Merge remote-tracking branch 'upstream/Marlin_v1' into Marlin_v1

13 years ago · cb02914687
21 changed files with 900 additions and 609 deletions
--- a/Marlin/.gitignore
+++ b/Marlin/.gitignore
@ -0,0 +1,2 @@
+*.o
+applet/
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -8,25 +8,28 @@
 //User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup.
 //Implementation of an idea by Prof Braino to inform user that any changes made
 //to THIS file by the user have been successfully uploaded into firmware.
-#define STRING_VERSION_CONFIG_H "2012-02-08j" //Personal revision number for changes to THIS file.
-#define STRING_CONFIG_H_AUTHOR "scuba82" //Who made the changes.
+#define STRING_VERSION_CONFIG_H "2012-02-25" //Personal revision number for changes to THIS file.
+#define STRING_CONFIG_H_AUTHOR "erik" //Who made the changes.

 // This determines the communication speed of the printer
-//#define BAUDRATE 250000
-#define BAUDRATE 115200
+#define BAUDRATE 250000
+//#define BAUDRATE 115200

 //// The following define selects which electronics board you have. Please choose the one that matches your setup
-// MEGA/RAMPS up to 1.2 = 3,
-// RAMPS 1.3 = 33
-// Gen6 = 5,
+// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics"
+// Gen7 v1.1, v1.2 = 11
+// Gen7 v1.3 = 12
+// Gen7 v1.4 = 13
+// MEGA/RAMPS up to 1.2 = 3
+// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan)
+// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed)
+// Gen6 = 5
+// Gen6 deluxe = 51
 // Sanguinololu 1.2 and above = 62
-// Ultimaker = 7,
-// Gen7 custom (Alfons3 Version) = 77, "https://github.com/Alfons3/Generation_7_Electronics"
-// Gen7 v1.1, v1.2 = 78
-// Gen7 v1.3 = 79
-// Teensylu = 8,
+// Ultimaker = 7
+// Teensylu = 8
 // Gen3+ =9
-#define MOTHERBOARD 77
+#define MOTHERBOARD 7

 //===========================================================================
 //=============================Thermal Settings  ============================
@ -44,14 +47,14 @@
 // 6 is EPCOS 100k
 // 7 is 100k Honeywell thermistor 135-104LAG-J01

-#define TEMP_SENSOR_0 6
+#define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
-#define TEMP_SENSOR_BED 1
+#define TEMP_SENSOR_BED 0

 // Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 30  // (seconds)
-#define TEMP_HYSTERESIS 3       // (C�) range of +/- temperatures considered "close" to the target one
+#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one

 // The minimal temperature defines the temperature below which the heater will not be enabled It is used
 // to check that the wiring to the thermistor is not broken. 
@ -69,6 +72,7 @@
 #define HEATER_2_MAXTEMP 275
 #define BED_MAXTEMP 150

+
 // PID settings:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
@ -111,9 +115,9 @@
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

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

 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
@ -127,9 +131,9 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
 #define DISABLE_Z false
 #define DISABLE_E false // For all extruders

-#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR false     // for Mendel set to false, for Orca set to true
+#define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
@ -140,19 +144,24 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1

-#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
+#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
 #define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
 #define X_MAX_LENGTH 205
 #define Y_MAX_LENGTH 205
 #define Z_MAX_LENGTH 200

+// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0
+#define X_HOME_POS 0
+#define Y_HOME_POS 0
+#define Z_HOME_POS 0
+
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)

 // default settings 

-#define DEFAULT_AXIS_STEPS_PER_UNIT   {80,80,2560,760*1.1}                    // default steps per unit for ultimaker 
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}                    // default steps per unit for ultimaker 
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)    
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.

@ -173,22 +182,32 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //define this to enable eeprom support
-#define EEPROM_SETTINGS
+//#define EEPROM_SETTINGS
 //to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
 // please keep turned on if you can.
-#define EEPROM_CHITCHAT
+//#define EEPROM_CHITCHAT

 //LCD and SD support
 //#define ULTRA_LCD  //general lcd support, also 16x2
-#define SDSUPPORT // Enable SD Card Support in Hardware Console
+//#define SDSUPPORT // Enable SD Card Support in Hardware Console

-#define ULTIPANEL
+//#define ULTIPANEL
 #ifdef ULTIPANEL
  #define NEWPANEL  //enable this if you have a click-encoder panel
  #define SDSUPPORT
  #define ULTRA_LCD
  #define LCD_WIDTH 20
  #define LCD_HEIGHT 4
+
+// Preheat Constants
+  #define PLA_PREHEAT_HOTEND_TEMP 180 
+  #define PLA_PREHEAT_HPB_TEMP 70
+  #define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
+  #define ABS_PREHEAT_HOTEND_TEMP 240
+  #define ABS_PREHEAT_HPB_TEMP 100
+  #define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
 #else //no panel but just lcd 
  #ifdef ULTRA_LCD
    #define LCD_WIDTH 16
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -25,9 +25,6 @@
 // if CooldownNoWait is defined M109 will not wait for the cooldown to finish
 #define CooldownNoWait true

-//Do not wait for M109 to finish when printing from SD card
-//#define STOP_HEATING_WAIT_WHEN_SD_PRINTING
-
 #ifdef PIDTEMP
  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
@ -59,6 +56,11 @@
 #define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
 #define EXTRUDER_RUNOUT_EXTRUDE 100

+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
@ -74,7 +76,7 @@
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
 #define Z_HOME_RETRACT_MM 1 
-#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+//#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.

 #define AXIS_RELATIVE_MODES {false, false, false, false}

@ -148,6 +150,12 @@

 const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement

+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+#define SDCARDDETECTINVERTED 
+
 //===========================================================================
 //=============================Buffers           ============================
 //===========================================================================
--- a/Marlin/Gen7/cores/arduino/pins_arduino.c
+++ b/Marlin/Gen7/cores/arduino/pins_arduino.c
@ -67,28 +67,28 @@
 const uint8_t PROGMEM port_to_mode_PGM[] =
 {
 	NOT_A_PORT,
-    &DDRA,
-	&DDRB,
-	&DDRC,
-	&DDRD,
+        (uint8_t) &DDRA,
+	(uint8_t) &DDRB,
+	(uint8_t) &DDRC,
+	(uint8_t) &DDRD,
 };

 const uint8_t PROGMEM port_to_output_PGM[] =
 {
 	NOT_A_PORT,
-	&PORTA,
-	&PORTB,
-	&PORTC,
-	&PORTD,
+	(uint8_t) &PORTA,
+	(uint8_t) &PORTB,
+	(uint8_t) &PORTC,
+	(uint8_t) &PORTD,
 };

 const uint8_t PROGMEM port_to_input_PGM[] =
 {
 	NOT_A_PORT,
-	&PINA,
-	&PINB,
-	&PINC,
-	&PIND,
+	(uint8_t) &PINA,
+	(uint8_t) &PINB,
+	(uint8_t) &PINC,
+	(uint8_t) &PIND,
 };

 const uint8_t PROGMEM digital_pin_to_port_PGM[] =
--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@ -61,7 +61,7 @@ SRC =  $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
 	$(ARDUINO)/wiring_pulse.c \
 	$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
 CXXSRC = $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\
-	$(ARDUINO)/Print.cpp Marlin.cpp MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp stepper.cpp temperature.cpp cardreader.cpp
+	$(ARDUINO)/Print.cpp applet/Marlin.cpp MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp stepper.cpp temperature.cpp cardreader.cpp
 FORMAT = ihex


@ -138,6 +138,8 @@ all: build sizeafter
 build: elf hex 

 applet/$(TARGET).cpp: $(TARGET).pde $(MAKEFILE)
+
+applet/%.cpp: %.pde
 # Here is the "preprocessing".
 # It creates a .cpp file based with the same name as the .pde file.
 # On top of the new .cpp file comes the WProgram.h header.
@ -145,11 +147,11 @@ applet/$(TARGET).cpp: $(TARGET).pde $(MAKEFILE)
 # Then the .cpp file will be compiled. Errors during compile will
 # refer to this new, automatically generated, file. 
 # Not the original .pde file you actually edit...
-	@echo "  WR    applet/$(TARGET).cpp"
-	@test -d applet || mkdir applet
-	@echo '#include "WProgram.h"' > applet/$(TARGET).cpp
-	@cat $(TARGET).pde >> applet/$(TARGET).cpp
-	@cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
+	@echo "  WR    $@"
+	@test -d $(dir $@) || mkdir $(dir $@)
+	@echo '#include "WProgram.h"' > $@
+	@cat $< >> $@
+	@cat $(ARDUINO)/main.cpp >> $@

 elf: applet/$(TARGET).elf
 hex: applet/$(TARGET).hex
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -175,7 +175,6 @@ extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
-extern bool stop_heating_wait;

 // Handling multiple extruders pins
 extern uint8_t active_extruder;
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@ -35,8 +35,9 @@
 #include "cardreader.h"
 #include "watchdog.h"
 #include "EEPROMwrite.h"
+#include "language.h"

-#define VERSION_STRING  "1.0.0 RC1"
+#define VERSION_STRING  "1.0.0 RC2"

 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@ -97,7 +98,8 @@
 // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
 // M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
 // M206 - set additional homeing offset
-// M220 - set speed factor override percentage S:factor in percent
+// M220 S<factor in percent>- set speed factor override percentage
+// M221 S<factor in percent>- set extrude factor override percentage
 // M240 - Trigger a camera to take a photograph
 // M301 - Set PID parameters P I and D
 // M302 - Allow cold extrudes
@ -125,10 +127,10 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
 volatile int feedmultiply=100; //100->1 200->2
 int saved_feedmultiply;
 volatile bool feedmultiplychanged=false;
+volatile int extrudemultiply=100; //100->1 200->2
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
 float add_homeing[3]={0,0,0};
 uint8_t active_extruder = 0;
-bool stop_heating_wait=false;

