merge with upstream

.gitignore

@@ -10,3 +10,4 @@ Firmware/Doc
 /Firmware/Firmware.vcxproj
 /Firmware/Firmware.vcxproj.filters
 /Firmware/Firmware - Shortcut.lnk
+/Firmware/variants/1_75mm_MK3-MMU-EINSy10a-E3Dv6full.h.bak

Firmware/ConfigurationStore.cpp

@@ -9,8 +9,16 @@
 #include "mesh_bed_leveling.h"
 #endif
 
-void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
+#ifdef DEBUG_EEPROM_WRITE
+#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value), #value)
+#else //DEBUG_EEPROM_WRITE
+#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value), 0)
+#endif //DEBUG_EEPROM_WRITE
+void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size, char* name)
 {
+#ifdef DEBUG_EEPROM_WRITE
+	printf_P(PSTR("EEPROM_WRITE_VAR addr=0x%04x size=0x%02hhx name=%s\n"), pos, size, name);
+#endif //DEBUG_EEPROM_WRITE
 	while (size--) {
 		uint8_t * const p = (uint8_t * const)pos;
 		uint8_t v = *value;
@@ -28,9 +36,17 @@ void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
 	};
 
 }
-#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value))
-void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
+
+#ifdef DEBUG_EEPROM_READ
+#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value), #value)
+#else //DEBUG_EEPROM_READ
+#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value), 0)
+#endif //DEBUG_EEPROM_READ
+void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size, char* name)
 {
+#ifdef DEBUG_EEPROM_READ
+	printf_P(PSTR("EEPROM_READ_VAR addr=0x%04x size=0x%02hhx name=%s\n"), pos, size, name);
+#endif //DEBUG_EEPROM_READ
     do
     {
         *value = eeprom_read_byte((unsigned char*)pos);
@@ -38,7 +54,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
         value++;
     }while(--size);
 }
-#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value))
+
 //======================================================================================
 #define EEPROM_OFFSET 20
 // IMPORTANT:  Whenever there are changes made to the variables stored in EEPROM
@@ -50,7 +66,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
 #define EEPROM_VERSION "V2"
 
 #ifdef EEPROM_SETTINGS
-void Config_StoreSettings(uint16_t offset, uint8_t level) 
+void Config_StoreSettings(uint16_t offset) 
 {
   char ver[4]= "000";
   int i = offset;
@@ -93,7 +109,10 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
 	EEPROM_WRITE_VAR(i, bedKi);
 	EEPROM_WRITE_VAR(i, bedKd);
   #endif
-//  EEPROM_WRITE_VAR(i,lcd_contrast);
+
+  int lcd_contrast = 0;
+  EEPROM_WRITE_VAR(i,lcd_contrast);
+
   #ifdef FWRETRACT
   EEPROM_WRITE_VAR(i,autoretract_enabled);
   EEPROM_WRITE_VAR(i,retract_length);
@@ -119,12 +138,7 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
   #endif
   #endif
 
-#ifdef LIN_ADVANCE
-  if (level >= 10) {
-	  EEPROM_WRITE_VAR(i, extruder_advance_k);
-	  EEPROM_WRITE_VAR(i, advance_ed_ratio);
-  }
-#endif //LIN_ADVANCE
+
 
   EEPROM_WRITE_VAR(i,max_feedrate_silent);
   EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second_silent);
@@ -189,11 +203,11 @@ void Config_PrintSettings(uint8_t level)
 	printf_P(PSTR(
 		"%SRetract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)\n%S   M207 S%.2f F%.2f Z%.2f\n"
 		"%SRecover: S=Extra length (mm) F:Speed (mm/m)\n%S   M208 S%.2f F%.2f\n"
-		"%SAuto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries\n%S   M209 S%.2f\n"
+		"%SAuto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries\n%S   M209 S%d\n"
 		),
 		echomagic, echomagic, retract_length, retract_feedrate*60, retract_zlift,
 		echomagic, echomagic, retract_recover_length, retract_recover_feedrate*60,
-		echomagic, echomagic, (unsigned long)(autoretract_enabled ? 1 : 0)
+		echomagic, echomagic, (autoretract_enabled ? 1 : 0)
 	);
 #if EXTRUDERS > 1
 	printf_P(PSTR("%SMulti-extruder settings:\n%S   Swap retract length (mm):    %.2f\n%S   Swap rec. addl. length (mm): %.2f\n"),
@@ -225,7 +239,7 @@ void Config_PrintSettings(uint8_t level)
 
 
 #ifdef EEPROM_SETTINGS
-bool Config_RetrieveSettings(uint16_t offset, uint8_t level)
+bool Config_RetrieveSettings(uint16_t offset)
 {
     int i=offset;
 	bool previous_settings_retrieved = true;
@@ -277,7 +291,9 @@ bool Config_RetrieveSettings(uint16_t offset, uint8_t level)
 		EEPROM_READ_VAR(i, bedKi);
 		EEPROM_READ_VAR(i, bedKd);
 		#endif
-//        EEPROM_READ_VAR(i,lcd_contrast);
+
+		int lcd_contrast;
+		EEPROM_READ_VAR(i,lcd_contrast);
 
 		#ifdef FWRETRACT
 		EEPROM_READ_VAR(i,autoretract_enabled);
@@ -302,12 +318,7 @@ bool Config_RetrieveSettings(uint16_t offset, uint8_t level)
 		EEPROM_READ_VAR(i, filament_size[2]);
 #endif
 #endif
-#ifdef LIN_ADVANCE
-		if (level >= 10) {
-			EEPROM_READ_VAR(i, extruder_advance_k);
-			EEPROM_READ_VAR(i, advance_ed_ratio);
-		}
-#endif //LIN_ADVANCE
+
     calculate_extruder_multipliers();
 
         EEPROM_READ_VAR(i,max_feedrate_silent);  

Firmware/ConfigurationStore.h

@@ -13,8 +13,8 @@ FORCE_INLINE void Config_PrintSettings() {}
 #endif
 
 #ifdef EEPROM_SETTINGS
-void Config_StoreSettings(uint16_t offset, uint8_t level = 0);
-bool Config_RetrieveSettings(uint16_t offset, uint8_t level = 0);
+void Config_StoreSettings(uint16_t offset);
+bool Config_RetrieveSettings(uint16_t offset);
 #else
 FORCE_INLINE void Config_StoreSettings() {}
 FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); }

Firmware/Dcodes.cpp

@@ -1,33 +1,12 @@
 #include "Dcodes.h"
-#include "Marlin.h"
-
-#ifdef DEBUG_DCODES
-
-#include "ConfigurationStore.h"
+//#include "Marlin.h"
+#include "language.h"
 #include "cmdqueue.h"
-#include "pat9125.h"
-#include "adc.h"
-#include "temperature.h"
-#include <avr/wdt.h>
+#include <stdio.h>
+#include <avr/pgmspace.h>
 
 
-#define FLASHSIZE     0x40000
-
-#define RAMSIZE        0x2000
-#define boot_src_addr  (*((uint32_t*)(RAMSIZE - 16)))
-#define boot_dst_addr  (*((uint32_t*)(RAMSIZE - 12)))
-#define boot_copy_size (*((uint16_t*)(RAMSIZE - 8)))
-#define boot_reserved  (*((uint8_t*)(RAMSIZE - 6)))
-#define boot_app_flags (*((uint8_t*)(RAMSIZE - 5)))
-#define boot_app_magic (*((uint32_t*)(RAMSIZE - 4)))
-#define BOOT_APP_FLG_ERASE 0x01
-#define BOOT_APP_FLG_COPY  0x02
-#define BOOT_APP_FLG_FLASH 0x04
-
-extern uint8_t fsensor_log;
-extern float current_temperature_pinda;
-extern float axis_steps_per_unit[NUM_AXIS];
-
+#define DBG(args...) printf_P(args)
 
 inline void print_hex_nibble(uint8_t val)
 {
@@ -46,26 +25,18 @@ void print_hex_word(uint16_t val)
 	print_hex_byte(val & 255);
 }
 
-void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperline = 16)
+void print_eeprom(uint16_t address, uint16_t count, uint8_t countperline = 16)
 {
 	while (count)
 	{
-		if (type == 2)
-			print_hex_nibble(address >> 16);
 		print_hex_word(address);
 		putchar(' ');
 		uint8_t count_line = countperline;
 		while (count && count_line)
 		{
 			uint8_t data = 0;
-			switch (type)
-			{
-			case 0: data = *((uint8_t*)address++); break;
-			case 1: data = eeprom_read_byte((uint8_t*)address++); break;
-			case 2: data = pgm_read_byte_far((uint8_t*)address++); break;
-			}
 			putchar(' ');
-			print_hex_byte(data);
+			print_hex_byte(eeprom_read_byte((uint8_t*)address++));
 			count_line--;
 			count--;
 		}
@@ -73,9 +44,6 @@ void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperl
 	}
 }
 
-//#define LOG(args...) printf(args)
-#define LOG(args...)
-
 int parse_hex(char* hex, uint8_t* data, int count)
 {
 	int parsed = 0;
@@ -99,6 +67,112 @@ int parse_hex(char* hex, uint8_t* data, int count)
 	return parsed;
 }
 
+
+void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperline = 16)
+{
+	while (count)
+	{
+		if (type == 2)
+			print_hex_nibble(address >> 16);
+		print_hex_word(address);
+		putchar(' ');
+		uint8_t count_line = countperline;
+		while (count && count_line)
+		{
+			uint8_t data = 0;
+			switch (type)
+			{
+			case 0: data = *((uint8_t*)address++); break;
+			case 1: data = eeprom_read_byte((uint8_t*)address++); break;
+			case 2: data = pgm_read_byte_far((uint8_t*)address++); break;
+			}
+			putchar(' ');
+			print_hex_byte(data);
+			count_line--;
+			count--;
+		}
+		putchar('\n');
+	}
+}
+
+#ifdef DEBUG_DCODE3
+#define EEPROM_SIZE 0x1000
+void dcode_3()
+{
+	DBG(_N("D3 - Read/Write EEPROM\n"));
+	uint16_t address = 0x0000; //default 0x0000
+	uint16_t count = EEPROM_SIZE; //default 0x1000 (entire eeprom)
+	if (code_seen('A')) // Address (0x0000-0x0fff)
+		address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
+	if (code_seen('C')) // Count (0x0001-0x1000)
+		count = (int)code_value();
+	address &= 0x1fff;
+	if (count > EEPROM_SIZE) count = EEPROM_SIZE;
+	if ((address + count) > EEPROM_SIZE) count = EEPROM_SIZE - address;
+	if (code_seen('X')) // Data
+	{
+		uint8_t data[16];
+		count = parse_hex(strchr_pointer + 1, data, 16);
+		if (count > 0)
+		{
+			for (int i = 0; i < count; i++)
+				eeprom_write_byte((uint8_t*)(address + i), data[i]);
+			printf_P(_N("%d bytes written to EEPROM at address 0x%04x"), count, address);
+			putchar('\n');
+		}
+		else
+			count = 0;
+	}
+	print_mem(address, count, 1);
+/*	while (count)
+	{
+		print_hex_word(address);
+		putchar(' ');
+		uint8_t countperline = 16;
+		while (count && countperline)
+		{
+			uint8_t data = eeprom_read_byte((uint8_t*)address++);
+			putchar(' ');
+			print_hex_byte(data);
+			countperline--;
+			count--;
+		}
+		putchar('\n');
+	}*/
+}
+#endif //DEBUG_DCODE3
+
+#ifdef DEBUG_DCODES
+
+#include "ConfigurationStore.h"
+#include "cmdqueue.h"
+#include "pat9125.h"
+#include "adc.h"
+#include "temperature.h"
+#include <avr/wdt.h>
+
+
+#define FLASHSIZE     0x40000
+
+#define RAMSIZE        0x2000
+#define boot_src_addr  (*((uint32_t*)(RAMSIZE - 16)))
+#define boot_dst_addr  (*((uint32_t*)(RAMSIZE - 12)))
+#define boot_copy_size (*((uint16_t*)(RAMSIZE - 8)))
+#define boot_reserved  (*((uint8_t*)(RAMSIZE - 6)))
+#define boot_app_flags (*((uint8_t*)(RAMSIZE - 5)))
+#define boot_app_magic (*((uint32_t*)(RAMSIZE - 4)))
+#define BOOT_APP_FLG_ERASE 0x01
+#define BOOT_APP_FLG_COPY  0x02
+#define BOOT_APP_FLG_FLASH 0x04
+
+extern uint8_t fsensor_log;
+extern float current_temperature_pinda;
+extern float axis_steps_per_unit[NUM_AXIS];
+
+
+//#define LOG(args...) printf(args)
+#define LOG(args...)
+
 void dcode__1()
 {
 	printf("D-1 - Endless loop\n");
@@ -177,52 +251,6 @@ void dcode_2()
 	}*/
 }
 
-void dcode_3()
-{
-	LOG("D3 - Read/Write EEPROM\n");
-	uint16_t address = 0x0000; //default 0x0000
-	uint16_t count = 0x2000; //default 0x2000 (entire eeprom)
-	if (code_seen('A')) // Address (0x0000-0x1fff)
-		address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
-	if (code_seen('C')) // Count (0x0001-0x2000)
-		count = (int)code_value();
-	address &= 0x1fff;
-	if (count > 0x2000) count = 0x2000;
-	if ((address + count) > 0x2000) count = 0x2000 - address;
-	if (code_seen('X')) // Data
-	{
-		uint8_t data[16];
-		count = parse_hex(strchr_pointer + 1, data, 16);
-		if (count > 0)
-		{
-			for (int i = 0; i < count; i++)
-				eeprom_write_byte((uint8_t*)(address + i), data[i]);
-			LOG(count, DEC);
-			LOG(" bytes written to EEPROM at address ");
-			print_hex_word(address);
-			putchar('\n');
-		}
-		else
-			count = 0;
-	}
-	print_mem(address, count, 1);
-/*	while (count)
-	{
-		print_hex_word(address);
-		putchar(' ');
-		uint8_t countperline = 16;
-		while (count && countperline)
-		{
-			uint8_t data = eeprom_read_byte((uint8_t*)address++);
-			putchar(' ');
-			print_hex_byte(data);
-			countperline--;
-			count--;
-		}
-		putchar('\n');
-	}*/
-}
-
 void dcode_4()
 {
 	LOG("D4 - Read/Write PIN\n");

Firmware/Marlin_main.cpp

@@ -125,7 +125,6 @@
 
 
 #include "ultralcd.h"
-//-//
 #include "sound.h"
 
 #include "cmdqueue.h"
@@ -475,8 +474,6 @@ uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated re
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
 float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 
-static float delta[3] = {0.0, 0.0, 0.0};
-
 // For tracing an arc
 static float offset[3] = {0.0, 0.0, 0.0};
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
@@ -538,6 +535,9 @@ static void get_arc_coordinates();
 static bool setTargetedHotend(int code);
 static void print_time_remaining_init();
 
+uint16_t gcode_in_progress = 0;
+uint16_t mcode_in_progress = 0;
+
 void serial_echopair_P(const char *s_P, float v)
     { serialprintPGM(s_P); SERIAL_ECHO(v); }
 void serial_echopair_P(const char *s_P, double v)
@@ -795,11 +795,11 @@ int  er_progress = 0;
 void factory_reset(char level, bool quiet)
 {	
 	lcd_clear();
-	int cursor_pos = 0;
     switch (level) {
                    
         // Level 0: Language reset
         case 0:
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
             WRITE(BEEPER, HIGH);
             _delay_ms(100);
             WRITE(BEEPER, LOW);
@@ -808,6 +808,7 @@ void factory_reset(char level, bool quiet)
          
 		//Level 1: Reset statistics
 		case 1:
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 			WRITE(BEEPER, HIGH);
 			_delay_ms(100);
 			WRITE(BEEPER, LOW);
@@ -855,6 +856,7 @@ void factory_reset(char level, bool quiet)
             fsensor_autoload_set(true);
 #endif //FILAMENT_SENSOR
                        
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
             WRITE(BEEPER, HIGH);
             _delay_ms(100);
             WRITE(BEEPER, LOW);
@@ -867,6 +869,7 @@ void factory_reset(char level, bool quiet)
 			lcd_puts_P(PSTR("Factory RESET"));
 			lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
 
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 			WRITE(BEEPER, HIGH);
 			_delay_ms(100);
 			WRITE(BEEPER, LOW);
@@ -939,6 +942,7 @@ void factory_reset()
 
 
 			SET_OUTPUT(BEEPER);
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 			WRITE(BEEPER, HIGH);
 
 			while (!READ(BTN_ENC));
@@ -1040,7 +1044,7 @@ uint8_t check_printer_version()
 
 void erase_eeprom_section(uint16_t offset, uint16_t bytes)
 {
-	for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
+	for (unsigned int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
 }
 
 #ifdef BOOTAPP
@@ -1053,7 +1057,7 @@ void erase_eeprom_section(uint16_t offset, uint16_t bytes)
 
 
 // language update from external flash
-#define LANGBOOT_BLOCKSIZE 0x1000  
+#define LANGBOOT_BLOCKSIZE 0x1000u
 #define LANGBOOT_RAMBUFFER 0x0800
 
 void update_sec_lang_from_external_flash()
@@ -1148,8 +1152,7 @@ void setup()
 	spi_init();
 
 	lcd_splash();
-//-//
-     Sound_Init();
+     Sound_Init();                                // also guarantee "SET_OUTPUT(BEEPER)"
 
 #ifdef W25X20CL
 	if (!w25x20cl_init())
@@ -1476,8 +1479,8 @@ void setup()
 #endif
 	farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
 	EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
-	if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode 
-	if (farm_no == 0xFFFF) farm_no = 0;
+	if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast<int>(0xFFFF))) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
+	if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
 	if (farm_mode)
 	{
 		prusa_statistics(8);
@@ -1723,10 +1726,6 @@ void setup()
 #endif //TMC2130
 
 #ifdef UVLO_SUPPORT
-//-//
-MYSERIAL.println(">>> Setup");
-MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_UVLO),DEC);
-//  if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
   if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
 /*
 	  if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false))	recover_print();
@@ -1753,8 +1752,7 @@ MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_UVLO),DEC);
           #endif 
           if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0); 
           else { 
-//-//
-//              eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0); 
+              eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0); 
               lcd_update_enable(true); 
               lcd_update(2); 
               lcd_setstatuspgm(_T(WELCOME_MSG)); 
@@ -1779,9 +1777,9 @@ void trace();
 char chunk[CHUNK_SIZE+SAFETY_MARGIN];
 int chunkHead = 0;
 
-int serial_read_stream() {
+void serial_read_stream() {
 
-    setTargetHotend(0, 0);
+    setAllTargetHotends(0);
     setTargetBed(0);
 
     lcd_clear();
@@ -1840,9 +1838,7 @@ int serial_read_stream() {
             card.closefile();
             prusa_sd_card_upload = false;
             SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
-            return 0;
         }
-
     }
 }
 
@@ -1986,7 +1982,8 @@ void loop()
   checkHitEndstops();
   lcd_update(0);
 #ifdef FILAMENT_SENSOR
-	fsensor_update();
+	if (mcode_in_progress != 600) //M600 not in progress
+		fsensor_update();
 #endif //FILAMENT_SENSOR
 #ifdef TMC2130
 	tmc2130_check_overtemp();
@@ -2469,6 +2466,7 @@ void refresh_cmd_timeout(void)
 #endif //FWRETRACT
 
 void trace() {
+//if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
     tone(BEEPER, 440);
     delay(25);
     noTone(BEEPER);
@@ -2877,9 +2875,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 	if (!onlyZ)
 	{
 		setTargetBed(0);
-		setTargetHotend(0, 0);
-		setTargetHotend(0, 1);
-		setTargetHotend(0, 2);
+		setAllTargetHotends(0);
 		adjust_bed_reset(); //reset bed level correction
 	}
 
@@ -3359,6 +3355,7 @@ void gcode_M701()
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
 	st_synchronize();
 
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 	tone(BEEPER, 500);
 	delay_keep_alive(50);
 	noTone(BEEPER);
@@ -3454,8 +3451,6 @@ extern uint8_t st_backlash_x;
 extern uint8_t st_backlash_y;
 #endif //BACKLASH_Y
 
-uint16_t gcode_in_progress = 0;
-uint16_t mcode_in_progress = 0;
 
 void process_commands()
 {
@@ -3609,6 +3604,10 @@ void process_commands()
 		else if (code_seen("thx")) {
 			no_response = false;
 		}	
+		else if (code_seen("uvlo")) {
+               eeprom_update_byte((uint8_t*)EEPROM_UVLO,0); 
+               enquecommand_P(PSTR("M24")); 
+		}	
 		else if (code_seen("MMURES")) {
 			fprintf_P(uart2io, PSTR("X0"));
 		}
@@ -3757,6 +3756,7 @@ void process_commands()
                             
                             SET_OUTPUT(BEEPER);
                             if (counterBeep== 0){
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
                               WRITE(BEEPER,HIGH);
                             }
                             
@@ -4445,7 +4445,6 @@ void process_commands()
 				delay_keep_alive(100);
 
 			}
-			fan_speed[1];
 			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
 		}
 	}break;
@@ -4470,14 +4469,16 @@ void process_commands()
 	case_G80:
 	{
 		mesh_bed_leveling_flag = true;
-		int8_t verbosity_level = 0;
-		static bool run = false;
+        static bool run = false;
 
+#ifdef SUPPORT_VERBOSITY
+		int8_t verbosity_level = 0;
 		if (code_seen('V')) {
 			// Just 'V' without a number counts as V1.
 			char c = strchr_pointer[1];
 			verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
 		}
+#endif //SUPPORT_VERBOSITY
 		// Firstly check if we know where we are
 		if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
 			// We don't know where we are! HOME!
@@ -4558,7 +4559,6 @@ void process_commands()
 		int iy = 0;
 
 		int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
-		int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
 		int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
 		bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
 		#ifdef SUPPORT_VERBOSITY
@@ -5020,8 +5020,6 @@ void process_commands()
       card.openFile(strchr_pointer + 4,true);
       break;
     case 24: //M24 - Start SD print
-//-//
-eeprom_update_byte((uint8_t*)EEPROM_UVLO,0); 
 	  if (!card.paused) 
 		failstats_reset_print();
       card.startFileprint();
@@ -5519,7 +5517,10 @@ Sigma_Exit:
       if(setTargetedHotend(104)){
         break;
       }
-      if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
+      if (code_seen('S'))
+      {
+          setTargetHotendSafe(code_value(), tmp_extruder);
+      }
       setWatch();
       break;
     case 112: //  M112 -Emergency Stop
@@ -5632,10 +5633,10 @@ Sigma_Exit:
         autotemp_enabled=false;
       #endif
       if (code_seen('S')) {
-        setTargetHotend(code_value(), tmp_extruder);
+          setTargetHotendSafe(code_value(), tmp_extruder);
               CooldownNoWait = true;
             } else if (code_seen('R')) {
-              setTargetHotend(code_value(), tmp_extruder);
+                setTargetHotendSafe(code_value(), tmp_extruder);
         CooldownNoWait = false;
       }
       #ifdef AUTOTEMP
@@ -5988,8 +5989,6 @@ Sigma_Exit:
             break;
           }
         }
-
-        float area = .0;
         if(code_seen('D')) {
 		  float diameter = (float)code_value();
 		  if (diameter == 0.0) {
@@ -6021,9 +6020,9 @@ Sigma_Exit:
 		{
 			if (code_seen(axis_codes[i]))
 			{
-				int val = code_value();
+				unsigned long val = code_value();
 #ifdef TMC2130
-				int val_silent = val;
+				unsigned long val_silent = val;
 				if ((i == X_AXIS) || (i == Y_AXIS))
 				{
 					if (val > NORMAL_MAX_ACCEL_XY)
@@ -6315,6 +6314,7 @@ Sigma_Exit:
       if (beepS > 0)
       {
         #if BEEPER > 0
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
           tone(BEEPER, beepS);
           delay(beepP);
           noTone(BEEPER);
@@ -6862,26 +6862,12 @@ Sigma_Exit:
 		disable_e2();
 		delay(100);
 
-//-//
-//if(eSoundMode==e_SOUND_MODE_LOUD)
-//     Sound_MakeSound_tmp();
-Sound_MakeSound(e_SOUND_CLASS_Prompt,e_SOUND_TYPE_StandardPrompt);
-/*
-		WRITE(BEEPER, HIGH);
-		uint8_t counterBeep = 0;
-		while (!lcd_clicked() && (counterBeep < 50)) {
-			if (counterBeep > 5) WRITE(BEEPER, LOW);
-			delay_keep_alive(100);
-			counterBeep++;
-		}
-		WRITE(BEEPER, LOW);
-*/
-uint8_t counterBeep = 0;
-while (!lcd_clicked() && (counterBeep < 50)) {
-	delay_keep_alive(100);
-	counterBeep++;
-}
-//-//
+          Sound_MakeSound(e_SOUND_CLASS_Prompt,e_SOUND_TYPE_StandardPrompt);
+          uint8_t counterBeep = 0;
+          while (!lcd_clicked() && (counterBeep < 50)) {
+	         delay_keep_alive(100);
+	         counterBeep++;
+          }
 		st_synchronize();	
 		while (lcd_clicked()) delay_keep_alive(100);
 
@@ -6926,7 +6912,7 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 		  }
 		  snmm_filaments_used |= (1 << tmp_extruder); //for stop print
 
-#ifdef SNMM_V2
+#if defined (SNMM_V2)
 		  printf_P(PSTR("T code: %d \n"), tmp_extruder);
 		  fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
 
@@ -6939,9 +6925,8 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 			  mmu_load_to_nozzle();
 
 		  }
-#endif
+#elif defined(SNMM)
 
-#ifdef SNMM
           
     #ifdef LIN_ADVANCE
           if (snmm_extruder != tmp_extruder)
@@ -6988,7 +6973,7 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 		  }
 		  delay(100);
 
-#else
+#else //SNMM and SNMM_V2 undefined:
 		  if (tmp_extruder >= EXTRUDERS) {
 			  SERIAL_ECHO_START;
 			  SERIAL_ECHOPGM("T");
@@ -6996,15 +6981,19 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 			  SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
 		  }
 		  else {
-			  boolean make_move = false;
+			#if EXTRUDERS > 1
+		      boolean make_move = false;
+			#endif
 			  if (code_seen('F')) {
+			#if EXTRUDERS > 1
 				  make_move = true;
+			#endif
 				  next_feedrate = code_value();
 				  if (next_feedrate > 0.0) {
 					  feedrate = next_feedrate;
 				  }
 			  }
-#if EXTRUDERS > 1
+			#if EXTRUDERS > 1
 			  if (tmp_extruder != active_extruder) {
 				  // Save current position to return to after applying extruder offset
 				  memcpy(destination, current_position, sizeof(destination));
@@ -7023,7 +7012,7 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 					  prepare_move();
 				  }
 			  }
-#endif
+			#endif
 			  SERIAL_ECHO_START;
 			  SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
 			  SERIAL_PROTOCOLLN((int)active_extruder);
@@ -7033,11 +7022,11 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 	  }
   } // end if(code_seen('T')) (end of T codes)
 
-#ifdef DEBUG_DCODES
   else if (code_seen('D')) // D codes (debug)
   {
     switch((int)code_value())
     {
+#ifdef DEBUG_DCODES
 	case -1: // D-1 - Endless loop
 		dcode__1(); break;
 	case 0: // D0 - Reset
@@ -7046,8 +7035,12 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 		dcode_1(); break;
 	case 2: // D2 - Read/Write RAM
 		dcode_2(); break;
+#endif //DEBUG_DCODES
+#ifdef DEBUG_DCODE3
 	case 3: // D3 - Read/Write EEPROM
 		dcode_3(); break;
+#endif //DEBUG_DCODE3
+#ifdef DEBUG_DCODES
 	case 4: // D4 - Read/Write PIN
 		dcode_4(); break;
 	case 5: // D5 - Read/Write FLASH
@@ -7076,9 +7069,9 @@ while (!lcd_clicked() && (counterBeep < 50)) {
 		dcode_9125(); break;
 #endif //FILAMENT_SENSOR
 
+#endif //DEBUG_DCODES
 	}
   }
-#endif //DEBUG_DCODES
 
   else
   {
@@ -7413,7 +7406,7 @@ static void handleSafetyTimer()
     else if (safetyTimer.expired(safetytimer_inactive_time))
     {
         setTargetBed(0);
-        setTargetHotend(0, 0);
+        setAllTargetHotends(0);
         lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
     }
 }
@@ -7431,6 +7424,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
 				fsensor_autoload_check_stop();
 				if (degHotend0() > EXTRUDE_MINTEMP)
 				{
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 					tone(BEEPER, 1000);
 					delay_keep_alive(50);
 					noTone(BEEPER);
@@ -7928,7 +7922,6 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
 
 	int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
-	int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
 	int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
 
 	setup_for_endstop_move(false);
@@ -8095,7 +8088,6 @@ void temp_compensation_start() {
 
 void temp_compensation_apply() {
 	int i_add;
-	int compensation_value;
 	int z_shift = 0;
 	float z_shift_mm;
 
@@ -8122,7 +8114,7 @@ float temp_comp_interpolation(float inp_temperature) {
 
 	//cubic spline interpolation
 
-	int n, i, j, k;
+	int n, i, j;
 	float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
 	int shift[10];
 	int temp_C[10];
@@ -8220,9 +8212,7 @@ void long_pause() //long pause print
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
 
 	//set nozzle target temperature to 0
-	setTargetHotend(0, 0);
-	setTargetHotend(0, 1);
-	setTargetHotend(0, 2);
+	setAllTargetHotends(0);
 
 	//Move XY to side
 	current_position[X_AXIS] = X_PAUSE_POS;
@@ -8254,8 +8244,6 @@ void uvlo_()
 {
 	unsigned long time_start = millis();
 	bool sd_print = card.sdprinting;
-//-//
-MYSERIAL.println(">>> uvlo()");
     // Conserve power as soon as possible.
     disable_x();
     disable_y();
@@ -8393,33 +8381,17 @@ MYSERIAL.println(">>> uvlo()");
     st_synchronize();
 #endif
     
-
-		cli();
-    volatile unsigned int ppcount = 0;
-    SET_OUTPUT(BEEPER);
-    WRITE(BEEPER, HIGH);
-    for(ppcount = 0; ppcount < 2000; ppcount ++){
-        asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
-    }
-    WRITE(BEEPER, LOW);
-    while(1){
-#if 1
-        WRITE(BEEPER, LOW);
-        for(ppcount = 0; ppcount < 8000; ppcount ++){
-             asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
-        }
-#endif
-        
-    };
+wdt_enable(WDTO_500MS);
+WRITE(BEEPER,HIGH);
+while(1)
+     ;
 }
 
 
 void uvlo_tiny()
 {
 uint16_t z_microsteps=0;
-bool sd_print=card.sdprinting;
 
-MYSERIAL.println(">>> uvloTiny()");
 // Conserve power as soon as possible.
 disable_x();
 disable_y();
@@ -8440,6 +8412,7 @@ sei();
 plan_buffer_line(
      current_position[X_AXIS], 
      current_position[Y_AXIS], 
+//     current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS], 
      current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS], 
      current_position[E_AXIS],
      40, active_extruder);
@@ -8456,6 +8429,11 @@ eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_posit
 // Increment power failure counter
 eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
 eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
+
+wdt_enable(WDTO_500MS);
+WRITE(BEEPER,HIGH);
+while(1)
+     ;
 }
 #endif //UVLO_SUPPORT
 
@@ -8509,20 +8487,8 @@ void setup_uvlo_interrupt() {
 ISR(INT4_vect) {
 	EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once 
 	SERIAL_ECHOLNPGM("INT4");
-//-//
-//	if (IS_SD_PRINTING) uvlo_();
-//if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
-if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
-if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
-/*
-if(IS_SD_PRINTING)
-     {
-MYSERIAL.println(">>> ");
-     if(!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))
-          uvlo_();
-     else uvlo_tiny();
-     }
-*/
+     if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
+     if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
 }
 
 void recover_print(uint8_t automatic) {
@@ -8531,18 +8497,12 @@ void recover_print(uint8_t automatic) {
 	lcd_update(2);
 	lcd_setstatuspgm(_i("Recovering print    "));////MSG_RECOVERING_PRINT c=20 r=1
 
-//-//
-//  recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
-MYSERIAL.println(">>> RecoverPrint");
-MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_UVLO),DEC);
-bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
-recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
+     bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
+     recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
 
   // Lift the print head, so one may remove the excess priming material.
-//-//
-//if (current_position[Z_AXIS] < 25)
-if(!bTiny&&(current_position[Z_AXIS]<25))
-    enquecommand_P(PSTR("G1 Z25 F800"));
+     if(!bTiny&&(current_position[Z_AXIS]<25))
+          enquecommand_P(PSTR("G1 Z25 F800"));
   // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
 	enquecommand_P(PSTR("G28 X Y"));
   // Set the target bed and nozzle temperatures and wait.
@@ -8558,15 +8518,6 @@ if(!bTiny&&(current_position[Z_AXIS]<25))
     } 
 	enquecommand_P(PSTR("G1 E"  STRINGIFY(-DEFAULT_RETRACTION)" F480"));
 
-  // Mark the power panic status as inactive.
-//-//
-MYSERIAL.println("===== before");
-//	eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
-MYSERIAL.println("===== after");
-	/*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
-		delay_keep_alive(1000);
-	}*/
-
 	printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
 
   // Restart the print.
@@ -8584,16 +8535,12 @@ void recover_machine_state_after_power_panic(bool bTiny)
   current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
   // Recover the logical coordinate of the Z axis at the time of the power panic.
   // The current position after power panic is moved to the next closest 0th full step.
-//-//
-//  current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) + 
-//    UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
   if(bTiny)
     current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) + 
     UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
   else
     current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) + 
     UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
-//-//
   if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
 	  current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
 	  sprintf_P(cmd, PSTR("G92 E"));
@@ -8658,11 +8605,9 @@ void recover_machine_state_after_power_panic(bool bTiny)
 }
 
 void restore_print_from_eeprom() {
-	float x_rec, y_rec, z_pos;
 	int feedrate_rec;
 	uint8_t fan_speed_rec;
 	char cmd[30];
-	char* c;
 	char filename[13];
 	uint8_t depth = 0;
 	char dir_name[9];
@@ -8715,7 +8660,6 @@ void restore_print_from_eeprom() {
 	enquecommand(cmd);
 	if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
 	{
-	  float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
 	  enquecommand_P(PSTR("M82")); //E axis abslute mode
 	}
   // Set the fan speed saved at the power panic.
@@ -8726,10 +8670,8 @@ void restore_print_from_eeprom() {
   // Set a position in the file.
   sprintf_P(cmd, PSTR("M26 S%lu"), position);
   enquecommand(cmd);
-//-//
-enquecommand_P(PSTR("G4 S0")); 
-  // Start SD print.
-  enquecommand_P(PSTR("M24")); 
+  enquecommand_P(PSTR("G4 S0")); 
+  enquecommand_P(PSTR("PRUSA uvlo"));
 }
 #endif //UVLO_SUPPORT
 
@@ -8740,7 +8682,9 @@ enquecommand_P(PSTR("G4 S0"));
 void stop_and_save_print_to_ram(float z_move, float e_move)
 {
 	if (saved_printing) return;
+#if 0
 	unsigned char nplanner_blocks;
+#endif
 	unsigned char nlines;
 	uint16_t sdlen_planner;
 	uint16_t sdlen_cmdqueue;
@@ -8748,7 +8692,9 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
 
 	cli();
 	if (card.sdprinting) {
+#if 0
 		nplanner_blocks = number_of_blocks();
+#endif
 		saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
 		sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
 		saved_sdpos -= sdlen_planner;
@@ -9252,6 +9198,7 @@ void M600_load_filament()
 #ifdef FILAMENT_SENSOR
 		if (fsensor_check_autoload())
 		{
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 			tone(BEEPER, 1000);
 			delay_keep_alive(50);
 			noTone(BEEPER);
@@ -9270,6 +9217,7 @@ void M600_load_filament()
 
 	M600_load_filament_movements();
 
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 	tone(BEEPER, 500);
 	delay_keep_alive(50);
 	noTone(BEEPER);

