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

Conflicts: Marlin/Marlin_main.cpp Marlin/stepper.cpp
10 years ago · cba5692673
7 changed files with 601 additions and 410 deletions
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -229,7 +229,6 @@ void refresh_cmd_timeout(void);
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern int feedmultiply;
-extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
 extern bool volumetric_enabled;
 extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
 extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -79,7 +79,7 @@
 // G4  - Dwell S<seconds> or P<milliseconds>
 // G10 - retract filament according to settings of M207
 // G11 - retract recover filament according to settings of M208
-// G28 - Home all Axis
+// G28 - Home one or more axes
 // G29 - Detailed Z-Probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
 // G30 - Single Z Probe, probes bed at current XY location.
 // G31 - Dock sled (Z_PROBE_SLED only)
@ -210,7 +210,6 @@ int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
 int feedmultiply = 100; //100->1 200->2
 int saved_feedmultiply;
-int extrudemultiply = 100; //100->1 200->2
 int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
 bool volumetric_enabled = false;
 float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
@ -477,8 +476,6 @@ bool enquecommand(const char *cmd)
  return true;
 }

-
-
 void setup_killpin()
 {
  #if defined(KILL_PIN) && KILL_PIN > -1
@ -966,10 +963,10 @@ static void axis_is_at_home(int axis) {
        return;
      }
      else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
-        current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
-        min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
-        max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
-                                max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
+        float xoff = home_offset[X_AXIS];
+        current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
+                 min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
+                 max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
        return;
      }
    }
@ -1023,16 +1020,27 @@ static void axis_is_at_home(int axis) {
 }

 /**
- * Shorthand to tell the planner our current position (in mm).
+ * Some planner shorthand inline functions
 */
+inline void line_to_current_position() {
+  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+}
+inline void line_to_z(float zPosition) {
+  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+}
+inline void line_to_destination() {
+  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+}
 inline void sync_plan_position() {
  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }

 #ifdef ENABLE_AUTO_BED_LEVELING
+
  #ifdef AUTO_BED_LEVELING_GRID

    #ifndef DELTA
+
      static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
        vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
        planeNormal.debug("planeNormal");
@ -1051,9 +1059,10 @@ inline void sync_plan_position() {

        sync_plan_position();
      }
-#endif

-#else // not AUTO_BED_LEVELING_GRID
+    #endif // !DELTA
+
+  #else // !AUTO_BED_LEVELING_GRID

    static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {

@ -1080,9 +1089,10 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
      sync_plan_position();
    }

-#endif // AUTO_BED_LEVELING_GRID
+  #endif // !AUTO_BED_LEVELING_GRID

  static void run_z_probe() {
+
    #ifdef DELTA
    
      float start_z = current_position[Z_AXIS];
@ -1102,14 +1112,14 @@ static void run_z_probe() {
      calculate_delta(current_position);
      plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
      
-  #else
+    #else // !DELTA

      plan_bed_level_matrix.set_to_identity();
      feedrate = homing_feedrate[Z_AXIS];

      // move down until you find the bed
      float zPosition = -10;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+      line_to_z(zPosition);
      st_synchronize();

      // we have to let the planner know where we are right now as it is not where we said to go.
@ -1118,21 +1128,20 @@ static void run_z_probe() {

      // move up the retract distance
      zPosition += home_retract_mm(Z_AXIS);
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+      line_to_z(zPosition);
      st_synchronize();
      endstops_hit_on_purpose();

      // move back down slowly to find bed
-    if (homing_bump_divisor[Z_AXIS] >= 1) {
+      if (homing_bump_divisor[Z_AXIS] >= 1)
        feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
-    } 
      else {
        feedrate = homing_feedrate[Z_AXIS] / 10;
-      SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
+        SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
      }

      zPosition -= home_retract_mm(Z_AXIS) * 2;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+      line_to_z(zPosition);
      st_synchronize();
      endstops_hit_on_purpose();

@ -1140,7 +1149,7 @@ static void run_z_probe() {
      // make sure the planner knows where we are as it may be a bit different than we last said to move to
      sync_plan_position();
      
-  #endif
+    #endif // !DELTA
  }

  static void do_blocking_move_to(float x, float y, float z) {
@ -1161,14 +1170,14 @@ static void do_blocking_move_to(float x, float y, float z) {
      feedrate = homing_feedrate[Z_AXIS];

      current_position[Z_AXIS] = z;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+      line_to_current_position();
      st_synchronize();

      feedrate = xy_travel_speed;

      current_position[X_AXIS] = x;
      current_position[Y_AXIS] = y;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+      line_to_current_position();
      st_synchronize();

