Merge branch 'Development' into marlin_configurator

Latest upstream changes

Marlin/Configuration.h

 #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
 #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
 
+//===========================================================================
+//============================= Filament Runout Sensor ======================
+//===========================================================================
+//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
+                                 // In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
+                                 // It is assumed that when logic high = filament available
+                                 //                    when logic  low = filament ran out
+//const bool FIL_RUNOUT_INVERTING = true;  // Should be uncommented and true or false should assigned
+//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
 
 //===========================================================================
 //============================= Bed Auto Leveling ===========================

Marlin/Marlin.h

   #include "WProgram.h"
 #endif
 
+#define BIT(b) (1<<(b))
+#define TEST(n,b) ((n)&BIT(b)!=0)
+
 // Arduino < 1.0.0 does not define this, so we need to do it ourselves
 #ifndef analogInputToDigitalPin
   #define analogInputToDigitalPin(p) ((p) + 0xA0)
 void kill();
 void Stop();
 
+#ifdef FILAMENT_RUNOUT_SENSOR
+void filrunout();
+#endif
+
 bool IsStopped();
 
 bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full

Marlin/Marlin.ino

   #endif
 #endif
 
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-#include <SPI.h>
+#if HAS_DIGIPOTSS
+  #include <SPI.h>
 #endif
 
 #if defined(DIGIPOT_I2C)

Marlin/Marlin.pde

   #endif
 #endif
 
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-#include <SPI.h>
+#if HAS_DIGIPOTSS
+  #include <SPI.h>
 #endif
 
 #if defined(DIGIPOT_I2C)

Marlin/MarlinSerial.cpp

   #endif
   
   if (useU2X) {
-    M_UCSRxA = 1 << M_U2Xx;
+    M_UCSRxA = BIT(M_U2Xx);
     baud_setting = (F_CPU / 4 / baud - 1) / 2;
   } else {
     M_UCSRxA = 0;

Marlin/MarlinSerial.h

     }
 
     FORCE_INLINE void write(uint8_t c) {
-      while (!((M_UCSRxA) & (1 << M_UDREx)))
+      while (!TEST(M_UCSRxA, M_UDREx))
         ;
 
       M_UDRx = c;
     }
 
     FORCE_INLINE void checkRx(void) {
-      if ((M_UCSRxA & (1<<M_RXCx)) != 0) {
+      if (TEST(M_UCSRxA, M_RXCx)) {
         unsigned char c  =  M_UDRx;
         int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
 

Marlin/Marlin_main.cpp

   #include "Servo.h"
 #endif
 
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+#if HAS_DIGIPOTSS
   #include <SPI.h>
 #endif
 
   int meas_delay_cm = MEASUREMENT_DELAY_CM;  //distance delay setting
 #endif
 
+#ifdef FILAMENT_RUNOUT_SENSOR
+   static bool filrunoutEnqued = false;
+#endif
+
 const char errormagic[] PROGMEM = "Error:";
 const char echomagic[] PROGMEM = "echo:";
 
   #endif
 }
 
+void setup_filrunoutpin()
+{
+#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
+   pinMode(FILRUNOUT_PIN,INPUT);
+   #if defined(ENDSTOPPULLUP_FIL_RUNOUT)
+      WRITE(FILLRUNOUT_PIN,HIGH);
+   #endif
+#endif
+}
+
 // Set home pin
 void setup_homepin(void)
 {
 void setup()
 {
   setup_killpin();
+  setup_filrunoutpin();
   setup_powerhold();
   MYSERIAL.begin(BAUDRATE);
   SERIAL_PROTOCOLLNPGM("start");
 
       if (verbose_level) {
         SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
-        SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001);
+        SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
         SERIAL_PROTOCOLPGM(" b: ");
-        SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001);
+        SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
         SERIAL_PROTOCOLPGM(" d: ");
-        SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001);
+        SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
+        SERIAL_EOL;
         if (verbose_level > 2) {
           SERIAL_PROTOCOLPGM("Mean of sampled points: ");
-          SERIAL_PROTOCOL_F(mean, 6);
+          SERIAL_PROTOCOL_F(mean, 8);
           SERIAL_EOL;
         }
       }
 
         SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
         #if TOPO_ORIGIN == OriginFrontLeft
+          SERIAL_PROTOCOLPGM("+-----------+\n");
+          SERIAL_PROTOCOLPGM("|...Back....|\n");
+          SERIAL_PROTOCOLPGM("|Left..Right|\n");
+          SERIAL_PROTOCOLPGM("|...Front...|\n");
+          SERIAL_PROTOCOLPGM("+-----------+\n");
           for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
         #else
           for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
         #endif
           {
             #if TOPO_ORIGIN == OriginBackRight
-              for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
-            #else
               for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
+            #else
+              for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
             #endif
               {
                 int ind =
       plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
       plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
     #endif        
+
+    #ifdef FILAMENT_RUNOUT_SENSOR
+      filrunoutEnqued = false;
+    #endif
+    
   }
 
 #endif // FILAMENTCHANGEENABLE
  * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  */
 inline void gcode_M907() {
-  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+  #if HAS_DIGIPOTSS
     for (int i=0;i<NUM_AXIS;i++)
       if (code_seen(axis_codes[i])) digipot_current(i, code_value());
     if (code_seen('B')) digipot_current(4, code_value());
   #endif
 }
 
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+#if HAS_DIGIPOTSS
 
   /**
    * M908: Control digital trimpot directly (M908 P<pin> S<current>)
       );
   }
 
-#endif // DIGIPOTSS_PIN
+#endif // HAS_DIGIPOTSS
 
 // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
 inline void gcode_M350() {
         gcode_M907();
         break;
 
-      #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+      #if HAS_DIGIPOTSS
         case 908: // M908 Control digital trimpot directly.
           gcode_M908();
           break;
-      #endif // DIGIPOTSS_PIN
+      #endif // HAS_DIGIPOTSS
 
       case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
         gcode_M350();
    const int KILL_DELAY = 10000;
 #endif
 
+#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
+    if(card.sdprinting) {
+      if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
+      filrunout();        }
+#endif
+
 #if defined(HOME_PIN) && HOME_PIN > -1
    static int homeDebounceCount = 0;   // poor man's debouncing count
    const int HOME_DEBOUNCE_DELAY = 10000;
   while(1) { /* Intentionally left empty */ } // Wait for reset
 }
 
+#ifdef FILAMENT_RUNOUT_SENSOR
+   void filrunout()
+   {
+      if filrunoutEnqued == false {
+         filrunoutEnqued = true;
+         enquecommand("M600");
+      }
+   }
+#endif
+
 void Stop()
 {
   disable_heater();

Marlin/Sd2Card.cpp

  */
 static void spiInit(uint8_t spiRate) {
   // See avr processor documentation
-  SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
-  SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
+  SPCR = BIT(SPE) | BIT(MSTR) | (spiRate >> 1);
+  SPSR = spiRate & 1 || spiRate == 6 ? 0 : BIT(SPI2X);
 }
 //------------------------------------------------------------------------------
 /** SPI receive a byte */
 static uint8_t spiRec() {
   SPDR = 0XFF;
-  while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
   return SPDR;
 }
 //------------------------------------------------------------------------------
   if (nbyte-- == 0) return;
   SPDR = 0XFF;
   for (uint16_t i = 0; i < nbyte; i++) {
-    while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
     buf[i] = SPDR;
     SPDR = 0XFF;
   }
-  while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
   buf[nbyte] = SPDR;
 }
 //------------------------------------------------------------------------------
 /** SPI send a byte */
 static void spiSend(uint8_t b) {
   SPDR = b;
-  while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
 }
 //------------------------------------------------------------------------------
 /** SPI send block - only one call so force inline */
   void spiSendBlock(uint8_t token, const uint8_t* buf) {
   SPDR = token;
   for (uint16_t i = 0; i < 512; i += 2) {
-    while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
     SPDR = buf[i];
-    while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
     SPDR = buf[i + 1];
   }
-  while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
+  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
 }
 //------------------------------------------------------------------------------
 #else  // SOFTWARE_SPI

