Update 4.1.3

caf65063 · MagoKimbra · 7d3d03a2 · caf65063 · caf65063 · caf65063
Commit caf65063 authored May 16, 2015 by MagoKimbra
24 changed files
--- a/MarlinKimbra/Configuration.h
+++ b/MarlinKimbra/Configuration.h
@@ -20,7 +20,7 @@
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
-#define STRING_VERSION "4.1.2"
+#define STRING_VERSION "4.1.3"
 #define STRING_URL "reprap.org"
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__     // build date and time
 #define STRING_CONFIG_H_AUTHOR "(none, default config)"   // Who made the changes.
@@ -33,7 +33,7 @@
 #define SERIAL_PORT 0
 // This determines the communication speed of the printer
-// 115200 - 250000
+// 2400,9600,19200,38400,57600,115200,250000
 #define BAUDRATE 115200
 // This enables the serial port associated to the Bluetooth interface on AT90USB devices
@@ -278,7 +278,6 @@
 #define EXTRUDE_MINTEMP 170 // degC
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 //===========================================================================
 //======================== Thermal Runaway Protection =======================
 //===========================================================================
@@ -294,30 +293,16 @@
 * The solution: Once the temperature reaches the target, start observing.
 * If the temperature stays too far below the target (hysteresis) for too long,
 * the firmware will halt as a safety precaution.
- *
- * Note that because the countdown starts only AFTER the temperature reaches
- * the target, this will not catch a thermistor that is already disconnected
- * when the print starts!
- *
- * To enable for all extruder heaters, uncomment the two defines below:
 */
-// Parameters for all extruder heaters
+//#define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders
-#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40    // in seconds
+//#define THERMAL_PROTECTION_BED     // Enable thermal protection for the heated bed
-#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
-// To enable for the bed heater, uncomment the two defines below:
-// Parameters for the bed heater
-#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20    // in seconds
-#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
 //===========================================================================
 //============================ User Interfaces ==============================
 //===========================================================================
-//==============================LCD and SD support=============================
+//============================ LCD and SD support ===========================
 // Choose ONE of these 3 charsets. This has to match your hardware. Ignored for full graphic display.
 // To find out what type you have - compile with (test) - upload - click to get the menu. You'll see two typical lines from the upper half of the charset.
@@ -402,13 +387,13 @@
 // #define LCD_SCREEN_ROT_270
 // SPLASH SCREEN duration in millisecond
-#define SPLASH_SCREEN_DURATION 2000 // Millisecond
+#define SPLASH_SCREEN_DURATION 5000 // Millisecond
 /** Display Voltage Logic Selector on Alligator Board
 0 = Voltage level 3.3V
 1 = Voltage level 5V
 */
-#define UI_VOLTAGE_LEVEL 0 // Set 5 o 3.3 V
+#define UI_VOLTAGE_LEVEL 1 // Set 5 o 3.3 V
 //============================== Languages UI =========================
@@ -441,7 +426,7 @@
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //define this to enable EEPROM support
 //#define EEPROM_SETTINGS
-//#define EEPROM_CHITCHAT
+#define EEPROM_CHITCHAT
 // to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
 // please keep turned on if you can.
 //#define DISABLE_M503

--- a/MarlinKimbra/Configuration_Cartesian.h
+++ b/MarlinKimbra/Configuration_Cartesian.h
@@ -25,10 +25,12 @@
 #define X_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Y_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Z_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
+#define Z2_MIN_ENDSTOP_LOGIC  false   // set to true to invert the logic of the endstop.
 #define E_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
+#define Z2_MAX_ENDSTOP_LOGIC  false   // set to true to invert the logic of the endstop.
 #define Z_PROBE_ENDSTOP_LOGIC false   // set to true to invert the logic of the endstop.
 // ENDSTOP SETTINGS:

--- a/MarlinKimbra/Configuration_Corexy.h
+++ b/MarlinKimbra/Configuration_Corexy.h
@@ -25,10 +25,12 @@
 #define X_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Y_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Z_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
+#define Z2_MIN_ENDSTOP_LOGIC  false   // set to true to invert the logic of the endstop.
 #define E_MIN_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_LOGIC   false   // set to true to invert the logic of the endstop.
+#define Z2_MAX_ENDSTOP_LOGIC  false   // set to true to invert the logic of the endstop.
 #define Z_PROBE_ENDSTOP_LOGIC false   // set to true to invert the logic of the endstop.
 // ENDSTOP SETTINGS:

--- a/MarlinKimbra/Configuration_Scara.h
+++ b/MarlinKimbra/Configuration_Scara.h
@@ -7,7 +7,7 @@
 // QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
 // You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
 // Uncomment to use Morgan scara mode
-#define scara_segments_per_second 200 //careful, two much will decrease performance...
+#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
 // Length of inner support arm
 #define Linkage_1 150 //mm      Preprocessor cannot handle decimal point...
 // Length of outer support arm     Measure arm lengths precisely and enter 

