Merge branch 'Development' into marlin_configurator

Latest upstream changes

Marlin/BlinkM.cpp

 #include "Marlin.h"
 #ifdef BLINKM
 
-#if (ARDUINO >= 100)
-  # include "Arduino.h"
-#else
-  # include "WProgram.h"
-#endif
-
 #include "BlinkM.h"
 
-void SendColors(byte red, byte grn, byte blu)
-{
+void SendColors(byte red, byte grn, byte blu) {
   Wire.begin(); 
   Wire.beginTransmission(0x09);
   Wire.write('o');                    //to disable ongoing script, only needs to be used once

Marlin/BlinkM.h

   BlinkM.h
   Library header file for BlinkM library
  */
-#if (ARDUINO >= 100)
-  # include "Arduino.h"
+#if ARDUINO >= 100
+  #include "Arduino.h"
 #else
-  # include "WProgram.h"
+  #include "WProgram.h"
 #endif
 
 #include "Wire.h"
 
 void SendColors(byte red, byte grn, byte blu);
-

Marlin/Configuration.h

 
   // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
   // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)
 
   #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                         // Be sure you have this distance over your Z_MAX_POS in case

Marlin/ConfigurationStore.h

-#ifndef CONFIG_STORE_H
-#define CONFIG_STORE_H
+#ifndef CONFIGURATIONSTORE_H
+#define CONFIGURATIONSTORE_H
 
 #include "Configuration.h"
 
   FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); }
 #endif
 
-#endif // __CONFIG_STORE_H
+#endif //CONFIGURATIONSTORE_H

Marlin/Marlin.h

   #define disable_e3() /* nothing */
 #endif
 
-enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
-
+enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5}; 
+//X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
 
 void FlushSerialRequestResend();
 void ClearToSend();

Marlin/Marlin_main.cpp

 // 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)
 // M304 - Set bed PID parameters P I and D
+// M380 - Activate solenoid on active extruder
+// M381 - Disable all solenoids
 // M400 - Finish all moves
 // M401 - Lower z-probe if present
 // M402 - Raise z-probe if present
 void setup_photpin()
 {
   #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
-    SET_OUTPUT(PHOTOGRAPH_PIN);
-    WRITE(PHOTOGRAPH_PIN, LOW);
+    OUT_WRITE(PHOTOGRAPH_PIN, LOW);
   #endif
 }
 
 void setup_powerhold()
 {
   #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
-    SET_OUTPUT(SUICIDE_PIN);
-    WRITE(SUICIDE_PIN, HIGH);
+    OUT_WRITE(SUICIDE_PIN, HIGH);
   #endif
   #if defined(PS_ON_PIN) && PS_ON_PIN > -1
-    SET_OUTPUT(PS_ON_PIN);
-	#if defined(PS_DEFAULT_OFF)
-	  WRITE(PS_ON_PIN, PS_ON_ASLEEP);
-    #else
-	  WRITE(PS_ON_PIN, PS_ON_AWAKE);
-	#endif
+    #if defined(PS_DEFAULT_OFF)
+      OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
+      #else
+      OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
+    #endif
   #endif
 }
 
 void suicide()
 {
   #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
-    SET_OUTPUT(SUICIDE_PIN);
-    WRITE(SUICIDE_PIN, LOW);
+    OUT_WRITE(SUICIDE_PIN, LOW);
   #endif
 }
 
     #endif
 }
 
+enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
+
 /// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before, int retract_action=0) {
+static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract) {
   // 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]);
 
-#ifndef Z_PROBE_SLED
-   if ((retract_action==0) || (retract_action==1)) 
-     engage_z_probe();   // Engage Z Servo endstop if available
-#endif // Z_PROBE_SLED
+  #ifndef Z_PROBE_SLED
+    if (retract_action & ProbeEngage) engage_z_probe();
+  #endif
+
   run_z_probe();
   float measured_z = current_position[Z_AXIS];
-#ifndef Z_PROBE_SLED
-  if ((retract_action==0) || (retract_action==3)) 
-     retract_z_probe();
-#endif // Z_PROBE_SLED
+
+  #ifndef Z_PROBE_SLED
+    if (retract_action & ProbeRetract) retract_z_probe();
+  #endif
 
   SERIAL_PROTOCOLPGM(MSG_BED);
   SERIAL_PROTOCOLPGM(" x: ");
 #endif //FWRETRACT
 
 #ifdef Z_PROBE_SLED
+
+  #ifndef SLED_DOCKING_OFFSET
+    #define SLED_DOCKING_OFFSET 0
+  #endif
+
 //
 // Method to dock/undock a sled designed by Charles Bell.
 //
             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
+              if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //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);
+                  retract(!retracted[active_extruder]);
                   return;
               }
             }
                                                 // Let's see if X and Y are homed and probe is inside bed area.
           if(code_seen(axis_codes[Z_AXIS])) {
             if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
-              && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
-              && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
-              && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
-              && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
+              && (current_position[X_AXIS] >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \
+              && (current_position[X_AXIS] <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \
+              && (current_position[Y_AXIS] >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) \
+              && (current_position[Y_AXIS] <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER)) {
 
               current_position[Z_AXIS] = 0;
               plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       break;
 
 #ifdef ENABLE_AUTO_BED_LEVELING
+
+    #if Z_MIN_PIN == -1
+      #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling!!! Z_MIN_PIN must point to a valid hardware pin."
+    #endif
+
+   /**
+    * Enhanced G29 Auto Bed Leveling Probe Routine
+    * 
+    * Parameters With AUTO_BED_LEVELING_GRID:
+    *
+    *  P  Set the size of the grid that will be probed (P x P points).
+    *     Example: "G29 P4"
+    *
+    *  V  Set the verbose level (0-4). Example: "G29 V3"
+    *
+    *  T  Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
+    *     This is useful for manual bed leveling and finding flaws in the bed (to
+    *     assist with part placement).
+    *
+    *  F  Set the Front limit of the probing grid
+    *  B  Set the Back limit of the probing grid
+    *  L  Set the Left limit of the probing grid
+    *  R  Set the Right limit of the probing grid
+    *
+    * Global Parameters:
+    *
+    * E/e By default G29 engages / disengages the probe for each point.
+    *     Include "E" to engage and disengage the probe just once.
+    *     There's no extra effect if you have a fixed probe.
+    *     Usage: "G29 E" or "G29 e"
+    *
+    */
+
     case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
-    	     // Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values
-        {
-            #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
+    {
+      // Use one of these defines to specify the origin
+      // for a topographical map to be printed for your bed.
+      #define ORIGIN_BACK_LEFT   1
+      #define ORIGIN_FRONT_RIGHT 2
+      #define ORIGIN_BACK_RIGHT  3
+      #define ORIGIN_FRONT_LEFT  4
+      #define TOPO_ORIGIN        ORIGIN_FRONT_LEFT
+
+      // 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
+      }
 
-            // 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
-            }
+      bool enhanced_g29 = code_seen('E') || code_seen('e');
 
-#ifdef Z_PROBE_SLED
-            dock_sled(false);
-#endif // Z_PROBE_SLED
-            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();
-            //corrected_position.debug("position before G29");
-            plan_bed_level_matrix.set_to_identity();
-            vector_3 uncorrected_position = plan_get_position();
-            //uncorrected_position.debug("position durring G29");
-            current_position[X_AXIS] = uncorrected_position.x;
-            current_position[Y_AXIS] = uncorrected_position.y;
-            current_position[Z_AXIS] = uncorrected_position.z;
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-            setup_for_endstop_move();
+      #ifdef AUTO_BED_LEVELING_GRID
 
-            feedrate = homing_feedrate[Z_AXIS];
-#ifdef AUTO_BED_LEVELING_GRID
-            // probe at the points of a lattice grid
-            int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
-            int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
-            int back_probe_bed_position=BACK_PROBE_BED_POSITION;
-            int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
-            int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
-            if (code_seen('L')) left_probe_bed_position=(int)code_value();
-            if (code_seen('R')) right_probe_bed_position=(int)code_value();
-            if (code_seen('B')) back_probe_bed_position=(int)code_value();
-            if (code_seen('F')) front_probe_bed_position=(int)code_value();
-            if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
+        // Example Syntax:  G29 N4 V2 E T
+        int verbose_level = 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);
+        bool topo_flag = code_seen('T') || code_seen('t');
 
+        if (code_seen('V') || code_seen('v')) {
+          verbose_level = code_value();
+          if (verbose_level < 0 || verbose_level > 4) {
+            SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n");
+            break;
+          }
+          if (verbose_level > 0) {
+            SERIAL_PROTOCOLPGM("G29 Enhanced Auto Bed Leveling Code V1.25:\n");
+            SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
+            if (verbose_level > 2) topo_flag = true;
+          }
+        }
 
