Symtopns:

- X axis move in one direction
- limit switches fail to trigger
- unable to reprogram the device via bootloader
- stops working when the reset switch is pressed.
- device fails to bootup when power by a slow raise power supply.

Solution:
- Disabled the jtag
- set the correct clock selection bit
- set the correct bootloader memory size
- enable brown-out setting
- enable clock power up delay

Also cosmetic comment changes and spelling corrections in printed
messages

Added the optiboot bootloader, uses only 512kB of FLASH
Includes .hex file is for 20MHz µC Clock and serial speed of 57k6

This is the actual Sanguino release for Arduino 023.
It has full ATmega1284p support.

Reference:
https://code.google.com/p/sanguino/downloads/detail?name=Sanguino-0023r4.zip&can=2&q=

ATmega644P 16MHz, ATmega1284p 8, 16, 20MHz