    #endif
@ -1181,7 +1190,6 @@ static void setup_for_endstop_move() {
    saved_feedmultiply = feedmultiply;
    feedmultiply = 100;
    previous_millis_cmd = millis();
-
    enable_endstops(true);
  }

@ -1189,12 +1197,12 @@ static void clean_up_after_endstop_move() {
    #ifdef ENDSTOPS_ONLY_FOR_HOMING
      enable_endstops(false);
    #endif
-
    feedrate = saved_feedrate;
    feedmultiply = saved_feedmultiply;
    previous_millis_cmd = millis();
  }

+<<<<<<< HEAD
 static void engage_z_probe() {
  // Engage Z Servo endstop if enabled
  #ifdef SERVO_ENDSTOPS
@ -1242,13 +1250,59 @@ static void engage_z_probe() {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+=======
+  static void engage_z_probe() {
+
+    #ifdef SERVO_ENDSTOPS
+
+      // Engage Z Servo endstop if enabled
+      if (servo_endstops[Z_AXIS] >= 0) {
+        #if SERVO_LEVELING
+          servos[servo_endstops[Z_AXIS]].attach(0);
+        #endif
+        servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
+        #if SERVO_LEVELING
+          delay(PROBE_SERVO_DEACTIVATION_DELAY);
+          servos[servo_endstops[Z_AXIS]].detach();
+        #endif
+      }
+
+    #elif defined(Z_PROBE_ALLEN_KEY)
+
+      feedrate = homing_feedrate[X_AXIS];
+
+      // Move to the start position to initiate deployment
+      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
+      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
+      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
+      prepare_move_raw();
+
+      // Home X to touch the belt
+      feedrate = homing_feedrate[X_AXIS]/10;
+      destination[X_AXIS] = 0;
+      prepare_move_raw();
+      
+      // Home Y for safety
+      feedrate = homing_feedrate[X_AXIS]/2;
+      destination[Y_AXIS] = 0;
+      prepare_move_raw();
+      
+      st_synchronize();
+      
+      bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+      if (z_min_endstop) {
+        if (!Stopped) {
+          SERIAL_ERROR_START;
+          SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
+          LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+>>>>>>> MarlinFirmware/Development
        }
        Stop();
      }
-  #endif

-}
+    #endif // Z_PROBE_ALLEN_KEY

+<<<<<<< HEAD
 static void retract_z_probe() {
  // Retract Z Servo endstop if enabled
  #ifdef SERVO_ENDSTOPS
@ -1311,9 +1365,75 @@ static void retract_z_probe() {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+=======
+  }
+
+  static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
+
+    #ifdef SERVO_ENDSTOPS
+
+      // Retract Z Servo endstop if enabled
+      if (servo_endstops[Z_AXIS] >= 0) {
+
+        if (z_after > 0) {
+          do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
+          st_synchronize();
+>>>>>>> MarlinFirmware/Development
+        }
+      
+        #if SERVO_LEVELING
+          servos[servo_endstops[Z_AXIS]].attach(0);
+        #endif
+
+        servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
+
+        #if SERVO_LEVELING
+          delay(PROBE_SERVO_DEACTIVATION_DELAY);
+          servos[servo_endstops[Z_AXIS]].detach();
+        #endif
+      }
+
+    #elif defined(Z_PROBE_ALLEN_KEY)
+
+      // Move up for safety
+      feedrate = homing_feedrate[X_AXIS];
+      destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
+      prepare_move_raw();
+
+      // Move to the start position to initiate retraction
+      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
+      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
+      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
+      prepare_move_raw();
+
+      // Move the nozzle down to push the probe into retracted position
+      feedrate = homing_feedrate[Z_AXIS]/10;
+      destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
+      prepare_move_raw();
+      
+      // Move up for safety
+      feedrate = homing_feedrate[Z_AXIS]/2;
+      destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
+      prepare_move_raw();
+      
+      // Home XY for safety
+      feedrate = homing_feedrate[X_AXIS]/2;
+      destination[X_AXIS] = 0;
+      destination[Y_AXIS] = 0;
+      prepare_move_raw();
+      
+      st_synchronize();
+      
+      bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+      if (!z_min_endstop) {
+        if (!Stopped) {
+          SERIAL_ERROR_START;
+          SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
+          LCD_ALERTMESSAGEPGM("Err: ZPROBE");
        }
        Stop();
      }
+
    #endif

