Merge remote-tracking branch 'upstream/Marlin_v1' into Marlin_v1

Marlin/Configuration.h

 #define CONFIGURATION_H
 
 // This configurtion file contains the basic settings.
-// Advanced settings can be found in Configuration_adv.h 
+// Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
 
 //User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
 //
-//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k 
+//    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)
 #define TEMP_SENSOR_BED 0
 
 // Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
 #define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
 #define TEMP_WINDOW     1       // (degC) Window around target to start the recidency timer x degC early.
 
 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
-// to check that the wiring to the thermistor is not broken. 
+// to check that the wiring to the thermistor is not broken.
 // Otherwise this would lead to the heater being powered on all the time.
 #define HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
 #define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
 #define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
 #ifdef PIDTEMP
-  //#define PID_DEBUG // Sends debug data to the serial port. 
+  //#define PID_DEBUG // Sends debug data to the serial port.
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                   // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
 // If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
     #define  DEFAULT_Kp 22.2
-    #define  DEFAULT_Ki 1.08  
-    #define  DEFAULT_Kd 114  
+    #define  DEFAULT_Ki 1.08
+    #define  DEFAULT_Kd 114
 
 // Makergear
 //    #define  DEFAULT_Kp 7.0
-//    #define  DEFAULT_Ki 0.1  
-//    #define  DEFAULT_Kd 12  
+//    #define  DEFAULT_Ki 0.1
+//    #define  DEFAULT_Kd 12
 
-// Mendel Parts V9 on 12V    
+// Mendel Parts V9 on 12V
 //    #define  DEFAULT_Kp 63.0
 //    #define  DEFAULT_Ki 2.25
 //    #define  DEFAULT_Kd 440
 // Bed Temperature Control
 // Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
-// uncomment this to enable PID on the bed.   It uses the same ferquency PWM as the extruder. 
+// uncomment this to enable PID on the bed.   It uses the same ferquency PWM as the extruder.
 // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
 // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
-// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. 
-// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly 
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
 // shouldn't use bed PID until someone else verifies your hardware works.
 // If this is enabled, find your own PID constants below.
 //#define PIDTEMPBED
 #endif
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
 //#define DISABLE_MAX_ENDSTOPS
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
 
-// default settings 
+// default settings
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}  // default steps per unit for ultimaker 
-#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec)    
+#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_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#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 r retracts
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // EEPROM
 // the microcontroller can store settings in the EEPROM, e.g. max velocity...
 // M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+// 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 EEPROM_SETTINGS
 // Preheat Constants
 #define PLA_PREHEAT_HOTEND_TEMP 180 
 #define PLA_PREHEAT_HPB_TEMP 70
-#define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+#define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 
 #define ABS_PREHEAT_HOTEND_TEMP 240
 #define ABS_PREHEAT_HPB_TEMP 100
-#define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+#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 DOGLCD	// Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+//#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)
 
 // ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
 //#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
 
+// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
+// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
+//#define REPRAPWORLD_KEYPAD
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
+
 //automatic expansion
 #if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
  #define DOGLCD
 #if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
  #define ULTIPANEL
  #define NEWPANEL
-#endif 
+#endif
+
+#if defined(REPRAPWORLD_KEYPAD)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
 
 //I2C PANELS
 
 //  #define NEWPANEL  //enable this if you have a click-encoder panel
   #define SDSUPPORT
   #define ULTRA_LCD
-	#ifdef DOGLCD	// Change number of lines to match the DOG graphic display
-		#define LCD_WIDTH 20
-		#define LCD_HEIGHT 5
-	#else
-		#define LCD_WIDTH 20
-		#define LCD_HEIGHT 4
-	#endif
-#else //no panel but just lcd 
+  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 4
+  #endif
+#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
-		#define LCD_HEIGHT 5
-	#else
-		#define LCD_WIDTH 16
-		#define LCD_HEIGHT 2
-	#endif    
+  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2
+  #endif
   #endif
 #endif
 
 // SF send wrong arc g-codes when using Arc Point as fillet procedure
 //#define SF_ARC_FIX
 
+// Support for the BariCUDA Paste Extruder.
+//#define BARICUDA
+
+/*********************************************************************\
+*
+* R/C SERVO support
+*
+* Sponsored by TrinityLabs, Reworked by codexmas
+*
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+// #define NUM_SERVOS 3
+
 #include "Configuration_adv.h"
 #include "thermistortables.h"
 

Marlin/Makefile

 # Sprinter Arduino Project Makefile
-# 
+#
 # Makefile Based on:
 # Arduino 0011 Makefile
 # Arduino adaptation by mellis, eighthave, oli.keller
 # Marlin adaption by Daid
 #
 # This has been tested with Arduino 0022.
-# 
+#
 # This makefile allows you to build sketches from the command line
 # without the Arduino environment (or Java).
 #
 #     (e.g. UPLOAD_PORT = /dev/tty.USB0).  If the exact name of this file
 #     changes, you can use * as a wildcard (e.g. UPLOAD_PORT = /dev/tty.usb*).
 #
-#  3. Set the line containing "MCU" to match your board's processor. 
+#  3. Set the line containing "MCU" to match your board's processor.
 #     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
 #     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
 #     change F_CPU to 8000000. If you are using Gen7 electronics, you
 ARDUINO_VERSION      ?= 22
 
 # You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin)
-AVR_TOOLS_PATH ?= 
+AVR_TOOLS_PATH ?=
 
 #Programmer configuration
 UPLOAD_RATE        ?= 115200
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
 	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
 	watchdog.cpp
-CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp
+CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp
 
 #Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version
 ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true)
 # Default target.
 all: sizeafter
 