Firmware/Marlin_main.cpp~RF6ca149ac.TMP

@@ -1,9143 +0,0 @@
-/* -*- c++ -*- */
-/**
- * @file
- */
-
-/**
- * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
- *
- * @section intro_sec Introduction
- *
- * This firmware is a mashup between Sprinter and grbl.
- * https://github.com/kliment/Sprinter
- * https://github.com/simen/grbl/tree
- *
- * It has preliminary support for Matthew Roberts advance algorithm
- * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- *
- * Prusa Research s.r.o. https://www.prusa3d.cz
- *
- * @section copyright_sec Copyright
- *
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program 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.
- *
- * This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- * @section notes_sec Notes
- *
- * * Do not create static objects in global functions.
- *   Otherwise constructor guard against concurrent calls is generated costing
- *   about 8B RAM and 14B flash.
- *
- *
- */
-
-#include "Marlin.h"
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-#include "vector_3.h"
-  #ifdef AUTO_BED_LEVELING_GRID
-    #include "qr_solve.h"
-  #endif
-#endif // ENABLE_AUTO_BED_LEVELING
-
-#ifdef MESH_BED_LEVELING
-  #include "mesh_bed_leveling.h"
-  #include "mesh_bed_calibration.h"
-#endif
-
-#include "printers.h"
-
-#include "menu.h"
-#include "ultralcd.h"
-
-#include "planner.h"
-#include "stepper.h"
-#include "temperature.h"
-#include "motion_control.h"
-#include "cardreader.h"
-#include "ConfigurationStore.h"
-#include "language.h"
-#include "pins_arduino.h"
-#include "math.h"
-#include "util.h"
-#include "Timer.h"
-#include "uart2.h"
-
-#include <avr/wdt.h>
-#include <avr/pgmspace.h>
-
-#include "Dcodes.h"
-
-
-#ifdef SWSPI
-#include "swspi.h"
-#endif //SWSPI
-
-#include "spi.h"
-
-#ifdef SWI2C
-#include "swi2c.h"
-#endif //SWI2C
-
-#ifdef PAT9125
-#include "pat9125.h"
-#include "fsensor.h"
-#endif //PAT9125
-
-#ifdef TMC2130
-#include "tmc2130.h"
-#endif //TMC2130
-
-#ifdef W25X20CL
-#include "w25x20cl.h"
-#include "optiboot_w25x20cl.h"
-#endif //W25X20CL
-
-#ifdef BLINKM
-#include "BlinkM.h"
-#include "Wire.h"
-#endif
-
-#ifdef ULTRALCD
-#include "ultralcd.h"
-#endif
-
-#if NUM_SERVOS > 0
-#include "Servo.h"
-#endif
-
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-#include <SPI.h>
-#endif
-
-#define VERSION_STRING  "1.0.2"
-
-
-#include "ultralcd.h"
-
-#include "cmdqueue.h"
-
-// Macros for bit masks
-#define BIT(b) (1<<(b))
-#define TEST(n,b) (((n)&BIT(b))!=0)
-#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
-
-//Macro for print fan speed
-#define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
-
-#define PRINTING_TYPE_SD 0
-#define PRINTING_TYPE_USB 1
-
-// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
-// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
-
-//Implemented Codes
-//-------------------
-
-// PRUSA CODES
-// P F - Returns FW versions
-// P R - Returns revision of printer
-
-// G0  -> G1
-// G1  - Coordinated Movement X Y Z E
-// G2  - CW ARC
-// G3  - CCW ARC
-// G4  - Dwell S<seconds> or P<milliseconds>
-// G10 - retract filament according to settings of M207
-// G11 - retract recover filament according to settings of M208
-// G28 - Home all Axis
-// G29 - Detailed Z-Probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
-// G30 - Single Z Probe, probes bed at current XY location.
-// G31 - Dock sled (Z_PROBE_SLED only)
-// G32 - Undock sled (Z_PROBE_SLED only)
-// G80 - Automatic mesh bed leveling
-// G81 - Print bed profile
-// G90 - Use Absolute Coordinates
-// G91 - Use Relative Coordinates
-// G92 - Set current position to coordinates given
-
-// M Codes
-// M0   - Unconditional stop - Wait for user to press a button on the LCD
-// M1   - Same as M0
-// M17  - Enable/Power all stepper motors
-// M18  - Disable all stepper motors; same as M84
-// M20  - List SD card
-// M21  - Init SD card
-// M22  - Release SD card
-// M23  - Select SD file (M23 filename.g)
-// M24  - Start/resume SD print
-// M25  - Pause SD print
-// M26  - Set SD position in bytes (M26 S12345)
-// M27  - Report SD print status
-// M28  - Start SD write (M28 filename.g)
-// 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 _while_ printing from SD card files):
-//        syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
-//        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
-//        The '#' is necessary when calling from within sd files, as it stops buffer prereading
-// 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.
-// M73  - Show percent done and print time remaining
-// M80  - Turn on Power Supply
-// M81  - Turn off Power Supply
-// M82  - Set E codes absolute (default)
-// M83  - Set E codes relative while in Absolute Coordinates (G90) mode
-// M84  - Disable steppers until next move,
-//        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
-// M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
-// M86  - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
-// M92  - Set axis_steps_per_unit - same syntax as G92
-// M104 - Set extruder target temp
-// M105 - Read current temp
-// M106 - Fan on
-// M107 - Fan off
-// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
-//        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
-//        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
-// M112 - Emergency stop
-// M113 - Get or set the timeout interval for Host Keepalive "busy" messages
-// M114 - Output current position to serial port
-// M115 - Capabilities string
-// M117 - display message
-// M119 - Output Endstop status to serial port
-// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
-// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
-// 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
-// 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.
-// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
-//        Rxxx 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)
-// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
-// M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
-// M206 - set additional homing offset
-// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
-// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
-// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
-// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-// M220 S<factor in percent>- set speed factor override percentage
-// M221 S<factor in percent>- set extrude factor override percentage
-// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
-// M240 - Trigger a camera to take a photograph
-// M250 - Set LCD contrast C<contrast value> (value 0..63)
-// M280 - set servo position absolute. P: servo index, S: angle or microseconds
-// M300 - Play beep sound S<frequency Hz> P<duration ms>
-// M301 - Set PID parameters P I and D
-// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
-// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
-// M304 - Set bed PID parameters P I and D
-// M400 - Finish all moves
-// M401 - Lower z-probe if present
-// M402 - Raise z-probe if present
-// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
-// 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 
-// M500 - stores parameters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
-// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
-// M503 - print the current settings (from memory not from EEPROM)
-// M509 - force language selection on next restart
-// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-// 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> ]
-// M860 - Wait for PINDA thermistor to reach target temperature.
-// M861 - Set / Read PINDA temperature compensation offsets
-// M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
-// M907 - Set digital trimpot motor current using axis codes.
-// M908 - Control digital trimpot directly.
-// M350 - Set microstepping mode.
-// M351 - Toggle MS1 MS2 pins directly.
-
-// M928 - Start SD logging (M928 filename.g) - ended by M29
-// M999 - Restart after being stopped by error
-
-//Stepper Movement Variables
-
-//===========================================================================
-//=============================imported variables============================
-//===========================================================================
-
-
-//===========================================================================
-//=============================public variables=============================
-//===========================================================================
-#ifdef SDSUPPORT
-CardReader card;
-#endif
-
-unsigned long PingTime = millis();
-unsigned long NcTime;
-
-union Data
-{
-byte b[2];
-int value;
-};
-
-float homing_feedrate[] = HOMING_FEEDRATE;
-// Currently only the extruder axis may be switched to a relative mode.
-// Other axes are always absolute or relative based on the common relative_mode flag.
-bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
-int feedmultiply=100; //100->1 200->2
-int saved_feedmultiply;
-int extrudemultiply=100; //100->1 200->2
-int extruder_multiply[EXTRUDERS] = {100
-  #if EXTRUDERS > 1
-    , 100
-    #if EXTRUDERS > 2
-      , 100
-    #endif
-  #endif
-};
-
-int bowden_length[4] = {385, 385, 385, 385};
-
-bool is_usb_printing = false;
-bool homing_flag = false;
-
-bool temp_cal_active = false;
-
-unsigned long kicktime = millis()+100000;
-
-unsigned int  usb_printing_counter;
-
-int lcd_change_fil_state = 0;
-
-int feedmultiplyBckp = 100;
-float HotendTempBckp = 0;
-int fanSpeedBckp = 0;
-float pause_lastpos[4];
-unsigned long pause_time = 0;
-unsigned long start_pause_print = millis();
-unsigned long t_fan_rising_edge = millis();
-static LongTimer safetyTimer;
-static LongTimer crashDetTimer;
-
-//unsigned long load_filament_time;
-
-bool mesh_bed_leveling_flag = false;
-bool mesh_bed_run_from_menu = false;
-
-int8_t FarmMode = 0;
-
-bool prusa_sd_card_upload = false;
-
-unsigned int status_number = 0;
-
-unsigned long total_filament_used;
-unsigned int heating_status;
-unsigned int heating_status_counter;
-bool custom_message;
-bool loading_flag = false;
-unsigned int custom_message_type;
-unsigned int custom_message_state;
-char snmm_filaments_used = 0;
-
-bool fan_state[2];
-int fan_edge_counter[2];
-int fan_speed[2];
-
-char dir_names[3][9];
-
-bool sortAlpha = false;
-
-bool volumetric_enabled = false;
-float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
-  #if EXTRUDERS > 1
-      , DEFAULT_NOMINAL_FILAMENT_DIA
-    #if EXTRUDERS > 2
-       , DEFAULT_NOMINAL_FILAMENT_DIA
-    #endif
-  #endif
-};
-float extruder_multiplier[EXTRUDERS] = {1.0
-  #if EXTRUDERS > 1
-    , 1.0
-    #if EXTRUDERS > 2
-      , 1.0
-    #endif
-  #endif
-};
-
-float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
-//shortcuts for more readable code
-#define _x current_position[X_AXIS]
-#define _y current_position[Y_AXIS]
-#define _z current_position[Z_AXIS]
-#define _e current_position[E_AXIS]
-
-
-float add_homing[3]={0,0,0};
-
-float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
-bool axis_known_position[3] = {false, false, false};
-float zprobe_zoffset;
-
-// Extruder offset
-#if EXTRUDERS > 1
-  #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
-float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
-#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
-  EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
-#endif
-};
-#endif
-
-uint8_t active_extruder = 0;
-int fanSpeed=0;
-
-#ifdef FWRETRACT
-  bool autoretract_enabled=false;
-  bool retracted[EXTRUDERS]={false
-    #if EXTRUDERS > 1
-    , false
-     #if EXTRUDERS > 2
-      , false
-     #endif
-  #endif
-  };
-  bool retracted_swap[EXTRUDERS]={false
-    #if EXTRUDERS > 1
-    , false
-     #if EXTRUDERS > 2
-      , false
-     #endif
-  #endif
-  };
-
-  float retract_length = RETRACT_LENGTH;
-  float retract_length_swap = RETRACT_LENGTH_SWAP;
-  float retract_feedrate = RETRACT_FEEDRATE;
-  float retract_zlift = RETRACT_ZLIFT;
-  float retract_recover_length = RETRACT_RECOVER_LENGTH;
-  float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
-  float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
-#endif
-
-  #ifdef PS_DEFAULT_OFF
-    bool powersupply = false;
-  #else
-	  bool powersupply = true;
-  #endif
-
-bool cancel_heatup = false ;
-
-#ifdef HOST_KEEPALIVE_FEATURE
-  
-  int busy_state = NOT_BUSY;
-  static long prev_busy_signal_ms = -1;
-  uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
-#else
-  #define host_keepalive();
-  #define KEEPALIVE_STATE(n);
-#endif
-
-
-const char errormagic[] PROGMEM = "Error:";
-const char echomagic[] PROGMEM = "echo:";
-
-bool no_response = false;
-uint8_t important_status;
-uint8_t saved_filament_type;
-
-// save/restore printing
-bool saved_printing = false;
-
-// storing estimated time to end of print counted by slicer
-uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
-uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
-uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
-uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
-
-//===========================================================================
-//=============================Private Variables=============================
-//===========================================================================
-const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
-
-static float delta[3] = {0.0, 0.0, 0.0};
-
-// For tracing an arc
-static float offset[3] = {0.0, 0.0, 0.0};
-static float feedrate = 1500.0, next_feedrate, saved_feedrate;
-
-// Determines Absolute or Relative Coordinates.
-// Also there is bool axis_relative_modes[] per axis flag.
-static bool relative_mode = false;  
-
-#ifndef _DISABLE_M42_M226
-const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
-#endif //_DISABLE_M42_M226
-
-//static float tt = 0;
-//static float bt = 0;
-
-//Inactivity shutdown variables
-static unsigned long previous_millis_cmd = 0;
-unsigned long max_inactive_time = 0;
-static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
-static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
-
-unsigned long starttime=0;
-unsigned long stoptime=0;
-unsigned long _usb_timer = 0;
-
-static uint8_t tmp_extruder;
-
-bool extruder_under_pressure = true;
-
-
-bool Stopped=false;
-
-#if NUM_SERVOS > 0
-  Servo servos[NUM_SERVOS];
-#endif
-
-bool CooldownNoWait = true;
-bool target_direction;
-
-//Insert variables if CHDK is defined
-#ifdef CHDK
-unsigned long chdkHigh = 0;
-boolean chdkActive = false;
-#endif
-
-// save/restore printing
-static uint32_t saved_sdpos = 0;
-static uint8_t saved_printing_type = PRINTING_TYPE_SD;
-static float saved_pos[4] = { 0, 0, 0, 0 };
-// Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
-static float saved_feedrate2 = 0;
-static uint8_t saved_active_extruder = 0;
-static bool saved_extruder_under_pressure = false;
-static bool saved_extruder_relative_mode = false;
-
-//===========================================================================
-//=============================Routines======================================
-//===========================================================================
-
-void get_arc_coordinates();
-bool setTargetedHotend(int code);
-
-void serial_echopair_P(const char *s_P, float v)
-    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char *s_P, double v)
-    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char *s_P, unsigned long v)
-    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
-#ifdef SDSUPPORT
-  #include "SdFatUtil.h"
-  int freeMemory() { return SdFatUtil::FreeRam(); }
-#else
-  extern "C" {
-    extern unsigned int __bss_end;
-    extern unsigned int __heap_start;
-    extern void *__brkval;
-
-    int freeMemory() {
-      int free_memory;
-
-      if ((int)__brkval == 0)
-        free_memory = ((int)&free_memory) - ((int)&__bss_end);
-      else
-        free_memory = ((int)&free_memory) - ((int)__brkval);
-
-      return free_memory;
-    }
-  }
-#endif //!SDSUPPORT
-
-void setup_killpin()
-{
-  #if defined(KILL_PIN) && KILL_PIN > -1
-    SET_INPUT(KILL_PIN);
-    WRITE(KILL_PIN,HIGH);
-  #endif
-}
-
-// Set home pin
-void setup_homepin(void)
-{
-#if defined(HOME_PIN) && HOME_PIN > -1
-   SET_INPUT(HOME_PIN);
-   WRITE(HOME_PIN,HIGH);
-#endif
-}
-
-void setup_photpin()
-{
-  #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
-    SET_OUTPUT(PHOTOGRAPH_PIN);
-    WRITE(PHOTOGRAPH_PIN, LOW);
-  #endif
-}
-
-void setup_powerhold()
-{
-  #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
-    SET_OUTPUT(SUICIDE_PIN);
-    WRITE(SUICIDE_PIN, HIGH);
-  #endif
-  #if defined(PS_ON_PIN) && PS_ON_PIN > -1
-    SET_OUTPUT(PS_ON_PIN);
-	#if defined(PS_DEFAULT_OFF)
-	  WRITE(PS_ON_PIN, PS_ON_ASLEEP);
-    #else
-	  WRITE(PS_ON_PIN, PS_ON_AWAKE);
-	#endif
-  #endif
-}
-
-void suicide()
-{
-  #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
-    SET_OUTPUT(SUICIDE_PIN);
-    WRITE(SUICIDE_PIN, LOW);
-  #endif
-}
-
-void servo_init()
-{
-  #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
-    servos[0].attach(SERVO0_PIN);
-  #endif
-  #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
-    servos[1].attach(SERVO1_PIN);
-  #endif
-  #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
-    servos[2].attach(SERVO2_PIN);
-  #endif
-  #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
-    servos[3].attach(SERVO3_PIN);
-  #endif
-  #if (NUM_SERVOS >= 5)
-    #error "TODO: enter initalisation code for more servos"
-  #endif
-}
-
-
-void stop_and_save_print_to_ram(float z_move, float e_move);
-void restore_print_from_ram_and_continue(float e_move);
-
-bool fans_check_enabled = true;
-bool filament_autoload_enabled = true;
-
-
-#ifdef TMC2130
-
-extern int8_t CrashDetectMenu;
-
-void crashdet_enable()
-{
-	tmc2130_sg_stop_on_crash = true;
-	eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF); 
-	CrashDetectMenu = 1;
-
-}
-
-void crashdet_disable()
-{
-	tmc2130_sg_stop_on_crash = false;
-	tmc2130_sg_crash = 0;
-	eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00); 
-	CrashDetectMenu = 0;
-}
-
-void crashdet_stop_and_save_print()
-{
-	stop_and_save_print_to_ram(10, -DEFAULT_RETRACTION); //XY - no change, Z 10mm up, E -1mm retract
-}
-
-void crashdet_restore_print_and_continue()
-{
-	restore_print_from_ram_and_continue(DEFAULT_RETRACTION); //XYZ = orig, E +1mm unretract
-//	babystep_apply();
-}
-
-
-void crashdet_stop_and_save_print2()
-{
-	cli();
-	planner_abort_hard(); //abort printing
-	cmdqueue_reset(); //empty cmdqueue
-	card.sdprinting = false;
-	card.closefile();
-  // Reset and re-enable the stepper timer just before the global interrupts are enabled.
-  st_reset_timer();
-	sei();
-}
-
-void crashdet_detected(uint8_t mask)
-{
-//	printf("CRASH_DETECTED");
-/*	while (!is_buffer_empty())
-	{
-		process_commands();
-	    cmdqueue_pop_front();
-	}*/
-	st_synchronize();
-	static uint8_t crashDet_counter = 0;
-	bool automatic_recovery_after_crash = true;
-
-	if (crashDet_counter++ == 0) {
-		crashDetTimer.start();
-	}
-	else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
-		crashDetTimer.stop();
-		crashDet_counter = 0;
-	}
-	else if(crashDet_counter == CRASHDET_COUNTER_MAX){
-		automatic_recovery_after_crash = false;
-		crashDetTimer.stop();
-		crashDet_counter = 0;
-	}
-	else {
-		crashDetTimer.start();
-	}
-
-	lcd_update_enable(true);
-	lcd_clear();
-	lcd_update(2);
-
-	if (mask & X_AXIS_MASK)
-	{
-		eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
-		eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
-	}
-	if (mask & Y_AXIS_MASK)
-	{
-		eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
-		eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
-	}
-    
-
-
-	lcd_update_enable(true);
-	lcd_update(2);
-	lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
-	gcode_G28(true, true, false); //home X and Y
-	st_synchronize();
-
-	if (automatic_recovery_after_crash) {
-		enquecommand_P(PSTR("CRASH_RECOVER"));
-	}else{
-		HotendTempBckp = degTargetHotend(active_extruder);
-		setTargetHotend(0, active_extruder);
-		bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
-		lcd_update_enable(true);
-		if (yesno)
-		{
-			char cmd1[10];
-			strcpy(cmd1, "M109 S");
-			strcat(cmd1, ftostr3(HotendTempBckp));
-			enquecommand(cmd1);
-			enquecommand_P(PSTR("CRASH_RECOVER"));
-		}
-		else
-		{
-			enquecommand_P(PSTR("CRASH_CANCEL"));
-		}
-	}
-}
-
-void crashdet_recover()
-{
-	crashdet_restore_print_and_continue();
-	tmc2130_sg_stop_on_crash = true;
-}
-
-void crashdet_cancel()
-{
-	tmc2130_sg_stop_on_crash = true;
-	if (saved_printing_type == PRINTING_TYPE_SD) {
-		lcd_print_stop();
-	}else if(saved_printing_type == PRINTING_TYPE_USB){
-		SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
-		SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
-	}
-}
-
-#endif //TMC2130
-
-void failstats_reset_print()
-{
-	eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
-	eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
-	eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
-	eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
-}
-
-
-
-#ifdef MESH_BED_LEVELING
-   enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
-#endif
-
-
-// Factory reset function
-// This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
-// Level input parameter sets depth of reset
-// Quiet parameter masks all waitings for user interact.
-int  er_progress = 0;
-void factory_reset(char level, bool quiet)
-{	
-	lcd_clear();
-	int cursor_pos = 0;
-    switch (level) {
-                   
-        // Level 0: Language reset
-        case 0:
-            WRITE(BEEPER, HIGH);
-            _delay_ms(100);
-            WRITE(BEEPER, LOW);
-			lang_reset();
-            break;
-         
-		//Level 1: Reset statistics
-		case 1:
-			WRITE(BEEPER, HIGH);
-			_delay_ms(100);
-			WRITE(BEEPER, LOW);
-			eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
-			eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
-
-			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
-			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
-			eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
-			eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
-
-			eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
-			eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
-			eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
-			eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
-
-			lcd_menu_statistics();
-            
-			break;
-
-        // Level 2: Prepare for shipping
-        case 2:
-			//lcd_puts_P(PSTR("Factory RESET"));
-            //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
-            
-            // Force language selection at the next boot up.
-			lang_reset();
-            // Force the "Follow calibration flow" message at the next boot up.
-            calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
-			eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
-            farm_no = 0;
-			farm_mode = false;
-			eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
-            EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
-
-            eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
-            eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
-            eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
-            eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
-            eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
-            eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
-
-            fsensor_enable();
-            fautoload_set(true);
-                       
-            WRITE(BEEPER, HIGH);
-            _delay_ms(100);
-            WRITE(BEEPER, LOW);
-			//_delay_ms(2000);
-            break;
-
-			// Level 3: erase everything, whole EEPROM will be set to 0xFF
-
-		case 3:
-			lcd_puts_P(PSTR("Factory RESET"));
-			lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
-
-			WRITE(BEEPER, HIGH);
-			_delay_ms(100);
-			WRITE(BEEPER, LOW);
-
-			er_progress = 0;
-			lcd_puts_at_P(3, 3, PSTR("      "));
-			lcd_set_cursor(3, 3);
-			lcd_print(er_progress);
-
-			// Erase EEPROM
-			for (int i = 0; i < 4096; i++) {
-				eeprom_write_byte((uint8_t*)i, 0xFF);
-
-				if (i % 41 == 0) {
-					er_progress++;
-					lcd_puts_at_P(3, 3, PSTR("      "));
-					lcd_set_cursor(3, 3);
-					lcd_print(er_progress);
-					lcd_puts_P(PSTR("%"));
-				}
-
-			}
-
-
-			break;
-		case 4:
-			bowden_menu();
-			break;
-        
-        default:
-            break;
-    }
-    
-
-}
-
-
-FILE _uartout = {0};
-
-int uart_putchar(char c, FILE *stream)
-{
-	MYSERIAL.write(c);
-	return 0;
-}
-
-
-void lcd_splash()
-{
-//	lcd_puts_at_P(0, 1, PSTR("   Original Prusa   "));
-//	lcd_puts_at_P(0, 2, PSTR("    3D  Printers    "));
-//	lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D  Printers"));
-//    fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
-    lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
-//	lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
-}
-
-
-void factory_reset() 
-{
-	KEEPALIVE_STATE(PAUSED_FOR_USER);
-	if (!READ(BTN_ENC))
-	{
-		_delay_ms(1000);
-		if (!READ(BTN_ENC))
-		{
-			lcd_clear();
-
-
-			lcd_puts_P(PSTR("Factory RESET"));
-
-
-			SET_OUTPUT(BEEPER);
-			WRITE(BEEPER, HIGH);
-
-			while (!READ(BTN_ENC));
-
-			WRITE(BEEPER, LOW);
-
-
-
-			_delay_ms(2000);
-
-			char level = reset_menu();
-			factory_reset(level, false);
-
-			switch (level) {
-			case 0: _delay_ms(0); break;
-			case 1: _delay_ms(0); break;
-			case 2: _delay_ms(0); break;
-			case 3: _delay_ms(0); break;
-			}
-			// _delay_ms(100);
-			/*
-			#ifdef MESH_BED_LEVELING
-			_delay_ms(2000);
-
-			if (!READ(BTN_ENC))
-			{
-			WRITE(BEEPER, HIGH);
-			_delay_ms(100);
-			WRITE(BEEPER, LOW);
-			_delay_ms(200);
-			WRITE(BEEPER, HIGH);
-			_delay_ms(100);
-			WRITE(BEEPER, LOW);
-
-			int _z = 0;
-			calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
-			EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
-			EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
-			EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
-			}
-			else
-			{
-
-			WRITE(BEEPER, HIGH);
-			_delay_ms(100);
-			WRITE(BEEPER, LOW);
-			}
-			#endif // mesh */
-
-		}
-	}
-	else
-	{
-		//_delay_ms(1000);  // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
-	}
-	KEEPALIVE_STATE(IN_HANDLER);
-}
-
-void show_fw_version_warnings() {
-	if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
-	switch (FW_DEV_VERSION) {
-	case(FW_VERSION_ALPHA):   lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage."));   break;////MSG_FW_VERSION_ALPHA c=20 r=8
-	case(FW_VERSION_BETA):    lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage."));    break;////MSG_FW_VERSION_BETA c=20 r=8
-  case(FW_VERSION_DEVEL):
-	case(FW_VERSION_DEBUG):
-    lcd_update_enable(false);
-    lcd_clear();
-  #if FW_DEV_VERSION == FW_VERSION_DEVEL
-    lcd_puts_at_P(0, 0, PSTR("Development build !!"));
-  #else
-    lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
-  #endif
-    lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
-    lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
-    lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
-    lcd_wait_for_click();
-    break;
-//	default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
-	}
-	lcd_update_enable(true);
-}
-
-uint8_t check_printer_version()
-{
-	uint8_t version_changed = 0;
-	uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
-	uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
-
-	if (printer_type != PRINTER_TYPE) {
-		if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
-		else version_changed |= 0b10;
-	}
-	if (motherboard != MOTHERBOARD) {
-		if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
-		else version_changed |= 0b01;
-	}
-	return version_changed;
-}
-
-void erase_eeprom_section(uint16_t offset, uint16_t bytes)
-{
-	for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
-}
-
-
-#if (LANG_MODE != 0) //secondary language support
-
-#ifdef W25X20CL
-
-#include "bootapp.h" //bootloader support
-
-// language update from external flash
-#define LANGBOOT_BLOCKSIZE 0x1000  
-#define LANGBOOT_RAMBUFFER 0x0800
-
-void update_sec_lang_from_external_flash()
-{
-	if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
-	{
-		uint8_t lang = boot_reserved >> 4;
-		uint8_t state = boot_reserved & 0xf;
-		lang_table_header_t header;
-		uint32_t src_addr;
-		if (lang_get_header(lang, &header, &src_addr))
-		{
-			fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
-			for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
-			delay(100);
-			boot_reserved = (state + 1) | (lang << 4);
-			if ((state * LANGBOOT_BLOCKSIZE) < header.size)
-			{
-				cli();
-				uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
-				if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
-				w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
-				if (state == 0)
-				{
-					//TODO - check header integrity
-				}
-				bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
-			}
-			else
-			{
-				//TODO - check sec lang data integrity
-				eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
-			}
-		}
-	}
-	boot_app_flags &= ~BOOT_APP_FLG_USER0;
-}
-
-
-#ifdef DEBUG_W25X20CL
-
-uint8_t lang_xflash_enum_codes(uint16_t* codes)
-{
-	lang_table_header_t header;
-	uint8_t count = 0;
-	uint32_t addr = 0x00000;
-	while (1)
-	{
-		printf_P(_n("LANGTABLE%d:"), count);
-		w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
-		if (header.magic != LANG_MAGIC)
-		{
-			printf_P(_n("NG!\n"));
-			break;
-		}
-		printf_P(_n("OK\n"));
-		printf_P(_n(" _lt_magic        = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
-		printf_P(_n(" _lt_size         = 0x%04x (%d)\n"), header.size, header.size);
-		printf_P(_n(" _lt_count        = 0x%04x (%d)\n"), header.count, header.count);
-		printf_P(_n(" _lt_chsum        = 0x%04x\n"), header.checksum);
-		printf_P(_n(" _lt_code         = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
-		printf_P(_n(" _lt_sign         = 0x%08lx\n"), header.signature);
-
-		addr += header.size;
-		codes[count] = header.code;
-		count ++;
-	}
-	return count;
-}
-
-void list_sec_lang_from_external_flash()
-{
-	uint16_t codes[8];
-	uint8_t count = lang_xflash_enum_codes(codes);
-	printf_P(_n("XFlash lang count = %hhd\n"), count);
-}
-
-#endif //DEBUG_W25X20CL
-
-#endif //W25X20CL
-
-#endif //(LANG_MODE != 0)
-
-
-// "Setup" function is called by the Arduino framework on startup.
-// Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code 
-// are initialized by the main() routine provided by the Arduino framework.
-void setup()
-{
-    ultralcd_init();
-
-	spi_init();
-
-	lcd_splash();
-
-#ifdef W25X20CL
-  // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
- // optiboot_w25x20cl_enter();
-#endif
-
-#if (LANG_MODE != 0) //secondary language support
-#ifdef W25X20CL
-	if (w25x20cl_init())
-		update_sec_lang_from_external_flash();
-	else
-		kill(_i("External SPI flash W25X20CL not responding."));
-#endif //W25X20CL
-#endif //(LANG_MODE != 0)
-
-	setup_killpin();
-	setup_powerhold();
-
-	farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE); 
-	EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
-	if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF)) 
-		farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
-	if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
-	
-	selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
-	if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
-	if (farm_mode)
-	{
-		no_response = true; //we need confirmation by recieving PRUSA thx
-		important_status = 8;
-		prusa_statistics(8);
-		selectedSerialPort = 1;
-#ifdef TMC2130
-		//increased extruder current (PFW363)
-		tmc2130_current_h[E_AXIS] = 36;
-		tmc2130_current_r[E_AXIS] = 36;
-#endif //TMC2130
-		//disabled filament autoload (PFW360)
-		filament_autoload_enabled = false;
-		eeprom_update_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED, 0);
-	}
-	MYSERIAL.begin(BAUDRATE);
-	fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
-	stdout = uartout;
-	SERIAL_PROTOCOLLNPGM("start");
-	SERIAL_ECHO_START;
-	printf_P(PSTR(" " FW_VERSION_FULL "\n"));
-
-	uart2_init();
-
-
-#ifdef DEBUG_SEC_LANG
-	lang_table_header_t header;
-	uint32_t src_addr = 0x00000;
-	if (lang_get_header(1, &header, &src_addr))
-	{
-//this is comparsion of some printing-methods regarding to flash space usage and code size/readability
-#define LT_PRINT_TEST 2
-//  flash usage
-//  total   p.test
-//0 252718  t+c  text code
-//1 253142  424  170  254
-//2 253040  322  164  158
-//3 253248  530  135  395
-#if (LT_PRINT_TEST==1) //not optimized printf
-		printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
-		printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
-		printf_P(_n(" _lt_size  = 0x%04x (%d)\n"), header.size, header.size);
-		printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
-		printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
-		printf_P(_n(" _lt_code  = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
-		printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
-#elif (LT_PRINT_TEST==2) //optimized printf
-		printf_P(
-		 _n(
-		  " _src_addr = 0x%08lx\n"
-		  " _lt_magic = 0x%08lx %S\n"
-		  " _lt_size  = 0x%04x (%d)\n"
-		  " _lt_count = 0x%04x (%d)\n"
-		  " _lt_chsum = 0x%04x\n"
-		  " _lt_code  = 0x%04x (%c%c)\n"
-		  " _lt_resv1 = 0x%08lx\n"
-		 ),
-		 src_addr,
-		 header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
-		 header.size, header.size,
-		 header.count, header.count,
-		 header.checksum,
-		 header.code, header.code >> 8, header.code & 0xff,
-		 header.signature
-		);
-#elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
-		MYSERIAL.print(" _src_addr = 0x");
-		MYSERIAL.println(src_addr, 16);
-		MYSERIAL.print(" _lt_magic = 0x");
-		MYSERIAL.print(header.magic, 16);
-		MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
-		MYSERIAL.print(" _lt_size  = 0x");
-		MYSERIAL.print(header.size, 16);
-		MYSERIAL.print(" (");
-		MYSERIAL.print(header.size, 10);
-		MYSERIAL.println(")");
-		MYSERIAL.print(" _lt_count = 0x");
-		MYSERIAL.print(header.count, 16);
-		MYSERIAL.print(" (");
-		MYSERIAL.print(header.count, 10);
-		MYSERIAL.println(")");
-		MYSERIAL.print(" _lt_chsum = 0x");
-		MYSERIAL.println(header.checksum, 16);
-		MYSERIAL.print(" _lt_code  = 0x");
-		MYSERIAL.print(header.code, 16);
-		MYSERIAL.print(" (");
-		MYSERIAL.print((char)(header.code >> 8), 0);
-		MYSERIAL.print((char)(header.code & 0xff), 0);
-		MYSERIAL.println(")");
-		MYSERIAL.print(" _lt_resv1 = 0x");
-		MYSERIAL.println(header.signature, 16);
-#endif //(LT_PRINT_TEST==)
-#undef LT_PRINT_TEST
-
-#if 0
-		w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
-		for (uint16_t i = 0; i < 1024; i++)
-		{
-			if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
-			printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
-			if ((i % 16) == 15) putchar('\n');
-		}
-#endif
-		uint16_t sum = 0;
-		for (uint16_t i = 0; i < header.size; i++)
-			sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
-		printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
-		sum -= header.checksum; //subtract checksum
-		printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
-		sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
-		if (sum == header.checksum)
-			printf_P(_n("Checksum OK\n"), sum);
-		else
-			printf_P(_n("Checksum NG\n"), sum);
-	}
-	else
-		printf_P(_n("lang_get_header failed!\n"));
-
-#if 0
-		for (uint16_t i = 0; i < 1024*10; i++)
-		{
-			if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
-			printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
-			if ((i % 16) == 15) putchar('\n');
-		}
-#endif
-
-#if 0
-	SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
-	for (int i = 0; i < 4096; ++i) {
-		int b = eeprom_read_byte((unsigned char*)i);
-		if (b != 255) {
-			SERIAL_ECHO(i);
-			SERIAL_ECHO(":");
-			SERIAL_ECHO(b);
-			SERIAL_ECHOLN("");
-		}
-	}
-	SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
-#endif
-
-#endif //DEBUG_SEC_LANG
-
-	// Check startup - does nothing if bootloader sets MCUSR to 0
-	byte mcu = MCUSR;
-/*	if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
-	if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
-	if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
-	if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
-	if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
-	if (mcu & 1) puts_P(_T(MSG_POWERUP));
-	if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
-	if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
-	if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
-	if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
-	MCUSR = 0;
-
-	//SERIAL_ECHORPGM(MSG_MARLIN);
-	//SERIAL_ECHOLNRPGM(VERSION_STRING);
-
-#ifdef STRING_VERSION_CONFIG_H
-#ifdef STRING_CONFIG_H_AUTHOR
-	SERIAL_ECHO_START;
-	SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
-	SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
-	SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
-	SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
-	SERIAL_ECHOPGM("Compiled: ");
-	SERIAL_ECHOLNPGM(__DATE__);
-#endif
-#endif
-
-	SERIAL_ECHO_START;
-	SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
-	SERIAL_ECHO(freeMemory());
-	SERIAL_ECHORPGM(_i("  PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
-	SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
-	//lcd_update_enable(false); // why do we need this?? - andre
-	// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
-	
-	bool previous_settings_retrieved = false; 
-	uint8_t hw_changed = check_printer_version();
-	if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
-		previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
-	} 
-	else { //printer version was changed so use default settings 
-		Config_ResetDefault();
-	}
-	SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
-
-	tp_init();    // Initialize temperature loop
-
-	lcd_splash(); // we need to do this again, because tp_init() kills lcd
-
-	plan_init();  // Initialize planner;
-
-	factory_reset();
-
-#ifdef TMC2130
-	uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
-	if (silentMode == 0xff) silentMode = 0;
-//	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
-	tmc2130_mode = TMC2130_MODE_NORMAL;
-	uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
-	if (crashdet && !farm_mode)
-	{
-		crashdet_enable();
-	    puts_P(_N("CrashDetect ENABLED!"));
-	}
-	else
-	{
-		crashdet_disable();
-	    puts_P(_N("CrashDetect DISABLED"));
-	}
-
-#ifdef TMC2130_LINEARITY_CORRECTION
-#ifdef TMC2130_LINEARITY_CORRECTION_XYZ
-	tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
-	tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
-	tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
-#endif //TMC2130_LINEARITY_CORRECTION_XYZ
-	tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
-	if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
-	if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
-	if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
-	if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
-#endif //TMC2130_LINEARITY_CORRECTION
-
-#ifdef TMC2130_VARIABLE_RESOLUTION
-	tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
-	tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
-	tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
-	tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
-	if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
-	if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
-	if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
-	if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
-	eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
-	eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
-	eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
-	eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
-#else //TMC2130_VARIABLE_RESOLUTION
-	tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
-	tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
-	tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
-	tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
-#endif //TMC2130_VARIABLE_RESOLUTION
-
-#endif //TMC2130
-
-
-	st_init();    // Initialize stepper, this enables interrupts!
-
-#ifdef TMC2130
-	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
-	tmc2130_init();
-#endif //TMC2130
-    
-	setup_photpin();
-
-	servo_init();
-	// Reset the machine correction matrix.
-	// It does not make sense to load the correction matrix until the machine is homed.
-	world2machine_reset();
-    
-#ifdef PAT9125
-	fsensor_init();
-#endif //PAT9125
-
-
-#if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
-	SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
-#endif
-
-
-	setup_homepin();
-
-#ifdef TMC2130
-
-  if (1) {
-    // try to run to zero phase before powering the Z motor.    
-    // Move in negative direction
-    WRITE(Z_DIR_PIN,INVERT_Z_DIR);
-    // Round the current micro-micro steps to micro steps.
-    for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
-      // Until the phase counter is reset to zero.
-      WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
-      delay(2);
-      WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
-      delay(2);
-    }
-  }
-#endif //TMC2130
-
-#if defined(Z_AXIS_ALWAYS_ON)
-	enable_z();
-#endif
-	farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
-	EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
-	if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode 
-	if (farm_no == 0xFFFF) farm_no = 0;
-	if (farm_mode)
-	{
-		prusa_statistics(8);
-	}
-
-	// Enable Toshiba FlashAir SD card / WiFi enahanced card.
-	card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
-
-	if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
-		eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
-		// Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
-		// where all the EEPROM entries are set to 0x0ff.
-		// Once a firmware boots up, it forces at least a language selection, which changes
-		// EEPROM_LANG to number lower than 0x0ff.
-		// 1) Set a high power mode.
-#ifdef TMC2130
-		eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
-		tmc2130_mode = TMC2130_MODE_NORMAL;
-#endif //TMC2130
-		eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
-	}
-
-	// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false), 
-	// but this times out if a blocking dialog is shown in setup().
-	card.initsd();
-#ifdef DEBUG_SD_SPEED_TEST
-	if (card.cardOK)
-	{
-		uint8_t* buff = (uint8_t*)block_buffer;
-		uint32_t block = 0;
-		uint32_t sumr = 0;
-		uint32_t sumw = 0;
-		for (int i = 0; i < 1024; i++)
-		{
-			uint32_t u = micros();
-			bool res = card.card.readBlock(i, buff);
-			u = micros() - u;
-			if (res)
-			{
-				printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
-				sumr += u;
-				u = micros();
-				res = card.card.writeBlock(i, buff);
-				u = micros() - u;
-				if (res)
-				{
-					printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
-					sumw += u;
-				}
-				else
-				{
-					printf_P(PSTR("writeBlock %4d error\n"), i);
-					break;
-				}
-			}
-			else
-			{
-				printf_P(PSTR("readBlock %4d error\n"), i);
-				break;
-			}
-		}
-		uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
-		uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
-		printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
-		printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
-	}
-	else
-		printf_P(PSTR("Card NG!\n"));
-#endif //DEBUG_SD_SPEED_TEST
-
-	if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
-#ifdef SNMM
-	if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
-	  int _z = BOWDEN_LENGTH;
-	  for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
-	}
-#endif
-
-  // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
-  // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
-  // is being written into the EEPROM, so the update procedure will be triggered only once.
-
-
-#if (LANG_MODE != 0) //secondary language support
-
-#ifdef DEBUG_W25X20CL
-	W25X20CL_SPI_ENTER();
-	uint8_t uid[8]; // 64bit unique id
-	w25x20cl_rd_uid(uid);
-	puts_P(_n("W25X20CL UID="));
-	for (uint8_t i = 0; i < 8; i ++)
-		printf_P(PSTR("%02hhx"), uid[i]);
-	putchar('\n');
-	list_sec_lang_from_external_flash();
-#endif //DEBUG_W25X20CL
-
-//	lang_reset();
-	if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
-		lcd_language();
-
-#ifdef DEBUG_SEC_LANG
-
-	uint16_t sec_lang_code = lang_get_code(1);
-	uint16_t ui = _SEC_LANG_TABLE; //table pointer
-	printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
-
-//	lang_print_sec_lang(uartout);
-#endif //DEBUG_SEC_LANG
-
-#endif //(LANG_MODE != 0)
-
-	if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
-		eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
-		temp_cal_active = false;
-	} else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
-
-	if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
-		//eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
-		eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
-		int16_t z_shift = 0;
-		for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
-		eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
-		temp_cal_active = false;
-	}
-	if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
-		eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
-	}
-	if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
-		eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
-	}
-
-	check_babystep(); //checking if Z babystep is in allowed range
-
-#ifdef UVLO_SUPPORT
-	setup_uvlo_interrupt();
-#endif //UVLO_SUPPORT
-