  }
@ -1325,7 +1445,7 @@ enum ProbeAction {
    ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
  };

-/// Probe bed height at position (x,y), returns the measured z value
+  // Probe bed height at position (x,y), returns the measured z value
  static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
    // move to right place
    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
@ -1339,7 +1459,7 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
    float measured_z = current_position[Z_AXIS];

    #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
-    if (retract_action & ProbeRetract) retract_z_probe();
+      if (retract_action & ProbeRetract) retract_z_probe(z_before);
    #endif

    if (verbose_level > 2) {
@ -1356,6 +1476,11 @@ static float probe_pt(float x, float y, float z_before, ProbeAction retract_acti
  }

  #ifdef DELTA
+
+    /**
+     * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
+     */
+
    static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
      if (bed_level[x][y] != 0.0) {
        return;  // Don't overwrite good values.
@ -1419,18 +1544,37 @@ static void homeaxis(int axis) {

  if (axis == X_AXIS ? HOMEAXIS_DO(X) :
      axis == Y_AXIS ? HOMEAXIS_DO(Y) :
-      axis==Z_AXIS ? HOMEAXIS_DO(Z) :
-      0) {
-    int axis_home_dir = home_dir(axis);
+      axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
+
+    int axis_home_dir;
+
    #ifdef DUAL_X_CARRIAGE
-    if (axis == X_AXIS)
-      axis_home_dir = x_home_dir(active_extruder);
+      if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
+    #else
+      axis_home_dir = home_dir(axis);
    #endif

    current_position[axis] = 0;
    sync_plan_position();

+    #ifndef Z_PROBE_SLED
+      // Engage Servo endstop if enabled
+      #ifdef SERVO_ENDSTOPS
+        #if SERVO_LEVELING
+          if (axis == Z_AXIS) {
+            engage_z_probe();
+          }
+          else
+        #endif // SERVO_LEVELING
+
+        if (servo_endstops[axis] > -1)
+          servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+
+      #endif // SERVO_ENDSTOPS
+
+    #endif // Z_PROBE_SLED

+<<<<<<< HEAD
 #ifndef Z_PROBE_SLED
    // Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
    #ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
@ -1445,33 +1589,33 @@ static void homeaxis(int axis) {
      }
    #endif
 #endif // Z_PROBE_SLED
+=======
+>>>>>>> MarlinFirmware/Development
    #ifdef Z_DUAL_ENDSTOPS
      if (axis == Z_AXIS) In_Homing_Process(true);
    #endif
+
    destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
    feedrate = homing_feedrate[axis];
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    line_to_destination();
    st_synchronize();

    current_position[axis] = 0;
    sync_plan_position();
    destination[axis] = -home_retract_mm(axis) * axis_home_dir;
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    line_to_destination();
    st_synchronize();

    destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;

    if (homing_bump_divisor[axis] >= 1)
-    {
      feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
-    } 
-    else
-    {
+    else {
      feedrate = homing_feedrate[axis] / 10;
-        SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
+      SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
    }

-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    line_to_destination();
    st_synchronize();
    #ifdef Z_DUAL_ENDSTOPS
      if (axis==Z_AXIS)
@ -1486,7 +1630,7 @@ static void homeaxis(int axis) {
          destination[axis] = fabs(z_endstop_adj);
          if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);        
        }
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+        line_to_destination();
        st_synchronize();
        Lock_z_motor(false);
        Lock_z2_motor(false);
@ -1499,7 +1643,7 @@ static void homeaxis(int axis) {
    if (endstop_adj[axis] * axis_home_dir < 0) {
      sync_plan_position();
      destination[axis] = endstop_adj[axis];
-      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+      line_to_destination();
      st_synchronize();
    }
 #endif
@ -1735,17 +1879,16 @@ inline void gcode_G4() {
 */
 inline void gcode_G28() {
  #ifdef ENABLE_AUTO_BED_LEVELING
+    plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
    #ifdef DELTA
      reset_bed_level();
-    #else
-      plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
    #endif
  #endif

  #if defined(MESH_BED_LEVELING)
    uint8_t mbl_was_active = mbl.active;
    mbl.active = 0;
-  #endif  // MESH_BED_LEVELING
+  #endif

  saved_feedrate = feedrate;
  saved_feedmultiply = feedmultiply;
@ -1768,7 +1911,7 @@ inline void gcode_G28() {

