Merge remote-tracking branch 'upstream/Development' into Development

Marlin/Configuration.h

 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 //#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_ENABLE_ON 0
 #define DISABLE_E false // For all extruders
 #define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
 
-#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/Marlin.h

 
 bool IsStopped();
 
-void enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer.
-void enquecommand_P(const char *cmd); //put an ASCII command at the end of the current buffer, read from flash
+bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
+void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
+
 void prepare_arc_move(char isclockwise);
 void clamp_to_software_endstops(float target[3]);
 

Marlin/Marlin_main.cpp

 static boolean comment_mode = false;
 static char *strchr_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
 
+const char* queued_commands_P= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
+
 const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
 
 // Inactivity shutdown
   }
 #endif //!SDSUPPORT
 
-//adds an command to the main command buffer
-//thats really done in a non-safe way.
-//needs overworking someday
-void enquecommand(const char *cmd)
+//Injects the next command from the pending sequence of commands, when possible
+//Return false if and only if no command was pending
+static bool drain_queued_commands_P()
 {
-  if(buflen < BUFSIZE)
+  char cmd[30];
+  if(!queued_commands_P)
+    return false;
+  // Get the next 30 chars from the sequence of gcodes to run
+  strncpy_P(cmd, queued_commands_P, sizeof(cmd)-1);
+  cmd[sizeof(cmd)-1]= 0;
+  // Look for the end of line, or the end of sequence
+  size_t i= 0;
+  char c;
+  while( (c= cmd[i]) && c!='\n' )
+    ++i; // look for the end of this gcode command
+  cmd[i]= 0;
+  if(enquecommand(cmd)) // buffer was not full (else we will retry later)
   {
-    //this is dangerous if a mixing of serial and this happens
-    strcpy(&(cmdbuffer[bufindw][0]),cmd);
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM(MSG_Enqueing);
-    SERIAL_ECHO(cmdbuffer[bufindw]);
-    SERIAL_ECHOLNPGM("\"");
-    bufindw= (bufindw + 1)%BUFSIZE;
-    buflen += 1;
+    if(c)
+      queued_commands_P+= i+1; // move to next command
+    else
+      queued_commands_P= NULL; // will have no more commands in the sequence
   }
+  return true;
 }
 
-void enquecommand_P(const char *cmd)
+//Record one or many commands to run from program memory.
+//Aborts the current queue, if any.
+//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
+void enquecommands_P(const char* pgcode)
 {
-  if(buflen < BUFSIZE)
-  {
-    //this is dangerous if a mixing of serial and this happens
-    strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM(MSG_Enqueing);
-    SERIAL_ECHO(cmdbuffer[bufindw]);
-    SERIAL_ECHOLNPGM("\"");
-    bufindw= (bufindw + 1)%BUFSIZE;
-    buflen += 1;
-  }
+    queued_commands_P= pgcode;
+    drain_queued_commands_P(); // first command exectuted asap (when possible)
+}
+
+//adds a single command to the main command buffer, from RAM
+//that is really done in a non-safe way.
+//needs overworking someday
+//Returns false if it failed to do so
+bool enquecommand(const char *cmd)
+{
+  if(*cmd==';')
+    return false;
+  if(buflen >= BUFSIZE)
+    return false;
+  //this is dangerous if a mixing of serial and this happens
+  strcpy(&(cmdbuffer[bufindw][0]),cmd);
+  SERIAL_ECHO_START;
+  SERIAL_ECHOPGM(MSG_Enqueing);
+  SERIAL_ECHO(cmdbuffer[bufindw]);
+  SERIAL_ECHOLNPGM("\"");
+  bufindw= (bufindw + 1)%BUFSIZE;
+  buflen += 1;
+  return true;
 }
 
+
+
 void setup_killpin()
 {
   #if defined(KILL_PIN) && KILL_PIN > -1
   digitalWrite(SERVO0_PIN, LOW); // turn it off
 #endif // Z_PROBE_SLED
   setup_homepin();
+  
+#ifdef STAT_LED_RED
+  pinMode(STAT_LED_RED, OUTPUT);
+  digitalWrite(STAT_LED_RED, LOW); // turn it off
+#endif
+#ifdef STAT_LED_BLUE
+  pinMode(STAT_LED_BLUE, OUTPUT);
+  digitalWrite(STAT_LED_BLUE, LOW); // turn it off
+#endif  
 }
 
 
 
 void get_command()
 {
+  if(drain_queued_commands_P()) // priority is given to non-serial commands
+    return;
+  
   while( MYSERIAL.available() > 0  && buflen < BUFSIZE) {
     serial_char = MYSERIAL.read();
     if(serial_char == '\n' ||
     {
        if (homeDebounceCount == 0)
        {
-          enquecommand_P((PSTR("G28")));
+          enquecommands_P((PSTR("G28")));
           homeDebounceCount++;
           LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
        }

