Upgrade v4.1.0

ebb1c7b4 · MagoKimbra · 544b2baa · ebb1c7b4 · ebb1c7b4 · ebb1c7b4
Commit ebb1c7b4 authored Apr 18, 2015 by MagoKimbra
17 changed files
--- a/MarlinKimbra/Configuration.h
+++ b/MarlinKimbra/Configuration.h
@@ -20,7 +20,7 @@
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
-#define STRING_VERSION " 4.0.9"
+#define STRING_VERSION "4.1.0"
 #define STRING_URL "reprap.org"
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__     // build date and time
 #define STRING_CONFIG_H_AUTHOR "(none, default config)"   // Who made the changes.
@@ -228,9 +228,9 @@
  #define K1 0.95 // Smoothing factor within the PID
 //             HotEnd{HE0,HE1,HE2,HE3}
-  #define DEFAULT_Kp {41,41,41,41}     // Kp for E0, E1, E2, E3
+  #define DEFAULT_Kp {40, 40, 40, 40}     // Kp for E0, E1, E2, E3
-  #define DEFAULT_Ki {07,07,07,07}     // Ki for E0, E1, E2, E3
+  #define DEFAULT_Ki {07, 07, 07, 07}     // Ki for E0, E1, E2, E3
-  #define DEFAULT_Kd {59,59,59,59}     // Kd for E0, E1, E2, E3
+  #define DEFAULT_Kd {60, 60, 60, 60}     // Kd for E0, E1, E2, E3
 #endif // PIDTEMP

--- a/MarlinKimbra/Configuration_Scara.h
+++ b/MarlinKimbra/Configuration_Scara.h
@@ -198,9 +198,9 @@
 //Manual homing switch locations:
 // For SCARA: Offset between HomingPosition and Bed X=0 / Y=0
 #ifdef MANUAL_HOME_POSITIONS
-#define MANUAL_X_HOME_POS -22
+  #define MANUAL_X_HOME_POS -22
-#define MANUAL_Y_HOME_POS -52
+  #define MANUAL_Y_HOME_POS -52
-#define MANUAL_Z_HOME_POS 0.1  // Distance between nozzle and print surface after homing.
+  #define MANUAL_Z_HOME_POS 0.1  // Distance between nozzle and print surface after homing.
 #endif
 // MOVEMENT SETTINGS

--- a/MarlinKimbra/Marlin.h
+++ b/MarlinKimbra/Marlin.h
@@ -35,6 +35,10 @@
 #define TEST(n,b) (((n)&BIT(b))!=0)
 #define RADIANS(d) ((d)*M_PI/180.0)
 #define DEGREES(r) ((d)*180.0/M_PI)
+#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
+#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
+typedef unsigned long millis_t;
 // Arduino < 1.0.0 does not define this, so we need to do it ourselves
 #ifndef analogInputToDigitalPin
@@ -244,14 +248,14 @@ extern bool Running;
 inline bool IsRunning() { return  Running; }
 inline bool IsStopped() { return !Running; }
-bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
+bool enqueuecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
-void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
+void enqueuecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
 void prepare_arc_move(char isclockwise);
 void clamp_to_software_endstops(float target[3]);
-extern unsigned long previous_millis_cmd;
+extern millis_t previous_cmd_ms;
-inline void refresh_cmd_timeout() { previous_millis_cmd = millis(); }
+inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
 #ifdef FAST_PWM_FAN
  void setPwmFrequency(uint8_t pin, int val);
@@ -264,7 +268,7 @@ inline void refresh_cmd_timeout() { previous_millis_cmd = millis(); }
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
-extern int feedmultiply;
+extern int feedrate_multiplier;
 extern bool volumetric_enabled;
 extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
 extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
@@ -358,8 +362,8 @@ extern int fanSpeed;
  extern int laser_ttl_modulation;
 #endif
-extern unsigned long starttime;
+extern millis_t print_job_start_ms;
-extern unsigned long stoptime;
+extern millis_t print_job_stop_ms;
 // Handling multiple extruders pins
 extern uint8_t active_extruder;

--- a/MarlinKimbra/Marlin_main.cpp
+++ b/MarlinKimbra/Marlin_main.cpp
--- a/MarlinKimbra/cardreader.cpp
+++ b/MarlinKimbra/cardreader.cpp
@@ -25,7 +25,7 @@ CardReader::CardReader() {
    OUT_WRITE(SDPOWER, HIGH);
  #endif //SDPOWER
-  autostart_atmillis = millis() + 5000;
+  next_autostart_ms = millis() + 5000;
 }
 char *createFilename(char *buffer, const dir_t &p) { //buffer > 12characters
@@ -397,7 +397,7 @@ void CardReader::write_command(char *buf) {
 }
 void CardReader::checkautostart(bool force) {
-  if (!force && (!autostart_stilltocheck || autostart_atmillis < millis()))
+  if (!force && (!autostart_stilltocheck || next_autostart_ms < millis()))
    return;
  autostart_stilltocheck = false;
@@ -421,8 +421,8 @@ void CardReader::checkautostart(bool force) {
    if (p.name[9] != '~' && strncmp((char*)p.name, autoname, 5) == 0) {
      char cmd[30];
      sprintf_P(cmd, PSTR("M23 %s"), autoname);
-      enquecommand(cmd);
+      enqueuecommand(cmd);
-      enquecommands_P(PSTR("M24"));
+      enqueuecommands_P(PSTR("M24"));
      found = true;
    }
  }
@@ -508,7 +508,7 @@ void CardReader::printingHasFinished() {
    sdprinting = false;
    if (SD_FINISHED_STEPPERRELEASE) {
      //finishAndDisableSteppers();
-      enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+      enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
    }
    autotempShutdown();
  }

--- a/MarlinKimbra/cardreader.h
+++ b/MarlinKimbra/cardreader.h
@@ -62,7 +62,7 @@ private:
  uint32_t filespos[SD_PROCEDURE_DEPTH];
  char filenames[SD_PROCEDURE_DEPTH][MAXPATHNAMELENGTH];
  uint32_t filesize;
-  unsigned long autostart_atmillis;
+  millis_t next_autostart_ms;
  uint32_t sdpos;
  bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.

