Merge branch 'master' into k40_flow_cooler

5436f82e · Franco (nextime) Lanza · e7e2d1a9 · 5e21bf70 · 5436f82e · 5436f82e
Commit 5436f82e authored Jun 02, 2016 by Franco (nextime) Lanza
37 changed files
--- a/Documentation/GCodes.md
+++ b/Documentation/GCodes.md
@@ -128,6 +128,8 @@
 *  M407 - Displays measured filament diameter
 *  M408 - Report JSON-style response
 *  M410 - Quickstop. Abort all the planned moves
+*  M420 - Enable/Disable Mesh Bed Leveling
+*  M421 - Set a single Mesh Bed Leveling Z coordinate. M421 X<mm> Y<mm> Z<mm>' or 'M421 I<xindex> J<yindex> Z<mm>
 *  M428 - Set the home_offset logically based on the current_position
 *  M500 - stores paramters in EEPROM
 *  M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).

--- a/Documentation/Laser/K40_ramps_configs/K40_no_cooler_no_flowmeter/Configuration_Pins.h
+++ b/Documentation/Laser/K40_ramps_configs/K40_no_cooler_no_flowmeter/Configuration_Pins.h
@@ -70,7 +70,7 @@
 #define HEATER_3_PIN        ORIG_HEATER_3_PIN
 #define HEATER_BED_PIN      ORIG_HEATER_BED_PIN
 #define HEATER_CHAMBER_PIN  -1
-#define COOLER_PIN          -1
+#define COOLER_PIN          2

 // TEMP pin
 #define TEMP_0_PIN        ORIG_TEMP_0_PIN
@@ -108,11 +108,15 @@
 #endif

 #if ENABLED(LASERBEAM)
-  #define LASER_PWR_PIN                   -1
-  #define LASER_TTL_PIN                   -1
+  #if LASER_CONTROL == 1
+    #define LASER_PWR_PIN    5
+    #define LASER_TTL_PIN -1
+  #elif LASER_CONTROL == 2
+    #define LASER_PWR_PIN 6
+    #define LASER_TTL_PIN 5
  #if ENABLED(LASER_PERIPHERALS)
-    #define LASER_PERIPHERALS_PIN         -1
-    #define LASER_PERIPHERALS_STATUS_PIN  -1
+    #define LASER_PERIPHERALS_PIN         11
+    #define LASER_PERIPHERALS_STATUS_PIN  14
  #endif
 #endif

@@ -125,7 +129,7 @@
 #endif

 #if ENABLED(FLOWMETER_SENSOR)
-  #define FLOWMETER_PIN -1
+  #define FLOWMETER_PIN 21
 #endif

 #if ENABLED(POWER_CONSUMPTION)

--- a/Documentation/Laser/K40_ramps_configs/K40_with_cooler_and_flowmeter/Configuration_Pins.h
+++ b/Documentation/Laser/K40_ramps_configs/K40_with_cooler_and_flowmeter/Configuration_Pins.h
@@ -70,7 +70,7 @@
 #define HEATER_3_PIN        ORIG_HEATER_3_PIN
 #define HEATER_BED_PIN      ORIG_HEATER_BED_PIN
 #define HEATER_CHAMBER_PIN  -1
-#define COOLER_PIN          -1
+#define COOLER_PIN          2

 // TEMP pin
 #define TEMP_0_PIN        ORIG_TEMP_0_PIN
@@ -108,11 +108,15 @@
 #endif

 #if ENABLED(LASERBEAM)
-  #define LASER_PWR_PIN                   -1
-  #define LASER_TTL_PIN                   -1
+  #if LASER_CONTROL == 1
+    #define LASER_PWR_PIN    5
+    #define LASER_TTL_PIN -1
+  #elif LASER_CONTROL == 2
+    #define LASER_PWR_PIN 6
+    #define LASER_TTL_PIN 5
  #if ENABLED(LASER_PERIPHERALS)
-    #define LASER_PERIPHERALS_PIN         -1
-    #define LASER_PERIPHERALS_STATUS_PIN  -1
+    #define LASER_PERIPHERALS_PIN         11
+    #define LASER_PERIPHERALS_STATUS_PIN  14
  #endif
 #endif

@@ -125,7 +129,7 @@
 #endif

 #if ENABLED(FLOWMETER_SENSOR)
-  #define FLOWMETER_PIN -1
+  #define FLOWMETER_PIN 21
 #endif

 #if ENABLED(POWER_CONSUMPTION)

--- a/Documentation/changelog.md
+++ b/Documentation/changelog.md
+### Version 4.2.84
+* Add Mesh Bed Level (MBL)
+
 ### Version 4.2.83
 * Add Cooler and Hot Chamber
 * Add Laser Beam PWM and raster base64

--- a/MK/Configuration_Cartesian.h
+++ b/MK/Configuration_Cartesian.h
@@ -8,6 +8,7 @@
 * - Endstop pullup resistors
 * - Endstops logic
 * - Endstops min or max
+ * - Min Z height for homing
 * - Stepper enable logic
 * - Stepper step logic
 * - Stepper direction
@@ -104,6 +105,18 @@
 /*****************************************************************************************/


+/*****************************************************************************************
+ ***************************** MIN Z HEIGHT FOR HOMING **********************************
+ *****************************************************************************************
+ *                                                                                       *
+ * (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps,   *
+ * Be sure you have this distance over your Z_MAX_POS in case.                           *
+ *                                                                                       *
+ *****************************************************************************************/
+#define MIN_Z_HEIGHT_FOR_HOMING   0
+/*****************************************************************************************/
+
+
 /*****************************************************************************************
 ********************************* Stepper enable logic **********************************
 *****************************************************************************************
@@ -233,7 +246,27 @@


 /*****************************************************************************************
- ******************************* Auto bed levelling **************************************
+ ******************************* Mesh bed leveling ***************************************
+ *****************************************************************************************/
+//#define MESH_BED_LEVELING
+
+#define MESH_INSET         10   // Mesh inset margin on print area
+#define MESH_NUM_X_POINTS   3   // Don't use more than 7 points per axis, implementation limited.
+#define MESH_NUM_Y_POINTS   3
+#define MESH_HOME_SEARCH_Z  5   // Z after Home, bed somewhere below but above 0.0.
+
+// After homing all axes ('G28' or 'G28 XYZ') rest at origin [0,0,0]
+//#define MESH_G28_REST_ORIGIN
+
+// Add display menu option for bed leveling.
+//#define MANUAL_BED_LEVELING
+// Step size while manually probing Z axis.
+#define MBL_Z_STEP 0.025
+/*****************************************************************************************/
+
+
+/*****************************************************************************************
+ ******************************* Auto bed leveling ***************************************
 *****************************************************************************************
 *                                                                                       *
 * There are 2 different ways to specify probing locations                               *
@@ -292,9 +325,6 @@
 #define Y_PROBE_OFFSET_FROM_EXTRUDER  0     // Y offset: -front [of the nozzle] +behind
 #define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // Z offset: -below [of the nozzle] (always negative!)

-#define Z_RAISE_BEFORE_HOMING        10     // (in mm) Raise Z before homing (G28) for Probe Clearance.
-                                            // Be sure you have this distance over your Z_MAX_POS in case
-
 #define Z_RAISE_BEFORE_PROBING       10     //How much the extruder will be raised before travelling to the first probing point.
 #define Z_RAISE_BETWEEN_PROBINGS      5     //How much the extruder will be raised when travelling from between next probing points
 #define Z_RAISE_AFTER_PROBING         5     //How much the extruder will be raised after the last probing point.

