Merge remote-tracking branch 'upstream/Development' into K8200_2015-04-23_TEST

Conflicts:
	Marlin/example_configurations/K8200/Configuration.h

Documentation/Compilation.md

@@ -3,14 +3,14 @@
   1. Install the latest non-beta arduino software IDE/toolset: http://www.arduino.cc/en/Main/Software
   2. Download the Marlin firmware
     - [Latest developement version](https://github.com/MarlinFirmware/Marlin/tree/Development)
-    - [Stable version](https://github.com/MarlinFirmware/Marlin/tree/Development)
+    - [Stable version]()
   3. In both cases use the "Download Zip" button on the right.
   4. Some boards require special files and/or libraries from the ArduinoAddons directory. Take a look at the dedicated [README](/ArduinoAddons/README.md) for details.
   5. Start the arduino IDE.
-  6. Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
+  6. Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
   7. Select the correct serial port in Tools ->Serial Port
   8. Open Marlin.pde or .ino
   9. Click the Verify/Compile button
   10. Click the Upload button. If all goes well the firmware is uploading
 
-That's ok.  Enjoy Silky Smooth Printing.
+That's ok.  Enjoy Silky Smooth Printing.

Marlin/Configuration.h

@@ -364,6 +364,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -661,10 +662,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
-
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne
 //#define PANEL_ONE
@@ -792,13 +792,13 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 // Uncomment below to enable
 //#define FILAMENT_SENSOR
 
-#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
+#define FILAMENT_SENSOR_EXTRUDER_NUM 0   //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+#define MEASUREMENT_DELAY_CM        14   //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
 
-#define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
+#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
-#define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
+#define MEASURED_UPPER_LIMIT         3.3 //upper limit factor used for sensor reading validation in mm
-#define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
+#define MEASURED_LOWER_LIMIT         1.9 //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY       20   //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
 
 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially

Marlin/Makefile

@@ -267,8 +267,8 @@ endif
 CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp	\
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
-	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
+	stepper.cpp temperature.cpp cardreader.cpp configuration_store.cpp \
-	watchdog.cpp SPI.cpp Servo.cpp Tone.cpp ultralcd.cpp digipot_mcp4451.cpp \
+	watchdog.cpp SPI.cpp servo.cpp Tone.cpp ultralcd.cpp digipot_mcp4451.cpp \
 	vector_3.cpp qr_solve.cpp
 ifeq ($(LIQUID_TWI2), 0)
 CXXSRC += LiquidCrystal.cpp

Marlin/Marlin.h

@@ -223,6 +223,18 @@ void Stop();
   void filrunout();
 #endif
 
+/**
+ * Debug flags - not yet widely applied
+ */
+enum DebugFlags {
+  DEBUG_ECHO          = BIT(0),
+  DEBUG_INFO          = BIT(1),
+  DEBUG_ERRORS        = BIT(2),
+  DEBUG_DRYRUN        = BIT(3),
+  DEBUG_COMMUNICATION = BIT(4)
+};
+extern uint8_t marlin_debug_flags;
+
 extern bool Running;
 inline bool IsRunning() { return  Running; }
 inline bool IsStopped() { return !Running; }

Marlin/Marlin_main.cpp

@@ -49,18 +49,18 @@
 #include "motion_control.h"
 #include "cardreader.h"
 #include "watchdog.h"
-#include "ConfigurationStore.h"
+#include "configuration_store.h"
 #include "language.h"
 #include "pins_arduino.h"
 #include "math.h"
 
 #ifdef BLINKM
-  #include "BlinkM.h"
+  #include "blinkm.h"
   #include "Wire.h"
 #endif
 
 #if NUM_SERVOS > 0
-  #include "Servo.h"
+  #include "servo.h"
 #endif
 
 #if HAS_DIGIPOTSS
@@ -122,7 +122,7 @@
  *        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  *        The '#' is necessary when calling from within sd files, as it stops buffer prereading
  * 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.
- * M48  - Measure Z_Probe repeatability. M48 [n # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
+ * M48  - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  * M80  - Turn on Power Supply
  * M81  - Turn off Power Supply
  * M82  - Set E codes absolute (default)
@@ -138,6 +138,7 @@
  * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  *        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  *        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
+ * M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
  * M112 - Emergency stop
  * M114 - Output current position to serial port
  * M115 - Capabilities string
@@ -184,6 +185,7 @@
  * M405 - Turn on Filament Sensor extrusion control.  Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  * M406 - Turn off Filament Sensor extrusion control
  * M407 - Display measured filament diameter
+ * M410 - Quickstop. Abort all the planned moves
  * M500 - Store parameters in EEPROM
  * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
@@ -217,6 +219,8 @@
 
 bool Running = true;
 
+uint8_t marlin_debug_flags = DEBUG_INFO|DEBUG_ERRORS;
+
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
 float current_position[NUM_AXIS] = { 0.0 };
 static float destination[NUM_AXIS] = { 0.0 };
@@ -748,9 +752,10 @@ void get_command() {
         gcode_N = (strtol(strchr_pointer + 1, NULL, 10));
         if (gcode_N != gcode_LastN + 1 && strstr_P(command, PSTR("M110")) == NULL) {
           SERIAL_ERROR_START;
-          SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
+          SERIAL_ERRORPGM(MSG_ERR_LINE_NO1);
-          SERIAL_ERRORLN(gcode_LastN);
+          SERIAL_ERROR(gcode_LastN + 1);
-          //Serial.println(gcode_N);
+          SERIAL_ERRORPGM(MSG_ERR_LINE_NO2);
+          SERIAL_ERRORLN(gcode_N);
           FlushSerialRequestResend();
           serial_count = 0;
           return;
@@ -889,8 +894,11 @@ void get_command() {
 }
 
 bool code_has_value() {
-  char c = strchr_pointer[1];
+  int i = 1;
-  return (c >= '0' && c <= '9') || c == '-' || c == '+' || c == '.';
+  char c = strchr_pointer[i];
+  if (c == '-' || c == '+') c = strchr_pointer[++i];
+  if (c == '.') c = strchr_pointer[++i];
+  return (c >= '0' && c <= '9');
 }
 
 float code_value() {
@@ -989,10 +997,10 @@ static void axis_is_at_home(int axis) {
   #endif
 
   #ifdef SCARA
-    float homeposition[3];
    
-    if (axis < 2) {
+    if (axis == X_AXIS || axis == Y_AXIS) {
 
+      float homeposition[3];
       for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
 
       // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@@ -1022,17 +1030,18 @@ static void axis_is_at_home(int axis) {
       // inverse kinematic transform.
       min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
       max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
-    } 
-    else {
-      current_position[axis] = base_home_pos(axis) + home_offset[axis];
-      min_pos[axis] = base_min_pos(axis) + home_offset[axis];
-      max_pos[axis] = base_max_pos(axis) + home_offset[axis];
     }
-  #else
+    else
+  #endif
+  {
     current_position[axis] = base_home_pos(axis) + home_offset[axis];
     min_pos[axis] = base_min_pos(axis) + home_offset[axis];
     max_pos[axis] = base_max_pos(axis) + home_offset[axis];
-  #endif
+
+    #if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
+      if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset;
+    #endif
+  }
 }
 
 /**
@@ -1187,8 +1196,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
       st_synchronize();
       endstops_hit_on_purpose(); // clear endstop hit flags
 
+      // Get the current stepper position after bumping an endstop
       current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
-      // make sure the planner knows where we are as it may be a bit different than we last said to move to
       sync_plan_position();
       
     #endif // !DELTA
@@ -1500,13 +1509,11 @@ static void homeaxis(AxisEnum axis) {
 
   if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
 
-    int axis_home_dir;
+    int axis_home_dir =
-
+      #ifdef DUAL_X_CARRIAGE
-    #ifdef DUAL_X_CARRIAGE
+        (axis == X_AXIS) ? x_home_dir(active_extruder) :
-      if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
+      #endif
-    #else
+      home_dir(axis);
-      axis_home_dir = home_dir(axis);
-    #endif
 
