Update V4.2.7

Add M408 Json Output

Documentation/Compilation.md

@@ -4,8 +4,8 @@
   2. Download the MarlinKimbra firmware
    https://github.com/MagoKimbra/MarlinKimbra
    Use the "Download Zip" button on the right.
-  3. Some boards require special files and/or libraries from the ArduinoAddons directory.
-  4. Start the arduino IDE 1.6.7.
+  3. Some boards require special files and/or libraries from the Arduino directory.
+  4. Start the arduino IDE
   5. Select File -> Preferences -> Compiler warning and select none
   6. Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
   7. Select the correct serial port in Tools ->Serial Port

Documentation/GCodes.md

@@ -42,7 +42,7 @@
 *  M29  - Stop SD write
 *  M30  - Delete file from SD (M30 filename.g)
 *  M31  - Output time since last M109 or SD card start to serial
-*  M32  - Select file and start SD print (Can be used when printing from SD card)
+*  M32  - Make directory
 *  M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
 *  M49  - Z probe repetability test
 *  M80  - Turn on Power Supply
@@ -71,6 +71,11 @@
 *  M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 *  M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 *  M140 - Set bed target temp
+*  M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
+*  M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
+*  M163 - Set a single proportion for a mixing extruder. Requires COLOR_MIXING_EXTRUDER.
+*  M164 - Save the mix as a virtual extruder. Requires COLOR_MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
+*  M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires COLOR_MIXING_EXTRUDER.
 *  M190 - S[xxx] Wait for bed current temp to reach target temp. Waits only when heating - R[xxx] Wait for bed current temp to reach target temp. Waits when heating and cooling
 *  M200 - D[millimeters]- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
 *  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000 Z1000 E0 S1000 E1 S1000 E2 S1000 E3 S1000) in mm/sec^2
@@ -101,6 +106,7 @@
 *  M405 - Turn on Filament Sensor extrusion control.  Optional D[delay in cm] to set delay in centimeters between sensor and extruder
 *  M406 - Turn off Filament Sensor extrusion control
 *  M407 - Displays measured filament diameter
+*  M408 - Report JSON-style response
 *  M410 - Quickstop. Abort all the planned moves
 *  M428 - Set the home_offset logically based on the current_position
 *  M500 - stores paramters in EEPROM
@@ -112,6 +118,7 @@
 *  M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
 *  M605 - Set dual x-carriage movement mode: Smode [ X<duplication x-offset> Rduplication temp offset ]
 *  M666 - Set z probe offset or Endstop and delta geometry adjustment. M666 L for list command
+*  M906 - Set motor currents XYZ T0-4 E
 *  M907 - Set digital trimpot motor current using axis codes.
 *  M908 - Control digital trimpot directly.
 *  M928 - Start SD logging (M928 filename.g) - ended by M29

Documentation/changelog.md

+### Version 4.2.7
+* Add M906 Set motor Currents for ALLIGATOR board
+* Add M408 JSON OUTPUT
+
 ### Version 4.2.6
 * Bug Fix
 

MK/Configuration_Feature.h

@@ -70,6 +70,7 @@
  * - L6470 motor drivers
  * ADVANCED FEATURES:
  * - Buffer stuff
+ * - Report JSON-style response
  * - Whatchdog
  * - Start / Stop Gcode
  *
@@ -1527,6 +1528,27 @@
 /****************************************************************************************/
 
 
+/*****************************************************************************************
+ ************************************* JSON OUTPUT ***************************************
+ *****************************************************************************************
+ *                                                                                       *
+ * M408: Report JSON-style response                                                      *
+ * Report a JSON-style response by specifying the desired type using the 'S' parameter.  *
+ * The following response types are supported:                                           *
+ * Type 0 is a short-form response.                                                      *
+ * Type 1 is like type 0 except that static values are also included.                    *
+ * Type 2 is similar to the response provided by the web server for Duet Web Control.    *
+ * Type 3 is an extended version of type 2 which includes some additional parameters     *
+ * that aren't expected to change very frequently.                                       *
+ * Type 4 is an extended version of type 2 which may be used to poll for current         *
+ * printer statistics.                                                                   *
+ * Type 5 reports the current machine configuration.                                     *
+ *                                                                                       *
+ *****************************************************************************************/
+//#define JSON_OUTPUT
+/*****************************************************************************************/
+
+
 /*****************************************************************************************
  *************************************** Whatchdog ***************************************
  *****************************************************************************************

