Merge remote-tracking branch 'upstream/Development' into Development

Marlin/Configuration.h

@@ -225,6 +225,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -372,6 +374,23 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 //const bool FIL_RUNOUT_INVERTING = true;  // Should be uncommented and true or false should assigned
 //#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
 
+//===========================================================================
+//============================ Manual Bed Leveling ==========================
+//===========================================================================
+
+// #define MANUAL_BED_LEVELING  // Add display menu option for bed leveling
+// #define MESH_BED_LEVELING    // Enable mesh bed leveling
+
+#if defined(MESH_BED_LEVELING)
+  #define MESH_MIN_X 10
+  #define MESH_MAX_X (X_MAX_POS - MESH_MIN_X)
+  #define MESH_MIN_Y 10
+  #define MESH_MAX_Y (Y_MAX_POS - MESH_MIN_Y)
+  #define MESH_NUM_X_POINTS 3  // Don't use more than 7 points per axis, implementation limited
+  #define MESH_NUM_Y_POINTS 3
+  #define MESH_HOME_SEARCH_Z 4  // Z after Home, bed somewhere below but above 0.0
+#endif  // MESH_BED_LEVELING
+
 //===========================================================================
 //============================= Bed Auto Leveling ===========================
 //===========================================================================
@@ -398,12 +417,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/ConfigurationStore.cpp

@@ -18,7 +18,13 @@
  *  max_xy_jerk
  *  max_z_jerk
  *  max_e_jerk
- *  add_homing (x3)
+ *  home_offset (x3)
+ *
+ * Mesh bed leveling:
+ *  active
+ *  mesh_num_x
+ *  mesh_num_y
+ *  z_values[][]
  *
  * DELTA:
  *  endstop_adj (x3)
@@ -69,6 +75,10 @@
 #include "ultralcd.h"
 #include "ConfigurationStore.h"
 
+#if defined(MESH_BED_LEVELING)
+   #include "mesh_bed_leveling.h"
+#endif  // MESH_BED_LEVELING
+
 void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size) {
   uint8_t c;
   while(size--) {
@@ -105,7 +115,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
 
-#define EEPROM_VERSION "V16"
+#define EEPROM_VERSION "V17"
 
 #ifdef EEPROM_SETTINGS
 
@@ -126,7 +136,29 @@ void Config_StoreSettings()  {
   EEPROM_WRITE_VAR(i, max_xy_jerk);
   EEPROM_WRITE_VAR(i, max_z_jerk);
   EEPROM_WRITE_VAR(i, max_e_jerk);
-  EEPROM_WRITE_VAR(i, add_homing);
+  EEPROM_WRITE_VAR(i, home_offset);
+
+  uint8_t mesh_num_x = 3;
+  uint8_t mesh_num_y = 3;
+  #if defined(MESH_BED_LEVELING)
+    // Compile time test that sizeof(mbl.z_values) is as expected
+    typedef char c_assert[(sizeof(mbl.z_values) == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS*sizeof(dummy)) ? 1 : -1];
+    mesh_num_x = MESH_NUM_X_POINTS;
+    mesh_num_y = MESH_NUM_Y_POINTS;
+    EEPROM_WRITE_VAR(i, mbl.active);
+    EEPROM_WRITE_VAR(i, mesh_num_x);
+    EEPROM_WRITE_VAR(i, mesh_num_y);
+    EEPROM_WRITE_VAR(i, mbl.z_values);
+  #else
+    uint8_t dummy_uint8 = 0;
+    EEPROM_WRITE_VAR(i, dummy_uint8);
+    EEPROM_WRITE_VAR(i, mesh_num_x);
+    EEPROM_WRITE_VAR(i, mesh_num_y);
+    dummy = 0.0f;
+    for (int q=0; q<mesh_num_x*mesh_num_y; q++) {
+      EEPROM_WRITE_VAR(i, dummy);
+    }
+  #endif  // MESH_BED_LEVELING
 
   #ifdef DELTA
     EEPROM_WRITE_VAR(i, endstop_adj);               // 3 floats
@@ -262,7 +294,32 @@ void Config_RetrieveSettings() {
     EEPROM_READ_VAR(i, max_xy_jerk);
     EEPROM_READ_VAR(i, max_z_jerk);
     EEPROM_READ_VAR(i, max_e_jerk);
-    EEPROM_READ_VAR(i, add_homing);
+    EEPROM_READ_VAR(i, home_offset);
+
+    uint8_t mesh_num_x = 0;
+    uint8_t mesh_num_y = 0;
+    #if defined(MESH_BED_LEVELING)
+      EEPROM_READ_VAR(i, mbl.active);
+      EEPROM_READ_VAR(i, mesh_num_x);
+      EEPROM_READ_VAR(i, mesh_num_y);
+      if (mesh_num_x != MESH_NUM_X_POINTS ||
+          mesh_num_y != MESH_NUM_Y_POINTS) {
+        mbl.reset();
+        for (int q=0; q<mesh_num_x*mesh_num_y; q++) {
+          EEPROM_READ_VAR(i, dummy);
+        }
+      } else {
+        EEPROM_READ_VAR(i, mbl.z_values);
+      }
+    #else
+      uint8_t dummy_uint8 = 0;
+      EEPROM_READ_VAR(i, dummy_uint8);
+      EEPROM_READ_VAR(i, mesh_num_x);
+      EEPROM_READ_VAR(i, mesh_num_y);
+      for (int q=0; q<mesh_num_x*mesh_num_y; q++) {
+        EEPROM_READ_VAR(i, dummy);
+      }
+    #endif  // MESH_BED_LEVELING
 
     #ifdef DELTA
       EEPROM_READ_VAR(i, endstop_adj);                // 3 floats
@@ -390,7 +447,11 @@ void Config_ResetDefault() {
   max_xy_jerk = DEFAULT_XYJERK;
   max_z_jerk = DEFAULT_ZJERK;
   max_e_jerk = DEFAULT_EJERK;
-  add_homing[X_AXIS] = add_homing[Y_AXIS] = add_homing[Z_AXIS] = 0;
+  home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
+
+  #if defined(MESH_BED_LEVELING)
+    mbl.active = 0;
+  #endif  // MESH_BED_LEVELING
 
   #ifdef DELTA
     endstop_adj[X_AXIS] = endstop_adj[Y_AXIS] = endstop_adj[Z_AXIS] = 0;
@@ -546,9 +607,9 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Home offset (mm):");
     SERIAL_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M206 X", add_homing[X_AXIS] );
+  SERIAL_ECHOPAIR("  M206 X", home_offset[X_AXIS] );
-  SERIAL_ECHOPAIR(" Y", add_homing[Y_AXIS] );
+  SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS] );
-  SERIAL_ECHOPAIR(" Z", add_homing[Z_AXIS] );
+  SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS] );
   SERIAL_EOL;
 
   #ifdef DELTA

Marlin/Marlin.h

@@ -240,7 +240,7 @@ extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in per
 extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
 extern float current_position[NUM_AXIS] ;
-extern float add_homing[3];
+extern float home_offset[3];
 #ifdef DELTA
 extern float endstop_adj[3];
 extern float delta_radius;

Marlin/Marlin_main.cpp

@@ -41,6 +41,10 @@
 
 #define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
 
+#if defined(MESH_BED_LEVELING)
+  #include "mesh_bed_leveling.h"
+#endif  // MESH_BED_LEVELING
+
 #include "ultralcd.h"
 #include "planner.h"
 #include "stepper.h"
@@ -244,7 +248,7 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
   #endif
 };
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
-float add_homing[3] = { 0, 0, 0 };
+float home_offset[3] = { 0, 0, 0 };
 #ifdef DELTA
   float endstop_adj[3] = { 0, 0, 0 };
 #endif
@@ -980,7 +984,7 @@ static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
 
 static float x_home_pos(int extruder) {
   if (extruder == 0)
-    return base_home_pos(X_AXIS) + add_homing[X_AXIS];
+    return base_home_pos(X_AXIS) + home_offset[X_AXIS];
   else
     // In dual carriage mode the extruder offset provides an override of the
     // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@@ -1012,9 +1016,9 @@ static void axis_is_at_home(int axis) {
       return;
     }
     else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
-      current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
+      current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
-      min_pos[X_AXIS] =          base_min_pos(X_AXIS) + add_homing[X_AXIS];
+      min_pos[X_AXIS] =          base_min_pos(X_AXIS) + home_offset[X_AXIS];
-      max_pos[X_AXIS] =          min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
+      max_pos[X_AXIS] =          min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
                                   max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
       return;
     }
@@ -1042,11 +1046,11 @@ static void axis_is_at_home(int axis) {
      
      for (i=0; i<2; i++)
      {
-        delta[i] -= add_homing[i];
+        delta[i] -= home_offset[i];
      } 
      
-    // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
+    // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
-  // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
+  // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
     // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
     // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
       
