Merge remote-tracking branch 'refs/remotes/origin/master' into dev

MK/Configuration_Feature.h

@@ -1397,9 +1397,9 @@
  ************************** Motor's current ****************************
  ***********************************************************************/
 // Motor Current setting (Only functional on ALLIGATOR BOARD)
-#define MOTOR_CURRENT {1, 1, 1, 1, 1, 1, 1} // X Y Z E0 E1 E2 E3 - Values 0 - 2.5 A
+#define MOTOR_CURRENT {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // X Y Z E0 E1 E2 E3 - Values 0 - 2.5 A
 // Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
-#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT {135, 135, 135, 135, 135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 /***********************************************************************/
 
 

MK/Configuration_Store.cpp

@@ -450,21 +450,15 @@ void Config_ResetDefault() {
   float tmp3[] = DEFAULT_MAX_ACCELERATION;
   float tmp4[] = DEFAULT_RETRACT_ACCELERATION;
   float tmp5[] = DEFAULT_EJERK;
-  #if ENABLED(PIDTEMP)
-    float tmp6[] = DEFAULT_Kp;
-    float tmp7[] = DEFAULT_Ki;
-    float tmp8[] = DEFAULT_Kd;
-    float tmp9[] = DEFAULT_Kc;
-  #endif // PIDTEMP
+  float tmp6[] = DEFAULT_Kp;
+  float tmp7[] = DEFAULT_Ki;
+  float tmp8[] = DEFAULT_Kd;
+  float tmp9[] = DEFAULT_Kc;
 
   #if ENABLED(HOTEND_OFFSET_X) && ENABLED(HOTEND_OFFSET_Y) && ENABLED(HOTEND_OFFSET_Z)
     float tmp10[] = HOTEND_OFFSET_X;
     float tmp11[] = HOTEND_OFFSET_Y;
     float tmp12[] = HOTEND_OFFSET_Z;
-  #else
-    float tmp10[] = {0};
-    float tmp11[] = {0};
-    float tmp12[] = {0};
   #endif
 
   #if MB(ALLIGATOR)
@@ -472,55 +466,30 @@ void Config_ResetDefault() {
   #endif
 
   for (int8_t i = 0; i < 3 + EXTRUDERS; i++) {
-    short max_i;
-    max_i = sizeof(tmp1) / sizeof(*tmp1);
-    if(i < max_i)
-      axis_steps_per_unit[i] = tmp1[i];
-    else
-      axis_steps_per_unit[i] = tmp1[max_i - 1];
-    max_i = sizeof(tmp2) / sizeof(*tmp2);
-    if(i < max_i)
-      max_feedrate[i] = tmp2[i];
-    else
-      max_feedrate[i] = tmp2[max_i - 1];
-    max_i = sizeof(tmp3) / sizeof(*tmp3);
-    if(i < max_i)
-      max_acceleration_units_per_sq_second[i] = tmp3[i];
-    else
-      max_acceleration_units_per_sq_second[i] = tmp3[max_i - 1];
-    if(i < EXTRUDERS) {
-      max_i = sizeof(tmp4) / sizeof(*tmp4);
-      if(i < max_i)
-        retract_acceleration[i] = tmp4[i];
-      else
-        retract_acceleration[i] = tmp4[max_i - 1];
-      max_i = sizeof(tmp5) / sizeof(*tmp5);
-      if(i < max_i)
-        max_e_jerk[i] = tmp5[i];
-      else
-        max_e_jerk[i] = tmp5[max_i - 1];
-      max_i = sizeof(tmp10) / sizeof(*tmp10);
-      if(i < max_i)
-        hotend_offset[X_AXIS][i] = tmp10[i];
-      else
-        hotend_offset[X_AXIS][i] = 0;
-      max_i = sizeof(tmp11) / sizeof(*tmp11);
-      if(i < max_i)
-        hotend_offset[Y_AXIS][i] = tmp11[i];
-      else
-        hotend_offset[Y_AXIS][i] = 0;
-      max_i = sizeof(tmp12) / sizeof(*tmp12);
-      if(i < max_i)
-        hotend_offset[Z_AXIS][i] = tmp12[i];
-      else
-        hotend_offset[Z_AXIS][i] = 0;
-    }
-    #if MB(ALLIGATOR)
-      max_i = sizeof(tmp13) / sizeof(*tmp13);
-      if(i < max_i)
-        motor_current[i] = tmp13[i];
-      else
-        motor_current[i] = tmp13[max_i - 1];
+    axis_steps_per_unit[i] = tmp1[i];
+    max_feedrate[i] = tmp2[i];
+    max_acceleration_units_per_sq_second[i] = tmp3[i];
+  }
+
+  for (int8_t i = 0; i < EXTRUDERS; i++) {
+    retract_acceleration[i] = tmp4[i];
+    max_e_jerk[i] = tmp5[i];
+  }
+
+  #if MB(ALLIGATOR)
+    for (int8_t i = 0; i < 3 + DRIVER_EXTRUDERS; i++)
+      motor_current[i] = tmp13[i];
+  #endif
+
+  for (int8_t i = 0; i < HOTENDS; i++) {
+    #if ENABLED(HOTEND_OFFSET_X) && ENABLED(HOTEND_OFFSET_Y) && ENABLED(HOTEND_OFFSET_Z)
+      hotend_offset[X_AXIS][i] = tmp10[i];
+      hotend_offset[Y_AXIS][i] = tmp11[i];
+      hotend_offset[Z_AXIS][i] = tmp12[i];
+    #else
+      hotend_offset[X_AXIS][i] = 0;
+      hotend_offset[Y_AXIS][i] = 0;
+      hotend_offset[Z_AXIS][i] = 0;
     #endif
   }
 