Marlin/Sd2PinMap.h

   void setPinMode(uint8_t pin, uint8_t mode) {
   if (__builtin_constant_p(pin) && pin < digitalPinCount) {
     if (mode) {
-      *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;
+      *digitalPinMap[pin].ddr |= BIT(digitalPinMap[pin].bit);
     } else {
-      *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
+      *digitalPinMap[pin].ddr &= ~BIT(digitalPinMap[pin].bit);
     }
   } else {
     badPinNumber();
   void fastDigitalWrite(uint8_t pin, uint8_t value) {
   if (__builtin_constant_p(pin) && pin < digitalPinCount) {
     if (value) {
-      *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;
+      *digitalPinMap[pin].port |= BIT(digitalPinMap[pin].bit);
     } else {
-      *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
+      *digitalPinMap[pin].port &= ~BIT(digitalPinMap[pin].bit);
     }
   } else {
     badPinNumber();

Marlin/SdBaseFile.h

   return 2*(fatTime & 0X1F);
 }
 /** Default date for file timestamps is 1 Jan 2000 */
-uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
+uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1;
 /** Default time for file timestamp is 1 am */
-uint16_t const FAT_DEFAULT_TIME = (1 << 11);
+uint16_t const FAT_DEFAULT_TIME = BIT(11);
 //------------------------------------------------------------------------------
 /**
  * \class SdBaseFile

Marlin/SdVolume.cpp

   blocksPerCluster_ = fbs->sectorsPerCluster;
   // determine shift that is same as multiply by blocksPerCluster_
   clusterSizeShift_ = 0;
-  while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
+  while (blocksPerCluster_ != BIT(clusterSizeShift_)) {
     // error if not power of 2
     if (clusterSizeShift_++ > 7) goto fail;
   }

Marlin/dogm_lcd_implementation.h

   #define BLEN_A 0
   #define BLEN_B 1
   #define BLEN_C 2
-  #define EN_A (1<<BLEN_A)
-  #define EN_B (1<<BLEN_B)
-  #define EN_C (1<<BLEN_C)
+  #define EN_A BIT(BLEN_A)
+  #define EN_B BIT(BLEN_B)
+  #define EN_C BIT(BLEN_C)
   #define LCD_CLICKED (buttons&EN_C)
 #endif
 

Marlin/fastio.h

 */
 
 #ifndef MASK
-/// MASKING- returns \f$2^PIN\f$
-#define MASK(PIN)  (1 << PIN)
+  #define MASK(PIN)  (1 << PIN)
 #endif
 
 /*

Marlin/pins.h

                         analogInputToDigitalPin(TEMP_BED_PIN) \
                        }
 
+#define HAS_DIGIPOTSS (DIGIPOTSS_PIN >= 0)
+
 #endif //__PINS_H

Marlin/pins_RAMPS_13.h

   #define FILWIDTH_PIN        5
 #endif
 
+#if defined(FILAMENT_RUNOUT_SENSOR)
+  // define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector
+  #define FILRUNOUT_PIN        4
+#endif
+
 #if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF)
   #define FAN_PIN            9 // (Sprinter config)
   #if MB(RAMPS_13_EFF)

Marlin/planner.cpp

 #include "language.h"
 
 //===========================================================================
-//=============================public variables ============================
+//============================= public variables ============================
 //===========================================================================
 
 unsigned long minsegmenttime;
 #ifndef COREXY
   if (target[X_AXIS] < position[X_AXIS])
   {
-    block->direction_bits |= (1<<X_AXIS); 
+    block->direction_bits |= BIT(X_AXIS); 
   }
   if (target[Y_AXIS] < position[Y_AXIS])
   {
-    block->direction_bits |= (1<<Y_AXIS); 
+    block->direction_bits |= BIT(Y_AXIS); 
   }
 #else
   if (target[X_AXIS] < position[X_AXIS])
   {
-    block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
+    block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
   }
   if (target[Y_AXIS] < position[Y_AXIS])
   {
-    block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
+    block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
   }
   if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
   {
-    block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
+    block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
   }
   if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
   {
-    block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
+    block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
   }
 #endif
   if (target[Z_AXIS] < position[Z_AXIS])
   {
-    block->direction_bits |= (1<<Z_AXIS); 
+    block->direction_bits |= BIT(Z_AXIS); 
   }
   if (target[E_AXIS] < position[E_AXIS])
   {
-    block->direction_bits |= (1<<E_AXIS); 
+    block->direction_bits |= BIT(E_AXIS); 
   }
 
   block->active_extruder = extruder;
   old_direction_bits = block->direction_bits;
   segment_time = lround((float)segment_time / speed_factor);
   