--- a/MK/Configuration_Core.h
+++ b/MK/Configuration_Core.h
@@ -9,6 +9,7 @@
 * - Endstop pullup resistors
 * - Endstops logic
 * - Endstops min or max
+ * - Min Z height for homing
 * - Stepper enable logic
 * - Stepper step logic
 * - Stepper direction
@@ -126,6 +127,18 @@
 /*****************************************************************************************/


+/*****************************************************************************************
+ ***************************** MIN Z HEIGHT FOR HOMING **********************************
+ *****************************************************************************************
+ *                                                                                       *
+ * (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps,   *
+ * Be sure you have this distance over your Z_MAX_POS in case.                           *
+ *                                                                                       *
+ *****************************************************************************************/
+#define MIN_Z_HEIGHT_FOR_HOMING   0
+/*****************************************************************************************/
+
+
 /*****************************************************************************************
 ********************************* Stepper enable logic **********************************
 *****************************************************************************************
@@ -255,7 +268,27 @@


 /*****************************************************************************************
- ******************************* Auto bed levelling **************************************
+ ******************************* Mesh bed leveling ***************************************
+ *****************************************************************************************/
+//#define MESH_BED_LEVELING
+
+#define MESH_INSET         10   // Mesh inset margin on print area
+#define MESH_NUM_X_POINTS   3   // Don't use more than 7 points per axis, implementation limited.
+#define MESH_NUM_Y_POINTS   3
+#define MESH_HOME_SEARCH_Z  5   // Z after Home, bed somewhere below but above 0.0.
+
+// After homing all axes ('G28' or 'G28 XYZ') rest at origin [0,0,0]
+//#define MESH_G28_REST_ORIGIN
+
+// Add display menu option for bed leveling.
+//#define MANUAL_BED_LEVELING
+// Step size while manually probing Z axis.
+#define MBL_Z_STEP 0.025
+/*****************************************************************************************/
+
+
+/*****************************************************************************************
+ ******************************* Auto bed leveling ***************************************
 *****************************************************************************************
 *                                                                                       *
 * There are 2 different ways to specify probing locations                               *
@@ -293,9 +326,9 @@
 #define ABL_PROBE_PT_1_X 15
 #define ABL_PROBE_PT_1_Y 180
 #define ABL_PROBE_PT_2_X 15
-#define ABL_PROBE_PT_2_Y 20
-#define ABL_PROBE_PT_3_X 170
-#define ABL_PROBE_PT_3_Y 20
+#define ABL_PROBE_PT_2_Y 15
+#define ABL_PROBE_PT_3_X 180
+#define ABL_PROBE_PT_3_Y 15
 // no AUTO_BED_LEVELING_GRID

 // Offsets to the probe relative to the extruder tip (Hotend - Probe)
@@ -314,9 +347,6 @@
 #define Y_PROBE_OFFSET_FROM_EXTRUDER  0     // Y offset: -front [of the nozzle] +behind
 #define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // Z offset: -below [of the nozzle] (always negative!)

-#define Z_RAISE_BEFORE_HOMING        10     // (in mm) Raise Z before homing (G28) for Probe Clearance.
-                                            // Be sure you have this distance over your Z_MAX_POS in case
-
 #define Z_RAISE_BEFORE_PROBING       10     //How much the extruder will be raised before travelling to the first probing point.
 #define Z_RAISE_BETWEEN_PROBINGS      5     //How much the extruder will be raised when travelling from between next probing points
 #define Z_RAISE_AFTER_PROBING         5     //How much the extruder will be raised after the last probing point.
@@ -324,8 +354,8 @@
 //#define Z_PROBE_END_SCRIPT "G1 Z10 F8000\nG1 X10 Y10\nG1 Z0.5"  // These commands will be executed in the end of G29 routine.
                                                                  // Useful to retract a deployable Z probe.

-//#define Z_PROBE_SLED                // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
-//#define SLED_DOCKING_OFFSET 5       // the extra distance the X axis must travel to pick up the sled. 0 should be fine but you can push it further if you'd like.
+//#define Z_PROBE_SLED          // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
+#define SLED_DOCKING_OFFSET 5   // the extra distance the X axis must travel to pick up the sled. 0 should be fine but you can push it further if you'd like.
 /*****************************************************************************************/


@@ -336,26 +366,26 @@
 * If you have enabled the Auto bed levelling this add the Support for                   *
 * a dedicated Z PROBE endstop separate from the Z MIN endstop.                          *
 * If you would like to use both a Z PROBE and a Z MIN endstop together                  *
- * or just a Z PROBE with a custom pin, uncomment #define Z_PROBE_ENDSTOP                *
+ * or just a Z PROBE with a custom pin, uncomment #define Z PROBE ENDSTOP                *
 * and read the instructions below.                                                      *
 *                                                                                       *
 * If you want to still use the Z min endstop for homing,                                *
- * disable Z_SAFE_HOMING.                                                                *
+ * disable Z SAFE HOMING.                                                                *
 * Eg: to park the head outside the bed area when homing with G28.                       *
 *                                                                                       *
 * WARNING: The Z MIN endstop will need to set properly as it would                      *
 * without a Z PROBE to prevent head crashes and premature stopping                      *
 * during a print.                                                                       *
- * To use a separte Z PROBE endstop, you must have a Z_PROBE_PIN                         *
+ * To use a separte Z PROBE endstop, you must have a Z PROBE PIN                         *
 * defined in the pins.h file for your control board.                                    *
 * If you are using a servo based Z PROBE, you will need to enable                       *
- * NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in                               *
+ * NUM SERVOS, SERVO ENDSTOPS and SERVO ENDSTOPS ANGLES in                               *
 * Configuration_Feature R/C Servo section.                                              *
 *                                                                                       *
 * WARNING: Setting the wrong pin may have unexpected and potentially                    *
 * disastrous outcomes. Use with caution and do your homework.                           *
 *                                                                                       *
- * Uncomment Z_PROBE_ENDSTOP to enable.                                                  *
+ * Uncomment Z PROBE ENDSTOP to enable.                                                  *
 *                                                                                       *
 *****************************************************************************************/
 //#define Z_PROBE_ENDSTOP
@@ -364,10 +394,10 @@

 /*****************************************************************************************
 ******************************** Manual home positions **********************************
-/*****************************************************************************************/
+ *****************************************************************************************/
 // The position of the homing switches
-//#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
-//#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
+//#define MANUAL_HOME_POSITIONS   // If defined, MANUAL_*_HOME_POS below will be used
+//#define BED_CENTER_AT_0_0       // If defined, the center of the bed is at (X=0, Y=0)

 //Manual homing switch locations:
 #define MANUAL_X_HOME_POS 0

--- a/MK/Configuration_Feature.h
+++ b/MK/Configuration_Feature.h
@@ -23,6 +23,7 @@
 * - Software endstops
 * - Endstops only for homing
 * - Abort on endstop hit feature
+ * - Mesh Level Area
 * - R/C Servo
 * - Late Z axis
 * - Ahead slowdown
@@ -437,6 +438,23 @@
 **************************************************************************/
 //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 #define ABORT_ON_ENDSTOP_HIT_INIT true
+/**************************************************************************/
+
+
+/**************************************************************************
+ *************************** Mesh Level Area ******************************
+ **************************************************************************
+ *                                                                        *
+ * Default mesh area is an area with an inset margin on the print area.   *
+ * Below are the macros that are used to define the borders for the mesh  *
+ * area, made available here for specialized needs.                       *
+ *                                                                        *
+ **************************************************************************/
+#define MESH_MIN_X (X_MIN_POS + MESH_INSET)
+#define MESH_MAX_X (X_MAX_POS - (MESH_INSET))
+#define MESH_MIN_Y (Y_MIN_POS + MESH_INSET)
+#define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
+/**************************************************************************/


 /**************************************************************************

--- a/MK/Configuration_Store.cpp
+++ b/MK/Configuration_Store.cpp
@@ -178,6 +178,14 @@ void Config_StoreSettings() {
  EEPROM_WRITE_VAR(i, home_offset);
  EEPROM_WRITE_VAR(i, hotend_offset);

+  #if ENABLED(MESH_BED_LEVELING)
+    // Compile time test that sizeof(mbl.z_values) is as expected
+    typedef char c_assert[(sizeof(mbl.z_values) == (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS) * sizeof(dummy)) ? 1 : -1];
+    EEPROM_WRITE_VAR(i, mbl.active);
+    EEPROM_WRITE_VAR(i, mbl.z_offset);
+    EEPROM_WRITE_VAR(i, mbl.z_values);
+  #endif
+
  #if !MECH(DELTA)
    EEPROM_WRITE_VAR(i, zprobe_zoffset);
  #endif
@@ -337,6 +345,12 @@ void Config_RetrieveSettings() {
    EEPROM_READ_VAR(i, home_offset);
    EEPROM_READ_VAR(i, hotend_offset);

+    #if ENABLED(MESH_BED_LEVELING)
+      EPROM_READ_VAR(i, mbl.active);
+      EEPROM_READ_VAR(i, mbl.z_offset);
+      EEPROM_READ_VAR(i, mbl.z_values);
+    #endif
+
    #if !MECH(DELTA)
      EEPROM_READ_VAR(i, zprobe_zoffset);
    #endif
@@ -539,6 +553,10 @@ void Config_ResetDefault() {
  max_z_jerk = DEFAULT_ZJERK;
  home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;

+  #if ENABLED(MESH_BED_LEVELING)
+    mbl.active = false;
+  #endif
+
  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
    zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  #elif !MECH(DELTA)
@@ -744,6 +762,23 @@ void Config_ResetDefault() {
      ECHO_EMV(" Z", hotend_offset[Z_AXIS][h]);
    }