-            // solve the plane equation ax + by + d = z
-            // A is the matrix with rows [x y 1] for all the probed points
-            // B is the vector of the Z positions
-            // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
-            // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
+        int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS;
+        if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) {
+          SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
+          break;
+        }
 
-            // "A" matrix of the linear system of equations
-            double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
+        // Define the possible boundaries for probing based on the set limits.
+        // Code above (in G28) might have these limits wrong, or I am wrong here.
+        #define MIN_PROBE_EDGE 10 // Edges of the probe square can be no less
+        const int min_probe_x = max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER),
+                  max_probe_x = min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER),
+                  min_probe_y = max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER),
+                  max_probe_y = min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+        int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION,
+            right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION,
+            front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION,
+            back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
+
+        bool left_out_l = left_probe_bed_position < min_probe_x,
+             left_out_r = left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
+             left_out = left_out_l || left_out_r,
+             right_out_r = right_probe_bed_position > max_probe_x,
+             right_out_l =right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
+             right_out = right_out_l || right_out_r,
+             front_out_f = front_probe_bed_position < min_probe_y,
+             front_out_b = front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
+             front_out = front_out_f || front_out_b,
+             back_out_b = back_probe_bed_position > max_probe_y,
+             back_out_f = back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE,
+             back_out = back_out_f || back_out_b;
+
+        if (left_out || right_out || front_out || back_out) {
+          if (left_out) {
+            SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n");
+            left_probe_bed_position = left_out_l ? min_probe_x : right_probe_bed_position - MIN_PROBE_EDGE;
+          }
+          if (right_out) {
+            SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n");
+            right_probe_bed_position = right_out_r ? max_probe_x : left_probe_bed_position + MIN_PROBE_EDGE;
+          }
+          if (front_out) {
+            SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n");
+            front_probe_bed_position = front_out_f ? min_probe_y : back_probe_bed_position - MIN_PROBE_EDGE;
+          }
+          if (back_out) {
+            SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n");
+            back_probe_bed_position = back_out_b ? max_probe_y : front_probe_bed_position + MIN_PROBE_EDGE;
+          }
+          break;
+        }
 
-            // "B" vector of Z points
-            double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
+      #endif
 
+      #ifdef Z_PROBE_SLED
+        dock_sled(false); // engage (un-dock) the probe
+      #endif
 
+      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();
+      //corrected_position.debug("position before G29");
+      plan_bed_level_matrix.set_to_identity();
+      vector_3 uncorrected_position = plan_get_position();
+      //uncorrected_position.debug("position durring G29");
+      current_position[X_AXIS] = uncorrected_position.x;
+      current_position[Y_AXIS] = uncorrected_position.y;
+      current_position[Z_AXIS] = uncorrected_position.z;
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      setup_for_endstop_move();
 
-            int probePointCounter = 0;
-            bool zig = true;
+      feedrate = homing_feedrate[Z_AXIS];
 
-            for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
+      #ifdef AUTO_BED_LEVELING_GRID
+        // probe at the points of a lattice grid
 
-            {
-              int xProbe, xInc;
-              if (zig)
-              {
-                xProbe = left_probe_bed_position;
-                //xEnd = right_probe_bed_position;
-                xInc = xGridSpacing;
-                zig = false;
-              } else // zag
-              {
-                xProbe = right_probe_bed_position;
-                //xEnd = left_probe_bed_position;
-                xInc = -xGridSpacing;
-                zig = true;
-              }
+        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);
 
-              for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++)
-              {
-                float z_before;
-                if (probePointCounter == 0)
-                {
-                  // raise before probing
-                  z_before = Z_RAISE_BEFORE_PROBING;
-                } else
-                {
-                  // raise extruder
-                  z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
-                }
-
-                float measured_z;
-                //Enhanced G29 - Do not retract servo between probes
-                if (code_seen('E') || code_seen('e') )
-                   {
-                   if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
-                       {
-                        measured_z = probe_pt(xProbe, yProbe, z_before,1);
-                       } else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
-                         {
-                         measured_z = probe_pt(xProbe, yProbe, z_before,3);
-                         } else {
-                           measured_z = probe_pt(xProbe, yProbe, z_before,2);
-                         }
-                    } else {
-                    measured_z = probe_pt(xProbe, yProbe, z_before);
-                    }
-
-                eqnBVector[probePointCounter] = measured_z;
-
-                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;
-              }
+        // solve the plane equation ax + by + d = z
+        // A is the matrix with rows [x y 1] for all the probed points
+        // B is the vector of the Z positions
+        // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
+        // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
+
+        int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
+
+        double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
+               eqnBVector[abl2],     // "B" vector of Z points
+               mean = 0.0;
+
+        int probePointCounter = 0;
+        bool zig = true;
+
+        for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
+          int xProbe, xInc;
+
+          if (zig)
+            xProbe = left_probe_bed_position, xInc = xGridSpacing;
+          else
+            xProbe = right_probe_bed_position, xInc = -xGridSpacing;
+
+          // If topo_flag is set then don't zig-zag. Just scan in one direction.
+          // This gets the probe points in more readable order.
+          if (!topo_flag) zig = !zig;
+
+          for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
+            // raise extruder
+            float z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,
+                  measured_z;
+
+            // Enhanced G29 - Do not retract servo between probes
+            ProbeAction act;
+            if (enhanced_g29) {
+              if (yProbe == front_probe_bed_position && xCount == 0)
+                act = ProbeEngage;
+              else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
+                act = ProbeRetract;
+              else
+                act = ProbeStay;
             }
-            clean_up_after_endstop_move();
+            else
+              act = ProbeEngageRetract;
 
-            // solve lsq problem
-            double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
+            measured_z = probe_pt(xProbe, yProbe, z_before, act);
 
-            SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
-            SERIAL_PROTOCOL(plane_equation_coefficients[0]);
-            SERIAL_PROTOCOLPGM(" b: ");
-            SERIAL_PROTOCOL(plane_equation_coefficients[1]);
-            SERIAL_PROTOCOLPGM(" d: ");
-            SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
+            mean += measured_z;
 
+            eqnBVector[probePointCounter] = measured_z;
+            eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
+            eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
+            eqnAMatrix[probePointCounter + 2 * abl2] = 1;
 
-            set_bed_level_equation_lsq(plane_equation_coefficients);
+            probePointCounter++;
+            xProbe += xInc;
 
-            free(plane_equation_coefficients);
+          } //xProbe
 
-#else // AUTO_BED_LEVELING_GRID not defined
+        } //yProbe
 
-            // Probe at 3 arbitrary points
-            // Enhanced G29
-            
-            float z_at_pt_1, z_at_pt_2, z_at_pt_3;
-            
-            if (code_seen('E') || code_seen('e')) {
-              // probe 1               
-              z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1);
-              // probe 2
-              z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2);
-              // probe 3
-              z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3); 
-            }
-            else {
-              // probe 1
-              z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
-              // probe 2
-              z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-              // probe 3
-              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_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+        clean_up_after_endstop_move();
 
+        // solve lsq problem
+        double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
+
+        mean /= abl2;
+
+        if (verbose_level) {
+          SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
+          SERIAL_PROTOCOL(plane_equation_coefficients[0]);
+          SERIAL_PROTOCOLPGM(" b: ");
+          SERIAL_PROTOCOL(plane_equation_coefficients[1]);
+          SERIAL_PROTOCOLPGM(" d: ");
+          SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
+          if (verbose_level > 2) {
+            SERIAL_PROTOCOLPGM("Mean of sampled points: ");
+            SERIAL_PROTOCOL_F(mean, 6);
+            SERIAL_PROTOCOLPGM(" \n");
+          }
+        }
 
-#endif // AUTO_BED_LEVELING_GRID
-            st_synchronize();
+        if (topo_flag) {
 
-            // The following code correct the Z height difference from z-probe position and hotend tip position.
-            // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
-            // When the bed is uneven, this height must be corrected.
-            real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
-            x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
-            y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
-            z_tmp = current_position[Z_AXIS];
+          int xx, yy;
 