MK/Configuration_Store.cpp

@@ -98,7 +98,8 @@
  *
  *  M???  S               IDLE_OOZING_enabled
  *
- *
+ * ALLIGATOR:
+ *  M906  XYZ T0-4 E      Motor current
  *
  */
 
@@ -256,6 +257,10 @@ void Config_StoreSettings() {
     EEPROM_WRITE_VAR(i, IDLE_OOZING_enabled);
   #endif
 
+  #if MB(ALLIGATOR)
+    EEPROM_WRITE_VAR(i, motor_current);
+  #endif
+
   char ver2[4] = EEPROM_VERSION;
   int j = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(j, ver2); // validate data
@@ -406,6 +411,10 @@ void Config_RetrieveSettings() {
       EEPROM_READ_VAR(i, IDLE_OOZING_enabled);
     #endif
 
+    #if MB(ALLIGATOR)
+      EEPROM_READ_VAR(i, motor_current);
+    #endif
+
     // Call updatePID (similar to when we have processed M301)
     updatePID();
 
@@ -448,6 +457,10 @@ void Config_ResetDefault() {
     float tmp12[] = {0};
   #endif
 
+  #if MB(ALLIGATOR)
+    float tmp13[] = MOTOR_CURRENT;
+  #endif
+
   for (int8_t i = 0; i < 3 + EXTRUDERS; i++) {
     short max_i;
     max_i = sizeof(tmp1) / sizeof(*tmp1);
@@ -494,6 +507,13 @@ void Config_ResetDefault() {
           hotend_offset[Z_AXIS][i] = 0;
       #endif // HOTENDS > 1
     }
+    #if MB(ALLIGATOR)
+      max_i = sizeof(tmp13) / sizeof(*tmp13);
+      if(i < max_i)
+        motor_current[i] = tmp13[i];
+      else
+        motor_current[i] = tmp13[max_i - 1];
+    #endif
   }
 
   #if MECH(SCARA)
@@ -767,15 +787,15 @@ void Config_ResetDefault() {
       if (!forReplay) {
         ECHO_LM(CFG, "Material heatup parameters:");
       }
-      ECHO_SMV(CFG, "  M145 M0 H", plaPreheatHotendTemp);
+      ECHO_SMV(CFG, "  M145 S0 H", plaPreheatHotendTemp);
       ECHO_MV(" B", plaPreheatHPBTemp);
       ECHO_MV(" F", plaPreheatFanSpeed);
       ECHO_EM(" (Material PLA)");
-      ECHO_SMV(CFG, "  M145 M1 H", absPreheatHotendTemp);
+      ECHO_SMV(CFG, "  M145 S1 H", absPreheatHotendTemp);
       ECHO_MV(" B", absPreheatHPBTemp);
       ECHO_MV(" F", absPreheatFanSpeed);
       ECHO_EM(" (Material ABS)");
-      ECHO_SMV(CFG, "  M145 M2 H", gumPreheatHotendTemp);
+      ECHO_SMV(CFG, "  M145 S2 H", gumPreheatHotendTemp);
       ECHO_MV(" B", gumPreheatHPBTemp);
       ECHO_MV(" F", gumPreheatFanSpeed);
       ECHO_EM(" (Material GUM)");
@@ -786,7 +806,7 @@ void Config_ResetDefault() {
         ECHO_LM(CFG, "PID settings:");
       }
       #if ENABLED(PIDTEMP)
-        for (int8_t h = 0; h < HOTENDS; h++) {
+        for (uint8_t h = 0; h < HOTENDS; h++) {
           ECHO_SMV(CFG, "  M301 H", h);
           ECHO_MV(" P", PID_PARAM(Kp, h));
           ECHO_MV(" I", unscalePID_i(PID_PARAM(Ki, h)));
@@ -858,6 +878,22 @@ void Config_ResetDefault() {
       }
     }
 