-  if((direction_change & (1<<X_AXIS)) == 0)
+  if((direction_change & BIT(X_AXIS)) == 0)
   {
     x_segment_time[0] += segment_time;
   }
     x_segment_time[1] = x_segment_time[0];
     x_segment_time[0] = segment_time;
   }
-  if((direction_change & (1<<Y_AXIS)) == 0)
+  if((direction_change & BIT(Y_AXIS)) == 0)
   {
     y_segment_time[0] += segment_time;
   }

Marlin/stepper.h

 #include "stepper_indirection.h"
 
 #if EXTRUDERS > 3
-  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
+  #define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
   #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
   #define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
 #elif EXTRUDERS > 2
-  #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
+  #define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
   #define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
   #define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
 #elif EXTRUDERS > 1
   #ifndef DUAL_X_CARRIAGE
-    #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
+    #define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
     #define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
     #define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
   #else
     extern bool extruder_duplication_enabled;
-    #define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
+    #define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
     #define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
     #define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
   #endif  
 #else
-  #define WRITE_E_STEP(v) E0_STEP_WRITE(v)
+  #define E_STEP_WRITE(v) E0_STEP_WRITE(v)
   #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
   #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
 #endif

Marlin/temperature.cpp

 //============================= public variables ============================
 //===========================================================================
 
+#ifdef K1 // Defined in Configuration.h in the PID settings
+  #define K2 (1.0-K1)
+#endif
+
 // Sampling period of the temperature routine
 #ifdef PID_dT
   #undef PID_dT
   static float pid_error[EXTRUDERS];
   static float temp_iState_min[EXTRUDERS];
   static float temp_iState_max[EXTRUDERS];
-  // static float pid_input[EXTRUDERS];
-  // static float pid_output[EXTRUDERS];
   static bool pid_reset[EXTRUDERS];
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
   _temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED);
 }
 
+float get_pid_output(int e) {
+  float pid_output;
+  #ifdef PIDTEMP
+    #ifndef PID_OPENLOOP
+      pid_error[e] = target_temperature[e] - current_temperature[e];
+      if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
+        pid_output = BANG_MAX;
+        pid_reset[e] = true;
+      }
+      else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
+        pid_output = 0;
+        pid_reset[e] = true;
+      }
+      else {
+        if (pid_reset[e]) {
+          temp_iState[e] = 0.0;
+          pid_reset[e] = false;
+        }
+        pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
+        temp_iState[e] += pid_error[e];
+        temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
+        iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
+
+        dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
+        pid_output = pTerm[e] + iTerm[e] - dTerm[e];
+        if (pid_output > PID_MAX) {
+          if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
+          pid_output = PID_MAX;
+        }
+        else if (pid_output < 0) {
+          if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
+          pid_output = 0;
+        }
+      }
+      temp_dState[e] = current_temperature[e];
+    #else
+      pid_output = constrain(target_temperature[e], 0, PID_MAX);
+    #endif //PID_OPENLOOP
+
+    #ifdef PID_DEBUG
+      SERIAL_ECHO_START;
+      SERIAL_ECHO(MSG_PID_DEBUG);
+      SERIAL_ECHO(e);
+      SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
+      SERIAL_ECHO(current_temperature[e]);
+      SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
+      SERIAL_ECHO(pid_output);
+      SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
+      SERIAL_ECHO(pTerm[e]);
+      SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
+      SERIAL_ECHO(iTerm[e]);
+      SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
+      SERIAL_ECHOLN(dTerm[e]);
+    #endif //PID_DEBUG
+
+  #else /* PID off */
+    pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
+  #endif
+
+  return pid_output;
+}
+
+#ifdef PIDTEMPBED
+  float get_pid_output_bed() {
+    float pid_output;
+    #ifndef PID_OPENLOOP
+      pid_error_bed = target_temperature_bed - current_temperature_bed;
+      pTerm_bed = bedKp * pid_error_bed;
+      temp_iState_bed += pid_error_bed;
+      temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
+      iTerm_bed = bedKi * temp_iState_bed;
+
+      dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
+      temp_dState_bed = current_temperature_bed;
+
+      pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
+      if (pid_output > MAX_BED_POWER) {
+        if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
+        pid_output = MAX_BED_POWER;
+      }
+      else if (pid_output < 0) {
+        if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
+        pid_output = 0;
+      }
+    #else
+      pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
+    #endif // PID_OPENLOOP
+
+    return pid_output;
+  }
+#endif
+
 void manage_heater() {
 