-#if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
-	setup_fan_interrupt();
-#endif //DEBUG_DISABLE_FANCHECK
-
-#ifdef PAT9125
-#ifndef DEBUG_DISABLE_FSENSORCHECK
-	fsensor_setup_interrupt();
-#endif //DEBUG_DISABLE_FSENSORCHECK
-#endif //PAT9125
-	for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]); 
-	
-#ifndef DEBUG_DISABLE_STARTMSGS
-  KEEPALIVE_STATE(PAUSED_FOR_USER);
-
-  show_fw_version_warnings();
-
-  switch (hw_changed) { 
-	  //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
-	  //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
-	case(0b01): 
-		lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
-		eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD); 
-		break;
-	case(0b10): 
-		lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
-		eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE); 
-		break;
-	case(0b11): 
-		lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
-		eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
-		eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD); 
-		break;
-	default: break; //no change, show no message
-  }
-
-  if (!previous_settings_retrieved) {
-	  lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
-	  erase_eeprom_section(EEPROM_OFFSET, 156); 							   //erase M500 part of eeprom
-  }
-  if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
-	  lcd_wizard(0);
-  }
-  if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
-	  if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
-		  calibration_status() == CALIBRATION_STATUS_UNKNOWN || 
-		  calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
-		  // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
-		  eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
-		  // Show the message.
-		  lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
-	  }
-	  else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
-		  // Show the message.
-		  lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
-		  lcd_update_enable(true);
-	  }
-	  else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
-		  //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
-		  lcd_update_enable(true);
-	  }
-	  else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
-		  // Show the message.
-		  lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
-	  }
-  }
-
-#if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
-  if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
-	  lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
-	  update_current_firmware_version_to_eeprom();
-	  lcd_selftest();
-  }
-#endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
-
-  KEEPALIVE_STATE(IN_PROCESS);
-#endif //DEBUG_DISABLE_STARTMSGS
-  lcd_update_enable(true);
-  lcd_clear();
-  lcd_update(2);
-  // Store the currently running firmware into an eeprom,
-  // so the next time the firmware gets updated, it will know from which version it has been updated.
-  update_current_firmware_version_to_eeprom();
-
-#ifdef TMC2130
-  	tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
-	tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
-	tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
-	if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
-	if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
-	if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
-
-	tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
-	tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
-	tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
-	if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
-	if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
-	if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
-
-	tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
-	if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
-#endif //TMC2130
-
-#ifdef UVLO_SUPPORT
-  if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
-/*
-	  if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false))	recover_print();
-	  else {
-		  eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
-		  lcd_update_enable(true);
-		  lcd_update(2);
-		  lcd_setstatuspgm(_T(WELCOME_MSG));
-	  }
-*/
-      manage_heater(); // Update temperatures 
-#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER 
-		printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED))
-#endif 
-     if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){ 
-          #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER 
-        puts_P(_N("Automatic recovery!")); 
-          #endif 
-         recover_print(1); 
-      } 
-      else{ 
-          #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER 
-        puts_P(_N("Normal recovery!")); 
-          #endif 
-          if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0); 
-          else { 
-              eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0); 
-              lcd_update_enable(true); 
-              lcd_update(2); 
-              lcd_setstatuspgm(_T(WELCOME_MSG)); 
-          } 
-           
-      } 
-	   
-  }
-#endif //UVLO_SUPPORT
-
-  KEEPALIVE_STATE(NOT_BUSY);
-#ifdef WATCHDOG
-  wdt_enable(WDTO_4S);
-#endif //WATCHDOG
-}
-
-#ifdef PAT9125
-void fsensor_init() {
-	int pat9125 = pat9125_init();
-	printf_P(_N("PAT9125_init:%d\n"), pat9125);
-	uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
-     filament_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
-	if (!pat9125)
-	{
-		fsensor = 0; //disable sensor
-		fsensor_not_responding = true;
-	}
-	else {
-		fsensor_not_responding = false;
-	}
-	puts_P(PSTR("FSensor "));
-	if (fsensor)
-	{
-		puts_P(PSTR("ENABLED\n"));
-		fsensor_enable();
-	}
-	else
-	{
-		puts_P(PSTR("DISABLED\n"));
-		fsensor_disable();
-	}
-#ifdef DEBUG_DISABLE_FSENSORCHECK
-	filament_autoload_enabled = false;
-	fsensor_disable();
-#endif //DEBUG_DISABLE_FSENSORCHECK
-}
-
-#endif //PAT9125
-
-void trace();
-
-#define CHUNK_SIZE 64 // bytes
-#define SAFETY_MARGIN 1
-char chunk[CHUNK_SIZE+SAFETY_MARGIN];
-int chunkHead = 0;
-
-int serial_read_stream() {
-
-    setTargetHotend(0, 0);
-    setTargetBed(0);
-
-    lcd_clear();
-    lcd_puts_P(PSTR(" Upload in progress"));
-
-    // first wait for how many bytes we will receive
-    uint32_t bytesToReceive;
-
-    // receive the four bytes
-    char bytesToReceiveBuffer[4];
-    for (int i=0; i<4; i++) {
-        int data;
-        while ((data = MYSERIAL.read()) == -1) {};
-        bytesToReceiveBuffer[i] = data;
-
-    }
-
-    // make it a uint32
-    memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
-
-    // we're ready, notify the sender
-    MYSERIAL.write('+');
-
-    // lock in the routine
-    uint32_t receivedBytes = 0;
-    while (prusa_sd_card_upload) {
-        int i;
-        for (i=0; i<CHUNK_SIZE; i++) {
-            int data;
-
-            // check if we're not done
-            if (receivedBytes == bytesToReceive) {
-                break;
-            }
-
-            // read the next byte
-            while ((data = MYSERIAL.read()) == -1) {};
-            receivedBytes++;
-
-            // save it to the chunk
-            chunk[i] = data;
-        }
-
-        // write the chunk to SD
-        card.write_command_no_newline(&chunk[0]);
-
-        // notify the sender we're ready for more data
-        MYSERIAL.write('+');
-
-        // for safety
-        manage_heater();
-
-        // check if we're done
-        if(receivedBytes == bytesToReceive) {
-            trace(); // beep
-            card.closefile();
-            prusa_sd_card_upload = false;
-            SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
-            return 0;
-        }
-
-    }
-}
-
-#ifdef HOST_KEEPALIVE_FEATURE
-/**
-* Output a "busy" message at regular intervals
-* while the machine is not accepting commands.
-*/
-void host_keepalive() {
-  if (farm_mode) return;
-  long ms = millis();
-  if (host_keepalive_interval && busy_state != NOT_BUSY) {
-    if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
-     switch (busy_state) {
-      case IN_HANDLER:
-      case IN_PROCESS:
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLNPGM("busy: processing");
-        break;
-      case PAUSED_FOR_USER:
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLNPGM("busy: paused for user");
-        break;
-      case PAUSED_FOR_INPUT:
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLNPGM("busy: paused for input");
-        break;
-      default:
-	break;
-    }
-  }
-  prev_busy_signal_ms = ms;
-}
-#endif
-
-// The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
-// Before loop(), the setup() function is called by the main() routine.
-void loop()
-{
-	KEEPALIVE_STATE(NOT_BUSY);
-	bool stack_integrity = true;
-
-	if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
-	{
-		is_usb_printing = true;
-		usb_printing_counter--;
-		_usb_timer = millis();
-	}
-	if (usb_printing_counter == 0)
-	{
-		is_usb_printing = false;
-	}
-
-    if (prusa_sd_card_upload)
-    {
-        //we read byte-by byte
-        serial_read_stream();
-    } else 
-    {
-
-        get_command();
-
-  #ifdef SDSUPPORT
-  card.checkautostart(false);
-  #endif
-  if(buflen)
-  {
-    cmdbuffer_front_already_processed = false;
-    #ifdef SDSUPPORT
-      if(card.saving)
-      {
-        // Saving a G-code file onto an SD-card is in progress.
-        // Saving starts with M28, saving until M29 is seen.
-        if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
-          card.write_command(CMDBUFFER_CURRENT_STRING);
-          if(card.logging)
-            process_commands();
-          else
-           SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
-        } else {
-          card.closefile();
-          SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
-        }
-      } else {
-        process_commands();
-      }
-    #else
-      process_commands();
-    #endif //SDSUPPORT
-
-    if (! cmdbuffer_front_already_processed && buflen)
-    {
-      // ptr points to the start of the block currently being processed.
-      // The first character in the block is the block type.      
-      char *ptr = cmdbuffer + bufindr;
-      if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
-        // To support power panic, move the lenght of the command on the SD card to a planner buffer.
-        union {
-          struct {
-              char lo;
-              char hi;
-          } lohi;
-          uint16_t value;
-        } sdlen;
-        sdlen.value = 0;
-        {
-          // This block locks the interrupts globally for 3.25 us,
-          // which corresponds to a maximum repeat frequency of 307.69 kHz.
-          // This blocking is safe in the context of a 10kHz stepper driver interrupt
-          // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
-          cli();
-          // Reset the command to something, which will be ignored by the power panic routine,
-          // so this buffer length will not be counted twice.
-          *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
-          // Extract the current buffer length.
-          sdlen.lohi.lo = *ptr ++;
-          sdlen.lohi.hi = *ptr;
-          // and pass it to the planner queue.
-          planner_add_sd_length(sdlen.value);
-          sei();
-        }
-	  }
-	  else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){ 
-		  
-		  cli();
-          *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
-          // and one for each command to previous block in the planner queue.
-          planner_add_sd_length(1);
-          sei();
-	  }
-      // Now it is safe to release the already processed command block. If interrupted by the power panic now,
-      // this block's SD card length will not be counted twice as its command type has been replaced 
-      // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
-      cmdqueue_pop_front();
-    }
-	host_keepalive();
-  }
-}
-  //check heater every n milliseconds
-  manage_heater();
-  isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
-  checkHitEndstops();
-  lcd_update(0);
-#ifdef PAT9125
-	fsensor_update();
-#endif //PAT9125
-#ifdef TMC2130
-	tmc2130_check_overtemp();
-	if (tmc2130_sg_crash)
-	{
-		uint8_t crash = tmc2130_sg_crash;
-		tmc2130_sg_crash = 0;
-//		crashdet_stop_and_save_print();
-		switch (crash)
-		{
-		case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
-		case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
-		case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
-		}
-	}
-#endif //TMC2130
-
-}
-
-#define DEFINE_PGM_READ_ANY(type, reader)       \
-    static inline type pgm_read_any(const type *p)  \
-    { return pgm_read_##reader##_near(p); }
-
-DEFINE_PGM_READ_ANY(float,       float);
-DEFINE_PGM_READ_ANY(signed char, byte);
-
-#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
-static const PROGMEM type array##_P[3] =        \
-    { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };     \
-static inline type array(int axis)              \
-    { return pgm_read_any(&array##_P[axis]); }  \
-type array##_ext(int axis)                      \
-    { return pgm_read_any(&array##_P[axis]); }
-
-XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,    MIN_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_max_pos,    MAX_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_home_pos,   HOME_POS);
-XYZ_CONSTS_FROM_CONFIG(float, max_length,      MAX_LENGTH);
-XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
-XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
-
-static void axis_is_at_home(int axis) {
-  current_position[axis] = base_home_pos(axis) + add_homing[axis];
-  min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
-  max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
-}
-
-
-inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
-inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
-
-
-static void setup_for_endstop_move(bool enable_endstops_now = true) {
-    saved_feedrate = feedrate;
-    saved_feedmultiply = feedmultiply;
-    feedmultiply = 100;
-    previous_millis_cmd = millis();
-    
-    enable_endstops(enable_endstops_now);
-}
-
-static void clean_up_after_endstop_move() {
-#ifdef ENDSTOPS_ONLY_FOR_HOMING
-    enable_endstops(false);
-#endif
-    
-    feedrate = saved_feedrate;
-    feedmultiply = saved_feedmultiply;
-    previous_millis_cmd = millis();
-}
-
-
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef AUTO_BED_LEVELING_GRID
-static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
-{
-    vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
-    planeNormal.debug("planeNormal");
-    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-    //bedLevel.debug("bedLevel");
-
-    //plan_bed_level_matrix.debug("bed level before");
-    //vector_3 uncorrected_position = plan_get_position_mm();
-    //uncorrected_position.debug("position before");
-
-    vector_3 corrected_position = plan_get_position();
-//    corrected_position.debug("position after");
-    current_position[X_AXIS] = corrected_position.x;
-    current_position[Y_AXIS] = corrected_position.y;
-    current_position[Z_AXIS] = corrected_position.z;
-
-    // put the bed at 0 so we don't go below it.
-    current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
-
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-}
-
-#else // not AUTO_BED_LEVELING_GRID
-
-static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
-
-    plan_bed_level_matrix.set_to_identity();
-
-    vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
-    vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
-    vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
-
-    vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
-    vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
-    vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
-    planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
-
-    plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
-
-    vector_3 corrected_position = plan_get_position();
-    current_position[X_AXIS] = corrected_position.x;
-    current_position[Y_AXIS] = corrected_position.y;
-    current_position[Z_AXIS] = corrected_position.z;
-
-    // put the bed at 0 so we don't go below it.
-    current_position[Z_AXIS] = zprobe_zoffset;
-
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
-}
-
-#endif // AUTO_BED_LEVELING_GRID
-
-static void run_z_probe() {
-    plan_bed_level_matrix.set_to_identity();
-    feedrate = homing_feedrate[Z_AXIS];
-
-    // move down until you find the bed
-    float zPosition = -10;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
-    st_synchronize();
-
-        // we have to let the planner know where we are right now as it is not where we said to go.
-    zPosition = st_get_position_mm(Z_AXIS);
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
-
-    // move up the retract distance
-    zPosition += home_retract_mm(Z_AXIS);
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
-    st_synchronize();
-
-    // move back down slowly to find bed
-    feedrate = homing_feedrate[Z_AXIS]/4;
-    zPosition -= home_retract_mm(Z_AXIS) * 2;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
-    st_synchronize();
-
-    current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
-    // make sure the planner knows where we are as it may be a bit different than we last said to move to
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-}
-
-static void do_blocking_move_to(float x, float y, float z) {
-    float oldFeedRate = feedrate;
-
-    feedrate = homing_feedrate[Z_AXIS];
-
-    current_position[Z_AXIS] = z;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
-    st_synchronize();
-
-    feedrate = XY_TRAVEL_SPEED;
-
-    current_position[X_AXIS] = x;
-    current_position[Y_AXIS] = y;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
-    st_synchronize();
-
-    feedrate = oldFeedRate;
-}
-
-static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
-    do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
-}
-
-
-/// Probe bed height at position (x,y), returns the measured z value
-static float probe_pt(float x, float y, float z_before) {
-  // move to right place
-  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
-  do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-
-  run_z_probe();
-  float measured_z = current_position[Z_AXIS];
-
-  SERIAL_PROTOCOLRPGM(_T(MSG_BED));
-  SERIAL_PROTOCOLPGM(" x: ");
-  SERIAL_PROTOCOL(x);
-  SERIAL_PROTOCOLPGM(" y: ");
-  SERIAL_PROTOCOL(y);
-  SERIAL_PROTOCOLPGM(" z: ");
-  SERIAL_PROTOCOL(measured_z);
-  SERIAL_PROTOCOLPGM("\n");
-  return measured_z;
-}
-
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
-
-#ifdef LIN_ADVANCE
-   /**
-    * M900: Set and/or Get advance K factor and WH/D ratio
-    *
-    *  K<factor>                  Set advance K factor
-    *  R<ratio>                   Set ratio directly (overrides WH/D)
-    *  W<width> H<height> D<diam> Set ratio from WH/D
-    */
-inline void gcode_M900() {
-    st_synchronize();
-    
-    const float newK = code_seen('K') ? code_value_float() : -1;
-    if (newK >= 0) extruder_advance_k = newK;
-    
-    float newR = code_seen('R') ? code_value_float() : -1;
-    if (newR < 0) {
-        const float newD = code_seen('D') ? code_value_float() : -1,
-        newW = code_seen('W') ? code_value_float() : -1,
-        newH = code_seen('H') ? code_value_float() : -1;
-        if (newD >= 0 && newW >= 0 && newH >= 0)
-            newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
-    }
-    if (newR >= 0) advance_ed_ratio = newR;
-    
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM("Advance K=");
-    SERIAL_ECHOLN(extruder_advance_k);
-    SERIAL_ECHOPGM(" E/D=");
-    const float ratio = advance_ed_ratio;
-    if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
-    }
-#endif // LIN_ADVANCE
-
-bool check_commands() {
-	bool end_command_found = false;
-	
-		while (buflen)
-		{
-		if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
-		if (!cmdbuffer_front_already_processed)
-			 cmdqueue_pop_front();
-		cmdbuffer_front_already_processed = false;
-		}
-	return end_command_found;
-	
-}
-
-#ifdef TMC2130
-bool calibrate_z_auto()
-{
-	//lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
-	lcd_clear();
-	lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
-	bool endstops_enabled  = enable_endstops(true);
-	int axis_up_dir = -home_dir(Z_AXIS);
-	tmc2130_home_enter(Z_AXIS_MASK);
-	current_position[Z_AXIS] = 0;
-	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-	set_destination_to_current();
-	destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
-	feedrate = homing_feedrate[Z_AXIS];
-	plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-	st_synchronize();
-//	current_position[axis] = 0;
-//	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-	tmc2130_home_exit();
-    enable_endstops(false);
-	current_position[Z_AXIS] = 0;
-	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-	set_destination_to_current();
-	destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
-	feedrate = homing_feedrate[Z_AXIS] / 2;
-	plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-	st_synchronize();
-    enable_endstops(endstops_enabled);
-    current_position[Z_AXIS] = Z_MAX_POS+2.0;
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-	return true;
-}
-#endif //TMC2130
-
-void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
-{
-	bool endstops_enabled  = enable_endstops(true); //RP: endstops should be allways enabled durring homing
-#define HOMEAXIS_DO(LETTER) \
-((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-    if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
-	{
-        int axis_home_dir = home_dir(axis);
-        feedrate = homing_feedrate[axis];
-
-#ifdef TMC2130
-    	tmc2130_home_enter(X_AXIS_MASK << axis);
-#endif //TMC2130
-
-
-        // Move right a bit, so that the print head does not touch the left end position,
-        // and the following left movement has a chance to achieve the required velocity
-        // for the stall guard to work.
-        current_position[axis] = 0;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-		set_destination_to_current();
-//        destination[axis] = 11.f;
-        destination[axis] = 3.f;
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-        // Move left away from the possible collision with the collision detection disabled.
-        endstops_hit_on_purpose();
-        enable_endstops(false);
-        current_position[axis] = 0;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[axis] = - 1.;
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-        // Now continue to move up to the left end stop with the collision detection enabled.
-        enable_endstops(true);
-        destination[axis] = - 1.1 * max_length(axis);
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-		for (uint8_t i = 0; i < cnt; i++)
-		{
-			// Move right from the collision to a known distance from the left end stop with the collision detection disabled.
-			endstops_hit_on_purpose();
-			enable_endstops(false);
-			current_position[axis] = 0;
-			plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-			destination[axis] = 10.f;
-			plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-			st_synchronize();
-			endstops_hit_on_purpose();
-			// Now move left up to the collision, this time with a repeatable velocity.
-			enable_endstops(true);
-			destination[axis] = - 11.f;
-#ifdef TMC2130
-			feedrate = homing_feedrate[axis];
-#else //TMC2130
-			feedrate = homing_feedrate[axis] / 2;
-#endif //TMC2130
-			plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-			st_synchronize();
-#ifdef TMC2130
-			uint16_t mscnt = tmc2130_rd_MSCNT(axis);
-			if (pstep) pstep[i] = mscnt >> 4;
-			printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
-#endif //TMC2130
-		}
-		endstops_hit_on_purpose();
-		enable_endstops(false);
-
-#ifdef TMC2130
-		uint8_t orig = tmc2130_home_origin[axis];
-		uint8_t back = tmc2130_home_bsteps[axis];
-		if (tmc2130_home_enabled && (orig <= 63))
-		{
-			tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
-			if (back > 0)
-				tmc2130_do_steps(axis, back, 1, 1000);
-		}
-		else
-			tmc2130_do_steps(axis, 8, 2, 1000);
-		tmc2130_home_exit();
-#endif //TMC2130
-
-        axis_is_at_home(axis);
-        axis_known_position[axis] = true;
-        // Move from minimum
-#ifdef TMC2130
-        float dist = 0.01f * tmc2130_home_fsteps[axis];
-#else //TMC2130
-        float dist = 0.01f * 64;
-#endif //TMC2130
-        current_position[axis] -= dist;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        current_position[axis] += dist;
-        destination[axis] = current_position[axis];
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
-        st_synchronize();
-
-   		feedrate = 0.0;
-    }
-    else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
-	{
-#ifdef TMC2130
-		FORCE_HIGH_POWER_START;
-#endif	
-        int axis_home_dir = home_dir(axis);
-        current_position[axis] = 0;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
-        feedrate = homing_feedrate[axis];
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-#ifdef TMC2130
-		if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
-			FORCE_HIGH_POWER_END;
-			kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
-			return; 
-		}
-#endif //TMC2130
-        current_position[axis] = 0;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[axis] = -home_retract_mm(axis) * axis_home_dir;
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-        destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
-        feedrate = homing_feedrate[axis]/2 ;
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-#ifdef TMC2130
-		if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
-			FORCE_HIGH_POWER_END;
-			kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
-			return; 
-		}
-#endif //TMC2130
-        axis_is_at_home(axis);
-        destination[axis] = current_position[axis];
-        feedrate = 0.0;
-        endstops_hit_on_purpose();
-        axis_known_position[axis] = true;
-#ifdef TMC2130
-		FORCE_HIGH_POWER_END;
-#endif	
-    }
-    enable_endstops(endstops_enabled);
-}
-
-/**/
-void home_xy()
-{
-    set_destination_to_current();
-    homeaxis(X_AXIS);
-    homeaxis(Y_AXIS);
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    endstops_hit_on_purpose();
-}
-
-void refresh_cmd_timeout(void)
-{
-  previous_millis_cmd = millis();
-}
-
-#ifdef FWRETRACT
-  void retract(bool retracting, bool swapretract = false) {
-    if(retracting && !retracted[active_extruder]) {
-      destination[X_AXIS]=current_position[X_AXIS];
-      destination[Y_AXIS]=current_position[Y_AXIS];
-      destination[Z_AXIS]=current_position[Z_AXIS];
-      destination[E_AXIS]=current_position[E_AXIS];
-      current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
-      plan_set_e_position(current_position[E_AXIS]);
-      float oldFeedrate = feedrate;
-      feedrate=retract_feedrate*60;
-      retracted[active_extruder]=true;
-      prepare_move();
-      current_position[Z_AXIS]-=retract_zlift;
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-      prepare_move();
-      feedrate = oldFeedrate;
-    } else if(!retracting && retracted[active_extruder]) {
-      destination[X_AXIS]=current_position[X_AXIS];
-      destination[Y_AXIS]=current_position[Y_AXIS];
-      destination[Z_AXIS]=current_position[Z_AXIS];
-      destination[E_AXIS]=current_position[E_AXIS];
-      current_position[Z_AXIS]+=retract_zlift;
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-      current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
-      plan_set_e_position(current_position[E_AXIS]);
-      float oldFeedrate = feedrate;
-      feedrate=retract_recover_feedrate*60;
-      retracted[active_extruder]=false;
-      prepare_move();
-      feedrate = oldFeedrate;
-    }
-  } //retract
-#endif //FWRETRACT
-
-void trace() {
-    tone(BEEPER, 440);
-    delay(25);
-    noTone(BEEPER);
-    delay(20);
-}
-/*
-void ramming() {
-//	  float tmp[4] = DEFAULT_MAX_FEEDRATE;
-	if (current_temperature[0] < 230) {
-		//PLA
-
-		max_feedrate[E_AXIS] = 50;
-		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
-		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
-		current_position[E_AXIS] += 5.4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
-		current_position[E_AXIS] += 3.2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-		current_position[E_AXIS] += 3;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
-		st_synchronize();
-		max_feedrate[E_AXIS] = 80;
-		current_position[E_AXIS] -= 82;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
-		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
-		current_position[E_AXIS] -= 20;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
-		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
-		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] -= 10;
-		st_synchronize();
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
-		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
-		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
-		st_synchronize();
-	}
-	else {
-		//ABS
-		max_feedrate[E_AXIS] = 50;
-		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
-		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
-		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
-		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
-		current_position[E_AXIS] += 4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-		st_synchronize();
-		//current_position[X_AXIS] += 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
-		//current_position[X_AXIS] -= 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
-		delay(4700);
-		max_feedrate[E_AXIS] = 80;
-		current_position[E_AXIS] -= 92;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
-		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
-		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
-		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
-		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		st_synchronize();
-		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
-		st_synchronize();
-
-	}
-  }
-*/
-
-#ifdef TMC2130
-void force_high_power_mode(bool start_high_power_section) {
-	uint8_t silent;
-	silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
-	if (silent == 1) {
-		//we are in silent mode, set to normal mode to enable crash detection
-
-    // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
-		st_synchronize();
-		cli();
-		tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
-		tmc2130_init();
-    // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
-    // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
-    st_reset_timer();
-		sei();
-	}
-}
-#endif //TMC2130
-
-void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
-	gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
-}
-
-void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) {
-	st_synchronize();
-
-#if 0
-	SERIAL_ECHOPGM("G28, initial ");  print_world_coordinates();
-	SERIAL_ECHOPGM("G28, initial ");  print_physical_coordinates();
-#endif
-
-	// Flag for the display update routine and to disable the print cancelation during homing.
-	homing_flag = true;
-
-	// Which axes should be homed?
-	bool home_x = home_x_axis;
-	bool home_y = home_y_axis;
-	bool home_z = home_z_axis;
-
-	// Either all X,Y,Z codes are present, or none of them.
-	bool home_all_axes = home_x == home_y && home_x == home_z;
-	if (home_all_axes)
-		// No X/Y/Z code provided means to home all axes.
-		home_x = home_y = home_z = true;
-
-	//if we are homing all axes, first move z higher to protect heatbed/steel sheet
-	if (home_all_axes) {
-		current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
-		feedrate = homing_feedrate[Z_AXIS];
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
-		st_synchronize();
-	}
-#ifdef ENABLE_AUTO_BED_LEVELING
-      plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
-#endif //ENABLE_AUTO_BED_LEVELING
-            
-      // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
-      // the planner will not perform any adjustments in the XY plane. 
-      // Wait for the motors to stop and update the current position with the absolute values.
-      world2machine_revert_to_uncorrected();
-
-      // For mesh bed leveling deactivate the matrix temporarily.
-      // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
-      // in a single axis only.
-      // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
-#ifdef MESH_BED_LEVELING
-      uint8_t mbl_was_active = mbl.active;
-      mbl.active = 0;
-      current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
-#endif
-
-      // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
-      // consumed during the first movements following this statement.
-      if (home_z)
-        babystep_undo();
-
-      saved_feedrate = feedrate;
-      saved_feedmultiply = feedmultiply;
-      feedmultiply = 100;
-      previous_millis_cmd = millis();
-
-      enable_endstops(true);
-
-      memcpy(destination, current_position, sizeof(destination));
-      feedrate = 0.0;
-
-      #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
-      if(home_z)
-        homeaxis(Z_AXIS);
-      #endif
-
-      #ifdef QUICK_HOME
-      // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
-      if(home_x && home_y)  //first diagonal move
-      {
-        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
-
-        int x_axis_home_dir = home_dir(X_AXIS);
-
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
-        feedrate = homing_feedrate[X_AXIS];
-        if(homing_feedrate[Y_AXIS]<feedrate)
-          feedrate = homing_feedrate[Y_AXIS];
-        if (max_length(X_AXIS) > max_length(Y_AXIS)) {
-          feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
-        } else {
-          feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
-        }
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        st_synchronize();
-
-        axis_is_at_home(X_AXIS);
-        axis_is_at_home(Y_AXIS);
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[X_AXIS] = current_position[X_AXIS];
-        destination[Y_AXIS] = current_position[Y_AXIS];
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-        feedrate = 0.0;
-        st_synchronize();
-        endstops_hit_on_purpose();
-
-        current_position[X_AXIS] = destination[X_AXIS];
-        current_position[Y_AXIS] = destination[Y_AXIS];
-        current_position[Z_AXIS] = destination[Z_AXIS];
-      }
-      #endif /* QUICK_HOME */
-
-#ifdef TMC2130	 
-      if(home_x)
-	  {
-		if (!calib)
-			homeaxis(X_AXIS);
-		else
-			tmc2130_home_calibrate(X_AXIS);
-	  }
-
-      if(home_y)
-	  {
-		if (!calib)
-	        homeaxis(Y_AXIS);
-		else
-			tmc2130_home_calibrate(Y_AXIS);
-	  }
-#endif //TMC2130
-
-
-      if(home_x_axis && home_x_value != 0)
-        current_position[X_AXIS]=home_x_value+add_homing[X_AXIS];
-
-      if(home_y_axis && home_y_value != 0)
-        current_position[Y_AXIS]=home_y_value+add_homing[Y_AXIS];
-
-      #if Z_HOME_DIR < 0                      // If homing towards BED do Z last
-        #ifndef Z_SAFE_HOMING
-          if(home_z) {
-            #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
-              destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
-              feedrate = max_feedrate[Z_AXIS];
-              plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
-              st_synchronize();
-            #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
-            #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))  // If Mesh bed leveling, move X&Y to safe position for home
-      			  if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] )) 
-      			  {
-                homeaxis(X_AXIS);
-                homeaxis(Y_AXIS);
-      			  } 
-              // 1st mesh bed leveling measurement point, corrected.
-              world2machine_initialize();
-              world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
-              world2machine_reset();
-              if (destination[Y_AXIS] < Y_MIN_POS)
-                  destination[Y_AXIS] = Y_MIN_POS;
-              destination[Z_AXIS] = MESH_HOME_Z_SEARCH;    // Set destination away from bed
-              feedrate = homing_feedrate[Z_AXIS]/10;
-              current_position[Z_AXIS] = 0;
-              enable_endstops(false);
-#ifdef DEBUG_BUILD
-              SERIAL_ECHOLNPGM("plan_set_position()");
-              MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
-              MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
-#endif
-              plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-#ifdef DEBUG_BUILD
-              SERIAL_ECHOLNPGM("plan_buffer_line()");
-              MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
-              MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
-              MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
-#endif
-              plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
-              st_synchronize();
-              current_position[X_AXIS] = destination[X_AXIS];
-              current_position[Y_AXIS] = destination[Y_AXIS];
-              enable_endstops(true);
-              endstops_hit_on_purpose();
-              homeaxis(Z_AXIS);
-            #else // MESH_BED_LEVELING
-              homeaxis(Z_AXIS);
-            #endif // MESH_BED_LEVELING
-          }
-        #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
-          if(home_all_axes) {
-            destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
-            destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
-            destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
-            feedrate = XY_TRAVEL_SPEED/60;
-            current_position[Z_AXIS] = 0;
-
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-            plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
-            st_synchronize();
-            current_position[X_AXIS] = destination[X_AXIS];
-            current_position[Y_AXIS] = destination[Y_AXIS];
-
-            homeaxis(Z_AXIS);
-          }
-                                                // Let's see if X and Y are homed and probe is inside bed area.
-          if(home_z) {
-            if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
-              && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
-              && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
-              && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
-              && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
-
-              current_position[Z_AXIS] = 0;
-              plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-              destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1);    // Set destination away from bed
-              feedrate = max_feedrate[Z_AXIS];
-              plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
-              st_synchronize();
-
-              homeaxis(Z_AXIS);
-            } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
-                LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
-                SERIAL_ECHO_START;
-                SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
-            } else {
-                LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
-                SERIAL_ECHO_START;
-                SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
-            }
-          }
-        #endif // Z_SAFE_HOMING
-      #endif // Z_HOME_DIR < 0
-
-      if(home_z_axis && home_z_value != 0)
-        current_position[Z_AXIS]=home_z_value+add_homing[Z_AXIS];
-      #ifdef ENABLE_AUTO_BED_LEVELING
-        if(home_z)
-          current_position[Z_AXIS] += zprobe_zoffset;  //Add Z_Probe offset (the distance is negative)
-      #endif
-      
-      // Set the planner and stepper routine positions.
-      // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
-      // contains the machine coordinates.
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
-      #ifdef ENDSTOPS_ONLY_FOR_HOMING
-        enable_endstops(false);
-      #endif
-
-      feedrate = saved_feedrate;
-      feedmultiply = saved_feedmultiply;
-      previous_millis_cmd = millis();
-      endstops_hit_on_purpose();
-#ifndef MESH_BED_LEVELING
-      // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
-      // Offer the user to load the baby step value, which has been adjusted at the previous print session.
-      if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
-          lcd_adjust_z();
-#endif
-
-    // Load the machine correction matrix
-    world2machine_initialize();
-    // and correct the current_position XY axes to match the transformed coordinate system.
-    world2machine_update_current();
-
-#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
-	if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
-		{
-      if (! home_z && mbl_was_active) {
-        // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
-        mbl.active = true;
-        // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
-        current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
-      }
-		}
-	else
-		{
-			st_synchronize();
-			homing_flag = false;
-	  }
-#endif
-
-	  if (farm_mode) { prusa_statistics(20); };
-
-	  homing_flag = false;
-#if 0
-      SERIAL_ECHOPGM("G28, final ");  print_world_coordinates();
-      SERIAL_ECHOPGM("G28, final ");  print_physical_coordinates();
-      SERIAL_ECHOPGM("G28, final ");  print_mesh_bed_leveling_table();
-#endif
-}
-
-
-bool gcode_M45(bool onlyZ, int8_t verbosity_level)
-{
-	bool final_result = false;
-	#ifdef TMC2130
-	FORCE_HIGH_POWER_START;
-	#endif // TMC2130
-	// Only Z calibration?
-	if (!onlyZ)
-	{
-		setTargetBed(0);
-		setTargetHotend(0, 0);
-		setTargetHotend(0, 1);
-		setTargetHotend(0, 2);
-		adjust_bed_reset(); //reset bed level correction
-	}
-
-	// Disable the default update procedure of the display. We will do a modal dialog.
-	lcd_update_enable(false);
-	// Let the planner use the uncorrected coordinates.
-	mbl.reset();
-	// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
-	// the planner will not perform any adjustments in the XY plane. 
-	// Wait for the motors to stop and update the current position with the absolute values.
-	world2machine_revert_to_uncorrected();
-	// Reset the baby step value applied without moving the axes.
-	babystep_reset();
-	// Mark all axes as in a need for homing.
-	memset(axis_known_position, 0, sizeof(axis_known_position));
-
-	// Home in the XY plane.
-	//set_destination_to_current();
-	setup_for_endstop_move();
-	lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
-	home_xy();
-
-	enable_endstops(false);
-	current_position[X_AXIS] += 5;
-	current_position[Y_AXIS] += 5;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
-	st_synchronize();
-
-	// Let the user move the Z axes up to the end stoppers.
-#ifdef TMC2130
-	if (calibrate_z_auto())
-	{
-#else //TMC2130
-	if (lcd_calibrate_z_end_stop_manual(onlyZ))
-	{
-#endif //TMC2130
-		refresh_cmd_timeout();
-		#ifndef STEEL_SHEET
-		if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
-		{
-			lcd_wait_for_cool_down();
-		}
-		#endif //STEEL_SHEET
-		if(!onlyZ)
-		{
-			KEEPALIVE_STATE(PAUSED_FOR_USER);
-			#ifdef STEEL_SHEET
-			bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
-			if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
-			#endif //STEEL_SHEET
-			lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
-		    lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
-			KEEPALIVE_STATE(IN_HANDLER);
-			lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
-			lcd_set_cursor(0, 2);
-			lcd_print(1);
-			lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
-		}
-		// Move the print head close to the bed.
-		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-
-		bool endstops_enabled  = enable_endstops(true);
-#ifdef TMC2130
-		tmc2130_home_enter(Z_AXIS_MASK);
-#endif //TMC2130
-
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
-
-		st_synchronize();
-#ifdef TMC2130
-		tmc2130_home_exit();
-#endif //TMC2130
-		enable_endstops(endstops_enabled);
-
-		if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
-		{
-
-			int8_t verbosity_level = 0;
-			if (code_seen('V'))
-			{
-				// Just 'V' without a number counts as V1.
-				char c = strchr_pointer[1];
-				verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
-			}
-
-			if (onlyZ)
-			{
-				clean_up_after_endstop_move();
-				// Z only calibration.
-				// Load the machine correction matrix
-				world2machine_initialize();
-				// and correct the current_position to match the transformed coordinate system.
-				world2machine_update_current();
-				//FIXME
-				bool result = sample_mesh_and_store_reference();
-				if (result)
-				{
-					if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
-						// Shipped, the nozzle height has been set already. The user can start printing now.
-						calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
-						final_result = true;
-					// babystep_apply();
-				}
-			}
-			else
-			{
-				// Reset the baby step value and the baby step applied flag.
-				calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
-				eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
-				// Complete XYZ calibration.
-				uint8_t point_too_far_mask = 0;
-				BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
-				clean_up_after_endstop_move();
-				// Print head up.
-				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
-				st_synchronize();