     // Set the axis position as setup for the move
     current_position[axis] = 0;
@@ -1744,14 +1751,15 @@ inline void gcode_G2_G3(bool clockwise) {
 inline void gcode_G4() {
   millis_t codenum = 0;
 
-  LCD_MESSAGEPGM(MSG_DWELL);
-
   if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
   if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
 
   st_synchronize();
   refresh_cmd_timeout();
   codenum += previous_cmd_ms;  // keep track of when we started waiting
+
+  if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
+
   while (millis() < codenum) {
     manage_heater();
     manage_inactivity();
@@ -1794,12 +1802,6 @@ inline void gcode_G4() {
  *  Y   Home to the Y endstop
  *  Z   Home to the Z endstop
  *
- * If numbers are included with XYZ set the position as with G92
- * Currently adds the home_offset, which may be wrong and removed soon.
- *
- *  Xn  Home X, setting X to n + home_offset[X_AXIS]
- *  Yn  Home Y, setting Y to n + home_offset[Y_AXIS]
- *  Zn  Home Z, setting Z to n + home_offset[Z_AXIS]
  */
 inline void gcode_G28() {
 
@@ -1859,7 +1861,7 @@ inline void gcode_G28() {
           homeY = code_seen(axis_codes[Y_AXIS]),
           homeZ = code_seen(axis_codes[Z_AXIS]);
 
-    home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
+    home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
 
     if (home_all_axis || homeZ) {
 
@@ -1946,14 +1948,6 @@ inline void gcode_G28() {
     // Home Y
     if (home_all_axis || homeY) HOMEAXIS(Y);
 
-    // Set the X position, if included
-    if (code_seen(axis_codes[X_AXIS]) && code_has_value())
-      current_position[X_AXIS] = code_value();
-
-    // Set the Y position, if included
-    if (code_seen(axis_codes[Y_AXIS]) && code_has_value())
-      current_position[Y_AXIS] = code_value();
-
     // Home Z last if homing towards the bed
     #if Z_HOME_DIR < 0
 
@@ -2037,14 +2031,6 @@ inline void gcode_G28() {
 
     #endif // Z_HOME_DIR < 0
 
-    // Set the Z position, if included
-    if (code_seen(axis_codes[Z_AXIS]) && code_has_value())
-      current_position[Z_AXIS] = code_value();
-
-    #if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
-      if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset;  // Add Z_Probe offset (the distance is negative)
-    #endif
-
     sync_plan_position();
 
   #endif // else DELTA
@@ -2893,7 +2879,7 @@ inline void gcode_M42() {
    * M48: Z-Probe repeatability measurement function.
    *
    * Usage:
-   *   M48 <n#> <X#> <Y#> <V#> <E> <L#>
+   *   M48 <P#> <X#> <Y#> <V#> <E> <L#>
    *     P = Number of sampled points (4-50, default 10)
    *     X = Sample X position
    *     Y = Sample Y position
@@ -2905,10 +2891,6 @@ inline void gcode_M42() {
    * as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
    * Any information generated by a prior G29 Bed leveling command will be lost and need to be
    * regenerated.
-   *
-   * The number of samples will default to 10 if not specified.  You can use upper or lower case
-   * letters for any of the options EXCEPT n.  n must be in lower case because Marlin uses a capital
-   * N for its communication protocol and will get horribly confused if you send it a capital N.
    */
   inline void gcode_M48() {
 
@@ -2926,7 +2908,7 @@ inline void gcode_M42() {
     if (verbose_level > 0)
       SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
 
-    if (code_seen('P') || code_seen('p') || code_seen('n')) { // `n` for legacy support only - please use `P`!
+    if (code_seen('P') || code_seen('p')) {
       n_samples = code_value_short();
       if (n_samples < 4 || n_samples > 50) {
         SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
@@ -2934,12 +2916,12 @@ inline void gcode_M42() {
       }
     }
 
-    double X_probe_location, Y_probe_location,
+    double X_current = st_get_position_mm(X_AXIS),
-           X_current = X_probe_location = st_get_position_mm(X_AXIS),
+           Y_current = st_get_position_mm(Y_AXIS),
-           Y_current = Y_probe_location = st_get_position_mm(Y_AXIS),
            Z_current = st_get_position_mm(Z_AXIS),
-           Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING,
+           E_current = st_get_position_mm(E_AXIS),
-           ext_position = st_get_position_mm(E_AXIS);
+           X_probe_location = X_current, Y_probe_location = Y_current,
+           Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
 
     bool deploy_probe_for_each_reading = code_seen('E') || code_seen('e');
 
@@ -2974,10 +2956,7 @@ inline void gcode_M42() {
 
     st_synchronize();
     plan_bed_level_matrix.set_to_identity();
-    plan_buffer_line(X_current, Y_current, Z_start_location,
+    plan_buffer_line(X_current, Y_current, Z_start_location, E_current, homing_feedrate[Z_AXIS] / 60, active_extruder);
-        ext_position,
-        homing_feedrate[Z_AXIS] / 60,
-        active_extruder);
     st_synchronize();
 
     //
@@ -2989,7 +2968,7 @@ inline void gcode_M42() {
       SERIAL_PROTOCOLPGM("Positioning the probe...\n");
 
     plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
-        ext_position,
+        E_current,
         homing_feedrate[X_AXIS]/60,
         active_extruder);
     st_synchronize();
@@ -2997,7 +2976,7 @@ inline void gcode_M42() {
     current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
     current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
     current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
-    current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
+    current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS);
 
     // 
     // OK, do the inital probe to get us close to the bed.
@@ -3013,7 +2992,7 @@ inline void gcode_M42() {
     Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
 
     plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
-        ext_position,
+        E_current,
         homing_feedrate[X_AXIS]/60,
         active_extruder);
     st_synchronize();
@@ -3043,8 +3022,8 @@ inline void gcode_M42() {
           if (radius < 0.0) radius = -radius;
 
           X_current = X_probe_location + cos(theta) * radius;
-          Y_current = Y_probe_location + sin(theta) * radius;
           X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
+          Y_current = Y_probe_location + sin(theta) * radius;
           Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
 
           if (verbose_level > 3) {
@@ -3160,7 +3139,7 @@ inline void gcode_M104() {
 inline void gcode_M105() {
   if (setTargetedHotend(105)) return;
 
-  #if HAS_TEMP_0 || HAS_TEMP_BED
+  #if HAS_TEMP_0 || HAS_TEMP_BED || defined(HEATER_0_USES_MAX6675)
     SERIAL_PROTOCOLPGM("ok");
     #if HAS_TEMP_0
       SERIAL_PROTOCOLPGM(" T:");
@@ -3362,12 +3341,17 @@ inline void gcode_M109() {
 #endif // HAS_TEMP_BED
 
 /**
- * M112: Emergency Stop
+ * M111: Set the debug level
  */
-inline void gcode_M112() {
+inline void gcode_M111() {
-  kill();
+  marlin_debug_flags = code_seen('S') ? code_value_short() : DEBUG_INFO|DEBUG_ERRORS;
 }
 
+/**
+ * M112: Emergency Stop
+ */
+inline void gcode_M112() { kill(); }
+
 #ifdef BARICUDA
 
   #if HAS_HEATER_1
@@ -3809,23 +3793,23 @@ inline void gcode_M206() {
    * M666: Set delta endstop adjustment
    */
   inline void gcode_M666() {
-    for (int8_t i = 0; i < 3; i++) {
+    for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
       if (code_seen(axis_codes[i])) {
         endstop_adj[i] = code_value();
       }
     }
   }
-#elif defined(Z_DUAL_ENDSTOPS)
+#elif defined(Z_DUAL_ENDSTOPS) // !DELTA && defined(Z_DUAL_ENDSTOPS)
   /**
    * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
    */
   inline void gcode_M666() {
-   if (code_seen('Z')) z_endstop_adj = code_value();
+    if (code_seen('Z')) z_endstop_adj = code_value();
-   SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj );
+    SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
-   SERIAL_EOL;
+    SERIAL_EOL;
   }
   