@@ -1064,14 +1068,14 @@ static void axis_is_at_home(int axis) {
    } 
    else
    {
-      current_position[axis] = base_home_pos(axis) + add_homing[axis];
+      current_position[axis] = base_home_pos(axis) + home_offset[axis];
-      min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+      min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-      max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+      max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
    }
 #else
-  current_position[axis] = base_home_pos(axis) + add_homing[axis];
+  current_position[axis] = base_home_pos(axis) + home_offset[axis];
-  min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+  min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-  max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+  max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
 #endif
 }
 
@@ -1305,7 +1309,13 @@ static void engage_z_probe() {
 static void retract_z_probe() {
   // Retract Z Servo endstop if enabled
   #ifdef SERVO_ENDSTOPS
-    if (servo_endstops[Z_AXIS] > -1) {
+    if (servo_endstops[Z_AXIS] > -1)
+    {
+      #if Z_RAISE_AFTER_PROBING > 0
+        do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
+        st_synchronize();
+      #endif
+    
       #if SERVO_LEVELING
         servos[servo_endstops[Z_AXIS]].attach(0);
       #endif
@@ -1318,7 +1328,7 @@ static void retract_z_probe() {
   #elif defined(Z_PROBE_ALLEN_KEY)
     // Move up for safety
     feedrate = homing_feedrate[X_AXIS];
-    destination[Z_AXIS] = current_position[Z_AXIS] + 20;
+    destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
     prepare_move_raw();
 
     // Move to the start position to initiate retraction
@@ -1360,10 +1370,15 @@ static void retract_z_probe() {
 
 }
 
-enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
+enum ProbeAction {
+  ProbeStay             = 0,
+  ProbeEngage           = BIT(0),
+  ProbeRetract          = BIT(1),
+  ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
+};
 
 /// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, int verbose_level=1) {
+static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
   // move to right place
   do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
   do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
@@ -1737,6 +1752,11 @@ inline void gcode_G28() {
     #endif
   #endif
 
+  #if defined(MESH_BED_LEVELING)
+    uint8_t mbl_was_active = mbl.active;
+    mbl.active = 0;
+  #endif  // MESH_BED_LEVELING
+
   saved_feedrate = feedrate;
   saved_feedmultiply = feedmultiply;
   feedmultiply = 100;
@@ -1849,7 +1869,7 @@ inline void gcode_G28() {
       if (code_value_long() != 0) {
           current_position[X_AXIS] = code_value()
             #ifndef SCARA
-              + add_homing[X_AXIS]
+              + home_offset[X_AXIS]
             #endif
           ;
       }
@@ -1858,7 +1878,7 @@ inline void gcode_G28() {
     if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
       current_position[Y_AXIS] = code_value()
         #ifndef SCARA
-          + add_homing[Y_AXIS]
+          + home_offset[Y_AXIS]
         #endif
       ;
     }
@@ -1932,7 +1952,7 @@ inline void gcode_G28() {
 
 
     if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
-      current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
+      current_position[Z_AXIS] = code_value() + home_offset[Z_AXIS];
 
     #ifdef ENABLE_AUTO_BED_LEVELING
       if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
@@ -1951,12 +1971,112 @@ inline void gcode_G28() {
     enable_endstops(false);
   #endif
 
+  #if defined(MESH_BED_LEVELING)
+    if (mbl_was_active) {
+      current_position[X_AXIS] = mbl.get_x(0);
+      current_position[Y_AXIS] = mbl.get_y(0);
+      destination[X_AXIS] = current_position[X_AXIS];
+      destination[Y_AXIS] = current_position[Y_AXIS];
+      destination[Z_AXIS] = current_position[Z_AXIS];
+      destination[E_AXIS] = current_position[E_AXIS];
+      feedrate = homing_feedrate[X_AXIS];
+      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+      st_synchronize();
+      current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      mbl.active = 1;
+    }
+  #endif
+
   feedrate = saved_feedrate;
   feedmultiply = saved_feedmultiply;
   previous_millis_cmd = millis();
   endstops_hit_on_purpose();
 }
 
+#if defined(MESH_BED_LEVELING)
+
+  inline void gcode_G29() {
+    static int probe_point = -1;
+    int state = 0;
+    if (code_seen('S') || code_seen('s')) {
+      state = code_value_long();
+      if (state < 0 || state > 2) {
+        SERIAL_PROTOCOLPGM("S out of range (0-2).\n");
+        return;
+      }
+    }
+
+    if (state == 0) { // Dump mesh_bed_leveling
+      if (mbl.active) {
+        SERIAL_PROTOCOLPGM("Num X,Y: ");
+        SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
+        SERIAL_PROTOCOLPGM(",");
+        SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
+        SERIAL_PROTOCOLPGM("\nZ search height: ");
+        SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
+        SERIAL_PROTOCOLPGM("\nMeasured points:\n");              
+        for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
+          for (int x=0; x<MESH_NUM_X_POINTS; x++) {
+            SERIAL_PROTOCOLPGM("  ");              
+            SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
+          }
+          SERIAL_EOL;
+        }
+      } else {
+        SERIAL_PROTOCOLPGM("Mesh bed leveling not active.\n");
+      }
+
+    } else if (state == 1) { // Begin probing mesh points
+
+      mbl.reset();
+      probe_point = 0;
+      enquecommands_P(PSTR("G28"));
+      enquecommands_P(PSTR("G29 S2"));
+
+    } else if (state == 2) { // Goto next point
+
+      if (probe_point < 0) {
+        SERIAL_PROTOCOLPGM("Mesh probing not started.\n");
+        return;
+      }
+      int ix, iy;
+      if (probe_point == 0) {
+        current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      } else {
+        ix = (probe_point-1) % MESH_NUM_X_POINTS;
+        iy = (probe_point-1) / MESH_NUM_X_POINTS;
+        if (iy&1) { // Zig zag
+          ix = (MESH_NUM_X_POINTS - 1) - ix;
+        }
+        mbl.set_z(ix, iy, current_position[Z_AXIS]);
+        current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
+        st_synchronize();
+      }
+      if (probe_point == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
+        SERIAL_PROTOCOLPGM("Mesh done.\n");
+        probe_point = -1;
+        mbl.active = 1;
+        enquecommands_P(PSTR("G28"));
+        return;
+      }
+      ix = probe_point % MESH_NUM_X_POINTS;
+      iy = probe_point / MESH_NUM_X_POINTS;
+      if (iy&1) { // Zig zag
+        ix = (MESH_NUM_X_POINTS - 1) - ix;
+      }
+      current_position[X_AXIS] = mbl.get_x(ix);
+      current_position[Y_AXIS] = mbl.get_y(iy);
+      plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/60, active_extruder);
+      st_synchronize();
+      probe_point++;
+    }
+  }
+
+#endif
+
 #ifdef ENABLE_AUTO_BED_LEVELING
 
   // Define the possible boundaries for probing based on set limits
@@ -2057,7 +2177,7 @@ inline void gcode_G28() {
     #ifdef AUTO_BED_LEVELING_GRID
 
     #ifndef DELTA
-      bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t');
+      bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
     #endif
 
       if (verbose_level > 0)
@@ -2112,7 +2232,7 @@ inline void gcode_G28() {
 
     #ifdef Z_PROBE_SLED
       dock_sled(false); // engage (un-dock) the probe
-    #elif not defined(SERVO_ENDSTOPS)
+    #elif defined(Z_PROBE_ALLEN_KEY)
       engage_z_probe();
     #endif
 
@@ -2121,6 +2241,7 @@ inline void gcode_G28() {
     #ifdef DELTA
       reset_bed_level();
     #else
+
     // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
     //vector_3 corrected_position = plan_get_position_mm();
     //corrected_position.debug("position before G29");
@@ -2161,28 +2282,23 @@ inline void gcode_G28() {
       delta_grid_spacing[1] = yGridSpacing;
 
       float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER;
-      if (code_seen(axis_codes[Z_AXIS])) {
+      if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
-        z_offset += code_value();
-      }
     #endif
 
       int probePointCounter = 0;
       bool zig = true;
 
-      for (int yCount=0; yCount < auto_bed_leveling_grid_points; yCount++)
+      for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
-      {
         double yProbe = front_probe_bed_position + yGridSpacing * yCount;
         int xStart, xStop, xInc;
 
-        if (zig)
+        if (zig) {
-        {
           xStart = 0;
           xStop = auto_bed_leveling_grid_points;
           xInc = 1;
           zig = false;
         }
-        else
+        else {
-        {
           xStart = auto_bed_leveling_grid_points - 1;
           xStop = -1;
           xInc = -1;
@@ -2190,13 +2306,12 @@ inline void gcode_G28() {
         }
 
         #ifndef DELTA
-        // If topo_flag is set then don't zig-zag. Just scan in one direction.
+          // If do_topography_map is set then don't zig-zag. Just scan in one direction.
           // This gets the probe points in more readable order.
-        if (!topo_flag) zig = !zig;
+          if (!do_topography_map) zig = !zig;
         #endif
 
-        for (int xCount=xStart; xCount != xStop; xCount += xInc)
+        for (int xCount = xStart; xCount != xStop; xCount += xInc) {
-        {
           double xProbe = left_probe_bed_position + xGridSpacing * xCount;
 