--- a/MarlinKimbra/Configuration_adv.h
+++ b/MarlinKimbra/Configuration_adv.h
@@ -23,24 +23,38 @@
 #define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
 /**
- * Heating Sanity Check
+ * Thermal Protection parameters
- *
+ */
- * Whenever an M104 or M109 increases the target temperature this will wait for WATCH_TEMP_PERIOD milliseconds,
+#ifdef THERMAL_PROTECTION_HOTENDS
- * and if the temperature hasn't increased by WATCH_TEMP_INCREASE degrees, the machine is halted, requiring a
+  #define THERMAL_PROTECTION_PERIOD    40     // Seconds
- * hard reset. This test restarts with any M104/M109, but only if the current temperature is below the target
+  #define THERMAL_PROTECTION_HYSTERESIS 4     // Degrees Celsius
- * by at least 2 * WATCH_TEMP_INCREASE degrees celsius.
+  /**
+   * Whenever an M104 or M109 increases the target temperature the firmware will wait for the
+   * WATCH_TEMP_PERIOD to transpire, and if the temperature hasn't increased by WATCH_TEMP_INCREASE
+   * degrees, the machine is halted, requiring a hard reset. This test restarts with any M104/M109,
+   * but only if the current temperature is far enough below the target for a reliable test.
   */
-//#define WATCH_TEMP_PERIOD 16000 // 16 seconds
+  #define WATCH_TEMP_PERIOD  16               // Seconds
-//#define WATCH_TEMP_INCREASE 4  // Heat up at least 4 degrees in 16 seconds
+  #define WATCH_TEMP_INCREASE 4               // Degrees Celsius
+#endif
+#ifdef THERMAL_PROTECTION_BED
+  #define THERMAL_PROTECTION_BED_PERIOD    20 // Seconds
+  #define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius
+#endif
-//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+/**
-//The maximum buffered steps/sec of the extruder motor are called "se".
+ * Automatic Temperature:
-//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
+ * The hotend target temperature is calculated by all the buffered lines of gcode.
-// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+ * The maximum buffered steps/sec of the extruder motor is called "se".
-// you exit the value by any M109 without F*
+ * Start autotemp mode with M109 S<mintemp> B<maxtemp> F<factor>
-// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+ * The target temperature is set to mintemp+factor*se[steps/sec] and is limited by
-// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+ * mintemp and maxtemp. Turn this off by excuting M109 without F*
+ * Also, if the temperature is set to a value below mintemp, it will not be changed by autotemp.
+ * On an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+ */
 #define AUTOTEMP
 #ifdef AUTOTEMP
  #define AUTOTEMP_OLDWEIGHT 0.98
@@ -50,11 +64,13 @@
 //The M105 command return, besides traditional information, the ADC value read from temperature sensors.
 //#define SHOW_TEMP_ADC_VALUES
-//extruder idle oozing prevention
+/**
-//if the extruder motor is idle for more than SECONDS, and the temperature over MINTEMP,
+ * extruder idle oozing prevention
-//some filament is retracted. The filament retracted is re-added before the next extrusion
+ * if the extruder motor is idle for more than SECONDS, and the temperature over MINTEMP,
-//or when the target temperature is less than EXTRUDE_MINTEMP and the actual temperature
+ * some filament is retracted. The filament retracted is re-added before the next extrusion
-//is greater than IDLE_OOZING_MINTEMP and less than IDLE_OOZING_FEEDRATE
+ * or when the target temperature is less than EXTRUDE_MINTEMP and the actual temperature
+ * is greater than IDLE_OOZING_MINTEMP and less than IDLE_OOZING_FEEDRATE
+ */
 //#define IDLE_OOZING_PREVENT
 #define IDLE_OOZING_MINTEMP           EXTRUDE_MINTEMP + 5
 #define IDLE_OOZING_MAXTEMP           IDLE_OOZING_MINTEMP + 5
@@ -275,8 +291,11 @@
  // be commented out otherwise
  #define SDCARDDETECTINVERTED
-  #define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+  // Disable steppers when the file is done printing
-  #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
+  #define SD_FINISHED_STEPPERRELEASE true
+  // Command to send. You may want to keep Z enabled so your bed stays in place.
+  #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E"
  #define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the file system block order.
  // if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
@@ -284,7 +303,7 @@
  //#define MENU_ADDAUTOSTART
  // Show a progress bar on HD44780 LCDs for SD printing
-  #define LCD_PROGRESS_BAR
+  //#define LCD_PROGRESS_BAR
  #ifdef LCD_PROGRESS_BAR
    // Amount of time (ms) to show the bar

--- a/MarlinKimbra/Makefile
+++ b/MarlinKimbra/Makefile
@@ -266,8 +266,8 @@ VPATH += $(ARDUINO_INSTALL_DIR)/hardware/teensy/cores/teensy
 endif
 CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp	\
 	MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp	\
-	SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp		\
+	SdFile.cpp SdVolume.cpp planner.cpp stepper.cpp \
-	stepper.cpp temperature.cpp cardreader.cpp configuration_store.cpp \
+	temperature.cpp cardreader.cpp configuration_store.cpp \
 	watchdog.cpp SPI.cpp servo.cpp Tone.cpp ultralcd.cpp digipot_mcp4451.cpp \
 	vector_3.cpp qr_solve.cpp
 ifeq ($(LIQUID_TWI2), 0)

--- a/MarlinKimbra/Marlin.h
+++ b/MarlinKimbra/Marlin.h
@@ -24,6 +24,10 @@
 #include <avr/interrupt.h>
 #include "Configuration.h"
+#ifndef SANITYCHECK_H
+  #error Your Configuration.h and Configuration_adv.h files are outdated!
+#endif
 #if (ARDUINO >= 100)
  #include "Arduino.h"
 #else
@@ -134,14 +138,14 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 * X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
 */
 enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
+enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6};
 void enable_all_steppers();
 void disable_all_steppers();
 void FlushSerialRequestResend();
-void ClearToSend();
+void ok_to_send();
-void get_coordinates();
 #ifdef DELTA
 float probe_bed(float x, float y);
 void set_delta_constants();

