Option to use raw digipot values (#17536)

Marlin/Configuration_adv.h

@@ -926,9 +926,20 @@
 //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 }    // Default drive percent - X, Y, Z, E axis
 
-// Use an I2C based DIGIPOT (e.g., Azteeg X3 Pro)
-//#define DIGIPOT_I2C
-#if ENABLED(DIGIPOT_I2C) && !defined(DIGIPOT_I2C_ADDRESS_A)
+/**
+ * I2C-based DIGIPOTs (e.g., Azteeg X3 Pro)
+ */
+//#define DIGIPOT_MCP4018             // Requires https://github.com/stawel/SlowSoftI2CMaster
+//#define DIGIPOT_MCP4451
+#if EITHER(DIGIPOT_MCP4018, DIGIPOT_MCP4451)
+  #define DIGIPOT_I2C_NUM_CHANNELS 8  // 5DPRINT:4   AZTEEG_X3_PRO:8   MKS_SBASE:5   MIGHTYBOARD_REVE:5
+
+  // Actual motor currents in Amps. The number of entries must match DIGIPOT_I2C_NUM_CHANNELS.
+  // These correspond to the physical drivers, so be mindful if the order is changed.
+  #define DIGIPOT_I2C_MOTOR_CURRENTS { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 }  //  AZTEEG_X3_PRO
+
+  //#define DIGIPOT_USE_RAW_VALUES    // Use DIGIPOT_MOTOR_CURRENT raw wiper values (instead of A4988 motor currents)
+
   /**
    * Common slave addresses:
    *
@@ -943,12 +954,6 @@
   #define DIGIPOT_I2C_ADDRESS_B 0x2D  // unshifted slave address for second DIGIPOT
 #endif
 
-//#define DIGIPOT_MCP4018          // Requires library from https://github.com/stawel/SlowSoftI2CMaster
-#define DIGIPOT_I2C_NUM_CHANNELS 8 // 5DPRINT: 4     AZTEEG_X3_PRO: 8     MKS SBASE: 5
-// Actual motor currents in Amps. The number of entries must match DIGIPOT_I2C_NUM_CHANNELS.
-// These correspond to the physical drivers, so be mindful if the order is changed.
-#define DIGIPOT_I2C_MOTOR_CURRENTS { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 }  //  AZTEEG_X3_PRO
-
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================

Marlin/src/HAL/AVR/inc/SanityCheck.h

@@ -26,16 +26,6 @@
  */
 
 /**
- * Digipot requirement
- */
- #if ENABLED(DIGIPOT_MCP4018)
-  #if !defined(DIGIPOTS_I2C_SDA_X) || !defined(DIGIPOTS_I2C_SDA_Y) || !defined(DIGIPOTS_I2C_SDA_Z) \
-    || !defined(DIGIPOTS_I2C_SDA_E0) || !defined(DIGIPOTS_I2C_SDA_E1)
-      #error "DIGIPOT_MCP4018 requires DIGIPOTS_I2C_SDA_* pins to be defined."
-  #endif
-#endif
-
-/**
  * Checks for FAST PWM
  */
 #if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2))

Marlin/src/HAL/LPC1768/inc/SanityCheck.h

@@ -174,7 +174,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o
 //
 // Flag any i2c pin conflicts
 //
-#if ANY(DIGIPOT_I2C, DIGIPOT_MCP4018, DAC_STEPPER_CURRENT, EXPERIMENTAL_I2CBUS, I2C_POSITION_ENCODERS, PCA9632, I2C_EEPROM)
+#if ANY(HAS_I2C_DIGIPOT, DAC_STEPPER_CURRENT, EXPERIMENTAL_I2CBUS, I2C_POSITION_ENCODERS, PCA9632, I2C_EEPROM)
   #define USEDI2CDEV_M 1  // <Arduino>/Wire.cpp
 
   #if USEDI2CDEV_M == 0         // P0_27 [D57] (AUX-1) .......... P0_28 [D58] (AUX-1)

Marlin/src/MarlinCore.cpp

@@ -70,7 +70,7 @@
   #include "libs/buzzer.h"
 #endif
 
-#if ENABLED(DIGIPOT_I2C)
+#if HAS_I2C_DIGIPOT
   #include "feature/digipot/digipot.h"
 #endif
 
@@ -1070,7 +1070,7 @@ void setup() {
     SETUP_RUN(enableStepperDrivers());
   #endif
 