           // raise extruder
@@ -2221,7 +2336,7 @@ inline void gcode_G28() {
               act = ProbeStay;
           }
           else
-            act = ProbeEngageRetract;
+            act = ProbeEngageAndRetract;
 
           measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
 
@@ -2263,37 +2378,19 @@ inline void gcode_G28() {
         }
       }
 
-      if (topo_flag) {
+      // Show the Topography map if enabled
-
+      if (do_topography_map) {
-        int xx, yy;
 
         SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
-        #if TOPO_ORIGIN == OriginFrontLeft
         SERIAL_PROTOCOLPGM("+-----------+\n");
         SERIAL_PROTOCOLPGM("|...Back....|\n");
         SERIAL_PROTOCOLPGM("|Left..Right|\n");
         SERIAL_PROTOCOLPGM("|...Front...|\n");
         SERIAL_PROTOCOLPGM("+-----------+\n");
-          for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
+
-        #else
+        for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
-          for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
+          for (int xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) {
-        #endif
+            int ind = yy * auto_bed_leveling_grid_points + xx;
-          {
-            #if TOPO_ORIGIN == OriginBackRight
-              for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
-            #else
-              for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
-            #endif
-              {
-                int ind =
-                  #if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
-                    yy * auto_bed_leveling_grid_points + xx
-                  #elif TOPO_ORIGIN == OriginBackLeft
-                    xx * auto_bed_leveling_grid_points + yy
-                  #elif TOPO_ORIGIN == OriginFrontRight
-                    abl2 - xx * auto_bed_leveling_grid_points - yy - 1
-                  #endif
-                ;
             float diff = eqnBVector[ind] - mean;
             if (diff >= 0.0)
               SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
@@ -2305,7 +2402,7 @@ inline void gcode_G28() {
         } // yy
         SERIAL_EOL;
 
-      } //topo_flag
+      } //do_topography_map
 
 
       set_bed_level_equation_lsq(plane_equation_coefficients);
@@ -2327,18 +2424,15 @@ inline void gcode_G28() {
         z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
       }
       else {
-        z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, verbose_level=verbose_level);
+        z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngageAndRetract, verbose_level);
-        z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level=verbose_level);
+        z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
-        z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level=verbose_level);
+        z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
       }
       clean_up_after_endstop_move();
       set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
 
     #endif // !AUTO_BED_LEVELING_GRID
 
-    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
-    st_synchronize();
-
   #ifndef DELTA
     if (verbose_level > 0)
       plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
@@ -2358,7 +2452,7 @@ inline void gcode_G28() {
 
   #ifdef Z_PROBE_SLED
     dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
-  #elif not defined(SERVO_ENDSTOPS)
+  #elif defined(Z_PROBE_ALLEN_KEY)
     retract_z_probe();
   #endif
     
@@ -2405,23 +2499,14 @@ inline void gcode_G92() {
 
   for (int i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      if (i == E_AXIS) {
       current_position[i] = code_value();
+      if (i == E_AXIS)
         plan_set_e_position(current_position[E_AXIS]);
-      }
+      else
-      else {
-        current_position[i] = code_value() +
-          #ifdef SCARA
-            ((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0)
-          #else
-            add_homing[i]
-          #endif
-        ;
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
     }
   }
 }
-}
 
 #ifdef ULTIPANEL
 
@@ -2562,13 +2647,13 @@ inline void gcode_M17() {
    */
   inline void gcode_M28() {
     char* codepos = strchr_pointer + 4;
-    char* starpos = strchr(strchr_pointer + 4, '*');
+    char* starpos = strchr(codepos, '*');
     if (starpos) {
       char* npos = strchr(cmdbuffer[bufindr], 'N');
       strchr_pointer = strchr(npos, ' ') + 1;
       *(starpos) = '\0';
     }
-    card.openFile(strchr_pointer + 4, false);
+    card.openFile(codepos, false);
   }
 
   /**
@@ -3355,9 +3440,9 @@ inline void gcode_M114() {
     SERIAL_PROTOCOLLN("");
     
     SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
-    SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
+    SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]);
     SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
-    SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
+    SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
     SERIAL_PROTOCOLLN("");
     
     SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
@@ -3575,12 +3660,12 @@ inline void gcode_M205() {
 inline void gcode_M206() {
   for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      add_homing[i] = code_value();
+      home_offset[i] = code_value();
     }
   }
   #ifdef SCARA
-    if (code_seen('T')) add_homing[X_AXIS] = code_value(); // Theta
+    if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
-    if (code_seen('P')) add_homing[Y_AXIS] = code_value(); // Psi
+    if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
   #endif
 }
 
@@ -3967,18 +4052,13 @@ inline void gcode_M303() {
 }
 
 #ifdef SCARA
-
+  bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
-  /**
-   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
-   */
-  inline bool gcode_M360() {
-    SERIAL_ECHOLN(" Cal: Theta 0 ");
     //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
     //SERIAL_ECHOLN(" Soft endstops disabled ");
     if (! Stopped) {
       //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 0;
+      delta[X_AXIS] = delta_x;
-      delta[Y_AXIS] = 120;
+      delta[Y_AXIS] = delta_y;
       calculate_SCARA_forward_Transform(delta);
       destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
       destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
@@ -3989,25 +4069,20 @@ inline void gcode_M303() {
     return false;
   }
 
+  /**
+   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+   */
+  inline bool gcode_M360() {
+    SERIAL_ECHOLN(" Cal: Theta 0 ");
+    return SCARA_move_to_cal(0, 120);
+  }
+
   /**
    * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
    */
   inline bool gcode_M361() {
     SERIAL_ECHOLN(" Cal: Theta 90 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+    return SCARA_move_to_cal(90, 130);
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 90;
-      delta[Y_AXIS] = 130;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
   }
 
   /**
@@ -4015,20 +4090,7 @@ inline void gcode_M303() {
    */
   inline bool gcode_M362() {
     SERIAL_ECHOLN(" Cal: Psi 0 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+    return SCARA_move_to_cal(60, 180);
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 60;
-      delta[Y_AXIS] = 180;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
   }
 
   /**
@@ -4036,20 +4098,7 @@ inline void gcode_M303() {
    */
   inline bool gcode_M363() {
     SERIAL_ECHOLN(" Cal: Psi 90 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+    return SCARA_move_to_cal(50, 90);
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 50;
-      delta[Y_AXIS] = 90;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
   }
 
   /**
@@ -4057,20 +4106,7 @@ inline void gcode_M303() {
    */
   inline bool gcode_M364() {
     SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
-   // SoftEndsEnabled = false;              // Ignore soft endstops during calibration
+    return SCARA_move_to_cal(45, 135);
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 45;
-      delta[Y_AXIS] = 135;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
   }
 
   /**
@@ -4661,6 +4697,12 @@ void process_commands() {
       gcode_G28();
       break;
 
+    #if defined(MESH_BED_LEVELING)
+      case 29: // G29 Handle mesh based leveling
+        gcode_G29();
+        break;
+    #endif
+
     #ifdef ENABLE_AUTO_BED_LEVELING
 
       case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
@@ -5172,7 +5214,7 @@ void clamp_to_software_endstops(float target[3])
     float negative_z_offset = 0;
     #ifdef ENABLE_AUTO_BED_LEVELING
       if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
-      if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
+      if (home_offset[Z_AXIS] < 0) negative_z_offset = negative_z_offset + home_offset[Z_AXIS];
     #endif
     
     if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
@@ -5280,6 +5322,81 @@ void prepare_move_raw()
 }
 #endif //DELTA
 
