reformating and some minor bugs/things found on the way.

Marlin/Configuration.h

@@ -1,5 +1,5 @@
-#ifndef CONFIGURATION_H
-#define CONFIGURATION_H
+#ifndef __CONFIGURATION_H
+#define __CONFIGURATION_H
 
 //#define DEBUG_STEPS
 
@@ -118,10 +118,7 @@ const int dropsegments=5; //everything with this number of steps  will be ignore
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
 //note: on bernhards ultimaker 200 200 12 are working well.
 #define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0}  // set the homing speeds
-//the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed. 
-//!!!!!!Use only if you know that your printer works at the maximum declared speeds.
-// works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze
-#define TRAVELING_AT_MAXSPEED  
+
 #define AXIS_RELATIVE_MODES {false, false, false, false}
 
 #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
@@ -177,41 +174,50 @@ const int dropsegments=5; //everything with this number of steps  will be ignore
 //#define_HEATER_1_MAXTEMP 275
 //#define BED_MAXTEMP 150
 
-
-
-
-
-
-
+/// PID settings:
+// Uncomment the following line to enable PID support.
+  
 #define PIDTEMP
 #ifdef PIDTEMP
-  /// PID settings:
-  // Uncomment the following line to enable PID support.
-  //#define SMOOTHING
-  //#define SMOOTHFACTOR 5.0
-  //float current_raw_average=0;
-    #define K1 0.95 //smoothing of the PID
   //#define PID_DEBUG // Sends debug data to the serial port. 
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
-  #define PID_MAX 255 // limits current to nozzle
-  #define PID_INTEGRAL_DRIVE_MAX 255
-  #define PID_dT 0.1
- //machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47
+  
+  #define PID_MAX 255 // limits current to nozzle; 255=full current
+  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define K1 0.95 //smoothing factor withing the PID
+  #define PID_dT 0.1 //sampling period of the PID
+
+  //To develop some PID settings for your machine, you can initiall follow 
+  // the Ziegler-Nichols method.
+  // set Ki and Kd to zero. 
+  // heat with a defined Kp and see if the temperature stabilizes
+  // ideally you do this graphically with repg.
+  // the PID_CRITIAL_GAIN should be the Kp at which temperature oscillatins are not dampned out/decreas in amplitutde
+  // PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain
+  // usually further manual tunine is necessary.
 
   #define PID_CRITIAL_GAIN 3000
   #define PID_SWING_AT_CRITIAL 45 //seconds
-  #define PIDIADD 5
-  /*
-  //PID according to Ziegler-Nichols method
-  float Kp = 0.6*PID_CRITIAL_GAIN; 
-  float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;  
-  float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;  
-  */
-  //PI according to Ziegler-Nichols method
-  #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
-  #define  DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
-  #define  DEFAULT_Kd (0)
   
+  #define PID_PI    //no differentail term
+  //#define PID_PID //normal PID
+
+  #ifdef PID_PID
+    //PID according to Ziegler-Nichols method
+    #define  DEFAULT_Kp  (0.6*PID_CRITIAL_GAIN)
+    #define  DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)  
+    #define  DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)  
+  #endif
+ 
+  #ifdef PID_PI
+    //PI according to Ziegler-Nichols method
+    #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
+    #define  DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
+    #define  DEFAULT_Kd (0)
+  #endif
+  
+  // 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.
   #define PID_ADD_EXTRUSION_RATE  
   #ifdef PID_ADD_EXTRUSION_RATE
     #define  DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
@@ -228,22 +234,21 @@ const int dropsegments=5; //everything with this number of steps  will be ignore
 //#define ADVANCE
 
 #ifdef ADVANCE
-#define EXTRUDER_ADVANCE_K .3
+  #define EXTRUDER_ADVANCE_K .3
 
-#define D_FILAMENT 1.7
-#define STEPS_MM_E 65
-#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
-#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+  #define D_FILAMENT 1.7
+  #define STEPS_MM_E 65
+  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
 
 #endif // ADVANCE
 
-// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32 
-#if defined SDSUPPORT
 // The number of linear motions that can be in the plan at any give time.  
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+#if defined SDSUPPORT
   #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
 #else
   #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif
 
-
-#endif
+#endif //__CONFIGURATION_H

Marlin/EEPROMwrite.h

@@ -1,39 +1,42 @@
 #ifndef __EEPROMH
 #define __EEPROMH
+
+#include "Marlin.h"
 #include "planner.h"
 #include "temperature.h"
 #include <EEPROM.h>
-#include "Marlin.h"
-#include "streaming.h"
 
-//======================================================================================
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
 {
-    const byte* p = (const byte*)(const void*)&value;
-    int i;
-    for (i = 0; i < (int)sizeof(value); i++)
-	  EEPROM.write(ee++, *p++);
-    return i;
+  const byte* p = (const byte*)(const void*)&value;
+  int i;
+  for (i = 0; i < (int)sizeof(value); i++)
+    EEPROM.write(ee++, *p++);
+  return i;
 }
-//======================================================================================
+
 template <class T> int EEPROM_readAnything(int &ee, T& value)
 {
-    byte* p = (byte*)(void*)&value;
-    int i;
-    for (i = 0; i < (int)sizeof(value); i++)
-	  *p++ = EEPROM.read(ee++);
-    return i;
+  byte* p = (byte*)(void*)&value;
+  int i;
+  for (i = 0; i < (int)sizeof(value); i++)
+    *p++ = EEPROM.read(ee++);
+  return i;
 }
 //======================================================================================
 
 #define EEPROM_OFFSET 100
 
-#define EEPROM_VERSION "V04"  // IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
-                              // in the functions below, also increment the version number. This makes sure that
-                              // the default values are used whenever there is a change to the data, to prevent
-                              // wrong data being written to the variables.
-                              // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-void StoreSettings() {
+
+// IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
+// in the functions below, also increment the version number. This makes sure that
+// the default values are used whenever there is a change to the data, to prevent
+// wrong data being written to the variables.
+// ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
+#define EEPROM_VERSION "V04"  
+
+void StoreSettings() 
+{
   char ver[4]= "000";
   int i=EEPROM_OFFSET;
   EEPROM_writeAnything(i,ver); // invalidate data first 
@@ -48,52 +51,55 @@ void StoreSettings() {
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
   #ifdef PIDTEMP
-  EEPROM_writeAnything(i,Kp);
-  EEPROM_writeAnything(i,Ki);
-  EEPROM_writeAnything(i,Kd);
-#else
-  EEPROM_writeAnything(i,3000);
-  EEPROM_writeAnything(i,0);
-  EEPROM_writeAnything(i,0);
-#endif
+    EEPROM_writeAnything(i,Kp);
+    EEPROM_writeAnything(i,Ki);
+    EEPROM_writeAnything(i,Kd);
+  #else
+    EEPROM_writeAnything(i,3000);
+    EEPROM_writeAnything(i,0);
+    EEPROM_writeAnything(i,0);
+  #endif
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_writeAnything(i,ver2); // validate data
-   SERIAL_ECHOLN("Settings Stored");
-
+  SERIAL_ECHOLN("Settings Stored");
 }
 
-void RetrieveSettings(bool def=false){  // if def=true, the default values will be used
+void RetrieveSettings(bool def=false)
+{  // if def=true, the default values will be used
   int i=EEPROM_OFFSET;
   char stored_ver[4];
   char ver[4]=EEPROM_VERSION;
   EEPROM_readAnything(i,stored_ver); //read stored version
-//  SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
-  if ((!def)&&(strncmp(ver,stored_ver,3)==0)) {   // version number match
-      EEPROM_readAnything(i,axis_steps_per_unit);  
-      EEPROM_readAnything(i,max_feedrate);  
-      EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
-      EEPROM_readAnything(i,acceleration);
-      EEPROM_readAnything(i,retract_acceleration);
-      EEPROM_readAnything(i,minimumfeedrate);
-      EEPROM_readAnything(i,mintravelfeedrate);
-      EEPROM_readAnything(i,minsegmenttime);
-      EEPROM_readAnything(i,max_xy_jerk);
-      EEPROM_readAnything(i,max_z_jerk);
-#ifndef PIDTEMP
+  //  SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
+  if ((!def)&&(strncmp(ver,stored_ver,3)==0)) 
+  {   // version number match
+    EEPROM_readAnything(i,axis_steps_per_unit);  
+    EEPROM_readAnything(i,max_feedrate);  
+    EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
+    EEPROM_readAnything(i,acceleration);
+    EEPROM_readAnything(i,retract_acceleration);
+    EEPROM_readAnything(i,minimumfeedrate);
+    EEPROM_readAnything(i,mintravelfeedrate);
+    EEPROM_readAnything(i,minsegmenttime);
+    EEPROM_readAnything(i,max_xy_jerk);
+    EEPROM_readAnything(i,max_z_jerk);
+    #ifndef PIDTEMP
       float Kp,Ki,Kd;
-#endif
-      EEPROM_readAnything(i,Kp);
-      EEPROM_readAnything(i,Ki);
-      EEPROM_readAnything(i,Kd);
+    #endif
+    EEPROM_readAnything(i,Kp);
+    EEPROM_readAnything(i,Ki);
+    EEPROM_readAnything(i,Kd);
 