+    #if ENABLED(MESH_BED_LEVELING)
+      if (!forReplay) {
+        ECHO_LM(CFG, "Mesh bed leveling:");
+      }
+      ECHO_SMV(CFG, "  M420 S", mbl.active);
+      ECHO_MV(" X", MESH_NUM_X_POINTS);
+      ECHO_EMV(" Y", MESH_NUM_Y_POINTS);
+
+      for (int py = 1; py <= MESH_NUM_Y_POINTS; py++) {
+        for (int px = 1; px <= MESH_NUM_X_POINTS; px++) {
+          ECHO_SMV(CFG, "  G29 S3 X", px);
+          ECHO_MV(" Y", py);
+          ECHO_EMV(" Z", mbl.z_values[py-1][px-1], 5);
+        }
+      }
+    #endif
+  
    #if HEATER_USES_AD595
      if (!forReplay) {
        ECHO_LM(CFG, "AD595 Offset and Gain:");

--- a/MK/Configuration_Version.h
+++ b/MK/Configuration_Version.h
@@ -24,7 +24,7 @@
  #define CONFIGURATION_VERSION_H

  #define FIRMWARE_NAME "MK"
-  #define SHORT_BUILD_VERSION "4.2.83_dev"
+  #define SHORT_BUILD_VERSION "4.2.84_dev"
  #define BUILD_VERSION FIRMWARE_NAME "_" SHORT_BUILD_VERSION
  #define STRING_DISTRIBUTION_DATE __DATE__ " " __TIME__    // build date and time
  // It might also be appropriate to define a location where additional information can be found

--- a/MK/MK.ino
+++ b/MK/MK.ino
@@ -171,6 +171,8 @@
 * M407 - Display measured filament diameter
 * M408 - Report JSON-style response
 * M410 - Quickstop. Abort all the planned moves
+ * M420 - Enable/Disable Mesh Bed Leveling
+ * M421 - Set a single Mesh Bed Leveling Z coordinate. M421 X<mm> Y<mm> Z<mm>' or 'M421 I<xindex> J<yindex> Z<mm>
 * M428 - Set the home_offset logically based on the current_position
 * M500 - Store parameters in EEPROM
 * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).

--- a/MK/base.h
+++ b/MK/base.h
@@ -52,6 +52,10 @@
 #include "module/HAL/HAL.h"
 #include "module/communication/communication.h"

+#if ENABLED(MESH_BED_LEVELING)
+  #include "module/mbl/mesh_bed_leveling.h"
+#endif
+
 #include "Configuration_Store.h"

 #include "module/language/language.h"

--- a/MK/module/HAL/fastio.h
+++ b/MK/module/HAL/fastio.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/>.
 *
 */


--- a/MK/module/MK_Main.cpp
+++ b/MK/module/MK_Main.cpp
--- a/MK/module/boards/301.h
+++ b/MK/module/boards/301.h
@@ -74,26 +74,6 @@
 #define KILL_PIN           -1 // 80 with Smart Controller LCD
 #define SUICIDE_PIN        -1 // PIN that has to be turned on right after start, to keep power flowing.

-#undef LASER_TTL_PIN
-#undef LASER_PWR_PIN
-#if LASER_CONTROL == 1
-   #define LASER_PWR_PIN    5
-   #define LASER_TTL_PIN -1
-#endif
-#if LASER_CONTROL == 2
-   #define LASER_TTL_PIN 5 // Digital pins 2, 3, 5, 6, 7, 8 are attached to timers we can use
-   #define LASER_PWR_PIN   2
-#endif
-
-#if ENABLED(LASER_PERIPHERALS)
-   #undef LASER_PERIPHERALS_PIN
-   #undef LASER_PERIPHERALS_STATUS_PIN
-   #define LASER_PERIPHERALS_PIN       11
-   #define LASER_PERIPHERALS_STATUS_PIN      4
-#endif
-
-
-
 #if ENABLED(ULTRA_LCD)
  #define KILL_PIN 80
  #if ENABLED(NEWPANEL)

--- a/MK/module/boards/33.h
+++ b/MK/module/boards/33.h
@@ -70,37 +70,6 @@
 #define ORIG_HEATER_BED_PIN     8   // BED
 #define ORIG_TEMP_BED_PIN       14  // ANALOG NUMBERING

-
-#if ENABLED(LASERBEAM)
-	#undef LASER_TTL_PIN
-	#undef LASER_PWR_PIN
-	#if LASER_CONTROL == 1
-  		#define LASER_PWR_PIN    5
-  		#define LASER_TTL_PIN -1
-	#endif
-	#if LASER_CONTROL == 2
-   	#define LASER_TTL_PIN 6 // Digital pins 2, 3, 5, 6, 7, 8 are attached to timers we can use
-   	#define LASER_PWR_PIN  5 
-	#endif
-#endif
-#if ENABLED(LASER_PERIPHERALS)
-   #undef LASER_PERIPHERALS_PIN
-   #undef LASER_PERIPHERALS_STATUS_PIN
-   #define LASER_PERIPHERALS_PIN       11
-   #define LASER_PERIPHERALS_STATUS_PIN      4
-#endif
-
-#if ENABLED(PIDTEMPCOOLER)
-   #undef COOLER_PIN
-	#define COOLER_PIN 2
-#endif
-
-#if ENABLED(FLOWMETER_SENSOR)
-  #undef FLOWMETER_PIN
-  #define FLOWMETER_PIN 21
-#endif
-
-
 #if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER) || ENABLED(G3D_PANEL)
  #define KILL_PIN              41
 #else

--- a/MK/module/conditionals.h
+++ b/MK/module/conditionals.h
@@ -376,11 +376,13 @@
   * CoreXY or CoreYX or CoreXZ or CoreZX
   */
  #if MECH(COREXY) || MECH(COREYX)
+    #define CORE_AXIS_1 A_AXIS
    #define CORE_AXIS_2 B_AXIS
-    #define CORE_AXIS_3 Z_AXIS
+    #define NORMAL_AXIS Z_AXIS
  #elif MECH(COREXZ) || MECH(COREZX)
+    #define CORE_AXIS_1 A_AXIS
    #define CORE_AXIS_2 C_AXIS
-    #define CORE_AXIS_3 Y_AXIS
+    #define NORMAL_AXIS Y_AXIS
  #endif

  /**

--- a/MK/module/language/language.h
+++ b/MK/module/language/language.h
@@ -116,6 +116,8 @@
 #define SERIAL_Z_PROBE                          "z_probe: "
 #define SERIAL_E_MIN                            "e_min: "
 #define SERIAL_ERR_MATERIAL_INDEX               "M145 S<index> out of range (0-2)"
+#define SERIAL_ERR_M421_PARAMETERS              "M421 requires XYZ or IJZ parameters"
+#define SERIAL_ERR_MESH_XY                      "Mesh XY or IJ cannot be resolved"
 #define SERIAL_ERR_M428_TOO_FAR                 "Too far from reference point"
 #define SERIAL_M119_REPORT                      "Reporting endstop status"
 #define SERIAL_ENDSTOP_HIT                      "TRIGGERED"

--- a/MK/module/language/language_en.h
+++ b/MK/module/language/language_en.h
@@ -45,15 +45,11 @@
 #define MSG_AUTO_HOME_X                     "Home X"
 #define MSG_AUTO_HOME_Y                     "Home Y"
 #define MSG_AUTO_HOME_Z                     "Home Z"
-#define MSG_MBL_SETTING                     "Manual Bed Leveling"
-#define MSG_MBL_BUTTON                      " Press the button   "
-#define MSG_MBL_INTRO                       " Leveling bed...    "
-#define MSG_MBL_1                           " Adjust first point "
-#define MSG_MBL_2                           " Adjust second point"
-#define MSG_MBL_3                           " Adjust third point "
-#define MSG_MBL_4                           " Adjust fourth point"
-#define MSG_MBL_5                           "    Is it ok?       "
-#define MSG_MBL_6                           " BED leveled!       "
+#define MSG_LEVEL_BED_HOMING                "Homing XYZ"
+#define MSG_LEVEL_BED_WAITING               "Click to Begin"
+#define MSG_LEVEL_BED_NEXT_POINT            "Next Point"
+#define MSG_LEVEL_BED_DONE                  "Leveling Done!"
+#define MSG_LEVEL_BED_CANCEL                "Cancel"
 #define MSG_SET_HOME_OFFSETS                "Set home offsets"
 #define MSG_SET_ORIGIN                      "Set origin"
 #define MSG_ONFOR                           "On x:"
@@ -83,6 +79,7 @@
 #define MSG_SPEED                           "Speed"
 #define MSG_NOZZLE                          "Nozzle"
 #define MSG_BED                             "Bed"
+#define MSG_BED_Z                           "Bed Z"
 #define MSG_FAN_SPEED                       "Fan speed"
 #define MSG_FLOW                            "Flow"
 #define MSG_CONTROL                         "Control"