--- a/MarlinKimbra/dogm_lcd_implementation.h
+++ b/MarlinKimbra/dogm_lcd_implementation.h
@@ -269,10 +269,10 @@ static void lcd_implementation_status_screen() {
    }
    u8g.setPrintPos(80,48);
-    if (starttime != 0) {
+    if (print_job_start_ms != 0) {
      #if HAS_LCD_POWER_SENSOR
        if (millis() < print_millis + 1000) {
-          uint16_t time = (millis() - starttime) / 60000;
+          uint16_t time = (millis() - print_job_start_ms) / 60000;
          lcd_print(itostr2(time/60));
          lcd_print(':');
          lcd_print(itostr2(time%60));
@@ -282,7 +282,7 @@ static void lcd_implementation_status_screen() {
          lcd_print('Wh');
        }
      #else
-        uint16_t time = (millis() - starttime) / 60000;
+        uint16_t time = (millis() - print_job_start_ms) / 60000;
        lcd_print(itostr2(time/60));
        lcd_print(':');
        lcd_print(itostr2(time%60));
@@ -350,7 +350,7 @@ static void lcd_implementation_status_screen() {
  lcd_print(LCD_STR_FEEDRATE[0]);
  lcd_setFont(FONT_STATUSMENU);
  u8g.setPrintPos(12,49);
-  lcd_print(itostr3(feedmultiply));
+  lcd_print(itostr3(feedrate_multiplier));
  lcd_print('%');
  // Status line
@@ -362,12 +362,12 @@ static void lcd_implementation_status_screen() {
  #endif
  #if HAS_LCD_FILAMENT_SENSOR || HAS_LCD_POWER_SENSOR
-    if (millis() < message_millis + 5000) {  //Display both Status message line and Filament display on the last line
+    if (millis() < previous_lcd_status_ms + 5000) {  //Display both Status message line and Filament display on the last line
      lcd_print(lcd_status_message);
    }
    #if HAS_LCD_POWER_SENSOR
      #if HAS_LCD_FILAMENT_SENSOR
-        else if (millis() < message_millis + 10000)
+        else if (millis() < previous_lcd_status_ms + 10000)
      #else
        else
      #endif

--- a/MarlinKimbra/language.h
+++ b/MarlinKimbra/language.h
@@ -59,6 +59,10 @@
  #define MACHINE_NAME CUSTOM_MENDEL_NAME
 #endif
+#ifndef BUILD_VERSION
+  #define BUILD_VERSION "V4;"
+#endif
 #ifndef MACHINE_UUID
  #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 #endif
@@ -77,7 +81,7 @@
 // Serial Console Messages (do not translate those!)
-#define MSG_Enqueing                        "enqueing \""
+#define MSG_Enqueueing                      "enqueueing \""
 #define MSG_POWERUP                         "PowerUp"
 #define MSG_EXTERNAL_RESET                  " External Reset"
 #define MSG_BROWNOUT_RESET                  " Brown out Reset"
@@ -86,8 +90,9 @@
 #define MSG_AUTHOR                          " | Author: "
 #define MSG_CONFIGURATION_VER               " Last Updated: "
 #define MSG_FREE_MEMORY                     " Free Memory: "
-#define MSG_PLANNER_BUFFER_BYTES            "  PlannerBufferBytes: "
+#define MSG_PLANNER_BUFFER_BYTES            " PlannerBufferBytes: "
 #define MSG_OK                              "ok"
+#define MSG_WAIT                            "wait"
 #define MSG_FILE_SAVED                      "Done saving file."
 #define MSG_ERR_LINE_NO                     "Line Number is not Last Line Number+1, Last Line: "
 #define MSG_ERR_CHECKSUM_MISMATCH           "checksum mismatch, Last Line: "
@@ -107,7 +112,7 @@
 #define MSG_HEATING_COMPLETE                "Heating done."
 #define MSG_BED_HEATING                     "Bed Heating."
 #define MSG_BED_DONE                        "Bed done."
-#define MSG_M115_REPORT                     "FIRMWARE_NAME:MarlinKimbra V4; FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
+#define MSG_M115_REPORT                     "FIRMWARE_NAME:MarlinKimbra " BUILD_VERSION " FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
 #define MSG_COUNT_X                         " Count X: "
 #define MSG_ERR_KILLED                      "Printer halted. kill() called!"
 #define MSG_ERR_STOPPED                     "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)"

--- a/MarlinKimbra/planner.cpp
+++ b/MarlinKimbra/planner.cpp
@@ -62,7 +62,7 @@
 //============================= public variables ============================
 //===========================================================================
-unsigned long minsegmenttime;
+millis_t minsegmenttime;
 float max_feedrate[3 + EXTRUDERS]; // Max speeds in mm per minute
 float max_retraction_feedrate[EXTRUDERS]; // set the max speeds for retraction
 float axis_steps_per_unit[3 + EXTRUDERS];
@@ -156,8 +156,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
  unsigned long final_rate = ceil(block->nominal_rate * exit_factor); // (step/min)
  // Limit minimal step rate (Otherwise the timer will overflow.)
-  if (initial_rate < 120) initial_rate = 120;
+  NOLESS(initial_rate, 120);
-  if (final_rate < 120) final_rate = 120;
+  NOLESS(final_rate, 120);
  long acceleration = block->acceleration_st;
  int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
@@ -378,16 +378,18 @@ void plan_init() {
    }
    float t = autotemp_min + high * autotemp_factor;
-    if (t < autotemp_min) t = autotemp_min;
+    t = constrain(t, autotemp_min, autotemp_max);
-    if (t > autotemp_max) t = autotemp_max;
+    if (oldt > t) {
-    if (oldt > t) t = AUTOTEMP_OLDWEIGHT * oldt + (1 - AUTOTEMP_OLDWEIGHT) * t;
+      t *= (1 - AUTOTEMP_OLDWEIGHT);
+      t += AUTOTEMP_OLDWEIGHT * oldt;
+    }
    oldt = t;
    setTargetHotend0(t);
  }
 #endif
 void check_axes_activity() {
-  unsigned char axis_active[NUM_AXIS],
+  unsigned char axis_active[NUM_AXIS] = { 0 },
                tail_fan_speed = fanSpeed;
  #ifdef BARICUDA
    unsigned char tail_valve_pressure = ValvePressure,
@@ -428,7 +430,7 @@ void check_axes_activity() {
  #if HAS_FAN
    #ifdef FAN_KICKSTART_TIME
-      static unsigned long fan_kick_end;
+      static millis_t fan_kick_end;
      if (tail_fan_speed) {
        if (fan_kick_end == 0) {
          // Just starting up fan - run at full power.
@@ -500,7 +502,7 @@ float junction_deviation = 0.1;
  target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
  target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
  target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + extruder]);
+  target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + active_extruder]);
  float dx = target[X_AXIS] - position[X_AXIS],
        dy = target[Y_AXIS] - position[Y_AXIS],
@@ -693,7 +695,11 @@ float junction_deviation = 0.1;
    #endif //!MKR4 && !NPR2
    if (feed_rate < minimumfeedrate) feed_rate = minimumfeedrate;
  }
-  else if (feed_rate < mintravelfeedrate) feed_rate = mintravelfeedrate;
+  if (block->steps[E_AXIS])
+    NOLESS(feed_rate, minimumfeedrate);
+  else
+    NOLESS(feed_rate, mintravelfeedrate);
  /**
   * This part of the code calculates the total length of the movement. 