Marlin/cardreader.cpp

 
       sprintf_P(cmd, PSTR("M23 %s"), autoname);
       enquecommand(cmd);
-      enquecommand_P(PSTR("M24"));
+      enquecommands_P(PSTR("M24"));
       found=true;
     }
   }
       if(SD_FINISHED_STEPPERRELEASE)
       {
           //finishAndDisableSteppers();
-          enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+          enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
       }
       autotempShutdown();
     }

Marlin/dogm_lcd_implementation.h

 #elif defined(MAKRPANEL)
 // The MaKrPanel display, ST7565 controller as well
 U8GLIB_NHD_C12864 u8g(DOGLCD_CS, DOGLCD_A0);
+#elif defined(VIKI2) || defined(miniVIKI)
+// Mini Viki and Viki 2.0 LCD, 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

Marlin/example_configurations/Hephestos/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 260
 #define HEATER_1_MAXTEMP 260
 #define HEATER_2_MAXTEMP 260
+#define HEATER_3_MAXTEMP 260
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 #define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/K8200/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 5
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_BED 5
 
 // 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 
 #define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR false     // for Mendel set to false, for Orca set to true
+#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR true    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/SCARA/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_BED 1
 
 // 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstop	s when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/SCARA/Configuration_adv.h

 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_3_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 
   #define THERMISTORHEATER_2 TEMP_SENSOR_2
   #define HEATER_2_USES_THERMISTOR
 #endif
+#if TEMP_SENSOR_3 > 0
+  #define THERMISTORHEATER_3 TEMP_SENSOR_3
+  #define HEATER_3_USES_THERMISTOR
+#endif
 #if TEMP_SENSOR_BED > 0
   #define THERMISTORBED TEMP_SENSOR_BED
   #define BED_USES_THERMISTOR
 #if TEMP_SENSOR_2 == -1
   #define HEATER_2_USES_AD595
 #endif
+#if TEMP_SENSOR_3 == -1
+  #define HEATER_3_USES_AD595
+#endif
 #if TEMP_SENSOR_BED == -1
   #define BED_USES_AD595
 #endif
   #undef HEATER_2_MINTEMP
   #undef HEATER_2_MAXTEMP
 #endif
+#if TEMP_SENSOR_3 == 0
+  #undef HEATER_3_MINTEMP
+  #undef HEATER_3_MAXTEMP
+#endif
 #if TEMP_SENSOR_BED == 0
   #undef BED_MINTEMP
   #undef BED_MAXTEMP

Marlin/example_configurations/WITBOX/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 260
 #define HEATER_1_MAXTEMP 260
 #define HEATER_2_MAXTEMP 260
+#define HEATER_3_MAXTEMP 260
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 #define DISABLE_E false // For all extruders
 #define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
 
-#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 #define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/delta/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 #define INVERT_Z_DIR false
 
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/delta/Configuration_adv.h

 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_3_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 
   #define THERMISTORHEATER_2 TEMP_SENSOR_2
   #define HEATER_2_USES_THERMISTOR
 #endif
+#if TEMP_SENSOR_3 > 0
+  #define THERMISTORHEATER_3 TEMP_SENSOR_3
+  #define HEATER_3_USES_THERMISTOR
+#endif
 #if TEMP_SENSOR_BED > 0
   #define THERMISTORBED TEMP_SENSOR_BED
   #define BED_USES_THERMISTOR
 #if TEMP_SENSOR_2 == -1
   #define HEATER_2_USES_AD595
 #endif
+#if TEMP_SENSOR_3 == -1
+  #define HEATER_3_USES_AD595
+#endif
 #if TEMP_SENSOR_BED == -1
   #define BED_USES_AD595
 #endif
   #undef HEATER_2_MINTEMP
   #undef HEATER_2_MAXTEMP
 #endif
+#if TEMP_SENSOR_3 == 0
+  #undef HEATER_3_MINTEMP
+  #undef HEATER_3_MAXTEMP
+#endif
 #if TEMP_SENSOR_BED == 0
   #undef BED_MINTEMP
   #undef BED_MAXTEMP

Marlin/example_configurations/makibox/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_BED 12
 
 // 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 #define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
-#define INVERT_E0_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E0_DIR true    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/makibox/Configuration_adv.h