--- a/MarlinKimbra/Marlin_main.cpp
+++ b/MarlinKimbra/Marlin_main.cpp
--- a/MarlinKimbra/conditionals.h
+++ b/MarlinKimbra/conditionals.h
@@ -256,19 +256,23 @@
    #define X_MIN_ENDSTOP_INVERTING   !X_MIN_ENDSTOP_LOGIC
    #define Y_MIN_ENDSTOP_INVERTING   !Y_MIN_ENDSTOP_LOGIC
    #define Z_MIN_ENDSTOP_INVERTING   !Z_MIN_ENDSTOP_LOGIC
+    #define Z2_MIN_ENDSTOP_INVERTING  !Z2_MIN_ENDSTOP_LOGIC
    #define E_MIN_ENDSTOP_INVERTING   !E_MIN_ENDSTOP_LOGIC
    #define X_MAX_ENDSTOP_INVERTING   !X_MAX_ENDSTOP_LOGIC
    #define Y_MAX_ENDSTOP_INVERTING   !Y_MAX_ENDSTOP_LOGIC
    #define Z_MAX_ENDSTOP_INVERTING   !Z_MAX_ENDSTOP_LOGIC
+    #define Z2_MAX_ENDSTOP_INVERTING  !Z2_MAX_ENDSTOP_LOGIC
    #define Z_PROBE_ENDSTOP_INVERTING !Z_PROBE_ENDSTOP_LOGIC
  #else
    #define X_MIN_ENDSTOP_INVERTING   X_MIN_ENDSTOP_LOGIC
    #define Y_MIN_ENDSTOP_INVERTING   Y_MIN_ENDSTOP_LOGIC
    #define Z_MIN_ENDSTOP_INVERTING   Z_MIN_ENDSTOP_LOGIC
+    #define Z2_MIN_ENDSTOP_INVERTING  Z2_MIN_ENDSTOP_LOGIC
    #define E_MIN_ENDSTOP_INVERTING   E_MIN_ENDSTOP_LOGIC
    #define X_MAX_ENDSTOP_INVERTING   X_MAX_ENDSTOP_LOGIC
    #define Y_MAX_ENDSTOP_INVERTING   Y_MAX_ENDSTOP_LOGIC
    #define Z_MAX_ENDSTOP_INVERTING   Z_MAX_ENDSTOP_LOGIC
+    #define Z2_MAX_ENDSTOP_INVERTING  Z2_MAX_ENDSTOP_LOGIC
    #define Z_PROBE_ENDSTOP_INVERTING Z_PROBE_ENDSTOP_LOGIC
  #endif
@@ -354,6 +358,13 @@
    #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
  #endif
+   /**
+    * Sled Options
+    */ 
+  #ifdef Z_PROBE_SLED
+    #define Z_SAFE_HOMING
+  #endif
  /**
   * Servo Leveling
   */
@@ -368,8 +379,8 @@
      #define MAX_STEP_FREQUENCY 120000 // Max step frequency for Toshiba Stepper Controllers
      #define DOUBLE_STEP_FREQUENCY MAX_STEP_FREQUENCY
    #else
-      #define MAX_STEP_FREQUENCY 320000    // Max step frequency for the Due is approx. 330kHz
+      #define MAX_STEP_FREQUENCY 500000    // Max step frequency for the Due is approx. 330kHz
-      #define DOUBLE_STEP_FREQUENCY 100000  //96kHz is close to maximum for an Arduino Due
+      #define DOUBLE_STEP_FREQUENCY 120000  //96kHz is close to maximum for an Arduino Due
    #endif
  #else
    #ifdef CONFIG_STEPPERS_TOSHIBA