   if (!temp_meas_ready) return;
 
-  float pid_input, pid_output;
-
   updateTemperaturesFromRawValues();
 
   #ifdef HEATER_0_USES_MAX6675
       thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
     #endif
 
-    #ifdef PIDTEMP
-      pid_input = current_temperature[e];
-
-      #ifndef PID_OPENLOOP
-        pid_error[e] = target_temperature[e] - pid_input;
-        if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
-          pid_output = BANG_MAX;
-          pid_reset[e] = true;
-        }
-        else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
-          pid_output = 0;
-          pid_reset[e] = true;
-        }
-        else {
-          if (pid_reset[e] == true) {
-            temp_iState[e] = 0.0;
-            pid_reset[e] = false;
-          }
-          pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
-          temp_iState[e] += pid_error[e];
-          temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
-          iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
-
-          //K1 defined in Configuration.h in the PID settings
-          #define K2 (1.0-K1)
-          dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]);
-          pid_output = pTerm[e] + iTerm[e] - dTerm[e];
-          if (pid_output > PID_MAX) {
-            if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
-            pid_output = PID_MAX;
-          }
-          else if (pid_output < 0) {
-            if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
-            pid_output = 0;
-          }
-        }
-        temp_dState[e] = pid_input;
-      #else
-        pid_output = constrain(target_temperature[e], 0, PID_MAX);
-      #endif //PID_OPENLOOP
-
-      #ifdef PID_DEBUG
-        SERIAL_ECHO_START;
-        SERIAL_ECHO(MSG_PID_DEBUG);
-        SERIAL_ECHO(e);
-        SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
-        SERIAL_ECHO(pid_input);
-        SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
-        SERIAL_ECHO(pid_output);
-        SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
-        SERIAL_ECHO(pTerm[e]);
-        SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
-        SERIAL_ECHO(iTerm[e]);
-        SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
-        SERIAL_ECHOLN(dTerm[e]);
-      #endif //PID_DEBUG
-
-    #else /* PID off */
-
-      pid_output = 0;
-      if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX;
-
-    #endif
+    float pid_output = get_pid_output(e);
 
     // Check if temperature is within the correct range
     soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
     #endif
 
     #ifdef PIDTEMPBED
-      pid_input = current_temperature_bed;
-
-      #ifndef PID_OPENLOOP
-        pid_error_bed = target_temperature_bed - pid_input;
-        pTerm_bed = bedKp * pid_error_bed;
-        temp_iState_bed += pid_error_bed;
-        temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
-        iTerm_bed = bedKi * temp_iState_bed;
-
-        //K1 defined in Configuration.h in the PID settings
-  		  #define K2 (1.0-K1)
-  		  dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
-        temp_dState_bed = pid_input;
-
-        pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
-        if (pid_output > MAX_BED_POWER) {
-          if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
-          pid_output = MAX_BED_POWER;
-        }
-        else if (pid_output < 0) {
-          if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
-          pid_output = 0;
-        }
-
-      #else
-        pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
-      #endif //PID_OPENLOOP
+      float pid_output = get_pid_output_bed();
 
       soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
 
 {
   #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
     //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
-    MCUCR=(1<<JTD);
-    MCUCR=(1<<JTD);
+    MCUCR=BIT(JTD);
+    MCUCR=BIT(JTD);
   #endif
   