-      SERIAL_ECHOLN("Stored settings retreived:");
+    SERIAL_ECHOLN("Stored settings retreived:");
   }
-  else {
+  else 
+  {
     float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
     float tmp2[]=DEFAULT_MAX_FEEDRATE;
     long tmp3[]=DEFAULT_MAX_ACCELERATION;
-    for (int i=0;i<4;i++) {
+    for (short i=0;i<4;i++) 
+    {
       axis_steps_per_unit[i]=tmp1[i];  
       max_feedrate[i]=tmp2[i];  
       max_acceleration_units_per_sq_second[i]=tmp3[i];
@@ -117,11 +123,10 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
   SERIAL_ECHOLN("   M204 S"  <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2));
   SERIAL_ECHOLN("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
   SERIAL_ECHOLN("   M205 S"  <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2));
-#ifdef PIDTEMP
-  SERIAL_ECHOLN("PID settings:");
-  SERIAL_ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
-#endif
-  
+  #ifdef PIDTEMP
+    SERIAL_ECHOLN("PID settings:");
+    SERIAL_ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
+  #endif
 }  
 
 #endif

Marlin/Marlin.h

@@ -18,41 +18,39 @@ void process_commands();
 void manage_inactivity(byte debug);
 
 #if X_ENABLE_PIN > -1
-#define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
-#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
+  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
+  #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else
-#define enable_x() ;
-#define disable_x() ;
+  #define enable_x() ;
+  #define disable_x() ;
 #endif
+
 #if Y_ENABLE_PIN > -1
-#define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
-#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+  #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
+  #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
 #else
-#define enable_y() ;
-#define disable_y() ;
+  #define enable_y() ;
+  #define disable_y() ;
 #endif
+
 #if Z_ENABLE_PIN > -1
-#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+  #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+  #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
 #else
-#define enable_z() ;
-#define disable_z() ;
+  #define enable_z() ;
+  #define disable_z() ;
 #endif
 
 #if E_ENABLE_PIN > -1
-
-	#define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
-	#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
-
+  #define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
+  #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
 #else
-#define enable_e() ;
-#define disable_e() ;
+  #define enable_e() ;
+  #define disable_e() ;
 #endif
 
-#define X_AXIS 0
-#define Y_AXIS 1
-#define Z_AXIS 2
-#define E_AXIS 3
+enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
+
 
 void FlushSerialRequestResend();
 void ClearToSend();
@@ -61,26 +59,15 @@ void get_coordinates();
 void prepare_move();
 void kill();
 
-//void check_axes_activity();
-//void plan_init();
-//void st_init();
-//void tp_init();
-//void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
-//void plan_set_position(float x, float y, float z, float e);
-//void st_wake_up();
-//void st_synchronize();
 void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
 
 
 #ifndef CRITICAL_SECTION_START
-#define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
-#define CRITICAL_SECTION_END    SREG = _sreg;
+  #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
+  #define CRITICAL_SECTION_END    SREG = _sreg;
 #endif //CRITICAL_SECTION_START
 
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 
-
-void kill();
-
 #endif

Marlin/motion_control.cpp

@@ -33,8 +33,8 @@
 void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, 
   uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
 {      
-//   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
-//   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
+  //   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
+  //   plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
   SERIAL_ECHOLN("mc_arc.");
   float center_axis0 = position[axis_0] + offset[axis_0];
   float center_axis1 = position[axis_1] + offset[axis_1];
@@ -52,12 +52,12 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
   if (millimeters_of_travel == 0.0) { return; }
   uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
-/*  
-  // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
-  // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
-  // all segments.
-  if (invert_feed_rate) { feed_rate *= segments; }
-*/
+  /*  
+    // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
+    // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
+    // all segments.
+    if (invert_feed_rate) { feed_rate *= segments; }
+  */
   float theta_per_segment = angular_travel/segments;
   float linear_per_segment = linear_travel/segments;
   
@@ -128,6 +128,6 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   // Ensure last segment arrives at target location.
   plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
 
-//   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
+  //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
 }
 

Marlin/pins.h

@@ -557,6 +557,74 @@
 #define FAN_PIN            7
 #define PS_ON_PIN          12
 #define KILL_PIN           -1
+
+#ifdef ULTRA_LCD
+
+  #ifdef NEWPANEL
+  //arduino pin witch triggers an piezzo beeper
+    #define BEEPER 18
+
+    #define LCD_PINS_RS 20 
+    #define LCD_PINS_ENABLE 17
+    #define LCD_PINS_D4 16
+    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D6 5
+    #define LCD_PINS_D7 6
+    
+    //buttons are directly attached
+    #define BTN_EN1 40
+    #define BTN_EN2 42
+    #define BTN_ENC 19  //the click
+    
+    #define BLEN_C 2
+    #define BLEN_B 1
+    #define BLEN_A 0
+    
+    #define SDCARDDETECT 38
+    
+      //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 18
+
+    //buttons are attached to a shift register
+    #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 5
+    #define LCD_PINS_D4 6
+    #define LCD_PINS_D5 21 
+    #define LCD_PINS_D6 20
+    #define LCD_PINS_D7 19
+    
+    //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
+
 #endif
 
 

Marlin/planner.cpp

@@ -83,7 +83,7 @@ static volatile unsigned char block_buffer_head;           // Index of the next
 static volatile unsigned char block_buffer_tail;           // Index of the block to process now
 
 // The current position of the tool in absolute steps
- long position[4];   
+long position[4];   
 
 #define ONE_MINUTE_OF_MICROSECONDS 60000000.0
 
@@ -123,10 +123,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
   long initial_rate = ceil(block->nominal_rate*entry_factor);
   long final_rate = ceil(block->nominal_rate*exit_factor);
   
-#ifdef ADVANCE
-  long initial_advance = block->advance*entry_factor*entry_factor;
-  long final_advance = block->advance*exit_factor*exit_factor;
-#endif // ADVANCE
+  #ifdef ADVANCE
+    long initial_advance = block->advance*entry_factor*entry_factor;
+    long final_advance = block->advance*exit_factor*exit_factor;
+  #endif // ADVANCE
 
   // Limit minimal step rate (Otherwise the timer will overflow.)
   if(initial_rate <120) initial_rate=120;
@@ -155,10 +155,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
     block->decelerate_after = decelerate_after;
     block->initial_rate = initial_rate;
     block->final_rate = final_rate;
-#ifdef ADVANCE
-    block->initial_advance = initial_advance;
-    block->final_advance = final_advance;
-#endif //ADVANCE
+  #ifdef ADVANCE
+      block->initial_advance = initial_advance;
+      block->final_advance = final_advance;
+  #endif //ADVANCE
   }
   CRITICAL_SECTION_END;
 }                    
@@ -166,18 +166,15 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
 // acceleration within the allotted distance.
 inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
-  return(
-  sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
-    );
+  return  sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance);
 }
 
 // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
 // This method will calculate the junction jerk as the euclidean distance between the nominal 
 // velocities of the respective blocks.
 inline float junction_jerk(block_t *before, block_t *after) {
-  return(sqrt(
-    pow((before->speed_x-after->speed_x), 2)+
-    pow((before->speed_y-after->speed_y), 2)));
+  return sqrt(
+    pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
 }
 
 // Return the safe speed which is max_jerk/2, e.g. the 
@@ -185,8 +182,10 @@ inline float junction_jerk(block_t *before, block_t *after) {
 float safe_speed(block_t *block) {
   float safe_speed;
   safe_speed = max_xy_jerk/2;  
-  if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2;
-  if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
+  if(abs(block->speed_z) > max_z_jerk/2) 
+    safe_speed = max_z_jerk/2;
+  if (safe_speed > block->nominal_speed) 
+    safe_speed = block->nominal_speed;
   return safe_speed;  
 }
 
@@ -379,9 +378,8 @@ void check_axes_activity() {
 // 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(float x, float y, float z, float e, float feed_rate) {
-
-
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e,  float feed_rate)
+{
   // Calculate the buffer head after we push this byte
   int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1);
 
@@ -469,11 +467,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
   // Limit speed per axis
   float speed_factor = 1; //factor <=1 do decrease speed
   if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
-    //// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR????
-    //// [bernhard] No its not, according to Zalm.
-		//// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare.
     speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
-    //if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
+    //if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; /is not need here because auf the init above
   }
   if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
     float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
@@ -495,7 +490,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
   block->nominal_speed = block->millimeters * multiplier;
   block->nominal_rate = ceil(block->step_event_count * multiplier / 60);  
 
-  if(block->nominal_rate < 120) block->nominal_rate = 120;
+  if(block->nominal_rate < 120) 
+    block->nominal_rate = 120;
   block->entry_speed = safe_speed(block);
 
   // Compute the acceleration rate for the trapezoid generator. 
@@ -527,25 +523,25 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
   block->acceleration = block->acceleration_st * travel_per_step;
   block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
 
-#ifdef ADVANCE
-  // Calculate advance rate
-  if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
-    block->advance_rate = 0;
-    block->advance = 0;
-  }
-  else {
-    long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
-    float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
-      (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
-    block->advance = advance;
-    if(acc_dist == 0) {
+  #ifdef ADVANCE
+    // Calculate advance rate
+    if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
       block->advance_rate = 0;
-    } 
+      block->advance = 0;
+    }
     else {
-      block->advance_rate = advance / (float)acc_dist;
+      long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+      float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
+        (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
+      block->advance = advance;
+      if(acc_dist == 0) {
+        block->advance_rate = 0;
+      } 
+      else {
+        block->advance_rate = advance / (float)acc_dist;
+      }
     }
-  }
-#endif // ADVANCE
+  #endif // ADVANCE
 
   // compute a preliminary conservative acceleration trapezoid
   float safespeed = safe_speed(block);
@@ -576,7 +572,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
   st_wake_up();
 }
 
-void plan_set_position(float x, float y, float z, float e)
+void plan_set_position(const float &x, const float &y, const float &z, const float &e)
 {
   position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);

Marlin/planner.h

@@ -32,16 +32,16 @@ typedef struct {
   // Fields used by the bresenham algorithm for tracing the line
   long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
   long step_event_count;                    // The number of step events required to complete this block
-  volatile long accelerate_until;                    // The index of the step event on which to stop acceleration
-  volatile long decelerate_after;                    // The index of the step event on which to start decelerating
-  volatile long acceleration_rate;                   // The acceleration rate used for acceleration calculation
+  volatile long accelerate_until;           // The index of the step event on which to stop acceleration
+  volatile long decelerate_after;           // The index of the step event on which to start decelerating
+  volatile long acceleration_rate;          // The acceleration rate used for acceleration calculation
   unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
-#ifdef ADVANCE
-  long advance_rate;
-  volatile long initial_advance;
-  volatile long final_advance;
-  float advance;
-#endif
+  #ifdef ADVANCE
+    long advance_rate;
+    volatile long initial_advance;
+    volatile long final_advance;
+    float advance;
+  #endif
 
   // Fields used by the motion planner to manage acceleration
   float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
@@ -57,16 +57,17 @@ typedef struct {
   long acceleration_st;                              // acceleration steps/sec^2
   volatile char busy;
 } block_t;
-      
+
 // Initialize the motion plan subsystem      
 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(float x, float y, float z, float e, float feed_rate);
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
 
 // Set position. Used for G92 instructions.
-void plan_set_position(float x, float y, float z, float e);
+void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+
 
 // Called when the current block is no longer needed. Discards the block and makes the memory
 // availible for new blocks.

