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

This should fix issues with pull request 467, I hope. Conflicts: Marlin/Configuration.h Marlin/Marlin.pde Marlin/ultralcd_implementation_hitachi_HD44780.h
2013-06-08 08:48:18 -06:00 · 2013-06-08 08:48:18 -06:00 · 6a81291c57
commit 6a81291c57
parent 4b19c8552e 3dea417c25
22 changed files with 3394 additions and 1150 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -2,7 +2,7 @@
 #define CONFIGURATION_H

 // This configurtion file contains the basic settings.
-// Advanced settings can be found in Configuration_adv.h 
+// Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

 //User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
@ -43,6 +43,8 @@
 // 82 = Brainwave (AT90USB646)
 // 9  = Gen3+
 // 70 = Megatronics
+// 701= Megatronics v2.0
+// 702= Minitronics v1.0
 // 90 = Alpha OMCA board
 // 91 = Final OMCA board
 // 301 = Rambo
@ -52,6 +54,9 @@
 #define MOTHERBOARD 7
 #endif

+// This defines the number of extruders
+#define EXTRUDERS 1
+
 //// The following define selects which power supply you have. Please choose the one that matches your setup
 // 1 = ATX
 // 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
@ -79,24 +84,28 @@
 // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
 // 10 is 100k RS thermistor 198-961 (4.7k pullup)
 //
-//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k 
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
 //                          (but gives greater accuracy and more stable PID)
 // 51 is 100k thermistor - EPCOS (1k pullup)
 // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)

 #define TEMP_SENSOR_0 -1
-#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_1 -1
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_BED 0

+// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
+//#define TEMP_SENSOR_1_AS_REDUNDANT 
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
+
 // Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
 #define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
 #define TEMP_WINDOW     1       // (degC) Window around target to start the recidency timer x degC early.

 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
-// to check that the wiring to the thermistor is not broken. 
+// to check that the wiring to the thermistor is not broken.
 // Otherwise this would lead to the heater being powered on all the time.
 #define HEATER_0_MINTEMP 5
 #define HEATER_1_MINTEMP 5
@ -122,7 +131,7 @@
 #define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
 #define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
 #ifdef PIDTEMP
-  //#define PID_DEBUG // Sends debug data to the serial port. 
+  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
@ -133,15 +142,15 @@
 // If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
    #define  DEFAULT_Kp 22.2
-    #define  DEFAULT_Ki 1.08  
-    #define  DEFAULT_Kd 114  
+    #define  DEFAULT_Ki 1.08
+    #define  DEFAULT_Kd 114

 // Makergear
 //    #define  DEFAULT_Kp 7.0
-//    #define  DEFAULT_Ki 0.1  
-//    #define  DEFAULT_Kd 12  
+//    #define  DEFAULT_Ki 0.1
+//    #define  DEFAULT_Kd 12

-// Mendel Parts V9 on 12V    
+// Mendel Parts V9 on 12V
 //    #define  DEFAULT_Kp 63.0
 //    #define  DEFAULT_Ki 2.25
 //    #define  DEFAULT_Kd 440
@ -150,11 +159,11 @@
 // Bed Temperature Control
 // Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
-// uncomment this to enable PID on the bed.   It uses the same ferquency PWM as the extruder. 
+// uncomment this to enable PID on the bed.   It uses the same frequency PWM as the extruder.
 // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
 // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
-// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. 
-// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly 
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
 // shouldn't use bed PID until someone else verifies your hardware works.
 // If this is enabled, find your own PID constants below.
 //#define PIDTEMPBED
@ -224,9 +233,9 @@
 #endif

 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
 //#define DISABLE_MAX_ENDSTOPS

 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
@ -281,13 +290,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)

-// default settings 
+// default settings

 #define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for ultimaker
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.

-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts

 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@ -308,7 +317,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // EEPROM
 // the microcontroller can store settings in the EEPROM, e.g. max velocity...
 // M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //define this to enable eeprom support
 //#define EEPROM_SETTINGS
@ -316,9 +325,18 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // please keep turned on if you can.
 //#define EEPROM_CHITCHAT

+// Preheat Constants
+#define PLA_PREHEAT_HOTEND_TEMP 180 
+#define PLA_PREHEAT_HPB_TEMP 70
+#define PLA_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
+#define ABS_PREHEAT_HOTEND_TEMP 240
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255
+
 //LCD and SD support
 //#define ULTRA_LCD  //general lcd support, also 16x2
-//#define DOGLCD	// Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
+//#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 //#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)

@ -339,6 +357,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
 //#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

+// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
+// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
+//#define REPRAPWORLD_KEYPAD
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
+
 // The Elefu RA Board Control Panel
 // http://www.elefu.com/index.php?route=product/product&product_id=53
 // REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
@ -356,6 +379,10 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define NEWPANEL
 #endif

+#if defined(REPRAPWORLD_KEYPAD)
+  #define NEWPANEL
+  #define ULTIPANEL
+#endif
 #if defined(RA_CONTROL_PANEL)
 #define ULTIPANEL
 #define NEWPANEL
@ -363,36 +390,67 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
 #endif

-// Preheat Constants
-#define PLA_PREHEAT_HOTEND_TEMP 180 
-#define PLA_PREHEAT_HPB_TEMP 70
-#define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+//I2C PANELS

-#define ABS_PREHEAT_HOTEND_TEMP 240
-#define ABS_PREHEAT_HPB_TEMP 100
-#define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+//#define LCD_I2C_SAINSMART_YWROBOT
+#ifdef LCD_I2C_SAINSMART_YWROBOT
+  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
+  // Make sure it is placed in the Arduino libraries directory.
+  #define LCD_I2C_TYPE_PCF8575
+  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander
+  #define NEWPANEL
+  #define ULTIPANEL 
+#endif

+// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
+//#define LCD_I2C_PANELOLU2
+#ifdef LCD_I2C_PANELOLU2
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
+  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin 
+  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). 
+  #define LCD_I2C_TYPE_MCP23017
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
+  #define NEWPANEL
+  #define ULTIPANEL 
+#endif
+
+// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
+//#define LCD_I2C_VIKI
+#ifdef LCD_I2C_VIKI
+  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
+  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
+  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino
+  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)
+  #define LCD_I2C_TYPE_MCP23017 
+  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
+  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
+  #define NEWPANEL
+  #define ULTIPANEL 
+#endif

 #ifdef ULTIPANEL
 //  #define NEWPANEL  //enable this if you have a click-encoder panel
  #define SDSUPPORT
  #define ULTRA_LCD
-	#ifdef DOGLCD	// Change number of lines to match the DOG graphic display
-		#define LCD_WIDTH 20
-		#define LCD_HEIGHT 5
-	#else
-		#define LCD_WIDTH 20
-		#define LCD_HEIGHT 4
-	#endif
-#else //no panel but just lcd 
+  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 4
+  #endif
+#else //no panel but just lcd
  #ifdef ULTRA_LCD
-	#ifdef DOGLCD	// Change number of lines to match the 128x64 graphics display
-		#define LCD_WIDTH 20
-		#define LCD_HEIGHT 5
-	#else
-		#define LCD_WIDTH 16
-		#define LCD_HEIGHT 2
-	#endif    
+  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
+    #define LCD_WIDTH 20
+    #define LCD_HEIGHT 5
+  #else
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2
+  #endif
  #endif
 #endif

@ -406,6 +464,34 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // SF send wrong arc g-codes when using Arc Point as fillet procedure
 //#define SF_ARC_FIX

+// Support for the BariCUDA Paste Extruder.
+//#define BARICUDA
+
+/*********************************************************************\
+*
+* R/C SERVO support
+*
+* Sponsored by TrinityLabs, Reworked by codexmas
+*
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+//#define NUM_SERVOS 3 // Servo index starts with 0
+
+// Servo Endstops
+// 
+// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
+// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// 
+//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
+//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+
 #include "Configuration_adv.h"
 #include "thermistortables.h"

--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -63,21 +63,31 @@
 //This is for controlling a fan to cool down the stepper drivers
 //it will turn on when any driver is enabled
 //and turn off after the set amount of seconds from last driver being disabled again
-//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
-#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
+#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_SPEED 255  // == full speed

 // When first starting the main fan, run it at full speed for the
 // given number of milliseconds.  This gets the fan spinning reliably
 // before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
 //#define FAN_KICKSTART_TIME 100

+// Extruder cooling fans
+// Configure fan pin outputs to automatically turn on/off when the associated
+// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
+// Multiple extruders can be assigned to the same pin in which case 
+// the fan will turn on when any selected extruder is above the threshold.
+#define EXTRUDER_0_AUTO_FAN_PIN   -1
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================

-// This defines the number of extruders
-#define EXTRUDERS 1
-
 #define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing


@ -210,9 +220,9 @@
 //  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
 //#define WATCHDOG_RESET_MANUAL
 #endif
-
-// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
-//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
+//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

 // extruder advance constant (s2/mm3)
 //
@ -276,7 +286,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 #else
  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif
-
+

 //The ASCII buffer for recieving from the serial:
 #define MAX_CMD_SIZE 96
@ -308,6 +318,9 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================
+#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
+  #error "You cannot use  TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
+#endif

 #if TEMP_SENSOR_0 > 0
  #define THERMISTORHEATER_0 TEMP_SENSOR_0
--- a/Marlin/DOGMbitmaps.h
+++ b/Marlin/DOGMbitmaps.h
@ -1,7 +1,7 @@
 #define START_BMPWIDTH 	60	//Width in pixels
 #define START_BMPHEIGHT 	64	//Height in pixels
 #define START_BMPBYTEWIDTH 	8	//Width in bytes
-unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0,
 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF0,
 0xFF,0xFF,0xFF,0xF9,0xFF,0xFF,0xFF,0xF0,
@ -71,7 +71,7 @@ unsigned char start_bmp[574] PROGMEM = { //AVR-GCC, WinAVR
 #define STATUS_SCREENWIDTH 		115	//Width in pixels
 #define STATUS_SCREENHEIGHT 	19	//Height in pixels
 #define STATUS_SCREENBYTEWIDTH 	15	//Width in bytes
-unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFF,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x63,0x0C,0x60,
@ -96,7 +96,7 @@ unsigned char status_screen0_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 #define STATUS_SCREENWIDTH 		115	//Width in pixels
 #define STATUS_SCREENHEIGHT 	19	//Height in pixels
 #define STATUS_SCREENBYTEWIDTH 	15	//Width in bytes
-unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR
+const unsigned char status_screen1_bmp[] PROGMEM = { //AVR-GCC, WinAVR
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFF,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x70,0x00,0xE0,
 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x61,0xF8,0x60,
--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@ -1,12 +1,12 @@
 # Sprinter Arduino Project Makefile
-# 
+#
 # Makefile Based on:
 # Arduino 0011 Makefile
 # Arduino adaptation by mellis, eighthave, oli.keller
 # Marlin adaption by Daid
 #
 # This has been tested with Arduino 0022.
-# 
+#
 # This makefile allows you to build sketches from the command line
 # without the Arduino environment (or Java).
 #
@ -21,7 +21,7 @@
 #     (e.g. UPLOAD_PORT = /dev/tty.USB0).  If the exact name of this file
 #     changes, you can use * as a wildcard (e.g. UPLOAD_PORT = /dev/tty.usb*).
 #
-#  3. Set the line containing "MCU" to match your board's processor. 
+#  3. Set the line containing "MCU" to match your board's processor.
 #     Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
 #     or Diecimila have the atmega168.  If you're using a LilyPad Arduino,
 #     change F_CPU to 8000000. If you are using Gen7 electronics, you
@ -44,7 +44,7 @@ ARDUINO_INSTALL_DIR  ?= ../../arduino-0022
 ARDUINO_VERSION      ?= 22

 # You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin)
-AVR_TOOLS_PATH ?= 
+AVR_TOOLS_PATH ?=

 #Programmer configuration
 UPLOAD_RATE        ?= 115200
@ -213,7 +213,7 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
 	stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
 	watchdog.cpp
-CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp
+CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp

 #Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version
 ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true)
@ -317,19 +317,19 @@ endif
 # Default target.
 all: sizeafter

-build: $(BUILD_DIR) elf hex 
+build: $(BUILD_DIR) elf hex

 # Creates the object directory
-$(BUILD_DIR): 
+$(BUILD_DIR):
 	$P mkdir -p $(BUILD_DIR)

 elf: $(BUILD_DIR)/$(TARGET).elf
 hex: $(BUILD_DIR)/$(TARGET).hex
 eep: $(BUILD_DIR)/$(TARGET).eep
-lss: $(BUILD_DIR)/$(TARGET).lss 
+lss: $(BUILD_DIR)/$(TARGET).lss
 sym: $(BUILD_DIR)/$(TARGET).sym

-# Program the device.  
+# Program the device.
 # Do not try to reset an arduino if it's not one
 upload: $(BUILD_DIR)/$(TARGET).hex
 ifeq (${AVRDUDE_PROGRAMMER}, arduino)
@ -356,7 +356,7 @@ COFFCONVERT=$(OBJCOPY) --debugging \
 	--change-section-address .data-0x800000 \
 	--change-section-address .bss-0x800000 \
 	--change-section-address .noinit-0x800000 \
-	--change-section-address .eeprom-0x810000 
+	--change-section-address .eeprom-0x810000


 coff: $(BUILD_DIR)/$(TARGET).elf
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -96,7 +96,7 @@ void process_commands();

 void manage_inactivity();

-#if X_ENABLE_PIN > -1
+#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else
@ -104,7 +104,7 @@ void manage_inactivity();
  #define disable_x() ;
 #endif

-#if Y_ENABLE_PIN > -1
+#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
 #else
@ -112,7 +112,7 @@ void manage_inactivity();
  #define disable_y() ;
 #endif

-#if Z_ENABLE_PIN > -1
+#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  #ifdef Z_DUAL_STEPPER_DRIVERS
    #define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); }
@ -186,6 +186,10 @@ extern float add_homeing[3];
 extern float min_pos[3];
 extern float max_pos[3];
 extern int fanSpeed;
+#ifdef BARICUDA
+extern int ValvePressure;
+extern int EtoPPressure;
+#endif

 #ifdef FWRETRACT
 extern bool autoretract_enabled;
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@ -40,13 +40,13 @@
  #elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008)
    #include <Wire.h>
    #include <LiquidTWI2.h>
-  #elif defined DOGLCD
+  #elif defined(DOGLCD)
    #include <U8glib.h> // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/)
  #else
    #include <LiquidCrystal.h> // library for character LCD
  #endif
 #endif