+    #if MB(ALLIGATOR)
+      if (!forReplay) {
+        ECHO_LM(CFG, "Current:");
+      }
+      ECHO_SMV(CFG, "  M906 X", motor_current[X_AXIS]);
+      ECHO_MV(" Y", motor_current[Y_AXIS]);
+      ECHO_MV(" Z", motor_current[Z_AXIS]);
+      ECHO_EMV(" E", motor_current[E_AXIS]);
+      #if DRIVER_EXTRUDERS > 1
+        for (uint8_t i = 1; i < DRIVER_EXTRUDERS; i++) {
+          ECHO_SMV(CFG, "  M906 T", i);
+          ECHO_EMV(" E", motor_current[E_AXIS + i]);
+        }
+      #endif // DRIVER_EXTRUDERS > 1
+    #endif // ALLIGATOR
+
     ConfigSD_PrintSettings(forReplay);
 
   }

MK/Configuration_Version.h

 #ifndef CONFIGURATION_VERSION_H
   #define CONFIGURATION_VERSION_H
 
-  #define SHORT_BUILD_VERSION "4.2.6_dev"
-  #define BUILD_VERSION "MK_" SHORT_BUILD_VERSION
+  #define FIRMWARE_NAME "MK"
+  #define SHORT_BUILD_VERSION "4.2.7_dev"
+  #define BUILD_VERSION FIRMWARE_NAME "_" SHORT_BUILD_VERSION
   #define STRING_DISTRIBUTION_DATE __DATE__ " " __TIME__    // build date and time
   // It might also be appropriate to define a location where additional information can be found
   #define FIRMWARE_URL  "https://github.com/MagoKimbra/MarlinKimbra"
-#endif
\ No newline at end of file
+#endif

MK/MK.ino

@@ -154,6 +154,7 @@
  * M405 - Turn on Filament Sensor extrusion control.  Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  * M406 - Turn off Filament Sensor extrusion control
  * M407 - Display measured filament diameter
+ * M408 - Report JSON-style response
  * M410 - Quickstop. Abort all the planned moves
  * M428 - Set the home_offset logically based on the current_position
  * M500 - Store parameters in EEPROM
@@ -166,6 +167,7 @@
  * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  * M666 - Set z probe offset or Endstop and delta geometry adjustment
+ * M906 - Set motor currents XYZ T0-4 E
  * M907 - Set digital trimpot motor current using axis codes.
  * M908 - Control digital trimpot directly.
  *
@@ -206,9 +208,6 @@
     #include <LiquidCrystal.h> // library for character LCD
   #endif
 #endif
-#if ENABLED(NEXTION)
-  #include <Nextion.h>
-#endif
 #if HAS(DIGIPOTSS)
   #include <SPI.h>
 #endif

MK/module/MK_Main.h

@@ -217,6 +217,10 @@ extern uint8_t active_extruder;
 extern uint8_t previous_extruder;
 extern uint8_t active_driver;
 
+#if MB(ALLIGATOR)
+  extern float motor_current[DRIVER_EXTRUDERS + 3];
+#endif
+
 #if ENABLED(DIGIPOT_I2C)
   extern void digipot_i2c_set_current( int channel, float current );
   extern void digipot_i2c_init();

MK/module/motion/stepper.cpp

@@ -1374,7 +1374,6 @@ void digipot_init() {
   #endif
 
   #if MB(ALLIGATOR)
-    const float motor_current[] = MOTOR_CURRENT;
     unsigned int digipot_motor = 0;
     for (uint8_t i = 0; i < 3 + DRIVER_EXTRUDERS; i++) {
       digipot_motor = 255 * (motor_current[i] / 2.5);