Marlin/speed_lookuptable.h

@@ -37,6 +37,7 @@ uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\
 { 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, 
 { 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0}
 };
+
 uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
 { 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, 
 { 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, 

Marlin/stepper.cpp

@@ -35,8 +35,8 @@
 // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
 // for debugging purposes only, should be disabled by default
 #ifdef DEBUG_STEPS
-volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
-volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
+  volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
+  volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 #endif
 
 
@@ -117,6 +117,8 @@ asm volatile ( \
 
 block_t *current_block;  // A pointer to the block currently being traced
 
+//static makes it inpossible to be called from outside of this file by extern.!
+
 // Variables used by The Stepper Driver Interrupt
 static unsigned char out_bits;        // The next stepping-bits to be output
 static long counter_x,       // Counter variables for the bresenham line tracer
@@ -125,9 +127,9 @@ static long counter_x,       // Counter variables for the bresenham line tracer
             counter_e;
 static unsigned long step_events_completed; // The number of step events executed in the current block
 #ifdef ADVANCE
-static long advance_rate, advance, final_advance = 0;
-static short old_advance = 0;
-static short e_steps;
+  static long advance_rate, advance, final_advance = 0;
+  static short old_advance = 0;
+  static short e_steps;
 #endif
 static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
 static long acceleration_time, deceleration_time;
@@ -195,10 +197,10 @@ inline unsigned short calc_timer(unsigned short step_rate) {
 // Initializes the trapezoid generator from the current block. Called whenever a new 
 // block begins.
 inline void trapezoid_generator_reset() {
-#ifdef ADVANCE
-  advance = current_block->initial_advance;
-  final_advance = current_block->final_advance;
-#endif
+  #ifdef ADVANCE
+    advance = current_block->initial_advance;
+    final_advance = current_block->final_advance;
+  #endif
   deceleration_time = 0;
   // advance_rate = current_block->advance_rate;
   // step_rate to timer interval
@@ -211,7 +213,8 @@ inline void trapezoid_generator_reset() {
 // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
 ISR(TIMER1_COMPA_vect)
 {        
-  if(busy){ SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself.");
+  if(busy){ 
+    SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself.");
     return; 
   } // The busy-flag is used to avoid reentering this interrupt
 
@@ -242,74 +245,74 @@ ISR(TIMER1_COMPA_vect)
     // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
     out_bits = current_block->direction_bits;
 
-#ifdef ADVANCE
-    // Calculate E early.
-    counter_e += current_block->steps_e;
-    if (counter_e > 0) {
-      counter_e -= current_block->step_event_count;
-      if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
-        CRITICAL_SECTION_START;
-        e_steps--;
-        CRITICAL_SECTION_END;
-      }
-      else {
+    #ifdef ADVANCE
+        // Calculate E early.
+        counter_e += current_block->steps_e;
+        if (counter_e > 0) {
+          counter_e -= current_block->step_event_count;
+          if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
+            CRITICAL_SECTION_START;
+            e_steps--;
+            CRITICAL_SECTION_END;
+          }
+          else {
+            CRITICAL_SECTION_START;
+            e_steps++;
+            CRITICAL_SECTION_END;
+          }
+        }    
+        // Do E steps + advance steps
         CRITICAL_SECTION_START;
-        e_steps++;
+        e_steps += ((advance >> 16) - old_advance);
         CRITICAL_SECTION_END;
-      }
-    }    
-    // Do E steps + advance steps
-    CRITICAL_SECTION_START;
-    e_steps += ((advance >> 16) - old_advance);
-    CRITICAL_SECTION_END;
-    old_advance = advance >> 16;  
-#endif //ADVANCE
+        old_advance = advance >> 16;  
+    #endif //ADVANCE
 
     // Set direction en check limit switches
-if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
+    if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       WRITE(X_DIR_PIN, INVERT_X_DIR);
       #ifdef DEBUG_STEPS
-      count_direction[X_AXIS]=-1;
+        count_direction[X_AXIS]=-1;
+      #endif
+      #if X_MIN_PIN > -1
+            if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
+              step_events_completed = current_block->step_event_count;
+            }
       #endif
-#if X_MIN_PIN > -1
-      if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
-        step_events_completed = current_block->step_event_count;
-      }
-#endif
     }
     else { // +direction 
-        WRITE(X_DIR_PIN,!INVERT_X_DIR);
-        #ifdef DEBUG_STEPS
+      WRITE(X_DIR_PIN,!INVERT_X_DIR);
+      #ifdef DEBUG_STEPS
         count_direction[X_AXIS]=1;
-        #endif
-#if X_MAX_PIN > -1
+      #endif
+      #if X_MAX_PIN > -1
         if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING)  && (current_block->steps_x >0)){
           step_events_completed = current_block->step_event_count;
         }
-#endif
+        #endif
     }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
       WRITE(Y_DIR_PIN,INVERT_Y_DIR);
       #ifdef DEBUG_STEPS
-      count_direction[Y_AXIS]=-1;
+        count_direction[Y_AXIS]=-1;
+      #endif
+      #if Y_MIN_PIN > -1
+        if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
+          step_events_completed = current_block->step_event_count;
+        }
       #endif
-#if Y_MIN_PIN > -1
-      if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
-        step_events_completed = current_block->step_event_count;
-      }
-#endif
     }
     else { // +direction
     WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       #ifdef DEBUG_STEPS
-      count_direction[Y_AXIS]=1;
+        count_direction[Y_AXIS]=1;
+      #endif
+      #if Y_MAX_PIN > -1
+      if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
+          step_events_completed = current_block->step_event_count;
+        }
       #endif
-#if Y_MAX_PIN > -1
-    if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
-        step_events_completed = current_block->step_event_count;
-      }
-#endif
     }
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
@@ -317,30 +320,30 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       #ifdef DEBUG_STEPS
       count_direction[Z_AXIS]=-1;
       #endif
-#if Z_MIN_PIN > -1
-      if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
-        step_events_completed = current_block->step_event_count;
-      }
-#endif
+      #if Z_MIN_PIN > -1
+        if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
+          step_events_completed = current_block->step_event_count;
+        }
+      #endif
     }
     else { // +direction
-        WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
-        #ifdef DEBUG_STEPS
+      WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
+      #ifdef DEBUG_STEPS
         count_direction[Z_AXIS]=1;
-        #endif
-#if Z_MAX_PIN > -1
+      #endif
+      #if Z_MAX_PIN > -1
         if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING)  && (current_block->steps_z >0)){
           step_events_completed = current_block->step_event_count;
         }
-#endif
+      #endif
     }
 
-#ifndef ADVANCE
-    if ((out_bits & (1<<E_AXIS)) != 0)   // -direction
-      WRITE(E_DIR_PIN,INVERT_E_DIR);
-    else // +direction
-      WRITE(E_DIR_PIN,!INVERT_E_DIR);
-#endif //!ADVANCE
+    #ifndef ADVANCE
+      if ((out_bits & (1<<E_AXIS)) != 0)   // -direction
+        WRITE(E_DIR_PIN,INVERT_E_DIR);
+      else // +direction
+        WRITE(E_DIR_PIN,!INVERT_E_DIR);
+    #endif //!ADVANCE
 
     for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
       counter_x += current_block->steps_x;
@@ -349,7 +352,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
         counter_x -= current_block->step_event_count;
         WRITE(X_STEP_PIN, LOW);
         #ifdef DEBUG_STEPS
-        count_position[X_AXIS]+=count_direction[X_AXIS];   
+          count_position[X_AXIS]+=count_direction[X_AXIS];   
         #endif
       }
 
@@ -359,7 +362,7 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
         counter_y -= current_block->step_event_count;
         WRITE(Y_STEP_PIN, LOW);
         #ifdef DEBUG_STEPS
-        count_position[Y_AXIS]+=count_direction[Y_AXIS];
+          count_position[Y_AXIS]+=count_direction[Y_AXIS];
         #endif
       }
 
@@ -369,18 +372,18 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
         counter_z -= current_block->step_event_count;
         WRITE(Z_STEP_PIN, LOW);
         #ifdef DEBUG_STEPS
-        count_position[Z_AXIS]+=count_direction[Z_AXIS];
+          count_position[Z_AXIS]+=count_direction[Z_AXIS];
         #endif
       }
 