 //===========================================================================
 //=============================private variables=============================
@ -249,6 +251,16 @@ void setup()
  MYSERIAL.begin(BAUDRATE);
  SERIAL_PROTOCOLLNPGM("start");
  SERIAL_ECHO_START;
+
+  // Check startup - does nothing if bootloader sets MCUSR to 0
+  byte mcu = MCUSR;
+  if(mcu & 1) SERIAL_ECHOLNPGM("PowerUp");
+  if(mcu & 2) SERIAL_ECHOLNPGM("External Reset");
+  if(mcu & 4) SERIAL_ECHOLNPGM("Brown out Reset");
+  if(mcu & 8) SERIAL_ECHOLNPGM("Watchdog Reset");
+  if(mcu & 32) SERIAL_ECHOLNPGM("Software Reset");
+  MCUSR=0;
+
  SERIAL_ECHOPGM("Marlin: ");
  SERIAL_ECHOLNPGM(VERSION_STRING);
  #ifdef STRING_VERSION_CONFIG_H
@ -331,9 +343,13 @@ void get_command()
    serial_char = MYSERIAL.read();
    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) 
    {
-      if(!serial_count) return; //if empty line
+      if(!serial_count) { //if empty line
+        comment_mode = false; //for new command
+        return;
+      }
      cmdbuffer[bufindw][serial_count] = 0; //terminate string
      if(!comment_mode){
+        comment_mode = false; //for new command
        fromsd[bufindw] = false;
        if(strstr(cmdbuffer[bufindw], "N") != NULL)
        {
@ -410,9 +426,7 @@ void get_command()
        }
        bufindw = (bufindw + 1)%BUFSIZE;
        buflen += 1;
-
      }
-      comment_mode = false; //for new command
      serial_count = 0; //clear buffer
    }
    else
@ -446,10 +460,9 @@ void get_command()
        card.checkautostart(true);
        
      }
-      if(serial_char=='\n')
-         comment_mode = false; //for new command
      if(!serial_count)
      {
+        comment_mode = false; //for new command
        return; //if empty line
      }
      cmdbuffer[bufindw][serial_count] = 0; //terminate string
@ -458,6 +471,7 @@ void get_command()
        buflen += 1;
        bufindw = (bufindw + 1)%BUFSIZE;
      }     
+      comment_mode = false; //for new command
      serial_count = 0; //clear buffer
    }
    else
@ -476,10 +490,12 @@ float code_value()
 { 
  return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); 
 }
+
 long code_value_long() 
 { 
  return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); 
 }
+
 bool code_seen(char code_string[]) //Return True if the string was found
 { 
  return (strstr(cmdbuffer[bufindr], code_string) != NULL); 
@ -490,6 +506,7 @@ bool code_seen(char code)
  strchr_pointer = strchr(cmdbuffer[bufindr], code);
  return (strchr_pointer != NULL);  //Return True if a character was found
 }
+
 #define HOMEAXIS(LETTER) \
  if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
    { \
@ -498,22 +515,22 @@ bool code_seen(char code)
    destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
    feedrate = homing_feedrate[LETTER##_AXIS]; \
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
+    st_synchronize();\
    \
    current_position[LETTER##_AXIS] = 0;\
    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
    destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
+    st_synchronize();\
    \
    destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
    feedrate = homing_feedrate[LETTER##_AXIS]/2 ;  \
    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
+    st_synchronize();\
    \
-    current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
+    current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? LETTER##_HOME_POS : LETTER##_MAX_LENGTH;\
    destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
    feedrate = 0.0;\
-    st_synchronize();\
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
    endstops_hit_on_purpose();\
  }

@ -567,7 +584,7 @@ void process_commands()
      feedrate = 0.0;
      home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
      #ifdef QUICK_HOME
-      if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) )  //first diagonal move
+      if( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS]) )  //first diagonal move
      {
        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;  

@ -576,17 +593,17 @@ void process_commands()
        feedrate = homing_feedrate[X_AXIS]; 
        if(homing_feedrate[Y_AXIS]<feedrate)
          feedrate =homing_feedrate[Y_AXIS]; 
-        prepare_move(); 
+        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+        st_synchronize();
    
-        current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
-        current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
+        current_position[X_AXIS] = (X_HOME_DIR == -1) ? X_HOME_POS : X_MAX_LENGTH;
+        current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? Y_HOME_POS : Y_MAX_LENGTH;
        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
        destination[X_AXIS] = current_position[X_AXIS];
        destination[Y_AXIS] = current_position[Y_AXIS];
+        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
        feedrate = 0.0;
        st_synchronize();
-        plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
-        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
        endstops_hit_on_purpose();
      }
      #endif
@ -606,16 +623,24 @@ void process_commands()
      
      if(code_seen(axis_codes[X_AXIS])) 
      {
-        current_position[0]=code_value()+add_homeing[0];
+        if(code_value_long() != 0) {
+          current_position[X_AXIS]=code_value()+add_homeing[0];
+        }
      }

      if(code_seen(axis_codes[Y_AXIS])) {
-        current_position[1]=code_value()+add_homeing[1];
+        if(code_value_long() != 0) {
+          current_position[Y_AXIS]=code_value()+add_homeing[1];
+        }
      }

      if(code_seen(axis_codes[Z_AXIS])) {
-        current_position[2]=code_value()+add_homeing[2];
+        if(code_value_long() != 0) {
+          current_position[Z_AXIS]=code_value()+add_homeing[2];
+        }
      }
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      
      #ifdef ENDSTOPS_ONLY_FOR_HOMING
        enable_endstops(false);
      #endif
@ -880,7 +905,6 @@ void process_commands()
          }
          manage_heater();
          LCD_STATUS;
-        if(stop_heating_wait) break;
        #ifdef TEMP_RESIDENCY_TIME
            /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
              or when current temp falls outside the hysteresis after target temp was reached */
@ -1112,8 +1136,14 @@ void process_commands()
      }
    }
    break;
-    
-    
+    case 221: // M221 S<factor in percent>- set extrude factor override percentage
+    {
+      if(code_seen('S')) 
+      {
+        extrudemultiply = code_value() ;
+      }
+    }
+    break;

    #ifdef PIDTEMP
    case 301: // M301
@ -1265,11 +1295,10 @@ void get_arc_coordinates()

 void prepare_move()
 {
-  
  if (min_software_endstops) {
-    if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
-    if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
-    if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
+    if (destination[X_AXIS] < X_HOME_POS) destination[X_AXIS] = X_HOME_POS;
+    if (destination[Y_AXIS] < Y_HOME_POS) destination[Y_AXIS] = Y_HOME_POS;
+    if (destination[Z_AXIS] < Z_HOME_POS) destination[Z_AXIS] = Z_HOME_POS;
  }

  if (max_software_endstops) {
--- a/Marlin/Sanguino/cores/arduino/pins_arduino.c
+++ b/Marlin/Sanguino/cores/arduino/pins_arduino.c
@ -67,28 +67,28 @@
 const uint8_t PROGMEM port_to_mode_PGM[] =
 {
 	NOT_A_PORT,
-    &DDRA,
-	&DDRB,
-	&DDRC,
-	&DDRD,
+	(uint8_t) (uint16_t) &DDRA,
+	(uint8_t) (uint16_t) &DDRB,
+	(uint8_t) (uint16_t) &DDRC,
+	(uint8_t) (uint16_t) &DDRD,
 };

 const uint8_t PROGMEM port_to_output_PGM[] =
 {
 	NOT_A_PORT,
-	&PORTA,
-	&PORTB,
-	&PORTC,
-	&PORTD,
+	(uint8_t) (uint16_t) &PORTA,
+	(uint8_t) (uint16_t) &PORTB,
+	(uint8_t) (uint16_t) &PORTC,
+	(uint8_t) (uint16_t) &PORTD,
 };

 const uint8_t PROGMEM port_to_input_PGM[] =
 {
 	NOT_A_PORT,
-	&PINA,
-	&PINB,
-	&PINC,
-	&PIND,
+	(uint8_t) (uint16_t) &PINA,
+	(uint8_t) (uint16_t) &PINB,
+	(uint8_t) (uint16_t) &PINC,
+	(uint8_t) (uint16_t) &PIND,
 };

 const uint8_t PROGMEM digital_pin_to_port_PGM[] =
--- a/Marlin/Sanguino/cores/arduino/pins_arduino.h
+++ b/Marlin/Sanguino/cores/arduino/pins_arduino.h
@ -58,8 +58,8 @@ extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
 #define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
 #define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
 #define analogInPinToBit(P) (P)
-#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_output_PGM + (P))) )
-#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_input_PGM + (P))) )
-#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_mode_PGM + (P))) )
+#define portOutputRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_output_PGM + (P))) )
+#define portInputRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_input_PGM + (P))) )
+#define portModeRegister(P) ( (volatile uint8_t *)( (uint16_t) pgm_read_byte( port_to_mode_PGM + (P))) )

 #endif
--- a/Marlin/Sanguino/cores/arduino/wiring_private.h
+++ b/Marlin/Sanguino/cores/arduino/wiring_private.h
@ -27,7 +27,7 @@
 #include <math.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
-#include <avr/delay.h>
+#include <util/delay.h>
 #include <stdio.h>
 #include <stdarg.h>