   // Finish init of mult extruder arrays 
   #endif //HEATER_0_USES_MAX6675
 
   #ifdef DIDR2
-    #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0)
+    #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
   #else
-    #define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0)
+    #define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
   #endif
 
   // Set analog inputs
-  ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
+  ADCSRA = BIT(ADEN) | BIT(ADSC) | BIT(ADIF) | 0x07;
   DIDR0 = 0;
   #ifdef DIDR2
     DIDR2 = 0;
   // Use timer0 for temperature measurement
   // Interleave temperature interrupt with millies interrupt
   OCR0B = 128;
-  TIMSK0 |= (1<<OCIE0B);  
+  TIMSK0 |= BIT(OCIE0B);  
   
   // Wait for temperature measurement to settle
   delay(250);
     max6675_temp = 0;
 
     #ifdef PRR
-      PRR &= ~(1<<PRSPI);
+      PRR &= ~BIT(PRSPI);
     #elif defined(PRR0)
-      PRR0 &= ~(1<<PRSPI);
+      PRR0 &= ~BIT(PRSPI);
     #endif
 
-    SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
+    SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);
 
     // enable TT_MAX6675
     WRITE(MAX6675_SS, 0);
 
     // read MSB
     SPDR = 0;
-    for (;(SPSR & (1<<SPIF)) == 0;);
+    for (;(SPSR & BIT(SPIF)) == 0;);
     max6675_temp = SPDR;
     max6675_temp <<= 8;
 
     // read LSB
     SPDR = 0;
-    for (;(SPSR & (1<<SPIF)) == 0;);
+    for (;(SPSR & BIT(SPIF)) == 0;);
     max6675_temp |= SPDR;
 
     // disable TT_MAX6675
   static unsigned long raw_temp_3_value = 0;
   static unsigned long raw_temp_bed_value = 0;
   static TempState temp_state = StartupDelay;
-  static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
+  static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
 
   // Static members for each heater
   #ifdef SLOW_PWM_HEATERS
       if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
     #endif
     
-    pwm_count += (1 << SOFT_PWM_SCALE);
+    pwm_count += BIT(SOFT_PWM_SCALE);
     pwm_count &= 0x7f;
   
   #else // SLOW_PWM_HEATERS
       if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
     #endif //FAN_SOFT_PWM
 
-    pwm_count += (1 << SOFT_PWM_SCALE);
+    pwm_count += BIT(SOFT_PWM_SCALE);
     pwm_count &= 0x7f;
 
     // increment slow_pwm_count only every 64 pwm_count circa 65.5ms
   
   #endif // SLOW_PWM_HEATERS
 
-  #define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1<<ADSC
+  #define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
   #ifdef MUX5
-    #define START_ADC(pin) if (pin > 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
+    #define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
   #else
     #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
   #endif

Marlin/ultralcd.cpp

       WRITE(SHIFT_LD, HIGH);
       for(int8_t i = 0; i < 8; i++) {
         newbutton_reprapworld_keypad >>= 1;
-        if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= (1 << 7);
+        if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7);
         WRITE(SHIFT_CLK, HIGH);
         WRITE(SHIFT_CLK, LOW);
       }
     unsigned char tmp_buttons = 0;
     for(int8_t i=0; i<8; i++) {
       newbutton >>= 1;
-      if (READ(SHIFT_OUT)) newbutton |= (1 << 7);
+      if (READ(SHIFT_OUT)) newbutton |= BIT(7);
       WRITE(SHIFT_CLK, HIGH);
       WRITE(SHIFT_CLK, LOW);
     }

Marlin/ultralcd.h

   void lcd_ignore_click(bool b=true);
 