-//#ifndef NEW_XYZCAL
-				if (result >= 0)
-				{
-					#ifdef HEATBED_V2
-					sample_z();
-					#else //HEATBED_V2
-					point_too_far_mask = 0;
-					// Second half: The fine adjustment.
-					// Let the planner use the uncorrected coordinates.
-					mbl.reset();
-					world2machine_reset();
-					// Home in the XY plane.
-					setup_for_endstop_move();
-					home_xy();
-					result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
-					clean_up_after_endstop_move();
-					// Print head up.
-					current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-					plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
-					st_synchronize();
-					// if (result >= 0) babystep_apply();					
-					#endif //HEATBED_V2
-				}
-//#endif //NEW_XYZCAL
-				lcd_update_enable(true);
-				lcd_update(2);
-
-				lcd_bed_calibration_show_result(result, point_too_far_mask);
-				if (result >= 0)
-				{
-					// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
-					calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
-					if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
-					final_result = true;
-				}
-			}
-#ifdef TMC2130
-			tmc2130_home_exit();
-#endif
-		}
-		else
-		{
-			lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
-			final_result = false;
-		}
-	}
-	else
-	{
-		// Timeouted.
-	}
-	lcd_update_enable(true);
-#ifdef TMC2130
-	FORCE_HIGH_POWER_END;
-#endif // TMC2130
-	return final_result;
-}
-
-void gcode_M114()
-{
-	SERIAL_PROTOCOLPGM("X:");
-	SERIAL_PROTOCOL(current_position[X_AXIS]);
-	SERIAL_PROTOCOLPGM(" Y:");
-	SERIAL_PROTOCOL(current_position[Y_AXIS]);
-	SERIAL_PROTOCOLPGM(" Z:");
-	SERIAL_PROTOCOL(current_position[Z_AXIS]);
-	SERIAL_PROTOCOLPGM(" E:");
-	SERIAL_PROTOCOL(current_position[E_AXIS]);
-
-	SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
-	SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
-	SERIAL_PROTOCOLPGM(" Y:");
-	SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
-	SERIAL_PROTOCOLPGM(" Z:");
-	SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
-	SERIAL_PROTOCOLPGM(" E:");
-	SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
-
-	SERIAL_PROTOCOLLN("");
-}
-
-void gcode_M701()
-{
-#if defined (SNMM) || defined (SNMM_V2)
-	extr_adj(snmm_extruder);//loads current extruder
-#else
-	enable_z();
-	custom_message = true;
-	custom_message_type = 2;
-
-	
-
-	lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
-	current_position[E_AXIS] += 40;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
-	st_synchronize();
-
-	if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
-	current_position[E_AXIS] += 30;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
-	st_synchronize();
-	current_position[E_AXIS] += 25;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
-	st_synchronize();
-
-	tone(BEEPER, 500);
-	delay_keep_alive(50);
-	noTone(BEEPER);
-
-	if (!farm_mode && loading_flag) {
-		bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
-
-		while (!clean) {
-			lcd_update_enable(true);
-			lcd_update(2);
-			current_position[E_AXIS] += 25;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
-			st_synchronize();
-			clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
-
-		}
-
-	}
-	lcd_update_enable(true);
-	lcd_update(2);
-	lcd_setstatuspgm(_T(WELCOME_MSG));
-	disable_z();
-	loading_flag = false;
-	custom_message = false;
-	custom_message_type = 0;
-#endif
-
-}
-/**
- * @brief Get serial number from 32U2 processor
- *
- * Typical format of S/N is:CZPX0917X003XC13518
- *
- * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
- *
- * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
- * reply is transmitted to serial port 1 character by character.
- * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
- * it is interrupted, so less, or no characters are retransmitted, only newline character is send
- * in any case.
- */
-static void gcode_PRUSA_SN()
-{
-    if (farm_mode) {
-        selectedSerialPort = 0;
-        putchar(';');
-        putchar('S');
-        int numbersRead = 0;
-        ShortTimer timeout;
-        timeout.start();
-
-        while (numbersRead < 19) {
-            while (MSerial.available() > 0) {
-                uint8_t serial_char = MSerial.read();
-                selectedSerialPort = 1;
-                putchar(serial_char);
-                numbersRead++;
-                selectedSerialPort = 0;
-            }
-            if (timeout.expired(100u)) break;
-        }
-        selectedSerialPort = 1;
-        putchar('\n');
-#if 0
-        for (int b = 0; b < 3; b++) {
-            tone(BEEPER, 110);
-            delay(50);
-            noTone(BEEPER);
-            delay(50);
-        }
-#endif
-    } else {
-        puts_P(_N("Not in farm mode."));
-    }
-}
-
-#ifdef BACKLASH_X
-extern uint8_t st_backlash_x;
-#endif //BACKLASH_X
-#ifdef BACKLASH_Y
-extern uint8_t st_backlash_y;
-#endif //BACKLASH_Y
-
-void process_commands()
-{
-	if (!buflen) return; //empty command
-  #ifdef FILAMENT_RUNOUT_SUPPORT
-    SET_INPUT(FR_SENS);
-  #endif
-
-#ifdef CMDBUFFER_DEBUG
-  SERIAL_ECHOPGM("Processing a GCODE command: ");
-  SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
-  SERIAL_ECHOLNPGM("");
-  SERIAL_ECHOPGM("In cmdqueue: ");
-  SERIAL_ECHO(buflen);
-  SERIAL_ECHOLNPGM("");
-#endif /* CMDBUFFER_DEBUG */
-  
-  unsigned long codenum; //throw away variable
-  char *starpos = NULL;
-#ifdef ENABLE_AUTO_BED_LEVELING
-  float x_tmp, y_tmp, z_tmp, real_z;
-#endif
-
-  // PRUSA GCODES
-  KEEPALIVE_STATE(IN_HANDLER);
-
-#ifdef SNMM
-  float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
-  float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
-  int8_t SilentMode;
-#endif
-  
-  if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
-	  starpos = (strchr(strchr_pointer + 5, '*'));
-	  if (starpos != NULL)
-		  *(starpos) = '\0';
-	  lcd_setstatus(strchr_pointer + 5);
-  }
-
-#ifdef TMC2130
-	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
-	{
-	  if(code_seen("CRASH_DETECTED"))
-	  {
-		  uint8_t mask = 0;
-		  if (code_seen("X")) mask |= X_AXIS_MASK;
-		  if (code_seen("Y")) mask |= Y_AXIS_MASK;
-		  crashdet_detected(mask);
-	  }
-	  else if(code_seen("CRASH_RECOVER"))
-		  crashdet_recover();
-	  else if(code_seen("CRASH_CANCEL"))
-		  crashdet_cancel();
-	}
-	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
-	{
-		if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
-		{
-			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
-			axis = (axis == 'E')?3:(axis - 'X');
-			if (axis < 4)
-			{
-				uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
-				tmc2130_set_wave(axis, 247, fac);
-			}
-		}
-		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
-		{
-			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
-			axis = (axis == 'E')?3:(axis - 'X');
-			if (axis < 4)
-			{
-				uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
-				uint16_t res = tmc2130_get_res(axis);
-				tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
-			}
-		}
-		else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
-		{
-			uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
-			axis = (axis == 'E')?3:(axis - 'X');
-			if (axis < 4)
-			{
-				uint8_t chop0 = tmc2130_chopper_config[axis].toff;
-				uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
-				uint8_t chop2 = tmc2130_chopper_config[axis].hend;
-				uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
-				char* str_end = 0;
-				if (CMDBUFFER_CURRENT_STRING[14])
-				{
-					chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
-					if (str_end && *str_end)
-					{
-						chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
-						if (str_end && *str_end)
-						{
-							chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
-							if (str_end && *str_end)
-								chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
-						}
-					}
-				}
-				tmc2130_chopper_config[axis].toff = chop0;
-				tmc2130_chopper_config[axis].hstr = chop1 & 7;
-				tmc2130_chopper_config[axis].hend = chop2 & 15;
-				tmc2130_chopper_config[axis].tbl = chop3 & 3;
-				tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-				//printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
-			}
-		}
-	}
-#ifdef BACKLASH_X
-	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
-	{
-		uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
-		st_backlash_x = bl;
-		printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
-	}
-#endif //BACKLASH_X
-#ifdef BACKLASH_Y
-	else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
-	{
-		uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
-		st_backlash_y = bl;
-		printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
-	}
-#endif //BACKLASH_Y
-#endif //TMC2130
-
-  else if(code_seen("PRUSA")){
-		if (code_seen("Ping")) {  //PRUSA Ping
-			if (farm_mode) {
-				PingTime = millis();
-				//MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
-			}	  
-		}
-		else if (code_seen("PRN")) {
-		  printf_P(_N("%d"), status_number);
-
-        }else if (code_seen("FAN")) {
-			printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
-		}else if (code_seen("fn")) {
-		  if (farm_mode) {
-			printf_P(_N("%d"), farm_no);
-		  }
-		  else {
-			  puts_P(_N("Not in farm mode."));
-		  }
-		  
-		}
-		else if (code_seen("thx")) {
-			no_response = false;
-		}	
-		else if (code_seen("MMURES")) {
-			fprintf_P(uart2io, PSTR("x0"));
-		}
-		else if (code_seen("RESET")) {
-            // careful!
-            if (farm_mode) {
-#ifdef WATCHDOG
-                boot_app_magic = BOOT_APP_MAGIC;
-                boot_app_flags = BOOT_APP_FLG_RUN;
-				wdt_enable(WDTO_15MS);
-				cli();
-				while(1);
-#else //WATCHDOG
-                asm volatile("jmp 0x3E000");
-#endif //WATCHDOG
-            }
-            else {
-                MYSERIAL.println("Not in farm mode.");
-            }
-		}else if (code_seen("fv")) {
-        // get file version
-        #ifdef SDSUPPORT
-        card.openFile(strchr_pointer + 3,true);
-        while (true) {
-            uint16_t readByte = card.get();
-            MYSERIAL.write(readByte);
-            if (readByte=='\n') {
-                break;
-            }
-        }
-        card.closefile();
-
-        #endif // SDSUPPORT
-
-    } else if (code_seen("M28")) {
-        trace();
-        prusa_sd_card_upload = true;
-        card.openFile(strchr_pointer+4,false);
-
-	} else if (code_seen("SN")) { 
-        gcode_PRUSA_SN();
-
-	} else if(code_seen("Fir")){
-
-      SERIAL_PROTOCOLLN(FW_VERSION);
-
-    } else if(code_seen("Rev")){
-
-      SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
-
-    } else if(code_seen("Lang")) {
-	  lang_reset();
-
-	} else if(code_seen("Lz")) {
-      EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
-
-	} else if(code_seen("Beat")) {
-        // Kick farm link timer
-        kicktime = millis();
-
-    } else if(code_seen("FR")) {
-        // Factory full reset
-        factory_reset(0,true);        
-    }
-    //else if (code_seen('Cal')) {
-		//  lcd_calibration();
-	  // }
-
-  }  
-  else if (code_seen('^')) {
-    // nothing, this is a version line
-  } else if(code_seen('G'))
-  {
-    switch((int)code_value())
-    {
-    case 0: // G0 -> G1
-    case 1: // G1
-      if(Stopped == false) {
-
-        #ifdef FILAMENT_RUNOUT_SUPPORT
-            
-            if(READ(FR_SENS)){
-
-                        feedmultiplyBckp=feedmultiply;
-                        float target[4];
-                        float lastpos[4];
-                        target[X_AXIS]=current_position[X_AXIS];
-                        target[Y_AXIS]=current_position[Y_AXIS];
-                        target[Z_AXIS]=current_position[Z_AXIS];
-                        target[E_AXIS]=current_position[E_AXIS];
-                        lastpos[X_AXIS]=current_position[X_AXIS];
-                        lastpos[Y_AXIS]=current_position[Y_AXIS];
-                        lastpos[Z_AXIS]=current_position[Z_AXIS];
-                        lastpos[E_AXIS]=current_position[E_AXIS];
-                        //retract by E
-                        
-                        target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
-                        
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-
-
-                        target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
-
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
-
-                        target[X_AXIS]= FILAMENTCHANGE_XPOS ;
-                        
-                        target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
-                         
-                 
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
-
-                        target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
-                          
-
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
-
-                        //finish moves
-                        st_synchronize();
-                        //disable extruder steppers so filament can be removed
-                        disable_e0();
-                        disable_e1();
-                        disable_e2();
-                        delay(100);
-                        
-                        //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
-                        uint8_t cnt=0;
-                        int counterBeep = 0;
-                        lcd_wait_interact();
-                        while(!lcd_clicked()){
-                          cnt++;
-                          manage_heater();
-                          manage_inactivity(true);
-                          //lcd_update(0);
-                          if(cnt==0)
-                          {
-                          #if BEEPER > 0
-                          
-                            if (counterBeep== 500){
-                              counterBeep = 0;
-                              
-                            }
-                          
-                            
-                            SET_OUTPUT(BEEPER);
-                            if (counterBeep== 0){
-                              WRITE(BEEPER,HIGH);
-                            }
-                            
-                            if (counterBeep== 20){
-                              WRITE(BEEPER,LOW);
-                            }
-                            
-                            
-                            
-                          
-                            counterBeep++;
-                          #else
-                          #endif
-                          }
-                        }
-                        
-                        WRITE(BEEPER,LOW);
-                        
-                        target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder); 
-                        
-                        
-                        target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder); 
-                        
-                 
-                        
-                        
-                        
-                        lcd_change_fil_state = 0;
-                        lcd_loading_filament();
-                        while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
-                        
-                          lcd_change_fil_state = 0;
-                          lcd_alright();
-                          switch(lcd_change_fil_state){
-                          
-                             case 2:
-                                     target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-                                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder); 
-                        
-                        
-                                     target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-                                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder); 
-                                      
-                                     
-                                     lcd_loading_filament();
-                                     break;
-                             case 3:
-                                     target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-                                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder); 
-                                     lcd_loading_color();
-                                     break;
-                                          
-                             default:
-                                     lcd_change_success();
-                                     break;
-                          }
-                          
-                        }
-                        
-
-                        
-                      target[E_AXIS]+= 5;
-                      plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-                        
-                      target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
-                      plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-                        
-
-                        //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
-                        //plan_set_e_position(current_position[E_AXIS]);
-                        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
-                        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
-                        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
-                        
-                        
-                        target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
-                        
-                      
-                             
-                        plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
-                        
-                        
-                        plan_set_e_position(lastpos[E_AXIS]);
-                        
-                        feedmultiply=feedmultiplyBckp;
-                        
-                     
-                        
-                        char cmd[9];
-
-                        sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
-                        enquecommand(cmd);
-
-            }
-
-
-
-        #endif
-
-
-        get_coordinates(); // For X Y Z E F
-		if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
-			total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
-		}
-          #ifdef FWRETRACT
-            if(autoretract_enabled)
-            if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
-              float echange=destination[E_AXIS]-current_position[E_AXIS];
-
-              if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
-                  current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
-                  plan_set_e_position(current_position[E_AXIS]); //AND from the planner
-                  retract(!retracted[active_extruder]);
-                  return;
-              }
-
-
-            }
-          #endif //FWRETRACT
-        prepare_move();
-        //ClearToSend();
-      }
-      break;
-    case 2: // G2  - CW ARC
-      if(Stopped == false) {
-        get_arc_coordinates();
-        prepare_arc_move(true);
-      }
-      break;
-    case 3: // G3  - CCW ARC
-      if(Stopped == false) {
-        get_arc_coordinates();
-        prepare_arc_move(false);
-      }
-      break;
-    case 4: // G4 dwell      
-      codenum = 0;
-      if(code_seen('P')) codenum = code_value(); // milliseconds to wait
-      if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-	  if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
-      st_synchronize();
-      codenum += millis();  // keep track of when we started waiting
-      previous_millis_cmd = millis();
-      while(millis() < codenum) {
-        manage_heater();
-        manage_inactivity();
-        lcd_update(0);
-      }
-      break;
-      #ifdef FWRETRACT
-      case 10: // G10 retract
-       #if EXTRUDERS > 1
-        retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
-        retract(true,retracted_swap[active_extruder]);
-       #else
-        retract(true);
-       #endif
-      break;
-      case 11: // G11 retract_recover
-       #if EXTRUDERS > 1
-        retract(false,retracted_swap[active_extruder]);
-       #else
-        retract(false);
-       #endif 
-      break;
-      #endif //FWRETRACT
-    case 28: //G28 Home all Axis one at a time
-    {
-      long home_x_value = 0;
-      long home_y_value = 0;
-      long home_z_value = 0;
-      // Which axes should be homed?
-      bool home_x = code_seen(axis_codes[X_AXIS]);
-      home_x_value = code_value_long();
-      bool home_y = code_seen(axis_codes[Y_AXIS]);
-      home_y_value = code_value_long();
-      bool home_z = code_seen(axis_codes[Z_AXIS]);
-      home_z_value = code_value_long();
-      bool without_mbl = code_seen('W');
-      // calibrate?
-      bool calib = code_seen('C');
-      gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
-      if ((home_x || home_y || without_mbl || home_z) == false) {
-         // Push the commands to the front of the message queue in the reverse order!
-         // There shall be always enough space reserved for these commands.
-         goto case_G80;
-      }
-      break;
-    }
-#ifdef ENABLE_AUTO_BED_LEVELING
-    case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
-        {
-            #if Z_MIN_PIN == -1
-            #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature! Z_MIN_PIN must point to a valid hardware pin."
-            #endif
-
-            // Prevent user from running a G29 without first homing in X and Y
-            if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
-            {
-                LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
-                SERIAL_ECHO_START;
-                SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
-                break; // abort G29, since we don't know where we are
-            }
-
-            st_synchronize();
-            // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
-            //vector_3 corrected_position = plan_get_position_mm();
-            //corrected_position.debug("position before G29");
-            plan_bed_level_matrix.set_to_identity();
-            vector_3 uncorrected_position = plan_get_position();
-            //uncorrected_position.debug("position durring G29");
-            current_position[X_AXIS] = uncorrected_position.x;
-            current_position[Y_AXIS] = uncorrected_position.y;
-            current_position[Z_AXIS] = uncorrected_position.z;
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-            setup_for_endstop_move();
-
-            feedrate = homing_feedrate[Z_AXIS];
-#ifdef AUTO_BED_LEVELING_GRID
-            // probe at the points of a lattice grid
-
-            int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
-            int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
-
-
-            // solve the plane equation ax + by + d = z
-            // A is the matrix with rows [x y 1] for all the probed points
-            // B is the vector of the Z positions
-            // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
-            // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
-
-            // "A" matrix of the linear system of equations
-            double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
-            // "B" vector of Z points
-            double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
-
-
-            int probePointCounter = 0;
-            bool zig = true;
-
-            for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
-            {
-              int xProbe, xInc;
-              if (zig)
-              {
-                xProbe = LEFT_PROBE_BED_POSITION;
-                //xEnd = RIGHT_PROBE_BED_POSITION;
-                xInc = xGridSpacing;
-                zig = false;
-              } else // zag
-              {
-                xProbe = RIGHT_PROBE_BED_POSITION;
-                //xEnd = LEFT_PROBE_BED_POSITION;
-                xInc = -xGridSpacing;
-                zig = true;
-              }
-
-              for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
-              {
-                float z_before;
-                if (probePointCounter == 0)
-                {
-                  // raise before probing
-                  z_before = Z_RAISE_BEFORE_PROBING;
-                } else
-                {
-                  // raise extruder
-                  z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
-                }
-
-                float measured_z = probe_pt(xProbe, yProbe, z_before);
-
-                eqnBVector[probePointCounter] = measured_z;
-
-                eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
-                eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
-                eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
-                probePointCounter++;
-                xProbe += xInc;
-              }
-            }
-            clean_up_after_endstop_move();
-
-            // solve lsq problem
-            double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
-
-            SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
-            SERIAL_PROTOCOL(plane_equation_coefficients[0]);
-            SERIAL_PROTOCOLPGM(" b: ");
-            SERIAL_PROTOCOL(plane_equation_coefficients[1]);
-            SERIAL_PROTOCOLPGM(" d: ");
-            SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
-
-
-            set_bed_level_equation_lsq(plane_equation_coefficients);
-
-            free(plane_equation_coefficients);
-
-#else // AUTO_BED_LEVELING_GRID not defined
-
-            // Probe at 3 arbitrary points
-            // probe 1
-            float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
-
-            // probe 2
-            float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-
-            // probe 3
-            float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
-
-            clean_up_after_endstop_move();
-
-            set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
-
-
-#endif // AUTO_BED_LEVELING_GRID
-            st_synchronize();
-
-            // The following code correct the Z height difference from z-probe position and hotend tip position.
-            // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
-            // When the bed is uneven, this height must be corrected.
-            real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
-            x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
-            y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
-            z_tmp = current_position[Z_AXIS];
-
-            apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
-            current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        }
-        break;
-#ifndef Z_PROBE_SLED
-    case 30: // G30 Single Z Probe
-        {
-            st_synchronize();
-            // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
-            setup_for_endstop_move();
-
-            feedrate = homing_feedrate[Z_AXIS];
-
-            run_z_probe();
-            SERIAL_PROTOCOLPGM(_T(MSG_BED));
-            SERIAL_PROTOCOLPGM(" X: ");
-            SERIAL_PROTOCOL(current_position[X_AXIS]);
-            SERIAL_PROTOCOLPGM(" Y: ");
-            SERIAL_PROTOCOL(current_position[Y_AXIS]);
-            SERIAL_PROTOCOLPGM(" Z: ");
-            SERIAL_PROTOCOL(current_position[Z_AXIS]);
-            SERIAL_PROTOCOLPGM("\n");
-
-            clean_up_after_endstop_move();
-        }
-        break;
-#else
-    case 31: // dock the sled
-        dock_sled(true);
-        break;
-    case 32: // undock the sled
-        dock_sled(false);
-        break;
-#endif // Z_PROBE_SLED
-#endif // ENABLE_AUTO_BED_LEVELING
-            
-#ifdef MESH_BED_LEVELING
-    case 30: // G30 Single Z Probe
-        {
-            st_synchronize();
-            // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
-            setup_for_endstop_move();
-
-            feedrate = homing_feedrate[Z_AXIS];
-
-            find_bed_induction_sensor_point_z(-10.f, 3);
-
-			printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
-
-            clean_up_after_endstop_move();
-        }
-        break;
-	
-
-	case 75:
-	{
-		for (int i = 40; i <= 110; i++)
-			printf_P(_N("%d  %.2f"), i, temp_comp_interpolation(i));
-	}
-	break;
-
-	case 76: //PINDA probe temperature calibration
-	{
-#ifdef PINDA_THERMISTOR
-		if (true)
-		{
-
-			if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
-				//we need to know accurate position of first calibration point
-				//if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
-				lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
-				break;
-			}
-			
-			if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
-			{
-				// We don't know where we are! HOME!
-				// Push the commands to the front of the message queue in the reverse order!
-				// There shall be always enough space reserved for these commands.
-				repeatcommand_front(); // repeat G76 with all its parameters
-				enquecommand_front_P((PSTR("G28 W0")));
-				break;
-			}
-			lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
-			bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
-			
-			if (result)
-			{
-				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				current_position[Z_AXIS] = 50;
-				current_position[Y_AXIS] = 180;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				st_synchronize();
-				lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
-				current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
-				current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				st_synchronize();
-				gcode_G28(false, false, true);
-
-			}
-			if ((current_temperature_pinda > 35) && (farm_mode == false)) {
-				//waiting for PIDNA probe to cool down in case that we are not in farm mode
-				current_position[Z_AXIS] = 100;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
-					lcd_temp_cal_show_result(false);
-					break;
-				}
-			}
-			lcd_update_enable(true);
-			KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
-			SERIAL_ECHOLNPGM("PINDA probe calibration start");
-
-			float zero_z;
-			int z_shift = 0; //unit: steps
-			float start_temp = 5 * (int)(current_temperature_pinda / 5);
-			if (start_temp < 35) start_temp = 35;
-			if (start_temp < current_temperature_pinda) start_temp += 5;
-			printf_P(_N("start temperature: %.1f\n"), start_temp);
-
-//			setTargetHotend(200, 0);
-			setTargetBed(70 + (start_temp - 30));
-
-			custom_message = true;
-			custom_message_type = 4;
-			custom_message_state = 1;
-			custom_message = _T(MSG_TEMP_CALIBRATION);
-			current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			current_position[X_AXIS] = PINDA_PREHEAT_X;
-			current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			st_synchronize();
-
-			while (current_temperature_pinda < start_temp)
-			{
-				delay_keep_alive(1000);
-				serialecho_temperatures();
-			}
-
-			eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process 
-
-			current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
-			current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			st_synchronize();
-
-			bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
-			if (find_z_result == false) {
-				lcd_temp_cal_show_result(find_z_result);
-				break;
-			}
-			zero_z = current_position[Z_AXIS];
-
-			printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
-
-			int i = -1; for (; i < 5; i++)
-			{
-				float temp = (40 + i * 5);
-				printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
-				if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
-				if (start_temp <= temp) break;
-			}
-
-			for (i++; i < 5; i++)
-			{
-				float temp = (40 + i * 5);
-				printf_P(_N("\nStep: %d/6\n"), i + 2);
-				custom_message_state = i + 2;
-				setTargetBed(50 + 10 * (temp - 30) / 5);
-//				setTargetHotend(255, 0);
-				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				current_position[X_AXIS] = PINDA_PREHEAT_X;
-				current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				st_synchronize();
-				while (current_temperature_pinda < temp)
-				{
-					delay_keep_alive(1000);
-					serialecho_temperatures();
-				}
-				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
-				current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-				st_synchronize();
-				find_z_result = find_bed_induction_sensor_point_z(-1.f);
-				if (find_z_result == false) {
-					lcd_temp_cal_show_result(find_z_result);
-					break;
-				}
-				z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
-
-				printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
-
-				EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
-
-			}
-			lcd_temp_cal_show_result(true);
-
-			break;
-		}
-#endif //PINDA_THERMISTOR
-
-		setTargetBed(PINDA_MIN_T);
-		float zero_z;
-		int z_shift = 0; //unit: steps
-		int t_c; // temperature
-
-		if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
-			// We don't know where we are! HOME!
-			// Push the commands to the front of the message queue in the reverse order!
-			// There shall be always enough space reserved for these commands.
-			repeatcommand_front(); // repeat G76 with all its parameters
-			enquecommand_front_P((PSTR("G28 W0")));
-			break;
-		}
-		puts_P(_N("PINDA probe calibration start"));
-		custom_message = true;
-		custom_message_type = 4;
-		custom_message_state = 1;
-		custom_message = _T(MSG_TEMP_CALIBRATION);
-		current_position[X_AXIS] = PINDA_PREHEAT_X;
-		current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-		current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-		st_synchronize();
-		
-		while (abs(degBed() - PINDA_MIN_T) > 1) {
-			delay_keep_alive(1000);
-			serialecho_temperatures();
-		}
-		
-		//enquecommand_P(PSTR("M190 S50"));
-		for (int i = 0; i < PINDA_HEAT_T; i++) {
-			delay_keep_alive(1000);
-			serialecho_temperatures();
-		}
-		eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process 
-
-		current_position[Z_AXIS] = 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-
-		current_position[X_AXIS] = pgm_read_float(bed_ref_points);
-		current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-		st_synchronize();
-		
-		find_bed_induction_sensor_point_z(-1.f);
-		zero_z = current_position[Z_AXIS];
-
-		printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
-
-		for (int i = 0; i<5; i++) {
-			printf_P(_N("\nStep: %d/6\n"), i + 2);
-			custom_message_state = i + 2;
-			t_c = 60 + i * 10;
-
-			setTargetBed(t_c);
-			current_position[X_AXIS] = PINDA_PREHEAT_X;
-			current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-			current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			st_synchronize();
-			while (degBed() < t_c) {
-				delay_keep_alive(1000);
-				serialecho_temperatures();
-			}
-			for (int i = 0; i < PINDA_HEAT_T; i++) {
-				delay_keep_alive(1000);
-				serialecho_temperatures();
-			}
-			current_position[Z_AXIS] = 5;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			current_position[X_AXIS] = pgm_read_float(bed_ref_points);
-			current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-			st_synchronize();
-			find_bed_induction_sensor_point_z(-1.f);
-			z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
-
-			printf_P(_N("\nTemperature: %d  Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
-
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
-			
-		
-		}
-		custom_message_type = 0;
-		custom_message = false;
-
-		eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
-		puts_P(_N("Temperature calibration done."));
-			disable_x();
-			disable_y();
-			disable_z();
-			disable_e0();
-			disable_e1();
-			disable_e2();
-			setTargetBed(0); //set bed target temperature back to 0
-		lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
-		temp_cal_active = true;
-		eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
-		lcd_update_enable(true);
-		lcd_update(2);		
-
-		
-
-	}
-	break;
-
-#ifdef DIS
-	case 77:
-	{
-		//G77 X200 Y150 XP100 YP15 XO10 Y015
-
-		//for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
-
-
-		//G77 X232 Y218 XP116 YP109 XO-11 YO0 
-
-		float dimension_x = 40;
-		float dimension_y = 40;
-		int points_x = 40;
-		int points_y = 40;
-		float offset_x = 74;
-		float offset_y = 33;
-
-		if (code_seen('X')) dimension_x = code_value();
-		if (code_seen('Y')) dimension_y = code_value();
-		if (code_seen('XP')) points_x = code_value();
-		if (code_seen('YP')) points_y = code_value();
-		if (code_seen('XO')) offset_x = code_value();
-		if (code_seen('YO')) offset_y = code_value();
-		
-		bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-		
-	} break;
-	
-#endif
-
-	case 79: {
-		for (int i = 255; i > 0; i = i - 5) {
-			fanSpeed = i;
-			//delay_keep_alive(2000);
-			for (int j = 0; j < 100; j++) {
-				delay_keep_alive(100);
-
-			}
-			fan_speed[1];
-			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
-		}
-	}break;
-
-	/**
-	* G80: Mesh-based Z probe, probes a grid and produces a
-	*      mesh to compensate for variable bed height
-	*
-	* The S0 report the points as below
-	*
-	*  +----> X-axis
-	*  |
-	*  |
-	*  v Y-axis
-	*
-	*/
-
-	case 80:
-#ifdef MK1BP
-		break;
-#endif //MK1BP
-	case_G80:
-	{
-		mesh_bed_leveling_flag = true;
-		int8_t verbosity_level = 0;
-		static bool run = false;
-
-		if (code_seen('V')) {
-			// Just 'V' without a number counts as V1.
-			char c = strchr_pointer[1];
-			verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
-		}
-		// Firstly check if we know where we are
-		if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
-			// We don't know where we are! HOME!
-			// Push the commands to the front of the message queue in the reverse order!
-			// There shall be always enough space reserved for these commands.
-			if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
-				repeatcommand_front(); // repeat G80 with all its parameters
-				enquecommand_front_P((PSTR("G28 W0")));
-			}
-			else {
-				mesh_bed_leveling_flag = false;
-			}
-			break;
-		} 
-		
-		
-		bool temp_comp_start = true;
-#ifdef PINDA_THERMISTOR
-		temp_comp_start = false;
-#endif //PINDA_THERMISTOR
-
-		if (temp_comp_start)
-		if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
-			if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
-				temp_compensation_start();
-				run = true;
-				repeatcommand_front(); // repeat G80 with all its parameters
-				enquecommand_front_P((PSTR("G28 W0")));
-			}
-			else {
-				mesh_bed_leveling_flag = false;
-			}
-			break;
-		}
-		run = false;
-		if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
-			mesh_bed_leveling_flag = false;
-			break;
-		}
-		// Save custom message state, set a new custom message state to display: Calibrating point 9.
-		bool custom_message_old = custom_message;
-		unsigned int custom_message_type_old = custom_message_type;
-		unsigned int custom_message_state_old = custom_message_state;
-		custom_message = true;
-		custom_message_type = 1;
-		custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
-		lcd_update(1);
-
-		mbl.reset(); //reset mesh bed leveling
-
-					 // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
-					 // consumed during the first movements following this statement.
-		babystep_undo();
-
-		// Cycle through all points and probe them
-		// First move up. During this first movement, the babystepping will be reverted.
-		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
-		// The move to the first calibration point.
-		current_position[X_AXIS] = pgm_read_float(bed_ref_points);
-		current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
-		bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
-
-		#ifdef SUPPORT_VERBOSITY
-		if (verbosity_level >= 1) {
-			clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
-		}
-		#endif //SUPPORT_VERBOSITY
-		//            mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);            
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
-		// Wait until the move is finished.
-		st_synchronize();
-
-		int mesh_point = 0; //index number of calibration point
-
-		int ix = 0;
-		int iy = 0;
-
-		int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
-		int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
-		int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
-		bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
-		#ifdef SUPPORT_VERBOSITY
-		if (verbosity_level >= 1) {
-			has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
-		}
-		#endif // SUPPORT_VERBOSITY
-		setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
-		const char *kill_message = NULL;
-		while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
-			// Get coords of a measuring point.
-			ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
-			iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
-			if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
-			float z0 = 0.f;
-			if (has_z && mesh_point > 0) {
-				uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
-				z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
-				//#if 0
-				#ifdef SUPPORT_VERBOSITY
-				if (verbosity_level >= 1) {
-					SERIAL_ECHOLNPGM("");
-					SERIAL_ECHOPGM("Bed leveling, point: ");
-					MYSERIAL.print(mesh_point);
-					SERIAL_ECHOPGM(", calibration z: ");
-					MYSERIAL.print(z0, 5);
-					SERIAL_ECHOLNPGM("");
-				}
-				#endif // SUPPORT_VERBOSITY
-				//#endif
-			}
-
-			// Move Z up to MESH_HOME_Z_SEARCH.
-			current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
-			st_synchronize();
-
-			// Move to XY position of the sensor point.
-			current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
-			current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
-
-
-
-			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
-			#ifdef SUPPORT_VERBOSITY
-			if (verbosity_level >= 1) {
-
-				SERIAL_PROTOCOL(mesh_point);
-				clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
-			}
-			#endif // SUPPORT_VERBOSITY
-
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
-			st_synchronize();
-
-			// Go down until endstop is hit
-			const float Z_CALIBRATION_THRESHOLD = 1.f;
-			if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
-				kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
-				break;
-			}
-			if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
-				kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
-				break;
-			}
-			if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
-				kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
-				break;
-			}
-			#ifdef SUPPORT_VERBOSITY
-			if (verbosity_level >= 10) {
-				SERIAL_ECHOPGM("X: ");
-				MYSERIAL.print(current_position[X_AXIS], 5);
-				SERIAL_ECHOLNPGM("");
-				SERIAL_ECHOPGM("Y: ");
-				MYSERIAL.print(current_position[Y_AXIS], 5);
-				SERIAL_PROTOCOLPGM("\n");
-			}
-			#endif // SUPPORT_VERBOSITY
-			float offset_z = 0;
-
-#ifdef PINDA_THERMISTOR
-			offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
-#endif //PINDA_THERMISTOR
-//			#ifdef SUPPORT_VERBOSITY
-/*			if (verbosity_level >= 1)
-			{
-				SERIAL_ECHOPGM("mesh bed leveling: ");
-				MYSERIAL.print(current_position[Z_AXIS], 5);
-				SERIAL_ECHOPGM(" offset: ");
-				MYSERIAL.print(offset_z, 5);
-				SERIAL_ECHOLNPGM("");
-			}*/
-//			#endif // SUPPORT_VERBOSITY
-			mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
-
-			custom_message_state--;
-			mesh_point++;
-			lcd_update(1);
-		}
-		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-		#ifdef SUPPORT_VERBOSITY
-		if (verbosity_level >= 20) {
-			SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
-			SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
-			MYSERIAL.print(current_position[Z_AXIS], 5);
-		}
-		#endif // SUPPORT_VERBOSITY
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
-		st_synchronize();
-		if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
-			kill(kill_message);
-			SERIAL_ECHOLNPGM("killed");
-		}
-		clean_up_after_endstop_move();
-//		SERIAL_ECHOLNPGM("clean up finished ");
-
-		bool apply_temp_comp = true;
-#ifdef PINDA_THERMISTOR
-		apply_temp_comp = false;
-#endif
-		if (apply_temp_comp)
-		if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
-		babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
-//		SERIAL_ECHOLNPGM("babystep applied");
-		bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
-		#ifdef SUPPORT_VERBOSITY
-		if (verbosity_level >= 1) {
-			eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
-		}
-		#endif // SUPPORT_VERBOSITY
-
-		for (uint8_t i = 0; i < 4; ++i) {
-			unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
-			long correction = 0;
-			if (code_seen(codes[i]))
-				correction = code_value_long();
-			else if (eeprom_bed_correction_valid) {
-				unsigned char *addr = (i < 2) ?
-					((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
-					((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
-				correction = eeprom_read_int8(addr);
-			}
-			if (correction == 0)
-				continue;
-			float offset = float(correction) * 0.001f;
-			if (fabs(offset) > 0.101f) {
-				SERIAL_ERROR_START;
-				SERIAL_ECHOPGM("Excessive bed leveling correction: ");
-				SERIAL_ECHO(offset);
-				SERIAL_ECHOLNPGM(" microns");
-			}
-			else {
-				switch (i) {
-				case 0:
-					for (uint8_t row = 0; row < 3; ++row) {
-						mbl.z_values[row][1] += 0.5f * offset;
-						mbl.z_values[row][0] += offset;
-					}
-					break;
-				case 1:
-					for (uint8_t row = 0; row < 3; ++row) {
-						mbl.z_values[row][1] += 0.5f * offset;