+#if defined(MESH_BED_LEVELING)
+#if !defined(MIN)
+#define MIN(_v1, _v2) (((_v1) < (_v2)) ? (_v1) : (_v2))
+#endif  // ! MIN
+// This function is used to split lines on mesh borders so each segment is only part of one mesh area
+void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t &extruder, uint8_t x_splits=0xff, uint8_t y_splits=0xff)
+{
+  if (!mbl.active) {
+    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    for(int8_t i=0; i < NUM_AXIS; i++) {
+      current_position[i] = destination[i];
+    }
+    return;
+  }
+  int pix = mbl.select_x_index(current_position[X_AXIS]);
+  int piy = mbl.select_y_index(current_position[Y_AXIS]);
+  int ix = mbl.select_x_index(x);
+  int iy = mbl.select_y_index(y);
+  pix = MIN(pix, MESH_NUM_X_POINTS-2);
+  piy = MIN(piy, MESH_NUM_Y_POINTS-2);
+  ix = MIN(ix, MESH_NUM_X_POINTS-2);
+  iy = MIN(iy, MESH_NUM_Y_POINTS-2);
+  if (pix == ix && piy == iy) {
+    // Start and end on same mesh square
+    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    for(int8_t i=0; i < NUM_AXIS; i++) {
+      current_position[i] = destination[i];
+    }
+    return;
+  }
+  float nx, ny, ne, normalized_dist;
+  if (ix > pix && (x_splits) & BIT(ix)) {
+    nx = mbl.get_x(ix);
+    normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
+    ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
+    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+    x_splits ^= BIT(ix);
+  } else if (ix < pix && (x_splits) & BIT(pix)) {
+    nx = mbl.get_x(pix);
+    normalized_dist = (nx - current_position[X_AXIS])/(x - current_position[X_AXIS]);
+    ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
+    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+    x_splits ^= BIT(pix);
+  } else if (iy > piy && (y_splits) & BIT(iy)) {
+    ny = mbl.get_y(iy);
+    normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
+    nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
+    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+    y_splits ^= BIT(iy);
+  } else if (iy < piy && (y_splits) & BIT(piy)) {
+    ny = mbl.get_y(piy);
+    normalized_dist = (ny - current_position[Y_AXIS])/(y - current_position[Y_AXIS]);
+    nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
+    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+    y_splits ^= BIT(piy);
+  } else {
+    // Already split on a border
+    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    for(int8_t i=0; i < NUM_AXIS; i++) {
+      current_position[i] = destination[i];
+    }
+    return;
+  }
+  // Do the split and look for more borders
+  destination[X_AXIS] = nx;
+  destination[Y_AXIS] = ny;
+  destination[E_AXIS] = ne;
+  mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
+  destination[X_AXIS] = x;
+  destination[Y_AXIS] = y;
+  destination[E_AXIS] = e;
+  mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
+}
+#endif  // MESH_BED_LEVELING
+
 void prepare_move()
 {
   clamp_to_software_endstops(destination);
@@ -5396,9 +5513,13 @@ for (int s = 1; s <= steps; s++) {
   // Do not use feedmultiply for E or Z only moves
   if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-  }
+  } else {
-  else {
+#if defined(MESH_BED_LEVELING)
+    mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+    return;
+#else
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+#endif  // MESH_BED_LEVELING
   }
 #endif // !(DELTA || SCARA)
 

Marlin/SdBaseFile.h

@@ -171,9 +171,9 @@ static inline uint8_t FAT_SECOND(uint16_t fatTime) {
   return 2*(fatTime & 0X1F);
 }
 /** Default date for file timestamps is 1 Jan 2000 */
-uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1;
+uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
 /** Default time for file timestamp is 1 am */
-uint16_t const FAT_DEFAULT_TIME = BIT(11);
+uint16_t const FAT_DEFAULT_TIME = (1 << 11);
 //------------------------------------------------------------------------------
 /**
  * \class SdBaseFile

Marlin/configurator/config/Configuration.h

@@ -234,6 +234,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -438,12 +440,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/dogm_lcd_implementation.h

@@ -197,7 +197,7 @@ static void lcd_implementation_status_screen() {
       u8g.drawBox(55, 50, (unsigned int)(71.f * card.percentDone() / 100.f), 2);
     }
 
-    u8g.setPrintPos(80,47);
+    u8g.setPrintPos(80,48);
     if (starttime != 0) {
       uint16_t time = (millis() - starttime) / 60000;
       u8g.print(itostr2(time/60));
@@ -222,7 +222,7 @@ static void lcd_implementation_status_screen() {
     int per = ((fanSpeed + 1) * 100) / 256;
     if (per) {
       u8g.print(itostr3(per));
-      u8g.print("%");
+      u8g.print('%');
     }
     else
   #endif
@@ -231,26 +231,27 @@ static void lcd_implementation_status_screen() {
     }
 
   // X, Y, Z-Coordinates
+  #define XYZ_BASELINE 38
   u8g.setFont(FONT_STATUSMENU);
-  u8g.drawBox(0,29,128,10);
+  u8g.drawBox(0,30,128,9);
   u8g.setColorIndex(0); // white on black
-  u8g.setPrintPos(2,37);
+  u8g.setPrintPos(2,XYZ_BASELINE);
-  u8g.print("X");
+  u8g.print('X');
-  u8g.drawPixel(8,33);
+  u8g.drawPixel(8,XYZ_BASELINE - 5);
-  u8g.drawPixel(8,35);
+  u8g.drawPixel(8,XYZ_BASELINE - 3);
-  u8g.setPrintPos(10,37);
+  u8g.setPrintPos(10,XYZ_BASELINE);
   u8g.print(ftostr31ns(current_position[X_AXIS]));
-  u8g.setPrintPos(43,37);
+  u8g.setPrintPos(43,XYZ_BASELINE);
-  lcd_printPGM(PSTR("Y"));
+  u8g.print('Y');
-  u8g.drawPixel(49,33);
+  u8g.drawPixel(49,XYZ_BASELINE - 5);
-  u8g.drawPixel(49,35);
+  u8g.drawPixel(49,XYZ_BASELINE - 3);
-  u8g.setPrintPos(51,37);
+  u8g.setPrintPos(51,XYZ_BASELINE);
   u8g.print(ftostr31ns(current_position[Y_AXIS]));
-  u8g.setPrintPos(83,37);
+  u8g.setPrintPos(83,XYZ_BASELINE);
-  u8g.print("Z");
+  u8g.print('Z');
-  u8g.drawPixel(89,33);
+  u8g.drawPixel(89,XYZ_BASELINE - 5);
-  u8g.drawPixel(89,35);
+  u8g.drawPixel(89,XYZ_BASELINE - 3);
-  u8g.setPrintPos(91,37);
+  u8g.setPrintPos(91,XYZ_BASELINE);
   u8g.print(ftostr31(current_position[Z_AXIS]));
   u8g.setColorIndex(1); // black on white
  
@@ -259,13 +260,13 @@ static void lcd_implementation_status_screen() {
   u8g.setPrintPos(3,49);
   u8g.print(LCD_STR_FEEDRATE[0]);
   u8g.setFont(FONT_STATUSMENU);
-  u8g.setPrintPos(12,48);
+  u8g.setPrintPos(12,49);
   u8g.print(itostr3(feedmultiply));
   u8g.print('%');
 
   // Status line
   u8g.setFont(FONT_STATUSMENU);
-  u8g.setPrintPos(0,61);
+  u8g.setPrintPos(0,63);
   #ifndef FILAMENT_LCD_DISPLAY
     u8g.print(lcd_status_message);
   #else
@@ -282,8 +283,8 @@ static void lcd_implementation_status_screen() {
   #endif
 }
 
-static void lcd_implementation_mark_as_selected(uint8_t row, char pr_char) {
+static void lcd_implementation_mark_as_selected(uint8_t row, bool isSelected) {
-  if ((pr_char == '>') || (pr_char == LCD_STR_UPLEVEL[0] )) {
+  if (isSelected) {
     u8g.setColorIndex(1);  // black on white
     u8g.drawBox(0, row * DOG_CHAR_HEIGHT + 3, 128, DOG_CHAR_HEIGHT);
     u8g.setColorIndex(0);  // following text must be white on black
@@ -294,11 +295,11 @@ static void lcd_implementation_mark_as_selected(uint8_t row, char pr_char) {
   u8g.setPrintPos(START_ROW * DOG_CHAR_WIDTH, (row + 1) * DOG_CHAR_HEIGHT);
 }
 
-static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, char pre_char, char post_char) {
+static void lcd_implementation_drawmenu_generic(bool isSelected, uint8_t row, const char* pstr, char pre_char, char post_char) {
   char c;
   uint8_t n = LCD_WIDTH - 2;
 
-  lcd_implementation_mark_as_selected(row, pre_char);
+  lcd_implementation_mark_as_selected(row, isSelected);
 
   while ((c = pgm_read_byte(pstr))) {
     u8g.print(c);
@@ -310,11 +311,11 @@ static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, c
   u8g.print(' ');
 }
 
-static void _drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char pre_char, const char* data, bool pgm) {
+static void _drawmenu_setting_edit_generic(bool isSelected, uint8_t row, const char* pstr, const char* data, bool pgm) {
   char c;
   uint8_t n = LCD_WIDTH - 2 - (pgm ? lcd_strlen_P(data) : (lcd_strlen((char*)data)));
 
-  lcd_implementation_mark_as_selected(row, pre_char);
+  lcd_implementation_mark_as_selected(row, isSelected);
 
   while ((c = pgm_read_byte(pstr))) {
     u8g.print(c);
@@ -326,66 +327,48 @@ static void _drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char p
   if (pgm) { lcd_printPGM(data); } else { u8g.print(data); }
 }
 
-#define lcd_implementation_drawmenu_setting_edit_generic(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, false)
+#define lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, data) _drawmenu_setting_edit_generic(sel, row, pstr, data, false)
-#define lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, true)
+#define lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, data) _drawmenu_setting_edit_generic(sel, row, pstr, data, true)
 
-#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_int3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, itostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float32(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr32(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float43(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr43(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float32_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float5(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float32(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float52(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float43_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float51(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float43(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_long5(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_bool(sel, row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_float5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float52_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float52(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float51_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float51(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_long5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_long5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_bool_selected(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_bool(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
 //Add version for callback functions
-#define lcd_implementation_drawmenu_setting_edit_callback_int3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_int3(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, itostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_int3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float3(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float32(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr32(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float43(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr43(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float32_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float32(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float52(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float43_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float51(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float43(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_long5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_callback_float5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float52_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float52(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float51_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float51(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_long5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_long5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_bool_selected(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_callback_bool(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
 void lcd_implementation_drawedit(const char* pstr, char* value) {
   uint8_t rows = 1;
-  uint8_t lcd_width = LCD_WIDTH;
+  uint8_t lcd_width = LCD_WIDTH, char_width = DOG_CHAR_WIDTH;
-  uint8_t char_width = DOG_CHAR_WIDTH;
+  uint8_t vallen = lcd_strlen(value);
 
