Update

MarlinKimbra/Configuration.h

@@ -174,7 +174,7 @@
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_3 0
-#define TEMP_SENSOR_BED 1
+#define TEMP_SENSOR_BED 0
 
 // This makes temp sensor 1 a redundant sensor for sensor 0.
 // If the temperatures difference between these sensors is to high the print will be aborted.
@@ -693,4 +693,5 @@ your extruder heater takes 2 minutes to hit the target on heating.
 
 
 #include "Configuration_adv.h"
+#include "thermistortables.h"
 #endif //__CONFIGURATION_H

MarlinKimbra/Configuration_Cartesian.h

@@ -92,7 +92,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
 #define FRONT_PROBE_BED_POSITION 20
 #define BACK_PROBE_BED_POSITION 180
 
-#define XY_TRAVEL_SPEED 8000     // X and Y axis travel speed between probes, in mm/min
+#define XY_TRAVEL_SPEED 10000     // X and Y axis travel speed between probes, in mm/min
 
 //If you have enabled the Auto Bed Levelling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
@@ -123,6 +123,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
   #define AUTO_BED_LEVELING_GRID
 
   #ifdef AUTO_BED_LEVELING_GRID
+    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
     #define AUTO_BED_LEVELING_GRID_POINTS 2
   #else  // not AUTO_BED_LEVELING_GRID
     // with no grid, just probe 3 arbitrary points.  A simple cross-product
@@ -136,7 +137,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
   #endif // AUTO_BED_LEVELING_GRID
 
   // Offsets to the probe relative to the extruder tip (Hotend - Probe)
-  // X and Y offsets must be integers
+  // X and Y offsets MUST be INTEGERS
   #define X_PROBE_OFFSET_FROM_EXTRUDER 0      // -left  +right
   #define Y_PROBE_OFFSET_FROM_EXTRUDER 0      // -front +behind
   #define Z_PROBE_OFFSET_FROM_EXTRUDER -1     // -below (always!)
@@ -180,6 +181,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
 
 #define DEFAULT_ACCELERATION          2500      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION 10000      // E max acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

MarlinKimbra/Configuration_Corexy.h

@@ -92,7 +92,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
 #define FRONT_PROBE_BED_POSITION 20
 #define BACK_PROBE_BED_POSITION 180
 
-#define XY_TRAVEL_SPEED 8000     // X and Y axis travel speed between probes, in mm/min
+#define XY_TRAVEL_SPEED 10000     // X and Y axis travel speed between probes, in mm/min
 
 //If you have enabled the Auto Bed Levelling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
@@ -123,6 +123,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
   #define AUTO_BED_LEVELING_GRID
 
   #ifdef AUTO_BED_LEVELING_GRID
+    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
     #define AUTO_BED_LEVELING_GRID_POINTS 2
   #else  // not AUTO_BED_LEVELING_GRID
     // with no grid, just probe 3 arbitrary points.  A simple cross-product
@@ -180,6 +181,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
 
 #define DEFAULT_ACCELERATION          2500      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION 10000      // E max acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

MarlinKimbra/Configuration_Delta.h

@@ -130,8 +130,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION_MAX_FEEDRATE {150,150,150,150}             // E0, E1, E2, E3 (mm/sec)
 #define DEFAULT_MAX_ACCELERATION {2000,2000,2000,1000,1000,1000,1000} // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
 
-#define DEFAULT_ACCELERATION         1000  // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION 2500  // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          1000      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  2500      // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
 #define DEFAULT_XYJERK 20  // (mm/sec)

MarlinKimbra/Configuration_Scara.h

@@ -147,6 +147,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true;       // set to true to invert the lo
   #define AUTO_BED_LEVELING_GRID
 
   #ifdef AUTO_BED_LEVELING_GRID
+    #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
     #define AUTO_BED_LEVELING_GRID_POINTS 2
   #else  // not AUTO_BED_LEVELING_GRID
     // with no grid, just probe 3 arbitrary points.  A simple cross-product
@@ -189,8 +190,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true;       // set to true to invert the lo
 
 //Manual homing switch locations:
 // For SCARA: Offset between HomingPosition and Bed X=0 / Y=0
-#define MANUAL_X_HOME_POS -22.
-#define MANUAL_Y_HOME_POS -52.
+#define MANUAL_X_HOME_POS -22
+#define MANUAL_Y_HOME_POS -52
 #define MANUAL_Z_HOME_POS 0.1  // Distance between nozzle and print surface after homing.
 
