and changed ultipanel to have the mm/sec and not mm/min

Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into Marlin_v1

Conflicts:
	Marlin/Marlin.pde
	Marlin/ultralcd.h

Marlin/Configuration.h

 //#define BAUDRATE 230400
 
 
+// Frequency limit
+// See nophead's blog for more info
+// Not working OK
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
+
+// If defined the movements slow down when the look ahead buffer is only half full
+#define SLOWDOWN
+
 // BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
 
 //// The following define selects which electronics board you have. Please choose the one that matches your setup
 //#define BED_USES_THERMISTOR
 //#define BED_USES_AD595
 
-#define HEATER_CHECK_INTERVAL 50 //ms
 #define BED_CHECK_INTERVAL 5000 //ms
 
 //// Experimental watchdog and minimal temp
 
   #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)  
+//    #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)  
+
+    #define  DEFAULT_Kp  22.2
+    #define  DEFAULT_Ki (1.25*PID_dT)  
+    #define  DEFAULT_Kd (99/PID_dT)  
   #endif
- 
+   
   #ifdef PID_PI
     //PI according to Ziegler-Nichols method
     #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
 #define DISABLE_E false
 
 // Inverting axis direction
+//#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
+//#define INVERT_Y_DIR true   // for Mendel set to true, for Orca set to false
+//#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
+//#define INVERT_E_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
+
 #define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false   // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true    // for Mendel set to false, for Orca set to true
 //// MOVEMENT SETTINGS
 #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
+#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
 
 
 // default settings 
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {79.87220447,79.87220447,200*8/3,14}                    // default steps per unit for ultimaker 
-#define DEFAULT_MAX_FEEDRATE          {160*60, 160*60, 10*60, 500000}        
-#define DEFAULT_MAX_ACCELERATION      {9000,9000,150,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {79.87220447,79.87220447,200*8/3,760*1.1}                    // default steps per unit for ultimaker 
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {40, 40, 3333.92, 67} 
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 200000}    // (mm/sec)    
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
 #define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
 #define DEFAULT_RETRACT_ACCELERATION  7000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
-#define DEFAULT_MINIMUMFEEDRATE       10     // minimum feedrate
-#define DEFAULT_MINTRAVELFEEDRATE     10
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
 
 // minimum time in microseconds that a movement needs to take if the buffer is emptied.   Increase this number if you see blobs while printing high speed & high detail.  It will slowdown on the detailed stuff.
-#define DEFAULT_MINSEGMENTTIME        20000
-#define DEFAULT_XYJERK                30.0*60    
-#define DEFAULT_ZJERK                 10.0*60
+#define DEFAULT_MINSEGMENTTIME        20000   // Obsolete delete this
+#define DEFAULT_XYJERK                30.0    // (mm/sec)
+#define DEFAULT_ZJERK                 0.4     // (mm/sec)
 
 
 

Marlin/Marlin.pde

 //===========================================================================
 //=============================public variables=============================
 //===========================================================================
+#ifdef SDSUPPORT
 CardReader card;
+#endif
 float homing_feedrate[] = HOMING_FEEDRATE;
 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
 volatile int feedmultiply=100; //100->1 200->2
 
 
 
-inline void get_coordinates()
-{
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
-    else destination[i] = current_position[i]; //Are these else lines really needed?
-  }
-  if(code_seen('F')) {
-    next_feedrate = code_value();
-    if(next_feedrate > 0.0) feedrate = next_feedrate;
-  }
-}
 
-inline void get_arc_coordinates()
-{
-   get_coordinates();
-   if(code_seen('I')) offset[0] = code_value();
-   if(code_seen('J')) offset[1] = code_value();
-}
 
-void prepare_move()
-{
-  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60.0/100.0);
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    current_position[i] = destination[i];
-  }
-}
 
 
 
 {
   if(buflen<3)
     get_command();
+  #ifdef SDSUPPORT
   card.checkautostart(false);
+  #endif
   if(buflen)
   {
     #ifdef SDSUPPORT
   SERIAL_PROTOCOLLNPGM("ok"); 
 }
 
