Merge pull request #1 from ErikZalm/Marlin_v1

Update on 140315

Marlin/Configuration.h

@@ -8,7 +8,7 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer rplace the configuration files wilth the files in the
+// For a Delta printer replace the configuration files with the files in the
 // example_configurations/delta directory.
 //
 
@@ -55,6 +55,7 @@
 // 68 = Azteeg X3 Pro
 // 7  = Ultimaker
 // 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+// 72 = Ultimainboard 2.x (Uses TEMP_SENSOR 20)
 // 77 = 3Drag Controller
 // 8  = Teensylu
 // 80 = Rumba
@@ -67,7 +68,7 @@
 // 702= Minitronics v1.0
 // 90 = Alpha OMCA board
 // 91 = Final OMCA board
-// 301 = Rambo
+// 301= Rambo
 // 21 = Elefu Ra Board (v3)
 
 #ifndef MOTHERBOARD
@@ -90,7 +91,7 @@
 
 #define POWER_SUPPLY 1
 
-// Define this to have the electronics keep the powersupply off on startup. If you don't know what this is leave it.
+// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF
 
 //===========================================================================
@@ -105,7 +106,7 @@
 // 0 is not used
 // 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
 // 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
-// 3 is mendel-parts thermistor (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
 // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
 // 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
 // 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
@@ -114,13 +115,19 @@
 // 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
-// 60 is 100k Maker's Tool Works Kapton Bed Thermister
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor
 //
 //    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
 //                          (but gives greater accuracy and more stable PID)
 // 51 is 100k thermistor - EPCOS (1k pullup)
 // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 110 is Pt100 with 1k pullup (non standard)
 
 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1
@@ -175,13 +182,13 @@
   #define K1 0.95 //smoothing factor within the PID
   #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
-// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
+// 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
 
-// Makergear
+// MakerGear
 //    #define  DEFAULT_Kp 7.0
 //    #define  DEFAULT_Ki 0.1
 //    #define  DEFAULT_Kd 12
@@ -250,7 +257,7 @@
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 
 #ifndef ENDSTOPPULLUPS
-  // fine Enstop settings: Individual Pullups. will be ignored if ENDSTOPPULLUPS is defined
+  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
   // #define ENDSTOPPULLUP_XMAX
   // #define ENDSTOPPULLUP_YMAX
   // #define ENDSTOPPULLUP_ZMAX
@@ -328,13 +335,51 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 
-  // these are the positions on the bed to do the probing
-  #define LEFT_PROBE_BED_POSITION 15
-  #define RIGHT_PROBE_BED_POSITION 170
-  #define BACK_PROBE_BED_POSITION 180
-  #define FRONT_PROBE_BED_POSITION 20
+// 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
 
-  // these are the offsets to the prob relative to the extruder tip (Hotend - Probe)
+      #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)
   #define X_PROBE_OFFSET_FROM_EXTRUDER -25
   #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
   #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
@@ -355,7 +400,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //  #define PROBE_SERVO_DEACTIVATION_DELAY 300
 
 
-//If you have enabled the Bed Auto Levelling and are using the same Z Probe for Z Homing,
+//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.
@@ -372,16 +417,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #endif
 
-  // with accurate bed leveling, the bed is sampled in a ACCURATE_BED_LEVELING_POINTSxACCURATE_BED_LEVELING_POINTS grid and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
-  #define ACCURATE_BED_LEVELING
-
-  #ifdef ACCURATE_BED_LEVELING
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
-    #define ACCURATE_BED_LEVELING_POINTS 2
-  #endif
-
-#endif
+#endif // ENABLE_AUTO_BED_LEVELING
 
 
 // The position of the homing switches
@@ -389,7 +425,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
 
 //Manual homing switch locations:
-// For deltabots this means top and center of the cartesian print volume.
+// 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
@@ -403,7 +439,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
 #define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for Ultimaker
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
 #define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
@@ -424,11 +460,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //===========================================================================
 
 // EEPROM
-// the microcontroller can store settings in the EEPROM, e.g. max velocity...
-// M500 - stores paramters in EEPROM
+// The microcontroller can store settings in the EEPROM, e.g. max velocity...
+// M500 - stores parameters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-//define this to enable eeprom support
+//define this to enable EEPROM support
 //#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.
@@ -444,14 +480,14 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 
 //LCD and SD support
-//#define ULTRA_LCD  //general lcd support, also 16x2
+//#define ULTRA_LCD  //general LCD support, also 16x2
 //#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 //#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
 //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
-//#define ULTIMAKERCONTROLLER //as available from the ultimaker online store.
-//#define ULTIPANEL  //the ultipanel as on thingiverse
+//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
+//#define ULTIPANEL  //the UltiPanel as on Thingiverse
 //#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
 
@@ -576,7 +612,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
 //#define SR_LCD
 #ifdef SR_LCD
-   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
    //#define NEWPANEL
 #endif
 
@@ -592,7 +628,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
     #define LCD_WIDTH 20
     #define LCD_HEIGHT 4
   #endif
-#else //no panel but just lcd
+#else //no panel but just LCD
   #ifdef ULTRA_LCD
   #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
     #define LCD_WIDTH 20
@@ -614,8 +650,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
 //#define FAST_PWM_FAN
 
-// Temperature status leds that display the hotend and bet temperature.
-// If alle hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
+// Temperature status LEDs that display the hotend and bet temperature.
+// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
 // Otherwise the RED led is on. There is 1C hysteresis.
 //#define TEMP_STAT_LEDS
 

Marlin/ConfigurationStore.cpp

@@ -37,7 +37,11 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
+#ifdef DELTA
+#define EEPROM_VERSION "V11"
+#else
 #define EEPROM_VERSION "V10"
+#endif
 
 #ifdef EEPROM_SETTINGS
 void Config_StoreSettings() 
@@ -59,6 +63,9 @@ void Config_StoreSettings()
   EEPROM_WRITE_VAR(i,add_homeing);
   #ifdef DELTA
   EEPROM_WRITE_VAR(i,endstop_adj);
+  EEPROM_WRITE_VAR(i,delta_radius);
+  EEPROM_WRITE_VAR(i,delta_diagonal_rod);
+  EEPROM_WRITE_VAR(i,delta_segments_per_second);
   #endif
   #ifndef ULTIPANEL
   int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
@@ -156,7 +163,14 @@ void Config_PrintSettings()
     SERIAL_ECHOPAIR("  M666 X",endstop_adj[0] );
     SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
     SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
-    SERIAL_ECHOLN("");
+	SERIAL_ECHOLN("");
+	SERIAL_ECHO_START;
+	SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
+	SERIAL_ECHO_START;
+	SERIAL_ECHOPAIR("  M665 L",delta_diagonal_rod );
+	SERIAL_ECHOPAIR(" R" ,delta_radius );
+	SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
+	SERIAL_ECHOLN("");
 #endif
 #ifdef PIDTEMP
     SERIAL_ECHO_START;
@@ -199,7 +213,10 @@ void Config_RetrieveSettings()
         EEPROM_READ_VAR(i,max_e_jerk);
         EEPROM_READ_VAR(i,add_homeing);
         #ifdef DELTA
-        EEPROM_READ_VAR(i,endstop_adj);
+		EEPROM_READ_VAR(i,endstop_adj);
+		EEPROM_READ_VAR(i,delta_radius);
+		EEPROM_READ_VAR(i,delta_diagonal_rod);
+		EEPROM_READ_VAR(i,delta_segments_per_second);
         #endif
         #ifndef ULTIPANEL
         int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
@@ -264,7 +281,11 @@ void Config_ResetDefault()
     max_e_jerk=DEFAULT_EJERK;
     add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
 #ifdef DELTA
-    endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
+	endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
+	delta_radius= DELTA_RADIUS;
+	delta_diagonal_rod= DELTA_DIAGONAL_ROD;
+	delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
+	recalc_delta_settings(delta_radius, delta_diagonal_rod);
 #endif
 #ifdef ULTIPANEL
     plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;

Marlin/Configuration_adv.h

@@ -11,7 +11,7 @@
 #define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
 
 //// Heating sanity check:
-// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// This waits for the watch period in milliseconds whenever an M104 or M109 increases the target temperature
 // If the temperature has not increased at the end of that period, the target temperature is set to zero.
 // It can be reset with another M104/M109. This check is also only triggered if the target temperature and the current temperature
 //  differ by at least 2x WATCH_TEMP_INCREASE
@@ -19,11 +19,11 @@
 //#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds
 
 #ifdef PIDTEMP
-  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
-  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
+  // this adds an experimental additional term to the heating power, proportional to the extrusion speed.
+  // if Kc is chosen well, the additional required power due to increased melting should be compensated.
   #define PID_ADD_EXTRUSION_RATE
   #ifdef PID_ADD_EXTRUSION_RATE
-    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
+    #define  DEFAULT_Kc (1) //heating power=Kc*(e_speed)
   #endif
 #endif
 
@@ -34,7 +34,7 @@
 // the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
 // you exit the value by any M109 without F*
 // Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
-// on an ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
 #define AUTOTEMP
 #ifdef AUTOTEMP
   #define AUTOTEMP_OLDWEIGHT 0.98
@@ -239,6 +239,11 @@
 #define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60}  // set the speeds for manual moves (mm/min)
 #endif
 
+//Comment to disable setting feedrate multiplier via encoder
+#ifdef ULTIPANEL
+    #define ULTIPANEL_FEEDMULTIPLY
+#endif
+
 // minimum time in microseconds that a movement needs to take if the buffer is emptied.
 #define DEFAULT_MINSEGMENTTIME        20000
 
@@ -279,15 +284,18 @@
 //=============================Additional Features===========================
 //===========================================================================
 
+//#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
+
 #define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
 #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
 
-#define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the filesystem block order.
-// if a file is deleted, it frees a block. hence, the order is not purely cronological. To still have auto0.g accessible, there is again the option to do that.
+#define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the file system block order.
+// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
 // using:
 //#define MENU_ADDAUTOSTART
 
-// The hardware watchdog should reset the Microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
+// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
 //#define USE_WATCHDOG
 
 #ifdef USE_WATCHDOG
@@ -301,7 +309,7 @@
 //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 // Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
-// it can e.g. be used to change z-positions in the print startup phase in realtime
+// it can e.g. be used to change z-positions in the print startup phase in real-time
 // does not respect endstops!
 //#define BABYSTEPPING
 #ifdef BABYSTEPPING
@@ -324,8 +332,8 @@
 //
 // advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
 //
-// hooke's law says:		force = k * distance
-// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// Hooke's law says:		force = k * distance
+// Bernoulli's principle says:	v ^ 2 / 2 + g . h + pressure / density = constant
 // so: v ^ 2 is proportional to number of steps we advance the extruder
 //#define ADVANCE
 
@@ -379,7 +387,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //===========================================================================
 
 // The number of linear motions that can be in the plan at any give time.
-// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
 #if defined SDSUPPORT
   #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
 #else
@@ -387,20 +395,26 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 #endif
 
 
-//The ASCII buffer for recieving from the serial:
+//The ASCII buffer for receiving from the serial:
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
 
 
-// Firmware based and LCD controled retract
+// Firmware based and LCD controlled retract
 // M207 and M208 can be used to define parameters for the retraction.
 // The retraction can be called by the slicer using G10 and G11
 // until then, intended retractions can be detected by moves that only extrude and the direction.
 // the moves are than replaced by the firmware controlled ones.
 
 // #define FWRETRACT  //ONLY PARTIALLY TESTED
-#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
-
+#ifdef FWRETRACT
+  #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
+  #define RETRACT_LENGTH 3               //default retract length (positive mm)
+  #define RETRACT_FEEDRATE 80*60         //default feedrate for retracting
+  #define RETRACT_ZLIFT 0                //default retract Z-lift
+  #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
+  #define RETRACT_RECOVER_FEEDRATE 8*60  //default feedrate for recovering from retraction
+#endif
 
 //adds support for experimental filament exchange support M600; requires display
 #ifdef ULTIPANEL

Marlin/LiquidCrystalRus.cpp

@@ -11,7 +11,7 @@
   #include "WProgram.h"
 #endif
 
-// it is a russian alphabet translation
+// it is a Russian alphabet translation
 // except 0401 --> 0xa2 = ╗, 0451 --> 0xb5
 const PROGMEM uint8_t utf_recode[] = 
        { 0x41,0xa0,0x42,0xa1,0xe0,0x45,0xa3,0xa4,0xa5,0xa6,0x4b,0xa7,0x4d,0x48,0x4f,
@@ -115,7 +115,7 @@ void LiquidCrystalRus::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
 
   // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
   // according to datasheet, we need at least 40ms after power rises above 2.7V
-  // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
+  // before sending commands. Arduino can turn on way before 4.5V so we'll wait 50
   delayMicroseconds(50000); 
   // Now we pull both RS and R/W low to begin commands
   digitalWrite(_rs_pin, LOW);
@@ -126,7 +126,7 @@ void LiquidCrystalRus::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
   
   //put the LCD into 4 bit or 8 bit mode
   if (! (_displayfunction & LCD_8BITMODE)) {
-    // this is according to the hitachi HD44780 datasheet
+    // this is according to the Hitachi HD44780 datasheet
     // figure 24, pg 46
 
     // we start in 8bit mode, try to set 4 bit mode
@@ -144,7 +144,7 @@ void LiquidCrystalRus::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
     // finally, set to 8-bit interface
     writeNbits(0x02,4); 
   } else {
-    // this is according to the hitachi HD44780 datasheet
+    // this is according to the Hitachi HD44780 datasheet
     // page 45 figure 23
 
     // Send function set command sequence
@@ -308,7 +308,7 @@ inline void LiquidCrystalRus::command(uint8_t value) {
     }    
   } else send(out_char, HIGH);
 #if defined(ARDUINO) && ARDUINO >= 100
-  return 1; // assume sucess 
+  return 1; // assume success 
 #endif
 }
 

Marlin/Makefile

@@ -236,7 +236,7 @@ VPATH += $(HARDWARE_DIR)/libraries/Wire
 VPATH += $(HARDWARE_DIR)/libraries/Wire/utility
 VPATH += $(HARDWARE_DIR)/libraries/LiquidTWI2
 endif
-ifeq ($(WIRE, 1)
+ifeq ($(WIRE), 1)
 VPATH += $(HARDWARE_DIR)/libraries/Wire
 VPATH += $(HARDWARE_DIR)/libraries/Wire/utility
 endif
@@ -260,7 +260,8 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp	\
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
 	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
-	watchdog.cpp SPI.cpp Servo.cpp Tone.cpp ultralcd.cpp digipot_mcp4451.cpp
+	watchdog.cpp SPI.cpp Servo.cpp Tone.cpp ultralcd.cpp digipot_mcp4451.cpp \
+	vector_3.cpp qr_solve.cpp
 ifeq ($(LIQUID_TWI2), 0)
 CXXSRC += LiquidCrystal.cpp
 else

Marlin/Marlin.h

@@ -1,5 +1,5 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
-// Licence: GPL
+// License: GPL
 
 #ifndef MARLIN_H
 #define MARLIN_H
@@ -30,7 +30,7 @@
 # include "Arduino.h"
 #else
 # include "WProgram.h"
-  //Arduino < 1.0.0 does not define this, so we need to do it ourselfs
+  //Arduino < 1.0.0 does not define this, so we need to do it ourselves
 # define analogInputToDigitalPin(p) ((p) + A0)
 #endif
 
@@ -87,7 +87,7 @@ void serial_echopair_P(const char *s_P, double v);
 void serial_echopair_P(const char *s_P, unsigned long v);
 
 
-//things to write to serial from Programmemory. saves 400 to 2k of RAM.
+//Things to write to serial from Program memory. Saves 400 to 2k of RAM.
 FORCE_INLINE void serialprintPGM(const char *str)
 {
   char ch=pgm_read_byte(str);
@@ -184,11 +184,13 @@ void Stop();
 
 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
+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
 void prepare_arc_move(char isclockwise);
 void clamp_to_software_endstops(float target[3]);
 
+void refresh_cmd_timeout(void);
+
 #ifdef FAST_PWM_FAN
 void setPwmFrequency(uint8_t pin, int val);
 #endif
@@ -207,6 +209,10 @@ extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
 #ifdef DELTA
 extern float endstop_adj[3];
+extern float delta_radius;
+extern float delta_diagonal_rod;
+extern float delta_segments_per_second;
+void recalc_delta_settings(float radius, float diagonal_rod);
 #endif
 extern float min_pos[3];
 extern float max_pos[3];

Marlin/MarlinSerial.cpp

@@ -25,7 +25,7 @@
 
 #ifndef AT90USB
 // this next line disables the entire HardwareSerial.cpp, 
-// this is so I can support Attiny series and any other chip without a uart
+// this is so I can support Attiny series and any other chip without a UART
 #if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
 
 #if UART_PRESENT(SERIAL_PORT)
@@ -73,7 +73,7 @@ void MarlinSerial::begin(long baud)
   bool useU2X = true;
 
 #if F_CPU == 16000000UL && SERIAL_PORT == 0
-  // hardcoded exception for compatibility with the bootloader shipped
+  // hard coded exception for compatibility with the bootloader shipped
   // with the Duemilanove and previous boards and the firmware on the 8U2
   // on the Uno and Mega 2560.
   if (baud == 57600) {

Marlin/Marlin_main.cpp

@@ -31,7 +31,7 @@
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 #include "vector_3.h"
-  #ifdef ACCURATE_BED_LEVELING
+  #ifdef AUTO_BED_LEVELING_GRID
     #include "qr_solve.h"
   #endif
 #endif // ENABLE_AUTO_BED_LEVELING
@@ -63,7 +63,7 @@
 
 #define VERSION_STRING  "1.0.0"
 
-// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
+// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
 
 //Implemented Codes
@@ -76,11 +76,11 @@
 // G10 - retract filament according to settings of M207
 // G11 - retract recover filament according to settings of M208
 // G28 - Home all Axis
-// G29 - Detailed Z-Probe, probes the bed at 3 points.  You must de at the home position for this to work correctly.
+// G29 - Detailed Z-Probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
 // G30 - Single Z Probe, probes bed at current XY location.
 // G90 - Use Absolute Coordinates
 // G91 - Use Relative Coordinates
-// G92 - Set current position to cordinates given
+// G92 - Set current position to coordinates given
 
 // M Codes
 // M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
@@ -101,7 +101,7 @@
 // M31  - Output time since last M109 or SD card start to serial
 // M32  - Select file and start SD print (Can be used _while_ printing from SD card files):
 //        syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
-//        Call gcode file : "M32 P !filename#" and return to caller file after finishing (simiarl to #include).
+//        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
 //        The '#' is necessary when calling from within sd files, as it stops buffer prereading
 // M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
 // M80  - Turn on Power Supply
@@ -127,17 +127,17 @@
 // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 // M140 - Set bed target temp
-// M150 - Set BlinkM Colour Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
+// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
 // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
 //        Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
 // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
 // M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
-// M206 - set additional homeing offset
-// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+// M206 - set additional homing offset
+// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
 // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
 // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
@@ -147,7 +147,7 @@
 // M240 - Trigger a camera to take a photograph
 // M250 - Set LCD contrast C<contrast value> (value 0..63)
 // M280 - set servo position absolute. P: servo index, S: angle or microseconds
-// M300 - Play beepsound S<frequency Hz> P<duration ms>
+// M300 - Play beep sound S<frequency Hz> P<duration ms>
 // M301 - Set PID parameters P I and D
 // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
@@ -155,13 +155,14 @@
 // M400 - Finish all moves
 // M401 - Lower z-probe if present
 // M402 - Raise z-probe if present
-// M500 - stores paramters in EEPROM
+// M500 - stores parameters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-// M503 - print the current settings (from memory not from eeprom)
+// M503 - print the current settings (from memory not from EEPROM)
 // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
 // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
-// M666 - set delta endstop adjustemnt
+// M665 - set delta configurations
+// M666 - set delta endstop adjustment
 // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
 // M907 - Set digital trimpot motor current using axis codes.
 // M908 - Control digital trimpot directly.
@@ -231,10 +232,13 @@ int EtoPPressure=0;
 #endif
 
 #ifdef FWRETRACT
-  bool autoretract_enabled=true;
+  bool autoretract_enabled=false;
   bool retracted=false;
-  float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
-  float retract_recover_length=0, retract_recover_feedrate=8*60;
+  float retract_length = RETRACT_LENGTH;
+  float retract_feedrate = RETRACT_FEEDRATE;
+  float retract_zlift = RETRACT_ZLIFT;
+  float retract_recover_length = RETRACT_RECOVER_LENGTH;
+  float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
 #endif
 
 #ifdef ULTIPANEL
@@ -246,12 +250,24 @@ int EtoPPressure=0;
 #endif
 
 #ifdef DELTA
-float delta[3] = {0.0, 0.0, 0.0};
-#endif
-
+  float delta[3] = {0.0, 0.0, 0.0};
+  #define SIN_60 0.8660254037844386
+  #define COS_60 0.5
+  // these are the default values, can be overriden with M665
+  float delta_radius= DELTA_RADIUS;
+  float delta_tower1_x= -SIN_60*delta_radius; // front left tower
+  float delta_tower1_y= -COS_60*delta_radius;	   
+  float delta_tower2_x=  SIN_60*delta_radius; // front right tower
+  float delta_tower2_y= -COS_60*delta_radius;	   
+  float delta_tower3_x= 0.0;                  // back middle tower
+  float delta_tower3_y= delta_radius;
+  float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
+  float delta_diagonal_rod_2= sq(delta_diagonal_rod);
+  float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
+#endif					
 
 //===========================================================================
-//=============================private variables=============================
+//=============================Private Variables=============================
 //===========================================================================
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 static float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
@@ -271,7 +287,7 @@ static int buflen = 0;
 static char serial_char;
 static int serial_count = 0;
 static boolean comment_mode = false;
-static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
+static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
 
 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
 
@@ -298,8 +314,14 @@ bool Stopped=false;
 bool CooldownNoWait = true;
 bool target_direction;
 
+//Insert variables if CHDK is defined
+#ifdef CHDK
+unsigned long chdkHigh = 0;
+boolean chdkActive = false;
+#endif
+
 //===========================================================================
-//=============================ROUTINES=============================
+//=============================Routines======================================
 //===========================================================================
 
 void get_arc_coordinates();
@@ -336,7 +358,7 @@ void enquecommand(const char *cmd)
 {
   if(buflen < BUFSIZE)
   {
-    //this is dangerous if a mixing of serial and this happsens
+    //this is dangerous if a mixing of serial and this happens
     strcpy(&(cmdbuffer[bufindw][0]),cmd);
     SERIAL_ECHO_START;
     SERIAL_ECHOPGM("enqueing \"");
@@ -351,7 +373,7 @@ void enquecommand_P(const char *cmd)
 {
   if(buflen < BUFSIZE)
   {
-    //this is dangerous if a mixing of serial and this happsens
+    //this is dangerous if a mixing of serial and this happens
     strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
     SERIAL_ECHO_START;
     SERIAL_ECHOPGM("enqueing \"");
@@ -658,9 +680,9 @@ void get_command()
     return;
   }
 
-  //'#' stops reading from sd to the buffer prematurely, so procedural macro calls are possible
-  // if it occures, stop_buffering is triggered and the buffer is ran dry.
-  // this character _can_ occure in serial com, due to checksums. however, no checksums are used in sd printing
+  //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
+  // if it occurs, stop_buffering is triggered and the buffer is ran dry.
+  // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
 
   static bool stop_buffering=false;
   if(buflen==0) stop_buffering=false;
@@ -819,7 +841,7 @@ static void axis_is_at_home(int axis) {
 }
 
 #ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef ACCURATE_BED_LEVELING
+#ifdef AUTO_BED_LEVELING_GRID
 static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
 {
     vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
@@ -843,42 +865,36 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
 
-#else
-static void set_bed_level_equation(float z_at_xLeft_yFront, float z_at_xRight_yFront, float z_at_xLeft_yBack) {
-    plan_bed_level_matrix.set_to_identity();
+#else // not AUTO_BED_LEVELING_GRID
 
-    vector_3 xLeftyFront = vector_3(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xLeft_yFront);
-    vector_3 xLeftyBack = vector_3(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, z_at_xLeft_yBack);
-    vector_3 xRightyFront = vector_3(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, z_at_xRight_yFront);
+static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
 
-    vector_3 xPositive = (xRightyFront - xLeftyFront).get_normal();
-    vector_3 yPositive = (xLeftyBack - xLeftyFront).get_normal();
-    vector_3 planeNormal = vector_3::cross(xPositive, yPositive).get_normal();
+    plan_bed_level_matrix.set_to_identity();
 
-    //planeNormal.debug("planeNormal");
-    //yPositive.debug("yPositive");
-    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-    //bedLevel.debug("bedLevel");
+    vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
+    vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
+    vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
 
-    //plan_bed_level_matrix.debug("bed level before");
-    //vector_3 uncorrected_position = plan_get_position_mm();
-    //uncorrected_position.debug("position before");
+    vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
+    vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
+    vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
+    planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
 
-    // and set our bed level equation to do the right thing
-    //plan_bed_level_matrix.debug("bed level after");
+    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
 
     vector_3 corrected_position = plan_get_position();
-    //corrected_position.debug("position after");
     current_position[X_AXIS] = corrected_position.x;
     current_position[Y_AXIS] = corrected_position.y;
     current_position[Z_AXIS] = corrected_position.z;
 
-    // but the bed at 0 so we don't go below it.
+    // put the bed at 0 so we don't go below it.
     current_position[Z_AXIS] = zprobe_zoffset;
 
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
 }
-#endif // ACCURATE_BED_LEVELING
+
+#endif // AUTO_BED_LEVELING_GRID
 
 static void run_z_probe() {
     plan_bed_level_matrix.set_to_identity();
@@ -978,6 +994,28 @@ static void retract_z_probe() {
     #endif
 }
 
+/// Probe bed height at position (x,y), returns the measured z value
+static float probe_pt(float x, float y, float z_before) {
+  // move to right place
+  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
+  do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+
+  engage_z_probe();   // Engage Z Servo endstop if available
+  run_z_probe();
+  float measured_z = current_position[Z_AXIS];
+  retract_z_probe();
+
+  SERIAL_PROTOCOLPGM(MSG_BED);
+  SERIAL_PROTOCOLPGM(" x: ");
+  SERIAL_PROTOCOL(x);
+  SERIAL_PROTOCOLPGM(" y: ");
+  SERIAL_PROTOCOL(y);
+  SERIAL_PROTOCOLPGM(" z: ");
+  SERIAL_PROTOCOL(measured_z);
+  SERIAL_PROTOCOLPGM("\n");
+  return measured_z;
+}
+
 #endif // #ifdef ENABLE_AUTO_BED_LEVELING
 
 static void homeaxis(int axis) {
@@ -1058,6 +1096,46 @@ static void homeaxis(int axis) {
   }
 }
 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
+void refresh_cmd_timeout(void)
+{
+  previous_millis_cmd = millis();
+}
+
+#ifdef FWRETRACT
+  void retract(bool retracting) {
+    if(retracting && !retracted) {
+      destination[X_AXIS]=current_position[X_AXIS];
+      destination[Y_AXIS]=current_position[Y_AXIS];
+      destination[Z_AXIS]=current_position[Z_AXIS];
+      destination[E_AXIS]=current_position[E_AXIS];
+      current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
+      plan_set_e_position(current_position[E_AXIS]);
+      float oldFeedrate = feedrate;
+      feedrate=retract_feedrate;
+      retracted=true;
+      prepare_move();
+      current_position[Z_AXIS]-=retract_zlift;
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      prepare_move();
+      feedrate = oldFeedrate;
+    } else if(!retracting && retracted) {
+      destination[X_AXIS]=current_position[X_AXIS];
+      destination[Y_AXIS]=current_position[Y_AXIS];
+      destination[Z_AXIS]=current_position[Z_AXIS];
+      destination[E_AXIS]=current_position[E_AXIS];
+      current_position[Z_AXIS]+=retract_zlift;
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      //prepare_move();
+      current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder]; 
+      plan_set_e_position(current_position[E_AXIS]);
+      float oldFeedrate = feedrate;
+      feedrate=retract_recover_feedrate;
+      retracted=false;
+      prepare_move();
+      feedrate = oldFeedrate;
+    }
+  } //retract
+#endif //FWRETRACT
 
 void process_commands()
 {
@@ -1074,6 +1152,18 @@ void process_commands()
     case 1: // G1
       if(Stopped == false) {
         get_coordinates(); // For X Y Z E F
+          #ifdef FWRETRACT
+            if(autoretract_enabled)
+            if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
+              float echange=destination[E_AXIS]-current_position[E_AXIS];
+              if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
+                  current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
+                  plan_set_e_position(current_position[E_AXIS]); //AND from the planner
+                  retract(!retracted);
+                  return;
+              }
+            }
+          #endif //FWRETRACT
         prepare_move();
         //ClearToSend();
         return;
@@ -1108,31 +1198,10 @@ void process_commands()
       break;
       #ifdef FWRETRACT
       case 10: // G10 retract
-      if(!retracted)
-      {
-        destination[X_AXIS]=current_position[X_AXIS];
-        destination[Y_AXIS]=current_position[Y_AXIS];
-        destination[Z_AXIS]=current_position[Z_AXIS];
-        current_position[Z_AXIS]+=-retract_zlift;
-        destination[E_AXIS]=current_position[E_AXIS]-retract_length;
-        feedrate=retract_feedrate;
-        retracted=true;
-        prepare_move();
-      }
-
+        retract(true);
       break;
       case 11: // G11 retract_recover
-      if(retracted)
-      {
-        destination[X_AXIS]=current_position[X_AXIS];
-        destination[Y_AXIS]=current_position[Y_AXIS];
-        destination[Z_AXIS]=current_position[Z_AXIS];
-        current_position[Z_AXIS]+=retract_zlift;
-        destination[E_AXIS]=current_position[E_AXIS]+retract_length+retract_recover_length;
-        feedrate=retract_recover_feedrate;
-        retracted=false;
-        prepare_move();
-      }
+        retract(false);
       break;
       #endif //FWRETRACT
     case 28: //G28 Home all Axis one at a time
@@ -1185,7 +1254,7 @@ void process_commands()
 
 #else // NOT DELTA
 
-      home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
+      home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
 
       #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
@@ -1347,12 +1416,21 @@ void process_commands()
       break;
 
 #ifdef ENABLE_AUTO_BED_LEVELING
-    case 29: // G29 Detailed Z-Probe, probes the bed at 3 points.
+    case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
         {
             #if Z_MIN_PIN == -1
             #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
             #endif
 
+            // Prevent user from running a G29 without first homing in X and Y
+            if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
+            {
+                LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+                SERIAL_ECHO_START;
+                SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+                break; // abort G29, since we don't know where we are
+            }
+
             st_synchronize();
             // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
             //vector_3 corrected_position = plan_get_position_mm();
@@ -1367,10 +1445,11 @@ void process_commands()
             setup_for_endstop_move();
 
             feedrate = homing_feedrate[Z_AXIS];
-#ifdef ACCURATE_BED_LEVELING
+#ifdef AUTO_BED_LEVELING_GRID
+            // probe at the points of a lattice grid
 
-            int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1);
-            int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1);
+            int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
+            int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
 
 
             // solve the plane equation ax + by + d = z
@@ -1380,9 +1459,9 @@ void process_commands()
             // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
 
             // "A" matrix of the linear system of equations
-            double eqnAMatrix[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS*3];
+            double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
             // "B" vector of Z points
-            double eqnBVector[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS];
+            double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
 
 
             int probePointCounter = 0;
@@ -1405,37 +1484,26 @@ void process_commands()
                 zig = true;
               }
 
-              for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++)
+              for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
               {
+                float z_before;
                 if (probePointCounter == 0)
                 {
                   // raise before probing
-                  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING);
+                  z_before = Z_RAISE_BEFORE_PROBING;
                 } else
                 {
                   // raise extruder
-                  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+                  z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
                 }
 
+                float measured_z = probe_pt(xProbe, yProbe, z_before);
 
-                do_blocking_move_to(xProbe - X_PROBE_OFFSET_FROM_EXTRUDER, yProbe - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-
-                engage_z_probe();   // Engage Z Servo endstop if available
-                run_z_probe();
-                eqnBVector[probePointCounter] = current_position[Z_AXIS];
-                retract_z_probe();
+                eqnBVector[probePointCounter] = measured_z;
 
-                SERIAL_PROTOCOLPGM("Bed x: ");
-                SERIAL_PROTOCOL(xProbe);
-                SERIAL_PROTOCOLPGM(" y: ");
-                SERIAL_PROTOCOL(yProbe);
-                SERIAL_PROTOCOLPGM(" z: ");
-                SERIAL_PROTOCOL(current_position[Z_AXIS]);
-                SERIAL_PROTOCOLPGM("\n");
-
-                eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe;
-                eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe;
-                eqnAMatrix[probePointCounter + 2*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = 1;
+                eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
+                eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
+                eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
                 probePointCounter++;
                 xProbe += xInc;
               }
@@ -1443,7 +1511,7 @@ void process_commands()
             clean_up_after_endstop_move();
 
             // solve lsq problem
-            double *plane_equation_coefficients = qr_solve(ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS, 3, eqnAMatrix, eqnBVector);
+            double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
 
             SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
             SERIAL_PROTOCOL(plane_equation_coefficients[0]);
@@ -1457,67 +1525,24 @@ void process_commands()
 
             free(plane_equation_coefficients);
 
-#else // ACCURATE_BED_LEVELING not defined
-
-
-            // prob 1
-            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING);
-            do_blocking_move_to(LEFT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, BACK_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+#else // AUTO_BED_LEVELING_GRID not defined
 
-            engage_z_probe();   // Engage Z Servo endstop if available
-            run_z_probe();
-            float z_at_xLeft_yBack = current_position[Z_AXIS];
-            retract_z_probe();
-
-            SERIAL_PROTOCOLPGM("Bed x: ");
-            SERIAL_PROTOCOL(LEFT_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" y: ");
-            SERIAL_PROTOCOL(BACK_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" z: ");
-            SERIAL_PROTOCOL(current_position[Z_AXIS]);
-            SERIAL_PROTOCOLPGM("\n");
+            // Probe at 3 arbitrary points
+            // probe 1
+            float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
 
-            // prob 2
-            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-            do_blocking_move_to(LEFT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, FRONT_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+            // probe 2
+            float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
 
-            engage_z_probe();   // Engage Z Servo endstop if available
-            run_z_probe();
-            float z_at_xLeft_yFront = current_position[Z_AXIS];
-            retract_z_probe();
-
-            SERIAL_PROTOCOLPGM("Bed x: ");
-            SERIAL_PROTOCOL(LEFT_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" y: ");
-            SERIAL_PROTOCOL(FRONT_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" z: ");
-            SERIAL_PROTOCOL(current_position[Z_AXIS]);
-            SERIAL_PROTOCOLPGM("\n");
-
-            // prob 3
-            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-            // the current position will be updated by the blocking move so the head will not lower on this next call.
-            do_blocking_move_to(RIGHT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, FRONT_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-
-            engage_z_probe();   // Engage Z Servo endstop if available
-            run_z_probe();
-            float z_at_xRight_yFront = current_position[Z_AXIS];
-            retract_z_probe(); // Retract Z Servo endstop if available
-
-            SERIAL_PROTOCOLPGM("Bed x: ");
-            SERIAL_PROTOCOL(RIGHT_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" y: ");
-            SERIAL_PROTOCOL(FRONT_PROBE_BED_POSITION);
-            SERIAL_PROTOCOLPGM(" z: ");
-            SERIAL_PROTOCOL(current_position[Z_AXIS]);
-            SERIAL_PROTOCOLPGM("\n");
+            // probe 3
+            float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
 
             clean_up_after_endstop_move();
 
-            set_bed_level_equation(z_at_xLeft_yFront, z_at_xRight_yFront, z_at_xLeft_yBack);
+            set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
 
 
-#endif // ACCURATE_BED_LEVELING
+#endif // AUTO_BED_LEVELING_GRID
             st_synchronize();
 
             // The following code correct the Z height difference from z-probe position and hotend tip position.
@@ -1545,7 +1570,8 @@ void process_commands()
             feedrate = homing_feedrate[Z_AXIS];
 
             run_z_probe();
-            SERIAL_PROTOCOLPGM("Bed Position X: ");
+            SERIAL_PROTOCOLPGM(MSG_BED);
+            SERIAL_PROTOCOLPGM(" X: ");
             SERIAL_PROTOCOL(current_position[X_AXIS]);
             SERIAL_PROTOCOLPGM(" Y: ");
             SERIAL_PROTOCOL(current_position[Y_AXIS]);
@@ -2085,7 +2111,7 @@ void process_commands()
       }
       else
       {
-        bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
+        bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
         if(all_axis)
         {
           st_synchronize();
@@ -2147,18 +2173,18 @@ void process_commands()
     case 114: // M114
       SERIAL_PROTOCOLPGM("X:");
       SERIAL_PROTOCOL(current_position[X_AXIS]);
-      SERIAL_PROTOCOLPGM("Y:");
+      SERIAL_PROTOCOLPGM(" Y:");
       SERIAL_PROTOCOL(current_position[Y_AXIS]);
-      SERIAL_PROTOCOLPGM("Z:");
+      SERIAL_PROTOCOLPGM(" Z:");
       SERIAL_PROTOCOL(current_position[Z_AXIS]);
-      SERIAL_PROTOCOLPGM("E:");
+      SERIAL_PROTOCOLPGM(" E:");
       SERIAL_PROTOCOL(current_position[E_AXIS]);
 
       SERIAL_PROTOCOLPGM(MSG_COUNT_X);
       SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
-      SERIAL_PROTOCOLPGM("Y:");
+      SERIAL_PROTOCOLPGM(" Y:");
       SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
-      SERIAL_PROTOCOLPGM("Z:");
+      SERIAL_PROTOCOLPGM(" Z:");
       SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
 
       SERIAL_PROTOCOLLN("");
@@ -2286,6 +2312,19 @@ void process_commands()
       }
       break;
     #ifdef DELTA
+	case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
+		if(code_seen('L')) {
+			delta_diagonal_rod= code_value();
+		}
+		if(code_seen('R')) {
+			delta_radius= code_value();
+		}
+		if(code_seen('S')) {
+			delta_segments_per_second= code_value();
+		}
+		
+		recalc_delta_settings(delta_radius, delta_diagonal_rod);
+		break;
     case 666: // M666 set delta endstop adjustemnt
       for(int8_t i=0; i < 3; i++)
       {
@@ -2555,23 +2594,33 @@ void process_commands()
     #endif //PIDTEMP
     case 240: // M240  Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
      {
-      #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
-        const uint8_t NUM_PULSES=16;
-        const float PULSE_LENGTH=0.01524;
-        for(int i=0; i < NUM_PULSES; i++) {
-          WRITE(PHOTOGRAPH_PIN, HIGH);
-          _delay_ms(PULSE_LENGTH);
-          WRITE(PHOTOGRAPH_PIN, LOW);
-          _delay_ms(PULSE_LENGTH);
+     	#ifdef CHDK
+       
+         SET_OUTPUT(CHDK);
+         WRITE(CHDK, HIGH);
+         chdkHigh = millis();
+         chdkActive = true;
+       
+       #else
+     	
+      	#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
+	const uint8_t NUM_PULSES=16;
+	const float PULSE_LENGTH=0.01524;
+	for(int i=0; i < NUM_PULSES; i++) {
+        WRITE(PHOTOGRAPH_PIN, HIGH);
+        _delay_ms(PULSE_LENGTH);
+        WRITE(PHOTOGRAPH_PIN, LOW);
+        _delay_ms(PULSE_LENGTH);
         }
         delay(7.33);
         for(int i=0; i < NUM_PULSES; i++) {
-          WRITE(PHOTOGRAPH_PIN, HIGH);
-          _delay_ms(PULSE_LENGTH);
-          WRITE(PHOTOGRAPH_PIN, LOW);
-          _delay_ms(PULSE_LENGTH);
+        WRITE(PHOTOGRAPH_PIN, HIGH);
+        _delay_ms(PULSE_LENGTH);
+        WRITE(PHOTOGRAPH_PIN, LOW);
+        _delay_ms(PULSE_LENGTH);
         }
-      #endif
+      	#endif
+      #endif //chdk end if
      }
     break;
 #ifdef DOGLCD
@@ -3041,42 +3090,6 @@ void get_coordinates()
     next_feedrate = code_value();
     if(next_feedrate > 0.0) feedrate = next_feedrate;
   }
-  #ifdef FWRETRACT
-  if(autoretract_enabled)
-  if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
-  {
-    float echange=destination[E_AXIS]-current_position[E_AXIS];
-    if(echange<-MIN_RETRACT) //retract
-    {
-      if(!retracted)
-      {
-
-      destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
-      //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
-      float correctede=-echange-retract_length;
-      //to generate the additional steps, not the destination is changed, but inversely the current position
-      current_position[E_AXIS]+=-correctede;
-      feedrate=retract_feedrate;
-      retracted=true;
-      }
-
-    }
-    else
-      if(echange>MIN_RETRACT) //retract_recover
-    {
-      if(retracted)
-      {
-      //current_position[Z_AXIS]+=-retract_zlift;
-      //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
-      float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
-      current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
-      feedrate=retract_recover_feedrate;
-      retracted=false;
-      }
-    }
-
-  }
-  #endif //FWRETRACT
 }
 
 void get_arc_coordinates()
@@ -3120,19 +3133,30 @@ void clamp_to_software_endstops(float target[3])
 }
 
 #ifdef DELTA
+void recalc_delta_settings(float radius, float diagonal_rod)
+{
+	 delta_tower1_x= -SIN_60*radius; // front left tower
+	 delta_tower1_y= -COS_60*radius;	   
+	 delta_tower2_x=  SIN_60*radius; // front right tower
+	 delta_tower2_y= -COS_60*radius;	   
+	 delta_tower3_x= 0.0;                  // back middle tower
+	 delta_tower3_y= radius;
+	 delta_diagonal_rod_2= sq(diagonal_rod);
+}
+
 void calculate_delta(float cartesian[3])
 {
-  delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
-                       - sq(DELTA_TOWER1_X-cartesian[X_AXIS])
-                       - sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
+  delta[X_AXIS] = sqrt(delta_diagonal_rod_2
+                       - sq(delta_tower1_x-cartesian[X_AXIS])
+                       - sq(delta_tower1_y-cartesian[Y_AXIS])
                        ) + cartesian[Z_AXIS];
-  delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
-                       - sq(DELTA_TOWER2_X-cartesian[X_AXIS])
-                       - sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
+  delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
+                       - sq(delta_tower2_x-cartesian[X_AXIS])
+                       - sq(delta_tower2_y-cartesian[Y_AXIS])
                        ) + cartesian[Z_AXIS];
-  delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
-                       - sq(DELTA_TOWER3_X-cartesian[X_AXIS])
-                       - sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
+  delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
+                       - sq(delta_tower3_x-cartesian[X_AXIS])
+                       - sq(delta_tower3_y-cartesian[Y_AXIS])
                        ) + cartesian[Z_AXIS];
   /*
   SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
@@ -3162,7 +3186,7 @@ void prepare_move()
   if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
   if (cartesian_mm < 0.000001) { return; }
   float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
-  int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
+  int steps = max(1, int(delta_segments_per_second * seconds));
   // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
   // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
   // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
@@ -3345,6 +3369,16 @@ void manage_inactivity()
       }
     }
   }
+  
+  #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
+    if (chdkActive)
+    {
+      chdkActive = false;
+      if (millis()-chdkHigh < CHDK_DELAY) return;
+      WRITE(CHDK, LOW);
+    }
+  #endif
+  
   #if defined(KILL_PIN) && KILL_PIN > -1
     if( 0 == READ(KILL_PIN) )
       kill();

Marlin/Servo.h

@@ -24,7 +24,7 @@
 
   Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
   Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
-  The sequence used to sieze timers is defined in timers.h
+  The sequence used to seize timers is defined in timers.h
 
   The methods are:
 
@@ -50,7 +50,7 @@
 /*
  * Defines for 16 bit timers used with  Servo library
  *
- * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
  * timer16_Sequence_t enumerates the sequence that the timers should be allocated
  * _Nbr_16timers indicates how many 16 bit timers are available.
  *
@@ -89,12 +89,12 @@ typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
 typedef enum { _Nbr_16timers } timer16_Sequence_t ;
 #endif
 
-#define Servo_VERSION           2      // software version of this library
+#define Servo_VERSION           2     // software version of this library
 
 #define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
 #define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo
 #define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
-#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds
+#define REFRESH_INTERVAL    20000     // minimum time to refresh servos in microseconds
 
 #define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer
 #define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
@@ -118,13 +118,13 @@ public:
   uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
   uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
   void detach();
-  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
+  void write(int value);             // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
   void writeMicroseconds(int value); // Write pulse width in microseconds
   int read();                        // returns current pulse width as an angle between 0 and 180 degrees
   int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
   bool attached();                   // return true if this servo is attached, otherwise false
 #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
-  int pin;                           // store the hw pin of the servo
+  int pin;                           // store the hardware pin of the servo
 #endif
 private:
    uint8_t servoIndex;               // index into the channel data for this servo

Marlin/cardreader.cpp

@@ -22,7 +22,7 @@ CardReader::CardReader()
    file_subcall_ctr=0;
    memset(workDirParents, 0, sizeof(workDirParents));
 
-   autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+   autostart_stilltocheck=true; //the SD start is delayed, because otherwise the serial cannot answer fast enough to make contact with the host software.
    lastnr=0;
   //power to SD reader
   #if SDPOWER > -1
@@ -245,7 +245,7 @@ void CardReader::openFile(char* name,bool read, bool replace_current/*=true*/)
 {
   if(!cardOK)
     return;
-  if(file.isOpen())  //replaceing current file by new file, or subfile call
+  if(file.isOpen())  //replacing current file by new file, or subfile call
   {
     if(!replace_current)
     {
@@ -544,7 +544,7 @@ void CardReader::closefile(bool store_location)
   
   if(store_location)
   {
-    //future: store printer state, filename and position for continueing a stoped print
+    //future: store printer state, filename and position for continuing a stopped print
     // so one can unplug the printer and continue printing the next day.
     
   }

Marlin/createTemperatureLookupMarlin.py

@@ -16,9 +16,9 @@ Usage: python createTemperatureLookup.py [options]
 Options:
   -h, --help        show this help
   --rp=...          pull-up resistor
-  --t0=ttt:rrr      low temperature temperature:resistance point (around 25C)
-  --t1=ttt:rrr      middle temperature temperature:resistance point (around 150C)
-  --t2=ttt:rrr      high temperature temperature:resistance point (around 250C)
+  --t1=ttt:rrr      low temperature temperature:resistance point (around 25C)
+  --t2=ttt:rrr      middle temperature temperature:resistance point (around 150C)
+  --t3=ttt:rrr      high temperature temperature:resistance point (around 250C)
   --num-temps=...   the number of temperature points to calculate (default: 20)
 """
 
@@ -98,7 +98,8 @@ def main(argv):
     
     try:
         opts, args = getopt.getopt(argv, "h", ["help", "rp=", "t1=", "t2=", "t3=", "num-temps="])
-    except getopt.GetoptError:
+    except getopt.GetoptError as err:
+        print  str(err)
         usage()
         sys.exit(2)
         

Marlin/example_configurations/delta/Configuration.h

@@ -51,6 +51,7 @@
 // 65 = Azteeg X1
 // 66 = Melzi with ATmega1284 (MaKr3d version)
 // 67 = Azteeg X3
+// 68 = Azteeg X3 Pro
 // 7  = Ultimaker
 // 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
 // 77 = 3Drag Controller
@@ -119,18 +120,6 @@
 // Effective horizontal distance bridged by diagonal push rods.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 
-#define DELTA_DIAGONAL_ROD_2 sq(DELTA_DIAGONAL_ROD)
-
-// Effective X/Y positions of the three vertical towers.
-#define SIN_60 0.8660254037844386
-#define COS_60 0.5
-#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower
-#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS
-#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower
-#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS
-#define DELTA_TOWER3_X 0.0 // back middle tower
-#define DELTA_TOWER3_Y DELTA_RADIUS
-
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================

Marlin/example_configurations/delta/Configuration_adv.h

@@ -270,6 +270,12 @@
 // Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
 #define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 
+// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
+//#define DIGIPOT_I2C
+// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
+#define DIGIPOT_I2C_NUM_CHANNELS 8
+// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
+#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
 
 //===========================================================================
 //=============================Additional Features===========================

Marlin/fastio.h

@@ -1,5 +1,5 @@
 /*
-  This code contibuted by Triffid_Hunter and modified by Kliment
+  This code contributed by Triffid_Hunter and modified by Kliment
   why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
 */
 

Marlin/pins.h

@@ -1381,7 +1381,7 @@
 #define SDSS               53
 #define LED_PIN            8
 #define FAN_PIN            7
-#define PS_ON_PIN          12
+#define PS_ON_PIN          -1
 #define KILL_PIN           -1
 #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
 #define SAFETY_TRIGGERED_PIN     28 //PIN to detect the safety circuit has triggered
@@ -1781,8 +1781,8 @@
 #define Z_DIR_PIN          28
 #define Z_STOP_PIN         30
 
-#define E_STEP_PIN         17
-#define E_DIR_PIN          21
+#define E0_STEP_PIN         17
+#define E0_DIR_PIN          21
 
 #define LED_PIN            -1
 
@@ -1793,15 +1793,16 @@
 
 #define HEATER_0_PIN       12 // (extruder)
 
-#define HEATER_1_PIN       16 // (bed)
+#define HEATER_BED_PIN     16 // (bed)
 #define X_ENABLE_PIN       19
 #define Y_ENABLE_PIN       24
 #define Z_ENABLE_PIN       29
-#define E_ENABLE_PIN       13
+#define E0_ENABLE_PIN      13
 
 #define TEMP_0_PIN          0   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
-#define TEMP_1_PIN          5   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
+#define TEMP_1_PIN         -1   
 #define TEMP_2_PIN         -1
+#define TEMP_BED_PIN        5   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)  
 #define SDPOWER            -1
 #define SDSS               4
 #define HEATER_2_PIN       -1

Marlin/qr_solve.cpp

@@ -1,11 +1,9 @@
 #include "qr_solve.h"
 
-#ifdef ACCURATE_BED_LEVELING
+#ifdef AUTO_BED_LEVELING_GRID
 
 #include <stdlib.h>
 #include <math.h>
-#include <time.h>
-
 
 //# include "r8lib.h"
 
@@ -1173,7 +1171,7 @@ void dqrlss ( double a[], int lda, int m, int n, int kr, double b[], double x[],
 
   Discussion:
 
-    DQRLSS must be preceeded by a call to DQRANK.
+    DQRLSS must be preceded by a call to DQRANK.
 
     The system is to be solved is
       A * X = B
@@ -1225,7 +1223,7 @@ void dqrlss ( double a[], int lda, int m, int n, int kr, double b[], double x[],
     linear system.
 
     Output, double RSD[M], the residual, B - A*X.  RSD may
-    overwite B.
+    overwrite B.
 
     Input, int JPVT[N], the pivot information from DQRANK.
     Columns JPVT[0], ..., JPVT[KR-1] of the original matrix are linearly
@@ -1314,7 +1312,7 @@ int dqrsl ( double a[], int lda, int n, int k, double qraux[], double y[],
     can be replaced by dummy variables in the calling program.
     To save storage, the user may in some cases use the same
     array for different parameters in the calling sequence.  A
-    frequently occuring example is when one wishes to compute
+    frequently occurring example is when one wishes to compute
     any of B, RSD, or AB and does not need Y or QTY.  In this
     case one may identify Y, QTY, and one of B, RSD, or AB, while
     providing separate arrays for anything else that is to be

Marlin/qr_solve.h

@@ -1,6 +1,6 @@
 #include "Configuration.h"
 
-#ifdef ACCURATE_BED_LEVELING
+#ifdef AUTO_BED_LEVELING_GRID
 
 void daxpy ( int n, double da, double dx[], int incx, double dy[], int incy );
 double ddot ( int n, double dx[], int incx, double dy[], int incy );

Marlin/stepper.h

@@ -71,8 +71,8 @@ float st_get_position_mm(uint8_t axis);
 void st_wake_up();
 
   
-void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
-void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
+void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
+void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
 
 void enable_endstops(bool check); // Enable/disable endstop checking
 

Marlin/temperature.cpp

@@ -250,7 +250,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
               Kp = 0.6*Ku;
               Ki = 2*Kp/Tu;
               Kd = Kp*Tu/8;
-              SERIAL_PROTOCOLLNPGM(" Clasic PID ");
+              SERIAL_PROTOCOLLNPGM(" Classic PID ");
               SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
               SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
               SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
@@ -306,7 +306,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
       return;
     }
     if(cycles > ncycles) {
-      SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the Kp, Ki and Kd constants into Configuration.h");
+      SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above into Configuration.h");
       return;
     }
     lcd_update();
@@ -449,7 +449,8 @@ void manage_heater()
           pid_output = constrain(target_temperature[e], 0, PID_MAX);
     #endif //PID_OPENLOOP
     #ifdef PID_DEBUG
-    SERIAL_ECHO_START(" PIDDEBUG ");
+    SERIAL_ECHO_START;
+    SERIAL_ECHO(" PID_DEBUG ");
     SERIAL_ECHO(e);
     SERIAL_ECHO(": Input ");
     SERIAL_ECHO(pid_input);

Marlin/temperature.h

@@ -28,7 +28,7 @@
 #endif
 
 // public functions
-void tp_init();  //initialise the heating
+void tp_init();  //initialize the heating
 void manage_heater(); //it is critical that this is called periodically.
 
 // low level conversion routines

Marlin/thermistortables.h

@@ -857,6 +857,70 @@ const short temptable_60[][2] PROGMEM = {
 };
 #endif
 
+// Pt1000 and Pt100 handling
+// 
+// Rt=R0*(1+a*T+b*T*T) [for T>0]
+// a=3.9083E-3, b=-5.775E-7
+
+#define PtA 3.9083E-3
+#define PtB -5.775E-7
+#define PtRt(T,R0) ((R0)*(1.0+(PtA)*(T)+(PtB)*(T)*(T)))
+#define PtAdVal(T,R0,Rup) (short)(1024/(Rup/PtRt(T,R0)+1))
+#define PtLine(T,R0,Rup) { PtAdVal(T,R0,Rup)*OVERSAMPLENR, T },
+
+#if (THERMISTORHEATER_0 == 110) || (THERMISTORHEATER_1 == 110) || (THERMISTORHEATER_2 == 110) || (THERMISTORBED == 110) // Pt100 with 1k0 pullup
+const short temptable_110[][2] PROGMEM = {
+// only few values are needed as the curve is very flat  
+  PtLine(0,100,1000)
+  PtLine(50,100,1000)
+  PtLine(100,100,1000)
+  PtLine(150,100,1000)
+  PtLine(200,100,1000)
+  PtLine(250,100,1000)
+  PtLine(300,100,1000)
+};
+#endif
+#if (THERMISTORHEATER_0 == 147) || (THERMISTORHEATER_1 == 147) || (THERMISTORHEATER_2 == 147) || (THERMISTORBED == 147) // Pt100 with 4k7 pullup
+const short temptable_147[][2] PROGMEM = {
+// only few values are needed as the curve is very flat  
+  PtLine(0,100,4700)
+  PtLine(50,100,4700)
+  PtLine(100,100,4700)
+  PtLine(150,100,4700)
+  PtLine(200,100,4700)
+  PtLine(250,100,4700)
+  PtLine(300,100,4700)
+};
+#endif
+#if (THERMISTORHEATER_0 == 1010) || (THERMISTORHEATER_1 == 1010) || (THERMISTORHEATER_2 == 1010) || (THERMISTORBED == 1010) // Pt1000 with 1k0 pullup
+const short temptable_1010[][2] PROGMEM = {
+  PtLine(0,1000,1000)
+  PtLine(25,1000,1000)
+  PtLine(50,1000,1000)
+  PtLine(75,1000,1000)
+  PtLine(100,1000,1000)
+  PtLine(125,1000,1000)
+  PtLine(150,1000,1000)
+  PtLine(175,1000,1000)
+  PtLine(200,1000,1000)
+  PtLine(225,1000,1000)
+  PtLine(250,1000,1000)
+  PtLine(275,1000,1000)
+  PtLine(300,1000,1000)
+};
+#endif
+#if (THERMISTORHEATER_0 == 1047) || (THERMISTORHEATER_1 == 1047) || (THERMISTORHEATER_2 == 1047) || (THERMISTORBED == 1047) // Pt1000 with 4k7 pullup
+const short temptable_1047[][2] PROGMEM = {
+// only few values are needed as the curve is very flat  
+  PtLine(0,1000,4700)
+  PtLine(50,1000,4700)
+  PtLine(100,1000,4700)
+  PtLine(150,1000,4700)
+  PtLine(200,1000,4700)
+  PtLine(250,1000,4700)
+  PtLine(300,1000,4700)
+};
+#endif
 
 #define _TT_NAME(_N) temptable_ ## _N
 #define TT_NAME(_N) _TT_NAME(_N)

Marlin/ultralcd.cpp

@@ -38,7 +38,7 @@ char lcd_status_message[LCD_WIDTH+1] = WELCOME_MSG;
 #include "ultralcd_implementation_hitachi_HD44780.h"
 #endif
 
-/** forward declerations **/
+/** forward declarations **/
 
 void copy_and_scalePID_i();
 void copy_and_scalePID_d();
@@ -62,9 +62,9 @@ static void lcd_set_contrast();
 static void lcd_control_retract_menu();
 static void lcd_sdcard_menu();
 
-static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audiable feedback that something has happend
+static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audible feedback that something has happened
 
-/* Different types of actions that can be used in menuitems. */
+/* Different types of actions that can be used in menu items. */
 static void menu_action_back(menuFunc_t data);
 static void menu_action_submenu(menuFunc_t data);
 static void menu_action_gcode(const char* pgcode);
@@ -145,7 +145,7 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
 #ifndef REPRAPWORLD_KEYPAD
 volatile uint8_t buttons;//Contains the bits of the currently pressed buttons.
 #else
-volatile uint8_t buttons_reprapworld_keypad; // to store the reprapworld_keypad shiftregister values
+volatile uint8_t buttons_reprapworld_keypad; // to store the reprapworld_keypad shift register values
 #endif
 #ifdef LCD_HAS_SLOW_BUTTONS
 volatile uint8_t slow_buttons;//Contains the bits of the currently pressed buttons.
@@ -162,7 +162,7 @@ bool lcd_oldcardstatus;
 menuFunc_t currentMenu = lcd_status_screen; /* function pointer to the currently active menu */
 uint32_t lcd_next_update_millis;
 uint8_t lcd_status_update_delay;
-uint8_t lcdDrawUpdate = 2;                  /* Set to none-zero when the LCD needs to draw, decreased after every draw. Set to 2 in LCD routines so the LCD gets atleast 1 full redraw (first redraw is partial) */
+uint8_t lcdDrawUpdate = 2;                  /* Set to none-zero when the LCD needs to draw, decreased after every draw. Set to 2 in LCD routines so the LCD gets at least 1 full redraw (first redraw is partial) */
 
 //prevMenu and prevEncoderPosition are used to store the previous menu location when editing settings.
 menuFunc_t prevMenu = NULL;
@@ -173,10 +173,10 @@ void* editValue;
 int32_t minEditValue, maxEditValue;
 menuFunc_t callbackFunc;
 
-// placeholders for Ki and Kd edits
+// place-holders for Ki and Kd edits
 float raw_Ki, raw_Kd;
 
-/* Main status screen. It's up to the implementation specific part to show what is needed. As this is very display dependend */
+/* Main status screen. It's up to the implementation specific part to show what is needed. As this is very display dependent */
 static void lcd_status_screen()
 {
     if (lcd_status_update_delay)
@@ -196,6 +196,7 @@ static void lcd_status_screen()
         lcd_quick_feedback();
     }
 
+#ifdef ULTIPANEL_FEEDMULTIPLY
     // Dead zone at 100% feedrate
     if ((feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100) ||
             (feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100))
@@ -219,6 +220,7 @@ static void lcd_status_screen()
         feedmultiply += int(encoderPosition);
         encoderPosition = 0;
     }
+#endif//ULTIPANEL_FEEDMULTIPLY
 
     if (feedmultiply < 10)
         feedmultiply = 10;
@@ -460,6 +462,7 @@ static void lcd_move_x()
 {
     if (encoderPosition != 0)
     {
+        refresh_cmd_timeout();
         current_position[X_AXIS] += float((int)encoderPosition) * move_menu_scale;
         if (min_software_endstops && current_position[X_AXIS] < X_MIN_POS)
             current_position[X_AXIS] = X_MIN_POS;
@@ -489,6 +492,7 @@ static void lcd_move_y()
 {
     if (encoderPosition != 0)
     {
+        refresh_cmd_timeout();
         current_position[Y_AXIS] += float((int)encoderPosition) * move_menu_scale;
         if (min_software_endstops && current_position[Y_AXIS] < Y_MIN_POS)
             current_position[Y_AXIS] = Y_MIN_POS;
@@ -518,6 +522,7 @@ static void lcd_move_z()
 {
     if (encoderPosition != 0)
     {
+        refresh_cmd_timeout();
         current_position[Z_AXIS] += float((int)encoderPosition) * move_menu_scale;
         if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS)
             current_position[Z_AXIS] = Z_MIN_POS;
@@ -706,7 +711,9 @@ static void lcd_control_motion_menu()
 {
     START_MENU();
     MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
+#ifdef ENABLE_AUTO_BED_LEVELING
     MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, 0.5, 50);
+#endif
     MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 500, 99000);
     MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &max_xy_jerk, 1, 990);
     MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &max_z_jerk, 0.1, 990);
@@ -1003,7 +1010,7 @@ void lcd_init()
     WRITE(SHIFT_LD,HIGH);
   #endif
 #else  // Not NEWPANEL
-  #ifdef SR_LCD_2W_NL // Non latching 2 wire shiftregister
+  #ifdef SR_LCD_2W_NL // Non latching 2 wire shift register
      pinMode (SR_DATA_PIN, OUTPUT);
      pinMode (SR_CLK_PIN, OUTPUT);
   #elif defined(SHIFT_CLK) 
@@ -1050,7 +1057,7 @@ void lcd_update()
     {
         lcdDrawUpdate = 2;
         lcd_oldcardstatus = IS_SD_INSERTED;
-        lcd_implementation_init(); // to maybe revive the lcd if static electricty killed it.
+        lcd_implementation_init(); // to maybe revive the LCD if static electricity killed it.
 
         if(lcd_oldcardstatus)
         {
@@ -1465,7 +1472,7 @@ char *ftostr52(const float &x)
 }
 
 // Callback for after editing PID i value
-// grab the pid i value out of the temp variable; scale it; then update the PID driver
+// grab the PID i value out of the temp variable; scale it; then update the PID driver
 void copy_and_scalePID_i()
 {
 #ifdef PIDTEMP
@@ -1475,7 +1482,7 @@ void copy_and_scalePID_i()
 }
 
 // Callback for after editing PID d value
-// grab the pid d value out of the temp variable; scale it; then update the PID driver
+// grab the PID d value out of the temp variable; scale it; then update the PID driver
 void copy_and_scalePID_d()
 {
 #ifdef PIDTEMP

Marlin/ultralcd.h

@@ -17,7 +17,7 @@
   void lcd_setcontrast(uint8_t value);
 #endif
 
-  static unsigned char blink = 0;	// Variable for visualisation of fan rotation in GLCD
+  static unsigned char blink = 0;	// Variable for visualization of fan rotation in GLCD
 
   #define LCD_MESSAGEPGM(x) lcd_setstatuspgm(PSTR(x))
   #define LCD_ALERTMESSAGEPGM(x) lcd_setalertstatuspgm(PSTR(x))
@@ -29,7 +29,7 @@
   void lcd_buttons_update();
   extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
   #ifdef REPRAPWORLD_KEYPAD
-    extern volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shiftregister values
+    extern volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shift register values
   #endif
   #else
   FORCE_INLINE void lcd_buttons_update() {}
@@ -72,7 +72,7 @@
   	  #define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_MIDDLE)
     #endif //REPRAPWORLD_KEYPAD
   #else
-    //atomatic, do not change
+    //atomic, do not change
     #define B_LE (1<<BL_LE)
     #define B_UP (1<<BL_UP)
     #define B_MI (1<<BL_MI)
@@ -85,7 +85,7 @@
     #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
   #endif//NEWPANEL
 
-#else //no lcd
+#else //no LCD
   FORCE_INLINE void lcd_update() {}
   FORCE_INLINE void lcd_init() {}
   FORCE_INLINE void lcd_setstatus(const char* message) {}

Marlin/ultralcd_implementation_hitachi_HD44780.h

@@ -2,8 +2,8 @@
 #define ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H
 
 /**
-* Implementation of the LCD display routines for a hitachi HD44780 display. These are common LCD character displays.
-* When selecting the rusian language, a slightly different LCD implementation is used to handle UTF8 characters.
+* Implementation of the LCD display routines for a Hitachi HD44780 display. These are common LCD character displays.
+* When selecting the Russian language, a slightly different LCD implementation is used to handle UTF8 characters.
 **/
 
 #ifndef REPRAPWORLD_KEYPAD
@@ -20,7 +20,7 @@ extern volatile uint16_t buttons;  //an extended version of the last checked but
 // via a shift/i2c register.
 
 #ifdef ULTIPANEL
-// All Ultipanels might have an encoder - so this is always be mapped onto first two bits
+// All UltiPanels might have an encoder - so this is always be mapped onto first two bits
 #define BLEN_B 1
 #define BLEN_A 0
 
@@ -718,6 +718,7 @@ static void lcd_implementation_quick_feedback()
 	#endif
 #elif defined(BEEPER) && BEEPER > -1
     SET_OUTPUT(BEEPER);
+	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
     for(int8_t i=0;i<10;i++)
     {
       WRITE(BEEPER,HIGH);
@@ -725,6 +726,15 @@ static void lcd_implementation_quick_feedback()
       WRITE(BEEPER,LOW);
       delayMicroseconds(100);
     }
+    #else
+    for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++)
+    {
+      WRITE(BEEPER,HIGH);
+      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+      WRITE(BEEPER,LOW);
+      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+    }
+    #endif
 #endif
 }
 

Marlin/ultralcd_st7920_u8glib_rrd.h

@@ -12,8 +12,8 @@
 #define ST7920_DAT_PIN  LCD_PINS_ENABLE
 #define ST7920_CS_PIN   LCD_PINS_RS
 
-//#define PAGE_HEIGHT 8   //128 byte frambuffer
-//#define PAGE_HEIGHT 16  //256 byte frambuffer
+//#define PAGE_HEIGHT 8   //128 byte framebuffer
+//#define PAGE_HEIGHT 16  //256 byte framebuffer
 #define PAGE_HEIGHT 32  //512 byte framebuffer
 
 #define WIDTH 128
@@ -59,8 +59,8 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
         ST7920_SET_CMD();
         ST7920_WRITE_BYTE(0x08);       //display off, cursor+blink off
         ST7920_WRITE_BYTE(0x01);       //clear CGRAM ram
-        u8g_Delay(10);                 //delay for cgram clear
-        ST7920_WRITE_BYTE(0x3E);       //extended mode + gdram active
+        u8g_Delay(10);                 //delay for CGRAM clear
+        ST7920_WRITE_BYTE(0x3E);       //extended mode + GDRAM active
         for(y=0;y<HEIGHT/2;y++)        //clear GDRAM
         {
           ST7920_WRITE_BYTE(0x80|y);   //set y

Marlin/vector_3.cpp

@@ -22,19 +22,9 @@
 #ifdef ENABLE_AUTO_BED_LEVELING
 #include "vector_3.h"
 
-vector_3::vector_3()
-{
-  this->x = 0;
-  this->y = 0;
-  this->z = 0;
-}
+vector_3::vector_3() : x(0), y(0), z(0) { }
 
-vector_3::vector_3(float x, float y, float z)
-{
-	this->x = x;
-	this->y = y;
-	this->z = z;
-}
+vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
 
 vector_3 vector_3::cross(vector_3 left, vector_3 right)
 {
@@ -62,7 +52,7 @@ vector_3 vector_3::get_normal()
 
 float vector_3::get_length() 
 {
-        float length = sqrt((x * x) + (y * y) + (z * z));
+	float length = sqrt((x * x) + (y * y) + (z * z));
 	return length;
 }
  

Marlin/watchdog.h

@@ -4,9 +4,9 @@
 #include "Marlin.h"
 
 #ifdef USE_WATCHDOG
-  // intialise watch dog with a 1 sec interrupt time
+  // initialize watch dog with a 1 sec interrupt time
   void watchdog_init();
-  // pad the dog/reset watchdog. MUST be called at least every second after the first watchdog_init or avr will go into emergency procedures..
+  // pad the dog/reset watchdog. MUST be called at least every second after the first watchdog_init or AVR will go into emergency procedures..
   void watchdog_reset();
 #else
   //If we do not have a watchdog, then we can have empty functions which are optimized away.

README.md

@@ -85,7 +85,7 @@ AutoTemp:
 If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
 Usually, higher speed requires higher temperature.
 This can now be performed by the AutoTemp function
-By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
+By calling M109 S<mintemp> B<maxtemp> F<factor> you enter the autotemp mode.
 
 You can leave it by calling M109 without any F.
 If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].