-#if DIGIPOTSS_PIN > -1
+#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
--- a/Marlin/Servo.cpp
+++ b/Marlin/Servo.cpp
@ -0,0 +1,341 @@
+/*
+ Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/*
+
+ A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ The servos are pulsed in the background using the value most recently written using the write() method
+
+ Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+ Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+
+ The methods are:
+
+ Servo - Class for manipulating servo motors connected to Arduino pins.
+
+ attach(pin )  - Attaches a servo motor to an i/o pin.
+ attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+ default min is 544, max is 2400
+
+ write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+ writeMicroseconds() - Sets the servo pulse width in microseconds
+ read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+ readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+ attached()  - Returns true if there is a servo attached.
+ detach()    - Stops an attached servos from pulsing its i/o pin.
+
+*/
+#include "Configuration.h" 
+
+#ifdef NUM_SERVOS
+#include <avr/interrupt.h>
+#include <Arduino.h>
+
+#include "Servo.h"
+
+#define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009
+#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
+
+
+#define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
+
+//#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)
+
+static servo_t servos[MAX_SERVOS];                          // static array of servo structures
+static volatile int8_t Channel[_Nbr_16timers ];             // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+uint8_t ServoCount = 0;                                     // the total number of attached servos
+
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER)       // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*SERVOS_PER_TIMER) + _channel)     // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel)  (servos[SERVO_INDEX(_timer,_channel)])            // macro to access servo class by timer and channel
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4)  // minimum value in uS for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4)  // maximum value in uS for this servo
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
+{
+  if( Channel[timer] < 0 )
+    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else{
+    if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
+  }
+
+  Channel[timer]++;    // increment to the next channel
+  if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
+    if(SERVO(timer,Channel[timer]).Pin.isActive == true)     // check if activated
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
+      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
+    else
+      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
+// Interrupt handlers for Arduino
+#if defined(_useTimer1)
+SIGNAL (TIMER1_COMPA_vect)
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+
+#if defined(_useTimer3)
+SIGNAL (TIMER3_COMPA_vect)
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+
+#if defined(_useTimer4)
+SIGNAL (TIMER4_COMPA_vect)
+{
+  handle_interrupts(_timer4, &TCNT4, &OCR4A);
+}
+#endif
+
+#if defined(_useTimer5)
+SIGNAL (TIMER5_COMPA_vect)
+{
+  handle_interrupts(_timer5, &TCNT5, &OCR5A);
+}
+#endif
+
+#elif defined WIRING
+// Interrupt handlers for Wiring
+#if defined(_useTimer1)
+void Timer1Service()
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+#if defined(_useTimer3)
+void Timer3Service()
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+#endif
+
+
+static void initISR(timer16_Sequence_t timer)
+{
+#if defined (_useTimer1)
+  if(timer == _timer1) {
+    TCCR1A = 0;             // normal counting mode
+    TCCR1B = _BV(CS11);     // set prescaler of 8
+    TCNT1 = 0;              // clear the timer count
+#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF1A);      // clear any pending interrupts;
+    TIMSK |=  _BV(OCIE1A) ;  // enable the output compare interrupt
+#else
+    // here if not ATmega8 or ATmega128
+    TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
+    TIMSK1 |=  _BV(OCIE1A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+#endif
+  }
+#endif
+
+#if defined (_useTimer3)
+  if(timer == _timer3) {
+    TCCR3A = 0;             // normal counting mode
+    TCCR3B = _BV(CS31);     // set prescaler of 8
+    TCNT3 = 0;              // clear the timer count
+#if defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
+#else
+    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+    TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+#endif
+  }
+#endif
+
+#if defined (_useTimer4)
+  if(timer == _timer4) {
+    TCCR4A = 0;             // normal counting mode
+    TCCR4B = _BV(CS41);     // set prescaler of 8
+    TCNT4 = 0;              // clear the timer count
+    TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+    TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
+  }
+#endif
+
+#if defined (_useTimer5)
+  if(timer == _timer5) {
+    TCCR5A = 0;             // normal counting mode
+    TCCR5B = _BV(CS51);     // set prescaler of 8
+    TCNT5 = 0;              // clear the timer count
+    TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+    TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
+  }
+#endif
+}
+
+static void finISR(timer16_Sequence_t timer)
+{
+    //disable use of the given timer
+#if defined WIRING   // Wiring
+  if(timer == _timer1) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK1 &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #else
+    TIMSK &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #endif
+    timerDetach(TIMER1OUTCOMPAREA_INT);
+  }
+  else if(timer == _timer3) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK3 &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #else
+    ETIMSK &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #endif
+    timerDetach(TIMER3OUTCOMPAREA_INT);
+  }
+#else
+    //For arduino - in future: call here to a currently undefined function to reset the timer
+#endif
+}
+
+static boolean isTimerActive(timer16_Sequence_t timer)
+{
+  // returns true if any servo is active on this timer
+  for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
+    if(SERVO(timer,channel).Pin.isActive == true)
+      return true;
+  }
+  return false;
+}
+
+
+/****************** end of static functions ******************************/
+
+Servo::Servo()
+{
+  if( ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;                    // assign a servo index to this instance
+	servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
+  }
+  else
+    this->servoIndex = INVALID_SERVO ;  // too many servos
+}
+
+uint8_t Servo::attach(int pin)
+{
+  return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  if(this->servoIndex < MAX_SERVOS ) {
+    pinMode( pin, OUTPUT) ;                                   // set servo pin to output
+    servos[this->servoIndex].Pin.nbr = pin;
+    // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
+    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    // initialize the timer if it has not already been initialized
+    timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+    if(isTimerActive(timer) == false)
+      initISR(timer);
+    servos[this->servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  }
+  return this->servoIndex ;
+}
+
+void Servo::detach()
+{
+  servos[this->servoIndex].Pin.isActive = false;
+  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if(isTimerActive(timer) == false) {
+    finISR(timer);
+  }
+}
+
+void Servo::write(int value)
+{
+  if(value < MIN_PULSE_WIDTH)
+  {  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+    if(value < 0) value = 0;
+    if(value > 180) value = 180;
+    value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());
+  }
+  this->writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+  // calculate and store the values for the given channel
+  byte channel = this->servoIndex;
+  if( (channel < MAX_SERVOS) )   // ensure channel is valid
+  {
+    if( value < SERVO_MIN() )          // ensure pulse width is valid
+      value = SERVO_MIN();
+    else if( value > SERVO_MAX() )
+      value = SERVO_MAX();
+
+  	value = value - TRIM_DURATION;
+    value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
+
+    uint8_t oldSREG = SREG;
+    cli();
+    servos[channel].ticks = value;
+    SREG = oldSREG;
+  }
+}
+
+int Servo::read() // return the value as degrees
+{
+  return  map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+  unsigned int pulsewidth;
+  if( this->servoIndex != INVALID_SERVO )
+    pulsewidth = ticksToUs(servos[this->servoIndex].ticks)  + TRIM_DURATION ;   // 12 aug 2009
+  else
+    pulsewidth  = 0;
+
+  return pulsewidth;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive ;
+}
+
+#endif
--- a/Marlin/Servo.h
+++ b/Marlin/Servo.h
@ -0,0 +1,132 @@
+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/*
+
+  A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently written using the write() method
+
+  Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+  Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+  The sequence used to sieze timers is defined in timers.h
+
+  The methods are:
+
+   Servo - Class for manipulating servo motors connected to Arduino pins.
+
+   attach(pin )  - Attaches a servo motor to an i/o pin.
+   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+   default min is 544, max is 2400
+
+   write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+   writeMicroseconds() - Sets the servo pulse width in microseconds
+   read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+   readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+   attached()  - Returns true if there is a servo attached.
+   detach()    - Stops an attached servos from pulsing its i/o pin.
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/*
+ * Defines for 16 bit timers used with  Servo library
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ *
+ */
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define _useTimer5
+//#define _useTimer1
+#define _useTimer3
+#define _useTimer4
+//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega32U4__)
+//#define _useTimer1
+#define _useTimer3
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+#define _useTimer3
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+
+#else  // everything else
+//#define _useTimer1
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _Nbr_16timers } timer16_Sequence_t ;
+#endif
+
+#define Servo_VERSION           2      // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t   ;
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
+  void writeMicroseconds(int value); // Write pulse width in microseconds
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
+};
+
+#endif
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@ -19,12 +19,25 @@
 * Implementation of the LCD display routines for a DOGM128 graphic display. These are common LCD 128x64 pixel graphic displays.
 **/

+#ifdef ULTIPANEL
+#define BLEN_A 0
+#define BLEN_B 1
+#define BLEN_C 2
+#define EN_A (1<<BLEN_A)
+#define EN_B (1<<BLEN_B)
+#define EN_C (1<<BLEN_C)
+#define encrot0 0
+#define encrot1 2
+#define encrot2 3
+#define encrot3 1
+#define LCD_CLICKED (buttons&EN_C)
+#endif

-// CHANGE_DE begin ***
-#include <U8glib.h>	// DE_U8glib
+#include <U8glib.h>
 #include "DOGMbitmaps.h"
 #include "dogm_font_data_marlin.h"
 #include "ultralcd.h"
+#include "ultralcd_st7920_u8glib_rrd.h"


 /* Russian language not supported yet, needs custom font
@ -61,11 +74,10 @@

 #define FONT_STATUSMENU	u8g_font_6x9

-
 // LCD selection
 #ifdef U8GLIB_ST7920
-// SPI Com: SCK = en = (D4), MOSI = rw = (RS), CS = di = (ENABLE)
-U8GLIB_ST7920_128X64_1X u8g(LCD_PINS_D4, LCD_PINS_ENABLE, LCD_PINS_RS);
+//U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
+U8GLIB_ST7920_128X64_RRD u8g(0);
 #else
 U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);	// HW-SPI Com: CS, A0
 #endif
@ -88,11 +100,11 @@ static void lcd_implementation_init()
 	u8g.setRot90();	// Rotate screen by 90°
 #endif

-#ifdef LCD_SCREEN_ROT_180;
+#ifdef LCD_SCREEN_ROT_180
 	u8g.setRot180();	// Rotate screen by 180°
 #endif

-#ifdef LCD_SCREEN_ROT_270;
+#ifdef LCD_SCREEN_ROT_270
 	u8g.setRot270();	// Rotate screen by 270°
 #endif

@ -266,7 +278,7 @@ static void lcd_implementation_status_screen()
 // Fan
 u8g.setFont(FONT_STATUSMENU);
 u8g.setPrintPos(104,27);
- #if FAN_PIN > 0
+ #if defined(FAN_PIN) && FAN_PIN > -1
 u8g.print(itostr3(int((fanSpeed*100)/256 + 1)));
 u8g.print("%");
 #else
--- a/Marlin/fastio.h
+++ b/Marlin/fastio.h
@ -2575,8 +2575,702 @@ pins
 #define PF7_DDR			DDRF
 #endif