--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@ -447,9 +447,6 @@ void CardReader::printingHasFinished()
 st_synchronize();
 quickStop();
 sdprinting = false;
- #ifdef STOP_HEATING_WAIT_FOR_SD_PRINTING
- stop_heating_wait=true;
- #endif
 if(SD_FINISHED_STEPPERRELEASE)
 {
   //finishAndDisableSteppers();
--- a/Marlin/language.h
+++ b/Marlin/language.h
@ -0,0 +1,339 @@
+#ifndef LANGUAGE_H
+#define LANGUAGE_H
+
+// Languages
+// 1  Custom (For you to add your own messages)
+// 2  English 
+// 3  French	(Waiting translation)
+// 4  German	(Waiting translation)
+// 5  Etc
+
+#define LANGUAGE_CHOICE 1  // Pick your language from the list above
+
+#if LANGUAGE_CHOICE == 1
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "RepRap Ready."
+	#define MSG_SD_INSERTED "Card Ready"
+	#define MSG_SD_REMOVED "Card Initiate"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT_PLA " Preheat PLA"
+	#define MSG_PREHEAT_ABS " Preheat ABS"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+        #define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store EPROM"
+	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+#endif
+
+#if LANGUAGE_CHOICE == 2
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "UltiMARLIN Ready."
+	#define MSG_SD_INSERTED "Card inserted"
+	#define MSG_SD_REMOVED "Card removed"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT " Preheat"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+        #define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store EPROM"
+	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+#endif
+
+#if LANGUAGE_CHOICE == 3
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "RepRap Ready."
+	#define MSG_SD_INSERTED "Card Ready"
+	#define MSG_SD_REMOVED "Card Initiate"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT " Preheat"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+        #define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store EPROM"
+	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+#endif
+
+#if LANGUAGE_CHOICE == 4
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "RepRap Ready."
+	#define MSG_SD_INSERTED "Card Ready"
+	#define MSG_SD_REMOVED "Card Initiate"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT " Preheat"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+        #define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store EPROM"
+	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+#endif
+
+#if LANGUAGE_CHOICE == 5
+
+// LCD Menu Messages
+
+	#define WELCOME_MSG "RepRap Ready."
+	#define MSG_SD_INSERTED "Card Ready"
+	#define MSG_SD_REMOVED "Card Initiate"
+	#define MSG_MAIN " Main \003"
+	#define MSG_AUTOSTART " Autostart"
+	#define MSG_DISABLE_STEPPERS " Disable Steppers"
+	#define MSG_AUTO_HOME " Auto Home"
+	#define MSG_SET_ORIGIN " Set Origin"
+	#define MSG_PREHEAT " Preheat"
+	#define MSG_COOLDOWN " Cooldown"
+	#define MSG_EXTRUDE " Extrude"
+        #define MSG_MOVE_AXIS " Move Axis      \x7E"
+	#define MSG_SPEED " Speed:"
+	#define MSG_NOZZLE " \002Nozzle:"
+	#define MSG_BED " \002Bed:"
+	#define MSG_FAN_SPEED " Fan speed:"
+	#define MSG_FLOW " Flow:"
+	#define MSG_CONTROL " Control \003"
+	#define MSG_MIN " \002 Min:"
+	#define MSG_MAX " \002 Max:"
+	#define MSG_FACTOR " \002 Fact:"
+	#define MSG_AUTOTEMP " Autotemp:"
+	#define MSG_ON "On "
+	#define MSG_OFF "Off"
+	#define MSG_PID_P " PID-P: "
+	#define MSG_PID_I " PID-I: "
+	#define MSG_PID_D " PID-D: "
+	#define MSG_PID_C " PID-C: "
+	#define MSG_ACC  " Acc:"
+	#define MSG_VXY_JERK " Vxy-jerk: "
+	#define MSG_VMAX " Vmax "
+	#define MSG_X "x:"
+	#define MSG_Y "y:"
+	#define MSG_Z "z:"
+	#define MSG_E "e:"
+	#define MSG_VMIN " Vmin:"
+	#define MSG_VTRAV_MIN " VTrav min:"
+	#define MSG_AMAX " Amax "
+	#define MSG_A_RETRACT " A-retract:"
+	#define MSG_XSTEPS " Xsteps/mm:"
+	#define MSG_YSTEPS " Ysteps/mm:"
+	#define MSG_ZSTEPS " Zsteps/mm:"
+	#define MSG_ESTEPS " Esteps/mm:"
+	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
+	#define MSG_MOTION_WIDE " Motion      \x7E"
+	#define MSG_STORE_EPROM " Store EPROM"
+	#define MSG_LOAD_EPROM " Load EPROM"
+	#define MSG_RESTORE_FAILSAFE " Restore Failsafe"
+	#define MSG_REFRESH "\004Refresh"
+	#define MSG_WATCH " Watch   \003"
+	#define MSG_PREPARE " Prepare \x7E"
+	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_TUNE " Tune    \x7E"
+	#define MSG_STOP_PRINT " Stop Print   \x7E"
+	#define MSG_CARD_MENU " Card Menu    \x7E"
+	#define MSG_NO_CARD " No Card"
+	#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure."
+
+#endif
+
+#endif // ifndef LANGUAGE_H
--- a/Marlin/motion_control.cpp
+++ b/Marlin/motion_control.cpp
@ -122,6 +122,18 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
    arc_target[axis_1] = center_axis1 + r_axis1;
    arc_target[axis_linear] += linear_per_segment;
    arc_target[E_AXIS] += extruder_per_segment;
+
+    if (min_software_endstops) {
+      if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
+      if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
+      if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
+    }
+
+    if (max_software_endstops) {
+      if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
+      if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
+      if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
+    }
    plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
    
  }
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@ -45,225 +45,195 @@
 #endif /* 99 */

 /****************************************************************************************
-* Arduino pin assignment
+* Gen7 v1.1, v1.2, v1.3, v1.4 pin assignment
 *
-*                  ATMega168
-*                   +-\/-+
-*             PC6  1|    |28  PC5 (AI 5 / D19)
-*       (D 0) PD0  2|    |27  PC4 (AI 4 / D18)
-*       (D 1) PD1  3|    |26  PC3 (AI 3 / D17)
-*       (D 2) PD2  4|    |25  PC2 (AI 2 / D16)
-*  PWM+ (D 3) PD3  5|    |24  PC1 (AI 1 / D15)
-*       (D 4) PD4  6|    |23  PC0 (AI 0 / D14)
-*             VCC  7|    |22  GND
-*             GND  8|    |21  AREF
-*             PB6  9|    |20  AVCC
-*             PB7 10|    |19  PB5 (D 13)
-*  PWM+ (D 5) PD5 11|    |18  PB4 (D 12)
-*  PWM+ (D 6) PD6 12|    |17  PB3 (D 11) PWM
-*       (D 7) PD7 13|    |16  PB2 (D 10) PWM
-*       (D 8) PB0 14|    |15  PB1 (D 9)  PWM
-*                   +----+
 ****************************************************************************************/
-#if MOTHERBOARD == 0
-#define KNOWN_BOARD 1
-
-#ifndef __AVR_ATmega168__
-#error Oops!  Make sure you have 'Arduino Diecimila' selected from the boards menu.
-#endif
-
-#define X_STEP_PIN          2
-#define X_DIR_PIN           3
-#define X_ENABLE_PIN       -1
-#define X_MIN_PIN           4
-#define X_MAX_PIN           9

-#define Y_STEP_PIN         10
-#define Y_DIR_PIN           7
-#define Y_ENABLE_PIN       -1
-#define Y_MIN_PIN           8
-#define Y_MAX_PIN          13
-
-#define Z_STEP_PIN         19
-#define Z_DIR_PIN          18
-#define Z_ENABLE_PIN        5
-#define Z_MIN_PIN          17
-#define Z_MAX_PIN          16
-
-#define E0_STEP_PIN         11
-#define E0_DIR_PIN          12
-#define E0_ENABLE_PIN       -1

-#define SDPOWER          -1
-#define SDSS          -1
-#define LED_PIN            -1
-#define FAN_PIN            -1
-#define PS_ON_PIN          15
-#define KILL_PIN           -1
+#if MOTHERBOARD == 13
+#define MOTHERBOARD 11
+#define GEN7_VERSION 14 // v1.4
+#endif

-#define HEATER_0_PIN        6
-#define HEATER_1_PIN        -1
-#define HEATER_2_PIN        -1
-#define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN          -1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_2_PIN          -1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define HEATER_BED_PIN      -1
-#define TEMP_BED_PIN        -1
+#if MOTHERBOARD == 12
+#define MOTHERBOARD 11
+#define GEN7_VERSION 13 // v1.3
 #endif

+#if MOTHERBOARD == 11
+#define KNOWN_BOARD

+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
+#error Oops! Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.

-/****************************************************************************************
-* Sanguino/RepRap Motherboard with direct-drive extruders
-*
-*                        ATMega644P
-*
-*                        +---\/---+
-*            (D 0) PB0  1|        |40  PA0 (AI 0 / D31)
-*            (D 1) PB1  2|        |39  PA1 (AI 1 / D30)
-*       INT2 (D 2) PB2  3|        |38  PA2 (AI 2 / D29)
-*        PWM (D 3) PB3  4|        |37  PA3 (AI 3 / D28)
-*        PWM (D 4) PB4  5|        |36  PA4 (AI 4 / D27)
-*       MOSI (D 5) PB5  6|        |35  PA5 (AI 5 / D26)
-*       MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
-*        SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
-*                  RST  9|        |32  AREF
-*                  VCC 10|        |31  GND 
-*                  GND 11|        |30  AVCC
-*                XTAL2 12|        |29  PC7 (D 23)
-*                XTAL1 13|        |28  PC6 (D 22)
-*       RX0 (D 8)  PD0 14|        |27  PC5 (D 21) TDI
-*       TX0 (D 9)  PD1 15|        |26  PC4 (D 20) TDO
-*  INT0 RX1 (D 10) PD2 16|        |25  PC3 (D 19) TMS
-*  INT1 TX1 (D 11) PD3 17|        |24  PC2 (D 18) TCK
-*       PWM (D 12) PD4 18|        |23  PC1 (D 17) SDA
-*       PWM (D 13) PD5 19|        |22  PC0 (D 16) SCL
-*       PWM (D 14) PD6 20|        |21  PD7 (D 15) PWM
-*                        +--------+
-*
-****************************************************************************************/
-#if MOTHERBOARD == 1
-#define KNOWN_BOARD 1
+#endif