 // MOVEMENT SETTINGS
@@ -203,8 +204,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true;       // set to true to invert the lo
 #define DEFAULT_RETRACTION_MAX_FEEDRATE {80,80,80,80}                                   // E0, E1, E2, E3 (mm/sec)
 #define DEFAULT_MAX_ACCELERATION        {5000,5000,50,5000,5000,5000,5000}     // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
 
-#define DEFAULT_ACCELERATION          400    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  2000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION           400      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  2000      // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION    400      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

MarlinKimbra/Configuration_adv.h

@@ -218,6 +218,7 @@
 #else
 #define Z_HOME_RETRACT_MM 2
 #endif
+#define HOMING_BUMP_DIVISOR {10, 10, 2}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
@@ -468,6 +469,141 @@ const unsigned int dropsegments=5; //everything with less than this number of st
   #endif
 #endif
 
+
+/******************************************************************************\
+ * enable this section if you have TMC26X motor drivers. 
+ * you need to import the TMC26XStepper library into the arduino IDE for this
+ ******************************************************************************/
+
+//#define HAVE_TMCDRIVER
+#ifdef HAVE_TMCDRIVER
+
+//	#define X_IS_TMC
+	#define X_MAX_CURRENT 1000  //in mA
+	#define X_SENSE_RESISTOR 91 //in mOhms
+	#define X_MICROSTEPS 16     //number of microsteps
+	
+//	#define X2_IS_TMC
+	#define X2_MAX_CURRENT 1000  //in mA
+	#define X2_SENSE_RESISTOR 91 //in mOhms
+	#define X2_MICROSTEPS 16     //number of microsteps
+	
+//	#define Y_IS_TMC
+	#define Y_MAX_CURRENT 1000  //in mA
+	#define Y_SENSE_RESISTOR 91 //in mOhms
+	#define Y_MICROSTEPS 16     //number of microsteps
+	
+//	#define Y2_IS_TMC
+	#define Y2_MAX_CURRENT 1000  //in mA
+	#define Y2_SENSE_RESISTOR 91 //in mOhms
+	#define Y2_MICROSTEPS 16     //number of microsteps	
+	
+//	#define Z_IS_TMC
+	#define Z_MAX_CURRENT 1000  //in mA
+	#define Z_SENSE_RESISTOR 91 //in mOhms
+	#define Z_MICROSTEPS 16     //number of microsteps
+	
+//	#define Z2_IS_TMC
+	#define Z2_MAX_CURRENT 1000  //in mA
+	#define Z2_SENSE_RESISTOR 91 //in mOhms
+	#define Z2_MICROSTEPS 16     //number of microsteps
+	
+//	#define E0_IS_TMC
+	#define E0_MAX_CURRENT 1000  //in mA
+	#define E0_SENSE_RESISTOR 91 //in mOhms
+	#define E0_MICROSTEPS 16     //number of microsteps
+	
+//	#define E1_IS_TMC
+	#define E1_MAX_CURRENT 1000  //in mA
+	#define E1_SENSE_RESISTOR 91 //in mOhms
+	#define E1_MICROSTEPS 16     //number of microsteps	
+	
+//	#define E2_IS_TMC
+	#define E2_MAX_CURRENT 1000  //in mA
+	#define E2_SENSE_RESISTOR 91 //in mOhms
+	#define E2_MICROSTEPS 16     //number of microsteps	
+	
+//	#define E3_IS_TMC
+	#define E3_MAX_CURRENT 1000  //in mA
+	#define E3_SENSE_RESISTOR 91 //in mOhms
+	#define E3_MICROSTEPS 16     //number of microsteps		
+
+#endif
+
+/******************************************************************************\
+ * enable this section if you have L6470  motor drivers. 
+ * you need to import the L6470 library into the arduino IDE for this
+ ******************************************************************************/
+
+//#define HAVE_L6470DRIVER
+#ifdef HAVE_L6470DRIVER
+
+//	#define X_IS_L6470
+	#define X_MICROSTEPS 16     //number of microsteps
+	#define X_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define X_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define X_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define X2_IS_L6470
+	#define X2_MICROSTEPS 16     //number of microsteps
+	#define X2_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define X2_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define X2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define Y_IS_L6470
+	#define Y_MICROSTEPS 16     //number of microsteps
+	#define Y_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define Y_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define Y_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define Y2_IS_L6470
+	#define Y2_MICROSTEPS 16     //number of microsteps	
+	#define Y2_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define Y2_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define Y2_STALLCURRENT 1500 //current in mA where the driver will detect a stall	
+	
+//	#define Z_IS_L6470
+	#define Z_MICROSTEPS 16     //number of microsteps
+	#define Z_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define Z_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define Z_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define Z2_IS_L6470
+	#define Z2_MICROSTEPS 16     //number of microsteps
+	#define Z2_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define Z2_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define Z2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define E0_IS_L6470
+	#define E0_MICROSTEPS 16     //number of microsteps
+	#define E0_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define E0_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define E0_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define E1_IS_L6470
+	#define E1_MICROSTEPS 16     //number of microsteps	
+	#define E1_MICROSTEPS 16     //number of microsteps
+	#define E1_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define E1_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define E1_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define E2_IS_L6470
+	#define E2_MICROSTEPS 16     //number of microsteps	
+	#define E2_MICROSTEPS 16     //number of microsteps
+	#define E2_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define E2_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define E2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+//	#define E3_IS_L6470
+	#define E3_MICROSTEPS 16     //number of microsteps		
+	#define E3_MICROSTEPS 16     //number of microsteps
+	#define E3_K_VAL 50          // 0 - 255, Higher values, are higher power. Be carefull not to go too high    
+	#define E3_OVERCURRENT 2000  //maxc current in mA. If the current goes over this value, the driver will switch off
+	#define E3_STALLCURRENT 1500 //current in mA where the driver will detect a stall
+	
+#endif
+
+
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================