-build: $(BUILD_DIR) elf hex 
+build: $(BUILD_DIR) elf hex
 
 # Creates the object directory
-$(BUILD_DIR): 
+$(BUILD_DIR):
 	$P mkdir -p $(BUILD_DIR)
 
 elf: $(BUILD_DIR)/$(TARGET).elf
 hex: $(BUILD_DIR)/$(TARGET).hex
 eep: $(BUILD_DIR)/$(TARGET).eep
-lss: $(BUILD_DIR)/$(TARGET).lss 
+lss: $(BUILD_DIR)/$(TARGET).lss
 sym: $(BUILD_DIR)/$(TARGET).sym
 
-# Program the device.  
+# Program the device.
 # Do not try to reset an arduino if it's not one
 upload: $(BUILD_DIR)/$(TARGET).hex
 ifeq (${AVRDUDE_PROGRAMMER}, arduino)
 	--change-section-address .data-0x800000 \
 	--change-section-address .bss-0x800000 \
 	--change-section-address .noinit-0x800000 \
-	--change-section-address .eeprom-0x810000 
+	--change-section-address .eeprom-0x810000
 
 
 coff: $(BUILD_DIR)/$(TARGET).elf

Marlin/Marlin.h

 extern float min_pos[3];
 extern float max_pos[3];
 extern int fanSpeed;
+#ifdef BARICUDA
+extern int ValvePressure;
+extern int EtoPPressure;
+#endif
 
 #ifdef FWRETRACT
 extern bool autoretract_enabled;

Marlin/Servo.cpp

+/*
+ Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/*
+
+ A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ The servos are pulsed in the background using the value most recently written using the write() method
+
+ 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 methods are:
+
+ Servo - Class for manipulating servo motors connected to Arduino pins.
+
+ attach(pin )  - Attaches a servo motor to an i/o pin.
+ attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+ default min is 544, max is 2400
+
+ write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+ writeMicroseconds() - Sets the servo pulse width in microseconds
+ read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+ readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+ attached()  - Returns true if there is a servo attached.
+ detach()    - Stops an attached servos from pulsing its i/o pin.
+
+*/
+
+#include <avr/interrupt.h>
+#include <Arduino.h>
+
+#include "Servo.h"
+
+#define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009
+#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
+
+
+#define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
+
+//#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)
+
+static servo_t servos[MAX_SERVOS];                          // static array of servo structures
+static volatile int8_t Channel[_Nbr_16timers ];             // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+uint8_t ServoCount = 0;                                     // the total number of attached servos
+
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER)       // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*SERVOS_PER_TIMER) + _channel)     // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel)  (servos[SERVO_INDEX(_timer,_channel)])            // macro to access servo class by timer and channel
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4)  // minimum value in uS for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4)  // maximum value in uS for this servo
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
+{
+  if( Channel[timer] < 0 )
+    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else{
+    if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
+  }
+
+  Channel[timer]++;    // increment to the next channel
+  if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
+    if(SERVO(timer,Channel[timer]).Pin.isActive == true)     // check if activated
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
+      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
+    else
+      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
+// Interrupt handlers for Arduino
+#if defined(_useTimer1)
+SIGNAL (TIMER1_COMPA_vect)
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+
+#if defined(_useTimer3)
+SIGNAL (TIMER3_COMPA_vect)
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+
+#if defined(_useTimer4)
+SIGNAL (TIMER4_COMPA_vect)
+{
+  handle_interrupts(_timer4, &TCNT4, &OCR4A);
+}
+#endif
+
+#if defined(_useTimer5)
+SIGNAL (TIMER5_COMPA_vect)
+{
+  handle_interrupts(_timer5, &TCNT5, &OCR5A);
+}
+#endif
+
+#elif defined WIRING
+// Interrupt handlers for Wiring
+#if defined(_useTimer1)
+void Timer1Service()
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+#if defined(_useTimer3)
+void Timer3Service()
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+#endif
+
+
+static void initISR(timer16_Sequence_t timer)
+{
+#if defined (_useTimer1)
+  if(timer == _timer1) {
+    TCCR1A = 0;             // normal counting mode
+    TCCR1B = _BV(CS11);     // set prescaler of 8
+    TCNT1 = 0;              // clear the timer count
+#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF1A);      // clear any pending interrupts;
+    TIMSK |=  _BV(OCIE1A) ;  // enable the output compare interrupt
+#else
+    // here if not ATmega8 or ATmega128
+    TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
+    TIMSK1 |=  _BV(OCIE1A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+#endif
+  }
+#endif
+
+#if defined (_useTimer3)
+  if(timer == _timer3) {
+    TCCR3A = 0;             // normal counting mode
+    TCCR3B = _BV(CS31);     // set prescaler of 8
+    TCNT3 = 0;              // clear the timer count
+#if defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
+#else
+    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+    TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+#endif
+  }
+#endif
+
+#if defined (_useTimer4)
+  if(timer == _timer4) {
+    TCCR4A = 0;             // normal counting mode
+    TCCR4B = _BV(CS41);     // set prescaler of 8
+    TCNT4 = 0;              // clear the timer count
+    TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+    TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
+  }
+#endif
+
+#if defined (_useTimer5)
+  if(timer == _timer5) {
+    TCCR5A = 0;             // normal counting mode
+    TCCR5B = _BV(CS51);     // set prescaler of 8
+    TCNT5 = 0;              // clear the timer count
+    TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+    TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
+  }
+#endif
+}
+
+static void finISR(timer16_Sequence_t timer)
+{
+    //disable use of the given timer
+#if defined WIRING   // Wiring
+  if(timer == _timer1) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK1 &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #else
+    TIMSK &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #endif
+    timerDetach(TIMER1OUTCOMPAREA_INT);
+  }
+  else if(timer == _timer3) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK3 &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #else
+    ETIMSK &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #endif
+    timerDetach(TIMER3OUTCOMPAREA_INT);
+  }
+#else
+    //For arduino - in future: call here to a currently undefined function to reset the timer
+#endif
+}
+
+static boolean isTimerActive(timer16_Sequence_t timer)
+{
+  // returns true if any servo is active on this timer
+  for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
+    if(SERVO(timer,channel).Pin.isActive == true)
+      return true;
+  }
+  return false;
+}
+
+
+/****************** end of static functions ******************************/
+
+Servo::Servo()
+{
+  if( ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;                    // assign a servo index to this instance
+	servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
+  }
+  else
+    this->servoIndex = INVALID_SERVO ;  // too many servos
+}
+
+uint8_t Servo::attach(int pin)
+{
+  return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  if(this->servoIndex < MAX_SERVOS ) {
+    pinMode( pin, OUTPUT) ;                                   // set servo pin to output
+    servos[this->servoIndex].Pin.nbr = pin;
+    // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
+    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    // initialize the timer if it has not already been initialized
+    timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+    if(isTimerActive(timer) == false)
+      initISR(timer);
+    servos[this->servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  }
+  return this->servoIndex ;
+}
+
+void Servo::detach()
+{
+  servos[this->servoIndex].Pin.isActive = false;
+  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if(isTimerActive(timer) == false) {
+    finISR(timer);
+  }
+}
+
+void Servo::write(int value)
+{
+  if(value < MIN_PULSE_WIDTH)
+  {  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+    if(value < 0) value = 0;
+    if(value > 180) value = 180;
+    value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());
+  }
+  this->writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+  // calculate and store the values for the given channel
+  byte channel = this->servoIndex;
+  if( (channel < MAX_SERVOS) )   // ensure channel is valid
+  {
+    if( value < SERVO_MIN() )          // ensure pulse width is valid
+      value = SERVO_MIN();
+    else if( value > SERVO_MAX() )
+      value = SERVO_MAX();
+
+  	value = value - TRIM_DURATION;
+    value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
+
+    uint8_t oldSREG = SREG;
+    cli();
+    servos[channel].ticks = value;
+    SREG = oldSREG;
+  }
+}
+
+int Servo::read() // return the value as degrees
+{
+  return  map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+  unsigned int pulsewidth;
+  if( this->servoIndex != INVALID_SERVO )
+    pulsewidth = ticksToUs(servos[this->servoIndex].ticks)  + TRIM_DURATION ;   // 12 aug 2009
+  else
+    pulsewidth  = 0;
+
+  return pulsewidth;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive ;
+}