-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#ifndef GEN7_VERSION
+#define GEN7_VERSION 12 // v1.x
 #endif

-#define X_STEP_PIN         15
+//x axis pins
+#define X_STEP_PIN 19
 #define X_DIR_PIN 18
-#define X_ENABLE_PIN       19
-#define X_MIN_PIN          20
-#define X_MAX_PIN          21
+#define X_ENABLE_PIN 24
+#define X_MIN_PIN 7
+#define X_MAX_PIN -1

+//y axis pins
 #define Y_STEP_PIN 23
 #define Y_DIR_PIN 22
-#define Y_ENABLE_PIN       19
-#define Y_MIN_PIN          25
-#define Y_MAX_PIN          26
+#define Y_ENABLE_PIN 24
+#define Y_MIN_PIN 5
+#define Y_MAX_PIN -1

-#define Z_STEP_PIN         29
-#define Z_DIR_PIN          30
-#define Z_ENABLE_PIN       31
-#define Z_MIN_PIN           2
-#define Z_MAX_PIN           1
+//z axis pins
+#define Z_STEP_PIN 26
+#define Z_DIR_PIN 25
+#define Z_ENABLE_PIN 24
+#define Z_MIN_PIN 1
+#define Z_MAX_PIN 0

-#define E0_STEP_PIN         12
-#define E0_DIR_PIN          16
-#define E0_ENABLE_PIN        3
+//extruder pins
+#define E0_STEP_PIN 28
+#define E0_DIR_PIN 27
+#define E0_ENABLE_PIN 24

-#define SDPOWER          -1
-#define SDSS          -1
-#define LED_PIN             0
-#define FAN_PIN            -1
-#define PS_ON_PIN          -1
-#define KILL_PIN           -1
+#define TEMP_0_PIN 1
+#define TEMP_1_PIN -1
+#define TEMP_2_PIN -1
+#define TEMP_BED_PIN 2

-#define HEATER_0_PIN       14
+#define HEATER_0_PIN 4
 #define HEATER_1_PIN -1
 #define HEATER_2_PIN -1
-#define TEMP_0_PIN          4 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN         -1 
-#define TEMP_2_PIN         -1 
-#define HEATER_BED_PIN     -1
-#define TEMP_BED_PIN       -1
-/*  Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31)  */
+#define HEATER_BED_PIN 3


+#define SDPOWER -1
+#define SDSS -1 // SCL pin of I2C header
+#define LED_PIN -1

+#if (GEN7_VERSION >= 13)
+// Gen7 v1.3 removed the fan pin
+#define FAN_PIN -1
+#else
+#define FAN_PIN 31
 #endif
+#define PS_ON_PIN 15

+#if (GEN7_VERSION < 14)
+// Gen 1.3 and earlier supplied thermistor power via PS_ON
+// Need to ignore the bad thermistor readings on those units
+#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+#endif

-/****************************************************************************************
-* RepRap Motherboard  ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
+//our pin for debugging.
+#define DEBUG_PIN 0
+
+//our RS485 pins
+#define TX_ENABLE_PIN 12
+#define RX_ENABLE_PIN 13
+
+#endif
+
+/*******************************************************************************
+*********
+* Gen7 Alfons3  pin assignment
 *
-****************************************************************************************/
-#if MOTHERBOARD == 2
-#define KNOWN_BOARD 1
+********************************************************************************
+********/
+/* These Pins are assigned for the modified GEN7 Board from Alfons3 Please review the pins and adjust it for your needs*/
+
+#if MOTHERBOARD == 10
+#define KNOWN_BOARD
+
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
+    #error Oops!  Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.

-#ifndef __AVR_ATmega644P__
-#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
 #endif

-#define X_STEP_PIN      15
-#define X_DIR_PIN       18
-#define X_ENABLE_PIN    19
-#define X_MIN_PIN       20
-#define X_MAX_PIN       21
+//x axis pins
+    #define X_STEP_PIN      21                  //different from stanard GEN7
+    #define X_DIR_PIN       20				    //different from stanard GEN7
+    #define X_ENABLE_PIN    24
+    #define X_MIN_PIN       0
+    #define X_MAX_PIN       -1

-#define Y_STEP_PIN      23
-#define Y_DIR_PIN       22
-#define Y_ENABLE_PIN    24
-#define Y_MIN_PIN       25
-#define Y_MAX_PIN       26
+    //y axis pins
+    #define Y_STEP_PIN      23
+    #define Y_DIR_PIN       22
+    #define Y_ENABLE_PIN    24
+    #define Y_MIN_PIN       1
+    #define Y_MAX_PIN       -1

-#define Z_STEP_PINN     27
-#define Z_DIR_PINN      28
-#define Z_ENABLE_PIN    29
-#define Z_MIN_PIN       30
-#define Z_MAX_PIN       31
+    //z axis pins
+    #define Z_STEP_PIN      26
+    #define Z_DIR_PIN       25
+    #define Z_ENABLE_PIN    24
+    #define Z_MIN_PIN       2
+    #define Z_MAX_PIN       -1

-#define E0_STEP_PIN      17
-#define E0_DIR_PIN       16
-#define E0_ENABLE_PIN    -1
+    //extruder pins
+    #define E0_STEP_PIN      28
+    #define E0_DIR_PIN       27
+    #define E0_ENABLE_PIN    24
    
-#define SDPOWER          -1
-#define SDSS          4
-#define LED_PIN          0
+    #define TEMP_0_PIN      2
+    #define TEMP_1_PIN      -1
+    #define TEMP_2_PIN      -1
+    #define TEMP_BED_PIN        1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
     
-#define SD_CARD_WRITE    2
-#define SD_CARD_DETECT   3
-#define SD_CARD_SELECT   4
+    #define HEATER_0_PIN    4
+    #define HEATER_1_PIN    -1   
+    #define HEATER_2_PIN    -1
+    #define HEATER_BED_PIN      3  // (bed)

-//our RS485 pins
-#define TX_ENABLE_PIN	12
-#define RX_ENABLE_PIN	13
+    #define SDPOWER         -1
+    #define SDSS            31                  // SCL pin of I2C header || CS Pin for SD Card support
+    #define LED_PIN         -1

-//pin for controlling the PSU.
-#define PS_ON_PIN       14
+    #define FAN_PIN         -1
+    #define PS_ON_PIN       19
+    //our pin for debugging.

-#define FAN_PIN         -1
-#define KILL_PIN        -1
+    #define DEBUG_PIN        -1

-#define HEATER_0_PIN    -1
-#define HEATER_1_PIN    -1
-#define HEATER_2_PIN    -1
-#define TEMP_0_PIN      -1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN      -1    
-#define TEMP_2_PIN      -1    
-#define HEATER_BED_PIN  -1
-#define TEMP_BED_PIN    -1
+    //our RS485 pins
+    //#define TX_ENABLE_PIN       12
+    //#define RX_ENABLE_PIN       13
+    
+    #define BEEPER -1	
+	#define SDCARDDETECT -1 		
+    #define SUICIDE_PIN -1						//has to be defined; otherwise Power_off doesn't work
+	
+	//Pins for 4bit LCD Support 
+    #define LCD_PINS_RS 18 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 16
+    #define LCD_PINS_D5 15 
+    #define LCD_PINS_D6 13
+    #define LCD_PINS_D7 14
+    
+     //buttons are directly attached
+    #define BTN_EN1 11
+    #define BTN_EN2 10
+    #define BTN_ENC 12  //the click
+    
+    #define BLEN_C 2
+    #define BLEN_B 1
+    #define BLEN_A 0

+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
 #endif

 /****************************************************************************************
 * Arduino Mega pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 33
-#define MOTHERBOARD 3
-#define RAMPS_V_1_3
-#endif
-#if MOTHERBOARD == 3
+#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34
 #define KNOWN_BOARD 1

 //////////////////FIX THIS//////////////
@ -277,7 +247,7 @@
 // #define RAMPS_V_1_3
 // #define RAMPS_V_1_0

-#ifdef RAMPS_V_1_3
+#ifdef MOTHERBOARD == 33 || MOTHERBOARD == 34

 #define X_STEP_PIN         54
 #define X_DIR_PIN          55
@ -295,7 +265,7 @@
 #define Z_DIR_PIN          48
 #define Z_ENABLE_PIN       62
 #define Z_MIN_PIN          18
-#define Z_MAX_PIN          19   //19
+#define Z_MAX_PIN          19

 #define E0_STEP_PIN        26
 #define E0_DIR_PIN         28
@ -308,19 +278,96 @@
 #define SDPOWER            -1
 #define SDSS               53
 #define LED_PIN            13
-#define FAN_PIN            4
+
+#if MOTHERBOARD == 33
+#define FAN_PIN            9 // (Sprinter config)
+#else
+#define FAN_PIN            4 // IO pin. Buffer needed
+#endif
 #define PS_ON_PIN          12
 #define KILL_PIN           -1

 #define HEATER_0_PIN       10   // EXTRUDER 1
-#define HEATER_1_PIN       9    // EXTRUDER 2
-#define HEATER_2_PIN       -1   // EXTRUDER 2
+#if MOTHERBOARD == 33
+#define HEATER_1_PIN       -1
+#else
+#define HEATER_1_PIN       9    // EXTRUDER 2 (FAN On Sprinter)
+#endif
+#define HEATER_2_PIN       -1   
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 #define TEMP_1_PIN         15   // ANALOG NUMBERING
 #define TEMP_2_PIN         -1   // ANALOG NUMBERING
 #define HEATER_BED_PIN     8    // BED
 #define TEMP_BED_PIN       14   // ANALOG NUMBERING