--- a/MK/module/language/language_it.h
+++ b/MK/module/language/language_it.h
@@ -42,15 +42,10 @@
 #define MSG_AUTOSTART                       "Autostart"
 #define MSG_DISABLE_STEPPERS                "Disabilita Motori"
 #define MSG_AUTO_HOME                       "Auto Home"
-#define MSG_MBL_SETTING                     "Liv. piatto manuale "
-#define MSG_MBL_BUTTON                      " Premi il tasto   "
-#define MSG_MBL_INTRO                       " Liv. piatto...    "
-#define MSG_MBL_1                           " Calibra il primo punto"
-#define MSG_MBL_2                           " Calibra il secondo punto"
-#define MSG_MBL_3                           " Calibra il terzo punto"
-#define MSG_MBL_4                           " Calibra il quarto punto"
-#define MSG_MBL_5                           "    Va bene?       "
-#define MSG_MBL_6                           " Piatto livellato!       "
+#define MSG_LEVEL_BED_HOMING                "Home assi XYZ"
+#define MSG_LEVEL_BED_WAITING               "Premi per iniziare"
+#define MSG_LEVEL_BED_DONE                  "Livel. terminato!"
+#define MSG_LEVEL_BED_CANCEL                "Annulla"
 #define MSG_SET_HOME_OFFSETS                "Setta offset home"
 #define MSG_SET_ORIGIN                      "Imposta Origine"
 #define MSG_ONFOR                           "On x:"
@@ -76,10 +71,11 @@
 #define MSG_EXTRUDE                         "Estrudi"
 #define MSG_RETRACT                         "Ritrai"
 #define MSG_PURGE                           "Purge"
-#define MSG_LEVEL_BED                       "Liv. piatto"
+#define MSG_LEVEL_BED                       "Livella piano"
 #define MSG_SPEED                           "Velocita"
 #define MSG_NOZZLE                          "Ugello"
 #define MSG_BED                             "Piatto"
+#define MSG_BED_Z                           "piatto Z"
 #define MSG_FAN_SPEED                       "Ventola"
 #define MSG_FLOW                            "Flusso"
 #define MSG_CONTROL                         "Controllo"

--- a/MK/module/laser/laser.cpp
+++ b/MK/module/laser/laser.cpp
+
 /**
 * MK & MK4due 3D Printer Firmware
 *
@@ -23,7 +24,6 @@
 /**
 * laser.cpp - Laser control library for Arduino using 16 bit timers- Version 1
 * Copyright (c) 2013 Timothy Schmidt.  All right reserved.
- * Copyright (c) 2016 Franco (nextime) Lanza
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -32,7 +32,7 @@
 *
 * This library 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
@@ -58,16 +58,16 @@
  void timer3_init(int pin) {
    #if ENABLED(LASER_PULSE_METHOD)
      TCCR3A = 0;                 // clear control register A 
-      TCCR3B = pulsebit(WGM33);   // set mode as phase and frequency correct pwm, stop the timer
+      TCCR3B = pulsebit(WGM33);        // set mode as phase and frequency correct pwm, stop the timer

-      ICR3 = F_CPU / LASER_PWM / 2; // the counter runs backwards after TOP
+      ICR3 = F_CPU / LASER_PWM / 2;  // the counter runs backwards after TOP
      TCCR3B &= ~(bit(CS30) | bit(CS31) | bit(CS32)); // Stop timer

-      TCCR3A |= pulsebit(COM3A1); // Connect pin5 to timer register
-      DDRE |= pulsebit(PORTE3);   // Actually output on pin 5
+      TCCR3A |= pulsebit(COM3A1);      // Connect pin5 to timer register
+      DDRE |= pulsebit(PORTE3);        // Actually output on pin 5

-      OCR3A = 0;                // Zero duty cycle = OFF
-      TCCR3B |= pulsebit(CS30); // No prescaler, start timer
+      OCR3A = 0;                  // Zero duty cycle = OFF
+      TCCR3B |= pulsebit(CS30);        // No prescaler, start timer

      // Use timer4 to end laser pulse
      /*
@@ -162,20 +162,20 @@

    void timer4_init(int pin) {
      pinMode(pin, OUTPUT);
-      analogWrite(pin, 1);  // let Arduino setup do it's thing to the PWM pin
-
-      TCCR4B = 0x00;  // stop Timer4 clock for register updates
-      TCCR4A = 0x82; // Clear OC4A on match, fast PWM mode, lower WGM4x=14
-      ICR4 = labs(F_CPU / LASER_PWM); // clock cycles per PWM pulse
-      OCR4A = labs(F_CPU / LASER_PWM) - 1; // ICR4 - 1 force immediate compare on next tick
-      TCCR4B = 0x18 | 0x01; // upper WGM4x = 14, clock sel = prescaler, start running
-
-      noInterrupts();
-      TCCR4B &= 0xf8; // stop timer, OC4A may be active now
-      TCNT4 = labs(F_CPU / LASER_PWM); // force immediate compare on next tick
-      ICR4 = labs(F_CPU / LASER_PWM); // set new PWM period
-      TCCR4B |= 0x01; // start the timer with proper prescaler value
-      interrupts();
+       analogWrite(pin, 1);  // let Arduino setup do it's thing to the PWM pin
+
+       TCCR4B = 0x00;  // stop Timer4 clock for register updates
+       TCCR4A = 0x82; // Clear OC4A on match, fast PWM mode, lower WGM4x=14
+       ICR4 = labs(F_CPU / LASER_PWM); // clock cycles per PWM pulse
+       OCR4A = labs(F_CPU / LASER_PWM) - 1; // ICR4 - 1 force immediate compare on next tick
+       TCCR4B = 0x18 | 0x01; // upper WGM4x = 14, clock sel = prescaler, start running
+
+       noInterrupts();
+       TCCR4B &= 0xf8; // stop timer, OC4A may be active now
+       TCNT4 = labs(F_CPU / LASER_PWM); // force immediate compare on next tick
+       ICR4 = labs(F_CPU / LASER_PWM); // set new PWM period
+       TCCR4B |= 0x01; // start the timer with proper prescaler value
+       interrupts();
    }

  #endif // LASER_PULSE_METHOD
@@ -305,7 +305,7 @@

  #if ENABLED(LASER_PERIPHERALS)
    bool laser_peripherals_ok() { return !digitalRead(LASER_PERIPHERALS_STATUS_PIN); }
-
+  
    void laser_peripherals_on() {
      digitalWrite(LASER_PERIPHERALS_PIN, LOW);
      if (laser.diagnostics)
@@ -335,6 +335,7 @@
        }
      }
    }
+
  #endif // LASER_PERIPHERALS

 #endif // LASERBEAM
--- a/MK/module/laser/laser.h
+++ b/MK/module/laser/laser.h
@@ -23,7 +23,6 @@
 /**
 * laser.cpp - Laser control library for Arduino using 16 bit timers- Version 1
 * Copyright (c) 2013 Timothy Schmidt.  All right reserved.
- * Copyright (c) 2016 Franco (nextime) Lanza
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -32,7 +31,7 @@
 *
 * This library 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public

--- a/MK/module/lcd/dogm_lcd_implementation.h
+++ b/MK/module/lcd/dogm_lcd_implementation.h
@@ -137,7 +137,7 @@
  #define LCD_WIDTH_EDIT       22
 #endif

-#if DISABLED(TALL_FONT_CORRECTION)
+#ifndef TALL_FONT_CORRECTION
  #define TALL_FONT_CORRECTION 0
 #endif

@@ -158,7 +158,10 @@
  U8GLIB_LM6059 u8g(DOGLCD_CS, DOGLCD_A0);
 #elif ENABLED(U8GLIB_SSD1306)
  // Generic support for SSD1306 OLED I2C LCDs
-  U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE);
+  U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE | U8G_I2C_OPT_FAST);
+#elif ENABLED(U8GLIB_SH1106)
+  // Generic support for SH1106 OLED I2C LCDs
+  U8GLIB_SH1106_128X64 u8g(U8G_I2C_OPT_NONE | U8G_I2C_OPT_FAST);
 #elif ENABLED(MINIPANEL)
  // The MINIPanel display
  U8GLIB_MINI12864 u8g(DOGLCD_CS, DOGLCD_A0);
@@ -167,10 +170,10 @@
  U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);  // HW-SPI Com: CS, A0
 #endif

-#if DISABLED(LCD_PIXEL_WIDTH)
+#ifndef LCD_PIXEL_WIDTH
  #define LCD_PIXEL_WIDTH 128
 #endif
-#if DISABLED(LCD_PIXEL_HEIGHT)
+#ifndef LCD_PIXEL_HEIGHT
  #define LCD_PIXEL_HEIGHT 64
 #endif

