Merge branch 'smallopt' into Marlin_v1

Conflicts:
	Marlin/temperature.h

Marlin/EEPROMwrite.h

 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
 #define EEPROM_VERSION "V04"  
 
-inline void StoreSettings() 
+FORCE_INLINE void StoreSettings() 
 {
 #ifdef EEPROM_SETTINGS
   char ver[4]= "000";
 #endif //EEPROM_SETTINGS
 }
 
-inline void RetrieveSettings(bool def=false)
+FORCE_INLINE void RetrieveSettings(bool def=false)
 {  // if def=true, the default values will be used
   #ifdef EEPROM_SETTINGS
     int i=EEPROM_OFFSET;

Marlin/Marlin.h

 #include "Configuration.h"
 #include "MarlinSerial.h"
 
+
+#define  FORCE_INLINE __attribute__((always_inline)) inline
 //#define SERIAL_ECHO(x) Serial << "echo: " << x;
 //#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
 //#define SERIAL_ERROR(x) Serial << "Error: " << x;
 
 //things to write to serial from Programmemory. saves 400 to 2k of RAM.
 #define SerialprintPGM(x) serialprintPGM(PSTR(x))
-inline void serialprintPGM(const char *str)
+FORCE_INLINE void serialprintPGM(const char *str)
 {
   char ch=pgm_read_byte(str);
   while(ch)
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern float current_position[NUM_AXIS] ;
+extern float add_homeing[3];
 
 #endif

Marlin/Marlin.pde

 // M92  - Set axis_steps_per_unit - same syntax as G92
 // M114 - Output current position to serial port 
 // M115	- Capabilities string
+// M117 - display message
 // M119 - Output Endstop status to serial port
 // M140 - Set bed target temp
 // M190 - Wait for bed current temp to reach target temp.
 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
 // M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+// M206 - set additional homeing offset
 // M220 - set speed factor override percentage S:factor in percent
 // M301 - Set PID parameters P I and D
 // M400 - Finish all moves
 int saved_feedmultiply;
 volatile bool feedmultiplychanged=false;
 float current_position[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
-
+float add_homeing[3]={0,0,0};
 
 //===========================================================================
 //=============================private variables=============================
       }
       feedrate = 0.0;
       home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-
+      
       if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) 
       {
         HOMEAXIS(X);
+	current_position[0]=code_value()+add_homeing[0];
       }
 
       if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
        HOMEAXIS(Y);
+       current_position[1]=code_value()+add_homeing[1];
       }
 
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
         HOMEAXIS(Z);
+	current_position[2]=code_value()+add_homeing[2];
       }       
+      
       feedrate = saved_feedrate;
       feedmultiply = saved_feedmultiply;
       previous_millis_cmd = millis();
         st_synchronize();
       for(int8_t i=0; i < NUM_AXIS; i++) {
         if(code_seen(axis_codes[i])) { 
-           current_position[i] = code_value();  
+           current_position[i] = code_value()+add_homeing[i];  
            if(i == E_AXIS) {
              plan_set_e_position(current_position[E_AXIS]);
            }
     case 115: // M115
       SerialprintPGM("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
       break;
+    case 117: // M117 display message
+      LCD_MESSAGE(cmdbuffer[bufindr]+5);
+      break;
     case 114: // M114
       SERIAL_PROTOCOLPGM("X:");
       SERIAL_PROTOCOL(current_position[X_AXIS]);
       if(code_seen('Z')) max_z_jerk = code_value() ;
     }
     break;
+    case 206: // M206 additional homeing offset
+      for(int8_t i=0; i < 3; i++) 
+      {
+        if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
+      }
+      break;
     case 220: // M220 S<factor in percent>- set speed factor override percentage
     {
       if(code_seen('S')) 

Marlin/cardreader.h

   void chdir(const char * relpath);
   void updir();
 
-  inline bool eof() { return sdpos>=filesize ;};
-  inline int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
-  inline void setIndex(long index) {sdpos = index;file.seekSet(index);};
-  inline uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
-  inline char* getWorkDirName(){workDir.getFilename(filename);return filename;};
+  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
+  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
+  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
+  FORCE_INLINE uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;};
+  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
 
 public:
   bool saving;
 class CardReader
 {
 public:
-  inline CardReader(){};
+  FORCE_INLINE CardReader(){};
   