--- a/MarlinKimbra/planner.h
+++ b/MarlinKimbra/planner.h
@@ -114,7 +114,7 @@ FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block
 void plan_set_e_position(const float &e);
-extern unsigned long minsegmenttime;
+extern millis_t minsegmenttime;
 extern float max_feedrate[3 + EXTRUDERS]; // set the max speeds
 extern float max_retraction_feedrate[EXTRUDERS]; // set the max speeds for retraction
 extern float axis_steps_per_unit[3 + EXTRUDERS];

--- a/MarlinKimbra/stepper.cpp
+++ b/MarlinKimbra/stepper.cpp
@@ -54,7 +54,7 @@ static unsigned int cleaning_buffer_counter;
              locked_z2_motor = false;
 #endif
-// Counter variables for the bresenham line tracer
+// Counter variables for the Bresenham line tracer
 static long counter_x, counter_y, counter_z, counter_e;
 volatile static unsigned long step_events_completed; // The number of step events executed in the current block
@@ -66,7 +66,7 @@ volatile static unsigned long step_events_completed; // The number of step event
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
-static unsigned short acc_step_rate; // needed for deccelaration start point
+static unsigned short acc_step_rate; // needed for deceleration start point
 static char step_loops;
 static unsigned short OCR1A_nominal;
 static unsigned short step_loops_nominal;
@@ -210,8 +210,14 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
 // intRes = longIn1 * longIn2 >> 24
 // uses:
 // r26 to store 0
-// r27 to store the byte 1 of the 48bit result
+// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
-#define MultiU24X24toH16(intRes, longIn1, longIn2) \
+// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
+// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
+// B0 A0 are bits 24-39 and are the returned value
+// C1 B1 A1 is longIn1
+// D2 C2 B2 A2 is longIn2
+//
+#define MultiU24X32toH16(intRes, longIn1, longIn2) \
  asm volatile ( \
    "clr r26 \n\t" \
    "mul %A1, %B2 \n\t" \
@@ -242,6 +248,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
    "lsr r27 \n\t" \
    "adc %A0, r26 \n\t" \
    "adc %B0, r26 \n\t" \
+    "mul %D2, %A1 \n\t" \
+    "add %A0, r0 \n\t" \
+    "adc %B0, r1 \n\t" \
+    "mul %D2, %B1 \n\t" \
+    "add %B0, r0 \n\t" \
    "clr r1 \n\t" \
    : \
    "=&r" (intRes) \
@@ -372,7 +383,7 @@ void enable_endstops(bool check) { check_endstops = check; }
 //  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
 //  first block->accelerate_until step_events_completed, then keeps going at constant speed until
 //  step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
-//  The slope of acceleration is calculated with the lib ramp algorithm.
+//  The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
 void st_wake_up() {
  //  TCNT1 = 0;
@@ -453,7 +464,7 @@ ISR(TIMER1_COMPA_vect) {
    current_block = NULL;
    plan_discard_current_block();
    #ifdef SD_FINISHED_RELEASECOMMAND
-      if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+      if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueuecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
    #endif
    cleaning_buffer_counter--;
    OCR1A = 200;
@@ -528,7 +539,7 @@ ISR(TIMER1_COMPA_vect) {
        if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
          if (TEST(out_bits, X_HEAD))
      #else
-          if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular cartesians bot)
+          if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular Cartesian bot)
      #endif
          { // -direction
            #ifdef DUAL_X_CARRIAGE
@@ -772,9 +783,9 @@ ISR(TIMER1_COMPA_vect) {
    // Calculate new timer value
    unsigned short timer;
    unsigned short step_rate;
-    if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
+    if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
-      MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
+      MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
      acc_step_rate += current_block->initial_rate;
      // upper limit
@@ -796,8 +807,8 @@ ISR(TIMER1_COMPA_vect) {
      #endif
    }
-    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
+    else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
-      MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
+      MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
      if (step_rate > acc_step_rate) { // Check step_rate stays positive
        step_rate = current_block->final_rate;
@@ -1236,7 +1247,7 @@ void quickStop() {
        uint8_t old_pin = AXIS ##_DIR_READ; \
        AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
        AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
-        _delay_us(1U); \
+        delayMicroseconds(2); \
        AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
        AXIS ##_APPLY_DIR(old_pin, true); \
      }
@@ -1275,7 +1286,7 @@ void quickStop() {
          X_STEP_WRITE(!INVERT_X_STEP_PIN);
          Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
          Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
-          _delay_us(1U);
+          delayMicroseconds(2);
          X_STEP_WRITE(INVERT_X_STEP_PIN); 
          Y_STEP_WRITE(INVERT_Y_STEP_PIN); 
          Z_STEP_WRITE(INVERT_Z_STEP_PIN);

--- a/MarlinKimbra/stepper.h
+++ b/MarlinKimbra/stepper.h
@@ -109,7 +109,7 @@ void microstep_readings();
 #ifdef BABYSTEPPING
  void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
-#endif //BABYSTEPPING
+#endif
 #ifdef NPR2 //Multiextruder
  void colorstep(long csteps,const bool direction);