MarlinKimbra/Marlin.h

@@ -112,11 +112,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 
 #if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
     && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
-  #define  enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
-  #define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
+  #define  enable_x() do { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
+  #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
 #elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
-  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
-  #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
+  #define  enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
+  #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
 #else
   #define enable_x() ;
   #define disable_x() ;
@@ -124,11 +124,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 
 #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
   #ifdef Y_DUAL_STEPPER_DRIVERS
-    #define  enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN,  Y_ENABLE_ON); }
-    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
+    #define  enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
+    #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
   #else
-    #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
-    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
+    #define  enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
+    #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
   #endif
 #else
   #define enable_y() ;
@@ -137,11 +137,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 
 #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
   #ifdef Z_DUAL_STEPPER_DRIVERS
-    #define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
-    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
+    #define  enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
+    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
   #else
-    #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
+    #define  enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
+    #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
   #endif
 #else
   #define enable_z() ;
@@ -149,32 +149,32 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 #endif
 
 #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
-  #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
+  #define enable_e0() E0_ENABLE_WRITE(E_ENABLE_ON)
+  #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
 #else
   #define enable_e0()  /* nothing */
   #define disable_e0() /* nothing */
 #endif
 
 #if (DRIVER_EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
-  #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
+  #define enable_e1() E1_ENABLE_WRITE(E_ENABLE_ON)
+  #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
 #else
   #define enable_e1()  /* nothing */
   #define disable_e1() /* nothing */
 #endif
 
 #if (DRIVER_EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
-  #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
+  #define enable_e2() E2_ENABLE_WRITE(E_ENABLE_ON)
+  #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
 #else
   #define enable_e2()  /* nothing */
   #define disable_e2() /* nothing */
 #endif
 
 #if (DRIVER_EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
-  #define enable_e3() WRITE(E3_ENABLE_PIN, E_ENABLE_ON)
-  #define disable_e3() WRITE(E3_ENABLE_PIN,!E_ENABLE_ON)
+  #define enable_e3() E3_ENABLE_WRITE(E_ENABLE_ON)
+  #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
 #else
   #define enable_e3()  /* nothing */
   #define disable_e3() /* nothing */

MarlinKimbra/language.h

@@ -159,8 +159,8 @@
 #define MSG_PID_TIMEOUT                     MSG_PID_AUTOTUNE_FAILED " timeout"
 #define MSG_BIAS                            " bias: "
 #define MSG_D                               " d: "
-#define MSG_MIN                             " min: "
-#define MSG_MAX                             " max: "
+#define MSG_T_MIN                           " min: "
+#define MSG_T_MAX                           " max: "
 #define MSG_KU                              " Ku: "
 #define MSG_TU                              " Tu: "
 #define MSG_CLASSIC_PID                     " Classic PID "
@@ -214,8 +214,7 @@
     #define STR_h3 "3"
     #define STR_Deg "\271"
     #define STR_THERMOMETER "\002"
-  #endif
-  #ifdef DISPLAY_CHARSET_HD44780_WESTERN // HD44780 ROM Code: A02 (Western)
+  #elif defined(DISPLAY_CHARSET_HD44780_WESTERN) // HD44780 ROM Code: A02 (Western)
     #define STR_Ae "\216"
     #define STR_ae "\204"
     #define STR_Oe "\211"
@@ -227,6 +226,8 @@
     #define STR_h3 "\263"
     #define STR_Deg "\337"
     #define STR_THERMOMETER "\002"
+  #elif defined(ULTRA_LCD)
+    #error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN for your LCD controller.
   #endif
 #endif
 /*