MK/module/motion/vector_3.cpp

@@ -52,9 +52,9 @@ void vector_3::normalize() {
 }
 
 void vector_3::apply_rotation(matrix_3x3 matrix) {
-  float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0];
-  float resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1];
-  float resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
+  float resultX = x * matrix.matrix[0][0] + y * matrix.matrix[1][0] + z * matrix.matrix[2][0];
+  float resultY = x * matrix.matrix[0][1] + y * matrix.matrix[1][1] + z * matrix.matrix[2][1];
+  float resultZ = x * matrix.matrix[0][2] + y * matrix.matrix[1][2] + z * matrix.matrix[2][2];
   x = resultX;
   y = resultY;
   z = resultZ;
@@ -80,17 +80,17 @@ matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3
   //row_1.debug("row_1");
   //row_2.debug("row_2");
   matrix_3x3 new_matrix;
-  new_matrix.matrix[0] = row_0.x; new_matrix.matrix[1] = row_0.y; new_matrix.matrix[2] = row_0.z;
-  new_matrix.matrix[3] = row_1.x; new_matrix.matrix[4] = row_1.y; new_matrix.matrix[5] = row_1.z;
-  new_matrix.matrix[6] = row_2.x; new_matrix.matrix[7] = row_2.y; new_matrix.matrix[8] = row_2.z;
+  new_matrix.matrix[0][0] = row_0.x; new_matrix.matrix[0][1] = row_0.y; new_matrix.matrix[0][2] = row_0.z;
+  new_matrix.matrix[1][0] = row_1.x; new_matrix.matrix[1][1] = row_1.y; new_matrix.matrix[1][2] = row_1.z;
+  new_matrix.matrix[2][0] = row_2.x; new_matrix.matrix[2][1] = row_2.y; new_matrix.matrix[2][2] = row_2.z;
   //new_matrix.debug("new_matrix");
   return new_matrix;
 }
 
 void matrix_3x3::set_to_identity() {
-  matrix[0] = 1; matrix[1] = 0; matrix[2] = 0;
-  matrix[3] = 0; matrix[4] = 1; matrix[5] = 0;
-  matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
+  matrix[0][0] = 1; matrix[0][1] = 0; matrix[0][2] = 0;
+  matrix[1][0] = 0; matrix[1][1] = 1; matrix[1][2] = 0;
+  matrix[2][0] = 0; matrix[2][1] = 0; matrix[2][2] = 1;
 }
 
 matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
@@ -111,22 +111,20 @@ matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
 
 matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
   matrix_3x3 new_matrix;
-  new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
-  new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];
-  new_matrix.matrix[6] = original.matrix[2]; new_matrix.matrix[7] = original.matrix[5]; new_matrix.matrix[8] = original.matrix[8];
+  new_matrix.matrix[0][0] = original.matrix[0][0]; new_matrix.matrix[0][1] = original.matrix[1][0]; new_matrix.matrix[0][2] = original.matrix[2][0];
+  new_matrix.matrix[1][0] = original.matrix[0][1]; new_matrix.matrix[1][1] = original.matrix[1][1]; new_matrix.matrix[1][2] = original.matrix[2][1];
+  new_matrix.matrix[2][0] = original.matrix[0][2]; new_matrix.matrix[2][1] = original.matrix[1][2]; new_matrix.matrix[2][2] = original.matrix[2][2];
   return new_matrix;
 }
 
 void matrix_3x3::debug(const char title[]) {
   ECHO_LT(DB, title);
-  int count = 0;
-  for (int i = 0; i < 3; i++) {
+  for (uint8_t i = 0; i < 3; i++) {
     ECHO_S(DB);
-    for (int j = 0; j < 3; j++) {
-      if (matrix[count] >= 0.0) ECHO_C('+');
-      ECHO_V(matrix[count], 6);
+    for (uint8_t j = 0; j < 3; j++) {
+      if (matrix[i][j] >= 0.0) ECHO_C('+');
+      ECHO_V(matrix[i][j], 6);
       ECHO_C(' ');
-      count++;
     }
     ECHO_E;
   }

MK/module/motion/vector_3.h

@@ -43,7 +43,7 @@ struct vector_3 {
 };
 
 struct matrix_3x3 {
-  float matrix[9];
+  float matrix[3][3];
 
   static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
   static matrix_3x3 create_look_at(vector_3 target);

MK/module/sd/SDFat.cpp

@@ -677,11 +677,11 @@ uint8_t SdBaseFile::lsRecursive(SdBaseFile* parent, uint8_t level, char* findFil
           ECHO_T(fullName);
           ECHO_C('/');
         }
-        #if JSON_OUTPUT
+        #ifdef JSON_OUTPUT
           if (isJson) {
             if (!firstFile) ECHO_C(',');
             ECHO_C('"'); ECHO_C('*');
-            SDCard::printEscapeChars(tempLongFilename);
+            CardReader::printEscapeChars(tempLongFilename);
             ECHO_C('"');
             firstFile = false;
           }
@@ -731,11 +731,11 @@ uint8_t SdBaseFile::lsRecursive(SdBaseFile* parent, uint8_t level, char* findFil
           ECHO_T(fullName);
           ECHO_C('/');
         }
-        #if JSON_OUTPUT
+        #ifdef JSON_OUTPUT
           if (isJson) {
             if (!firstFile) ECHO_C(',');
             ECHO_C('"');
-            SDCard::printEscapeChars(tempLongFilename);
+            CardReader::printEscapeChars(tempLongFilename);
             ECHO_C('"');
             firstFile = false;
           }
@@ -779,7 +779,7 @@ void SdBaseFile::ls(uint8_t flags, uint8_t indent) {
   lsRecursive(&parent, 0, NULL, NULL, false);
 }
 