--- a/MarlinKimbra/temperature.cpp
+++ b/MarlinKimbra/temperature.cpp
@@ -77,14 +77,14 @@ unsigned char soft_pwm_bed;
 #define HAS_BED_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 && TEMP_SENSOR_BED != 0)
 #if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
  enum TRState { TRReset, TRInactive, TRFirstHeating, TRStable, TRRunaway };
-  void thermal_runaway_protection(TRState *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
+  void thermal_runaway_protection(TRState *state, millis_t *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
  #if HAS_HEATER_THERMAL_PROTECTION
    static TRState thermal_runaway_state_machine[4] = { TRReset, TRReset, TRReset, TRReset };
-    static unsigned long thermal_runaway_timer[4]; // = {0,0,0,0};
+    static millis_t thermal_runaway_timer[4]; // = {0,0,0,0};
  #endif
  #if HAS_BED_THERMAL_PROTECTION
    static TRState thermal_runaway_bed_state_machine = TRReset;
-    static unsigned long thermal_runaway_bed_timer;
+    static millis_t thermal_runaway_bed_timer;
  #endif
 #endif
 #if HAS_POWER_CONSUMPTION_SENSOR
@@ -122,7 +122,7 @@ static volatile bool temp_meas_ready = false;
  static float temp_iState_min_bed;
  static float temp_iState_max_bed;
 #else //PIDTEMPBED
-  static unsigned long  previous_millis_bed_heater;
+  static millis_t  next_bed_check_ms;
 #endif //PIDTEMPBED
 static unsigned char soft_pwm[HOTENDS];
@@ -131,8 +131,9 @@ static unsigned char soft_pwm[HOTENDS];
  static unsigned char soft_pwm_fan;
 #endif
 #if HAS_AUTO_FAN
-  static unsigned long extruder_autofan_last_check;
+  static millis_t next_auto_fan_check_ms;
-#endif
+#endif  
 #ifdef PIDTEMP
  float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
 #endif //PIDTEMP
@@ -160,8 +161,8 @@ static float analog2tempBed(int raw);
 static void updateTemperaturesFromRawValues();
 #ifdef WATCH_TEMP_PERIOD
-  int watch_start_temp[HOTENDS]       = { 0 };
+  int watch_start_temp[HOTENDS] = { 0 };
-  unsigned long watchmillis[HOTENDS]  = { 0 };
+  millis_t watchmillis[HOTENDS] = { 0 };
 #endif //WATCH_TEMP_PERIOD
 #ifndef SOFT_PWM_SCALE
@@ -186,7 +187,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
  int cycles = 0;
  bool heating = true;
-  unsigned long temp_millis = millis(), t1 = temp_millis, t2 = temp_millis;
+  millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
  long t_high = 0, t_low = 0;
  long bias, d;
@@ -195,7 +196,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
  float max = 0, min = 10000;
  #if HAS_AUTO_FAN
-    unsigned long extruder_autofan_last_check = temp_millis;
+    millis_t next_auto_fan_check_ms = temp_ms + 2500;
  #endif
  if (hotend >= HOTENDS
@@ -209,7 +210,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
  SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
-  disable_heater(); // switch off all heaters.
+  disable_all_heaters(); // switch off all heaters.
  if (hotend < 0)
    soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
@@ -217,9 +218,9 @@ void PID_autotune(float temp, int hotend, int ncycles)
    soft_pwm[hotend] = bias = d = PID_MAX / 2;
  // PID Tuning loop
-  for(;;) {
+  for (;;) {
-    unsigned long ms = millis();
+    millis_t ms = millis();
    if (temp_meas_ready) { // temp sample ready
      updateTemperaturesFromRawValues();
@@ -230,9 +231,9 @@ void PID_autotune(float temp, int hotend, int ncycles)
      min = min(min, input);
      #if HAS_AUTO_FAN
-        if (ms > extruder_autofan_last_check + 2500) {
+        if (ms > next_auto_fan_check_ms) {
          checkExtruderAutoFans();
-          extruder_autofan_last_check = ms;
+          next_auto_fan_check_ms = ms + 2500;
        }
      #endif
@@ -307,7 +308,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
      return;
    }
    // Every 2 seconds...
-    if (ms > temp_millis + 2000) {
+    if (ms > temp_ms + 2000) {
      int p;
      if (hotend < 0) {
        p = soft_pwm_bed;
@@ -322,7 +323,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
      SERIAL_PROTOCOLPGM(MSG_AT);
      SERIAL_PROTOCOLLN(p);
-      temp_millis = ms;
+      temp_ms = ms;
    } // every 2 seconds
    // Over 2 minutes?
    if (((ms - t1) + (ms - t2)) > (10L*60L*1000L*2L)) {
@@ -453,11 +454,11 @@ inline void _temp_error(int e, const char *msg1, const char *msg2) {
 }
 void max_temp_error(uint8_t e) {
-  disable_heater();
+  disable_all_heaters();
  _temp_error(e, PSTR(MSG_MAXTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MAXTEMP));
 }
 void min_temp_error(uint8_t e) {
-  disable_heater();
+  disable_all_heaters();
  _temp_error(e, PSTR(MSG_MINTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MINTEMP));
 }
 void bed_max_temp_error(void) {
@@ -574,6 +575,14 @@ float get_pid_output(int e) {
  }
 #endif
+/**
+ * Manage heating activities for extruder hot-ends and a heated bed
+ *  - Acquire updated temperature readings
+ *  - Invoke thermal runaway protection
+ *  - Manage extruder auto-fan
+ *  - Apply filament width to the extrusion rate (may move)
+ *  - Update the heated bed PID output value
+ */
 void manage_heater() {
  if (!temp_meas_ready) return;
@@ -587,7 +596,7 @@ void manage_heater() {
  #endif //HEATER_0_USES_MAX6675
  #if defined(WATCH_TEMP_PERIOD) || !defined(PIDTEMPBED) || HAS_AUTO_FAN
-    unsigned long ms = millis();
+    millis_t ms = millis();
  #endif
  // Loop through all hotends
@@ -618,7 +627,7 @@ void manage_heater() {
    #ifdef TEMP_SENSOR_1_AS_REDUNDANT
      if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
-        disable_heater();
+        disable_all_heaters();
        _temp_error(0, PSTR(MSG_EXTRUDER_SWITCHED_OFF), PSTR(MSG_ERR_REDUNDANT_TEMP));
      }
    #endif //TEMP_SENSOR_1_AS_REDUNDANT
@@ -626,16 +635,31 @@ void manage_heater() {
  } // Hotends Loop
  #if HAS_AUTO_FAN
-    if (ms > extruder_autofan_last_check + 2500) { // only need to check fan state very infrequently
+    if (ms > next_auto_fan_check_ms) { // only need to check fan state very infrequently
      checkExtruderAutoFans();
-      extruder_autofan_last_check = ms;
+      next_auto_fan_check_ms = ms + 2500;
    }
  #endif
+  // Control the extruder rate based on the width sensor
+  #ifdef FILAMENT_SENSOR
+    if (filament_sensor) {
+      meas_shift_index = delay_index1 - meas_delay_cm;
+      if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1;  //loop around buffer if needed
+      // Get the delayed info and add 100 to reconstitute to a percent of
+      // the nominal filament diameter then square it to get an area
+      meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
+      float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2);
+      if (vm < 0.01) vm = 0.01;
+      volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
+    }
+  #endif //FILAMENT_SENSOR
  #ifndef PIDTEMPBED
-    if (ms < previous_millis_bed_heater + BED_CHECK_INTERVAL) return;
+    if (ms < next_bed_check_ms) return;
-    previous_millis_bed_heater = ms;
+    next_bed_check_ms = ms + BED_CHECK_INTERVAL;
-  #endif //PIDTEMPBED
+  #endif
  #if TEMP_SENSOR_BED != 0
@@ -648,22 +672,22 @@ void manage_heater() {
      soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
-    #elif !defined(BED_LIMIT_SWITCHING)
+    #elif defined(BED_LIMIT_SWITCHING)
-      // Check if temperature is within the correct range
+      // Check if temperature is within the correct band
      if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
-        soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
+        if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
+          soft_pwm_bed = 0;
+        else if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS)
+          soft_pwm_bed = MAX_BED_POWER >> 1;
      }
      else {
        soft_pwm_bed = 0;