-#endif // DELTA
+#endif // !DELTA && defined(Z_DUAL_ENDSTOPS)
 
 #ifdef FWRETRACT
 
@@ -4025,20 +4009,8 @@ inline void gcode_M226() {
   inline void gcode_M300() {
     uint16_t beepS = code_seen('S') ? code_value_short() : 110;
     uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
-    if (beepS > 0) {
+    if (beepP > 5000) beepP = 5000; // limit to 5 seconds
-      #if BEEPER > 0
+    lcd_buzz(beepP, beepS);
-        tone(BEEPER, beepS);
-        delay(beepP);
-        noTone(BEEPER);
-      #elif defined(ULTRALCD)
-        lcd_buzz(beepS, beepP);
-      #elif defined(LCD_USE_I2C_BUZZER)
-        lcd_buzz(beepP, beepS);
-      #endif
-    }
-    else {
-      delay(beepP);
-    }
   }
 
 #endif // BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER
@@ -4313,14 +4285,34 @@ inline void gcode_M400() { st_synchronize(); }
 
 #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
 
+  #ifdef SERVO_ENDSTOPS
+    void raise_z_for_servo() {
+      float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
+      if (!axis_known_position[Z_AXIS]) z_dest += zpos;
+      if (zpos < z_dest)
+        do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position
+    }
+  #endif
+
   /**
    * M401: Engage Z Servo endstop if available
    */
-  inline void gcode_M401() { deploy_z_probe(); }
+  inline void gcode_M401() {
+    #ifdef SERVO_ENDSTOPS
+      raise_z_for_servo();
+    #endif
+    deploy_z_probe();
+  }
+
   /**
    * M402: Retract Z Servo endstop if enabled
    */
-  inline void gcode_M402() { stow_z_probe(); }
+  inline void gcode_M402() {
+    #ifdef SERVO_ENDSTOPS
+      raise_z_for_servo();
+    #endif
+    stow_z_probe();
+  }
 
 #endif
 
@@ -4380,6 +4372,14 @@ inline void gcode_M400() { st_synchronize(); }
 
 #endif // FILAMENT_SENSOR
 
+/**
+ * M410: Quickstop - Abort all planned moves
+ *
+ * This will stop the carriages mid-move, so most likely they
+ * will be out of sync with the stepper position after this.
+ */
+inline void gcode_M410() { quickStop(); }
+
 /**
  * M500: Store settings in EEPROM
  */
@@ -4426,7 +4426,7 @@ inline void gcode_M503() {
     if (code_seen('Z')) {
       value = code_value();
       if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
-        zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
+        zprobe_zoffset = -value; // compare w/ line 278 of configuration_store.cpp
         SERIAL_ECHO_START;
         SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
         SERIAL_EOL;
@@ -4790,6 +4790,12 @@ inline void gcode_T() {
  * This is called from the main loop()
  */
 void process_commands() {
+
+  if ((marlin_debug_flags & DEBUG_ECHO)) {
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLN(command_queue[cmd_queue_index_r]);
+  }
+
   if (code_seen('G')) {
 
     int gCode = code_value_short();
@@ -4928,34 +4934,38 @@ void process_commands() {
         gcode_M104();
         break;
 
-      case 112: //  M112 Emergency Stop
+      case 111: //  M111: Set debug level
+        gcode_M111();
+        break;
+
+      case 112: //  M112: Emergency Stop
         gcode_M112();
         break;
 
-      case 140: // M140 Set bed temp
+      case 140: // M140: Set bed temp
         gcode_M140();
         break;
 
-      case 105: // M105 Read current temperature
+      case 105: // M105: Read current temperature
         gcode_M105();
         return;
         break;
 
-      case 109: // M109 Wait for temperature
+      case 109: // M109: Wait for temperature
         gcode_M109();
         break;
 
       #if HAS_TEMP_BED
-        case 190: // M190 - Wait for bed heater to reach target.
+        case 190: // M190: Wait for bed heater to reach target
           gcode_M190();
           break;
       #endif // HAS_TEMP_BED
 
       #if HAS_FAN
-        case 106: //M106 Fan On
+        case 106: // M106: Fan On
           gcode_M106();
           break;
-        case 107: //M107 Fan Off
+        case 107: // M107: Fan Off
           gcode_M107();
           break;
       #endif // HAS_FAN
@@ -4963,20 +4973,20 @@ void process_commands() {
       #ifdef BARICUDA
         // PWM for HEATER_1_PIN
         #if HAS_HEATER_1
-          case 126: // M126 valve open
+          case 126: // M126: valve open
             gcode_M126();
             break;
-          case 127: // M127 valve closed
+          case 127: // M127: valve closed
             gcode_M127();
             break;
         #endif // HAS_HEATER_1
 
         // PWM for HEATER_2_PIN
         #if HAS_HEATER_2
-          case 128: // M128 valve open
+          case 128: // M128: valve open
             gcode_M128();
             break;
-          case 129: // M129 valve closed
+          case 129: // M129: valve closed
             gcode_M129();
             break;
         #endif // HAS_HEATER_2
@@ -4984,13 +4994,13 @@ void process_commands() {
 
       #if HAS_POWER_SWITCH
 
-        case 80: // M80 - Turn on Power Supply
+        case 80: // M80: Turn on Power Supply
           gcode_M80();
           break;
 
       #endif // HAS_POWER_SWITCH
 
-      case 81: // M81 - Turn off Power, including Power Supply, if possible
+      case 81: // M81: Turn off Power, including Power Supply, if possible
         gcode_M81();
         break;
 
@@ -5000,7 +5010,7 @@ void process_commands() {
       case 83:
         gcode_M83();
         break;
-      case 18: //compatibility
+      case 18: // (for compatibility)
       case 84: // M84
         gcode_M18_M84();
         break;
@@ -5199,6 +5209,10 @@ void process_commands() {
           break;
       #endif // FILAMENT_SENSOR
 
+      case 410: // M410 quickstop - Abort all the planned moves.
+        gcode_M410();
+        break;
+
       case 500: // M500 Store settings in EEPROM
         gcode_M500();
         break;

Marlin/SanityCheck.h

@@ -87,8 +87,8 @@
   /**
    * Required LCD language
    */
-  #if !defined(DOGLCD) && defined(ULTRA_LCD) && !defined(DISPLAY_CHARSET_HD44780_JAPAN) && !defined(DISPLAY_CHARSET_HD44780_WESTERN)
+  #if !defined(DOGLCD) && defined(ULTRA_LCD) && !defined(DISPLAY_CHARSET_HD44780_JAPAN) && !defined(DISPLAY_CHARSET_HD44780_WESTERN)&& !defined(DISPLAY_CHARSET_HD44780_CYRILLIC)
-    #error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN for your LCD controller.
+    #error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN  or DISPLAY_CHARSET_HD44780_CYRILLIC for your LCD controller.
   #endif
 
   /**

Marlin/Servo.cpp

@@ -1,5 +1,5 @@
 /*
- Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ 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
@@ -48,7 +48,7 @@
 #include <avr/interrupt.h>
 #include <Arduino.h>
 
-#include "Servo.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

Marlin/Servo.h

@@ -1,5 +1,5 @@
 /*
-  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  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
@@ -42,8 +42,8 @@
    detach()    - Stops an attached servos from pulsing its i/o pin.
  */
 