-  #if ENABLED(DIGIPOT_I2C)
+  #if HAS_I2C_DIGIPOT
     SETUP_RUN(digipot_i2c_init());
   #endif
 

Marlin/src/feature/digipot/digipot_mcp4018.cpp

@@ -22,53 +22,46 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if BOTH(DIGIPOT_I2C, DIGIPOT_MCP4018)
+#if ENABLED(DIGIPOT_MCP4018)
 
 #include <Stream.h>
-#include <SlowSoftI2CMaster.h>  //https://github.com/stawel/SlowSoftI2CMaster
+#include <SlowSoftI2CMaster.h>  // https://github.com/stawel/SlowSoftI2CMaster
 
 // Settings for the I2C based DIGIPOT (MCP4018) based on WT150
 
 #define DIGIPOT_A4988_Rsx               0.250
 #define DIGIPOT_A4988_Vrefmax           1.666
-#define DIGIPOT_A4988_MAX_VALUE         127
+#define DIGIPOT_MCP4018_MAX_VALUE     127
 
-#define DIGIPOT_A4988_Itripmax(Vref)    ((Vref)/(8.0*DIGIPOT_A4988_Rsx))
+#define DIGIPOT_A4988_Itripmax(Vref)    ((Vref) / (8.0 * DIGIPOT_A4988_Rsx))
 
-#define DIGIPOT_A4988_FACTOR            ((DIGIPOT_A4988_MAX_VALUE)/DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax))
+#define DIGIPOT_A4988_FACTOR            ((DIGIPOT_MCP4018_MAX_VALUE) / DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax))
 #define DIGIPOT_A4988_MAX_CURRENT       2.0
 
 static byte current_to_wiper(const float current) {
-  const int16_t value = ceil(float(DIGIPOT_A4988_FACTOR) * current);
-  return byte(constrain(value, 0, DIGIPOT_A4988_MAX_VALUE));
+  const int16_t value = TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(current * DIGIPOT_A4988_FACTOR));
+  return byte(constrain(value, 0, DIGIPOT_MCP4018_MAX_VALUE));
 }
 
-const uint8_t sda_pins[DIGIPOT_I2C_NUM_CHANNELS] = {
-  DIGIPOTS_I2C_SDA_X
-  #if DIGIPOT_I2C_NUM_CHANNELS > 1
-    , DIGIPOTS_I2C_SDA_Y
-    #if DIGIPOT_I2C_NUM_CHANNELS > 2
-      , DIGIPOTS_I2C_SDA_Z
-      #if DIGIPOT_I2C_NUM_CHANNELS > 3
-        , DIGIPOTS_I2C_SDA_E0
-        #if DIGIPOT_I2C_NUM_CHANNELS > 4
-          , DIGIPOTS_I2C_SDA_E1
-        #endif
-      #endif
-    #endif
-  #endif
-};
-
 static SlowSoftI2CMaster pots[DIGIPOT_I2C_NUM_CHANNELS] = {
-  SlowSoftI2CMaster { sda_pins[X_AXIS], DIGIPOTS_I2C_SCL }
+  SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_X, DIGIPOTS_I2C_SCL)
   #if DIGIPOT_I2C_NUM_CHANNELS > 1
-    , SlowSoftI2CMaster { sda_pins[Y_AXIS], DIGIPOTS_I2C_SCL }
+    , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Y, DIGIPOTS_I2C_SCL)
     #if DIGIPOT_I2C_NUM_CHANNELS > 2
-      , SlowSoftI2CMaster { sda_pins[Z_AXIS], DIGIPOTS_I2C_SCL }
+      , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Z, DIGIPOTS_I2C_SCL)
       #if DIGIPOT_I2C_NUM_CHANNELS > 3
-        , SlowSoftI2CMaster { sda_pins[E_AXIS], DIGIPOTS_I2C_SCL }
+        , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E0, DIGIPOTS_I2C_SCL)
         #if DIGIPOT_I2C_NUM_CHANNELS > 4
-          , SlowSoftI2CMaster { sda_pins[E_AXIS + 1], DIGIPOTS_I2C_SCL }
+          , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E1, DIGIPOTS_I2C_SCL)
+          #if DIGIPOT_I2C_NUM_CHANNELS > 5
+            , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E2, DIGIPOTS_I2C_SCL)
+            #if DIGIPOT_I2C_NUM_CHANNELS > 6
+              , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E3, DIGIPOTS_I2C_SCL)
+              #if DIGIPOT_I2C_NUM_CHANNELS > 7
+                , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E4, DIGIPOTS_I2C_SCL)
+              #endif
+            #endif
+          #endif
         #endif
       #endif
     #endif
@@ -85,18 +78,23 @@ static void i2c_send(const uint8_t channel, const byte v) {
 
