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

Conflicts:
	Marlin/Marlin_main.cpp

Marlin/Configuration.h

@@ -145,7 +145,7 @@
 #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 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
@@ -282,9 +282,12 @@
 #endif
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS
 
@@ -383,7 +386,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 //#define EEPROM_CHITCHAT
 
 // Preheat Constants
-#define PLA_PREHEAT_HOTEND_TEMP 180 
+#define PLA_PREHEAT_HOTEND_TEMP 180
 #define PLA_PREHEAT_HPB_TEMP 70
 #define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 
@@ -468,7 +471,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   #define LCD_I2C_TYPE_PCF8575
   #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
   #define NEWPANEL
-  #define ULTIPANEL 
+  #define ULTIPANEL
 #endif
 
 // PANELOLU2 LCD with status LEDs, separate encoder and click inputs
@@ -477,13 +480,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   // 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). 
+  // 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 
+  #define ULTIPANEL
 #endif
 
 // Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
@@ -493,11 +496,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   // 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_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 
+  #define ULTIPANEL
 #endif
 
 #ifdef ULTIPANEL
@@ -569,10 +572,10 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
 
 // 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
 

Marlin/Makefile

@@ -312,7 +312,12 @@ LDFLAGS = -lm
 # Programming support using avrdude. Settings and variables.
 AVRDUDE_PORT = $(UPLOAD_PORT)
 AVRDUDE_WRITE_FLASH = -U flash:w:$(BUILD_DIR)/$(TARGET).hex:i
-AVRDUDE_FLAGS = -D -C $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf \
+ifeq ($(shell uname -s), Linux)
+AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/hardware/tools/avrdude.conf
+else
+AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
+endif
+AVRDUDE_FLAGS = -D -C $(AVRDUDE_CONF) \
 	-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
 	-b $(UPLOAD_RATE)
 

Marlin/Marlin.h

@@ -51,22 +51,22 @@
   #define MYSERIAL MSerial
 #endif
 
-#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
-#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
-#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
-#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MYSERIAL.write('\n');}
+#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
+#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
+#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
+#define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
+#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
 
 
 const char errormagic[] PROGMEM ="Error:";
 const char echomagic[] PROGMEM ="echo:";
-#define SERIAL_ERROR_START serialprintPGM(errormagic);
+#define SERIAL_ERROR_START (serialprintPGM(errormagic))
 #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
 #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
 #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
 #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
 
-#define SERIAL_ECHO_START serialprintPGM(echomagic);
+#define SERIAL_ECHO_START (serialprintPGM(echomagic))
 #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
 #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
 #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)

Marlin/Marlin_main.cpp

@@ -431,10 +431,10 @@ void setup()
 
   lcd_init();
   _delay_ms(1000);	// wait 1sec to display the splash screen
-  
+
   #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
     SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
-  #endif 
+  #endif
 }
 
 
@@ -691,15 +691,15 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
   #endif
   #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
     #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
-  #endif  
-    
+  #endif
+
 static float x_home_pos(int extruder) {
   if (extruder == 0)
     return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
   else
     // In dual carriage mode the extruder offset provides an override of the
     // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
-    // This allow soft recalibration of the second extruder offset position without firmware reflash 
+    // This allow soft recalibration of the second extruder offset position without firmware reflash
     // (through the M218 command).
     return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
 }
@@ -709,7 +709,7 @@ static int x_home_dir(int extruder) {
 }
 
