104 - Set extruder target temp
+// M105 - Read current temp
+// M106 - Fan on
+// M107 - Fan off
+// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
+//        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
 // M114 - Output current position to serial port
 // M115 - Capabilities string
 // M117 - display message
 // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 // M140 - Set bed target temp
-// M190 - Wait for bed current temp to reach target temp.
+// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
+//        Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
 // M200 - Set filament diameter
 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 // M220 S<factor in percent>- set speed factor override percentage
 // M221 S<factor in percent>- set extrude factor override percentage
 // M240 - Trigger a camera to take a photograph
+// M250 - Set LCD contrast C<contrast value> (value 0..63)
 // M280 - set servo position absolute. P: servo index, S: angle or microseconds
 // M300 - Play beepsound S<frequency Hz> P<duration ms>
 // M301 - Set PID parameters P I and D
-// M302 - Allow cold extrudes
+// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 // M304 - Set bed PID parameters P I and D
 // M400 - Finish all moves
 #endif
 uint8_t active_extruder = 0;
 int fanSpeed=0;
+#ifdef SERVO_ENDSTOPS
+  int servo_endstops[] = SERVO_ENDSTOPS;
+  int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
+#endif
 #ifdef BARICUDA
 int ValvePressure=0;
 int EtoPPressure=0;
 //===========================================================================
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 static float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
+#ifdef DELTA
+static float delta[3] = {0.0, 0.0, 0.0};
+#endif
 static float offset[3] = {0.0, 0.0, 0.0};
 static bool home_all_axis = true;
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
   Servo servos[NUM_SERVOS];
 #endif
 
+bool CooldownNoWait = true;
+bool target_direction;
+
 //===========================================================================
 //=============================ROUTINES=============================
 //===========================================================================
   #if (NUM_SERVOS >= 5)
     #error "TODO: enter initalisation code for more servos"
   #endif
+
+  // Set position of Servo Endstops that are defined
+  #ifdef SERVO_ENDSTOPS
+  for(int8_t i = 0; i < 3; i++)
+  {
+    if(servo_endstops[i] > -1) {
+      servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
+    }
+  }
+  #endif
 }
 
 void setup()
   servo_init();
 
   lcd_init();
+  _delay_ms(1000);	// wait 1sec to display the splash screen
   
   #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
     SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
 XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
 XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
 
+#ifdef DUAL_X_CARRIAGE
+  #if EXTRUDERS == 1 || defined(COREXY) \
+      || !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
+      || !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
+      || !defined(X_MAX_PIN) || X_MAX_PIN < 0
+    #error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
+  #endif
+  #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
+    #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
+  #endif  
+    
+static float x_home_pos(int extruder) {
+  if (extruder == 0)
+    return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
+  else
+    // In dual carriage mode the extruder offset provides an override of the
+    // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
+    // This allow soft recalibration of the second extruder offset position without firmware reflash 
+    // (through the M218 command).
+    return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
+}
+
+static int x_home_dir(int extruder) {
+  return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
+}
+
+static float inactive_x_carriage_pos = X2_MAX_POS;
+#endif     
+
 static void axis_is_at_home(int axis) {
+#ifdef DUAL_X_CARRIAGE
+  if (axis == X_AXIS && active_extruder != 0) {
+    current_position[X_AXIS] = x_home_pos(active_extruder);
+    min_pos[X_AXIS] =          X2_MIN_POS;
+    max_pos[X_AXIS] =          max(extruder_offset[X_AXIS][1], X2_MAX_POS);
+    return;
+  }
+#endif  
   current_position[axis] = base_home_pos(axis) + add_homeing[axis];
   min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
   max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
       axis==Y_AXIS ? HOMEAXIS_DO(Y) :
       axis==Z_AXIS ? HOMEAXIS_DO(Z) :
       0) {
+    int axis_home_dir = home_dir(axis);
+#ifdef DUAL_X_CARRIAGE
+    if (axis == X_AXIS)
+      axis_home_dir = x_home_dir(active_extruder);
+#endif
+
+    // Engage Servo endstop if enabled
+    #ifdef SERVO_ENDSTOPS
+      if (SERVO_ENDSTOPS[axis] > -1) {
+        servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+      }
+    #endif
+      
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
+    destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
     feedrate = homing_feedrate[axis];
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
 
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    destination[axis] = -home_retract_mm(axis) * home_dir(axis);
+    destination[axis] = -home_retract_mm(axis) * axis_home_dir;
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
 
-    destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
+    destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
     feedrate = homing_feedrate[axis]/2 ;
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
     destination[axis] = current_position[axis];
     feedrate = 0.0;
     endstops_hit_on_purpose();
+
+    // Retract Servo endstop if enabled
+    #ifdef SERVO_ENDSTOPS
+      if (SERVO_ENDSTOPS[axis] > -1) {
+        servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
+      }
+    #endif
   }
 }
 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
       for(int8_t i=0; i < NUM_AXIS; i++) {
         destination[i] = current_position[i];
       }
-      feedrate = 0.0;
+          feedrate = 0.0;
+
+#ifdef DELTA
+          // A delta can only safely home all axis at the same time
+          // all axis have to home at the same time
+
+          // Move all carriages up together until the first endstop is hit.
+          current_position[X_AXIS] = 0;
+          current_position[Y_AXIS] = 0;
+          current_position[Z_AXIS] = 0;
+          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); 
+
+          destination[X_AXIS] = 3 * Z_MAX_LENGTH;
+          destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
+          destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
+          feedrate = 1.732 * homing_feedrate[X_AXIS];
+          plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+          st_synchronize();
+          endstops_hit_on_purpose();
+
+          current_position[X_AXIS] = destination[X_AXIS];
+          current_position[Y_AXIS] = destination[Y_AXIS];
+          current_position[Z_AXIS] = destination[Z_AXIS];
+          
+          // take care of back off and rehome now we are all at the top
+          HOMEAXIS(X);
+          HOMEAXIS(Y);
+          HOMEAXIS(Z);
+
+          calculate_delta(current_position);
+          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+
+#else // NOT DELTA
+
       home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
 
       #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
       {
         current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
 
+       #ifndef DUAL_X_CARRIAGE
+        int x_axis_home_dir = home_dir(X_AXIS);
+       #else
+        int x_axis_home_dir = x_home_dir(active_extruder);
+       #endif
+        
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+        destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
         feedrate = homing_feedrate[X_AXIS];
         if(homing_feedrate[Y_AXIS]<feedrate)
           feedrate =homing_feedrate[Y_AXIS];
         feedrate = 0.0;
         st_synchronize();
         endstops_hit_on_purpose();
+
+        current_position[X_AXIS] = destination[X_AXIS];
+        current_position[Y_AXIS] = destination[Y_AXIS];
+        current_position[Z_AXIS] = destination[Z_AXIS];
       }
       #endif
 
       if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
       {
+      #ifdef DUAL_X_CARRIAGE
+        int tmp_extruder = active_extruder;
+        active_extruder = !active_extruder;
+        HOMEAXIS(X);
+        inactive_x_carriage_pos = current_position[X_AXIS];
+        active_extruder = tmp_extruder;
+      #endif         
         HOMEAXIS(X);
       }
 
         }
       }
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
+#endif // else DELTA
+          
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
       #endif
         card.removeFile(strchr_pointer + 4);
       }
       break;
+    case 32: //M32 - Select file and start SD print
+      if(card.sdprinting) {
+        st_synchronize();
+        card.closefile();
+        card.sdprinting = false;
+      }
+      starpos = (strchr(strchr_pointer + 4,'*'));
+      if(starpos!=NULL)
+        *(starpos-1)='\0';
+      card.openFile(strchr_pointer + 4,true);
+      card.startFileprint();
+      starttime=millis();
+      break;
     case 928: //M928 - Start SD write
       starpos = (strchr(strchr_pointer + 5,'*'));
       if(starpos != NULL){
     case 105 : // M105
       if(setTargetedHotend(105)){
         break;
-      }
+        }
       #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
         SERIAL_PROTOCOLPGM("ok T:");
         SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
       #ifdef AUTOTEMP
         autotemp_enabled=false;
       #endif
-      if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
+      if (code_seen('S')) { 
+        setTargetHotend(code_value(), tmp_extruder);
+        CooldownNoWait = true;
+      } else if (code_seen('R')) {
+        setTargetHotend(code_value(), tmp_extruder);
+        CooldownNoWait = false;
+      }
       #ifdef AUTOTEMP
         if (code_seen('S')) autotemp_min=code_value();
         if (code_seen('B')) autotemp_max=code_value();
       codenum = millis();
 
       /* See if we are heating up or cooling down */
-      bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
+      target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
 
       #ifdef TEMP_RESIDENCY_TIME
         long residencyStart;
     case 190: // M190 - Wait for bed heater to reach target.
     #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
         LCD_MESSAGEPGM(MSG_BED_HEATING);
-        if (code_seen('S')) setTargetBed(code_value());
+        if (code_seen('S')) { 
+          setTargetBed(code_value());
+          CooldownNoWait = true;
+        } else if (code_seen('R')) {
+          setTargetBed(code_value());
+          CooldownNoWait = false;
+        }
         codenum = millis();
-        while(isHeatingBed())
+        
+        target_direction = isHeatingBed(); // true if heating, false if cooling
+        
+        while ( target_direction ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
         {
           if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
           {
     #if LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) )
     case 300: // M300
     {
-      int beepS = 400;
-      int beepP = 1000;
-      if(code_seen('S')) beepS = code_value();
-      if(code_seen('P')) beepP = code_value();
-      #if BEEPER > 0
-        tone(BEEPER, beepS);
+      int beepS = code_seen('S') ? code_value() : 110;
+      int beepP = code_seen('P') ? code_value() : 1000;
+      if (beepS > 0)
+      {
+        #if BEEPER > 0
+          tone(BEEPER, beepS);
+          delay(beepP);
+          noTone(BEEPER);
+        #elif defined(ULTRALCD)
+          lcd_buzz(beepS, beepP);
+        #endif
+      }
+      else
+      {
         delay(beepP);
-        noTone(BEEPER);
-      #elif defined(ULTRALCD)
-        lcd_buzz(beepS, beepP);
-      #endif
+      }
     }
     break;
     #endif // M300
       #endif
      }
     break;
-
-    case 302: // allow cold extrudes
+#ifdef DOGLCD
+    case 250: // M250  Set LCD contrast value: C<value> (value 0..63)
+     {
+	  if (code_seen('C')) {
+	   lcd_setcontrast( ((int)code_value())&63 );
+          }
+          SERIAL_PROTOCOLPGM("lcd contrast value: ");
+          SERIAL_PROTOCOL(lcd_contrast);
+          SERIAL_PROTOCOLLN("");
+     }
+    break;
+#endif
+    #ifdef PREVENT_DANGEROUS_EXTRUDE
+    case 302: // allow cold extrudes, or set the minimum extrude temperature
     {
-      allow_cold_extrudes(true);
+	  float temp = .0;
+	  if (code_seen('S')) temp=code_value();
+      set_extrude_min_temp(temp);
     }
     break;
+	#endif
     case 303: // M303 PID autotune
     {
       float temp = 150.0;
       if(tmp_extruder != active_extruder) {
         // Save current position to return to after applying extruder offset
         memcpy(destination, current_position, sizeof(destination));
+      #ifdef DUAL_X_CARRIAGE
+        // only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos)
+        current_position[Y_AXIS] = current_position[Y_AXIS] -
+                     extruder_offset[Y_AXIS][active_extruder] +
+                     extruder_offset[Y_AXIS][tmp_extruder];
+
+        float tmp_x_pos = current_position[X_AXIS];
+
+        // Set the new active extruder and position
+        active_extruder = tmp_extruder;
+        axis_is_at_home(X_AXIS); //this function updates X min/max values.
+        current_position[X_AXIS] = inactive_x_carriage_pos;
+        inactive_x_carriage_pos = tmp_x_pos;      
+      #else    
         // Offset extruder (only by XY)
         int i;
         for(i = 0; i < 2; i++) {
         }
         // Set the new active extruder and position
         active_extruder = tmp_extruder;
+      #endif //else DUAL_X_CARRIAGE
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         // Move to the old position if 'F' was in the parameters
         if(make_move && Stopped == false) {
   }
 }
 
+#ifdef DELTA
+void calculate_delta(float cartesian[3])
+{
+  delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+                       - sq(DELTA_TOWER1_X-cartesian[X_AXIS])
+                       - sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
+                       ) + cartesian[Z_AXIS];
+  delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+                       - sq(DELTA_TOWER2_X-cartesian[X_AXIS])
+                       - sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
+                       ) + cartesian[Z_AXIS];
+  delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+                       - sq(DELTA_TOWER3_X-cartesian[X_AXIS])
+                       - sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
+                       ) + cartesian[Z_AXIS];
+  /*
+  SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
+  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
+  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
+
+  SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
+  SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
+  SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
+  */
+}
+#endif
+
 void prepare_move()
 {
   clamp_to_software_endstops(destination);
 
   previous_millis_cmd = millis();
+#ifdef DELTA
+  float difference[NUM_AXIS];
+  for (int8_t i=0; i < NUM_AXIS; i++) {
+    difference[i] = destination[i] - current_position[i];
+  }
+  float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
+                            sq(difference[Y_AXIS]) +
+                            sq(difference[Z_AXIS]));
+  if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
+  if (cartesian_mm < 0.000001) { return; }
+  float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+  int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
+  // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+  // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+  // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+  for (int s = 1; s <= steps; s++) {
+    float fraction = float(s) / float(steps);
+    for(int8_t i=0; i < NUM_AXIS; i++) {
+      destination[i] = current_position[i] + difference[i] * fraction;
+    }
+    calculate_delta(destination);
+    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+                     destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+                     active_extruder);
+  }
+#else
   // Do not use feedmultiply for E or Z only moves
   if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
   else {
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
   }
+#endif
   for(int8_t i=0; i < NUM_AXIS; i++) {
     current_position[i] = destination[i];
   }
        || !READ(E2_ENABLE_PIN)
     #endif
     #if EXTRUDER > 1
+      #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+       || !READ(X2_ENABLE_PIN)
+      #endif
        || !READ(E1_ENABLE_PIN)
     #endif
        || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
   }
   return false;
 }
+

Marlin/Servo.cpp

  detach()    - Stops an attached servos from pulsing its i/o pin.
 