-						mbl.z_values[row][2] += offset;
-					}
-					break;
-				case 2:
-					for (uint8_t col = 0; col < 3; ++col) {
-						mbl.z_values[1][col] += 0.5f * offset;
-						mbl.z_values[0][col] += offset;
-					}
-					break;
-				case 3:
-					for (uint8_t col = 0; col < 3; ++col) {
-						mbl.z_values[1][col] += 0.5f * offset;
-						mbl.z_values[2][col] += offset;
-					}
-					break;
-				}
-			}
-		}
-//		SERIAL_ECHOLNPGM("Bed leveling correction finished");
-		mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
-//		SERIAL_ECHOLNPGM("Upsample finished");
-		mbl.active = 1; //activate mesh bed leveling
-//		SERIAL_ECHOLNPGM("Mesh bed leveling activated");
-		go_home_with_z_lift();
-//		SERIAL_ECHOLNPGM("Go home finished");
-		//unretract (after PINDA preheat retraction)
-		if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
-			current_position[E_AXIS] += DEFAULT_RETRACTION;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
-		}
-		KEEPALIVE_STATE(NOT_BUSY);
-		// Restore custom message state
-		lcd_setstatuspgm(_T(WELCOME_MSG));
-		custom_message = custom_message_old;
-		custom_message_type = custom_message_type_old;
-		custom_message_state = custom_message_state_old;
-		mesh_bed_leveling_flag = false;
-		mesh_bed_run_from_menu = false;
-		lcd_update(2);
-		
-	}
-	break;
-
-        /**
-         * G81: Print mesh bed leveling status and bed profile if activated
-         */
-        case 81:
-            if (mbl.active) {
-                SERIAL_PROTOCOLPGM("Num X,Y: ");
-                SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
-                SERIAL_PROTOCOLPGM(",");
-                SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
-                SERIAL_PROTOCOLPGM("\nZ search height: ");
-                SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
-                SERIAL_PROTOCOLLNPGM("\nMeasured points:");
-                for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
-                    for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
-                        SERIAL_PROTOCOLPGM("  ");
-                        SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
-                    }
-                    SERIAL_PROTOCOLPGM("\n");
-                }
-            }
-            else
-                SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
-            break;
-            
-#if 0
-        /**
-         * G82: Single Z probe at current location
-         *
-         * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
-         *
-         */
-        case 82:
-            SERIAL_PROTOCOLLNPGM("Finding bed ");
-            setup_for_endstop_move();
-            find_bed_induction_sensor_point_z();
-            clean_up_after_endstop_move();
-            SERIAL_PROTOCOLPGM("Bed found at: ");
-            SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
-            SERIAL_PROTOCOLPGM("\n");
-            break;
-
-            /**
-             * G83: Prusa3D specific: Babystep in Z and store to EEPROM
-             */
-        case 83:
-        {
-            int babystepz = code_seen('S') ? code_value() : 0;
-            int BabyPosition = code_seen('P') ? code_value() : 0;
-            
-            if (babystepz != 0) {
-                //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
-                // Is the axis indexed starting with zero or one?
-                if (BabyPosition > 4) {
-                    SERIAL_PROTOCOLLNPGM("Index out of bounds");
-                }else{
-                    // Save it to the eeprom
-                    babystepLoadZ = babystepz;
-                    EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
-                    // adjust the Z
-                    babystepsTodoZadd(babystepLoadZ);
-                }
-            
-            }
-            
-        }
-        break;
-            /**
-             * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
-             */
-        case 84:
-            babystepsTodoZsubtract(babystepLoadZ);
-            // babystepLoadZ = 0;
-            break;
-            
-            /**
-             * G85: Prusa3D specific: Pick best babystep
-             */
-        case 85:
-            lcd_pick_babystep();
-            break;
-#endif
-            
-            /**
-             * G86: Prusa3D specific: Disable babystep correction after home.
-             * This G-code will be performed at the start of a calibration script.
-             */
-        case 86:
-            calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
-            break;
-            /**
-             * G87: Prusa3D specific: Enable babystep correction after home
-             * This G-code will be performed at the end of a calibration script.
-             */
-        case 87:
-			calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
-            break;
-
-            /**
-             * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
-             */
-		    case 88:
-			      break;
-
-
-#endif  // ENABLE_MESH_BED_LEVELING
-            
-            
-    case 90: // G90
-      relative_mode = false;
-      break;
-    case 91: // G91
-      relative_mode = true;
-      break;
-    case 92: // G92
-      if(!code_seen(axis_codes[E_AXIS]))
-        st_synchronize();
-      for(int8_t i=0; i < NUM_AXIS; i++) {
-        if(code_seen(axis_codes[i])) {
-           if(i == E_AXIS) {
-             current_position[i] = code_value();
-             plan_set_e_position(current_position[E_AXIS]);
-           }
-           else {
-		current_position[i] = code_value()+add_homing[i];
-            plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-           }
-        }
-      }
-      break;
-
-	case 98: // G98 (activate farm mode)
-		farm_mode = 1;
-		PingTime = millis();
-		eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
-          SilentModeMenu = SILENT_MODE_OFF;
-          eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
-		break;
-
-	case 99: // G99 (deactivate farm mode)
-		farm_mode = 0;
-		lcd_printer_connected();
-		eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
-		lcd_update(2);
-		break;
-	default:
-		printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
-    }
-  } // end if(code_seen('G'))
-
-  else if(code_seen('M'))
-  {
-	  int index;
-	  for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
-	   
-	 /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
-	  if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
-		  printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
-
-	  } else
-    switch((int)code_value())
-    {
-
-    case 0: // M0 - Unconditional stop - Wait for user button press on LCD
-    case 1: // M1 - Conditional stop - Wait for user button press on LCD
-    {
-      char *src = strchr_pointer + 2;
-
-      codenum = 0;
-
-      bool hasP = false, hasS = false;
-      if (code_seen('P')) {
-        codenum = code_value(); // milliseconds to wait
-        hasP = codenum > 0;
-      }
-      if (code_seen('S')) {
-        codenum = code_value() * 1000; // seconds to wait
-        hasS = codenum > 0;
-      }
-      starpos = strchr(src, '*');
-      if (starpos != NULL) *(starpos) = '\0';
-      while (*src == ' ') ++src;
-      if (!hasP && !hasS && *src != '\0') {
-        lcd_setstatus(src);
-      } else {
-        LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
-      }
-
-      lcd_ignore_click();				//call lcd_ignore_click aslo for else ???
-      st_synchronize();
-      previous_millis_cmd = millis();
-      if (codenum > 0){
-        codenum += millis();  // keep track of when we started waiting
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-        while(millis() < codenum && !lcd_clicked()){
-          manage_heater();
-          manage_inactivity(true);
-          lcd_update(0);
-        }
-		KEEPALIVE_STATE(IN_HANDLER);
-        lcd_ignore_click(false);
-      }else{
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-        while(!lcd_clicked()){
-          manage_heater();
-          manage_inactivity(true);
-          lcd_update(0);
-        }
-		KEEPALIVE_STATE(IN_HANDLER);
-      }
-      if (IS_SD_PRINTING)
-        LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
-      else
-        LCD_MESSAGERPGM(_T(WELCOME_MSG));
-    }
-    break;
-    case 17:
-        LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
-        enable_x();
-        enable_y();
-        enable_z();
-        enable_e0();
-        enable_e1();
-        enable_e2();
-      break;
-
-#ifdef SDSUPPORT
-    case 20: // M20 - list SD card
-      SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
-      card.ls();
-      SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
-      break;
-    case 21: // M21 - init SD card
-
-      card.initsd();
-
-      break;
-    case 22: //M22 - release SD card
-      card.release();
-
-      break;
-    case 23: //M23 - Select file
-      starpos = (strchr(strchr_pointer + 4,'*'));
-      if(starpos!=NULL)
-        *(starpos)='\0';
-      card.openFile(strchr_pointer + 4,true);
-      break;
-    case 24: //M24 - Start SD print
-	  if (!card.paused) 
-		failstats_reset_print();
-      card.startFileprint();
-      starttime=millis();
-	  break;
-    case 25: //M25 - Pause SD print
-      card.pauseSDPrint();
-      break;
-    case 26: //M26 - Set SD index
-      if(card.cardOK && code_seen('S')) {
-        card.setIndex(code_value_long());
-      }
-      break;
-    case 27: //M27 - Get SD status
-      card.getStatus();
-      break;
-    case 28: //M28 - Start SD write
-      starpos = (strchr(strchr_pointer + 4,'*'));
-      if(starpos != NULL){
-        char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
-        strchr_pointer = strchr(npos,' ') + 1;
-        *(starpos) = '\0';
-      }
-      card.openFile(strchr_pointer+4,false);
-      break;
-    case 29: //M29 - Stop SD write
-      //processed in write to file routine above
-      //card,saving = false;
-      break;
-    case 30: //M30 <filename> Delete File
-      if (card.cardOK){
-        card.closefile();
-        starpos = (strchr(strchr_pointer + 4,'*'));
-        if(starpos != NULL){
-          char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
-          strchr_pointer = strchr(npos,' ') + 1;
-          *(starpos) = '\0';
-        }
-        card.removeFile(strchr_pointer + 4);
-      }
-      break;
-    case 32: //M32 - Select file and start SD print
-    {
-      if(card.sdprinting) {
-        st_synchronize();
-
-      }
-      starpos = (strchr(strchr_pointer + 4,'*'));
-
-      char* namestartpos = (strchr(strchr_pointer + 4,'!'));   //find ! to indicate filename string start.
-      if(namestartpos==NULL)
-      {
-        namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
-      }
-      else
-        namestartpos++; //to skip the '!'
-
-      if(starpos!=NULL)
-        *(starpos)='\0';
-
-      bool call_procedure=(code_seen('P'));
-
-      if(strchr_pointer>namestartpos)
-        call_procedure=false;  //false alert, 'P' found within filename
-
-      if( card.cardOK )
-      {
-        card.openFile(namestartpos,true,!call_procedure);
-        if(code_seen('S'))
-          if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
-            card.setIndex(code_value_long());
-        card.startFileprint();
-        if(!call_procedure)
-          starttime=millis(); //procedure calls count as normal print time.
-      }
-    } break;
-    case 928: //M928 - Start SD write
-      starpos = (strchr(strchr_pointer + 5,'*'));
-      if(starpos != NULL){
-        char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
-        strchr_pointer = strchr(npos,' ') + 1;
-        *(starpos) = '\0';
-      }
-      card.openLogFile(strchr_pointer+5);
-      break;
-
-#endif //SDSUPPORT
-
-    case 31: //M31 take time since the start of the SD print or an M109 command
-      {
-      stoptime=millis();
-      char time[30];
-      unsigned long t=(stoptime-starttime)/1000;
-      int sec,min;
-      min=t/60;
-      sec=t%60;
-      sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
-      SERIAL_ECHO_START;
-      SERIAL_ECHOLN(time);
-      lcd_setstatus(time);
-      autotempShutdown();
-      }
-      break;
-#ifndef _DISABLE_M42_M226
-    case 42: //M42 -Change pin status via gcode
-      if (code_seen('S'))
-      {
-        int pin_status = code_value();
-        int pin_number = LED_PIN;
-        if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
-          pin_number = code_value();
-        for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
-        {
-          if (sensitive_pins[i] == pin_number)
-          {
-            pin_number = -1;
-            break;
-          }
-        }
-      #if defined(FAN_PIN) && FAN_PIN > -1
-        if (pin_number == FAN_PIN)
-          fanSpeed = pin_status;
-      #endif
-        if (pin_number > -1)
-        {
-          pinMode(pin_number, OUTPUT);
-          digitalWrite(pin_number, pin_status);
-          analogWrite(pin_number, pin_status);
-        }
-      }
-     break;
-#endif //_DISABLE_M42_M226
-    case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
-
-		// Reset the baby step value and the baby step applied flag.
-		calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
-		eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
-
-        // Reset the skew and offset in both RAM and EEPROM.
-        reset_bed_offset_and_skew();
-        // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
-        // the planner will not perform any adjustments in the XY plane. 
-        // Wait for the motors to stop and update the current position with the absolute values.
-        world2machine_revert_to_uncorrected();
-        break;
-
-    case 45: // M45: Prusa3D: bed skew and offset with manual Z up
-    {
-		int8_t verbosity_level = 0;
-		bool only_Z = code_seen('Z');
-		#ifdef SUPPORT_VERBOSITY
-		if (code_seen('V'))
-		{
-			// Just 'V' without a number counts as V1.
-			char c = strchr_pointer[1];
-			verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
-		}
-		#endif //SUPPORT_VERBOSITY
-		gcode_M45(only_Z, verbosity_level);
-    }
-	break;
-
-    /*
-    case 46:
-    {
-        // M46: Prusa3D: Show the assigned IP address.
-        uint8_t ip[4];
-        bool hasIP = card.ToshibaFlashAir_GetIP(ip);
-        if (hasIP) {
-            SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
-            SERIAL_ECHO(int(ip[0]));
-            SERIAL_ECHOPGM(".");
-            SERIAL_ECHO(int(ip[1]));
-            SERIAL_ECHOPGM(".");
-            SERIAL_ECHO(int(ip[2]));
-            SERIAL_ECHOPGM(".");
-            SERIAL_ECHO(int(ip[3]));
-            SERIAL_ECHOLNPGM("");
-        } else {
-            SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");          
-        }
-        break;
-    }
-    */
-
-    case 47:
-        // M47: Prusa3D: Show end stops dialog on the display.
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-        lcd_diag_show_end_stops();
-		KEEPALIVE_STATE(IN_HANDLER);
-        break;
-
-#if 0
-    case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
-    {
-        // Disable the default update procedure of the display. We will do a modal dialog.
-        lcd_update_enable(false);
-        // Let the planner use the uncorrected coordinates.
-        mbl.reset();
-        // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
-        // the planner will not perform any adjustments in the XY plane. 
-        // Wait for the motors to stop and update the current position with the absolute values.
-        world2machine_revert_to_uncorrected();
-        // Move the print head close to the bed.
-        current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
-        st_synchronize();
-        // Home in the XY plane.
-        set_destination_to_current();
-        setup_for_endstop_move();
-        home_xy();
-        int8_t verbosity_level = 0;
-        if (code_seen('V')) {
-            // Just 'V' without a number counts as V1.
-            char c = strchr_pointer[1];
-            verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
-        }
-        bool success = scan_bed_induction_points(verbosity_level);
-        clean_up_after_endstop_move();
-        // Print head up.
-        current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
-        st_synchronize();
-        lcd_update_enable(true);
-        break;
-    }
-#endif
-
-// M48 Z-Probe repeatability measurement function.
-//
-// Usage:   M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
-//	
-// This function assumes the bed has been homed.  Specificaly, that a G28 command
-// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
-// Any information generated by a prior G29 Bed leveling command will be lost and need to be
-// regenerated.
-//
-// The number of samples will default to 10 if not specified.  You can use upper or lower case
-// letters for any of the options EXCEPT n.  n must be in lower case because Marlin uses a capital
-// N for its communication protocol and will get horribly confused if you send it a capital N.
-//
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef Z_PROBE_REPEATABILITY_TEST 
-
-    case 48: // M48 Z-Probe repeatability
-        {
-            #if Z_MIN_PIN == -1
-            #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
-            #endif
-
-	double sum=0.0; 
-	double mean=0.0; 
-	double sigma=0.0;
-	double sample_set[50];
-	int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
-	double X_current, Y_current, Z_current;
-	double X_probe_location, Y_probe_location, Z_start_location, ext_position;
-	
-	if (code_seen('V') || code_seen('v')) {
-        	verbose_level = code_value();
-		if (verbose_level<0 || verbose_level>4 ) {
-			SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
-			goto Sigma_Exit;
-		}
-	}
-
-	if (verbose_level > 0)   {
-		SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test.   Version 2.00\n");
-		SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
-	}
-
-	if (code_seen('n')) {
-        	n_samples = code_value();
-		if (n_samples<4 || n_samples>50 ) {
-			SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
-			goto Sigma_Exit;
-		}
-	}
-
-	X_current = X_probe_location = st_get_position_mm(X_AXIS);
-	Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
-	Z_current = st_get_position_mm(Z_AXIS);
-	Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
-	ext_position	 = st_get_position_mm(E_AXIS);
-
-	if (code_seen('X') || code_seen('x') ) {
-        	X_probe_location = code_value() -  X_PROBE_OFFSET_FROM_EXTRUDER;
-		if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
-			SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
-			goto Sigma_Exit;
-		}
-	}
-
-	if (code_seen('Y') || code_seen('y') ) {
-        	Y_probe_location = code_value() -  Y_PROBE_OFFSET_FROM_EXTRUDER;
-		if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
-			SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
-			goto Sigma_Exit;
-		}
-	}
-
-	if (code_seen('L') || code_seen('l') ) {
-        	n_legs = code_value();
-		if ( n_legs==1 ) 
-			n_legs = 2;
-		if ( n_legs<0 || n_legs>15 ) {
-			SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
-			goto Sigma_Exit;
-		}
-	}
-
-//
-// Do all the preliminary setup work.   First raise the probe.
-//
-
-        st_synchronize();
-        plan_bed_level_matrix.set_to_identity();
-	plan_buffer_line( X_current, Y_current, Z_start_location,
-			ext_position,
-    			homing_feedrate[Z_AXIS]/60,
-			active_extruder);
-        st_synchronize();
-
-//
-// Now get everything to the specified probe point So we can safely do a probe to
-// get us close to the bed.  If the Z-Axis is far from the bed, we don't want to 
-// use that as a starting point for each probe.
-//
-	if (verbose_level > 2) 
-		SERIAL_PROTOCOL("Positioning probe for the test.\n");
-
-	plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
-			ext_position,
-    			homing_feedrate[X_AXIS]/60,
-			active_extruder);
-        st_synchronize();
-
-	current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
-	current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
-	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
-	current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
-
-// 
-// OK, do the inital probe to get us close to the bed.
-// Then retrace the right amount and use that in subsequent probes
-//
-
-	setup_for_endstop_move();
-	run_z_probe();
-
-	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
-	Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
-
-	plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
-			ext_position,
-    			homing_feedrate[X_AXIS]/60,
-			active_extruder);
-        st_synchronize();
-	current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
-
-        for( n=0; n<n_samples; n++) {
-
-		do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
-
-		if ( n_legs)  {
-		double radius=0.0, theta=0.0, x_sweep, y_sweep;
-		int rotational_direction, l;
-
-			rotational_direction = (unsigned long) millis() & 0x0001;			// clockwise or counter clockwise
-			radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); 			// limit how far out to go 
-			theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926));	// turn into radians
-
-//SERIAL_ECHOPAIR("starting radius: ",radius);
-//SERIAL_ECHOPAIR("   theta: ",theta);
-//SERIAL_ECHOPAIR("   direction: ",rotational_direction);
-//SERIAL_PROTOCOLLNPGM("");
-
-			for( l=0; l<n_legs-1; l++) {
-				if (rotational_direction==1)
-					theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
-				else
-					theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
-
-				radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
-				if ( radius<0.0 )
-					radius = -radius;
-
-				X_current = X_probe_location + cos(theta) * radius;
-				Y_current = Y_probe_location + sin(theta) * radius;
-
-				if ( X_current<X_MIN_POS)		// Make sure our X & Y are sane
-					 X_current = X_MIN_POS;
-				if ( X_current>X_MAX_POS)
-					 X_current = X_MAX_POS;
-
-				if ( Y_current<Y_MIN_POS)		// Make sure our X & Y are sane
-					 Y_current = Y_MIN_POS;
-				if ( Y_current>Y_MAX_POS)
-					 Y_current = Y_MAX_POS;
-
-				if (verbose_level>3 ) {
-					SERIAL_ECHOPAIR("x: ", X_current);
-					SERIAL_ECHOPAIR("y: ", Y_current);
-					SERIAL_PROTOCOLLNPGM("");
-				}
-
-				do_blocking_move_to( X_current, Y_current, Z_current );
-			}
-			do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
-		}
-
-		setup_for_endstop_move();
-                run_z_probe();
-
-		sample_set[n] = current_position[Z_AXIS];
-
-//
-// Get the current mean for the data points we have so far
-//
-		sum=0.0; 
-		for( j=0; j<=n; j++) {
-			sum = sum + sample_set[j];
-		}
-		mean = sum / (double (n+1));
-//
-// Now, use that mean to calculate the standard deviation for the
-// data points we have so far
-//
-
-		sum=0.0; 
-		for( j=0; j<=n; j++) {
-			sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
-		}
-		sigma = sqrt( sum / (double (n+1)) );
-
-		if (verbose_level > 1) {
-			SERIAL_PROTOCOL(n+1);
-			SERIAL_PROTOCOL(" of ");
-			SERIAL_PROTOCOL(n_samples);
-			SERIAL_PROTOCOLPGM("   z: ");
-			SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
-		}
-
-		if (verbose_level > 2) {
-			SERIAL_PROTOCOL(" mean: ");
-			SERIAL_PROTOCOL_F(mean,6);
-
-			SERIAL_PROTOCOL("   sigma: ");
-			SERIAL_PROTOCOL_F(sigma,6);
-		}
-
-		if (verbose_level > 0) 
-			SERIAL_PROTOCOLPGM("\n");
-
-		plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, 
-				  current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
-        	st_synchronize();
-
-	}
-
-	delay(1000);
-
-        clean_up_after_endstop_move();
-
-//      enable_endstops(true);
-
-	if (verbose_level > 0) {
-		SERIAL_PROTOCOLPGM("Mean: ");
-		SERIAL_PROTOCOL_F(mean, 6);
-		SERIAL_PROTOCOLPGM("\n");
-	}
-
-SERIAL_PROTOCOLPGM("Standard Deviation: ");
-SERIAL_PROTOCOL_F(sigma, 6);
-SERIAL_PROTOCOLPGM("\n\n");
-
-Sigma_Exit:
-        break;
-	}
-#endif		// Z_PROBE_REPEATABILITY_TEST 
-#endif		// ENABLE_AUTO_BED_LEVELING
-	case 73: //M73 show percent done and time remaining
-		if(code_seen('P')) print_percent_done_normal = code_value();
-		if(code_seen('R')) print_time_remaining_normal = code_value();
-		if(code_seen('Q')) print_percent_done_silent = code_value();
-		if(code_seen('S')) print_time_remaining_silent = code_value();
-
-		{
-			const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
-			printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
-			printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
-		}
-		break;
-
-    case 104: // M104
-      if(setTargetedHotend(104)){
-        break;
-      }
-      if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
-      setWatch();
-      break;
-    case 112: //  M112 -Emergency Stop
-      kill(_n(""), 3);
-      break;
-    case 140: // M140 set bed temp
-      if (code_seen('S')) setTargetBed(code_value());
-      break;
-    case 105 : // M105
-      if(setTargetedHotend(105)){
-        break;
-        }
-      #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
-        SERIAL_PROTOCOLPGM("ok T:");
-        SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
-        SERIAL_PROTOCOLPGM(" /");
-        SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
-        #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
-          SERIAL_PROTOCOLPGM(" B:");
-          SERIAL_PROTOCOL_F(degBed(),1);
-          SERIAL_PROTOCOLPGM(" /");
-          SERIAL_PROTOCOL_F(degTargetBed(),1);
-        #endif //TEMP_BED_PIN
-        for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
-          SERIAL_PROTOCOLPGM(" T");
-          SERIAL_PROTOCOL(cur_extruder);
-          SERIAL_PROTOCOLPGM(":");
-          SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
-          SERIAL_PROTOCOLPGM(" /");
-          SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
-        }
-      #else
-        SERIAL_ERROR_START;
-        SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
-      #endif
-
-        SERIAL_PROTOCOLPGM(" @:");
-      #ifdef EXTRUDER_WATTS
-        SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
-        SERIAL_PROTOCOLPGM("W");
-      #else
-        SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
-      #endif
-
-        SERIAL_PROTOCOLPGM(" B@:");
-      #ifdef BED_WATTS
-        SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
-        SERIAL_PROTOCOLPGM("W");
-      #else
-        SERIAL_PROTOCOL(getHeaterPower(-1));
-      #endif
-
-#ifdef PINDA_THERMISTOR
-		SERIAL_PROTOCOLPGM(" P:");
-		SERIAL_PROTOCOL_F(current_temperature_pinda,1);
-#endif //PINDA_THERMISTOR
-
-#ifdef AMBIENT_THERMISTOR
-		SERIAL_PROTOCOLPGM(" A:");
-		SERIAL_PROTOCOL_F(current_temperature_ambient,1);
-#endif //AMBIENT_THERMISTOR
-
-
-        #ifdef SHOW_TEMP_ADC_VALUES
-          {float raw = 0.0;
-
-          #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
-            SERIAL_PROTOCOLPGM("    ADC B:");
-            SERIAL_PROTOCOL_F(degBed(),1);
-            SERIAL_PROTOCOLPGM("C->");
-            raw = rawBedTemp();
-            SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
-            SERIAL_PROTOCOLPGM(" Rb->");
-            SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
-            SERIAL_PROTOCOLPGM(" Rxb->");
-            SERIAL_PROTOCOL_F(raw, 5);
-          #endif
-          for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
-            SERIAL_PROTOCOLPGM("  T");
-            SERIAL_PROTOCOL(cur_extruder);
-            SERIAL_PROTOCOLPGM(":");
-            SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
-            SERIAL_PROTOCOLPGM("C->");
-            raw = rawHotendTemp(cur_extruder);
-            SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
-            SERIAL_PROTOCOLPGM(" Rt");
-            SERIAL_PROTOCOL(cur_extruder);
-            SERIAL_PROTOCOLPGM("->");
-            SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
-            SERIAL_PROTOCOLPGM(" Rx");
-            SERIAL_PROTOCOL(cur_extruder);
-            SERIAL_PROTOCOLPGM("->");
-            SERIAL_PROTOCOL_F(raw, 5);
-          }}
-        #endif
-		SERIAL_PROTOCOLLN("");
-		KEEPALIVE_STATE(NOT_BUSY);
-      return;
-      break;
-    case 109:
-    {// M109 - Wait for extruder heater to reach target.
-      if(setTargetedHotend(109)){
-        break;
-      }
-      LCD_MESSAGERPGM(_T(MSG_HEATING));
-	  heating_status = 1;
-	  if (farm_mode) { prusa_statistics(1); };
-
-#ifdef AUTOTEMP
-        autotemp_enabled=false;
-      #endif
-      if (code_seen('S')) {
-        setTargetHotend(code_value(), tmp_extruder);
-              CooldownNoWait = true;
-            } else if (code_seen('R')) {
-              setTargetHotend(code_value(), tmp_extruder);
-        CooldownNoWait = false;
-      }
-      #ifdef AUTOTEMP
-        if (code_seen('S')) autotemp_min=code_value();
-        if (code_seen('B')) autotemp_max=code_value();
-        if (code_seen('F'))
-        {
-          autotemp_factor=code_value();
-          autotemp_enabled=true;
-        }
-      #endif
-
-      setWatch();
-      codenum = millis();
-
-      /* See if we are heating up or cooling down */
-      target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
-	  
-	  KEEPALIVE_STATE(NOT_BUSY);
-
-      cancel_heatup = false;
-
-	  wait_for_heater(codenum); //loops until target temperature is reached
-
-        LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
-		KEEPALIVE_STATE(IN_HANDLER);
-		heating_status = 2;
-		if (farm_mode) { prusa_statistics(2); };
-        
-        //starttime=millis();
-        previous_millis_cmd = millis();
-      }
-      break;
-    case 190: // M190 - Wait for bed heater to reach target.
-    #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
-        LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
-		heating_status = 3;
-		if (farm_mode) { prusa_statistics(1); };
-        if (code_seen('S')) 
-		{
-          setTargetBed(code_value());
-          CooldownNoWait = true;
-        } 
-		else if (code_seen('R')) 
-		{
-          setTargetBed(code_value());
-          CooldownNoWait = false;
-        }
-        codenum = millis();
-        
-        cancel_heatup = false;
-        target_direction = isHeatingBed(); // true if heating, false if cooling
-
-		KEEPALIVE_STATE(NOT_BUSY);
-        while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
-        {
-          if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
-          {
-			  if (!farm_mode) {
-				  float tt = degHotend(active_extruder);
-				  SERIAL_PROTOCOLPGM("T:");
-				  SERIAL_PROTOCOL(tt);
-				  SERIAL_PROTOCOLPGM(" E:");
-				  SERIAL_PROTOCOL((int)active_extruder);
-				  SERIAL_PROTOCOLPGM(" B:");
-				  SERIAL_PROTOCOL_F(degBed(), 1);
-				  SERIAL_PROTOCOLLN("");
-			  }
-				  codenum = millis();
-			  
-          }
-          manage_heater();
-          manage_inactivity();
-          lcd_update(0);
-        }
-        LCD_MESSAGERPGM(_T(MSG_BED_DONE));
-		KEEPALIVE_STATE(IN_HANDLER);
-		heating_status = 4;
-
-        previous_millis_cmd = millis();
-    #endif
-        break;
-
-    #if defined(FAN_PIN) && FAN_PIN > -1
-      case 106: //M106 Fan On
-        if (code_seen('S')){
-           fanSpeed=constrain(code_value(),0,255);
-        }
-        else {
-          fanSpeed=255;
-        }
-        break;
-      case 107: //M107 Fan Off
-        fanSpeed = 0;
-        break;
-    #endif //FAN_PIN
-
-    #if defined(PS_ON_PIN) && PS_ON_PIN > -1
-      case 80: // M80 - Turn on Power Supply
-        SET_OUTPUT(PS_ON_PIN); //GND
-        WRITE(PS_ON_PIN, PS_ON_AWAKE);
-
-        // If you have a switch on suicide pin, this is useful
-        // if you want to start another print with suicide feature after
-        // a print without suicide...
-        #if defined SUICIDE_PIN && SUICIDE_PIN > -1
-            SET_OUTPUT(SUICIDE_PIN);
-            WRITE(SUICIDE_PIN, HIGH);
-        #endif
-
-          powersupply = true;
-          LCD_MESSAGERPGM(_T(WELCOME_MSG));
-          lcd_update(0);
-        break;
-      #endif
-
-      case 81: // M81 - Turn off Power Supply
-        disable_heater();
-        st_synchronize();
-        disable_e0();
-        disable_e1();
-        disable_e2();
-        finishAndDisableSteppers();
-        fanSpeed = 0;
-        delay(1000); // Wait a little before to switch off
-      #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
-        st_synchronize();
-        suicide();
-      #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
-        SET_OUTPUT(PS_ON_PIN);
-        WRITE(PS_ON_PIN, PS_ON_ASLEEP);
-      #endif
-        powersupply = false;
-        LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
-        lcd_update(0);
-	  break;
-
-    case 82:
-      axis_relative_modes[3] = false;
-      break;
-    case 83:
-      axis_relative_modes[3] = true;
-      break;
-    case 18: //compatibility
-    case 84: // M84
-      if(code_seen('S')){
-        stepper_inactive_time = code_value() * 1000;
-      }
-      else
-      {
-        bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
-        if(all_axis)
-        {
-          st_synchronize();
-          disable_e0();
-          disable_e1();
-          disable_e2();
-          finishAndDisableSteppers();
-        }
-        else
-        {
-          st_synchronize();
-		  if (code_seen('X')) disable_x();
-		  if (code_seen('Y')) disable_y();
-		  if (code_seen('Z')) disable_z();
-#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
-		  if (code_seen('E')) {
-			  disable_e0();
-			  disable_e1();
-			  disable_e2();
-            }
-          #endif
-        }
-      }
-	  //in the end of print set estimated time to end of print and extruders used during print to default values for next print
-	  print_time_remaining_init();
-	  snmm_filaments_used = 0;
-      break;
-    case 85: // M85
-      if(code_seen('S')) {
-        max_inactive_time = code_value() * 1000;
-      }
-      break;
-#ifdef SAFETYTIMER
-	case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
-	  //when safety timer expires heatbed and nozzle target temperatures are set to zero
-	  if (code_seen('S')) {
-	    safetytimer_inactive_time = code_value() * 1000;
-		safetyTimer.start();
-	  }
-	  break;
-#endif
-    case 92: // M92
-      for(int8_t i=0; i < NUM_AXIS; i++)
-      {
-        if(code_seen(axis_codes[i]))
-        {
-          if(i == 3) { // E
-            float value = code_value();
-            if(value < 20.0) {
-              float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
-              max_jerk[E_AXIS] *= factor;
-              max_feedrate[i] *= factor;
-              axis_steps_per_sqr_second[i] *= factor;
-            }
-            axis_steps_per_unit[i] = value;
-          }
-          else {
-            axis_steps_per_unit[i] = code_value();
-          }
-        }
-      }
-      break;
-    case 110:   // M110 - reset line pos
-      if (code_seen('N'))
-	    gcode_LastN = code_value_long();
-    break;
-#ifdef HOST_KEEPALIVE_FEATURE
-	case 113: // M113 - Get or set Host Keepalive interval
-		if (code_seen('S')) {
-			host_keepalive_interval = (uint8_t)code_value_short();
-//			NOMORE(host_keepalive_interval, 60);
-		}
-		else {
-			SERIAL_ECHO_START;
-			SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
-			SERIAL_PROTOCOLLN("");
-		}
-		break;
-#endif
-    case 115: // M115
-      if (code_seen('V')) {
-          // Report the Prusa version number.
-          SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
-      } else if (code_seen('U')) {
-          // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
-          // pause the print and ask the user to upgrade the firmware.
-          show_upgrade_dialog_if_version_newer(++ strchr_pointer);
-      } else {
-          SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
-          SERIAL_ECHORPGM(FW_VERSION_STR_P());
-          SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
-          SERIAL_ECHOPGM(PROTOCOL_VERSION);
-          SERIAL_ECHOPGM(" MACHINE_TYPE:");
-          SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME); 
-          SERIAL_ECHOPGM(" EXTRUDER_COUNT:"); 
-          SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS)); 
-          SERIAL_ECHOPGM(" UUID:"); 
-          SERIAL_ECHOLNPGM(MACHINE_UUID);
-      }
-      break;
-/*    case 117: // M117 display message
-      starpos = (strchr(strchr_pointer + 5,'*'));
-      if(starpos!=NULL)
-        *(starpos)='\0';
-      lcd_setstatus(strchr_pointer + 5);
-      break;*/
-    case 114: // M114
-		gcode_M114();
-      break;
-    case 120: // M120
-      enable_endstops(false) ;
-      break;
-    case 121: // M121
-      enable_endstops(true) ;
-      break;
-    case 119: // M119
-    SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
-    SERIAL_PROTOCOLLN("");
-      #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-        SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
-        if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-        SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
-        if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-        SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
-        if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-        SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
-        if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-        SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
-        if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
-        SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
-        if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
-        }else{
-          SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
-        }
-        SERIAL_PROTOCOLLN("");
-      #endif
-      break;
-      //TODO: update for all axis, use for loop
-    #ifdef BLINKM
-    case 150: // M150
-      {
-        byte red;
-        byte grn;
-        byte blu;
-
-        if(code_seen('R')) red = code_value();
-        if(code_seen('U')) grn = code_value();
-        if(code_seen('B')) blu = code_value();
-
-        SendColors(red,grn,blu);
-      }
-      break;
-    #endif //BLINKM
-    case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
-      {
-
-        tmp_extruder = active_extruder;
-        if(code_seen('T')) {
-          tmp_extruder = code_value();
-		  if(tmp_extruder >= EXTRUDERS) {
-            SERIAL_ECHO_START;
-            SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
-            break;
-          }
-        }
-
-        float area = .0;
-        if(code_seen('D')) {
-		  float diameter = (float)code_value();
-		  if (diameter == 0.0) {
-			// setting any extruder filament size disables volumetric on the assumption that
-			// slicers either generate in extruder values as cubic mm or as as filament feeds
-			// for all extruders
-		    volumetric_enabled = false;
-		  } else {
-            filament_size[tmp_extruder] = (float)code_value();
-			// make sure all extruders have some sane value for the filament size
-			filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
-            #if EXTRUDERS > 1
-			filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
-            #if EXTRUDERS > 2
-			filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
-            #endif
-            #endif
-			volumetric_enabled = true;
-		  }
-        } else {
-          //reserved for setting filament diameter via UFID or filament measuring device
-          break;
-        }
-		calculate_extruder_multipliers();
-      }
-      break;
-    case 201: // M201
-      for(int8_t i=0; i < NUM_AXIS; i++)
-      {
-        if(code_seen(axis_codes[i]))
-        {
-          max_acceleration_units_per_sq_second[i] = code_value();
-        }
-      }
-      // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
-      reset_acceleration_rates();
-      break;
-    #if 0 // Not used for Sprinter/grbl gen6
-    case 202: // M202
-      for(int8_t i=0; i < NUM_AXIS; i++) {
-        if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
-      }
-      break;
-    #endif
-    case 203: // M203 max feedrate mm/sec
-      for(int8_t i=0; i < NUM_AXIS; i++) {
-        if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
-      }
-      break;
-    case 204: // M204 acclereration S normal moves T filmanent only moves
-      {
-        if(code_seen('S')) acceleration = code_value() ;
-        if(code_seen('T')) retract_acceleration = code_value() ;
-      }
-      break;
-    case 205: //M205 advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
-    {
-      if(code_seen('S')) minimumfeedrate = code_value();
-      if(code_seen('T')) mintravelfeedrate = code_value();
-      if(code_seen('B')) minsegmenttime = code_value() ;
-      if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
-      if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
-      if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
-      if(code_seen('E')) max_jerk[E_AXIS] = code_value();
-		if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
-		if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
-    }
-    break;
-    case 206: // M206 additional homing offset
-      for(int8_t i=0; i < 3; i++)
-      {
-        if(code_seen(axis_codes[i])) add_homing[i] = code_value();
-      }
-      break;
-    #ifdef FWRETRACT
-    case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
-    {
-      if(code_seen('S'))
-      {
-        retract_length = code_value() ;
-      }
-      if(code_seen('F'))
-      {
-        retract_feedrate = code_value()/60 ;
-      }
-      if(code_seen('Z'))
-      {
-        retract_zlift = code_value() ;
-      }
-    }break;
-    case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
-    {
-      if(code_seen('S'))
-      {
-        retract_recover_length = code_value() ;
-      }
-      if(code_seen('F'))
-      {
-        retract_recover_feedrate = code_value()/60 ;
-      }
-    }break;
-    case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
-    {
-      if(code_seen('S'))
-      {
-        int t= code_value() ;
-        switch(t)
-        {
-          case 0: 
-          {
-            autoretract_enabled=false;
-            retracted[0]=false;
-            #if EXTRUDERS > 1
-              retracted[1]=false;
-            #endif
-            #if EXTRUDERS > 2
-              retracted[2]=false;
-            #endif
-          }break;
-          case 1: 
-          {
-            autoretract_enabled=true;
-            retracted[0]=false;
-            #if EXTRUDERS > 1
-              retracted[1]=false;
-            #endif
-            #if EXTRUDERS > 2
-              retracted[2]=false;
-            #endif
-          }break;
-          default:
-            SERIAL_ECHO_START;
-            SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
-            SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
-            SERIAL_ECHOLNPGM("\"(1)");
-        }
-      }
-
-    }break;
-    #endif // FWRETRACT
-    #if EXTRUDERS > 1
-    case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-    {
-      if(setTargetedHotend(218)){
-        break;
-      }
-      if(code_seen('X'))
-      {
-        extruder_offset[X_AXIS][tmp_extruder] = code_value();
-      }
-      if(code_seen('Y'))
-      {
-        extruder_offset[Y_AXIS][tmp_extruder] = code_value();
-      }
-      SERIAL_ECHO_START;
-      SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
-      for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
-      {
-         SERIAL_ECHO(" ");
-         SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
-         SERIAL_ECHO(",");
-         SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
-      }
-      SERIAL_ECHOLN("");
-    }break;
-    #endif
-    case 220: // M220 S<factor in percent>- set speed factor override percentage
-    {
-      if(code_seen('S'))
-      {
-        feedmultiply = code_value() ;
-      }
-    }
-    break;
-    case 221: // M221 S<factor in percent>- set extrude factor override percentage
-    {
-      if(code_seen('S'))
-      {
-        int tmp_code = code_value();
-        if (code_seen('T'))
-        {
-          if(setTargetedHotend(221)){
-            break;
-          }
-          extruder_multiply[tmp_extruder] = tmp_code;
-        }
-        else
-        {
-          extrudemultiply = tmp_code ;
-        }
-      }
-      calculate_extruder_multipliers();
-    }
-    break;
-
-#ifndef _DISABLE_M42_M226
-	case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
-	{
-      if(code_seen('P')){
-        int pin_number = code_value(); // pin number
-        int pin_state = -1; // required pin state - default is inverted
-
-        if(code_seen('S')) pin_state = code_value(); // required pin state
-
-        if(pin_state >= -1 && pin_state <= 1){
-
-          for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
-          {
-            if (sensitive_pins[i] == pin_number)
-            {
-              pin_number = -1;
-              break;
-            }
-          }
-
-          if (pin_number > -1)
-          {
-            int target = LOW;
-
-            st_synchronize();
-
-            pinMode(pin_number, INPUT);
-
-            switch(pin_state){
-            case 1:
-              target = HIGH;
-              break;
-
-            case 0:
-              target = LOW;
-              break;
-
-            case -1:
-              target = !digitalRead(pin_number);
-              break;
-            }
-
-            while(digitalRead(pin_number) != target){
-              manage_heater();