+inline void get_coordinates()
+{
+  for(int8_t i=0; i < NUM_AXIS; i++) {
+    if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
+    else destination[i] = current_position[i]; //Are these else lines really needed?
+  }
+  if(code_seen('F')) {
+    next_feedrate = code_value();
+    if(next_feedrate > 0.0) feedrate = next_feedrate;
+  }
+}
+
+inline void get_arc_coordinates()
+{
+   get_coordinates();
+   if(code_seen('I')) offset[0] = code_value();
+   if(code_seen('J')) offset[1] = code_value();
+}
 
+void prepare_move()
+{
+  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
+  for(int8_t i=0; i < NUM_AXIS; i++) {
+    current_position[i] = destination[i];
+  }
+}
 
 void prepare_arc_move(char isclockwise) {
   float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
 
   // Trace the arc
-  mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise);
+  mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
   
   // As far as the parser is concerned, the position is now == target. In reality the
   // motion control system might still be processing the action and the real tool position

Marlin/planner.h

-/*
-  planner.h - buffers movement commands and manages the acceleration profile plan
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-// This module is to be considered a sub-module of stepper.c. Please don't include 
-// this file from any other module.
-
-#ifndef planner_h
-#define planner_h
-
-#include "Configuration.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.
-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
-  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
-
-  // Fields used by the motion planner to manage acceleration
-  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
-  float nominal_speed;                               // The nominal speed for this block in mm/min  
-  float millimeters;                                 // The total travel of this block in mm
-  float entry_speed;
-  float acceleration;                                // acceleration mm/sec^2
-
-  // Settings for the trapezoid generator
-  long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
-  volatile long initial_rate;                        // The jerk-adjusted step rate at start of block  
-  volatile long final_rate;                          // The minimal rate at exit
-  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(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(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.
-void plan_discard_current_block();
-
-// Gets the current block. Returns NULL if buffer empty
-block_t *plan_get_current_block();
-
-void check_axes_activity();
-
-extern unsigned long minsegmenttime;
-extern float max_feedrate[4]; // set the max speeds
-extern float axis_steps_per_unit[4];
-extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
-extern float minimumfeedrate;
-extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
-extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
-extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
-extern float max_z_jerk;
-extern float mintravelfeedrate;
-extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
-#ifdef AUTOTEMP
-extern float high_e_speed;
-#endif
-#endif
+/*
+  planner.h - buffers movement commands and manages the acceleration profile plan
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// This module is to be considered a sub-module of stepper.c. Please don't include 
+// this file from any other module.
+
+#ifndef planner_h
+#define planner_h
+
+#include "Configuration.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.
+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
+  long accelerate_until;                    // The index of the step event on which to stop acceleration
+  long decelerate_after;                    // The index of the step event on which to start decelerating
+  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
+
+  // Fields used by the motion planner to manage acceleration
+//  float speed_x, speed_y, speed_z, speed_e;        // Nominal mm/minute for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/min  
+  float entry_speed;                                 // Entry speed at previous-current junction in mm/min
+  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/min
+  float millimeters;                                 // The total travel of this block in mm
+  float acceleration;                                // acceleration mm/sec^2
+  unsigned char recalculate_flag;                    // Planner flag to recalculate trapezoids on entry junction
+  unsigned char nominal_length_flag;                 // Planner flag for nominal speed always reached
+
+  // Settings for the trapezoid generator
+  unsigned long nominal_rate;                        // The nominal step rate for this block in step_events/sec 
+  unsigned long initial_rate;                        // The jerk-adjusted step rate at start of block  
+  unsigned long final_rate;                          // The minimal rate at exit
+  unsigned 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(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(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.
+void plan_discard_current_block();
+
+// Gets the current block. Returns NULL if buffer empty
+block_t *plan_get_current_block();
+
+void check_axes_activity();
+
+extern unsigned long minsegmenttime;
+extern float max_feedrate[4]; // set the max speeds
+extern float axis_steps_per_unit[4];
+extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+extern float minimumfeedrate;
+extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
+extern float max_z_jerk;
+extern float mintravelfeedrate;
+extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+#ifdef AUTOTEMP
+extern float high_e_speed;
+#endif
+#endif