 */
+#include "Configuration.h" 
+
 #ifdef NUM_SERVOS
 #include <avr/interrupt.h>
 #include <Arduino.h>

Marlin/cardreader.cpp

    saving = false;
    logging = false;
    autostart_atmillis=0;
+   workDirDepth = 0;
+   memset(workDirParents, 0, sizeof(workDirParents));
 
    autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
    lastnr=0;
   if(cardOK)
   {
     sdprinting = true;
-    
   }
 }
 
   }
   else
   {
-    workDirParentParent=workDirParent;
-    workDirParent=*parent;
-    
+    if (workDirDepth < MAX_DIR_DEPTH) {
+      for (int d = ++workDirDepth; d--;)
+        workDirParents[d+1] = workDirParents[d];
+      workDirParents[0]=*parent;
+    }
     workDir=newfile;
   }
 }
 
 void CardReader::updir()
 {
-  if(!workDir.isRoot())
+  if(workDirDepth > 0)
   {
-    workDir=workDirParent;
-    workDirParent=workDirParentParent;
+    --workDirDepth;
+    workDir = workDirParents[0];
+    int d;
+    for (int d = 0; d < workDirDepth; d++)
+      workDirParents[d] = workDirParents[d+1];
   }
 }
 

Marlin/cardreader.h

 
 #ifdef SDSUPPORT
 
+#define MAX_DIR_DEPTH 10
+
 #include "SdFile.h"
 enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
 class CardReader
   bool filenameIsDir;
   int lastnr; //last number of the autostart;
 private:
-  SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
+  SdFile root,*curDir,workDir,workDirParents[MAX_DIR_DEPTH];
+  uint16_t workDirDepth;
   Sd2Card card;
   SdVolume volume;
   SdFile file;

Marlin/dogm_lcd_implementation.h

 #define LCD_CLICKED (buttons&EN_C)
 #endif
 
-// CHANGE_DE begin ***
-#include <U8glib.h>	// DE_U8glib
+#include <U8glib.h>
 #include "DOGMbitmaps.h"
 #include "dogm_font_data_marlin.h"
 #include "ultralcd.h"
+#include "ultralcd_st7920_u8glib_rrd.h"
 
 
 /* Russian language not supported yet, needs custom font
 
 #define FONT_STATUSMENU	u8g_font_6x9
 
+int lcd_contrast;
 
 // LCD selection
 #ifdef U8GLIB_ST7920
-// SPI Com: SCK = en = (D4), MOSI = rw = (RS), CS = di = (ENABLE)
-U8GLIB_ST7920_128X64_1X u8g(LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS);
+//U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
+U8GLIB_ST7920_128X64_RRD u8g(0);
+#elif defined(MAKRPANEL)
+// The MaKrPanel display, ST7565 controller as well
+U8GLIB_NHD_C12864 u8g(DOGLCD_CS, DOGLCD_A0);
 #else
+// for regular DOGM128 display with HW-SPI
 U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);	// HW-SPI Com: CS, A0
 #endif
 
 static void lcd_implementation_init()
 {
+#ifdef LCD_PIN_BL
+	pinMode(LCD_PIN_BL, OUTPUT);	// Enable LCD backlight
+	digitalWrite(LCD_PIN_BL, HIGH);
+#endif
+
+        u8g.setContrast(lcd_contrast);	
 	//  Uncomment this if you have the first generation (V1.10) of STBs board
 	//  pinMode(17, OUTPUT);	// Enable LCD backlight
 	//  digitalWrite(17, HIGH);
 			u8g.setFont(u8g_font_6x10_marlin);
 			u8g.drawStr(62,10,"MARLIN"); 
 			u8g.setFont(u8g_font_5x8);
-			u8g.drawStr(62,19,"V1.0.0 RC2");
+			u8g.drawStr(62,19,"V1.0.0 RC2-mm");
 			u8g.setFont(u8g_font_6x10_marlin);
 			u8g.drawStr(62,28,"by ErikZalm");
 			u8g.drawStr(62,41,"DOGM128 LCD");
 			u8g.setFont(u8g_font_5x8);
 			u8g.drawStr(62,48,"enhancements");
 			u8g.setFont(u8g_font_5x8);
-			u8g.drawStr(62,55,"by STB");
+			u8g.drawStr(62,55,"by STB, MM");
 			u8g.drawStr(62,61,"uses u");
 			u8g.drawStr90(92,57,"8");
 			u8g.drawStr(100,61,"glib");

Marlin/language.h

 
 // NOTE: IF YOU CHANGE THIS FILE / MERGE THIS FILE WITH CHANGES
 //
-//   ==> ALWAYS TRY TO COMPILE MARLIN WITH/WITHOUT "ULTIPANEL" / "ULTRALCD" / "SDSUPPORT" #define IN "Configuration.h" 
-//   ==> ALSO TRY ALL AVAILABLE "LANGUAGE_CHOICE" OPTIONS
+//   ==> ALWAYS TRY TO COMPILE MARLIN WITH/WITHOUT "ULTIPANEL" / "ULTRALCD" / "SDSUPPORT" #define IN "Configuration.h" 
+//   ==> ALSO TRY ALL AVAILABLE "LANGUAGE_CHOICE" OPTIONS
 
 // Languages
 // 1  English
 // 2  Polish
-// 3  French	(awaiting translation!)
+// 3  French
 // 4  German
 // 5  Spanish
 // 6  Russian
 #elif MOTHERBOARD == 80
 	#define MACHINE_NAME "Rumba"
 	#define FIRMWARE_URL "https://github.com/ErikZalm/Marlin/"
+#elif MOTHERBOARD == 77
+	#define MACHINE_NAME "3Drag"
+	#define FIRMWARE_URL "http://3dprint.elettronicain.it/"
 #else
-	#define MACHINE_NAME "Mendel"
+	#ifdef CUSTOM_MENDEL_NAME
+		#define MACHINE_NAME CUSTOM_MENDEL_NAME
+	#else
+		#define MACHINE_NAME "Mendel"
+	#endif
 	#define FIRMWARE_URL "http://www.mendel-parts.com"
 #endif
 
 	#define MSG_PID_D "PID-D"
 	#define MSG_PID_C "PID-C"
 	#define MSG_ACC  "Accel"
-	#define MSG_VXY_JERK "Vxy-jerk"
-	#define MSG_VZ_JERK "Vz-jerk"
-	#define MSG_VE_JERK "Ve-jerk"
+	#define MSG_VXY_JERK "Vxy-jerk"
+	#define MSG_VZ_JERK "Vz-jerk"
+	#define MSG_VE_JERK "Ve-jerk"
 	#define MSG_VMAX "Vmax "
 	#define MSG_X "x"
 	#define MSG_Y "y"
 	#define MSG_RECTRACT "Rectract"
 	#define MSG_TEMPERATURE "Temperature"
 	#define MSG_MOTION "Motion"
+	#define MSG_CONTRAST "LCD contrast"
 	#define MSG_STORE_EPROM "Store memory"
 	#define MSG_LOAD_EPROM "Load memory"
 	#define MSG_RESTORE_FAILSAFE "Restore Failsafe"
 	#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_STEPPER_TOO_HIGH "Steprate too 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"
 	#define MSG_PID_C "PID-C"
 	#define MSG_ACC  "Acc"
 	#define MSG_VXY_JERK "Zryw Vxy"
-	#define MSG_VZ_JERK "Zryw Vz"
-	#define MSG_VE_JERK "Zryw Ve"
+	#define MSG_VZ_JERK "Zryw Vz"
+	#define MSG_VE_JERK "Zryw Ve"
 	#define MSG_VMAX "Vmax"
 	#define MSG_X "x"
 	#define MSG_Y "y"
 	#define MSG_RECTRACT "Wycofanie"
 	#define MSG_TEMPERATURE "Temperatura"
 	#define MSG_MOTION "Ruch"
+	#define MSG_CONTRAST "LCD contrast"
 	#define MSG_STORE_EPROM "Zapisz w pamieci"
 	#define MSG_LOAD_EPROM "Wczytaj z pamieci"
 	#define MSG_RESTORE_FAILSAFE " Ustawienia fabryczne"
 	#define MSG_SD_ERR_WRITE_TO_FILE "blad podczas zapisu do pliku"
 	#define MSG_SD_CANT_ENTER_SUBDIR "Nie mozna odczytac podkatalogu: "
 
-	#define MSG_STEPPER_TO_HIGH "Za duza czestotliwosc krokow: "
+	#define MSG_STEPPER_TOO_HIGH "Za duza czestotliwosc krokow: "
 	#define MSG_ENDSTOPS_HIT "Wylacznik krancowy zostal wyzwolony na pozycji: "
 	#define MSG_ERR_COLD_EXTRUDE_STOP " uniemozliwiono zimna ekstruzje"
 	#define MSG_ERR_LONG_EXTRUDE_STOP " uniemozliwiono zbyt dluga ekstruzje"
 #define MSG_PID_C " PID-C: "
 #define MSG_ACC " Acc:"
 #define MSG_VXY_JERK "Vxy-jerk"
-#define MSG_VZ_JERK "Vz-jerk"
-#define MSG_VE_JERK "Ve-jerk"
+#define MSG_VZ_JERK "Vz-jerk"
+#define MSG_VE_JERK "Ve-jerk"
 #define MSG_VMAX " Vmax "
 #define MSG_X "x:"
 #define MSG_Y "y:"
 #define MSG_TEMPERATURE_WIDE " Temperature \x7E"
 #define MSG_TEMPERATURE_RTN " Temperature \003"
 #define MSG_MOTION_WIDE " Mouvement \x7E"
+	#define MSG_CONTRAST "LCD contrast"
 #define MSG_STORE_EPROM " Sauvegarder memoire"
 #define MSG_LOAD_EPROM " Lire memoire"
 #define MSG_RESTORE_FAILSAFE " Restaurer memoire"
 #define MSG_SD_ERR_WRITE_TO_FILE "Erreur d'ecriture dans le fichier"
 #define MSG_SD_CANT_ENTER_SUBDIR "Impossible d'entrer dans le sous-repertoire: "
 
-#define MSG_STEPPER_TO_HIGH "Steprate trop eleve: "
+#define MSG_STEPPER_TOO_HIGH "Steprate trop eleve: "
 #define MSG_ENDSTOPS_HIT "Fin de course atteint: "
 #define MSG_ERR_COLD_EXTRUDE_STOP " Extrusion a froid evitee"
 #define MSG_ERR_LONG_EXTRUDE_STOP " Extrusion longue evitee"
 
 	#define MSG_SD_INSERTED      "SDKarte erkannt"
 	#define MSG_SD_REMOVED       "SDKarte entfernt"
-	#define MSG_MAIN             "Hauptmneü"
+	#define MSG_MAIN             "Hauptmenü"
 	#define MSG_AUTOSTART        "Autostart"
 	#define MSG_DISABLE_STEPPERS "Stepper abschalten"
 	#define MSG_AUTO_HOME        "Auto Nullpunkt"
 	#define MSG_NOZZLE2          "Düse3"
 	#define MSG_BED              "Bett"
 	#define MSG_FAN_SPEED        "Lüftergeschw."
-	#define MSG_FLOW             "Fluß"
+	#define MSG_FLOW             "Fluss"
 	#define MSG_CONTROL          "Einstellungen"
 	#define MSG_MIN              "\002 Min"
 	#define MSG_MAX              "\002 Max"
 	#define MSG_PID_C            "PID-C"
 	#define MSG_ACC              "Acc"
 	#define MSG_VXY_JERK         "Vxy-jerk"
-	#define MSG_VZ_JERK          "Vz-jerk"
-	#define MSG_VE_JERK          "Ve-jerk"
+	#define MSG_VZ_JERK          "Vz-jerk"
+	#define MSG_VE_JERK          "Ve-jerk"
 	#define MSG_VMAX             "Vmax "
 	#define MSG_X                "x"
 	#define MSG_Y                "y"
 	#define MSG_WATCH            "Beobachten"
 	#define MSG_TEMPERATURE      "Temperatur"
 	#define MSG_MOTION           "Bewegung"
+	#define MSG_CONTRAST "LCD contrast"
 	#define MSG_STORE_EPROM      "EPROM speichern"
 	#define MSG_LOAD_EPROM       "EPROM laden"
 	#define MSG_RESTORE_FAILSAFE "Standardkonfig."
 	#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_STEPPER_TOO_HIGH "Steprate too 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"
 #if LANGUAGE_CHOICE == 5
 