    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
    feedrate = 1.732 * homing_feedrate[X_AXIS];
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    line_to_destination();
    st_synchronize();
    endstops_hit_on_purpose();

@ -1816,7 +1959,7 @@ inline void gcode_G28() {
        } else {
          feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
        }
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+        line_to_destination();
        st_synchronize();

        axis_is_at_home(X_AXIS);
@ -1824,7 +1967,7 @@ inline void gcode_G28() {
        sync_plan_position();
        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);
+        line_to_destination();
        feedrate = 0.0;
        st_synchronize();
        endstops_hit_on_purpose();
@ -1892,7 +2035,7 @@ inline void gcode_G28() {
            #ifndef Z_PROBE_AND_ENDSTOP
            destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
            feedrate = max_feedrate[Z_AXIS];
-            plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+            line_to_destination();
            st_synchronize();
            #endif
          #endif
@ -1905,11 +2048,11 @@ inline void gcode_G28() {
          destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
          destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
          destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
-          feedrate = XY_TRAVEL_SPEED / 60;
+          feedrate = XY_TRAVEL_SPEED;
          current_position[Z_AXIS] = 0;

          sync_plan_position();
-          plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+          line_to_destination();
          st_synchronize();
          current_position[X_AXIS] = destination[X_AXIS];
          current_position[Y_AXIS] = destination[Y_AXIS];
@ -1931,7 +2074,7 @@ inline void gcode_G28() {
              plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
              destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
              feedrate = max_feedrate[Z_AXIS];
-              plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+              line_to_destination();
              st_synchronize();
              HOMEAXIS(Z);
            }
@ -1984,7 +2127,7 @@ inline void gcode_G28() {
      destination[Z_AXIS] = current_position[Z_AXIS];
      destination[E_AXIS] = current_position[E_AXIS];
      feedrate = homing_feedrate[X_AXIS];
-      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+      line_to_destination();
      st_synchronize();
      current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
      sync_plan_position();
@ -1998,6 +2141,19 @@ inline void gcode_G28() {
  endstops_hit_on_purpose();
 }

+#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
+
+  // Check for known positions in X and Y
+  inline bool can_run_bed_leveling() {
+  	if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
+    LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+    return false;
+  }
+
+#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
+
 #ifdef MESH_BED_LEVELING

  /**
@ -2012,6 +2168,10 @@ inline void gcode_G28() {
   *
   */
  inline void gcode_G29() {
+
+    // Prevent leveling without first homing in X and Y
+    if (!can_run_bed_leveling()) return;
+
    static int probe_point = -1;
    int state = 0;
    if (code_seen('S') || code_seen('s')) {
@ -2128,13 +2288,8 @@ inline void gcode_G28() {
   */
  inline void gcode_G29() {

-    // Prevent user from running a G29 without first homing in X and Y
-    if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
-      LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
-      SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
-      return;
-    }
+    // Prevent leveling without first homing in X and Y
+    if (!can_run_bed_leveling()) return;

    int verbose_level = 1;

@ -2216,16 +2371,15 @@ inline void gcode_G28() {

    st_synchronize();

-    if (!dryrun)
-    {
+    if (!dryrun) {
+      // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
+      plan_bed_level_matrix.set_to_identity();
+
      #ifdef DELTA
        reset_bed_level();
      #else //!DELTA
-
-        // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
        //vector_3 corrected_position = plan_get_position_mm();
        //corrected_position.debug("position before G29");
-        plan_bed_level_matrix.set_to_identity();
        vector_3 uncorrected_position = plan_get_position();
        //uncorrected_position.debug("position during G29");
        current_position[X_AXIS] = uncorrected_position.x;
@ -2233,7 +2387,7 @@ inline void gcode_G28() {
        current_position[Z_AXIS] = uncorrected_position.z;
        sync_plan_position();

-      #endif
+      #endif // !DELTA
    }
    
    setup_for_endstop_move();
@ -2294,13 +2448,12 @@ inline void gcode_G28() {

          // raise extruder
          float measured_z,
-                z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
+                z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);

          #ifdef DELTA
            // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
            float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
-            if (distance_from_center > DELTA_PROBABLE_RADIUS)
-              continue;
+            if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
          #endif //DELTA