 // This is for the MCP4018 I2C based digipot
 void digipot_i2c_set_current(const uint8_t channel, const float current) {
-  i2c_send(channel, current_to_wiper(_MIN(_MAX(current, 0), float(DIGIPOT_A4988_MAX_CURRENT))));
+  const float ival = _MIN(_MAX(current, 0), float(DIGIPOT_MCP4018_MAX_VALUE));
+  i2c_send(channel, current_to_wiper(ival));
 }
 
 void digipot_i2c_init() {
-  static const float digipot_motor_current[] PROGMEM = DIGIPOT_I2C_MOTOR_CURRENTS;
-
-  LOOP_L_N(i, DIGIPOT_I2C_NUM_CHANNELS)
-    pots[i].i2c_init();
-
-  // setup initial currents as defined in Configuration_adv.h
+  LOOP_L_N(i, DIGIPOT_I2C_NUM_CHANNELS) pots[i].i2c_init();
+
+  // Init currents according to Configuration_adv.h
+  static const float digipot_motor_current[] PROGMEM =
+    #if ENABLED(DIGIPOT_USE_RAW_VALUES)
+      DIGIPOT_MOTOR_CURRENT
+    #else
+      DIGIPOT_I2C_MOTOR_CURRENTS
+    #endif
+  ;
   LOOP_L_N(i, COUNT(digipot_motor_current))
     digipot_i2c_set_current(i, pgm_read_float(&digipot_motor_current[i]));
 }
 
-#endif // DIGIPOT_I2C && DIGIPOT_MCP4018
+#endif // DIGIPOT_MCP4018

Marlin/src/feature/digipot/digipot_mcp4451.cpp

@@ -22,7 +22,7 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if ENABLED(DIGIPOT_I2C) && DISABLED(DIGIPOT_MCP4018)
+#if ENABLED(DIGIPOT_MCP4451)
 
 #include <Stream.h>
 #include <Wire.h>
@@ -33,18 +33,18 @@
 
 // Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro
 #if MB(5DPRINT)
-  #define DIGIPOT_I2C_FACTOR 117.96
-  #define DIGIPOT_I2C_MAX_CURRENT 1.736
+  #define DIGIPOT_I2C_FACTOR      117.96f
+  #define DIGIPOT_I2C_MAX_CURRENT   1.736f
 #elif MB(AZTEEG_X5_MINI, AZTEEG_X5_MINI_WIFI)
-  #define DIGIPOT_I2C_FACTOR 113.5
-  #define DIGIPOT_I2C_MAX_CURRENT 2.0
+  #define DIGIPOT_I2C_FACTOR      113.5f
+  #define DIGIPOT_I2C_MAX_CURRENT   2.0f
 #else
-  #define DIGIPOT_I2C_FACTOR 106.7
-  #define DIGIPOT_I2C_MAX_CURRENT 2.5
+  #define DIGIPOT_I2C_FACTOR      106.7f
+  #define DIGIPOT_I2C_MAX_CURRENT   2.5f
 #endif
 
 static byte current_to_wiper(const float current) {
-  return byte(CEIL(float((DIGIPOT_I2C_FACTOR * current))));
+  return byte(TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(DIGIPOT_I2C_FACTOR * current)));
 }
 
 static void digipot_i2c_send(const byte addr, const byte a, const byte b) {
@@ -62,8 +62,8 @@ static void digipot_i2c_send(const byte addr, const byte a, const byte b) {
 
 // This is for the MCP4451 I2C based digipot
 void digipot_i2c_set_current(const uint8_t channel, const float current) {
-  // these addresses are specific to Azteeg X3 Pro, can be set to others,
-  // In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1
+  // These addresses are specific to Azteeg X3 Pro, can be set to others.
+  // In this case first digipot is at address A0=0, A1=0, second one is at A0=0, A1=1
   const byte addr = channel < 4 ? DIGIPOT_I2C_ADDRESS_A : DIGIPOT_I2C_ADDRESS_B; // channel 0-3 vs 4-7
 