 // LCD Menu Messages
-#define WELCOME_MSG MACHINE_NAME " Lista."
+#define WELCOME_MSG MACHINE_NAME "Lista."
 #define MSG_SD_INSERTED "Tarjeta SD Colocada"
 #define MSG_SD_REMOVED "Tarjeta SD Retirada"
-#define MSG_MAIN " Menu Principal \003"
+#define MSG_MAIN "Menu Principal"
 #define MSG_AUTOSTART " Autostart"
-#define MSG_DISABLE_STEPPERS " Apagar Motores"
-#define MSG_AUTO_HOME " Llevar Ejes al Cero"
-#define MSG_SET_ORIGIN " Establecer Cero"
-#define MSG_COOLDOWN " Enfriar"
-#define MSG_EXTRUDE " Extruir"
-#define MSG_RETRACT " Retraer"
-#define MSG_PREHEAT_PLA " Precalentar PLA"
-#define MSG_PREHEAT_PLA_SETTINGS " Ajustar temp. PLA"
-#define MSG_PREHEAT_ABS " Precalentar ABS"
-#define MSG_PREHEAT_ABS_SETTINGS " Ajustar temp. ABS"
-#define MSG_MOVE_AXIS " Mover Ejes      \x7E"
-#define MSG_SPEED " Velocidad:"
-#define MSG_NOZZLE " \002Nozzle:"
-#define MSG_NOZZLE1 " \002Nozzle2:"
-#define MSG_NOZZLE2 " \002Nozzle3:"
-#define MSG_BED " \002Base:"
-#define MSG_FAN_SPEED " Ventilador:"
-#define MSG_FLOW " Flujo:"
-#define MSG_CONTROL " Control \003"
-#define MSG_MIN " \002 Min:"
-#define MSG_MAX " \002 Max:"
-#define MSG_FACTOR " \002 Fact:"
-#define MSG_AUTOTEMP " Autotemp:"
-#define MSG_ON "On "
+#define MSG_DISABLE_STEPPERS "Apagar Motores"
+#define MSG_AUTO_HOME "Llevar al Origen" // "Llevar Ejes al Cero"
+#define MSG_SET_ORIGIN "Establecer Cero"
+#define MSG_PREHEAT_PLA "Precalentar PLA"
+#define MSG_PREHEAT_PLA_SETTINGS "Ajustar temp. PLA"
+#define MSG_PREHEAT_ABS "Precalentar ABS"
+#define MSG_PREHEAT_ABS_SETTINGS "Ajustar temp. ABS"
+#define MSG_COOLDOWN "Enfriar"
+#define MSG_EXTRUDE "Extruir"
+#define MSG_RETRACT "Retraer"
+#define MSG_MOVE_AXIS "Mover Ejes"
+#define MSG_SPEED "Velocidad"
+#define MSG_NOZZLE "Nozzle"
+#define MSG_NOZZLE1 "Nozzle2"
+#define MSG_NOZZLE2 "Nozzle3"
+#define MSG_BED "Base"
+#define MSG_FAN_SPEED "Ventilador"
+#define MSG_FLOW "Flujo"
+#define MSG_CONTROL "Control"
+#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_VZ_JERK "Vz-jerk"
-#define MSG_VE_JERK "Ve-jerk"
-#define MSG_VMAX " Vmax "
-#define MSG_X "x:"
-#define MSG_Y "y:"
-#define MSG_Z "z:"
-#define MSG_E "e:"
-#define MSG_VMIN " Vmin:"
-#define MSG_VTRAV_MIN " VTrav min:"
-#define MSG_AMAX " Amax "
-#define MSG_A_RETRACT " A-retrac.:"
-#define MSG_XSTEPS " Xpasos/mm:"
-#define MSG_YSTEPS " Ypasos/mm:"
-#define MSG_ZSTEPS " Zpasos/mm:"
-#define MSG_ESTEPS " Epasos/mm:"
-#define MSG_MAIN_WIDE " Menu Principal  \003"
-#define MSG_RECTRACT_WIDE " Retraer         \x7E"
-#define MSG_TEMPERATURE_WIDE " Temperatura     \x7E"
-#define MSG_TEMPERATURE_RTN  " Temperatura     \003"
-#define MSG_MOTION_WIDE " Movimiento      \x7E"
-#define MSG_STORE_EPROM " Guardar Memoria"
-#define MSG_LOAD_EPROM " Cargar Memoria"
-#define MSG_RESTORE_FAILSAFE " Rest. de emergencia"
-#define MSG_REFRESH "\004Volver a cargar"
-#define MSG_WATCH " Monitorizar \003"
-#define MSG_PREPARE " Preparar \x7E"
-#define MSG_PREPARE_ALT " Preparar \003"
-#define MSG_CONTROL_ARROW " Control  \x7E"
-#define MSG_RETRACT_ARROW " Retraer  \x7E"
-#define MSG_TUNE " Ajustar \x7E"
-#define MSG_PAUSE_PRINT " Pausar Impresion \x7E"
-#define MSG_RESUME_PRINT " Reanudar Impresion \x7E"
-#define MSG_STOP_PRINT " Detener Impresion \x7E"
-#define MSG_CARD_MENU " Menu de SD    \x7E"
-#define MSG_NO_CARD " No hay Tarjeta SD"
+#define MSG_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  "Acel"
+#define MSG_VXY_JERK "Vxy-jerk"
+#define MSG_VZ_JERK "Vz-jerk"
+#define MSG_VE_JERK "Ve-jerk"
+#define MSG_VMAX "Vmax"
+#define MSG_X "x"
+#define MSG_Y "y"
+#define MSG_Z "z"
+#define MSG_E "e"
+#define MSG_VMIN "Vmin"
+#define MSG_VTRAV_MIN "VTrav min"
+#define MSG_AMAX "Amax"
+#define MSG_A_RETRACT "A-retrac."
+#define MSG_XSTEPS "X pasos/mm"
+#define MSG_YSTEPS "Y pasos/mm"
+#define MSG_ZSTEPS "Z pasos/mm"
+#define MSG_ESTEPS "E pasos/mm"
+#define MSG_RECTRACT "Retraer"
+#define MSG_TEMPERATURE "Temperatura"
+#define MSG_MOTION "Movimiento"
+#define MSG_STORE_EPROM "Guardar Memoria"
+#define MSG_LOAD_EPROM "Cargar Memoria"
+#define MSG_RESTORE_FAILSAFE "Rest. de emergencia"
+#define MSG_REFRESH "Volver a cargar"
+#define MSG_WATCH "Monitorizar"
+#define MSG_PREPARE "Preparar"
+#define MSG_TUNE "Ajustar"
+#define MSG_PAUSE_PRINT "Pausar Impresion"
+#define MSG_RESUME_PRINT "Reanudar Impresion"
+#define MSG_STOP_PRINT "Detener Impresion"
+#define MSG_CARD_MENU "Menu de SD"
+#define MSG_NO_CARD "No hay Tarjeta SD"
 #define MSG_DWELL "Reposo..."
 #define MSG_USERWAIT "Esperando Ordenes..."
+#define MSG_RESUMING "Resumiendo Impresion"
 #define MSG_NO_MOVE "Sin movimiento"
-#define MSG_PART_RELEASE "Desacople Parcial"
 #define MSG_KILLED "PARADA DE EMERGENCIA. "
-#define MSG_STOPPED "PARADA. "
-#define MSG_STEPPER_RELEASED "Desacoplada."
-#define MSG_CONTROL_RETRACT  " Retraer mm:"
-#define MSG_CONTROL_RETRACTF " Retraer  F:"
-#define MSG_CONTROL_RETRACT_ZLIFT " Levantar mm:"
-#define MSG_CONTROL_RETRACT_RECOVER " DesRet +mm:"
-#define MSG_CONTROL_RETRACT_RECOVERF " DesRet F:"
-#define MSG_AUTORETRACT " AutoRetr.:"
+#define MSG_STOPPED "PARADA."
+#define MSG_CONTROL_RETRACT  "Retraer mm"
+#define MSG_CONTROL_RETRACTF "Retraer  F"
+#define MSG_CONTROL_RETRACT_ZLIFT "Levantar mm"
+#define MSG_CONTROL_RETRACT_RECOVER "DesRet +mm"
+#define MSG_CONTROL_RETRACT_RECOVERF "DesRet F"
+#define MSG_AUTORETRACT "AutoRetr."
 #define MSG_FILAMENTCHANGE "Change filament"
+#define MSG_INIT_SDCARD "Iniciando. Tarjeta-SD"
+#define MSG_CNG_SDCARD "Cambiar Tarjeta-SD"
+#define MSG_RECTRACT_WIDE "Retraer"
+#define MSG_TEMPERATURE_WIDE "Temperatura"
+#define MSG_TEMPERATURE_RTN  "Temperatura"
+#define MSG_MAIN_WIDE "Menu Principal"
+#define MSG_MOTION_WIDE "Movimiento"
+#define MSG_PREPARE_ALT "Preparar"
+#define MSG_CONTROL_ARROW "Control"
+#define MSG_RETRACT_ARROW "Retraer"
+#define MSG_PART_RELEASE "Desacople Parcial"
+#define MSG_STEPPER_RELEASED "Desacoplada."
+
 // Serial Console Messages
 
 #define MSG_Enqueing "En cola \""
 #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_M119_REPORT "Comprobando fines de carrera."
 #define MSG_ENDSTOP_HIT "PULSADO"
 #define MSG_ENDSTOP_OPEN "abierto"
 #define MSG_HOTEND_OFFSET "Hotend offsets:"
-        
 #define MSG_SD_CANT_OPEN_SUBDIR "No se pudo abrir la subcarpeta."
 #define MSG_SD_INIT_FAIL "Fallo al iniciar la SD"
 #define MSG_SD_VOL_INIT_FAIL "Fallo al montar el volumen"
 #define MSG_SD_ERR_WRITE_TO_FILE "Error al escribir en el archivo"
 #define MSG_SD_CANT_ENTER_SUBDIR "No se puede abrir la carpeta:"
 
-#define MSG_STEPPER_TO_HIGH "Steprate demasiado alto : "
+#define MSG_STEPPER_TOO_HIGH "Steprate demasiado alto : "
 #define MSG_ENDSTOPS_HIT "Se ha tocado el fin de carril: "
 #define MSG_ERR_COLD_EXTRUDE_STOP " extrusion fria evitada"
 #define MSG_ERR_LONG_EXTRUDE_STOP " extrusion demasiado larga evitada"
 #define MSG_PID_C							" PID-C: "
 #define MSG_ACC								" Acc:"
 #define MSG_VXY_JERK						" Vxy-jerk: "
-#define MSG_VZ_JERK                         "Vz-jerk"
-#define MSG_VE_JERK                         "Ve-jerk"
+#define MSG_VZ_JERK                         "Vz-jerk"
+#define MSG_VE_JERK                         "Ve-jerk"
 #define MSG_VMAX							" Vmax "
 #define MSG_X								"x:"
 #define MSG_Y								"y:"
 #define MSG_RECTRACT    					" Откат подачи      \x7E"
 #define MSG_TEMPERATURE  				" Температура       \x7E"
 #define MSG_MOTION						" Скорости          \x7E"
+	#define MSG_CONTRAST "LCD contrast"
 #define MSG_STORE_EPROM						" Сохранить настройки"
 #define MSG_LOAD_EPROM						" Загрузить настройки"
 #define MSG_RESTORE_FAILSAFE				" Сброс настроек     "
 #define MSG_SD_NOT_PRINTING					"нет SD печати"
 #define MSG_SD_ERR_WRITE_TO_FILE			"ошибка записи в файл"
 #define MSG_SD_CANT_ENTER_SUBDIR			"Не зайти в папку:"
-#define MSG_STEPPER_TO_HIGH					"Частота шагов очень высока : "
+#define MSG_STEPPER_TOO_HIGH				"Частота шагов очень высока : "
 #define MSG_ENDSTOPS_HIT					"концевик сработал: "
 #define MSG_ERR_COLD_EXTRUDE_STOP			" защита холодной экструзии"
 #define MSG_ERR_LONG_EXTRUDE_STOP			" защита превышения длинны экструзии"
 #if LANGUAGE_CHOICE == 7
 
 	// LCD Menu Messages
-	#define WELCOME_MSG MACHINE_NAME " Pronto."
+	#define WELCOME_MSG MACHINE_NAME " Pronta"
 	#define MSG_SD_INSERTED          "SD Card inserita"
 	#define MSG_SD_REMOVED           "SD Card rimossa"
 	#define MSG_MAIN                 "Menu principale"
 	#define MSG_PREHEAT_PLA_SETTINGS "Preris. PLA Conf"
 	#define MSG_PREHEAT_ABS          "Preriscalda ABS"
 	#define MSG_PREHEAT_ABS_SETTINGS "Preris. ABS Conf"
-	#define MSG_COOLDOWN             "Rafredda"
+	#define MSG_COOLDOWN             "Raffredda"
 	#define MSG_EXTRUDE              "Estrudi"
 	#define MSG_RETRACT              "Ritrai"
 	#define MSG_MOVE_AXIS            "Muovi Asse"
 	#define MSG_PID_C                "PID-C"
 	#define MSG_ACC                  "Accel"
 	#define MSG_VXY_JERK             "Vxy-jerk"
-	#define MSG_VZ_JERK              "Vz-jerk"
-	#define MSG_VE_JERK              "Ve-jerk"
+	#define MSG_VZ_JERK              "Vz-jerk"
+	#define MSG_VE_JERK              "Ve-jerk"
 	#define MSG_VMAX                 "Vmax"
 	#define MSG_X                    "x"
 	#define MSG_Y                    "y"
 	#define MSG_RECTRACT             "Ritrai"
 	#define MSG_TEMPERATURE          "Temperatura"
 	#define MSG_MOTION               "Movimento"
+	#define MSG_CONTRAST "LCD contrast"
 	#define MSG_STORE_EPROM          "Salva in EEPROM"
 	#define MSG_LOAD_EPROM           "Carica da EEPROM"
 	#define MSG_RESTORE_FAILSAFE     "Impostaz. default"
 	#define MSG_SD_ERR_WRITE_TO_FILE "Errore nella scrittura su file"
 	#define MSG_SD_CANT_ENTER_SUBDIR "Impossibile entrare nella sottocartella: "
 
-	#define MSG_STEPPER_TO_HIGH      "Steprate troppo alto: "
+	#define MSG_STEPPER_TOO_HIGH     "Steprate troppo alto: "
 	#define MSG_ENDSTOPS_HIT         "Raggiunto il fondo carrello: "
 	#define MSG_ERR_COLD_EXTRUDE_STOP " prevenuta estrusione fredda"
 	#define MSG_ERR_LONG_EXTRUDE_STOP " prevenuta estrusione troppo lunga"
 	#define MSG_PID_C " PID-C: "
 	#define MSG_ACC  " Acc:"
 	#define MSG_VXY_JERK " Vxy-jerk: "
-	#define MSG_VZ_JERK "Vz-jerk"
-	#define MSG_VE_JERK "Ve-jerk"
+	#define MSG_VZ_JERK "Vz-jerk"
+	#define MSG_VE_JERK "Ve-jerk"
 	#define MSG_VMAX " Vmax "
 	#define MSG_X "x:"
 	#define MSG_Y "y:"
 	#define MSG_CONTROL_RETRACT_RECOVER " DesRet +mm:"
 	#define MSG_CONTROL_RETRACT_RECOVERF " DesRet  F:"
 	#define MSG_AUTORETRACT " AutoRetr.:"
-        #define MSG_SERIAL_ERROR_MENU_STRUCTURE "Algo esta errado na estrutura do Menu."
-        #define MSG_FILAMENTCHANGE "Change filament"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Algo esta errado na estrutura do Menu."
+	#define MSG_FILAMENTCHANGE "Change filament"
 
 // Serial Console Messages
 
 	#define MSG_SD_ERR_WRITE_TO_FILE "Erro ao escrever no arquivo"
 	#define MSG_SD_CANT_ENTER_SUBDIR "Nao pode abrir o sub diretorio:"
 