          // Enhanced G29 - Do not retract servo between probes
@ -2328,6 +2481,11 @@ inline void gcode_G28() {
          #endif

          probePointCounter++;
+
+          manage_heater();
+          manage_inactivity();
+          lcd_update();
+
        } //xProbe
      } //yProbe

@ -2414,16 +2572,14 @@ inline void gcode_G28() {
      if (verbose_level > 0)
        plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");

+      if (!dryrun) {
        // Correct the Z height difference from z-probe position and hotend tip position.
        // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
        // When the bed is uneven, this height must be corrected.
-      if (!dryrun)
-      {
-        float x_tmp, y_tmp, z_tmp, real_z;
-        real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
-        x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
-        y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
-        z_tmp = current_position[Z_AXIS];
+        float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
+              y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
+              z_tmp = current_position[Z_AXIS],
+              real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)

        apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
        current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
@ -3791,7 +3947,7 @@ inline void gcode_M221() {
      extruder_multiply[tmp_extruder] = sval;
    }
    else {
-      extrudemultiply = sval;
+      extruder_multiply[active_extruder] = sval;
    }
  }
 }
@ -4228,7 +4384,7 @@ inline void gcode_M400() { st_synchronize(); }
    //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
    //SERIAL_PROTOCOL(filament_width_meas);
    //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
-    //SERIAL_PROTOCOL(extrudemultiply);
+    //SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
  }

  /**
@ -4701,18 +4857,14 @@ void process_commands() {
      gcode_G28();
      break;

-    #if defined(MESH_BED_LEVELING)
-      case 29: // G29 Handle mesh based leveling
+    #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
+      case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
        gcode_G29();
        break;
    #endif

    #ifdef ENABLE_AUTO_BED_LEVELING

-      case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
-        gcode_G29();
-        break;
-
      #ifndef Z_PROBE_SLED

        case 30: // G30 Single Z Probe
@ -5408,9 +5560,7 @@ void prepare_move()
  #ifdef SCARA //for now same as delta-code

    float difference[NUM_AXIS];
-for (int8_t i=0; i < NUM_AXIS; i++) {
-  difference[i] = destination[i] - current_position[i];
-}
+    for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];

    float cartesian_mm = sqrt(  sq(difference[X_AXIS]) +
                                sq(difference[Y_AXIS]) +
@ -5419,16 +5569,17 @@ if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
    if (cartesian_mm < 0.000001) { return; }
    float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
    int steps = max(1, int(scara_segments_per_second * seconds));
+
    //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
    //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
    //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+
    for (int s = 1; s <= steps; s++) {
      float fraction = float(s) / float(steps);
      for(int8_t i = 0; i < NUM_AXIS; i++) {
        destination[i] = current_position[i] + difference[i] * fraction;
      }
  
-  
      calculate_delta(destination);
      //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
      //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
@ -5441,29 +5592,33 @@ for (int s = 1; s <= steps; s++) {
        destination[E_AXIS], feedrate*feedmultiply/60/100.0,
        active_extruder);
    }
+
  #endif // SCARA
  
  #ifdef DELTA
+
    float difference[NUM_AXIS];
-  for (int8_t i=0; i < NUM_AXIS; i++) {
-    difference[i] = destination[i] - current_position[i];
-  }
+    for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+
    float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
                              sq(difference[Y_AXIS]) +
                              sq(difference[Z_AXIS]));
-  if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
-  if (cartesian_mm < 0.000001) { return; }
+    if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
+    if (cartesian_mm < 0.000001) return;
    float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
    int steps = max(1, int(delta_segments_per_second * seconds));
+
    // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
    // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
    // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+
    for (int s = 1; s <= steps; s++) {
      float fraction = float(s) / float(steps);
-    for(int8_t i=0; i < NUM_AXIS; i++) {
-      destination[i] = current_position[i] + difference[i] * fraction;
-    }
+      for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
      calculate_delta(destination);
+      #ifdef ENABLE_AUTO_BED_LEVELING
+        adjust_delta(destination);
+      #endif
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
                       destination[E_AXIS], feedrate*feedmultiply/60/100.0,
                       active_extruder);
@ -5515,13 +5670,13 @@ for (int s = 1; s <= steps; s++) {
 #if ! (defined DELTA || defined SCARA)
  // Do not use feedmultiply for E or Z only moves
  if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+    line_to_destination();
  } else {
 #if defined(MESH_BED_LEVELING)
-    mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+    mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
    return;
 #else
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
 #endif  // MESH_BED_LEVELING
  }
 #endif // !(DELTA || SCARA)
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@ -369,7 +369,7 @@ static void lcd_implementation_status_screen() {
      lcd_printPGM(PSTR("dia:"));
      lcd_print(ftostr12ns(filament_width_meas));
      lcd_printPGM(PSTR(" factor:"));
-      lcd_print(itostr3(extrudemultiply));
+      lcd_print(itostr3(volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
      lcd_print('%');
    }
  #endif
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -545,7 +545,7 @@ float junction_deviation = 0.1;
  block->steps[Z_AXIS] = labs(dz);
  block->steps[E_AXIS] = labs(de);
  block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
-  block->steps[E_AXIS] *= extrudemultiply;
+  block->steps[E_AXIS] *= extruder_multiply[active_extruder];
  block->steps[E_AXIS] /= 100;
  block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));