+#ifdef ULTRA_LCD
+
+  #ifdef NEWPANEL
+  //arduino pin which triggers an piezzo beeper
+    #define BEEPER 33			// Beeper on AUX-4
+
+    #define LCD_PINS_RS 16 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 23
+    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D6 27
+    #define LCD_PINS_D7 29
+    
+    //buttons are directly attached using AUX-2
+    #define BTN_EN1 44
+    #define BTN_EN2 42
+    #define BTN_ENC 64  //the click
+    
+    #define BLEN_C 2
+    #define BLEN_B 1
+    #define BLEN_A 0
+    
+    #define SDCARDDETECT 31		// Ramps does not use this port
+    
+      //encoder rotation values
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
+
+  #else //old style panel with shift register
+    //arduino pin witch triggers an piezzo beeper
+    #define BEEPER 33		No Beeper added
+
+    //buttons are attached to a shift register
+	// Not wired this yet
+    //#define SHIFT_CLK 38
+    //#define SHIFT_LD 42
+    //#define SHIFT_OUT 40
+    //#define SHIFT_EN 17
+    
+    #define LCD_PINS_RS 16 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 23
+    #define LCD_PINS_D5 25 
+    #define LCD_PINS_D6 27
+    #define LCD_PINS_D7 29
+    
+    //encoder rotation values
+    #define encrot0 0
+    #define encrot1 2
+    #define encrot2 3
+    #define encrot3 1
+
+    
+    //bits in the shift register that carry the buttons for:
+    // left up center down right red
+    #define BL_LE 7
+    #define BL_UP 6
+    #define BL_MI 5
+    #define BL_DW 4
+    #define BL_RI 3
+    #define BL_ST 2
+
+    #define BLEN_B 1
+    #define BLEN_A 0
+  #endif 
+#endif //ULTRA_LCD

 #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default

@ -440,11 +487,13 @@
 * Gen6 pin assignment
 *
 ****************************************************************************************/
-#if MOTHERBOARD == 5
+#if MOTHERBOARD == 5 || MOTHERBOARD == 51
 #define KNOWN_BOARD 1

 #ifndef __AVR_ATmega644P__
-    #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#ifndef __AVR_ATmega1284P__
+#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
 #endif

 //x axis pins
@ -474,13 +523,19 @@
    #define E0_ENABLE_PIN    3    //Added @ EJE Electronics 20100715
    #define TEMP_0_PIN      5     //changed @ rkoeppl 20110410
    #define TEMP_1_PIN      -1    //changed @ rkoeppl 20110410
+
+
    #define TEMP_2_PIN      -1    //changed @ rkoeppl 20110410
    #define HEATER_0_PIN    14    //changed @ rkoeppl 20110410
    #define HEATER_1_PIN    -1
    #define HEATER_2_PIN    -1
+    #if MOTHERBOARD == 5
    #define HEATER_BED_PIN  -1    //changed @ rkoeppl 20110410
    #define TEMP_BED_PIN    -1    //changed @ rkoeppl 20110410
-    
+    #else
+    #define HEATER_BED_PIN   1    //changed @ rkoeppl 20110410
+    #define TEMP_BED_PIN     0    //changed @ rkoeppl 20110410
+    #endif
    #define SDPOWER          -1
    #define SDSS          17
    #define LED_PIN         -1    //changed @ rkoeppl 20110410
@ -502,14 +557,17 @@
 *
 ****************************************************************************************/
 #if MOTHERBOARD == 62
+#undef MOTHERBOARD
 #define MOTHERBOARD 6
 #define SANGUINOLOLU_V_1_2 
 #endif
 #if MOTHERBOARD == 6
 #define KNOWN_BOARD 1
 #ifndef __AVR_ATmega644P__
+#ifndef __AVR_ATmega1284P__
 #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
 #endif
+#endif

 #define X_STEP_PIN         15
 #define X_DIR_PIN          21
@ -567,180 +625,6 @@

 #endif

-/****************************************************************************************
-* Gen7 v1.1, v1.2, v1.3 pin assignment
-*
-****************************************************************************************/
-
-#if MOTHERBOARD == 79
-#define MOTHERBOARD 78
-#define GEN7_V_1_3
-#endif
-
-#if MOTHERBOARD == 78
-#define KNOWN_BOARD
-
-#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
-#error Oops! Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.
-
-#endif
-
-//x axis pins
-#define X_STEP_PIN 19
-#define X_DIR_PIN 18
-#define X_ENABLE_PIN 24
-#define X_MIN_PIN 7
-#define X_MAX_PIN -1
-
-//y axis pins
-#define Y_STEP_PIN 23
-#define Y_DIR_PIN 22
-#define Y_ENABLE_PIN 24
-#define Y_MIN_PIN 5
-#define Y_MAX_PIN -1
-
-//z axis pins
-#define Z_STEP_PIN 26
-#define Z_DIR_PIN 25
-#define Z_ENABLE_PIN 24
-#define Z_MIN_PIN 1
-#define Z_MAX_PIN -1
-
-//extruder pins
-#define E0_STEP_PIN 28
-#define E0_DIR_PIN 27
-#define E0_ENABLE_PIN 24
-
-#define TEMP_0_PIN 1
-#define TEMP_1_PIN -1
-#define TEMP_2_PIN -1
-#define TEMP_BED_PIN 2
-
-#define HEATER_0_PIN 4
-#define HEATER_1_PIN -1
-#define HEATER_2_PIN -1
-#define HEATER_BED_PIN 3
-
-
-#define SDPOWER -1
-#define SDSS -1 // SCL pin of I2C header
-#define LED_PIN -1
-
-#ifdef GEN7_V_1_3
-// Gen7 v1.3 removed the fan pin
-#define FAN_PIN -1
-#else
-#define FAN_PIN 31
-#endif
-#define PS_ON_PIN 15
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//our RS485 pins
-#define TX_ENABLE_PIN 12
-#define RX_ENABLE_PIN 13
-
-#endif
-
-/*******************************************************************************
-*********
-* Gen7 Alfons3  pin assignment
-*
-********************************************************************************
-********/
-/* These Pins are assigned for the modified GEN7 Board from Alfons3 Please review the pins and adjust it for your needs*/
-
-#if MOTHERBOARD == 77
-#define KNOWN_BOARD
-
-#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__)
-    #error Oops!  Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu.
-
-#endif
-
-//x axis pins
-    #define X_STEP_PIN      21                  //different from stanard GEN7
-    #define X_DIR_PIN       20				    //different from stanard GEN7
-    #define X_ENABLE_PIN    24
-    #define X_MIN_PIN       0
-    #define X_MAX_PIN       -1
-
-    //y axis pins
-    #define Y_STEP_PIN      23
-    #define Y_DIR_PIN       22
-    #define Y_ENABLE_PIN    24
-    #define Y_MIN_PIN       1
-    #define Y_MAX_PIN       -1
-
-    //z axis pins
-    #define Z_STEP_PIN      26
-    #define Z_DIR_PIN       25
-    #define Z_ENABLE_PIN    24
-    #define Z_MIN_PIN       2
-    #define Z_MAX_PIN       -1
-
-    //extruder pins
-    #define E0_STEP_PIN      28
-    #define E0_DIR_PIN       27
-    #define E0_ENABLE_PIN    24
-    
-    #define TEMP_0_PIN      2
-    #define TEMP_1_PIN      -1
-    #define TEMP_2_PIN      -1
-    #define TEMP_BED_PIN        1   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
-     
-    #define HEATER_0_PIN    4
-    #define HEATER_1_PIN    -1   
-    #define HEATER_2_PIN    -1
-    #define HEATER_BED_PIN      3  // (bed)
-   
-   
-
-    
-    #define SDPOWER         -1
-    #define SDSS            31                  // SCL pin of I2C header || CS Pin for SD Card support
-    #define LED_PIN         -1
-
-    #define FAN_PIN         -1
-    #define PS_ON_PIN       19
-    //our pin for debugging.
-
-    #define DEBUG_PIN        -1
-
-    //our RS485 pins
-    //#define TX_ENABLE_PIN       12
-    //#define RX_ENABLE_PIN       13
-    
-    #define BEEPER -1	
-	#define SDCARDDETECT -1 		
-    #define SUICIDE_PIN -1						//has to be defined; otherwise Power_off doesn't work
-	
-	//Pins for 4bit LCD Support 
-    #define LCD_PINS_RS 18 
-    #define LCD_PINS_ENABLE 17
-    #define LCD_PINS_D4 16
-    #define LCD_PINS_D5 15 
-    #define LCD_PINS_D6 13
-    #define LCD_PINS_D7 14
-    
-     //buttons are directly attached
-    #define BTN_EN1 11
-    #define BTN_EN2 10
-    #define BTN_ENC 12  //the click
-    
-    #define BLEN_C 2
-    #define BLEN_B 1
-    #define BLEN_A 0
-
-   
-    #define encrot0 0
-    #define encrot1 2
-    #define encrot2 3
-    #define encrot3 1
-   
-    
-#endif

 #if MOTHERBOARD == 7
 #define KNOWN_BOARD
@ -1003,8 +887,10 @@
 #define MOTHERBOARD 6
 #define KNOWN_BOARD 1
 #ifndef __AVR_ATmega644P__
+#ifndef __AVR_ATmega1284P__
 #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
 #endif
+#endif

 #define X_STEP_PIN         15
 #define X_DIR_PIN          18
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -81,6 +81,8 @@ long position[4];   //rescaled from extern when axis_steps_per_unit are changed
 static float previous_speed[4]; // Speed of previous path line segment
 static float previous_nominal_speed; // Nominal speed of previous path line segment

+extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
+
 #ifdef AUTOTEMP
    float autotemp_max=250;
    float autotemp_min=210;
@ -439,7 +441,7 @@ 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.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e,  float feed_rate, const uint8_t &extruder)
+void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, uint8_t &extruder)
 {
  // Calculate the buffer head after we push this byte
  int next_buffer_head = next_block_index(block_buffer_head);
@ -488,6 +490,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps_e *= extrudemultiply;
+  block->steps_e /= 100;
  block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));