--- a/MarlinKimbra/configuration_store.cpp
+++ b/MarlinKimbra/configuration_store.cpp
@@ -692,36 +692,32 @@ void Config_PrintSettings(bool forReplay) {
  #endif //HOTENDS > 1
  #ifdef DELTA
-    if (!forReplay) {
-      ECHO_LM(DB, "Endstop adjustement (mm):");
-    }
-    ECHO_SMV(DB, "  M666 X", endstop_adj[X_AXIS] );
-    ECHO_MV(" Y", endstop_adj[Y_AXIS] );
-    ECHO_EMV(" Z", endstop_adj[Z_AXIS] );
    if (!forReplay) {
      ECHO_LM(DB, "Delta Geometry adjustment:");
    }
-    ECHO_SMV(DB, "  M666 A", tower_adj[0]);
+    ECHO_SMV(DB, "  M666 A", tower_adj[0], 3);
-    ECHO_MV(" B", tower_adj[1]);
+    ECHO_MV(" B", tower_adj[1], 3);
-    ECHO_MV(" C", tower_adj[2]);
+    ECHO_MV(" C", tower_adj[2], 3);
-    ECHO_MV(" E", tower_adj[3]);
+    ECHO_MV(" I", tower_adj[3], 3);
-    ECHO_MV(" F", tower_adj[4]);
+    ECHO_MV(" J", tower_adj[4], 3);
-    ECHO_MV(" G", tower_adj[5]);
+    ECHO_MV(" K", tower_adj[5], 3);
    ECHO_MV(" R", delta_radius);
    ECHO_MV(" D", delta_diagonal_rod);
-    ECHO_MV(" H", max_pos[2]);
+    ECHO_EMV(" H", max_pos[2]);
-    ECHO_EMV(" P", z_probe_offset[3]);
+    if (!forReplay) {
+      ECHO_LM(DB, "Endstop Offsets:");
+    }
+    ECHO_SMV(DB, "  M666 X", endstop_adj[X_AXIS]);
+    ECHO_MV(" Y", endstop_adj[Y_AXIS]);
+    ECHO_EMV(" Z", endstop_adj[Z_AXIS]);
    if (!forReplay) {
-      ECHO_LM(DB, "Tower Positions:");
+      ECHO_LM(DB, "Z-Probe Offset:");
    }
-    ECHO_SMV(DB, "  Tower1 X:", delta_tower1_x);
+    ECHO_SMV(DB, "  M666 P X", z_probe_offset[0]);
-    ECHO_MV(" Y:", delta_tower1_y);
+    ECHO_MV(" Y", z_probe_offset[1]);
-    ECHO_MV(" Tower2 X:", delta_tower2_x);
+    ECHO_EMV(" Z", z_probe_offset[2]);
-    ECHO_MV(" Y:", delta_tower2_y);
-    ECHO_MV(" Tower3 X:", delta_tower3_x);
-    ECHO_EMV(" Y:", delta_tower3_y);
  #elif defined(Z_DUAL_ENDSTOPS)
    if (!forReplay) {
@@ -830,57 +826,7 @@ void Config_PrintSettings(bool forReplay) {
    }
    ECHO_LVM(DB, power_consumption_hour," W/h");
  #endif
-  if (!forReplay) {
-    ECHO_LM(DB, "Power on time:");
-  }
-  char time[30];
-  int hours = printer_usage_seconds / 60 / 60, minutes = (printer_usage_seconds / 60) % 60;
-  sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
-  ECHO_LV(DB, time);
 }
 #endif //!DISABLE_M503
-/**
- * Lifetime on EEPROM
- *
- */
-void load_lifetime_stats() {
-  int i = LIFETIME_EEPROM_OFFSET;
-  char stored_magic[4];
-  char magic[4] = LIFETIME_MAGIC;
-  EEPROM_READ_VAR(i, stored_magic); // read magic
-  if (strncmp(magic, stored_magic, 3) != 0) {
-    #ifdef POWER_CONSUMPTION
-      power_consumption_hour = 0;
-    #endif
-    printer_usage_seconds = 0;
-  }
-  else {
-    EEPROM_READ_VAR(i, printer_usage_seconds);
-    #ifdef POWER_CONSUMPTION
-      EEPROM_READ_VAR(i, power_consumption_hour);
-    #endif
-  }
-}
-void save_lifetime_stats() {
-  int i = LIFETIME_EEPROM_OFFSET;
-  char magic[4] = "000";
-  EEPROM_WRITE_VAR(i, magic); // invalidate data first
-  EEPROM_WRITE_VAR(i, printer_usage_seconds);
-  #ifdef POWER_CONSUMPTION
-    EEPROM_WRITE_VAR(i, power_consumption_hour);
-  #endif
-  char magic2[4] = LIFETIME_MAGIC;
-  int j = LIFETIME_EEPROM_OFFSET;
-  EEPROM_WRITE_VAR(j, magic2); // validate data
-  config_last_update = millis();
-}
--- a/MarlinKimbra/dogm_lcd_implementation.h
+++ b/MarlinKimbra/dogm_lcd_implementation.h
@@ -273,7 +273,6 @@ static void lcd_implementation_status_screen() {
    u8g.drawFrame(42, 49 - TALL_FONT_CORRECTION, 10, 4);
    u8g.drawPixel(50, 43 - TALL_FONT_CORRECTION);
    // Progress bar frame
    u8g.drawFrame(54, 49, 73, 4 - TALL_FONT_CORRECTION);
@@ -346,19 +345,28 @@ static void lcd_implementation_status_screen() {
  u8g.drawPixel(8,XYZ_BASELINE - 5);
  u8g.drawPixel(8,XYZ_BASELINE - 3);
  u8g.setPrintPos(10,XYZ_BASELINE);
+  if (axis_known_position[X_AXIS])
    lcd_print(ftostr31ns(current_position[X_AXIS]));
+  else
+    lcd_printPGM(PSTR("---"));
  u8g.setPrintPos(43,XYZ_BASELINE);
  lcd_print('Y');
  u8g.drawPixel(49,XYZ_BASELINE - 5);
  u8g.drawPixel(49,XYZ_BASELINE - 3);
  u8g.setPrintPos(51,XYZ_BASELINE);
+  if (axis_known_position[Y_AXIS])
    lcd_print(ftostr31ns(current_position[Y_AXIS]));
+  else
+    lcd_printPGM(PSTR("---"));
  u8g.setPrintPos(83,XYZ_BASELINE);
  lcd_print('Z');
  u8g.drawPixel(89,XYZ_BASELINE - 5);
  u8g.drawPixel(89,XYZ_BASELINE - 3);
  u8g.setPrintPos(91,XYZ_BASELINE);
-  lcd_print(ftostr31(current_position[Z_AXIS]));
+  if (axis_known_position[Z_AXIS])
+    lcd_print(ftostr32sp(current_position[Z_AXIS]));
+  else
+    lcd_printPGM(PSTR("---.--"));
  u8g.setColorIndex(1); // black on white
  // Feedrate

--- a/MarlinKimbra/pins.h
+++ b/MarlinKimbra/pins.h
@@ -82,6 +82,8 @@
 #define E1_MS2_PIN    -1
 #define DIGIPOTSS_PIN -1
 #define LCD_CONTRAST  -1
+#define Z2_MIN_PIN    -1
+#define Z2_MAX_PIN    -1
 /******************************************************************************