@ -679,7 +679,7 @@ float junction_deviation = 0.1;
    delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
  #endif
  delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extrudemultiply / 100.0;
+  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extruder_multiply[active_extruder] / 100.0;

  if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
    block->millimeters = fabs(delta_mm[E_AXIS]);
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -515,31 +515,36 @@ ISR(TIMER1_COMPA_vect) {
    }

    if (TEST(out_bits, Z_AXIS)) {   // -direction
+
      Z_APPLY_DIR(INVERT_Z_DIR,0);
      count_direction[Z_AXIS] = -1;
-      if (check_endstops) 
-      {
-        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-          #ifndef Z_DUAL_ENDSTOPS
-            UPDATE_ENDSTOP(z, Z, min, MIN);
-          #else
-            bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
-            #if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
-              bool z2_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING);
+
+      if (check_endstops) {
+
+        #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
+
+          #ifdef Z_DUAL_ENDSTOPS
+
+            bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
+                z2_min_endstop =
+                  #if defined(Z2_MIN_PIN) && Z2_MIN_PIN >= 0
+                    READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
                  #else
-              bool z2_min_endstop=z_min_endstop;
+                    z_min_endstop
                  #endif
-            if(((z_min_endstop && old_z_min_endstop) || (z2_min_endstop && old_z2_min_endstop)) && (current_block->steps[Z_AXIS] > 0))
-            {
+                ;
+
+            bool z_min_both = z_min_endstop && old_z_min_endstop,
+                z2_min_both = z2_min_endstop && old_z2_min_endstop;
+            if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
              endstop_z_hit = true;
-              if (!(performing_homing) || ((performing_homing)&&(z_min_endstop && old_z_min_endstop)&&(z2_min_endstop && old_z2_min_endstop))) //if not performing home or if both endstops were trigged during homing...
-              {
+              if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
                step_events_completed = current_block->step_event_count;
            }
-            }
            old_z_min_endstop = z_min_endstop;
            old_z2_min_endstop = z2_min_endstop;
+<<<<<<< HEAD
          #endif
        #endif

@ -556,37 +561,55 @@ ISR(TIMER1_COMPA_vect) {
          old_z_probe_endstop = z_probe_endstop;
        #endif
      }
+=======
+
+          #else // !Z_DUAL_ENDSTOPS
+
+            UPDATE_ENDSTOP(z, Z, min, MIN);
+
+          #endif // !Z_DUAL_ENDSTOPS
+
+        #endif // Z_MIN_PIN
+
+      } // check_endstops
+
+>>>>>>> MarlinFirmware/Development
    }
    else { // +direction
+
      Z_APPLY_DIR(!INVERT_Z_DIR,0);
      count_direction[Z_AXIS] = 1;
+
      if (check_endstops) {
+
        #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
-          #ifndef Z_DUAL_ENDSTOPS
-            UPDATE_ENDSTOP(z, Z, max, MAX);
-          #else
-            bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
-            #if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
-              bool z2_max_endstop=(READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING);
+
+          #ifdef Z_DUAL_ENDSTOPS
+
+            bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
+                z2_max_endstop =
+                  #if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
+                    READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
                  #else
-              bool z2_max_endstop=z_max_endstop;
+                    z_max_endstop
                  #endif
-            if(((z_max_endstop && old_z_max_endstop) || (z2_max_endstop && old_z2_max_endstop)) && (current_block->steps[Z_AXIS] > 0))
-            {
+                ;
+
+            bool z_max_both = z_max_endstop && old_z_max_endstop,
+                z2_max_both = z2_max_endstop && old_z2_max_endstop;
+            if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
              endstop_z_hit = true;