-	#define MSG_STEPPER_TO_HIGH "Steprate muito alto : "
+	#define MSG_STEPPER_TOO_HIGH "Steprate muito alto : "
 	#define MSG_ENDSTOPS_HIT "O ponto final foi tocado: "
 	#define MSG_ERR_COLD_EXTRUDE_STOP " Extrusao a frio evitada"
 	#define MSG_ERR_LONG_EXTRUDE_STOP " Extrusao muito larga evitada"
 	#define MSG_PID_C "PID-C"
 	#define MSG_ACC  "Kiihtyv"
 	#define MSG_VXY_JERK "Vxy-jerk"
-	#define MSG_VZ_JERK "Vz-jerk"
-	#define MSG_VE_JERK "Ve-jerk"
+	#define MSG_VZ_JERK "Vz-jerk"
+	#define MSG_VE_JERK "Ve-jerk"
 	#define MSG_VMAX "Vmax "
 	#define MSG_X "x"
 	#define MSG_Y "y"
 	#define MSG_RECTRACT "Veda takaisin"
 	#define MSG_TEMPERATURE "Lampotila"
 	#define MSG_MOTION "Liike"
+	#define MSG_CONTRAST "LCD contrast"
 	#define MSG_STORE_EPROM "Tallenna muistiin"
 	#define MSG_LOAD_EPROM "Lataa muistista"
 	#define MSG_RESTORE_FAILSAFE "Palauta oletus"
 	#define MSG_SD_ERR_WRITE_TO_FILE "virhe kirjoitettaessa tiedostoon"
 	#define MSG_SD_CANT_ENTER_SUBDIR "Alihakemistoon ei voitu siirtya: "
 
-	#define MSG_STEPPER_TO_HIGH "Askellustaajuus liian suuri: "
+	#define MSG_STEPPER_TOO_HIGH "Askellustaajuus liian suuri: "
 	#define MSG_ENDSTOPS_HIT "paatyrajat aktivoitu: "
 	#define MSG_ERR_COLD_EXTRUDE_STOP " kylmana pursotus estetty"
 	#define MSG_ERR_LONG_EXTRUDE_STOP " liian pitka pursotus estetty"

Marlin/pins.h

 
 #endif /* 99 */
 
+
 /****************************************************************************************
 * Gen7 v1.1, v1.2, v1.3 pin assignment
 *
 #endif
 
 //x axis pins
-    #define X_STEP_PIN      21                  //different from stanard GEN7
-    #define X_DIR_PIN       20            //different from stanard GEN7
+    #define X_STEP_PIN      21                  // different from standard GEN7
+    #define X_DIR_PIN       20                  // different from standard GEN7
     #define X_ENABLE_PIN    24
     #define X_STOP_PIN      0
 
 * Arduino Mega pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34
+#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
 #define KNOWN_BOARD 1
 
 //////////////////FIX THIS//////////////
  #endif
 #endif
 
+
 // uncomment one of the following lines for RAMPS v1.3 or v1.0, comment both for v1.2 or 1.1
 // #define RAMPS_V_1_3
 // #define RAMPS_V_1_0
 
-#if MOTHERBOARD == 33 || MOTHERBOARD == 34
 
-#define LARGE_FLASH        true
-
-#define X_STEP_PIN         54
-#define X_DIR_PIN          55
-#define X_ENABLE_PIN       38
-#define X_MIN_PIN           3
-#define X_MAX_PIN           2
+#if MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
 
-#define Y_STEP_PIN         60
-#define Y_DIR_PIN          61
-#define Y_ENABLE_PIN       56
-#define Y_MIN_PIN          14
-#define Y_MAX_PIN          15
-
-#define Z_STEP_PIN         46
-#define Z_DIR_PIN          48
-#define Z_ENABLE_PIN       62
-#define Z_MIN_PIN          18
-#define Z_MAX_PIN          19
-
-#define Z2_STEP_PIN        36
-#define Z2_DIR_PIN         34
-#define Z2_ENABLE_PIN      30
+  #define LARGE_FLASH true
+  
+  #if MOTHERBOARD == 77
+    #define X_STEP_PIN         54
+    #define X_DIR_PIN          55
+    #define X_ENABLE_PIN       38
+    #define X_MIN_PIN           3
+    #define X_MAX_PIN           -1   //2 //Max endstops default to disabled "-1", set to commented value to enable.
+
+    #define Y_STEP_PIN         60
+    #define Y_DIR_PIN          61
+    #define Y_ENABLE_PIN       56
+    #define Y_MIN_PIN          14
+    #define Y_MAX_PIN          -1   //15
+
+    #define Z_STEP_PIN         46
+    #define Z_DIR_PIN          48
+    #define Z_ENABLE_PIN       63
+    #define Z_MIN_PIN          18
+    #define Z_MAX_PIN          -1
+
+    #define Z2_STEP_PIN        36
+    #define Z2_DIR_PIN         34
+    #define Z2_ENABLE_PIN      30
+
+    #define E0_STEP_PIN        26
+    #define E0_DIR_PIN         28
+    #define E0_ENABLE_PIN      24
+
+    #define E1_STEP_PIN        36
+    #define E1_DIR_PIN         34
+    #define E1_ENABLE_PIN      30
+
+    #define SDPOWER            -1
+    #define SDSS               25//53
+    #define LED_PIN            13
+
+    #define BEEPER             33    
 
-#define E0_STEP_PIN        26
-#define E0_DIR_PIN         28
-#define E0_ENABLE_PIN      24
+  #else
 
-#define E1_STEP_PIN        36
-#define E1_DIR_PIN         34
-#define E1_ENABLE_PIN      30
+    #define X_STEP_PIN         54
+    #define X_DIR_PIN          55
+    #define X_ENABLE_PIN       38
+    #define X_MIN_PIN           3
+    #define X_MAX_PIN           2
+
+    #define Y_STEP_PIN         60
+    #define Y_DIR_PIN          61
+    #define Y_ENABLE_PIN       56
+    #define Y_MIN_PIN          14
+    #define Y_MAX_PIN          15
+
+    #define Z_STEP_PIN         46
+    #define Z_DIR_PIN          48
+    #define Z_ENABLE_PIN       62
+    #define Z_MIN_PIN          18
+    #define Z_MAX_PIN          19
+
+    #define Z2_STEP_PIN        36
+    #define Z2_DIR_PIN         34
+    #define Z2_ENABLE_PIN      30
+
+    #define E0_STEP_PIN        26
+    #define E0_DIR_PIN         28
+    #define E0_ENABLE_PIN      24
+
+    #define E1_STEP_PIN        36
+    #define E1_DIR_PIN         34
+    #define E1_ENABLE_PIN      30
+
+    #define SDPOWER            -1
+    #define SDSS               53
+    #define LED_PIN            13
+  #endif
 
-#define SDPOWER            -1
-#define SDSS               53
-#define LED_PIN            13
+  #if MOTHERBOARD == 33
+    #define FAN_PIN            9 // (Sprinter config)
+  #else
+    #define FAN_PIN            4 // IO pin. Buffer needed
+  #endif
 
-#if MOTHERBOARD == 33
-#define FAN_PIN            9 // (Sprinter config)
-#else
-#define FAN_PIN            4 // IO pin. Buffer needed
-#endif
-#define PS_ON_PIN          12
+  #if MOTHERBOARD == 77
+    #define FAN_PIN            8 
+  #endif
 
-#if defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
-#define KILL_PIN           41
-#else
-#define KILL_PIN           -1
-#endif
+  #define PS_ON_PIN          12
 
-#define HEATER_0_PIN       10   // EXTRUDER 1
-#if MOTHERBOARD == 33
-#define HEATER_1_PIN       -1
-#else
-#define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
-#endif
-#define HEATER_2_PIN       -1
-#define TEMP_0_PIN         13   // ANALOG NUMBERING
-#define TEMP_1_PIN         15   // ANALOG NUMBERING
-#define TEMP_2_PIN         -1   // ANALOG NUMBERING
-#define HEATER_BED_PIN     8    // BED
-#define TEMP_BED_PIN       14   // ANALOG NUMBERING
+  #if defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
+    #define KILL_PIN           41
+  #else
+    #define KILL_PIN           -1
+  #endif
 
-#ifdef NUM_SERVOS
-  #define SERVO0_PIN         11
-  #if NUM_SERVOS > 1
-  #define SERVO1_PIN         6
+  #define HEATER_0_PIN       10   // EXTRUDER 1
+  #if MOTHERBOARD == 33 
+    #define HEATER_1_PIN       -1
+  #else
+    #define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
   #endif
-  #if NUM_SERVOS > 2
-  #define SERVO2_PIN         5
+  #define HEATER_2_PIN       -1 
+
+  #if MOTHERBOARD == 77
+    #define HEATER_0_PIN       10   
+    #define HEATER_1_PIN       12 
+    #define HEATER_2_PIN       6   
   #endif
-  #if NUM_SERVOS > 2
-  #define SERVO3_PIN         4
+
+  #define TEMP_0_PIN         13   // ANALOG NUMBERING
+  #define TEMP_1_PIN         15   // ANALOG NUMBERING
+  #define TEMP_2_PIN         -1   // ANALOG NUMBERING
+  #if MOTHERBOARD == 77
+    #define HEATER_BED_PIN     9    // BED
+  #else
+    #define HEATER_BED_PIN     8    // BED
   #endif
-#endif
+  #define TEMP_BED_PIN       14   // ANALOG NUMBERING
 
-#ifdef ULTRA_LCD
 
-  #ifdef NEWPANEL
-    #define LCD_PINS_RS 16 
-    #define LCD_PINS_ENABLE 17
-    #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25
-    #define LCD_PINS_D6 27
-    #define LCD_PINS_D7 29
 
-    #ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
-      #define BEEPER 37
+  #ifdef NUM_SERVOS
+    #define SERVO0_PIN         11
 
-      #define BTN_EN1 31
-      #define BTN_EN2 33
-      #define BTN_ENC 35
+    #if NUM_SERVOS > 1
+      #define SERVO1_PIN         6
+    #endif
 
-      #define SDCARDDETECT 49
-    #else
-      //arduino pin which triggers an piezzo beeper
-      #define BEEPER 33  // Beeper on AUX-4
-
-      //buttons are directly attached using AUX-2
-      #ifdef REPRAPWORLD_KEYPAD
-        #define BTN_EN1 64 // encoder
-        #define BTN_EN2 59 // encoder
-        #define BTN_ENC 63 // enter button
-        #define SHIFT_OUT 40 // shift register
-        #define SHIFT_CLK 44 // shift register
-        #define SHIFT_LD 42 // shift register
-      #else
-        #define BTN_EN1 37
-        #define BTN_EN2 35
-        #define BTN_ENC 31  //the click
-      #endif
+    #if NUM_SERVOS > 2
+      #define SERVO2_PIN         5
+    #endif
 
-      #ifdef G3D_PANEL
-        #define SDCARDDETECT 49
-      #else
-        #define SDCARDDETECT -1  // Ramps does not use this port
-      #endif
+    #if NUM_SERVOS > 3
+      #define SERVO3_PIN         4
     #endif
+  #endif
 
-  #else //old style panel with shift register
-    //arduino pin witch triggers an piezzo beeper
-    #define BEEPER 33   // No Beeper added 
+  #ifdef ULTRA_LCD
 
-    //buttons are attached to a shift register
-  // Not wired this yet
-    //#define SHIFT_CLK 38
-    //#define SHIFT_LD 42
-    //#define SHIFT_OUT 40
-    //#define SHIFT_EN 17
+    #ifdef NEWPANEL
+      #define LCD_PINS_RS 16 
+      #define LCD_PINS_ENABLE 17
+      #define LCD_PINS_D4 23
+      #define LCD_PINS_D5 25 
+      #define LCD_PINS_D6 27
+      #define LCD_PINS_D7 29
 
-    #define LCD_PINS_RS 16
-    #define LCD_PINS_ENABLE 17
-    #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25
-    #define LCD_PINS_D6 27
-    #define LCD_PINS_D7 29
-  #endif 
-#endif //ULTRA_LCD
+      #ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
+        #define BEEPER 37
+
+        #define BTN_EN1 31
+        #define BTN_EN2 33
+        #define BTN_ENC 35
+
+        #define SDCARDDETECT 49
+      #else
+        //arduino pin which triggers an piezzo beeper
+        #define BEEPER 33  // Beeper on AUX-4
+
+        //buttons are directly attached using AUX-2
+        #ifdef REPRAPWORLD_KEYPAD
+          #define BTN_EN1 64 // encoder
+          #define BTN_EN2 59 // encoder
+          #define BTN_ENC 63 // enter button
+          #define SHIFT_OUT 40 // shift register
+          #define SHIFT_CLK 44 // shift register
+          #define SHIFT_LD 42 // shift register
+        #else
+          #define BTN_EN1 37
+          #define BTN_EN2 35
+          #define BTN_ENC 31  //the click
+        #endif
+
+        #ifdef G3D_PANEL
+          #define SDCARDDETECT 49
+        #else
+          #define SDCARDDETECT -1  // Ramps does not use this port
+        #endif
+    
+      #endif
+    
+      #if MOTHERBOARD == 77 
+        #define BEEPER -1 
+
+        #define LCD_PINS_RS 27 
+        #define LCD_PINS_ENABLE 29 
+        #define LCD_PINS_D4 37 
+        #define LCD_PINS_D5 35 
+        #define LCD_PINS_D6 33 
+        #define LCD_PINS_D7 31 
+
+       //buttons 
+       #define BTN_EN1 16 
+       #define BTN_EN2 17 
+       #define BTN_ENC 23 //the click 
+
+    #endif 
+    #else //old style panel with shift register
+      //arduino pin witch triggers an piezzo beeper
+      #define BEEPER 33		//No Beeper added
+
+      //buttons are attached to a shift register
+	// Not wired this yet
+      //#define SHIFT_CLK 38
+      //#define SHIFT_LD 42
+      //#define SHIFT_OUT 40
+      //#define SHIFT_EN 17
+    
+      #define LCD_PINS_RS 16 
+      #define LCD_PINS_ENABLE 17
+      #define LCD_PINS_D4 23
+      #define LCD_PINS_D5 25 
+      #define LCD_PINS_D6 27
+      #define LCD_PINS_D7 29
+    #endif 
+  #endif //ULTRA_LCD
 