 static float inactive_x_carriage_pos = X2_MAX_POS;
-#endif     
+#endif
 
 static void axis_is_at_home(int axis) {
 #ifdef DUAL_X_CARRIAGE
@@ -719,7 +719,7 @@ static void axis_is_at_home(int axis) {
     max_pos[X_AXIS] =          max(extruder_offset[X_AXIS][1], X2_MAX_POS);
     return;
   }
-#endif  
+#endif
   current_position[axis] = base_home_pos(axis) + add_homeing[axis];
   min_pos[axis] =          base_min_pos(axis) + add_homeing[axis];
   max_pos[axis] =          base_max_pos(axis) + add_homeing[axis];
@@ -745,7 +745,7 @@ static void homeaxis(int axis) {
         servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
       }
     #endif
-      
+
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
     destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
@@ -879,7 +879,7 @@ void process_commands()
           current_position[X_AXIS] = 0;
           current_position[Y_AXIS] = 0;
           current_position[Z_AXIS] = 0;
-          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); 
+          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 
           destination[X_AXIS] = 3 * Z_MAX_LENGTH;
           destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
@@ -892,7 +892,7 @@ void process_commands()
           current_position[X_AXIS] = destination[X_AXIS];
           current_position[Y_AXIS] = destination[Y_AXIS];
           current_position[Z_AXIS] = destination[Z_AXIS];
-          
+
           // take care of back off and rehome now we are all at the top
           HOMEAXIS(X);
           HOMEAXIS(Y);
@@ -921,7 +921,7 @@ void process_commands()
        #else
         int x_axis_home_dir = x_home_dir(active_extruder);
        #endif
-        
+
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
         feedrate = homing_feedrate[X_AXIS];
@@ -954,7 +954,7 @@ void process_commands()
         HOMEAXIS(X);
         inactive_x_carriage_pos = current_position[X_AXIS];
         active_extruder = tmp_extruder;
-      #endif         
+      #endif
         HOMEAXIS(X);
       }
 
@@ -988,7 +988,7 @@ void process_commands()
       }
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 #endif // else DELTA
-          
+
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
       #endif
@@ -1223,9 +1223,9 @@ void process_commands()
           SERIAL_PROTOCOLPGM(" T");
           SERIAL_PROTOCOL(cur_extruder);
           SERIAL_PROTOCOLPGM(":");
-          SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); 
+          SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
           SERIAL_PROTOCOLPGM(" /");
-          SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1); 
+          SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
         }
       #else
         SERIAL_ERROR_START;
@@ -1250,7 +1250,7 @@ void process_commands()
       #ifdef AUTOTEMP
         autotemp_enabled=false;
       #endif
-      if (code_seen('S')) { 
+      if (code_seen('S')) {
         setTargetHotend(code_value(), tmp_extruder);
         CooldownNoWait = true;
       } else if (code_seen('R')) {
@@ -1327,7 +1327,7 @@ void process_commands()
     case 190: // M190 - Wait for bed heater to reach target.
     #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
         LCD_MESSAGEPGM(MSG_BED_HEATING);
-        if (code_seen('S')) { 
+        if (code_seen('S')) {
           setTargetBed(code_value());
           CooldownNoWait = true;
         } else if (code_seen('R')) {
@@ -1335,9 +1335,9 @@ void process_commands()
           CooldownNoWait = false;
         }
         codenum = millis();
-        
+
         target_direction = isHeatingBed(); // true if heating, false if cooling
-        
+
         while ( target_direction ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
         {
           if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
@@ -1417,7 +1417,7 @@ void process_commands()
         #endif
         break;
       #endif
-      
+
       case 81: // M81 - Turn off Power Supply
         disable_heater();
         st_synchronize();
@@ -1542,27 +1542,27 @@ void process_commands()
     SERIAL_PROTOCOLLN(MSG_M119_REPORT);
       #if defined(X_MIN_PIN) && X_MIN_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_X_MIN);
-        SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       #if defined(X_MAX_PIN) && X_MAX_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_X_MAX);
-        SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_Y_MIN);
-        SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_Y_MAX);
-        SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_Z_MIN);
-        SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
         SERIAL_PROTOCOLPGM(MSG_Z_MAX);
-        SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+        SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
       #endif
       break;
       //TODO: update for all axis, use for loop
@@ -1699,7 +1699,7 @@ void process_commands()
       }
     }
     break;
-    
+
     #if NUM_SERVOS > 0
     case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
       {
@@ -1987,7 +1987,7 @@ void process_commands()
             delay(3);
             WRITE(BEEPER,LOW);
             delay(3);
-          #else 
+          #else
             lcd_buzz(1000/6,100);
           #endif
           }
@@ -2103,8 +2103,8 @@ void process_commands()
         active_extruder = tmp_extruder;
         axis_is_at_home(X_AXIS); //this function updates X min/max values.
         current_position[X_AXIS] = inactive_x_carriage_pos;
-        inactive_x_carriage_pos = tmp_x_pos;      
-      #else    
+        inactive_x_carriage_pos = tmp_x_pos;
+      #else
         // Offset extruder (only by XY)
         int i;
         for(i = 0; i < 2; i++) {
@@ -2340,10 +2340,10 @@ void prepare_arc_move(char isclockwise) {
 #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
 
