Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into Marlin_v1

This should fix issues with pull request 467, I hope. Conflicts: Marlin/Configuration.h Marlin/Marlin.pde Marlin/ultralcd_implementation_hitachi_HD44780.h
2013-06-08 08:48:18 -06:00 · 2013-06-08 08:48:18 -06:00 · 6a81291c57
parent 4b19c8552e 3dea417c25
commit 6a81291c57
22 changed files with 3394 additions and 1150 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -2,7 +2,7 @@
 #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.
@ -43,6 +43,8 @@
 // 82 = Brainwave (AT90USB646)
 // 9  = Gen3+
 // 70 = Megatronics
 // 701= Megatronics v2.0
 // 702= Minitronics v1.0
 // 90 = Alpha OMCA board
 // 91 = Final OMCA board
 // 301 = Rambo
@ -52,6 +54,9 @@
 #define MOTHERBOARD 7
 #endif
 // This defines the number of extruders
 #define EXTRUDERS 1
 //// The following define selects which power supply you have. Please choose the one that matches your setup
 // 1 = ATX
 // 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
@ -79,24 +84,28 @@
 // 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)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)
 #define TEMP_SENSOR_0 -1
-#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_1 -1
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_BED 0
 // This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
 //#define TEMP_SENSOR_1_AS_REDUNDANT 
 #define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
 // Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_RESIDENCY_TIME 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
@ -122,7 +131,7 @@
 #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.
@ -133,15 +142,15 @@
 // 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_Ki 1.08
-    #define  DEFAULT_Kd 114  
+    #define  DEFAULT_Kd 114
 // Makergear
 //    #define  DEFAULT_Kp 7.0
-//    #define  DEFAULT_Ki 0.1  
+//    #define  DEFAULT_Ki 0.1
-//    #define  DEFAULT_Kd 12  
+//    #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
@ -150,11 +159,11 @@
 // 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 frequency 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. 
+// 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 
+// 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
@ -224,9 +233,9 @@
 #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 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 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 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
@ -281,13 +290,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #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   {78.7402,78.7402,200.0*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).
@ -308,7 +317,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // 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
@ -316,9 +325,18 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // please keep turned on if you can.
 //#define EEPROM_CHITCHAT
 // 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 ABS_PREHEAT_HOTEND_TEMP 240
 #define ABS_PREHEAT_HPB_TEMP 100
 #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)
@ -339,6 +357,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // ==> 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
 // The Elefu RA Board Control Panel
 // http://www.elefu.com/index.php?route=product/product&product_id=53
 // REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
@ -356,6 +379,10 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define NEWPANEL
 #endif
 #if defined(REPRAPWORLD_KEYPAD)
  #define NEWPANEL
  #define ULTIPANEL
 #endif
 #if defined(RA_CONTROL_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
@ -363,36 +390,67 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
 #endif
-// Preheat Constants
+//I2C PANELS
 #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 ABS_PREHEAT_HOTEND_TEMP 240
+//#define LCD_I2C_SAINSMART_YWROBOT
-#define ABS_PREHEAT_HPB_TEMP 100
+#ifdef LCD_I2C_SAINSMART_YWROBOT
-#define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
  // Make sure it is placed in the Arduino libraries directory.
  #define LCD_I2C_TYPE_PCF8575
  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
  #define NEWPANEL
  #define ULTIPANEL 
 #endif
 // PANELOLU2 LCD with status LEDs, separate encoder and click inputs
 //#define LCD_I2C_PANELOLU2
 #ifdef LCD_I2C_PANELOLU2
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin 
  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). 
  #define LCD_I2C_TYPE_MCP23017
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
  #define NEWPANEL
  #define ULTIPANEL 
 #endif
 // Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
 //#define LCD_I2C_VIKI
 #ifdef LCD_I2C_VIKI
  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
  #define LCD_I2C_TYPE_MCP23017 
  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
  #define NEWPANEL
  #define ULTIPANEL 
 #endif
 #ifdef ULTIPANEL
 //  #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
+  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-		#define LCD_WIDTH 20
+    #define LCD_WIDTH 20
-		#define LCD_HEIGHT 5
+    #define LCD_HEIGHT 5
-	#else
+  #else
-		#define LCD_WIDTH 20
+    #define LCD_WIDTH 20
-		#define LCD_HEIGHT 4
+    #define LCD_HEIGHT 4
-	#endif
+  #endif
-#else //no panel but just lcd 
+#else //no panel but just lcd
  #ifdef ULTRA_LCD
-	#ifdef DOGLCD	// Change number of lines to match the 128x64 graphics display
+  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-		#define LCD_WIDTH 20
+    #define LCD_WIDTH 20
-		#define LCD_HEIGHT 5
+    #define LCD_HEIGHT 5
-	#else
+  #else
-		#define LCD_WIDTH 16
+    #define LCD_WIDTH 16
-		#define LCD_HEIGHT 2
+    #define LCD_HEIGHT 2
-	#endif    
+  #endif
  #endif
 #endif
@ -406,6 +464,34 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // 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 // Servo index starts with 0
 // Servo Endstops
 // 
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
 // Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
 // 
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
 #include "Configuration_adv.h"
 #include "thermistortables.h"
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -63,21 +63,31 @@
 //This is for controlling a fan to cool down the stepper drivers
 //it will turn on when any driver is enabled
 //and turn off after the set amount of seconds from last driver being disabled again
-//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
+#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
-#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
 #define CONTROLLERFAN_SPEED 255  // == full speed
 // When first starting the main fan, run it at full speed for the
 // given number of milliseconds.  This gets the fan spinning reliably
 // before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
 //#define FAN_KICKSTART_TIME 100
 // Extruder cooling fans
 // Configure fan pin outputs to automatically turn on/off when the associated
 // extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
 // Multiple extruders can be assigned to the same pin in which case 
 // the fan will turn on when any selected extruder is above the threshold.
 #define EXTRUDER_0_AUTO_FAN_PIN   -1
 #define EXTRUDER_1_AUTO_FAN_PIN   -1
 #define EXTRUDER_2_AUTO_FAN_PIN   -1
 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
 #define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
 // This defines the number of extruders
 #define EXTRUDERS 1
 #define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
@ -210,9 +220,9 @@
 //  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
 //#define WATCHDOG_RESET_MANUAL
 #endif
-
+
-// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
+// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
-//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 // extruder advance constant (s2/mm3)
 //
@ -276,7 +286,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 #else
  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif
-
+
 //The ASCII buffer for recieving from the serial:
 #define MAX_CMD_SIZE 96
@ -308,6 +318,9 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================
 #if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
  #error "You cannot use  TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
 #endif
 #if TEMP_SENSOR_0 > 0
  #define THERMISTORHEATER_0 TEMP_SENSOR_0
--- a/Marlin/DOGMbitmaps.h
+++ b/Marlin/DOGMbitmaps.h
@ -1,7 +1,7 @@
 #define START_BMPWIDTH 	60	//Width in pixels
 #define START_BMPHEIGHT 	64	//Height in pixels
 #define START_BMPBYTEWIDTH 	8	//Width in bytes
-unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0,
 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0,
 0xFF,0xFF,0xFF,0xF9,0xFF,0xFF,0xFF,0xF0,
@ -71,7 +71,7 @@ unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
 #define STATUS_SCREENWIDTH 		115	//Width in pixels
 #define STATUS_SCREENHEIGHT 	19	//Height in pixels
 #define STATUS_SCREENBYTEWIDTH 	15	//Width in bytes
-unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFF,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x63,0x0C,0x60,
@ -96,7 +96,7 @@ unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 #define STATUS_SCREENWIDTH 		115	//Width in pixels
 #define STATUS_SCREENHEIGHT 	19	//Height in pixels
 #define STATUS_SCREENBYTEWIDTH 	15	//Width in bytes
-unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFF,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x61,0xF8,0x60,
--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@ -1,12 +1,12 @@
 # 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).
 #
@ -21,7 +21,7 @@
 #     (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
@ -44,7 +44,7 @@ ARDUINO_INSTALL_DIR  ?= ../../arduino-0022
 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
@ -213,7 +213,7 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	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)
@ -317,19 +317,19 @@ endif
 # 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 (${AVRDUDE_PROGRAMMER}, arduino)
@ -356,7 +356,7 @@ COFFCONVERT=$(OBJCOPY) --debugging \
 	--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
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -96,7 +96,7 @@ void process_commands();
 void manage_inactivity();
-#if X_ENABLE_PIN > -1
+#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else
@ -104,7 +104,7 @@ void manage_inactivity();
  #define disable_x() ;
 #endif
-#if Y_ENABLE_PIN > -1
+#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
 #else
@ -112,7 +112,7 @@ void manage_inactivity();
  #define disable_y() ;
 #endif
-#if Z_ENABLE_PIN > -1
+#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  #ifdef Z_DUAL_STEPPER_DRIVERS
    #define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); }
@ -186,6 +186,10 @@ extern float add_homeing[3];
 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;
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@ -40,13 +40,13 @@
  #elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008)
    #include <Wire.h>
    #include <LiquidTWI2.h>
-  #elif defined DOGLCD
+  #elif defined(DOGLCD)
    #include <U8glib.h> // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/)
  #else
    #include <LiquidCrystal.h> // library for character LCD
  #endif
 #endif
-#if DIGIPOTSS_PIN > -1
+#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
--- a/Marlin/Servo.cpp
+++ b/Marlin/Servo.cpp
@ -0,0 +1,341 @@
 /*
 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 "Configuration.h" 
 #ifdef NUM_SERVOS
 #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 ;
 }
 #endif
--- a/Marlin/Servo.h
+++ b/Marlin/Servo.h
@ -0,0 +1,132 @@
 /*
  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
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@ -19,12 +19,25 @@
 * Implementation of the LCD display routines for a DOGM128 graphic display. These are common LCD 128x64 pixel graphic displays.