   // Initial setup
@@ -77,14 +77,14 @@ void digipot_i2c_set_current(const uint8_t channel, const float current) {
 
 void digipot_i2c_init() {
   #if MB(MKS_SBASE)
-    configure_i2c(16); // Setting clock_option to 16 ensure the I2C bus is initialized at 400kHz
+    configure_i2c(16); // Set clock_option to 16 ensure I2C is initialized at 400kHz
   #else
     Wire.begin();
   #endif
-  // setup initial currents as defined in Configuration_adv.h
-  static const float digipot_motor_current[] PROGMEM = DIGIPOT_I2C_MOTOR_CURRENTS;
+  // Set up initial currents as defined in Configuration_adv.h
+  static const float digipot_motor_current[] PROGMEM = TERN(DIGIPOT_USE_RAW_VALUES, DIGIPOT_MOTOR_CURRENT, DIGIPOT_I2C_MOTOR_CURRENTS);
   LOOP_L_N(i, COUNT(digipot_motor_current))
     digipot_i2c_set_current(i, pgm_read_float(&digipot_motor_current[i]));
 }
 
-#endif // DIGIPOT_I2C
+#endif // DIGIPOT_MCP4451

Marlin/src/gcode/feature/digipot/M907-M910.cpp

@@ -22,7 +22,7 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || EITHER(DIGIPOT_I2C, DAC_STEPPER_CURRENT)
+#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || HAS_I2C_DIGIPOT || ENABLED(DAC_STEPPER_CURRENT)
 
 #include "../../gcode.h"
 
@@ -30,7 +30,7 @@
   #include "../../../module/stepper.h"
 #endif
 
-#if ENABLED(DIGIPOT_I2C)
+#if HAS_I2C_DIGIPOT
   #include "../../../feature/digipot/digipot.h"
 #endif
 
@@ -62,7 +62,7 @@ void GcodeSuite::M907() {
 
   #endif
 
-  #if ENABLED(DIGIPOT_I2C)
+  #if HAS_I2C_DIGIPOT
     // this one uses actual amps in floating point
     LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
     // Additional extruders use B,C,D for channels 4,5,6.
@@ -103,4 +103,4 @@ void GcodeSuite::M907() {
 
 #endif // DAC_STEPPER_CURRENT
 
-#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT || HAS_MOTOR_CURRENT_PWM || DIGIPOT_I2C
+#endif // HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || HAS_I2C_DIGIPOT || DAC_STEPPER_CURRENT

Marlin/src/gcode/gcode.cpp

@@ -794,7 +794,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 900: M900(); break;                                  // M900: Set advance K factor.
       #endif
 
-      #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || EITHER(DIGIPOT_I2C, DAC_STEPPER_CURRENT)
+      #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || HAS_I2C_DIGIPOT || ENABLED(DAC_STEPPER_CURRENT)
         case 907: M907(); break;                                  // M907: Set digital trimpot motor current using axis codes.
         #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
           case 908: M908(); break;                                // M908: Control digital trimpot directly.

Marlin/src/gcode/gcode.h

@@ -938,7 +938,7 @@ private:
     static void M918();
   #endif
 
-  #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || EITHER(DIGIPOT_I2C, DAC_STEPPER_CURRENT)
+  #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || HAS_I2C_DIGIPOT || ENABLED(DAC_STEPPER_CURRENT)
     static void M907();
     #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
       static void M908();

Marlin/src/inc/Conditionals_adv.h

@@ -113,6 +113,10 @@
   #define HAS_LEDS_OFF_FLAG 1
 #endif
 
+#if EITHER(DIGIPOT_MCP4018, DIGIPOT_MCP4451)
+  #define HAS_I2C_DIGIPOT 1
+#endif
+
 // Multiple Z steppers
 #ifndef NUM_Z_STEPPER_DRIVERS
   #define NUM_Z_STEPPER_DRIVERS 1

Marlin/src/inc/SanityCheck.h

@@ -497,6 +497,8 @@
   #error "HOMING_BACKOFF_MM is now HOMING_BACKOFF_POST_MM. Please update Configuration_adv.h."
 #elif defined(X_HOME_BUMP_MM) || defined(Y_HOME_BUMP_MM) || defined(Z_HOME_BUMP_MM)
   #error "[XYZ]_HOME_BUMP_MM is now HOMING_BUMP_MM. Please update Configuration_adv.h."
+#elif defined(DIGIPOT_I2C)
+  #error "DIGIPOT_I2C is now DIGIPOT_MCP4451 (or DIGIPOT_MCP4018). Please update Configuration_adv.h."
 #endif
 