+
+#if defined (__AVR_ATmega1281__) || defined (__AVR_ATmega2561__)
+// UART
+#define	RXD					DIO0
+#define	TXD					DIO1
+
+// SPI
+#define	SCK					DIO10
+#define	MISO				DIO12
+#define	MOSI				DIO11
+#define	SS					DIO16
+
+// TWI (I2C)
+#define	SCL					DIO17
+#define	SDA					DIO18
+
+// timers and PWM
+#define	OC0A				DIO9
+#define	OC0B				DIO4
+#define	OC1A				DIO7
+#define	OC1B				DIO8
+#define	OC2A				DIO6
+#define	OC3A				DIO5
+#define	OC3B				DIO2
+#define	OC3C				DIO3
+
+
+// change for your board
+#define	DEBUG_LED		DIO46
+
+/*
+pins
+*/
+#define	DIO0_PIN		PINE0
+#define	DIO0_RPORT	PINE
+#define	DIO0_WPORT	PORTE
+#define	DIO0_DDR		DDRE
+#define DIO0_PWM		NULL
+
+#define	DIO1_PIN		PINE1
+#define	DIO1_RPORT	PINE
+#define	DIO1_WPORT	PORTE
+#define	DIO1_DDR		DDRE
+#define DIO1_PWM		NULL
+
+#define	DIO2_PIN		PINE4
+#define	DIO2_RPORT	PINE
+#define	DIO2_WPORT	PORTE
+#define	DIO2_DDR		DDRE
+#define DIO2_PWM		&OCR3BL
+
+#define	DIO3_PIN		PINE5
+#define	DIO3_RPORT	PINE
+#define	DIO3_WPORT	PORTE
+#define	DIO3_DDR		DDRE
+#define DIO3_PWM		&OCR3CL
+
+#define	DIO4_PIN		PING5
+#define	DIO4_RPORT	PING
+#define	DIO4_WPORT	PORTG
+#define	DIO4_DDR		DDRG
+#define DIO4_PWM		&OCR0B
+
+#define	DIO5_PIN		PINE3
+#define	DIO5_RPORT	PINE
+#define	DIO5_WPORT	PORTE
+#define	DIO5_DDR		DDRE
+#define DIO5_PWM		&OCR3AL
+
+#define	DIO6_PIN		PINB4
+#define	DIO6_RPORT	PINB
+#define	DIO6_WPORT	PORTB
+#define	DIO6_DDR		DDRB
+#define DIO6_PWM		&OCR2AL
+
+#define	DIO7_PIN		PINB5
+#define	DIO7_RPORT	PINB
+#define	DIO7_WPORT	PORTB
+#define	DIO7_DDR		DDRB
+#define DIO7_PWM		&OCR1AL
+
+#define	DIO8_PIN		PINB6
+#define	DIO8_RPORT	PINB
+#define	DIO8_WPORT	PORTB
+#define	DIO8_DDR		DDRB
+#define DIO8_PWM		&OCR1BL
+
+#define	DIO9_PIN		PINB7
+#define	DIO9_RPORT	PINB
+#define	DIO9_WPORT	PORTB
+#define	DIO9_DDR		DDRB
+#define DIO9_PWM		&OCR0AL
+
+#define	DIO10_PIN		PINB1
+#define	DIO10_RPORT	PINB
+#define	DIO10_WPORT	PORTB
+#define	DIO10_DDR		DDRB
+#define DIO10_PWM		NULL
+
+#define	DIO11_PIN		PINB2
+#define	DIO11_RPORT	PINB
+#define	DIO11_WPORT	PORTB
+#define	DIO11_DDR		DDRB
+#define DIO11_PWM		NULL
+
+#define	DIO12_PIN		PINB3
+#define	DIO12_RPORT	PINB
+#define	DIO12_WPORT	PORTB
+#define	DIO12_DDR		DDRB
+#define DIO12_PWM		NULL
+
+#define	DIO13_PIN		PINE2
+#define	DIO13_RPORT	PINE
+#define	DIO13_WPORT	PORTE
+#define	DIO13_DDR		DDRE
+#define DIO13_PWM		NULL
+
+#define	DIO14_PIN		PINE6
+#define	DIO14_RPORT	PINE
+#define	DIO14_WPORT	PORTE
+#define	DIO14_DDR		DDRE
+#define DIO14_PWM		NULL
+
+#define	DIO15_PIN		PINE7
+#define	DIO15_RPORT	PINE
+#define	DIO15_WPORT	PORTE
+#define	DIO15_DDR		DDRE
+#define DIO15_PWM		NULL
+
+#define	DIO16_PIN		PINB0
+#define	DIO16_RPORT	PINB
+#define	DIO16_WPORT	PORTB
+#define	DIO16_DDR		DDRB
+#define DIO16_PWM		NULL
+
+#define	DIO17_PIN		PIND0
+#define	DIO17_RPORT	PIND
+#define	DIO17_WPORT	PORTD
+#define	DIO17_DDR		DDRD
+#define DIO17_PWM		NULL
+
+#define	DIO18_PIN		PIND1
+#define	DIO18_RPORT	PIND
+#define	DIO18_WPORT	PORTD
+#define	DIO18_DDR		DDRD
+#define DIO18_PWM		NULL
+
+#define	DIO19_PIN		PIND2
+#define	DIO19_RPORT	PIND
+#define	DIO19_WPORT	PORTD
+#define	DIO19_DDR		DDRD
+#define DIO19_PWM		NULL
+
+#define	DIO20_PIN		PIND3
+#define	DIO20_RPORT	PIND
+#define	DIO20_WPORT	PORTD
+#define	DIO20_DDR		DDRD
+#define DIO20_PWM		NULL
+
+#define	DIO21_PIN		PIND4
+#define	DIO21_RPORT	PIND
+#define	DIO21_WPORT	PORTD
+#define	DIO21_DDR		DDRD
+#define DIO21_PWM		NULL
+
+#define	DIO22_PIN		PIND5
+#define	DIO22_RPORT	PIND
+#define	DIO22_WPORT	PORTD
+#define	DIO22_DDR		DDRD
+#define DIO22_PWM		NULL
+
+#define	DIO23_PIN		PIND6
+#define	DIO23_RPORT	PIND
+#define	DIO23_WPORT	PORTD
+#define	DIO23_DDR		DDRD
+#define DIO23_PWM		NULL
+
+#define	DIO24_PIN		PIND7
+#define	DIO24_RPORT	PIND
+#define	DIO24_WPORT	PORTD
+#define	DIO24_DDR		DDRD
+#define DIO24_PWM		NULL
+
+#define	DIO25_PIN		PING0
+#define	DIO25_RPORT	PING
+#define	DIO25_WPORT	PORTG
+#define	DIO25_DDR		DDRG
+#define DIO25_PWM		NULL
+
+#define	DIO26_PIN		PING1
+#define	DIO26_RPORT	PING
+#define	DIO26_WPORT	PORTG
+#define	DIO26_DDR		DDRG
+#define DIO26_PWM		NULL
+
+#define	DIO27_PIN		PING2
+#define	DIO27_RPORT	PING
+#define	DIO27_WPORT	PORTG
+#define	DIO27_DDR		DDRG
+#define DIO27_PWM		NULL
+
+#define	DIO28_PIN		PING3
+#define	DIO28_RPORT	PING
+#define	DIO28_WPORT	PORTG
+#define	DIO28_DDR		DDRG
+#define DIO28_PWM		NULL
+
+#define	DIO29_PIN		PING4
+#define	DIO29_RPORT	PING
+#define	DIO29_WPORT	PORTG
+#define	DIO29_DDR		DDRG
+#define DIO29_PWM		NULL
+
+#define	DIO30_PIN		PINC0
+#define	DIO30_RPORT	PINC
+#define	DIO30_WPORT	PORTC
+#define	DIO30_DDR		DDRC
+#define DIO30_PWM		NULL
+
+#define	DIO31_PIN		PINC1
+#define	DIO31_RPORT	PINC
+#define	DIO31_WPORT	PORTC
+#define	DIO31_DDR		DDRC
+#define DIO31_PWM		NULL
+
+#define	DIO32_PIN		PINC2
+#define	DIO32_RPORT	PINC
+#define	DIO32_WPORT	PORTC
+#define	DIO32_DDR		DDRC
+#define DIO32_PWM		NULL
+
+#define	DIO33_PIN		PINC3
+#define	DIO33_RPORT	PINC
+#define	DIO33_WPORT	PORTC
+#define	DIO33_DDR		DDRC
+#define DIO33_PWM		NULL
+
+#define	DIO34_PIN		PINC4
+#define	DIO34_RPORT	PINC
+#define	DIO34_WPORT	PORTC
+#define	DIO34_DDR		DDRC
+#define DIO34_PWM		NULL
+
+#define	DIO35_PIN		PINC5
+#define	DIO35_RPORT	PINC
+#define	DIO35_WPORT	PORTC
+#define	DIO35_DDR		DDRC
+#define DIO35_PWM		NULL
+
+#define	DIO36_PIN		PINC6
+#define	DIO36_RPORT	PINC
+#define	DIO36_WPORT	PORTC
+#define	DIO36_DDR		DDRC
+#define DIO36_PWM		NULL
+
+#define	DIO37_PIN		PINC7
+#define	DIO37_RPORT	PINC
+#define	DIO37_WPORT	PORTC
+#define	DIO37_DDR		DDRC
+#define DIO37_PWM		NULL
+
+#define	DIO38_PIN		PINA0
+#define	DIO38_RPORT	PINA
+#define	DIO38_WPORT	PORTA
+#define	DIO38_DDR		DDRA
+#define DIO38_PWM		NULL
+
+#define	DIO39_PIN		PINA1
+#define	DIO39_RPORT	PINA
+#define	DIO39_WPORT	PORTA
+#define	DIO39_DDR		DDRA
+#define DIO39_PWM		NULL
+
+#define	DIO40_PIN		PINA2
+#define	DIO40_RPORT	PINA
+#define	DIO40_WPORT	PORTA
+#define	DIO40_DDR		DDRA
+#define DIO40_PWM		NULL
+
+#define	DIO41_PIN		PINA3
+#define	DIO41_RPORT	PINA
+#define	DIO41_WPORT	PORTA
+#define	DIO41_DDR		DDRA
+#define DIO41_PWM		NULL
+
+#define	DIO42_PIN		PINA4
+#define	DIO42_RPORT	PINA
+#define	DIO42_WPORT	PORTA
+#define	DIO42_DDR		DDRA
+#define DIO42_PWM		NULL
+
+#define	DIO43_PIN		PINA5
+#define	DIO43_RPORT	PINA
+#define	DIO43_WPORT	PORTA
+#define	DIO43_DDR		DDRA
+#define DIO43_PWM		NULL
+
+#define	DIO44_PIN		PINA6
+#define	DIO44_RPORT	PINA
+#define	DIO44_WPORT	PORTA
+#define	DIO44_DDR		DDRA
+#define DIO44_PWM		NULL
+
+#define	DIO45_PIN		PINA7
+#define	DIO45_RPORT	PINA
+#define	DIO45_WPORT	PORTA
+#define	DIO45_DDR		DDRA
+#define DIO45_PWM		NULL
+
+#define	DIO46_PIN		PINF0
+#define	DIO46_RPORT	PINF
+#define	DIO46_WPORT	PORTF
+#define	DIO46_DDR		DDRF
+#define DIO46_PWM		NULL
+
+#define	DIO47_PIN		PINF1
+#define	DIO47_RPORT	PINF
+#define	DIO47_WPORT	PORTF
+#define	DIO47_DDR		DDRF
+#define DIO47_PWM		NULL
+
+#define	DIO48_PIN		PINF2
+#define	DIO48_RPORT	PINF
+#define	DIO48_WPORT	PORTF
+#define	DIO48_DDR		DDRF
+#define DIO48_PWM		NULL
+
+#define	DIO49_PIN		PINF3
+#define	DIO49_RPORT	PINF
+#define	DIO49_WPORT	PORTF
+#define	DIO49_DDR		DDRF
+#define DIO49_PWM		NULL
+
+#define	DIO50_PIN		PINF4
+#define	DIO50_RPORT	PINF
+#define	DIO50_WPORT	PORTF
+#define	DIO50_DDR		DDRF
+#define DIO50_PWM		NULL
+
+#define	DIO51_PIN		PINF5
+#define	DIO51_RPORT	PINF
+#define	DIO51_WPORT	PORTF
+#define	DIO51_DDR		DDRF
+#define DIO51_PWM		NULL
+
+#define	DIO52_PIN		PINF6
+#define	DIO52_RPORT	PINF
+#define	DIO52_WPORT	PORTF
+#define	DIO52_DDR		DDRF
+#define DIO52_PWM		NULL
+
+#define	DIO53_PIN		PINF7
+#define	DIO53_RPORT	PINF
+#define	DIO53_WPORT	PORTF
+#define	DIO53_DDR		DDRF
+#define DIO53_PWM		NULL
+
+
+
+
+#undef PA0
+#define PA0_PIN			PINA0
+#define PA0_RPORT		PINA
+#define PA0_WPORT		PORTA
+#define PA0_DDR			DDRA
+#define PA0_PWM			NULL
+#undef PA1
+#define PA1_PIN			PINA1
+#define PA1_RPORT		PINA
+#define PA1_WPORT		PORTA
+#define PA1_DDR			DDRA
+#define PA1_PWM			NULL
+#undef PA2
+#define PA2_PIN			PINA2
+#define PA2_RPORT		PINA
+#define PA2_WPORT		PORTA
+#define PA2_DDR			DDRA
+#define PA2_PWM			NULL
+#undef PA3
+#define PA3_PIN			PINA3
+#define PA3_RPORT		PINA
+#define PA3_WPORT		PORTA
+#define PA3_DDR			DDRA
+#define PA3_PWM			NULL
+#undef PA4
+#define PA4_PIN			PINA4
+#define PA4_RPORT		PINA
+#define PA4_WPORT		PORTA
+#define PA4_DDR			DDRA
+#define PA4_PWM			NULL
+#undef PA5
+#define PA5_PIN			PINA5
+#define PA5_RPORT		PINA
+#define PA5_WPORT		PORTA
+#define PA5_DDR			DDRA
+#define PA5_PWM			NULL
+#undef PA6
+#define PA6_PIN			PINA6
+#define PA6_RPORT		PINA
+#define PA6_WPORT		PORTA
+#define PA6_DDR			DDRA
+#define PA6_PWM			NULL
+#undef PA7
+#define PA7_PIN			PINA7
+#define PA7_RPORT		PINA
+#define PA7_WPORT		PORTA
+#define PA7_DDR			DDRA
+#define PA7_PWM			NULL
+
+#undef PB0
+#define PB0_PIN			PINB0
+#define PB0_RPORT		PINB
+#define PB0_WPORT		PORTB
+#define PB0_DDR			DDRB
+#define PB0_PWM			NULL
+#undef PB1
+#define PB1_PIN			PINB1
+#define PB1_RPORT		PINB
+#define PB1_WPORT		PORTB
+#define PB1_DDR			DDRB
+#define PB1_PWM			NULL
+#undef PB2
+#define PB2_PIN			PINB2
+#define PB2_RPORT		PINB
+#define PB2_WPORT		PORTB
+#define PB2_DDR			DDRB
+#define PB2_PWM			NULL
+#undef PB3
+#define PB3_PIN			PINB3
+#define PB3_RPORT		PINB
+#define PB3_WPORT		PORTB
+#define PB3_DDR			DDRB
+#define PB3_PWM			NULL
+#undef PB4
+#define PB4_PIN			PINB4
+#define PB4_RPORT		PINB
+#define PB4_WPORT		PORTB
+#define PB4_DDR			DDRB
+#define PB4_PWM			&OCR2A
+#undef PB5
+#define PB5_PIN			PINB5
+#define PB5_RPORT		PINB
+#define PB5_WPORT		PORTB
+#define PB5_DDR			DDRB
+#define PB5_PWM			NULL
+#undef PB6
+#define PB6_PIN			PINB6
+#define PB6_RPORT		PINB
+#define PB6_WPORT		PORTB
+#define PB6_DDR			DDRB
+#define PB6_PWM			NULL
+#undef PB7
+#define PB7_PIN			PINB7
+#define PB7_RPORT		PINB
+#define PB7_WPORT		PORTB
+#define PB7_DDR			DDRB
+#define PB7_PWM			&OCR0A
+
+#undef PC0
+#define PC0_PIN			PINC0
+#define PC0_RPORT		PINC
+#define PC0_WPORT		PORTC
+#define PC0_DDR			DDRC
+#define PC0_PWM			NULL
+#undef PC1
+#define PC1_PIN			PINC1
+#define PC1_RPORT		PINC
+#define PC1_WPORT		PORTC
+#define PC1_DDR			DDRC
+#define PC1_PWM			NULL
+#undef PC2
+#define PC2_PIN			PINC2
+#define PC2_RPORT		PINC
+#define PC2_WPORT		PORTC
+#define PC2_DDR			DDRC
+#define PC2_PWM			NULL
+#undef PC3
+#define PC3_PIN			PINC3
+#define PC3_RPORT		PINC
+#define PC3_WPORT		PORTC
+#define PC3_DDR			DDRC
+#define PC3_PWM			NULL
+#undef PC4
+#define PC4_PIN			PINC4
+#define PC4_RPORT		PINC
+#define PC4_WPORT		PORTC
+#define PC4_DDR			DDRC
+#define PC4_PWM			NULL
+#undef PC5
+#define PC5_PIN			PINC5
+#define PC5_RPORT		PINC
+#define PC5_WPORT		PORTC
+#define PC5_DDR			DDRC
+#define PC5_PWM			NULL
+#undef PC6
+#define PC6_PIN			PINC6
+#define PC6_RPORT		PINC
+#define PC6_WPORT		PORTC
+#define PC6_DDR			DDRC
+#define PC6_PWM			NULL
+#undef PC7
+#define PC7_PIN			PINC7
+#define PC7_RPORT		PINC
+#define PC7_WPORT		PORTC
+#define PC7_DDR			DDRC
+#define PC7_PWM			NULL
+
+#undef PD0
+#define PD0_PIN			PIND0
+#define PD0_RPORT		PIND
+#define PD0_WPORT		PORTD
+#define PD0_DDR			DDRD
+#define PD0_PWM			NULL
+#undef PD1
+#define PD1_PIN			PIND1
+#define PD1_RPORT		PIND
+#define PD1_WPORT		PORTD
+#define PD1_DDR			DDRD
+#define PD1_PWM			NULL
+#undef PD2
+#define PD2_PIN			PIND2
+#define PD2_RPORT		PIND
+#define PD2_WPORT		PORTD
+#define PD2_DDR			DDRD
+#define PD2_PWM			NULL
+#undef PD3
+#define PD3_PIN			PIND3
+#define PD3_RPORT		PIND
+#define PD3_WPORT		PORTD
+#define PD3_DDR			DDRD
+#define PD3_PWM			NULL
+#undef PD4
+#define PD4_PIN			PIND4
+#define PD4_RPORT		PIND
+#define PD4_WPORT		PORTD
+#define PD4_DDR			DDRD
+#define PD4_PWM			NULL
+#undef PD5
+#define PD5_PIN			PIND5
+#define PD5_RPORT		PIND
+#define PD5_WPORT		PORTD
+#define PD5_DDR			DDRD
+#define PD5_PWM			NULL
+#undef PD6
+#define PD6_PIN			PIND6
+#define PD6_RPORT		PIND
+#define PD6_WPORT		PORTD
+#define PD6_DDR			DDRD
+#define PD6_PWM			NULL
+#undef PD7
+#define PD7_PIN			PIND7
+#define PD7_RPORT		PIND
+#define PD7_WPORT		PORTD
+#define PD7_DDR			DDRD
+#define PD7_PWM			NULL
+
+#undef PE0
+#define PE0_PIN			PINE0
+#define PE0_RPORT		PINE
+#define PE0_WPORT		PORTE
+#define PE0_DDR			DDRE
+#define PE0_PWM			NULL
+#undef PE1
+#define PE1_PIN			PINE1
+#define PE1_RPORT		PINE
+#define PE1_WPORT		PORTE
+#define PE1_DDR			DDRE
+#define PE1_PWM			NULL
+#undef PE2
+#define PE2_PIN			PINE2
+#define PE2_RPORT		PINE
+#define PE2_WPORT		PORTE
+#define PE2_DDR			DDRE
+#define PE2_PWM			NULL
+#undef PE3
+#define PE3_PIN			PINE3
+#define PE3_RPORT		PINE
+#define PE3_WPORT		PORTE
+#define PE3_DDR			DDRE
+#define PE3_PWM			&OCR3AL
+#undef PE4
+#define PE4_PIN			PINE4
+#define PE4_RPORT		PINE
+#define PE4_WPORT		PORTE
+#define PE4_DDR			DDRE
+#define PE4_PWM			&OCR3BL
+#undef PE5
+#define PE5_PIN			PINE5
+#define PE5_RPORT		PINE
+#define PE5_WPORT		PORTE
+#define PE5_DDR			DDRE
+#define PE5_PWM			&OCR3CL
+#undef PE6
+#define PE6_PIN			PINE6
+#define PE6_RPORT		PINE
+#define PE6_WPORT		PORTE
+#define PE6_DDR			DDRE
+#define PE6_PWM			NULL
+#undef PE7
+#define PE7_PIN			PINE7
+#define PE7_RPORT		PINE
+#define PE7_WPORT		PORTE
+#define PE7_DDR			DDRE
+#define PE7_PWM			NULL
+
+#undef PF0
+#define PF0_PIN			PINF0
+#define PF0_RPORT		PINF
+#define PF0_WPORT		PORTF
+#define PF0_DDR			DDRF
+#define PF0_PWM			NULL
+#undef PF1
+#define PF1_PIN			PINF1
+#define PF1_RPORT		PINF
+#define PF1_WPORT		PORTF
+#define PF1_DDR			DDRF
+#define PF1_PWM			NULL
+#undef PF2
+#define PF2_PIN			PINF2
+#define PF2_RPORT		PINF
+#define PF2_WPORT		PORTF
+#define PF2_DDR			DDRF
+#define PF2_PWM			NULL
+#undef PF3
+#define PF3_PIN			PINF3
+#define PF3_RPORT		PINF
+#define PF3_WPORT		PORTF
+#define PF3_DDR			DDRF
+#define PF3_PWM			NULL
+#undef PF4
+#define PF4_PIN			PINF4
+#define PF4_RPORT		PINF
+#define PF4_WPORT		PORTF
+#define PF4_DDR			DDRF
+#define PF4_PWM			NULL
+#undef PF5
+#define PF5_PIN			PINF5
+#define PF5_RPORT		PINF
+#define PF5_WPORT		PORTF
+#define PF5_DDR			DDRF
+#define PF5_PWM			NULL
+#undef PF6
+#define PF6_PIN			PINF6
+#define PF6_RPORT		PINF
+#define PF6_WPORT		PORTF
+#define PF6_DDR			DDRF
+#define PF6_PWM			NULL
+#undef PF7
+#define PF7_PIN			PINF7
+#define PF7_RPORT		PINF
+#define PF7_WPORT		PORTF
+#define PF7_DDR			DDRF
+#define PF7_PWM			NULL
+
+#undef PG0
+#define PG0_PIN			PING0
+#define PG0_RPORT		PING
+#define PG0_WPORT		PORTG
+#define PG0_DDR			DDRG
+#define PG0_PWM			NULL
+#undef PG1
+#define PG1_PIN			PING1
+#define PG1_RPORT		PING
+#define PG1_WPORT		PORTG
+#define PG1_DDR			DDRG
+#define PG1_PWM			NULL
+#undef PG2
+#define PG2_PIN			PING2
+#define PG2_RPORT		PING
+#define PG2_WPORT		PORTG
+#define PG2_DDR			DDRG
+#define PG2_PWM			NULL
+#undef PG3
+#define PG3_PIN			PING3
+#define PG3_RPORT		PING
+#define PG3_WPORT		PORTG
+#define PG3_DDR			DDRG
+#define PG3_PWM			NULL
+#undef PG4
+#define PG4_PIN			PING4
+#define PG4_RPORT		PING
+#define PG4_WPORT		PORTG
+#define PG4_DDR			DDRG
+#define PG4_PWM			NULL
+#undef PG5
+#define PG5_PIN			PING5
+#define PG5_RPORT		PING
+#define PG5_WPORT		PORTG
+#define PG5_DDR			DDRG
+#define PG5_PWM			&OCR0B
+
+
+#endif
+
 #ifndef	DIO0_PIN
 #error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request
 #endif