 **/
 #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)
 #endif
-// CHANGE_DE begin ***
+#include <U8glib.h>
 #include <U8glib.h>	// DE_U8glib
 #include "DOGMbitmaps.h"
 #include "dogm_font_data_marlin.h"
 #include "ultralcd.h"
 #include "ultralcd_st7920_u8glib_rrd.h"
 /* Russian language not supported yet, needs custom font
@ -61,11 +74,10 @@
 #define FONT_STATUSMENU	u8g_font_6x9
 // LCD selection
 #ifdef U8GLIB_ST7920
-// SPI Com: SCK = en = (D4), MOSI = rw = (RS), CS = di = (ENABLE)
+//U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
-U8GLIB_ST7920_128X64_1X u8g(LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS);
+U8GLIB_ST7920_128X64_RRD u8g(0);
 #else
 U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);	// HW-SPI Com: CS, A0
 #endif
@ -88,11 +100,11 @@ static void lcd_implementation_init()
 	u8g.setRot90();	// Rotate screen by 90°
 #endif
-#ifdef LCD_SCREEN_ROT_180;
+#ifdef LCD_SCREEN_ROT_180
 	u8g.setRot180();	// Rotate screen by 180°
 #endif
-#ifdef LCD_SCREEN_ROT_270;
+#ifdef LCD_SCREEN_ROT_270
 	u8g.setRot270();	// Rotate screen by 270°
 #endif
@ -266,7 +278,7 @@ static void lcd_implementation_status_screen()
 // Fan
 u8g.setFont(FONT_STATUSMENU);
 u8g.setPrintPos(104,27);
- #if FAN_PIN > 0
+ #if defined(FAN_PIN) && FAN_PIN > -1
 u8g.print(itostr3(int((fanSpeed*100)/256 + 1)));
 u8g.print("%");
 #else
--- a/Marlin/fastio.h
+++ b/Marlin/fastio.h
@ -2575,8 +2575,702 @@ pins
 #define PF7_DDR			DDRF
 #endif
 #if defined (__AVR_ATmega1281__) || defined (__AVR_ATmega2561__)
 // UART
 #define	RXD					DIO0
 #define	TXD					DIO1
 // SPI
 #define	SCK					DIO10
 #define	MISO				DIO12
 #define	MOSI				DIO11
 #define	SS					DIO16
 // TWI (I2C)
 #define	SCL					DIO17
 #define	SDA					DIO18
 // timers and PWM
 #define	OC0A				DIO9
 #define	OC0B				DIO4
 #define	OC1A				DIO7
 #define	OC1B				DIO8
 #define	OC2A				DIO6
 #define	OC3A				DIO5
 #define	OC3B				DIO2
 #define	OC3C				DIO3
 // change for your board
 #define	DEBUG_LED		DIO46
 /*
 pins
 */
 #define	DIO0_PIN		PINE0
 #define	DIO0_RPORT	PINE
 #define	DIO0_WPORT	PORTE
 #define	DIO0_DDR		DDRE
 #define DIO0_PWM		NULL
 #define	DIO1_PIN		PINE1
 #define	DIO1_RPORT	PINE
 #define	DIO1_WPORT	PORTE
 #define	DIO1_DDR		DDRE
 #define DIO1_PWM		NULL
 #define	DIO2_PIN		PINE4
 #define	DIO2_RPORT	PINE
 #define	DIO2_WPORT	PORTE
 #define	DIO2_DDR		DDRE
 #define DIO2_PWM		&OCR3BL
 #define	DIO3_PIN		PINE5
 #define	DIO3_RPORT	PINE
 #define	DIO3_WPORT	PORTE
 #define	DIO3_DDR		DDRE
 #define DIO3_PWM		&OCR3CL
 #define	DIO4_PIN		PING5
 #define	DIO4_RPORT	PING
 #define	DIO4_WPORT	PORTG
 #define	DIO4_DDR		DDRG
 #define DIO4_PWM		&OCR0B
 #define	DIO5_PIN		PINE3
 #define	DIO5_RPORT	PINE
 #define	DIO5_WPORT	PORTE
 #define	DIO5_DDR		DDRE
 #define DIO5_PWM		&OCR3AL
 #define	DIO6_PIN		PINB4
 #define	DIO6_RPORT	PINB
 #define	DIO6_WPORT	PORTB
 #define	DIO6_DDR		DDRB
 #define DIO6_PWM		&OCR2AL
 #define	DIO7_PIN		PINB5
 #define	DIO7_RPORT	PINB
 #define	DIO7_WPORT	PORTB
 #define	DIO7_DDR		DDRB
 #define DIO7_PWM		&OCR1AL
 #define	DIO8_PIN		PINB6
 #define	DIO8_RPORT	PINB
 #define	DIO8_WPORT	PORTB
 #define	DIO8_DDR		DDRB
 #define DIO8_PWM		&OCR1BL
 #define	DIO9_PIN		PINB7
 #define	DIO9_RPORT	PINB
 #define	DIO9_WPORT	PORTB
 #define	DIO9_DDR		DDRB
 #define DIO9_PWM		&OCR0AL
 #define	DIO10_PIN		PINB1
 #define	DIO10_RPORT	PINB
 #define	DIO10_WPORT	PORTB
 #define	DIO10_DDR		DDRB
 #define DIO10_PWM		NULL
 #define	DIO11_PIN		PINB2
 #define	DIO11_RPORT	PINB
 #define	DIO11_WPORT	PORTB
 #define	DIO11_DDR		DDRB
 #define DIO11_PWM		NULL
 #define	DIO12_PIN		PINB3
 #define	DIO12_RPORT	PINB
 #define	DIO12_WPORT	PORTB
 #define	DIO12_DDR		DDRB
 #define DIO12_PWM		NULL
 #define	DIO13_PIN		PINE2
 #define	DIO13_RPORT	PINE
 #define	DIO13_WPORT	PORTE
 #define	DIO13_DDR		DDRE
 #define DIO13_PWM		NULL
 #define	DIO14_PIN		PINE6
 #define	DIO14_RPORT	PINE
 #define	DIO14_WPORT	PORTE
 #define	DIO14_DDR		DDRE
 #define DIO14_PWM		NULL
 #define	DIO15_PIN		PINE7
 #define	DIO15_RPORT	PINE
 #define	DIO15_WPORT	PORTE
 #define	DIO15_DDR		DDRE
 #define DIO15_PWM		NULL
 #define	DIO16_PIN		PINB0
 #define	DIO16_RPORT	PINB
 #define	DIO16_WPORT	PORTB
 #define	DIO16_DDR		DDRB
 #define DIO16_PWM		NULL
 #define	DIO17_PIN		PIND0
 #define	DIO17_RPORT	PIND
 #define	DIO17_WPORT	PORTD
 #define	DIO17_DDR		DDRD
 #define DIO17_PWM		NULL
 #define	DIO18_PIN		PIND1
 #define	DIO18_RPORT	PIND
 #define	DIO18_WPORT	PORTD
 #define	DIO18_DDR		DDRD
 #define DIO18_PWM		NULL
 #define	DIO19_PIN		PIND2
 #define	DIO19_RPORT	PIND
 #define	DIO19_WPORT	PORTD
 #define	DIO19_DDR		DDRD
 #define DIO19_PWM		NULL
 #define	DIO20_PIN		PIND3
 #define	DIO20_RPORT	PIND
 #define	DIO20_WPORT	PORTD
 #define	DIO20_DDR		DDRD
 #define DIO20_PWM		NULL
 #define	DIO21_PIN		PIND4
 #define	DIO21_RPORT	PIND
 #define	DIO21_WPORT	PORTD
 #define	DIO21_DDR		DDRD
 #define DIO21_PWM		NULL
 #define	DIO22_PIN		PIND5
 #define	DIO22_RPORT	PIND
 #define	DIO22_WPORT	PORTD
 #define	DIO22_DDR		DDRD
 #define DIO22_PWM		NULL
 #define	DIO23_PIN		PIND6
 #define	DIO23_RPORT	PIND
 #define	DIO23_WPORT	PORTD
 #define	DIO23_DDR		DDRD
 #define DIO23_PWM		NULL
 #define	DIO24_PIN		PIND7
 #define	DIO24_RPORT	PIND
 #define	DIO24_WPORT	PORTD
 #define	DIO24_DDR		DDRD
 #define DIO24_PWM		NULL
 #define	DIO25_PIN		PING0
 #define	DIO25_RPORT	PING
 #define	DIO25_WPORT	PORTG
 #define	DIO25_DDR		DDRG
 #define DIO25_PWM		NULL
 #define	DIO26_PIN		PING1
 #define	DIO26_RPORT	PING
 #define	DIO26_WPORT	PORTG
 #define	DIO26_DDR		DDRG
 #define DIO26_PWM		NULL
 #define	DIO27_PIN		PING2
 #define	DIO27_RPORT	PING
 #define	DIO27_WPORT	PORTG
 #define	DIO27_DDR		DDRG
 #define DIO27_PWM		NULL
 #define	DIO28_PIN		PING3
 #define	DIO28_RPORT	PING
 #define	DIO28_WPORT	PORTG
 #define	DIO28_DDR		DDRG
 #define DIO28_PWM		NULL
 #define	DIO29_PIN		PING4
 #define	DIO29_RPORT	PING
 #define	DIO29_WPORT	PORTG
 #define	DIO29_DDR		DDRG
 #define DIO29_PWM		NULL
 #define	DIO30_PIN		PINC0
 #define	DIO30_RPORT	PINC
 #define	DIO30_WPORT	PORTC
 #define	DIO30_DDR		DDRC
 #define DIO30_PWM		NULL
 #define	DIO31_PIN		PINC1
 #define	DIO31_RPORT	PINC
 #define	DIO31_WPORT	PORTC
 #define	DIO31_DDR		DDRC
 #define DIO31_PWM		NULL
 #define	DIO32_PIN		PINC2
 #define	DIO32_RPORT	PINC
 #define	DIO32_WPORT	PORTC
 #define	DIO32_DDR		DDRC
 #define DIO32_PWM		NULL
 #define	DIO33_PIN		PINC3
 #define	DIO33_RPORT	PINC
 #define	DIO33_WPORT	PORTC
 #define	DIO33_DDR		DDRC
 #define DIO33_PWM		NULL
 #define	DIO34_PIN		PINC4
 #define	DIO34_RPORT	PINC
 #define	DIO34_WPORT	PORTC
 #define	DIO34_DDR		DDRC
 #define DIO34_PWM		NULL
 #define	DIO35_PIN		PINC5
 #define	DIO35_RPORT	PINC
 #define	DIO35_WPORT	PORTC
 #define	DIO35_DDR		DDRC
 #define DIO35_PWM		NULL
 #define	DIO36_PIN		PINC6
 #define	DIO36_RPORT	PINC
 #define	DIO36_WPORT	PORTC
 #define	DIO36_DDR		DDRC
 #define DIO36_PWM		NULL
 #define	DIO37_PIN		PINC7
 #define	DIO37_RPORT	PINC
 #define	DIO37_WPORT	PORTC
 #define	DIO37_DDR		DDRC
 #define DIO37_PWM		NULL
 #define	DIO38_PIN		PINA0
 #define	DIO38_RPORT	PINA
 #define	DIO38_WPORT	PORTA
 #define	DIO38_DDR		DDRA
 #define DIO38_PWM		NULL
 #define	DIO39_PIN		PINA1
 #define	DIO39_RPORT	PINA
 #define	DIO39_WPORT	PORTA
 #define	DIO39_DDR		DDRA
 #define DIO39_PWM		NULL
 #define	DIO40_PIN		PINA2
 #define	DIO40_RPORT	PINA
 #define	DIO40_WPORT	PORTA
 #define	DIO40_DDR		DDRA
 #define DIO40_PWM		NULL
 #define	DIO41_PIN		PINA3
 #define	DIO41_RPORT	PINA
 #define	DIO41_WPORT	PORTA
 #define	DIO41_DDR		DDRA
 #define DIO41_PWM		NULL
 #define	DIO42_PIN		PINA4
 #define	DIO42_RPORT	PINA
 #define	DIO42_WPORT	PORTA
 #define	DIO42_DDR		DDRA
 #define DIO42_PWM		NULL
 #define	DIO43_PIN		PINA5
 #define	DIO43_RPORT	PINA
 #define	DIO43_WPORT	PORTA
 #define	DIO43_DDR		DDRA
 #define DIO43_PWM		NULL
 #define	DIO44_PIN		PINA6
 #define	DIO44_RPORT	PINA
 #define	DIO44_WPORT	PORTA
 #define	DIO44_DDR		DDRA
 #define DIO44_PWM		NULL
 #define	DIO45_PIN		PINA7
 #define	DIO45_RPORT	PINA
 #define	DIO45_WPORT	PORTA
 #define	DIO45_DDR		DDRA
 #define DIO45_PWM		NULL
 #define	DIO46_PIN		PINF0
 #define	DIO46_RPORT	PINF
 #define	DIO46_WPORT	PORTF
 #define	DIO46_DDR		DDRF
 #define DIO46_PWM		NULL
 #define	DIO47_PIN		PINF1
 #define	DIO47_RPORT	PINF
 #define	DIO47_WPORT	PORTF
 #define	DIO47_DDR		DDRF
 #define DIO47_PWM		NULL
 #define	DIO48_PIN		PINF2
 #define	DIO48_RPORT	PINF
 #define	DIO48_WPORT	PORTF
 #define	DIO48_DDR		DDRF
 #define DIO48_PWM		NULL
 #define	DIO49_PIN		PINF3
 #define	DIO49_RPORT	PINF
 #define	DIO49_WPORT	PORTF
 #define	DIO49_DDR		DDRF
 #define DIO49_PWM		NULL
 #define	DIO50_PIN		PINF4
 #define	DIO50_RPORT	PINF
 #define	DIO50_WPORT	PORTF
 #define	DIO50_DDR		DDRF
 #define DIO50_PWM		NULL
 #define	DIO51_PIN		PINF5
 #define	DIO51_RPORT	PINF
 #define	DIO51_WPORT	PORTF
 #define	DIO51_DDR		DDRF
 #define DIO51_PWM		NULL
 #define	DIO52_PIN		PINF6
 #define	DIO52_RPORT	PINF
 #define	DIO52_WPORT	PORTF
 #define	DIO52_DDR		DDRF
 #define DIO52_PWM		NULL
 #define	DIO53_PIN		PINF7
 #define	DIO53_RPORT	PINF
 #define	DIO53_WPORT	PORTF
 #define	DIO53_DDR		DDRF
 #define DIO53_PWM		NULL
 #undef PA0
 #define PA0_PIN			PINA0
 #define PA0_RPORT		PINA
 #define PA0_WPORT		PORTA
 #define PA0_DDR			DDRA
 #define PA0_PWM			NULL
 #undef PA1
 #define PA1_PIN			PINA1
 #define PA1_RPORT		PINA
 #define PA1_WPORT		PORTA
 #define PA1_DDR			DDRA
 #define PA1_PWM			NULL
 #undef PA2
 #define PA2_PIN			PINA2
 #define PA2_RPORT		PINA
 #define PA2_WPORT		PORTA
 #define PA2_DDR			DDRA
 #define PA2_PWM			NULL
 #undef PA3
 #define PA3_PIN			PINA3
 #define PA3_RPORT		PINA
 #define PA3_WPORT		PORTA
 #define PA3_DDR			DDRA
 #define PA3_PWM			NULL
 #undef PA4
 #define PA4_PIN			PINA4
 #define PA4_RPORT		PINA
 #define PA4_WPORT		PORTA
 #define PA4_DDR			DDRA
 #define PA4_PWM			NULL
 #undef PA5
 #define PA5_PIN			PINA5
 #define PA5_RPORT		PINA
 #define PA5_WPORT		PORTA
 #define PA5_DDR			DDRA
 #define PA5_PWM			NULL
 #undef PA6
 #define PA6_PIN			PINA6
 #define PA6_RPORT		PINA
 #define PA6_WPORT		PORTA
 #define PA6_DDR			DDRA
 #define PA6_PWM			NULL
 #undef PA7
 #define PA7_PIN			PINA7
 #define PA7_RPORT		PINA
 #define PA7_WPORT		PORTA
 #define PA7_DDR			DDRA
 #define PA7_PWM			NULL
 #undef PB0
 #define PB0_PIN			PINB0
 #define PB0_RPORT		PINB
 #define PB0_WPORT		PORTB
 #define PB0_DDR			DDRB
 #define PB0_PWM			NULL
 #undef PB1
 #define PB1_PIN			PINB1
 #define PB1_RPORT		PINB
 #define PB1_WPORT		PORTB
 #define PB1_DDR			DDRB
 #define PB1_PWM			NULL
 #undef PB2
 #define PB2_PIN			PINB2
 #define PB2_RPORT		PINB
 #define PB2_WPORT		PORTB
 #define PB2_DDR			DDRB
 #define PB2_PWM			NULL
 #undef PB3
 #define PB3_PIN			PINB3
 #define PB3_RPORT		PINB
 #define PB3_WPORT		PORTB
 #define PB3_DDR			DDRB
 #define PB3_PWM			NULL
 #undef PB4
 #define PB4_PIN			PINB4
 #define PB4_RPORT		PINB
 #define PB4_WPORT		PORTB
 #define PB4_DDR			DDRB
 #define PB4_PWM			&OCR2A
 #undef PB5
 #define PB5_PIN			PINB5
 #define PB5_RPORT		PINB
 #define PB5_WPORT		PORTB
 #define PB5_DDR			DDRB
 #define PB5_PWM			NULL
 #undef PB6
 #define PB6_PIN			PINB6
 #define PB6_RPORT		PINB
 #define PB6_WPORT		PORTB
 #define PB6_DDR			DDRB
 #define PB6_PWM			NULL
 #undef PB7
 #define PB7_PIN			PINB7
 #define PB7_RPORT		PINB
 #define PB7_WPORT		PORTB
 #define PB7_DDR			DDRB
 #define PB7_PWM			&OCR0A
 #undef PC0
 #define PC0_PIN			PINC0
 #define PC0_RPORT		PINC
 #define PC0_WPORT		PORTC
 #define PC0_DDR			DDRC
 #define PC0_PWM			NULL
 #undef PC1
 #define PC1_PIN			PINC1
 #define PC1_RPORT		PINC
 #define PC1_WPORT		PORTC
 #define PC1_DDR			DDRC
 #define PC1_PWM			NULL
 #undef PC2
 #define PC2_PIN			PINC2
 #define PC2_RPORT		PINC
 #define PC2_WPORT		PORTC
 #define PC2_DDR			DDRC
 #define PC2_PWM			NULL
 #undef PC3
 #define PC3_PIN			PINC3
 #define PC3_RPORT		PINC
 #define PC3_WPORT		PORTC
 #define PC3_DDR			DDRC
 #define PC3_PWM			NULL
 #undef PC4
 #define PC4_PIN			PINC4
 #define PC4_RPORT		PINC
 #define PC4_WPORT		PORTC
 #define PC4_DDR			DDRC
 #define PC4_PWM			NULL
 #undef PC5
 #define PC5_PIN			PINC5
 #define PC5_RPORT		PINC
 #define PC5_WPORT		PORTC
 #define PC5_DDR			DDRC
 #define PC5_PWM			NULL
 #undef PC6
 #define PC6_PIN			PINC6
 #define PC6_RPORT		PINC
 #define PC6_WPORT		PORTC
 #define PC6_DDR			DDRC
 #define PC6_PWM			NULL
 #undef PC7
 #define PC7_PIN			PINC7
 #define PC7_RPORT		PINC
 #define PC7_WPORT		PORTC
 #define PC7_DDR			DDRC
 #define PC7_PWM			NULL
 #undef PD0
 #define PD0_PIN			PIND0
 #define PD0_RPORT		PIND
 #define PD0_WPORT		PORTD
 #define PD0_DDR			DDRD
 #define PD0_PWM			NULL
 #undef PD1
 #define PD1_PIN			PIND1
 #define PD1_RPORT		PIND
 #define PD1_WPORT		PORTD
 #define PD1_DDR			DDRD
 #define PD1_PWM			NULL
 #undef PD2
 #define PD2_PIN			PIND2
 #define PD2_RPORT		PIND
 #define PD2_WPORT		PORTD
 #define PD2_DDR			DDRD
 #define PD2_PWM			NULL
 #undef PD3
 #define PD3_PIN			PIND3
 #define PD3_RPORT		PIND
 #define PD3_WPORT		PORTD
 #define PD3_DDR			DDRD
 #define PD3_PWM			NULL
 #undef PD4
 #define PD4_PIN			PIND4
 #define PD4_RPORT		PIND
 #define PD4_WPORT		PORTD
 #define PD4_DDR			DDRD
 #define PD4_PWM			NULL
 #undef PD5
 #define PD5_PIN			PIND5
 #define PD5_RPORT		PIND
 #define PD5_WPORT		PORTD
 #define PD5_DDR			DDRD
 #define PD5_PWM			NULL
 #undef PD6
 #define PD6_PIN			PIND6
 #define PD6_RPORT		PIND
 #define PD6_WPORT		PORTD
 #define PD6_DDR			DDRD
 #define PD6_PWM			NULL
 #undef PD7
 #define PD7_PIN			PIND7
 #define PD7_RPORT		PIND
 #define PD7_WPORT		PORTD
 #define PD7_DDR			DDRD
 #define PD7_PWM			NULL
 #undef PE0
 #define PE0_PIN			PINE0
 #define PE0_RPORT		PINE
 #define PE0_WPORT		PORTE
 #define PE0_DDR			DDRE
 #define PE0_PWM			NULL
 #undef PE1
 #define PE1_PIN			PINE1
 #define PE1_RPORT		PINE
 #define PE1_WPORT		PORTE
 #define PE1_DDR			DDRE
 #define PE1_PWM			NULL
 #undef PE2
 #define PE2_PIN			PINE2
 #define PE2_RPORT		PINE
 #define PE2_WPORT		PORTE
 #define PE2_DDR			DDRE
 #define PE2_PWM			NULL
 #undef PE3
 #define PE3_PIN			PINE3
 #define PE3_RPORT		PINE
 #define PE3_WPORT		PORTE
 #define PE3_DDR			DDRE
 #define PE3_PWM			&OCR3AL
 #undef PE4
 #define PE4_PIN			PINE4
 #define PE4_RPORT		PINE
 #define PE4_WPORT		PORTE
 #define PE4_DDR			DDRE
 #define PE4_PWM			&OCR3BL
 #undef PE5
 #define PE5_PIN			PINE5
 #define PE5_RPORT		PINE
 #define PE5_WPORT		PORTE
 #define PE5_DDR			DDRE
 #define PE5_PWM			&OCR3CL
 #undef PE6
 #define PE6_PIN			PINE6
 #define PE6_RPORT		PINE
 #define PE6_WPORT		PORTE
 #define PE6_DDR			DDRE
 #define PE6_PWM			NULL
 #undef PE7
 #define PE7_PIN			PINE7
 #define PE7_RPORT		PINE
 #define PE7_WPORT		PORTE
 #define PE7_DDR			DDRE
 #define PE7_PWM			NULL
 #undef PF0
 #define PF0_PIN			PINF0
 #define PF0_RPORT		PINF
 #define PF0_WPORT		PORTF
 #define PF0_DDR			DDRF
 #define PF0_PWM			NULL
 #undef PF1
 #define PF1_PIN			PINF1
 #define PF1_RPORT		PINF
 #define PF1_WPORT		PORTF
 #define PF1_DDR			DDRF
 #define PF1_PWM			NULL
 #undef PF2
 #define PF2_PIN			PINF2
 #define PF2_RPORT		PINF
 #define PF2_WPORT		PORTF
 #define PF2_DDR			DDRF
 #define PF2_PWM			NULL
 #undef PF3
 #define PF3_PIN			PINF3
 #define PF3_RPORT		PINF
 #define PF3_WPORT		PORTF
 #define PF3_DDR			DDRF
 #define PF3_PWM			NULL
 #undef PF4
 #define PF4_PIN			PINF4
 #define PF4_RPORT		PINF
 #define PF4_WPORT		PORTF
 #define PF4_DDR			DDRF
 #define PF4_PWM			NULL
 #undef PF5
 #define PF5_PIN			PINF5
 #define PF5_RPORT		PINF
 #define PF5_WPORT		PORTF
 #define PF5_DDR			DDRF
 #define PF5_PWM			NULL
 #undef PF6
 #define PF6_PIN			PINF6
 #define PF6_RPORT		PINF
 #define PF6_WPORT		PORTF
 #define PF6_DDR			DDRF
 #define PF6_PWM			NULL
 #undef PF7
 #define PF7_PIN			PINF7
 #define PF7_RPORT		PINF
 #define PF7_WPORT		PORTF
 #define PF7_DDR			DDRF
 #define PF7_PWM			NULL
 #undef PG0
 #define PG0_PIN			PING0
 #define PG0_RPORT		PING
 #define PG0_WPORT		PORTG
 #define PG0_DDR			DDRG
 #define PG0_PWM			NULL
 #undef PG1
 #define PG1_PIN			PING1
 #define PG1_RPORT		PING
 #define PG1_WPORT		PORTG
 #define PG1_DDR			DDRG
 #define PG1_PWM			NULL
 #undef PG2
 #define PG2_PIN			PING2
 #define PG2_RPORT		PING
 #define PG2_WPORT		PORTG
 #define PG2_DDR			DDRG
 #define PG2_PWM			NULL
 #undef PG3
 #define PG3_PIN			PING3
 #define PG3_RPORT		PING
 #define PG3_WPORT		PORTG
 #define PG3_DDR			DDRG
 #define PG3_PWM			NULL
 #undef PG4
 #define PG4_PIN			PING4
 #define PG4_RPORT		PING
 #define PG4_WPORT		PORTG
 #define PG4_DDR			DDRG
 #define PG4_PWM			NULL
 #undef PG5
 #define PG5_PIN			PING5
 #define PG5_RPORT		PING
 #define PG5_WPORT		PORTG
 #define PG5_DDR			DDRG
 #define PG5_PWM			&OCR0B
 #endif
 #ifndef	DIO0_PIN
 #error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request
 #endif
-#endif /* _FASTIO_ARDUINO_H */
+#endif /* _FASTIO_ARDUINO_H */
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -98,7 +98,7 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 //=============================private variables ============================
 //===========================================================================
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-bool allow_cold_extrude=false;
+float extrude_min_temp=EXTRUDE_MINTEMP;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
@ -439,12 +439,20 @@ void check_axes_activity()
  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];
@ -464,7 +472,7 @@ void check_axes_activity()
    disable_e1();
    disable_e2(); 
  }
-#if FAN_PIN > -1
+#if defined(FAN_PIN) && FAN_PIN > -1
  #ifndef FAN_SOFT_PWM
    #ifdef FAN_KICKSTART_TIME
      static unsigned long fan_kick_end;
@ -486,6 +494,16 @@ void check_axes_activity()
 #ifdef AUTOTEMP
  getHighESpeed();
 #endif
 #ifdef BARICUDA
  #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
      analogWrite(HEATER_1_PIN,tail_valve_pressure);
  #endif
  #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
      analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
  #endif
 #endif
 }
@ -519,7 +537,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  #ifdef PREVENT_DANGEROUS_EXTRUDE
  if(target[E_AXIS]!=position[E_AXIS])
  {
-    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    if(degHotend(active_extruder)<extrude_min_temp)
    {
      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
      SERIAL_ECHO_START;
@ -559,6 +577,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  }
  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;
@ -896,12 +918,12 @@ uint8_t movesplanned()
  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }
 void allow_cold_extrudes(bool allow)
 {
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-  allow_cold_extrude=allow;
+void set_extrude_min_temp(float temp)
-#endif
+{
  extrude_min_temp=temp;
 }
 #endif
 // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
 void reset_acceleration_rates()
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@ -60,6 +60,10 @@ typedef struct {
  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;
@ -135,7 +139,9 @@ FORCE_INLINE bool blocks_queued()
    return true;
 }
-void allow_cold_extrudes(bool allow);
+#ifdef PREVENT_DANGEROUS_EXTRUDE
 void set_extrude_min_temp(float temp);
 #endif
 void reset_acceleration_rates();
 #endif
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -29,7 +29,7 @@
 #include "language.h"
 #include "cardreader.h"
 #include "speed_lookuptable.h"
-#if DIGIPOTSS_PIN > -1
+#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
@ -69,9 +69,9 @@ volatile long endstops_stepsTotal,endstops_stepsDone;
 static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
-#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-bool abort_on_endstop_hit = false;
+bool abort_on_endstop_hit = false;
-#endif
+#endif
 static bool old_x_min_endstop=false;
 static bool old_x_max_endstop=false;
@ -184,20 +184,20 @@ void checkHitEndstops()
     SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
   }
-   SERIAL_ECHOLN("");
+   SERIAL_ECHOLN("");
   endstop_x_hit=false;
   endstop_y_hit=false;
-   endstop_z_hit=false;
+   endstop_z_hit=false;
-#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-   if (abort_on_endstop_hit)
+   if (abort_on_endstop_hit)
-   {
+   {
     card.sdprinting = false;
     card.closefile();
-     quickStop();
+     quickStop();
     setTargetHotend0(0);
     setTargetHotend1(0);
     setTargetHotend2(0);
-   }
+   }
 #endif
 }
 }
@ -353,7 +353,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[X_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if X_MIN_PIN > -1
+        #if defined(X_MIN_PIN) && X_MIN_PIN > -1
          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
          if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
@ -372,7 +372,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[X_AXIS]=1;
      CHECK_ENDSTOPS 
      {
-        #if X_MAX_PIN > -1
+        #if defined(X_MAX_PIN) && X_MAX_PIN > -1
          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
          if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
@ -391,7 +391,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Y_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if Y_MIN_PIN > -1
+        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
@ -409,7 +409,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Y_AXIS]=1;
      CHECK_ENDSTOPS
      {
-        #if Y_MAX_PIN > -1
+        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
@ -452,7 +452,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Z_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if Z_MIN_PIN > -1
+        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
          if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@ -473,7 +473,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Z_AXIS]=1;
      CHECK_ENDSTOPS
      {
-        #if Z_MAX_PIN > -1
+        #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
          if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@ -743,20 +743,20 @@ void st_init()
  microstep_init(); //Initialize Microstepping Pins
  //Initialize Dir Pins
-  #if X_DIR_PIN > -1
+  #if defined(X_DIR_PIN) && X_DIR_PIN > -1
    SET_OUTPUT(X_DIR_PIN);
  #endif
-  #if Y_DIR_PIN > -1 
+  #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 
    SET_OUTPUT(Y_DIR_PIN);
  #endif
-  #if Z_DIR_PIN > -1 
+  #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1 
    SET_OUTPUT(Z_DIR_PIN);
-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_DIR_PIN > -1)
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
      SET_OUTPUT(Z2_DIR_PIN);
    #endif
  #endif
-  #if E0_DIR_PIN > -1 
+  #if defined(E0_DIR_PIN) && E0_DIR_PIN > -1 
    SET_OUTPUT(E0_DIR_PIN);
  #endif
  #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
@ -768,24 +768,24 @@ void st_init()
  //Initialize Enable Pins - steppers default to disabled.
-  #if (X_ENABLE_PIN > -1)
+  #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
    SET_OUTPUT(X_ENABLE_PIN);
    if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
  #endif
-  #if (Y_ENABLE_PIN > -1)
+  #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
    SET_OUTPUT(Y_ENABLE_PIN);
    if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
  #endif
-  #if (Z_ENABLE_PIN > -1)
+  #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
    SET_OUTPUT(Z_ENABLE_PIN);
    if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_ENABLE_PIN > -1)
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
      SET_OUTPUT(Z2_ENABLE_PIN);
      if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
    #endif
  #endif
-  #if (E0_ENABLE_PIN > -1)
+  #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
    SET_OUTPUT(E0_ENABLE_PIN);
    if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
  #endif
@ -800,42 +800,42 @@ void st_init()
  //endstops and pullups
-  #if X_MIN_PIN > -1
+  #if defined(X_MIN_PIN) && X_MIN_PIN > -1
    SET_INPUT(X_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_XMIN
      WRITE(X_MIN_PIN,HIGH);
    #endif
  #endif
-  #if Y_MIN_PIN > -1
+  #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
    SET_INPUT(Y_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_YMIN
      WRITE(Y_MIN_PIN,HIGH);
    #endif
  #endif
-  #if Z_MIN_PIN > -1
+  #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
    SET_INPUT(Z_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_ZMIN
      WRITE(Z_MIN_PIN,HIGH);
    #endif
  #endif
-  #if X_MAX_PIN > -1
+  #if defined(X_MAX_PIN) && X_MAX_PIN > -1
    SET_INPUT(X_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_XMAX
      WRITE(X_MAX_PIN,HIGH);
    #endif
  #endif
-  #if Y_MAX_PIN > -1
+  #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
    SET_INPUT(Y_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_YMAX
      WRITE(Y_MAX_PIN,HIGH);
    #endif
  #endif
-  #if Z_MAX_PIN > -1
+  #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
    SET_INPUT(Z_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_ZMAX
      WRITE(Z_MAX_PIN,HIGH);
@ -844,26 +844,26 @@ void st_init()
  //Initialize Step Pins
-  #if (X_STEP_PIN > -1) 
+  #if defined(X_STEP_PIN) && (X_STEP_PIN > -1) 
    SET_OUTPUT(X_STEP_PIN);
    WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
    disable_x();
  #endif  
-  #if (Y_STEP_PIN > -1) 
+  #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) 
    SET_OUTPUT(Y_STEP_PIN);
    WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
    disable_y();
  #endif  
-  #if (Z_STEP_PIN > -1) 
+  #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) 
    SET_OUTPUT(Z_STEP_PIN);
    WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_STEP_PIN > -1)
+    #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);
    #endif
    disable_z();
  #endif  
-  #if (E0_STEP_PIN > -1) 
+  #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) 
    SET_OUTPUT(E0_STEP_PIN);
    WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
    disable_e0();
@ -879,10 +879,6 @@ void st_init()
    disable_e2();
  #endif  
  #ifdef CONTROLLERFAN_PIN
    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  #endif
  // waveform generation = 0100 = CTC
  TCCR1B &= ~(1<<WGM13);
  TCCR1B |=  (1<<WGM12);
@ -978,7 +974,7 @@ void quickStop()
 void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
    SPI.transfer(address); //  send in the address and value via SPI:
    SPI.transfer(value);
@ -989,7 +985,7 @@ void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl e
 void digipot_init() //Initialize Digipot Motor Current
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
    SPI.begin(); 
@ -1002,7 +998,7 @@ void digipot_init() //Initialize Digipot Motor Current
 void digipot_current(uint8_t driver, int current)
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
    digitalPotWrite(digipot_ch[driver], current);
  #endif
@ -1010,7 +1006,7 @@ void digipot_current(uint8_t driver, int current)
 void microstep_init()
 {
-  #if X_MS1_PIN > -1
+  #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  const uint8_t microstep_modes[] = MICROSTEP_MODES;
  pinMode(X_MS2_PIN,OUTPUT);
  pinMode(Y_MS2_PIN,OUTPUT);
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -40,10 +40,13 @@
 int target_temperature[EXTRUDERS] = { 0 };
 int target_temperature_bed = 0;
 int current_temperature_raw[EXTRUDERS] = { 0 };
-float current_temperature[EXTRUDERS] = { 0 };
+float current_temperature[EXTRUDERS] = { 0.0 };
 int current_temperature_bed_raw = 0;
-float current_temperature_bed = 0;
+float current_temperature_bed = 0.0;
-
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
  int redundant_temperature_raw = 0;
  float redundant_temperature = 0.0;
 #endif
 #ifdef PIDTEMP
  float Kp=DEFAULT_Kp;
  float Ki=(DEFAULT_Ki*PID_dT);
@ -99,17 +102,20 @@ static volatile bool temp_meas_ready = false;
 #ifdef FAN_SOFT_PWM
  static unsigned char soft_pwm_fan;
 #endif
 #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
    (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
    (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
  static unsigned long extruder_autofan_last_check;
 #endif  
 #if EXTRUDERS > 3
-# error Unsupported number of extruders
+  # error Unsupported number of extruders
 #elif EXTRUDERS > 2
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
 #elif EXTRUDERS > 1
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
 #else
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
 #endif
 // Init min and max temp with extreme values to prevent false errors during startup
@ -121,8 +127,14 @@ static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383 );
 #ifdef BED_MAXTEMP
 static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
 #endif
-static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
+
-static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
  static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE };
  static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
 #else
  static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
  static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
 #endif
 static float analog2temp(int raw, uint8_t e);
 static float analog2tempBed(int raw);
@ -154,28 +166,28 @@ void PID_autotune(float temp, int extruder, int ncycles)
  float Kp, Ki, Kd;
  float max = 0, min = 10000;
-	if ((extruder > EXTRUDERS)
+  if ((extruder > EXTRUDERS)
  #if (TEMP_BED_PIN <= -1)
-		||(extruder < 0)
+       ||(extruder < 0)
-	#endif
+  #endif
-	){
+       ){
-  	SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
+          SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
-  	return;
+          return;
-	}
+        }
  SERIAL_ECHOLN("PID Autotune start");
  disable_heater(); // switch off all heaters.
-	if (extruder<0)
+  if (extruder<0)
-	{
+  {
-	 	soft_pwm_bed = (MAX_BED_POWER)/2;
+     soft_pwm_bed = (MAX_BED_POWER)/2;
-		bias = d = (MAX_BED_POWER)/2;
+     bias = d = (MAX_BED_POWER)/2;
-  }
+   }
-	else
+   else
-	{
+   {
-	  soft_pwm[extruder] = (PID_MAX)/2;
+     soft_pwm[extruder] = (PID_MAX)/2;
-		bias = d = (PID_MAX)/2;
+     bias = d = (PID_MAX)/2;
  }
@ -193,10 +205,10 @@ void PID_autotune(float temp, int extruder, int ncycles)
      if(heating == true && input > temp) {
        if(millis() - t2 > 5000) { 
          heating=false;
-					if (extruder<0)
+          if (extruder<0)
-						soft_pwm_bed = (bias - d) >> 1;
+            soft_pwm_bed = (bias - d) >> 1;
-					else
+          else
-						soft_pwm[extruder] = (bias - d) >> 1;
+            soft_pwm[extruder] = (bias - d) >> 1;
          t1=millis();
          t_high=t1 - t2;
          max=temp;
@ -247,10 +259,10 @@ void PID_autotune(float temp, int extruder, int ncycles)
              */
            }
          }
-					if (extruder<0)
+          if (extruder<0)
-						soft_pwm_bed = (bias + d) >> 1;
+            soft_pwm_bed = (bias + d) >> 1;
-					else
+          else
-						soft_pwm[extruder] = (bias + d) >> 1;
+            soft_pwm[extruder] = (bias + d) >> 1;
          cycles++;
          min=temp;
        }
@ -261,14 +273,14 @@ void PID_autotune(float temp, int extruder, int ncycles)
      return;
    }
    if(millis() - temp_millis > 2000) {
-			int p;
+      int p;
-			if (extruder<0){
+      if (extruder<0){
-	      p=soft_pwm_bed;       
+        p=soft_pwm_bed;       
-	      SERIAL_PROTOCOLPGM("ok B:");
+        SERIAL_PROTOCOLPGM("ok B:");
-			}else{
+      }else{
-	      p=soft_pwm[extruder];       
+        p=soft_pwm[extruder];       
-	      SERIAL_PROTOCOLPGM("ok T:");
+        SERIAL_PROTOCOLPGM("ok T:");
-			}
+      }
      SERIAL_PROTOCOL(input);   
      SERIAL_PROTOCOLPGM(" @:");
@ -306,6 +318,78 @@ int getHeaterPower(int heater) {
  return soft_pwm[heater];
 }
 #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
    (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
    (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
  #if defined(FAN_PIN) && FAN_PIN > -1
    #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN 
       #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN"
    #endif
    #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN 
       #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN"
    #endif
    #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN 
       #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN"
    #endif
  #endif 
 void setExtruderAutoFanState(int pin, bool state)
 {
  unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
  // this idiom allows both digital and PWM fan outputs (see M42 handling).
  pinMode(pin, OUTPUT);
  digitalWrite(pin, newFanSpeed);
  analogWrite(pin, newFanSpeed);
 }
 void checkExtruderAutoFans()
 {
  uint8_t fanState = 0;
  // which fan pins need to be turned on?      
  #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
    if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
      fanState |= 1;
  #endif
  #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1
    if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
    {
      if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) 
        fanState |= 1;
      else
        fanState |= 2;
    }
  #endif
  #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1
    if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
    {
      if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) 
        fanState |= 1;
      else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) 
        fanState |= 2;
      else
        fanState |= 4;
    }
  #endif
  // update extruder auto fan states
  #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
    setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
  #endif 
  #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1
    if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) 
      setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
  #endif 
  #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1
    if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN 
        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
      setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
  #endif 
 }
 #endif // any extruder auto fan pins set
 void manage_heater()
 {
  float pid_input;
@ -396,10 +480,31 @@ void manage_heater()
        }
    }
    #endif
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
      if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
        disable_heater();
        if(IsStopped() == false) {
          SERIAL_ERROR_START;
          SERIAL_ERRORLNPGM("Extruder switched off. Temperature difference between temp sensors is too high !");
          LCD_ALERTMESSAGEPGM("Err: REDUNDANT TEMP ERROR");
        }
        #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
          Stop();
        #endif
      }
    #endif
  } // End extruder for loop
  #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
      (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
      (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
  if(millis() - extruder_autofan_last_check > 2500)  // only need to check fan state very infrequently
  {
    checkExtruderAutoFans();
    extruder_autofan_last_check = millis();
  }  
  #endif       
  #ifndef PIDTEMPBED
  if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
    return;
@ -481,7 +586,11 @@ void manage_heater()
 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
 static float analog2temp(int raw, uint8_t e) {
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
  if(e > EXTRUDERS)
 #else
  if(e >= EXTRUDERS)
 #endif
  {
      SERIAL_ERROR_START;
      SERIAL_ERROR((int)e);
@ -560,7 +669,9 @@ static void updateTemperaturesFromRawValues()
        current_temperature[e] = analog2temp(current_temperature_raw[e], e);
    }
    current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
      redundant_temperature = analog2temp(redundant_temperature_raw, 1);
    #endif
    //Reset the watchdog after we know we have a temperature measurement.
    watchdog_reset();
@ -571,6 +682,12 @@ static void updateTemperaturesFromRawValues()
 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 
@ -585,19 +702,19 @@ void tp_init()
 #endif //PIDTEMPBED
  }
-  #if (HEATER_0_PIN > -1) 
+  #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1) 
    SET_OUTPUT(HEATER_0_PIN);
  #endif  
-  #if (HEATER_1_PIN > -1) 
+  #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) 
    SET_OUTPUT(HEATER_1_PIN);
  #endif  
-  #if (HEATER_2_PIN > -1) 
+  #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) 
    SET_OUTPUT(HEATER_2_PIN);
  #endif  
-  #if (HEATER_BED_PIN > -1) 
+  #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) 
    SET_OUTPUT(HEATER_BED_PIN);
  #endif  
-  #if (FAN_PIN > -1) 
+  #if defined(FAN_PIN) && (FAN_PIN > -1) 
    SET_OUTPUT(FAN_PIN);
    #ifdef FAST_PWM_FAN
    setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
@ -629,28 +746,28 @@ void tp_init()
  #ifdef DIDR2
    DIDR2 = 0;
  #endif
-  #if (TEMP_0_PIN > -1)
+  #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
    #if TEMP_0_PIN < 8
       DIDR0 |= 1 << TEMP_0_PIN; 
    #else
       DIDR2 |= 1<<(TEMP_0_PIN - 8); 
    #endif
  #endif
-  #if (TEMP_1_PIN > -1)
+  #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
    #if TEMP_1_PIN < 8
       DIDR0 |= 1<<TEMP_1_PIN; 
    #else
       DIDR2 |= 1<<(TEMP_1_PIN - 8); 
    #endif
  #endif
-  #if (TEMP_2_PIN > -1)
+  #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
    #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 defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
    #if TEMP_BED_PIN < 8
       DIDR0 |= 1<<TEMP_BED_PIN; 
    #else
@ -689,7 +806,7 @@ void tp_init()
 #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
@ -710,7 +827,7 @@ void tp_init()
 #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
@ -771,34 +888,34 @@ void disable_heater()
  for(int i=0;i<EXTRUDERS;i++)
    setTargetHotend(0,i);
  setTargetBed(0);
-  #if TEMP_0_PIN > -1
+  #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  target_temperature[0]=0;
  soft_pwm[0]=0;
-   #if HEATER_0_PIN > -1  
+   #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1  
     WRITE(HEATER_0_PIN,LOW);
   #endif
  #endif
-  #if TEMP_1_PIN > -1
+  #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
    target_temperature[1]=0;
    soft_pwm[1]=0;
-    #if HEATER_1_PIN > -1 
+    #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 
      WRITE(HEATER_1_PIN,LOW);
    #endif
  #endif
-  #if TEMP_2_PIN > -1
+  #if defined(TEMP_2_PIN) && TEMP_2_PIN > -1
    target_temperature[2]=0;
    soft_pwm[2]=0;
-    #if HEATER_2_PIN > -1  
+    #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1  
      WRITE(HEATER_2_PIN,LOW);
    #endif
  #endif 
-  #if TEMP_BED_PIN > -1
+  #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
    target_temperature_bed=0;
    soft_pwm_bed=0;
-    #if HEATER_BED_PIN > -1  
+    #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1  
      WRITE(HEATER_BED_PIN,LOW);
    #endif
  #endif 
@ -934,7 +1051,7 @@ ISR(TIMER0_COMPB_vect)
    soft_pwm_2 = soft_pwm[2];
    if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
    #endif
-    #if HEATER_BED_PIN > -1
+    #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
    soft_pwm_b = soft_pwm_bed;
    if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
    #endif
@ -950,7 +1067,7 @@ ISR(TIMER0_COMPB_vect)
  #if EXTRUDERS > 2
  if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
  #endif
-  #if HEATER_BED_PIN > -1
+  #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
  if(soft_pwm_b <= pwm_count) WRITE(HEATER_BED_PIN,0);
  #endif
  #ifdef FAN_SOFT_PWM
@ -962,7 +1079,7 @@ ISR(TIMER0_COMPB_vect)
  switch(temp_state) {
    case 0: // Prepare TEMP_0
-      #if (TEMP_0_PIN > -1)
+      #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
        #if TEMP_0_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -975,7 +1092,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 1;
      break;
    case 1: // Measure TEMP_0
-      #if (TEMP_0_PIN > -1)
+      #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
        raw_temp_0_value += ADC;
      #endif
      #ifdef HEATER_0_USES_MAX6675 // TODO remove the blocking
@ -984,7 +1101,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 2;
      break;
    case 2: // Prepare TEMP_BED
-      #if (TEMP_BED_PIN > -1)
+      #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
        #if TEMP_BED_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -997,13 +1114,13 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 3;
      break;
    case 3: // Measure TEMP_BED
-      #if (TEMP_BED_PIN > -1)
+      #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
        raw_temp_bed_value += ADC;
      #endif
      temp_state = 4;
      break;
    case 4: // Prepare TEMP_1
-      #if (TEMP_1_PIN > -1)
+      #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
        #if TEMP_1_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -1016,13 +1133,13 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 5;
      break;
    case 5: // Measure TEMP_1
-      #if (TEMP_1_PIN > -1)
+      #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
        raw_temp_1_value += ADC;
      #endif
      temp_state = 6;
      break;
    case 6: // Prepare TEMP_2
-      #if (TEMP_2_PIN > -1)
+      #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
        #if TEMP_2_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -1035,7 +1152,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 7;
      break;
    case 7: // Measure TEMP_2
-      #if (TEMP_2_PIN > -1)
+      #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
        raw_temp_2_value += ADC;
      #endif
      temp_state = 0;
@ -1055,6 +1172,9 @@ ISR(TIMER0_COMPB_vect)
 #if EXTRUDERS > 1
      current_temperature_raw[1] = raw_temp_1_value;
 #endif
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
      redundant_temperature_raw = raw_temp_1_value;
 #endif
 #if EXTRUDERS > 2
      current_temperature_raw[2] = raw_temp_2_value;
 #endif
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@ -37,6 +37,9 @@ extern int target_temperature[EXTRUDERS];
 extern float current_temperature[EXTRUDERS];
 extern int target_temperature_bed;
 extern float current_temperature_bed;
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
  extern float redundant_temperature;
 #endif
 #ifdef PIDTEMP
  extern float Kp,Ki,Kd,Kc;
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@ -76,7 +76,14 @@ static void menu_action_setting_edit_callback_float51(const char* pstr, float* p
 static void menu_action_setting_edit_callback_float52(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
 static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue, menuFunc_t callbackFunc);
-#define ENCODER_STEPS_PER_MENU_ITEM 5
+#define ENCODER_FEEDRATE_DEADZONE 10
 #if !defined(LCD_I2C_VIKI)
  #define ENCODER_STEPS_PER_MENU_ITEM 5
 #else
  #define ENCODER_STEPS_PER_MENU_ITEM 2 // VIKI LCD rotary encoder uses a different number of steps per rotation
 #endif
 /* Helper macros for menus */
 #define START_MENU() do { \
@ -112,14 +119,18 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
    } } 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
@ -157,10 +168,34 @@ static void lcd_status_screen()
    if (LCD_CLICKED)
    {
        currentMenu = lcd_main_menu;
        encoderPosition = 0;
        lcd_quick_feedback();
    }
-    feedmultiply += int(encoderPosition);
+
-    encoderPosition = 0;
+    // Dead zone at 100% feedrate
    if (feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100 ||
            feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100)
    {
        encoderPosition = 0;
        feedmultiply = 100;
    }
    if (feedmultiply == 100 && int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE)
    {
        feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE;
        encoderPosition = 0;
    }
    else if (feedmultiply == 100 && int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE)
    {
        feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE;
        encoderPosition = 0;	
    }
    else if (feedmultiply != 100)
    {
        feedmultiply += int(encoderPosition);
        encoderPosition = 0;
    }
    if (feedmultiply < 10)
        feedmultiply = 10;
    if (feedmultiply > 999)
@ -221,14 +256,14 @@ static void lcd_main_menu()
        }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
+            MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21"));  // SD-card changed by user
-#endif			
+#endif
        }
    }else{
        MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
-#if SDCARDDETECT < 1		
+#if SDCARDDETECT < 1
-		MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21"));	// Manually initialize the SD-card via user interface
+        MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
-#endif		
+#endif
    }
 #endif
    END_MENU();
@ -251,6 +286,7 @@ void lcd_preheat_pla()
    setTargetBed(plaPreheatHPBTemp);
    fanSpeed = plaPreheatFanSpeed;
    lcd_return_to_status();
    setWatch(); // heater sanity check timer
 }
 void lcd_preheat_abs()
@ -261,6 +297,16 @@ 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()
@ -298,7 +344,7 @@ static void lcd_prepare_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();
 }
@ -459,10 +505,10 @@ static void lcd_control_menu()
 static void lcd_control_temperature_menu()
 {
-	// set up temp variables - undo the default scaling
+    // set up temp variables - undo the default scaling
-	raw_Ki = unscalePID_i(Ki);
+    raw_Ki = unscalePID_i(Ki);
-	raw_Kd = unscalePID_d(Kd);
+    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);
@ -484,7 +530,7 @@ static void lcd_control_temperature_menu()
 #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
@ -687,6 +733,24 @@ menu_edit_type(float, float51, ftostr51, 10)
 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()
@ -745,11 +809,20 @@ void lcd_init()
 #ifdef NEWPANEL
    pinMode(BTN_EN1,INPUT);
    pinMode(BTN_EN2,INPUT); 
    pinMode(BTN_ENC,INPUT); 
    pinMode(SDCARDDETECT,INPUT);
    WRITE(BTN_EN1,HIGH);
    WRITE(BTN_EN2,HIGH);
  #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);
@ -759,12 +832,14 @@ void lcd_init()
    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;
 #endif    
 }
 void lcd_update()
@ -773,7 +848,11 @@ void lcd_update()
    lcd_buttons_update();
-    #if (SDCARDDETECT > -1)
+    #ifdef LCD_HAS_SLOW_BUTTONS
    buttons |= lcd_implementation_read_slow_buttons(); // buttons which take too long to read in interrupt context
    #endif
    #if (SDCARDDETECT > 0)
    if((IS_SD_INSERTED != lcd_oldcardstatus))
    {
        lcdDrawUpdate = 2;
@ -796,6 +875,17 @@ void lcd_update()
    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;
@ -808,21 +898,26 @@ void lcd_update()
 #endif//ULTIPANEL
 #ifdef DOGLCD        // Changes due to different driver architecture of the DOGM display
-		blink++;	   // Variable for fan animation and alive dot
+        blink++;     // Variable for fan animation and alive dot
-		u8g.firstPage();
+        u8g.firstPage();
-		do {
+        do 
-				u8g.setFont(u8g_font_6x10_marlin);
+        {
-				u8g.setPrintPos(125,0);
+            u8g.setFont(u8g_font_6x10_marlin);
-				if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot
+            u8g.setPrintPos(125,0);
-				u8g.drawPixel(127,63);	// draw alive dot
+            if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot
-				u8g.setColorIndex(1);	// black on white
+            u8g.drawPixel(127,63); // draw alive dot
-				(*currentMenu)();
+            u8g.setColorIndex(1); // black on white
-				if (!lcdDrawUpdate)  break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next()
+            (*currentMenu)();
-		   } while( u8g.nextPage() );
+            if (!lcdDrawUpdate)  break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next()
        } while( u8g.nextPage() );
 #else        
        (*currentMenu)();
 #endif
 #ifdef LCD_HAS_STATUS_INDICATORS
        lcd_implementation_update_indicators();
 #endif
 #ifdef ULTIPANEL
        if(timeoutToStatus < millis() && currentMenu != lcd_status_screen)
        {
@ -873,8 +968,24 @@ void lcd_buttons_update()
    uint8_t newbutton=0;
    if(READ(BTN_EN1)==0)  newbutton|=EN_A;
    if(READ(BTN_EN2)==0)  newbutton|=EN_B;
  #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;
@ -930,6 +1041,18 @@ void lcd_buttons_update()
    }
    lastEncoderBits = enc;
 }
 void lcd_buzz(long duration, uint16_t freq)
 { 
 #ifdef LCD_USE_I2C_BUZZER
  lcd.buzz(duration,freq);
 #endif   
 }
 bool lcd_clicked() 
 { 
  return LCD_CLICKED;
 }
 #endif//ULTIPANEL
 /********************************/
@ -1131,7 +1254,7 @@ void copy_and_scalePID_i()
 {
  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
@ -1139,6 +1262,6 @@ void copy_and_scalePID_d()
 {
  Kd = scalePID_d(raw_Kd);
  updatePID();
-}	
+}
-	
+
 #endif //ULTRA_LCD
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@ -22,7 +22,6 @@
  #ifdef ULTIPANEL
  void lcd_buttons_update();
  extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
  #else
  FORCE_INLINE void lcd_buttons_update() {}
  #endif
@ -35,25 +34,8 @@
  extern int absPreheatHPBTemp;
  extern int absPreheatFanSpeed;
-  #ifdef NEWPANEL
+  void lcd_buzz(long duration,uint16_t freq);
-    #define EN_C (1<<BLEN_C)
+  bool lcd_clicked();
    #define EN_B (1<<BLEN_B)
    #define EN_A (1<<BLEN_A)
    #define LCD_CLICKED (buttons&EN_C)
  #else
    //atomatic, do not change
    #define B_LE (1<<BL_LE)
    #define B_UP (1<<BL_UP)
    #define B_MI (1<<BL_MI)
    #define B_DW (1<<BL_DW)
    #define B_RI (1<<BL_RI)
    #define B_ST (1<<BL_ST)
    #define EN_B (1<<BLEN_B)
    #define EN_A (1<<BLEN_A)
    #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
  #endif//NEWPANEL
 #else //no lcd
  FORCE_INLINE void lcd_update() {}
@ -61,6 +43,7 @@
  FORCE_INLINE void lcd_setstatus(const char* message) {}
  FORCE_INLINE void lcd_buttons_update() {}
  FORCE_INLINE void lcd_reset_alert_level() {}
  FORCE_INLINE void lcd_buzz(long duration,uint16_t freq) {}
  #define LCD_MESSAGEPGM(x) 
  #define LCD_ALERTMESSAGEPGM(x) 
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@ -6,10 +6,11 @@
 * When selecting the rusian language, a slightly different LCD implementation is used to handle UTF8 characters.
 **/
-#if LANGUAGE_CHOICE == 6
+#ifndef REPRAPWORLD_KEYPAD
-#include "LiquidCrystalRus.h"
+extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
 #define LCD_CLASS LiquidCrystalRus
 #else
 extern volatile uint16_t buttons;  //an extended version of the last checked buttons in a bit array.
  #ifdef  LCD_I2C_TYPE_PCA8574
    #include <LiquidCrystal_I2C.h>
    #define LCD_CLASS LiquidCrystal_I2C
@ -19,6 +20,187 @@
  #endif
 #endif
 ////////////////////////////////////
 // Setup button and encode mappings for each panel (into 'buttons' variable)
 //
 // This is just to map common functions (across different panels) onto the same 
 // macro name. The mapping is independent of whether the button is directly connected or 
 // via a shift/i2c register.
 #ifdef ULTIPANEL
 // All Ultipanels might have an encoder - so this is always be mapped onto first two bits
 #define BLEN_B 1
 #define BLEN_A 0
 #define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
 #define EN_A (1<<BLEN_A)
 #if defined(BTN_ENC) && BTN_ENC > -1
  // encoder click is directly connected
  #define BLEN_C 2 
  #define EN_C (1<<BLEN_C) 
 #endif 
 //
 // Setup other button mappings of each panel
 //
 #if defined(LCD_I2C_VIKI)
  #define B_I2C_BTN_OFFSET 3 // (the first three bit positions reserved for EN_A, EN_B, EN_C)
  // button and encoder bit positions within 'buttons'
  #define B_LE (BUTTON_LEFT<<B_I2C_BTN_OFFSET)    // The remaining normalized buttons are all read via I2C
  #define B_UP (BUTTON_UP<<B_I2C_BTN_OFFSET)
  #define B_MI (BUTTON_SELECT<<B_I2C_BTN_OFFSET)
  #define B_DW (BUTTON_DOWN<<B_I2C_BTN_OFFSET)
  #define B_RI (BUTTON_RIGHT<<B_I2C_BTN_OFFSET)
  #if defined(BTN_ENC) && BTN_ENC > -1 
    // the pause/stop/restart button is connected to BTN_ENC when used
    #define B_ST (EN_C)                            // Map the pause/stop/resume button into its normalized functional name 
    #define LCD_CLICKED (buttons&(B_MI|B_RI|B_ST)) // pause/stop button also acts as click until we implement proper pause/stop.