-              manage_inactivity();
-              lcd_update(0);
-            }
-          }
-        }
-      }
-    }
-    break;
-#endif //_DISABLE_M42_M226
-
-    #if NUM_SERVOS > 0
-    case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
-      {
-        int servo_index = -1;
-        int servo_position = 0;
-        if (code_seen('P'))
-          servo_index = code_value();
-        if (code_seen('S')) {
-          servo_position = code_value();
-          if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
-		      servos[servo_index].attach(0);
-#endif
-            servos[servo_index].write(servo_position);
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
-              delay(PROBE_SERVO_DEACTIVATION_DELAY);
-              servos[servo_index].detach();
-#endif
-          }
-          else {
-            SERIAL_ECHO_START;
-            SERIAL_ECHO("Servo ");
-            SERIAL_ECHO(servo_index);
-            SERIAL_ECHOLN(" out of range");
-          }
-        }
-        else if (servo_index >= 0) {
-          SERIAL_PROTOCOL(_T(MSG_OK));
-          SERIAL_PROTOCOL(" Servo ");
-          SERIAL_PROTOCOL(servo_index);
-          SERIAL_PROTOCOL(": ");
-          SERIAL_PROTOCOL(servos[servo_index].read());
-          SERIAL_PROTOCOLLN("");
-        }
-      }
-      break;
-    #endif // NUM_SERVOS > 0
-
-    #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
-    case 300: // M300
-    {
-      int beepS = code_seen('S') ? code_value() : 110;
-      int beepP = code_seen('P') ? code_value() : 1000;
-      if (beepS > 0)
-      {
-        #if BEEPER > 0
-          tone(BEEPER, beepS);
-          delay(beepP);
-          noTone(BEEPER);
-        #endif
-      }
-      else
-      {
-        delay(beepP);
-      }
-    }
-    break;
-    #endif // M300
-
-    #ifdef PIDTEMP
-    case 301: // M301
-      {
-        if(code_seen('P')) Kp = code_value();
-        if(code_seen('I')) Ki = scalePID_i(code_value());
-        if(code_seen('D')) Kd = scalePID_d(code_value());
-
-        #ifdef PID_ADD_EXTRUSION_RATE
-        if(code_seen('C')) Kc = code_value();
-        #endif
-
-        updatePID();
-        SERIAL_PROTOCOLRPGM(_T(MSG_OK));
-        SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(Kp);
-        SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(unscalePID_i(Ki));
-        SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(unscalePID_d(Kd));
-        #ifdef PID_ADD_EXTRUSION_RATE
-        SERIAL_PROTOCOL(" c:");
-        //Kc does not have scaling applied above, or in resetting defaults
-        SERIAL_PROTOCOL(Kc);
-        #endif
-        SERIAL_PROTOCOLLN("");
-      }
-      break;
-    #endif //PIDTEMP
-    #ifdef PIDTEMPBED
-    case 304: // M304
-      {
-        if(code_seen('P')) bedKp = code_value();
-        if(code_seen('I')) bedKi = scalePID_i(code_value());
-        if(code_seen('D')) bedKd = scalePID_d(code_value());
-
-        updatePID();
-       	SERIAL_PROTOCOLRPGM(_T(MSG_OK));
-        SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(bedKp);
-        SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(unscalePID_i(bedKi));
-        SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(unscalePID_d(bedKd));
-        SERIAL_PROTOCOLLN("");
-      }
-      break;
-    #endif //PIDTEMP
-    case 240: // M240  Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
-     {
-     	#ifdef CHDK
-       
-         SET_OUTPUT(CHDK);
-         WRITE(CHDK, HIGH);
-         chdkHigh = millis();
-         chdkActive = true;
-       
-       #else
-     	
-      	#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
-	const uint8_t NUM_PULSES=16;
-	const float PULSE_LENGTH=0.01524;
-	for(int i=0; i < NUM_PULSES; i++) {
-        WRITE(PHOTOGRAPH_PIN, HIGH);
-        _delay_ms(PULSE_LENGTH);
-        WRITE(PHOTOGRAPH_PIN, LOW);
-        _delay_ms(PULSE_LENGTH);
-        }
-        delay(7.33);
-        for(int i=0; i < NUM_PULSES; i++) {
-        WRITE(PHOTOGRAPH_PIN, HIGH);
-        _delay_ms(PULSE_LENGTH);
-        WRITE(PHOTOGRAPH_PIN, LOW);
-        _delay_ms(PULSE_LENGTH);
-        }
-      	#endif
-      #endif //chdk end if
-     }
-    break;
-    #ifdef PREVENT_DANGEROUS_EXTRUDE
-    case 302: // allow cold extrudes, or set the minimum extrude temperature
-    {
-	  float temp = .0;
-	  if (code_seen('S')) temp=code_value();
-      set_extrude_min_temp(temp);
-    }
-    break;
-	#endif
-    case 303: // M303 PID autotune
-    {
-      float temp = 150.0;
-      int e=0;
-      int c=5;
-      if (code_seen('E')) e=code_value();
-        if (e<0)
-          temp=70;
-      if (code_seen('S')) temp=code_value();
-      if (code_seen('C')) c=code_value();
-      PID_autotune(temp, e, c);
-    }
-    break;
-    case 400: // M400 finish all moves
-    {
-      st_synchronize();
-    }
-    break;
-
-    case 500: // M500 Store settings in EEPROM
-    {
-        Config_StoreSettings(EEPROM_OFFSET);
-    }
-    break;
-    case 501: // M501 Read settings from EEPROM
-    {
-        Config_RetrieveSettings(EEPROM_OFFSET);
-    }
-    break;
-    case 502: // M502 Revert to default settings
-    {
-        Config_ResetDefault();
-    }
-    break;
-    case 503: // M503 print settings currently in memory
-    {
-        Config_PrintSettings();
-    }
-    break;
-    case 509: //M509 Force language selection
-    {
-		lang_reset();
-        SERIAL_ECHO_START;
-        SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
-    }
-    break;
-    #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
-    case 540:
-    {
-        if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
-    }
-    break;
-    #endif
-
-    #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
-    case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
-    {
-      float value;
-      if (code_seen('Z'))
-      {
-        value = code_value();
-        if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
-        {
-          zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
-          SERIAL_ECHO_START;
-          SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
-          SERIAL_PROTOCOLLN("");
-        }
-        else
-        {
-          SERIAL_ECHO_START;
-          SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
-          SERIAL_ECHORPGM(MSG_Z_MIN);
-          SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
-          SERIAL_ECHORPGM(MSG_Z_MAX);
-          SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
-          SERIAL_PROTOCOLLN("");
-        }
-      }
-      else
-      {
-          SERIAL_ECHO_START;
-          SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
-          SERIAL_ECHO(-zprobe_zoffset);
-          SERIAL_PROTOCOLLN("");
-      }
-      break;
-    }
-    #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
-
-    #ifdef FILAMENTCHANGEENABLE
-    case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
-    {
-#ifdef PAT9125
-		bool old_fsensor_enabled = fsensor_enabled;
-		fsensor_enabled = false; //temporary solution for unexpected restarting
-#endif //PAT9125
-
-		st_synchronize();
-		float target[4];
-		float lastpos[4];
-
-        if (farm_mode)
-            
-        {
-            
-            prusa_statistics(22);
-            
-        }
-        
-        feedmultiplyBckp=feedmultiply;
-        int8_t TooLowZ = 0;
-
-		float HotendTempBckp = degTargetHotend(active_extruder);
-		int fanSpeedBckp = fanSpeed;
-        target[X_AXIS]=current_position[X_AXIS];
-        target[Y_AXIS]=current_position[Y_AXIS];
-        target[Z_AXIS]=current_position[Z_AXIS];
-        target[E_AXIS]=current_position[E_AXIS];
-        lastpos[X_AXIS]=current_position[X_AXIS];
-        lastpos[Y_AXIS]=current_position[Y_AXIS];
-        lastpos[Z_AXIS]=current_position[Z_AXIS];
-        lastpos[E_AXIS]=current_position[E_AXIS];
-
-        //Restract extruder
-        if(code_seen('E'))
-        {
-          target[E_AXIS]+= code_value();
-        }
-        else
-        {
-          #ifdef FILAMENTCHANGE_FIRSTRETRACT
-            target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
-          #endif
-        }
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-
-        //Lift Z
-        if(code_seen('Z'))
-        {
-          target[Z_AXIS]+= code_value();
-        }
-        else
-        {
-          #ifdef FILAMENTCHANGE_ZADD
-            target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
-            if(target[Z_AXIS] < 10){
-              target[Z_AXIS]+= 10 ;
-              TooLowZ = 1;
-            }else{
-              TooLowZ = 0;
-            }
-          #endif
-     
-          
-        }
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
-
-        //Move XY to side
-        if(code_seen('X'))
-        {
-          target[X_AXIS]+= code_value();
-        }
-        else
-        {
-          #ifdef FILAMENTCHANGE_XPOS
-            target[X_AXIS]= FILAMENTCHANGE_XPOS ;
-          #endif
-        }
-        if(code_seen('Y'))
-        {
-          target[Y_AXIS]= code_value();
-        }
-        else
-        {
-          #ifdef FILAMENTCHANGE_YPOS
-            target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
-          #endif
-        }
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
-		st_synchronize();
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-
-		uint8_t cnt = 0;
-		int counterBeep = 0;	
-		fanSpeed = 0;
-		unsigned long waiting_start_time = millis();
-		uint8_t wait_for_user_state = 0;
-		lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
-		while (!(wait_for_user_state == 0 && lcd_clicked())){
-
-			//cnt++;
-			manage_heater();
-			manage_inactivity(true);
-
-			/*#ifdef SNMM
-			target[E_AXIS] += 0.002;
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
-
-			#endif // SNMM*/
-
-			//if (cnt == 0)
-			{
-#if BEEPER > 0
-				if (counterBeep == 500) {
-					counterBeep = 0;
-				}
-				SET_OUTPUT(BEEPER);
-				if (counterBeep == 0) {
-					WRITE(BEEPER, HIGH);
-				}
-				if (counterBeep == 20) {
-					WRITE(BEEPER, LOW);
-				}
-				
-				counterBeep++;
-#else
-#endif
-			}
-			
-			switch (wait_for_user_state) {
-			case 0: 
-				delay_keep_alive(4);
-
-				if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
-					lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
-					wait_for_user_state = 1;
-					setTargetHotend(0, 0);
-					setTargetHotend(0, 1);
-					setTargetHotend(0, 2);
-					st_synchronize();
-					disable_e0();
-					disable_e1();
-					disable_e2();
-				}
-				break;
-			case 1:
-				delay_keep_alive(4);
-		
-				if (lcd_clicked()) {
-					setTargetHotend(HotendTempBckp, active_extruder);
-					lcd_wait_for_heater();
-
-					wait_for_user_state = 2;
-				}
-				break;
-			case 2:
-
-				if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
-					lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
-					waiting_start_time = millis();
-					wait_for_user_state = 0;
-				}
-				else {
-					counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
-					lcd_set_cursor(1, 4);
-					lcd_print(ftostr3(degHotend(active_extruder)));
-				}
-				break;
-
-			}
-
-		}
-		WRITE(BEEPER, LOW);
-		
-		lcd_change_fil_state = 0;
-		
-
-		// Unload filament
-			lcd_display_message_fullscreen_P(_T(MSG_UNLOADING_FILAMENT));
-			KEEPALIVE_STATE(IN_HANDLER);
-			custom_message = true;
-			lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
-
-			if (code_seen('L'))
-			{
-				target[E_AXIS] += code_value();
-			}
-			else
-			{
-#ifdef SNMM
-
-#else
-#ifdef FILAMENTCHANGE_FINALRETRACT
-				target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
-#endif
-#endif // SNMM
-			}
-
-#ifdef SNMM
-			target[E_AXIS] += 12;
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
-			target[E_AXIS] += 6;
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
-			target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
-			st_synchronize();
-			target[E_AXIS] += (FIL_COOLING);
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
-			target[E_AXIS] += (FIL_COOLING*-1);
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
-			target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
-			st_synchronize();
-
-#else
-			//		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-			//plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
-            
-            target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
-            st_synchronize();
-#ifdef TMC2130
-            uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
-            tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
-#else 
-
-			st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
-			float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
-			float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
-
-#endif //TMC2130
-
-            target[E_AXIS] -= 45;
-            plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
-            st_synchronize();
-            target[E_AXIS] -= 15;
-            plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
-            st_synchronize();
-            target[E_AXIS] -= 20;
-            plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
-            st_synchronize();
-
-#ifdef TMC2130            
-            tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
-#else
-			uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
-			if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
-			else st_current_set(2, tmp_motor_loud[2]);		
-#endif //TMC2130
-
-#endif // SNMM
-
-
-			//finish moves
-			st_synchronize();
-
-			lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
-			
-			//disable extruder steppers so filament can be removed
-			disable_e0();
-			disable_e1();
-			disable_e2();
-			delay(100);
-			 
-			
-			WRITE(BEEPER, HIGH);
-			counterBeep = 0;
-			while(!lcd_clicked() && (counterBeep < 50)) {
-				if(counterBeep > 5) WRITE(BEEPER, LOW);
-				delay_keep_alive(100);
-				counterBeep++;
-			}
-			WRITE(BEEPER, LOW);
-
-			KEEPALIVE_STATE(PAUSED_FOR_USER);
-			lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"), false, true);////MSG_UNLOAD_SUCCESSFUL c=20 r=2
-			if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
-			//lcd_return_to_status();
-			lcd_update_enable(true);
-		
-        //Wait for user to insert filament
-        lcd_wait_interact();
-		//load_filament_time = millis();
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-
-#ifdef PAT9125
-		if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
-#endif //PAT9125
-//		  printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
-        while(!lcd_clicked())
-		{
-          manage_heater();
-          manage_inactivity(true);
-#ifdef PAT9125
-		  if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
-		  {
-			tone(BEEPER, 1000);
-			delay_keep_alive(50);
-			noTone(BEEPER);
-			  break;
-		  }
-#endif //PAT9125
-/*#ifdef SNMM
-		  target[E_AXIS] += 0.002;
-		  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
-
-#endif // SNMM*/
-
-        }
-#ifdef PAT9125
-		if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
-#endif //PAT9125
-		//WRITE(BEEPER, LOW);
-		KEEPALIVE_STATE(IN_HANDLER);
-
-
-#ifdef SNMM
-		display_loading();
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-		do {
-			target[E_AXIS] += 0.002;
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
-			delay_keep_alive(2);
-		} while (!lcd_clicked());
-		KEEPALIVE_STATE(IN_HANDLER);
-		/*if (millis() - load_filament_time > 2) {
-			load_filament_time = millis();
-			target[E_AXIS] += 0.001;
-			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
-		}*/
-
-        //Filament inserted     
-		//Feed the filament to the end of nozzle quickly   		
-		st_synchronize();
-		target[E_AXIS] += bowden_length[snmm_extruder];
-		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
-		target[E_AXIS] += FIL_LOAD_LENGTH - 60;
-		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
-		target[E_AXIS] += 40;
-		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-		target[E_AXIS] += 10;
-		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
-#else
-		target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
-		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
-#endif // SNMM
-        
-        //Extrude some filament
-        target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder); 
-        
-        //Wait for user to check the state
-        lcd_change_fil_state = 0;
-        lcd_loading_filament();
-
-		tone(BEEPER, 500);
-		delay_keep_alive(50);
-		noTone(BEEPER);
-
-		while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
-          lcd_change_fil_state = 0;
-		  KEEPALIVE_STATE(PAUSED_FOR_USER);
-          lcd_alright();
-		  KEEPALIVE_STATE(IN_HANDLER);
-          switch(lcd_change_fil_state){
-            
-             // Filament failed to load so load it again
-             case 2:
-#ifdef SNMM
-				 display_loading();
-				 do {
-					 target[E_AXIS] += 0.002;
-					 plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
-					 delay_keep_alive(2);
-				 } while (!lcd_clicked());
-
-				 st_synchronize();
-				 target[E_AXIS] += bowden_length[snmm_extruder];
-				 plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
-				 target[E_AXIS] += FIL_LOAD_LENGTH - 60;
-				 plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
-				 target[E_AXIS] += 40;
-				 plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-				 target[E_AXIS] += 10;
-				 plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
-
-#else
-                     target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder); 
-#endif                
-                     target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder); 
-
-                     lcd_loading_filament();
-
-                     break;
-
-             // Filament loaded properly but color is not clear
-             case 3:
-                     target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
-                     plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder); 
-                     lcd_loading_color();
-                     break;
-                 
-             // Everything good             
-             default:
-                     lcd_change_success();
-					 lcd_update_enable(true);
-                     break;
-          }
-          
-        }
-        
-
-      //Not let's go back to print
-		fanSpeed = fanSpeedBckp;
-
-      //Feed a little of filament to stabilize pressure
-      target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
-      plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-        
-      //Retract
-      target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
-      plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-        
-
-        
-      //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
-      
-      //Move XY back
-      plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
-      
-      //Move Z back
-      plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
-        
-        
-      target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
-        
-      //Unretract       
-      plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-        
-      //Set E position to original  
-      plan_set_e_position(lastpos[E_AXIS]);
-       
-      //Recover feed rate 
-      feedmultiply=feedmultiplyBckp;
-      char cmd[9];
-      sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
-      enquecommand(cmd);
-      
-	  lcd_setstatuspgm(_T(WELCOME_MSG));
-	  custom_message = false;
-	  custom_message_type = 0;
-
-#ifdef PAT9125
-      fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
-
-	  if (fsensor_M600)
-	  {
-		cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
-		st_synchronize();
-		while (!is_buffer_empty())
-		{
-			process_commands();
-		    cmdqueue_pop_front();
-		}
-		KEEPALIVE_STATE(IN_HANDLER);
-		fsensor_enable();
-		fsensor_restore_print_and_continue();
-	  }
-
-#endif //PAT9125
-        
-    }
-    break;
-    #endif //FILAMENTCHANGEENABLE
-	case 601: {
-		if(lcd_commands_type == 0)  lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
-	}
-	break;
-
-	case 602: {
-		if(lcd_commands_type == 0)	lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
-	}
-	break;
-
-#ifdef PINDA_THERMISTOR
-	case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
-	{
-		int set_target_pinda = 0;
-
-		if (code_seen('S')) {
-			set_target_pinda = code_value();
-		}
-		else {
-			break;
-		}
-
-		LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
-
-		SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
-		SERIAL_PROTOCOL(set_target_pinda);
-		SERIAL_PROTOCOLLN("");
-
-		codenum = millis();
-		cancel_heatup = false;
-
-		bool is_pinda_cooling = false;
-		if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
-		    is_pinda_cooling = true;
-		}
-
-		while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
-			if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
-			{
-				SERIAL_PROTOCOLPGM("P:");
-				SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
-				SERIAL_PROTOCOLPGM("/");
-				SERIAL_PROTOCOL(set_target_pinda);
-				SERIAL_PROTOCOLLN("");
-				codenum = millis();
-			}
-			manage_heater();
-			manage_inactivity();
-			lcd_update(0);
-		}
-		LCD_MESSAGERPGM(_T(MSG_OK));
-
-		break;
-	}
- 
-	case 861: // M861 - Set/Read PINDA temperature compensation offsets
-		if (code_seen('?')) { // ? - Print out current EEPROM offset values
-			uint8_t cal_status = calibration_status_pinda();
-			int16_t usteps = 0;
-			cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
-			SERIAL_PROTOCOLLN("index, temp, ustep, um");
-			for (uint8_t i = 0; i < 6; i++)
-			{
-				if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
-				float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
-				i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
-				SERIAL_PROTOCOLPGM(", ");
-				SERIAL_PROTOCOL(35 + (i * 5));
-				SERIAL_PROTOCOLPGM(", ");
-				SERIAL_PROTOCOL(usteps);
-				SERIAL_PROTOCOLPGM(", ");
-				SERIAL_PROTOCOL(mm * 1000);
-				SERIAL_PROTOCOLLN("");
-			}
-		}
-		else if (code_seen('!')) { // ! - Set factory default values
-			eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
-			int16_t z_shift = 8;    //40C -  20um -   8usteps
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
-			z_shift = 24;   //45C -  60um -  24usteps
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
-			z_shift = 48;   //50C - 120um -  48usteps
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
-			z_shift = 80;   //55C - 200um -  80usteps
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
-			z_shift = 120;  //60C - 300um - 120usteps
-			EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
-			SERIAL_PROTOCOLLN("factory restored");
-		}
-		else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
-			eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
-			int16_t z_shift = 0;
-			for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
-			SERIAL_PROTOCOLLN("zerorized");
-		}
-		else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
-			int16_t usteps = code_value();
-			if (code_seen('I')) {
-				byte index = code_value();
-				if ((index >= 0) && (index < 5)) {
-					EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
-					SERIAL_PROTOCOLLN("OK");
-					SERIAL_PROTOCOLLN("index, temp, ustep, um");
-					for (uint8_t i = 0; i < 6; i++)
-					{
-						usteps = 0;
-						if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
-						float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
-						i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
-						SERIAL_PROTOCOLPGM(", ");
-						SERIAL_PROTOCOL(35 + (i * 5));
-						SERIAL_PROTOCOLPGM(", ");
-						SERIAL_PROTOCOL(usteps);
-						SERIAL_PROTOCOLPGM(", ");
-						SERIAL_PROTOCOL(mm * 1000);
-						SERIAL_PROTOCOLLN("");
-					}
-				}
-			}
-		}
-		else {
-			SERIAL_PROTOCOLPGM("no valid command");
-		}
-		break;
-
-#endif //PINDA_THERMISTOR
-
-#ifdef LIN_ADVANCE
-    case 900: // M900: Set LIN_ADVANCE options.
-        gcode_M900();
-    break;
-#endif
-
-    case 907: // M907 Set digital trimpot motor current using axis codes.
-    {
-      #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-        for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
-        if(code_seen('B')) st_current_set(4,code_value());
-        if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
-      #endif
-      #ifdef MOTOR_CURRENT_PWM_XY_PIN
-        if(code_seen('X')) st_current_set(0, code_value());
-      #endif
-      #ifdef MOTOR_CURRENT_PWM_Z_PIN
-        if(code_seen('Z')) st_current_set(1, code_value());
-      #endif
-      #ifdef MOTOR_CURRENT_PWM_E_PIN
-        if(code_seen('E')) st_current_set(2, code_value());
-      #endif
-    }
-    break;
-    case 908: // M908 Control digital trimpot directly.
-    {
-      #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-        uint8_t channel,current;
-        if(code_seen('P')) channel=code_value();
-        if(code_seen('S')) current=code_value();
-        digitalPotWrite(channel, current);
-      #endif
-    }
-    break;
-
-#ifdef TMC2130
-
-	case 910: // M910 TMC2130 init
-    {
-		tmc2130_init();
-    }
-    break;
-
-	case 911: // M911 Set TMC2130 holding currents
-    {
-		if (code_seen('X')) tmc2130_set_current_h(0, code_value());
-		if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
-        if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
-        if (code_seen('E')) tmc2130_set_current_h(3, code_value());
-    }
-    break;
-
-	case 912: // M912 Set TMC2130 running currents
-    {
-		if (code_seen('X')) tmc2130_set_current_r(0, code_value());
-		if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
-        if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
-        if (code_seen('E')) tmc2130_set_current_r(3, code_value());
-    }
-    break;
-
-	case 913: // M913 Print TMC2130 currents
-    {
-		tmc2130_print_currents();
-    }
-    break;
-
-	case 914: // M914 Set normal mode
-    {
-		tmc2130_mode = TMC2130_MODE_NORMAL;
-		tmc2130_init();
-    }
-    break;
-
-	case 915: // M915 Set silent mode
-    {
-		tmc2130_mode = TMC2130_MODE_SILENT;
-		tmc2130_init();
-    }
-    break;
-
-	case 916: // M916 Set sg_thrs
-    {
-		if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
-		if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
-		if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
-		if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
-		for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
-			printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
-    }
-    break;
-
-	case 917: // M917 Set TMC2130 pwm_ampl
-    {
-		if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
-		if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
-        if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
-        if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
-    }
-    break;
-
-	case 918: // M918 Set TMC2130 pwm_grad
-    {
-		if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
-		if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
-        if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
-        if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
-    }
-    break;
-
-#endif //TMC2130
-
-    case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
-    {
-	#ifdef TMC2130
-		if(code_seen('E'))
-		{
-			uint16_t res_new = code_value();
-			if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
-			{
-				st_synchronize();
-				uint8_t axis = E_AXIS;
-				uint16_t res = tmc2130_get_res(axis);
-				tmc2130_set_res(axis, res_new);
-				if (res_new > res)
-				{
-					uint16_t fac = (res_new / res);
-					axis_steps_per_unit[axis] *= fac;
-					position[E_AXIS] *= fac;
-				}
-				else
-				{
-					uint16_t fac = (res / res_new);
-					axis_steps_per_unit[axis] /= fac;
-					position[E_AXIS] /= fac;
-				}
-			}
-		}
-	#else //TMC2130
-      #if defined(X_MS1_PIN) && X_MS1_PIN > -1
-        if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
-        for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
-        if(code_seen('B')) microstep_mode(4,code_value());
-        microstep_readings();
-      #endif
-	#endif //TMC2130
-    }
-    break;
-    case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
-    {
-      #if defined(X_MS1_PIN) && X_MS1_PIN > -1
-      if(code_seen('S')) switch((int)code_value())
-      {
-        case 1:
-          for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
-          if(code_seen('B')) microstep_ms(4,code_value(),-1);
-          break;
-        case 2:
-          for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
-          if(code_seen('B')) microstep_ms(4,-1,code_value());
-          break;
-      }
-      microstep_readings();
-      #endif
-    }
-    break;
-	case 701: //M701: load filament
-	{
-		#ifdef SNMM_V2
-		if (code_seen('E'))
-		{
-			snmm_extruder = code_value();
-		}
-		#endif
-		
-
-		gcode_M701();
-	}
-	break;
-	case 702:
-	{
-#if defined (SNMM) || defined (SNMM_V2) 
-		if (code_seen('U')) {
-			extr_unload_used(); //unload all filaments which were used in current print
-		}
-		else if (code_seen('C')) {
-			extr_unload(); //unload just current filament 
-		}
-		else {
-			  extr_unload_all(); //unload all filaments
-		}
-#else
-#ifdef PAT9125
-		bool old_fsensor_enabled = fsensor_enabled;
-		fsensor_enabled = false;
-#endif //PAT9125
-		custom_message = true;
-		custom_message_type = 2;
-		lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT)); 
-
-//		extr_unload2();
-		
-		current_position[E_AXIS] -= 45;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
-        st_synchronize();
-        current_position[E_AXIS] -= 15;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
-        st_synchronize();
-        current_position[E_AXIS] -= 20;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
-		st_synchronize();
-
-		lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
-
-		//disable extruder steppers so filament can be removed
-		disable_e0();
-		disable_e1();
-		disable_e2();
-		delay(100);
-
-
-		WRITE(BEEPER, HIGH);
-		uint8_t counterBeep = 0;
-		while (!lcd_clicked() && (counterBeep < 50)) {
-			if (counterBeep > 5) WRITE(BEEPER, LOW);
-			delay_keep_alive(100);
-			counterBeep++;
-		}
-		WRITE(BEEPER, LOW);
-		st_synchronize();	
-		while (lcd_clicked()) delay_keep_alive(100);
-
-		lcd_update_enable(true);
-	
-		lcd_setstatuspgm(_T(WELCOME_MSG));
-		custom_message = false;
-		custom_message_type = 0;
-#ifdef PAT9125
-		fsensor_enabled = old_fsensor_enabled;
-#endif //PAT9125
-#endif	
-	}
-	break;
-
-    case 999: // M999: Restart after being stopped
-      Stopped = false;
-      lcd_reset_alert_level();
-      gcode_LastN = Stopped_gcode_LastN;
-      FlushSerialRequestResend();
-    break;
-	default: 
-		printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
-    }
-	
-  } // end if(code_seen('M')) (end of M codes)
-
-  else if(code_seen('T'))
-  {
-	  int index;
-	  st_synchronize();
-	  for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
-	   
-	  if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
-		  SERIAL_ECHOLNPGM("Invalid T code.");
-	  }
-	  else {
-		  if (*(strchr_pointer + index) == '?') {
-			  tmp_extruder = choose_extruder_menu();
-		  }
-		  else {
-			  tmp_extruder = code_value();
-		  }
-		  snmm_filaments_used |= (1 << tmp_extruder); //for stop print
-
-#ifdef SNMM_V2
-		  printf_P(PSTR("T code: %d \n"), tmp_extruder);
-          switch (tmp_extruder) 
-          {
-          case 1:
-              
-              fprintf_P(uart2io, PSTR("T1\n"));
-              break;
-          case 2:
-              
-              fprintf_P(uart2io, PSTR("T2\n"));
-              break;
-          case 3:
-              
-              fprintf_P(uart2io, PSTR("T3\n"));
-              break;
-          case 4:
-              
-              fprintf_P(uart2io, PSTR("T4\n"));
-              break;
-          default:
-              
-              fprintf_P(uart2io, PSTR("T0\n"));
-              break;
-          }
-
-          
-
-          
-              // get response
-            uart2_rx_clr();
-              while (!uart2_rx_ok())
-              {
-                  //printf_P(PSTR("waiting..\n"));
-                  delay_keep_alive(100);
-              }
-			  snmm_extruder = tmp_extruder; //filament change is finished
-
-		  if (*(strchr_pointer + index) == '?') { // for single material usage with mmu
-			  bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
-			  if (!saved_e_relative_mode) {
-				  enquecommand_front_P(PSTR("M82")); // set extruder to relative mode
-			  }
-			  enquecommand_front_P((PSTR("G1 E7.2000 F562")));
-			  enquecommand_front_P((PSTR("G1 E14.4000 F871")));
-			  enquecommand_front_P((PSTR("G1 E36.0000 F1393")));
-			  enquecommand_front_P((PSTR("G1 E14.4000 F871")));			  
-			  if (!saved_e_relative_mode) {
-				  enquecommand_front_P(PSTR("M83")); // set extruder to relative mode
-			  }
-		  }
-#endif
-
-#ifdef SNMM
-          
-    #ifdef LIN_ADVANCE
-          if (snmm_extruder != tmp_extruder)
-            clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
-    #endif
-          
-		  snmm_extruder = tmp_extruder;
-
-		  
-		  delay(100);
-
-		  disable_e0();
-		  disable_e1();
-		  disable_e2();
-
-		  pinMode(E_MUX0_PIN, OUTPUT);
-		  pinMode(E_MUX1_PIN, OUTPUT);
-
-		  delay(100);
-		  SERIAL_ECHO_START;
-		  SERIAL_ECHO("T:");
-		  SERIAL_ECHOLN((int)tmp_extruder);
-		  switch (tmp_extruder) {
-		  case 1:
-			  WRITE(E_MUX0_PIN, HIGH);
-			  WRITE(E_MUX1_PIN, LOW);
-
-			  break;
-		  case 2:
-			  WRITE(E_MUX0_PIN, LOW);
-			  WRITE(E_MUX1_PIN, HIGH);
-
-			  break;
-		  case 3:
-			  WRITE(E_MUX0_PIN, HIGH);
-			  WRITE(E_MUX1_PIN, HIGH);
-
-			  break;
-		  default:
-			  WRITE(E_MUX0_PIN, LOW);
-			  WRITE(E_MUX1_PIN, LOW);
-
-			  break;
-		  }
-		  delay(100);
-
-#else
-		  if (tmp_extruder >= EXTRUDERS) {
-			  SERIAL_ECHO_START;
-			  SERIAL_ECHOPGM("T");
-			  SERIAL_PROTOCOLLN((int)tmp_extruder);
-			  SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
-		  }
-		  else {
-			  boolean make_move = false;
-			  if (code_seen('F')) {
-				  make_move = true;
-				  next_feedrate = code_value();
-				  if (next_feedrate > 0.0) {
-					  feedrate = next_feedrate;
-				  }
-			  }
-#if EXTRUDERS > 1
-			  if (tmp_extruder != active_extruder) {
-				  // Save current position to return to after applying extruder offset
-				  memcpy(destination, current_position, sizeof(destination));
-				  // Offset extruder (only by XY)
-				  int i;
-				  for (i = 0; i < 2; i++) {
-					  current_position[i] = current_position[i] -
-						  extruder_offset[i][active_extruder] +
-						  extruder_offset[i][tmp_extruder];
-				  }
-				  // Set the new active extruder and position
-				  active_extruder = tmp_extruder;
-				  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-				  // Move to the old position if 'F' was in the parameters
-				  if (make_move && Stopped == false) {
-					  prepare_move();
-				  }
-			  }
-#endif
-			  SERIAL_ECHO_START;
-			  SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
-			  SERIAL_PROTOCOLLN((int)active_extruder);
-		  }
-
-#endif
-	  }
-  } // end if(code_seen('T')) (end of T codes)
-
-#ifdef DEBUG_DCODES
-  else if (code_seen('D')) // D codes (debug)
-  {
-    switch((int)code_value())
-    {
-	case -1: // D-1 - Endless loop
-		dcode__1(); break;
-	case 0: // D0 - Reset
-		dcode_0(); break;
-	case 1: // D1 - Clear EEPROM
-		dcode_1(); break;
-	case 2: // D2 - Read/Write RAM
-		dcode_2(); break;
-	case 3: // D3 - Read/Write EEPROM
-		dcode_3(); break;
-	case 4: // D4 - Read/Write PIN
-		dcode_4(); break;
-	case 5: // D5 - Read/Write FLASH
-//		dcode_5(); break;
-		break;
-	case 6: // D6 - Read/Write external FLASH
-		dcode_6(); break;
-	case 7: // D7 - Read/Write Bootloader
-		dcode_7(); break;
-	case 8: // D8 - Read/Write PINDA
-		dcode_8(); break;
-	case 9: // D9 - Read/Write ADC
-		dcode_9(); break;
-
-	case 10: // D10 - XYZ calibration = OK
-		dcode_10(); break;
-    
-
-#ifdef TMC2130
-	case 2130: // D9125 - TMC2130
-		dcode_2130(); break;
-#endif //TMC2130
-
-#ifdef PAT9125
-	case 9125: // D9125 - PAT9125
-		dcode_9125(); break;
-#endif //PAT9125
-
-	}
-  }
-#endif //DEBUG_DCODES
-
-  else
-  {
-    SERIAL_ECHO_START;
-    SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
-    SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
-    SERIAL_ECHOLNPGM("\"(2)");
-  }
-  KEEPALIVE_STATE(NOT_BUSY);
-  ClearToSend();
-}
-
-void FlushSerialRequestResend()
-{
-  //char cmdbuffer[bufindr][100]="Resend:";
-  MYSERIAL.flush();
-  printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
-}
-
-// Confirm the execution of a command, if sent from a serial line.
-// Execution of a command from a SD card will not be confirmed.
-void ClearToSend()
-{
-    previous_millis_cmd = millis();
-	if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)) 
-		SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
-}
-
-#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
-void update_currents() {
-	float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
-	float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
-	float tmp_motor[3];
-	
-	//SERIAL_ECHOLNPGM("Currents updated: ");
-
-	if (destination[Z_AXIS] < Z_SILENT) {
-		//SERIAL_ECHOLNPGM("LOW");
-		for (uint8_t i = 0; i < 3; i++) {
-			st_current_set(i, current_low[i]);		
-			/*MYSERIAL.print(int(i));
-			SERIAL_ECHOPGM(": ");
-			MYSERIAL.println(current_low[i]);*/
-		}		
-	}
-	else if (destination[Z_AXIS] > Z_HIGH_POWER) {
-		//SERIAL_ECHOLNPGM("HIGH");
-		for (uint8_t i = 0; i < 3; i++) {
-			st_current_set(i, current_high[i]);
-			/*MYSERIAL.print(int(i));
-			SERIAL_ECHOPGM(": ");
-			MYSERIAL.println(current_high[i]);*/
-		}		
-	}
-	else {
-		for (uint8_t i = 0; i < 3; i++) {
-			float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
-			tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
-			st_current_set(i, tmp_motor[i]);			
-			/*MYSERIAL.print(int(i));
-			SERIAL_ECHOPGM(": ");
-			MYSERIAL.println(tmp_motor[i]);*/
-		}
-	}
-}
-#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
-
-void get_coordinates()
-{
-  bool seen[4]={false,false,false,false};
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    if(code_seen(axis_codes[i]))
-    {
-      bool relative = axis_relative_modes[i] || relative_mode;
-      destination[i] = (float)code_value();
-      if (i == E_AXIS) {
-        float emult = extruder_multiplier[active_extruder];
-        if (emult != 1.) {
-          if (! relative) {
-            destination[i] -= current_position[i];
-            relative = true;
-          }
-          destination[i] *= emult;
-        }
-      }
-      if (relative)
-        destination[i] += current_position[i];
-      seen[i]=true;
-#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
-	  if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
-#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
-    }
-    else destination[i] = current_position[i]; //Are these else lines really needed?
-  }
-  if(code_seen('F')) {
-    next_feedrate = code_value();
-#ifdef MAX_SILENT_FEEDRATE
-	if (tmc2130_mode == TMC2130_MODE_SILENT)
-		if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
-#endif //MAX_SILENT_FEEDRATE
-    if(next_feedrate > 0.0) feedrate = next_feedrate;
-	if (!seen[0] && !seen[1] && !seen[2] && seen[3])
-	{
-//		float e_max_speed = 
-//		printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
-	}
-  }
-}
-
-void get_arc_coordinates()
-{
-#ifdef SF_ARC_FIX
-   bool relative_mode_backup = relative_mode;
-   relative_mode = true;
-#endif
-   get_coordinates();
-#ifdef SF_ARC_FIX
-   relative_mode=relative_mode_backup;
-#endif
-
-   if(code_seen('I')) {
-     offset[0] = code_value();
-   }
-   else {
-     offset[0] = 0.0;
-   }
-   if(code_seen('J')) {
-     offset[1] = code_value();
-   }
-   else {
-     offset[1] = 0.0;
-   }
-}
-
-void clamp_to_software_endstops(float target[3])
-{
-#ifdef DEBUG_DISABLE_SWLIMITS
-	return;
-#endif //DEBUG_DISABLE_SWLIMITS
-    world2machine_clamp(target[0], target[1]);
-
-    // Clamp the Z coordinate.
-    if (min_software_endstops) {
-        float negative_z_offset = 0;
-        #ifdef ENABLE_AUTO_BED_LEVELING
-            if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
-            if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
-        #endif
-        if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
-    }
-    if (max_software_endstops) {
-        if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
-    }
-}
-
-#ifdef MESH_BED_LEVELING
-    void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) {
-        float dx = x - current_position[X_AXIS];
-        float dy = y - current_position[Y_AXIS];
-        float dz = z - current_position[Z_AXIS];
-        int n_segments = 0;
-		
-        if (mbl.active) {
-            float len = abs(dx) + abs(dy);
-            if (len > 0)
-                // Split to 3cm segments or shorter.
-                n_segments = int(ceil(len / 30.f));
-        }
-        
-        if (n_segments > 1) {
-            float de = e - current_position[E_AXIS];
-            for (int i = 1; i < n_segments; ++ i) {
-                float t = float(i) / float(n_segments);
-                if (saved_printing || (mbl.active == false)) return;
-                plan_buffer_line(
-                                 current_position[X_AXIS] + t * dx,
-                                 current_position[Y_AXIS] + t * dy,
-                                 current_position[Z_AXIS] + t * dz,
-                                 current_position[E_AXIS] + t * de,
-                                 feed_rate, extruder);
-            }
-        }
-        // The rest of the path.
-        plan_buffer_line(x, y, z, e, feed_rate, extruder);
-        current_position[X_AXIS] = x;
-        current_position[Y_AXIS] = y;
-        current_position[Z_AXIS] = z;
-        current_position[E_AXIS] = e;
-    }
-#endif  // MESH_BED_LEVELING
-    
-void prepare_move()
-{
-  clamp_to_software_endstops(destination);
-  previous_millis_cmd = millis();
-
-  // Do not use feedmultiply for E or Z only moves
-  if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
-      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-  }
-  else {
-#ifdef MESH_BED_LEVELING
-    mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
-#else
-     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
-#endif
-  }
-
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    current_position[i] = destination[i];
-  }
-}
-
-void prepare_arc_move(char isclockwise) {
-  float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
-
-  // Trace the arc
-  mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
-
-  // As far as the parser is concerned, the position is now == target. In reality the
-  // motion control system might still be processing the action and the real tool position
-  // in any intermediate location.
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    current_position[i] = destination[i];
-  }
-  previous_millis_cmd = millis();
-}
-
-#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
-
-#if defined(FAN_PIN)
-  #if CONTROLLERFAN_PIN == FAN_PIN
-    #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
-  #endif
-#endif
-
-unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
-unsigned long lastMotorCheck = 0;
-
-void controllerFan()
-{
-  if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
-  {
-    lastMotorCheck = millis();
-
-    if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
-    #if EXTRUDERS > 2
-       || !READ(E2_ENABLE_PIN)
-    #endif
-    #if EXTRUDER > 1
-      #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
-       || !READ(X2_ENABLE_PIN)
-      #endif
-       || !READ(E1_ENABLE_PIN)
-    #endif
-       || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
-    {
-      lastMotor = millis(); //... set time to NOW so the fan will turn on
-    }
-
-    if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
-    {
-        digitalWrite(CONTROLLERFAN_PIN, 0);
-        analogWrite(CONTROLLERFAN_PIN, 0);
-    }
-    else
-    {
-        // allows digital or PWM fan output to be used (see M42 handling)
-        digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
-        analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
-    }
-  }
-}
-#endif
-
-#ifdef TEMP_STAT_LEDS
-static bool blue_led = false;
-static bool red_led = false;
-static uint32_t stat_update = 0;
-
-void handle_status_leds(void) {
-  float max_temp = 0.0;
-  if(millis() > stat_update) {
-    stat_update += 500; // Update every 0.5s
-    for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
-       max_temp = max(max_temp, degHotend(cur_extruder));
-       max_temp = max(max_temp, degTargetHotend(cur_extruder));
-    }
-    #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
-      max_temp = max(max_temp, degTargetBed());
-      max_temp = max(max_temp, degBed());
-    #endif
-    if((max_temp > 55.0) && (red_led == false)) {
-      digitalWrite(STAT_LED_RED, 1);
-      digitalWrite(STAT_LED_BLUE, 0);
-      red_led = true;
-      blue_led = false;
-    }
-    if((max_temp < 54.0) && (blue_led == false)) {
-      digitalWrite(STAT_LED_RED, 0);
-      digitalWrite(STAT_LED_BLUE, 1);
-      red_led = false;
-      blue_led = true;
-    }
-  }
-}
-#endif
-
-#ifdef SAFETYTIMER
-/**
- * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
- *
- * Full screen blocking notification message is shown after heater turning off.
- * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