-#endif /* _FASTIO_ARDUINO_H */
+#endif /* _FASTIO_ARDUINO_H */
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -98,7 +98,7 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 //=============================private variables ============================
 //===========================================================================
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-bool allow_cold_extrude=false;
+float extrude_min_temp=EXTRUDE_MINTEMP;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
@ -439,12 +439,20 @@ void check_axes_activity()
  unsigned char z_active = 0;
  unsigned char e_active = 0;
  unsigned char tail_fan_speed = fanSpeed;
+  #ifdef BARICUDA
+  unsigned char tail_valve_pressure = ValvePressure;
+  unsigned char tail_e_to_p_pressure = EtoPPressure;
+  #endif
  block_t *block;

  if(block_buffer_tail != block_buffer_head)
  {
    uint8_t block_index = block_buffer_tail;
    tail_fan_speed = block_buffer[block_index].fan_speed;
+    #ifdef BARICUDA
+    tail_valve_pressure = block_buffer[block_index].valve_pressure;
+    tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+    #endif
    while(block_index != block_buffer_head)
    {
      block = &block_buffer[block_index];
@ -464,7 +472,7 @@ void check_axes_activity()
    disable_e1();
    disable_e2(); 
  }
-#if FAN_PIN > -1
+#if defined(FAN_PIN) && FAN_PIN > -1
  #ifndef FAN_SOFT_PWM
    #ifdef FAN_KICKSTART_TIME
      static unsigned long fan_kick_end;
@ -486,6 +494,16 @@ void check_axes_activity()
 #ifdef AUTOTEMP
  getHighESpeed();
 #endif
+
+#ifdef BARICUDA
+  #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
+      analogWrite(HEATER_1_PIN,tail_valve_pressure);
+  #endif
+
+  #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
+      analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
+  #endif
+#endif
 }


@ -519,7 +537,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  #ifdef PREVENT_DANGEROUS_EXTRUDE
  if(target[E_AXIS]!=position[E_AXIS])
  {
-    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    if(degHotend(active_extruder)<extrude_min_temp)
    {
      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
      SERIAL_ECHO_START;
@ -559,6 +577,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  }

  block->fan_speed = fanSpeed;
+  #ifdef BARICUDA
+  block->valve_pressure = ValvePressure;
+  block->e_to_p_pressure = EtoPPressure;
+  #endif

  // Compute direction bits for this block 
  block->direction_bits = 0;
@ -896,12 +918,12 @@ uint8_t movesplanned()
  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }

-void allow_cold_extrudes(bool allow)
-{
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-  allow_cold_extrude=allow;
-#endif
+void set_extrude_min_temp(float temp)
+{
+  extrude_min_temp=temp;
 }
+#endif

 // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
 void reset_acceleration_rates()
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@ -60,6 +60,10 @@ typedef struct {
  unsigned long final_rate;                          // The minimal rate at exit
  unsigned long acceleration_st;                     // acceleration steps/sec^2
  unsigned long fan_speed;
+  #ifdef BARICUDA
+  unsigned long valve_pressure;
+  unsigned long e_to_p_pressure;
+  #endif
  volatile char busy;
 } block_t;

@ -135,7 +139,9 @@ FORCE_INLINE bool blocks_queued()
    return true;
 }

-void allow_cold_extrudes(bool allow);
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+void set_extrude_min_temp(float temp);
+#endif

 void reset_acceleration_rates();
 #endif
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -29,7 +29,7 @@
 #include "language.h"
 #include "cardreader.h"
 #include "speed_lookuptable.h"
-#if DIGIPOTSS_PIN > -1
+#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif

@ -69,9 +69,9 @@ volatile long endstops_stepsTotal,endstops_stepsDone;
 static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
-#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-bool abort_on_endstop_hit = false;
-#endif
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+bool abort_on_endstop_hit = false;
+#endif

 static bool old_x_min_endstop=false;
 static bool old_x_max_endstop=false;
@ -184,20 +184,20 @@ void checkHitEndstops()
     SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
   }
-   SERIAL_ECHOLN("");
+   SERIAL_ECHOLN("");
   endstop_x_hit=false;
   endstop_y_hit=false;
-   endstop_z_hit=false;
-#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-   if (abort_on_endstop_hit)
-   {
+   endstop_z_hit=false;
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+   if (abort_on_endstop_hit)
+   {
     card.sdprinting = false;
     card.closefile();
-     quickStop();
+     quickStop();
     setTargetHotend0(0);
     setTargetHotend1(0);
     setTargetHotend2(0);
-   }
+   }
 #endif
 }
 }
@ -353,7 +353,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[X_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if X_MIN_PIN > -1
+        #if defined(X_MIN_PIN) && X_MIN_PIN > -1
          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
          if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
@ -372,7 +372,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[X_AXIS]=1;
      CHECK_ENDSTOPS 
      {
-        #if X_MAX_PIN > -1
+        #if defined(X_MAX_PIN) && X_MAX_PIN > -1
          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
          if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
@ -391,7 +391,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Y_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if Y_MIN_PIN > -1
+        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
@ -409,7 +409,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Y_AXIS]=1;
      CHECK_ENDSTOPS
      {
-        #if Y_MAX_PIN > -1
+        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
@ -452,7 +452,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Z_AXIS]=-1;
      CHECK_ENDSTOPS
      {
-        #if Z_MIN_PIN > -1
+        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
          if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@ -473,7 +473,7 @@ ISR(TIMER1_COMPA_vect)
      count_direction[Z_AXIS]=1;
      CHECK_ENDSTOPS
      {
-        #if Z_MAX_PIN > -1
+        #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
          if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@ -743,20 +743,20 @@ void st_init()
  microstep_init(); //Initialize Microstepping Pins
  
  //Initialize Dir Pins
-  #if X_DIR_PIN > -1
+  #if defined(X_DIR_PIN) && X_DIR_PIN > -1
    SET_OUTPUT(X_DIR_PIN);
  #endif
-  #if Y_DIR_PIN > -1 
+  #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1 
    SET_OUTPUT(Y_DIR_PIN);
  #endif
-  #if Z_DIR_PIN > -1 
+  #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1 
    SET_OUTPUT(Z_DIR_PIN);

-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_DIR_PIN > -1)
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
      SET_OUTPUT(Z2_DIR_PIN);
    #endif
  #endif
-  #if E0_DIR_PIN > -1 
+  #if defined(E0_DIR_PIN) && E0_DIR_PIN > -1 
    SET_OUTPUT(E0_DIR_PIN);
  #endif
  #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
@ -768,24 +768,24 @@ void st_init()

  //Initialize Enable Pins - steppers default to disabled.

-  #if (X_ENABLE_PIN > -1)
+  #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
    SET_OUTPUT(X_ENABLE_PIN);
    if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
  #endif
-  #if (Y_ENABLE_PIN > -1)
+  #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
    SET_OUTPUT(Y_ENABLE_PIN);
    if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
  #endif
-  #if (Z_ENABLE_PIN > -1)
+  #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
    SET_OUTPUT(Z_ENABLE_PIN);
    if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
    
-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_ENABLE_PIN > -1)
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
      SET_OUTPUT(Z2_ENABLE_PIN);
      if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
    #endif
  #endif
-  #if (E0_ENABLE_PIN > -1)
+  #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
    SET_OUTPUT(E0_ENABLE_PIN);
    if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
  #endif
@ -800,42 +800,42 @@ void st_init()

  //endstops and pullups
  
-  #if X_MIN_PIN > -1
+  #if defined(X_MIN_PIN) && X_MIN_PIN > -1
    SET_INPUT(X_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_XMIN
      WRITE(X_MIN_PIN,HIGH);
    #endif
  #endif
      
-  #if Y_MIN_PIN > -1
+  #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
    SET_INPUT(Y_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_YMIN
      WRITE(Y_MIN_PIN,HIGH);
    #endif
  #endif
  
-  #if Z_MIN_PIN > -1
+  #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
    SET_INPUT(Z_MIN_PIN); 
    #ifdef ENDSTOPPULLUP_ZMIN
      WRITE(Z_MIN_PIN,HIGH);
    #endif
  #endif
      
-  #if X_MAX_PIN > -1
+  #if defined(X_MAX_PIN) && X_MAX_PIN > -1
    SET_INPUT(X_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_XMAX
      WRITE(X_MAX_PIN,HIGH);
    #endif
  #endif
      
-  #if Y_MAX_PIN > -1
+  #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
    SET_INPUT(Y_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_YMAX
      WRITE(Y_MAX_PIN,HIGH);
    #endif
  #endif
  
-  #if Z_MAX_PIN > -1
+  #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
    SET_INPUT(Z_MAX_PIN); 
    #ifdef ENDSTOPPULLUP_ZMAX
      WRITE(Z_MAX_PIN,HIGH);
@ -844,26 +844,26 @@ void st_init()
 

  //Initialize Step Pins
-  #if (X_STEP_PIN > -1) 
+  #if defined(X_STEP_PIN) && (X_STEP_PIN > -1) 
    SET_OUTPUT(X_STEP_PIN);
    WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
    disable_x();
  #endif  
-  #if (Y_STEP_PIN > -1) 
+  #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) 
    SET_OUTPUT(Y_STEP_PIN);
    WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
    disable_y();
  #endif  
-  #if (Z_STEP_PIN > -1) 
+  #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) 
    SET_OUTPUT(Z_STEP_PIN);
    WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
-    #if defined(Z_DUAL_STEPPER_DRIVERS) && (Z2_STEP_PIN > -1)
+    #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
      SET_OUTPUT(Z2_STEP_PIN);
      WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
    #endif
    disable_z();
  #endif  
-  #if (E0_STEP_PIN > -1) 
+  #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) 
    SET_OUTPUT(E0_STEP_PIN);
    WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
    disable_e0();
@ -879,10 +879,6 @@ void st_init()
    disable_e2();
  #endif  

-  #ifdef CONTROLLERFAN_PIN
-    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
-  #endif
-  
  // waveform generation = 0100 = CTC
  TCCR1B &= ~(1<<WGM13);
  TCCR1B |=  (1<<WGM12);
@ -978,7 +974,7 @@ void quickStop()

 void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
    SPI.transfer(address); //  send in the address and value via SPI:
    SPI.transfer(value);
@ -989,7 +985,7 @@ void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl e

 void digipot_init() //Initialize Digipot Motor Current
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
    
    SPI.begin(); 
@ -1002,7 +998,7 @@ void digipot_init() //Initialize Digipot Motor Current

 void digipot_current(uint8_t driver, int current)
 {
-  #if DIGIPOTSS_PIN > -1
+  #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
    const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
    digitalPotWrite(digipot_ch[driver], current);
  #endif
@ -1010,7 +1006,7 @@ void digipot_current(uint8_t driver, int current)

 void microstep_init()
 {
-  #if X_MS1_PIN > -1
+  #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  const uint8_t microstep_modes[] = MICROSTEP_MODES;
  pinMode(X_MS2_PIN,OUTPUT);
  pinMode(Y_MS2_PIN,OUTPUT);
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -40,10 +40,13 @@
 int target_temperature[EXTRUDERS] = { 0 };
 int target_temperature_bed = 0;
 int current_temperature_raw[EXTRUDERS] = { 0 };
-float current_temperature[EXTRUDERS] = { 0 };
+float current_temperature[EXTRUDERS] = { 0.0 };
 int current_temperature_bed_raw = 0;
-float current_temperature_bed = 0;
-
+float current_temperature_bed = 0.0;
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  int redundant_temperature_raw = 0;
+  float redundant_temperature = 0.0;
+#endif
 #ifdef PIDTEMP
  float Kp=DEFAULT_Kp;
  float Ki=(DEFAULT_Ki*PID_dT);
@ -99,17 +102,20 @@ static volatile bool temp_meas_ready = false;
 #ifdef FAN_SOFT_PWM
  static unsigned char soft_pwm_fan;
 #endif
+#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
+    (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
+    (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
+  static unsigned long extruder_autofan_last_check;
+#endif  

-
-  
 #if EXTRUDERS > 3
-# error Unsupported number of extruders
+  # error Unsupported number of extruders
 #elif EXTRUDERS > 2
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
 #elif EXTRUDERS > 1
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
 #else
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
+  # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
 #endif

 // Init min and max temp with extreme values to prevent false errors during startup
@ -121,8 +127,14 @@ static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383 );
 #ifdef BED_MAXTEMP
 static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
 #endif
-static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
-static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
+
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE };
+  static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
+#else
+  static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE );
+  static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN );
+#endif

 static float analog2temp(int raw, uint8_t e);
 static float analog2tempBed(int raw);
@ -154,28 +166,28 @@ void PID_autotune(float temp, int extruder, int ncycles)
  float Kp, Ki, Kd;
  float max = 0, min = 10000;

-	if ((extruder > EXTRUDERS)
+  if ((extruder > EXTRUDERS)
  #if (TEMP_BED_PIN <= -1)
-		||(extruder < 0)
-	#endif
-	){
-  	SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
-  	return;
-	}
+       ||(extruder < 0)
+  #endif
+       ){
+          SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
+          return;
+        }
 	
  SERIAL_ECHOLN("PID Autotune start");
  
  disable_heater(); // switch off all heaters.