-#ifndef ADVANCE
-      counter_e += current_block->steps_e;
-      if (counter_e > 0) {
-        WRITE(E_STEP_PIN, HIGH);
-        counter_e -= current_block->step_event_count;
-        WRITE(E_STEP_PIN, LOW);
-      }
-#endif //!ADVANCE
+      #ifndef ADVANCE
+        counter_e += current_block->steps_e;
+        if (counter_e > 0) {
+          WRITE(E_STEP_PIN, HIGH);
+          counter_e -= current_block->step_event_count;
+          WRITE(E_STEP_PIN, LOW);
+        }
+      #endif //!ADVANCE
       step_events_completed += 1;  
       if(step_events_completed >= current_block->step_event_count) break;
     }
@@ -397,9 +400,9 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
 
       // step_rate to timer interval
       timer = calc_timer(acc_step_rate);
-#ifdef ADVANCE
-      advance += advance_rate;
-#endif
+      #ifdef ADVANCE
+        advance += advance_rate;
+      #endif
       acceleration_time += timer;
       OCR1A = timer;
     } 
@@ -419,11 +422,11 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
 
       // step_rate to timer interval
       timer = calc_timer(step_rate);
-#ifdef ADVANCE
-      advance -= advance_rate;
-      if(advance < final_advance)
-        advance = final_advance;
-#endif //ADVANCE
+      #ifdef ADVANCE
+        advance -= advance_rate;
+        if(advance < final_advance)
+          advance = final_advance;
+      #endif //ADVANCE
       deceleration_time += timer;
       OCR1A = timer;
     }       
@@ -438,127 +441,126 @@ if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
 }
 
 #ifdef ADVANCE
-
-unsigned char old_OCR0A;
-// Timer interrupt for E. e_steps is set in the main routine;
-// Timer 0 is shared with millies
-ISR(TIMER0_COMPA_vect)
-{
-  // Critical section needed because Timer 1 interrupt has higher priority. 
-  // The pin set functions are placed on trategic position to comply with the stepper driver timing.
-  WRITE(E_STEP_PIN, LOW);
-  // Set E direction (Depends on E direction + advance)
-  if (e_steps < 0) {
-    WRITE(E_DIR_PIN,INVERT_E_DIR);    
-    e_steps++;
-    WRITE(E_STEP_PIN, HIGH);
-  } 
-  if (e_steps > 0) {
-    WRITE(E_DIR_PIN,!INVERT_E_DIR);
-    e_steps--;
-    WRITE(E_STEP_PIN, HIGH);
+  unsigned char old_OCR0A;
+  // Timer interrupt for E. e_steps is set in the main routine;
+  // Timer 0 is shared with millies
+  ISR(TIMER0_COMPA_vect)
+  {
+    // Critical section needed because Timer 1 interrupt has higher priority. 
+    // The pin set functions are placed on trategic position to comply with the stepper driver timing.
+    WRITE(E_STEP_PIN, LOW);
+    // Set E direction (Depends on E direction + advance)
+    if (e_steps < 0) {
+      WRITE(E_DIR_PIN,INVERT_E_DIR);    
+      e_steps++;
+      WRITE(E_STEP_PIN, HIGH);
+    } 
+    if (e_steps > 0) {
+      WRITE(E_DIR_PIN,!INVERT_E_DIR);
+      e_steps--;
+      WRITE(E_STEP_PIN, HIGH);
+    }
+    old_OCR0A += 25; // 10kHz interrupt
+    OCR0A = old_OCR0A;
   }
-  old_OCR0A += 25; // 10kHz interrupt
-  OCR0A = old_OCR0A;
-}
 #endif // ADVANCE
 
 void st_init()
 {
     //Initialize Dir Pins
-#if X_DIR_PIN > -1
-  SET_OUTPUT(X_DIR_PIN);
-#endif
-#if Y_DIR_PIN > -1 
-  SET_OUTPUT(Y_DIR_PIN);
-#endif
-#if Z_DIR_PIN > -1 
-  SET_OUTPUT(Z_DIR_PIN);
-#endif
-#if E_DIR_PIN > -1 
-  SET_OUTPUT(E_DIR_PIN);
-#endif
+  #if X_DIR_PIN > -1
+    SET_OUTPUT(X_DIR_PIN);
+  #endif
+  #if Y_DIR_PIN > -1 
+    SET_OUTPUT(Y_DIR_PIN);
+  #endif
+  #if Z_DIR_PIN > -1 
+    SET_OUTPUT(Z_DIR_PIN);
+  #endif
+  #if E_DIR_PIN > -1 
+    SET_OUTPUT(E_DIR_PIN);
+  #endif
 
   //Initialize Enable Pins - steppers default to disabled.
 
-#if (X_ENABLE_PIN > -1)
-  SET_OUTPUT(X_ENABLE_PIN);
-  if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
-#endif
-#if (Y_ENABLE_PIN > -1)
-  SET_OUTPUT(Y_ENABLE_PIN);
-  if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
-#endif
-#if (Z_ENABLE_PIN > -1)
-  SET_OUTPUT(Z_ENABLE_PIN);
-  if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
-#endif
-#if (E_ENABLE_PIN > -1)
-  SET_OUTPUT(E_ENABLE_PIN);
-  if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
-#endif
+  #if (X_ENABLE_PIN > -1)
+    SET_OUTPUT(X_ENABLE_PIN);
+    if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
+  #endif
+  #if (Y_ENABLE_PIN > -1)
+    SET_OUTPUT(Y_ENABLE_PIN);
+    if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
+  #endif
+  #if (Z_ENABLE_PIN > -1)
+    SET_OUTPUT(Z_ENABLE_PIN);
+    if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+  #endif
+  #if (E_ENABLE_PIN > -1)
+    SET_OUTPUT(E_ENABLE_PIN);
+    if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
+  #endif
 
   //endstops and pullups
-#ifdef ENDSTOPPULLUPS
-#if X_MIN_PIN > -1
-  SET_INPUT(X_MIN_PIN); 
-  WRITE(X_MIN_PIN,HIGH);
-#endif
-#if X_MAX_PIN > -1
-  SET_INPUT(X_MAX_PIN); 
-  WRITE(X_MAX_PIN,HIGH);
-#endif
-#if Y_MIN_PIN > -1
-  SET_INPUT(Y_MIN_PIN); 
-  WRITE(Y_MIN_PIN,HIGH);
-#endif
-#if Y_MAX_PIN > -1
-  SET_INPUT(Y_MAX_PIN); 
-  WRITE(Y_MAX_PIN,HIGH);
-#endif
-#if Z_MIN_PIN > -1
-  SET_INPUT(Z_MIN_PIN); 
-  WRITE(Z_MIN_PIN,HIGH);
-#endif
-#if Z_MAX_PIN > -1
-  SET_INPUT(Z_MAX_PIN); 
-  WRITE(Z_MAX_PIN,HIGH);
-#endif
-#else //ENDSTOPPULLUPS
-#if X_MIN_PIN > -1
-  SET_INPUT(X_MIN_PIN); 
-#endif
-#if X_MAX_PIN > -1
-  SET_INPUT(X_MAX_PIN); 
-#endif
-#if Y_MIN_PIN > -1
-  SET_INPUT(Y_MIN_PIN); 
-#endif
-#if Y_MAX_PIN > -1
-  SET_INPUT(Y_MAX_PIN); 
-#endif
-#if Z_MIN_PIN > -1
-  SET_INPUT(Z_MIN_PIN); 
-#endif
-#if Z_MAX_PIN > -1
-  SET_INPUT(Z_MAX_PIN); 
-#endif
-#endif //ENDSTOPPULLUPS
+  #ifdef ENDSTOPPULLUPS
+    #if X_MIN_PIN > -1
+      SET_INPUT(X_MIN_PIN); 
+      WRITE(X_MIN_PIN,HIGH);
+    #endif
+    #if X_MAX_PIN > -1
+      SET_INPUT(X_MAX_PIN); 
+      WRITE(X_MAX_PIN,HIGH);
+    #endif
+    #if Y_MIN_PIN > -1
+      SET_INPUT(Y_MIN_PIN); 
+      WRITE(Y_MIN_PIN,HIGH);
+    #endif
+    #if Y_MAX_PIN > -1
+      SET_INPUT(Y_MAX_PIN); 
+      WRITE(Y_MAX_PIN,HIGH);
+    #endif
+    #if Z_MIN_PIN > -1
+      SET_INPUT(Z_MIN_PIN); 
+      WRITE(Z_MIN_PIN,HIGH);
+    #endif
+    #if Z_MAX_PIN > -1
+      SET_INPUT(Z_MAX_PIN); 
+      WRITE(Z_MAX_PIN,HIGH);
+    #endif
+  #else //ENDSTOPPULLUPS
+    #if X_MIN_PIN > -1
+      SET_INPUT(X_MIN_PIN); 
+    #endif
+    #if X_MAX_PIN > -1
+      SET_INPUT(X_MAX_PIN); 
+    #endif
+    #if Y_MIN_PIN > -1
+      SET_INPUT(Y_MIN_PIN); 
+    #endif
+    #if Y_MAX_PIN > -1
+      SET_INPUT(Y_MAX_PIN); 
+    #endif
+    #if Z_MIN_PIN > -1
+      SET_INPUT(Z_MIN_PIN); 
+    #endif
+    #if Z_MAX_PIN > -1
+      SET_INPUT(Z_MAX_PIN); 
+    #endif
+  #endif //ENDSTOPPULLUPS
  