MarlinKimbra/language_an.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax"
 #define MSG_A_RETRACT                       "A-retrac."
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X trangos/mm"
 #define MSG_YSTEPS                          "Y trangos/mm"
 #define MSG_ZSTEPS                          "Z trangos/mm"

MarlinKimbra/language_ca.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X passos/mm"
 #define MSG_YSTEPS                          "Y passos/mm"
 #define MSG_ZSTEPS                          "Z passos/mm"

MarlinKimbra/language_de.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-Retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"

MarlinKimbra/language_en.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"

MarlinKimbra/language_es.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "Vvacio min"
 #define MSG_AMAX                            "Amax"
 #define MSG_A_RETRACT                       "A-retrac."
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X pasos/mm"
 #define MSG_YSTEPS                          "Y pasos/mm"
 #define MSG_ZSTEPS                          "Z pasos/mm"

MarlinKimbra/language_eu.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retrakt"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X pausoak/mm"
 #define MSG_YSTEPS                          "Y pausoak/mm"
 #define MSG_ZSTEPS                          "Z pausoak/mm"

MarlinKimbra/language_fi.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VLiike min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-peruuta"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"

MarlinKimbra/language_fr.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "Vdepl min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X pas/mm"
 #define MSG_YSTEPS                          "Y pas/mm"
 #define MSG_ZSTEPS                          "Z pas/mm"

MarlinKimbra/language_it.h

@@ -62,15 +62,16 @@
 #define MSG_VXY_JERK                        "Vxy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
 #define MSG_VE_JERK                         "Ve-jerk"
-#define MSG_VMAX                            "Vmax "
+#define MSG_VMAX                            "Vmax"
 #define MSG_X                               "x"
 #define MSG_Y                               "y"
 #define MSG_Z                               "z"
 #define MSG_E                               "e"
 #define MSG_VMIN                            "Vmin"
 #define MSG_VTRAV_MIN                       "VTrav min"
-#define MSG_AMAX                            "Amax "
+#define MSG_AMAX                            "Amax"
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"

MarlinKimbra/language_nl.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"

MarlinKimbra/language_pl.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "Vskok min"
 #define MSG_AMAX                            "Amax"
 #define MSG_A_RETRACT                       "A-wycofanie"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "krokiX/mm"
 #define MSG_YSTEPS                          "krokiY/mm"
 #define MSG_ZSTEPS                          "krokiZ/mm"

MarlinKimbra/language_pt-br.h

@@ -71,13 +71,14 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "Xpasso/mm"
 #define MSG_YSTEPS                          "Ypasso/mm"
 #define MSG_ZSTEPS                          "Zpasso/mm"
-#define MSG_E0STEPS                         "E0 steps/mm"
-#define MSG_E1STEPS                         "E1 steps/mm"
-#define MSG_E2STEPS                         "E2 steps/mm"
-#define MSG_E3STEPS                         "E3 steps/mm"
+#define MSG_E0STEPS                         "E0 passo/mm"
+#define MSG_E1STEPS                         "E1 passo/mm"
+#define MSG_E2STEPS                         "E2 passo/mm"
+#define MSG_E3STEPS                         "E3 passo/mm"
 #define MSG_TEMPERATURE                     "Temperatura"
 #define MSG_MOTION                          "Movimento"
 #define MSG_VOLUMETRIC                      "Filament"

MarlinKimbra/language_ru.h

@@ -71,6 +71,7 @@
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
 #define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X шаг/mm"
 #define MSG_YSTEPS                          "Y шаг/mm"
 #define MSG_ZSTEPS                          "Z шаг/mm"

MarlinKimbra/planner.cpp

@@ -68,8 +68,9 @@ float max_retraction_feedrate[EXTRUDERS]; // set the max speeds for retraction
 float axis_steps_per_unit[3 + EXTRUDERS];
 unsigned long max_acceleration_units_per_sq_second[3 + EXTRUDERS]; // Use M201 to override by software
 float minimumfeedrate;
-float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all printing moves. M204 SXXXX
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+float travel_acceleration;  // Travel acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
 float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 float max_z_jerk;
 float max_e_jerk;
@@ -708,64 +709,82 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
     if(block->steps_x != 0) enable_x();
     if(block->steps_y != 0) enable_y();
   #endif //NOCOREXY
-#ifndef Z_LATE_ENABLE
-  if(block->steps_z != 0) enable_z();
-#endif
+  #ifndef Z_LATE_ENABLE
+    if(block->steps_z != 0) enable_z();
+  #endif
 