-//              if (z_max_endstop && old_z_max_endstop) SERIAL_ECHOLN("z_max_endstop = true");
-//              if (z2_max_endstop && old_z2_max_endstop) SERIAL_ECHOLN("z2_max_endstop = true");
-
+             // if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
+             // if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");

-              if (!(performing_homing) || ((performing_homing)&&(z_max_endstop && old_z_max_endstop)&&(z2_max_endstop && old_z2_max_endstop))) //if not performing home or if both endstops were trigged during homing...
-              {
+              if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
                step_events_completed = current_block->step_event_count;
            }
-            }
            old_z_max_endstop = z_max_endstop;
            old_z2_max_endstop = z2_max_endstop;
+<<<<<<< HEAD
          #endif
        #endif

@ -603,6 +626,20 @@ ISR(TIMER1_COMPA_vect) {
        #endif
      }
    }
+=======
+
+          #else // !Z_DUAL_ENDSTOPS
+
+            UPDATE_ENDSTOP(z, Z, max, MAX);
+
+          #endif // !Z_DUAL_ENDSTOPS
+
+        #endif // Z_MAX_PIN
+
+      } // check_endstops
+
+    } // +direction
+>>>>>>> MarlinFirmware/Development

    #ifndef ADVANCE
      if (TEST(out_bits, E_AXIS)) {  // -direction
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@ -485,7 +485,7 @@ static void lcd_tune_menu() {
    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
  #endif
  MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
-  MENU_ITEM_EDIT(int3, MSG_FLOW, &extrudemultiply, 10, 999);
+  MENU_ITEM_EDIT(int3, MSG_FLOW, &extruder_multiply[active_extruder], 10, 999);
  MENU_ITEM_EDIT(int3, MSG_FLOW MSG_F0, &extruder_multiply[0], 10, 999);
  #if TEMP_SENSOR_1 != 0
    MENU_ITEM_EDIT(int3, MSG_FLOW MSG_F1, &extruder_multiply[1], 10, 999);
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@ -624,7 +624,7 @@ static void lcd_implementation_status_screen()

 static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char post_char) {
  char c;
-  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2);
+  uint8_t n = LCD_WIDTH - 2;
  lcd.setCursor(0, row);
  lcd.print(sel ? pre_char : ' ');
  while ((c = pgm_read_byte(pstr)) && n > 0) {
@ -633,12 +633,11 @@ static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const cha
  }
  while(n--) lcd.print(' ');
  lcd.print(post_char);
-  lcd.print(' ');
 }

 static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char* data) {
  char c;
-  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen(data);
+  uint8_t n = LCD_WIDTH - 2 - lcd_strlen(data);
  lcd.setCursor(0, row);
  lcd.print(sel ? pre_char : ' ');
  while ((c = pgm_read_byte(pstr)) && n > 0) {
@ -651,7 +650,7 @@ static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t r
 }
 static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t row, const char* pstr, char pre_char, const char* data) {
  char c;
-  uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen_P(data);
+  uint8_t n = LCD_WIDTH - 2 - lcd_strlen_P(data);
  lcd.setCursor(0, row);
  lcd.print(sel ? pre_char : ' ');
  while ((c = pgm_read_byte(pstr)) && n > 0) {
@ -688,11 +687,11 @@ void lcd_implementation_drawedit(const char* pstr, char* value) {
  lcd.setCursor(1, 1);
  lcd_printPGM(pstr);
  lcd.print(':');
-  lcd.setCursor(LCD_WIDTH - (LCD_WIDTH < 20 ? 0 : 1) - lcd_strlen(value), 1);
+  lcd.setCursor(LCD_WIDTH - lcd_strlen(value), 1);
  lcd_print(value);
 }

-static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat) {
+static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat, char post_char) {
  char c;
  uint8_t n = LCD_WIDTH - concat;
  lcd.setCursor(0, row);
@ -706,14 +705,15 @@ static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* ps
    filename++;
  }
  while (n--) lcd.print(' ');
+  lcd.print(post_char);
 }

 static void lcd_implementation_drawmenu_sdfile(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
-  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 1);
+  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2, ' ');
 }

 static void lcd_implementation_drawmenu_sddirectory(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
-  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2);
+  lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2, LCD_STR_FOLDER[0]);
 }

 #define lcd_implementation_drawmenu_back(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])