   #ifdef USE_BIG_EDIT_FONT
     if (lcd_strlen_P(pstr) <= LCD_WIDTH_EDIT - 1) {
       u8g.setFont(FONT_MENU_EDIT);
       lcd_width = LCD_WIDTH_EDIT + 1;
       char_width = DOG_CHAR_WIDTH_EDIT;
-      if (lcd_strlen_P(pstr) >= LCD_WIDTH_EDIT - lcd_strlen(value)) rows = 2;
+      if (lcd_strlen_P(pstr) >= LCD_WIDTH_EDIT - vallen) rows = 2;
     }
     else {
       u8g.setFont(FONT_MENU);
     }
   #endif
 
-  if (lcd_strlen_P(pstr) > LCD_WIDTH - 2 - lcd_strlen(value)) rows = 2;
+  if (lcd_strlen_P(pstr) > LCD_WIDTH - 2 - vallen) rows = 2;
 
   const float kHalfChar = DOG_CHAR_HEIGHT_EDIT / 2;
   float rowHeight = u8g.getHeight() / (rows + 1); // 1/(rows+1) = 1/2 or 1/3
@@ -393,23 +376,23 @@ void lcd_implementation_drawedit(const char* pstr, char* value) {
   u8g.setPrintPos(0, rowHeight + kHalfChar);
   lcd_printPGM(pstr);
   u8g.print(':');
-  u8g.setPrintPos((lcd_width-1-lcd_strlen(value)) * char_width, rows * rowHeight + kHalfChar);
+  u8g.setPrintPos((lcd_width - 1 - vallen) * char_width, rows * rowHeight + kHalfChar);
   u8g.print(value);
 }
 
-static void _drawmenu_sd(uint8_t row, const char* pstr, const char* filename, char * const longFilename, bool isDir, bool isSelected) {
+static void _drawmenu_sd(bool isSelected, uint8_t row, const char* pstr, const char* filename, char * const longFilename, bool isDir) {
   char c;
   uint8_t n = LCD_WIDTH - 1;
 
-  if (longFilename[0] != '\0') {
+  if (longFilename[0]) {
     filename = longFilename;
     longFilename[n] = '\0';
   }
 
-  lcd_implementation_mark_as_selected(row, ((isSelected) ? '>' : ' '));
+  lcd_implementation_mark_as_selected(row, isSelected);
 
   if (isDir) u8g.print(LCD_STR_FOLDER[0]);
-  while((c = *filename) != '\0') {
+  while ((c = *filename)) {
     u8g.print(c);
     filename++;
     n--;
@@ -417,19 +400,13 @@ static void _drawmenu_sd(uint8_t row, const char* pstr, const char* filename, ch
   while (n--) u8g.print(' ');
 }
 
-#define lcd_implementation_drawmenu_sdfile_selected(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, false, true)
+#define lcd_implementation_drawmenu_sdfile(sel, row, pstr, filename, longFilename) _drawmenu_sd(sel, row, pstr, filename, longFilename, false)
-#define lcd_implementation_drawmenu_sdfile(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, false, false)
+#define lcd_implementation_drawmenu_sddirectory(sel, row, pstr, filename, longFilename) _drawmenu_sd(sel, row, pstr, filename, longFilename, true)
-#define lcd_implementation_drawmenu_sddirectory_selected(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, true, true)
-#define lcd_implementation_drawmenu_sddirectory(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, true, false)
 
-#define lcd_implementation_drawmenu_back_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
+#define lcd_implementation_drawmenu_back(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
-#define lcd_implementation_drawmenu_back(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_UPLEVEL[0])
+#define lcd_implementation_drawmenu_submenu(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
-#define lcd_implementation_drawmenu_submenu_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
+#define lcd_implementation_drawmenu_gcode(sel, row, pstr, gcode) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_submenu(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_ARROW_RIGHT[0])
+#define lcd_implementation_drawmenu_function(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_gcode_selected(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_gcode(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')
-#define lcd_implementation_drawmenu_function_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_function(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')
 
 static void lcd_implementation_quick_feedback() {
   #if BEEPER > -1

Marlin/example_configurations/Felix/Configuration.h

@@ -215,6 +215,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 // Felix Foil Heater
    #define DEFAULT_bedKp 103.37
@@ -384,12 +386,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
   // Note: this feature occupies 10'206 byte
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // set the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define BACK_PROBE_BED_POSITION 180

Marlin/example_configurations/Felix/Configuration_DUAL.h

@@ -215,6 +215,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 // Felix Foil Heater
    #define DEFAULT_bedKp 103.37
@@ -384,12 +386,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
   // Note: this feature occupies 10'206 byte
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // set the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define BACK_PROBE_BED_POSITION 180

Marlin/example_configurations/Hephestos/Configuration.h

@@ -231,6 +231,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -408,12 +410,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/example_configurations/K8200/Configuration.h

@@ -230,6 +230,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -413,12 +415,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/example_configurations/SCARA/Configuration.h

@@ -254,6 +254,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -437,12 +439,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/example_configurations/WITBOX/Configuration.h

@@ -230,6 +230,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -407,12 +409,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/example_configurations/delta/generic/Configuration.h

@@ -258,6 +258,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -259,6 +259,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)

Marlin/example_configurations/makibox/Configuration.h

@@ -228,6 +228,8 @@ Here are some standard links for getting your machine calibrated:
 // to increase the heat up rate. However, if changed, user must be aware of the safety concerns
 // of drawing too much current from the power supply.
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -405,12 +407,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -230,6 +230,8 @@ Here are some standard links for getting your machine calibrated:
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
 #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
+//#define PID_BED_DEBUG // Sends debug data to the serial port.
+
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
@@ -407,12 +409,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
-    // The edges of the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define FRONT_PROBE_BED_POSITION 20

Marlin/language_en.h

@@ -95,6 +95,9 @@
 #ifndef MSG_MOVE_AXIS
 #define MSG_MOVE_AXIS                       "Move axis"
 #endif
+#ifndef MSG_LEVEL_BED
+#define MSG_LEVEL_BED                       "Level bed"
+#endif
 #ifndef MSG_MOVE_X
 #define MSG_MOVE_X                          "Move X"
 #endif

Marlin/mesh_bed_leveling.cpp

@@ -0,0 +1,20 @@
+#include "mesh_bed_leveling.h"
+
+#if defined(MESH_BED_LEVELING)
+
+mesh_bed_leveling mbl;
+
+mesh_bed_leveling::mesh_bed_leveling() {
+    reset();
+}
+    
+void mesh_bed_leveling::reset() {
+    for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
+        for (int x=0; x<MESH_NUM_X_POINTS; x++) {
+            z_values[y][x] = 0;
+        }
+    }
+    active = 0;
+}
+
+#endif  // MESH_BED_LEVELING

Marlin/mesh_bed_leveling.h

@@ -0,0 +1,61 @@
+#include "Marlin.h"
+
+#if defined(MESH_BED_LEVELING)
+
+#define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1))
+#define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1))
+
+class mesh_bed_leveling {
+public:
+    uint8_t active;
+    float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
+    
+    mesh_bed_leveling();
+    
+    void reset();
+    
+    float get_x(int i) { return MESH_MIN_X + MESH_X_DIST*i; }
+    float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST*i; }
+    void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
+    
+    int select_x_index(float x) {
+        int i = 1;
+        while (x > get_x(i) && i < MESH_NUM_X_POINTS-1) {
+            i++;
+        }
+        return i-1;
+    }
+    
+    int select_y_index(float y) {
+        int i = 1;
+        while (y > get_y(i) && i < MESH_NUM_Y_POINTS-1) {
+            i++;
+        }
+        return i-1;
+    }
+    
+    float calc_z0(float a0, float a1, float z1, float a2, float z2) {
+        float delta_z = (z2 - z1)/(a2 - a1);
+        float delta_a = a0 - a1;
+        return z1 + delta_a * delta_z;
+    }
+    
+    float get_z(float x0, float y0) {
+        int x_index = select_x_index(x0);
+        int y_index = select_y_index(y0);
+        float z1 = calc_z0(x0,
+                           get_x(x_index), z_values[y_index][x_index],
+                           get_x(x_index+1), z_values[y_index][x_index+1]);
+        float z2 = calc_z0(x0,
+                           get_x(x_index), z_values[y_index+1][x_index],
+                           get_x(x_index+1), z_values[y_index+1][x_index+1]);
+        float z0 = calc_z0(y0,
+                           get_y(y_index), z1,
+                           get_y(y_index+1), z2);
+        return z0;
+    }
+};
+
+extern mesh_bed_leveling mbl;
+
+#endif  // MESH_BED_LEVELING