   // Enable extruder(s)
   if(block->steps_e != 0)
   {
-    if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
-    {
+    #if !defined(MKR4) && !defined(NPR2)
+      if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
+      {
 
-      if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
-      if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
-      if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
-      if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
-      
+        if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
+        if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
+        if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
+        if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
+
+        switch(extruder)
+        {
+          case 0:
+            enable_e0();
+            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 1:
+            enable_e1();
+            g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 2:
+            enable_e2();
+            g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 3:
+            enable_e3();
+            g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+          break;
+        }
+      }
+      else //enable all
+      {
+        enable_e0();
+        enable_e1();
+        enable_e2();
+        enable_e3();
+      }
+    #else //MKR4 or NPr2
       switch(extruder)
       {
-        case 0: 
-          enable_e0(); 
-          g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
-          
-          if(g_uc_extruder_last_move[1] == 0) disable_e1(); 
-          if(g_uc_extruder_last_move[2] == 0) disable_e2(); 
-          if(g_uc_extruder_last_move[3] == 0) disable_e3(); 
+        case 0:
+          enable_e0();
         break;
         case 1:
-          enable_e1(); 
-          g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
-          
-          if(g_uc_extruder_last_move[0] == 0) disable_e0(); 
-          if(g_uc_extruder_last_move[2] == 0) disable_e2(); 
-          if(g_uc_extruder_last_move[3] == 0) disable_e3(); 
+          enable_e1();
         break;
         case 2:
-          enable_e2(); 
-          g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
-          
-          if(g_uc_extruder_last_move[0] == 0) disable_e0(); 
-          if(g_uc_extruder_last_move[1] == 0) disable_e1(); 
-          if(g_uc_extruder_last_move[3] == 0) disable_e3(); 
-        break;        
+          enable_e0();
+        break;
         case 3:
-          enable_e3(); 
-          g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
-          
-          if(g_uc_extruder_last_move[0] == 0) disable_e0(); 
-          if(g_uc_extruder_last_move[1] == 0) disable_e1(); 
-          if(g_uc_extruder_last_move[2] == 0) disable_e2(); 
-        break;        
+          enable_e1();
+        break;
       }
-    }
-    else //enable all
-    {
-      enable_e0();
-      enable_e1();
-      enable_e2();
-      enable_e3();
-    }
+    #endif //!MKR4 && !NPR2
   }
 
   if (block->steps_e == 0)
@@ -959,19 +978,24 @@ Having the real displacement of the head, we can calculate the total movement le
   {
     block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
+  else if(block->steps_e == 0)
+  {
+    block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+  }
   else
   {
     block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
-    // Limit acceleration per axis
-    if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
-      block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
-    if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
-      block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
-    if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
-      block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
-    if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
-      block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
   }
+  // Limit acceleration per axis
+  if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
+    block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
+  if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
+    block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
+  if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
+    block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
+  if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
+    block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
+ 
   block->acceleration = block->acceleration_st / steps_per_mm;
   block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
 

MarlinKimbra/planner.h

@@ -116,6 +116,7 @@ extern unsigned long max_acceleration_units_per_sq_second[3 + EXTRUDERS]; // Use
 extern float minimumfeedrate;
 extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
 extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+extern float travel_acceleration;  // Travel acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
 extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 extern float max_z_jerk;
 extern float max_e_jerk;

MarlinKimbra/stepper.h

@@ -22,30 +22,31 @@
 #define stepper_h 
 
 #include "planner.h"
+#include "stepper_indirection.h"
 