- * damage print.
- *
- * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
- */
-static void handleSafetyTimer()
-{
-#if (EXTRUDERS > 1)
-#error Implemented only for one extruder.
-#endif //(EXTRUDERS > 1)
-    if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
-    {
-        safetyTimer.stop();
-    }
-    else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
-    {
-        safetyTimer.start();
-    }
-    else if (safetyTimer.expired(safetytimer_inactive_time))
-    {
-        setTargetBed(0);
-        setTargetHotend(0, 0);
-        lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
-    }
-}
-#endif //SAFETYTIMER
-
-void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
-{
-#ifdef PAT9125
-	if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
-	{
-		if (fsensor_autoload_enabled)
-		{
-			if (fsensor_check_autoload())
-			{
-                
-                if (degHotend0() > EXTRUDE_MINTEMP)
-                {
-                    fsensor_autoload_check_stop();
-                    tone(BEEPER, 1000);
-                    delay_keep_alive(50);
-                    noTone(BEEPER);
-                    loading_flag = true;
-                    enquecommand_front_P((PSTR("M701")));
-                }
-                else
-                {
-                    lcd_update_enable(false);
-                    lcd_clear();
-                    lcd_set_cursor(0, 0);
-                    lcd_puts_P(_T(MSG_ERROR));
-                    lcd_set_cursor(0, 2);
-                    lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
-                    delay(2000);
-                    lcd_clear();
-                    lcd_update_enable(true);
-                }
-                
-			}
-		}
-		else
-			fsensor_autoload_check_start();
-	}
-	else
-		if (fsensor_autoload_enabled)
-			fsensor_autoload_check_stop();
-#endif //PAT9125
-
-#ifdef SAFETYTIMER
-	handleSafetyTimer();
-#endif //SAFETYTIMER
-
-#if defined(KILL_PIN) && KILL_PIN > -1
-	static int killCount = 0;   // make the inactivity button a bit less responsive
-   const int KILL_DELAY = 10000;
-#endif
-	
-    if(buflen < (BUFSIZE-1)){
-        get_command();
-    }
-
-  if( (millis() - previous_millis_cmd) >  max_inactive_time )
-    if(max_inactive_time)
-      kill(_n(""), 4);
-  if(stepper_inactive_time)  {
-    if( (millis() - previous_millis_cmd) >  stepper_inactive_time )
-    {
-      if(blocks_queued() == false && ignore_stepper_queue == false) {
-        disable_x();
-//        SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
-        disable_y();
-        disable_z();
-        disable_e0();
-        disable_e1();
-        disable_e2();
-      }
-    }
-  }
-  
-  #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
-    if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
-    {
-      chdkActive = false;
-      WRITE(CHDK, LOW);
-    }
-  #endif
-  
-  #if defined(KILL_PIN) && KILL_PIN > -1
-    
-    // Check if the kill button was pressed and wait just in case it was an accidental
-    // key kill key press
-    // -------------------------------------------------------------------------------
-    if( 0 == READ(KILL_PIN) )
-    {
-       killCount++;
-    }
-    else if (killCount > 0)
-    {
-       killCount--;
-    }
-    // Exceeded threshold and we can confirm that it was not accidental
-    // KILL the machine
-    // ----------------------------------------------------------------
-    if ( killCount >= KILL_DELAY)
-    {
-       kill("", 5);
-    }
-  #endif
-    
-  #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
-    controllerFan(); //Check if fan should be turned on to cool stepper drivers down
-  #endif
-  #ifdef EXTRUDER_RUNOUT_PREVENT
-    if( (millis() - previous_millis_cmd) >  EXTRUDER_RUNOUT_SECONDS*1000 )
-    if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
-    {
-     bool oldstatus=READ(E0_ENABLE_PIN);
-     enable_e0();
-     float oldepos=current_position[E_AXIS];
-     float oldedes=destination[E_AXIS];
-     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
-                      destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
-                      EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
-     current_position[E_AXIS]=oldepos;
-     destination[E_AXIS]=oldedes;
-     plan_set_e_position(oldepos);
-     previous_millis_cmd=millis();
-     st_synchronize();
-     WRITE(E0_ENABLE_PIN,oldstatus);
-    }
-  #endif
-  #ifdef TEMP_STAT_LEDS
-      handle_status_leds();
-  #endif
-  check_axes_activity();
-}
-
-void kill(const char *full_screen_message, unsigned char id)
-{
-	printf_P(_N("KILL: %d\n"), id);
-	//return;
-  cli(); // Stop interrupts
-  disable_heater();
-
-  disable_x();
-//  SERIAL_ECHOLNPGM("kill - disable Y");
-  disable_y();
-  disable_z();
-  disable_e0();
-  disable_e1();
-  disable_e2();
-
-#if defined(PS_ON_PIN) && PS_ON_PIN > -1
-  pinMode(PS_ON_PIN,INPUT);
-#endif
-  SERIAL_ERROR_START;
-  SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
-  if (full_screen_message != NULL) {
-      SERIAL_ERRORLNRPGM(full_screen_message);
-      lcd_display_message_fullscreen_P(full_screen_message);
-  } else {
-      LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
-  }
-
-  // FMC small patch to update the LCD before ending
-  sei();   // enable interrupts
-  for ( int i=5; i--; lcd_update(0))
-  {
-     delay(200);	
-  }
-  cli();   // disable interrupts
-  suicide();
-  while(1)
-  {
-#ifdef WATCHDOG
-    wdt_reset();
-#endif //WATCHDOG
-	  /* Intentionally left empty */
-	
-  } // Wait for reset
-}
-
-void Stop()
-{
-  disable_heater();
-  if(Stopped == false) {
-    Stopped = true;
-    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
-    SERIAL_ERROR_START;
-    SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
-    LCD_MESSAGERPGM(_T(MSG_STOPPED));
-  }
-}
-
-bool IsStopped() { return Stopped; };
-
-#ifdef FAST_PWM_FAN
-void setPwmFrequency(uint8_t pin, int val)
-{
-  val &= 0x07;
-  switch(digitalPinToTimer(pin))
-  {
-
-    #if defined(TCCR0A)
-    case TIMER0A:
-    case TIMER0B:
-//         TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
-//         TCCR0B |= val;
-         break;
-    #endif
-
-    #if defined(TCCR1A)
-    case TIMER1A:
-    case TIMER1B:
-//         TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
-//         TCCR1B |= val;
-         break;
-    #endif
-
-    #if defined(TCCR2)
-    case TIMER2:
-    case TIMER2:
-         TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
-         TCCR2 |= val;
-         break;
-    #endif
-
-    #if defined(TCCR2A)
-    case TIMER2A:
-    case TIMER2B:
-         TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
-         TCCR2B |= val;
-         break;
-    #endif
-
-    #if defined(TCCR3A)
-    case TIMER3A:
-    case TIMER3B:
-    case TIMER3C:
-         TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
-         TCCR3B |= val;
-         break;
-    #endif
-
-    #if defined(TCCR4A)
-    case TIMER4A:
-    case TIMER4B:
-    case TIMER4C:
-         TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
-         TCCR4B |= val;
-         break;
-   #endif
-
-    #if defined(TCCR5A)
-    case TIMER5A:
-    case TIMER5B:
-    case TIMER5C:
-         TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
-         TCCR5B |= val;
-         break;
-   #endif
-
-  }
-}
-#endif //FAST_PWM_FAN
-
-bool setTargetedHotend(int code){
-  tmp_extruder = active_extruder;
-  if(code_seen('T')) {
-    tmp_extruder = code_value();
-    if(tmp_extruder >= EXTRUDERS) {
-      SERIAL_ECHO_START;
-      switch(code){
-        case 104:
-          SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
-          break;
-        case 105:
-          SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
-          break;
-        case 109:
-          SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
-          break;
-        case 218:
-          SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
-          break;
-        case 221:
-          SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
-          break;
-      }
-      SERIAL_PROTOCOLLN((int)tmp_extruder);
-      return true;
-    }
-  }
-  return false;
-}
-
-void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
-{
-	if (eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 1) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 2) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 3) == 255)
-	{
-		eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
-		eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
-	}
-
-	unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
-	unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
-
-	eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
-	eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
-
-	total_filament_used = 0;
-
-}
-
-float calculate_extruder_multiplier(float diameter) {
-  float out = 1.f;
-  if (volumetric_enabled && diameter > 0.f) {
-    float area = M_PI * diameter * diameter * 0.25;
-    out = 1.f / area;
-  }
-  if (extrudemultiply != 100)
-    out *= float(extrudemultiply) * 0.01f;
-  return out;
-}
-
-void calculate_extruder_multipliers() {
-	extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
-#if EXTRUDERS > 1
-	extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
-#if EXTRUDERS > 2
-	extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
-#endif
-#endif
-}
-
-void delay_keep_alive(unsigned int ms)
-{
-    for (;;) {
-        manage_heater();
-        // Manage inactivity, but don't disable steppers on timeout.
-        manage_inactivity(true);
-        lcd_update(0);
-        if (ms == 0)
-            break;
-        else if (ms >= 50) {
-            delay(50);
-            ms -= 50;
-        } else {
-            delay(ms);
-            ms = 0;
-        }
-    }
-}
-
-void wait_for_heater(long codenum) {
-
-#ifdef TEMP_RESIDENCY_TIME
-	long residencyStart;
-	residencyStart = -1;
-	/* continue to loop until we have reached the target temp
-	_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
-	while ((!cancel_heatup) && ((residencyStart == -1) ||
-		(residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
-#else
-	while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
-#endif //TEMP_RESIDENCY_TIME
-		if ((millis() - codenum) > 1000UL)
-		{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
-			if (!farm_mode) {
-				SERIAL_PROTOCOLPGM("T:");
-				SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
-				SERIAL_PROTOCOLPGM(" E:");
-				SERIAL_PROTOCOL((int)tmp_extruder);
-
-#ifdef TEMP_RESIDENCY_TIME
-				SERIAL_PROTOCOLPGM(" W:");
-				if (residencyStart > -1)
-				{
-					codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
-					SERIAL_PROTOCOLLN(codenum);
-				}
-				else
-				{
-					SERIAL_PROTOCOLLN("?");
-				}
-			}
-#else
-				SERIAL_PROTOCOLLN("");
-#endif
-				codenum = millis();
-		}
-			manage_heater();
-			manage_inactivity();
-			lcd_update(0);
-#ifdef TEMP_RESIDENCY_TIME
-			/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
-			or when current temp falls outside the hysteresis after target temp was reached */
-			if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
-				(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
-				(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
-			{
-				residencyStart = millis();
-			}
-#endif //TEMP_RESIDENCY_TIME
-	}
-}
-
-void check_babystep() {
-	int babystep_z;
-	EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
-	if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
-		babystep_z = 0; //if babystep value is out of min max range, set it to 0
-		SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
-		EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
-		lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
-		lcd_update_enable(true);		
-	}	
-}
-#ifdef DIS
-void d_setup()
-{	
-	pinMode(D_DATACLOCK, INPUT_PULLUP);
-	pinMode(D_DATA, INPUT_PULLUP);
-	pinMode(D_REQUIRE, OUTPUT);
-	digitalWrite(D_REQUIRE, HIGH);
-}
-
-
-float d_ReadData()
-{
-	int digit[13];
-	String mergeOutput;
-	float output;
-
-	digitalWrite(D_REQUIRE, HIGH);
-	for (int i = 0; i<13; i++)
-	{
-		for (int j = 0; j < 4; j++)
-		{
-			while (digitalRead(D_DATACLOCK) == LOW) {}
-			while (digitalRead(D_DATACLOCK) == HIGH) {}
-			bitWrite(digit[i], j, digitalRead(D_DATA));
-		}
-	}
-
-	digitalWrite(D_REQUIRE, LOW);
-	mergeOutput = "";
-	output = 0;
-	for (int r = 5; r <= 10; r++) //Merge digits
-	{
-		mergeOutput += digit[r];
-	}
-	output = mergeOutput.toFloat();
-
-	if (digit[4] == 8) //Handle sign
-	{
-		output *= -1;
-	}
-
-	for (int i = digit[11]; i > 0; i--) //Handle floating point
-	{
-		output /= 10;
-	}
-
-	return output;
-
-}
-
-void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
-	int t1 = 0;
-	int t_delay = 0;
-	int digit[13];
-	int m;
-	char str[3];
-	//String mergeOutput;
-	char mergeOutput[15];
-	float output;
-
-	int mesh_point = 0; //index number of calibration point
-	float bed_zero_ref_x = (-22.f + X_PROBE_OFFSET_FROM_EXTRUDER); //shift between zero point on bed and target and between probe and nozzle
-	float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
-
-	float mesh_home_z_search = 4;
-	float row[x_points_num];
-	int ix = 0;
-	int iy = 0;
-
-	char* filename_wldsd = "wldsd.txt";
-	char data_wldsd[70];
-	char numb_wldsd[10];
-
-	d_setup();
-
-	if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
-		// We don't know where we are! HOME!
-		// Push the commands to the front of the message queue in the reverse order!
-		// There shall be always enough space reserved for these commands.
-		repeatcommand_front(); // repeat G80 with all its parameters
-		
-		enquecommand_front_P((PSTR("G28 W0")));
-		enquecommand_front_P((PSTR("G1 Z5")));
-		return;
-	}
-	bool custom_message_old = custom_message;
-	unsigned int custom_message_type_old = custom_message_type;
-	unsigned int custom_message_state_old = custom_message_state;
-	custom_message = true;
-	custom_message_type = 1;
-	custom_message_state = (x_points_num * y_points_num) + 10;
-	lcd_update(1);
-
-	mbl.reset();
-	babystep_undo();
-
-	card.openFile(filename_wldsd, false);
-
-	current_position[Z_AXIS] = mesh_home_z_search;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
-
-	int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
-	int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
-	int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
-
-	setup_for_endstop_move(false);
-
-	SERIAL_PROTOCOLPGM("Num X,Y: ");
-	SERIAL_PROTOCOL(x_points_num);
-	SERIAL_PROTOCOLPGM(",");
-	SERIAL_PROTOCOL(y_points_num);
-	SERIAL_PROTOCOLPGM("\nZ search height: ");
-	SERIAL_PROTOCOL(mesh_home_z_search);
-	SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
-	SERIAL_PROTOCOL(x_dimension);
-	SERIAL_PROTOCOLPGM(",");
-	SERIAL_PROTOCOL(y_dimension);
-	SERIAL_PROTOCOLLNPGM("\nMeasured points:");
-
-	while (mesh_point != x_points_num * y_points_num) {
-		ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
-		iy = mesh_point / x_points_num;
-		if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
-		float z0 = 0.f;
-		current_position[Z_AXIS] = mesh_home_z_search;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
-		st_synchronize();
-
-
-		current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
-		current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
-
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
-		st_synchronize();
-
-		if (!find_bed_induction_sensor_point_z(-10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
-			break;
-			card.closefile();
-		}
-
-
-		//memset(numb_wldsd, 0, sizeof(numb_wldsd));
-		//dtostrf(d_ReadData(), 8, 5, numb_wldsd);
-		//strcat(data_wldsd, numb_wldsd);
-
-
-		
-		//MYSERIAL.println(data_wldsd);
-		//delay(1000);
-		//delay(3000);
-		//t1 = millis();
-		
-		//while (digitalRead(D_DATACLOCK) == LOW) {}
-		//while (digitalRead(D_DATACLOCK) == HIGH) {}
-		memset(digit, 0, sizeof(digit));
-		//cli();
-		digitalWrite(D_REQUIRE, LOW);	
-		
-		for (int i = 0; i<13; i++)
-		{
-			//t1 = millis();
-			for (int j = 0; j < 4; j++)
-			{
-				while (digitalRead(D_DATACLOCK) == LOW) {}				
-				while (digitalRead(D_DATACLOCK) == HIGH) {}
-				bitWrite(digit[i], j, digitalRead(D_DATA));
-			}
-			//t_delay = (millis() - t1);
-			//SERIAL_PROTOCOLPGM(" ");
-			//SERIAL_PROTOCOL_F(t_delay, 5);
-			//SERIAL_PROTOCOLPGM(" ");
-		}
-		//sei();
-		digitalWrite(D_REQUIRE, HIGH);
-		mergeOutput[0] = '\0';
-		output = 0;
-		for (int r = 5; r <= 10; r++) //Merge digits
-		{			
-			sprintf(str, "%d", digit[r]);
-			strcat(mergeOutput, str);
-		}
-		
-		output = atof(mergeOutput);
-
-		if (digit[4] == 8) //Handle sign
-		{
-			output *= -1;
-		}
-
-		for (int i = digit[11]; i > 0; i--) //Handle floating point
-		{
-			output *= 0.1;
-		}
-		
-
-		//output = d_ReadData();
-
-		//row[ix] = current_position[Z_AXIS];
-
-		memset(data_wldsd, 0, sizeof(data_wldsd));
-
-		for (int i = 0; i <3; i++) {
-			memset(numb_wldsd, 0, sizeof(numb_wldsd));
-			dtostrf(current_position[i], 8, 5, numb_wldsd);
-			strcat(data_wldsd, numb_wldsd);
-			strcat(data_wldsd, ";");
-
-		}
-		memset(numb_wldsd, 0, sizeof(numb_wldsd));
-		dtostrf(output, 8, 5, numb_wldsd);
-		strcat(data_wldsd, numb_wldsd);
-		//strcat(data_wldsd, ";");
-		card.write_command(data_wldsd);
-
-		
-		//row[ix] = d_ReadData();
-		
-		row[ix] = output; // current_position[Z_AXIS];
-
-		if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
-			for (int i = 0; i < x_points_num; i++) {
-				SERIAL_PROTOCOLPGM(" ");
-				SERIAL_PROTOCOL_F(row[i], 5);
-
-
-			}
-			SERIAL_PROTOCOLPGM("\n");
-		}
-		custom_message_state--;
-		mesh_point++;
-		lcd_update(1);
-
-	}
-	card.closefile();
-
-}
-#endif
-
-void temp_compensation_start() {
-	
-	custom_message = true;
-	custom_message_type = 5;
-	custom_message_state = PINDA_HEAT_T + 1;
-	lcd_update(2);
-	if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
-		current_position[E_AXIS] -= DEFAULT_RETRACTION;
-	}
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
-	
-	current_position[X_AXIS] = PINDA_PREHEAT_X;
-	current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-	current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
-	st_synchronize();
-	while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
-
-	for (int i = 0; i < PINDA_HEAT_T; i++) {
-		delay_keep_alive(1000);
-		custom_message_state = PINDA_HEAT_T - i;
-		if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
-		else lcd_update(1);
-	}	
-	custom_message_type = 0;
-	custom_message_state = 0;
-	custom_message = false;
-}
-
-void temp_compensation_apply() {
-	int i_add;
-	int compensation_value;
-	int z_shift = 0;
-	float z_shift_mm;
-
-	if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
-		if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
-			i_add = (target_temperature_bed - 60) / 10;
-			EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
-			z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
-		}else {
-			//interpolation
-			z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
-		}
-		printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
-		st_synchronize();
-		plan_set_z_position(current_position[Z_AXIS]);
-	}
-	else {		
-		//we have no temp compensation data
-	}
-}
-
-float temp_comp_interpolation(float inp_temperature) {
-
-	//cubic spline interpolation
-
-	int n, i, j, k;
-	float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
-	int shift[10];
-	int temp_C[10];
-
-	n = 6; //number of measured points
-
-	shift[0] = 0;
-	for (i = 0; i < n; i++) {
-		if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
-		temp_C[i] = 50 + i * 10; //temperature in C
-#ifdef PINDA_THERMISTOR
-		temp_C[i] = 35 + i * 5; //temperature in C
-#else
-		temp_C[i] = 50 + i * 10; //temperature in C
-#endif
-		x[i] = (float)temp_C[i];
-		f[i] = (float)shift[i];
-	}
-	if (inp_temperature < x[0]) return 0;
-
-
-	for (i = n - 1; i>0; i--) {
-		F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
-		h[i - 1] = x[i] - x[i - 1];
-	}
-	//*********** formation of h, s , f matrix **************
-	for (i = 1; i<n - 1; i++) {
-		m[i][i] = 2 * (h[i - 1] + h[i]);
-		if (i != 1) {
-			m[i][i - 1] = h[i - 1];
-			m[i - 1][i] = h[i - 1];
-		}
-		m[i][n - 1] = 6 * (F[i + 1] - F[i]);
-	}
-	//*********** forward elimination **************
-	for (i = 1; i<n - 2; i++) {
-		temp = (m[i + 1][i] / m[i][i]);
-		for (j = 1; j <= n - 1; j++)
-			m[i + 1][j] -= temp*m[i][j];
-	}
-	//*********** backward substitution *********
-	for (i = n - 2; i>0; i--) {
-		sum = 0;
-		for (j = i; j <= n - 2; j++)
-			sum += m[i][j] * s[j];
-		s[i] = (m[i][n - 1] - sum) / m[i][i];
-	}
-
-		for (i = 0; i<n - 1; i++)
-			if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
-				a = (s[i + 1] - s[i]) / (6 * h[i]);
-				b = s[i] / 2;
-				c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
-				d = f[i];
-				sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
-			}
-
-		return sum;
-
-}
-
-#ifdef PINDA_THERMISTOR
-float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
-{
-	if (!temp_cal_active) return 0;
-	if (!calibration_status_pinda()) return 0;
-	return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
-}
-#endif //PINDA_THERMISTOR
-
-void long_pause() //long pause print
-{
-	st_synchronize();
-	
-	//save currently set parameters to global variables
-	saved_feedmultiply = feedmultiply; 
-	HotendTempBckp = degTargetHotend(active_extruder);
-	fanSpeedBckp = fanSpeed;
-	start_pause_print = millis();
-		
-
-	//save position
-	pause_lastpos[X_AXIS] = current_position[X_AXIS];
-	pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
-	pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
-	pause_lastpos[E_AXIS] = current_position[E_AXIS];
-
-	//retract
-	current_position[E_AXIS] -= DEFAULT_RETRACTION;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
-
-	//lift z
-	current_position[Z_AXIS] += Z_PAUSE_LIFT;
-	if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
-
-	//set nozzle target temperature to 0
-	setTargetHotend(0, 0);
-	setTargetHotend(0, 1);
-	setTargetHotend(0, 2);
-
-	//Move XY to side
-	current_position[X_AXIS] = X_PAUSE_POS;
-	current_position[Y_AXIS] = Y_PAUSE_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
-
-	// Turn off the print fan
-	fanSpeed = 0;
-
-	st_synchronize();
-}
-
-void serialecho_temperatures() {
-	float tt = degHotend(active_extruder);
-	SERIAL_PROTOCOLPGM("T:");
-	SERIAL_PROTOCOL(tt);
-	SERIAL_PROTOCOLPGM(" E:");
-	SERIAL_PROTOCOL((int)active_extruder);
-	SERIAL_PROTOCOLPGM(" B:");
-	SERIAL_PROTOCOL_F(degBed(), 1);
-	SERIAL_PROTOCOLLN("");
-}
-
-extern uint32_t sdpos_atomic;
-
-#ifdef UVLO_SUPPORT
-
-void uvlo_() 
-{
-	unsigned long time_start = millis();
-	bool sd_print = card.sdprinting;
-    // Conserve power as soon as possible.
-    disable_x();
-    disable_y();
-    
-#ifdef TMC2130
-	tmc2130_set_current_h(Z_AXIS, 20);
-	tmc2130_set_current_r(Z_AXIS, 20);
-	tmc2130_set_current_h(E_AXIS, 20);
-	tmc2130_set_current_r(E_AXIS, 20);
-#endif //TMC2130
-
-
-    // Indicate that the interrupt has been triggered.
-	//	SERIAL_ECHOLNPGM("UVLO");
-
-    // Read out the current Z motor microstep counter. This will be later used
-    // for reaching the zero full step before powering off.
-    uint16_t z_microsteps = 0;
-#ifdef TMC2130
-	z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
-#endif //TMC2130
-
-    // Calculate the file position, from which to resume this print.
-    long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
-    {
-      uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
-      sd_position -= sdlen_planner;
-      uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
-      sd_position -= sdlen_cmdqueue;
-      if (sd_position < 0) sd_position = 0;
-    }
-
-    // Backup the feedrate in mm/min.
-    int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
-
-    // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
-    // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
-    // are in action.
-    planner_abort_hard();
-
-    // Store the current extruder position.
-    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
-	eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
-
-    // Clean the input command queue.
-    cmdqueue_reset();
-    card.sdprinting = false;
-//    card.closefile();
-
-    // Enable stepper driver interrupt to move Z axis.
-    // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
-    //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
-    // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
-		sei();
-		plan_buffer_line(
-      current_position[X_AXIS], 
-      current_position[Y_AXIS], 
-      current_position[Z_AXIS], 
-      current_position[E_AXIS] - DEFAULT_RETRACTION,
-      95, active_extruder);
-    
-        st_synchronize();
-        disable_e0();
-    
-		plan_buffer_line(
-      current_position[X_AXIS], 
-      current_position[Y_AXIS], 
-      current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS], 
-      current_position[E_AXIS] - DEFAULT_RETRACTION,
-      40, active_extruder);
-    
-    st_synchronize();
-    disable_e0();
-    
-    plan_buffer_line(
-                     current_position[X_AXIS],
-                     current_position[Y_AXIS],
-                     current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
-                     current_position[E_AXIS] - DEFAULT_RETRACTION,
-                     40, active_extruder);
-    st_synchronize();
-    disable_e0();
-    disable_z();
-    
-    // Move Z up to the next 0th full step.
-    // Write the file position.
-    eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
-    // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
-    for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
-      uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
-      uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
-      // Scale the z value to 1u resolution.
-      int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
-      eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
-    }
-    // Read out the current Z motor microstep counter. This will be later used
-    // for reaching the zero full step before powering off.
-    eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
-    // Store the current position.
-    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
-    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
-    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
-    // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
-    EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
-    eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
-    eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
-    eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
-	eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
-#if EXTRUDERS > 1
-	eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
-#if EXTRUDERS > 2
-	eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
-#endif
-#endif
-	eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
-
-    // Finaly store the "power outage" flag.
-	if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
-
-    st_synchronize();
-    printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
-
-    disable_z();
-    
-    // Increment power failure counter
-	eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
-	eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
-    
-		printf_P(_N("UVLO - end %d\n"), millis() - time_start);
-    
-#if 0
-    // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
-    current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
-    st_synchronize();
-#endif
-    
-
-		cli();
-    volatile unsigned int ppcount = 0;
-    SET_OUTPUT(BEEPER);
-    WRITE(BEEPER, HIGH);
-    for(ppcount = 0; ppcount < 2000; ppcount ++){
-        asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
-    }
-    WRITE(BEEPER, LOW);
-    while(1){
-#if 1
-        WRITE(BEEPER, LOW);
-        for(ppcount = 0; ppcount < 8000; ppcount ++){
-             asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
-        }
-#endif
-        
-    };
-}
-#endif //UVLO_SUPPORT
-
-#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
-
-void setup_fan_interrupt() {
-//INT7
-	DDRE &= ~(1 << 7); //input pin
-	PORTE &= ~(1 << 7); //no internal pull-up
-
-	//start with sensing rising edge
-	EICRB &= ~(1 << 6);
-	EICRB |= (1 << 7);
-
-	//enable INT7 interrupt
-	EIMSK |= (1 << 7);
-}
-
-// The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
-// and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
-ISR(INT7_vect) {
-	//measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
-
-	if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
-	if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
-		t_fan_rising_edge = millis_nc();
-	}
-	else { //interrupt was triggered by falling edge
-		if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
-			fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
-		}
-	}	
-	EICRB ^= (1 << 6); //change edge
-}
-
-#endif
-
-#ifdef UVLO_SUPPORT
-void setup_uvlo_interrupt() {
-	DDRE &= ~(1 << 4); //input pin
-	PORTE &= ~(1 << 4); //no internal pull-up
-
-						//sensing falling edge
-	EICRB |= (1 << 0);
-	EICRB &= ~(1 << 1);
-
-	//enable INT4 interrupt
-	EIMSK |= (1 << 4);
-}
-
-ISR(INT4_vect) {
-	EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once 
-	SERIAL_ECHOLNPGM("INT4");
-	if (IS_SD_PRINTING) uvlo_();
-}
-
-void recover_print(uint8_t automatic) {
-	char cmd[30];
-	lcd_update_enable(true);
-	lcd_update(2);
-	lcd_setstatuspgm(_i("Recovering print    "));////MSG_RECOVERING_PRINT c=20 r=1
-
-  recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
-
-  // Lift the print head, so one may remove the excess priming material.
-  if (current_position[Z_AXIS] < 25)
-    enquecommand_P(PSTR("G1 Z25 F800"));
-  // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
-	enquecommand_P(PSTR("G28 X Y"));
-  // Set the target bed and nozzle temperatures and wait.
-	sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
-	enquecommand(cmd);
-	sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
-	enquecommand(cmd);
-	enquecommand_P(PSTR("M83")); //E axis relative mode
-	//enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
-    // If not automatically recoreverd (long power loss), extrude extra filament to stabilize 
-    if(automatic == 0){ 
-        enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure 
-    } 
-	enquecommand_P(PSTR("G1 E"  STRINGIFY(-DEFAULT_RETRACTION)" F480"));
-
-  // Mark the power panic status as inactive.
-	eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
-	/*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
-		delay_keep_alive(1000);
-	}*/
-
-	printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
-
-  // Restart the print.
-	restore_print_from_eeprom();
-
-	printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
-}
-
-void recover_machine_state_after_power_panic()
-{
-  char cmd[30];
-  // 1) Recover the logical cordinates at the time of the power panic.
-  // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
-  current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
-  current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
-  // Recover the logical coordinate of the Z axis at the time of the power panic.
-  // The current position after power panic is moved to the next closest 0th full step.
-  current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) + 
-    UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
-  if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
-	  current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
-	  sprintf_P(cmd, PSTR("G92 E"));
-	  dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
-	  enquecommand(cmd);
-  }
-
-  memcpy(destination, current_position, sizeof(destination));
-
-  SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
-  print_world_coordinates();
-
-  // 2) Initialize the logical to physical coordinate system transformation.
-  world2machine_initialize();
-
-  // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
-  mbl.active = false;
-  for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
-    uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
-    uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
-    // Scale the z value to 10u resolution.
-    int16_t v;
-    eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
-    if (v != 0)
-      mbl.active = true;
-    mbl.z_values[iy][ix] = float(v) * 0.001f;
-  }
-  if (mbl.active)
-    mbl.upsample_3x3();
-//  SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
-//  print_mesh_bed_leveling_table();
-
-  // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
-  // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
-  babystep_load();
-
-  // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
-  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
-  // 6) Power up the motors, mark their positions as known.
-  //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
-  axis_known_position[X_AXIS] = true; enable_x();
-  axis_known_position[Y_AXIS] = true; enable_y();
-  axis_known_position[Z_AXIS] = true; enable_z();
-
-  SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
-  print_physical_coordinates();
-
-  // 7) Recover the target temperatures.
-  target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
-  target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
-
-  // 8) Recover extruder multipilers
-  extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
-#if EXTRUDERS > 1
-  extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
-#if EXTRUDERS > 2
-  extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
-#endif
-#endif
-  extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
-}
-
-void restore_print_from_eeprom() {
-	float x_rec, y_rec, z_pos;
-	int feedrate_rec;
-	uint8_t fan_speed_rec;
-	char cmd[30];
-	char* c;
-	char filename[13];
-	uint8_t depth = 0;
-	char dir_name[9];
-
-	fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
-	EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
-	SERIAL_ECHOPGM("Feedrate:");
-	MYSERIAL.println(feedrate_rec);
-
-	depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
-	
-	MYSERIAL.println(int(depth));
-	for (int i = 0; i < depth; i++) {
-		for (int j = 0; j < 8; j++) {
-			dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
-		}
-		dir_name[8] = '\0';
-		MYSERIAL.println(dir_name);
-		strcpy(dir_names[i], dir_name);
-		card.chdir(dir_name);
-	}
-
-	for (int i = 0; i < 8; i++) {
-		filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
-	}
-	filename[8] = '\0';
-
-	MYSERIAL.print(filename);
-	strcat_P(filename, PSTR(".gco"));
-	sprintf_P(cmd, PSTR("M23 %s"), filename);
-	enquecommand(cmd);
-	uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
-	SERIAL_ECHOPGM("Position read from eeprom:");
-	MYSERIAL.println(position);
-
-  // E axis relative mode.
-	enquecommand_P(PSTR("M83"));
-  // Move to the XY print position in logical coordinates, where the print has been killed.
-	strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
-	strcat_P(cmd, PSTR(" Y"));   strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
-	strcat_P(cmd, PSTR(" F2000"));
-	enquecommand(cmd);
-  // Move the Z axis down to the print, in logical coordinates.
-	strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
-	enquecommand(cmd);
-  // Unretract.
-	enquecommand_P(PSTR("G1 E"  STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
-  // Set the feedrate saved at the power panic.
-	sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
-	enquecommand(cmd);
-	if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
-	{
-	  float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
-	  enquecommand_P(PSTR("M82")); //E axis abslute mode
-	}
-  // Set the fan speed saved at the power panic.
-	strcpy_P(cmd, PSTR("M106 S"));
-	strcat(cmd, itostr3(int(fan_speed_rec)));
-	enquecommand(cmd);
-
-  // Set a position in the file.
-  sprintf_P(cmd, PSTR("M26 S%lu"), position);
-  enquecommand(cmd);
-  // Start SD print.
-  enquecommand_P(PSTR("M24")); 
-}
-#endif //UVLO_SUPPORT
-
-
-////////////////////////////////////////////////////////////////////////////////
-// save/restore printing
-
-void stop_and_save_print_to_ram(float z_move, float e_move)
-{
-	if (saved_printing) return;
-	unsigned char nplanner_blocks;
-	unsigned char nlines;
-	uint16_t sdlen_planner;
-	uint16_t sdlen_cmdqueue;
-	
-
-	cli();
-	if (card.sdprinting) {
-		nplanner_blocks = number_of_blocks();
-		saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
-		sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
-		saved_sdpos -= sdlen_planner;
-		sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
-		saved_sdpos -= sdlen_cmdqueue;
-		saved_printing_type = PRINTING_TYPE_SD;
-
-	}
-	else if (is_usb_printing) { //reuse saved_sdpos for storing line number
-		 saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
-		 //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
-		 nlines = planner_calc_sd_length(); //number of lines of commands in planner 
-		 saved_sdpos -= nlines;
-		 saved_sdpos -= buflen; //number of blocks in cmd buffer
-		 saved_printing_type = PRINTING_TYPE_USB;
-	}
-	else {
-		//not sd printing nor usb printing
-	}
-
-#if 0
-  SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
-  SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
-  SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
-  SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
-  SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
-  SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
-  //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
-
-
-  {
-    card.setIndex(saved_sdpos);
-    SERIAL_ECHOLNPGM("Content of planner buffer: ");
-    for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
-      MYSERIAL.print(char(card.get()));
-    SERIAL_ECHOLNPGM("Content of command buffer: ");
-    for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
-      MYSERIAL.print(char(card.get()));
-    SERIAL_ECHOLNPGM("End of command buffer");
-  }
-  {
-    // Print the content of the planner buffer, line by line:
-    card.setIndex(saved_sdpos);
-    int8_t iline = 0;
-    for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
-      SERIAL_ECHOPGM("Planner line (from file): ");
-      MYSERIAL.print(int(iline), DEC);
-      SERIAL_ECHOPGM(", length: ");
-      MYSERIAL.print(block_buffer[idx].sdlen, DEC);
-      SERIAL_ECHOPGM(", steps: (");
-      MYSERIAL.print(block_buffer[idx].steps_x, DEC);
-      SERIAL_ECHOPGM(",");
-      MYSERIAL.print(block_buffer[idx].steps_y, DEC);
-      SERIAL_ECHOPGM(",");
-      MYSERIAL.print(block_buffer[idx].steps_z, DEC);
-      SERIAL_ECHOPGM(",");
-      MYSERIAL.print(block_buffer[idx].steps_e, DEC);
-      SERIAL_ECHOPGM("), events: ");
-      MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
-      for (int len = block_buffer[idx].sdlen; len > 0; -- len)
-        MYSERIAL.print(char(card.get()));
-    }
-  }
-  {
-    // Print the content of the command buffer, line by line:
-    int8_t iline = 0;
-    union {
-        struct {
-            char lo;
-            char hi;
-        } lohi;
-        uint16_t value;
-    } sdlen_single;
-    int _bufindr = bufindr;
-	for (int _buflen  = buflen; _buflen > 0; ++ iline) {
-        if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
-            sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
-            sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
-        }		 
-        SERIAL_ECHOPGM("Buffer line (from buffer): ");
-        MYSERIAL.print(int(iline), DEC);
-        SERIAL_ECHOPGM(", type: ");
-        MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
-        SERIAL_ECHOPGM(", len: ");
-        MYSERIAL.println(sdlen_single.value, DEC);
-        // Print the content of the buffer line.
-        MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
-
-        SERIAL_ECHOPGM("Buffer line (from file): ");
-        MYSERIAL.println(int(iline), DEC);
-        for (; sdlen_single.value > 0; -- sdlen_single.value)
-          MYSERIAL.print(char(card.get()));
-
-        if (-- _buflen == 0)
-          break;
-        // First skip the current command ID and iterate up to the end of the string.
-        for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
-        // Second, skip the end of string null character and iterate until a nonzero command ID is found.
-        for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
-        // If the end of the buffer was empty,
-        if (_bufindr == sizeof(cmdbuffer)) {
-            // skip to the start and find the nonzero command.
-            for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
-        }
-    }
-  }
-#endif
-
-#if 0
-  saved_feedrate2 = feedrate; //save feedrate
-#else
-  // Try to deduce the feedrate from the first block of the planner.
-  // Speed is in mm/min.
-  saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
-#endif
-
-	planner_abort_hard(); //abort printing
-	memcpy(saved_pos, current_position, sizeof(saved_pos));
-	saved_active_extruder = active_extruder; //save active_extruder
-
-	saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
-	saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
-	cmdqueue_reset(); //empty cmdqueue
-	card.sdprinting = false;
-//	card.closefile();
-	saved_printing = true;
-  // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
-  st_reset_timer();
-	sei();
-	if ((z_move != 0) || (e_move != 0)) { // extruder or z move
-#if 1
-    // Rather than calling plan_buffer_line directly, push the move into the command queue, 
-    char buf[48];
-
-	// First unretract (relative extrusion)
-	if(!saved_extruder_relative_mode){
-	  strcpy_P(buf, PSTR("M83"));
-	  enquecommand(buf, false);
-	}
-	
-	//retract 45mm/s
-	strcpy_P(buf, PSTR("G1 E"));
-	dtostrf(e_move, 6, 3, buf + strlen(buf));
-	strcat_P(buf, PSTR(" F"));
-	dtostrf(2700, 8, 3, buf + strlen(buf));
-	enquecommand(buf, false);
-
-	// Then lift Z axis
-    strcpy_P(buf, PSTR("G1 Z"));
-    dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
-    strcat_P(buf, PSTR(" F"));
-    dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
-    // At this point the command queue is empty.
-    enquecommand(buf, false);
-    // If this call is invoked from the main Arduino loop() function, let the caller know that the command
-    // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
-    repeatcommand_front();
-#else
-		plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
-    st_synchronize(); //wait moving
-    memcpy(current_position, saved_pos, sizeof(saved_pos));
-    memcpy(destination, current_position, sizeof(destination));
-#endif
-  }
-}
-
-void restore_print_from_ram_and_continue(float e_move)
-{
-	if (!saved_printing) return;
-//	for (int axis = X_AXIS; axis <= E_AXIS; axis++)
-//	    current_position[axis] = st_get_position_mm(axis);
-	active_extruder = saved_active_extruder; //restore active_extruder
-	feedrate = saved_feedrate2; //restore feedrate
-	axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
-	float e = saved_pos[E_AXIS] - e_move;
-	plan_set_e_position(e);
-	//first move print head in XY to the saved position:
-	plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
-	st_synchronize();
-	//then move Z
-	plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
-	st_synchronize();
-	//and finaly unretract (35mm/s)
-	plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
-	st_synchronize();
-
-	memcpy(current_position, saved_pos, sizeof(saved_pos));
-	memcpy(destination, current_position, sizeof(destination));
-	if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
-		card.setIndex(saved_sdpos);
-		sdpos_atomic = saved_sdpos;
-		card.sdprinting = true;
-		printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
-	}
-	else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
-		gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
-		serial_count = 0; 
-		FlushSerialRequestResend();
-	}
-	else {
-		//not sd printing nor usb printing
-	}
-	lcd_setstatuspgm(_T(WELCOME_MSG));
-	saved_printing = false;
-}
-
-void print_world_coordinates()
-{
-	printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
-}
-
-void print_physical_coordinates()
-{
-	printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm[X_AXIS], st_get_position_mm[Y_AXIS], st_get_position_mm[Z_AXIS]);
-}
-
-void print_mesh_bed_leveling_table()
-{
-  SERIAL_ECHOPGM("mesh bed leveling: ");
-  for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
-    for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
-      MYSERIAL.print(mbl.z_values[y][x], 3);
-      SERIAL_ECHOPGM(" ");
-    }
-  SERIAL_ECHOLNPGM("");
-}
-
-uint16_t print_time_remaining() {
-	uint16_t print_t = PRINT_TIME_REMAINING_INIT;
-	if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
-	else print_t = print_time_remaining_silent;
-	if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
-	return print_t;
-}
-
-uint8_t print_percent_done() {
-	//in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
-	uint8_t percent_done = 0;
-	if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
-		percent_done = print_percent_done_normal;
-	}
-	else if (print_percent_done_silent <= 100) {
-		percent_done = print_percent_done_silent;
-	}
-	else {
-		percent_done = card.percentDone();
-	}
-	return percent_done;
-}
-
-static void print_time_remaining_init() {
-	print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
-	print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
-	print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
-	print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
-}
-
-#define FIL_LOAD_LENGTH 60