Marlin/planner.cpp

@@ -58,6 +58,10 @@
 #include "ultralcd.h"
 #include "language.h"
 
+#if defined(MESH_BED_LEVELING)
+  #include "mesh_bed_leveling.h"
+#endif  // MESH_BED_LEVELING
+
 //===========================================================================
 //============================= public variables ============================
 //===========================================================================
@@ -530,7 +534,7 @@ float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
 #else
 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
@@ -548,6 +552,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     lcd_update();
   }
 
+#if defined(MESH_BED_LEVELING)
+  if (mbl.active) {
+    z += mbl.get_z(x, y);
+  }
+#endif  // MESH_BED_LEVELING
+
 #ifdef ENABLE_AUTO_BED_LEVELING
   apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
 #endif // ENABLE_AUTO_BED_LEVELING
@@ -1078,13 +1088,18 @@ vector_3 plan_get_position() {
 }
 #endif // ENABLE_AUTO_BED_LEVELING
 
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
 void plan_set_position(float x, float y, float z, const float &e)
-{
-  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
 #else
 void plan_set_position(const float &x, const float &y, const float &z, const float &e)
+#endif  // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
 {
+#if defined(ENABLE_AUTO_BED_LEVELING)
+  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+#elif defined(MESH_BED_LEVELING)
+  if (mbl.active) {
+    z += mbl.get_z(x, y);
+  }
 #endif  // ENABLE_AUTO_BED_LEVELING
 
   position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);

Marlin/planner.h

@@ -82,23 +82,24 @@ void plan_init();
 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
 // millimaters. Feed rate specifies the speed of the motion.
 
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
-
+#if defined(ENABLE_AUTO_BED_LEVELING)
   #ifndef DELTA
   // Get the position applying the bed level matrix if enabled
   vector_3 plan_get_position();
   #endif
+#endif  // ENABLE_AUTO_BED_LEVELING
 #else
 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif  // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
 
 // Set position. Used for G92 instructions.
-#ifdef ENABLE_AUTO_BED_LEVELING
+#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
 void plan_set_position(float x, float y, float z, const float &e);
 #else
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
-#endif // ENABLE_AUTO_BED_LEVELING
+#endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
 
 void plan_set_e_position(const float &e);
 

Marlin/stepper.cpp

@@ -89,7 +89,7 @@ static bool old_x_min_endstop = false,
 static bool check_endstops = true;
 
 volatile long count_position[NUM_AXIS] = { 0 };
-volatile signed char count_direction[NUM_AXIS] = { 1 };
+volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
 
 
 //===========================================================================
@@ -103,10 +103,7 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
       X2_DIR_WRITE(v); \
     } \
     else { \
-      if (current_block->active_extruder) \
+      if (current_block->active_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
-        X2_DIR_WRITE(v); \
-      else \
-        X_DIR_WRITE(v); \
     }
   #define X_APPLY_STEP(v,ALWAYS) \
     if (extruder_duplication_enabled || ALWAYS) { \
@@ -114,10 +111,7 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
       X2_STEP_WRITE(v); \
     } \
     else { \
-      if (current_block->active_extruder != 0) \
+      if (current_block->active_extruder != 0) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
-        X2_STEP_WRITE(v); \
-      else \
-        X_STEP_WRITE(v); \
     }
 #else
   #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
@@ -125,16 +119,16 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
 #endif
 
 #ifdef Y_DUAL_STEPPER_DRIVERS
-  #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR)
+  #define Y_APPLY_DIR(v,Q) { Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }
-  #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v), Y2_STEP_WRITE(v)
+  #define Y_APPLY_STEP(v,Q) { Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }
 #else
   #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
   #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
 #endif
 
 #ifdef Z_DUAL_STEPPER_DRIVERS
-  #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v), Z2_DIR_WRITE(v)
+  #define Z_APPLY_DIR(v,Q) { Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }
-  #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v), Z2_STEP_WRITE(v)
+  #define Z_APPLY_STEP(v,Q) { Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }
 #else
   #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
   #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)

Marlin/temperature.cpp

@@ -636,6 +636,21 @@ float get_pid_output(int e) {
       pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
     #endif // PID_OPENLOOP
 
+    #ifdef PID_BED_DEBUG
+      SERIAL_ECHO_START;
+      SERIAL_ECHO(" PID_BED_DEBUG ");
+      SERIAL_ECHO(": Input ");
+      SERIAL_ECHO(current_temperature_bed);
+      SERIAL_ECHO(" Output ");
+      SERIAL_ECHO(pid_output);
+      SERIAL_ECHO(" pTerm ");
+      SERIAL_ECHO(pTerm_bed);
+      SERIAL_ECHO(" iTerm ");
+      SERIAL_ECHO(iTerm_bed);
+      SERIAL_ECHO(" dTerm ");
+      SERIAL_ECHOLN(dTerm_bed);
+    #endif //PID_BED_DEBUG
+
     return pid_output;
   }
 #endif
@@ -1244,10 +1259,7 @@ enum TempState {
 ISR(TIMER0_COMPB_vect) {
   //these variables are only accesible from the ISR, but static, so they don't lose their value
   static unsigned char temp_count = 0;
-  static unsigned long raw_temp_0_value = 0;
+  static unsigned long raw_temp_value[EXTRUDERS] = { 0 };
-  static unsigned long raw_temp_1_value = 0;
-  static unsigned long raw_temp_2_value = 0;
-  static unsigned long raw_temp_3_value = 0;
   static unsigned long raw_temp_bed_value = 0;
   static TempState temp_state = StartupDelay;
   static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
@@ -1459,7 +1471,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_0:
       #if HAS_TEMP_0
-        raw_temp_0_value += ADC;
+        raw_temp_value[0] += ADC;
       #endif
       temp_state = PrepareTemp_BED;
       break;
@@ -1485,7 +1497,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_1:
       #if HAS_TEMP_1
-        raw_temp_1_value += ADC;
+        raw_temp_value[1] += ADC;
       #endif
       temp_state = PrepareTemp_2;
       break;
@@ -1498,7 +1510,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_2:
       #if HAS_TEMP_2
-        raw_temp_2_value += ADC;
+        raw_temp_value[2] += ADC;
       #endif
       temp_state = PrepareTemp_3;
       break;
@@ -1511,7 +1523,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_3:
       #if HAS_TEMP_3
-        raw_temp_3_value += ADC;
+        raw_temp_value[3] += ADC;
       #endif
       temp_state = Prepare_FILWIDTH;
       break;
@@ -1546,19 +1558,19 @@ ISR(TIMER0_COMPB_vect) {
   if (temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256)  = 164ms.
     if (!temp_meas_ready) { //Only update the raw values if they have been read. Else we could be updating them during reading.
       #ifndef HEATER_0_USES_MAX6675
-        current_temperature_raw[0] = raw_temp_0_value;
+        current_temperature_raw[0] = raw_temp_value[0];
       #endif
       #if EXTRUDERS > 1
-        current_temperature_raw[1] = raw_temp_1_value;
+        current_temperature_raw[1] = raw_temp_value[1];
         #if EXTRUDERS > 2
-          current_temperature_raw[2] = raw_temp_2_value;
+          current_temperature_raw[2] = raw_temp_value[2];
           #if EXTRUDERS > 3
-            current_temperature_raw[3] = raw_temp_3_value;
+            current_temperature_raw[3] = raw_temp_value[3];
           #endif
         #endif
       #endif
       #ifdef TEMP_SENSOR_1_AS_REDUNDANT
-        redundant_temperature_raw = raw_temp_1_value;
+        redundant_temperature_raw = raw_temp_value[1];
       #endif
       current_temperature_bed_raw = raw_temp_bed_value;
     } //!temp_meas_ready
@@ -1570,31 +1582,67 @@ ISR(TIMER0_COMPB_vect) {
     
     temp_meas_ready = true;
     temp_count = 0;
-    raw_temp_0_value = 0;
+    for (int i = 0; i < EXTRUDERS; i++) raw_temp_value[i] = 0;
-    raw_temp_1_value = 0;
-    raw_temp_2_value = 0;
-    raw_temp_3_value = 0;
     raw_temp_bed_value = 0;
 
     #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
-      #define MAXTEST <=
+      #define GE0 <=
-      #define MINTEST >=
+      #define LE0 >=
     #else
-      #define MAXTEST >=
+      #define GE0 >=
-      #define MINTEST <=
+      #define LE0 <=
     #endif
+    if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
+    if (current_temperature_raw[0] LE0 minttemp_raw[0]) min_temp_error(0);
+
+    #if EXTRUDERS > 1
+      #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
+        #define GE1 <=
+        #define LE1 >=
+      #else
+        #define GE1 >=
+        #define LE1 <=
+      #endif
+      if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
+      if (current_temperature_raw[1] LE1 minttemp_raw[1]) min_temp_error(1);
+      #if EXTRUDERS > 2
+        #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
+          #define GE2 <=
+          #define LE2 >=
+        #else
+          #define GE2 >=
+          #define LE2 <=
+        #endif
+        if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
+        if (current_temperature_raw[2] LE2 minttemp_raw[2]) min_temp_error(2);
+        #if EXTRUDERS > 3
+          #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
+            #define GE3 <=
+            #define LE3 >=
+          #else
+            #define GE3 >=
+            #define LE3 <=
+          #endif
+          if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
+          if (current_temperature_raw[3] LE3 minttemp_raw[3]) min_temp_error(3);
+        #endif // EXTRUDERS > 3
+      #endif // EXTRUDERS > 2
+    #endif // EXTRUDERS > 1
 