 /**
@@ -1587,6 +1589,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 // Pins are required for heaters
 #if ENABLED(HEATER_0_USES_MAX6675) && !PIN_EXISTS(MAX6675_SS)
   #error "MAX6675_SS_PIN (required for TEMP_SENSOR_0) not defined for this board."
+#elif HOTENDS && !HAS_TEMP_HOTEND
+  #error "TEMP_0_PIN (required for TEMP_SENSOR_0) not defined for this board."
 #elif (HOTENDS > 1 || ENABLED(HEATERS_PARALLEL)) && !HAS_HEATER_1
   #error "HEATER_1_PIN not defined for this board."
 #endif
@@ -2443,10 +2447,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 /**
  * Digipot requirement
  */
-#if ENABLED(DIGIPOT_MCP4018)
-  #if !defined(DIGIPOTS_I2C_SDA_X) || !defined(DIGIPOTS_I2C_SDA_Y) || !defined(DIGIPOTS_I2C_SDA_Z) \
+#if HAS_I2C_DIGIPOT
+  #if BOTH(DIGIPOT_MCP4018, DIGIPOT_MCP4451)
+    #error "Enable only one of DIGIPOT_MCP4018 or DIGIPOT_MCP4451."
+  #elif !defined(DIGIPOTS_I2C_SDA_X) || !defined(DIGIPOTS_I2C_SDA_Y) || !defined(DIGIPOTS_I2C_SDA_Z) \
     || !defined(DIGIPOTS_I2C_SDA_E0) || !defined(DIGIPOTS_I2C_SDA_E1)
-      #error "DIGIPOT_MCP4018 requires DIGIPOTS_I2C_SDA_* pins to be defined."
+      #error "DIGIPOT_MCP4018/4451 requires DIGIPOTS_I2C_SDA_* pins to be defined."
   #endif
 #endif
 

Marlin/src/lcd/extui/ui_api.cpp

@@ -780,7 +780,7 @@ namespace ExtUI {
      */
     int16_t mmToWholeSteps(const float mm, const axis_t axis) {
       const float steps = mm / planner.steps_to_mm[axis];
-      return steps > 0 ? ceil(steps) : floor(steps);
+      return steps > 0 ? CEIL(steps) : FLOOR(steps);
     }
   #endif
 

buildroot/share/tests/mega2560-tests

@@ -127,13 +127,15 @@ exec_test $1 $2 "Azteeg X3 | Mixing Extruder (x5) | Gradient Mix | Cyrillic"
 # Test many less common options
 #
 restore_configs
-opt_set MOTHERBOARD BOARD_MEGATRONICS_32
+opt_set MOTHERBOARD BOARD_MIGHTYBOARD_REVE
+opt_set TEMP_SENSOR_0 -2
+opt_set DIGIPOT_I2C_NUM_CHANNELS 5
 opt_set LCD_LANGUAGE it
 opt_set MIXING_STEPPERS 2
 opt_set SERVO_DELAY "{ 300, 300, 300 }"
 opt_enable COREYX USE_XMAX_PLUG MIXING_EXTRUDER GRADIENT_MIX \
            BABYSTEPPING BABYSTEP_DISPLAY_TOTAL FILAMENT_LCD_DISPLAY \
-           REPRAP_DISCOUNT_SMART_CONTROLLER MENU_ADDAUTOSTART SDSUPPORT SDCARD_SORT_ALPHA \
+           REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER MENU_ADDAUTOSTART SDSUPPORT SDCARD_SORT_ALPHA \
            ENDSTOP_NOISE_THRESHOLD FAN_SOFT_PWM \
            FIX_MOUNTED_PROBE AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE FILAMENT_WIDTH_SENSOR \
            Z_SAFE_HOMING SHOW_TEMP_ADC_VALUES HOME_Y_BEFORE_X EMERGENCY_PARSER \
@@ -143,7 +145,7 @@ opt_set FAN_MIN_PWM 50
 opt_set FAN_KICKSTART_TIME 100
 opt_set XY_FREQUENCY_LIMIT 15
 opt_add FILWIDTH_PIN 5
-exec_test $1 $2 "Megatronics 3.2 | Gradient Mix | Endstop Int. | Home Y > X | FW Retract ..."
+exec_test $1 $2 "Mightyboard Rev. E | CoreXY, Gradient Mix | Endstop Int. | Home Y > X | FW Retract ..."
 
 ######## Other Standard LCD/Panels ##############
 #