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/ConfigurationStore.cpp

@@ -41,10 +41,10 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
 
-#define EEPROM_VERSION "V13"
+#define EEPROM_VERSION "V16"
 
 #ifdef EEPROM_SETTINGS
-  void Config_StoreSettings() {
+void Config_StoreSettings() {
   float dummy = 0.0f;
   char ver[4] = "000";
   int i = EEPROM_OFFSET;
@@ -56,6 +56,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
   EEPROM_WRITE_VAR(i, max_acceleration_units_per_sq_second);
   EEPROM_WRITE_VAR(i, acceleration);
   EEPROM_WRITE_VAR(i, retract_acceleration);
+  EEPROM_WRITE_VAR(i, travel_acceleration);
   EEPROM_WRITE_VAR(i, minimumfeedrate);
   EEPROM_WRITE_VAR(i, mintravelfeedrate);
   EEPROM_WRITE_VAR(i, minsegmenttime);
@@ -70,10 +71,10 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
   #endif
 
   #ifdef DELTA
+    EEPROM_WRITE_VAR(i, endstop_adj);
     EEPROM_WRITE_VAR(i, delta_radius);
     EEPROM_WRITE_VAR(i, delta_diagonal_rod);
     EEPROM_WRITE_VAR(i, max_pos);
-      EEPROM_WRITE_VAR(i, endstop_adj);
     EEPROM_WRITE_VAR(i, tower_adj);
     EEPROM_WRITE_VAR(i, z_probe_offset);
   #endif
@@ -133,15 +134,14 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
   char ver2[4] = EEPROM_VERSION;
   int j = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(j, ver2); // validate data
-
   // Report storage size
   SERIAL_ECHO_START;
   SERIAL_ECHOPAIR("Settings Stored (", (unsigned long)i);
   SERIAL_ECHOLNPGM(" bytes)");
-  }
+}
 
-  void Config_RetrieveSettings()
-  {
+void Config_RetrieveSettings()
+{
   int i=EEPROM_OFFSET;
   char stored_ver[4];
   char ver[4]=EEPROM_VERSION;
@@ -162,6 +162,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
 
     EEPROM_READ_VAR(i,acceleration);
     EEPROM_READ_VAR(i,retract_acceleration);
+    EEPROM_READ_VAR(i, travel_acceleration);
     EEPROM_READ_VAR(i,minimumfeedrate);
     EEPROM_READ_VAR(i,mintravelfeedrate);
     EEPROM_READ_VAR(i,minsegmenttime);
@@ -176,10 +177,10 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
     #endif
 
     #ifdef DELTA
+      EEPROM_READ_VAR(i,endstop_adj);
       EEPROM_READ_VAR(i,delta_radius);
       EEPROM_READ_VAR(i,delta_diagonal_rod);
       EEPROM_READ_VAR(i,max_pos);
-        EEPROM_READ_VAR(i,endstop_adj);
       EEPROM_READ_VAR(i,tower_adj);
       EEPROM_READ_VAR(i,z_probe_offset);
       // Update delta constants for updated delta_radius & tower_adj values
@@ -259,7 +260,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
   #ifdef EEPROM_CHITCHAT
     Config_PrintSettings();
   #endif //EEPROM_CHITCHAT
-  }
+}
 #endif //EEPROM_SETTINGS
 
 void Config_ResetDefault()
@@ -267,55 +268,55 @@ void Config_ResetDefault()
   //Setting default baudrate for serial
   baudrate=BAUDRATE;
 
-  const static float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
-  const static float tmp2[] = DEFAULT_MAX_FEEDRATE;
-  const static float tmp3[] = DEFAULT_RETRACTION_MAX_FEEDRATE;
-  const static long tmp4[]  = DEFAULT_MAX_ACCELERATION;
+  float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
+  float tmp2[] = DEFAULT_MAX_FEEDRATE;
+  float tmp3[] = DEFAULT_RETRACTION_MAX_FEEDRATE;
+  long tmp4[]  = DEFAULT_MAX_ACCELERATION;
   #ifdef PIDTEMP
-    const static float tmp5[] = DEFAULT_Kp;
-    const static float tmp6[] = DEFAULT_Ki;
-    const static float tmp7[] = DEFAULT_Kd;
+    float tmp5[] = DEFAULT_Kp;
+    float tmp6[] = DEFAULT_Ki;
+    float tmp7[] = DEFAULT_Kd;
   #endif // PIDTEMP
 
   #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
-    const static float tmp8[] = EXTRUDER_OFFSET_X;
-    const static float tmp9[] = EXTRUDER_OFFSET_Y;
+    float tmp8[] = EXTRUDER_OFFSET_X;
+    float tmp9[] = EXTRUDER_OFFSET_Y;
   #else
-    const static float tmp8[] = {0,0,0,0};
-    const static float tmp9[] = {0,0,0,0};
+    float tmp8[] = {0,0,0,0};
+    float tmp9[] = {0,0,0,0};
   #endif
 
-  for (short i=0;i<3+EXTRUDERS;i++) 
-  {
+  for (int i = 0; i < 3 + EXTRUDERS; i++) {
     axis_steps_per_unit[i] = tmp1[i];
     max_feedrate[i] = tmp2[i];
     max_acceleration_units_per_sq_second[i] = tmp4[i];
   }
 
-  for (short i=0;i<EXTRUDERS;i++)
-  {
+  for (int i = 0; i < EXTRUDERS; i++) {
     max_retraction_feedrate[i] = tmp3[i];
     #if EXTRUDERS > 1 && !defined SINGLENOZZLE
       hotend_offset[X_AXIS][i] = tmp8[i];
       hotend_offset[Y_AXIS][i] = tmp9[i];
     #endif
     #ifdef SCARA
+      if (i < sizeof(axis_scaling) / sizeof(*axis_scaling))
         axis_scaling[i] = 1;
-    #endif //SCARA
+    #endif
   }
 