Marlin/thermistortables.h

 #ifndef THERMISTORTABLES_H_
 #define THERMISTORTABLES_H_
 
+#include <avr/pgmspace.h>
+
 #define OVERSAMPLENR 16
 
 #if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
 
 #define NUMTEMPS_1 61
-const short temptable_1[NUMTEMPS_1][2] = {
+const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
 {       23*OVERSAMPLENR ,       300     },
 {       25*OVERSAMPLENR ,       295     },
 {       27*OVERSAMPLENR ,       290     },
 #endif
 #if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
 #define NUMTEMPS_2 21
-const short temptable_2[NUMTEMPS_2][2] = {
+const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
    {1*OVERSAMPLENR, 848},
    {54*OVERSAMPLENR, 275},
    {107*OVERSAMPLENR, 228},
 #endif
 #if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
 #define NUMTEMPS_3 28
-const short temptable_3[NUMTEMPS_3][2] = {
+const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
                 {1*OVERSAMPLENR,864},
                 {21*OVERSAMPLENR,300},
                 {25*OVERSAMPLENR,290},
 #if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
 
 #define NUMTEMPS_4 20
-short temptable_4[NUMTEMPS_4][2] = {
+const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
    {1*OVERSAMPLENR, 430},
    {54*OVERSAMPLENR, 137},
    {107*OVERSAMPLENR, 107},
 #if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
 
 #define NUMTEMPS_5 61
-const short temptable_5[NUMTEMPS_5][2] = {
+const short temptable_5[NUMTEMPS_5][2] PROGMEM = {
 {1*OVERSAMPLENR, 713},
 {18*OVERSAMPLENR, 316},
 {35*OVERSAMPLENR, 266},
 
 #if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
 #define NUMTEMPS_6 36
-const short temptable_6[NUMTEMPS_6][2] = {
+const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
    {28*OVERSAMPLENR, 250},
    {31*OVERSAMPLENR, 245},
    {35*OVERSAMPLENR, 240},
 
 #if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
 #define NUMTEMPS_7 54
-const short temptable_7[NUMTEMPS_7][2] = {
+const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
    {46*OVERSAMPLENR, 270},
    {50*OVERSAMPLENR, 265},
    {54*OVERSAMPLENR, 260},