-	if (extruder<0)
-	{
-	 	soft_pwm_bed = (MAX_BED_POWER)/2;
-		bias = d = (MAX_BED_POWER)/2;
-  }
-	else
-	{
-	  soft_pwm[extruder] = (PID_MAX)/2;
-		bias = d = (PID_MAX)/2;
+  if (extruder<0)
+  {
+     soft_pwm_bed = (MAX_BED_POWER)/2;
+     bias = d = (MAX_BED_POWER)/2;
+   }
+   else
+   {
+     soft_pwm[extruder] = (PID_MAX)/2;
+     bias = d = (PID_MAX)/2;
  }


@ -193,10 +205,10 @@ void PID_autotune(float temp, int extruder, int ncycles)
      if(heating == true && input > temp) {
        if(millis() - t2 > 5000) { 
          heating=false;
-					if (extruder<0)
-						soft_pwm_bed = (bias - d) >> 1;
-					else
-						soft_pwm[extruder] = (bias - d) >> 1;
+          if (extruder<0)
+            soft_pwm_bed = (bias - d) >> 1;
+          else
+            soft_pwm[extruder] = (bias - d) >> 1;
          t1=millis();
          t_high=t1 - t2;
          max=temp;
@ -247,10 +259,10 @@ void PID_autotune(float temp, int extruder, int ncycles)
              */
            }
          }
-					if (extruder<0)
-						soft_pwm_bed = (bias + d) >> 1;
-					else
-						soft_pwm[extruder] = (bias + d) >> 1;
+          if (extruder<0)
+            soft_pwm_bed = (bias + d) >> 1;
+          else
+            soft_pwm[extruder] = (bias + d) >> 1;
          cycles++;
          min=temp;
        }
@ -261,14 +273,14 @@ void PID_autotune(float temp, int extruder, int ncycles)
      return;
    }
    if(millis() - temp_millis > 2000) {
-			int p;
-			if (extruder<0){
-	      p=soft_pwm_bed;       
-	      SERIAL_PROTOCOLPGM("ok B:");
-			}else{
-	      p=soft_pwm[extruder];       
-	      SERIAL_PROTOCOLPGM("ok T:");
-			}
+      int p;
+      if (extruder<0){
+        p=soft_pwm_bed;       
+        SERIAL_PROTOCOLPGM("ok B:");
+      }else{
+        p=soft_pwm[extruder];       
+        SERIAL_PROTOCOLPGM("ok T:");
+      }
 			
      SERIAL_PROTOCOL(input);   
      SERIAL_PROTOCOLPGM(" @:");
@ -306,6 +318,78 @@ int getHeaterPower(int heater) {
  return soft_pwm[heater];
 }

+#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
+    (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
+    (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
+
+  #if defined(FAN_PIN) && FAN_PIN > -1
+    #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN 
+       #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN"
+    #endif
+    #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN 
+       #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN"
+    #endif
+    #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN 
+       #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN"
+    #endif
+  #endif 
+
+void setExtruderAutoFanState(int pin, bool state)
+{
+  unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
+  // this idiom allows both digital and PWM fan outputs (see M42 handling).
+  pinMode(pin, OUTPUT);
+  digitalWrite(pin, newFanSpeed);
+  analogWrite(pin, newFanSpeed);
+}
+
+void checkExtruderAutoFans()
+{
+  uint8_t fanState = 0;
+
+  // which fan pins need to be turned on?      
+  #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
+    if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
+      fanState |= 1;
+  #endif
+  #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1
+    if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
+    {
+      if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) 
+        fanState |= 1;
+      else
+        fanState |= 2;
+    }
+  #endif
+  #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1
+    if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
+    {
+      if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) 
+        fanState |= 1;
+      else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) 
+        fanState |= 2;
+      else
+        fanState |= 4;
+    }
+  #endif
+  
+  // update extruder auto fan states
+  #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
+    setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
+  #endif 
+  #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1
+    if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) 
+      setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
+  #endif 
+  #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1
+    if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN 
+        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
+      setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
+  #endif 
+}
+
+#endif // any extruder auto fan pins set
+
 void manage_heater()
 {
  float pid_input;
@ -396,10 +480,31 @@ void manage_heater()
        }
    }
    #endif
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
+        disable_heater();
+        if(IsStopped() == false) {
+          SERIAL_ERROR_START;
+          SERIAL_ERRORLNPGM("Extruder switched off. Temperature difference between temp sensors is too high !");
+          LCD_ALERTMESSAGEPGM("Err: REDUNDANT TEMP ERROR");
+        }
+        #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          Stop();
+        #endif
+      }
+    #endif
  } // End extruder for loop
-  

+  #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
+      (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \
+      (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
+  if(millis() - extruder_autofan_last_check > 2500)  // only need to check fan state very infrequently
+  {
+    checkExtruderAutoFans();
+    extruder_autofan_last_check = millis();
+  }  
+  #endif       
+  
  #ifndef PIDTEMPBED
  if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
    return;
@ -481,7 +586,11 @@ void manage_heater()
 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
 static float analog2temp(int raw, uint8_t e) {
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  if(e > EXTRUDERS)
+#else
  if(e >= EXTRUDERS)
+#endif
  {
      SERIAL_ERROR_START;
      SERIAL_ERROR((int)e);
@ -560,7 +669,9 @@ static void updateTemperaturesFromRawValues()
        current_temperature[e] = analog2temp(current_temperature_raw[e], e);
    }
    current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
-
+    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      redundant_temperature = analog2temp(redundant_temperature_raw, 1);
+    #endif
    //Reset the watchdog after we know we have a temperature measurement.
    watchdog_reset();

@ -571,6 +682,12 @@ static void updateTemperaturesFromRawValues()

 void tp_init()
 {
+#if (MOTHERBOARD == 80) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
+  //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
+  MCUCR=(1<<JTD); 
+  MCUCR=(1<<JTD);
+#endif
+  
  // Finish init of mult extruder arrays 
  for(int e = 0; e < EXTRUDERS; e++) {
    // populate with the first value 
@ -585,19 +702,19 @@ void tp_init()
 #endif //PIDTEMPBED
  }

-  #if (HEATER_0_PIN > -1) 
+  #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1) 
    SET_OUTPUT(HEATER_0_PIN);
  #endif  
-  #if (HEATER_1_PIN > -1) 
+  #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) 
    SET_OUTPUT(HEATER_1_PIN);
  #endif  
-  #if (HEATER_2_PIN > -1) 
+  #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) 
    SET_OUTPUT(HEATER_2_PIN);
  #endif  
-  #if (HEATER_BED_PIN > -1) 
+  #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) 
    SET_OUTPUT(HEATER_BED_PIN);
  #endif  
-  #if (FAN_PIN > -1) 
+  #if defined(FAN_PIN) && (FAN_PIN > -1) 
    SET_OUTPUT(FAN_PIN);
    #ifdef FAST_PWM_FAN
    setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
@ -629,28 +746,28 @@ void tp_init()
  #ifdef DIDR2
    DIDR2 = 0;
  #endif
-  #if (TEMP_0_PIN > -1)
+  #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
    #if TEMP_0_PIN < 8
       DIDR0 |= 1 << TEMP_0_PIN; 
    #else
       DIDR2 |= 1<<(TEMP_0_PIN - 8); 
    #endif
  #endif
-  #if (TEMP_1_PIN > -1)
+  #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
    #if TEMP_1_PIN < 8
       DIDR0 |= 1<<TEMP_1_PIN; 
    #else
       DIDR2 |= 1<<(TEMP_1_PIN - 8); 
    #endif
  #endif
-  #if (TEMP_2_PIN > -1)
+  #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
    #if TEMP_2_PIN < 8
       DIDR0 |= 1 << TEMP_2_PIN; 
    #else
-       DIDR2 = 1<<(TEMP_2_PIN - 8); 
+       DIDR2 |= 1<<(TEMP_2_PIN - 8); 
    #endif
  #endif
-  #if (TEMP_BED_PIN > -1)
+  #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
    #if TEMP_BED_PIN < 8
       DIDR0 |= 1<<TEMP_BED_PIN; 
    #else
@ -689,7 +806,7 @@ void tp_init()

 #if (EXTRUDERS > 1) && defined(HEATER_1_MINTEMP)
  minttemp[1] = HEATER_1_MINTEMP;
-  while(analog2temp(minttemp_raw[1], 1) > HEATER_1_MINTEMP) {
+  while(analog2temp(minttemp_raw[1], 1) < HEATER_1_MINTEMP) {
 #if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP
    minttemp_raw[1] += OVERSAMPLENR;
 #else
@ -710,7 +827,7 @@ void tp_init()

 #if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP)
  minttemp[2] = HEATER_2_MINTEMP;
-  while(analog2temp(minttemp_raw[2], 2) > HEATER_2_MINTEMP) {
+  while(analog2temp(minttemp_raw[2], 2) < HEATER_2_MINTEMP) {
 #if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP
    minttemp_raw[2] += OVERSAMPLENR;
 #else
@ -771,34 +888,34 @@ void disable_heater()
  for(int i=0;i<EXTRUDERS;i++)
    setTargetHotend(0,i);
  setTargetBed(0);
-  #if TEMP_0_PIN > -1
+  #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  target_temperature[0]=0;
  soft_pwm[0]=0;
-   #if HEATER_0_PIN > -1  
+   #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1  
     WRITE(HEATER_0_PIN,LOW);
   #endif
  #endif
     
-  #if TEMP_1_PIN > -1
+  #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
    target_temperature[1]=0;
    soft_pwm[1]=0;
-    #if HEATER_1_PIN > -1 
+    #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 
      WRITE(HEATER_1_PIN,LOW);
    #endif
  #endif
      
-  #if TEMP_2_PIN > -1
+  #if defined(TEMP_2_PIN) && TEMP_2_PIN > -1
    target_temperature[2]=0;
    soft_pwm[2]=0;
-    #if HEATER_2_PIN > -1  
+    #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1  
      WRITE(HEATER_2_PIN,LOW);
    #endif
  #endif 

-  #if TEMP_BED_PIN > -1
+  #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
    target_temperature_bed=0;
    soft_pwm_bed=0;
-    #if HEATER_BED_PIN > -1  
+    #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1  
      WRITE(HEATER_BED_PIN,LOW);
    #endif
  #endif 
@ -934,7 +1051,7 @@ ISR(TIMER0_COMPB_vect)
    soft_pwm_2 = soft_pwm[2];
    if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
    #endif
-    #if HEATER_BED_PIN > -1
+    #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
    soft_pwm_b = soft_pwm_bed;
    if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
    #endif
@ -950,7 +1067,7 @@ ISR(TIMER0_COMPB_vect)
  #if EXTRUDERS > 2
  if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
  #endif
-  #if HEATER_BED_PIN > -1
+  #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
  if(soft_pwm_b <= pwm_count) WRITE(HEATER_BED_PIN,0);
  #endif
  #ifdef FAN_SOFT_PWM
@ -962,7 +1079,7 @@ ISR(TIMER0_COMPB_vect)
  
  switch(temp_state) {
    case 0: // Prepare TEMP_0
-      #if (TEMP_0_PIN > -1)
+      #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
        #if TEMP_0_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -975,7 +1092,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 1;
      break;
    case 1: // Measure TEMP_0
-      #if (TEMP_0_PIN > -1)
+      #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1)
        raw_temp_0_value += ADC;
      #endif
      #ifdef HEATER_0_USES_MAX6675 // TODO remove the blocking
@ -984,7 +1101,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 2;
      break;
    case 2: // Prepare TEMP_BED
-      #if (TEMP_BED_PIN > -1)
+      #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
        #if TEMP_BED_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -997,13 +1114,13 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 3;
      break;
    case 3: // Measure TEMP_BED
-      #if (TEMP_BED_PIN > -1)
+      #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1)
        raw_temp_bed_value += ADC;
      #endif
      temp_state = 4;
      break;
    case 4: // Prepare TEMP_1
-      #if (TEMP_1_PIN > -1)
+      #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
        #if TEMP_1_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -1016,13 +1133,13 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 5;
      break;
    case 5: // Measure TEMP_1
-      #if (TEMP_1_PIN > -1)
+      #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1)
        raw_temp_1_value += ADC;
      #endif
      temp_state = 6;
      break;
    case 6: // Prepare TEMP_2
-      #if (TEMP_2_PIN > -1)
+      #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
        #if TEMP_2_PIN > 7
          ADCSRB = 1<<MUX5;
        #else
@ -1035,7 +1152,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 7;
      break;
    case 7: // Measure TEMP_2
-      #if (TEMP_2_PIN > -1)
+      #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
        raw_temp_2_value += ADC;
      #endif
      temp_state = 0;
@ -1055,6 +1172,9 @@ ISR(TIMER0_COMPB_vect)
 #if EXTRUDERS > 1
      current_temperature_raw[1] = raw_temp_1_value;
 #endif
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+      redundant_temperature_raw = raw_temp_1_value;
+#endif
 #if EXTRUDERS > 2
      current_temperature_raw[2] = raw_temp_2_value;
 #endif
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@ -37,6 +37,9 @@ extern int target_temperature[EXTRUDERS];
 extern float current_temperature[EXTRUDERS];
 extern int target_temperature_bed;
 extern float current_temperature_bed;
+#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  extern float redundant_temperature;
+#endif