MK/module/HAL/HAL.h

@@ -12,11 +12,11 @@
  *
  * This program 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
+ * 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  */
 

MK/module/MK_Main.cpp

@@ -261,7 +261,7 @@ double printer_usage_filament;
 #endif
 
 #if MB(ALLIGATOR)
-  float motor_current[DRIVER_EXTRUDERS + 3];
+  float motor_current[3 + DRIVER_EXTRUDERS];
 #endif
 
 #if ENABLED(COLOR_MIXING_EXTRUDER)
@@ -665,7 +665,7 @@ bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  */
 void setup() {
   #if MB(ALLIGATOR)
-    setup_alligator_board();// Initialize Alligator Board
+    setup_alligator_board(); // Initialize Alligator Board
   #endif
   #if HAS(KILL)
     setup_killpin();
@@ -1068,7 +1068,7 @@ bool code_seen(char code) {
  *
  * Returns TRUE if the target is invalid
  */
-bool setTargetedExtruder(int code) {
+bool get_target_extruder_from_command(int code) {
   if (code_seen('T')) {
     short t = code_value_short();
     if (t >= EXTRUDERS) {
@@ -1089,7 +1089,7 @@ bool setTargetedExtruder(int code) {
  *
  * Returns TRUE if the target is invalid
  */
-bool setTargetedHotend(int code) {
+bool get_target_hotend_from_command(int code) {
   if (code_seen('H')) {
     short h = code_value_short();
     if (h >= HOTENDS) {
@@ -5146,7 +5146,7 @@ inline void gcode_M85() {
  * M92: Set axis_steps_per_unit
  */
 inline void gcode_M92() {
-  if (setTargetedExtruder(92)) return;
+  if (get_target_extruder_from_command(92)) return;
 
   for(uint8_t i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
@@ -5387,7 +5387,7 @@ inline void gcode_M92() {
  * M104: Set hotend temperature
  */
 inline void gcode_M104() {
-  if (setTargetedExtruder(104)) return;
+  if (get_target_extruder_from_command(104)) return;
   if (DEBUGGING(DRYRUN)) return;
 
   #if HOTENDS == 1
@@ -5426,7 +5426,7 @@ inline void gcode_M104() {
  * M105: Read hot end and bed temperature
  */
 inline void gcode_M105() {
-  if (setTargetedExtruder(105)) return;
+  if (get_target_extruder_from_command(105)) return;
 
   #if HAS(TEMP_0) || HAS(TEMP_BED) || ENABLED(HEATER_0_USES_MAX6675)
     ECHO_S(OK);
@@ -5456,7 +5456,7 @@ inline void gcode_M105() {
  *       Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  */
 inline void gcode_M109() {
-  if (setTargetedExtruder(109)) return;
+  if (get_target_extruder_from_command(109)) return;
   if (DEBUGGING(DRYRUN)) return;
 
   #if HOTENDS == 1
@@ -5801,7 +5801,7 @@ inline void gcode_M140() {
  */
 inline void gcode_M200() {
 