-#ifndef Servo_h
+#ifndef servo_h
-#define Servo_h
+#define servo_h
 
 #include <inttypes.h>
 

Marlin/blinkm.cpp

@@ -1,11 +1,11 @@
 /*
-  BlinkM.cpp - Library for controlling a BlinkM over i2c
+  blinkm.cpp - Library for controlling a BlinkM over i2c
   Created by Tim Koster, August 21 2013.
 */
 #include "Marlin.h"
 #ifdef BLINKM
 
-#include "BlinkM.h"
+#include "blinkm.h"
 
 void SendColors(byte red, byte grn, byte blu) {
   Wire.begin(); 

Marlin/blinkm.h

@@ -1,5 +1,5 @@
 /*
-  BlinkM.h
+  blinkm.h
   Library header file for BlinkM library
  */
 #if ARDUINO >= 100

Marlin/configuration_store.cpp

@@ -1,5 +1,5 @@
 /**
- * ConfigurationStore.cpp
+ * configuration_store.cpp
  *
  * Configuration and EEPROM storage
  *
@@ -93,7 +93,7 @@
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
-#include "ConfigurationStore.h"
+#include "configuration_store.h"
 
 #ifdef MESH_BED_LEVELING
    #include "mesh_bed_leveling.h"

Marlin/configuration_store.h

@@ -1,5 +1,5 @@
-#ifndef CONFIGURATIONSTORE_H
+#ifndef CONFIGURATION_STORE_H
-#define CONFIGURATIONSTORE_H
+#define CONFIGURATION_STORE_H
 
 #include "Configuration.h"
 
@@ -19,4 +19,4 @@ void Config_ResetDefault();
   FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); }
 #endif
 
-#endif //CONFIGURATIONSTORE_H
+#endif //CONFIGURATION_STORE_H

Marlin/configurator/config/Configuration.h

@@ -364,6 +364,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -660,9 +661,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/configurator/config/language.h

@@ -122,7 +122,8 @@
 #define MSG_PLANNER_BUFFER_BYTES            "  PlannerBufferBytes: "
 #define MSG_OK                              "ok"
 #define MSG_FILE_SAVED                      "Done saving file."
-#define MSG_ERR_LINE_NO                     "Line Number is not Last Line Number+1, Last Line: "
+#define MSG_ERR_LINE_NO1                    "Line Number out of sequence. Expected: "
+#define MSG_ERR_LINE_NO2                    " Got: "
 #define MSG_ERR_CHECKSUM_MISMATCH           "checksum mismatch, Last Line: "
 #define MSG_ERR_NO_CHECKSUM                 "No Checksum with line number, Last Line: "
 #define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line: "
@@ -209,7 +210,7 @@
 #define MSG_OK_B                            "ok B:"
 #define MSG_OK_T                            "ok T:"
 #define MSG_AT                              " @:"
-#define MSG_PID_AUTOTUNE_FINISHED           MSG_PID_AUTOTUNE " finished! Put the last Kp, Ki and Kd constants from above into Configuration.h"
+#define MSG_PID_AUTOTUNE_FINISHED           MSG_PID_AUTOTUNE " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h"
 #define MSG_PID_DEBUG                       " PID_DEBUG "
 #define MSG_PID_DEBUG_INPUT                 ": Input "
 #define MSG_PID_DEBUG_OUTPUT                " Output "

Marlin/dogm_lcd_implementation.h

@@ -29,7 +29,7 @@
 #endif
 
 #include <U8glib.h>
-#include "DOGMbitmaps.h"
+#include "dogm_bitmaps.h"
 
 #include "ultralcd.h"
 #include "ultralcd_st7920_u8glib_rrd.h"

Marlin/example_configurations/Felix/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -317,6 +317,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -594,9 +595,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/Felix/Configuration_DUAL.h

@@ -317,6 +317,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -590,9 +591,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/Hephestos/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -338,6 +338,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -614,9 +615,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/K8200/Configuration.h

@@ -1,4 +1,4 @@
-// Example configuration file for Vellemann K8200
+// Example configuration file for Vellemann K8200
 // tested on K8200 with VM8201 (Display)
 // and Arduino 1.6.1 (Win) by @CONSULitAS, 2015-04-14
 // https://github.com/CONSULitAS/Marlin-K8200/archive/K8200_stable_2015-04-14.zip
@@ -380,6 +380,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z true
@@ -677,9 +678,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 #define ULTIMAKERCONTROLLER // K8200: for Display VM8201 // as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/SCARA/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -369,6 +369,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -645,9 +646,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/WITBOX/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -337,6 +337,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z true
@@ -613,9 +614,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/delta/generic/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -367,6 +367,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -662,9 +663,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -367,6 +367,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -666,9 +667,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/makibox/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -337,6 +337,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 #define E_ENABLE_ON 0 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -613,9 +614,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -1,4 +1,4 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
 #include "boards.h"
@@ -339,6 +339,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 #define E_ENABLE_ON 1 // For all extruders
 
 // Disables axis when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
 #define DISABLE_X false
 #define DISABLE_Y false
 #define DISABLE_Z false
@@ -619,9 +620,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
 //#define ULTIPANEL  //the UltiPanel as on Thingiverse
-//#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
-                                               // 0 to disable buzzer feedback  
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
+                                                 // 0 to disable buzzer feedback. Test with M300 S<frequency Hz> P<duration ms>
 
 // PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
 // http://reprap.org/wiki/PanelOne

Marlin/fonts/README.fonts

@@ -3,4 +3,23 @@ In Fony export the fonts to bdf-format. Maybe another one can edit them with Fon
 Then run make_fonts.bat what calls bdf2u8g.exe with the needed parameters to produce the .h files.
 The .h files must be edited to replace '#include "u8g.h"' with '#include <utility/u8g.h>', replace 'U8G_FONT_SECTION' with 'U8G_SECTION', insert '.progmem.' right behind the first '"' and moved to the main directory.
 
-Especially the Kana and Cyrillic fonts should be revised by someone who knows what he/she does. I am only a west-European with very little knowledge about this scripts.
+How to integrate a new font:
+Currently we are limited to 256 symbols per font. We use a menu system with 5 lines, on a display with 64 pixel height. That means we have 12 pixel for a line. To have some space in between the lines we can't use more then 10 pixel height for the symbols.
+We use fixed width fonts. To fit 22 Symbols on the 128 pixel wide screen, the symbols can't be wider than 5 pixel. Maybe you can work with half symbols - two places in the charset will than build one wide symbol.
+
+ * Get 'Fony.exe'
+ * Copy one of the existing *.fon files and work with this.
+ * Change the pixels. Don't change width or height.
+ * Export as *.bdf
+ * Use 'bdf2u8g.exe' to produce the *.h file. Examples for the existing fonts are in 'make_fonts.bat'
+ * Edit the produced .h file to match our needs. See hints in 'README.fonts' or the other 'dogm_font_data_.h' files.
+ * Make a new entry in the font list in 'dogm_lcd_implementation.h' before the '#else // fall back'
+    #elif defined( DISPLAY_CHARSET_NEWNAME )
+      #include "dogm_font_data_yourfont.h"
+      #define FONT_MENU_NAME YOURFONTNAME
+    #else // fall-back
+ * Add your font to the list of permitted fonts in 'language_en.h'
+    ... || defined(DISPLAY_CHARSET_YOUR_NEW_FONT) ... )
+
+
+Especially the Kana font should be revised by someone who knows what he/she does. I am only a west-European with very little knowledge about this script.