-#if JSON_OUTPUT
+#ifdef JSON_OUTPUT
 void SdBaseFile::lsJSON() {
   SdBaseFile parent;
   rewind();

MK/module/sd/SDFat.h

@@ -1985,7 +1985,7 @@ class SdBaseFile {
   static bool remove(SdBaseFile& dirFile, const char* path)  // NOLINT
     __attribute__((error("use remove(&dirFile, path)")));
 #endif  // ALLOW_DEPRECATED_FUNCTIONS
-#if JSON_OUTPUT
+#ifdef JSON_OUTPUT
 	void lsJSON();
 #endif
 };

MK/module/sd/cardreader.cpp

@@ -8,7 +8,7 @@ char tempLongFilename[LONG_FILENAME_LENGTH + 1];
 char fullName[LONG_FILENAME_LENGTH * SD_MAX_FOLDER_DEPTH + SD_MAX_FOLDER_DEPTH + 1];
 
 CardReader::CardReader() {
-  filesize = 0;
+  fileSize = 0;
   sdpos = 0;
   sdprinting = false;
   cardOK = false;
@@ -170,8 +170,11 @@ bool CardReader::selectFile(const char* filename, bool silent/*=false*/) {
       ECHO_MT(SERIAL_SD_FILE_OPENED, oldP);
       ECHO_EMV(SERIAL_SD_SIZE, file.fileSize());
     }
+    #if ENABLED(JSON_OUTPUT)
+      parsejson(file);
+    #endif
     sdpos = 0;
-    filesize = file.fileSize();
+    fileSize = file.fileSize();
     ECHO_EM(SERIAL_SD_FILE_SELECTED);
     return true;
   }
@@ -184,7 +187,7 @@ bool CardReader::selectFile(const char* filename, bool silent/*=false*/) {
 void CardReader::printStatus() {
   if (cardOK) {
     ECHO_MV(SERIAL_SD_PRINTING_BYTE, sdpos);
-    ECHO_EMV(SERIAL_SD_SLASH, filesize);
+    ECHO_EMV(SERIAL_SD_SLASH, fileSize);
   }
   else
     ECHO_EM(SERIAL_SD_NOT_PRINTING);
@@ -333,6 +336,250 @@ void CardReader::setlast() {
   curDir = &workDir;
 }
 