@@ -269,7 +272,7 @@ static void lcd_implementation_init() {
      if (show_bootscreen) {
        u8g.drawBitmapP(offx, offy, START_BMPBYTEWIDTH, START_BMPHEIGHT, start_bmp);
        lcd_setFont(FONT_MENU);
-        #if DISABLED(STRING_SPLASH_LINE2)
+        #ifndef STRING_SPLASH_LINE2
          u8g.drawStr(txt1X, u8g.getHeight() - (DOG_CHAR_HEIGHT), STRING_SPLASH_LINE1);
        #else
          int txt2X = (u8g.getWidth() - (sizeof(STRING_SPLASH_LINE2) - 1) * (DOG_CHAR_WIDTH)) / 2;

--- a/MK/module/lcd/ultralcd.cpp
+++ b/MK/module/lcd/ultralcd.cpp
--- a/MK/module/lcd/ultralcd.h
+++ b/MK/module/lcd/ultralcd.h
@@ -55,10 +55,6 @@
    void lcd_setcontrast(uint8_t value);
  #endif

-  #if !MECH(DELTA) && DISABLED(Z_SAFE_HOMING) && Z_HOME_DIR < 0
-    void set_pageShowInfo(int value);
-  #endif
-
  #define LCD_MESSAGEPGM(x) lcd_setstatuspgm(PSTR(x))
  #define LCD_ALERTMESSAGEPGM(x) lcd_setalertstatuspgm(PSTR(x))

@@ -102,7 +98,7 @@
  #endif
  void lcd_quick_feedback(); // Audible feedback for a button click - could also be visual
  bool lcd_clicked();
-  void lcd_ignore_click(bool b = true);
+  void lcd_ignore_click(bool b=true);
  bool lcd_blink();

  #if ENABLED(ULTIPANEL) && ENABLED(REPRAPWORLD_KEYPAD)
@@ -138,6 +134,7 @@
  #endif // ULTIPANEL && REPRAPWORLD_KEYPAD

  #if ENABLED(NEWPANEL)
+
    #define EN_C (_BV(BLEN_C))
    #define EN_B (_BV(BLEN_B))
    #define EN_A (_BV(BLEN_A))
@@ -179,25 +176,23 @@

  char* itostr2(const uint8_t& x);
  char* itostr3sign(const int& x);
-  char* itostr3(const int& xx);
-  char* itostr3left(const int& xx);
-  char* itostr4(const int& xx);
+  char* itostr3(const int& x);
+  char* itostr3left(const int& x);
+  char* itostr4(const int& x);
  char* itostr4sign(const int& x);

-  char* ltostr7(const long& xx);
-
  char* ftostr3(const float& x);
  char* ftostr4sign(const float& x);
-  char* ftostr30(const float& x);
  char* ftostr31ns(const float& x); // float to string without sign character
  char* ftostr31(const float& x);
  char* ftostr32(const float& x);
-  char* ftostr43(const float& x);
-  char* ftostr12ns(const float& x); 
+  char* ftostr43(const float& x, char plus=' ');
+  char* ftostr12ns(const float& x);
  char* ftostr32sp(const float& x); // remove zero-padding from ftostr32
  char* ftostr5(const float& x);
  char* ftostr51(const float& x);
  char* ftostr52(const float& x);
+  char* ltostr7(const long& x);

 #elif DISABLED(NEXTION)


--- a/MK/module/lcd/ultralcd_implementation_hitachi_HD44780.h
+++ b/MK/module/lcd/ultralcd_implementation_hitachi_HD44780.h
@@ -416,7 +416,7 @@ static void lcd_implementation_init(
  #elif ENABLED(LCD_I2C_TYPE_MCP23017)
    lcd.setMCPType(LTI_TYPE_MCP23017);
    lcd.begin(LCD_WIDTH, LCD_HEIGHT);
-    lcd.setBacklight(0); //set all the LEDs off to begin with
+    lcd_implementation_update_indicators();

  #elif ENABLED(LCD_I2C_TYPE_MCP23008)
    lcd.setMCPType(LTI_TYPE_MCP23008);
@@ -990,14 +990,14 @@ void lcd_implementation_drawedit(const char* pstr, const char* value = NULL) {
    static uint8_t ledsprev = 0;
    uint8_t leds = 0;

-    if (target_temperature_bed > 0) leds |= LED_A;
+    if (degTargetBed() > 0) leds |= LED_A;

-    if (target_temperature[0] > 0) leds |= LED_B;
+    if (degTargetHotend(0) > 0) leds |= LED_B;

    if (fanSpeed) leds |= LED_C;

    #if HOTENDS > 1
-      if (target_temperature[1] > 0) leds |= LED_C;
+      if (degTargetHotend(1) > 0) leds |= LED_C;
    #endif

    if (leds != ledsprev) {

--- a/MK/module/lcd/ultralcd_st7920_u8glib_rrd.h
+++ b/MK/module/lcd/ultralcd_st7920_u8glib_rrd.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/>.
 *
 */

@@ -97,11 +97,11 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
      ST7920_WRITE_BYTE(0x01);       //clear CGRAM ram
      u8g_Delay(15);                 //delay for CGRAM clear
      ST7920_WRITE_BYTE(0x3E);       //extended mode + GDRAM active
-      for (y = 0; y < LCD_PIXEL_HEIGHT / 2; y++) { //clear GDRAM
+      for (y = 0; y < (LCD_PIXEL_HEIGHT) / 2; y++) { //clear GDRAM
        ST7920_WRITE_BYTE(0x80 | y); //set y
        ST7920_WRITE_BYTE(0x80);     //set x = 0
        ST7920_SET_DAT();
-        for (i = 0; i < 2 * LCD_PIXEL_WIDTH / 8; i++) //2x width clears both segments
+        for (i = 0; i < 2 * (LCD_PIXEL_WIDTH) / 8; i++) //2x width clears both segments
          ST7920_WRITE_BYTE(0);
        ST7920_SET_CMD();
      }
@@ -129,7 +129,7 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
          ST7920_WRITE_BYTE(0x80 | 8);       //x=64
        }
        ST7920_SET_DAT();
-        ST7920_WRITE_BYTES(ptr, LCD_PIXEL_WIDTH / 8); //ptr is incremented inside of macro
+        ST7920_WRITE_BYTES(ptr, (LCD_PIXEL_WIDTH) / 8); //ptr is incremented inside of macro
        y++;
      }
      ST7920_NCS();
@@ -145,7 +145,7 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
 #endif
 }

-uint8_t   u8g_dev_st7920_128x64_rrd_buf[LCD_PIXEL_WIDTH * (PAGE_HEIGHT / 8)] U8G_NOCOMMON;
+uint8_t   u8g_dev_st7920_128x64_rrd_buf[(LCD_PIXEL_WIDTH) * (PAGE_HEIGHT) / 8] U8G_NOCOMMON;
 u8g_pb_t  u8g_dev_st7920_128x64_rrd_pb = {{PAGE_HEIGHT, LCD_PIXEL_HEIGHT, 0, 0, 0}, LCD_PIXEL_WIDTH, u8g_dev_st7920_128x64_rrd_buf};
 u8g_dev_t u8g_dev_st7920_128x64_rrd_sw_spi = {u8g_dev_rrd_st7920_128x64_fn, &u8g_dev_st7920_128x64_rrd_pb, &u8g_com_null_fn};


--- a/MK/module/lcd/utf_mapper.h
+++ b/MK/module/lcd/utf_mapper.h
+/**
+ * MK & MK4due 3D Printer Firmware
+ *
+ * Based on Marlin, Sprinter and grbl
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (C) 2013 - 2016 Alberto Cotronei @MagoKimbra
+ *
+ * This program 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.
+ *
+ * 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
+ * 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/>.
+ *
+ */
+
 #ifndef UTF_MAPPER_H
 #define UTF_MAPPER_H

@@ -50,7 +72,7 @@
  //          ヰ    ヱ    ヲ    ン    フ    ?    ?   ?    ?    ?    ヲ    ・    ー    ヽ    ヽ   ?
           };
    #elif ENABLED(MAPPER_D0D1)
-      #error( "Cyrillic on a japanese dsplay makes no sense. There are no matching symbols.");
+      #error "Cyrillic on a JAPANESE display makes no sense. There are no matching symbols."
    #endif

  #elif ENABLED(DISPLAY_CHARSET_HD44780_WESTERN)
@@ -84,7 +106,7 @@
  //          p    c    T    y    Ф    x    Ч    ч    Ш    Щ    Ъ    Ы    b    Э    Ю    Я
            };
    #elif ENABLED(MAPPER_E382E383)
-      #error( "Katakana on a western display makes no sense. There are no matching symbols." );
+      #error "Katakana on a WESTERN display makes no sense. There are no matching symbols."
    #endif