 
   //Initialize Step Pins
-#if (X_STEP_PIN > -1) 
-  SET_OUTPUT(X_STEP_PIN);
-#endif  
-#if (Y_STEP_PIN > -1) 
-  SET_OUTPUT(Y_STEP_PIN);
-#endif  
-#if (Z_STEP_PIN > -1) 
-  SET_OUTPUT(Z_STEP_PIN);
-#endif  
-#if (E_STEP_PIN > -1) 
-  SET_OUTPUT(E_STEP_PIN);
-#endif  
+  #if (X_STEP_PIN > -1) 
+    SET_OUTPUT(X_STEP_PIN);
+  #endif  
+  #if (Y_STEP_PIN > -1) 
+    SET_OUTPUT(Y_STEP_PIN);
+  #endif  
+  #if (Z_STEP_PIN > -1) 
+    SET_OUTPUT(Z_STEP_PIN);
+  #endif  
+  #if (E_STEP_PIN > -1) 
+    SET_OUTPUT(E_STEP_PIN);
+  #endif  
 
   // waveform generation = 0100 = CTC
   TCCR1B &= ~(1<<WGM13);
@@ -574,10 +576,10 @@ void st_init()
   OCR1A = 0x4000;
   DISABLE_STEPPER_DRIVER_INTERRUPT();  
 
-#ifdef ADVANCE
-  e_steps = 0;
-  TIMSK0 |= (1<<OCIE0A);
-#endif //ADVANCE
+  #ifdef ADVANCE
+    e_steps = 0;
+    TIMSK0 |= (1<<OCIE0A);
+  #endif //ADVANCE
   sei();
 }
 

Marlin/stepper.h

@@ -36,8 +36,8 @@ void st_wake_up();
 // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
 // for debugging purposes only, should be disabled by default
 #ifdef DEBUG_STEPS
-extern volatile long count_position[NUM_AXIS];
-extern volatile int count_direction[NUM_AXIS];
+  extern volatile long count_position[NUM_AXIS];
+  extern volatile int count_direction[NUM_AXIS];
 #endif
 
 extern block_t *current_block;  // A pointer to the block currently being traced

Marlin/temperature.cpp

@@ -74,24 +74,24 @@ unsigned long previous_millis_heater, previous_millis_bed_heater;
 #endif //WATCHPERIOD
 
 #ifdef HEATER_0_MINTEMP
-int minttemp_0 = temp2analog(HEATER_0_MINTEMP);
+  int minttemp_0 = temp2analog(HEATER_0_MINTEMP);
 #endif //MINTEMP
 #ifdef HEATER_0_MAXTEMP
-int maxttemp_0 = temp2analog(HEATER_0_MAXTEMP);
+  int maxttemp_0 = temp2analog(HEATER_0_MAXTEMP);
 #endif //MAXTEMP
 
 #ifdef HEATER_1_MINTEMP
-int minttemp_1 = temp2analog(HEATER_1_MINTEMP);
+  int minttemp_1 = temp2analog(HEATER_1_MINTEMP);
 #endif //MINTEMP
 #ifdef HEATER_1_MAXTEMP
-int maxttemp_1 = temp2analog(HEATER_1_MAXTEMP);
+  int maxttemp_1 = temp2analog(HEATER_1_MAXTEMP);
 #endif //MAXTEMP
 
 #ifdef BED_MINTEMP
-int bed_minttemp = temp2analog(BED_MINTEMP);
+  int bed_minttemp = temp2analog(BED_MINTEMP);
 #endif //BED_MINTEMP
 #ifdef BED_MAXTEMP
-int bed_maxttemp = temp2analog(BED_MAXTEMP);
+  int bed_maxttemp = temp2analog(BED_MAXTEMP);
 #endif //BED_MAXTEMP
 
 void manage_heater()
@@ -105,50 +105,49 @@ void manage_heater()
   if(temp_meas_ready != true)   //better readability
     return; 
 
-CRITICAL_SECTION_START;
+  CRITICAL_SECTION_START;
     temp_meas_ready = false;
-CRITICAL_SECTION_END;
+  CRITICAL_SECTION_END;
 
-#ifdef PIDTEMP
+  #ifdef PIDTEMP
     pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);
 
-#ifndef PID_OPENLOOP
-    pid_error = pid_setpoint - pid_input;
-    if(pid_error > 10){
-      pid_output = PID_MAX;
-      pid_reset = true;
-    }
-    else if(pid_error < -10) {
-      pid_output = 0;
-      pid_reset = true;
-    }
-    else {
-      if(pid_reset == true) {
-        temp_iState = 0.0;
-        pid_reset = false;
-      }
-      pTerm = Kp * pid_error;
-      temp_iState += pid_error;
-      temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
-      iTerm = Ki * temp_iState;
-      //K1 defined in Configuration.h in the PID settings
-      #define K2 (1.0-K1)
-      dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
-      temp_dState = pid_input;
-      #ifdef PID_ADD_EXTRUSION_RATE
-        pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
-      #endif
-      pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
-    }
-#endif //PID_OPENLOOP
-#ifdef PID_DEBUG
-     SERIAL_ECHOLN(" PIDDEBUG Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm<<" iTerm "<<iTerm<<" dTerm "<<dTerm); 
-     
-#endif //PID_DEBUG
+    #ifndef PID_OPENLOOP
+        pid_error = pid_setpoint - pid_input;
+        if(pid_error > 10){
+          pid_output = PID_MAX;
+          pid_reset = true;
+        }
+        else if(pid_error < -10) {
+          pid_output = 0;
+          pid_reset = true;
+        }
+        else {
+          if(pid_reset == true) {
+            temp_iState = 0.0;
+            pid_reset = false;
+          }
+          pTerm = Kp * pid_error;
+          temp_iState += pid_error;
+          temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
+          iTerm = Ki * temp_iState;
+          //K1 defined in Configuration.h in the PID settings
+          #define K2 (1.0-K1)
+          dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
+          temp_dState = pid_input;
+          #ifdef PID_ADD_EXTRUSION_RATE
+            pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
+          #endif
+          pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
+        }
+    #endif //PID_OPENLOOP
+    #ifdef PID_DEBUG
+     SERIAL_ECHOLN(" PIDDEBUG Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm<<" iTerm "<<iTerm<<" dTerm "<<dTerm);  
+    #endif //PID_DEBUG
     analogWrite(HEATER_0_PIN, pid_output);
-#endif //PIDTEMP
+  #endif //PIDTEMP
 
-#ifndef PIDTEMP
+  #ifndef PIDTEMP
     if(current_raw[0] >= target_raw[0])
     {
       WRITE(HEATER_0_PIN,LOW);
@@ -157,7 +156,7 @@ CRITICAL_SECTION_END;
     {
       WRITE(HEATER_0_PIN,HIGH);
     }
-#endif
+  #endif
     
   if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
     return;
@@ -173,7 +172,7 @@ CRITICAL_SECTION_END;
       WRITE(HEATER_1_PIN,HIGH);
     }
   #endif
-  }
+}
 
 // Takes hot end temperature value as input and returns corresponding raw value. 
 // For a thermistor, it uses the RepRap thermistor temp table.
@@ -300,26 +299,26 @@ float analog2tempBed(int raw) {
 
 void tp_init()
 {
-#if (HEATER_0_PIN > -1) 
-  SET_OUTPUT(HEATER_0_PIN);
-#endif  
-#if (HEATER_1_PIN > -1) 
-  SET_OUTPUT(HEATER_1_PIN);
-#endif  
-#if (HEATER_2_PIN > -1) 
-  SET_OUTPUT(HEATER_2_PIN);
-#endif  
-
-#ifdef PIDTEMP
-  temp_iState_min = 0.0;
-  temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
-#endif //PIDTEMP
-
-// Set analog inputs
+  #if (HEATER_0_PIN > -1) 
+    SET_OUTPUT(HEATER_0_PIN);
+  #endif  
+  #if (HEATER_1_PIN > -1) 
+    SET_OUTPUT(HEATER_1_PIN);
+  #endif  
+  #if (HEATER_2_PIN > -1) 
+    SET_OUTPUT(HEATER_2_PIN);
+  #endif  
+
+  #ifdef PIDTEMP
+    temp_iState_min = 0.0;
+    temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
+  #endif //PIDTEMP
+
+  // Set analog inputs
   ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
   
-// Use timer0 for temperature measurement
-// Interleave temperature interrupt with millies interrupt
+  // Use timer0 for temperature measurement
+  // Interleave temperature interrupt with millies interrupt
   OCR0B = 128;
   TIMSK0 |= (1<<OCIE0B);  
 }
@@ -344,23 +343,25 @@ void setWatch()
 
 void disable_heater()
 {
-   #if TEMP_0_PIN > -1
+  #if TEMP_0_PIN > -1
   target_raw[0]=0;
    #if HEATER_0_PIN > -1  
      WRITE(HEATER_0_PIN,LOW);
    #endif
   #endif
+     
   #if TEMP_1_PIN > -1
-  target_raw[1]=0;
-  #if HEATER_1_PIN > -1 
-    WRITE(HEATER_1_PIN,LOW);
-  #endif
+    target_raw[1]=0;
+    #if HEATER_1_PIN > -1 
+      WRITE(HEATER_1_PIN,LOW);
+    #endif
   #endif
+      
   #if TEMP_2_PIN > -1
-  target_raw[2]=0;
-  #if HEATER_2_PIN > -1  
-    WRITE(HEATER_2_PIN,LOW);
-  #endif
+    target_raw[2]=0;
+    #if HEATER_2_PIN > -1  
+      WRITE(HEATER_2_PIN,LOW);
+    #endif
   #endif 
 }
 