Marlin/ultralcd.h

-#ifndef __ULTRALCDH
-#define __ULTRALCDH
-#include "Configuration.h"
-
-#ifdef ULTRA_LCD
-
-  void lcd_status();
-  void lcd_init();
-  void lcd_status(const char* message);
-  void beep();
-  void buttons_check();
-
-
-  #define LCD_UPDATE_INTERVAL 100
-  #define STATUSTIMEOUT 15000
-
-
-  #include <LiquidCrystal.h>
-  extern LiquidCrystal lcd;
-
-
-  #ifdef NEWPANEL
-
-    
-    #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
-    
-  enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD};
-
-  class MainMenu{
-  public:
-    MainMenu();
-    void update();
-    uint8_t activeline;
-    MainStatus status;
-    uint8_t displayStartingRow;
-    
-    void showStatus();
-    void showMainMenu();
-    void showPrepare();
-    void showControl();
-    void showSD();
-    bool force_lcd_update;
-    int lastencoderpos;
-    int8_t lineoffset;
-    int8_t lastlineoffset;
-    
-    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);
-  char *ftostr3(const float &x);
-
-
-
-  #define LCD_MESSAGE(x) lcd_status(x);
-  #define LCD_MESSAGEPGM(x) lcd_statuspgm(PSTR(x));
-  #define LCD_STATUS lcd_status()
-#else //no lcd
-  #define LCD_STATUS
-  #define LCD_MESSAGE(x)
-  inline void lcd_status() {};
-#endif
-  
-#ifndef ULTIPANEL  
- #define CLICKED false
-  #define BLOCK ;
-#endif 
-  
-void lcd_statuspgm(const char* message);
-  
-#endif //ULTRALCD
-
+#ifndef __ULTRALCDH
+#define __ULTRALCDH
+#include "Configuration.h"
+
+#ifdef ULTRA_LCD
+
+  void lcd_status();
+  void lcd_init();
+  void lcd_status(const char* message);
+  void beep();
+  void buttons_check();
+
+
+  #define LCD_UPDATE_INTERVAL 100
+  #define STATUSTIMEOUT 15000
+
+
+  #include <LiquidCrystal.h>
+  extern LiquidCrystal lcd;
+
+
+  #ifdef NEWPANEL
+
+    
+    #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
+    
+  enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD};
+
+  class MainMenu{
+  public:
+    MainMenu();
+    void update();
+    uint8_t activeline;
+    MainStatus status;
+    uint8_t displayStartingRow;
+    
+    void showStatus();
+    void showMainMenu();
+    void showPrepare();
+    void showControl();
+    void showSD();
+    bool force_lcd_update;
+    int lastencoderpos;
+    int8_t lineoffset;
+    int8_t lastlineoffset;
+    
+    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);
+  char *ftostr3(const float &x);
+
+
+
+  #define LCD_MESSAGE(x) lcd_status(x);
+  #define LCD_MESSAGEPGM(x) lcd_statuspgm(PSTR(x));
+  #define LCD_STATUS lcd_status()
+#else //no lcd
+  #define LCD_STATUS
+  #define LCD_MESSAGE(x)
+  #define LCD_MESSAGEPGM(x)
+  inline void lcd_status() {};
+#endif
+  
+#ifndef ULTIPANEL  
+ #define CLICKED false
+  #define BLOCK ;
+#endif 
+  
+void lcd_statuspgm(const char* message);
+  
+#endif //ULTRALCD
+

Marlin/ultralcd.pde

       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(" Vxy-jerk: ");
-          lcd.setCursor(13,line);lcd.print(itostr3(max_xy_jerk/60));
+          lcd.setCursor(13,line);lcd.print(itostr3(max_xy_jerk));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)max_xy_jerk/60;
+               encoderpos=(int)max_xy_jerk;
             }
             else
             {
-              max_xy_jerk= encoderpos*60;
+              max_xy_jerk= encoderpos;
               encoderpos=activeline*lcdslow;
                 
             }
           if(i==ItemC_vmaxy)lcdprintPGM("y:");
           if(i==ItemC_vmaxz)lcdprintPGM("z:");
           if(i==ItemC_vmaxe)lcdprintPGM("e:");
-          lcd.setCursor(13,line);lcd.print(itostr3(max_feedrate[i-ItemC_vmaxx]/60));
+          lcd.setCursor(13,line);lcd.print(itostr3(max_feedrate[i-ItemC_vmaxx]));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)max_feedrate[i-ItemC_vmaxx]/60;
+               encoderpos=(int)max_feedrate[i-ItemC_vmaxx];
             }
             else
             {
-              max_feedrate[i-ItemC_vmaxx]= encoderpos*60;
+              max_feedrate[i-ItemC_vmaxx]= encoderpos;
               encoderpos=activeline*lcdslow;
                 
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(" Vmin:");
-          lcd.setCursor(13,line);lcd.print(itostr3(minimumfeedrate/60));
+          lcd.setCursor(13,line);lcd.print(itostr3(minimumfeedrate));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)(minimumfeedrate/60.);
+               encoderpos=(int)(minimumfeedrate);
             }
             else
             {
-              minimumfeedrate= encoderpos*60;
+              minimumfeedrate= encoderpos;
               encoderpos=activeline*lcdslow;
                 
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(" VTrav min:");
-          lcd.setCursor(13,line);lcd.print(itostr3(mintravelfeedrate/60));
+          lcd.setCursor(13,line);lcd.print(itostr3(mintravelfeedrate));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)mintravelfeedrate/60;
+               encoderpos=(int)mintravelfeedrate;
             }
             else
             {
-              mintravelfeedrate= encoderpos*60;
+              mintravelfeedrate= encoderpos;
               encoderpos=activeline*lcdslow;
                 
             }