  // Bail if this is a zero-length block
@ -512,11 +516,18 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  // Enable all
  if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }

+
+  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+  #ifdef SLOWDOWN
+    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+  #endif
+
  float delta_mm[4];
  delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
+  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
  if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
    block->millimeters = abs(delta_mm[E_AXIS]);
  } else {
@ -537,12 +548,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
    	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  } 

-  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-#ifdef SLOWDOWN
-  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-#endif
-
 /*
  //  segment time im micro seconds
  long segment_time = lround(1000000.0/inverse_second);
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@ -67,7 +67,7 @@ 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.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
+void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, uint8_t &extruder);

 // Set position. Used for G92 instructions.
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -432,7 +432,7 @@ ISR(TIMER1_COMPA_vect)
      }
      else { // +direction
        NORM_E_DIR();
-        count_direction[E_AXIS]=-1;
+        count_direction[E_AXIS]=1;
      }
    #endif //!ADVANCE
    
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -312,7 +312,7 @@ int temp2analog(int celsius, uint8_t e) {

    return (1023 * OVERSAMPLENR) - raw;
  }
-  return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
+  return ((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
 }

 // Takes bed temperature value as input and returns corresponding raw value. 
@ -342,7 +342,7 @@ int temp2analogBed(int celsius) {

    return (1023 * OVERSAMPLENR) - raw;
 #elif defined BED_USES_AD595
-    return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
+    return lround(((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
 #else
    #warning No heater-type defined for the bed.
    return 0;
@ -390,7 +390,7 @@ float analog2temp(int raw, uint8_t e) {

    return celsius;
  }
-  return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+  return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
 }

 // Derived from RepRap FiveD extruder::getTemperature()
@ -421,7 +421,7 @@ float analog2tempBed(int raw) {
    return celsius;
    
  #elif defined BED_USES_AD595
-    return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
  #else
    #warning No heater-type defined for the bed.
  #endif
@ -851,18 +851,18 @@ ISR(TIMER0_COMPB_vect)
    for(unsigned char e = 0; e < EXTRUDERS; e++) {
       if(current_raw[e] >= maxttemp[e]) {
          target_raw[e] = 0;
-          #if (PS_ON != -1)
-          {
          max_temp_error(e);
+          #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          {
            kill();;
          }
          #endif
       }
       if(current_raw[e] <= minttemp[e]) {
          target_raw[e] = 0;
-          #if (PS_ON != -1)
-          {
          min_temp_error(e);
+          #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
+          {
            kill();
          }
          #endif
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@ -9,18 +9,11 @@
  void beep();
  void buttons_check();

-
  #define LCD_UPDATE_INTERVAL 100
  #define STATUSTIMEOUT 15000
-
-
-  
  extern LiquidCrystal lcd;
  
-
  #ifdef NEWPANEL
-
-    
    #define EN_C (1<<BLEN_C)
    #define EN_B (1<<BLEN_B)
    #define EN_A (1<<BLEN_A)
@ -28,10 +21,12 @@
    #define CLICKED (buttons&EN_C)
    #define BLOCK {blocking=millis()+blocktime;}
    #if (SDCARDDETECT > -1)
-    {
+      #ifdef SDCARDDETECTINVERTED 
+        #define CARDINSERTED (READ(SDCARDDETECT)!=0)
+      #else
        #define CARDINSERTED (READ(SDCARDDETECT)==0)
-    }
      #endif
+    #endif  //SDCARDTETECTINVERTED

  #else

--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@ -9,6 +9,8 @@
 extern volatile int feedmultiply;
 extern volatile bool feedmultiplychanged;

+extern volatile int extrudemultiply;
+
 extern long position[4];   
 extern CardReader card;

@ -122,7 +124,7 @@ void lcd_init()
  lcd.createChar(3,uplevel);
  lcd.createChar(4,refresh);
  lcd.createChar(5,folder);
-  LCD_MESSAGEPGM("UltiMarlin ready.");
+  LCD_MESSAGEPGM(WELCOME_MSG);
 }


@ -372,7 +374,7 @@ void MainMenu::showStatus()
  if((currentz!=oldzpos)||force_lcd_update)
  {
    lcd.setCursor(10,1);
-    lcdprintPGM("Z:");lcd.print(ftostr32(current_position[2]));
+    lcdprintPGM("Z:");lcd.print(ftostr52(current_position[2]));
    oldzpos=currentz;
  }
  static int oldfeedmultiply=0;
@ -411,7 +413,6 @@ void MainMenu::showStatus()
     lcd.setCursor(7,2);
    lcd.print(itostr3((int)percent));
    lcdprintPGM("%SD");
-    
  }
  
 #else //smaller LCDS----------------------------------
@ -457,7 +458,7 @@ void MainMenu::showStatus()
  force_lcd_update=false;
 }

-enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat, ItemP_cooldown,/*ItemP_extrude,*/ItemP_move};
+enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat_pla, ItemP_preheat_abs, ItemP_cooldown,/*ItemP_extrude,*/ItemP_move};

 //any action must not contain a ',' character anywhere, or this breaks:
 #define MENUITEM(repaint_action, click_action) \
@ -476,31 +477,34 @@ void MainMenu::showPrepare()
  switch(i)
  {
    case ItemP_exit:
-      MENUITEM(  lcdprintPGM(" Main \003")  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_MAIN)  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
      break;
    case ItemP_autostart:
-      MENUITEM(  lcdprintPGM(" Autostart")  ,  BLOCK;card.lastnr=0;card.setroot();card.checkautostart(true);beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_AUTOSTART)  ,  BLOCK;card.lastnr=0;card.setroot();card.checkautostart(true);beepshort(); ) ;
      break;
    case ItemP_disstep:
-      MENUITEM(  lcdprintPGM(" Disable Steppers")  ,  BLOCK;enquecommand("M84");beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_DISABLE_STEPPERS)  ,  BLOCK;enquecommand("M84");beepshort(); ) ;
      break;
    case ItemP_home:
-      MENUITEM(  lcdprintPGM(" Auto Home")  ,  BLOCK;enquecommand("G28 X0 Y0 Z0");beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_AUTO_HOME)  ,  BLOCK;enquecommand("G28");beepshort(); ) ;
      break;
    case ItemP_origin:
-      MENUITEM(  lcdprintPGM(" Set Origin")  ,  BLOCK;enquecommand("G92 X0 Y0 Z0");beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_SET_ORIGIN)  ,  BLOCK;enquecommand("G92 X0 Y0 Z0");beepshort(); ) ;
      break;
-    case ItemP_preheat:
-      MENUITEM(  lcdprintPGM(" Preheat")  ,  BLOCK;setTargetHotend0(227);setTargetBed(105);beepshort(); ) ;
+    case ItemP_preheat_pla:
+      MENUITEM(  lcdprintPGM(MSG_PREHEAT_PLA)  ,  BLOCK;setTargetHotend0(PLA_PREHEAT_HOTEND_TEMP);setTargetBed(PLA_PREHEAT_HPB_TEMP);analogWrite(FAN_PIN, PLA_PREHEAT_FAN_SPEED); beepshort(); ) ;
+      break;
+    case ItemP_preheat_abs:
+      MENUITEM(  lcdprintPGM(MSG_PREHEAT_ABS)  ,  BLOCK;setTargetHotend0(ABS_PREHEAT_HOTEND_TEMP);setTargetBed(ABS_PREHEAT_HPB_TEMP); analogWrite(FAN_PIN, ABS_PREHEAT_FAN_SPEED); beepshort(); ) ;
      break;
    case ItemP_cooldown:
-      MENUITEM(  lcdprintPGM(" Cooldown")  ,  BLOCK;setTargetHotend0(0);setTargetBed(0);beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_COOLDOWN)  ,  BLOCK;setTargetHotend0(0);setTargetBed(0);beepshort(); ) ;
      break;
 //    case ItemP_extrude:
  //    MENUITEM(  lcdprintPGM(" Extrude")  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ;
    //  break;
    case ItemP_move:
-      MENUITEM(  lcdprintPGM(" Move Axis      \x7E") , BLOCK;status=Sub_PrepareMove;beepshort(); );
+      MENUITEM(  lcdprintPGM(MSG_MOVE_AXIS) , BLOCK;status=Sub_PrepareMove;beepshort(); );
      break;
        default:   
      break;
@ -533,7 +537,7 @@ void MainMenu::showAxisMove()
                  if(force_lcd_update)
                  {
                    lcd.setCursor(0,line);lcdprintPGM(" X:");
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[X_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[X_AXIS]));
                  }
      
                  if((activeline!=line) )
@ -569,7 +573,7 @@ void MainMenu::showAxisMove()
 			oldencoderpos=encoderpos;
                        encoderpos=0;
 		    }
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[X_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[X_AXIS]));
                  }
          }
          break;
@ -578,7 +582,7 @@ void MainMenu::showAxisMove()
                  if(force_lcd_update)
                  {
                    lcd.setCursor(0,line);lcdprintPGM(" Y:");
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[Y_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Y_AXIS]));
                  }
      
                  if((activeline!=line) )
@ -614,7 +618,7 @@ void MainMenu::showAxisMove()
 			oldencoderpos=encoderpos;
                        encoderpos=0;
 		    }
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[Y_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Y_AXIS]));
                  }
          }
          break;
@ -623,7 +627,7 @@ void MainMenu::showAxisMove()
                  if(force_lcd_update)
                  {
                    lcd.setCursor(0,line);lcdprintPGM(" Z:");
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[Z_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Z_AXIS]));
                  }
      
                  if((activeline!=line) )
@ -659,12 +663,12 @@ void MainMenu::showAxisMove()
 			oldencoderpos=encoderpos;
                        encoderpos=0;
 		    }
-                    lcd.setCursor(13,line);lcd.print(ftostr32(current_position[Z_AXIS]));
+                    lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Z_AXIS]));
                  }
          }
          break;
          case ItemAM_E:
-          MENUITEM(  lcdprintPGM(" Extrude")  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E5");beepshort(); ) ;
+          MENUITEM(  lcdprintPGM(MSG_EXTRUDE)  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E5");beepshort(); ) ;
          break;
          default:
          break;
@ -690,20 +694,20 @@ void MainMenu::showTune()
  switch(i)
  {
  case ItemT_exit:
-      MENUITEM(  lcdprintPGM(" Main \003")  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_MAIN)  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
      break;
  case ItemT_speed:
    {
      if(force_lcd_update)
      {
-        lcd.setCursor(0,line);lcdprintPGM(" Speed:");
+        lcd.setCursor(0,line);lcdprintPGM(MSG_SPEED);
        lcd.setCursor(13,line);lcd.print(ftostr3(feedmultiply));
      }
      
      if((activeline!=line) )
        break;
      