Marlin/language.h

@@ -122,7 +122,8 @@
 #define MSG_PLANNER_BUFFER_BYTES            "  PlannerBufferBytes: "
 #define MSG_OK                              "ok"
 #define MSG_FILE_SAVED                      "Done saving file."
-#define MSG_ERR_LINE_NO                     "Line Number is not Last Line Number+1, Last Line: "
+#define MSG_ERR_LINE_NO1                    "Line Number out of sequence. Expected: "
+#define MSG_ERR_LINE_NO2                    " Got: "
 #define MSG_ERR_CHECKSUM_MISMATCH           "checksum mismatch, Last Line: "
 #define MSG_ERR_NO_CHECKSUM                 "No Checksum with line number, Last Line: "
 #define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line: "
@@ -209,7 +210,7 @@
 #define MSG_OK_B                            "ok B:"
 #define MSG_OK_T                            "ok T:"
 #define MSG_AT                              " @:"
-#define MSG_PID_AUTOTUNE_FINISHED           MSG_PID_AUTOTUNE " finished! Put the last Kp, Ki and Kd constants from above into Configuration.h"
+#define MSG_PID_AUTOTUNE_FINISHED           MSG_PID_AUTOTUNE " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h"
 #define MSG_PID_DEBUG                       " PID_DEBUG "
 #define MSG_PID_DEBUG_INPUT                 ": Input "
 #define MSG_PID_DEBUG_OUTPUT                " Output "

Marlin/language_es.h

@@ -17,7 +17,7 @@
 #define MSG_SD_INSERTED                     "Tarjeta colocada"
 #define MSG_SD_REMOVED                      "Tarjeta retirada"
 #define MSG_MAIN                            "Menu principal"
-#define MSG_AUTOSTART                       " Autostart"
+#define MSG_AUTOSTART                       "Autostart"
 #define MSG_DISABLE_STEPPERS                "Apagar motores"
 #define MSG_AUTO_HOME                       "Llevar al origen"
 #define MSG_SET_HOME_OFFSETS                "Ajustar offsets"
@@ -46,7 +46,7 @@
 #define MSG_MOVE_1MM                        "Mover 1mm"
 #define MSG_MOVE_10MM                       "Mover 10mm"
 #define MSG_SPEED                           "Velocidad"
-#define MSG_NOZZLE                          "Nozzle"
+#define MSG_NOZZLE                          "Fusor"
 #define MSG_BED                             "Base"
 #define MSG_FAN_SPEED                       "Ventilador"
 #define MSG_FLOW                            "Flujo"
@@ -80,7 +80,7 @@
 #define MSG_ESTEPS                          "E pasos/mm"
 #define MSG_TEMPERATURE                     "Temperatura"
 #define MSG_MOTION                          "Movimiento"
-#define MSG_VOLUMETRIC                      "Filament"
+#define MSG_VOLUMETRIC                      "Filamento"
 #define MSG_VOLUMETRIC_ENABLED		        "E in mm3"
 #define MSG_FILAMENT_SIZE_EXTRUDER_0        "Fil. Dia. 1"
 #define MSG_FILAMENT_SIZE_EXTRUDER_1        "Fil. Dia. 2"
@@ -116,22 +116,22 @@
 #define MSG_FILAMENTCHANGE                  "Cambiar filamento"
 #define MSG_INIT_SDCARD                     "Iniciando tarjeta"
 #define MSG_CNG_SDCARD                      "Cambiar tarjeta"
-#define MSG_ZPROBE_OUT                      "sonda Z fuera"
+#define MSG_ZPROBE_OUT                      "Sonda Z fuera"
 #define MSG_POSITION_UNKNOWN                "Reiniciar X/Y y Z"
 #define MSG_ZPROBE_ZOFFSET                  "Offset Z"
-#define MSG_BABYSTEP_X                      "Babystep X"
+#define MSG_BABYSTEP_X                      "Micropaso X"
-#define MSG_BABYSTEP_Y                      "Babystep Y"
+#define MSG_BABYSTEP_Y                      "Micropaso Y"
-#define MSG_BABYSTEP_Z                      "Babystep Z"
+#define MSG_BABYSTEP_Z                      "Micropaso Z"
 #define MSG_ENDSTOP_ABORT                   "Endstop abort"
 #define MSG_END_HOUR                        "horas"
 #define MSG_END_MINUTE                      "minutos"
 
 #ifdef DELTA_CALIBRATION_MENU
-    #define MSG_DELTA_CALIBRATE             "Delta Calibration"
+    #define MSG_DELTA_CALIBRATE             "Calibracion Delta"
-    #define MSG_DELTA_CALIBRATE_X           "Calibrate X"
+    #define MSG_DELTA_CALIBRATE_X           "Calibrar X"
-    #define MSG_DELTA_CALIBRATE_Y           "Calibrate Y"
+    #define MSG_DELTA_CALIBRATE_Y           "Calibrar Y"
-    #define MSG_DELTA_CALIBRATE_Z           "Calibrate Z"
+    #define MSG_DELTA_CALIBRATE_Z           "Calibrar Z"
-    #define MSG_DELTA_CALIBRATE_CENTER      "Calibrate Center"
+    #define MSG_DELTA_CALIBRATE_CENTER      "Calibrar Centro"
 #endif // DELTA_CALIBRATION_MENU
 
 #endif // LANGUAGE_ES_H

Marlin/pins_AZTEEG_X3.h

@@ -28,9 +28,7 @@
    #define STAT_LED_RED 64
    #define STAT_LED_BLUE 63
   #endif
-#endif
+#elif defined(TEMP_STAT_LEDS)
-
-#elif define TEMP_STAT_LEDS
   #define STAT_LED_RED       6
   #define STAT_LED_BLUE     11
 #endif

Marlin/pins_SAV_MKI.h

@@ -82,7 +82,7 @@
   #define HOME_PIN          -1 // A4 = marlin 44 - teensy = 42
 
   #ifdef NUM_SERVOS
-    #define SERVO0_PIN       41 // In teensy's pin definition for pinMode (in Servo.cpp)
+    #define SERVO0_PIN       41 // In teensy's pin definition for pinMode (in servo.cpp)
   #endif
 
 #endif // SAV_3DLCD

Marlin/stepper.cpp

@@ -46,7 +46,7 @@ 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 unsigned int cleaning_buffer_counter;  
+static unsigned int cleaning_buffer_counter;
 
 #ifdef Z_DUAL_ENDSTOPS
   static bool performing_homing = false, 
@@ -54,7 +54,7 @@ static unsigned int cleaning_buffer_counter;
               locked_z2_motor = false;
 #endif
 
-// Counter variables for the bresenham line tracer
+// Counter variables for the Bresenham line tracer
 static long counter_x, counter_y, counter_z, counter_e;
 volatile static unsigned long step_events_completed; // The number of step events executed in the current block
 
@@ -66,7 +66,7 @@ volatile static unsigned long step_events_completed; // The number of step event
 
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
-static unsigned short acc_step_rate; // needed for deccelaration start point
+static unsigned short acc_step_rate; // needed for deceleration start point
 static char step_loops;
 static unsigned short OCR1A_nominal;
 static unsigned short step_loops_nominal;
@@ -205,8 +205,14 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
 // intRes = longIn1 * longIn2 >> 24
 // uses:
 // r26 to store 0
-// r27 to store the byte 1 of the 48bit result
+// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
-#define MultiU24X24toH16(intRes, longIn1, longIn2) \
+// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
+// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
+// B0 A0 are bits 24-39 and are the returned value
+// C1 B1 A1 is longIn1
+// D2 C2 B2 A2 is longIn2
+//
+#define MultiU24X32toH16(intRes, longIn1, longIn2) \
   asm volatile ( \
     "clr r26 \n\t" \
     "mul %A1, %B2 \n\t" \
@@ -237,6 +243,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
     "lsr r27 \n\t" \
     "adc %A0, r26 \n\t" \
     "adc %B0, r26 \n\t" \
+    "mul %D2, %A1 \n\t" \
+    "add %A0, r0 \n\t" \
+    "adc %B0, r1 \n\t" \
+    "mul %D2, %B1 \n\t" \
+    "add %B0, r0 \n\t" \
     "clr r1 \n\t" \
     : \
     "=&r" (intRes) \
@@ -274,8 +285,8 @@ void checkHitEndstops() {
     }
     #ifdef Z_PROBE_ENDSTOP
     if (endstop_z_probe_hit) {
-    	SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
+      SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
-    	LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
+      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
     }
     #endif
     SERIAL_EOL;
@@ -313,7 +324,7 @@ void enable_endstops(bool check) { check_endstops = check; }
 //  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.
+//  The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
 
 void st_wake_up() {
   //  TCNT1 = 0;
@@ -400,7 +411,7 @@ ISR(TIMER1_COMPA_vect) {
     OCR1A = 200;
     return;
   }
-  
+
   // If there is no current block, attempt to pop one from the buffer
   if (!current_block) {
     // Anything in the buffer?
@@ -452,14 +463,22 @@ ISR(TIMER1_COMPA_vect) {
       count_direction[Y_AXIS] = 1;
     }
 