--- a/MarlinKimbra/pins2tool.h
+++ b/MarlinKimbra/pins2tool.h
@@ -44,6 +44,7 @@
 //FAN pin
 #define FAN_PIN       ORIG_FAN_PIN
 //============================================================================

--- a/MarlinKimbra/planner.cpp
+++ b/MarlinKimbra/planner.cpp
@@ -478,7 +478,7 @@ float junction_deviation = 0.1;
  void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, const uint8_t &driver)
 #else
  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)
-#endif  //ENABLE_AUTO_BED_LEVELING
+#endif  // ENABLE_AUTO_BED_LEVELING
 {
  // Calculate the buffer head after we push this byte
  int next_buffer_head = next_block_index(block_buffer_head);
@@ -518,8 +518,7 @@ float junction_deviation = 0.1;
          if (degHotend(extruder) < extrude_min_temp && !(debugLevel & DEBUG_DRYRUN)) {
            position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
            de = 0; // no difference
-            ECHO_S(OK);
+            ECHO_LM(ER, MSG_ERR_COLD_EXTRUDE_STOP);
-            ECHO_EM(MSG_ERR_COLD_EXTRUDE_STOP);
          }
        }
@@ -530,8 +529,7 @@ float junction_deviation = 0.1;
          #endif
          position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
          de = 0; // no difference
-          ECHO_S(OK);
+          ECHO_LM(ER, MSG_ERR_LONG_EXTRUDE_STOP);
-          ECHO_EM(MSG_ERR_LONG_EXTRUDE_STOP);
          #ifdef EASY_LOAD
            }
            allow_lengthy_extrude_once = false;

--- a/MarlinKimbra/planner.h
+++ b/MarlinKimbra/planner.h
@@ -114,6 +114,10 @@ FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block
 void plan_set_e_position(const float &e);
+//===========================================================================
+//============================= public variables ============================
+//===========================================================================
 extern millis_t minsegmenttime;
 extern float max_feedrate[3 + EXTRUDERS]; // set the max speeds
 extern float max_retraction_feedrate[EXTRUDERS]; // set the max speeds for retraction

--- a/MarlinKimbra/sanitycheck.h
+++ b/MarlinKimbra/sanitycheck.h
@@ -304,4 +304,23 @@
    #error HEATER_0_PIN not defined for this board
  #endif
+  /**
+   * Warnings for old configurations
+   */
+  #ifdef X_HOME_RETRACT_MM
+    #error [XYZ]_HOME_RETRACT_MM settings have been renamed [XYZ]_HOME_BUMP_MM
+  #endif
+  #if WATCH_TEMP_PERIOD > 500
+    #error WATCH_TEMP_PERIOD now uses seconds instead of milliseconds
+  #endif
+  #if !defined(THERMAL_PROTECTION_HOTENDS) && (defined(WATCH_TEMP_PERIOD) || defined(THERMAL_PROTECTION_PERIOD))
+    #error Thermal Runaway Protection for hotends must now be enabled with THERMAL_PROTECTION_HOTENDS
+  #endif
+  #if !defined(THERMAL_PROTECTION_BED) && defined(THERMAL_PROTECTION_BED_PERIOD)
+    #error Thermal Runaway Protection for the bed must now be enabled with THERMAL_PROTECTION_BED
+  #endif
 #endif //SANITYCHECK_H
--- a/MarlinKimbra/stepper.cpp
+++ b/MarlinKimbra/stepper.cpp
--- a/MarlinKimbra/stepper.h
+++ b/MarlinKimbra/stepper.h
@@ -70,10 +70,8 @@ void st_set_e_position(const long &e);
 // Get current position in steps
 long st_get_position(uint8_t axis);
-#ifdef ENABLE_AUTO_BED_LEVELING
 // Get current position in mm
 float st_get_position_mm(uint8_t axis);
-#endif  //ENABLE_AUTO_BED_LEVELING
 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
 // to notify the subsystem that it is time to go to work.