Marlin/Servo.h

+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/*
+
+  A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently written using the write() method
+
+  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 methods are:
+
+   Servo - Class for manipulating servo motors connected to Arduino pins.
+
+   attach(pin )  - Attaches a servo motor to an i/o pin.
+   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+   default min is 544, max is 2400
+
+   write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+   writeMicroseconds() - Sets the servo pulse width in microseconds
+   read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+   readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+   attached()  - Returns true if there is a servo attached.
+   detach()    - Stops an attached servos from pulsing its i/o pin.
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/*
+ * Defines for 16 bit timers used with  Servo library
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ *
+ */
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define _useTimer5
+//#define _useTimer1
+#define _useTimer3
+#define _useTimer4
+//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega32U4__)
+//#define _useTimer1
+#define _useTimer3
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#else  // everything else
+//#define _useTimer1
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _Nbr_16timers } timer16_Sequence_t ;
+#endif
+
+#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 SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t   ;
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  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 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
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
+};
+
+#endif

Marlin/pins.h

     #define E0_STEP_PIN      28
     #define E0_DIR_PIN       27
     #define E0_ENABLE_PIN    24
-    
+
     #define TEMP_0_PIN      2
     #define TEMP_1_PIN      -1
     #define TEMP_2_PIN      -1
     #define TEMP_BED_PIN        1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
-     
+
     #define HEATER_0_PIN    4
-    #define HEATER_1_PIN    -1   
+    #define HEATER_1_PIN    -1
     #define HEATER_2_PIN    -1
     #define HEATER_BED_PIN      3  // (bed)
 
     //our RS485 pins
     //#define TX_ENABLE_PIN       12
     //#define RX_ENABLE_PIN       13
-    
-    #define BEEPER -1 
-  #define SDCARDDETECT -1     
-    #define SUICIDE_PIN -1            //has to be defined; otherwise Power_off doesn't work
-  
+
+    #define BEEPER -1
+    #define SDCARDDETECT -1
+    #define SUICIDE_PIN -1    //has to be defined; otherwise Power_off doesn't work
+
     #define KILL_PIN -1
-  //Pins for 4bit LCD Support 
-    #define LCD_PINS_RS 18 
+    //Pins for 4bit LCD Support
+    #define LCD_PINS_RS 18
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 16
-    #define LCD_PINS_D5 15 
+    #define LCD_PINS_D5 15
     #define LCD_PINS_D6 13
     #define LCD_PINS_D7 14
-    
+
      //buttons are directly attached
     #define BTN_EN1 11
     #define BTN_EN2 10
     #define BTN_ENC 12  //the click
+
 #endif
 
 /****************************************************************************************
 #else
 #define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
 #endif
-#define HEATER_2_PIN       -1   
+#define HEATER_2_PIN       -1
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 #define TEMP_1_PIN         15   // ANALOG NUMBERING
 #define TEMP_2_PIN         -1   // ANALOG NUMBERING
 #define HEATER_BED_PIN     8    // BED
 #define TEMP_BED_PIN       14   // ANALOG NUMBERING
 