+// --------------------------------------------------------------- //
+// Code that gets gcode information is adapted from RepRapFirmware //
+// Originally licenced under GPL                                   //
+// Authors: reprappro, dc42, dcnewman, others                      //
+// Source: https://github.com/dcnewman/RepRapFirmware              //
+// Copy date: 27 FEB 2016                                          //
+// --------------------------------------------------------------- //
+
+void CardReader::parsejson(SdBaseFile &file) {
+  fileSize = file.fileSize();
+  filamentNeeded    = 0.0;
+  objectHeight      = 0.0;
+  firstlayerHeight  = 0.0;
+  layerHeight       = 0.0;
+
+  if (!file.isOpen()) return;
+
+  bool genByFound = false, firstlayerHeightFound = false, layerHeightFound = false, filamentNeedFound = false;
+
+  #if CPU_ARCH==ARCH_AVR
+    #define GCI_BUF_SIZE 120
+  #else
+    #define GCI_BUF_SIZE 1024
+  #endif
+
+  // READ 4KB FROM THE BEGINNING
+  char buf[GCI_BUF_SIZE];
+  for (int i = 0; i < 4096; i += GCI_BUF_SIZE - 50) {
+    if(!file.seekSet(i)) break;
+    file.read(buf, GCI_BUF_SIZE);
+    if (!genByFound && findGeneratedBy(buf, generatedBy)) genByFound = true;
+    if (!firstlayerHeightFound && findFirstLayerHeight(buf, firstlayerHeight)) firstlayerHeightFound = true;
+    if (!layerHeightFound && findLayerHeight(buf, layerHeight)) layerHeightFound = true;
+    if (!filamentNeedFound && findFilamentNeed(buf, filamentNeeded)) filamentNeedFound = true;
+    if(genByFound && layerHeightFound && filamentNeedFound) goto get_objectHeight;
+  }
+
+  // READ 4KB FROM END
+  for (int i = 0; i < 4096; i += GCI_BUF_SIZE - 50) {
+    if(!file.seekEnd(-4096 + i)) break;
+    file.read(buf, GCI_BUF_SIZE);
+    if (!genByFound && findGeneratedBy(buf, generatedBy)) genByFound = true;
+    if (!firstlayerHeightFound && findFirstLayerHeight(buf, firstlayerHeight)) firstlayerHeightFound = true;
+    if (!layerHeightFound && findLayerHeight(buf, layerHeight)) layerHeightFound = true;
+    if (!filamentNeedFound && findFilamentNeed(buf, filamentNeeded)) filamentNeedFound = true;
+    if(genByFound && layerHeightFound && filamentNeedFound) goto get_objectHeight;
+  }
+
+  get_objectHeight:
+  // MOVE FROM END UP IN 1KB BLOCKS UP TO 30KB
+  for (int i = GCI_BUF_SIZE; i < 30000; i += GCI_BUF_SIZE - 50) {
+    if(!file.seekEnd(-i)) break;
+    file.read(buf, GCI_BUF_SIZE);
+    if (findTotalHeight(buf, objectHeight)) break;
+  }
+  file.seekSet(0);
+}
+
+void CardReader::printEscapeChars(const char* s) {
+  for (unsigned int i = 0; i < strlen(s); ++i) {
+    switch (s[i]) {
+      case '"':
+      case '/':
+      case '\b':
+      case '\f':
+      case '\n':
+      case '\r':
+      case '\t':
+      case '\\':
+      ECHO_T('\\');
+      break;
+    }
+    ECHO_T(s[i]);
+  }
+}
+
+bool CardReader::findGeneratedBy(char* buf, char* genBy) {
+  // Slic3r & S3D
+  const char* generatedByString = PSTR("generated by ");
+  char* pos = strstr_P(buf, generatedByString);
+  if (pos) {
+    pos += strlen_P(generatedByString);
+    size_t i = 0;
+    while (i < GENBY_SIZE - 1 && *pos >= ' ') {
+      char c = *pos++;
+      if (c == '"' || c == '\\') {
+        // Need to escape the quote-mark for JSON
+        if (i > GENBY_SIZE - 3) break;
+        genBy[i++] = '\\';
+      }
+      genBy[i++] = c;
+    }
+    genBy[i] = 0;
+    return true;
+  }
+
+  // CURA
+  const char* slicedAtString = PSTR(";Sliced at: ");
+  pos = strstr_P(buf, slicedAtString);
+  if (pos) {
+    strcpy_P(genBy, PSTR("Cura"));
+    return true;
+  }
+
+  // UNKNOWN
+  strcpy_P(genBy, PSTR("Unknown"));
+  return false;
+}
+
+bool CardReader::findFirstLayerHeight(char* buf, float& firstlayerHeight) {
+  // SLIC3R
+  firstlayerHeight = 0;
+  const char* layerHeightSlic3r = PSTR("; first_layer_height ");
+  char *pos = strstr_P(buf, layerHeightSlic3r);
+  if (pos) {
+    pos += strlen_P(layerHeightSlic3r);