--- a/MarlinKimbra/temperature.cpp
+++ b/MarlinKimbra/temperature.cpp
@@ -36,6 +36,7 @@
 #if defined(PIDTEMPBED) || defined(PIDTEMP)
  #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
+  #define RECI_PID_dT ( 1 / PID_dT )
 #endif
 //===========================================================================
@@ -73,16 +74,14 @@ unsigned char soft_pwm_bed;
  int current_raw_filwidth = 0;  //Holds measured filament diameter - one extruder only
 #endif  
-#define HAS_HEATER_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0)
+#if defined(THERMAL_PROTECTION_HOTENDS) || defined(THERMAL_PROTECTION_BED)
-#define HAS_BED_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 && TEMP_SENSOR_BED != 0)
-#if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
  enum TRState { TRReset, TRInactive, TRFirstHeating, TRStable, TRRunaway };
  void thermal_runaway_protection(TRState *state, millis_t *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
-  #if HAS_HEATER_THERMAL_PROTECTION
+  #ifdef THERMAL_PROTECTION_HOTENDS
    static TRState thermal_runaway_state_machine[4] = { TRReset, TRReset, TRReset, TRReset };
    static millis_t thermal_runaway_timer[4]; // = {0,0,0,0};
  #endif
-  #if HAS_BED_THERMAL_PROTECTION
+  #ifdef THERMAL_PROTECTION_BED
    static TRState thermal_runaway_bed_state_machine = TRReset;
    static millis_t thermal_runaway_bed_timer;
  #endif
@@ -95,6 +94,7 @@ unsigned char soft_pwm_bed;
 //===========================================================================
 //============================ private variables ============================
 //===========================================================================
 static volatile bool temp_meas_ready = false;
 #ifdef PIDTEMP
@@ -160,7 +160,7 @@ static float analog2temp(int raw, uint8_t e);
 static float analog2tempBed(int raw);
 static void updateTemperaturesFromRawValues();
-#ifdef WATCH_TEMP_PERIOD
+#ifdef THERMAL_PROTECTION_HOTENDS
  int watch_target_temp[HOTENDS] = { 0 };
  millis_t watch_heater_next_ms[HOTENDS] = { 0 };
 #endif
@@ -245,8 +245,8 @@ void PID_autotune(float temp, int hotend, int ncycles)
        }
      #endif
-      if (heating == true && input > temp) {
+      if (heating && input > temp) {
-        if (ms - t2 > 5000) {
+        if (ms > t2 + 5000) {
          heating = false;
          if (hotend < 0)
            soft_pwm_bed = (bias - d) >> 1;
@@ -257,8 +257,9 @@ void PID_autotune(float temp, int hotend, int ncycles)
          max = temp;
        }
      }
-      if (heating == false && input < temp) {
-        if (ms - t1 > 5000) {
+      if (!heating && input < temp) {
+        if (ms > t1 + 5000) {
          heating = true;
          t2 = ms;
          t_low = t2 - t1;
@@ -588,15 +589,15 @@ void manage_heater() {
    if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
  #endif
-  #if defined(WATCH_TEMP_PERIOD) || !defined(PIDTEMPBED) || HAS_AUTO_FAN
+  #if defined(THERMAL_PROTECTION_HOTENDS) || !defined(PIDTEMPBED) || HAS_AUTO_FAN
    millis_t ms = millis();
  #endif
  // Loop through all hotends
  for (int e = 0; e < HOTENDS; e++) {
-    #if HAS_HEATER_THERMAL_PROTECTION
+    #ifdef THERMAL_PROTECTION_HOTENDS
-      thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
+      thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS);
    #endif
    float pid_output = get_pid_output(e);
@@ -605,21 +606,23 @@ void manage_heater() {
    soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
    // Check if the temperature is failing to increase
-    #ifdef WATCH_TEMP_PERIOD
+    #ifdef THERMAL_PROTECTION_HOTENDS
      // Is it time to check this extruder's heater?
      if (watch_heater_next_ms[e] && ms > watch_heater_next_ms[e]) {
        // Has it failed to increase enough?
        if (degHotend(e) < watch_target_temp[e]) {
          // Stop!
          disable_all_heaters();
-          _temp_error(e, MSG_HEATING_FAILED, MSG_HEATING_FAILED_LCD);
+          _temp_error(e, PSTR(MSG_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
        }
        else {
-          // Only check once per M104/M109
+          // Start again if the target is still far off
-          watch_heater_next_ms[e] = 0;
+          start_watching_heater(e);
        }
      }
-    #endif // WATCH_TEMP_PERIOD
+    #endif // THERMAL_PROTECTION_HOTENDS
    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
      if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
@@ -659,8 +662,8 @@ void manage_heater() {
  #if TEMP_SENSOR_BED != 0
-    #if HAS_BED_THERMAL_PROTECTION
+    #ifdef THERMAL_PROTECTION_BED
-      thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS);
+      thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS);
    #endif
    #ifdef PIDTEMPBED
@@ -777,7 +780,6 @@ static float analog2tempBed(int raw) {
 static void updateTemperaturesFromRawValues() {
  static millis_t last_update = millis();
  millis_t temp_last_update = millis();
-  millis_t from_last_update = temp_last_update - last_update;
  #ifdef HEATER_0_USES_MAX6675
    current_temperature_raw[0] = read_max6675();
  #endif
@@ -792,6 +794,7 @@ static void updateTemperaturesFromRawValues() {
    filament_width_meas = analog2widthFil();
  #endif
  #if HAS_POWER_CONSUMPTION_SENSOR
+    millis_t from_last_update = temp_last_update - last_update;
    static float watt_overflow = 0.0;
    power_consumption_meas = analog2power();
    //MYSERIAL.println(analog2current(),3);
@@ -802,13 +805,6 @@ static void updateTemperaturesFromRawValues() {
    }
  #endif
-  static unsigned int second_overflow = 0;
-  second_overflow += from_last_update;
-  if(second_overflow >= 1000) {
-    printer_usage_seconds++;
-    second_overflow -= 1000;
-  }
-  last_update = temp_last_update;
  //Reset the watchdog after we know we have a temperature measurement.
  watchdog_reset();
@@ -1033,15 +1029,15 @@ void tp_init() {
  #endif //BED_MAXTEMP
 }
-#ifdef WATCH_TEMP_PERIOD
+#ifdef THERMAL_PROTECTION_HOTENDS
  /**
   * Start Heating Sanity Check for hotends that are below
   * their target temperature by a configurable margin.
   * This is called when the temperature is set. (M104, M109)
   */
  void start_watching_heater(int e) {
-    millis_t ms = millis() + WATCH_TEMP_PERIOD;
+    millis_t ms = millis() + WATCH_TEMP_PERIOD * 1000;
-    if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) {
+    if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
      watch_target_temp[e] = degHotend(e) + WATCH_TEMP_INCREASE;
      watch_heater_next_ms[e] = ms;
    }
@@ -1050,7 +1046,7 @@ void tp_init() {
  }
 #endif
-#if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
+#if defined(THERMAL_PROTECTION_HOTENDS) || defined(THERMAL_PROTECTION_BED)
  void thermal_runaway_protection(TRState *state, millis_t *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
@@ -1109,7 +1105,7 @@ void tp_init() {
    }
  }
-#endif // HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
+#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
 void disable_all_heaters() {
  for (int i = 0; i < HOTENDS; i++) setTargetHotend(0, i);