+    #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
+    #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
+    #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
+    #define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
+    #define _AXIS(AXIS) AXIS ##_AXIS
+    #define _ENDSTOP_HIT(axis) endstop_## axis ##_hit
+
     #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
-      bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
+      bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
-      if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
+      if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
-        endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
+        endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
-        endstop_## axis ##_hit = true; \
+        _ENDSTOP_HIT(axis) = true; \
         step_events_completed = current_block->step_event_count; \
       } \
-      old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
+      _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
+
 
     // Check X and Y endstops
     if (check_endstops) {
@@ -469,13 +488,13 @@ ISR(TIMER1_COMPA_vect) {
         if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
           if (TEST(out_bits, X_HEAD))
       #else
-          if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular cartesians bot)
+          if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular Cartesian bot)
       #endif
           { // -direction
             #ifdef DUAL_X_CARRIAGE
               // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
               if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
-            #endif          
+            #endif
               {
                 #if HAS_X_MIN
                   UPDATE_ENDSTOP(x, X, min, MIN);
@@ -561,14 +580,14 @@ ISR(TIMER1_COMPA_vect) {
           z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
           if(z_probe_endstop && old_z_probe_endstop)
           {
-        	  endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-        	  endstop_z_probe_hit=true;
+            endstop_z_probe_hit=true;
 
-//        	  if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
+//            if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
-        
+
       } // check_endstops
 
     }
@@ -614,15 +633,15 @@ ISR(TIMER1_COMPA_vect) {
           #endif // !Z_DUAL_ENDSTOPS
 
         #endif // Z_MAX_PIN
-        
+
         #ifdef Z_PROBE_ENDSTOP
           UPDATE_ENDSTOP(z, Z, probe, PROBE);
           z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
           if(z_probe_endstop && old_z_probe_endstop)
           {
-        	  endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-        	  endstop_z_probe_hit=true;
+            endstop_z_probe_hit=true;
-//        	  if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
+//            if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
           }
           old_z_probe_endstop = z_probe_endstop;
         #endif
@@ -656,6 +675,11 @@ ISR(TIMER1_COMPA_vect) {
         }
       #endif //ADVANCE
 
+      #define _COUNTER(axis) counter_## axis
+      #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
+      #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
+      #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
+
       #ifdef CONFIG_STEPPERS_TOSHIBA
         /**
          * The Toshiba stepper controller require much longer pulses.
@@ -664,8 +688,8 @@ ISR(TIMER1_COMPA_vect) {
          * lag to allow it work with without needing NOPs
          */
         #define STEP_ADD(axis, AXIS) \
-         counter_## axis += current_block->steps[AXIS ##_AXIS]; \
+         _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
-         if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
+         if (_COUNTER(axis) > 0) { _WRITE_STEP(AXIS, HIGH); }
         STEP_ADD(x,X);
         STEP_ADD(y,Y);
         STEP_ADD(z,Z);
@@ -674,10 +698,10 @@ ISR(TIMER1_COMPA_vect) {
         #endif
 
         #define STEP_IF_COUNTER(axis, AXIS) \
-          if (counter_## axis > 0) { \
+          if (_COUNTER(axis) > 0) { \
-            counter_## axis -= current_block->step_event_count; \
+            _COUNTER(axis) -= current_block->step_event_count; \
-            count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
+            count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
-            AXIS ##_STEP_WRITE(LOW); \
+            _WRITE_STEP(AXIS, LOW); \
           }
 
         STEP_IF_COUNTER(x, X);
@@ -690,12 +714,12 @@ ISR(TIMER1_COMPA_vect) {
       #else // !CONFIG_STEPPERS_TOSHIBA
 
         #define APPLY_MOVEMENT(axis, AXIS) \
-          counter_## axis += current_block->steps[AXIS ##_AXIS]; \
+          _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
-          if (counter_## axis > 0) { \
+          if (_COUNTER(axis) > 0) { \
-            AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
+            _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); \
-            counter_## axis -= current_block->step_event_count; \
+            _COUNTER(axis) -= current_block->step_event_count; \
-            count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
+            count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
-            AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
+            _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
           }
 
         APPLY_MOVEMENT(x, X);
@@ -714,7 +738,7 @@ ISR(TIMER1_COMPA_vect) {
     unsigned short step_rate;
     if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
 
-      MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
+      MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
       acc_step_rate += current_block->initial_rate;
 
       // upper limit
@@ -737,7 +761,7 @@ ISR(TIMER1_COMPA_vect) {
       #endif
     }
     else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
-      MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
+      MultiU24X32toH16(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;
@@ -863,7 +887,7 @@ void st_init() {
   #ifdef HAVE_L6470DRIVER
     L6470_init();
   #endif
-  
+
   // Initialize Dir Pins
   #if HAS_X_DIR
     X_DIR_INIT;
@@ -909,11 +933,11 @@ void st_init() {
   #if HAS_Y_ENABLE
     Y_ENABLE_INIT;
     if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
-	
+
-	#if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
+  #if defined(Y_DUAL_STEPPER_DRIVERS) && HAS_Y2_ENABLE
-	  Y2_ENABLE_INIT;
+    Y2_ENABLE_INIT;
-	  if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
+    if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
-	#endif
+  #endif
   #endif
   #if HAS_Z_ENABLE
     Z_ENABLE_INIT;
@@ -990,8 +1014,8 @@ void st_init() {
     #ifdef ENDSTOPPULLUP_ZMAX
       WRITE(Z2_MAX_PIN,HIGH);
     #endif
-  #endif  
+  #endif
-  
+
 #if (defined(Z_PROBE_PIN) && Z_PROBE_PIN >= 0) && defined(Z_PROBE_ENDSTOP) // Check for Z_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
   SET_INPUT(Z_PROBE_PIN);
   #ifdef ENDSTOPPULLUP_ZPROBE
@@ -999,10 +1023,13 @@ void st_init() {
   #endif
 #endif
 
+  #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
+  #define _DISABLE(axis) disable_## axis()
+
   #define AXIS_INIT(axis, AXIS, PIN) \
-    AXIS ##_STEP_INIT; \
+    _STEP_INIT(AXIS); \
-    AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
+    _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \
-    disable_## axis()
+    _DISABLE(axis)
 
   #define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
 
@@ -1135,14 +1162,19 @@ void quickStop() {
   // No other ISR should ever interrupt this!
   void babystep(const uint8_t axis, const bool direction) {
 
+    #define _ENABLE(axis) enable_## axis()
+    #define _READ_DIR(AXIS) AXIS ##_DIR_READ
+    #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
+    #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
+
     #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
-        enable_## axis(); \
+        _ENABLE(axis); \
-        uint8_t old_pin = AXIS ##_DIR_READ; \
+        uint8_t old_pin = _READ_DIR(AXIS); \
-        AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
+        _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
-        AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
+        _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
-        _delay_us(1U); \
+        delayMicroseconds(2); \
-        AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
+        _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
-        AXIS ##_APPLY_DIR(old_pin, true); \
+        _APPLY_DIR(AXIS, old_pin); \
       }
 
     switch(axis) {
@@ -1154,7 +1186,7 @@ void quickStop() {
       case Y_AXIS:
         BABYSTEP_AXIS(y, Y, false);
         break;
-     
+ 
       case Z_AXIS: {
 
         #ifndef DELTA
@@ -1179,7 +1211,7 @@ void quickStop() {
           X_STEP_WRITE(!INVERT_X_STEP_PIN);
           Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
           Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
-          _delay_us(1U);
+          delayMicroseconds(2);
           X_STEP_WRITE(INVERT_X_STEP_PIN); 
           Y_STEP_WRITE(INVERT_Y_STEP_PIN); 
           Z_STEP_WRITE(INVERT_Z_STEP_PIN);
@@ -1191,7 +1223,7 @@ void quickStop() {
         #endif
 
       } break;
-     
+ 
       default: break;
     }
   }
@@ -1255,7 +1287,7 @@ void microstep_init() {
 
   #if HAS_MICROSTEPS
     pinMode(X_MS1_PIN,OUTPUT);
-    pinMode(X_MS2_PIN,OUTPUT);  
+    pinMode(X_MS2_PIN,OUTPUT);
     pinMode(Y_MS1_PIN,OUTPUT);
     pinMode(Y_MS2_PIN,OUTPUT);
     pinMode(Z_MS1_PIN,OUTPUT);

Marlin/temperature.cpp

@@ -341,6 +341,9 @@ void PID_autotune(float temp, int extruder, int ncycles)
     }
     if (cycles > ncycles) {
       SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
+      SERIAL_PROTOCOLPGM("#define  DEFAULT_Kp "); SERIAL_PROTOCOLLN(Kp);
+      SERIAL_PROTOCOLPGM("#define  DEFAULT_Ki "); SERIAL_PROTOCOLLN(Ki);
+      SERIAL_PROTOCOLPGM("#define  DEFAULT_Kd "); SERIAL_PROTOCOLLN(Kd);
       return;
     }
     lcd_update();

Marlin/ultralcd.cpp

@@ -5,7 +5,7 @@
 #include "cardreader.h"
 #include "temperature.h"
 #include "stepper.h"
-#include "ConfigurationStore.h"
+#include "configuration_store.h"
 
 int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 
@@ -267,28 +267,28 @@ static void lcd_status_screen() {
   #ifdef LCD_PROGRESS_BAR
     millis_t ms = millis();
     #ifndef PROGRESS_MSG_ONCE
-      if (ms > progressBarTick + PROGRESS_BAR_MSG_TIME + PROGRESS_BAR_BAR_TIME) {
+      if (ms > progress_bar_ms + PROGRESS_BAR_MSG_TIME + PROGRESS_BAR_BAR_TIME) {
-        progressBarTick = ms;
+        progress_bar_ms = ms;
       }
     #endif
     #if PROGRESS_MSG_EXPIRE > 0
       // Handle message expire
-      if (expireStatusMillis > 0) {
+      if (expire_status_ms > 0) {
         if (card.isFileOpen()) {
           // Expire the message when printing is active
           if (IS_SD_PRINTING) {
             // Expire the message when printing is active
-            if (ms >= expireStatusMillis) {
+            if (ms >= expire_status_ms) {
               lcd_status_message[0] = '\0';
-              expireStatusMillis = 0;
+              expire_status_ms = 0;
             }
           }
           else {
-            expireStatusMillis += LCD_UPDATE_INTERVAL;
+            expire_status_ms += LCD_UPDATE_INTERVAL;
           }
         }
         else {
-          expireStatusMillis = 0;
+          expire_status_ms = 0;
         }
       }
     #endif
@@ -648,26 +648,26 @@ static void lcd_prepare_menu() {
 
 #endif // DELTA_CALIBRATION_MENU
 
-inline void line_to_current() {
+inline void line_to_current(AxisEnum axis) {
   #ifdef DELTA
     calculate_delta(current_position);
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #else
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #endif
 }
 
 float move_menu_scale;
 static void lcd_move_menu_axis();
 
-static void _lcd_move(const char *name, int axis, int min, int max) {
+static void _lcd_move(const char *name, AxisEnum axis, int min, int max) {
   if (encoderPosition != 0) {
     refresh_cmd_timeout();
     current_position[axis] += float((int)encoderPosition) * move_menu_scale;
     if (min_software_endstops && current_position[axis] < min) current_position[axis] = min;
     if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
     encoderPosition = 0;
-    line_to_current();
+    line_to_current(axis);
     lcdDrawUpdate = 1;
   }
   if (lcdDrawUpdate) lcd_implementation_drawedit(name, ftostr31(current_position[axis]));
@@ -680,7 +680,7 @@ static void lcd_move_e() {
   if (encoderPosition != 0) {
     current_position[E_AXIS] += float((int)encoderPosition) * move_menu_scale;
     encoderPosition = 0;
-    line_to_current();
+    line_to_current(E_AXIS);
     lcdDrawUpdate = 1;
   }
   if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("Extruder"), ftostr31(current_position[E_AXIS]));
@@ -1131,23 +1131,18 @@ void lcd_quick_feedback() {
     #endif    
     lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
   #elif defined(BEEPER) && BEEPER > -1
-    SET_OUTPUT(BEEPER);
     #ifndef LCD_FEEDBACK_FREQUENCY_HZ
       #define LCD_FEEDBACK_FREQUENCY_HZ 5000
     #endif
     #ifndef LCD_FEEDBACK_FREQUENCY_DURATION_MS
       #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2
     #endif
-    const uint16_t delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
+    lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
-    uint16_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
+  #else
-    while (i--) {
+    #ifndef LCD_FEEDBACK_FREQUENCY_DURATION_MS
-      WRITE(BEEPER,HIGH);
+      #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2
-      delayMicroseconds(delay);
+    #endif
-      WRITE(BEEPER,LOW);
+    delay(LCD_FEEDBACK_FREQUENCY_DURATION_MS);
-      delayMicroseconds(delay);
-    }
-    const uint16_t j = max(10000 - LCD_FEEDBACK_FREQUENCY_DURATION_MS * 1000, 0);
-    if (j) delayMicroseconds(j);
   #endif
 }
 
@@ -1397,9 +1392,9 @@ void lcd_ignore_click(bool b) {
 
 void lcd_finishstatus(bool persist=false) {
   #ifdef LCD_PROGRESS_BAR
-    progressBarTick = millis();
+    progress_bar_ms = millis();
     #if PROGRESS_MSG_EXPIRE > 0
-      expireStatusMillis = persist ? 0 : progressBarTick + PROGRESS_MSG_EXPIRE;
+      expire_status_ms = persist ? 0 : progress_bar_ms + PROGRESS_MSG_EXPIRE;
     #endif
   #endif
   lcdDrawUpdate = 2;
@@ -1410,7 +1405,7 @@ void lcd_finishstatus(bool persist=false) {
 }
 
 #if defined(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
-  void dontExpireStatus() { expireStatusMillis = 0; }
+  void dontExpireStatus() { expire_status_ms = 0; }
 #endif
 
 void set_utf_strlen(char *s, uint8_t n) {
@@ -1423,6 +1418,8 @@ void set_utf_strlen(char *s, uint8_t n) {
   s[i] = 0;
 }
 