 #if DRIVER_EXTRUDERS > 3
-  #define WRITE_E_STEP(v) { if(current_block->active_driver == 3) { WRITE(E3_STEP_PIN, v); } else { if(current_block->active_driver == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_driver == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}}
-  #define NORM_E_DIR() { if(current_block->active_driver == 3) { WRITE(E3_DIR_PIN, !INVERT_E3_DIR); } else { if(current_block->active_driver == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}}
-  #define REV_E_DIR() { if(current_block->active_driver == 3) { WRITE(E3_DIR_PIN, INVERT_E3_DIR); } else { if(current_block->active_driver == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}}
+  #define WRITE_E_STEP(v) { if(current_block->active_driver == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_driver == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_driver == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
+  #define NORM_E_DIR() { if(current_block->active_driver == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_driver == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
+  #define REV_E_DIR() { if(current_block->active_driver == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_driver == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
 #elif DRIVER_EXTRUDERS > 2
-  #define WRITE_E_STEP(v) { if(current_block->active_driver == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_driver == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
-  #define NORM_E_DIR() { if(current_block->active_driver == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
-  #define REV_E_DIR() { if(current_block->active_driver == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
+  #define WRITE_E_STEP(v) { if(current_block->active_driver == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_driver == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
+  #define NORM_E_DIR() { if(current_block->active_driver == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
+  #define REV_E_DIR() { if(current_block->active_driver == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_driver == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
 #elif DRIVER_EXTRUDERS > 1
   #ifndef DUAL_X_CARRIAGE
-    #define WRITE_E_STEP(v) { if(current_block->active_driver == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
-    #define NORM_E_DIR() { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
-    #define REV_E_DIR() { if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
+    #define WRITE_E_STEP(v) { if(current_block->active_driver == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
+    #define NORM_E_DIR() { if(current_block->active_driver == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
+    #define REV_E_DIR() { if(current_block->active_driver == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
   #else
     extern bool extruder_duplication_enabled;
-    #define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { WRITE(E0_STEP_PIN, v); WRITE(E1_STEP_PIN, v); } else if(current_block->active_driver == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
-    #define NORM_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
-    #define REV_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, INVERT_E0_DIR); WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else if(current_block->active_driver == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
-  #endif //DUAL_X_CARRIAGE
+    #define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_driver == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
+    #define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_driver == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
+    #define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_driver == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
+  #endif  
 #else
-  #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
-  #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
-  #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
+  #define WRITE_E_STEP(v) E0_STEP_WRITE(v)
+  #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
+  #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
 #endif //DRIVER_EXTRUDERS
 
 #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

MarlinKimbra/stepper_indirection.cpp

+/*
+  stepper_indirection.c - stepper motor driver indirection 
+  to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
+  Part of Marlin
+
+  Copyright (c) 2015 Dominik Wenger
+
+  Marlin 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.
+
+  Marlin 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 Marlin.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "stepper_indirection.h"
+#include "Configuration.h"
+
+#ifdef HAVE_TMCDRIVER
+#include <SPI.h>
+#include <TMC26XStepper.h>
+#endif
+
+// Stepper objects of TMC steppers used
+#ifdef X_IS_TMC
+	TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
+#endif
+#ifdef X2_IS_TMC
+	TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
+#endif
+#ifdef Y_IS_TMC
+	TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
+#endif
+#ifdef Y2_IS_TMC
+	TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
+#endif
+#ifdef Z_IS_TMC
+	TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
+#endif
+#ifdef Z2_IS_TMC
+	TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
+#endif
+#ifdef E0_IS_TMC
+	TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
+#endif
+#ifdef E1_IS_TMC
+	TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
+#endif
+#ifdef E2_IS_TMC
+	TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
+#endif
+#ifdef E3_IS_TMC
+	TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
+#endif	
+
+#ifdef HAVE_TMCDRIVER
+void tmc_init()
+{
+#ifdef X_IS_TMC
+	stepperX.setMicrosteps(X_MICROSTEPS);
+	stepperX.start();
+#endif
+#ifdef X2_IS_TMC
+	stepperX2.setMicrosteps(X2_MICROSTEPS);
+	stepperX2.start();
+#endif
+#ifdef Y_IS_TMC
+	stepperY.setMicrosteps(Y_MICROSTEPS);
+	stepperY.start();
+#endif
+#ifdef Y2_IS_TMC
+	stepperY2.setMicrosteps(Y2_MICROSTEPS);
+	stepperY2.start();
+#endif
+#ifdef Z_IS_TMC
+	stepperZ.setMicrosteps(Z_MICROSTEPS);
+	stepperZ.start();
+#endif
+#ifdef Z2_IS_TMC
+	stepperZ2.setMicrosteps(Z2_MICROSTEPS);
+	stepperZ2.start();
+#endif
+#ifdef E0_IS_TMC
+	stepperE0.setMicrosteps(E0_MICROSTEPS);
+	stepperE0.start();
+#endif
+#ifdef E1_IS_TMC
+	stepperE1.setMicrosteps(E1_MICROSTEPS);
+	stepperE1.start();
+#endif
+#ifdef E2_IS_TMC
+	stepperE2.setMicrosteps(E2_MICROSTEPS);
+	stepperE2.start();
+#endif
+#ifdef E3_IS_TMC
+	stepperE3.setMicrosteps(E3_MICROSTEPS);
+	stepperE3.start();
+#endif
+}
+#endif
+
+// L6470 Driver objects and inits
+
+#ifdef HAVE_L6470DRIVER
+#include <SPI.h>
+#include <L6470.h>
+#endif
+
+// L6470 Stepper objects
+#ifdef X_IS_L6470
+	L6470 stepperX(X_ENABLE_PIN);
+#endif
+#ifdef X2_IS_L6470
+	L6470 stepperX2(X2_ENABLE_PIN);
+#endif
+#ifdef Y_IS_L6470
+	L6470 stepperY(Y_ENABLE_PIN);
+#endif
+#ifdef Y2_IS_L6470
+	L6470 stepperY2(Y2_ENABLE_PIN);
+#endif
+#ifdef Z_IS_L6470
+	L6470 stepperZ(Z_ENABLE_PIN);
+#endif
+#ifdef Z2_IS_L6470
+	L6470 stepperZ2(Z2_ENABLE_PIN);
+#endif
+#ifdef E0_IS_L6470
+	L6470 stepperE0(E0_ENABLE_PIN);
+#endif
+#ifdef E1_IS_L6470
+	L6470 stepperE1(E1_ENABLE_PIN);
+#endif
+#ifdef E2_IS_L6470
+	L6470 stepperE2(E2_ENABLE_PIN);
+#endif
+#ifdef E3_IS_L6470
+	L6470 stepperE3(E3_ENABLE_PIN);
+#endif	
+
+
+// init routine
+#ifdef HAVE_L6470DRIVER
+void L6470_init()
+{
+#ifdef X_IS_L6470
+	stepperX.init(X_K_VAL);
+	stepperX.softFree();
+	stepperX.setMicroSteps(X_MICROSTEPS);
+    stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection
+    stepperX.setStallCurrent(X_STALLCURRENT);
+#endif
+#ifdef X2_IS_L6470
+	stepperX2.init(X2_K_VAL);
+	stepperX2.softFree();
+	stepperX2.setMicroSteps(X2_MICROSTEPS);
+    stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection
+    stepperX2.setStallCurrent(X2_STALLCURRENT);
+#endif
+#ifdef Y_IS_L6470
+	stepperY.init(Y_K_VAL);
+	stepperY.softFree();
+	stepperY.setMicroSteps(Y_MICROSTEPS);
+    stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection
+    stepperY.setStallCurrent(Y_STALLCURRENT);
+#endif
+#ifdef Y2_IS_L6470
+	stepperY2.init(Y2_K_VAL);
+	stepperY2.softFree();
+	stepperY2.setMicroSteps(Y2_MICROSTEPS);
+    stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection
+    stepperY2.setStallCurrent(Y2_STALLCURRENT);
+#endif
+#ifdef Z_IS_L6470
+	stepperZ.init(Z_K_VAL);
+	stepperZ.softFree();
+	stepperZ.setMicroSteps(Z_MICROSTEPS);
+    stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection
+    stepperZ.setStallCurrent(Z_STALLCURRENT);
+#endif
+#ifdef Z2_IS_L6470
+	stepperZ2.init(Z2_K_VAL);
+	stepperZ2.softFree();
+	stepperZ2.setMicroSteps(Z2_MICROSTEPS);
+    stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection
+    stepperZ2.setStallCurrent(Z2_STALLCURRENT);
+#endif
+#ifdef E0_IS_L6470
+	stepperE0.init(E0_K_VAL);
+	stepperE0.softFree();
+	stepperE0.setMicroSteps(E0_MICROSTEPS);
+    stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection
+    stepperE0.setStallCurrent(E0_STALLCURRENT);
+#endif
+#ifdef E1_IS_L6470
+	stepperE1.init(E1_K_VAL);
+	stepperE1.softFree();
+	stepperE1.setMicroSteps(E1_MICROSTEPS);
+    stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection
+    stepperE1.setStallCurrent(E1_STALLCURRENT);
+#endif
+#ifdef E2_IS_L6470
+	stepperE2.init(E2_K_VAL);
+	stepperE2.softFree();
+	stepperE2.setMicroSteps(E2_MICROSTEPS);
+    stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection
+    stepperE2.setStallCurrent(E2_STALLCURRENT);
+#endif
+#ifdef E3_IS_L6470
+	stepperE3.init(E3_K_VAL);
+	stepperE3.softFree();
+	stepperE3.setMicroSteps(E3_MICROSTEPS);
+    stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection
+    stepperE3.setStallCurrent(E3_STALLCURRENT);
+#endif	
+}
+#endif
+

MarlinKimbra/ultralcd.cpp

@@ -697,7 +697,7 @@ static void lcd_prepare_menu() {
     if (powersupply) {
       MENU_ITEM(gcode, MSG_SWITCH_PS_OFF, PSTR("M81"));
     }
-    else{
+    else {
       MENU_ITEM(gcode, MSG_SWITCH_PS_ON, PSTR("M80"));
     }
   #endif
@@ -706,16 +706,16 @@ static void lcd_prepare_menu() {
 }
 