 #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default (MOTHERBOARD == 3)
 
 #define HEATER_1_PIN        -1
 #define HEATER_2_PIN        -1
 #define TEMP_0_PIN          2    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1
-#define TEMP_2_PIN          -1
+#define TEMP_1_PIN          -1   
+#define TEMP_2_PIN          -1   
 #define TEMP_BED_PIN        1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#endif// MOTHERBOARD == 33 || MOTHERBOARD == 34
 
-// SPI for Max6675 Thermocouple
+#endif // MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
+
+// SPI for Max6675 Thermocouple 
 
 #ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
+// these pins are defined in the SD library if building with SD support  
   #define MAX_SCK_PIN          52
   #define MAX_MISO_PIN         50
   #define MAX_MOSI_PIN         51
   #define MAX6675_SS       49
 #endif
 
-#endif//MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34
+#endif //MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 || MOTHERBOARD == 77
+
+
 
 /****************************************************************************************
 * Duemilanove w/ ATMega328P pin assignment
 #endif
 
 /****************************************************************************************
+* Elefu RA Board Pin Assignments
+*
+****************************************************************************************/
+#if MOTHERBOARD == 21
+#define	KNOWN_BOARD 1
+
+#ifndef __AVR_ATmega2560__
+ #error Oops!  Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
+#endif
+
+
+#define X_STEP_PIN		     49
+#define X_DIR_PIN			     13
+#define X_ENABLE_PIN		   48
+#define X_MIN_PIN			     35
+#define X_MAX_PIN			     -1 //34
+
+#define Y_STEP_PIN         11
+#define Y_DIR_PIN          9
+#define Y_ENABLE_PIN       12
+#define Y_MIN_PIN          33
+#define Y_MAX_PIN          -1 //32
+
+#define Z_STEP_PIN         7
+#define Z_DIR_PIN          6
+#define Z_ENABLE_PIN       8
+#define Z_MIN_PIN          31
+#define Z_MAX_PIN          -1 //30
+
+#define E2_STEP_PIN        43
+#define E2_DIR_PIN         47
+#define E2_ENABLE_PIN      42
+
+#define E1_STEP_PIN        18
+#define E1_DIR_PIN         19
+#define E1_ENABLE_PIN      38
+
+#define E0_STEP_PIN        40
+#define E0_DIR_PIN         41
+#define E0_ENABLE_PIN      37
+
+#define SDPOWER            -1
+#define LED_PIN            -1 //Use +12V Aux port for LED Ring
+
+#define FAN_PIN            16 //5V PWM
+
+#define PS_ON_PIN          10 //Set to -1 if using a manual switch on the PWRSW Connector
+#define SLEEP_WAKE_PIN		 26 //This feature still needs work
+
+#define HEATER_0_PIN       45	//12V PWM1
+#define HEATER_1_PIN       46	//12V PWM2
+#define HEATER_2_PIN       17	//12V PWM3
+#define HEATER_BED_PIN     44	//DOUBLE 12V PWM
+#define TEMP_0_PIN         3	//ANALOG NUMBERING
+#define TEMP_1_PIN         2 	//ANALOG NUMBERING
+#define TEMP_2_PIN         1 	//ANALOG NUMBERING
+#define TEMP_BED_PIN       0	//ANALOG NUMBERING
+
+#define BEEPER 		         36
+
+#define KILL_PIN           -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     29
+
+#ifdef RA_CONTROL_PANEL
+
+  #define SDSS             53
+  #define SDCARDDETECT     28
+
+  #define BTN_EN1          14
+  #define BTN_EN2          39
+  #define BTN_ENC          15  //the click
+    
+  #define BLEN_C           2
+  #define BLEN_B           1
+  #define BLEN_A           0
+    
+  //encoder rotation values
+  #define encrot0          0
+  #define encrot1          2
+  #define encrot2          3
+  #define encrot3          1
+  
+#endif //RA_CONTROL_PANEL
+
+#ifdef RA_DISCO
+  //variables for which pins the TLC5947 is using
+  #define TLC_CLOCK_PIN    25
+  #define TLC_BLANK_PIN    23
+  #define TLC_XLAT_PIN     22
+  #define TLC_DATA_PIN     24
+
+  //We also need to define pin to port number mapping for the 2560 to match the pins listed above. If you change the TLC pins, update this as well per the 2560 datasheet!
+  //This currently only works with the RA Board.
+  #define TLC_CLOCK_BIT 3 //bit 3 on port A
+  #define TLC_CLOCK_PORT &PORTA //bit 3 on port A
+  
+  #define TLC_BLANK_BIT 1 //bit 1 on port A
+  #define TLC_BLANK_PORT &PORTA //bit 1 on port A
+
+  #define TLC_DATA_BIT 2 //bit 2 on port A
+  #define TLC_DATA_PORT &PORTA //bit 2 on port A
+
+  #define TLC_XLAT_BIT 0 //bit 0 on port A
+  #define TLC_XLAT_PORT &PORTA //bit 0 on port A
+
+  //change this to match your situation. Lots of TLCs takes up the arduino SRAM very quickly, so be careful 
+  //Leave it at at least 1 if you have enabled RA_LIGHTING
+  //The number of TLC5947 boards chained together for use with the animation, additional ones will repeat the animation on them, but are not individually addressable and mimic those before them. You can leave the default at 2 even if you only have 1 TLC5947 module.
+  #define NUM_TLCS 2 
+
+  //These TRANS_ARRAY values let you change the order the LEDs on the lighting modules will animate for chase functions. 
+  //Modify them according to your specific situation.
+  //NOTE: the array should be 8 long for every TLC you have. These defaults assume (2) TLCs.
+  #define TRANS_ARRAY {0, 1, 2, 3, 4, 5, 6, 7, 15, 14, 13, 12, 11, 10, 9, 8} //forwards
+  //#define TRANS_ARRAY {7, 6, 5, 4, 3, 2, 1, 0, 8, 9, 10, 11, 12, 13, 14, 15} //backwards
+#endif //RA_LIGHTING
+
+
+#endif /* Ra Board */
+
+
+/****************************************************************************************
 * Gen6 pin assignment
 *
 ****************************************************************************************/
 #if MOTHERBOARD == 64
 #define STB
 #endif
-#if MOTHERBOARD == 63
+#if MOTHERBOARD == 63 || MOTHERBOARD == 66
 #define MELZI
 #endif
-#if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
+#if MOTHERBOARD == 65
+#define AZTEEG_X1
+#endif
+#if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64 || MOTHERBOARD == 65 || MOTHERBOARD == 66
 #undef MOTHERBOARD
 #define MOTHERBOARD 6
 #define SANGUINOLOLU_V_1_2
 
 #ifdef STB
 #define FAN_PIN            4
+	//  Uncomment this if you have the first generation (V1.10) of STBs board
+#define LCD_PIN_BL         17 // LCD backlight LED
+#endif
+
+#ifdef AZTEEG_X1
+#define FAN_PIN            4
 #endif
 
 #define PS_ON_PIN          -1
    #endif //Newpanel
  #endif //Ultipanel
 
+ #ifdef MAKRPANEL
+     #define BEEPER 29
+     // Pins for DOGM SPI LCD Support
+     #define DOGLCD_A0  30
+     #define DOGLCD_CS  17
+     #define LCD_PIN_BL	28	// backlight LED on PA3
+     // GLCD features
+     #define LCD_CONTRAST 1
+     // Uncomment screen orientation
+     #define LCD_SCREEN_ROT_0
+       // #define LCD_SCREEN_ROT_90
+       // #define LCD_SCREEN_ROT_180
+       // #define LCD_SCREEN_ROT_270
+     //The encoder and click button
+     #define BTN_EN1 11
+     #define BTN_EN2 10
+     #define BTN_ENC 16  //the click switch
+     //not connected to a pin
+     #define SDCARDDETECT -1    
+ #endif //Makrpanel
+
 #endif
 
 
 #define Z_MAX_PIN          -1
 #endif
 
+#ifdef DISABLE_MIN_ENDSTOPS
+#define X_MIN_PIN          -1
+#define Y_MIN_PIN          -1
+#define Z_MIN_PIN          -1
+#endif
+
 #define SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, PS_ON_PIN, \
                         HEATER_BED_PIN, FAN_PIN,                  \
                         _E0_PINS _E1_PINS _E2_PINS             \
                         analogInputToDigitalPin(TEMP_0_PIN), analogInputToDigitalPin(TEMP_1_PIN), analogInputToDigitalPin(TEMP_2_PIN), analogInputToDigitalPin(TEMP_BED_PIN) }
 #endif
+

Marlin/planner.cpp

 //=============================private variables ============================
 //===========================================================================
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-bool allow_cold_extrude=false;
+float extrude_min_temp=EXTRUDE_MINTEMP;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
     disable_e2(); 
   }
 #if defined(FAN_PIN) && FAN_PIN > -1
-  #ifndef FAN_SOFT_PWM
-    #ifdef FAN_KICKSTART_TIME
-      static unsigned long fan_kick_end;
-      if (tail_fan_speed) {
-        if (fan_kick_end == 0) {
-          // Just starting up fan - run at full power.
-          fan_kick_end = millis() + FAN_KICKSTART_TIME;
-          tail_fan_speed = 255;
-        } else if (fan_kick_end > millis())
-          // Fan still spinning up.
-          tail_fan_speed = 255;
-      } else {
-        fan_kick_end = 0;
-      }
-    #endif//FAN_KICKSTART_TIME
-    analogWrite(FAN_PIN,tail_fan_speed);
+  #ifdef FAN_KICKSTART_TIME
+    static unsigned long fan_kick_end;
+    if (tail_fan_speed) {
+      if (fan_kick_end == 0) {
+        // Just starting up fan - run at full power.
+        fan_kick_end = millis() + FAN_KICKSTART_TIME;
+        tail_fan_speed = 255;
+      } else if (fan_kick_end > millis())
+        // Fan still spinning up.
+        tail_fan_speed = 255;
+    } else {
+      fan_kick_end = 0;
+    }
+  #endif//FAN_KICKSTART_TIME
+  #ifdef FAN_SOFT_PWM
+  fanSpeedSoftPwm = tail_fan_speed;
+  #else
+  analogWrite(FAN_PIN,tail_fan_speed);
   #endif//!FAN_SOFT_PWM
 #endif//FAN_PIN > -1
 #ifdef AUTOTEMP
   #ifdef PREVENT_DANGEROUS_EXTRUDE
   if(target[E_AXIS]!=position[E_AXIS])
   {
-    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    if(degHotend(active_extruder)<extrude_min_temp)
     {
       position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
       SERIAL_ECHO_START;
   block->busy = false;
 
   // Number of steps for each axis
-  block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
-  block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+#ifndef COREXY
+// default non-h-bot planning
+block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
+block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+#else
+// corexy planning
+// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
+block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
+#endif
   block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
   block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
   block->steps_e *= extrudemultiply;
 
   // Compute direction bits for this block 
   block->direction_bits = 0;
+#ifndef COREXY
   if (target[X_AXIS] < position[X_AXIS])
   {
     block->direction_bits |= (1<<X_AXIS); 
   {
     block->direction_bits |= (1<<Y_AXIS); 
   }
+#else
+  if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
+  {
+    block->direction_bits |= (1<<X_AXIS); 
+  }
+  if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
+  {
+    block->direction_bits |= (1<<Y_AXIS); 
+  }
+#endif
   if (target[Z_AXIS] < position[Z_AXIS])
   {
     block->direction_bits |= (1<<Z_AXIS); 
   } 
 
   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];
+  #ifndef COREXY
+    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];
+  #else
+    delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
+    delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
+  #endif
   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->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
   }
   block->acceleration = block->acceleration_st / steps_per_mm;
-  block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
+  block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
 
 #if 0  // Use old jerk for now
   // Compute path unit vector
   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
+void set_extrude_min_temp(float temp)
+{
+  extrude_min_temp=temp;
 }
+#endif
 
 // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
 void reset_acceleration_rates()

Marlin/planner.h

     return true;
 }
 
-void allow_cold_extrudes(bool allow);
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+void set_extrude_min_temp(float temp);
+#endif
 
 void reset_acceleration_rates();
 #endif

Marlin/stepper.cpp

     timer = (unsigned short)pgm_read_word_near(table_address);
     timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
   }
-  if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
+  if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
   return timer;
 }
 
     // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
     out_bits = current_block->direction_bits;
 
-    // Set direction en check limit switches
-    if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
-      #if !defined COREXY  //NOT COREXY
+
+    // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
+    if((out_bits & (1<<X_AXIS))!=0){
+      #ifdef DUAL_X_CARRIAGE
+      if (active_extruder != 0)
+        WRITE(X2_DIR_PIN,INVERT_X_DIR);
+      else
+      #endif        
         WRITE(X_DIR_PIN, INVERT_X_DIR);
-      #endif
       count_direction[X_AXIS]=-1;
+    }
+    else{
+      #ifdef DUAL_X_CARRIAGE
+      if (active_extruder != 0)
+        WRITE(X2_DIR_PIN,!INVERT_X_DIR);
+      else
+      #endif        
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+      count_direction[X_AXIS]=1;
+    }
+    if((out_bits & (1<<Y_AXIS))!=0){
+      WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+      count_direction[Y_AXIS]=-1;
+    }
+    else{
+      WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+      count_direction[Y_AXIS]=1;
+    }
+    
+    // Set direction en check limit switches
+    #ifndef COREXY
+    if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
+    #else
+    if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) {   //-X occurs for -A and -B
+    #endif
       CHECK_ENDSTOPS
       {
-        #if defined(X_MIN_PIN) && 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
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((active_extruder == 0 && X_HOME_DIR == -1) || (active_extruder != 0 && X2_HOME_DIR == -1))
+        #endif          
+        {
+          #if defined(X_MIN_PIN) && 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
-      #if !defined COREXY  //NOT COREXY
-        WRITE(X_DIR_PIN,!INVERT_X_DIR);
-      #endif
-      
-      count_direction[X_AXIS]=1;
       CHECK_ENDSTOPS 
       {
-        #if defined(X_MAX_PIN) && 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
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((active_extruder == 0 && X_HOME_DIR == 1) || (active_extruder != 0 && X2_HOME_DIR == 1))
+        #endif          
+        {
+          #if defined(X_MAX_PIN) && 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
+        }  
       }
     }
 