        WRITE_HEATER_BED(LOW);
      }
-    #else //#ifdef BED_LIMIT_SWITCHING
+    #else // BED_LIMIT_SWITCHING
-      // Check if temperature is within the correct band
+      // Check if temperature is within the correct range
      if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
-        if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
+        soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
-          soft_pwm_bed = 0;
-        else if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS)
-          soft_pwm_bed = MAX_BED_POWER >> 1;
      }
      else {
        soft_pwm_bed = 0;
@@ -671,56 +695,36 @@ void manage_heater() {
      }
    #endif
  #endif //TEMP_SENSOR_BED != 0
-  // Control the extruder rate based on the width sensor
-  #if HAS_FILAMENT_SENSOR
-    if (filament_sensor) {
-      meas_shift_index = delay_index1 - meas_delay_cm;
-      if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1;  //loop around buffer if needed
-      // Get the delayed info and add 100 to reconstitute to a percent of
-      // the nominal filament diameter then square it to get an area
-      meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
-      float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2);
-      if (vm < 0.01) vm = 0.01;
-      volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
-    }
-  #endif //HAS_FILAMENT_SENSOR
 }
 #define PGM_RD_W(x)   (short)pgm_read_word(&x)
 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
 static float analog2temp(int raw, uint8_t e) {
-#ifdef TEMP_SENSOR_1_AS_REDUNDANT
+  #ifdef TEMP_SENSOR_1_AS_REDUNDANT
-  if (e > EXTRUDERS)
+    if (e > EXTRUDERS)
-#else
+  #else
-  if (e >= EXTRUDERS)
+    if (e >= EXTRUDERS)
-#endif
+  #endif
-  {
-    SERIAL_ERROR_START;
-    SERIAL_ERROR((int)e);
-    SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
-    kill();
-    return 0.0;
-  } 
-  #ifdef HEATER_0_USES_MAX6675
-    if (e == 0)
    {
-      return 0.25 * raw;
+      SERIAL_ERROR_START;
+      SERIAL_ERROR((int)e);
+      SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
+      kill();
+      return 0.0;
    }
+  #ifdef HEATER_0_USES_MAX6675
+    if (e == 0) return 0.25 * raw;
  #endif
-  if(heater_ttbl_map[e] != NULL)
+  if (heater_ttbl_map[e] != NULL) {
-  {
    float celsius = 0;
    uint8_t i;
    short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
-    for (i=1; i<heater_ttbllen_map[e]; i++)
+    for (i = 1; i < heater_ttbllen_map[e]; i++) {
-    {
+      if (PGM_RD_W((*tt)[i][0]) > raw) {
-      if (PGM_RD_W((*tt)[i][0]) > raw)
-      {
        celsius = PGM_RD_W((*tt)[i-1][1]) + 
          (raw - PGM_RD_W((*tt)[i-1][0])) * 
          (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) /
@@ -749,10 +753,8 @@ static float analog2tempBed(int raw) {
    float celsius = 0;
    byte i;
-    for (i=1; i<BEDTEMPTABLE_LEN; i++)
+    for (i = 1; i < BEDTEMPTABLE_LEN; i++) {
-    {
+      if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) {
-      if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw)
-      {
        celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) +
          (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) *
          (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i-1][1])) /
@@ -773,7 +775,7 @@ static float analog2tempBed(int raw) {
    #endif
  #else //NO BED_USES_THERMISTOR
    return 0;
-  #endif //BED_USES_THERMISTOR
+  #endif
 }
 /* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
@@ -794,8 +796,8 @@ static void updateTemperaturesFromRawValues() {
  #endif
  #if HAS_POWER_CONSUMPTION_SENSOR
    static float watt_overflow = 0.0;
-    static unsigned long last_power_update = millis();
+    static millis_t last_power_update = millis();
-    unsigned long temp_last_power_update = millis();
+    millis_t temp_last_power_update = millis();
    power_consumption_meas = analog2power();
    //MYSERIAL.println(analog2current(),3);
    watt_overflow += (power_consumption_meas * (temp_last_power_update - last_power_update)) / 3600000.0;
@@ -844,8 +846,11 @@ static void updateTemperaturesFromRawValues() {
  }
 #endif
-void tp_init()
+/**
-{
+ * Initialize the temperature manager
+ * The manager is implemented by periodic calls to manage_heater()
+ */
+void tp_init() {
  #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
    //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
    MCUCR=BIT(JTD);
@@ -1028,7 +1033,7 @@ void tp_init()
 void setWatch() {
  #ifdef WATCH_TEMP_PERIOD
-    unsigned long ms = millis();
+    millis_t ms = millis();
    for (int e = 0; e < HOTENDS; e++) {
      if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) {
        watch_start_temp[e] = degHotend(e);
@@ -1040,7 +1045,7 @@ void setWatch() {
 #if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
-  void thermal_runaway_protection(TRState *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
+  void thermal_runaway_protection(TRState *state, millis_t *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
    static float tr_target_temperature[EXTRUDERS+1] = { 0.0 };
@@ -1095,7 +1100,7 @@ void setWatch() {
        SERIAL_ERRORLNPGM(MSG_THERMAL_RUNAWAY_STOP);
        if (heater_id < 0) SERIAL_ERRORLNPGM("bed"); else SERIAL_ERRORLN(heater_id);
        LCD_ALERTMESSAGEPGM(MSG_THERMAL_RUNAWAY);
-        disable_heater();
+        disable_all_heaters();
        disable_all_steppers();
        for (;;) {
          manage_heater();
@@ -1106,7 +1111,7 @@ void setWatch() {
 #endif // HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
-void disable_heater() {
+void disable_all_heaters() {
  for (int i = 0; i < HOTENDS; i++) setTargetHotend(0, i);
  setTargetBed(0);
@@ -1143,16 +1148,18 @@ void disable_heater() {
 #ifdef HEATER_0_USES_MAX6675
  #define MAX6675_HEAT_INTERVAL 250u
-  unsigned long max6675_previous_millis = MAX6675_HEAT_INTERVAL;
+  static millis_t next_max6675_ms = 0;
  int max6675_temp = 2000;
  static int read_max6675() {
-    unsigned long ms = millis();
+    millis_t ms = millis();
-    if (ms < max6675_previous_millis + MAX6675_HEAT_INTERVAL)
+    if (ms < next_max6675_ms)
      return max6675_temp;
-    max6675_previous_millis = ms;
+    next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
    max6675_temp = 0;
    #ifdef PRR
@@ -1251,11 +1258,14 @@ static void set_current_temp_raw() {
  temp_meas_ready = true;
 }
-//
+/**
-// Timer 0 is shared with millies
+ * Timer 0 is shared with millies
-//
+ *  - Manage PWM to all the heaters and fan
+ *  - Update the raw temperature values
+ *  - Check new temperature values for MIN/MAX errors
+ *  - Step the babysteps value for each axis towards 0
+ */
 ISR(TIMER0_COMPB_vect) {
-  //these variables are only accesible from the ISR, but static, so they don't lose their value
  static unsigned char temp_count = 0;
  static TempState temp_state = StartupDelay;
  static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
@@ -1646,16 +1656,16 @@ ISR(TIMER0_COMPB_vect) {
  } // temp_count >= OVERSAMPLENR
  #ifdef BABYSTEPPING
-    for (uint8_t axis=X_AXIS; axis<=Z_AXIS; axis++) {
+    for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) {
-      int curTodo=babystepsTodo[axis]; //get rid of volatile for performance
+      int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
      if (curTodo > 0) {
        babystep(axis,/*fwd*/true);
-        babystepsTodo[axis]--; //less to do next time
+        babystepsTodo[axis]--; //fewer to do next time
      }
-      else if(curTodo < 0) {
+      else if (curTodo < 0) {
        babystep(axis,/*fwd*/false);
-        babystepsTodo[axis]++; //less to do next time
+        babystepsTodo[axis]++; //fewer to do next time
      }
    }
  #endif //BABYSTEPPING