 #if defined(FAN_PIN)
-  #if CONTROLLERFAN_PIN == FAN_PIN 
+  #if CONTROLLERFAN_PIN == FAN_PIN
     #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
   #endif
-#endif  
+#endif
 
 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
 unsigned long lastMotorCheck = 0;
@@ -2368,17 +2368,17 @@ void controllerFan()
     {
       lastMotor = millis(); //... set time to NOW so the fan will turn on
     }
-    
-    if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...   
+
+    if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
     {
-        digitalWrite(CONTROLLERFAN_PIN, 0); 
-        analogWrite(CONTROLLERFAN_PIN, 0); 
+        digitalWrite(CONTROLLERFAN_PIN, 0);
+        analogWrite(CONTROLLERFAN_PIN, 0);
     }
     else
     {
         // allows digital or PWM fan output to be used (see M42 handling)
         digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
-        analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED); 
+        analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
     }
   }
 }
@@ -2445,7 +2445,7 @@ void kill()
 
 #if defined(PS_ON_PIN) && PS_ON_PIN > -1
   pinMode(PS_ON_PIN,INPUT);
-#endif  
+#endif
   SERIAL_ERROR_START;
   SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
   LCD_ALERTMESSAGEPGM(MSG_KILLED);

Marlin/example_configurations/delta/Configuration.h

@@ -141,7 +141,7 @@
 #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 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
@@ -278,9 +278,12 @@
 #endif
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
-const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
-const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
+const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 
 // deltas never have min endstops
 #define DISABLE_MIN_ENDSTOPS
@@ -386,7 +389,7 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
 //#define EEPROM_CHITCHAT
 
 // Preheat Constants
-#define PLA_PREHEAT_HOTEND_TEMP 180 
+#define PLA_PREHEAT_HOTEND_TEMP 180
 #define PLA_PREHEAT_HPB_TEMP 70
 #define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
 
@@ -471,7 +474,7 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
   #define LCD_I2C_TYPE_PCF8575
   #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
   #define NEWPANEL
-  #define ULTIPANEL 
+  #define ULTIPANEL
 #endif
 
 // PANELOLU2 LCD with status LEDs, separate encoder and click inputs
@@ -480,13 +483,13 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
   // 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). 
+  // 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 
+  #define ULTIPANEL
 #endif
 
 // Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
@@ -496,11 +499,11 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
   // 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_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 
+  #define ULTIPANEL
 #endif
 
 #ifdef ULTIPANEL
@@ -572,10 +575,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
 //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
 
 // 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
 

Marlin/stepper.cpp

@@ -48,8 +48,8 @@ block_t *current_block;  // A pointer to the block currently being traced
 // Variables used by The Stepper Driver Interrupt
 static unsigned char out_bits;        // The next stepping-bits to be output
 static long counter_x,       // Counter variables for the bresenham line tracer
-            counter_y, 
-            counter_z,       
+            counter_y,
+            counter_z,
             counter_e;
 volatile static unsigned long step_events_completed; // The number of step events executed in the current block
 #ifdef ADVANCE
@@ -224,27 +224,27 @@ void enable_endstops(bool check)
 //   |               BLOCK 1            |      BLOCK 2          |    d
 //
 //                           time ----->
-// 
-//  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates 
-//  first block->accelerate_until step_events_completed, then keeps going at constant speed until 
+//
+//  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
+//  first block->accelerate_until step_events_completed, then keeps going at constant speed until
 //  step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
 //  The slope of acceleration is calculated with the leib ramp alghorithm.
 
 void st_wake_up() {
   //  TCNT1 = 0;
-  ENABLE_STEPPER_DRIVER_INTERRUPT();  
+  ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 
 void step_wait(){
     for(int8_t i=0; i < 6; i++){
     }
 }
-  
+
 
 FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
-  
+
   if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
     step_rate = (step_rate >> 2)&0x3fff;
     step_loops = 4;
@@ -255,11 +255,11 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   }
   else {
     step_loops = 1;
-  } 
-  
+  }
+
   if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
   step_rate -= (F_CPU/500000); // Correct for minimal speed
-  if(step_rate >= (8*256)){ // higher step rate 
+  if(step_rate >= (8*256)){ // higher step rate
     unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
     unsigned char tmp_step_rate = (step_rate & 0x00ff);
     unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
@@ -276,7 +276,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   return timer;
 }
 
-// Initializes the trapezoid generator from the current block. Called whenever a new 
+// Initializes the trapezoid generator from the current block. Called whenever a new
 // block begins.
 FORCE_INLINE void trapezoid_generator_reset() {
   #ifdef ADVANCE
@@ -284,7 +284,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
     final_advance = current_block->final_advance;
     // Do E steps + advance steps
     e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
-    old_advance = advance >>8;  
+    old_advance = advance >>8;
   #endif
   deceleration_time = 0;
   // step_rate to timer interval
@@ -294,7 +294,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
   acc_step_rate = current_block->initial_rate;
   acceleration_time = calc_timer(acc_step_rate);
   OCR1A = acceleration_time;
-  
+
 //    SERIAL_ECHO_START;
 //    SERIAL_ECHOPGM("advance :");
 //    SERIAL_ECHO(current_block->advance/256.0);
@@ -304,13 +304,13 @@ FORCE_INLINE void trapezoid_generator_reset() {
 //  SERIAL_ECHO(current_block->initial_advance/256.0);
 //    SERIAL_ECHOPGM("final advance :");
 //    SERIAL_ECHOLN(current_block->final_advance/256.0);
-    
+
 }
 
-// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.  
-// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
+// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
+// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
 ISR(TIMER1_COMPA_vect)
-{    
+{
   // If there is no current block, attempt to pop one from the buffer
   if (current_block == NULL) {
     // Anything in the buffer?
@@ -322,24 +322,24 @@ ISR(TIMER1_COMPA_vect)
       counter_y = counter_x;
       counter_z = counter_x;
       counter_e = counter_x;
-      step_events_completed = 0; 
-      
-      #ifdef Z_LATE_ENABLE 
+      step_events_completed = 0;
+
+      #ifdef Z_LATE_ENABLE
         if(current_block->steps_z > 0) {
           enable_z();
           OCR1A = 2000; //1ms wait
           return;
         }
       #endif
-      
+
 //      #ifdef ADVANCE
 //      e_steps[current_block->active_extruder] = 0;
 //      #endif
-    } 
+    }
     else {
         OCR1A=2000; // 1kHz.
-    }    
-  } 
+    }
+  }
 
   if (current_block != NULL) {
     // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
@@ -352,7 +352,7 @@ ISR(TIMER1_COMPA_vect)
       if (active_extruder != 0)
         WRITE(X2_DIR_PIN,INVERT_X_DIR);
       else
-      #endif        
+      #endif
         WRITE(X_DIR_PIN, INVERT_X_DIR);
       count_direction[X_AXIS]=-1;
     }
@@ -361,7 +361,7 @@ ISR(TIMER1_COMPA_vect)
       if (active_extruder != 0)
         WRITE(X2_DIR_PIN,!INVERT_X_DIR);
       else
-      #endif        
+      #endif
         WRITE(X_DIR_PIN, !INVERT_X_DIR);
       count_direction[X_AXIS]=1;
     }
@@ -373,7 +373,7 @@ ISR(TIMER1_COMPA_vect)
       WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
       count_direction[Y_AXIS]=1;
     }
-    
+
     // Set direction en check limit switches
     #ifndef COREXY
     if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
@@ -385,10 +385,10 @@ ISR(TIMER1_COMPA_vect)
         #ifdef DUAL_X_CARRIAGE
         // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
         if ((active_extruder == 0 && X_HOME_DIR == -1) || (active_extruder != 0 && X2_HOME_DIR == -1))
-        #endif          
+        #endif
         {
           #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-            bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+            bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
             if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -400,15 +400,15 @@ ISR(TIMER1_COMPA_vect)
       }
     }
     else { // +direction
-      CHECK_ENDSTOPS 
+      CHECK_ENDSTOPS
       {
         #ifdef DUAL_X_CARRIAGE
         // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
         if ((active_extruder == 0 && X_HOME_DIR == 1) || (active_extruder != 0 && X2_HOME_DIR == 1))
-        #endif          
+        #endif
         {
           #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-            bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+            bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
             if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -416,7 +416,7 @@ ISR(TIMER1_COMPA_vect)
             }
             old_x_max_endstop = x_max_endstop;
           #endif
-        }  
+        }
       }
     }
 