@@ -376,75 +377,75 @@ ISR(TIMER0_COMPB_vect)
   
   switch(temp_state) {
     case 0: // Prepare TEMP_0
-            #if (TEMP_0_PIN > -1)
-              #if TEMP_0_PIN < 8
-                DIDR0 = 1 << TEMP_0_PIN; 
-              #else
-                DIDR2 = 1<<(TEMP_0_PIN - 8); 
-                ADCSRB = 1<<MUX5;
-              #endif
-              ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
-              ADCSRA |= 1<<ADSC; // Start conversion
-            #endif
-            #ifdef ULTIPANEL
-              buttons_check();
-            #endif
-            temp_state = 1;
-            break;
+      #if (TEMP_0_PIN > -1)
+        #if TEMP_0_PIN < 8
+          DIDR0 = 1 << TEMP_0_PIN; 
+        #else
+          DIDR2 = 1<<(TEMP_0_PIN - 8); 
+          ADCSRB = 1<<MUX5;
+        #endif
+        ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
+        ADCSRA |= 1<<ADSC; // Start conversion
+      #endif
+      #ifdef ULTIPANEL
+        buttons_check();
+      #endif
+      temp_state = 1;
+      break;
     case 1: // Measure TEMP_0
-            #if (TEMP_0_PIN > -1)
-              raw_temp_0_value += ADC;
-            #endif
-            temp_state = 2;
-            break;
+      #if (TEMP_0_PIN > -1)
+        raw_temp_0_value += ADC;
+      #endif
+      temp_state = 2;
+      break;
     case 2: // Prepare TEMP_1
-            #if (TEMP_1_PIN > -1)
-              #if TEMP_1_PIN < 7
-                DIDR0 = 1<<TEMP_1_PIN; 
-              #else
-                DIDR2 = 1<<(TEMP_1_PIN - 8); 
-                ADCSRB = 1<<MUX5;
-              #endif
-              ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
-              ADCSRA |= 1<<ADSC; // Start conversion
-            #endif
-            #ifdef ULTIPANEL
-              buttons_check();
-            #endif
-            temp_state = 3;
-            break;
+      #if (TEMP_1_PIN > -1)
+        #if TEMP_1_PIN < 7
+          DIDR0 = 1<<TEMP_1_PIN; 
+        #else
+          DIDR2 = 1<<(TEMP_1_PIN - 8); 
+          ADCSRB = 1<<MUX5;
+        #endif
+        ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
+        ADCSRA |= 1<<ADSC; // Start conversion
+      #endif
+      #ifdef ULTIPANEL
+        buttons_check();
+      #endif
+      temp_state = 3;
+      break;
     case 3: // Measure TEMP_1
-            #if (TEMP_1_PIN > -1)
-              raw_temp_1_value += ADC;
-            #endif
-            temp_state = 4;
-            break;
+      #if (TEMP_1_PIN > -1)
+        raw_temp_1_value += ADC;
+      #endif
+      temp_state = 4;
+      break;
     case 4: // Prepare TEMP_2
-            #if (TEMP_2_PIN > -1)
-              #if TEMP_2_PIN < 7
-                DIDR0 = 1 << TEMP_2_PIN; 
-              #else
-                DIDR2 = 1<<(TEMP_2_PIN - 8); 
-                ADCSRB = 1<<MUX5;
-              #endif
-              ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
-              ADCSRA |= 1<<ADSC; // Start conversion
-            #endif
-            #ifdef ULTIPANEL
-              buttons_check();
-            #endif
-            temp_state = 5;
-            break;
+      #if (TEMP_2_PIN > -1)
+        #if TEMP_2_PIN < 7
+          DIDR0 = 1 << TEMP_2_PIN; 
+        #else
+          DIDR2 = 1<<(TEMP_2_PIN - 8); 
+          ADCSRB = 1<<MUX5;
+        #endif
+        ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
+        ADCSRA |= 1<<ADSC; // Start conversion
+      #endif
+      #ifdef ULTIPANEL
+        buttons_check();
+      #endif
+      temp_state = 5;
+      break;
     case 5: // Measure TEMP_2
-            #if (TEMP_2_PIN > -1)
-              raw_temp_2_value += ADC;
-            #endif
-            temp_state = 0;
-            temp_count++;
-            break;
+      #if (TEMP_2_PIN > -1)
+        raw_temp_2_value += ADC;
+      #endif
+      temp_state = 0;
+      temp_count++;
+      break;
     default:
-            SERIAL_ERRORLN("Temp measurement error!");
-            break;
+      SERIAL_ERRORLN("Temp measurement error!");
+      break;
   }
     
   if(temp_count >= 16) // 6 ms * 16 = 96ms.
@@ -472,67 +473,71 @@ ISR(TIMER0_COMPB_vect)
     raw_temp_0_value = 0;
     raw_temp_1_value = 0;
     raw_temp_2_value = 0;
-#ifdef HEATER_0_MAXTEMP
-  #if (HEATER_0_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) {
-      target_raw[TEMPSENSOR_HOTEND_0] = 0;
-      analogWrite(HEATER_0_PIN, 0);
-      SERIAL_ERRORLN("Temperature extruder 0 switched off. MAXTEMP triggered !!");
-      kill();
-    }
-  #endif
-#endif
-#ifdef HEATER_1_MAXTEMP
-  #if (HEATER_1_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) {
-      target_raw[TEMPSENSOR_HOTEND_1] = 0;
-    if(current_raw[2] >= maxttemp_1) {
-      analogWrite(HEATER_2_PIN, 0);
-      SERIAL_ERRORLN("Temperature extruder 1 switched off. MAXTEMP triggered !!");
-      kill()
-    }
-  #endif
-#endif //MAXTEMP
-#ifdef HEATER_0_MINTEMP
-  #if (HEATER_0_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) {
-      target_raw[TEMPSENSOR_HOTEND_0] = 0;
-      analogWrite(HEATER_0_PIN, 0);
-      SERIAL_ERRORLN("Temperature extruder 0 switched off. MINTEMP triggered !!");
-      kill();
-    }
-  #endif
-#endif
-#ifdef HEATER_1_MINTEMP
-  #if (HEATER_2_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) {
-      target_raw[TEMPSENSOR_HOTEND_1] = 0;
-      analogWrite(HEATER_2_PIN, 0);
-      SERIAL_ERRORLN("Temperature extruder 1 switched off. MINTEMP triggered !!");
-      kill();
-    }
+    #ifdef HEATER_0_MAXTEMP
+      #if (HEATER_0_PIN > -1)
+        if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) {
+          target_raw[TEMPSENSOR_HOTEND_0] = 0;
+          analogWrite(HEATER_0_PIN, 0);
+          SERIAL_ERRORLN("Temperature extruder 0 switched off. MAXTEMP triggered !!");
+          kill();
+        }
+      #endif
+    #endif
+  #ifdef HEATER_1_MAXTEMP
+    #if (HEATER_1_PIN > -1)
+      if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) {
+        target_raw[TEMPSENSOR_HOTEND_1] = 0;
+      if(current_raw[2] >= maxttemp_1) {
+        analogWrite(HEATER_2_PIN, 0);
+        SERIAL_ERRORLN("Temperature extruder 1 switched off. MAXTEMP triggered !!");
+        kill()
+      }
+    #endif
+  #endif //MAXTEMP
+  
+  #ifdef HEATER_0_MINTEMP
+    #if (HEATER_0_PIN > -1)
+      if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) {
+        target_raw[TEMPSENSOR_HOTEND_0] = 0;
+        analogWrite(HEATER_0_PIN, 0);
+        SERIAL_ERRORLN("Temperature extruder 0 switched off. MINTEMP triggered !!");
+        kill();
+      }
+    #endif
   #endif
-#endif //MAXTEMP
-#ifdef BED_MINTEMP
-  #if (HEATER_1_PIN > -1)
-    if(current_raw[1] <= bed_minttemp) {
-      target_raw[1] = 0;
-      WRITE(HEATER_1_PIN, 0);
-      SERIAL_ERRORLN("Temperatur heated bed switched off. MINTEMP triggered !!");
-      kill();
-    }
+  
+  #ifdef HEATER_1_MINTEMP
+    #if (HEATER_2_PIN > -1)
+      if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) {
+        target_raw[TEMPSENSOR_HOTEND_1] = 0;
+        analogWrite(HEATER_2_PIN, 0);
+        SERIAL_ERRORLN("Temperature extruder 1 switched off. MINTEMP triggered !!");
+        kill();
+      }
+    #endif
+  #endif //MAXTEMP
+  
+  #ifdef BED_MINTEMP
+    #if (HEATER_1_PIN > -1)
+      if(current_raw[1] <= bed_minttemp) {
+        target_raw[1] = 0;
+        WRITE(HEATER_1_PIN, 0);
+        SERIAL_ERRORLN("Temperatur heated bed switched off. MINTEMP triggered !!");
+        kill();
+      }
+    #endif
   #endif
-#endif
-#ifdef BED_MAXTEMP
-  #if (HEATER_1_PIN > -1)
-    if(current_raw[1] >= bed_maxttemp) {
-      target_raw[1] = 0;
-      WRITE(HEATER_1_PIN, 0);
-      SERIAL_ERRORLN("Temperature heated bed switched off. MAXTEMP triggered !!");
-      kill();
-    }
+  
+  #ifdef BED_MAXTEMP
+    #if (HEATER_1_PIN > -1)
+      if(current_raw[1] >= bed_maxttemp) {
+        target_raw[1] = 0;
+        WRITE(HEATER_1_PIN, 0);
+        SERIAL_ERRORLN("Temperature heated bed switched off. MAXTEMP triggered !!");
+        kill();
+      }
+    #endif
   #endif
-#endif
   }
 }
 

Marlin/temperature.h

@@ -27,9 +27,11 @@
   #include "stepper.h"
 #endif
 
+// public functions
 void tp_init();  //initialise the heating
 void manage_heater(); //it is critical that this is called periodically.
 