-  inline static void initsd(){};
-  inline static void write_command(char *buf){};
+  FORCE_INLINE static void initsd(){};
+  FORCE_INLINE static void write_command(char *buf){};
   
-  inline static void checkautostart(bool x) {}; 
+  FORCE_INLINE static void checkautostart(bool x) {}; 
   
-  inline static void openFile(char* name,bool read){};
-  inline static void closefile() {};
-  inline static void release(){};
-  inline static void startFileprint(){};
-  inline static void startFilewrite(char *name){};
-  inline static void pauseSDPrint(){};
-  inline static void getStatus(){};
+  FORCE_INLINE static void openFile(char* name,bool read){};
+  FORCE_INLINE static void closefile() {};
+  FORCE_INLINE static void release(){};
+  FORCE_INLINE static void startFileprint(){};
+  FORCE_INLINE static void startFilewrite(char *name){};
+  FORCE_INLINE static void pauseSDPrint(){};
+  FORCE_INLINE static void getStatus(){};
   
-  inline static void selectFile(char* name){};
-  inline static void getfilename(const uint8_t nr){};
-  inline static uint8_t getnrfilenames(){return 0;};
+  FORCE_INLINE static void selectFile(char* name){};
+  FORCE_INLINE static void getfilename(const uint8_t nr){};
+  FORCE_INLINE static uint8_t getnrfilenames(){return 0;};
   
 
-  inline static void ls() {};
-  inline static bool eof() {return true;};
-  inline static char get() {return 0;};
-  inline static void setIndex(){};
-  inline uint8_t percentDone(){return 0;};
+  FORCE_INLINE static void ls() {};
+  FORCE_INLINE static bool eof() {return true;};
+  FORCE_INLINE static char get() {return 0;};
+  FORCE_INLINE static void setIndex(){};
+  FORCE_INLINE uint8_t percentDone(){return 0;};
 };
 #endif //SDSUPPORT
 #endif

Marlin/planner.cpp

     bool autotemp_enabled=false;
 #endif
 
+    
+//===========================================================================
+//=================semi-private variables, used in inline  functions    =====
+//===========================================================================
+block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+volatile unsigned char block_buffer_tail;           // Index of the block to process now
 
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
-static block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
-static volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-static volatile unsigned char block_buffer_tail;           // Index of the block to process now
 
 // Used for the frequency limit
 static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
-inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+{
   if (acceleration!=0) {
   return((target_rate*target_rate-initial_rate*initial_rate)/
          (2.0*acceleration));
 // a total travel of distance. This can be used to compute the intersection point between acceleration and
 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
 
-inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) 
+{
  if (acceleration!=0) {
   return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
          (4.0*acceleration) );
 
 // 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) {
+FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
   return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
 }
 
 }
 
 
-void plan_discard_current_block() {
-  if (block_buffer_head != block_buffer_tail) {
-    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
-  }
-}
 
-block_t *plan_get_current_block() {
-  if (block_buffer_head == block_buffer_tail) { 
-    return(NULL); 
-  }
-  block_t *block = &block_buffer[block_buffer_tail];
-  block->busy = true;
-  return(block);
-}
 
 #ifdef AUTOTEMP
 void getHighESpeed()

Marlin/planner.h

 #define planner_h
 
 #include "Configuration.h"
+#include "Marlin.h"
 
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
 // the source g-code and may never actually be reached if acceleration management is active.
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
 void plan_set_e_position(const float &e);
 
-// Called when the current block is no longer needed. Discards the block and makes the memory
-// availible for new blocks.
-void plan_discard_current_block();
 
-// Gets the current block. Returns NULL if buffer empty
-block_t *plan_get_current_block();
 
 void check_axes_activity();
 uint8_t movesplanned(); //return the nr of buffered moves
     extern float autotemp_factor;
 #endif
 