-            apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
-            current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-#ifdef Z_PROBE_SLED
-            dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
-#endif // Z_PROBE_SLED
+          SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
+          #if TOPO_ORIGIN == ORIGIN_FRONT_LEFT
+            for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
+          #else
+            for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
+          #endif
+            {
+              #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT
+                for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
+              #else
+                for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
+              #endif
+                {
+                  int ind =
+                    #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT || TOPO_ORIGIN == ORIGIN_FRONT_LEFT
+                      yy * auto_bed_leveling_grid_points + xx
+                    #elif TOPO_ORIGIN == ORIGIN_BACK_LEFT
+                      xx * auto_bed_leveling_grid_points + yy
+                    #elif TOPO_ORIGIN == ORIGIN_FRONT_RIGHT
+                      abl2 - xx * auto_bed_leveling_grid_points - yy - 1
+                    #endif
+                  ;
+                  float diff = eqnBVector[ind] - mean;
+                  if (diff >= 0.0)
+                    SERIAL_PROTOCOLPGM(" +");   // Watch column alignment in Pronterface
+                  else
+                    SERIAL_PROTOCOLPGM(" -");
+                  SERIAL_PROTOCOL_F(diff, 5);
+                } // xx
+                SERIAL_PROTOCOLPGM("\n");
+            } // yy
+            SERIAL_PROTOCOLPGM("\n");
+
+        } //topo_flag
+
+
+        set_bed_level_equation_lsq(plane_equation_coefficients);
+        free(plane_equation_coefficients);
+
+      #else // !AUTO_BED_LEVELING_GRID
+
+        // Probe at 3 arbitrary points
+        float z_at_pt_1, z_at_pt_2, z_at_pt_3;
+
+        if (enhanced_g29) {
+          // Basic Enhanced G29
+          z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage);
+          z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay);
+          z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract);
         }
-        break;
+        else {
+          z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
+          z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
+          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_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+
+      #endif // !AUTO_BED_LEVELING_GRID
+
+      st_synchronize();
+
+      if (verbose_level > 0)
+        plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
+
+      // The following code correct the Z height difference from z-probe position and hotend tip position.
+      // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
+      // When the bed is uneven, this height must be corrected.
+      real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
+      x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
+      y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
+      z_tmp = current_position[Z_AXIS];
+
+      apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
+      current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+      #ifdef Z_PROBE_SLED
+        dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
+      #endif
+    }
+    break;
+
 #ifndef Z_PROBE_SLED
     case 30: // G30 Single Z Probe
         {
         enable_e0();
         enable_e1();
         enable_e2();
+        enable_e3();
       break;
 
 #ifdef SDSUPPORT
 
     #if defined(PS_ON_PIN) && PS_ON_PIN > -1
       case 80: // M80 - Turn on Power Supply
-        SET_OUTPUT(PS_ON_PIN); //GND
-        WRITE(PS_ON_PIN, PS_ON_AWAKE);
+        OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
 
         // If you have a switch on suicide pin, this is useful
         // if you want to start another print with suicide feature after
         // a print without suicide...
         #if defined SUICIDE_PIN && SUICIDE_PIN > -1
-            SET_OUTPUT(SUICIDE_PIN);
-            WRITE(SUICIDE_PIN, HIGH);
+            OUT_WRITE(SUICIDE_PIN, HIGH);
         #endif
 
         #ifdef ULTIPANEL
         disable_e0();
         disable_e1();
         disable_e2();
+        disable_e3();
         finishAndDisableSteppers();
         fanSpeed = 0;
         delay(1000); // Wait a little before to switch off
         st_synchronize();
         suicide();
       #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
-        SET_OUTPUT(PS_ON_PIN);
-        WRITE(PS_ON_PIN, PS_ON_ASLEEP);
+        OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
       #endif
       #ifdef ULTIPANEL
         powersupply = false;
           disable_e0();
           disable_e1();
           disable_e2();
+          disable_e3();
           finishAndDisableSteppers();
         }
         else
               disable_e0();
               disable_e1();
               disable_e2();
+              disable_e3();
             }
           #endif
         }
          SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
       #endif
       }
-      SERIAL_ECHOLN("");
+      SERIAL_EOL;
     }break;
     #endif
     case 220: // M220 S<factor in percent>- set speed factor override percentage
      {
      	#ifdef CHDK
        
-         SET_OUTPUT(CHDK);
-         WRITE(CHDK, HIGH);
+         OUT_WRITE(CHDK, HIGH);
          chdkHigh = millis();
          chdkActive = true;
        
       }
       break;
 	#endif
+    
+#ifdef EXT_SOLENOID
+    case 380:
+        enable_solenoid_on_active_extruder();
+        break;
+
+    case 381:
+        disable_all_solenoids();
+        break;
+#endif //EXT_SOLENOID
+
     case 400: // M400 finish all moves
     {
       st_synchronize();
         disable_e0();
         disable_e1();
         disable_e2();
+        disable_e3();
         delay(100);
         LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
         uint8_t cnt=0;
           if(cnt==0)
           {
           #if BEEPER > 0
-            SET_OUTPUT(BEEPER);
-
-            WRITE(BEEPER,HIGH);
+            OUT_WRITE(BEEPER,HIGH);
             delay(3);
             WRITE(BEEPER,LOW);
             delay(3);
            prepare_move();
         }
       }
+
+#ifdef EXT_SOLENOID
+      st_synchronize();
+      disable_all_solenoids();
+      enable_solenoid_on_active_extruder();
+#endif //EXT_SOLENOID
+
       #endif
       SERIAL_ECHO_START;
       SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
         disable_e0();
         disable_e1();
         disable_e2();
+        disable_e3();
       }
     }
   }
   disable_e0();
   disable_e1();
   disable_e2();
+  disable_e3();
 
 #if defined(PS_ON_PIN) && PS_ON_PIN > -1
   pinMode(PS_ON_PIN,INPUT);
   return false;
 }
 
-
 float calculate_volumetric_multiplier(float diameter) {
   if (!volumetric_enabled || diameter == 0) return 1.0;
   float d2 = diameter * 0.5;
   for (int i=0; i<EXTRUDERS; i++)
     volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
 }
+
+#ifdef EXT_SOLENOID
+
+void enable_solenoid(uint8_t num) {
+  switch(num) {
+    case 0:
+      OUT_WRITE(SOL0_PIN, HIGH);
+      break;
+      #if defined(SOL1_PIN) && SOL1_PIN > -1
+        case 1:
+          OUT_WRITE(SOL1_PIN, HIGH);
+          break;
+      #endif
+      #if defined(SOL2_PIN) && SOL2_PIN > -1
+        case 2:
+          OUT_WRITE(SOL2_PIN, HIGH);
+          break;
+      #endif
+      #if defined(SOL3_PIN) && SOL3_PIN > -1
+        case 3:
+          OUT_WRITE(SOL3_PIN, HIGH);
+          break;
+      #endif
+    default:
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
+      break;
+  }
+}
+
+void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
+
+void disable_all_solenoids() {
+  OUT_WRITE(SOL0_PIN, LOW);
+  OUT_WRITE(SOL1_PIN, LOW);
+  OUT_WRITE(SOL2_PIN, LOW);
+  OUT_WRITE(SOL3_PIN, LOW);
+}
+
+#endif //EXT_SOLENOID

Marlin/cardreader.cpp

 
 #ifdef SDSUPPORT
 
+CardReader::CardReader() {
+  filesize = 0;
+  sdpos = 0;
+  sdprinting = false;
+  cardOK = false;
+  saving = false;
+  logging = false;
+  workDirDepth = 0;
+  file_subcall_ctr = 0;
+  memset(workDirParents, 0, sizeof(workDirParents));
 
-
-CardReader::CardReader()
-{
-   filesize = 0;
-   sdpos = 0;
-   sdprinting = false;
-   cardOK = false;
-   saving = false;
-   logging = false;
-   autostart_atmillis=0;
-   workDirDepth = 0;
-   file_subcall_ctr=0;
-   memset(workDirParents, 0, sizeof(workDirParents));
-
-   autostart_stilltocheck=true; //the SD start is delayed, because otherwise the serial cannot answer fast enough to make contact with the host software.
-   autostart_index=0;
+  autostart_stilltocheck = true; //the SD start is delayed, because otherwise the serial cannot answer fast enough to make contact with the host software.
+  autostart_index = 0;
   //power to SD reader
   #if SDPOWER > -1
-    SET_OUTPUT(SDPOWER); 
-    WRITE(SDPOWER,HIGH);
+    OUT_WRITE(SDPOWER, HIGH);
   #endif //SDPOWER
-  
-  autostart_atmillis=millis()+5000;
+
+  autostart_atmillis = millis() + 5000;
 }
 
-char *createFilename(char *buffer,const dir_t &p) //buffer>12characters
-{
-  char *pos=buffer;
-  for (uint8_t i = 0; i < 11; i++) 
-  {
-    if (p.name[i] == ' ')continue;
-    if (i == 8) 
-    {
-      *pos++='.';
-    }
-    *pos++=p.name[i];
+char *createFilename(char *buffer, const dir_t &p) { //buffer > 12characters
+  char *pos = buffer;
+  for (uint8_t i = 0; i < 11; i++) {
+    if (p.name[i] == ' ') continue;
+    if (i == 8) *pos++ = '.';
+    *pos++ = p.name[i];
   }
-  *pos++=0;
+  *pos++ = 0;
   return buffer;
 }
 
-
-void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/)
-{
+void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/) {
   dir_t p;
- uint8_t cnt=0;
- 
-  while (parent.readDir(p, longFilename) > 0)
-  {
-    if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
-    {
+  uint8_t cnt = 0;
 