  #elif ENABLED(DISPLAY_CHARSET_HD44780_CYRILLIC)
@@ -94,30 +116,30 @@
      // except 0401 --> 0xa2 = Ё, 0451 --> 0xb5 = ё
      const PROGMEM uint8_t utf_recode[] =
             { 0x41,0xa0,0x42,0xa1,0xe0,0x45,0xa3,0xa4,   // unicode U+0400 to U+047f
-  //            A   Б->Ё  B    Г    Д    E    Ж    З      // 0  Ѐ Ё Ђ Ѓ Є Ѕ І Ї
+             // A   Б->Ё  B    Г    Д    E    Ж    З      // 0  Ѐ Ё Ђ Ѓ Є Ѕ І Ї
               0xa5,0xa6,0x4b,0xa7,0x4d,0x48,0x4f,0xa8,   //    Ј Љ Њ Ћ Ќ Ѝ Ў Џ
-  //            И    Й    K    Л    M    H    O    П      // 1  А Б В Г Д Е Ж З
+             // И    Й    K    Л    M    H    O    П      // 1  А Б В Г Д Е Ж З
               0x50,0x43,0x54,0xa9,0xaa,0x58,0xe1,0xab,   //    И Й К Л М Н О П
-  //            P    C    T    У    Ф    X    Ч    ч      // 2  Р С Т У Ф Х Г Ч
+             // P    C    T    У    Ф    X    Ч    ч      // 2  Р С Т У Ф Х Г Ч
               0xac,0xe2,0xad,0xae,0x62,0xaf,0xb0,0xb1,   //    Ш Щ Ъ Ы Ь Э Ю Я
-  //            Ш    Щ    Ъ    Ы    b    Э    Ю    Я      // 3  а б в г д е ж з
+             // Ш    Щ    Ъ    Ы    b    Э    Ю    Я      // 3  а б в г д е ж з
               0x61,0xb2,0xb3,0xb4,0xe3,0x65,0xb6,0xb7,   //    и й к л м н о п
-  //            a   б->ё  в    г    д    e    ж    з      // 4  р с т у ф х ц ч
+             // a   б->ё  в    г    д    e    ж    з      // 4  р с т у ф х ц ч
               0xb8,0xb9,0xba,0xbb,0xbc,0xbd,0x6f,0xbe,   //    ш щ ъ ы ь э ю я
-  //            и    й    к    л    м    н    o    п      // 5  ѐ ё ђ ѓ є ѕ і ї
+             // и    й    к    л    м    н    o    п      // 5  ѐ ё ђ ѓ є ѕ і ї
               0x70,0x63,0xbf,0x79,0xe4,0x78,0xe5,0xc0,   //    ј љ њ ћ ќ ѝ ў џ
-  //            p    c    т    y    ф    x    ц    ч      // 6  Ѡ ѡ Ѣ ѣ Ѥ ѥ Ѧ ѧ
+             // p    c    т    y    ф    x    ц    ч      // 6  Ѡ ѡ Ѣ ѣ Ѥ ѥ Ѧ ѧ
               0xc1,0xe6,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7    //    Ѫ ѩ Ѫ ѫ Ѭ ѭ Ѯ ѯ
-  //            ш    щ    ъ    ы    ь    э    ю    я      // 7  Ѱ ѱ Ѳ ѳ Ѵ ѵ Ѷ ѷ
+             // ш    щ    ъ    ы    ь    э    ю    я      // 7  Ѱ ѱ Ѳ ѳ Ѵ ѵ Ѷ ѷ
             };                                           //    ѻ ѹ Ѻ ѻ Ѽ ѽ Ѿ ѿ
    #elif ENABLED(MAPPER_C2C3)
-      #error( "Western languages on a cyrillic display makes no sense. There are no matching symbols." );
+      #error "Western languages on a CYRILLIC display makes no sense. There are no matching symbols."
    #elif ENABLED(MAPPER_E382E383)
-      #error( "Katakana on a cyrillic display makes no sense. There are no matching symbols." );
+      #error "Katakana on a CYRILLIC display makes no sense. There are no matching symbols."
    #endif
  #else
-    #error("Something went wrong in the selection of DISPLAY_CHARSET_HD44780's");
-  #endif // DISPLAY_CHARSET_HD44780_CYRILLIC
+    #error "Something went wrong in the setting of DISPLAY_CHARSET_HD44780"
+  #endif // DISPLAY_CHARSET_HD44780
 #endif // SIMULATE_ROMFONT

 #if ENABLED(MAPPER_NON)
@@ -209,7 +231,7 @@
      }
      else if (seen_d5) {
        d &= 0x3fu;
-        #if DISABLED(MAPPER_ONE_TO_ONE)
+        #ifndef MAPPER_ONE_TO_ONE
          HARDWARE_CHAR_OUT((char)pgm_read_byte_near(utf_recode + d + (utf_hi_char << 6) - 0x20));
        #else
          HARDWARE_CHAR_OUT((char)(0xa0u + (utf_hi_char << 6) + d)) ;
@@ -245,7 +267,7 @@
      }
      else if (seen_e3 && seen_82_83) {
        d &= 0x3f;
-        #if DISABLED(MAPPER_ONE_TO_ONE)
+        #ifndef MAPPER_ONE_TO_ONE
          HARDWARE_CHAR_OUT((char)pgm_read_byte_near(utf_recode + d + (utf_hi_char << 6) - 0x20));
        #else
          HARDWARE_CHAR_OUT((char)(0x80 + (utf_hi_char << 6) + d)) ;

--- a/MK/module/mbl/mesh_bed_leveling.cpp
+++ b/MK/module/mbl/mesh_bed_leveling.cpp
+/**
+ * MK & MK4due 3D Printer Firmware
+ *
+ * Based on Marlin, Sprinter and grbl
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (C) 2013 - 2016 Alberto Cotronei @MagoKimbra
+ *
+ * This program 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.
+ *
+ * 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
+ * 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/>.
+ *
+ */
+
+#include "../../base.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+
+  mesh_bed_leveling mbl;
+
+  mesh_bed_leveling::mesh_bed_leveling() { reset(); }
+
+  void mesh_bed_leveling::reset() {
+    active = 0;
+    z_offset = 0;
+    for (int8_t y = MESH_NUM_Y_POINTS; y--;)
+      for (int8_t x = MESH_NUM_X_POINTS; x--;)
+        z_values[y][x] = 0;
+  }
+
+#endif  // MESH_BED_LEVELING
--- a/MK/module/mbl/mesh_bed_leveling.h
+++ b/MK/module/mbl/mesh_bed_leveling.h
+/**
+ * MK & MK4due 3D Printer Firmware
+ *
+ * Based on Marlin, Sprinter and grbl
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (C) 2013 - 2016 Alberto Cotronei @MagoKimbra
+ *
+ * This program 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.
+ *
+ * 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
+ * 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/>.
+ *
+ */
+
+#if ENABLED(MESH_BED_LEVELING)
+
+  #define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X))/(MESH_NUM_X_POINTS - 1))
+  #define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y))/(MESH_NUM_Y_POINTS - 1))
+
+  class mesh_bed_leveling {
+  public:
+    bool active;
+    float z_offset;
+    float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
+
+    mesh_bed_leveling();
+
+    void reset();
+
+    static FORCE_INLINE float get_probe_x(int8_t i) { return MESH_MIN_X + (MESH_X_DIST) * i; }
+    static FORCE_INLINE float get_probe_y(int8_t i) { return MESH_MIN_Y + (MESH_Y_DIST) * i; }
+    void set_z(const int8_t px, const int8_t py, const float z) { z_values[py][px] = z; }
+
+    inline void zigzag(int8_t index, int8_t &px, int8_t &py) {
+      px = index % (MESH_NUM_X_POINTS);
+      py = index / (MESH_NUM_X_POINTS);
+      if (py & 1) px = (MESH_NUM_X_POINTS - 1) - px; // Zig zag
+    }
+
+    void set_zigzag_z(int8_t index, float z) {
+      int8_t px, py;
+      zigzag(index, px, py);
+      set_z(px, py, z);
+    }
+
+    int8_t cel_index_x(float x) {
+      int8_t cx = int(x - (MESH_MIN_X)) / (MESH_X_DIST);
+      return constrain(cx, 0, (MESH_NUM_X_POINTS) - 2);
+    }
+
+    int8_t cel_index_y(float y) {
+      int8_t cy = int(y - (MESH_MIN_Y)) / (MESH_Y_DIST);
+      return constrain(cy, 0, (MESH_NUM_Y_POINTS) - 2);
+    }
+
+    int8_t probe_index_x(float x) {
+      int8_t px = int(x - (MESH_MIN_X) + (MESH_X_DIST) / 2) / (MESH_X_DIST);
+      return (px >= 0 && px < (MESH_NUM_X_POINTS)) ? px : -1;
+    }
+
+    int8_t probe_index_y(float y) {
+      int8_t py = int(y - (MESH_MIN_Y) + (MESH_Y_DIST) / 2) / (MESH_Y_DIST);
+      return (py >= 0 && py < (MESH_NUM_Y_POINTS)) ? py : -1;
+    }
+
+    float calc_z0(float a0, float a1, float z1, float a2, float z2) {
+      float delta_z = (z2 - z1) / (a2 - a1);
+      float delta_a = a0 - a1;
+      return z1 + delta_a * delta_z;
+    }
+
+    float get_z(float x0, float y0) {
+      int8_t cx = cel_index_x(x0),
+             cy = cel_index_y(y0);
+      if (cx < 0 || cy < 0) return z_offset;
+      float z1 = calc_z0(x0,
+                         get_probe_x(cx), z_values[cy][cx],
+                         get_probe_x(cx + 1), z_values[cy][cx + 1]);
+      float z2 = calc_z0(x0,
+                         get_probe_x(cx), z_values[cy + 1][cx],
+                         get_probe_x(cx + 1), z_values[cy + 1][cx + 1]);
+      float z0 = calc_z0(y0,
+                         get_probe_y(cy), z1,
+                         get_probe_y(cy + 1), z2);
+      return z0 + z_offset;
+    }
+  };
+
+  extern mesh_bed_leveling mbl;
+
+#endif  // MESH_BED_LEVELING
--- a/MK/module/motion/endstops.cpp
+++ b/MK/module/motion/endstops.cpp
@@ -32,6 +32,34 @@