+    #ifndef COREXY
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
-      #if !defined COREXY  //NOT COREXY
-        WRITE(Y_DIR_PIN,INVERT_Y_DIR);
-      #endif
-      count_direction[Y_AXIS]=-1;
+    #else
+    if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) {   // -Y occurs for -A and +B
+    #endif
       CHECK_ENDSTOPS
       {
         #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
       }
     }
     else { // +direction
-      #if !defined COREXY  //NOT COREXY
-        WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
-      #endif
-      count_direction[Y_AXIS]=1;
       CHECK_ENDSTOPS
       {
         #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
         #endif
       }
     }
-    
-    
-    #ifdef COREXY  //coreXY kinematics defined
-      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){  //+X is major axis
-        WRITE(X_DIR_PIN, !INVERT_X_DIR);
-        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
-      }
-      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){  //-X is major axis
-        WRITE(X_DIR_PIN, INVERT_X_DIR);
-        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
-      }      
-      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){  //+Y is major axis
-        WRITE(X_DIR_PIN, !INVERT_X_DIR);
-        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
-      }        
-      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){  //-Y is major axis
-        WRITE(X_DIR_PIN, INVERT_X_DIR);
-        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
-      }  
-    #endif //coreXY
-    
-    
+
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
       
       }    
       #endif //ADVANCE
 
-      #if !defined COREXY      
         counter_x += current_block->steps_x;
         if (counter_x > 0) {
-          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          #ifdef DUAL_X_CARRIAGE
+          if (active_extruder != 0)
+            WRITE(X2_STEP_PIN,!INVERT_X_STEP_PIN);
+          else
+          #endif        
+            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
           counter_x -= current_block->step_event_count;
           count_position[X_AXIS]+=count_direction[X_AXIS];   
-          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+          #ifdef DUAL_X_CARRIAGE
+          if (active_extruder != 0)
+            WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+          else
+          #endif        
+            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
         }
   
         counter_y += current_block->steps_y;
           count_position[Y_AXIS]+=count_direction[Y_AXIS]; 
           WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
         }
-      #endif
   
-      #ifdef COREXY
-        counter_x += current_block->steps_x;        
-        counter_y += current_block->steps_y;
-        
-        if ((counter_x > 0)&&!(counter_y>0)){  //X step only
-          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
-          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-          counter_x -= current_block->step_event_count; 
-          count_position[X_AXIS]+=count_direction[X_AXIS];         
-          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
-          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
-        }
-        
-        if (!(counter_x > 0)&&(counter_y>0)){  //Y step only
-          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
-          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-          counter_y -= current_block->step_event_count; 
-          count_position[Y_AXIS]+=count_direction[Y_AXIS];
-          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
-          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
-        }        
-        
-        if ((counter_x > 0)&&(counter_y>0)){  //step in both axes
-          if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){  //X and Y in different directions
-            WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-            counter_x -= current_block->step_event_count;             
-            WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
-            step_wait();
-            count_position[X_AXIS]+=count_direction[X_AXIS];
-            count_position[Y_AXIS]+=count_direction[Y_AXIS];
-            WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-            counter_y -= current_block->step_event_count;
-            WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
-          }
-          else{  //X and Y in same direction
-            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
-            counter_x -= current_block->step_event_count;             
-            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
-            step_wait();
-            count_position[X_AXIS]+=count_direction[X_AXIS];
-            count_position[Y_AXIS]+=count_direction[Y_AXIS];
-            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); 
-            counter_y -= current_block->step_event_count;    
-            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);        
-          }
-        }
-      #endif //corexy
-      
       counter_z += current_block->steps_z;
       if (counter_z > 0) {
         WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
   #if defined(X_DIR_PIN) && X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
   #endif
+  #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
+    SET_OUTPUT(X2_DIR_PIN);
+  #endif
   #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 
     SET_OUTPUT(Y_DIR_PIN);
   #endif
     SET_OUTPUT(X_ENABLE_PIN);
     if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
   #endif
+  #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+    SET_OUTPUT(X2_ENABLE_PIN);
+    if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
+  #endif
   #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
     SET_OUTPUT(Y_ENABLE_PIN);
     if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
     WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
     disable_x();
   #endif  
+  #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) 
+    SET_OUTPUT(X2_STEP_PIN);
+    WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+    disable_x();
+  #endif  
   #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) 
     SET_OUTPUT(Y_STEP_PIN);
     WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);

Marlin/temperature.cpp

 int target_temperature[EXTRUDERS] = { 0 };
 int target_temperature_bed = 0;
 int current_temperature_raw[EXTRUDERS] = { 0 };
-float current_temperature[EXTRUDERS] = { 0 };
+float current_temperature[EXTRUDERS] = { 0.0 };
 int current_temperature_bed_raw = 0;
-float current_temperature_bed = 0;
-
+float current_temperature_bed = 0.0;
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  int redundant_temperature_raw = 0;
+  float redundant_temperature = 0.0;
+#endif
 #ifdef PIDTEMP
   float Kp=DEFAULT_Kp;
   float Ki=(DEFAULT_Ki*PID_dT);
   float bedKd=(DEFAULT_bedKd/PID_dT);
 #endif //PIDTEMPBED
   
+#ifdef FAN_SOFT_PWM
+  unsigned char fanSpeedSoftPwm;
+#endif
   
 //===========================================================================
 //=============================private variables============================
     (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
   static unsigned long extruder_autofan_last_check;
 #endif  
-  
+
 #if EXTRUDERS > 3
-# error Unsupported number of extruders
+  # error Unsupported number of extruders
 #elif EXTRUDERS > 2
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
 #elif EXTRUDERS > 1
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
 #else
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
 #endif
 
 // Init min and max temp with extreme values to prevent false errors during startup
 #ifdef BED_MAXTEMP
 static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
 #endif
-static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
-static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
+
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE };
+  static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
+#else
+  static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
+  static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
+#endif
 
 static float analog2temp(int raw, uint8_t e);
 static float analog2tempBed(int raw);
 unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
 #endif //WATCH_TEMP_PERIOD
 
+#ifndef SOFT_PWM_SCALE
+#define SOFT_PWM_SCALE 0
+#endif
+
 //===========================================================================
 //=============================   functions      ============================
 //===========================================================================
   float Kp, Ki, Kd;
   float max = 0, min = 10000;
 
-	if ((extruder > EXTRUDERS)
+  if ((extruder > EXTRUDERS)
   #if (TEMP_BED_PIN <= -1)
-		||(extruder < 0)
-	#endif
-	){
-  	SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
-  	return;
-	}
+       ||(extruder < 0)
+  #endif
+       ){
+          SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
+          return;
+        }
 	
   SERIAL_ECHOLN("PID Autotune start");
   
   disable_heater(); // switch off all heaters.
 
-	if (extruder<0)
-	{
-	 	soft_pwm_bed = (MAX_BED_POWER)/2;
-		bias = d = (MAX_BED_POWER)/2;
-  }
-	else
-	{
-	  soft_pwm[extruder] = (PID_MAX)/2;
-		bias = d = (PID_MAX)/2;
+  if (extruder<0)
+  {
+     soft_pwm_bed = (MAX_BED_POWER)/2;
+     bias = d = (MAX_BED_POWER)/2;
+   }
+   else
+   {
+     soft_pwm[extruder] = (PID_MAX)/2;
+     bias = d = (PID_MAX)/2;
   }
 
 
       if(heating == true && input > temp) {
         if(millis() - t2 > 5000) { 
           heating=false;
-					if (extruder<0)
-						soft_pwm_bed = (bias - d) >> 1;
-					else
-						soft_pwm[extruder] = (bias - d) >> 1;
+          if (extruder<0)
+            soft_pwm_bed = (bias - d) >> 1;
+          else
+            soft_pwm[extruder] = (bias - d) >> 1;
           t1=millis();
           t_high=t1 - t2;
           max=temp;
               */
             }
           }
-					if (extruder<0)
-						soft_pwm_bed = (bias + d) >> 1;
-					else
-						soft_pwm[extruder] = (bias + d) >> 1;
+          if (extruder<0)
+            soft_pwm_bed = (bias + d) >> 1;
+          else
+            soft_pwm[extruder] = (bias + d) >> 1;
           cycles++;
           min=temp;
         }
       } 
     }
     if(input > (temp + 20)) {
-      SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high");
+      SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high");
       return;
     }
     if(millis() - temp_millis > 2000) {
-			int p;
-			if (extruder<0){
-	      p=soft_pwm_bed;       
-	      SERIAL_PROTOCOLPGM("ok B:");
-			}else{
-	      p=soft_pwm[extruder];       
-	      SERIAL_PROTOCOLPGM("ok T:");
-			}
+      int p;
+      if (extruder<0){
+        p=soft_pwm_bed;       
+        SERIAL_PROTOCOLPGM("ok B:");
+      }else{
+        p=soft_pwm[extruder];       
+        SERIAL_PROTOCOLPGM("ok T:");
+      }
 			
       SERIAL_PROTOCOL(input);   
       SERIAL_PROTOCOLPGM(" @:");
       return;
     }
     if(cycles > ncycles) {
-      SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
+      SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the Kp, Ki and Kd constants into Configuration.h");
       return;
     }
     lcd_update();
         }
     }
     #endif
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
+        disable_heater();
+        if(IsStopped() == false) {
+          SERIAL_ERROR_START;
+          SERIAL_ERRORLNPGM("Extruder switched off. Temperature difference between temp sensors is too high !");
+          LCD_ALERTMESSAGEPGM("Err: REDUNDANT TEMP ERROR");
+        }
+        #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          Stop();
+        #endif
+      }
+    #endif
   } // End extruder for loop
 
   #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
 static float analog2temp(int raw, uint8_t e) {
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  if(e > EXTRUDERS)
+#else
   if(e >= EXTRUDERS)
+#endif
   {
       SERIAL_ERROR_START;
       SERIAL_ERROR((int)e);
         current_temperature[e] = analog2temp(current_temperature_raw[e], e);
     }
     current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      redundant_temperature = analog2temp(redundant_temperature_raw, 1);
+    #endif
     //Reset the watchdog after we know we have a temperature measurement.
     watchdog_reset();
 
     setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
     #endif
     #ifdef FAN_SOFT_PWM
-	soft_pwm_fan=(unsigned char)fanSpeed;
-	#endif
+    soft_pwm_fan = fanSpeedSoftPwm / 2;
+    #endif
   #endif  
 
   #ifdef HEATER_0_USES_MAX6675
 // Timer 0 is shared with millies
 ISR(TIMER0_COMPB_vect)
 {
-  //these variables are only accesible from the ISR, but static, so they don't loose their value
+  //these variables are only accesible from the ISR, but static, so they don't lose their value
   static unsigned char temp_count = 0;
   static unsigned long raw_temp_0_value = 0;
   static unsigned long raw_temp_1_value = 0;
   static unsigned long raw_temp_2_value = 0;
   static unsigned long raw_temp_bed_value = 0;
   static unsigned char temp_state = 0;
-  static unsigned char pwm_count = 1;
+  static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
   static unsigned char soft_pwm_0;
   #if EXTRUDERS > 1
   static unsigned char soft_pwm_1;
     if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
     #endif
     #ifdef FAN_SOFT_PWM
-    soft_pwm_fan =(unsigned char) fanSpeed;
+    soft_pwm_fan = fanSpeedSoftPwm / 2;
     if(soft_pwm_fan > 0) WRITE(FAN_PIN,1);
     #endif
   }
   if(soft_pwm_fan <= pwm_count) WRITE(FAN_PIN,0);
   #endif
   
-  pwm_count++;
+  pwm_count += (1 << SOFT_PWM_SCALE);
   pwm_count &= 0x7f;
   
   switch(temp_state) {
 #if EXTRUDERS > 1
       current_temperature_raw[1] = raw_temp_1_value;
 #endif
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      redundant_temperature_raw = raw_temp_1_value;
+#endif
 #if EXTRUDERS > 2
       current_temperature_raw[2] = raw_temp_2_value;
 #endif

Marlin/temperature.h

 extern float current_temperature[EXTRUDERS];
 extern int target_temperature_bed;
 extern float current_temperature_bed;
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  extern float redundant_temperature;
+#endif
 
 #ifdef PIDTEMP
   extern float Kp,Ki,Kd,Kc;

Marlin/ultralcd.cpp

 #include "stepper.h"
 #include "ConfigurationStore.h"
 
+int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
+
 /* Configuration settings */
 int plaPreheatHotendTemp;
 int plaPreheatHPBTemp;
 static void lcd_control_temperature_preheat_pla_settings_menu();
 static void lcd_control_temperature_preheat_abs_settings_menu();
 static void lcd_control_motion_menu();
+#ifdef DOGLCD
+static void lcd_set_contrast();
+#endif
 static void lcd_control_retract_menu();
 static void lcd_sdcard_menu();
 
 #ifndef REPRAPWORLD_KEYPAD
 volatile uint8_t buttons;//Contains the bits of the currently pressed buttons.
 #else
-volatile uint16_t buttons;//Contains the bits of the currently pressed buttons (extended).
+volatile uint8_t buttons_reprapworld_keypad; // to store the reprapworld_keypad shiftregister values
 #endif
-
 uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
 uint32_t blocking_enc;
 uint8_t lastEncoderBits;
-int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 uint32_t encoderPosition;
 #if (SDCARDDETECT > 0)
 bool lcd_oldcardstatus;
     }
 
