Generalized enqueue_commands_P, and moved them to Marlin_main as they should

Marlin/Configuration.h

 // example_configurations/delta directory.
 //
 
-//===========================================================================
-//============================= SCARA Printer ===============================
-//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
-//
 
 // 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
 #define STRING_VERSION "v1.0.2"
 #define STRING_URL "reprap.org"
 #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 "(Jeremie, Tridimake)" // JFR - Who made the changes.
 #define STRING_SPLASH STRING_VERSION " - " STRING_URL // will be shown during bootup
 
 // SERIAL_PORT selects which serial port should be used for communication with the host.
 #define SERIAL_PORT 0
 
 // This determines the communication speed of the printer
-#define BAUDRATE 250000
+//#define BAUDRATE 250000
+#define BAUDRATE 115200
 
 // This enables the serial port associated to the Bluetooth interface
 //#define BTENABLED              // Enable BT interface on AT90USB devices
 // The following define selects which electronics board you have.
 // Please choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_ULTIMAKER
+  #define MOTHERBOARD 33 // JFR - was BOARD_ULTIMAKER
 #endif
 
 // Define this to set a custom name for your generic Mendel,
-// #define CUSTOM_MENDEL_NAME "This Mendel"
+#define CUSTOM_MENDEL_NAME "[RMud]HP" // JFR -was "This Mendel"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
 // #define PS_DEFAULT_OFF
 
 //===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics and most of the default configuration for Deltas
+#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 100 // JFR: was 200
+
+/*
+  Parameter essential for delta calibration:
+
+            C, Y-Axis
+            |                        |___| CARRIAGE_HORIZONTAL_OFFSET
+            |                        |   \
+            |_________ X-axis        |    \
+           / \                       |     \  DELTA_DIAGONAL_ROD
+          /   \                             \
+         /     \                             \    Carriage is at printer center!
+         A      B                             \_____/
+                                              |--| END_EFFECTOR_HORIZONTAL_OFFSET
+                                         |----| DELTA_RADIUS
+                                     |-----------| PRINTER_RADIUS
+
+  Column angles are measured from X-axis counterclockwise
+*/
+
+// Center-to-center distance of the holes in the diagonal push rods.
+#define DELTA_DIAGONAL_ROD (202.4) // mm JFR: was 202 for LABSUD
+
+// Horizontal offset from middle of printer to smooth rod center.
+#define DELTA_SMOOTH_ROD_OFFSET 139.5 // mm
+
+// Horizontal offset of the universal joints on the end effector.
+#define DELTA_EFFECTOR_OFFSET 18.0 // 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)
+
+//===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
 //
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
 
-#define TEMP_SENSOR_0 -1
-#define TEMP_SENSOR_1 -1
+#define TEMP_SENSOR_0 1 // JFR -was -1
+#define TEMP_SENSOR_1 0 // JFR -was -1
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_BED 0
 
 #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_RESIDENCY_TIME 4  //  // JFR -was 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 residency timer x degC early.
 
 // PID settings:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
-#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define BANG_MAX 80  // JFR -was 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX 70  // JFR -was BANG_MAX // 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 SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
-  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
-                                    // Set/get with gcode: M301 E[extruder number, 0-2]
   #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 PID_MAX  //limit for the integral term
   #define K1 0.95 //smoothing factor within the PID
-  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+// JFR: was  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+  #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
-    #define  DEFAULT_Kp 22.2
-    #define  DEFAULT_Ki 1.08
-    #define  DEFAULT_Kd 114
+//    #define  DEFAULT_Kp 22.2
+//    #define  DEFAULT_Ki 1.08
+//    #define  DEFAULT_Kd 114
 
 // MakerGear
 //    #define  DEFAULT_Kp 7.0
 //    #define  DEFAULT_Kp 63.0
 //    #define  DEFAULT_Ki 2.25
 //    #define  DEFAULT_Kd 440
+
+// E3D 24v calibrée par frafa  avec buse 12v30W alimentée en 24v
+    #define  DEFAULT_Kp 12.48
+    #define  DEFAULT_Ki 1.63
+    #define  DEFAULT_Kd 23.93
+
 #endif // PIDTEMP
 