+#define SERVO0_PIN         11
+#define SERVO1_PIN         6
+#define SERVO2_PIN         5
+#define SERVO3_PIN         4
+
 #ifdef ULTRA_LCD
 
   #ifdef NEWPANEL
     #define LCD_PINS_RS 16 
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
-    
+
     #ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
       #define BEEPER 37
 
       #define BEEPER 33  // Beeper on AUX-4
 
       //buttons are directly attached using AUX-2
-      #define BTN_EN1 37
-      #define BTN_EN2 35
-      #define BTN_ENC 31  //the click
+      #ifdef REPRAPWORLD_KEYPAD
+        #define BTN_EN1 64 // encoder
+        #define BTN_EN2 59 // encoder
+        #define BTN_ENC 63 // enter button
+        #define SHIFT_OUT 40 // shift register
+        #define SHIFT_CLK 44 // shift register
+        #define SHIFT_LD 42 // shift register
+      #else
+        #define BTN_EN1 37
+        #define BTN_EN2 35
+        #define BTN_ENC 31  //the click
+      #endif
 
       #ifdef G3D_PANEL
         #define SDCARDDETECT 49
     //#define SHIFT_LD 42
     //#define SHIFT_OUT 40
     //#define SHIFT_EN 17
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
   #endif 
 #define HEATER_1_PIN        -1
 #define HEATER_2_PIN        -1
 #define TEMP_0_PIN          2    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1   
-#define TEMP_2_PIN          -1   
+#define TEMP_1_PIN          -1
+#define TEMP_2_PIN          -1
 #define TEMP_BED_PIN        1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
 #endif// MOTHERBOARD == 33 || MOTHERBOARD == 34
 
-// SPI for Max6675 Thermocouple 
+// SPI for Max6675 Thermocouple
 
 #ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support  
+// these pins are defined in the SD library if building with SD support
   #define MAX_SCK_PIN          52
   #define MAX_MISO_PIN         50
   #define MAX_MOSI_PIN         51
 #define HEATER_1_PIN        -1
 #define HEATER_2_PIN        -1
 #define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1    
-#define TEMP_2_PIN          -1    
+#define TEMP_1_PIN          -1
+#define TEMP_2_PIN          -1
 #define HEATER_BED_PIN      -1
 #define TEMP_BED_PIN        -1
 
     #define PS_ON_PIN       -1    //changed @ rkoeppl 20110410
     #define KILL_PIN        -1    //changed @ drakelive 20120830
     //our pin for debugging.
-    
+
     #define DEBUG_PIN        0
-    
+
     //our RS485 pins
     #define TX_ENABLE_PIN 12
     #define RX_ENABLE_PIN 13
 
-    
+
 #endif
 
 /****************************************************************************************
 #if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
 #undef MOTHERBOARD
 #define MOTHERBOARD 6
-#define SANGUINOLOLU_V_1_2 
+#define SANGUINOLOLU_V_1_2
 #endif
 #if MOTHERBOARD == 6
 #define KNOWN_BOARD 1
 
 #define LED_PIN            -1
 
-#define FAN_PIN            -1 
+#define FAN_PIN            -1
 #if FAN_PIN == 12 || FAN_PIN ==13
 #define FAN_SOFT_PWM
 #endif
     
    #endif //Newpanel
  #endif //Ultipanel
- 
+
 #endif
 
 
 #define Y_MAX_PIN 28
 #define Y_ENABLE_PIN 29
 
-#define Z_STEP_PIN 37 
+#define Z_STEP_PIN 37
 #define Z_DIR_PIN 39
 #define Z_MIN_PIN 30
 #define Z_MAX_PIN 32
 #define Z_ENABLE_PIN 35
 
-#define HEATER_BED_PIN 4 
-#define TEMP_BED_PIN 10  
+#define HEATER_BED_PIN 4
+#define TEMP_BED_PIN 10
 
 #define HEATER_0_PIN  2
-#define TEMP_0_PIN 8   
+#define TEMP_0_PIN 8
 
 #define HEATER_1_PIN 3
 #define TEMP_1_PIN 9
   //arduino pin witch triggers an piezzo beeper
     #define BEEPER 18
 
-    #define LCD_PINS_RS 20 
+    #define LCD_PINS_RS 20
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 16
-    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D5 21
     #define LCD_PINS_D6 5
     #define LCD_PINS_D7 6
-    
+
     //buttons are directly attached
     #define BTN_EN1 40
     #define BTN_EN2 42
     #define SHIFT_LD 42
     #define SHIFT_OUT 40
     #define SHIFT_EN 17
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 5
     #define LCD_PINS_D4 6
-    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D5 21
     #define LCD_PINS_D6 20
     #define LCD_PINS_D7 19
   
 #define Y_MAX_PIN 16
 #define Y_ENABLE_PIN 29
 
-#define Z_STEP_PIN 37 
+#define Z_STEP_PIN 37
 #define Z_DIR_PIN 39
 #define Z_MIN_PIN 19
 #define Z_MAX_PIN 18
 #define Z_ENABLE_PIN 35
 
-#define HEATER_BED_PIN -1 
-#define TEMP_BED_PIN -1  
+#define HEATER_BED_PIN -1
+#define TEMP_BED_PIN -1
 
 #define HEATER_0_PIN  2
-#define TEMP_0_PIN 8   
+#define TEMP_0_PIN 8
 
 #define HEATER_1_PIN 1
 #define TEMP_1_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 LCD_PINS_RS 24 
+#define LCD_PINS_RS 24
 #define LCD_PINS_ENABLE 22
 #define LCD_PINS_D4 36
-#define LCD_PINS_D5 34 
+#define LCD_PINS_D5 34
 #define LCD_PINS_D6 32
 #define LCD_PINS_D7 30
 
 #define X_DIR_PIN          16
 #define X_ENABLE_PIN       48
 #define X_MIN_PIN          37
-#define X_MAX_PIN          36 
+#define X_MAX_PIN          36
 
 #define Y_STEP_PIN         54
-#define Y_DIR_PIN          47 
+#define Y_DIR_PIN          47
 #define Y_ENABLE_PIN       55
 #define Y_MIN_PIN          35
-#define Y_MAX_PIN          34 
+#define Y_MAX_PIN          34
 
-#define Z_STEP_PIN         57 
+#define Z_STEP_PIN         57
 #define Z_DIR_PIN          56
-#define Z_ENABLE_PIN       62 
+#define Z_ENABLE_PIN       62
 #define Z_MIN_PIN          33
 #define Z_MAX_PIN          32
 
 
 #define LED_PIN            13
 
-#define FAN_PIN            7 
+#define FAN_PIN            7
 //additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8
 
 #define PS_ON_PIN          45
 #define KILL_PIN           46
 
-#define HEATER_0_PIN       2    // EXTRUDER 1
-#define HEATER_1_PIN       3    // EXTRUDER 2
-#define HEATER_2_PIN       6    // EXTRUDER 3
+#if (TEMP_SENSOR_0==0)
+ #define TEMP_0_PIN         -1
+ #define HEATER_0_PIN       -1
+#else
+ #define HEATER_0_PIN        2    // EXTRUDER 1
+ #if (TEMP_SENSOR_0==-1)
+  #define TEMP_0_PIN         6    // ANALOG NUMBERING - connector *K1* on RUMBA thermocouple ADD ON is used
+ #else
+  #define TEMP_0_PIN         15   // ANALOG NUMBERING - default connector for thermistor *T0* on rumba board is used
+ #endif
+#endif 
+
+#if (TEMP_SENSOR_1==0)
+ #define TEMP_1_PIN         -1
+ #define HEATER_1_PIN       -1
+#else
+ #define HEATER_1_PIN        3    // EXTRUDER 2
+ #if (TEMP_SENSOR_1==-1)
+  #define TEMP_1_PIN         5    // ANALOG NUMBERING - connector *K2* on RUMBA thermocouple ADD ON is used
+ #else
+  #define TEMP_1_PIN         14   // ANALOG NUMBERING - default connector for thermistor *T1* on rumba board is used
+ #endif
+#endif
+
+#if (TEMP_SENSOR_2==0)
+ #define TEMP_2_PIN         -1
+ #define HEATER_2_PIN       -1
+#else
+ #define HEATER_2_PIN        6    // EXTRUDER 3
+ #if (TEMP_SENSOR_2==-1)
+  #define TEMP_2_PIN         7    // ANALOG NUMBERING - connector *K3* on RUMBA thermocouple ADD ON is used <-- this can not be used when TEMP_SENSOR_BED is defined as thermocouple
+ #else
+  #define TEMP_2_PIN         13   // ANALOG NUMBERING - default connector for thermistor *T2* on rumba board is used
+ #endif
+#endif
+
+//optional for extruder 4 or chamber: #define TEMP_X_PIN         12   // ANALOG NUMBERING - default connector for thermistor *T3* on rumba board is used
 //optional FAN1 can be used as 4th heater output: #define HEATER_3_PIN       8    // EXTRUDER 4
-#define HEATER_BED_PIN     9    // BED
 
-#define TEMP_0_PIN         15   // ANALOG NUMBERING
-#define TEMP_1_PIN         14   // ANALOG NUMBERING
-#define TEMP_2_PIN         13   // ANALOG NUMBERING
-//optional for extruder 4 or chamber: #define TEMP_2_PIN         12   // ANALOG NUMBERING
-#define TEMP_BED_PIN       11   // ANALOG NUMBERING
+#if (TEMP_SENSOR_BED==0)
+ #define TEMP_BED_PIN       -1
+ #define HEATER_BED_PIN     -1
+#else
+ #define HEATER_BED_PIN      9    // BED
+ #if (TEMP_SENSOR_BED==-1)
+  #define TEMP_BED_PIN       7    // ANALOG NUMBERING - connector *K3* on RUMBA thermocouple ADD ON is used <-- this can not be used when TEMP_SENSOR_2 is defined as thermocouple
+ #else
+  #define TEMP_BED_PIN       11   // ANALOG NUMBERING - default connector for thermistor *THB* on rumba board is used
+ #endif
+#endif
 
 #define SDPOWER            -1
 #define SDSS               53
 #define SDCARDDETECT       49
 #define BEEPER             44
-#define LCD_PINS_RS        19 
+#define LCD_PINS_RS        19
 #define LCD_PINS_ENABLE    42
 #define LCD_PINS_D4        18
-#define LCD_PINS_D5        38 
+#define LCD_PINS_D5        38
 #define LCD_PINS_D6        41
 #define LCD_PINS_D7        40
 #define BTN_EN1            11
 
 #define LED_PIN            -1
 
-#define FAN_PIN            -1 
+#define FAN_PIN            -1
 
 #define PS_ON_PIN         14
 #define KILL_PIN           -1
 *       MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
 *        SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
 *                  RST  9|        |32  AREF
-*                  VCC 10|        |31  GND 
+*                  VCC 10|        |31  GND
 *                  GND 11|        |30  AVCC
 *                XTAL2 12|        |29  PC7 (D 23)
 *                XTAL1 13|        |28  PC6 (D 22)
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN       4
-#define HEATER_1_PIN       -1 // 12 
+#define HEATER_1_PIN       -1 // 12
 #define HEATER_2_PIN       -1 // 13
 #define TEMP_0_PIN          0 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
 #define TEMP_1_PIN         -1 // 1
 #define KILL_PIN           -1
 
 #define HEATER_0_PIN        3 /*DONE PWM on RIGHT connector */
-#define HEATER_1_PIN       -1 
+#define HEATER_1_PIN       -1
 #define HEATER_2_PIN       -1
-#define HEATER_1_PIN       -1 
+#define HEATER_1_PIN       -1
 #define HEATER_2_PIN       -1
-#define TEMP_0_PIN          0 // ANALOG INPUT NUMBERING 
+#define TEMP_0_PIN          0 // ANALOG INPUT NUMBERING
 #define TEMP_1_PIN          1 // ANALOG
 #define TEMP_2_PIN         -1 // 2
 #define HEATER_BED_PIN      4
 #define Z_MS2_PIN 67
 
 #define HEATER_BED_PIN 3
-#define TEMP_BED_PIN 2 
+#define TEMP_BED_PIN 2
 
 #define HEATER_0_PIN  9
 #define TEMP_0_PIN 0
 #define HEATER_1_PIN 7
 #define TEMP_1_PIN 1
 
+#ifdef BARICUDA
+#define HEATER_2_PIN 6
+#else
 #define HEATER_2_PIN -1
+#endif
 #define TEMP_2_PIN -1
 
 #define E0_STEP_PIN         34
 
 #define HEATER_0_PIN       9    // EXTRUDER 1
 #define HEATER_1_PIN       8    // EXTRUDER 2 (FAN On Sprinter)
-#define HEATER_2_PIN       -1  
+#define HEATER_2_PIN       -1
 
-#if TEMP_SENSOR_0 == -1 
+#if TEMP_SENSOR_0 == -1
 #define TEMP_0_PIN         8   // ANALOG NUMBERING
 #else
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 
   #ifdef NEWPANEL
   //arduino pin which triggers an piezzo beeper
-    
-    #define LCD_PINS_RS 16 
+
+    #define LCD_PINS_RS 16
     #define LCD_PINS_ENABLE 17
     #define LCD_PINS_D4 23
-    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D5 25
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
-    
+
     //buttons are directly attached using AUX-2
     #define BTN_EN1 59
     #define BTN_EN2 64
 #endif
 
 //List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
-#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, 
+#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
 #if EXTRUDERS > 1
   #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
 #else

Marlin/planner.cpp

   unsigned char z_active = 0;
   unsigned char e_active = 0;
   unsigned char tail_fan_speed = fanSpeed;
+  #ifdef BARICUDA
+  unsigned char tail_valve_pressure = ValvePressure;
+  unsigned char tail_e_to_p_pressure = EtoPPressure;
+  #endif
   block_t *block;
 
   if(block_buffer_tail != block_buffer_head)
   {
     uint8_t block_index = block_buffer_tail;
     tail_fan_speed = block_buffer[block_index].fan_speed;
+    #ifdef BARICUDA
+    tail_valve_pressure = block_buffer[block_index].valve_pressure;
+    tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+    #endif
     while(block_index != block_buffer_head)
     {
       block = &block_buffer[block_index];
 #ifdef AUTOTEMP
   getHighESpeed();
 #endif
+
+#ifdef BARICUDA
+  #if HEATER_1_PIN > -1
+      analogWrite(HEATER_1_PIN,tail_valve_pressure);
+  #endif
+
+  #if HEATER_2_PIN > -1
+      analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
+  #endif
+#endif
 }
 
 
   }
 
   block->fan_speed = fanSpeed;
+  #ifdef BARICUDA
+  block->valve_pressure = ValvePressure;
+  block->e_to_p_pressure = EtoPPressure;
+  #endif
 
   // Compute direction bits for this block 
   block->direction_bits = 0;
   block->active_extruder = extruder;
 
   //enable active axes
+  #ifdef COREXY
+  if((block->steps_x != 0) || (block->steps_y != 0))
+  {
+    enable_x();
+    enable_y();
+  }
+  #else
   if(block->steps_x != 0) enable_x();
   if(block->steps_y != 0) enable_y();
+  #endif
 #ifndef Z_LATE_ENABLE
   if(block->steps_z != 0) enable_z();
 #endif

Marlin/planner.h

   unsigned long final_rate;                          // The minimal rate at exit
   unsigned long acceleration_st;                     // acceleration steps/sec^2
   unsigned long fan_speed;
+  #ifdef BARICUDA
+  unsigned long valve_pressure;
+  unsigned long e_to_p_pressure;
+  #endif
   volatile char busy;
 } block_t;
 

Marlin/temperature.cpp

 
 void tp_init()
 {
+#if (MOTHERBOARD == 80) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
+  //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
+  MCUCR=(1<<JTD); 
+  MCUCR=(1<<JTD);
+#endif
+  
   // Finish init of mult extruder arrays 
   for(int e = 0; e < EXTRUDERS; e++) {
     // populate with the first value 
     #if TEMP_2_PIN < 8
        DIDR0 |= 1 << TEMP_2_PIN; 
     #else
-       DIDR2 = 1<<(TEMP_2_PIN - 8); 
+       DIDR2 |= 1<<(TEMP_2_PIN - 8); 
     #endif
   #endif
   #if (TEMP_BED_PIN > -1)
 
 #if (EXTRUDERS > 1) && defined(HEATER_1_MINTEMP)
   minttemp[1] = HEATER_1_MINTEMP;
-  while(analog2temp(minttemp_raw[1], 1) > HEATER_1_MINTEMP) {
+  while(analog2temp(minttemp_raw[1], 1) < HEATER_1_MINTEMP) {
 #if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP
     minttemp_raw[1] += OVERSAMPLENR;
 #else
 
 #if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP)
   minttemp[2] = HEATER_2_MINTEMP;
-  while(analog2temp(minttemp_raw[2], 2) > HEATER_2_MINTEMP) {
+  while(analog2temp(minttemp_raw[2], 2) < HEATER_2_MINTEMP) {
 #if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP
     minttemp_raw[2] += OVERSAMPLENR;
 #else

Marlin/ultralcd.cpp

     } } while(0)
 
 /** Used variables to keep track of the menu */
+#ifndef REPRAPWORLD_KEYPAD
 volatile uint8_t buttons;//Contains the bits of the currently pressed buttons.
+#else
+volatile uint16_t buttons;//Contains the bits of the currently pressed buttons (extended).
+#endif
 
 uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
 uint32_t blocking_enc;
 uint8_t lastEncoderBits;
 int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 uint32_t encoderPosition;
-#if (SDCARDDETECT > -1)
+#if (SDCARDDETECT > 0)
 bool lcd_oldcardstatus;
 #endif
 #endif//ULTIPANEL
         }else{
             MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu);
 #if SDCARDDETECT < 1
-			MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21"));	// SD-card changed by user
-#endif			
+            MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21"));  // SD-card changed by user
+#endif
         }
     }else{
         MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
-#if SDCARDDETECT < 1		
-		MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21"));	// Manually initialize the SD-card via user interface
-#endif		
+#if SDCARDDETECT < 1
+        MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
+#endif
     }
 #endif
     END_MENU();
     setTargetBed(plaPreheatHPBTemp);
     fanSpeed = plaPreheatFanSpeed;
     lcd_return_to_status();
+    setWatch(); // heater sanity check timer
 }
 
 void lcd_preheat_abs()
     setTargetBed(absPreheatHPBTemp);
     fanSpeed = absPreheatFanSpeed;
     lcd_return_to_status();
+    setWatch(); // heater sanity check timer
+}
+
+static void lcd_cooldown()
+{
+    setTargetHotend0(0);
+    setTargetHotend1(0);
+    setTargetHotend2(0);
+    setTargetBed(0);
+    lcd_return_to_status();
 }
 
 static void lcd_tune_menu()
     //MENU_ITEM(gcode, MSG_SET_ORIGIN, PSTR("G92 X0 Y0 Z0"));
     MENU_ITEM(function, MSG_PREHEAT_PLA, lcd_preheat_pla);
     MENU_ITEM(function, MSG_PREHEAT_ABS, lcd_preheat_abs);
-    MENU_ITEM(gcode, MSG_COOLDOWN, PSTR("M104 S0\nM140 S0"));
+    MENU_ITEM(function, MSG_COOLDOWN, lcd_cooldown);
     MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
     END_MENU();
 }
 
 static void lcd_control_temperature_menu()
 {
-	// set up temp variables - undo the default scaling
-	raw_Ki = unscalePID_i(Ki);
-	raw_Kd = unscalePID_d(Kd);
-	
+    // set up temp variables - undo the default scaling
+    raw_Ki = unscalePID_i(Ki);
+    raw_Kd = unscalePID_d(Kd);
+
     START_MENU();
     MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
     MENU_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
 #endif
 #ifdef PIDTEMP
     MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp, 1, 9990);
-	// i is typically a small value so allows values below 1
+    // i is typically a small value so allows values below 1
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I, &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D, &raw_Kd, 1, 9990, copy_and_scalePID_d);
 # ifdef PID_ADD_EXTRUSION_RATE
 menu_edit_type(float, float52, ftostr52, 100)
 menu_edit_type(unsigned long, long5, ftostr5, 0.01)
 
+#ifdef REPRAPWORLD_KEYPAD
+    static void reprapworld_keypad_move_y_down() {
+        encoderPosition = 1;
+        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+        lcd_move_y();
+    }
+    static void reprapworld_keypad_move_y_up() {
+        encoderPosition = -1;
+        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+        lcd_move_y();
+    }
+    static void reprapworld_keypad_move_home() {
+        //enquecommand_P((PSTR("G28"))); // move all axis home
+        // TODO gregor: move all axis home, i have currently only one axis on my prusa i3
+        enquecommand_P((PSTR("G28 Y")));
+    }
+#endif
+
 /** End of menus **/
 
 static void lcd_quick_feedback()
     pinMode(SDCARDDETECT,INPUT);
     WRITE(BTN_EN1,HIGH);
     WRITE(BTN_EN2,HIGH);
-  #if defined(BTN_ENC) && BTN_ENC > -1
+  #if BTN_ENC > 0
     pinMode(BTN_ENC,INPUT); 
     WRITE(BTN_ENC,HIGH);
   #endif    
+  #ifdef REPRAPWORLD_KEYPAD
+    pinMode(SHIFT_CLK,OUTPUT);
+    pinMode(SHIFT_LD,OUTPUT);
+    pinMode(SHIFT_OUT,INPUT);
+    WRITE(SHIFT_OUT,HIGH);
+    WRITE(SHIFT_LD,HIGH);
+  #endif
 #else
     pinMode(SHIFT_CLK,OUTPUT);
     pinMode(SHIFT_LD,OUTPUT);
     WRITE(SHIFT_LD,HIGH); 
     WRITE(SHIFT_EN,LOW);
 #endif//!NEWPANEL
-#if (SDCARDDETECT > -1)
+#if (SDCARDDETECT > 0)
     WRITE(SDCARDDETECT, HIGH);
     lcd_oldcardstatus = IS_SD_INSERTED;
-#endif//(SDCARDDETECT > -1)
+#endif//(SDCARDDETECT > 0)
     lcd_buttons_update();
 #ifdef ULTIPANEL    
     encoderDiff = 0;
     buttons |= lcd_implementation_read_slow_buttons(); // buttons which take too long to read in interrupt context
     #endif
     