-    for (int i=0; i<EXTRUDERS; i++) {
-      if (current_temperature_raw[i] MAXTEST maxttemp_raw[i]) max_temp_error(i);
-      else if (current_temperature_raw[i] MINTEST minttemp_raw[i]) min_temp_error(i);
-    }
-    /* No bed MINTEMP error? */
     #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
-      if (current_temperature_bed_raw MAXTEST bed_maxttemp_raw) {
+      #if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
+        #define GEBED <=
+        #define LEBED >=
+      #else
+        #define GEBED >=
+        #define LEBED <=
+      #endif
+      if (current_temperature_bed_raw GEBED bed_maxttemp_raw) {
         target_temperature_bed = 0;
         bed_max_temp_error();
       }
     #endif
+
   } // temp_count >= OVERSAMPLENR
 
   #ifdef BABYSTEPPING

Marlin/ultralcd.cpp

@@ -70,6 +70,13 @@ static void lcd_sdcard_menu();
 static void lcd_delta_calibrate_menu();
 #endif // DELTA_CALIBRATION_MENU
 
+#if defined(MANUAL_BED_LEVELING)
+#include "mesh_bed_leveling.h"
+static void _lcd_level_bed();
+static void _lcd_level_bed_homing();
+static void lcd_level_bed();
+#endif  // MANUAL_BED_LEVELING
+
 static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audible feedback that something has happened
 
 /* Different types of actions that can be used in menu items. */
@@ -118,46 +125,65 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
 
 
 /* Helper macros for menus */
+
+/**
+ * START_MENU generates the init code for a menu function
+ */
 #define START_MENU() do { \
   encoderRateMultiplierEnabled = false; \
   if (encoderPosition > 0x8000) encoderPosition = 0; \
-    if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM < currentMenuViewOffset) currentMenuViewOffset = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
+  uint8_t encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM; \
+  if (encoderLine < currentMenuViewOffset) currentMenuViewOffset = encoderLine; \
   uint8_t _lineNr = currentMenuViewOffset, _menuItemNr; \
-    bool wasClicked = LCD_CLICKED;\
+  bool wasClicked = LCD_CLICKED, itemSelected; \
+  if (wasClicked) lcd_quick_feedback(); \
   for (uint8_t _drawLineNr = 0; _drawLineNr < LCD_HEIGHT; _drawLineNr++, _lineNr++) { \
     _menuItemNr = 0;
+
+/**
+ * MENU_ITEM generates draw & handler code for a menu item, potentially calling:
+ *
+ *   lcd_implementation_drawmenu_[type](sel, row, label, arg3...)
+ *   menu_action_[type](arg3...)
+ *
+ * Examples:
+ *   MENU_ITEM(back, MSG_WATCH, lcd_status_screen)
+ *     lcd_implementation_drawmenu_back(sel, row, PSTR(MSG_WATCH), lcd_status_screen)
+ *     menu_action_back(lcd_status_screen)
+ *
+ *   MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause)
+ *     lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause)
+ *     menu_action_function(lcd_sdcard_pause)
+ *
+ *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999)
+ *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+ *     lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+ *     menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+ *
+ */
 #define MENU_ITEM(type, label, args...) do { \
   if (_menuItemNr == _lineNr) { \
-        if (lcdDrawUpdate) { \
+    itemSelected = encoderLine == _menuItemNr; \
-            const char* _label_pstr = PSTR(label); \
+    if (lcdDrawUpdate) \
-            if ((encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) { \
+      lcd_implementation_drawmenu_ ## type(itemSelected, _drawLineNr, PSTR(label), ## args); \
-                lcd_implementation_drawmenu_ ## type ## _selected (_drawLineNr, _label_pstr , ## args ); \
+    if (wasClicked && itemSelected) { \
-            }else{\
-                lcd_implementation_drawmenu_ ## type (_drawLineNr, _label_pstr , ## args ); \
-            }\
-        }\
-        if (wasClicked && (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) {\
-            lcd_quick_feedback(); \
       menu_action_ ## type(args); \
       return; \
     } \
   } \
   _menuItemNr++; \
 } while(0)
+
 #ifdef ENCODER_RATE_MULTIPLIER
+  /**
+   * MENU_MULTIPLIER_ITEM generates drawing and handling code for a multiplier menu item
+   */
   #define MENU_MULTIPLIER_ITEM(type, label, args...) do { \
     if (_menuItemNr == _lineNr) { \
-      if (lcdDrawUpdate) { \
+      itemSelected = encoderLine == _menuItemNr; \
-        const char* _label_pstr = PSTR(label); \
+      if (lcdDrawUpdate) \
-        if ((encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) { \
+        lcd_implementation_drawmenu_ ## type(itemSelected, _drawLineNr, PSTR(label), ## args); \
-          lcd_implementation_drawmenu_ ## type ## _selected (_drawLineNr, _label_pstr , ## args ); \
+      if (wasClicked && itemSelected) { \
-        } \
-        else { \
-          lcd_implementation_drawmenu_ ## type (_drawLineNr, _label_pstr , ## args ); \
-        } \
-      } \
-      if (wasClicked && (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) == _menuItemNr) { \
-        lcd_quick_feedback(); \
         encoderRateMultiplierEnabled = true; \
         lastEncoderMovementMillis = 0; \
         menu_action_ ## type(args); \
@@ -167,6 +193,7 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
     _menuItemNr++; \
   } while(0)
 #endif //ENCODER_RATE_MULTIPLIER
+
 #define MENU_ITEM_DUMMY() do { _menuItemNr++; } while(0)
 #define MENU_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
 #define MENU_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
@@ -178,8 +205,8 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
   #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
 #endif //!ENCODER_RATE_MULTIPLIER
 #define END_MENU() \
-    if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; \
+    if (encoderLine >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
-    if ((uint8_t)(encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
+    if (encoderLine >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = encoderLine - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
     } } while(0)
 
 /** Used variables to keep track of the menu */
@@ -410,7 +437,7 @@ static void lcd_main_menu() {
 void lcd_set_home_offsets() {
   for(int8_t i=0; i < NUM_AXIS; i++) {
     if (i != E_AXIS) {
-      add_homing[i] -= current_position[i];
+      home_offset[i] -= current_position[i];
       current_position[i] = 0.0;
     }
   }
@@ -611,6 +638,10 @@ static void lcd_prepare_menu() {
   #endif
   MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
 
+  #if defined(MANUAL_BED_LEVELING)
+    MENU_ITEM(submenu, MSG_LEVEL_BED, lcd_level_bed);
+  #endif
+	
   END_MENU();
 }
 
@@ -1321,7 +1352,12 @@ void lcd_update() {
     #endif
 
     #ifdef ULTIPANEL
-      if (currentMenu != lcd_status_screen && millis() > timeoutToStatus) {
+      if (currentMenu != lcd_status_screen &&
+        #if defined(MANUAL_BED_LEVELING)
+          currentMenu != _lcd_level_bed && 
+          currentMenu != _lcd_level_bed_homing && 
+        #endif  // MANUAL_BED_LEVELING
+          millis() > timeoutToStatus) {
         lcd_return_to_status();
         lcdDrawUpdate = 2;
       }
@@ -1740,4 +1776,75 @@ char *ftostr52(const float &x)
   return conv;
 }
 
+#if defined(MANUAL_BED_LEVELING)
+static int _lcd_level_bed_position;
+static void _lcd_level_bed()
+{
+  if (encoderPosition != 0) {
+    refresh_cmd_timeout();
+    current_position[Z_AXIS] += float((int)encoderPosition) * 0.05;
+    if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS) current_position[Z_AXIS] = Z_MIN_POS;
+    if (max_software_endstops && current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
+    encoderPosition = 0;
+    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS]/60, active_extruder);
+    lcdDrawUpdate = 1;
+  }
+  if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("Z"), ftostr32(current_position[Z_AXIS]));
+  static bool debounce_click = false;
+  if (LCD_CLICKED) {
+    if (!debounce_click) {
+      debounce_click = true;
+      int ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
+      int iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
+      mbl.set_z(ix, iy, current_position[Z_AXIS]);
+      _lcd_level_bed_position++;
+      if (_lcd_level_bed_position == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
+        current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+        mbl.active = 1;
+        enquecommands_P(PSTR("G28"));
+        lcd_return_to_status();
+      } else {
+        current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+        ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
+        iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
+        if (iy&1) { // Zig zag
+          ix = (MESH_NUM_X_POINTS - 1) - ix;
+        }
+        current_position[X_AXIS] = mbl.get_x(ix);
+        current_position[Y_AXIS] = mbl.get_y(iy);
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+        lcdDrawUpdate = 1;
+      }
+    }
+  } else {
+    debounce_click = false;
+  }
+}
+static void _lcd_level_bed_homing()
+{
+  if (axis_known_position[X_AXIS] &&
+      axis_known_position[Y_AXIS] &&
+      axis_known_position[Z_AXIS]) {
+    current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
+    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    current_position[X_AXIS] = MESH_MIN_X;
+    current_position[Y_AXIS] = MESH_MIN_Y;
+    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+    _lcd_level_bed_position = 0;
+    lcd_goto_menu(_lcd_level_bed);
+  }
+}
+static void lcd_level_bed()
+{
+  axis_known_position[X_AXIS] = false;
+  axis_known_position[Y_AXIS] = false;
+  axis_known_position[Z_AXIS] = false;
+  mbl.reset();
+  enquecommands_P(PSTR("G28"));
+  lcd_goto_menu(_lcd_level_bed_homing);
+}
+#endif  // MANUAL_BED_LEVELING
+
 #endif //ULTRA_LCD