 // Bed Temperature Control
 
 //this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
 //can be software-disabled for whatever purposes by
-#define PREVENT_DANGEROUS_EXTRUDE
+//#define PREVENT_DANGEROUS_EXTRUDE // JFR - was enabled
 //if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
 #define PREVENT_LENGTHY_EXTRUDE
 
 //=============================Mechanical Settings===========================
 //===========================================================================
 
-// Uncomment the following line to enable CoreXY kinematics
-// #define COREXY
-
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 
 const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
-//#define DISABLE_MIN_ENDSTOPS
-
+// Deltas never have min endstops
+//#define DISABLE_MIN_ENDSTOPS // JFR- was not commented out!
 // Disable max endstops for compatibility with endstop checking routine
 #if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
   #define DISABLE_MAX_ENDSTOPS
 #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_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_X_DIR false // DELTA does not invert
+#define INVERT_Y_DIR false
+#define INVERT_Z_DIR false
+
+#define INVERT_E0_DIR true   // JFR - was 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
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
-#define X_HOME_DIR -1
-#define Y_HOME_DIR -1
-#define Z_HOME_DIR -1
+// deltas always home to max
+#define X_HOME_DIR 1
+#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.
 
 // Travel limits after homing
-#define X_MAX_POS 205
-#define X_MIN_POS 0
-#define Y_MAX_POS 205
-#define Y_MIN_POS 0
-#define Z_MAX_POS 200
+#define X_MAX_POS 85 // JFR - was 205
+#define X_MIN_POS -85 // JFR - was 0
+#define Y_MAX_POS 85 // JFR - was 205
+#define Y_MIN_POS -85 // JFR - was 0
+#define Z_MAX_POS MANUAL_Z_HOME_POS // JFR - was 200
 #define Z_MIN_POS 0
 
 #define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
 #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
 #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
 //============================= Bed Auto Leveling ===========================
+//Bed Auto Leveling is still not compatible with Delta Kinematics
 
-//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
-#define Z_PROBE_REPEATABILITY_TEST  // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-
-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
-
-  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
-  #ifdef AUTO_BED_LEVELING_GRID
-
-    // set the rectangle in which to probe
-    #define LEFT_PROBE_BED_POSITION 15
-    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
-    #define FRONT_PROBE_BED_POSITION 20
-
-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
-
-
-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
-
-      #define ABL_PROBE_PT_1_X 15
-      #define ABL_PROBE_PT_1_Y 180
-      #define ABL_PROBE_PT_2_X 15
-      #define ABL_PROBE_PT_2_Y 20
-      #define ABL_PROBE_PT_3_X 170
-      #define ABL_PROBE_PT_3_Y 20
 
-  #endif // AUTO_BED_LEVELING_GRID
-
-
-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
-  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
-
-  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
-                                        // Be sure you have this distance over your Z_MAX_POS in case
-
-  #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min
-
-  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
-  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
-
-  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
-  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
-
-  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
-  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
-  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
-
-//  #define PROBE_SERVO_DEACTIVATION_DELAY 300
-
-
-//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
-//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
-
-  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
-                          // When defined, it will:
-                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
-                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
-                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
-                          // - Block Z homing only when the probe is outside bed area.
-
-  #ifdef Z_SAFE_HOMING
-
-    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
-    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
-
-  #endif
-
-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-	
-  #endif
-  
-#endif // ENABLE_AUTO_BED_LEVELING
 
 
 // The position of the homing switches
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
 
 //Manual homing switch locations:
+
+#define MANUAL_HOME_POSITIONS  // MANUAL_*_HOME_POS below will be used // JFR- was disabled
 // 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 (142.7-1)
 //#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
-#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
+
+// delta homing speeds must be the same on xyz
+#define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0}  // set the homing speeds (mm/min)
+
+// ================>>>>> N.R. with bug fixes by JFR
+// Compute speed, feedrate and acceleration by means of pulley & motor specs only
 