--- a/MarlinKimbra/ultralcd.cpp
+++ b/MarlinKimbra/ultralcd.cpp
@@ -7,7 +7,7 @@
 #include "stepper.h"
 #include "configuration_store.h"
-int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
+int8_t encoderDiff; // updated from interrupt context and added to encoderPosition every LCD update
 bool encoderRateMultiplierEnabled;
 int32_t lastEncoderMovementMillis;
@@ -40,7 +40,7 @@ int gumPreheatFanSpeed;
 /* !Configuration settings */
-//Function pointer to menu functions.
+// Function pointer to menu functions.
 typedef void (*menuFunc_t)();
 uint8_t lcd_status_message_level;
@@ -239,11 +239,11 @@ static void lcd_status_screen();
      } } while(0)
  /** Used variables to keep track of the menu */
-  #ifndef REPRAPWORLD_KEYPAD
+  volatile uint8_t buttons;  //the last checked buttons in a bit array.
-    volatile uint8_t buttons; // Bits of the pressed buttons.
+  #ifdef REPRAPWORLD_KEYPAD
-  #else
+    volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shift register values
-    volatile uint8_t buttons_reprapworld_keypad; // The reprapworld_keypad shift register values
  #endif
  #ifdef LCD_HAS_SLOW_BUTTONS
    volatile uint8_t slow_buttons; // Bits of the pressed buttons.
  #endif
@@ -1073,10 +1073,17 @@ static void lcd_control_menu() {
 * "Control" > "Temperature" submenu
 *
 */
 static void lcd_control_temperature_menu() {
  START_MENU(lcd_control_menu);
+  //
+  // ^ Control
+  //
  MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
+  //
+  // Nozzle, Nozzle 2, Nozzle 3, Nozzle 4
+  //
  #if TEMP_SENSOR_0 != 0
    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP + LCD_MAX_TEMP_OFFSET);
  #endif
@@ -1095,19 +1102,35 @@ static void lcd_control_temperature_menu() {
      #endif //HOTENDS > 3
    #endif //HOTENDS > 2
  #endif //HOTENDS > 1
+  //
+  // Bed
+  //
  #if TEMP_SENSOR_BED != 0
    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP + LCD_MAX_TEMP_OFFSET);
  #endif
+  //
+  // Fan Speed
+  //
  MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
  #ifdef IDLE_OOZING_PREVENT
    MENU_ITEM_EDIT(bool, MSG_IDLEOOZING, &idleoozing_enabled);
  #endif
+  //
+  // Autotemp, Min, Max, Fact
+  //
  #if defined(AUTOTEMP) && (TEMP_SENSOR_0 != 0)
    MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &autotemp_enabled);
    MENU_ITEM_EDIT(float3, MSG_MIN, &autotemp_min, 0, HEATER_0_MAXTEMP + LCD_MAX_TEMP_OFFSET);
    MENU_ITEM_EDIT(float3, MSG_MAX, &autotemp_max, 0, HEATER_0_MAXTEMP + LCD_MAX_TEMP_OFFSET);
    MENU_ITEM_EDIT(float32, MSG_FACTOR, &autotemp_factor, 0.0, 1.0);
  #endif
+  //
+  // PID-P, PID-I, PID-D
+  //
  #ifdef PIDTEMP
    // set up temp variables - undo the default scaling
    raw_Ki = unscalePID_i(PID_PARAM(Ki,0));
@@ -1144,8 +1167,20 @@ static void lcd_control_temperature_menu() {
      #endif //HOTENDS > 2
    #endif //HOTENDS > 1
  #endif //PIDTEMP
+  //
+  // Preheat PLA conf
+  //
  MENU_ITEM(submenu, MSG_PREHEAT_PLA_SETTINGS, lcd_control_temperature_preheat_pla_settings_menu);
+  //
+  // Preheat ABS conf
+  //
  MENU_ITEM(submenu, MSG_PREHEAT_ABS_SETTINGS, lcd_control_temperature_preheat_abs_settings_menu);
+  //
+  // Preheat GUM conf
+  //
  MENU_ITEM(submenu, MSG_PREHEAT_GUM_SETTINGS, lcd_control_temperature_preheat_gum_settings_menu);
  END_MENU();
 }
@@ -1155,7 +1190,6 @@ static void lcd_control_temperature_menu() {
 * "Temperature" > "Preheat PLA conf" submenu
 *
 */
 static void lcd_control_temperature_preheat_pla_settings_menu() {
  START_MENU(lcd_control_temperature_menu);
  MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu);
@@ -1177,7 +1211,6 @@ static void lcd_control_temperature_preheat_pla_settings_menu() {
 * "Temperature" > "Preheat ABS conf" submenu
 *
 */
 static void lcd_control_temperature_preheat_abs_settings_menu() {
  START_MENU(lcd_control_temperature_menu);
  MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu);
@@ -1220,7 +1253,6 @@ static void lcd_control_temperature_preheat_gum_settings_menu() {
 * "Control" > "Motion" submenu
 *
 */
 static void lcd_control_motion_menu() {
  START_MENU(lcd_control_menu);
  MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
@@ -1271,7 +1303,6 @@ static void lcd_control_motion_menu() {
 * "Control" > "Filament" submenu
 *
 */
 static void lcd_control_volumetric_menu() {
  START_MENU(lcd_control_menu);
  MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
@@ -1299,7 +1330,6 @@ static void lcd_control_volumetric_menu() {
 * "Control" > "Contrast" submenu
 *
 */
 #ifdef HAS_LCD_CONTRAST
  static void lcd_set_contrast() {
    if (encoderPosition != 0) {
@@ -1319,7 +1349,6 @@ static void lcd_control_volumetric_menu() {
 * "Control" > "Retract" submenu
 *
 */
 #ifdef FWRETRACT
  static void lcd_control_retract_menu() {
    START_MENU(lcd_control_menu);
@@ -1357,7 +1386,6 @@ static void lcd_sd_updir() {
 * "Print from SD" submenu
 *
 */
 void lcd_sdcard_menu() {
  if (lcdDrawUpdate == 0 && LCD_CLICKED == 0) return;	// nothing to do (so don't thrash the SD card)
  uint16_t fileCnt = card.getnrfilenames();
@@ -1483,7 +1511,7 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01)
  static void reprapworld_keypad_move_home() {
    enqueuecommands_P((PSTR("G28"))); // move all axis home
  }
-#endif //REPRAPWORLD_KEYPAD
+#endif // REPRAPWORLD_KEYPAD
 /**
@@ -1503,7 +1531,7 @@ void lcd_quick_feedback() {
      #define LCD_FEEDBACK_FREQUENCY_DURATION_MS (1000/6)
    #endif    
    lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
-  #elif defined(BEEPER) && BEEPER > -1
+  #elif defined(BEEPER) && BEEPER >= 0
    #ifndef LCD_FEEDBACK_FREQUENCY_HZ
      #define LCD_FEEDBACK_FREQUENCY_HZ 5000
    #endif
@@ -1753,7 +1781,7 @@ void lcd_update() {
        lcd_return_to_status();
        lcdDrawUpdate = 2;
      }
-    #endif //ULTIPANEL
+    #endif // ULTIPANEL
    if (lcdDrawUpdate == 2) lcd_implementation_clear();
    if (lcdDrawUpdate) lcdDrawUpdate--;
@@ -1931,13 +1959,12 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
  void lcd_buzz(long duration, uint16_t freq) {
    if (freq > 0) {
-      #if BEEPER > 0
+      #ifdef LCD_USE_I2C_BUZZER
+        lcd.buzz(duration, freq);
+      #elif defined(BEEPER) && BEEPER >= 0
        SET_OUTPUT(BEEPER);
-        tone(BEEPER, freq);
+        tone(BEEPER, freq, duration);
        delay(duration);
-        noTone(BEEPER);
-      #elif defined(LCD_USE_I2C_BUZZER)
-        lcd.buzz(duration, freq);
      #else
        delay(duration);
      #endif