-  if (setTargetedExtruder(200)) return;
+  if (get_target_extruder_from_command(200)) return;
 
   if (code_seen('D')) {
     float diameter = code_value();
@@ -5861,7 +5861,7 @@ inline void gcode_M201() {
  *
  */
 inline void gcode_M203() {
-  if (setTargetedExtruder(203)) return;
+  if (get_target_extruder_from_command(203)) return;
 
   for(uint8_t i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
@@ -5883,7 +5883,7 @@ inline void gcode_M203() {
  *  Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  */
 inline void gcode_M204() {
-  if (setTargetedExtruder(204)) return;
+  if (get_target_extruder_from_command(204)) return;
 
   if (code_seen('S')) {  // Kept for legacy compatibility. Should NOT BE USED for new developments.
     acceleration = code_value();
@@ -5915,7 +5915,7 @@ inline void gcode_M204() {
  *    E = Max E Jerk (mm/s/s)
  */
 inline void gcode_M205() {
-  if (setTargetedExtruder(205)) return;
+  if (get_target_extruder_from_command(205)) return;
 
   if (code_seen('S')) minimumfeedrate = code_value();
   if (code_seen('V')) mintravelfeedrate = code_value();
@@ -6003,7 +6003,7 @@ inline void gcode_M206() {
  * M218 - set hotend offset (in mm), H<hotend_number> X<offset_on_X> Y<offset_on_Y> Z<offset_on_Z>
  */
 inline void gcode_M218() {
-  if (setTargetedHotend(218)) return;
+  if (get_target_hotend_from_command(218)) return;
 
   if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value();
   if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value();
@@ -6029,7 +6029,7 @@ inline void gcode_M220() {
  * M221: Set extrusion percentage (M221 T0 S95)
  */
 inline void gcode_M221() {
-  if (setTargetedExtruder(221)) return;
+  if (get_target_extruder_from_command(221)) return;
 
   if (code_seen('S')) extruder_multiplier[target_extruder] = code_value();
 }
@@ -6038,7 +6038,7 @@ inline void gcode_M221() {
  * M222: Set density extrusion percentage (M222 T0 S95)
  */
 inline void gcode_M222() {
-  if (setTargetedExtruder(222)) return;
+  if (get_target_extruder_from_command(222)) return;
 
   if (code_seen('S')) {
     density_multiplier[target_extruder] = code_value();
@@ -6862,7 +6862,7 @@ inline void gcode_M503() {
    * M522: Read or Write on card. M522 T<extruders> R<read> or W<write> L<list>
    */
   inline void gcode_M522() {
-    if (setTargetedExtruder(522)) return;
+    if (get_target_extruder_from_command(522)) return;
     if (!RFID_ON) return;
 
     if (code_seen('R')) {
@@ -6898,7 +6898,7 @@ inline void gcode_M503() {
    * M595 - set Hotend AD595 offset & Gain H<hotend_number> O<offset> S<gain>
    */
   inline void gcode_M595() {
-    if (setTargetedHotend(595)) return;
+    if (get_target_hotend_from_command(595)) return;
 
     if (code_seen('O')) ad595_offset[target_extruder] = code_value();
     if (code_seen('S')) ad595_gain[target_extruder] = code_value();
@@ -7272,8 +7272,8 @@ inline void gcode_M503() {
    * M906: Set motor currents
    */
   inline void gcode_M906() {
-    if (setTargetedExtruder(906)) return;
-    for (uint8_t i = 0; i < 3 + DRIVER_EXTRUDERS; i++) {
+    if (get_target_extruder_from_command(906)) return;
+    for (uint8_t i = 0; i < NUM_AXIS; i++) {
       if (code_seen(axis_codes[i])) {
         if (i == E_AXIS)
           motor_current[i + target_extruder] = code_value();
@@ -7281,6 +7281,7 @@ inline void gcode_M503() {
           motor_current[i] = code_value();
       }
     }
+    set_driver_current();
   }
 #endif // ALLIGATOR
 
@@ -7340,11 +7341,21 @@ inline void gcode_M907() {
 
 /**
  * M999: Restart after being stopped
+ *
+ * Default behaviour is to flush the serial buffer and request
+ * a resend to the host starting on the last N line received.
+ *
+ * Sending "M999 S1" will resume printing without flushing the
+ * existing command buffer.
+ *
  */
 inline void gcode_M999() {
   Running = true;
   Printing = false;
   lcd_reset_alert_level();
+
+  if (code_seen('S') && code_value_short() == 1) return;
+
   FlushSerialRequestResend();
 }
 