--- a/MarlinKimbra/temperature.h
+++ b/MarlinKimbra/temperature.h
@@ -133,7 +133,7 @@ HOTEND_ROUTINES(0);
 #endif
 int getHeaterPower(int heater);
-void disable_heater();
+void disable_all_heaters();
 void setWatch();
 void updatePID();

--- a/MarlinKimbra/ultralcd.cpp
+++ b/MarlinKimbra/ultralcd.cpp
@@ -31,11 +31,11 @@ int gumPreheatHPBTemp;
 int gumPreheatFanSpeed;
 #if HAS_LCD_FILAMENT_SENSOR || HAS_LCD_POWER_SENSOR
-  unsigned long message_millis = 0;
+  millis_t previous_lcd_status_ms = 0;
 #endif
 #if HAS_LCD_POWER_SENSOR
-  unsigned long print_millis = 0;
+  millis_t print_millis = 0;
 #endif
 /* !Configuration settings */
@@ -86,8 +86,6 @@ static void lcd_status_screen();
    static void lcd_delta_calibrate_menu();
  #endif // DELTA
-  static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audible feedback that something has happened
  /* Different types of actions that can be used in menu items. */
  static void menu_action_back(menuFunc_t data);
  static void menu_action_submenu(menuFunc_t data);
@@ -163,10 +161,10 @@ static void lcd_status_screen();
   *     lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause)
   *     menu_action_function(lcd_sdcard_pause)
   *
-   *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999)
+   *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999)
-   *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999)
-   *     lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *     lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999)
-   *     menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *     menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999)
   *
   */
  #define MENU_ITEM(type, label, args...) do { \
@@ -229,7 +227,7 @@ static void lcd_status_screen();
    volatile uint8_t slow_buttons; // Bits of the pressed buttons.
  #endif
  uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
-  uint32_t blocking_enc;
+  millis_t next_button_update_ms;
  uint8_t lastEncoderBits;
  uint32_t encoderPosition;
  #if (SDCARDDETECT > 0)
@@ -239,7 +237,7 @@ static void lcd_status_screen();
 #endif // ULTIPANEL
 menuFunc_t currentMenu = lcd_status_screen; /* function pointer to the currently active menu */
-uint32_t lcd_next_update_millis;
+millis_t next_lcd_update_ms;
 uint8_t lcd_status_update_delay;
 bool ignore_click = false;
 bool wait_for_unclick;
@@ -257,10 +255,10 @@ menuFunc_t callbackFunc;
 // place-holders for Ki and Kd edits
 float raw_Ki, raw_Kd;
-static void lcd_goto_menu(menuFunc_t menu, const uint32_t encoder=0, const bool feedback=true) {
+static void lcd_goto_menu(menuFunc_t menu, const bool feedback=false, const uint32_t encoder=0) {
  if (currentMenu != menu) {
    currentMenu = menu;
-    #if defined(NEWPANEL)
+    #ifdef NEWPANEL
      encoderPosition = encoder;
      if (feedback) lcd_quick_feedback();
    #endif
@@ -276,7 +274,7 @@ static void lcd_status_screen() {
 	encoderRateMultiplierEnabled = false;
  #ifdef LCD_PROGRESS_BAR
-    unsigned long ms = millis();
+    millis_t ms = millis();
    #ifndef PROGRESS_MSG_ONCE
      if (ms > progressBarTick + PROGRESS_BAR_MSG_TIME + PROGRESS_BAR_BAR_TIME) {
        progressBarTick = ms;
@@ -327,70 +325,62 @@ static void lcd_status_screen() {
    bool current_click = LCD_CLICKED;
    if (ignore_click) {
-        if (wait_for_unclick) {
+      if (wait_for_unclick) {
-          if (!current_click) {
+        if (!current_click)
-              ignore_click = wait_for_unclick = false;
+          ignore_click = wait_for_unclick = false;
-          }
+        else
-          else {
+          current_click = false;
-              current_click = false;
+      }
-          }
+      else if (current_click) {
-        }
+        lcd_quick_feedback();
-        else if (current_click) {
+        wait_for_unclick = true;
-            lcd_quick_feedback();
+        current_click = false;
-            wait_for_unclick = true;
+      }
-            current_click = false;
-        }
    }
-    if (current_click)
+    if (current_click) {
-    {
+      lcd_goto_menu(lcd_main_menu, true);
-      lcd_goto_menu(lcd_main_menu);
      lcd_implementation_init( // to maybe revive the LCD if static electricity killed it.
        #ifdef LCD_PROGRESS_BAR
          currentMenu == lcd_status_screen
        #endif
      );
      #ifdef FILAMENT_LCD_DISPLAY
-        message_millis = millis();  // get status message to show up for a while
+        previous_lcd_status_ms = millis();  // get status message to show up for a while
      #endif
    }
-#ifdef ULTIPANEL_FEEDMULTIPLY
+    #ifdef ULTIPANEL_FEEDMULTIPLY
-    // Dead zone at 100% feedrate
+      // Dead zone at 100% feedrate
-    if ((feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100) ||
+      if ((feedrate_multiplier < 100 && (feedrate_multiplier + int(encoderPosition)) > 100) ||
-            (feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100))
+              (feedrate_multiplier > 100 && (feedrate_multiplier + int(encoderPosition)) < 100)) {
-    {
-        encoderPosition = 0;
-        feedmultiply = 100;
-    }
-    if (feedmultiply == 100 && int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE)
-    {
-        feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE;
        encoderPosition = 0;
-    }
+        feedrate_multiplier = 100;
-    else if (feedmultiply == 100 && int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE)
+      }
-    {
+      if (feedrate_multiplier == 100) {
-        feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE;
+        if (int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE) {
-        encoderPosition = 0;
+          feedrate_multiplier += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE;
-    }
+          encoderPosition = 0;
-    else if (feedmultiply != 100)
+        }
-    {
+        else if (int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE) {
-        feedmultiply += int(encoderPosition);