 Endstops endstops;

+// public:
+
+bool  Endstops::enabled = true,
+      Endstops::enabled_globally =
+        #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
+          false
+        #else
+          true
+        #endif
+      ;
+volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
+
+#if ENABLED(Z_DUAL_ENDSTOPS)
+  uint16_t
+#else
+  byte
+#endif
+    Endstops::current_endstop_bits = 0,
+    Endstops::old_endstop_bits = 0;
+
+#if HAS(Z_PROBE)
+  volatile bool Endstops::z_probe_enabled = false;
+#endif
+
+/**
+ * Class and Instance Methods
+ */
+
 Endstops::Endstops() {
  enable_globally(
    #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
@@ -41,7 +69,7 @@ Endstops::Endstops() {
    #endif
  );
  enable(true);
-  #if ENABLED(HAS_Z_PROBE)
+  #if HAS(Z_PROBE)
    enable_z_probe(false);
  #endif
 } // Endstops::Endstops
@@ -240,8 +268,8 @@ void Endstops::update() {

  #if MECH(COREXY) || MECH(COREYX)|| MECH(COREXZ) || MECH(COREZX)
    // Head direction in -X axis for CoreXY and CoreXZ bots.
-    // If Delta1 == -Delta2, the movement is only in Y or Z axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[CORE_AXIS_2]) || (motor_direction(A_AXIS) == motor_direction(CORE_AXIS_2))) {
+    // If DeltaA == -DeltaB, the movement is only in Y or Z axis
+    if ((current_block->steps[CORE_AXIS_1] != current_block->steps[CORE_AXIS_2]) || (motor_direction(CORE_AXIS_1) == motor_direction(CORE_AXIS_2))) {
      if (motor_direction(X_HEAD))
  #else
    if (motor_direction(X_AXIS))   // stepping along -X axis (regular Cartesian bot)
@@ -274,8 +302,8 @@ void Endstops::update() {

  #if MECH(COREXY) || MECH(COREYX)
    // Head direction in -Y axis for CoreXY bots.
-    // If DeltaX == DeltaY, the movement is only in X axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (motor_direction(A_AXIS) != motor_direction(B_AXIS))) {
+    // If DeltaA == DeltaB, the movement is only in X axis
+    if ((current_block->steps[CORE_AXIS_1] != current_block->steps[CORE_AXIS_2]) || (motor_direction(CORE_AXIS_1) != motor_direction(CORE_AXIS_2))) {
      if (motor_direction(Y_HEAD))
  #else
      if (motor_direction(Y_AXIS))   // -direction
@@ -296,8 +324,8 @@ void Endstops::update() {

  #if MECH(COREXZ) || MECH(COREZX)
    // Head direction in -Z axis for CoreXZ bots.
-    // If DeltaX == DeltaZ, the movement is only in X axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (motor_direction(A_AXIS) != motor_direction(C_AXIS))) {
+    // If DeltaA == DeltaB, the movement is only in X axis
+    if ((current_block->steps[CORE_AXIS_1] != current_block->steps[CORE_AXIS_2]) || (motor_direction(CORE_AXIS_1) !) != motor_direction(CORE_AXIS_2))) {
      if (motor_direction(Z_HEAD))
  #else
      if (motor_direction(Z_AXIS))

--- a/MK/module/motion/endstops.h
+++ b/MK/module/motion/endstops.h
@@ -33,25 +33,15 @@ class Endstops {

  public:

-    volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value
+    static bool enabled, enabled_globally;
+    static volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value

    #if ENABLED(Z_DUAL_ENDSTOPS)
-      uint16_t current_endstop_bits = 0,
-                   old_endstop_bits = 0;
+      static uint16_t
    #else
-      byte current_endstop_bits = 0,
-               old_endstop_bits = 0;
+      static byte
    #endif
-        
-
-    bool enabled = true;
-    bool enabled_globally =
-      #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-        false
-      #else
-        true
-      #endif
-    ;
+        current_endstop_bits, old_endstop_bits;

    Endstops();

@@ -63,40 +53,40 @@ class Endstops {
    /**
     * Update the endstops bits from the pins
     */
-    void update();
+    static void update();

    /**
     * Print an error message reporting the position when the endstops were last hit.
     */
-    void report_state(); // call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
+    static void report_state(); // call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered

    /**
     * Report endstop positions in response to M119
     */
-    void M119();
+    static void M119();

    // Enable / disable endstop checking globally
-    FORCE_INLINE void enable_globally(bool onoff = true) { enabled_globally = enabled = onoff; }
+    static void enable_globally(bool onoff = true) { enabled_globally = enabled = onoff; }

    // Enable / disable endstop checking
-    FORCE_INLINE void enable(bool onoff = true) { enabled = onoff; }
+    static void enable(bool onoff = true) { enabled = onoff; }

    // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
-    FORCE_INLINE void not_homing() { enabled = enabled_globally; }
+    static void not_homing() { enabled = enabled_globally; }

    // Clear endstops (i.e., they were hit intentionally) to suppress the report
-    FORCE_INLINE void hit_on_purpose() { endstop_hit_bits = 0; }
+    static void hit_on_purpose() { endstop_hit_bits = 0; }

    // Enable / disable endstop z-probe checking
-    #if ENABLED(HAS_Z_PROBE)
-      volatile bool z_probe_enabled = false;
-      FORCE_INLINE void enable_z_probe(bool onoff = true) { z_probe_enabled = onoff; }
+    #if HAS(Z_PROBE)
+      static volatile bool z_probe_enabled;
+      static void enable_z_probe(bool onoff = true) { z_probe_enabled = onoff; }
    #endif

  private:

    #if ENABLED(Z_DUAL_ENDSTOPS)
-      void test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2);
+      static void test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2);
    #endif
 };


--- a/MK/module/motion/planner.cpp
+++ b/MK/module/motion/planner.cpp
--- a/MK/module/motion/planner.h
+++ b/MK/module/motion/planner.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/>.
 *
 */

@@ -33,11 +33,11 @@
 *
 * 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
+ * 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/>.
+ * 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
@@ -127,29 +127,43 @@ void check_axes_activity();
 // Get the number of buffered moves
 extern volatile unsigned char block_buffer_head;
 extern volatile unsigned char block_buffer_tail;
+
+/**
+ * Number of moves currently in the planner
+ */
 FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }

-#if ENABLED(AUTO_BED_LEVELING_FEATURE)
+#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)

-  #include "vector_3.h"
+  #if ENABLED(AUTO_BED_LEVELING_FEATURE)

-  // Transform required to compensate for bed level
-  extern matrix_3x3 plan_bed_level_matrix;
+    #include "vector_3.h"

-  /**
-   * Get the position applying the bed level matrix
-   */
-  vector_3 plan_get_position();
+    // Transform to compensate for bed level
+    extern matrix_3x3 plan_bed_level_matrix;
+
+    /**
+     * The corrected position, applying the bed level matrix
+     */
+    vector_3 plan_adjusted_position();
+  #endif

  /**
-   * Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in
-   * millimeters. Feed rate specifies the (target) speed of the motion.
+   * Add a new linear movement to the buffer.
+   *
+   *  x,y,z,e   - target position in mm
+   *  feed_rate - (target) speed of the move
+   *  extruder  - target extruder
   */
  void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder, const uint8_t driver);