+    while (*pos == ' ' || *pos == 't' || *pos == '=' || *pos == ':') {
+      ++pos;
+    }
+    firstlayerHeight = strtod(pos, NULL);
+    return true;
+  }
+
+  // CURA
+  const char* layerHeightCura = PSTR("First layer height: ");
+  pos = strstr_P(buf, layerHeightCura);
+  if (pos) {
+    pos += strlen_P(layerHeightCura);
+    while (*pos == ' ' || *pos == 't' || *pos == '=' || *pos == ':') {
+      ++pos;
+    }
+    firstlayerHeight = strtod(pos, NULL);
+    return true;
+  }
+
+  return false;
+}
+
+bool CardReader::findLayerHeight(char* buf, float& layerHeight) {
+  // SLIC3R
+  layerHeight = 0;
+  const char* layerHeightSlic3r = PSTR("; layer_height ");
+  char *pos = strstr_P(buf, layerHeightSlic3r);
+  if (pos) {
+    pos += strlen_P(layerHeightSlic3r);
+    while (*pos == ' ' || *pos == 't' || *pos == '=' || *pos == ':') {
+      ++pos;
+    }
+    layerHeight = strtod(pos, NULL);
+    return true;
+  }
+
+  // CURA
+  const char* layerHeightCura = PSTR("Layer height: ");
+  pos = strstr_P(buf, layerHeightCura);
+  if (pos) {
+    pos += strlen_P(layerHeightCura);
+    while (*pos == ' ' || *pos == 't' || *pos == '=' || *pos == ':') {
+      ++pos;
+    }
+    layerHeight = strtod(pos, NULL);
+    return true;
+  }
+
+  return false;
+}
+
+bool CardReader::findFilamentNeed(char* buf, float& filament) {
+  const char* filamentUsedStr = PSTR("filament used");
+  const char* pos = strstr_P(buf, filamentUsedStr);
+  filament = 0;
+  if (pos != NULL) {
+    pos += strlen_P(filamentUsedStr);
+    while (*pos == ' ' || *pos == 't' || *pos == '=' || *pos == ':') {
+      ++pos;    // this allows for " = " from default slic3r comment and ": " from default Cura comment
+    }
+    if (isDigit(*pos)) {
+      char *q;
+      filament += strtod(pos, &q);
+      if (*q == 'm' && *(q + 1) != 'm') {
+        filament *= 1000.0;        // Cura outputs filament used in metres not mm
+      }
+    }
+    return true;
+  }
+  return false;
+}
+
+bool CardReader::findTotalHeight(char* buf, float& height) {
+  int len = 1024;
+  bool inComment, inRelativeMode = false;
+  unsigned int zPos;
+  for (int i = len - 5; i > 0; i--) {
+    if (inRelativeMode) {
+      inRelativeMode = !(buf[i] == 'G' && buf[i + 1] == '9' && buf[i + 2] == '1' && buf[i + 3] <= ' ');
+    }
+    else if (buf[i] == 'G') {
+      // Ignore G0/G1 codes if absolute mode was switched back using G90 (typical for Cura files)
+      if (buf[i + 1] == '9' && buf[i + 2] == '0' && buf[i + 3] <= ' ') {
+        inRelativeMode = true;
+      }
+      else if ((buf[i + 1] == '0' || buf[i + 1] == '1') && buf[i + 2] == ' ') {
+        // Look for last "G0/G1 ... Z#HEIGHT#" command as generated by common slicers
+        // Looks like we found a controlled move, however it could be in a comment, especially when using slic3r 1.1.1
+        inComment = false;
+        size_t j = i;
+        while (j != 0) {
+          --j;
+          char c = buf[j];
+          if (c == '\n' || c == '\r') break;
+          if (c == ';') {
+            // It is in a comment, so give up on this one
+            inComment = true;
+            break;
+          }
+        }
+        if (inComment) continue;
+
+        // Find 'Z' position and grab that value
+        zPos = 0;
+        for (int j = i + 3; j < len - 2; j++) {
+          char c = buf[j];
+          if (c < ' ') {
+            // Skip all whitespaces...
+            while (j < len - 2 && c <= ' ') {
+              c = buf[++j];
+            }
+            // ...to make sure ";End" doesn't follow G0 .. Z#HEIGHT#
+            if (zPos != 0) {
+              //debugPrintf("Found at offset %u text: %.100s\n", zPos, &buf[zPos + 1]);
+              height = strtod(&buf[zPos + 1], NULL);
+              return true;
+            }
+            break;
+          }
+          else if (c == ';') break;
+          else if (c == 'Z') zPos = j;
+        }
+      }
+    }
+  }
+  return false;
+}
+
 /**
  * File parser for KEY->VALUE format from files
  *