+
 enum TempSensor {TEMPSENSOR_HOTEND_0=0,TEMPSENSOR_BED=1, TEMPSENSOR_HOTEND_1=2};
 
 //low leven conversion routines
@@ -41,9 +43,11 @@ float analog2tempBed(int raw);
 extern int target_raw[3];  
 extern int current_raw[3];
 extern float Kp,Ki,Kd,Kc;
+
 #ifdef PIDTEMP
   extern float pid_setpoint ;
 #endif
+  
 #ifdef WATCHPERIOD
   extern int watch_raw[3] ;
   extern unsigned long watchmillis;
@@ -63,15 +67,15 @@ inline float degTargetHotend0() {  return analog2temp(target_raw[TEMPSENSOR_HOTE
 inline float degTargetHotend1() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);};
 inline float degTargetBed() {   return analog2tempBed(target_raw[TEMPSENSOR_BED]);};
 
-inline void setTargetHotend0(float celsius) 
+inline void setTargetHotend0(const float &celsius) 
 {  
   target_raw[TEMPSENSOR_HOTEND_0]=temp2analog(celsius);
   #ifdef PIDTEMP
     pid_setpoint = celsius;
   #endif //PIDTEMP
 };
-inline void setTargetHotend1(float celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
-inline void setTargetBed(float celsius)     {  target_raw[TEMPSENSOR_BED     ]=temp2analogBed(celsius);};
+inline void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
+inline void setTargetBed(const float &celsius)     {  target_raw[TEMPSENSOR_BED     ]=temp2analogBed(celsius);};
 
 inline bool isHeatingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];};
 inline bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];};
@@ -84,16 +88,5 @@ inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMP
 void disable_heater();
 void setWatch();
 
-#ifdef HEATER_0_USES_THERMISTOR
-    #define HEATERSOURCE 1
-#endif
-#ifdef BED_USES_THERMISTOR
-    #define BEDSOURCE 1
-#endif
-
-
-
-
-
 #endif
 

Marlin/ultralcd.h

@@ -9,107 +9,48 @@
   void lcd_status(const char* message);
   void beep();
   void buttons_check();
-  #define LCDSTATUSRIGHT
+
 
   #define LCD_UPDATE_INTERVAL 100
   #define STATUSTIMEOUT 15000
 
-  #include "Configuration.h"
 
   #include <LiquidCrystal.h>
   extern LiquidCrystal lcd;
 
-  //lcd display size
-
-#ifdef NEWPANEL
- //arduino pin witch triggers an piezzo beeper
-  #define BEEPER 18
 
-  #define LCD_PINS_RS 20 
-  #define LCD_PINS_ENABLE 17
-  #define LCD_PINS_D4 16
-  #define LCD_PINS_D5 21 
-  #define LCD_PINS_D6 5
-  #define LCD_PINS_D7 6
-  
-  //buttons are directly attached
-  #define BTN_EN1 40
-  #define BTN_EN2 42
-  #define BTN_ENC 19  //the click
-  
-  #define BLEN_C 2
-  #define BLEN_B 1
-  #define BLEN_A 0
-  
-  #define SDCARDDETECT 38
-  
-  #define EN_C (1<<BLEN_C)
-  #define EN_B (1<<BLEN_B)
-  #define EN_A (1<<BLEN_A)
-  
-   //encoder rotation values
-  #define encrot0 0
-  #define encrot1 2
-  #define encrot2 3
-  #define encrot3 1
+  #ifdef NEWPANEL
 
-  
-  #define CLICKED (buttons&EN_C)
-  #define BLOCK {blocking=millis()+blocktime;}
-  #define CARDINSERTED (READ(SDCARDDETECT)==0)
-  
-#else
-  //arduino pin witch triggers an piezzo beeper
-  #define BEEPER 18
-
-  //buttons are attached to a shift register
-  #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 5
-  #define LCD_PINS_D4 6
-  #define LCD_PINS_D5 21 
-  #define LCD_PINS_D6 20
-  #define LCD_PINS_D7 19
-  
-   //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
-
-  //encoder rotation values
-  #define encrot0 0
-  #define encrot1 2
-  #define encrot2 3
-  #define encrot3 1
-
-  //atomatic, do not change
-  #define B_LE (1<<BL_LE)
-  #define B_UP (1<<BL_UP)
-  #define B_MI (1<<BL_MI)
-  #define B_DW (1<<BL_DW)
-  #define B_RI (1<<BL_RI)
-  #define B_ST (1<<BL_ST)
-  #define EN_B (1<<BLEN_B)
-  #define EN_A (1<<BLEN_A)
-  
-  #define CLICKED ((buttons&B_MI)||(buttons&B_ST))
-  #define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;}
-  
-#endif
+    
+    #define EN_C (1<<BLEN_C)
+    #define EN_B (1<<BLEN_B)
+    #define EN_A (1<<BLEN_A)
+    
+    #define CLICKED (buttons&EN_C)
+    #define BLOCK {blocking=millis()+blocktime;}
+    #define CARDINSERTED (READ(SDCARDDETECT)==0)
+    
+  #else
+
+    //atomatic, do not change
+    #define B_LE (1<<BL_LE)
+    #define B_UP (1<<BL_UP)
+    #define B_MI (1<<BL_MI)
+    #define B_DW (1<<BL_DW)
+    #define B_RI (1<<BL_RI)
+    #define B_ST (1<<BL_ST)
+    #define EN_B (1<<BLEN_B)
+    #define EN_A (1<<BLEN_A)
+    
+    #define CLICKED ((buttons&B_MI)||(buttons&B_ST))
+    #define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;}
+    
+  #endif
+    
   // blocking time for recognizing a new keypress of one key, ms
-#define blocktime 500
-#define lcdslow 5
+  #define blocktime 500
+  #define lcdslow 5
+    
   enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD};
 
   class MainMenu{
@@ -134,6 +75,7 @@
     bool linechanging;
   };
 
+  //conversion routines, could need some overworking
   char *fillto(int8_t n,char *c);
   char *ftostr51(const float &x);
   char *ftostr31(const float &x);
@@ -146,11 +88,15 @@
 #else //no lcd
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
+  inline void lcd_status() {};
 #endif
   
 #ifndef ULTIPANEL  
  #define CLICKED false
-#define BLOCK ;
+  #define BLOCK ;
 #endif 
+  
+  
+  
 #endif //ULTRALCD
 

Marlin/ultralcd.pde

@@ -1,7 +1,7 @@
 #include "ultralcd.h"
+#ifdef ULTRA_LCD
 
 
-#ifdef ULTRA_LCD
 extern volatile int feedmultiply;
 extern long position[4];   
 
@@ -122,58 +122,57 @@ void lcd_status()
   menu.update();
 }
 #ifdef ULTIPANEL  
+
+
 void buttons_init()
 {
-#ifdef NEWPANEL
-  pinMode(BTN_EN1,INPUT);
-  pinMode(BTN_EN2,INPUT); 
-  pinMode(BTN_ENC,INPUT); 
-  pinMode(SDCARDDETECT,INPUT);
-  WRITE(BTN_EN1,HIGH);
-  WRITE(BTN_EN2,HIGH);
-  WRITE(BTN_ENC,HIGH);
-  WRITE(SDCARDDETECT,HIGH);
-#else
-  pinMode(SHIFT_CLK,OUTPUT);
-  pinMode(SHIFT_LD,OUTPUT);
-  pinMode(SHIFT_EN,OUTPUT);
-  pinMode(SHIFT_OUT,INPUT);
-  WRITE(SHIFT_OUT,HIGH);
-  WRITE(SHIFT_LD,HIGH); 
-  WRITE(SHIFT_EN,LOW); 
-#endif
+  #ifdef NEWPANEL
+    pinMode(BTN_EN1,INPUT);
+    pinMode(BTN_EN2,INPUT); 
+    pinMode(BTN_ENC,INPUT); 
+    pinMode(SDCARDDETECT,INPUT);
+    WRITE(BTN_EN1,HIGH);
+    WRITE(BTN_EN2,HIGH);
+    WRITE(BTN_ENC,HIGH);
+    WRITE(SDCARDDETECT,HIGH);
+  #else
+    pinMode(SHIFT_CLK,OUTPUT);
+    pinMode(SHIFT_LD,OUTPUT);
+    pinMode(SHIFT_EN,OUTPUT);
+    pinMode(SHIFT_OUT,INPUT);
+    WRITE(SHIFT_OUT,HIGH);
+    WRITE(SHIFT_LD,HIGH); 
+    WRITE(SHIFT_EN,LOW); 
+  #endif
 }
 
 
 void buttons_check()
 {
-//  volatile static bool busy=false;
-//  if(busy) 
-//    return;
-//  busy=true;
   