  /**
-   * Set the planner positions. Used for G92 instructions.
-   * Multiplies by axis_steps_per_unit[] to set stepper positions.
+   * Set the planner.position and individual stepper positions.
+   * Used by G92, G28, G29, and other procedures.
+   *
+   * Multiplies by axis_steps_per_unit[] and does necessary conversion
+   * for COREXY / COREXZ to set the corresponding stepper positions.
+   *
   * Clears previous speed values.
   */
  void plan_set_position(float x, float y, float z, const float& e);
@@ -159,8 +173,11 @@ FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block
  void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder, const uint8_t driver);
  void plan_set_position(const float& x, const float& y, const float& z, const float& e);

-#endif // AUTO_BED_LEVELING_FEATURE
+#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING

+/**
+ * Set the E position (mm) of the planner (and the E stepper)
+ */
 void plan_set_e_position(const float& e);

 //===========================================================================
@@ -193,17 +210,24 @@ extern block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for
 extern volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
 extern volatile unsigned char block_buffer_tail;

-// Returns true if the buffer has a queued block, false otherwise
+/**
+ * Does the buffer have any blocks queued?
+ */
 FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }

-// Called when the current block is no longer needed. Discards
-// the block and makes the memory available for new blocks.
+/**
+ * "Discards" the block and "releases" the memory.
+ * Called when the current block is no longer needed.
+ */
 FORCE_INLINE void plan_discard_current_block() {
  if (blocks_queued())
    block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
 }

-// Gets the current block. Returns NULL if buffer empty
+/**
+ * The current block. NULL if the buffer is empty.
+ * This also marks the block as busy.
+ */
 FORCE_INLINE block_t* plan_get_current_block() {
  if (blocks_queued()) {
    block_t* block = &block_buffer[block_buffer_tail];

--- a/MK/module/motion/stepper.cpp
+++ b/MK/module/motion/stepper.cpp
@@ -1104,14 +1104,14 @@ long st_get_position(uint8_t axis) {
 float st_get_axis_position_mm(AxisEnum axis) {
  float axis_pos;
  #if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
-    if (axis == X_AXIS || axis == CORE_AXIS_2) {
+    if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
      CRITICAL_SECTION_START;
-      long  pos1 = count_position[A_AXIS],
+      long  pos1 = count_position[CORE_AXIS_1],
            pos2 = count_position[CORE_AXIS_2];
      CRITICAL_SECTION_END;
      // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
      // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
-      axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
+      axis_pos = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) / 2.0f;
    }
    else
      axis_pos = st_get_position(axis);
@@ -1160,10 +1160,10 @@ void endstop_triggered(AxisEnum axis) {
  #if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)

    float axis_pos = count_position[axis];
-    if (axis == A_AXIS)
+    if (axis == CORE_AXIS_1)
      axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2;
    else if (axis == CORE_AXIS_2)
-      axis_pos = (count_position[A_AXIS] - axis_pos) / 2;
+      axis_pos = (count_position[CORE_AXIS_1] - axis_pos) / 2;
    endstops_trigsteps[axis] = axis_pos;

  #else // ! COREXY || COREYX || COREXZ || COREZX

--- a/MK/module/sanitycheck.h
+++ b/MK/module/sanitycheck.h
@@ -530,6 +530,27 @@
  #if DISABLED(SOFTWARE_MAX_ENDSTOPS)
    #error DEPENDENCY ERROR: Missing setting SOFTWARE_MAX_ENDSTOPS
  #endif
+
+  /**
+   * Mesh Bed Leveling
+   */
+  #if ENABLED(MESH_BED_LEVELING)
+    #if MECH(DELTA)
+      #error "MESH_BED_LEVELING does not yet support DELTA printers."
+    #endif
+    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+      #error "Select AUTO_BED_LEVELING_FEATURE or MESH_BED_LEVELING, not both."
+    #endif
+    #if MESH_NUM_X_POINTS > 7 || MESH_NUM_Y_POINTS > 7
+      #error "MESH_NUM_X_POINTS and MESH_NUM_Y_POINTS need to be less than 8."
+    #endif
+  #elif ENABLED(MANUAL_BED_LEVELING)
+    #error "MESH_BED_LEVELING is required for MANUAL_BED_LEVELING."
+  #endif
+
+  /**
+   * Auto Bed Leveling
+   */
  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
    #if ENABLED(AUTO_BED_LEVELING_GRID)
      #if DISABLED(MIN_PROBE_EDGE)
@@ -1924,4 +1945,12 @@
    #error DEPENDENCY ERROR: You have to set SLED_PIN to a valid pin if you enable Z_PROBE_SLED
  #endif

+  /**
+   * Warnings for old configurations
+   */
+  #if WATCH_TEMP_PERIOD > 500
+    #error "WATCH_TEMP_PERIOD now uses seconds instead of milliseconds."
+  #elif defined(Z_RAISE_BEFORE_HOMING)
+    #error "Z_RAISE_BEFORE_HOMING is deprecated. Use MIN_Z_HEIGHT_FOR_HOMING instead."
+  #endif
 #endif //SANITYCHECK_H
--- a/MK/module/temperature/temperature.cpp
+++ b/MK/module/temperature/temperature.cpp
@@ -51,7 +51,7 @@
  #define K2 (1.0 - K1)
 #endif

-#if ENABLED(PIDTEMPBED) || ENABLED(PIDTEMP)  || ENABLED(PIDTEMPCHAMBER) || ENABLED(PIDTEMPCOOLER)
+#if ENABLED(PIDTEMPBED) || ENABLED(PIDTEMP) || ENABLED(PIDTEMPCHAMBER) || ENABLED(PIDTEMPCOOLER)
  #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
 #endif


--- a/README.md
+++ b/README.md
 <img align="right" src="Documentation/Logo/MarlinKimbra%20Logo%20GitHub.png" />
 # MarlinKimbra 3D Printer Firmware for Arduino
-## Version 4.2.82 Laser dev
+## Version 4.2.84 Laser dev

 This is the Laser enhananced version with the patches from Franco (nextime) Lanza.

@@ -15,6 +15,9 @@ For K40 laser cutter there are branches with the default config files ready to u
 * [with cooler and flow sensor](https://git.nexlab.net/machinery/MarlinKimbra/tree/k40_flow_cooler)
 * [without cooler and flow sensor](https://git.nexlab.net/machinery/MarlinKimbra/tree/k40_noflow_nocooler)

+Also, take care that lasers needs a larger serial buffer on arduino mega 2560 than the default 64 byte buffer, so
+take a look at needed modification on the arduino ide from [Laser Documentation README](/Documentation/Laser/README.md)
+
 ### Special thanks
 * all Marlin8bit-developers.

@@ -43,24 +46,25 @@ http://marlinkimbra.it

 This version of Marlin was made to accommodate some requests made by the community RepRap Italy http://forums.reprap.org/index.php?349
 The new features are:
-A single Firmware for all types of printers; Cartesian, Delta, SCARA, CoreXY & CoreXZ.
-The possibility of having only one hotend independently from the extruders that you have.
-The addition of the 6th extruder.
-Management Color Mixing Extruder
-System Management MKr4 for 6 extruders with just two drivers or only driver.
-Management Multyextruder NPr2, 4/6 extruders with only two engines.
-Management Dual Extruder DONDOLO.
-Adding commands to facilitate purging of hotend. 
-Step per unit varied for each extruder as well as the feedrate and the acceleration.
-Adding Debug Dryrun used by repetier.
-Added total Power on time writed in SD CARD.
-Added total Power consumption writed in SD CARD.
-Added total filament printed writed in SD CARD.
-Added anti extruder idle oozing system.
-Added Hysteresis and Z-Wobble correction (only cartesian printers).
-Added support reader TAG width MFRC522
-Added Cooler and Hot Chamber
-Added Laser beam and raster base64
+ - A single Firmware for all types of printers; Cartesian, Delta, SCARA, CoreXY & CoreXZ.
+ - The possibility of having only one hotend independently from the extruders that you have.
+ - The addition of the 6th extruder.
+ - Management Color Mixing Extruder
+ - System Management MKr4 for 6 extruders with just two drivers or only driver.
+ - Management Multyextruder NPr2, 4/6 extruders with only two engines.
+ - Management Dual Extruder DONDOLO.
+ - Adding commands to facilitate purging of hotend. 
+ - Step per unit varied for each extruder as well as the feedrate and the acceleration.
+ - Adding Debug Dryrun used by repetier.
+ - Added total Power on time writed in SD CARD.
+ - Added total Power consumption writed in SD CARD.
+ - Added total filament printed writed in SD CARD.
+ - Added anti extruder idle oozing system.
+ - Added Hysteresis and Z-Wobble correction (only cartesian printers).
+ - Added support reader TAG width MFRC522
+ - Added Cooler and Hot Chamber
+ - Added Laser beam and raster base64
+ - Added Mesh Bed Level (MBL)

 ## Credits