--- a/MarlinKimbra/ultralcd.h
+++ b/MarlinKimbra/ultralcd.h
@@ -118,7 +118,7 @@
  FORCE_INLINE void lcd_setstatuspgm(const char* message, const uint8_t level=0) {}
  FORCE_INLINE void lcd_buttons_update() {}
  FORCE_INLINE void lcd_reset_alert_level() {}
-  FORCE_INLINE void lcd_buzz(long duration,uint16_t freq) {}
+  FORCE_INLINE void lcd_buzz(long duration, uint16_t freq) {}
  FORCE_INLINE bool lcd_detected(void) { return true; }
  #define LCD_MESSAGEPGM(x) do{}while(0)

--- a/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
+++ b/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
--- a/MarlinKimbra/ultralcd_st7920_u8glib_rrd.h
+++ b/MarlinKimbra/ultralcd_st7920_u8glib_rrd.h
@@ -16,8 +16,8 @@
 //#define PAGE_HEIGHT 16  //256 byte framebuffer
 #define PAGE_HEIGHT 32  //512 byte framebuffer
-#define WIDTH 128
+#define LCD_PIXEL_WIDTH 128
-#define HEIGHT 64
+#define LCD_PIXEL_HEIGHT 64
 #include <U8glib.h>
@@ -64,12 +64,12 @@ 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<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*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();
        }
@@ -103,7 +103,7 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
          }
          ST7920_SET_DAT();
-          ST7920_WRITE_BYTES(ptr,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();
@@ -119,8 +119,8 @@ 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[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,HEIGHT,0,0,0},WIDTH,u8g_dev_st7920_128x64_rrd_buf};
+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};
 class U8GLIB_ST7920_128X64_RRD : public U8GLIB

--- a/MarlinKimbra/watchdog.cpp
+++ b/MarlinKimbra/watchdog.cpp
@@ -7,11 +7,11 @@
 #include "ultralcd.h"
 //===========================================================================
-//=============================private variables  ============================
+//============================ private variables ============================
 //===========================================================================
 //===========================================================================
-//=============================functinos         ============================
+//================================ functions ================================
 //===========================================================================
@@ -36,7 +36,7 @@ void watchdog_reset()
 }
 //===========================================================================
-//=============================ISR               ============================
+//=================================== ISR ===================================
 //===========================================================================
 //Watchdog timer interrupt, called if main program blocks >1sec and manual reset is enabled.
@@ -46,7 +46,7 @@ ISR(WDT_vect)
    //TODO: This message gets overwritten by the kill() call
    LCD_ALERTMESSAGEPGM("ERR:Please Reset");//16 characters so it fits on a 16x2 display
    lcd_update();
-    ECHO_LM(MSG_WATCHDOG_RESET);
+    ECHO_LM(ER, MSG_WATCHDOG_RESET);
    kill(); //kill blocks
    while(1); //wait for user or serial reset
 }