@@ -8293,7 +8304,7 @@ static void report_current_position() {
     float difference[NUM_AXIS];
     float addDistance[NUM_AXIS];
     float fractions[NUM_AXIS];
-    float frfm = feedrate / 60 * feedrate_multiplier / 100.0;
+    float _feedrate = feedrate * feedrate_multiplier / 6000.0;
 
     for (uint8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
 
@@ -8302,8 +8313,9 @@ static void report_current_position() {
     if (cartesian_mm < 0.000001) return false;
 
     #if ENABLED(DELTA_SEGMENTS_PER_SECOND)
-      float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
+      float seconds = cartesian_mm / _feedrate;
       int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
+      float inv_steps = 1.0 / steps;
 
       if (DEBUGGING(DEBUG)) {
         ECHO_SMV(DEB, "mm=", cartesian_mm);
@@ -8332,7 +8344,7 @@ static void report_current_position() {
     for (int s = 1; s <= steps; s++) {
 
       #if ENABLED(DELTA_SEGMENTS_PER_SECOND)
-        float fraction = float(s) / float(steps);
+        float fraction = float(s) * inv_steps;
         for (uint8_t i = 0; i < NUM_AXIS; i++)
           target[i] = current_position[i] + difference[i] * fraction;
       #else
@@ -8351,7 +8363,7 @@ static void report_current_position() {
         DEBUG_POS("prepare_move_delta", delta);
       }
 
-      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], target[E_AXIS], frfm, active_extruder, active_driver);
+      plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], target[E_AXIS], _feedrate, active_extruder, active_driver);
     }
     return true;
   }
@@ -8835,7 +8847,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
   #endif
 
   #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
-    if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL))
+    if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)) {
       if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
         bool oldstatus;
         switch(active_extruder) {

MK/module/MK_Main.h

@@ -138,6 +138,12 @@ extern bool axis_known_position[3];
 extern bool axis_homed[3];
 extern float zprobe_zoffset;
 
+// GCode support for external objects
+bool code_seen(char);
+float code_value();
+long code_value_long();
+int16_t code_value_short();
+
 #if ENABLED(ADVANCE_LPC)
   extern int extruder_advance_k;
 #endif
@@ -253,7 +259,7 @@ extern uint8_t previous_extruder;
 extern uint8_t active_driver;
 
 #if MB(ALLIGATOR)
-  extern float motor_current[DRIVER_EXTRUDERS + 3];
+  extern float motor_current[3 + DRIVER_EXTRUDERS];
 #endif
 
 #if ENABLED(DIGIPOT_I2C)
@@ -273,19 +279,12 @@ extern uint8_t active_driver;
   extern float mixing_factor[DRIVER_EXTRUDERS];
 #endif
 
-extern void calculate_volumetric_multipliers();
+void calculate_volumetric_multipliers();
 
 #if ENABLED(M100_FREE_MEMORY_WATCHER)
   extern void *__brkval;
   extern size_t  __heap_start, __heap_end, __flp;
 
-  //
-  // Declare all the functions we need from Marlin_Main.cpp to do the work!
-  //
-  float code_value();
-  long code_value_long();
-  bool code_seen(char );
-
   //
   // Utility functions used by M100 to get its work done.
   //

MK/module/lcd/buzzer.cpp

@@ -12,11 +12,11 @@
  *
  * This program 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
+ * 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  */
 

MK/module/lcd/dogm_lcd_implementation.h

@@ -12,11 +12,11 @@
  *
  * This program 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
+ * 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  */
 
@@ -39,7 +39,8 @@
 #define DOGM_LCD_IMPLEMENTATION_H
 
 /**
- * Implementation of the LCD display routines for a DOGM128 graphic display. These are common LCD 128x64 pixel graphic displays.
+ * Implementation of the LCD display routines for a DOGM128 graphic display.
+ * These are common LCD 128x64 pixel graphic displays.
  */
 