+  while (parent.readDir(p, longFilename) > 0) {
+    if (DIR_IS_SUBDIR(&p) && lsAction != LS_Count && lsAction != LS_GetFilename) { // hence LS_SerialPrint
       char path[FILENAME_LENGTH*2];
       char lfilename[FILENAME_LENGTH];
-      createFilename(lfilename,p);
-      
-      path[0]=0;
-      if(prepend[0]==0) //avoid leading / if already in prepend
-      {
-       strcat(path,"/");
-      }
-      strcat(path,prepend);
-      strcat(path,lfilename);
-      strcat(path,"/");
-      
+      createFilename(lfilename, p);
+
+      path[0] = 0;
+      if (prepend[0] == 0) strcat(path, "/"); //avoid leading / if already in prepend
+      strcat(path, prepend);
+      strcat(path, lfilename);
+      strcat(path, "/");
+
       //Serial.print(path);
-      
+
       SdFile dir;
-      if(!dir.open(parent,lfilename, O_READ))
-      {
-        if(lsAction==LS_SerialPrint)
-        {
+      if (!dir.open(parent, lfilename, O_READ)) {
+        if (lsAction == LS_SerialPrint) {
           SERIAL_ECHO_START;
           SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
           SERIAL_ECHOLN(lfilename);
         }
       }
-      lsDive(path,dir);
+      lsDive(path, dir);
       //close done automatically by destructor of SdFile
-
-      
     }
-    else
-    {
+    else {
       char pn0 = p.name[0];
       if (pn0 == DIR_NAME_FREE) break;
-      if (pn0 == DIR_NAME_DELETED || pn0 == '.' || pn0 == '_') continue;
+      if (pn0 == DIR_NAME_DELETED || pn0 == '.') continue;
       char lf0 = longFilename[0];
-      if (lf0 == '.' || lf0 == '_') continue;
+      if (lf0 == '.') continue;
 
       if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
-      filenameIsDir=DIR_IS_SUBDIR(&p);
-      
-      
-      if(!filenameIsDir)
-      {
-        if(p.name[8]!='G') continue;
-        if(p.name[9]=='~') continue;
-      }
-      //if(cnt++!=nr) continue;
-      createFilename(filename,p);
-      if(lsAction==LS_SerialPrint)
-      {
+
+      filenameIsDir = DIR_IS_SUBDIR(&p);
+
+      if (!filenameIsDir && (p.name[8] != 'G' || p.name[9] == '~')) continue;
+
+      //if (cnt++ != nr) continue;
+      createFilename(filename, p);
+      if (lsAction == LS_SerialPrint) {
         SERIAL_PROTOCOL(prepend);
         SERIAL_PROTOCOLLN(filename);
       }
-      else if(lsAction==LS_Count)
-      {
+      else if (lsAction == LS_Count) {
         nrFiles++;
-      } 
-      else if(lsAction==LS_GetFilename)
-      {
+      }
+      else if (lsAction == LS_GetFilename) {
         if (match != NULL) {
           if (strcasecmp(match, filename) == 0) return;
         }
         else if (cnt == nrFiles) return;
         cnt++;
-        
       }
     }
   }
 }
 
-void CardReader::ls() 
-{
-  lsAction=LS_SerialPrint;
-  if(lsAction==LS_Count)
-  nrFiles=0;
-
+void CardReader::ls()  {
+  lsAction = LS_SerialPrint;
   root.rewind();
-  lsDive("",root);
+  lsDive("", root);
 }
 
-
-void CardReader::initsd()
-{
+void CardReader::initsd() {
   cardOK = false;
-  if(root.isOpen())
-    root.close();
-#ifdef SDSLOW
-  if (!card.init(SPI_HALF_SPEED,SDSS)
-  #if defined(LCD_SDSS) && (LCD_SDSS != SDSS)
-    && !card.init(SPI_HALF_SPEED,LCD_SDSS)
-  #endif
-    )
-#else
-  if (!card.init(SPI_FULL_SPEED,SDSS)
-  #if defined(LCD_SDSS) && (LCD_SDSS != SDSS)
-    && !card.init(SPI_FULL_SPEED,LCD_SDSS)
+  if (root.isOpen()) root.close();
+
+  #ifdef SDSLOW
+    #define SPI_SPEED SPI_HALF_SPEED
+  #else
+    #define SPI_SPEED SPI_FULL_SPEED
   #endif
-    )
-#endif
-  {
+
+  if (!card.init(SPI_SPEED,SDSS)
+    #if defined(LCD_SDSS) && (LCD_SDSS != SDSS)
+      && !card.init(SPI_SPEED, LCD_SDSS)
+    #endif
+  ) {
     //if (!card.init(SPI_HALF_SPEED,SDSS))
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL);
   }
-  else if (!volume.init(&card))
-  {
+  else if (!volume.init(&card)) {
     SERIAL_ERROR_START;
     SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL);
   }
-  else if (!root.openRoot(&volume)) 
-  {
+  else if (!root.openRoot(&volume)) {
     SERIAL_ERROR_START;
     SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL);
   }
-  else 
-  {
+  else {
     cardOK = true;
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
   }
-  workDir=root;
-  curDir=&root;
+  workDir = root;
+  curDir = &root;
   /*
-  if(!workDir.openRoot(&volume))
-  {
+  if (!workDir.openRoot(&volume)) {
     SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
   }
   */
-  
 }
 
-void CardReader::setroot()
-{
-  /*if(!workDir.openRoot(&volume))
-  {
+void CardReader::setroot() {
+  /*if (!workDir.openRoot(&volume)) {
     SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
   }*/
-  workDir=root;
-  
-  curDir=&workDir;
+  workDir = root;
+  curDir = &workDir;
 }
-void CardReader::release()
-{
+
+void CardReader::release() {
   sdprinting = false;
   cardOK = false;
 }
 
-void CardReader::startFileprint()
-{
-  if(cardOK)
-  {
+void CardReader::startFileprint() {
+  if (cardOK) {
     sdprinting = true;
   }
 }
 
-void CardReader::pauseSDPrint()
-{
-  if(sdprinting)
-  {
-    sdprinting = false;
-  }
+void CardReader::pauseSDPrint() {
+  if (sdprinting) sdprinting = false;
 }
 
-
-void CardReader::openLogFile(char* name)
-{
+void CardReader::openLogFile(char* name) {
   logging = true;
   openFile(name, false);
 }
 
-void CardReader::getAbsFilename(char *t)
-{
-  uint8_t cnt=0;
-  *t='/';t++;cnt++;
-  for(uint8_t i=0;i<workDirDepth;i++)
-  {
+void CardReader::getAbsFilename(char *t) {
+  uint8_t cnt = 0;
+  *t = '/'; t++; cnt++;
+  for (uint8_t i = 0; i < workDirDepth; i++) {
     workDirParents[i].getFilename(t); //SDBaseFile.getfilename!
-    while(*t!=0 && cnt< MAXPATHNAMELENGTH) 
-    {t++;cnt++;}  //crawl counter forward.
+    while(*t && cnt < MAXPATHNAMELENGTH) { t++; cnt++; } //crawl counter forward.
   }
-  if(cnt<MAXPATHNAMELENGTH-FILENAME_LENGTH)
+  if (cnt < MAXPATHNAMELENGTH - FILENAME_LENGTH)
     file.getFilename(t);
   else
-    t[0]=0;
+    t[0] = 0;
 }
 