-#ifdef NEWPANEL
-  uint8_t newbutton=0;
-  if(READ(BTN_EN1)==0)  newbutton|=EN_A;
-  if(READ(BTN_EN2)==0)  newbutton|=EN_B;
-  if((blocking<millis()) &&(READ(BTN_ENC)==0))
-    newbutton|=EN_C;
-  buttons=newbutton;
-#else   //read it from the shift register
-  uint8_t newbutton=0;
-  WRITE(SHIFT_LD,LOW);
-  WRITE(SHIFT_LD,HIGH);
-  unsigned char tmp_buttons=0;
-  for(unsigned char i=0;i<8;i++)
-  { 
-    newbutton = newbutton>>1;
-    if(READ(SHIFT_OUT))
-      newbutton|=(1<<7);
-    WRITE(SHIFT_CLK,HIGH);
-    WRITE(SHIFT_CLK,LOW);
-  }
-  buttons=~newbutton; //invert it, because a pressed switch produces a logical 0
-#endif
+  #ifdef NEWPANEL
+    uint8_t newbutton=0;
+    if(READ(BTN_EN1)==0)  newbutton|=EN_A;
+    if(READ(BTN_EN2)==0)  newbutton|=EN_B;
+    if((blocking<millis()) &&(READ(BTN_ENC)==0))
+      newbutton|=EN_C;
+    buttons=newbutton;
+  #else   //read it from the shift register
+    uint8_t newbutton=0;
+    WRITE(SHIFT_LD,LOW);
+    WRITE(SHIFT_LD,HIGH);
+    unsigned char tmp_buttons=0;
+    for(unsigned char i=0;i<8;i++)
+    { 
+      newbutton = newbutton>>1;
+      if(READ(SHIFT_OUT))
+        newbutton|=(1<<7);
+      WRITE(SHIFT_CLK,HIGH);
+      WRITE(SHIFT_CLK,LOW);
+    }
+    buttons=~newbutton; //invert it, because a pressed switch produces a logical 0
+  #endif
+  
   char enc=0;
   if(buttons&EN_A)
     enc|=(1<<0);
@@ -212,7 +211,6 @@ void buttons_check()
     }
   }
   lastenc=enc;
-//  busy=false;
 }
 
 #endif
@@ -223,9 +221,9 @@ MainMenu::MainMenu()
   displayStartingRow=0;
   activeline=0;
   force_lcd_update=true;
-#ifdef ULTIPANEL
-  buttons_init();
-#endif
+  #ifdef ULTIPANEL
+    buttons_init();
+  #endif
   lcd_init();
   linechanging=false;
 }
@@ -1154,12 +1152,13 @@ uint8_t getnrfilenames()
     cnt++;
   }
   return cnt;
+#else
+  return 0;
 #endif
 }
 
 void MainMenu::showSD()
 {
-
 #ifdef SDSUPPORT
  uint8_t line=0;
 
@@ -1205,11 +1204,11 @@ void MainMenu::showSD()
         if(force_lcd_update)
         {
           lcd.setCursor(0,line);
-#ifdef CARDINSERTED
+           #ifdef CARDINSERTED
           if(CARDINSERTED)
-#else
+          #else
           if(true)
-#endif
+          #endif
           {
             lcd.print(" \004Refresh");
           }
@@ -1306,9 +1305,9 @@ void MainMenu::showMainMenu()
 {
    //if(int(encoderpos/lcdslow)!=int(lastencoderpos/lcdslow))
    //  force_lcd_update=true;
-#ifndef ULTIPANEL
-   force_lcd_update=false;
-#endif
+  #ifndef ULTIPANEL
+    force_lcd_update=false;
+  #endif
    //Serial.println((int)activeline);
    if(force_lcd_update)
      clear();
@@ -1347,17 +1346,17 @@ void MainMenu::showMainMenu()
           beepshort();
         }
       }break;
-#ifdef SDSUPPORT
+      #ifdef SDSUPPORT
       case ItemM_file:    
       {
         if(force_lcd_update) 
         {
           lcd.setCursor(0,line);
-#ifdef CARDINSERTED
-          if(CARDINSERTED)
-#else
-          if(true)
-#endif
+          #ifdef CARDINSERTED
+            if(CARDINSERTED)
+          #else
+            if(true)
+          #endif
           {
             if(sdmode)
               lcd.print(" Stop Print   \x7E");
@@ -1370,7 +1369,7 @@ void MainMenu::showMainMenu()
           }
         }
         #ifdef CARDINSERTED
-        if(CARDINSERTED)
+          if(CARDINSERTED)
         #endif
         if((activeline==line)&&CLICKED)
         {
@@ -1380,28 +1379,30 @@ void MainMenu::showMainMenu()
           beepshort();
         }
       }break;
-#endif
+      #endif
       default: 
         SERIAL_ERRORLN("Something is wrong in the MenuStructure.");
       break;
     }
   }
-  if(activeline<0) activeline=0;
-  if(activeline>=LCD_HEIGHT) activeline=LCD_HEIGHT-1;
+  if(activeline<0) 
+    activeline=0;
+  if(activeline>=LCD_HEIGHT) 
+    activeline=LCD_HEIGHT-1;
   if((encoderpos!=lastencoderpos)||force_lcd_update)
   {
     lcd.setCursor(0,activeline);lcd.print(activeline?' ':' ');
     if(encoderpos<0) encoderpos=0;
-    if(encoderpos>3*lcdslow) encoderpos=3*lcdslow;
+    if(encoderpos>3*lcdslow) 
+      encoderpos=3*lcdslow;
     activeline=abs(encoderpos/lcdslow)%LCD_HEIGHT;
-     if(activeline<0) activeline=0;
-  if(activeline>=LCD_HEIGHT) activeline=LCD_HEIGHT-1;
+    if(activeline<0) 
+      activeline=0;
+    if(activeline>=LCD_HEIGHT) 
+      activeline=LCD_HEIGHT-1;
     lastencoderpos=encoderpos;
     lcd.setCursor(0,activeline);lcd.print(activeline?'>':'\003');
   }
-
-  
-  
 }
 
 void MainMenu::update()
@@ -1409,25 +1410,24 @@ void MainMenu::update()
   static MainStatus oldstatus=Main_Menu;  //init automatically causes foce_lcd_update=true
   static long timeoutToStatus=0;
   static bool oldcardstatus=false;
-#ifdef CARDINSERTED
-  if((CARDINSERTED != oldcardstatus))
-  {
-    force_lcd_update=true;
-    oldcardstatus=CARDINSERTED;
-    //Serial.println("echo: SD CHANGE");
-    if(CARDINSERTED)
-    {
-      initsd();
-      lcd_status("Card inserted");
-    }
-    else
+  #ifdef CARDINSERTED
+    if((CARDINSERTED != oldcardstatus))
     {
-      sdactive=false;
-      lcd_status("Card removed");
-      
+      force_lcd_update=true;
+      oldcardstatus=CARDINSERTED;
+      //Serial.println("echo: SD CHANGE");
+      if(CARDINSERTED)
+      {
+        initsd();
+        lcd_status("Card inserted");
+      }
+      else
+      {
+        sdactive=false;
+        lcd_status("Card removed");
+      }
     }
-  }
-#endif
+  #endif
  
   if(status!=oldstatus)
   {
@@ -1484,9 +1484,9 @@ void MainMenu::update()
 
 
 //return for string conversion routines
-char conv[8];
+static char conv[8];
 
-///  convert float to string with +123.4 format
+//  convert float to string with +123.4 format
 char *ftostr3(const float &x)
 {
   //sprintf(conv,"%5.1f",x);
@@ -1497,6 +1497,7 @@ char *ftostr3(const float &x)
   conv[3]=0;
   return conv;
 }
+
 char *itostr2(const uint8_t &x)
 {
   //sprintf(conv,"%5.1f",x);
@@ -1506,10 +1507,10 @@ char *itostr2(const uint8_t &x)
   conv[2]=0;
   return conv;
 }
-///  convert float to string with +123.4 format
+
+//  convert float to string with +123.4 format
 char *ftostr31(const float &x)
 {
-  //sprintf(conv,"%5.1f",x);
   int xx=x*10;
   conv[0]=(xx>=0)?'+':'-';
   xx=abs(xx);
@@ -1524,7 +1525,6 @@ char *ftostr31(const float &x)
 
 char *itostr31(const int &xx)
 {
-  //sprintf(conv,"%5.1f",x);
   conv[0]=(xx>=0)?'+':'-';
   conv[1]=(xx/1000)%10+'0';
   conv[2]=(xx/100)%10+'0';
@@ -1534,6 +1534,7 @@ char *itostr31(const int &xx)
   conv[6]=0;
   return conv;
 }
+
 char *itostr3(const int &xx)
 {
   conv[0]=(xx/100)%10+'0';
@@ -1553,7 +1554,7 @@ char *itostr4(const int &xx)
   return conv;
 }
 
-///  convert float to string with +1234.5 format
+//  convert float to string with +1234.5 format
 char *ftostr51(const float &x)
 {
   int xx=x*10;
@@ -1587,11 +1588,9 @@ char *fillto(int8_t n,char *c)
   }
   ret[n]=0;
   return ret;
-  
 }
 
-#else
-inline void lcd_status() {};
-#endif
+
+#endif //ULTRA_LCD
 
 

Marlin/watchdog.h

@@ -1,13 +1,16 @@
 #ifndef __WATCHDOGH
 #define __WATCHDOGH
 #include "Configuration.h"
-//#ifdef USE_WATCHDOG
+#ifdef USE_WATCHDOG
 
-/// intialise watch dog with a 1 sec interrupt time
-void wd_init();
-/// pad the dog/reset watchdog. MUST be called at least every second after the first wd_init or avr will go into emergency procedures..
-void wd_reset();
+  // intialise watch dog with a 1 sec interrupt time
+  void wd_init();
+  // pad the dog/reset watchdog. MUST be called at least every second after the first wd_init or avr will go into emergency procedures..
+  void wd_reset();
 
-//#endif
+#else
+  inline void wd_init() {};
+  inline void wd_reset() {};
+#endif
 
 #endif

Marlin/watchdog.pde

@@ -3,7 +3,7 @@
 #include  <avr/wdt.h>
 #include  <avr/interrupt.h>
 
-volatile uint8_t timeout_seconds=0;
+static volatile uint8_t timeout_seconds=0;
 
 void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560