 #if ENABLED(ULTIPANEL)
@@ -140,6 +141,7 @@
 
 // LCD selection
 #if ENABLED(U8GLIB_ST7920)
+  //U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
   U8GLIB_ST7920_128X64_RRD u8g(0);
 #elif ENABLED(MAKRPANEL)
   // The MaKrPanel display, ST7565 controller as well
@@ -171,7 +173,6 @@
 #include "utf_mapper.h"
 
 int lcd_contrast;
-static unsigned char blink = 0; // Variable for visualization of fan rotation in GLCD
 static char currentfont = 0;
 
 static void lcd_setFont(char font_nr) {
@@ -367,8 +368,16 @@ FORCE_INLINE void _draw_axis_label(AxisEnum axis, const char *pstr, bool blink)
 static void lcd_implementation_status_screen() {
   u8g.setColorIndex(1); // black on white
 
+  bool blink = lcd_blink();
+
   // Symbols menu graphics, animated fan
-  u8g.drawBitmapP(9, 1, STATUS_SCREENBYTEWIDTH, STATUS_SCREENHEIGHT, (blink % 2) && fanSpeed ? status_screen0_bmp : status_screen1_bmp);
+  u8g.drawBitmapP(9, 1, STATUS_SCREENBYTEWIDTH, STATUS_SCREENHEIGHT,
+    #if HAS(FAN)
+      blink && fanSpeed ? status_screen0_bmp : status_screen1_bmp
+    #else
+      status_screen0_bmp
+    #endif
+  );
 
   // Status Menu Font for SD info, Heater status, Fan, XYZ
   lcd_setFont(FONT_STATUSMENU);
@@ -510,7 +519,7 @@ static void lcd_implementation_status_screen() {
       lcd_print(lcd_status_message);
     #if HAS(LCD_POWER_SENSOR)
       #if HAS(LCD_FILAMENT_SENSOR)
-        else if (millis() < previous_lcd_status_ms + 10000)
+        else if (PENDING(millis(), previous_lcd_status_ms + 10000UL))
       #else
         else
       #endif
@@ -605,7 +614,7 @@ static void _drawmenu_setting_edit_generic(bool isSelected, uint8_t row, const c
 #define lcd_implementation_drawmenu_setting_edit_callback_long5(sel, row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, ftostr5(*(data)))
 #define lcd_implementation_drawmenu_setting_edit_callback_bool(sel, row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(sel, row, pstr, (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
 
-void lcd_implementation_drawedit(const char* pstr, char* value) {
+void lcd_implementation_drawedit(const char* pstr, const char* value=NULL) {
   uint8_t rows = 1;
   uint8_t lcd_width = LCD_WIDTH, char_width = DOG_CHAR_WIDTH;
   uint8_t vallen = lcd_strlen(value);

MK/module/lcd/ultralcd.cpp

@@ -78,7 +78,7 @@ int gumPreheatFanSpeed;
 typedef void (*menuFunc_t)();
 
 uint8_t lcd_status_message_level;
-char lcd_status_message[3 * LCD_WIDTH + 1] = WELCOME_MSG; // worst case is kana with up to 3*LCD_WIDTH+1
+char lcd_status_message[3 * (LCD_WIDTH) + 1] = WELCOME_MSG; // worst case is kana with up to 3*LCD_WIDTH+1
 
 #if ENABLED(DOGLCD)
   #include "dogm_lcd_implementation.h"
@@ -120,7 +120,7 @@ static void lcd_status_screen();
     static void lcd_filament_change_resume_message();
   #endif 
 
-  #if HAS(LCD_CONTRAST)
+  #if ENABLED(HAS_LCD_CONTRAST)
     static void lcd_set_contrast();
   #endif
 
@@ -316,7 +316,7 @@ typedef struct {
   #endif
 } menuPosition;
 
-menuFunc_t currentMenu = lcd_status_screen; /* function pointer to the currently active menu */
+menuFunc_t currentMenu = lcd_status_screen; // pointer to the currently active menu handler
 
 menuPosition menu_history[10];
 uint8_t menu_history_depth = 0;
@@ -337,11 +337,11 @@ enum LCDViewAction {
 
 uint8_t lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW; // Set when the LCD needs to draw, decrements after every draw. Set to 2 in LCD routines so the LCD gets at least 1 full redraw (first redraw is partial)
 
-//Variables used when editing values.
+// Variables used when editing values.
 const char* editLabel;
 void* editValue;
 int32_t minEditValue, maxEditValue;
-menuFunc_t callbackFunc;
+menuFunc_t callbackFunc;              // call this after editing
 