+          feedrate_multiplier += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE;
+          encoderPosition = 0;
+        }
+      }
+      else {
+        feedrate_multiplier += int(encoderPosition);
        encoderPosition = 0;
-    }
+      }
-#endif //ULTIPANEL_FEEDMULTIPLY
+    #endif // ULTIPANEL_FEEDMULTIPLY
-    if (feedmultiply < 10)
+    feedrate_multiplier = constrain(feedrate_multiplier, 10, 999);
-        feedmultiply = 10;
-    else if (feedmultiply > 999)
+  #endif //ULTIPANEL
-        feedmultiply = 999;
-#endif //ULTIPANEL
 }
 #ifdef ULTIPANEL
-static void lcd_return_to_status() { lcd_goto_menu(lcd_status_screen, 0, false); }
+static void lcd_return_to_status() { lcd_goto_menu(lcd_status_screen); }
 static void lcd_sdcard_pause() { card.pauseSDPrint(); }
@@ -465,7 +455,7 @@ void lcd_set_home_offsets() {
  plan_set_position(0.0, 0.0, 0.0, current_position[E_AXIS]);
  // Audio feedback
-  enquecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
+  enqueuecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
  lcd_return_to_status();
 }
@@ -490,7 +480,7 @@ void lcd_set_home_offsets() {
 static void lcd_tune_menu() {
  START_MENU();
  MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
-  MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999);
+  MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999);
  #if TEMP_SENSOR_0 != 0
    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP + LCD_MAX_TEMP_OFFSET);
  #endif
@@ -687,7 +677,7 @@ void config_lcd_level_bed()
 	SERIAL_ECHOLN("Leveling...");	
 	currentMenu = lcd_level_bed;
-	enquecommands_P(PSTR("G28 M"));
+	enqueuecommands_P(PSTR("G28 M"));
 	pageShowInfo = 0;
 }
@@ -1301,15 +1291,15 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01)
    lcd_move_y();
  }
  static void reprapworld_keypad_move_home() {
-    enquecommands_P((PSTR("G28"))); // move all axis home
+    enqueuecommands_P((PSTR("G28"))); // move all axis home
  }
 #endif //REPRAPWORLD_KEYPAD
 /** End of menus **/
-static void lcd_quick_feedback() {
+void lcd_quick_feedback() {
  lcdDrawUpdate = 2;
-  blocking_enc = millis() + 500;
+  next_button_update_ms = millis() + 500;
  #ifdef LCD_USE_I2C_BUZZER
    #ifndef LCD_FEEDBACK_FREQUENCY_HZ
@@ -1327,15 +1317,15 @@ static void lcd_quick_feedback() {
    #ifndef LCD_FEEDBACK_FREQUENCY_DURATION_MS
      #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2
    #endif
-    const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
+    const uint16_t delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
-    int i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
+    uint16_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
    while (i--) {
      WRITE(BEEPER,HIGH);
      delayMicroseconds(delay);
      WRITE(BEEPER,LOW);
      delayMicroseconds(delay);
    }
-    const int j = max(10000 - LCD_FEEDBACK_FREQUENCY_DURATION_MS * 1000, 0);
+    const uint16_t j = max(10000 - LCD_FEEDBACK_FREQUENCY_DURATION_MS * 1000, 0);
    if (j) delayMicroseconds(j);
  #endif
 }
@@ -1343,15 +1333,15 @@ static void lcd_quick_feedback() {
 /** Menu action functions **/
 static void menu_action_back(menuFunc_t data) { lcd_goto_menu(data); }
 static void menu_action_submenu(menuFunc_t data) { lcd_goto_menu(data); }
-static void menu_action_gcode(const char* pgcode) { enquecommands_P(pgcode); }
+static void menu_action_gcode(const char* pgcode) { enqueuecommands_P(pgcode); }
 static void menu_action_function(menuFunc_t data) { (*data)(); }
 static void menu_action_sdfile(const char* filename, char* longFilename) {
  char cmd[30];
  char* c;
  sprintf_P(cmd, PSTR("M23 %s"), filename);
  for(c = &cmd[4]; *c; c++) *c = tolower(*c);
-  enquecommand(cmd);
+  enqueuecommand(cmd);
-  enquecommands_P(PSTR("M24"));
+  enqueuecommands_P(PSTR("M24"));
  lcd_return_to_status();
 }
 static void menu_action_sddirectory(const char* filename, char* longFilename) {
@@ -1439,7 +1429,7 @@ int lcd_strlen_P(const char *s) {
 void lcd_update() {
  #ifdef ULTIPANEL
-    static unsigned long timeoutToStatus = 0;
+    static millis_t return_to_status_ms = 0;
  #endif
  #ifdef LCD_HAS_SLOW_BUTTONS
@@ -1468,9 +1458,9 @@ void lcd_update() {
      }
    }
  #endif//CARDINSERTED
-  uint32_t ms = millis();
+  millis_t ms = millis();
-  if (ms > lcd_next_update_millis) {
+  if (ms > next_lcd_update_ms) {
    #ifdef ULTIPANEL
@@ -1522,7 +1512,7 @@ void lcd_update() {
          encoderPosition += (encoderDiff * encoderMultiplier) / ENCODER_PULSES_PER_STEP;
          encoderDiff = 0;
        }
-        timeoutToStatus = ms + LCD_TIMEOUT_TO_STATUS;
+        return_to_status_ms = ms + LCD_TIMEOUT_TO_STATUS;
        lcdDrawUpdate = 1;
      }
    #endif //ULTIPANEL
@@ -1558,7 +1548,7 @@ void lcd_update() {
    #endif
    #ifdef ULTIPANEL
-      if (currentMenu != lcd_status_screen && millis() > timeoutToStatus) {
+      if (currentMenu != lcd_status_screen && millis() > return_to_status_ms) {
        lcd_return_to_status();
        lcdDrawUpdate = 2;
      }
@@ -1566,7 +1556,7 @@ void lcd_update() {
    if (lcdDrawUpdate == 2) lcd_implementation_clear();
    if (lcdDrawUpdate) lcdDrawUpdate--;
-    lcd_next_update_millis = millis() + LCD_UPDATE_INTERVAL;
+    next_lcd_update_ms = millis() + LCD_UPDATE_INTERVAL;
  }
 }
@@ -1585,7 +1575,7 @@ void lcd_finishstatus(bool persist=false) {
  lcdDrawUpdate = 2;
  #ifdef FILAMENT_LCD_DISPLAY
-    message_millis = millis();  //get status message to show up for a while
+    previous_lcd_status_ms = millis();  //get status message to show up for a while
  #endif
 }
@@ -1659,7 +1649,7 @@ void lcd_buttons_update() {
      if (READ(BTN_EN2) == 0)  newbutton |= EN_B;
    #endif
    #if BTN_ENC > 0
-      if (millis() > blocking_enc && READ(BTN_ENC) == 0) newbutton |= EN_C;
+      if (millis() > next_button_update_ms && READ(BTN_ENC) == 0) newbutton |= EN_C;
    #endif
    buttons = newbutton;
    #ifdef LCD_HAS_SLOW_BUTTONS