+bool lcd_hasstatus() { return (lcd_status_message[0] != '\0'); }
+
 void lcd_setstatus(const char* message, bool persist) {
   if (lcd_status_message_level > 0) return;
   strncpy(lcd_status_message, message, 3*LCD_WIDTH);
@@ -1544,9 +1541,20 @@ bool lcd_detected(void) {
 }
 
 void lcd_buzz(long duration, uint16_t freq) {
-  #ifdef LCD_USE_I2C_BUZZER
+  if (freq > 0) {
-    lcd.buzz(duration,freq);
+    #if BEEPER > 0
-  #endif
+      SET_OUTPUT(BEEPER);
+      tone(BEEPER, freq, duration);
+      delay(duration);
+    #elif defined(LCD_USE_I2C_BUZZER)
+      lcd.buzz(duration, freq);
+    #else
+      delay(duration);
+    #endif
+  }
+  else {
+    delay(duration);
+  }
 }
 
 bool lcd_clicked() { return LCD_CLICKED; }
@@ -1798,7 +1806,7 @@ char *ftostr52(const float &x) {
       if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS) current_position[Z_AXIS] = Z_MIN_POS;
       if (max_software_endstops && current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
       encoderPosition = 0;
-      line_to_current();
+      line_to_current(Z_AXIS);
       lcdDrawUpdate = 2;
     }
     if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("Z"), ftostr43(current_position[Z_AXIS]));
@@ -1806,48 +1814,44 @@ char *ftostr52(const float &x) {
     if (LCD_CLICKED) {
       if (!debounce_click) {
         debounce_click = true;
-        int ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
+        int ix = _lcd_level_bed_position % MESH_NUM_X_POINTS,
-        int iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
+            iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
-        if (iy&1) { // Zig zag
+        if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
-          ix = (MESH_NUM_X_POINTS - 1) - ix;
-        }
         mbl.set_z(ix, iy, current_position[Z_AXIS]);
         _lcd_level_bed_position++;
         if (_lcd_level_bed_position == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
           current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-          line_to_current();
+          line_to_current(Z_AXIS);
           mbl.active = 1;
           enqueuecommands_P(PSTR("G28"));
           lcd_return_to_status();
-        } else {
+        }
+        else {
           current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-          line_to_current();
+          line_to_current(Z_AXIS);
           ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
           iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
-          if (iy&1) { // Zig zag
+          if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
-            ix = (MESH_NUM_X_POINTS - 1) - ix;
-          }
           current_position[X_AXIS] = mbl.get_x(ix);
           current_position[Y_AXIS] = mbl.get_y(iy);
-          line_to_current();
+          line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
           lcdDrawUpdate = 2;
         }
       }
-    } else {
+    }
+    else {
       debounce_click = false;
     }
   }
 
   static void _lcd_level_bed_homing() {
     if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("XYZ"), "Homing");
-    if (axis_known_position[X_AXIS] &&
+    if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]) {
-        axis_known_position[Y_AXIS] &&
-        axis_known_position[Z_AXIS]) {
       current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       current_position[X_AXIS] = MESH_MIN_X;
       current_position[Y_AXIS] = MESH_MIN_Y;
-      line_to_current();
+      line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
       _lcd_level_bed_position = 0;
       lcd_goto_menu(_lcd_level_bed);
     }
@@ -1855,9 +1859,7 @@ char *ftostr52(const float &x) {
   }
 
   static void lcd_level_bed() {
-    axis_known_position[X_AXIS] = false;
+    axis_known_position[X_AXIS] = axis_known_position[Y_AXIS] = axis_known_position[Z_AXIS] = false;
-    axis_known_position[Y_AXIS] = false;
-    axis_known_position[Z_AXIS] = false;
     mbl.reset();
     enqueuecommands_P(PSTR("G28"));
     lcdDrawUpdate = 2;

Marlin/ultralcd.h

@@ -8,6 +8,7 @@
   int lcd_strlen_P(const char *s);
   void lcd_update();
   void lcd_init();
+  bool lcd_hasstatus();
   void lcd_setstatus(const char* message, const bool persist=false);
   void lcd_setstatuspgm(const char* message, const uint8_t level=0);
   void lcd_setalertstatuspgm(const char* message);
@@ -100,6 +101,7 @@
 #else //no LCD
   FORCE_INLINE void lcd_update() {}
   FORCE_INLINE void lcd_init() {}
+  FORCE_INLINE bool lcd_hasstatus() { return false; }
   FORCE_INLINE void lcd_setstatus(const char* message, const bool persist=false) {}
   FORCE_INLINE void lcd_setstatuspgm(const char* message, const uint8_t level=0) {}
   FORCE_INLINE void lcd_buttons_update() {}
@@ -107,8 +109,8 @@
   FORCE_INLINE void lcd_buzz(long duration,uint16_t freq) {}
   FORCE_INLINE bool lcd_detected(void) { return true; }
 
-  #define LCD_MESSAGEPGM(x) 
+  #define LCD_MESSAGEPGM(x) do{}while(0)
-  #define LCD_ALERTMESSAGEPGM(x) 
+  #define LCD_ALERTMESSAGEPGM(x) do{}while(0)
 
 #endif //ULTRA_LCD
 

Marlin/ultralcd_implementation_hitachi_HD44780.h

@@ -194,9 +194,9 @@
 #include "utf_mapper.h"
 
 #ifdef LCD_PROGRESS_BAR
-  static uint16_t progressBarTick = 0;
+  static millis_t progress_bar_ms = 0;
   #if PROGRESS_MSG_EXPIRE > 0
-    static uint16_t expireStatusMillis = 0;
+    static millis_t expire_status_ms = 0;
   #endif
   #define LCD_STR_PROGRESS  "\x03\x04\x05"
 #endif
@@ -588,8 +588,9 @@ static void lcd_implementation_status_screen() {
   #ifdef LCD_PROGRESS_BAR
 
     if (card.isFileOpen()) {
-      if (millis() >= progressBarTick + PROGRESS_BAR_MSG_TIME || !lcd_status_message[0]) {
+      // Draw the progress bar if the message has shown long enough
-        // draw the progress bar
+      // or if there is no message set.
+      if (millis() >= progress_bar_ms + PROGRESS_BAR_MSG_TIME || !lcd_status_message[0]) {
         int tix = (int)(card.percentDone() * LCD_WIDTH * 3) / 100,
           cel = tix / 3, rem = tix % 3, i = LCD_WIDTH;
         char msg[LCD_WIDTH+1], b = ' ';

README.md

@@ -24,14 +24,13 @@ This firmware is a mashup between [Sprinter](https://github.com/kliment/Sprinter
 ## Current Status: Bug Fixing
 
 The Marlin development is currently revived. There's a long list of reported issues and pull requests, which we are working on currently.
-We are actively looking for testers. So please try the current development version and report new issues and feedback.
 
 [![Coverity Scan Build Status](https://scan.coverity.com/projects/2224/badge.svg)](https://scan.coverity.com/projects/2224)
 [![Travis Build Status](https://travis-ci.org/MarlinFirmware/Marlin.svg)](https://travis-ci.org/MarlinFirmware/Marlin)
 
 ## Contact
 
-__Google Hangout:__ <a href="https://plus.google.com/hangouts/_/g2wp5duzb2y6ahikg6tmwao3kua" target="_blank">Hangout</a>
+__Google Hangout:__ <a href="https://plus.google.com/hangouts/_/gxn3wrea5gdhoo223yimsiforia" target="_blank">Hangout</a>
 
 ## Credits
 
@@ -40,10 +39,9 @@ The current Marlin dev team consists of:
  - Scott Lahteine [@thinkyhead]
  - 
 
-Sprinters lead developers are Kliment and caru.
+## Donation
-Grbl's lead developer is Simen Svale Skogsrud.
+
-Sonney Jeon (Chamnit) improved some parts of grbl.
+If you find our work usefull please consider donating. Donations will be used to pay for our website http://www.marlinfirmware.org/ and to pay some food or rent money for the very active Collaborators
-A fork by bkubicek for the Ultimaker was merged.
 
 More features have been added by:
   - Lampmaker,
@@ -52,7 +50,7 @@ More features have been added by:
 
 ## License
 
-Marlin is published under the [GPL license](/Documentation/COPYING.md) because I believe in open development.
+Marlin is published under the [GPL license](/Documentation/COPYING.md) because We believe in open development.
-Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
+Do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
 
 [![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/MarlinFirmware/Marlin&title=Marlin&language=&tags=github&category=software)