-void CardReader::openFile(char* name,bool read, bool replace_current/*=true*/)
-{
-  if(!cardOK)
-    return;
-  if(file.isOpen())  //replacing current file by new file, or subfile call
-  {
-    if(!replace_current)
-    {
-     if((int)file_subcall_ctr>(int)SD_PROCEDURE_DEPTH-1)
-     {
+void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/) {
+  if (!cardOK) return;
+  if (file.isOpen()) { //replacing current file by new file, or subfile call
+    if (!replace_current) {
+     if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) {
        SERIAL_ERROR_START;
        SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:");
        SERIAL_ERRORLN(SD_PROCEDURE_DEPTH);
        kill();
        return;
      }
-     
+
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM("SUBROUTINE CALL target:\"");
      SERIAL_ECHO(name);
      SERIAL_ECHOPGM("\" parent:\"");
-     
+
      //store current filename and position
      getAbsFilename(filenames[file_subcall_ctr]);
-     
+
      SERIAL_ECHO(filenames[file_subcall_ctr]);
      SERIAL_ECHOPGM("\" pos");
      SERIAL_ECHOLN(sdpos);
-     filespos[file_subcall_ctr]=sdpos;
+     filespos[file_subcall_ctr] = sdpos;
      file_subcall_ctr++;
     }
-    else
-    {
+    else {
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM("Now doing file: ");
      SERIAL_ECHOLN(name);
     }
     file.close();
   }
-  else //opening fresh file
-  {
-    file_subcall_ctr=0; //resetting procedure depth in case user cancels print while in procedure
+  else { //opening fresh file
+    file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure
     SERIAL_ECHO_START;
     SERIAL_ECHOPGM("Now fresh file: ");
     SERIAL_ECHOLN(name);
   }
   sdprinting = false;
-  
- 
+
   SdFile myDir;
-  curDir=&root;
-  char *fname=name;
-  
-  char *dirname_start,*dirname_end;
-  if(name[0]=='/')
-  {
-    dirname_start=strchr(name,'/')+1;
-    while(dirname_start>0)
-    {
-      dirname_end=strchr(dirname_start,'/');
-      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
-      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
-      if(dirname_end>0 && dirname_end>dirname_start)
-      {
+  curDir = &root;
+  char *fname = name;
+
+  char *dirname_start, *dirname_end;
+  if (name[0] == '/') {
+    dirname_start = &name[1];
+    while(dirname_start > 0) {
+      dirname_end = strchr(dirname_start, '/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end - name));
+      if (dirname_end > 0 && dirname_end > dirname_start) {
         char subdirname[FILENAME_LENGTH];
-        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
-        subdirname[dirname_end-dirname_start]=0;
+        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
+        subdirname[dirname_end - dirname_start] = 0;
         SERIAL_ECHOLN(subdirname);
-        if(!myDir.open(curDir,subdirname,O_READ))
-        {
+        if (!myDir.open(curDir, subdirname, O_READ)) {
           SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
           SERIAL_PROTOCOL(subdirname);
           SERIAL_PROTOCOLLNPGM(".");
           return;
         }
-        else
-        {
+        else {
           //SERIAL_ECHOLN("dive ok");
         }
-          
-        curDir=&myDir; 
-        dirname_start=dirname_end+1;
+
+        curDir = &myDir;
+        dirname_start = dirname_end + 1;
       }
-      else // the reminder after all /fsa/fdsa/ is the filename
-      {
-        fname=dirname_start;
-        //SERIAL_ECHOLN("remaider");
+      else { // the remainder after all /fsa/fdsa/ is the filename
+        fname = dirname_start;
+        //SERIAL_ECHOLN("remainder");
         //SERIAL_ECHOLN(fname);
         break;
       }
-      
     }
   }
-  else //relative path
-  {
-    curDir=&workDir;
+  else { //relative path
+    curDir = &workDir;
   }
-  if(read)
-  {
-    if (file.open(curDir, fname, O_READ)) 
-    {
+
+  if (read) {
+    if (file.open(curDir, fname, O_READ)) {
       filesize = file.fileSize();
       SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
       SERIAL_PROTOCOLLN(filesize);
       sdpos = 0;
-      
+
       SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
       getfilename(0, fname);
       lcd_setstatus(longFilename[0] ? longFilename : fname);
     }
-    else
-    {
+    else {
       SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
   }
-  else 
-  { //write
-    if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
-    {
+  else { //write
+    if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
       SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
       SERIAL_PROTOCOL(fname);
       SERIAL_PROTOCOLLNPGM(".");
     }
-    else
-    {
+    else {
       saving = true;
       SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
       SERIAL_PROTOCOLLN(name);
       lcd_setstatus(fname);
     }
   }
-  
 }
 
-void CardReader::removeFile(char* name)
-{
-  if(!cardOK)
-    return;
+void CardReader::removeFile(char* name) {
+  if (!cardOK) return;
+
   file.close();
   sdprinting = false;
-  
-  
+
   SdFile myDir;
-  curDir=&root;
-  char *fname=name;
-  
-  char *dirname_start,*dirname_end;
-  if(name[0]=='/')
-  {
-    dirname_start=strchr(name,'/')+1;
-    while(dirname_start>0)
-    {
-      dirname_end=strchr(dirname_start,'/');
-      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
-      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
-      if(dirname_end>0 && dirname_end>dirname_start)
-      {
+  curDir = &root;
+  char *fname = name;
+
+  char *dirname_start, *dirname_end;
+  if (name[0] == '/') {
+    dirname_start = strchr(name, '/') + 1;
+    while (dirname_start > 0) {
+      dirname_end = strchr(dirname_start, '/');
+      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
+      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end - name));
+      if (dirname_end > 0 && dirname_end > dirname_start) {
         char subdirname[FILENAME_LENGTH];
-        strncpy(subdirname, dirname_start, dirname_end-dirname_start);
-        subdirname[dirname_end-dirname_start]=0;
+        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
+        subdirname[dirname_end - dirname_start] = 0;
         SERIAL_ECHOLN(subdirname);
-        if(!myDir.open(curDir,subdirname,O_READ))
-        {
+        if (!myDir.open(curDir, subdirname, O_READ)) {
           SERIAL_PROTOCOLPGM("open failed, File: ");
           SERIAL_PROTOCOL(subdirname);
           SERIAL_PROTOCOLLNPGM(".");
           return;
         }
-        else
-        {
+        else {
           //SERIAL_ECHOLN("dive ok");
         }
-          
-        curDir=&myDir; 
-        dirname_start=dirname_end+1;
+
+        curDir = &myDir;
+        dirname_start = dirname_end + 1;
       }
-      else // the reminder after all /fsa/fdsa/ is the filename
-      {
-        fname=dirname_start;
-        //SERIAL_ECHOLN("remaider");
+      else { // the remainder after all /fsa/fdsa/ is the filename
+        fname = dirname_start;
+        //SERIAL_ECHOLN("remainder");
         //SERIAL_ECHOLN(fname);
         break;
       }
-      
     }
   }
-  else //relative path
-  {
-    curDir=&workDir;
+  else { // relative path
+    curDir = &workDir;
+  }
+
+  if (file.remove(curDir, fname)) {
+    SERIAL_PROTOCOLPGM("File deleted:");
+    SERIAL_PROTOCOLLN(fname);
+    sdpos = 0;
+  }
+  else {
+    SERIAL_PROTOCOLPGM("Deletion failed, File: ");
+    SERIAL_PROTOCOL(fname);
+    SERIAL_PROTOCOLLNPGM(".");
   }
-    if (file.remove(curDir, fname)) 
-    {
-      SERIAL_PROTOCOLPGM("File deleted:");
-      SERIAL_PROTOCOLLN(fname);
-      sdpos = 0;
-    }
-    else
-    {
-      SERIAL_PROTOCOLPGM("Deletion failed, File: ");
-      SERIAL_PROTOCOL(fname);
-      SERIAL_PROTOCOLLNPGM(".");
-    }
-  
 }
 
-void CardReader::getStatus()
-{
-  if(cardOK){
+void CardReader::getStatus() {
+  if (cardOK) {
     SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
     SERIAL_PROTOCOL(sdpos);
     SERIAL_PROTOCOLPGM("/");
     SERIAL_PROTOCOLLN(filesize);
   }
-  else{
+  else {
     SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
   }
 }
-void CardReader::write_command(char *buf)
-{
+
+void CardReader::write_command(char *buf) {
   char* begin = buf;
   char* npos = 0;
   char* end = buf + strlen(buf) - 1;
 
   file.writeError = false;
-  if((npos = strchr(buf, 'N')) != NULL)
-  {
+  if ((npos = strchr(buf, 'N')) != NULL) {
     begin = strchr(npos, ' ') + 1;
     end = strchr(npos, '*') - 1;
   }
   end[2] = '\n';
   end[3] = '\0';
   file.write(begin);
-  if (file.writeError)
-  {
+  if (file.writeError) {
     SERIAL_ERROR_START;
     SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE);
   }
 }
 
+void CardReader::checkautostart(bool force) {
+  if (!force && (!autostart_stilltocheck || autostart_atmillis < millis()))
+    return;
 
-void CardReader::checkautostart(bool force)
-{
-  if(!force)
-  {
-    if(!autostart_stilltocheck)
-      return;
-    if(autostart_atmillis<millis())
-      return;
-  }
-  autostart_stilltocheck=false;
-  if(!cardOK)
-  {
+  autostart_stilltocheck = false;
+
+  if (!cardOK) {
     initsd();
-    if(!cardOK) //fail
-      return;
+    if (!cardOK) return; // fail
   }
-  
+
   char autoname[30];
   sprintf_P(autoname, PSTR("auto%i.g"), autostart_index);
-  for(int8_t i=0;i<(int8_t)strlen(autoname);i++)
-    autoname[i]=tolower(autoname[i]);
+  for (int8_t i = 0; i < (int8_t)strlen(autoname); i++) autoname[i] = tolower(autoname[i]);
+
   dir_t p;
 
   root.rewind();
-  
-  bool found=false;
-  while (root.readDir(p, NULL) > 0) 
-  {
-    for(int8_t i=0;i<(int8_t)strlen((char*)p.name);i++)
-    p.name[i]=tolower(p.name[i]);
-    //Serial.print((char*)p.name);
-    //Serial.print(" ");
-    //Serial.println(autoname);
-    if(p.name[9]!='~') //skip safety copies
-    if(strncmp((char*)p.name,autoname,5)==0)
-    {
-      char cmd[30];
 