     // Dead zone at 100% feedrate
-    if (feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100 ||
-            feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100)
+    if ((feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100) ||
+            (feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100))
     {
         encoderPosition = 0;
         feedmultiply = 100;
     if (encoderPosition != 0)
     {
         current_position[X_AXIS] += float((int)encoderPosition) * move_menu_scale;
-        if (current_position[X_AXIS] < X_MIN_POS)
+        if (min_software_endstops && current_position[X_AXIS] < X_MIN_POS)
             current_position[X_AXIS] = X_MIN_POS;
-        if (current_position[X_AXIS] > X_MAX_POS)
+        if (max_software_endstops && current_position[X_AXIS] > X_MAX_POS)
             current_position[X_AXIS] = X_MAX_POS;
         encoderPosition = 0;
         plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600, active_extruder);
     if (encoderPosition != 0)
     {
         current_position[Y_AXIS] += float((int)encoderPosition) * move_menu_scale;
-        if (current_position[Y_AXIS] < Y_MIN_POS)
+        if (min_software_endstops && current_position[Y_AXIS] < Y_MIN_POS)
             current_position[Y_AXIS] = Y_MIN_POS;
-        if (current_position[Y_AXIS] > Y_MAX_POS)
+        if (max_software_endstops && current_position[Y_AXIS] > Y_MAX_POS)
             current_position[Y_AXIS] = Y_MAX_POS;
         encoderPosition = 0;
         plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600, active_extruder);
     if (encoderPosition != 0)
     {
         current_position[Z_AXIS] += float((int)encoderPosition) * move_menu_scale;
-        if (current_position[Z_AXIS] < Z_MIN_POS)
+        if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS)
             current_position[Z_AXIS] = Z_MIN_POS;
-        if (current_position[Z_AXIS] > Z_MAX_POS)
+        if (max_software_endstops && current_position[Z_AXIS] > Z_MAX_POS)
             current_position[Z_AXIS] = Z_MAX_POS;
         encoderPosition = 0;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, active_extruder);
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
         lcdDrawUpdate = 1;
     }
     if (lcdDrawUpdate)
     MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
     MENU_ITEM(submenu, MSG_TEMPERATURE, lcd_control_temperature_menu);
     MENU_ITEM(submenu, MSG_MOTION, lcd_control_motion_menu);
+#ifdef DOGLCD
+//    MENU_ITEM_EDIT(int3, MSG_CONTRAST, &lcd_contrast, 0, 63);
+    MENU_ITEM(submenu, MSG_CONTRAST, lcd_set_contrast);
+#endif
 #ifdef FWRETRACT
     MENU_ITEM(submenu, MSG_RETRACT, lcd_control_retract_menu);
 #endif
 
 static void lcd_control_temperature_menu()
 {
+#ifdef PIDTEMP
     // set up temp variables - undo the default scaling
     raw_Ki = unscalePID_i(Ki);
     raw_Kd = unscalePID_d(Kd);
+#endif
 
     START_MENU();
     MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
     END_MENU();
 }
 
+#ifdef DOGLCD
+static void lcd_set_contrast()
+{
+    if (encoderPosition != 0)
+    {
+        lcd_contrast -= encoderPosition;
+        if (lcd_contrast < 0) lcd_contrast = 0;
+        else if (lcd_contrast > 63) lcd_contrast = 63;
+        encoderPosition = 0;
+        lcdDrawUpdate = 1;
+        u8g.setContrast(lcd_contrast);
+    }
+    if (lcdDrawUpdate)
+    {
+        lcd_implementation_drawedit(PSTR("Contrast"), itostr2(lcd_contrast));
+    }
+    if (LCD_CLICKED)
+    {
+        lcd_quick_feedback();
+        currentMenu = lcd_control_menu;
+        encoderPosition = 0;
+    }
+}
+#endif
+
 #ifdef FWRETRACT
 static void lcd_control_retract_menu()
 {
 menu_edit_type(unsigned long, long5, ftostr5, 0.01)
 
 #ifdef REPRAPWORLD_KEYPAD
-    static void reprapworld_keypad_move_y_down() {
-        encoderPosition = 1;
-        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-        lcd_move_y();
-    }
-    static void reprapworld_keypad_move_y_up() {
-        encoderPosition = -1;
-        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-        lcd_move_y();
-    }
-    static void reprapworld_keypad_move_home() {
-        //enquecommand_P((PSTR("G28"))); // move all axis home
-        // TODO gregor: move all axis home, i have currently only one axis on my prusa i3
-        enquecommand_P((PSTR("G28 Y")));
-    }
+	static void reprapworld_keypad_move_z_up() {
+    encoderPosition = 1;
+    move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+		lcd_move_z();
+  }
+	static void reprapworld_keypad_move_z_down() {
+    encoderPosition = -1;
+    move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+		lcd_move_z();
+  }
+	static void reprapworld_keypad_move_x_left() {
+    encoderPosition = -1;
+    move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+		lcd_move_x();
+  }
+	static void reprapworld_keypad_move_x_right() {
+    encoderPosition = 1;
+    move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+		lcd_move_x();
+	}
+	static void reprapworld_keypad_move_y_down() {
+    encoderPosition = 1;
+    move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+		lcd_move_y();
+	}
+	static void reprapworld_keypad_move_y_up() {
+		encoderPosition = -1;
+		move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+    lcd_move_y();
+	}
+	static void reprapworld_keypad_move_home() {
+		enquecommand_P((PSTR("G28"))); // move all axis home
+	}
 #endif
 
 /** End of menus **/
     if (lcd_next_update_millis < millis())
     {
 #ifdef ULTIPANEL
-        #ifdef REPRAPWORLD_KEYPAD
-        if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) {
-            reprapworld_keypad_move_y_down();
-        }
-        if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) {
-            reprapworld_keypad_move_y_up();
-        }
-        if (REPRAPWORLD_KEYPAD_MOVE_HOME) {
-            reprapworld_keypad_move_home();
-        }
-        #endif
+		#ifdef REPRAPWORLD_KEYPAD
+        	if (REPRAPWORLD_KEYPAD_MOVE_Z_UP) {
+        		reprapworld_keypad_move_z_up();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_Z_DOWN) {
+        		reprapworld_keypad_move_z_down();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_X_LEFT) {
+        		reprapworld_keypad_move_x_left();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_X_RIGHT) {
+        		reprapworld_keypad_move_x_right();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) {
+        		reprapworld_keypad_move_y_down();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) {
+        		reprapworld_keypad_move_y_up();
+        	}
+        	if (REPRAPWORLD_KEYPAD_MOVE_HOME) {
+        		reprapworld_keypad_move_home();
+        	}
+		#endif
         if (encoderDiff)
         {
             lcdDrawUpdate = 1;
     lcd_status_message_level = 0;
 }
 
+#ifdef DOGLCD
+void lcd_setcontrast(uint8_t value)
+{
+    lcd_contrast = value & 63;
+    u8g.setContrast(lcd_contrast);	
+}
+#endif
+
 #ifdef ULTIPANEL
 /* Warning: This function is called from interrupt context */
 void lcd_buttons_update()
   #if BTN_ENC > 0
     if((blocking_enc<millis()) && (READ(BTN_ENC)==0))
         newbutton |= EN_C;
-  #endif      
-  #ifdef REPRAPWORLD_KEYPAD
-    // for the reprapworld_keypad
-    uint8_t newbutton_reprapworld_keypad=0;
-    WRITE(SHIFT_LD,LOW);
-    WRITE(SHIFT_LD,HIGH);
-    for(int8_t i=0;i<8;i++) {
-        newbutton_reprapworld_keypad = newbutton_reprapworld_keypad>>1;
-        if(READ(SHIFT_OUT))
-            newbutton_reprapworld_keypad|=(1<<7);
-        WRITE(SHIFT_CLK,HIGH);
-        WRITE(SHIFT_CLK,LOW);
-    }
-    newbutton |= ((~newbutton_reprapworld_keypad) << REPRAPWORLD_BTN_OFFSET); //invert it, because a pressed switch produces a logical 0
   #endif
     buttons = newbutton;
+    #ifdef REPRAPWORLD_KEYPAD
+      // for the reprapworld_keypad
+      uint8_t newbutton_reprapworld_keypad=0;
+      WRITE(SHIFT_LD,LOW);
+      WRITE(SHIFT_LD,HIGH);
+      for(int8_t i=0;i<8;i++) {
+          newbutton_reprapworld_keypad = newbutton_reprapworld_keypad>>1;
+          if(READ(SHIFT_OUT))
+              newbutton_reprapworld_keypad|=(1<<7);
+          WRITE(SHIFT_CLK,HIGH);
+          WRITE(SHIFT_CLK,LOW);
+      }
+      buttons_reprapworld_keypad=~newbutton_reprapworld_keypad; //invert it, because a pressed switch produces a logical 0
+	#endif
 #else   //read it from the shift register
     uint8_t newbutton=0;
     WRITE(SHIFT_LD,LOW);
 // grab the pid i value out of the temp variable; scale it; then update the PID driver
 void copy_and_scalePID_i()
 {
+#ifdef PIDTEMP
   Ki = scalePID_i(raw_Ki);
   updatePID();
+#endif
 }
 
 // Callback for after editing PID d value
 // grab the pid d value out of the temp variable; scale it; then update the PID driver
 void copy_and_scalePID_d()
 {
+#ifdef PIDTEMP
   Kd = scalePID_d(raw_Kd);
   updatePID();
+#endif
 }
 
 #endif //ULTRA_LCD

Marlin/ultralcd.h

   void lcd_setstatuspgm(const char* message);
   void lcd_setalertstatuspgm(const char* message);
   void lcd_reset_alert_level();
-  
+
+#ifdef DOGLCD
+  extern int lcd_contrast;
+  void lcd_setcontrast(uint8_t value);
+#endif
+
   static unsigned char blink = 0;	// Variable for visualisation of fan rotation in GLCD
 
   #define LCD_MESSAGEPGM(x) lcd_setstatuspgm(PSTR(x))
 
   #ifdef ULTIPANEL
   void lcd_buttons_update();
+  extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
+  #ifdef REPRAPWORLD_KEYPAD
+    extern volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shiftregister values
+  #endif
   #else
   FORCE_INLINE void lcd_buttons_update() {}
   #endif
   void lcd_buzz(long duration,uint16_t freq);
   bool lcd_clicked();
 
+  #ifdef NEWPANEL
+    #define EN_C (1<<BLEN_C)
+    #define EN_B (1<<BLEN_B)
+    #define EN_A (1<<BLEN_A)
+
+    #define LCD_CLICKED (buttons&EN_C)
+    #ifdef REPRAPWORLD_KEYPAD
+  	  #define EN_REPRAPWORLD_KEYPAD_F3 (1<<BLEN_REPRAPWORLD_KEYPAD_F3)
+  	  #define EN_REPRAPWORLD_KEYPAD_F2 (1<<BLEN_REPRAPWORLD_KEYPAD_F2)
+  	  #define EN_REPRAPWORLD_KEYPAD_F1 (1<<BLEN_REPRAPWORLD_KEYPAD_F1)
+  	  #define EN_REPRAPWORLD_KEYPAD_UP (1<<BLEN_REPRAPWORLD_KEYPAD_UP)
+  	  #define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<BLEN_REPRAPWORLD_KEYPAD_RIGHT)
+  	  #define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
+  	  #define EN_REPRAPWORLD_KEYPAD_DOWN (1<<BLEN_REPRAPWORLD_KEYPAD_DOWN)
+  	  #define EN_REPRAPWORLD_KEYPAD_LEFT (1<<BLEN_REPRAPWORLD_KEYPAD_LEFT)
+
+  	  #define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1))
+  	  #define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_Z_DOWN (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F3)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_X_LEFT (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_LEFT)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_X_RIGHT (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_RIGHT)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_DOWN)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_Y_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_UP)
+  	  #define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_MIDDLE)
+    #endif //REPRAPWORLD_KEYPAD
+  #else
+    //atomatic, do not change
+    #define B_LE (1<<BL_LE)
+    #define B_UP (1<<BL_UP)
+    #define B_MI (1<<BL_MI)
+    #define B_DW (1<<BL_DW)
+    #define B_RI (1<<BL_RI)
+    #define B_ST (1<<BL_ST)
+    #define EN_B (1<<BLEN_B)
+    #define EN_A (1<<BLEN_A)
+    
+    #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
+  #endif//NEWPANEL
+
 #else //no lcd
   FORCE_INLINE void lcd_update() {}
   FORCE_INLINE void lcd_init() {}