   #ifdef NEWPANEL
-    #define EN_C (1<<BLEN_C)
-    #define EN_B (1<<BLEN_B)
-    #define EN_A (1<<BLEN_A)
+    #define EN_C BIT(BLEN_C)
+    #define EN_B BIT(BLEN_B)
+    #define EN_A BIT(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 EN_REPRAPWORLD_KEYPAD_F3 BIT(BLEN_REPRAPWORLD_KEYPAD_F3)
+  	  #define EN_REPRAPWORLD_KEYPAD_F2 BIT(BLEN_REPRAPWORLD_KEYPAD_F2)
+  	  #define EN_REPRAPWORLD_KEYPAD_F1 BIT(BLEN_REPRAPWORLD_KEYPAD_F1)
+  	  #define EN_REPRAPWORLD_KEYPAD_UP BIT(BLEN_REPRAPWORLD_KEYPAD_UP)
+  	  #define EN_REPRAPWORLD_KEYPAD_RIGHT BIT(BLEN_REPRAPWORLD_KEYPAD_RIGHT)
+  	  #define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT(BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
+  	  #define EN_REPRAPWORLD_KEYPAD_DOWN BIT(BLEN_REPRAPWORLD_KEYPAD_DOWN)
+  	  #define EN_REPRAPWORLD_KEYPAD_LEFT BIT(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)
     #endif //REPRAPWORLD_KEYPAD
   #else
     //atomic, 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 B_LE BIT(BL_LE)
+    #define B_UP BIT(BL_UP)
+    #define B_MI BIT(BL_MI)
+    #define B_DW BIT(BL_DW)
+    #define B_RI BIT(BL_RI)
+    #define B_ST BIT(BL_ST)
+    #define EN_B BIT(BLEN_B)
+    #define EN_A BIT(BLEN_A)
     
     #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
   #endif//NEWPANEL

Marlin/ultralcd_implementation_hitachi_HD44780.h

 #define BLEN_B 1
 #define BLEN_A 0
 
-#define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
-#define EN_A (1<<BLEN_A)
+#define EN_B BIT(BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
+#define EN_A BIT(BLEN_A)
 
 #if defined(BTN_ENC) && BTN_ENC > -1
   // encoder click is directly connected
   #define BLEN_C 2 
-  #define EN_C (1<<BLEN_C) 
+  #define EN_C BIT(BLEN_C) 
 #endif 
   
 //
     
     #define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
 
-    #define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F3 BIT((BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F2 BIT((BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F1 BIT((BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_UP BIT((BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_RIGHT BIT((BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT((BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_DOWN BIT((BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_LEFT BIT((BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
 
     #define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
     #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
   #define BL_ST 2
 
   //automatic, 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 B_LE BIT(BL_LE)
+  #define B_UP BIT(BL_UP)
+  #define B_MI BIT(BL_MI)
+  #define B_DW BIT(BL_DW)
+  #define B_RI BIT(BL_RI)
+  #define B_ST BIT(BL_ST)
   
   #define LCD_CLICKED (buttons&(B_MI|B_ST))
 #endif

Marlin/ultralcd_st7920_u8glib_rrd.h

   for( i=0; i<8; i++ )
   {
     WRITE(ST7920_CLK_PIN,0);
+    #if F_CPU == 20000000
+      __asm__("nop\n\t"); 
+    #endif
     WRITE(ST7920_DAT_PIN,val&0x80); 
     val<<=1;
     WRITE(ST7920_CLK_PIN,1);
+    #if F_CPU == 20000000
+      __asm__("nop\n\t""nop\n\t"); 
+    #endif
   }
 }
 

Marlin/vector_3.cpp

 {
 	SERIAL_PROTOCOL(title);
 	SERIAL_PROTOCOLPGM(" x: ");
-	SERIAL_PROTOCOL(x);
+	SERIAL_PROTOCOL_F(x, 6);
 	SERIAL_PROTOCOLPGM(" y: ");
-	SERIAL_PROTOCOL(y);
+	SERIAL_PROTOCOL_F(y, 6);
 	SERIAL_PROTOCOLPGM(" z: ");
-	SERIAL_PROTOCOL(z);
+	SERIAL_PROTOCOL_F(z, 6);
 	SERIAL_EOL;
 }
 
   int count = 0;
   for(int i=0; i<3; i++) {
     for(int j=0; j<3; j++) {
-      SERIAL_PROTOCOL(matrix[count] + 0.0001);
+      SERIAL_PROTOCOL_F(matrix[count], 6);
       SERIAL_PROTOCOLPGM(" ");
       count++;
     }