 // default settings
+#define PI 3.14159265
+#define G  9806.65
+
+//Motors (movement)
+#define MVT_N        3      // g acceleration for movement (3 ok)
+#define MVT_SPR      200.0  // step per revolution
+#define MVT_MS       32     // microstep (1/32 only possible with DRV8825 -- also 2.5A)
+#define MVT_OMEG     900.0  // maximum number of revolutions per minute at 19V (was 600-900)
+#define PULLEY_TN    26.0   // number of teeth on X/Y/Z pulley
+#define PULLEY_STEP  3.0    // pulley tooth size (mm)
 
-#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.
+//Extruder motor
+#define XTR_N        MVT_N   // g acceleration for extruder
+#define XTR_SPR      (MVT_SPR*5) // step per revolution (with 5:1 reductor)
+#define XTR_MS       MVT_MS  // microstep
+#define XTR_OMEG     225.0   // maximum number of revolutions per minute // was 600-900
+#define MVT_DHB      10.56   // Hobbed bolt diameter
+
+#define MVT_PCIRC    ( PULLEY_TN * PULLEY_STEP ) // pulley circumference
+#define MVT_S        ( MVT_SPR * MVT_MS / MVT_PCIRC ) // step_per_revolution * microstepping / circumference
+#define MVT_V        ( MVT_OMEG * MVT_PCIRC / 60.0 ) // max velocity (mm/s)
+
+#define XTR_HBCIRC   ( PI * MVT_DHB ) // hobbed bolt circumference from diameter
+#define XTR_S        ( XTR_SPR * XTR_MS / XTR_HBCIRC )     //step per mm
+#define XTR_V        ( XTR_OMEG * XTR_HBCIRC / 60 ) // max velocity (mm/s)
+
+// the second axis sometimes needs /2 (BROKEN DRIVER??!!)
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { MVT_S, MVT_S, MVT_S, XTR_S }
+#define DEFAULT_MAX_FEEDRATE          { MVT_V, MVT_V, MVT_V, XTR_V }  // (mm/sec)
+//JFR: is this OK?? #define DEFAULT_MAX_ACCELERATION      { MVT_N*G, MVT_N*G, MVT_N*G, XTR_N*G }  // X, Y, Z, E maximum start speed for accelerated moves.
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,10000}    // 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.
+
+// JFR: do we want to multiply here by MVT_N and XTR_N ipo N ?
+#define DEFAULT_ACCELERATION          (MVT_N*G*3/4)   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  (XTR_N*G*3/4)   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+
+//<<<<<================ JFR / N.R.
 
-#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 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).
 
 // 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_ZJERK                 20.0    // (mm/sec) Must be same as XY for delta
 #define DEFAULT_EJERK                 5.0    // (mm/sec)
 
 //===========================================================================
 //#define EEPROM_SETTINGS
 //to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
 // please keep turned on if you can.
-//#define EEPROM_CHITCHAT
+#define EEPROM_CHITCHAT
 
 // Preheat Constants
 #define PLA_PREHEAT_HOTEND_TEMP 180
 
 // The RepRapDiscount Smart Controller (white PCB)
 // http://reprap.org/wiki/RepRapDiscount_Smart_Controller
-//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_SMART_CONTROLLER
 
 // The GADGETS3D G3D LCD/SD Controller (blue PCB)
 // http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
 // REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
 //#define RA_CONTROL_PANEL
 
+// Delta calibration menu
+// uncomment to add three points calibration menu option.
+// See http://minow.blogspot.com/index.html#4918805519571907051
+// If needed, adjust the X, Y, Z calibration coordinates
+// in ultralcd.cpp@lcd_delta_calibrate_menu()
+#define DELTA_CALIBRATION_MENU // JFR - was disabled
+
 //automatic expansion
 #if defined (MAKRPANEL)
  #define DOGLCD
 // Uncomment below to enable
 //#define FILAMENT_SENSOR
 
-#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+#define FILAMENT_SENSOR_EXTRUDER_NUM  0  //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM      14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
 
 #define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
 #define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
 #define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY     20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
 
 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
 
 
 
+
 #include "Configuration_adv.h"
 #include "thermistortables.h"
 

Marlin/Configuration_adv.h

 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5
 #define Y_HOME_RETRACT_MM 5
-#define Z_HOME_RETRACT_MM 2
+#define Z_HOME_RETRACT_MM 5
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
 #define DEFAULT_MINSEGMENTTIME        20000
 
 // If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
+// #define SLOWDOWN // JFR - important, was enabled!!
 