+    
+/////semi-private stuff
+#include <WProgram.h>
+
+extern block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
+extern volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
+extern volatile unsigned char block_buffer_tail; 
+// Called when the current block is no longer needed. Discards the block and makes the memory
+// availible for new blocks.    
+FORCE_INLINE void plan_discard_current_block()  
+{
+  if (block_buffer_head != block_buffer_tail) {
+    block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
+  }
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE block_t *plan_get_current_block() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return(NULL); 
+  }
+  block_t *block = &block_buffer[block_buffer_tail];
+  block->busy = true;
+  return(block);
+}
 #endif

Marlin/stepper.cpp

   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
-inline unsigned short calc_timer(unsigned short step_rate) {
+FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
   
 
 // Initializes the trapezoid generator from the current block. Called whenever a new 
 // block begins.
-inline void trapezoid_generator_reset() {
+FORCE_INLINE void trapezoid_generator_reset() {
   #ifdef ADVANCE
     advance = current_block->initial_advance;
     final_advance = current_block->final_advance;

Marlin/temperature.h

 //inline so that there is no performance decrease.
 //deg=degreeCelsius
 
-inline float degHotend0(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degHotend1(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_1]);};
-inline float degBed() {  return analog2tempBed(current_raw[TEMPSENSOR_BED]);};
+FORCE_INLINE float degHotend0(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);};
+FORCE_INLINE float degHotend1(){  return analog2temp(current_raw[TEMPSENSOR_HOTEND_1]);};
+FORCE_INLINE float degBed() {  return analog2tempBed(current_raw[TEMPSENSOR_BED]);};
 inline float degHotend(uint8_t extruder){  
   if(extruder == 0) return analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);
   if(extruder == 1) return analog2temp(current_raw[TEMPSENSOR_HOTEND_1]);
 };
 
-inline float degTargetHotend0() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_0]);};
-inline float degTargetHotend1() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);};
+FORCE_INLINE float degTargetHotend0() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_0]);};
+FORCE_INLINE float degTargetHotend1() {  return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);};
 inline float degTargetHotend(uint8_t extruder){  
   if(extruder == 0) return analog2temp(target_raw[TEMPSENSOR_HOTEND_0]);
   if(extruder == 1) return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);
 
 inline float degTargetBed() {   return analog2tempBed(target_raw[TEMPSENSOR_BED]);};
 
-inline void setTargetHotend0(const float &celsius) 
+FORCE_INLINE void setTargetHotend0(const float &celsius) 
 {  
   target_raw[TEMPSENSOR_HOTEND_0]=temp2analog(celsius);
   #ifdef PIDTEMP
     pid_setpoint = celsius;
   #endif //PIDTEMP
 };
-inline void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
+FORCE_INLINE void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
 inline float setTargetHotend(const float &celcius, uint8_t extruder){  
   if(extruder == 0) setTargetHotend0(celcius);
   if(extruder == 1) setTargetHotend1(celcius);
 };
 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];};
+FORCE_INLINE bool isHeatingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];};
+FORCE_INLINE bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];};
 inline float isHeatingHotend(uint8_t extruder){  
   if(extruder == 0) return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];
   if(extruder == 1) return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];
 };
 inline bool isHeatingBed() {return target_raw[TEMPSENSOR_BED] > current_raw[TEMPSENSOR_BED];};
 
-inline bool isCoolingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];};
-inline bool isCoolingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];};
+FORCE_INLINE bool isCoolingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];};
+FORCE_INLINE bool isCoolingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];};
 inline float isCoolingHotend(uint8_t extruder){  
   if(extruder == 0) return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];
   if(extruder == 1) return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];

Marlin/ultralcd.h

     bool tune;
     
   private:
-    inline void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
+    FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
     {
       if(linechanging) return; // an item is changint its value, do not switch lines hence
       lastlineoffset=lineoffset; 
       } 
     }
     
-    inline void clearIfNecessary()
+    FORCE_INLINE void clearIfNecessary()
     {
       if(lastlineoffset!=lineoffset ||force_lcd_update)
       {
   #define LCD_STATUS
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
-  inline void lcd_status() {};
+  FORCE_INLINE void lcd_status() {};
 #endif
   