-    #if (SDCARDDETECT > -1)
+    #if (SDCARDDETECT > 0)
     if((IS_SD_INSERTED != lcd_oldcardstatus))
     {
         lcdDrawUpdate = 2;
     if (lcd_next_update_millis < millis())
     {
 #ifdef ULTIPANEL
+        #ifdef REPRAPWORLD_KEYPAD
+        if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) {
+            reprapworld_keypad_move_y_down();
+        }
+        if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) {
+            reprapworld_keypad_move_y_up();
+        }
+        if (REPRAPWORLD_KEYPAD_MOVE_HOME) {
+            reprapworld_keypad_move_home();
+        }
+        #endif
         if (encoderDiff)
         {
             lcdDrawUpdate = 1;
     uint8_t newbutton=0;
     if(READ(BTN_EN1)==0)  newbutton|=EN_A;
     if(READ(BTN_EN2)==0)  newbutton|=EN_B;
-  #if defined(BTN_ENC) && BTN_ENC > -1
+  #if BTN_ENC > 0
     if((blocking_enc<millis()) && (READ(BTN_ENC)==0))
         newbutton |= EN_C;
   #endif      
+  #ifdef REPRAPWORLD_KEYPAD
+    // for the reprapworld_keypad
+    uint8_t newbutton_reprapworld_keypad=0;
+    WRITE(SHIFT_LD,LOW);
+    WRITE(SHIFT_LD,HIGH);
+    for(int8_t i=0;i<8;i++) {
+        newbutton_reprapworld_keypad = newbutton_reprapworld_keypad>>1;
+        if(READ(SHIFT_OUT))
+            newbutton_reprapworld_keypad|=(1<<7);
+        WRITE(SHIFT_CLK,HIGH);
+        WRITE(SHIFT_CLK,LOW);
+    }
+    newbutton |= ((~newbutton_reprapworld_keypad) << REPRAPWORLD_BTN_OFFSET); //invert it, because a pressed switch produces a logical 0
+  #endif
     buttons = newbutton;
 #else   //read it from the shift register
     uint8_t newbutton=0;
 {
   Ki = scalePID_i(raw_Ki);
   updatePID();
-}	
+}
 
 // Callback for after editing PID d value
 // grab the pid d value out of the temp variable; scale it; then update the PID driver
 {
   Kd = scalePID_d(raw_Kd);
   updatePID();
-}	
-	
+}
+
 #endif //ULTRA_LCD

Marlin/ultralcd.h

   extern int absPreheatFanSpeed;
     
   void lcd_buzz(long duration,uint16_t freq);
-
   bool lcd_clicked();
 
 #else //no lcd

Marlin/ultralcd_implementation_hitachi_HD44780.h

 * When selecting the rusian language, a slightly different LCD implementation is used to handle UTF8 characters.
 **/
 
+#ifndef REPRAPWORLD_KEYPAD
 extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
+#else
+extern volatile uint16_t buttons;  //an extended version of the last checked buttons in a bit array.
+#endif
 
 ////////////////////////////////////
 // Setup button and encode mappings for each panel (into 'buttons' variable)
 
 #elif defined(LCD_I2C_PANELOLU2)
   // encoder click can be read through I2C if not directly connected
-  #if !defined(BTN_ENC) || BTN_ENC == -1 
+  #if BTN_ENC <= 0 
     #define B_I2C_BTN_OFFSET 3 // (the first three bit positions reserved for EN_A, EN_B, EN_C)
   
     #define B_MI (PANELOLU2_ENCODER_C<<B_I2C_BTN_OFFSET) // requires LiquidTWI2 library v1.2.3 or later
     #define LCD_CLICKED (buttons&EN_C)  
   #endif
 
+#elif defined(REPRAPWORLD_KEYPAD)
+    // define register bit values, don't change it
+    #define BLEN_REPRAPWORLD_KEYPAD_F3 0
+    #define BLEN_REPRAPWORLD_KEYPAD_F2 1
+    #define BLEN_REPRAPWORLD_KEYPAD_F1 2
+    #define BLEN_REPRAPWORLD_KEYPAD_UP 3
+    #define BLEN_REPRAPWORLD_KEYPAD_RIGHT 4
+    #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
+    #define BLEN_REPRAPWORLD_KEYPAD_DOWN 6
+    #define BLEN_REPRAPWORLD_KEYPAD_LEFT 7
+    
+    #define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
+
+    #define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
+
+    #define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
+    #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
+    #define REPRAPWORLD_KEYPAD_MOVE_Y_UP (buttons&EN_REPRAPWORLD_KEYPAD_UP)
+    #define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons&EN_REPRAPWORLD_KEYPAD_MIDDLE)
+
 #elif defined(NEWPANEL)
   #define LCD_CLICKED (buttons&EN_C)
   
   #define B_ST (1<<BL_ST)
   
   #define LCD_CLICKED (buttons&(B_MI|B_ST))
-#endif//else NEWPANEL
+#endif
 
 ////////////////////////
 // Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)