 // Frequency limit
 // See nophead's blog for more info

Marlin/Marlin.h

 
 bool IsStopped();
 
-bool enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer or return false when it is full
-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.pde

-/* -*- c++ -*- */
-
-/*
-    Reprap firmware based on Sprinter and grbl.
- Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/*
- This firmware is a mashup between Sprinter and grbl.
-  (https://github.com/kliment/Sprinter)
-  (https://github.com/simen/grbl/tree)
-
- It has preliminary support for Matthew Roberts advance algorithm
-    http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
-
-/* All the implementation is done in *.cpp files to get better compatibility with avr-gcc without the Arduino IDE */
-/* Use this file to help the Arduino IDE find which Arduino libraries are needed and to keep documentation on GCode */
-
-#include "Configuration.h"
-#include "pins.h"
-
-#ifdef ULTRA_LCD
-  #if defined(LCD_I2C_TYPE_PCF8575)
-    #include <Wire.h>
-    #include <LiquidCrystal_I2C.h>
-  #elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008)
-    #include <Wire.h>
-    #include <LiquidTWI2.h>
-  #elif defined(DOGLCD)
-    #include <U8glib.h> // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/)
-  #else
-    #include <LiquidCrystal.h> // library for character LCD
-  #endif
-#endif
-
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-#include <SPI.h>
-#endif
-
-#if defined(DIGIPOT_I2C)
-  #include <Wire.h>
-#endif

Marlin/Marlin_main.cpp

 static boolean comment_mode = false;
 static char *strchr_pointer; // just a pointer to find chars in the command string like 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
 
 //static float tt = 0;
   }
 #endif //!SDSUPPORT
 
-//adds an command to the main command buffer
-//thats really done in a non-safe way.
-//needs overworking someday
-//(or return false if it failed to do so)
-bool 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;
-  else
+  // 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;
-    return true;
+    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
 
 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/example_configurations/delta/Configuration.h

 // and processor overload (too many expensive sqrt calls).
 #define DELTA_SEGMENTS_PER_SECOND 200
 
-// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
-
 // Center-to-center distance of the holes in the diagonal push rods.
 #define DELTA_DIAGONAL_ROD 250.0 // mm
 

Marlin/ultralcd.cpp

 
 int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 
-const char* pgcode_seq= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
-
 /* Configuration settings */
 int plaPreheatHotendTemp;
 int plaPreheatHPBTemp;
 static void menu_action_back(menuFunc_t data);
 static void menu_action_submenu(menuFunc_t data);
 static void menu_action_gcode(const char* pgcode);
-static void menu_action_gcode_next();
 static void menu_action_function(menuFunc_t data);
 static void menu_action_sdfile(const char* filename, char* longFilename);
 static void menu_action_sddirectory(const char* filename, char* longFilename);
     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
 
 
 static void menu_action_gcode(const char* pgcode)
 {
-	// No more calling enquecommand_P(pgcode) as it allows only one command!
-	pgcode_seq= pgcode;
-	menu_action_gcode_next();
-}
-
-static void menu_action_gcode_next()
-{
-	// Inject the next command from the pending sequence, when not empty.
-	char cmd[30];
-	if(!pgcode_seq) return;
-        // Get the next 30 chars from the sequence of gcodes to run
-        strncpy_P(cmd, pgcode_seq, 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 full, will retry later
-          return;
-        if(c)
-          pgcode_seq+= i+1; // move to next command
-        else
-          pgcode_seq= NULL; // mark the end of the sequence of gcodes
+    enquecommands_P(pgcode);
 }
 
 
     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)
 
     lcd_buttons_update();
 
-    menu_action_gcode_next(); // inject the next pending command in the pending sequence (if any)
-
     #if (SDCARDDETECT > 0)
     if((IS_SD_INSERTED != lcd_oldcardstatus && lcd_detected()))
     {