 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_3_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 
   #define THERMISTORHEATER_2 TEMP_SENSOR_2
   #define HEATER_2_USES_THERMISTOR
 #endif
+#if TEMP_SENSOR_3 > 0
+  #define THERMISTORHEATER_3 TEMP_SENSOR_3
+  #define HEATER_3_USES_THERMISTOR
+#endif
 #if TEMP_SENSOR_BED > 0
   #define THERMISTORBED TEMP_SENSOR_BED
   #define BED_USES_THERMISTOR
 #if TEMP_SENSOR_2 == -1
   #define HEATER_2_USES_AD595
 #endif
+#if TEMP_SENSOR_3 == -1
+  #define HEATER_3_USES_AD595
+#endif
 #if TEMP_SENSOR_BED == -1
   #define BED_USES_AD595
 #endif
   #undef HEATER_2_MINTEMP
   #undef HEATER_2_MAXTEMP
 #endif
+#if TEMP_SENSOR_3 == 0
+  #undef HEATER_3_MINTEMP
+  #undef HEATER_3_MAXTEMP
+#endif
 #if TEMP_SENSOR_BED == 0
   #undef BED_MINTEMP
   #undef BED_MAXTEMP

Marlin/example_configurations/tvrrug/Round2/Configuration.h

-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
 #define TEMP_SENSOR_0 5
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_BED 5
 
 // 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 HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
 #define BED_MINTEMP 5
 
 // When temperature exceeds max temp, your heater will be switched off.
 #define HEATER_0_MAXTEMP 275
 #define HEATER_1_MAXTEMP 275
 #define HEATER_2_MAXTEMP 275
+#define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150
 
 #define CONFIG_STEPPERS_TOSHIBA	1
 #define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
 
 #define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
-#define INVERT_Y_DIR true    // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR false     // for Mendel set to false, for Orca set to true
+#define INVERT_Y_DIR true     // for Mendel set to true, for Orca set to false
+#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
 // http://reprap.org/wiki/MaKr3d_MaKrPanel
 //#define MAKRPANEL
 
+// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
+// http://panucatt.com
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define VIKI2
+//#define miniVIKI
+
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
 //#define REPRAP_DISCOUNT_SMART_CONTROLLER
  #define DEFAULT_LCD_CONTRAST 17
 #endif
 
+#if defined(miniVIKI) || defined(VIKI2)
+ #define ULTRA_LCD  //general LCD support, also 16x2
+ #define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+ #define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+ 
+  #ifdef miniVIKI
+   #define DEFAULT_LCD_CONTRAST 95
+  #else
+   #define DEFAULT_LCD_CONTRAST 40
+  #endif
+  
+ #define ENCODER_PULSES_PER_STEP 4
+ #define ENCODER_STEPS_PER_MENU_ITEM 1
+#endif
+
+
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
  #define U8GLIB_ST7920

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_3_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 
   #define THERMISTORHEATER_2 TEMP_SENSOR_2
   #define HEATER_2_USES_THERMISTOR
 #endif
+#if TEMP_SENSOR_3 > 0
+  #define THERMISTORHEATER_3 TEMP_SENSOR_3
+  #define HEATER_3_USES_THERMISTOR
+#endif
 #if TEMP_SENSOR_BED > 0
   #define THERMISTORBED TEMP_SENSOR_BED
   #define BED_USES_THERMISTOR
 #if TEMP_SENSOR_2 == -1
   #define HEATER_2_USES_AD595
 #endif
+#if TEMP_SENSOR_3 == -1
+  #define HEATER_3_USES_AD595
+#endif
 #if TEMP_SENSOR_BED == -1
   #define BED_USES_AD595
 #endif
   #undef HEATER_2_MINTEMP
   #undef HEATER_2_MAXTEMP
 #endif
+#if TEMP_SENSOR_3 == 0
+  #undef HEATER_3_MINTEMP
+  #undef HEATER_3_MAXTEMP
+#endif
 #if TEMP_SENSOR_BED == 0
   #undef BED_MINTEMP
   #undef BED_MAXTEMP

Marlin/planner.cpp

     block->direction_bits |= (1<<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
+  }
+  if (target[Y_AXIS] < position[Y_AXIS])
+  {
+    block->direction_bits |= (1<<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); 
+    block->direction_bits |= (1<<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); 
+    block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
   }
 #endif
   if (target[Z_AXIS] < position[Z_AXIS])

Marlin/stepper.cpp

 
     // Set direction en check limit switches
     #ifndef COREXY
-    if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
+    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
+    if ((out_bits & (1<<X_HEAD)) != 0)   //AlexBorro: Head direction in -X axis for CoreXY bots.
     #endif
+    {
       CHECK_ENDSTOPS
       {
         #ifdef DUAL_X_CARRIAGE
         }
       }
     }
-    else { // +direction
+    else 
+    { // +direction
       CHECK_ENDSTOPS
       {
         #ifdef DUAL_X_CARRIAGE
     }
 