   // steps per sq second need to be updated to agree with the units per sq second
   reset_acceleration_rates();
 
-  acceleration=DEFAULT_ACCELERATION;
-  retract_acceleration=DEFAULT_RETRACT_ACCELERATION;
-  minimumfeedrate=DEFAULT_MINIMUMFEEDRATE;
-  minsegmenttime=DEFAULT_MINSEGMENTTIME;       
-  mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
-  max_xy_jerk=DEFAULT_XYJERK;
-  max_z_jerk=DEFAULT_ZJERK;
-  max_e_jerk=DEFAULT_EJERK;
-  add_homing[0] = add_homing[1] = add_homing[2] = 0;
+  acceleration = DEFAULT_ACCELERATION;
+  retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
+  travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
+  minimumfeedrate = DEFAULT_MINIMUMFEEDRATE;
+  minsegmenttime = DEFAULT_MINSEGMENTTIME;
+  mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE;
+  max_xy_jerk = DEFAULT_XYJERK;
+  max_z_jerk = DEFAULT_ZJERK;
+  max_e_jerk = DEFAULT_EJERK;
+  add_homing[X_AXIS] = add_homing[Y_AXIS] = add_homing[Z_AXIS] = 0;
 
   #ifdef ENABLE_AUTO_BED_LEVELING
     zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
@@ -324,9 +325,9 @@ void Config_ResetDefault()
   #endif //ENABLE_AUTO_BED_LEVELING
 
   #ifdef DELTA
+    endstop_adj[X_AXIS] = endstop_adj[Y_AXIS] = endstop_adj[Z_AXIS] = 0;
     delta_radius = DEFAULT_DELTA_RADIUS;
     delta_diagonal_rod = DEFAULT_DELTA_DIAGONAL_ROD;
-    endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
     tower_adj[0] = tower_adj[1] = tower_adj[2] = tower_adj[3] = tower_adj[4] = tower_adj[5] = 0;
     max_pos[2] = MANUAL_Z_HOME_POS;
     set_default_z_probe_offset();
@@ -351,7 +352,7 @@ void Config_ResetDefault()
 
   #ifdef PIDTEMP
     #ifndef SINGLENOZZLE
-      for (int e=0;e<EXTRUDERS;e++) 
+      for (int e = 0; e < EXTRUDERS; e++) 
     #else
       int e = 0; // only need to write once
     #endif //SINGLENOZZLE
@@ -397,8 +398,8 @@ void Config_ResetDefault()
 }
 
 #ifndef DISABLE_M503
-  void Config_PrintSettings()
-  {  // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
+void Config_PrintSettings()
+{  // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
   SERIAL_ECHO_START;
   SERIAL_ECHOPAIR("Baudrate: ", baudrate);
   SERIAL_EOL;
@@ -478,10 +479,11 @@ void Config_ResetDefault()
   #endif //EXTRUDERS > 1
   SERIAL_EOL;
   SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
+  SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
   SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M204 S",acceleration ); 
-    SERIAL_ECHOPAIR(" T" ,retract_acceleration);
+  SERIAL_ECHOPAIR("  M204 P",acceleration ); 
+  SERIAL_ECHOPAIR(" R", retract_acceleration);
+  SERIAL_ECHOPAIR(" T", travel_acceleration);
   SERIAL_EOL;
 
   SERIAL_ECHO_START;
@@ -631,5 +633,5 @@ void Config_ResetDefault()
       SERIAL_ECHOLNPGM("Filament settings: Disabled");
     }
   #endif //FWRETRACT
-  }
+}
 #endif //!DISABLE_M503

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

@@ -132,6 +132,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #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
@@ -205,6 +206,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true;       // set to true to invert the lo
 
 #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;
@@ -708,13 +709,14 @@ 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
+  #ifndef Z_LATE_ENABLE
     if(block->steps_z != 0) enable_z();
-#endif
+  #endif
 
   // Enable extruder(s)
   if(block->steps_e != 0)
   {
+    #if !defined(MKR4) && !defined(NPR2)
       if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
       {
 
@@ -766,6 +768,23 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
         enable_e2();
         enable_e3();
       }
+    #else //MKR4 or NPr2
+      switch(extruder)
+      {
+        case 0:
+          enable_e0();
+        break;
+        case 1:
+          enable_e1();
+        break;
+        case 2:
+          enable_e0();
+        break;
+        case 3:
+          enable_e1();
+        break;
+      }
+    #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];
-  }
+  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
@@ -706,7 +706,7 @@ static void lcd_prepare_menu() {
 }
 
 #ifdef DELTA
-static void lcd_delta_calibrate_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"));
@@ -715,7 +715,7 @@ static void lcd_delta_calibrate_menu() {
     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);
+  #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(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
+      lcd_buzz(1000/6, 100);
     #endif
-#elif defined(BEEPER) && BEEPER > -1
+  #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);
-    }
+      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
 }
 
 #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)
@@ -145,21 +145,16 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
   return new_matrix;
 }
 
-void matrix_3x3::debug(char* title)
-{
-	SERIAL_PROTOCOL(title);
-	SERIAL_PROTOCOL("\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]);
+  for(int i=0; i<3; i++) {
+    for(int j=0; j<3; j++) {
+      SERIAL_PROTOCOL(matrix[count] + 0.0001);
       SERIAL_PROTOCOLPGM(" ");
       count++;
     }
-
-		SERIAL_PROTOCOLPGM("\n");
+    SERIAL_EOL;
   }
 }