-      if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
+      if(CLICKED) //AnalogWrite(FAN_PIN,  fanpwm);
      {
        linechanging=!linechanging;
        if(linechanging)
@ -731,7 +735,7 @@ void MainMenu::showTune()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002Nozzle:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE);
          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0())));
        }
        
@ -765,7 +769,7 @@ void MainMenu::showTune()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002Bed:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_BED);
          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetBed())));
        }
        
@ -836,7 +840,7 @@ void MainMenu::showTune()
         {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Flow:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_FLOW);
          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
        }
        
@ -917,13 +921,13 @@ void MainMenu::showControlTemp()
  switch(i)
  {
    case ItemCT_exit:
-      MENUITEM(  lcdprintPGM(" Control \003")  ,  BLOCK;status=Main_Control;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_CONTROL)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
      break;
    case ItemCT_nozzle:
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002Nozzle:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE);
          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0())));
        }
        
@ -958,7 +962,7 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002 Min:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_MIN);
          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_min));
        }
        
@ -992,7 +996,7 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002 Max:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_MAX);
          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max));
        }
        
@ -1026,7 +1030,7 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002 Fact:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_FACTOR);
          lcd.setCursor(13,line);lcd.print(ftostr32(autotemp_factor));
        }
        
@ -1060,12 +1064,12 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Autotemp:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_AUTOTEMP);
          lcd.setCursor(13,line);
          if(autotemp_enabled)
-            lcdprintPGM("On");
+            lcdprintPGM(MSG_ON);
          else
-            lcdprintPGM("Off");
+            lcdprintPGM(MSG_OFF);
        }
        
        if((activeline!=line) )
@ -1076,9 +1080,9 @@ void MainMenu::showControlTemp()
          autotemp_enabled=!autotemp_enabled;
          lcd.setCursor(13,line);
          if(autotemp_enabled)
-            lcdprintPGM("On ");
+            lcdprintPGM(MSG_ON);
          else
-            lcdprintPGM("Off");
+            lcdprintPGM(MSG_OFF);
          BLOCK;
        }
        
@ -1089,7 +1093,7 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" \002Bed:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_BED);
          lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetBed())));
        }
        
@ -1123,7 +1127,7 @@ void MainMenu::showControlTemp()
      {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Fan speed:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_FAN_SPEED);
          lcd.setCursor(13,line);lcd.print(ftostr3(fanpwm));
        }
        
@ -1193,7 +1197,7 @@ void MainMenu::showControlTemp()
      {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" PID-I: ");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_PID_I);
          lcd.setCursor(13,line);lcd.print(ftostr51(Ki/PID_dT));
        }
        
@ -1228,7 +1232,7 @@ void MainMenu::showControlTemp()
      {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" PID-D: ");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_PID_D);
          lcd.setCursor(13,line);lcd.print(itostr4(Kd*PID_dT));
        }
        
@ -1265,7 +1269,7 @@ void MainMenu::showControlTemp()
      {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" PID-C: ");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_PID_C);
          lcd.setCursor(13,line);lcd.print(itostr3(Kc));
        }
        
@ -1331,13 +1335,13 @@ void MainMenu::showControlMotion()
  switch(i)
  {
    case ItemCM_exit:
-      MENUITEM(  lcdprintPGM(" Control \003")  ,  BLOCK;status=Main_Control;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_CONTROL)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
      break;
    case ItemCM_acc:
    {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Acc:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_ACC);
          lcd.setCursor(13,line);lcd.print(itostr3(acceleration/100));lcdprintPGM("00");
        }
        
@ -1371,7 +1375,7 @@ void MainMenu::showControlMotion()
      {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Vxy-jerk: ");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_VXY_JERK);
          lcd.setCursor(13,line);lcd.print(itostr3(max_xy_jerk));
        }
        
@ -1410,11 +1414,11 @@ void MainMenu::showControlMotion()
      {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Vmax ");
-          if(i==ItemCM_vmaxx)lcdprintPGM("x:");
-          if(i==ItemCM_vmaxy)lcdprintPGM("y:");
-          if(i==ItemCM_vmaxz)lcdprintPGM("z:");
-          if(i==ItemCM_vmaxe)lcdprintPGM("e:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_VMAX);
+          if(i==ItemCM_vmaxx)lcdprintPGM(MSG_X);
+          if(i==ItemCM_vmaxy)lcdprintPGM(MSG_Y);
+          if(i==ItemCM_vmaxz)lcdprintPGM(MSG_Z);
+          if(i==ItemCM_vmaxe)lcdprintPGM(MSG_E);
          lcd.setCursor(13,line);lcd.print(itostr3(max_feedrate[i-ItemCM_vmaxx]));
        }
        
@ -1450,7 +1454,7 @@ void MainMenu::showControlMotion()
    {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Vmin:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_VMIN);
          lcd.setCursor(13,line);lcd.print(itostr3(minimumfeedrate));
        }
        
@ -1485,7 +1489,7 @@ void MainMenu::showControlMotion()
    {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" VTrav min:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_VTRAV_MIN);
          lcd.setCursor(13,line);lcd.print(itostr3(mintravelfeedrate));
        }
        
@ -1525,10 +1529,10 @@ void MainMenu::showControlMotion()
      if(force_lcd_update)
        {
          lcd.setCursor(0,line);lcdprintPGM(" Amax ");
-          if(i==ItemCM_amaxx)lcdprintPGM("x:");
-          if(i==ItemCM_amaxy)lcdprintPGM("y:");
-          if(i==ItemCM_amaxz)lcdprintPGM("z:");
-          if(i==ItemCM_amaxe)lcdprintPGM("e:");
+          if(i==ItemCM_amaxx)lcdprintPGM(MSG_X);
+          if(i==ItemCM_amaxy)lcdprintPGM(MSG_Y);
+          if(i==ItemCM_amaxz)lcdprintPGM(MSG_Z);
+          if(i==ItemCM_amaxe)lcdprintPGM(MSG_E);
          lcd.setCursor(13,line);lcd.print(itostr3(max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100));lcdprintPGM("00");
        }
        
@ -1562,7 +1566,7 @@ void MainMenu::showControlMotion()
    {
        if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" A-retract:");
+          lcd.setCursor(0,line);lcdprintPGM(MSG_A_RETRACT);
          lcd.setCursor(13,line);lcd.print(ftostr3(retract_acceleration/100));lcdprintPGM("00");
        }
        
@ -1597,8 +1601,8 @@ void MainMenu::showControlMotion()
         {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" X steps/mm:");
-          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[0]));
+          lcd.setCursor(0,line);lcdprintPGM(MSG_XSTEPS);
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[0]));
        }
        
        if((activeline!=line) )
@ -1609,16 +1613,15 @@ void MainMenu::showControlMotion()
          linechanging=!linechanging;
          if(linechanging)
          {
-              encoderpos=(int)axis_steps_per_unit[0];
+              encoderpos=(int)(axis_steps_per_unit[0]*100.0);
          }
          else
          {
-            float factor=float(encoderpos)/float(axis_steps_per_unit[0]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[0]);
            position[X_AXIS]=lround(position[X_AXIS]*factor);
            //current_position[3]*=factor;
-            axis_steps_per_unit[X_AXIS]= encoderpos;
+            axis_steps_per_unit[X_AXIS]= encoderpos/100.0;
            encoderpos=activeline*lcdslow;
-              
          }
          BLOCK;
          beepshort();
@ -1626,8 +1629,8 @@ void MainMenu::showControlMotion()
        if(linechanging)
        {
          if(encoderpos<5) encoderpos=5;
-          if(encoderpos>9999) encoderpos=9999;
-          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+          if(encoderpos>99999) encoderpos=99999;
+          lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
        }
        
      }break;
@ -1635,8 +1638,8 @@ void MainMenu::showControlMotion()
         {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Y steps/mm:");
-          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[1]));
+          lcd.setCursor(0,line);lcdprintPGM(MSG_YSTEPS);
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[1]));
        }
        
        if((activeline!=line) )
@ -1647,14 +1650,14 @@ void MainMenu::showControlMotion()
          linechanging=!linechanging;
          if(linechanging)
          {
-              encoderpos=(int)axis_steps_per_unit[1];
+              encoderpos=(int)(axis_steps_per_unit[1]*100.0);
          }
          else
          {
-            float factor=float(encoderpos)/float(axis_steps_per_unit[1]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[1]);
            position[Y_AXIS]=lround(position[Y_AXIS]*factor);
            //current_position[3]*=factor;
-            axis_steps_per_unit[Y_AXIS]= encoderpos;
+            axis_steps_per_unit[Y_AXIS]= encoderpos/100.0;
            encoderpos=activeline*lcdslow;
              
          }
@ -1665,7 +1668,7 @@ void MainMenu::showControlMotion()
        {
          if(encoderpos<5) encoderpos=5;
          if(encoderpos>9999) encoderpos=9999;
-          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+          lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
        }
        