 // place-holders for Ki and Kd edits
 float raw_Ki, raw_Kd;
@@ -363,7 +363,7 @@ static void lcd_goto_menu(menuFunc_t menu, const bool feedback = false, const ui
       menu_history_depth = 0;
     }
     #if ENABLED(LCD_PROGRESS_BAR)
-      // For LCD_PROGRESS_BAR re-initialize the custom characters
+      // For LCD_PROGRESS_BAR re-initialize custom characters
       lcd_set_custom_characters(menu == lcd_status_screen);
     #endif
   }
@@ -419,7 +419,7 @@ static void lcd_status_screen() {
           if (card.isFileOpen()) {
             // Expire the message when printing is active
             if (IS_SD_PRINTING) {
-              if (ms >= expire_status_ms) {
+              if (ELAPSED(ms, expire_status_ms)) {
                 lcd_status_message[0] = '\0';
                 expire_status_ms = 0;
               }
@@ -441,14 +441,14 @@ static void lcd_status_screen() {
   lcd_implementation_status_screen();
 
   #if HAS(LCD_POWER_SENSOR)
-    if (millis() > print_millis + 2000) print_millis = millis();
+    if (ELAPSED(millis(), print_millis + 2000UL)) print_millis = millis();
   #endif
 
   #if HAS(LCD_FILAMENT_SENSOR) || HAS(LCD_POWER_SENSOR)
     #if HAS(LCD_FILAMENT_SENSOR) && HAS(LCD_POWER_SENSOR)
-      if (millis() > previous_lcd_status_ms + 15000)
+      if (ELAPSED(millis(), previous_lcd_status_ms + 15000UL))
     #else
-      if (millis() > previous_lcd_status_ms + 10000)
+      if (ELAPSED(millis(), previous_lcd_status_ms + 10000UL))
     #endif
     {
       previous_lcd_status_ms = millis();
@@ -600,7 +600,7 @@ static void lcd_main_menu() {
  * "Tune" submenu items
  *
  */
- 
+
 /**
  * Set the home offset based on the current_position
  */
@@ -614,7 +614,7 @@ void lcd_set_home_offsets() {
 
   int babysteps_done = 0;
 
-  static void _lcd_babystep(const int axis, const char* msg) {
+  static void _lcd_babystep(const AxisEnum axis, const char* msg) {
     ENCODER_DIRECTION_NORMAL();
     if (encoderPosition) {
       int distance = (int32_t)encoderPosition * BABYSTEP_MULTIPLICATOR;
@@ -1691,7 +1691,7 @@ static void lcd_control_volumetric_menu() {
         lcd_contrast &= 0x3F;
       #endif
       encoderPosition = 0;
-      lcdDrawUpdate = 1;
+      lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
       u8g.setContrast(lcd_contrast);
     }
     if (lcdDrawUpdate) {
@@ -1793,8 +1793,6 @@ static void lcd_control_volumetric_menu() {
   
   static void lcd_filament_change_resume_print() {
     filament_change_menu_response = FILAMENT_CHANGE_RESPONSE_RESUME_PRINT;
-    lcdDrawUpdate = 2;
-    lcd_goto_menu(lcd_status_screen);
   }
   
   static void lcd_filament_change_extrude_more() {
@@ -1867,6 +1865,7 @@ static void lcd_control_volumetric_menu() {
     switch (message) {
       case FILAMENT_CHANGE_MESSAGE_INIT:
         defer_return_to_status = true;
+        lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW;
         lcd_goto_menu(lcd_filament_change_init_message);
         break;
       case FILAMENT_CHANGE_MESSAGE_UNLOAD:
@@ -1890,6 +1889,7 @@ static void lcd_control_volumetric_menu() {
         lcd_goto_menu(lcd_filament_change_resume_message);
         break;
       case FILAMENT_CHANGE_MESSAGE_STATUS:
+        lcd_implementation_clear();
         lcd_return_to_status();
         break;
     }
@@ -2023,7 +2023,7 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01)
 #endif
 
 void lcd_quick_feedback() {
-  lcdDrawUpdate = 2;
+  lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW;
   next_button_update_ms = millis() + 500;
 