 #ifdef PIDTEMP
  extern float Kp,Ki,Kd,Kc;
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@ -76,7 +76,14 @@ static void menu_action_setting_edit_callback_float51(const char* pstr, float* p
 static void menu_action_setting_edit_callback_float52(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
 static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue, menuFunc_t callbackFunc);

-#define ENCODER_STEPS_PER_MENU_ITEM 5
+#define ENCODER_FEEDRATE_DEADZONE 10
+
+#if !defined(LCD_I2C_VIKI)
+  #define ENCODER_STEPS_PER_MENU_ITEM 5
+#else
+  #define ENCODER_STEPS_PER_MENU_ITEM 2 // VIKI LCD rotary encoder uses a different number of steps per rotation
+#endif
+

 /* Helper macros for menus */
 #define START_MENU() do { \
@ -112,14 +119,18 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
    } } while(0)

 /** Used variables to keep track of the menu */
+#ifndef REPRAPWORLD_KEYPAD
 volatile uint8_t buttons;//Contains the bits of the currently pressed buttons.
+#else
+volatile uint16_t buttons;//Contains the bits of the currently pressed buttons (extended).
+#endif

 uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
 uint32_t blocking_enc;
 uint8_t lastEncoderBits;
 int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
 uint32_t encoderPosition;
-#if (SDCARDDETECT > -1)
+#if (SDCARDDETECT > 0)
 bool lcd_oldcardstatus;
 #endif
 #endif//ULTIPANEL
@ -157,10 +168,34 @@ static void lcd_status_screen()
    if (LCD_CLICKED)
    {
        currentMenu = lcd_main_menu;
+        encoderPosition = 0;
        lcd_quick_feedback();
    }
-    feedmultiply += int(encoderPosition);
-    encoderPosition = 0;
+
+    // Dead zone at 100% feedrate
+    if (feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100 ||
+            feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100)
+    {
+        encoderPosition = 0;
+        feedmultiply = 100;
+    }
+
+    if (feedmultiply == 100 && int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE)
+    {
+        feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE;
+        encoderPosition = 0;
+    }
+    else if (feedmultiply == 100 && int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE)
+    {
+        feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE;
+        encoderPosition = 0;	
+    }
+    else if (feedmultiply != 100)
+    {
+        feedmultiply += int(encoderPosition);
+        encoderPosition = 0;
+    }
+
    if (feedmultiply < 10)
        feedmultiply = 10;
    if (feedmultiply > 999)
@ -221,14 +256,14 @@ static void lcd_main_menu()
        }else{
            MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu);
 #if SDCARDDETECT < 1
-			MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21"));	// SD-card changed by user
-#endif			
+            MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21"));  // SD-card changed by user
+#endif
        }
    }else{
        MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
-#if SDCARDDETECT < 1		
-		MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21"));	// Manually initialize the SD-card via user interface
-#endif		
+#if SDCARDDETECT < 1
+        MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
+#endif
    }
 #endif
    END_MENU();
@ -251,6 +286,7 @@ void lcd_preheat_pla()
    setTargetBed(plaPreheatHPBTemp);
    fanSpeed = plaPreheatFanSpeed;
    lcd_return_to_status();
+    setWatch(); // heater sanity check timer
 }

 void lcd_preheat_abs()
@ -261,6 +297,16 @@ void lcd_preheat_abs()
    setTargetBed(absPreheatHPBTemp);
    fanSpeed = absPreheatFanSpeed;
    lcd_return_to_status();
+    setWatch(); // heater sanity check timer
+}
+
+static void lcd_cooldown()
+{
+    setTargetHotend0(0);
+    setTargetHotend1(0);
+    setTargetHotend2(0);
+    setTargetBed(0);
+    lcd_return_to_status();
 }

 static void lcd_tune_menu()
@ -298,7 +344,7 @@ static void lcd_prepare_menu()
    //MENU_ITEM(gcode, MSG_SET_ORIGIN, PSTR("G92 X0 Y0 Z0"));
    MENU_ITEM(function, MSG_PREHEAT_PLA, lcd_preheat_pla);
    MENU_ITEM(function, MSG_PREHEAT_ABS, lcd_preheat_abs);
-    MENU_ITEM(gcode, MSG_COOLDOWN, PSTR("M104 S0\nM140 S0"));
+    MENU_ITEM(function, MSG_COOLDOWN, lcd_cooldown);
    MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
    END_MENU();
 }
@ -459,10 +505,10 @@ static void lcd_control_menu()

 static void lcd_control_temperature_menu()
 {
-	// set up temp variables - undo the default scaling
-	raw_Ki = unscalePID_i(Ki);
-	raw_Kd = unscalePID_d(Kd);
-	
+    // set up temp variables - undo the default scaling
+    raw_Ki = unscalePID_i(Ki);
+    raw_Kd = unscalePID_d(Kd);
+
    START_MENU();
    MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
    MENU_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
@ -484,7 +530,7 @@ static void lcd_control_temperature_menu()
 #endif
 #ifdef PIDTEMP
    MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp, 1, 9990);
-	// i is typically a small value so allows values below 1
+    // i is typically a small value so allows values below 1
    MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I, &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
    MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D, &raw_Kd, 1, 9990, copy_and_scalePID_d);
 # ifdef PID_ADD_EXTRUSION_RATE
@ -687,6 +733,24 @@ menu_edit_type(float, float51, ftostr51, 10)
 menu_edit_type(float, float52, ftostr52, 100)
 menu_edit_type(unsigned long, long5, ftostr5, 0.01)

+#ifdef REPRAPWORLD_KEYPAD
+    static void reprapworld_keypad_move_y_down() {
+        encoderPosition = 1;
+        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+        lcd_move_y();
+    }
+    static void reprapworld_keypad_move_y_up() {
+        encoderPosition = -1;
+        move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
+        lcd_move_y();
+    }
+    static void reprapworld_keypad_move_home() {
+        //enquecommand_P((PSTR("G28"))); // move all axis home
+        // TODO gregor: move all axis home, i have currently only one axis on my prusa i3
+        enquecommand_P((PSTR("G28 Y")));
+    }
+#endif
+
 /** End of menus **/

 static void lcd_quick_feedback()
@ -745,11 +809,20 @@ void lcd_init()
 #ifdef NEWPANEL
    pinMode(BTN_EN1,INPUT);
    pinMode(BTN_EN2,INPUT); 
-    pinMode(BTN_ENC,INPUT); 
    pinMode(SDCARDDETECT,INPUT);
    WRITE(BTN_EN1,HIGH);
    WRITE(BTN_EN2,HIGH);
+  #if BTN_ENC > 0
+    pinMode(BTN_ENC,INPUT); 
    WRITE(BTN_ENC,HIGH);
+  #endif    
+  #ifdef REPRAPWORLD_KEYPAD
+    pinMode(SHIFT_CLK,OUTPUT);
+    pinMode(SHIFT_LD,OUTPUT);
+    pinMode(SHIFT_OUT,INPUT);
+    WRITE(SHIFT_OUT,HIGH);
+    WRITE(SHIFT_LD,HIGH);
+  #endif
 #else
    pinMode(SHIFT_CLK,OUTPUT);
    pinMode(SHIFT_LD,OUTPUT);
@ -759,12 +832,14 @@ void lcd_init()
    WRITE(SHIFT_LD,HIGH); 
    WRITE(SHIFT_EN,LOW);
 #endif//!NEWPANEL
-#if (SDCARDDETECT > -1)
+#if (SDCARDDETECT > 0)
    WRITE(SDCARDDETECT, HIGH);
    lcd_oldcardstatus = IS_SD_INSERTED;
-#endif//(SDCARDDETECT > -1)
+#endif//(SDCARDDETECT > 0)
    lcd_buttons_update();
+#ifdef ULTIPANEL    
    encoderDiff = 0;
+#endif    
 }

 void lcd_update()
@ -773,7 +848,11 @@ void lcd_update()
    
    lcd_buttons_update();
    
-    #if (SDCARDDETECT > -1)
+    #ifdef LCD_HAS_SLOW_BUTTONS
+    buttons |= lcd_implementation_read_slow_buttons(); // buttons which take too long to read in interrupt context
+    #endif
+    
+    #if (SDCARDDETECT > 0)
    if((IS_SD_INSERTED != lcd_oldcardstatus))
    {
        lcdDrawUpdate = 2;
@ -796,6 +875,17 @@ void lcd_update()
    if (lcd_next_update_millis < millis())
    {
 #ifdef ULTIPANEL
+        #ifdef REPRAPWORLD_KEYPAD
+        if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) {
+            reprapworld_keypad_move_y_down();
+        }
+        if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) {
+            reprapworld_keypad_move_y_up();
+        }
+        if (REPRAPWORLD_KEYPAD_MOVE_HOME) {
+            reprapworld_keypad_move_home();
+        }
+        #endif
        if (encoderDiff)
        {
            lcdDrawUpdate = 1;
@ -808,21 +898,26 @@ void lcd_update()
 #endif//ULTIPANEL

 #ifdef DOGLCD        // Changes due to different driver architecture of the DOGM display
-		blink++;	   // Variable for fan animation and alive dot
-		u8g.firstPage();
-		do {
-				u8g.setFont(u8g_font_6x10_marlin);
-				u8g.setPrintPos(125,0);
-				if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot
-				u8g.drawPixel(127,63);	// draw alive dot
-				u8g.setColorIndex(1);	// black on white
-				(*currentMenu)();
-				if (!lcdDrawUpdate)  break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next()
-		   } while( u8g.nextPage() );
+        blink++;     // Variable for fan animation and alive dot
+        u8g.firstPage();
+        do 
+        {
+            u8g.setFont(u8g_font_6x10_marlin);
+            u8g.setPrintPos(125,0);
+            if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot
+            u8g.drawPixel(127,63); // draw alive dot
+            u8g.setColorIndex(1); // black on white
+            (*currentMenu)();
+            if (!lcdDrawUpdate)  break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next()
+        } while( u8g.nextPage() );
 #else        
        (*currentMenu)();
 #endif

+#ifdef LCD_HAS_STATUS_INDICATORS
+        lcd_implementation_update_indicators();
+#endif
+
 #ifdef ULTIPANEL
        if(timeoutToStatus < millis() && currentMenu != lcd_status_screen)
        {
@ -873,8 +968,24 @@ void lcd_buttons_update()
    uint8_t newbutton=0;
    if(READ(BTN_EN1)==0)  newbutton|=EN_A;
    if(READ(BTN_EN2)==0)  newbutton|=EN_B;
+  #if BTN_ENC > 0
    if((blocking_enc<millis()) && (READ(BTN_ENC)==0))
        newbutton |= EN_C;
+  #endif      
+  #ifdef REPRAPWORLD_KEYPAD
+    // for the reprapworld_keypad
+    uint8_t newbutton_reprapworld_keypad=0;
+    WRITE(SHIFT_LD,LOW);
+    WRITE(SHIFT_LD,HIGH);
+    for(int8_t i=0;i<8;i++) {
+        newbutton_reprapworld_keypad = newbutton_reprapworld_keypad>>1;
+        if(READ(SHIFT_OUT))
+            newbutton_reprapworld_keypad|=(1<<7);
+        WRITE(SHIFT_CLK,HIGH);
+        WRITE(SHIFT_CLK,LOW);
+    }
+    newbutton |= ((~newbutton_reprapworld_keypad) << REPRAPWORLD_BTN_OFFSET); //invert it, because a pressed switch produces a logical 0
+  #endif
    buttons = newbutton;
 #else   //read it from the shift register
    uint8_t newbutton=0;
@ -930,6 +1041,18 @@ void lcd_buttons_update()
    }
    lastEncoderBits = enc;
 }
+
+void lcd_buzz(long duration, uint16_t freq)
+{ 
+#ifdef LCD_USE_I2C_BUZZER
+  lcd.buzz(duration,freq);
+#endif   
+}
+
+bool lcd_clicked() 
+{ 
+  return LCD_CLICKED;
+}
 #endif//ULTIPANEL

 /********************************/
@ -1131,7 +1254,7 @@ void copy_and_scalePID_i()
 {
  Ki = scalePID_i(raw_Ki);
  updatePID();
-}	
+}

 // Callback for after editing PID d value
 // grab the pid d value out of the temp variable; scale it; then update the PID driver
@ -1139,6 +1262,6 @@ void copy_and_scalePID_d()
 {
  Kd = scalePID_d(raw_Kd);
  updatePID();
-}	
-	
+}
+
 #endif //ULTRA_LCD
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@ -22,7 +22,6 @@

  #ifdef ULTIPANEL
  void lcd_buttons_update();
-  extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
  #else
  FORCE_INLINE void lcd_buttons_update() {}
  #endif
@ -35,25 +34,8 @@
  extern int absPreheatHPBTemp;
  extern int absPreheatFanSpeed;
    
-  #ifdef NEWPANEL
-    #define EN_C (1<<BLEN_C)
-    #define EN_B (1<<BLEN_B)
-    #define EN_A (1<<BLEN_A)
-
-    #define LCD_CLICKED (buttons&EN_C)
-  #else
-    //atomatic, do not change
-    #define B_LE (1<<BL_LE)
-    #define B_UP (1<<BL_UP)
-    #define B_MI (1<<BL_MI)
-    #define B_DW (1<<BL_DW)
-    #define B_RI (1<<BL_RI)
-    #define B_ST (1<<BL_ST)
-    #define EN_B (1<<BLEN_B)
-    #define EN_A (1<<BLEN_A)
-    
-    #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
-  #endif//NEWPANEL
+  void lcd_buzz(long duration,uint16_t freq);
+  bool lcd_clicked();

 #else //no lcd
  FORCE_INLINE void lcd_update() {}
@ -61,6 +43,7 @@
  FORCE_INLINE void lcd_setstatus(const char* message) {}
  FORCE_INLINE void lcd_buttons_update() {}
  FORCE_INLINE void lcd_reset_alert_level() {}
+  FORCE_INLINE void lcd_buzz(long duration,uint16_t freq) {}

  #define LCD_MESSAGEPGM(x) 
  #define LCD_ALERTMESSAGEPGM(x) 
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@ -6,10 +6,11 @@
 * When selecting the rusian language, a slightly different LCD implementation is used to handle UTF8 characters.
 **/

-#if LANGUAGE_CHOICE == 6
-#include "LiquidCrystalRus.h"
-#define LCD_CLASS LiquidCrystalRus
+#ifndef REPRAPWORLD_KEYPAD
+extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
 #else
+extern volatile uint16_t buttons;  //an extended version of the last checked buttons in a bit array.
+
  #ifdef  LCD_I2C_TYPE_PCA8574
    #include <LiquidCrystal_I2C.h>
    #define LCD_CLASS LiquidCrystal_I2C
@ -19,6 +20,187 @@
  #endif
 #endif