+  bool found = false;
+  while (root.readDir(p, NULL) > 0) {
+    for (int8_t i = 0; i < (int8_t)strlen((char*)p.name); i++) p.name[i] = tolower(p.name[i]);
+    if (p.name[9] != '~' && strncmp((char*)p.name, autoname, 5) == 0) {
+      char cmd[30];
       sprintf_P(cmd, PSTR("M23 %s"), autoname);
       enquecommand(cmd);
       enquecommands_P(PSTR("M24"));
-      found=true;
+      found = true;
     }
   }
-  if(!found)
-    autostart_index=-1;
+  if (!found)
+    autostart_index = -1;
   else
     autostart_index++;
 }
 
-void CardReader::closefile(bool store_location)
-{
+void CardReader::closefile(bool store_location) {
   file.sync();
   file.close();
-  saving = false; 
-  logging = false;
-  
-  if(store_location)
-  {
+  saving = logging = false;
+
+  if (store_location) {
     //future: store printer state, filename and position for continuing a stopped print
     // so one can unplug the printer and continue printing the next day.
-    
   }
-
-  
 }
 
-void CardReader::getfilename(uint16_t nr, const char * const match/*=NULL*/)
-{
-  curDir=&workDir;
-  lsAction=LS_GetFilename;
-  nrFiles=nr;
+/**
+ * Get the name of a file in the current directory by index
+ */
+void CardReader::getfilename(uint16_t nr, const char * const match/*=NULL*/) {
+  curDir = &workDir;
+  lsAction = LS_GetFilename;
+  nrFiles = nr;
   curDir->rewind();
-  lsDive("",*curDir,match);
-  
+  lsDive("", *curDir, match);
 }
 
-uint16_t CardReader::getnrfilenames()
-{
-  curDir=&workDir;
-  lsAction=LS_Count;
-  nrFiles=0;
+uint16_t CardReader::getnrfilenames() {
+  curDir = &workDir;
+  lsAction = LS_Count;
+  nrFiles = 0;
   curDir->rewind();
-  lsDive("",*curDir);
+  lsDive("", *curDir);
   //SERIAL_ECHOLN(nrFiles);
   return nrFiles;
 }
 
-void CardReader::chdir(const char * relpath)
-{
+void CardReader::chdir(const char * relpath) {
   SdFile newfile;
-  SdFile *parent=&root;
-  
-  if(workDir.isOpen())
-    parent=&workDir;
-  
-  if(!newfile.open(*parent,relpath, O_READ))
-  {
-   SERIAL_ECHO_START;
-   SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
-   SERIAL_ECHOLN(relpath);
+  SdFile *parent = &root;
+
+  if (workDir.isOpen()) parent = &workDir;
+
+  if (!newfile.open(*parent, relpath, O_READ)) {
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
+    SERIAL_ECHOLN(relpath);
   }
-  else
-  {
+  else {
     if (workDirDepth < MAX_DIR_DEPTH) {
-      for (int d = ++workDirDepth; d--;)
-        workDirParents[d+1] = workDirParents[d];
-      workDirParents[0]=*parent;
+      ++workDirDepth;
+      for (int d = workDirDepth; d--;) workDirParents[d + 1] = workDirParents[d];
+      workDirParents[0] = *parent;
     }
-    workDir=newfile;
+    workDir = newfile;
   }
 }
 
-void CardReader::updir()
-{
-  if(workDirDepth > 0)
-  {
+void CardReader::updir() {
+  if (workDirDepth > 0) {
     --workDirDepth;
     workDir = workDirParents[0];
-    int d;
     for (int d = 0; d < workDirDepth; d++)
       workDirParents[d] = workDirParents[d+1];
   }
 }
 
-
-void CardReader::printingHasFinished()
-{
-    st_synchronize();
-    if(file_subcall_ctr>0) //heading up to a parent file that called current as a procedure.
-    {
-      file.close();
-      file_subcall_ctr--;
-      openFile(filenames[file_subcall_ctr],true,true);
-      setIndex(filespos[file_subcall_ctr]);
-      startFileprint();
-    }
-    else
-    {
-      quickStop();
-      file.close();
-      sdprinting = false;
-      if(SD_FINISHED_STEPPERRELEASE)
-      {
-          //finishAndDisableSteppers();
-          enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
-      }
-      autotempShutdown();
+void CardReader::printingHasFinished() {
+  st_synchronize();
+  if (file_subcall_ctr > 0) { // Heading up to a parent file that called current as a procedure.
+    file.close();
+    file_subcall_ctr--;
+    openFile(filenames[file_subcall_ctr], true, true);
+    setIndex(filespos[file_subcall_ctr]);
+    startFileprint();
+  }
+  else {
+    quickStop();
+    file.close();
+    sdprinting = false;
+    if (SD_FINISHED_STEPPERRELEASE) {
+      //finishAndDisableSteppers();
+      enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
     }
+    autotempShutdown();
+  }
 }
+
 #endif //SDSUPPORT

Marlin/cardreader.h

 
 #ifdef SDSUPPORT
 
-#define MAX_DIR_DEPTH 10
+#define MAX_DIR_DEPTH 10          // Maximum folder depth
 
 #include "SdFile.h"
-enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
-class CardReader
-{
+enum LsAction { LS_SerialPrint, LS_Count, LS_GetFilename };
+
+class CardReader {
 public:
   CardReader();
-  
+
   void initsd();
   void write_command(char *buf);
   //files auto[0-9].g on the sd card are performed in a row
   //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset
 
-  void checkautostart(bool x); 
+  void checkautostart(bool x);
   void openFile(char* name,bool read,bool replace_current=true);
   void openLogFile(char* name);
   void removeFile(char* name);
 
   void getfilename(uint16_t nr, const char* const match=NULL);
   uint16_t getnrfilenames();
-  
+
   void getAbsFilename(char *t);
-  
 
   void ls();
   void chdir(const char * relpath);
 
 
   FORCE_INLINE bool isFileOpen() { return file.isOpen(); }
-  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
-  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
-  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
-  FORCE_INLINE uint8_t percentDone(){if(!isFileOpen()) return 0; if(filesize) return sdpos/((filesize+99)/100); else return 0;};
-  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
+  FORCE_INLINE bool eof() { return sdpos >= filesize; }
+  FORCE_INLINE int16_t get() { sdpos = file.curPosition(); return (int16_t)file.read(); }
+  FORCE_INLINE void setIndex(long index) { sdpos = index; file.seekSet(index); }
+  FORCE_INLINE uint8_t percentDone() { return (isFileOpen() && filesize) ? sdpos / ((filesize + 99) / 100) : 0; }
+  FORCE_INLINE char* getWorkDirName() { workDir.getFilename(filename); return filename; }
 
 public:
-  bool saving;
-  bool logging;
-  bool sdprinting;  
-  bool cardOK;
-  char filename[FILENAME_LENGTH];
-  char longFilename[LONG_FILENAME_LENGTH];
-  bool filenameIsDir;
+  bool saving, logging, sdprinting, cardOK, filenameIsDir;
+  char filename[FILENAME_LENGTH], longFilename[LONG_FILENAME_LENGTH];
   int autostart_index;
 private:
-  SdFile root,*curDir,workDir,workDirParents[MAX_DIR_DEPTH];
+  SdFile root, *curDir, workDir, workDirParents[MAX_DIR_DEPTH];
   uint16_t workDirDepth;
   Sd2Card card;
   SdVolume volume;
   SdFile file;
   #define SD_PROCEDURE_DEPTH 1
-  #define MAXPATHNAMELENGTH (FILENAME_LENGTH*MAX_DIR_DEPTH+MAX_DIR_DEPTH+1)
+  #define MAXPATHNAMELENGTH (FILENAME_LENGTH*MAX_DIR_DEPTH + MAX_DIR_DEPTH + 1)
   uint8_t file_subcall_ctr;
   uint32_t filespos[SD_PROCEDURE_DEPTH];
   char filenames[SD_PROCEDURE_DEPTH][MAXPATHNAMELENGTH];
   uint32_t filesize;
-  //int16_t n;
   unsigned long autostart_atmillis;
-  uint32_t sdpos ;
+  uint32_t sdpos;
 
   bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
-  
+
   LsAction lsAction; //stored for recursion.
-  int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
+  uint16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
   char* diveDirName;
   void lsDive(const char *prepend, SdFile parent, const char * const match=NULL);
 };
+
 extern CardReader card;
+
 #define IS_SD_PRINTING (card.sdprinting)
 