   #if ENABLED(LCD_USE_I2C_BUZZER)
@@ -2193,11 +2193,30 @@ bool lcd_blink() {
  *   - Act on RepRap World keypad input
  *   - Update the encoder position
  *   - Apply acceleration to the encoder position
+ *   - Set lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NOW on controller events
  *   - Reset the Info Screen timeout if there's any input
  *   - Update status indicators, if any
- *   - Clear the LCD if lcdDrawUpdate == 2
  *
- * Warning: This function is called from interrupt context!
+ *   Run the current LCD menu handler callback function:
+ *   - Call the handler only if lcdDrawUpdate != LCDVIEW_NONE
+ *   - Before calling the handler, LCDVIEW_CALL_NO_REDRAW => LCDVIEW_NONE
+ *   - Call the menu handler. Menu handlers should do the following:
+ *     - If a value changes, set lcdDrawUpdate to LCDVIEW_REDRAW_NOW and draw the value
+ *       (Encoder events automatically set lcdDrawUpdate for you.)
+ *     - if (lcdDrawUpdate) { redraw }
+ *     - Before exiting the handler set lcdDrawUpdate to:
+ *       - LCDVIEW_CLEAR_CALL_REDRAW to clear screen and set LCDVIEW_CALL_REDRAW_NEXT.
+ *       - LCDVIEW_REDRAW_NOW or LCDVIEW_NONE to keep drawingm but only in this loop.
+ *       - LCDVIEW_REDRAW_NEXT to keep drawing and draw on the next loop also.
+ *       - LCDVIEW_CALL_NO_REDRAW to keep drawing (or start drawing) with no redraw on the next loop.
+ *     - NOTE: For graphical displays menu handlers may be called 2 or more times per loop,
+ *             so don't change lcdDrawUpdate without considering this.
+ *
+ *   After the menu handler callback runs (or not):
+ *   - Clear the LCD if lcdDrawUpdate == LCDVIEW_CLEAR_CALL_REDRAW
+ *   - Update lcdDrawUpdate for the next loop (i.e., move one state down, usually)
+ *
+ * No worries. This function is only called from the main thread.
  */
 void lcd_update() {
   #if ENABLED(ULTIPANEL)

MK/module/lcd/ultralcd.h

@@ -12,11 +12,11 @@
  *
  * This program 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
+ * 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  */
 
@@ -30,7 +30,7 @@
 
   #define BUTTON_EXISTS(BN) (defined(BTN_## BN) && BTN_## BN >= 0)
   #define BUTTON_PRESSED(BN) !READ(BTN_## BN)
-  
+
   int lcd_strlen(const char* s);
   int lcd_strlen_P(const char* s);
   void lcd_update();
@@ -106,6 +106,7 @@
   bool lcd_blink();
 
   #if ENABLED(ULTIPANEL) && ENABLED(REPRAPWORLD_KEYPAD)
+
     #define REPRAPWORLD_BTN_OFFSET 0 // bit offset into buttons for shift register values
 
     #define BLEN_REPRAPWORLD_KEYPAD_F3     0
@@ -133,6 +134,7 @@
     #define REPRAPWORLD_KEYPAD_MOVE_HOME    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_MIDDLE)
     #define REPRAPWORLD_KEYPAD_MOVE_Y_UP    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_UP)
     #define REPRAPWORLD_KEYPAD_MOVE_X_LEFT  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_LEFT)
+
   #endif // ULTIPANEL && REPRAPWORLD_KEYPAD
 
   #if ENABLED(NEWPANEL)

MK/module/motion/stepper.cpp

@@ -1245,13 +1245,19 @@ void digipot_init() {
   #endif
 
   #if MB(ALLIGATOR)
-    unsigned int digipot_motor = 0;
+    set_driver_current();
+  #endif // MB(ALLIGATOR)
+}
+
+#if MB(ALLIGATOR)
+  void set_driver_current() {
+    uint8_t digipot_motor = 0;
     for (uint8_t i = 0; i < 3 + DRIVER_EXTRUDERS; i++) {
       digipot_motor = 255 * motor_current[i] / 3.3;
       ExternalDac::setValue(i, digipot_motor);
     }
-  #endif//MB(ALLIGATOR)
-}
+  }
+#endif
 
 void digipot_current(uint8_t driver, int current) {
   #if HAS(DIGIPOTSS)

MK/module/motion/stepper.h

@@ -12,11 +12,11 @@
  *
  * This program 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
+ * 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
  */
 
@@ -120,4 +120,8 @@
     void colorstep(long csteps, const bool direction);
   #endif
 
+  #if MB(ALLIGATOR)
+    extern void set_driver_current();
+  #endif
+
 #endif // STEPPER_H