     #ifndef COREXY
-    if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
+    if ((out_bits & (1<<Y_AXIS)) != 0)   // -direction
     #else
-    if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) {   // -Y occurs for -A and +B
+    if ((out_bits & (1<<Y_HEAD)) != 0)  //AlexBorro: Head direction in -Y axis for CoreXY bots.
     #endif
+    {
       CHECK_ENDSTOPS
       {
         #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
         #endif
       }
     }
-    else { // +direction
+    else 
+    { // +direction
       CHECK_ENDSTOPS
       {
         #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1

Marlin/temperature.cpp

 
 #ifdef PIDTEMP
 #ifdef PID_PARAMS_PER_EXTRUDER
-  float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp);
-  float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT);
-  float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT);
+  float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp);
+  float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT);
+  float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT);
   #ifdef PID_ADD_EXTRUSION_RATE
-    float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc);
+    float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc);
   #endif // PID_ADD_EXTRUSION_RATE
 #else //PID_PARAMS_PER_EXTRUDER
   float Kp = DEFAULT_Kp;
   #endif 
   #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1
     if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN 
+        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
         && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
       setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
   #endif
   #if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1
     if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN 
-        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
         && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
+        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
+        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
       setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
   #endif
 }

Marlin/ultralcd.cpp

     quickStop();
     if(SD_FINISHED_STEPPERRELEASE)
     {
-        enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+        enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
     }
     autotempShutdown();
 
         MENU_ITEM(submenu, MSG_DELTA_CALIBRATE, lcd_delta_calibrate_menu);
 #endif // DELTA_CALIBRATION_MENU
     }
+/*JFR TEST*/            MENU_ITEM(gcode, "test multiline", PSTR("G4 S3\nM104 S50\nG4 S1\nM104 S200\nG4 S2\nM104 S0"));  // SD-card changed by user
     MENU_ITEM(submenu, MSG_CONTROL, lcd_control_menu);
 #ifdef SDSUPPORT
     if (card.cardOK)
     plan_set_position(0.0, 0.0, 0.0, current_position[E_AXIS]);
 
     // Audio feedback
-    enquecommand_P(PSTR("M300 S659 P200"));
-    enquecommand_P(PSTR("M300 S698 P200"));
+    enquecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
     lcd_return_to_status();
 }
 
     }
 #endif
     MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
+		
+    // JFR for RMud delta printer
+    MENU_ITEM(gcode, "Calibrate bed", PSTR("M702\nG28\nG1 X-77.94 Y-45 Z36 F8000\nG4 S3\nM701 P0\nG1 X77.94 Y-45 Z36\nG4 S3\nM701 P1\nG1 X0 Y90 Z36\nG4 S3\nM701 P2\nM700\nG1 X0 Y0 Z100 F8000"));
+    MENU_ITEM(gcode, "Check level", PSTR("G28\nG1 X0 Y0 Z1 F4000\nG1 X-77.94 Y-45 Z1\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG4 S2\nG1 X-77.94 Y-45 Z0.3 F2000\nG1 X-77.94 Y-45\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG1 X0 Y0 Z0"));
+    MENU_ITEM(gcode, "Retract filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E-800"));
+    MENU_ITEM(gcode, "Insert filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E60"));
+    MENU_ITEM(gcode, "Finalize filament", PSTR("G1 F4000 E790"));
     END_MENU();
 }
 
     lcd_move_y();
 	}
 	static void reprapworld_keypad_move_home() {
-		enquecommand_P((PSTR("G28"))); // move all axis home
+		enquecommands_P((PSTR("G28"))); // move all axis home
 	}
 #endif
 
 /** Menu action functions **/
 static void menu_action_back(menuFunc_t data) { lcd_goto_menu(data); }
 static void menu_action_submenu(menuFunc_t data) { lcd_goto_menu(data); }
-static void menu_action_gcode(const char* pgcode) { enquecommand_P(pgcode); }
+
+static void menu_action_gcode(const char* pgcode)
+{
+    enquecommands_P(pgcode);
+}
+
+
 static void menu_action_function(menuFunc_t data) { (*data)(); }
 static void menu_action_sdfile(const char* filename, char* longFilename)
 {
     for(c = &cmd[4]; *c; c++)
         *c = tolower(*c);
     enquecommand(cmd);
-    enquecommand_P(PSTR("M24"));
+    enquecommands_P(PSTR("M24"));
     lcd_return_to_status();
 }
 static void menu_action_sddirectory(const char* filename, char* longFilename)