 #ifndef ULTIPANEL  

Marlin/ultralcd.pde

 //   
 
 enum {
-  ItemCT_exit, ItemCT_nozzle, ItemCT_fan,
+  ItemCT_exit,ItemCT_nozzle,
+#ifdef AUTOTEMP
+  ItemCT_autotempactive,
+  ItemCT_autotempmin,ItemCT_autotempmax,ItemCT_autotempfact,
+#endif
+  ItemCT_fan,
   ItemCT_PID_P,ItemCT_PID_I,ItemCT_PID_D,ItemCT_PID_C
 };
 
           }
         }
       }break;
-      
+      #ifdef AUTOTEMP
+      case ItemCT_autotempmin:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(" \002 Min:");
+          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max));
+        }
+        
+        if((activeline==line) )
+        {
+          if(CLICKED)
+          {
+            linechanging=!linechanging;
+            if(linechanging)
+            {
+               encoderpos=intround(autotemp_max);
+            }
+            else
+            {
+              autotemp_max=encoderpos;
+              encoderpos=activeline*lcdslow;
+              beepshort();
+            }
+            BLOCK;
+          }
+          if(linechanging)
+          {
+            if(encoderpos<0) encoderpos=0;
+            if(encoderpos>260) encoderpos=260;
+            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+          }
+        }
+      }break;  
+      case ItemCT_autotempmax:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(" \002 Max:");
+          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max));
+        }
+        
+        if((activeline==line) )
+        {
+          if(CLICKED)
+          {
+            linechanging=!linechanging;
+            if(linechanging)
+            {
+               encoderpos=intround(autotemp_max);
+            }
+            else
+            {
+              autotemp_max=encoderpos;
+              encoderpos=activeline*lcdslow;
+              beepshort();
+            }
+            BLOCK;
+          }
+          if(linechanging)
+          {
+            if(encoderpos<0) encoderpos=0;
+            if(encoderpos>260) encoderpos=260;
+            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+          }
+        }
+      }break;  
+      case ItemCT_autotempfact:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(" \002 Fact:");
+          lcd.setCursor(13,line);lcd.print(ftostr32(autotemp_factor));
+        }
+        
+        if((activeline==line) )
+        {
+          if(CLICKED)
+          {
+            linechanging=!linechanging;
+            if(linechanging)
+            {
+               encoderpos=intround(autotemp_factor*100);
+            }
+            else
+            {
+              autotemp_max=encoderpos;
+              encoderpos=activeline*lcdslow;
+              beepshort();
+            }
+            BLOCK;
+          }
+          if(linechanging)
+          {
+            if(encoderpos<0) encoderpos=0;
+            if(encoderpos>99) encoderpos=99;
+            lcd.setCursor(13,line);lcd.print(ftostr32(encoderpos/100.));
+          }
+        }
+      }break;
+      case ItemCT_autotempactive:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(" Autotemp:");
+          lcd.setCursor(13,line);
+	  if(autotemp_enabled)
+	    lcdprintPGM("On");
+	  else
+	    lcdprintPGM("Off");
+        }
+        
+        if((activeline==line) )
+        {
+          if(CLICKED)
+          {
+            autotemp_enabled=!autotemp_enabled;
+            BLOCK;
+          }
+        }
+      }break;  
+      #endif //autotemp
       case ItemCT_fan:
       {
         if(force_lcd_update)
   return conv;
 }
 
+char *ftostr32(const float &x)
+{
+  int xx=x*100;
+  conv[0]=(xx>=0)?'+':'-';
+  xx=abs(xx);
+  conv[1]=(xx/100)%10+'0';
+  conv[2]='.';
+  conv[3]=(xx/10)%10+'0';
+  conv[4]=(xx)%10+'0';
+  conv[6]=0;
+  return conv;
+}
+
 char *itostr31(const int &xx)
 {
   conv[0]=(xx>=0)?'+':'-';

Marlin/watchdog.h

   void wd_reset();
 
 #else
-  inline void wd_init() {};
-  inline void wd_reset() {};
+  FORCE_INLINE void wd_init() {};
+  FORCE_INLINE void wd_reset() {};
 #endif
 
 #endif