@@ -428,7 +428,7 @@ ISR(TIMER1_COMPA_vect)
       CHECK_ENDSTOPS
       {
         #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -442,7 +442,7 @@ ISR(TIMER1_COMPA_vect)
       CHECK_ENDSTOPS
       {
         #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -455,16 +455,16 @@ ISR(TIMER1_COMPA_vect)
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
-      
+
 	  #ifdef Z_DUAL_STEPPER_DRIVERS
         WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
       #endif
-      
+
       count_direction[Z_AXIS]=-1;
       CHECK_ENDSTOPS
       {
         #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -485,7 +485,7 @@ ISR(TIMER1_COMPA_vect)
       CHECK_ENDSTOPS
       {
         #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
-          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -506,10 +506,10 @@ ISR(TIMER1_COMPA_vect)
         count_direction[E_AXIS]=1;
       }
     #endif //!ADVANCE
-    
 
-    
-    for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
+
+
+    for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
       #ifndef AT90USB
       MSerial.checkRx(); // Check for serial chars.
       #endif
@@ -524,7 +524,7 @@ ISR(TIMER1_COMPA_vect)
         else {
           e_steps[current_block->active_extruder]++;
         }
-      }    
+      }
       #endif //ADVANCE
 
         counter_x += current_block->steps_x;
@@ -533,38 +533,38 @@ ISR(TIMER1_COMPA_vect)
           if (active_extruder != 0)
             WRITE(X2_STEP_PIN,!INVERT_X_STEP_PIN);
           else
-          #endif        
+          #endif
             WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
           counter_x -= current_block->step_event_count;
-          count_position[X_AXIS]+=count_direction[X_AXIS];   
+          count_position[X_AXIS]+=count_direction[X_AXIS];
           #ifdef DUAL_X_CARRIAGE
           if (active_extruder != 0)
             WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
           else
-          #endif        
+          #endif
             WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
         }
-  
+
         counter_y += current_block->steps_y;
         if (counter_y > 0) {
           WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
-          counter_y -= current_block->step_event_count; 
-          count_position[Y_AXIS]+=count_direction[Y_AXIS]; 
+          counter_y -= current_block->step_event_count;
+          count_position[Y_AXIS]+=count_direction[Y_AXIS];
           WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
         }
-  
+
       counter_z += current_block->steps_z;
       if (counter_z > 0) {
         WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
-        
+
 		#ifdef Z_DUAL_STEPPER_DRIVERS
           WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
         #endif
-        
+
         counter_z -= current_block->step_event_count;
         count_position[Z_AXIS]+=count_direction[Z_AXIS];
         WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
-        
+
 		#ifdef Z_DUAL_STEPPER_DRIVERS
           WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
         #endif
@@ -579,17 +579,17 @@ ISR(TIMER1_COMPA_vect)
           WRITE_E_STEP(INVERT_E_STEP_PIN);
         }
       #endif //!ADVANCE
-      step_events_completed += 1;  
+      step_events_completed += 1;
       if(step_events_completed >= current_block->step_event_count) break;
     }
     // Calculare new timer value
     unsigned short timer;
     unsigned short step_rate;
     if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
-      
+
       MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
       acc_step_rate += current_block->initial_rate;
-      
+
       // upper limit
       if(acc_step_rate > current_block->nominal_rate)
         acc_step_rate = current_block->nominal_rate;
@@ -605,13 +605,13 @@ ISR(TIMER1_COMPA_vect)
         //if(advance > current_block->advance) advance = current_block->advance;
         // Do E steps + advance steps
         e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
-        old_advance = advance >>8;  
-        
+        old_advance = advance >>8;
+
       #endif
-    } 
-    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {   
+    }
+    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
       MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
-      
+
       if(step_rate > acc_step_rate) { // Check step_rate stays positive
         step_rate = current_block->final_rate;
       }
@@ -634,7 +634,7 @@ ISR(TIMER1_COMPA_vect)
         if(advance < final_advance) advance = final_advance;
         // Do E steps + advance steps
         e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
-        old_advance = advance >>8;  
+        old_advance = advance >>8;
       #endif //ADVANCE
     }
     else {
@@ -643,12 +643,12 @@ ISR(TIMER1_COMPA_vect)
       step_loops = step_loops_nominal;
     }
 