--- a/MarlinKimbra/ultralcd.h
+++ b/MarlinKimbra/ultralcd.h
@@ -57,10 +57,11 @@
  extern bool cancel_heatup;
  #if (HAS_FILAMENT_SENSOR && defined(FILAMENT_LCD_DISPLAY)) || (HAS_POWER_CONSUMPTION_SENSOR && defined(POWER_CONSUMPTION_LCD_DISPLAY))
-    extern unsigned long message_millis;
+    extern millis_t previous_lcd_status_ms;
  #endif
  void lcd_buzz(long duration,uint16_t freq);
+  void lcd_quick_feedback(); // Audible feedback for a button click - could also be visual
  bool lcd_clicked();
  void lcd_ignore_click(bool b=true);

--- a/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
+++ b/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
@@ -582,7 +582,7 @@ static void lcd_implementation_status_screen() {
    lcd.setCursor(0, 2);
    lcd.print(LCD_STR_FEEDRATE[0]);
-    lcd.print(itostr3(feedmultiply));
+    lcd.print(itostr3(feedrate_multiplier));
    lcd.print('%');
    #if LCD_WIDTH > 19 && defined(SDSUPPORT)
@@ -598,11 +598,11 @@ static void lcd_implementation_status_screen() {
    #endif // LCD_WIDTH > 19 && SDSUPPORT
    lcd.setCursor(LCD_WIDTH - 6, 2);
-    if(starttime != 0) {
+    if(print_job_start_ms != 0) {
      #if HAS_LCD_POWER_SENSOR
        if (millis() < print_millis + 1000) {
          lcd.print(LCD_STR_CLOCK[0]);
-          uint16_t time = millis()/60000 - starttime/60000;
+          uint16_t time = millis()/60000 - print_job_start_ms/60000;
          lcd.print(itostr2(time/60));
          lcd.print(':');
          lcd.print(itostr2(time%60));
@@ -613,7 +613,7 @@ static void lcd_implementation_status_screen() {
        }
      #else
        lcd.print(LCD_STR_CLOCK[0]);
-        uint16_t time = millis()/60000 - starttime/60000;
+        uint16_t time = millis()/60000 - print_job_start_ms/60000;
        lcd.print(itostr2(time/60));
        lcd.print(':');
        lcd.print(itostr2(time%60));
@@ -656,7 +656,7 @@ static void lcd_implementation_status_screen() {
  //Display both Status message line and Filament display on the last line
  #if HAS_LCD_FILAMENT_SENSOR || HAS_LCD_POWER_SENSOR
-    if (millis() < message_millis + 5000) {  //Display both Status message line and Filament display on the last line
+    if (millis() >= previous_lcd_status_ms + 5000) {
      lcd_print(lcd_status_message);
    }
    #if HAS_LCD_POWER_SENSOR
@@ -788,46 +788,45 @@ static void lcd_implementation_drawmenu_sddirectory(bool sel, uint8_t row, const
 #define lcd_implementation_drawmenu_function(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
 #ifdef LCD_HAS_STATUS_INDICATORS
-static void lcd_implementation_update_indicators()
-{
+  static void lcd_implementation_update_indicators() {
-  #if defined(LCD_I2C_PANELOLU2) || defined(LCD_I2C_VIKI)
+    #if defined(LCD_I2C_PANELOLU2) || defined(LCD_I2C_VIKI)
-    //set the LEDS - referred to as backlights by the LiquidTWI2 library 
+      //set the LEDS - referred to as backlights by the LiquidTWI2 library 
-    static uint8_t ledsprev = 0;
+      static uint8_t ledsprev = 0;
-    uint8_t leds = 0;
+      uint8_t leds = 0;
-    if (target_temperature_bed > 0) leds |= LED_A;
+      if (target_temperature_bed > 0) leds |= LED_A;
-    if (target_temperature[0] > 0) leds |= LED_B;
+      if (target_temperature[0] > 0) leds |= LED_B;
-    if (fanSpeed) leds |= LED_C;
+      if (fanSpeed) leds |= LED_C;
-    #if HOTENDS > 1
+      #if HOTENDS > 1
-      if (target_temperature[1] > 0) leds |= LED_C;
+        if (target_temperature[1] > 0) leds |= LED_C;
+      #endif
+      if (leds != ledsprev) {
+        lcd.setBacklight(leds);
+        ledsprev = leds;
+      }
    #endif
-    if (leds != ledsprev) {
+  }
-      lcd.setBacklight(leds);
-      ledsprev = leds;
+#endif // LCD_HAS_STATUS_INDICATORS
-    }
-  #endif
-}
-#endif
 #ifdef LCD_HAS_SLOW_BUTTONS
-extern uint32_t blocking_enc;
+  extern millis_t next_button_update_ms;
-static uint8_t lcd_implementation_read_slow_buttons()
-{
+  static uint8_t lcd_implementation_read_slow_buttons() {
-  #ifdef LCD_I2C_TYPE_MCP23017
+    #ifdef LCD_I2C_TYPE_MCP23017
-  uint8_t slow_buttons;
+      uint8_t slow_buttons;
-    // Reading these buttons this is likely to be too slow to call inside interrupt context
+      // Reading these buttons this is likely to be too slow to call inside interrupt context
-    // so they are called during normal lcd_update
+      // so they are called during normal lcd_update
-    slow_buttons = lcd.readButtons() << B_I2C_BTN_OFFSET; 
+      slow_buttons = lcd.readButtons() << B_I2C_BTN_OFFSET; 
-    #if defined(LCD_I2C_VIKI)
+      #ifdef LCD_I2C_VIKI
-    if(slow_buttons & (B_MI|B_RI)) { //LCD clicked
+        if ((slow_buttons & (B_MI|B_RI)) && millis() < next_button_update_ms) // LCD clicked
-       if(blocking_enc > millis()) {
+          slow_buttons &= ~(B_MI|B_RI); // Disable LCD clicked buttons if screen is updated
-         slow_buttons &= ~(B_MI|B_RI); // Disable LCD clicked buttons if screen is updated
+      #endif
-       }
+      return slow_buttons;
-    }
    #endif
-    return slow_buttons; 
+  }
-  #endif
-}
+#endif // LCD_HAS_SLOW_BUTTONS
-#endif
 #endif //__ULTRALCD_IMPLEMENTATION_HITACHI_HD44780_H