 #ifdef DELTA
-static void lcd_delta_calibrate_menu() {
-  START_MENU();
-  MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
-  MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28"));
-  MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_X, PSTR("G0 F8000 X-77.94 Y-45 Z0"));
-  MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_Y, PSTR("G0 F8000 X77.94 Y-45 Z0"));
-  MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_Z, PSTR("G0 F8000 X0 Y90 Z0"));
-  MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_CENTER, PSTR("G0 F8000 X0 Y0 Z0"));
-  END_MENU();
-}
+  static void lcd_delta_calibrate_menu() {
+    START_MENU();
+    MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
+    MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28"));
+    MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_X, PSTR("G0 F8000 X-77.94 Y-45 Z0"));
+    MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_Y, PSTR("G0 F8000 X77.94 Y-45 Z0"));
+    MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_Z, PSTR("G0 F8000 X0 Y90 Z0"));
+    MENU_ITEM(gcode, MSG_DELTA_CALIBRATE_CENTER, PSTR("G0 F8000 X0 Y0 Z0"));
+    END_MENU();
+  }
 #endif // DELTA
 
 float move_menu_scale;
@@ -995,6 +995,7 @@ static void lcd_control_motion_menu() {
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &retract_acceleration, 100, 99000);
+  MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &travel_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float52, MSG_XSTEPS, &axis_steps_per_unit[X_AXIS], 5, 9999);
   MENU_ITEM_EDIT(float52, MSG_YSTEPS, &axis_steps_per_unit[Y_AXIS], 5, 9999);
   MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
@@ -1018,8 +1019,7 @@ static void lcd_control_motion_menu() {
   END_MENU();
 }
 
-static void lcd_control_volumetric_menu()
-{
+static void lcd_control_volumetric_menu() {
   START_MENU();
   MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
 

MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h

@@ -845,32 +845,28 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
 
 static void lcd_implementation_quick_feedback()
 {
-#ifdef LCD_USE_I2C_BUZZER
-	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
-	  lcd_buzz(1000/6,100);
-	#else
-	  lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
-	#endif
-#elif defined(BEEPER) && BEEPER > -1
+  #ifdef LCD_USE_I2C_BUZZER
+    #if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ)
+      lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
+    #else
+      lcd_buzz(1000/6, 100);
+    #endif
+  #elif defined(BEEPER) && BEEPER > -1
     SET_OUTPUT(BEEPER);
-	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
-    for(int8_t i=0;i<10;i++)
-    {
-      WRITE(BEEPER,HIGH);
-      delayMicroseconds(100);
-      WRITE(BEEPER,LOW);
-      delayMicroseconds(100);
-    }
+    #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
+      const unsigned int delay = 100;
+      uint8_t i = 10;
     #else
-    for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++)
-    {
+      const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
+      int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
+    #endif
+    while (i--) {
       WRITE(BEEPER,HIGH);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+      delayMicroseconds(delay);
       WRITE(BEEPER,LOW);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
+      delayMicroseconds(delay);
     }
-    #endif
-#endif
+  #endif
 }
 
 #ifdef LCD_HAS_STATUS_INDICATORS

MarlinKimbra/vector_3.cpp

@@ -84,7 +84,7 @@ void vector_3::debug(char* title)
 	SERIAL_PROTOCOL(y);
 	SERIAL_PROTOCOLPGM(" z: ");
 	SERIAL_PROTOCOL(z);
-	SERIAL_PROTOCOLPGM("\n");
+	SERIAL_EOL;
 }
 
 void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
@@ -145,22 +145,17 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
   return new_matrix;
 }
 
-void matrix_3x3::debug(char* title)
-{
-	SERIAL_PROTOCOL(title);
-	SERIAL_PROTOCOL("\n");
-	int count = 0;
-	for(int i=0; i<3; i++)
-	{
-		for(int j=0; j<3; j++)
-		{
-			SERIAL_PROTOCOL(matrix[count]);
-			SERIAL_PROTOCOLPGM(" ");
-		        count++;
-		}
-
-		SERIAL_PROTOCOLPGM("\n");
-	}
+void matrix_3x3::debug(char* title) {
+  SERIAL_PROTOCOLLN(title);
+  int count = 0;
+  for(int i=0; i<3; i++) {
+    for(int j=0; j<3; j++) {
+      SERIAL_PROTOCOL(matrix[count] + 0.0001);
+      SERIAL_PROTOCOLPGM(" ");
+      count++;
+    }
+    SERIAL_EOL;
+  }
 }
 
 #endif // #ifdef ENABLE_AUTO_BED_LEVELING