 #if (SDCARDDETECT > -1)
-# ifdef SDCARDDETECTINVERTED 
-#  define IS_SD_INSERTED (READ(SDCARDDETECT)!=0)
-# else
-#  define IS_SD_INSERTED (READ(SDCARDDETECT)==0)
-# endif //SDCARDTETECTINVERTED
+  #ifdef SDCARDDETECTINVERTED
+    #define IS_SD_INSERTED (READ(SDCARDDETECT) != 0)
+  #else
+    #define IS_SD_INSERTED (READ(SDCARDDETECT) == 0)
+  #endif
 #else
-//If we don't have a card detect line, aways asume the card is inserted
-# define IS_SD_INSERTED true
+  //No card detect line? Assume the card is inserted.
+  #define IS_SD_INSERTED true
 #endif
 
 #else
 #define IS_SD_PRINTING (false)
 
 #endif //SDSUPPORT
-#endif
+
+#endif //__CARDREADER_H

Marlin/digipot_mcp4451.cpp

 #include "Configuration.h"
 
 #ifdef DIGIPOT_I2C
+
 #include "Stream.h"
 #include "utility/twi.h"
 #include "Wire.h"
 
 // Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro
 #if MB(5DPRINT)
-#define DIGIPOT_I2C_FACTOR 117.96
-#define DIGIPOT_I2C_MAX_CURRENT 1.736
+  #define DIGIPOT_I2C_FACTOR 117.96
+  #define DIGIPOT_I2C_MAX_CURRENT 1.736
 #else
-#define DIGIPOT_I2C_FACTOR 106.7
-#define DIGIPOT_I2C_MAX_CURRENT 2.5
+  #define DIGIPOT_I2C_FACTOR 106.7
+  #define DIGIPOT_I2C_MAX_CURRENT 2.5
 #endif
 
-static byte current_to_wiper( float current ){
-    return byte(ceil(float((DIGIPOT_I2C_FACTOR*current))));
+static byte current_to_wiper(float current) {
+  return byte(ceil(float((DIGIPOT_I2C_FACTOR*current))));
 }
 
-static void i2c_send(byte addr, byte a, byte b)
-{
-	Wire.beginTransmission(addr);
-    Wire.write(a);
-    Wire.write(b);
-    Wire.endTransmission();
+static void i2c_send(byte addr, byte a, byte b) {
+  Wire.beginTransmission(addr);
+  Wire.write(a);
+  Wire.write(b);
+  Wire.endTransmission();
 }
 
 // This is for the MCP4451 I2C based digipot
-void digipot_i2c_set_current( int channel, float current )
-{
-    current = min( (float) max( current, 0.0f ), DIGIPOT_I2C_MAX_CURRENT);
-    // these addresses are specific to Azteeg X3 Pro, can be set to others,
-    // In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1
-    byte addr= 0x2C; // channel 0-3
-    if(channel >= 4) {
-    	addr= 0x2E; // channel 4-7
-    	channel-= 4;
-    }
-
-    // Initial setup
-    i2c_send( addr, 0x40, 0xff );
-    i2c_send( addr, 0xA0, 0xff );
-
-    // Set actual wiper value
-    byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 };
-    i2c_send( addr, addresses[channel], current_to_wiper(current) );
+void digipot_i2c_set_current(int channel, float current) {
+  current = min( (float) max( current, 0.0f ), DIGIPOT_I2C_MAX_CURRENT);
+  // these addresses are specific to Azteeg X3 Pro, can be set to others,
+  // In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1
+  byte addr = 0x2C; // channel 0-3
+  if (channel >= 4) {
+  	addr = 0x2E; // channel 4-7
+  	channel -= 4;
+  }
+
+  // Initial setup
+  i2c_send(addr, 0x40, 0xff);
+  i2c_send(addr, 0xA0, 0xff);
+
+  // Set actual wiper value
+  byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 };
+  i2c_send(addr, addresses[channel], current_to_wiper(current));
 }
 
-void digipot_i2c_init()
-{
-    const float digipot_motor_current[] = DIGIPOT_I2C_MOTOR_CURRENTS;
-    Wire.begin();
-    // setup initial currents as defined in Configuration_adv.h
-    for(int i=0;i<=sizeof(digipot_motor_current)/sizeof(float);i++) {
-        digipot_i2c_set_current(i, digipot_motor_current[i]);
-    }
+void digipot_i2c_init() {
+  const float digipot_motor_current[] = DIGIPOT_I2C_MOTOR_CURRENTS;
+  Wire.begin();
+  // setup initial currents as defined in Configuration_adv.h
+  for(int i = 0; i <= sizeof(digipot_motor_current) / sizeof(float); i++) {
+    digipot_i2c_set_current(i, digipot_motor_current[i]);
+  }
 }
-#endif
+
+#endif //DIGIPOT_I2C

Marlin/dogm_lcd_implementation.h

 **/
 
 #ifdef ULTIPANEL
-#define BLEN_A 0
-#define BLEN_B 1
-#define BLEN_C 2
-#define EN_A (1<<BLEN_A)
-#define EN_B (1<<BLEN_B)
-#define EN_C (1<<BLEN_C)
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
-#define LCD_CLICKED (buttons&EN_C)
+  #define BLEN_A 0
+  #define BLEN_B 1
+  #define BLEN_C 2
+  #define EN_A (1<<BLEN_A)
+  #define EN_B (1<<BLEN_B)
+  #define EN_C (1<<BLEN_C)
+  #define LCD_CLICKED (buttons&EN_C)
 #endif
 
 #include <U8glib.h>

Marlin/fastio.h

 /// check if pin is an timer wrapper
 #define GET_TIMER(IO)  _GET_TIMER(IO)
 
+// Shorthand
+#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
+
 /*
 	ports and functions
 

Marlin/language.h

 #define MSG_UNKNOWN_COMMAND                 "Unknown command: \""
 #define MSG_ACTIVE_EXTRUDER                 "Active Extruder: "
 #define MSG_INVALID_EXTRUDER                "Invalid extruder"
+#define MSG_INVALID_SOLENOID                "Invalid solenoid"
 #define MSG_X_MIN                           "x_min: "
 #define MSG_X_MAX                           "x_max: "
 #define MSG_Y_MIN                           "y_min: "

Marlin/pins_CHEAPTRONIC.h

 
 // Cheaptronic v1.0 does not use this port
 #define SDCARDDETECT -1
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1

Marlin/pins_ELEFU_3.h

   #define BLEN_B           1
   #define BLEN_A           0
 
-  //encoder rotation values
-  #define encrot0          0
-  #define encrot1          2
-  #define encrot2          3
-  #define encrot3          1
-
 #endif // RA_CONTROL_PANEL
 
 #ifdef RA_DISCO

Marlin/pins_MEGATRONICS.h

 
   #define SDCARDDETECT -1   // Ramps does not use this port
 
-    //encoder rotation values
-  #define encrot0 0
-  #define encrot1 2
-  #define encrot2 3
-  #define encrot3 1
-
 #endif // ULTRA_LCD && NEWPANEL

Marlin/pins_MEGATRONICS_1.h

 #define BLEN_A 0
 
 #define SDCARDDETECT -1  // Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1

Marlin/pins_MEGATRONICS_2.h

 #define BLEN_A 0
 
 #define SDCARDDETECT -1  // Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1

Marlin/pins_MEGATRONICS_3.h

 #define BLEN_A 0
 
 #define SDCARDDETECT -1	// Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1

Marlin/pins_RAMBO.h

 
     #define SDCARDDETECT 81    // Ramps does not use this port
 
-    //encoder rotation values
-    #define encrot0 0
-    #define encrot1 2
-    #define encrot2 3
-    #define encrot3 1
   #else //!NEWPANEL - old style panel with shift register
     //arduino pin witch triggers an piezzo beeper
     #define BEEPER 33    No Beeper added
     #define LCD_PINS_D6 27
     #define LCD_PINS_D7 29
 
-    //encoder rotation values
-    #define encrot0 0
-    #define encrot1 2
-    #define encrot2 3
-    #define encrot3 1
-
     //bits in the shift register that carry the buttons for:
     // left up center down right red
     #define BL_LE 7

Marlin/stepper.cpp

      SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
    }
-   SERIAL_ECHOLN("");
+   SERIAL_EOL;
    endstop_x_hit=false;
    endstop_y_hit=false;
    endstop_z_hit=false;
       count_direction[Y_AXIS]=1;
     }
 