Marlin/ultralcd_st7920_u8glib_rrd.h

+#ifndef ULCDST7920_H
+#define ULCDST7920_H
+
+#include "Marlin.h"
+
+#ifdef U8GLIB_ST7920
+
+//set optimization so ARDUINO optimizes this file
+#pragma GCC optimize (3)
+
+#define ST7920_CLK_PIN  LCD_PINS_D4
+#define ST7920_DAT_PIN  LCD_PINS_ENABLE
+#define ST7920_CS_PIN   LCD_PINS_RS
+
+//#define PAGE_HEIGHT 8   //128 byte frambuffer
+//#define PAGE_HEIGHT 16  //256 byte frambuffer
+#define PAGE_HEIGHT 32  //512 byte framebuffer
+
+#define WIDTH 128
+#define HEIGHT 64
+
+#include <U8glib.h>
+
+static void ST7920_SWSPI_SND_8BIT(uint8_t val)
+{
+  uint8_t i;
+  for( i=0; i<8; i++ )
+  {
+    WRITE(ST7920_CLK_PIN,0);
+    WRITE(ST7920_DAT_PIN,val&0x80); 
+    val<<=1;
+    WRITE(ST7920_CLK_PIN,1);
+  }
+}
+
+#define ST7920_CS()              {WRITE(ST7920_CS_PIN,1);u8g_10MicroDelay();}
+#define ST7920_NCS()             {WRITE(ST7920_CS_PIN,0);}
+#define ST7920_SET_CMD()         {ST7920_SWSPI_SND_8BIT(0xf8);u8g_10MicroDelay();}
+#define ST7920_SET_DAT()         {ST7920_SWSPI_SND_8BIT(0xfa);u8g_10MicroDelay();}
+#define ST7920_WRITE_BYTE(a)     {ST7920_SWSPI_SND_8BIT((a)&0xf0);ST7920_SWSPI_SND_8BIT((a)<<4);u8g_10MicroDelay();}
+#define ST7920_WRITE_BYTES(p,l)  {uint8_t i;for(i=0;i<l;i++){ST7920_SWSPI_SND_8BIT(*p&0xf0);ST7920_SWSPI_SND_8BIT(*p<<4);p++;}u8g_10MicroDelay();}
+
+uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, void *arg)
+{
+  uint8_t i,y;
+  switch(msg)
+  {
+    case U8G_DEV_MSG_INIT:
+      {
+        SET_OUTPUT(ST7920_CS_PIN);
+        WRITE(ST7920_CS_PIN,0);
+        SET_OUTPUT(ST7920_DAT_PIN);
+        WRITE(ST7920_DAT_PIN,0);
+        SET_OUTPUT(ST7920_CLK_PIN);
+        WRITE(ST7920_CLK_PIN,1);
+
+        ST7920_CS();
+        u8g_Delay(90);                 //initial delay for boot up
+        ST7920_SET_CMD();
+        ST7920_WRITE_BYTE(0x08);       //display off, cursor+blink off
+        ST7920_WRITE_BYTE(0x01);       //clear CGRAM ram
+        u8g_Delay(10);                 //delay for cgram clear
+        ST7920_WRITE_BYTE(0x3E);       //extended mode + gdram active
+        for(y=0;y<HEIGHT/2;y++)        //clear GDRAM
+        {
+          ST7920_WRITE_BYTE(0x80|y);   //set y
+          ST7920_WRITE_BYTE(0x80);     //set x = 0
+          ST7920_SET_DAT();
+          for(i=0;i<2*WIDTH/8;i++)     //2x width clears both segments
+            ST7920_WRITE_BYTE(0);
+          ST7920_SET_CMD();
+        }
+        ST7920_WRITE_BYTE(0x0C); //display on, cursor+blink off
+        ST7920_NCS();
+      }
+      break;
+
+    case U8G_DEV_MSG_STOP:
+      break;
+    case U8G_DEV_MSG_PAGE_NEXT:
+      {
+        uint8_t *ptr;
+        u8g_pb_t *pb = (u8g_pb_t *)(dev->dev_mem);
+        y = pb->p.page_y0;
+        ptr = (uint8_t*)pb->buf;
+
+        ST7920_CS();
+        for( i = 0; i < PAGE_HEIGHT; i ++ )
+        {
+          ST7920_SET_CMD();
+          if ( y < 32 )
+          {
+            ST7920_WRITE_BYTE(0x80 | y);       //y
+            ST7920_WRITE_BYTE(0x80);           //x=0
+          }
+          else
+          {
+            ST7920_WRITE_BYTE(0x80 | (y-32));  //y
+            ST7920_WRITE_BYTE(0x80 | 8);       //x=64
+          }
+
+          ST7920_SET_DAT();
+          ST7920_WRITE_BYTES(ptr,WIDTH/8); //ptr is incremented inside of macro
+          y++;
+        }
+        ST7920_NCS();
+      }
+      break;
+  }
+#if PAGE_HEIGHT == 8
+  return u8g_dev_pb8h1_base_fn(u8g, dev, msg, arg);
+#elif PAGE_HEIGHT == 16
+  return u8g_dev_pb16h1_base_fn(u8g, dev, msg, arg);
+#else
+  return u8g_dev_pb32h1_base_fn(u8g, dev, msg, arg);
+#endif
+}
+
+uint8_t   u8g_dev_st7920_128x64_rrd_buf[WIDTH*(PAGE_HEIGHT/8)] U8G_NOCOMMON;
+u8g_pb_t  u8g_dev_st7920_128x64_rrd_pb = {{PAGE_HEIGHT,HEIGHT,0,0,0},WIDTH,u8g_dev_st7920_128x64_rrd_buf};
+u8g_dev_t u8g_dev_st7920_128x64_rrd_sw_spi = {u8g_dev_rrd_st7920_128x64_fn,&u8g_dev_st7920_128x64_rrd_pb,&u8g_com_null_fn};
+
+class U8GLIB_ST7920_128X64_RRD : public U8GLIB
+{
+  public:
+    U8GLIB_ST7920_128X64_RRD(uint8_t dummy) : U8GLIB(&u8g_dev_st7920_128x64_rrd_sw_spi) {}
+};
+
+
+#endif //U8GLIB_ST7920
+#endif //ULCDST7920_H

README.md

-==========================
-Marlin 3D Printer Firmware
-==========================
-
-Notes: 
------
-
-The configuration is now split in two files:
-  Configuration.h for the normal settings
-  Configuration_adv.h for the advanced settings
-
-Gen7T is not supported.
-
-Quick Information
-===================
-This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
-
-Derived from Sprinter and Grbl by Erik van der Zalm.
-Sprinters lead developers are Kliment and caru.
-Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
-A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
-Some features have been added by:
-Lampmaker, 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
-*   SD Card support
-*   SD Card folders (works in pronterface)
-*   SD Card autostart support
-*   LCD support (ideally 20x4) 
-*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
-*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
-*   many small but handy things originating from bkubicek's fork.
-*   Arc support
-*   Temperature oversampling
-*   Dynamic Temperature setpointing aka "AutoTemp"
-*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
-*   Endstop trigger reporting to the host software.
-*   Updated sdcardlib
-*   Heater power reporting. Useful for PID monitoring.
-*   PID tuning
-*   CoreXY kinematics (www.corexy.com/theory.html)
-*   Configurable serial port to support connection of wireless adaptors.
-*   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
-
-The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
-
-
-Differences and additions to the already good Sprinter firmware:
-================================================================
-
-*Look-ahead:*
-
-Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
-lookahead will only decelerate and accelerate to a velocity, 
-so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
-This is only possible, if some future moves are already processed, hence the name. 
-It leads to less over-deposition at corners, especially at flat angles.
-
-*Arc support:*
-
-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.
-
-*Temperature Oversampling:*
-
-To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
-
-*AutoTemp:*
-
-If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
-Usually, higher speed requires higher temperature.
-This can now be performed by the AutoTemp function
-By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
-
-You can leave it by calling M109 without any F.
-If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
-The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
-If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
-Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
-
-*EEPROM:*
-
-If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
-After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
-
-*LCD Menu:*
-
-If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
-accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
-One working hardware is documented here: http://www.thingiverse.com/thing:12663 
-Also, with just a 20x4 or 16x2 display, useful data is shown.
-
-*SD card folders:*
-
-If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
-You can write to file in a subfolder by specifying a similar text using small letters in the path.
-Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
-
-*SD card folders:*
-
-If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
-First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
-
-*Endstop trigger reporting:*
-
-If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
-This is useful, because the user gets a warning message.
-However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
-
-*Coding paradigm:*
-
-Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
-This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
-We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
-A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
-In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
-some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
-necessary for backwards compatibility.
-
-*Interrupt based temperature measurements:*
-
-An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
-This leads to less blocking in the heater management routine.
-
-
-Non-standard M-Codes, different to an old version of sprinter:
-==============================================================
-Movement:
-
-*   G2  - CW ARC
-*   G3  - CCW ARC
-
-General:
-
-*   M17  - Enable/Power all stepper motors. Compatibility to ReplicatorG.
-*   M18  - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
-*   M30  - Print time since last M109 or SD card start to serial
-*   M42  - Change pin status via gcode
-*   M80  - Turn on Power Supply
-*   M81  - Turn off Power Supply
-*   M114 - Output current position to serial port 
-*   M119 - Output Endstop status to serial port
-
-Movement variables:
-
-*   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-*   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-*   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
-*   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
-*   M221 - set the extrude multiplying S:factor in percent
-*   M400 - Finish all buffered moves.
-
-Temperature variables:
-*   M301 - Set PID parameters P I and D
-*   M302 - Allow cold extrudes
-*   M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
-
-Advance:
-
-*   M200 - Set filament diameter for advance
-*   M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
-
-EEPROM:
-
-*   M500 - stores paramters in EEPROM. This parameters are stored:  axis_steps_per_unit,  max_feedrate, max_acceleration  ,acceleration,retract_acceleration,
-  minimumfeedrate,mintravelfeedrate,minsegmenttime,  jerk velocities, PID
-*   M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
-*   M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-*   M503 - print the current settings (from memory not from eeprom)
-
-MISC:
-
-*   M240 - Trigger a camera to take a photograph
-*   M999 - Restart after being stopped by error
-
-Configuring and compilation:
-============================
-
-Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
-   http://www.arduino.cc/en/Main/Software
-
-For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
-  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
-
-Install Ultimaker's RepG 25 build
-    http://software.ultimaker.com
-For SD handling and as better substitute (apart from stl manipulation) download
-the very nice Kliment's printrun/pronterface  https://github.com/kliment/Printrun
-
-Copy the Ultimaker Marlin firmware
-   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
-   (Use the download button)
-
-Start the arduino IDE.
-Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
-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.
-
-
-
+==========================
+Marlin 3D Printer Firmware
+==========================
+
+[![Flattr this git repo](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/ErikZalm/Marlin&title=Marlin&language=&tags=github&category=software)
+
+Quick Information
+===================
+This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
+
+Derived from Sprinter and Grbl by Erik van der Zalm.
+Sprinters lead developers are Kliment and caru.
+Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
+A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
+Some features have been added by:
+Lampmaker, 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
+*   SD Card support
+*   SD Card folders (works in pronterface)
+*   SD Card autostart support
+*   LCD support (ideally 20x4)
+*   LCD menu system for autonomous SD card printing, controlled by an click-encoder.
+*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
+*   many small but handy things originating from bkubicek's fork.
+*   Arc support
+*   Temperature oversampling
+*   Dynamic Temperature setpointing aka "AutoTemp"
+*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
+*   Endstop trigger reporting to the host software.
+*   Updated sdcardlib
+*   Heater power reporting. Useful for PID monitoring.
+*   PID tuning
+*   CoreXY kinematics (www.corexy.com/theory.html)
+*   Delta kinematics
+*   Dual X-carriage support for multiple extruder systems
+*   Configurable serial port to support connection of wireless adaptors.
+*   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
+*   RC Servo Support, specify angle or duration for continuous rotation servos.
+
+The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
+
+
+Differences and additions to the already good Sprinter firmware:
+================================================================
+
+*Look-ahead:*
+
+Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
+lookahead will only decelerate and accelerate to a velocity,
+so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
+This is only possible, if some future moves are already processed, hence the name.
+It leads to less over-deposition at corners, especially at flat angles.
+
+*Arc support:*
+
+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.
+
+*Temperature Oversampling:*
+
+To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
+
+*AutoTemp:*
+
+If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
+Usually, higher speed requires higher temperature.
+This can now be performed by the AutoTemp function
+By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
+
+You can leave it by calling M109 without any F.
+If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
+The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
+If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
+Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
+
+*EEPROM:*
+
+If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
+After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
+
+*LCD Menu:*
+
+If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
+accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
+One working hardware is documented here: http://www.thingiverse.com/thing:12663
+Also, with just a 20x4 or 16x2 display, useful data is shown.
+
+*SD card folders:*
+
+If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
+You can write to file in a subfolder by specifying a similar text using small letters in the path.
+Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
+
+*SD card folders:*
+
+If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
+First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
+
+*Endstop trigger reporting:*
+
+If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
+This is useful, because the user gets a warning message.
+However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
+
+*Coding paradigm:*
+
+Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
+This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
+We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
+A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
+In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
+some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
+necessary for backwards compatibility.
+
+*Interrupt based temperature measurements:*
+
+An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
+This leads to less blocking in the heater management routine.
+
+Implemented G Codes:
+====================
+
+*  G0  -> G1
+*  G1  - Coordinated Movement X Y Z E
+*  G2  - CW ARC
+*  G3  - CCW ARC
+*  G4  - Dwell S<seconds> or P<milliseconds>
+*  G10 - retract filament according to settings of M207
+*  G11 - retract recover filament according to settings of M208
+*  G28 - Home all Axis
+*  G90 - Use Absolute Coordinates
+*  G91 - Use Relative Coordinates
+*  G92 - Set current position to cordinates given
+
+M Codes
+*  M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
+*  M1   - Same as M0
+*  M17  - Enable/Power all stepper motors
+*  M18  - Disable all stepper motors; same as M84
+*  M20  - List SD card
+*  M21  - Init SD card
+*  M22  - Release SD card
+*  M23  - Select SD file (M23 filename.g)
+*  M24  - Start/resume SD print
+*  M25  - Pause SD print
+*  M26  - Set SD position in bytes (M26 S12345)
+*  M27  - Report SD print status
+*  M28  - Start SD write (M28 filename.g)
+*  M29  - Stop SD write
+*  M30  - Delete file from SD (M30 filename.g)
+*  M31  - Output time since last M109 or SD card start to serial
+*  M32  - Select file and start SD print (Can be used when printing from SD card)
+*  M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
+*  M80  - Turn on Power Supply
+*  M81  - Turn off Power Supply
+*  M82  - Set E codes absolute (default)
+*  M83  - Set E codes relative while in Absolute Coordinates (G90) mode
+*  M84  - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
+*  M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+*  M92  - Set axis_steps_per_unit - same syntax as G92
+*  M104 - Set extruder target temp
+*  M105 - Read current temp
+*  M106 - Fan on
+*  M107 - Fan off
+*  M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
+*         Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
+*  M114 - Output current position to serial port
+*  M115 - Capabilities string
+*  M117 - display message
+*  M119 - Output Endstop status to serial port
+*  M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
+*  M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
+*  M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+*  M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+*  M140 - Set bed target temp
+*  M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
+*         Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
+*  M200 - Set filament diameter
+*  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+*  M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+*  M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+*  M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*  M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
+*  M206 - set additional homeing offset
+*  M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+*  M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+*  M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+*  M220 S<factor in percent>- set speed factor override percentage
+*  M221 S<factor in percent>- set extrude factor override percentage
+*  M240 - Trigger a camera to take a photograph
+*  M280 - Position an RC Servo P<index> S<angle/microseconds>, ommit S to report back current angle
+*  M300 - Play beepsound S<frequency Hz> P<duration ms>
+*  M301 - Set PID parameters P I and D
+*  M302 - Allow cold extrudes
+*  M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+*  M304 - Set bed PID parameters P I and D
+*  M400 - Finish all moves
+*  M500 - stores paramters in EEPROM
+*  M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+*  M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+*  M503 - print the current settings (from memory not from eeprom)
+*  M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+*  M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+*  M907 - Set digital trimpot motor current using axis codes.
+*  M908 - Control digital trimpot directly.
+*  M350 - Set microstepping mode.
+*  M351 - Toggle MS1 MS2 pins directly.
+*  M928 - Start SD logging (M928 filename.g) - ended by M29
+*  M999 - Restart after being stopped by error
+
+
+Configuring and compilation:
+============================
+
+Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
+   http://www.arduino.cc/en/Main/Software
+
+For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
+  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
+
+Copy the Marlin firmware
+   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
+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
+
+That's ok.  Enjoy Silky Smooth Printing.
+
+
+
+