MK/module/sd/cardreader.h

@@ -9,6 +9,7 @@
 /** Total size of the buffer used to store the long filenames */
 #define LONG_FILENAME_LENGTH (FILENAME_LENGTH * MAX_VFAT_ENTRIES + 1)
 #define SHORT_FILENAME_LENGTH 14
+#define GENBY_SIZE 16
 
 extern char tempLongFilename[LONG_FILENAME_LENGTH + 1];
 extern char fullName[LONG_FILENAME_LENGTH * SD_MAX_FOLDER_DEPTH + SD_MAX_FOLDER_DEPTH + 1];
@@ -54,28 +55,37 @@ public:
 
   FORCE_INLINE void setIndex(uint32_t newpos) { sdpos = newpos; file.seekSet(sdpos); }
   FORCE_INLINE bool isFileOpen() { return file.isOpen(); }
-  FORCE_INLINE bool eof() { return sdpos >= filesize; }
+  FORCE_INLINE bool eof() { return sdpos >= fileSize; }
   FORCE_INLINE int16_t get() { sdpos = file.curPosition(); return (int16_t)file.read(); }
-  FORCE_INLINE uint8_t percentDone() { return (isFileOpen() && filesize) ? sdpos / ((filesize + 99) / 100) : 0; }
+  FORCE_INLINE uint8_t percentDone() { return (isFileOpen() && fileSize) ? sdpos / ((fileSize + 99) / 100) : 0; }
   FORCE_INLINE char* getWorkDirName() { workDir.getFilename(fullName); return fullName; }
 
   //files init.g on the sd card are performed in a row
   //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset
   void checkautostart(bool x);
 
-public:
   bool saving, sdprinting, cardOK, filenameIsDir;
+  uint32_t fileSize, sdpos;
+  float objectHeight, firstlayerHeight, layerHeight, filamentNeeded;
+  char generatedBy[GENBY_SIZE];
+
+  static void printEscapeChars(const char* s);
+
 private:
   SdBaseFile root, *curDir, workDir, lastDir, workDirParents[SD_MAX_FOLDER_DEPTH];
   Sd2Card card;
   uint16_t workDirDepth;
-  uint32_t filesize;
   millis_t next_autostart_ms;
-  uint32_t sdpos;
   uint16_t nrFiles; // counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
   LsAction lsAction; //stored for recursion.
   bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
   void lsDive(SdBaseFile parent, const char* const match = NULL);
+  void parsejson(SdBaseFile &file);
+  bool findGeneratedBy(char* buf, char* genBy);
+  bool findFirstLayerHeight(char* buf, float& firstlayerHeight);
+  bool findLayerHeight(char* buf, float& layerHeight);
+  bool findFilamentNeed(char* buf, float& filament);
+  bool findTotalHeight(char* buf, float& objectHeight);
 };
 
 extern CardReader card;

MK/module/servo/servo.cpp

@@ -253,9 +253,7 @@ void Servo::detach() {
 
 void Servo::write(int value) {
   if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
-    if (value < 0) value = 0;
-    if (value > 180) value = 180;
-    value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
+    value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
   }
   this->writeMicroseconds(value);
 }
@@ -264,18 +262,13 @@ void Servo::writeMicroseconds(int value) {
   // calculate and store the values for the given channel
   byte channel = this->servoIndex;
   if (channel < MAX_SERVOS) {  // ensure channel is valid
-    if (value < SERVO_MIN())   // ensure pulse width is valid
-      value = SERVO_MIN();
-    else if (value > SERVO_MAX())
-      value = SERVO_MAX();
-
-    value = value - TRIM_DURATION;
+    // ensure pulse width is valid
+    value = constrain(value, SERVO_MIN(), SERVO_MAX()) - TRIM_DURATION;
     value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead
 
-    uint8_t oldSREG = SREG;
-    cli();
-    servos[channel].ticks = value;
-    SREG = oldSREG;
+    CRITICAL_SECTION_START;
+    servo_info[channel].ticks = value;
+    CRITICAL_SECTION_END;
   }
 }
 

MK/module/temperature/temperature.cpp

@@ -1087,7 +1087,7 @@ void tp_init() {
   BITSET(TIMSK0, OCIE0B);
 
   // Wait for temperature measurement to settle
-  delay(250);
+  delay_ms(250);
 
   #define TEMP_MIN_ROUTINE(NR) \
     minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \