Added optional feature to stop printing when an endstop is hit. Made the Z display on the LCD in 3.2 format instead of 3.1. Added LCD message when and endstop is hit.

Marlin/Configuration_adv.h

 // 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
-//#define WATCH_TEMP_PERIOD 20000 //20 seconds
+//#define WATCH_TEMP_PERIOD 40000 //40 seconds
 //#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds
 
 // Wait for Cooldown
 //=============================Additional Features===========================
 //===========================================================================
 
-
 #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.
 
 //  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
 //#define WATCHDOG_RESET_MANUAL
 #endif
+
+// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
+//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 // extruder advance constant (s2/mm3)
 //
 #else
   #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif
-
+
 
 //The ASCII buffer for recieving from the serial:
 #define MAX_CMD_SIZE 96

Marlin/Marlin_main.cpp

 // M500 - stores paramters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-// M503 - print the current settings (from memory not from eeprom)
+// 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)
 // M907 - Set digital trimpot motor current using axis codes.
 // M908 - Control digital trimpot directly.
 // M350 - Set microstepping mode.
     {
         Config_PrintSettings();
     }
-    break;
+    break;
+    #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+    case 540:
+    {
+        if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
+    }
+    break;
+    #endif
     case 907: // M907 Set digital trimpot motor current using axis codes.
     {
       #if DIGIPOTSS_PIN > -1

Marlin/stepper.cpp

 #include "temperature.h"
 #include "ultralcd.h"
 #include "language.h"
+#include "cardreader.h"
 #include "speed_lookuptable.h"
 #if DIGIPOTSS_PIN > -1
 #include <SPI.h>
 static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+bool abort_on_endstop_hit = false;
+#endif
 
 static bool old_x_min_endstop=false;
 static bool old_x_max_endstop=false;
    SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
    if(endstop_x_hit) {
      SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
+     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
    }
    if(endstop_y_hit) {
      SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
+     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
    }
    if(endstop_z_hit) {
      SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
+     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
    }
-   SERIAL_ECHOLN("");
+   SERIAL_ECHOLN("");
    endstop_x_hit=false;
    endstop_y_hit=false;
-   endstop_z_hit=false;
+   endstop_z_hit=false;
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+   if (abort_on_endstop_hit)
+   {
+     card.sdprinting = false;
+     card.closefile();
+     quickStop();
+     setTargetHotend0(0);
+     setTargetHotend1(0);
+     setTargetHotend2(0);
+   }
+#endif
  }
 }
 

Marlin/stepper.h

   #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
 #endif
 
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+extern bool abort_on_endstop_hit;
+#endif
 
 // Initialize and start the stepper motor subsystem
 void st_init();

Marlin/ultralcd.cpp

     MENU_ITEM_EDIT(float52, MSG_YSTEPS, &axis_steps_per_unit[Y_AXIS], 5, 9999);
     MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
     MENU_ITEM_EDIT(float51, MSG_ESTEPS, &axis_steps_per_unit[E_AXIS], 5, 9999);    
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+    MENU_ITEM_EDIT(bool, "Endstop abort", &abort_on_endstop_hit);
+#endif
     END_MENU();
 }
 
 
 char *ftostr32(const float &x)
 {
-  long xx=x*100;
-  conv[0]=(xx>=0)?'+':'-';
+  long xx=x*100;
+  if (xx >= 0)
+    conv[0]=(xx/10000)%10+'0';
+  else
+    conv[0]='-';
   xx=abs(xx);
-  conv[1]=(xx/100)%10+'0';
-  conv[2]='.';
-  conv[3]=(xx/10)%10+'0';
-  conv[4]=(xx)%10+'0';
-  conv[5]=0;
+  conv[1]=(xx/1000)%10+'0';
+  conv[2]=(xx/100)%10+'0';
+  conv[3]='.';
+  conv[4]=(xx/10)%10+'0';
+  conv[5]=(xx)%10+'0';
+  conv[6]=0;
   return conv;
 }
 

Marlin/ultralcd_implementation_hitachi_HD44780.h

     lcd.print(ftostr3(current_position[Y_AXIS]));
 #  endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0
 # endif//LCD_WIDTH > 19
-    lcd.setCursor(LCD_WIDTH - 7, 1);
+    lcd.setCursor(LCD_WIDTH - 8, 1);
     lcd.print('Z');
-    lcd.print(ftostr31(current_position[Z_AXIS]));
+    lcd.print(ftostr32(current_position[Z_AXIS]));
 #endif//LCD_HEIGHT > 2
 
 #if LCD_HEIGHT > 3