+////////////////////////////////////
+// Setup button and encode mappings for each panel (into 'buttons' variable)
+//
+// This is just to map common functions (across different panels) onto the same 
+// macro name. The mapping is independent of whether the button is directly connected or 
+// via a shift/i2c register.
+
+#ifdef ULTIPANEL
+// All Ultipanels might have an encoder - so this is always be mapped onto first two bits
+#define BLEN_B 1
+#define BLEN_A 0
+
+#define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
+#define EN_A (1<<BLEN_A)
+
+#if defined(BTN_ENC) && BTN_ENC > -1
+  // encoder click is directly connected
+  #define BLEN_C 2 
+  #define EN_C (1<<BLEN_C) 
+#endif 
+  
+//
+// Setup other button mappings of each panel
+//
+#if defined(LCD_I2C_VIKI)
+  #define B_I2C_BTN_OFFSET 3 // (the first three bit positions reserved for EN_A, EN_B, EN_C)
+  
+  // button and encoder bit positions within 'buttons'
+  #define B_LE (BUTTON_LEFT<<B_I2C_BTN_OFFSET)    // The remaining normalized buttons are all read via I2C
+  #define B_UP (BUTTON_UP<<B_I2C_BTN_OFFSET)
+  #define B_MI (BUTTON_SELECT<<B_I2C_BTN_OFFSET)
+  #define B_DW (BUTTON_DOWN<<B_I2C_BTN_OFFSET)
+  #define B_RI (BUTTON_RIGHT<<B_I2C_BTN_OFFSET)
+
+  #if defined(BTN_ENC) && BTN_ENC > -1 
+    // the pause/stop/restart button is connected to BTN_ENC when used
+    #define B_ST (EN_C)                            // Map the pause/stop/resume button into its normalized functional name 
+    #define LCD_CLICKED (buttons&(B_MI|B_RI|B_ST)) // pause/stop button also acts as click until we implement proper pause/stop.
+  #else
+    #define LCD_CLICKED (buttons&(B_MI|B_RI))
+  #endif  
+
+  // I2C buttons take too long to read inside an interrupt context and so we read them during lcd_update
+  #define LCD_HAS_SLOW_BUTTONS
+
+#elif defined(LCD_I2C_PANELOLU2)
+  // encoder click can be read through I2C if not directly connected
+  #if BTN_ENC <= 0 
+    #define B_I2C_BTN_OFFSET 3 // (the first three bit positions reserved for EN_A, EN_B, EN_C)
+  
+    #define B_MI (PANELOLU2_ENCODER_C<<B_I2C_BTN_OFFSET) // requires LiquidTWI2 library v1.2.3 or later
+
+    #define LCD_CLICKED (buttons&B_MI)
+
+    // I2C buttons take too long to read inside an interrupt context and so we read them during lcd_update
+    #define LCD_HAS_SLOW_BUTTONS
+  #else
+    #define LCD_CLICKED (buttons&EN_C)  
+  #endif
+
+#elif defined(REPRAPWORLD_KEYPAD)
+    // define register bit values, don't change it
+    #define BLEN_REPRAPWORLD_KEYPAD_F3 0
+    #define BLEN_REPRAPWORLD_KEYPAD_F2 1
+    #define BLEN_REPRAPWORLD_KEYPAD_F1 2
+    #define BLEN_REPRAPWORLD_KEYPAD_UP 3
+    #define BLEN_REPRAPWORLD_KEYPAD_RIGHT 4
+    #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
+    #define BLEN_REPRAPWORLD_KEYPAD_DOWN 6
+    #define BLEN_REPRAPWORLD_KEYPAD_LEFT 7
+    
+    #define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
+
+    #define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
+    #define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
+
+    #define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
+    #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
+    #define REPRAPWORLD_KEYPAD_MOVE_Y_UP (buttons&EN_REPRAPWORLD_KEYPAD_UP)
+    #define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons&EN_REPRAPWORLD_KEYPAD_MIDDLE)
+
+#elif defined(NEWPANEL)
+  #define LCD_CLICKED (buttons&EN_C)
+  
+#else // old style ULTIPANEL
+  //bits in the shift register that carry the buttons for:
+  // left up center down right red(stop)
+  #define BL_LE 7
+  #define BL_UP 6
+  #define BL_MI 5
+  #define BL_DW 4
+  #define BL_RI 3
+  #define BL_ST 2
+
+  //automatic, do not change
+  #define B_LE (1<<BL_LE)
+  #define B_UP (1<<BL_UP)
+  #define B_MI (1<<BL_MI)
+  #define B_DW (1<<BL_DW)
+  #define B_RI (1<<BL_RI)
+  #define B_ST (1<<BL_ST)
+  
+  #define LCD_CLICKED (buttons&(B_MI|B_ST))
+#endif
+
+////////////////////////
+// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
+// These values are independent of which pins are used for EN_A and EN_B indications
+// The rotary encoder part is also independent to the chipset used for the LCD
+#if defined(EN_A) && defined(EN_B)
+  #ifndef ULTIMAKERCONTROLLER
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
+  #else
+    #define encrot0 0
+    #define encrot1 1
+    #define encrot2 3
+    #define encrot3 2
+  #endif
+#endif 
+
+#endif //ULTIPANEL
+
+////////////////////////////////////
+// Create LCD class instance and chipset-specific information
+#if defined(LCD_I2C_TYPE_PCF8575)
+  // note: these are register mapped pins on the PCF8575 controller not Arduino pins
+  #define LCD_I2C_PIN_BL  3
+  #define LCD_I2C_PIN_EN  2
+  #define LCD_I2C_PIN_RW  1
+  #define LCD_I2C_PIN_RS  0
+  #define LCD_I2C_PIN_D4  4
+  #define LCD_I2C_PIN_D5  5
+  #define LCD_I2C_PIN_D6  6
+  #define LCD_I2C_PIN_D7  7
+
+  #include <Wire.h>
+  #include <LCD.h>
+  #include <LiquidCrystal_I2C.h>
+  #define LCD_CLASS LiquidCrystal_I2C
+  LCD_CLASS lcd(LCD_I2C_ADDRESS,LCD_I2C_PIN_EN,LCD_I2C_PIN_RW,LCD_I2C_PIN_RS,LCD_I2C_PIN_D4,LCD_I2C_PIN_D5,LCD_I2C_PIN_D6,LCD_I2C_PIN_D7);
+  
+#elif defined(LCD_I2C_TYPE_MCP23017)
+  //for the LED indicators (which maybe mapped to different things in lcd_implementation_update_indicators())
+  #define LED_A 0x04 //100
+  #define LED_B 0x02 //010
+  #define LED_C 0x01 //001
+
+  #define LCD_HAS_STATUS_INDICATORS
+
+  #include <Wire.h>
+  #include <LiquidTWI2.h>
+  #define LCD_CLASS LiquidTWI2
+  LCD_CLASS lcd(LCD_I2C_ADDRESS);
+  
+#elif defined(LCD_I2C_TYPE_MCP23008)
+  #include <Wire.h>
+  #include <LiquidTWI2.h>
+  #define LCD_CLASS LiquidTWI2
+  LCD_CLASS lcd(LCD_I2C_ADDRESS);  
+  
+#else
+  // Standard directly connected LCD implementations
+  #if LANGUAGE_CHOICE == 6
+    #include "LiquidCrystalRus.h"
+    #define LCD_CLASS LiquidCrystalRus
+  #else 
+    #include <LiquidCrystal.h>
+    #define LCD_CLASS LiquidCrystal
+  #endif  
+  LCD_CLASS lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5,LCD_PINS_D6,LCD_PINS_D7);  //RS,Enable,D4,D5,D6,D7
+#endif
+
 /* Custom characters defined in the first 8 characters of the LCD */
 #define LCD_STR_BEDTEMP     "\x00"
 #define LCD_STR_DEGREE      "\x01"
@ -125,8 +307,27 @@ static void lcd_implementation_init()
      lcd.init();
      lcd.backlight();
    #else
-      lcd.begin(LCD_WIDTH, LCD_HEIGHT);
+	  if defined(LCDI2C_TYPE_PCF8575)
+        lcd.begin(LCD_WIDTH, LCD_HEIGHT);
    #endif
+  #ifdef LCD_I2C_PIN_BL
+    lcd.setBacklightPin(LCD_I2C_PIN_BL,POSITIVE);
+    lcd.setBacklight(HIGH);
+  #endif
+  
+#elif defined(LCD_I2C_TYPE_MCP23017)
+    lcd.setMCPType(LTI_TYPE_MCP23017);
+    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
+    lcd.setBacklight(0); //set all the LEDs off to begin with
+    
+#elif defined(LCD_I2C_TYPE_MCP23008)
+    lcd.setMCPType(LTI_TYPE_MCP23008);
+    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
+    
+#else
+    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
+#endif
+
    lcd.createChar(LCD_STR_BEDTEMP[0], bedTemp);
    lcd.createChar(LCD_STR_DEGREE[0], degree);
    lcd.createChar(LCD_STR_THERMOMETER[0], thermometer);
@ -314,13 +515,13 @@ static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, c
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1;
+      uint8_t n = LCD_WIDTH - 1 - 1;
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2;
+      uint8_t n = LCD_WIDTH - 1 - 2;
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -336,13 +537,13 @@ static void lcd_implementation_drawmenu_setting_edit_generic(uint8_t row, const
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data);
+      uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data);
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data);
+      uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data);
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -358,13 +559,13 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, cons
    char c;
    //Use all characters in narrow LCDs
  #if LCD_WIDTH < 20
-    	uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data);
+      uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data);
    #else
-    	uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data);
+      uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data);
  #endif
    lcd.setCursor(0, row);
    lcd.print(pre_char);
-    while((c = pgm_read_byte(pstr)) != '\0')
+    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
    {
        lcd.print(c);
        pstr++;
@ -417,9 +618,9 @@ void lcd_implementation_drawedit(const char* pstr, char* value)
    lcd_printPGM(pstr);
    lcd.print(':');
   #if LCD_WIDTH < 20
-    	lcd.setCursor(LCD_WIDTH - strlen(value), 1);
+      lcd.setCursor(LCD_WIDTH - strlen(value), 1);
    #else
-    	lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1);
+      lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1);
   #endif
    lcd.print(value);
 }
@ -434,7 +635,7 @@ static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char*
        filename = longFilename;
        longFilename[LCD_WIDTH-1] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -454,7 +655,7 @@ static void lcd_implementation_drawmenu_sdfile(uint8_t row, const char* pstr, co
        filename = longFilename;
        longFilename[LCD_WIDTH-1] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -475,7 +676,7 @@ static void lcd_implementation_drawmenu_sddirectory_selected(uint8_t row, const
        filename = longFilename;
        longFilename[LCD_WIDTH-2] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -496,7 +697,7 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
        filename = longFilename;
        longFilename[LCD_WIDTH-2] = '\0';
    }
-    while((c = *filename) != '\0')
+    while( ((c = *filename) != '\0') && (n>0) )
    {
        lcd.print(c);
        filename++;
@ -516,15 +717,50 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst

 static void lcd_implementation_quick_feedback()
 {
-#if BEEPER > -1
+#ifdef LCD_USE_I2C_BUZZER
+    lcd.buzz(60,1000/6);
+#elif defined(BEEPER) && BEEPER > -1
    SET_OUTPUT(BEEPER);
    for(int8_t i=0;i<10;i++)
    {
-		WRITE(BEEPER,HIGH);
-		delay(3);
-		WRITE(BEEPER,LOW);
-		delay(3);
+      WRITE(BEEPER,HIGH);
+      delay(3);
+      WRITE(BEEPER,LOW);
+      delay(3);
    }
 #endif
 }
+
+#ifdef LCD_HAS_STATUS_INDICATORS
+static void lcd_implementation_update_indicators()
+{
+  #if defined(LCD_I2C_PANELOLU2) || defined(LCD_I2C_VIKI)
+    //set the LEDS - referred to as backlights by the LiquidTWI2 library 
+    static uint8_t ledsprev = 0;
+    uint8_t leds = 0;
+    if (target_temperature_bed > 0) leds |= LED_A;
+    if (target_temperature[0] > 0) leds |= LED_B;
+    if (fanSpeed) leds |= LED_C;
+    #if EXTRUDERS > 1  
+      if (target_temperature[1] > 0) leds |= LED_C;
+    #endif
+    if (leds != ledsprev) {
+      lcd.setBacklight(leds);
+      ledsprev = leds;
+    }
+  #endif
+}
+#endif
+
+#ifdef LCD_HAS_SLOW_BUTTONS
+static uint8_t lcd_implementation_read_slow_buttons()
+{
+  #ifdef LCD_I2C_TYPE_MCP23017
+    // Reading these buttons this is likely to be too slow to call inside interrupt context
+    // so they are called during normal lcd_update
+    return lcd.readButtons() << B_I2C_BTN_OFFSET; 
+  #endif
+}
+#endif
+
 #endif//ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H
--- a/Marlin/ultralcd_st7920_u8glib_rrd.h
+++ b/Marlin/ultralcd_st7920_u8glib_rrd.h
@ -0,0 +1,131 @@
+#ifndef ULCDST7920_H
+#define ULCDST7920_H
+
+#include "Marlin.h"
+
+#ifdef U8GLIB_ST7920
+
+//set optimization so ARDUINO optimizes this file
+#pragma GCC optimize (3)
+
+#define ST7920_CLK_PIN  LCD_PINS_D4
+#define ST7920_DAT_PIN  LCD_PINS_ENABLE
+#define ST7920_CS_PIN   LCD_PINS_RS
+
+//#define PAGE_HEIGHT 8   //128 byte frambuffer
+//#define PAGE_HEIGHT 16  //256 byte frambuffer
+#define PAGE_HEIGHT 32  //512 byte framebuffer
+
+#define WIDTH 128
+#define HEIGHT 64
+
+#include <U8glib.h>
+
+static void ST7920_SWSPI_SND_8BIT(uint8_t val)
+{
+  uint8_t i;
+  for( i=0; i<8; i++ )
+  {
+    WRITE(ST7920_CLK_PIN,0);
+    WRITE(ST7920_DAT_PIN,val&0x80); 
+    val<<=1;
+    WRITE(ST7920_CLK_PIN,1);
+  }
+}
+
+#define ST7920_CS()              {WRITE(ST7920_CS_PIN,1);u8g_10MicroDelay();}
+#define ST7920_NCS()             {WRITE(ST7920_CS_PIN,0);}
+#define ST7920_SET_CMD()         {ST7920_SWSPI_SND_8BIT(0xf8);u8g_10MicroDelay();}
+#define ST7920_SET_DAT()         {ST7920_SWSPI_SND_8BIT(0xfa);u8g_10MicroDelay();}
+#define ST7920_WRITE_BYTE(a)     {ST7920_SWSPI_SND_8BIT((a)&0xf0);ST7920_SWSPI_SND_8BIT((a)<<4);u8g_10MicroDelay();}
+#define ST7920_WRITE_BYTES(p,l)  {uint8_t i;for(i=0;i<l;i++){ST7920_SWSPI_SND_8BIT(*p&0xf0);ST7920_SWSPI_SND_8BIT(*p<<4);p++;}u8g_10MicroDelay();}
+
+uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, void *arg)
+{
+  uint8_t i,y;
+  switch(msg)
+  {
+    case U8G_DEV_MSG_INIT:
+      {
+        SET_OUTPUT(ST7920_CS_PIN);
+        WRITE(ST7920_CS_PIN,0);
+        SET_OUTPUT(ST7920_DAT_PIN);
+        WRITE(ST7920_DAT_PIN,0);
+        SET_OUTPUT(ST7920_CLK_PIN);
+        WRITE(ST7920_CLK_PIN,1);
+
+        ST7920_CS();
+        u8g_Delay(90);                 //initial delay for boot up
+        ST7920_SET_CMD();
+        ST7920_WRITE_BYTE(0x08);       //display off, cursor+blink off
+        ST7920_WRITE_BYTE(0x01);       //clear CGRAM ram
+        u8g_Delay(10);                 //delay for cgram clear
+        ST7920_WRITE_BYTE(0x3E);       //extended mode + gdram active
+        for(y=0;y<HEIGHT/2;y++)        //clear GDRAM
+        {
+          ST7920_WRITE_BYTE(0x80|y);   //set y
+          ST7920_WRITE_BYTE(0x80);     //set x = 0
+          ST7920_SET_DAT();
+          for(i=0;i<2*WIDTH/8;i++)     //2x width clears both segments
+            ST7920_WRITE_BYTE(0);
+          ST7920_SET_CMD();
+        }
+        ST7920_WRITE_BYTE(0x0C); //display on, cursor+blink off
+        ST7920_NCS();
+      }
+      break;
+
+    case U8G_DEV_MSG_STOP:
+      break;
+    case U8G_DEV_MSG_PAGE_NEXT:
+      {
+        uint8_t *ptr;
+        u8g_pb_t *pb = (u8g_pb_t *)(dev->dev_mem);
+        y = pb->p.page_y0;
+        ptr = (uint8_t*)pb->buf;
+
+        ST7920_CS();
+        for( i = 0; i < PAGE_HEIGHT; i ++ )
+        {
+          ST7920_SET_CMD();
+          if ( y < 32 )
+          {
+            ST7920_WRITE_BYTE(0x80 | y);       //y
+            ST7920_WRITE_BYTE(0x80);           //x=0
+          }
+          else
+          {
+            ST7920_WRITE_BYTE(0x80 | (y-32));  //y
+            ST7920_WRITE_BYTE(0x80 | 8);       //x=64
+          }
+
+          ST7920_SET_DAT();
+          ST7920_WRITE_BYTES(ptr,WIDTH/8); //ptr is incremented inside of macro
+          y++;
+        }
+        ST7920_NCS();
+      }
+      break;
+  }
+#if PAGE_HEIGHT == 8
+  return u8g_dev_pb8h1_base_fn(u8g, dev, msg, arg);
+#elif PAGE_HEIGHT == 16
+  return u8g_dev_pb16h1_base_fn(u8g, dev, msg, arg);
+#else
+  return u8g_dev_pb32h1_base_fn(u8g, dev, msg, arg);
+#endif
+}
+
+uint8_t   u8g_dev_st7920_128x64_rrd_buf[WIDTH*(PAGE_HEIGHT/8)] U8G_NOCOMMON;
+u8g_pb_t  u8g_dev_st7920_128x64_rrd_pb = {{PAGE_HEIGHT,HEIGHT,0,0,0},WIDTH,u8g_dev_st7920_128x64_rrd_buf};
+u8g_dev_t u8g_dev_st7920_128x64_rrd_sw_spi = {u8g_dev_rrd_st7920_128x64_fn,&u8g_dev_st7920_128x64_rrd_pb,&u8g_com_null_fn};
+
+class U8GLIB_ST7920_128X64_RRD : public U8GLIB
+{
+  public:
+    U8GLIB_ST7920_128X64_RRD(uint8_t dummy) : U8GLIB(&u8g_dev_st7920_128x64_rrd_sw_spi) {}
+};
+
+
+#endif //U8GLIB_ST7920
+#endif //ULCDST7920_H
--- a/README.md
+++ b/README.md
@ -1,223 +1,249 @@
-WARNING: 
--------
-THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
-
-The configuration is now split in two files
-Configuration.h for the normal settings
-Configuration_adv.h for the advanced settings
-
-Gen7T is not supported.
-
-Quick Information
-===================
-This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
-
-Derived from Sprinter and Grbl by Erik van der Zalm.
-Sprinters lead developers are Kliment and caru.
-Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
-A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
-Some features have been added by:
-Lampmaker, Bradley Feldman, and others...
-
-
-Features:
-
-*   Interrupt based movement with real linear acceleration
-*   High steprate
-*   Look ahead (Keep the speed high when possible. High cornering speed)
-*   Interrupt based temperature protection
-*   preliminary support for Matthew Roberts advance algorithm 
-    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
-*   Full endstop support
-*   SD Card support
-*   SD Card folders (works in pronterface)
-*   SD Card autostart support
-*   LCD support (ideally 20x4) 
-*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
-*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
-*   many small but handy things originating from bkubicek's fork.
-*   Arc support
-*   Temperature oversampling
-*   Dynamic Temperature setpointing aka "AutoTemp"
-*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
-*   Endstop trigger reporting to the host software.
-*   Updated sdcardlib
-*   Heater power reporting. Useful for PID monitoring.
-*   PID tuning
-*   CoreXY kinematics (www.corexy.com/theory.html)
-*   Configurable serial port to support connection of wireless adaptors.
-
-The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
-
-
-Differences and additions to the already good Sprinter firmware:
-================================================================
-
-*Look-ahead:*
-
-Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
-lookahead will only decelerate and accelerate to a velocity, 
-so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
-This is only possible, if some future moves are already processed, hence the name. 
-It leads to less over-deposition at corners, especially at flat angles.
-
-*Arc support:*
-
-Slic3r can find curves that, although broken into segments, were ment to describe an arc.
-Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
-and can perform the arc with nearly constant velocity, resulting in a nice finish. 
-Also, less serial communication is needed.
-
-*Temperature Oversampling:*
-
-To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
-
-*AutoTemp:*
-
-If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
-Usually, higher speed requires higher temperature.
-This can now be performed by the AutoTemp function
-By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
-
-You can leave it by calling M109 without any F.
-If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
-The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
-If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
-Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
-
-*EEPROM:*
-
-If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
-After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
-
-*LCD Menu:*
-
-If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
-accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
-One working hardware is documented here: http://www.thingiverse.com/thing:12663 
-Also, with just a 20x4 or 16x2 display, useful data is shown.
-
-*SD card folders:*
-
-If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
-You can write to file in a subfolder by specifying a similar text using small letters in the path.
-Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
-
-*SD card folders:*
-
-If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
-First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
-
-*Endstop trigger reporting:*
-
-If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
-This is useful, because the user gets a warning message.
-However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
-
-*Coding paradigm:*
-
-Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
-This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
-We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
-A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
-In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
-some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
-necessary for backwards compatibility.
-
-*Interrupt based temperature measurements:*
-
-An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
-This leads to less blocking in the heater management routine.
-
-
-Non-standard M-Codes, different to an old version of sprinter:
-==============================================================
-Movement:
-
-*   G2  - CW ARC
-*   G3  - CCW ARC
-
-General:
-
-*   M17  - Enable/Power all stepper motors. Compatibility to ReplicatorG.
-*   M18  - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
-*   M30  - Print time since last M109 or SD card start to serial
-*   M42  - Change pin status via gcode
-*   M80  - Turn on Power Supply
-*   M81  - Turn off Power Supply
-*   M114 - Output current position to serial port 
-*   M119 - Output Endstop status to serial port
-
-Movement variables:
-
-*   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-*   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-*   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
-*   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
-*   M221 - set the extrude multiplying S:factor in percent
-*   M400 - Finish all buffered moves.
-
-Temperature variables:
-*   M301 - Set PID parameters P I and D
-*   M302 - Allow cold extrudes
-*   M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
-
-Advance:
-
-*   M200 - Set filament diameter for advance
-*   M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
-
-EEPROM:
-
-*   M500 - stores paramters in EEPROM. This parameters are stored:  axis_steps_per_unit,  max_feedrate, max_acceleration  ,acceleration,retract_acceleration,
-  minimumfeedrate,mintravelfeedrate,minsegmenttime,  jerk velocities, PID
-*   M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
-*   M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-*   M503 - print the current settings (from memory not from eeprom)
-
-MISC:
-
-*   M240 - Trigger a camera to take a photograph
-*   M999 - Restart after being stopped by error
-
-Configuring and compilation:
-============================
-
-Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
-   http://www.arduino.cc/en/Main/Software
-
-For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
-  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
-
-Install Ultimaker's RepG 25 build
-    http://software.ultimaker.com
-For SD handling and as better substitute (apart from stl manipulation) download
-the very nice Kliment's printrun/pronterface  https://github.com/kliment/Printrun
-
-Copy the Ultimaker Marlin firmware
-   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
-   (Use the download button)
-
-Start the arduino IDE.
-Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
-Select the correct serial port in Tools ->Serial Port
-Open Marlin.pde
-
-Click the Verify/Compile button
-
-Click the Upload button
-If all goes well the firmware is uploading
-
-Start Ultimaker's Custom RepG 25
-Make sure Show Experimental Profiles is enabled in Preferences
-Select Sprinter as the Driver
-
-Press the Connect button.
-
-KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
-
-That's ok.  Enjoy Silky Smooth Printing.
-
-
-
+==========================
+Marlin 3D Printer Firmware
+==========================
+
+[![Flattr this git repo](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/ErikZalm/Marlin&title=Marlin&language=&tags=github&category=software)
+
+Quick Information
+===================
+This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
+
+Derived from Sprinter and Grbl by Erik van der Zalm.
+Sprinters lead developers are Kliment and caru.
+Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
+A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
+Some features have been added by:
+Lampmaker, Bradley Feldman, and others...
+
+
+Features:
+
+*   Interrupt based movement with real linear acceleration
+*   High steprate
+*   Look ahead (Keep the speed high when possible. High cornering speed)
+*   Interrupt based temperature protection
+*   preliminary support for Matthew Roberts advance algorithm 
+    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+*   Full endstop support
+*   SD Card support
+*   SD Card folders (works in pronterface)
+*   SD Card autostart support
+*   LCD support (ideally 20x4) 
+*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
+*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
+*   many small but handy things originating from bkubicek's fork.
+*   Arc support
+*   Temperature oversampling
+*   Dynamic Temperature setpointing aka "AutoTemp"
+*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
+*   Endstop trigger reporting to the host software.
+*   Updated sdcardlib
+*   Heater power reporting. Useful for PID monitoring.
+*   PID tuning
+*   CoreXY kinematics (www.corexy.com/theory.html)
+*   Configurable serial port to support connection of wireless adaptors.
+*   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
+
+The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
+
+
+Differences and additions to the already good Sprinter firmware:
+================================================================
+
+*Look-ahead:*
+
+Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
+lookahead will only decelerate and accelerate to a velocity, 
+so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
+This is only possible, if some future moves are already processed, hence the name. 
+It leads to less over-deposition at corners, especially at flat angles.
+
+*Arc support:*
+
+Slic3r can find curves that, although broken into segments, were ment to describe an arc.
+Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
+and can perform the arc with nearly constant velocity, resulting in a nice finish. 
+Also, less serial communication is needed.
+
+*Temperature Oversampling:*
+
+To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
+
+*AutoTemp:*
+
+If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
+Usually, higher speed requires higher temperature.
+This can now be performed by the AutoTemp function
+By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
+
+You can leave it by calling M109 without any F.
+If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
+The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
+If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
+Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
+
+*EEPROM:*
+
+If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
+After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
+
+*LCD Menu:*
+
+If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
+accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
+One working hardware is documented here: http://www.thingiverse.com/thing:12663 
+Also, with just a 20x4 or 16x2 display, useful data is shown.
+
+*SD card folders:*
+
+If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
+You can write to file in a subfolder by specifying a similar text using small letters in the path.
+Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
+
+*SD card folders:*
+
+If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
+First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
+
+*Endstop trigger reporting:*
+
+If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
+This is useful, because the user gets a warning message.
+However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
+
+*Coding paradigm:*
+
+Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
+This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
+We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
+A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
+In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
+some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
+necessary for backwards compatibility.
+
+*Interrupt based temperature measurements:*
+
+An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
+This leads to less blocking in the heater management routine.
+
+Implemented G Codes:
+====================
+
+*  G0  -> G1
+*  G1  - Coordinated Movement X Y Z E
+*  G2  - CW ARC
+*  G3  - CCW ARC
+*  G4  - Dwell S<seconds> or P<milliseconds>
+*  G10 - retract filament according to settings of M207
+*  G11 - retract recover filament according to settings of M208
+*  G28 - Home all Axis
+*  G90 - Use Absolute Coordinates
+*  G91 - Use Relative Coordinates
+*  G92 - Set current position to cordinates given
+
+RepRap M Codes
+*  M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
+*  M1   - Same as M0
+*  M104 - Set extruder target temp
+*  M105 - Read current temp
+*  M106 - Fan on
+*  M107 - Fan off
+*  M109 - Wait for extruder current temp to reach target temp.
+*  M114 - Display current position
+
+Custom M Codes
+*  M17  - Enable/Power all stepper motors
+*  M18  - Disable all stepper motors; same as M84
+*  M20  - List SD card
+*  M21  - Init SD card
+*  M22  - Release SD card
+*  M23  - Select SD file (M23 filename.g)
+*  M24  - Start/resume SD print
+*  M25  - Pause SD print
+*  M26  - Set SD position in bytes (M26 S12345)
+*  M27  - Report SD print status
+*  M28  - Start SD write (M28 filename.g)
+*  M29  - Stop SD write
+*  M30  - Delete file from SD (M30 filename.g)
+*  M31  - Output time since last M109 or SD card start to serial
+*  M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
+*  M80  - Turn on Power Supply
+*  M81  - Turn off Power Supply
+*  M82  - Set E codes absolute (default)
+*  M83  - Set E codes relative while in Absolute Coordinates (G90) mode
+*  M84  - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
+*  M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+*  M92  - Set axis_steps_per_unit - same syntax as G92
+*  M114 - Output current position to serial port
+*  M115 - Capabilities string
+*  M117 - display message
+*  M119 - Output Endstop status to serial port
+*  M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
+*  M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
+*  M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+*  M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+*  M140 - Set bed target temp
+*  M190 - Wait for bed current temp to reach target temp.
+*  M200 - Set filament diameter
+*  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+*  M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+*  M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+*  M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*  M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
+*  M206 - set additional homeing offset
+*  M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+*  M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+*  M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+*  M220 S<factor in percent>- set speed factor override percentage
+*  M221 S<factor in percent>- set extrude factor override percentage
+*  M240 - Trigger a camera to take a photograph
+*  M280 - set servo position absolute. P: servo index, S: angle or microseconds
+*  M300 - Play beepsound S<frequency Hz> P<duration ms>
+*  M301 - Set PID parameters P I and D
+*  M302 - Allow cold extrudes
+*  M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+*  M304 - Set bed PID parameters P I and D
+*  M400 - Finish all moves
+*  M500 - stores paramters in EEPROM
+*  M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+*  M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+*  M503 - print the current settings (from memory not from eeprom)
+*  M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+*  M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+*  M907 - Set digital trimpot motor current using axis codes.
+*  M908 - Control digital trimpot directly.
+*  M350 - Set microstepping mode.
+*  M351 - Toggle MS1 MS2 pins directly.
+*  M928 - Start SD logging (M928 filename.g) - ended by M29
+*  M999 - Restart after being stopped by error
+
+
+Configuring and compilation:
+============================
+
+Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
+   http://www.arduino.cc/en/Main/Software
+
+For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
+  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
+
+Copy the Marlin firmware
+   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Click the Verify/Compile button
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+That's ok.  Enjoy Silky Smooth Printing.
+
+
+
+