-    // If current block is finished, reset pointer 
+    // If current block is finished, reset pointer
     if (step_events_completed >= current_block->step_event_count) {
       current_block = NULL;
       plan_discard_current_block();
-    }   
-  } 
+    }
+  }
 }
 
 #ifdef ADVANCE
@@ -667,7 +667,7 @@ ISR(TIMER1_COMPA_vect)
           WRITE(E0_DIR_PIN, INVERT_E0_DIR);
           e_steps[0]++;
           WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
-        } 
+        }
         else if (e_steps[0] > 0) {
           WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
           e_steps[0]--;
@@ -681,7 +681,7 @@ ISR(TIMER1_COMPA_vect)
           WRITE(E1_DIR_PIN, INVERT_E1_DIR);
           e_steps[1]++;
           WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
-        } 
+        }
         else if (e_steps[1] > 0) {
           WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
           e_steps[1]--;
@@ -696,7 +696,7 @@ ISR(TIMER1_COMPA_vect)
           WRITE(E2_DIR_PIN, INVERT_E2_DIR);
           e_steps[2]++;
           WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
-        } 
+        }
         else if (e_steps[2] > 0) {
           WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
           e_steps[2]--;
@@ -712,7 +712,7 @@ void st_init()
 {
   digipot_init(); //Initialize Digipot Motor Current
   microstep_init(); //Initialize Microstepping Pins
-  
+
   //Initialize Dir Pins
   #if defined(X_DIR_PIN) && X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
@@ -720,17 +720,17 @@ void st_init()
   #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
     SET_OUTPUT(X2_DIR_PIN);
   #endif
-  #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 
+  #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
     SET_OUTPUT(Y_DIR_PIN);
   #endif
-  #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1 
+  #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
     SET_OUTPUT(Z_DIR_PIN);
 
     #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
       SET_OUTPUT(Z2_DIR_PIN);
     #endif
   #endif
-  #if defined(E0_DIR_PIN) && 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)
@@ -757,7 +757,7 @@ void st_init()
   #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) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
       SET_OUTPUT(Z2_ENABLE_PIN);
       if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
@@ -777,67 +777,67 @@ void st_init()
   #endif
 
   //endstops and pullups
-  
+
   #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-    SET_INPUT(X_MIN_PIN); 
+    SET_INPUT(X_MIN_PIN);
     #ifdef ENDSTOPPULLUP_XMIN
       WRITE(X_MIN_PIN,HIGH);
     #endif
   #endif
-      
+
   #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-    SET_INPUT(Y_MIN_PIN); 
+    SET_INPUT(Y_MIN_PIN);
     #ifdef ENDSTOPPULLUP_YMIN
       WRITE(Y_MIN_PIN,HIGH);
     #endif
   #endif
-  
+
   #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-    SET_INPUT(Z_MIN_PIN); 
+    SET_INPUT(Z_MIN_PIN);
     #ifdef ENDSTOPPULLUP_ZMIN
       WRITE(Z_MIN_PIN,HIGH);
     #endif
   #endif
-      
+
   #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-    SET_INPUT(X_MAX_PIN); 
+    SET_INPUT(X_MAX_PIN);
     #ifdef ENDSTOPPULLUP_XMAX
       WRITE(X_MAX_PIN,HIGH);
     #endif
   #endif
-      
+
   #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-    SET_INPUT(Y_MAX_PIN); 
+    SET_INPUT(Y_MAX_PIN);
     #ifdef ENDSTOPPULLUP_YMAX
       WRITE(Y_MAX_PIN,HIGH);
     #endif
   #endif
-  
+
   #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
-    SET_INPUT(Z_MAX_PIN); 
+    SET_INPUT(Z_MAX_PIN);
     #ifdef ENDSTOPPULLUP_ZMAX
       WRITE(Z_MAX_PIN,HIGH);
     #endif
   #endif
- 
+
 
   //Initialize Step Pins
-  #if defined(X_STEP_PIN) && (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 defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) 
+  #endif
+  #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
     SET_OUTPUT(X2_STEP_PIN);
     WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
     disable_x();
-  #endif  
-  #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) 
+  #endif
+  #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 defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) 
+  #endif
+  #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) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
@@ -845,33 +845,33 @@ void st_init()
       WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
     #endif
     disable_z();
-  #endif  
-  #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) 
+  #endif
+  #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
     SET_OUTPUT(E0_STEP_PIN);
     WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e0();
-  #endif  
-  #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) 
+  #endif
+  #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
     SET_OUTPUT(E1_STEP_PIN);
     WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e1();
-  #endif  
-  #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) 
+  #endif
+  #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
     SET_OUTPUT(E2_STEP_PIN);
     WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
     disable_e2();
-  #endif  
+  #endif
 
   // waveform generation = 0100 = CTC
   TCCR1B &= ~(1<<WGM13);
   TCCR1B |=  (1<<WGM12);
-  TCCR1A &= ~(1<<WGM11); 
+  TCCR1A &= ~(1<<WGM11);
   TCCR1A &= ~(1<<WGM10);
 
   // output mode = 00 (disconnected)
-  TCCR1A &= ~(3<<COM1A0); 
-  TCCR1A &= ~(3<<COM1B0); 
-  
+  TCCR1A &= ~(3<<COM1A0);
+  TCCR1A &= ~(3<<COM1B0);
+
   // Set the timer pre-scaler
   // Generally we use a divider of 8, resulting in a 2MHz timer
   // frequency on a 16MHz MCU. If you are going to change this, be
@@ -881,19 +881,19 @@ void st_init()
 
   OCR1A = 0x4000;
   TCNT1 = 0;
-  ENABLE_STEPPER_DRIVER_INTERRUPT();  
+  ENABLE_STEPPER_DRIVER_INTERRUPT();
 
   #ifdef ADVANCE
   #if defined(TCCR0A) && defined(WGM01)
     TCCR0A &= ~(1<<WGM01);
     TCCR0A &= ~(1<<WGM00);
-  #endif  
+  #endif
     e_steps[0] = 0;
     e_steps[1] = 0;
     e_steps[2] = 0;
     TIMSK0 |= (1<<OCIE0A);
   #endif //ADVANCE
-  
+
   enable_endstops(true); // Start with endstops active. After homing they can be disabled
   sei();
 }
@@ -937,13 +937,13 @@ long st_get_position(uint8_t axis)
 
 void finishAndDisableSteppers()
 {
-  st_synchronize(); 
-  disable_x(); 
-  disable_y(); 
-  disable_z(); 
-  disable_e0(); 
-  disable_e1(); 
-  disable_e2(); 
+  st_synchronize();
+  disable_x();
+  disable_y();
+  disable_z();
+  disable_e0();
+  disable_e1();
+  disable_e2();
 }
 
 void quickStop()
@@ -970,10 +970,10 @@ void digipot_init() //Initialize Digipot Motor Current
 {
   #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
     const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
-    
-    SPI.begin(); 
-    pinMode(DIGIPOTSS_PIN, OUTPUT);    
-    for(int i=0;i<=4;i++) 
+
+    SPI.begin();
+    pinMode(DIGIPOTSS_PIN, OUTPUT);
+    for(int i=0;i<=4;i++)
       //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
       digipot_current(i,digipot_motor_current[i]);
   #endif

Marlin/temperature.cpp

@@ -244,7 +244,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
               Kp = 0.6*Ku;
               Ki = 2*Kp/Tu;
               Kd = Kp*Tu/8;
-              SERIAL_PROTOCOLLNPGM(" Clasic PID ")
+              SERIAL_PROTOCOLLNPGM(" Clasic PID ");
               SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
               SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
               SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
@@ -436,10 +436,9 @@ void manage_heater()
           //K1 defined in Configuration.h in the PID settings
           #define K2 (1.0-K1)
           dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
-          temp_dState[e] = pid_input;
-
           pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
         }
+        temp_dState[e] = pid_input;
     #else 
           pid_output = constrain(target_temperature[e], 0, PID_MAX);
     #endif //PID_OPENLOOP