      }break;
@ -1673,8 +1676,8 @@ void MainMenu::showControlMotion()
         {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" Z steps/mm:");
-          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[2]));
+          lcd.setCursor(0,line);lcdprintPGM(MSG_ZSTEPS);
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[2]));
        }
        
        if((activeline!=line) )
@ -1685,14 +1688,14 @@ void MainMenu::showControlMotion()
          linechanging=!linechanging;
          if(linechanging)
          {
-              encoderpos=(int)axis_steps_per_unit[2];
+              encoderpos=(int)(axis_steps_per_unit[2]*100.0);
          }
          else
          {
-            float factor=float(encoderpos)/float(axis_steps_per_unit[2]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[2]);
            position[Z_AXIS]=lround(position[Z_AXIS]*factor);
            //current_position[3]*=factor;
-            axis_steps_per_unit[Z_AXIS]= encoderpos;
+            axis_steps_per_unit[Z_AXIS]= encoderpos/100.0;
            encoderpos=activeline*lcdslow;
              
          }
@ -1703,7 +1706,7 @@ void MainMenu::showControlMotion()
        {
          if(encoderpos<5) encoderpos=5;
          if(encoderpos>9999) encoderpos=9999;
-          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+          lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
        }
        
      }break;
@ -1712,8 +1715,8 @@ void MainMenu::showControlMotion()
         {
      if(force_lcd_update)
        {
-          lcd.setCursor(0,line);lcdprintPGM(" E steps/mm:");
-          lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
+          lcd.setCursor(0,line);lcdprintPGM(MSG_ESTEPS);
+          lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[3]));
        }
        
        if((activeline!=line) )
@ -1724,14 +1727,14 @@ void MainMenu::showControlMotion()
          linechanging=!linechanging;
          if(linechanging)
          {
-              encoderpos=(int)axis_steps_per_unit[3];
+              encoderpos=(int)(axis_steps_per_unit[3]*100.0);
          }
          else
          {
-            float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
+            float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[3]);
            position[E_AXIS]=lround(position[E_AXIS]*factor);
            //current_position[3]*=factor;
-            axis_steps_per_unit[E_AXIS]= encoderpos;
+            axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
            encoderpos=activeline*lcdslow;
              
          }
@ -1742,7 +1745,7 @@ void MainMenu::showControlMotion()
        {
          if(encoderpos<5) encoderpos=5;
          if(encoderpos>9999) encoderpos=9999;
-          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+          lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
        }
        
      }break; 
@ -1769,19 +1772,19 @@ void MainMenu::showControl()
  switch(i)
  {
    case ItemC_exit:
-      MENUITEM(  lcdprintPGM(" Main        \003")  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_MAIN_WIDE)  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
      break;
    case ItemC_temp:
-      MENUITEM(  lcdprintPGM(" Temperature \x7E")  ,  BLOCK;status=Sub_TempControl;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_TEMPERATURE_WIDE)  ,  BLOCK;status=Sub_TempControl;beepshort(); ) ;
      break;
   case ItemC_move:
-      MENUITEM(  lcdprintPGM(" Motion      \x7E")  ,  BLOCK;status=Sub_MotionControl;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_MOTION_WIDE)  ,  BLOCK;status=Sub_MotionControl;beepshort(); ) ;
      break;
    case ItemC_store:
    {
      if(force_lcd_update)
      {
-        lcd.setCursor(0,line);lcdprintPGM(" Store EPROM");
+        lcd.setCursor(0,line);lcdprintPGM(MSG_STORE_EPROM);
      }
      if((activeline==line) && CLICKED)
      {
@ -1795,7 +1798,7 @@ void MainMenu::showControl()
    {
      if(force_lcd_update)
      {
-        lcd.setCursor(0,line);lcdprintPGM(" Load EPROM");
+        lcd.setCursor(0,line);lcdprintPGM(MSG_LOAD_EPROM);
      }
      if((activeline==line) && CLICKED)
      {
@ -1809,7 +1812,7 @@ void MainMenu::showControl()
    {
      if(force_lcd_update)
      {
-        lcd.setCursor(0,line);lcdprintPGM(" Restore Failsafe");
+        lcd.setCursor(0,line);lcdprintPGM(MSG_RESTORE_FAILSAFE);
      }
      if((activeline==line) && CLICKED)
      {
@ -1856,7 +1859,7 @@ void MainMenu::showSD()
  switch(i)
  {
    case 0:
-      MENUITEM(  lcdprintPGM(" Main \003")  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_MAIN)  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
      break;
 //     case 1:
 //       {
@ -1887,7 +1890,7 @@ void MainMenu::showSD()
 //         }
 //       }break;
    case 1:
-      MENUITEM(  lcd.print(" ");card.getWorkDirName();if(card.filename[0]=='/') lcdprintPGM("\004Refresh");else {lcd.print("\005");lcd.print(card.filename);lcd.print("/..");}  ,  BLOCK;card.updir();enforceupdate=true;lineoffset=0;beepshort(); ) ;
+      MENUITEM(  lcd.print(" ");card.getWorkDirName();if(card.filename[0]=='/') lcdprintPGM(MSG_REFRESH);else {lcd.print("\005");lcd.print(card.filename);lcd.print("/..");}  ,  BLOCK;card.updir();enforceupdate=true;lineoffset=0;beepshort(); ) ;
      
      break;
    default:
@ -1974,14 +1977,14 @@ void MainMenu::showMainMenu()
    switch(line)
    { 
      case ItemM_watch:
-        MENUITEM(  lcdprintPGM(" Watch   \003")  ,  BLOCK;status=Main_Status;beepshort(); ) ;
+        MENUITEM(  lcdprintPGM(MSG_WATCH)  ,  BLOCK;status=Main_Status;beepshort(); ) ;
       break;
      case ItemM_prepare:
-        MENUITEM(  if(!tune) lcdprintPGM(" Prepare \x7E");else  lcdprintPGM(" Tune    \x7E"); ,  BLOCK;status=Main_Prepare;beepshort(); ) ;
+        MENUITEM(  if(!tune) lcdprintPGM(MSG_PREPARE);else  lcdprintPGM(MSG_TUNE); ,  BLOCK;status=Main_Prepare;beepshort(); ) ;
      break;
       
      case ItemM_control:
-        MENUITEM(  lcdprintPGM(" Control \x7E")  ,  BLOCK;status=Main_Control;beepshort(); ) ;
+        MENUITEM(  lcdprintPGM(MSG_CONTROL_ARROW)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
      break;
      #ifdef SDSUPPORT
      case ItemM_file:    
@ -1996,13 +1999,13 @@ void MainMenu::showMainMenu()
          #endif
          {
            if(card.sdprinting)
-              lcdprintPGM(" Stop Print   \x7E");
+              lcdprintPGM(MSG_STOP_PRINT);
            else
-              lcdprintPGM(" Card Menu    \x7E");
+              lcdprintPGM(MSG_CARD_MENU);
          }
          else
          {
-           lcdprintPGM(" No Card"); 
+           lcdprintPGM(MSG_NO_CARD); 
          }
        }
        #ifdef CARDINSERTED
@ -2022,7 +2025,7 @@ void MainMenu::showMainMenu()
      #endif
      default: 
        SERIAL_ERROR_START;
-        SERIAL_ERRORLNPGM("Something is wrong in the MenuStructure.");
+        SERIAL_ERRORLNPGM(MSG_SERIAL_ERROR_MENU_STRUCTURE);
      break;
    }
  }
@ -2043,12 +2046,12 @@ void MainMenu::update()
      if(CARDINSERTED)
      {
        card.initsd();
-        LCD_MESSAGEPGM("Card inserted");
+        LCD_MESSAGEPGM(MSG_SD_INSERTED);
      }
      else
      {
        card.release();
-        LCD_MESSAGEPGM("Card removed");
+        LCD_MESSAGEPGM(MSG_SD_REMOVED);
      }
    }
  #endif
@ -2223,6 +2226,21 @@ char *ftostr51(const float &x)
  return conv;
 }

+//  convert float to string with +123.45 format
+char *ftostr52(const float &x)
+{
+  int xx=x*100;
+  conv[0]=(xx>=0)?'+':'-';
+  xx=abs(xx);
+  conv[1]=(xx/10000)%10+'0';
+  conv[2]=(xx/1000)%10+'0';
+  conv[3]=(xx/100)%10+'0';
+  conv[4]='.';
+  conv[5]=(xx/10)%10+'0';
+  conv[6]=(xx)%10+'0';
+  conv[7]=0;
+  return conv;
+}

 #endif //ULTRA_LCD

--- a/README.md
+++ b/README.md
@ -1,26 +1,6 @@
-SCUBA82's fork:
-----------------
-
-The main goal of my fork is porting the brilliant Marlin firmware to GEN7 Boards.
-I'm working on a 16MHz GEN7 board and have only tested with this configuration.
-But there were reports about successfully running it at 20 MHz. Expect 25% faster moves and maybe some other issues.
-
-Using lcd and sdcard support on an ATMega644(P) is not possible cause the sketch is way too big for its memory.
-I switched to an ATMega1284P which has double size program memory. Unfortunately it's not supported in Arduino IDE out of the box but expect a tutorial on how to compile for it soon. 
-For the necessary pin breakouts I used Alfons3 design of GEN7 (https://github.com/Alfons3/Generation_7_Electronics) with an additional breakout for pin A0/D31. 
-I'll publish my desing as soon as possible.
-
-You have to use different chip fuses to get Marlin running.
-The fuses I'm using are lfuse: 0xF7 hfuse: 0xD4 efuse: 0xFD
-
-For questions take a look into http://forums.reprap.org/read.php?181,118329 or send me an e-mail: christian_thalhammer@gmx.at
-
-
-Expect this fork to be highly experimental. 
-
 WARNING: 
 --------
-THIS IS RELEASE CANDIDATE 1 FOR MARLIN 1.0.0
+THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0

 The configuration is now split in two files
 Configuration.h for the normal settings