-    // Set direction en check limit switches
-    #ifndef COREXY
-    if ((out_bits & (1<<X_AXIS)) != 0)   // stepping along -X axis
-    #else
-    if ((out_bits & (1<<X_HEAD)) != 0)   //AlexBorro: Head direction in -X axis for CoreXY bots.
-    #endif
+    if(check_endstops) // check X and Y Endstops
     {
-      CHECK_ENDSTOPS
-      {
-        #ifdef DUAL_X_CARRIAGE
-        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-        if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) 
-            || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
-        #endif          
-        {
-          #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-            bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
-            if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
-              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-              endstop_x_hit=true;
-              step_events_completed = current_block->step_event_count;
+        #ifndef COREXY
+        if ((out_bits & (1<<X_AXIS)) != 0)   // stepping along -X axis (regular cartesians bot)
+        #else
+        if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS != (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis
+        if ((out_bits & (1<<X_HEAD)) != 0) //AlexBorro: Head direction in -X axis for CoreXY bots.
+        #endif
+        { // -direction
+            #ifdef DUAL_X_CARRIAGE
+            // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+            if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+            #endif          
+            {
+                #if defined(X_MIN_PIN) && X_MIN_PIN > -1
+                bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
+                if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0))
+                {
+                    endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+                    endstop_x_hit=true;
+                    step_events_completed = current_block->step_event_count;
+                }
+                old_x_min_endstop = x_min_endstop;
+                #endif
             }
-            old_x_min_endstop = x_min_endstop;
-          #endif
         }
-      }
-    }
-    else 
-    { // +direction
-      CHECK_ENDSTOPS
-      {
-        #ifdef DUAL_X_CARRIAGE
-        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-        if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) 
-            || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
-        #endif          
-        {
-          #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-            bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
-            if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
-              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
-              endstop_x_hit=true;
-              step_events_completed = current_block->step_event_count;
+        else 
+        { // +direction
+            #ifdef DUAL_X_CARRIAGE
+            // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+            if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+            #endif          
+            {
+                #if defined(X_MAX_PIN) && X_MAX_PIN > -1
+                bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
+                if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0))
+                {
+                    endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+                    endstop_x_hit=true;
+                    step_events_completed = current_block->step_event_count;
+                }
+                old_x_max_endstop = x_max_endstop;
+                #endif
             }
-            old_x_max_endstop = x_max_endstop;
-          #endif
         }
-      }
-    }
 
-    #ifndef COREXY
-    if ((out_bits & (1<<Y_AXIS)) != 0)   // -direction
-    #else
-    if ((out_bits & (1<<Y_HEAD)) != 0)  //AlexBorro: Head direction in -Y axis for CoreXY bots.
-    #endif
-    {
-      CHECK_ENDSTOPS
-      {
-        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
-          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
-            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-            endstop_y_hit=true;
-            step_events_completed = current_block->step_event_count;
-          }
-          old_y_min_endstop = y_min_endstop;
-        #endif
-      }
-    }
-    else 
-    { // +direction
-      CHECK_ENDSTOPS
-      {
-        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
-          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
-            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
-            endstop_y_hit=true;
-            step_events_completed = current_block->step_event_count;
-          }
-          old_y_max_endstop = y_max_endstop;
+        #ifndef COREXY
+        if ((out_bits & (1<<Y_AXIS)) != 0)   // -direction
+        #else
+        if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS == (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis
+        if ((out_bits & (1<<Y_HEAD)) != 0)  //AlexBorro: Head direction in -Y axis for CoreXY bots.
         #endif
-      }
+        { // -direction
+            #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
+            bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
+            if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0))
+            {
+                endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+                endstop_y_hit=true;
+                step_events_completed = current_block->step_event_count;
+            }
+            old_y_min_endstop = y_min_endstop;
+            #endif
+        }
+        else 
+        { // +direction
+            #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
+            bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
+            if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0))
+            {
+                endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+                endstop_y_hit=true;
+                step_events_completed = current_block->step_event_count;
+            }
+            old_y_max_endstop = y_max_endstop;
+            #endif
+
+        }
     }
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
 
   //Initialize Step Pins
   #if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
-    SET_OUTPUT(X_STEP_PIN);
-    WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
+    OUT_WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
     disable_x();
   #endif
   #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
-    SET_OUTPUT(X2_STEP_PIN);
-    WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+    OUT_WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
     disable_x();
   #endif
   #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
-    SET_OUTPUT(Y_STEP_PIN);
-    WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
+    OUT_WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
     #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
-      SET_OUTPUT(Y2_STEP_PIN);
-      WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
+      OUT_WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
     #endif
     disable_y();
   #endif
   #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
-    SET_OUTPUT(Z_STEP_PIN);
-    WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
+    OUT_WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
     #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
-      SET_OUTPUT(Z2_STEP_PIN);
-      WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
+      OUT_WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
     #endif
     disable_z();
   #endif
   #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
-    SET_OUTPUT(E0_STEP_PIN);
-    WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
+    OUT_WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e0();
   #endif
   #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
-    SET_OUTPUT(E1_STEP_PIN);
-    WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
+    OUT_WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e1();
   #endif
   #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
-    SET_OUTPUT(E2_STEP_PIN);
-    WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
+    OUT_WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e2();
   #endif
   #if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
-    SET_OUTPUT(E3_STEP_PIN);
-    WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
+    OUT_WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e3();
   #endif
 

Marlin/temperature.cpp

   #ifdef HEATER_0_USES_MAX6675
 
     #ifndef SDSUPPORT
-      SET_OUTPUT(SCK_PIN);
-      WRITE(SCK_PIN,0);
-    
-      SET_OUTPUT(MOSI_PIN);
-      WRITE(MOSI_PIN,1);
-    
-      SET_INPUT(MISO_PIN);
-      WRITE(MISO_PIN,1);
+      OUT_WRITE(SCK_PIN, LOW);
+      OUT_WRITE(MOSI_PIN, HIGH);
+      OUT_WRITE(MISO_PIN, HIGH);
     #else
       pinMode(SS_PIN, OUTPUT);
       digitalWrite(SS_PIN, HIGH);
     #endif
     
-    SET_OUTPUT(MAX6675_SS);
-    WRITE(MAX6675_SS,1);
+    OUT_WRITE(MAX6675_SS,HIGH);
 
   #endif //HEATER_0_USES_MAX6675
 

Marlin/ultralcd.cpp

 
 #ifdef ULTIPANEL
 
+////////////////////////
+// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
+// These values are independent of which pins are used for EN_A and EN_B indications
+// The rotary encoder part is also independent to the chipset used for the LCD
+#if defined(EN_A) && defined(EN_B)
+  #define encrot0 0
+  #define encrot1 2
+  #define encrot2 3
+  #define encrot3 1
+#endif 
+
 /* Warning: This function is called from interrupt context */
 void lcd_buttons_update() {
   #ifdef NEWPANEL

Marlin/ultralcd_implementation_hitachi_HD44780.h

   #define LCD_CLICKED (buttons&(B_MI|B_ST))
 #endif
 
-////////////////////////
-// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
-// These values are independent of which pins are used for EN_A and EN_B indications
-// The rotary encoder part is also independent to the chipset used for the LCD
-#if defined(EN_A) && defined(EN_B)
-    #define encrot0 0
-    #define encrot1 2
-    #define encrot2 3
-    #define encrot3 1
-#endif 
-
 #endif //ULTIPANEL
 
 ////////////////////////////////////
 
 static void lcd_implementation_quick_feedback()
 {
-#ifdef LCD_USE_I2C_BUZZER
-	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
-	  lcd_buzz(1000/6,100);
-	#else
-	  lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
-	#endif
-#elif defined(BEEPER) && BEEPER > -1
+  #ifdef LCD_USE_I2C_BUZZER
+    #if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ)
+      lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
+    #else
+      lcd_buzz(1000/6, 100);
+    #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);
-      delayMicroseconds(100);
-      WRITE(BEEPER,LOW);
-      delayMicroseconds(100);
-    }
+    #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
+      const unsigned int delay = 100;
+      uint8_t i = 10;
     #else
-    for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++)
-    {
+      const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
+      int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
+    #endif
+    while (i--) {
       WRITE(BEEPER,HIGH);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+      delayMicroseconds(delay);
       WRITE(BEEPER,LOW);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+      delayMicroseconds(delay);
     }
-    #endif
-#endif
+  #endif
 }
 
 #ifdef LCD_HAS_STATUS_INDICATORS

Marlin/ultralcd_st7920_u8glib_rrd.h

   {
     case U8G_DEV_MSG_INIT:
       {
-        SET_OUTPUT(ST7920_CS_PIN);
-        WRITE(ST7920_CS_PIN,0);
-        SET_OUTPUT(ST7920_DAT_PIN);
-        WRITE(ST7920_DAT_PIN,0);
-        SET_OUTPUT(ST7920_CLK_PIN);
-        WRITE(ST7920_CLK_PIN,1);
+        OUT_WRITE(ST7920_CS_PIN,LOW);
+        OUT_WRITE(ST7920_DAT_PIN,LOW);
+        OUT_WRITE(ST7920_CLK_PIN,HIGH);
 
         ST7920_CS();
         u8g_Delay(120);                 //initial delay for boot up