  #else
    #define LCD_CLICKED (buttons&(B_MI|B_RI))
  #endif  
  // I2C buttons take too long to read inside an interrupt context and so we read them during lcd_update
  #define LCD_HAS_SLOW_BUTTONS
 #elif defined(LCD_I2C_PANELOLU2)
  // encoder click can be read through I2C if not directly connected
  #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&B_MI)
    // I2C buttons take too long to read inside an interrupt context and so we read them during lcd_update
    #define LCD_HAS_SLOW_BUTTONS
  #else
    #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)
 #else // old style ULTIPANEL
  //bits in the shift register that carry the buttons for:
  // left up center down right red(stop)
  #define BL_LE 7
  #define BL_UP 6
  #define BL_MI 5
  #define BL_DW 4
  #define BL_RI 3
  #define BL_ST 2
  //automatic, do not change
  #define B_LE (1<<BL_LE)
  #define B_UP (1<<BL_UP)
  #define B_MI (1<<BL_MI)
  #define B_DW (1<<BL_DW)
  #define B_RI (1<<BL_RI)
  #define B_ST (1<<BL_ST)
  #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)
  #ifndef ULTIMAKERCONTROLLER
    #define encrot0 0
    #define encrot1 2
    #define encrot2 3
    #define encrot3 1
  #else
    #define encrot0 0
    #define encrot1 1
    #define encrot2 3
    #define encrot3 2
  #endif
 #endif 
 #endif //ULTIPANEL
 ////////////////////////////////////
 // Create LCD class instance and chipset-specific information
 #if defined(LCD_I2C_TYPE_PCF8575)
  // note: these are register mapped pins on the PCF8575 controller not Arduino pins
  #define LCD_I2C_PIN_BL  3
  #define LCD_I2C_PIN_EN  2
  #define LCD_I2C_PIN_RW  1
  #define LCD_I2C_PIN_RS  0
  #define LCD_I2C_PIN_D4  4
  #define LCD_I2C_PIN_D5  5
  #define LCD_I2C_PIN_D6  6
  #define LCD_I2C_PIN_D7  7
  #include <Wire.h>
  #include <LCD.h>
  #include <LiquidCrystal_I2C.h>
  #define LCD_CLASS LiquidCrystal_I2C
  LCD_CLASS lcd(LCD_I2C_ADDRESS,LCD_I2C_PIN_EN,LCD_I2C_PIN_RW,LCD_I2C_PIN_RS,LCD_I2C_PIN_D4,LCD_I2C_PIN_D5,LCD_I2C_PIN_D6,LCD_I2C_PIN_D7);
 #elif defined(LCD_I2C_TYPE_MCP23017)
  //for the LED indicators (which maybe mapped to different things in lcd_implementation_update_indicators())
  #define LED_A 0x04 //100
  #define LED_B 0x02 //010
  #define LED_C 0x01 //001
  #define LCD_HAS_STATUS_INDICATORS
  #include <Wire.h>
  #include <LiquidTWI2.h>
  #define LCD_CLASS LiquidTWI2
  LCD_CLASS lcd(LCD_I2C_ADDRESS);
 #elif defined(LCD_I2C_TYPE_MCP23008)
  #include <Wire.h>
  #include <LiquidTWI2.h>
  #define LCD_CLASS LiquidTWI2
  LCD_CLASS lcd(LCD_I2C_ADDRESS);  
 #else
  // Standard directly connected LCD implementations
  #if LANGUAGE_CHOICE == 6
    #include "LiquidCrystalRus.h"
    #define LCD_CLASS LiquidCrystalRus
  #else 
    #include <LiquidCrystal.h>
    #define LCD_CLASS LiquidCrystal
  #endif  
  LCD_CLASS lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5,LCD_PINS_D6,LCD_PINS_D7);  //RS,Enable,D4,D5,D6,D7
 #endif
 /* Custom characters defined in the first 8 characters of the LCD */
 #define LCD_STR_BEDTEMP     "\x00"
 #define LCD_STR_DEGREE      "\x01"
@ -125,8 +307,27 @@ static void lcd_implementation_init()
      lcd.init();
      lcd.backlight();
    #else
-      lcd.begin(LCD_WIDTH, LCD_HEIGHT);
+	  if defined(LCDI2C_TYPE_PCF8575)
        lcd.begin(LCD_WIDTH, LCD_HEIGHT);
    #endif
  #ifdef LCD_I2C_PIN_BL
    lcd.setBacklightPin(LCD_I2C_PIN_BL,POSITIVE);
    lcd.setBacklight(HIGH);
  #endif
 #elif defined(LCD_I2C_TYPE_MCP23017)
    lcd.setMCPType(LTI_TYPE_MCP23017);
    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
    lcd.setBacklight(0); //set all the LEDs off to begin with
 #elif defined(LCD_I2C_TYPE_MCP23008)
    lcd.setMCPType(LTI_TYPE_MCP23008);
    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
 #else
    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
 #endif
    lcd.createChar(LCD_STR_BEDTEMP[0], bedTemp);
    lcd.createChar(LCD_STR_DEGREE[0], degree);
    lcd.createChar(LCD_STR_THERMOMETER[0], thermometer);
@ -314,13 +515,13 @@ static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, c
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1;
+      uint8_t n = LCD_WIDTH - 1 - 1;
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2;
+      uint8_t n = LCD_WIDTH - 1 - 2;
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -336,13 +537,13 @@ static void lcd_implementation_drawmenu_setting_edit_generic(uint8_t row, const
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data);
+      uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data);
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data);
+      uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data);
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -358,13 +559,13 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, cons
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data);
+      uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data);
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data);
+      uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data);
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -417,9 +618,9 @@ void lcd_implementation_drawedit(const char* pstr, char* value)
    lcd_printPGM(pstr);
    lcd.print(':');
   #if LCD_WIDTH < 20
-    	lcd.setCursor(LCD_WIDTH - strlen(value), 1);
+      lcd.setCursor(LCD_WIDTH - strlen(value), 1);
    #else
-    	lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1);
+      lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1);
   #endif
    lcd.print(value);
 }
@ -434,7 +635,7 @@ static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char*
        filename = longFilename;
        longFilename[LCD_WIDTH-1] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -454,7 +655,7 @@ static void lcd_implementation_drawmenu_sdfile(uint8_t row, const char* pstr, co
        filename = longFilename;
        longFilename[LCD_WIDTH-1] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -475,7 +676,7 @@ static void lcd_implementation_drawmenu_sddirectory_selected(uint8_t row, const
        filename = longFilename;
        longFilename[LCD_WIDTH-2] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -496,7 +697,7 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
        filename = longFilename;
        longFilename[LCD_WIDTH-2] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -516,15 +717,50 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
 static void lcd_implementation_quick_feedback()
 {
-#if BEEPER > -1
+#ifdef LCD_USE_I2C_BUZZER
    lcd.buzz(60,1000/6);
 #elif defined(BEEPER) && BEEPER > -1
    SET_OUTPUT(BEEPER);
    for(int8_t i=0;i<10;i++)
    {
-		WRITE(BEEPER,HIGH);
+      WRITE(BEEPER,HIGH);
-		delay(3);
+      delay(3);
-		WRITE(BEEPER,LOW);
+      WRITE(BEEPER,LOW);
-		delay(3);
+      delay(3);
    }
 #endif
 }
 #ifdef LCD_HAS_STATUS_INDICATORS
 static void lcd_implementation_update_indicators()
 {
  #if defined(LCD_I2C_PANELOLU2) || defined(LCD_I2C_VIKI)
    //set the LEDS - referred to as backlights by the LiquidTWI2 library 
    static uint8_t ledsprev = 0;
    uint8_t leds = 0;
    if (target_temperature_bed > 0) leds |= LED_A;
    if (target_temperature[0] > 0) leds |= LED_B;
    if (fanSpeed) leds |= LED_C;
    #if EXTRUDERS > 1  
      if (target_temperature[1] > 0) leds |= LED_C;
    #endif
    if (leds != ledsprev) {
      lcd.setBacklight(leds);
      ledsprev = leds;
    }
  #endif
 }
 #endif
 #ifdef LCD_HAS_SLOW_BUTTONS
 static uint8_t lcd_implementation_read_slow_buttons()
 {
  #ifdef LCD_I2C_TYPE_MCP23017
    // Reading these buttons this is likely to be too slow to call inside interrupt context
    // so they are called during normal lcd_update
    return lcd.readButtons() << B_I2C_BTN_OFFSET; 
  #endif
 }
 #endif
 #endif//ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H
--- a/Marlin/ultralcd_st7920_u8glib_rrd.h
+++ b/Marlin/ultralcd_st7920_u8glib_rrd.h
@ -0,0 +1,131 @@
 #ifndef ULCDST7920_H
 #define ULCDST7920_H
 #include "Marlin.h"
 #ifdef U8GLIB_ST7920
 //set optimization so ARDUINO optimizes this file
 #pragma GCC optimize (3)
 #define ST7920_CLK_PIN  LCD_PINS_D4
 #define ST7920_DAT_PIN  LCD_PINS_ENABLE
 #define ST7920_CS_PIN   LCD_PINS_RS
 //#define PAGE_HEIGHT 8   //128 byte frambuffer
 //#define PAGE_HEIGHT 16  //256 byte frambuffer
 #define PAGE_HEIGHT 32  //512 byte framebuffer
 #define WIDTH 128
 #define HEIGHT 64
 #include <U8glib.h>
 static void ST7920_SWSPI_SND_8BIT(uint8_t val)
 {
  uint8_t i;
  for( i=0; i<8; i++ )
  {
    WRITE(ST7920_CLK_PIN,0);
    WRITE(ST7920_DAT_PIN,val&0x80); 
    val<<=1;
    WRITE(ST7920_CLK_PIN,1);
  }
 }
 #define ST7920_CS()              {WRITE(ST7920_CS_PIN,1);u8g_10MicroDelay();}
 #define ST7920_NCS()             {WRITE(ST7920_CS_PIN,0);}
 #define ST7920_SET_CMD()         {ST7920_SWSPI_SND_8BIT(0xf8);u8g_10MicroDelay();}
 #define ST7920_SET_DAT()         {ST7920_SWSPI_SND_8BIT(0xfa);u8g_10MicroDelay();}
 #define ST7920_WRITE_BYTE(a)     {ST7920_SWSPI_SND_8BIT((a)&0xf0);ST7920_SWSPI_SND_8BIT((a)<<4);u8g_10MicroDelay();}
 #define ST7920_WRITE_BYTES(p,l)  {uint8_t i;for(i=0;i<l;i++){ST7920_SWSPI_SND_8BIT(*p&0xf0);ST7920_SWSPI_SND_8BIT(*p<<4);p++;}u8g_10MicroDelay();}
 uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, void *arg)
 {
  uint8_t i,y;
  switch(msg)
  {
    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);
        ST7920_CS();
        u8g_Delay(90);                 //initial delay for boot up
        ST7920_SET_CMD();
        ST7920_WRITE_BYTE(0x08);       //display off, cursor+blink off
        ST7920_WRITE_BYTE(0x01);       //clear CGRAM ram
        u8g_Delay(10);                 //delay for cgram clear
        ST7920_WRITE_BYTE(0x3E);       //extended mode + gdram active
        for(y=0;y<HEIGHT/2;y++)        //clear GDRAM
        {
          ST7920_WRITE_BYTE(0x80|y);   //set y
          ST7920_WRITE_BYTE(0x80);     //set x = 0
          ST7920_SET_DAT();
          for(i=0;i<2*WIDTH/8;i++)     //2x width clears both segments
            ST7920_WRITE_BYTE(0);
          ST7920_SET_CMD();
        }
        ST7920_WRITE_BYTE(0x0C); //display on, cursor+blink off
        ST7920_NCS();
      }
      break;
    case U8G_DEV_MSG_STOP:
      break;
    case U8G_DEV_MSG_PAGE_NEXT:
      {
        uint8_t *ptr;
        u8g_pb_t *pb = (u8g_pb_t *)(dev->dev_mem);
        y = pb->p.page_y0;
        ptr = (uint8_t*)pb->buf;
        ST7920_CS();
        for( i = 0; i < PAGE_HEIGHT; i ++ )
        {
          ST7920_SET_CMD();
          if ( y < 32 )
          {
            ST7920_WRITE_BYTE(0x80 | y);       //y
            ST7920_WRITE_BYTE(0x80);           //x=0
          }
          else
          {
            ST7920_WRITE_BYTE(0x80 | (y-32));  //y
            ST7920_WRITE_BYTE(0x80 | 8);       //x=64
          }
          ST7920_SET_DAT();
          ST7920_WRITE_BYTES(ptr,WIDTH/8); //ptr is incremented inside of macro
          y++;
        }
        ST7920_NCS();
      }
      break;
  }
 #if PAGE_HEIGHT == 8
  return u8g_dev_pb8h1_base_fn(u8g, dev, msg, arg);
 #elif PAGE_HEIGHT == 16
  return u8g_dev_pb16h1_base_fn(u8g, dev, msg, arg);
 #else
  return u8g_dev_pb32h1_base_fn(u8g, dev, msg, arg);
 #endif
 }
 uint8_t   u8g_dev_st7920_128x64_rrd_buf[WIDTH*(PAGE_HEIGHT/8)] U8G_NOCOMMON;
 u8g_pb_t  u8g_dev_st7920_128x64_rrd_pb = {{PAGE_HEIGHT,HEIGHT,0,0,0},WIDTH,u8g_dev_st7920_128x64_rrd_buf};
 u8g_dev_t u8g_dev_st7920_128x64_rrd_sw_spi = {u8g_dev_rrd_st7920_128x64_fn,&u8g_dev_st7920_128x64_rrd_pb,&u8g_com_null_fn};
 class U8GLIB_ST7920_128X64_RRD : public U8GLIB
 {
  public:
    U8GLIB_ST7920_128X64_RRD(uint8_t dummy) : U8GLIB(&u8g_dev_st7920_128x64_rrd_sw_spi) {}
 };
 #endif //U8GLIB_ST7920
 #endif //ULCDST7920_H
--- a/README.md
+++ b/README.md
@ -1,223 +1,249 @@
-WARNING: 
+==========================
--------
+Marlin 3D Printer Firmware
-THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
+==========================
-
+
-The configuration is now split in two files
+[![Flattr this git repo](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/ErikZalm/Marlin&title=Marlin&language=&tags=github&category=software)
-Configuration.h for the normal settings
+
-Configuration_adv.h for the advanced settings
+Quick Information
-
+===================
-Gen7T is not supported.