Marlin/ultralcd_implementation_hitachi_HD44780.h

@@ -610,214 +610,104 @@ static void lcd_implementation_status_screen()
 
   lcd.print(lcd_status_message);
 }
-static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, char pre_char, char post_char)
+
-{
+static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char post_char) {
   char c;
-    //Use all characters in narrow LCDs
+  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2);
-  #if LCD_WIDTH < 20
-      uint8_t n = LCD_WIDTH - 1 - 1;
-    #else
-      uint8_t n = LCD_WIDTH - 1 - 2;
-  #endif
   lcd.setCursor(0, row);
-    lcd.print(pre_char);
+  lcd.print(sel ? pre_char : ' ');
-    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
+  while ((c = pgm_read_byte(pstr)) && n > 0) {
-    {
     lcd.print(c);
     pstr++;
     if ((pgm_read_byte(pstr) & 0xc0) != 0x80) n--;
   }
-    while(n--)
+  while(n--) lcd.print(' ');
-        lcd.print(' ');
   lcd.print(post_char);
   lcd.print(' ');
 }
-static void lcd_implementation_drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char pre_char, char* data)
+static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char* data) {
-{
   char c;
-    //Use all characters in narrow LCDs
+  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen(data);
-  #if LCD_WIDTH < 20
-      uint8_t n = LCD_WIDTH - 1 - 1 - lcd_strlen(data);
-    #else
-      uint8_t n = LCD_WIDTH - 1 - 2 - lcd_strlen(data);
-  #endif
   lcd.setCursor(0, row);
-    lcd.print(pre_char);
+  lcd.print(sel ? pre_char : ' ');
-    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
+  while ((c = pgm_read_byte(pstr)) && n > 0) {
-    {
     lcd.print(c);
     pstr++;
     if ((pgm_read_byte(pstr) & 0xc0) != 0x80) n--;
   }
   lcd.print(':');
-    while(n--)
+  while (n--) lcd.print(' ');
-        lcd.print(' ');
   lcd.print(data);
 }
-static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, const char* pstr, char pre_char, const char* data)
+static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t row, const char* pstr, char pre_char, const char* data) {
-{
   char c;
-    //Use all characters in narrow LCDs
+  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen_P(data);
-  #if LCD_WIDTH < 20
-      uint8_t n = LCD_WIDTH - 1 - 1 - lcd_strlen_P(data);
-    #else
-      uint8_t n = LCD_WIDTH - 1 - 2 - lcd_strlen_P(data);
-  #endif
   lcd.setCursor(0, row);
-    lcd.print(pre_char);
+  lcd.print(sel ? pre_char : ' ');
-    while( ((c = pgm_read_byte(pstr)) != '\0') && (n>0) )
+  while ((c = pgm_read_byte(pstr)) && n > 0) {
-    {
     lcd.print(c);
     pstr++;
     if ((pgm_read_byte(pstr) & 0xc0) != 0x80) n--;
   }
   lcd.print(':');
-    while(n--)
+  while (n--) lcd.print(' ');
-        lcd.print(' ');
   lcd_printPGM(data);
 }
-#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_int3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', itostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float32(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr32(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float43(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr43(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float32_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float5(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float32(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float52(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float43_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_float51(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float43(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_long5(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_bool(sel, row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_float5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float52_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float52(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float51_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_float51(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_long5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_long5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_bool_selected(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_bool(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
 //Add version for callback functions
-#define lcd_implementation_drawmenu_setting_edit_callback_int3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_int3(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', itostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_int3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float3(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr3(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float32(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr32(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float43(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr43(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float32_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float32(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float52(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float43_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_float51(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float43(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr43(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_long5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
+#define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_callback_float5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float52_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float52(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float51_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_float51(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_long5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_long5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
-#define lcd_implementation_drawmenu_setting_edit_callback_bool_selected(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
-#define lcd_implementation_drawmenu_setting_edit_callback_bool(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
-
+void lcd_implementation_drawedit(const char* pstr, char* value) {
-void lcd_implementation_drawedit(const char* pstr, char* value)
-{
   lcd.setCursor(1, 1);
   lcd_printPGM(pstr);
   lcd.print(':');
-   #if LCD_WIDTH < 20
+  lcd.setCursor(LCD_WIDTH - (LCD_WIDTH < 20 ? 0 : 1) - lcd_strlen(value), 1);
-      lcd.setCursor(LCD_WIDTH - lcd_strlen(value), 1);
-    #else
-      lcd.setCursor(LCD_WIDTH -1 - lcd_strlen(value), 1);
-   #endif
   lcd.print(value);
 }
-static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename)
+static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat) {
-{
   char c;
-    uint8_t n = LCD_WIDTH - 1;
+  uint8_t n = LCD_WIDTH - concat;
   lcd.setCursor(0, row);
-    lcd.print('>');
+  lcd.print(sel ? '>' : ' ');
-    if (longFilename[0] != '\0')
+  if (longFilename[0]) {
-    {
     filename = longFilename;
-        longFilename[LCD_WIDTH-1] = '\0';
+    longFilename[n] = '\0';
   }
-    while( ((c = *filename) != '\0') && (n>0) )
+  while ((c = *filename) && n > 0) {
-    {
     lcd.print(c);
     filename++;
     n--;
   }
-    while(n--)
+  while (n--) lcd.print(' ');
-        lcd.print(' ');
 }
-static void lcd_implementation_drawmenu_sdfile(uint8_t row, const char* pstr, const char* filename, char* longFilename)
+
-{
+static void lcd_implementation_drawmenu_sdfile(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
-    char c;
+  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 1);
-    uint8_t n = LCD_WIDTH - 1;
-    lcd.setCursor(0, row);
-    lcd.print(' ');
-    if (longFilename[0] != '\0')
-    {
-        filename = longFilename;
-        longFilename[LCD_WIDTH-1] = '\0';
 }
-    while( ((c = *filename) != '\0') && (n>0) )
+static void lcd_implementation_drawmenu_sddirectory(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
-    {
+  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2);
-        lcd.print(c);
-        filename++;
-        n--;
 }
-    while(n--)
+#define lcd_implementation_drawmenu_back(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
-        lcd.print(' ');
+#define lcd_implementation_drawmenu_submenu(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
-}
+#define lcd_implementation_drawmenu_gcode(sel, row, pstr, gcode) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
-static void lcd_implementation_drawmenu_sddirectory_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename)
+#define lcd_implementation_drawmenu_function(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
-{
-    char c;
-    uint8_t n = LCD_WIDTH - 2;
-    lcd.setCursor(0, row);
-    lcd.print('>');
-    lcd.print(LCD_STR_FOLDER[0]);
-    if (longFilename[0] != '\0')
-    {
-        filename = longFilename;
-        longFilename[LCD_WIDTH-2] = '\0';
-    }
-    while( ((c = *filename) != '\0') && (n>0) )
-    {
-        lcd.print(c);
-        filename++;
-        n--;
-    }
-    while(n--)
-        lcd.print(' ');
-}
-static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pstr, const char* filename, char* longFilename)
-{
-    char c;
-    uint8_t n = LCD_WIDTH - 2;
-    lcd.setCursor(0, row);
-    lcd.print(' ');
-    lcd.print(LCD_STR_FOLDER[0]);
-    if (longFilename[0] != '\0')
-    {
-        filename = longFilename;
-        longFilename[LCD_WIDTH-2] = '\0';
-    }
-    while( ((c = *filename) != '\0') && (n>0) )
-    {
-        lcd.print(c);
-        filename++;
-        n--;
-    }
-    while(n--)
-        lcd.print(' ');
-}
-#define lcd_implementation_drawmenu_back_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
-#define lcd_implementation_drawmenu_back(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_UPLEVEL[0])
-#define lcd_implementation_drawmenu_submenu_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
-#define lcd_implementation_drawmenu_submenu(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_ARROW_RIGHT[0])
-#define lcd_implementation_drawmenu_gcode_selected(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_gcode(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')
-#define lcd_implementation_drawmenu_function_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
-#define lcd_implementation_drawmenu_function(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')
 
 static void lcd_implementation_quick_feedback()
 {