+This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
-
+
-Quick Information
+Derived from Sprinter and Grbl by Erik van der Zalm.
-===================
+Sprinters lead developers are Kliment and caru.
-This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
+Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
-
+A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
-Derived from Sprinter and Grbl by Erik van der Zalm.
+Some features have been added by:
-Sprinters lead developers are Kliment and caru.
+Lampmaker, Bradley Feldman, and others...
-Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
+
-A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
+
-Some features have been added by:
+Features:
-Lampmaker, Bradley Feldman, and others...
+
-
+*   Interrupt based movement with real linear acceleration
-
+*   High steprate
-Features:
+*   Look ahead (Keep the speed high when possible. High cornering speed)
-
+*   Interrupt based temperature protection
-*   Interrupt based movement with real linear acceleration
+*   preliminary support for Matthew Roberts advance algorithm 
-*   High steprate
+    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
-*   Look ahead (Keep the speed high when possible. High cornering speed)
+*   Full endstop support
-*   Interrupt based temperature protection
+*   SD Card support
-*   preliminary support for Matthew Roberts advance algorithm 
+*   SD Card folders (works in pronterface)
-    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+*   SD Card autostart support
-*   Full endstop support
+*   LCD support (ideally 20x4) 
-*   SD Card support
+*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
-*   SD Card folders (works in pronterface)
+*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
-*   SD Card autostart support
+*   many small but handy things originating from bkubicek's fork.
-*   LCD support (ideally 20x4) 
+*   Arc support
-*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
+*   Temperature oversampling
-*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
+*   Dynamic Temperature setpointing aka "AutoTemp"
-*   many small but handy things originating from bkubicek's fork.
+*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
-*   Arc support
+*   Endstop trigger reporting to the host software.
-*   Temperature oversampling
+*   Updated sdcardlib
-*   Dynamic Temperature setpointing aka "AutoTemp"
+*   Heater power reporting. Useful for PID monitoring.
-*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
+*   PID tuning
-*   Endstop trigger reporting to the host software.
+*   CoreXY kinematics (www.corexy.com/theory.html)
-*   Updated sdcardlib
+*   Configurable serial port to support connection of wireless adaptors.
-*   Heater power reporting. Useful for PID monitoring.
+*   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
-*   PID tuning
+
-*   CoreXY kinematics (www.corexy.com/theory.html)
+The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
-*   Configurable serial port to support connection of wireless adaptors.
+
-
+
-The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
+Differences and additions to the already good Sprinter firmware:
-
+================================================================
-
+
-Differences and additions to the already good Sprinter firmware:
+*Look-ahead:*
-================================================================
+
-
+Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
-*Look-ahead:*
+lookahead will only decelerate and accelerate to a velocity, 
-
+so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
-Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
+This is only possible, if some future moves are already processed, hence the name. 
-lookahead will only decelerate and accelerate to a velocity, 
+It leads to less over-deposition at corners, especially at flat angles.
-so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
+
-This is only possible, if some future moves are already processed, hence the name. 
+*Arc support:*
-It leads to less over-deposition at corners, especially at flat angles.
+
-
+Slic3r can find curves that, although broken into segments, were ment to describe an arc.
-*Arc support:*
+Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
-
+and can perform the arc with nearly constant velocity, resulting in a nice finish. 
-Slic3r can find curves that, although broken into segments, were ment to describe an arc.
+Also, less serial communication is needed.
-Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
+
-and can perform the arc with nearly constant velocity, resulting in a nice finish. 
+*Temperature Oversampling:*
-Also, less serial communication is needed.
+
-
+To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
-*Temperature Oversampling:*
+
-
+*AutoTemp:*
-To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
+
-
+If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
-*AutoTemp:*
+Usually, higher speed requires higher temperature.
-
+This can now be performed by the AutoTemp function
-If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
+By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
-Usually, higher speed requires higher temperature.
+
-This can now be performed by the AutoTemp function
+You can leave it by calling M109 without any F.
-By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
+If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
-
+The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
-You can leave it by calling M109 without any F.
+If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
-If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
+Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
-The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
+
-If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
+*EEPROM:*
-Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
+
-
+If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
-*EEPROM:*
+After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
-
+
-If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
+*LCD Menu:*
-After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
+
-
+If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
-*LCD Menu:*
+accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
-
+One working hardware is documented here: http://www.thingiverse.com/thing:12663 
-If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
+Also, with just a 20x4 or 16x2 display, useful data is shown.
-accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
+
-One working hardware is documented here: http://www.thingiverse.com/thing:12663 
+*SD card folders:*
-Also, with just a 20x4 or 16x2 display, useful data is shown.
+
-
+If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
-*SD card folders:*
+You can write to file in a subfolder by specifying a similar text using small letters in the path.
-
+Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
-If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
+
-You can write to file in a subfolder by specifying a similar text using small letters in the path.
+*SD card folders:*
-Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
+
-
+If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
-*SD card folders:*
+First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
-
+
-If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
+*Endstop trigger reporting:*
-First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
+
-
+If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
-*Endstop trigger reporting:*
+This is useful, because the user gets a warning message.
-
+However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
-If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
+
-This is useful, because the user gets a warning message.
+*Coding paradigm:*
-However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
+
-
+Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
-*Coding paradigm:*
+This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
-
+We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
-Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
+A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
-This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
+In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
-We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
+some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
-A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
+necessary for backwards compatibility.
-In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
+
-some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
+*Interrupt based temperature measurements:*
-necessary for backwards compatibility.
+
-
+An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
-*Interrupt based temperature measurements:*
+This leads to less blocking in the heater management routine.
-
+
-An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
+Implemented G Codes:
-This leads to less blocking in the heater management routine.
+====================
-
+
-
+*  G0  -> G1
-Non-standard M-Codes, different to an old version of sprinter:
+*  G1  - Coordinated Movement X Y Z E
-==============================================================
+*  G2  - CW ARC
-Movement:
+*  G3  - CCW ARC
-
+*  G4  - Dwell S<seconds> or P<milliseconds>
-*   G2  - CW ARC
+*  G10 - retract filament according to settings of M207
-*   G3  - CCW ARC
+*  G11 - retract recover filament according to settings of M208
-
+*  G28 - Home all Axis
-General:
+*  G90 - Use Absolute Coordinates
-
+*  G91 - Use Relative Coordinates
-*   M17  - Enable/Power all stepper motors. Compatibility to ReplicatorG.
+*  G92 - Set current position to cordinates given
-*   M18  - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
+
-*   M30  - Print time since last M109 or SD card start to serial
+RepRap M Codes
-*   M42  - Change pin status via gcode
+*  M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
-*   M80  - Turn on Power Supply
+*  M1   - Same as M0
-*   M81  - Turn off Power Supply
+*  M104 - Set extruder target temp
-*   M114 - Output current position to serial port 
+*  M105 - Read current temp
-*   M119 - Output Endstop status to serial port
+*  M106 - Fan on
-
+*  M107 - Fan off
-Movement variables:
+*  M109 - Wait for extruder current temp to reach target temp.
-
+*  M114 - Display current position
-*   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+
-*   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+Custom M Codes
-*   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*  M17  - Enable/Power all stepper motors
-*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
+*  M18  - Disable all stepper motors; same as M84
-*   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
+*  M20  - List SD card
-*   M221 - set the extrude multiplying S:factor in percent
+*  M21  - Init SD card
-*   M400 - Finish all buffered moves.
+*  M22  - Release SD card
-
+*  M23  - Select SD file (M23 filename.g)
-Temperature variables:
+*  M24  - Start/resume SD print
-*   M301 - Set PID parameters P I and D
+*  M25  - Pause SD print
-*   M302 - Allow cold extrudes
+*  M26  - Set SD position in bytes (M26 S12345)
-*   M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+*  M27  - Report SD print status
-
+*  M28  - Start SD write (M28 filename.g)
-Advance:
+*  M29  - Stop SD write
-
+*  M30  - Delete file from SD (M30 filename.g)
-*   M200 - Set filament diameter for advance
+*  M31  - Output time since last M109 or SD card start to serial
-*   M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+*  M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
-
+*  M80  - Turn on Power Supply
-EEPROM:
+*  M81  - Turn off Power Supply
-
+*  M82  - Set E codes absolute (default)
-*   M500 - stores paramters in EEPROM. This parameters are stored:  axis_steps_per_unit,  max_feedrate, max_acceleration  ,acceleration,retract_acceleration,
+*  M83  - Set E codes relative while in Absolute Coordinates (G90) mode
-  minimumfeedrate,mintravelfeedrate,minsegmenttime,  jerk velocities, PID
+*  M84  - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
-*   M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+*  M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
-*   M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+*  M92  - Set axis_steps_per_unit - same syntax as G92
-*   M503 - print the current settings (from memory not from eeprom)
+*  M114 - Output current position to serial port
-
+*  M115 - Capabilities string
-MISC:
+*  M117 - display message
-
+*  M119 - Output Endstop status to serial port
-*   M240 - Trigger a camera to take a photograph
+*  M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
-*   M999 - Restart after being stopped by error
+*  M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
-
+*  M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
-Configuring and compilation:
+*  M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
-============================
+*  M140 - Set bed target temp
-
+*  M190 - Wait for bed current temp to reach target temp.
-Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
+*  M200 - Set filament diameter
-   http://www.arduino.cc/en/Main/Software
+*  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
-
+*  M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
+*  M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
+*  M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-
+*  M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
-Install Ultimaker's RepG 25 build
+*  M206 - set additional homeing offset
-    http://software.ultimaker.com
+*  M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
-For SD handling and as better substitute (apart from stl manipulation) download
+*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
-the very nice Kliment's printrun/pronterface  https://github.com/kliment/Printrun
+*  M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
-
+*  M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-Copy the Ultimaker Marlin firmware
+*  M220 S<factor in percent>- set speed factor override percentage
-   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
+*  M221 S<factor in percent>- set extrude factor override percentage
-   (Use the download button)
+*  M240 - Trigger a camera to take a photograph
-
+*  M280 - set servo position absolute. P: servo index, S: angle or microseconds
-Start the arduino IDE.
+*  M300 - Play beepsound S<frequency Hz> P<duration ms>
-Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
+*  M301 - Set PID parameters P I and D
-Select the correct serial port in Tools ->Serial Port
+*  M302 - Allow cold extrudes
-Open Marlin.pde
+*  M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
-
+*  M304 - Set bed PID parameters P I and D
-Click the Verify/Compile button
+*  M400 - Finish all moves
-
+*  M500 - stores paramters in EEPROM
-Click the Upload button
+*  M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
-If all goes well the firmware is uploading
+*  M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-
+*  M503 - print the current settings (from memory not from eeprom)
-Start Ultimaker's Custom RepG 25
+*  M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-Make sure Show Experimental Profiles is enabled in Preferences
+*  M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
-Select Sprinter as the Driver
+*  M907 - Set digital trimpot motor current using axis codes.
-
+*  M908 - Control digital trimpot directly.
-Press the Connect button.
+*  M350 - Set microstepping mode.
-
+*  M351 - Toggle MS1 MS2 pins directly.
-KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
+*  M928 - Start SD logging (M928 filename.g) - ended by M29
-
+*  M999 - Restart after being stopped by error
-That's ok.  Enjoy Silky Smooth Printing.
+
-
+
-
+Configuring and compilation:
-
+============================
 Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
   http://www.arduino.cc/en/Main/Software
 For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
 Copy the Marlin firmware
   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
   (Use the download button)
 Start the arduino IDE.
 Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
 Select the correct serial port in Tools ->Serial Port
 Open Marlin.pde
 Click the Verify/Compile button
 Click the Upload button
 If all goes well the firmware is uploading
 That's ok.  Enjoy Silky Smooth Printing.