Firmware/SdFatUtil.cpp

@@ -46,13 +46,10 @@ int SdFatUtil::FreeRam() {
 
 void SdFatUtil::set_stack_guard()
 {	
-	char i = 0;
 	uint32_t *stack_guard;
 
 	stack_guard = (uint32_t*)&__bss_end;
-	//for (i = 0; i < 10; i++) {
-		*stack_guard = STACK_GUARD_TEST_VALUE;
-	//}
+    *stack_guard = STACK_GUARD_TEST_VALUE;
 }
 
 bool SdFatUtil::test_stack_integrity()
@@ -63,12 +60,9 @@ bool SdFatUtil::test_stack_integrity()
 
 uint32_t SdFatUtil::get_stack_guard_test_value()
 {
-	//static char i = 0;
 	uint32_t* stack_guard;
 	uint32_t output;
 	stack_guard = (uint32_t*)&__bss_end;
-	//output = *(stack_guard + i);
-	//i++;
 	output = *stack_guard;
 	return(output);
 }

Firmware/cardreader.cpp

@@ -702,11 +702,12 @@ void CardReader::updir()
   {
     --workDirDepth;
     workDir = workDirParents[0];
-	int d;
-    for (int d = 0; d < workDirDepth; d++)
-      workDirParents[d] = workDirParents[d+1];
+    for (unsigned int d = 0; d < workDirDepth; d++)
+    {
+        workDirParents[d] = workDirParents[d+1];
+    }
 	#ifdef SDCARD_SORT_ALPHA
-		presort();
+    presort();
 	#endif
   }
 }

Firmware/cmdqueue.cpp

@@ -7,9 +7,9 @@ extern bool Stopped;
 // Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
 char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
 // Head of the circular buffer, where to read.
-int bufindr = 0;
+size_t bufindr = 0;
 // Tail of the buffer, where to write.
-int bufindw = 0;
+static size_t bufindw = 0;
 // Number of lines in cmdbuffer.
 int buflen = 0;
 // Flag for processing the current command inside the main Arduino loop().
@@ -100,7 +100,7 @@ void cmdqueue_reset()
 // How long a string could be pushed to the front of the command queue?
 // If yes, adjust bufindr to the new position, where the new command could be enqued.
 // len_asked does not contain the zero terminator size.
-bool cmdqueue_could_enqueue_front(int len_asked)
+static bool cmdqueue_could_enqueue_front(size_t len_asked)
 {
     // MAX_CMD_SIZE has to accommodate the zero terminator.
     if (len_asked >= MAX_CMD_SIZE)
@@ -145,7 +145,7 @@ bool cmdqueue_could_enqueue_front(int len_asked)
 // len_asked does not contain the zero terminator size.
 // This function may update bufindw, therefore for the power panic to work, this function must be called
 // with the interrupts disabled!
-bool cmdqueue_could_enqueue_back(int len_asked, bool atomic_update)
+static bool cmdqueue_could_enqueue_back(size_t len_asked, bool atomic_update = false)
 {
     // MAX_CMD_SIZE has to accommodate the zero terminator.
     if (len_asked >= MAX_CMD_SIZE)
@@ -161,7 +161,7 @@ bool cmdqueue_could_enqueue_back(int len_asked, bool atomic_update)
         // serial data.
         // How much memory to reserve for the commands pushed to the front?
         // End of the queue, when pushing to the end.
-        int endw = bufindw + len_asked + (1 + CMDHDRSIZE);
+        size_t endw = bufindw + len_asked + (1 + CMDHDRSIZE);
         if (bufindw < bufindr)
             // Simple case. There is a contiguous space between the write buffer and the read buffer.
             return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
@@ -187,7 +187,7 @@ bool cmdqueue_could_enqueue_back(int len_asked, bool atomic_update)
     } else {
         // How much memory to reserve for the commands pushed to the front?
         // End of the queue, when pushing to the end.
-        int endw = bufindw + len_asked + (1 + CMDHDRSIZE);
+        size_t endw = bufindw + len_asked + (1 + CMDHDRSIZE);
         if (bufindw < bufindr)
             // Simple case. There is a contiguous space between the write buffer and the read buffer.
             return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
@@ -274,7 +274,7 @@ void cmdqueue_dump_to_serial()
 // Currently the maximum length of a command piped through this function is around 20 characters
 void enquecommand(const char *cmd, bool from_progmem)
 {
-    int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
+    size_t len = from_progmem ? strlen_P(cmd) : strlen(cmd);
     // Does cmd fit the queue while leaving sufficient space at the front for the chained commands?
     // If it fits, it may move bufindw, so it points to a contiguous buffer, which fits cmd.
     if (cmdqueue_could_enqueue_back(len)) {
@@ -317,7 +317,7 @@ bool cmd_buffer_empty()
 
 void enquecommand_front(const char *cmd, bool from_progmem)
 {
-    int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
+    size_t len = from_progmem ? strlen_P(cmd) : strlen(cmd);
     // Does cmd fit the queue? This call shall move bufindr, so the command may be copied.
     if (cmdqueue_could_enqueue_front(len)) {
         cmdbuffer[bufindr] = CMDBUFFER_CURRENT_TYPE_UI;
@@ -375,14 +375,10 @@ void get_command()
     // Test and reserve space for the new command string.
     if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1, true))
       return;
-    
-    bool rx_buffer_full = false; //flag that serial rx buffer is full
 
 	if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
 		MYSERIAL.flush();
 		SERIAL_ECHOLNPGM("Full RX Buffer");   //if buffer was full, there is danger that reading of last gcode will not be completed
-
-		rx_buffer_full = true;                //sets flag that buffer was full    
 	}
 
   // start of serial line processing loop
@@ -548,13 +544,6 @@ void get_command()
         }
     }
 
-    //add comment
-   /*if (rx_buffer_full == true && serial_count > 0) {   //if rx buffer was full and string was not properly terminated
-        rx_buffer_full = false;
-        bufindw = bufindw - serial_count;               //adjust tail of the buffer to prepare buffer for writing new command
-        serial_count = 0;
-    }*/
-
   #ifdef SDSUPPORT
   if(!card.sdprinting || serial_count!=0){
     // If there is a half filled buffer from serial line, wait until return before
@@ -682,7 +671,7 @@ uint16_t cmdqueue_calc_sd_length()
         uint16_t value;
     } sdlen_single;
     uint16_t sdlen = 0;
-    for (int _buflen = buflen, _bufindr = bufindr;;) {
+    for (size_t _buflen = buflen, _bufindr = bufindr;;) {
         if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
             sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
             sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];

Firmware/cmdqueue.h

@@ -32,8 +32,7 @@
 #define CMDBUFFER_RESERVE_FRONT       (5*21)
 
 extern char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
-extern int bufindr;
-extern int bufindw;
+extern size_t bufindr;
 extern int buflen;
 extern bool cmdbuffer_front_already_processed;
 
@@ -59,8 +58,6 @@ extern long Stopped_gcode_LastN;
 
 extern bool cmdqueue_pop_front();
 extern void cmdqueue_reset();
-extern bool cmdqueue_could_enqueue_front(int len_asked);
-extern bool cmdqueue_could_enqueue_back(int len_asked, bool atomic_update = false);
 #ifdef CMDBUFFER_DEBUG
 extern void cmdqueue_dump_to_serial_single_line(int nr, const char *p);
 extern void cmdqueue_dump_to_serial();

Firmware/fsensor.cpp

@@ -33,11 +33,13 @@ extern int8_t FSensorStateMenu;
 
 void fsensor_stop_and_save_print(void)
 {
+	printf_P(PSTR("fsensor_stop_and_save_print\n"));
 	stop_and_save_print_to_ram(0, 0); //XYZE - no change	
 }
 
 void fsensor_restore_print_and_continue(void)
 {
+	printf_P(PSTR("fsensor_restore_print_and_continue\n"));
 	restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
 }
 
@@ -240,12 +242,12 @@ bool fsensor_check_autoload(void)
 		fsensor_autoload_c--;
 	if (fsensor_autoload_c == 0) fsensor_autoload_sum = 0;
 //	puts_P(_N("fsensor_check_autoload\n"));
-	if (fsensor_autoload_c != fsensor_autoload_c_old)
-		printf_P(PSTR("fsensor_check_autoload dy=%d c=%d sum=%d\n"), dy, fsensor_autoload_c, fsensor_autoload_sum);
+//	if (fsensor_autoload_c != fsensor_autoload_c_old)
+//		printf_P(PSTR("fsensor_check_autoload dy=%d c=%d sum=%d\n"), dy, fsensor_autoload_c, fsensor_autoload_sum);
 //	if ((fsensor_autoload_c >= 15) && (fsensor_autoload_sum > 30))
 	if ((fsensor_autoload_c >= 10) && (fsensor_autoload_sum > 15))
 	{
-		puts_P(_N("fsensor_check_autoload = true !!!\n"));
+//		puts_P(_N("fsensor_check_autoload = true !!!\n"));
 		return true;
 	}
 	return false;
@@ -253,6 +255,7 @@ bool fsensor_check_autoload(void)
 
 void fsensor_oq_meassure_start(uint8_t skip)
 {
+	if (!fsensor_enabled) return;
 	printf_P(PSTR("fsensor_oq_meassure_start\n"));
 	fsensor_oq_skipchunk = skip;
 	fsensor_oq_samples = 0;
@@ -271,6 +274,7 @@ void fsensor_oq_meassure_start(uint8_t skip)
 
 void fsensor_oq_meassure_stop(void)
 {
+	if (!fsensor_enabled) return;
 	printf_P(PSTR("fsensor_oq_meassure_stop, %hhu samples\n"), fsensor_oq_samples);
 	printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
 	printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * FSENSOR_CHUNK_LEN / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples));
@@ -284,6 +288,7 @@ const char _NG[] PROGMEM = "NG!";
 
 bool fsensor_oq_result(void)
 {
+	if (!fsensor_enabled) return true;
 	printf_P(_N("fsensor_oq_result\n"));
 	bool res_er_sum = (fsensor_oq_er_sum <= FSENSOR_OQ_MAX_ES);
 	printf_P(_N(" er_sum = %u %S\n"), fsensor_oq_er_sum, (res_er_sum?_OK:_NG));
@@ -412,10 +417,10 @@ void fsensor_update(void)
 	{
 		if (fsensor_printing_saved)
 		{
+			fsensor_restore_print_and_continue();
 			fsensor_printing_saved = false;
 			fsensor_watch_runout = true;
 			fsensor_err_cnt = 0;
-			fsensor_restore_print_and_continue();
 		}
 		else if (fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
 		{
@@ -423,6 +428,19 @@ void fsensor_update(void)
 			fsensor_printing_saved = true;
 
 			fsensor_err_cnt = 0;
+/*
+			st_synchronize();
+			for (int axis = X_AXIS; axis <= E_AXIS; axis++)
+				current_position[axis] = st_get_position_mm(axis);
+
+			current_position[E_AXIS] -= 3;
+			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 200 / 60, active_extruder);
+			st_synchronize();
+
+			current_position[E_AXIS] += 3;
+			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 200 / 60, active_extruder);
+			st_synchronize();
+*/
 
 			enquecommand_front_P((PSTR("G1 E-3 F200")));
 			process_commands();
@@ -437,9 +455,11 @@ void fsensor_update(void)
 			if (fsensor_err_cnt == 0)
 			{
 				fsensor_restore_print_and_continue();
+				fsensor_printing_saved = false;
 			}
 			else
 			{
+//				printf_P(PSTR("fsensor_update - M600\n"));
 				eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
 				eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
 				enquecommand_front_P((PSTR("M600")));

Firmware/menu.cpp

@@ -228,7 +228,7 @@ const char menu_20x_space[] PROGMEM = "                    ";
 
 const char menu_fmt_int3[] PROGMEM = "%c%.15S:%s%3d";
 
-const char menu_fmt_float31[] PROGMEM = "%c%.12S:%s%+06.3f";
+const char menu_fmt_float31[] PROGMEM = "%c%.12S:%s%+06.1f";
 
 void menu_draw_int3(char chr, const char* str, int16_t val)
 {
@@ -240,6 +240,7 @@ void menu_draw_int3(char chr, const char* str, int16_t val)
 	lcd_printf_P(menu_fmt_int3, chr, str, spaces, val);
 }
 
+//draw up to 12 chars of text, ':' and float number in format +123.0
 void menu_draw_float31(char chr, const char* str, float val)
 {
 	int text_len = strlen_P(str);

Firmware/sound.cpp

@@ -20,6 +20,7 @@ static void Sound_DoSound_Prompt(void);
 
 void Sound_Init(void)
 {
+SET_OUTPUT(BEEPER);
 eSoundMode=(eSOUND_MODE)eeprom_read_byte((uint8_t*)EEPROM_SOUND_MODE);
 if(eSoundMode==e_SOUND_MODE_NULL)
      Sound_Default();                             // je potreba provest i ulozeni do EEPROM

Firmware/temperature.cpp

@@ -31,6 +31,7 @@
 
 #include "Marlin.h"
 #include "ultralcd.h"
+#include "sound.h"
 #include "temperature.h"
 #include "cardreader.h"
 
@@ -523,6 +524,7 @@ void fanSpeedError(unsigned char _fan) {
 	case 0:
 			SERIAL_ECHOLNPGM("Extruder fan speed is lower then expected");
 			if (get_message_level() == 0) {
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)||(eSoundMode==e_SOUND_MODE_SILENT))
 				WRITE(BEEPER, HIGH);
 				delayMicroseconds(200);
 				WRITE(BEEPER, LOW);
@@ -533,6 +535,7 @@ void fanSpeedError(unsigned char _fan) {
 	case 1:
 			SERIAL_ECHOLNPGM("Print fan speed is lower then expected");
 			if (get_message_level() == 0) {
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)||(eSoundMode==e_SOUND_MODE_SILENT))
 				WRITE(BEEPER, HIGH);
 				delayMicroseconds(200);
 				WRITE(BEEPER, LOW);
@@ -1343,6 +1346,7 @@ void temp_runaway_stop(bool isPreheat, bool isBed)
 	disable_e2();
 	manage_heater();
 	lcd_update(0);
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)||(eSoundMode==e_SOUND_MODE_SILENT))
 	WRITE(BEEPER, HIGH);
 	delayMicroseconds(500);
 	WRITE(BEEPER, LOW);
@@ -1373,8 +1377,7 @@ void temp_runaway_stop(bool isPreheat, bool isBed)
 
 void disable_heater()
 {
-  for(int i=0;i<EXTRUDERS;i++)
-    setTargetHotend(0,i);
+  setAllTargetHotends(0);
   setTargetBed(0);
   #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
   target_temperature[0]=0;
@@ -1428,6 +1431,7 @@ void max_temp_error(uint8_t e) {
     SET_OUTPUT(BEEPER);
     WRITE(FAN_PIN, 1);
     WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1);
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)||(eSoundMode==e_SOUND_MODE_SILENT))
     WRITE(BEEPER, 1);
     // fanSpeed will consumed by the check_axes_activity() routine.
     fanSpeed=255;

Firmware/temperature.h

@@ -142,6 +142,16 @@ FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
   target_temperature[extruder] = celsius;
 };
 
+static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
+{
+    if (extruder<EXTRUDERS) target_temperature[extruder] = celsius;
+}
+
+static inline void setAllTargetHotends(const float &celsius)
+{
+    for(int i=0;i<EXTRUDERS;i++) setTargetHotend(celsius,i);
+}
+
 FORCE_INLINE void setTargetBed(const float &celsius) {  
   target_temperature_bed = celsius;
 };

Firmware/tmc2130.cpp

@@ -668,16 +668,6 @@ uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 	return stat;
 }
 
-
-void tmc2130_eeprom_load_config()
-{
-}
-
-void tmc2130_eeprom_save_config()
-{
-
-}
-
 #define _GET_PWR_X      (READ(X_ENABLE_PIN) == X_ENABLE_ON)
 #define _GET_PWR_Y      (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
 #define _GET_PWR_Z      (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)

Firmware/tmc2130.h

@@ -91,38 +91,6 @@ extern uint8_t tmc2130_usteps2mres(uint16_t usteps);
 
 extern bool tmc2130_wait_standstill_xy(int timeout);
 
-extern void tmc2130_eeprom_load_config();
-extern void tmc2130_eeprom_save_config();
-
-
-#pragma pack(push)
-#pragma pack(1)
-struct
-{
-	uint8_t mres:5;             // mres       - byte 0, bit 0..4     microstep resolution
-	uint8_t reserved_0_0:2;     // reserved   - byte 0, bit 5..6
-	uint8_t intpol:1;           // intpol     - byte 0, bit 7        linear interpolation to 255 usteps
-	uint8_t pwm_ampl:8;         // pwm_ampl   - byte 1, bit 0..7     pwm amplitude for silent mode
-	uint8_t pwm_grad:4;         // pwm_grad   - byte 2, bit 0..3     pwm gradient for silent mode
-	uint8_t pwm_freq:2;         // pwm_freq   - byte 2, bit 4..5     pwm frequency for silent mode
-	uint8_t reserved_2_0:2;     // reserved   - byte 2, bit 6..7
-	uint16_t tcoolthrs:16;      // tcoolthrs  - byte 3..4            coolstep threshold / middle sensitivity
-	int8_t  sg_thrs:8;          // sg_thrs    - byte 5, bit 0..7     stallguard sensitivity in high power / middle sensitivity
-	int8_t  current_h:6;        // current_h  - byte 6, bit 0..5     holding current for high power mode
-	uint8_t reserved_6_0:2;     // reserved   - byte 6, bit 6..7
-	int8_t  current_r:6;        // current_r  - byte 7, bit 0..5     running current for high power mode
-	uint8_t reserved_7_0:2;     // reserved   - byte 7, bit 6..7
-	int8_t  home_sg_thrs:8;     // sg_thrs    - byte 8, bit 0..7     stallguard sensitivity for homing
-	int8_t  home_current:6;     // current_r  - byte 9, bit 0..5     running current for homing
-	uint8_t reserved_9_0:2;     // reserved   - byte 9, bit 6..7
-	int8_t  home_dtcoolthrs:8;  // dtcoolthrs - byte 10, bit 0..7    delta tcoolthrs for homing
-	int8_t  dtcoolthrs_low:8;   // dtcoolthrs - byte 11, bit 0..7    delta tcoolthrs for low sensitivity (based on value for middle sensitivity)
-	int8_t  dtcoolthrs_high:8;  // dtcoolthrs - byte 12, bit 0..7    delta tcoolthrs for high sensitivity (based on value for middle sensitivity)
-	int8_t  sg_thrs_low:8;      // sg_thrs    - byte 13, bit 0..7    stallguard sensitivity in high power / low sensitivity
-	int8_t  sg_thrs_high:8;     // sg_thrs    - byte 14, bit 0..7    stallguard sensitivity in high power / high sensitivity
-} tmc2130_axis_config;
-#pragma pack(pop)
-
 extern uint16_t tmc2130_get_res(uint8_t axis);
 extern void tmc2130_set_res(uint8_t axis, uint16_t res);
 extern uint8_t tmc2130_get_pwr(uint8_t axis);

Firmware/ultralcd.cpp

@@ -31,7 +31,6 @@
 #include "tmc2130.h"
 #endif //TMC2130
 
-//-//
 #include "sound.h"
 
 #ifdef SNMM_V2
@@ -852,7 +851,7 @@ if (print_sd_status)
 				lcd_set_cursor(7, 3);
 				lcd_puts_P(PSTR("             "));
 
-				for (int dots = 0; dots < heating_status_counter; dots++)
+				for (unsigned int dots = 0; dots < heating_status_counter; dots++)
 				{
 					lcd_set_cursor(7 + dots, 3);
 					lcd_print('.');
@@ -1804,9 +1803,7 @@ void lcd_commands()
 			cancel_heatup = true;
 			setTargetBed(0);
 			#if !(defined (SNMM) || defined (SNMM_V2))
-			setTargetHotend(0, 0);	//heating when changing filament for multicolor
-			setTargetHotend(0, 1);
-			setTargetHotend(0, 2);
+			setAllTargetHotends(0);
 			#endif
 			manage_heater();
 			custom_message = true;
@@ -2036,9 +2033,7 @@ void lcd_preheat_flex()
 
 void lcd_cooldown()
 {
-  setTargetHotend0(0);
-  setTargetHotend1(0);
-  setTargetHotend2(0);
+  setAllTargetHotends(0);
   setTargetBed(0);
   fanSpeed = 0;
   lcd_return_to_status();
@@ -3126,7 +3121,7 @@ void lcd_adjust_z() {
 
 bool lcd_wait_for_pinda(float temp) {
 	lcd_set_custom_characters_degree();
-	setTargetHotend(0, 0);
+	setAllTargetHotends(0);
 	setTargetBed(0);
 	LongTimer pinda_timeout;
 	pinda_timeout.start();
@@ -3166,7 +3161,7 @@ void lcd_wait_for_heater() {
 
 void lcd_wait_for_cool_down() {
 	lcd_set_custom_characters_degree();
-	setTargetHotend(0,0);
+	setAllTargetHotends(0);
 	setTargetBed(0);
 	while ((degHotend(0)>MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) {
 		lcd_display_message_fullscreen_P(_i("Waiting for nozzle and bed cooling"));////MSG_WAITING_TEMP c=20 r=3
@@ -6069,6 +6064,7 @@ static void lcd_main_menu()
 
 void stack_error() {
 	SET_OUTPUT(BEEPER);
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)||(eSoundMode==e_SOUND_MODE_SILENT))
 	WRITE(BEEPER, HIGH);
 	delay(1000);
 	WRITE(BEEPER, LOW);
@@ -6544,8 +6540,7 @@ bool lcd_selftest()
 	}
 	lcd_reset_alert_level();
 	enquecommand_P(PSTR("M84"));
-	lcd_clear();
-	lcd_next_update_millis = millis() + LCD_UPDATE_INTERVAL;
+	lcd_update_enable(true);
 	
 	if (_result)
 	{
@@ -6713,7 +6708,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 #ifdef TMC2130
-		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1))
+		if (((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 #else //TMC2130
 		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
@@ -7255,7 +7250,7 @@ static bool lcd_selftest_fan_dialog(int _fan)
 static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay)
 {
 
-	lcd_next_update_millis = millis() + (LCD_UPDATE_INTERVAL * 10000);
+    lcd_update_enable(false);
 
 	int _step_block = 0;
 	const char *_indicator = (_progress > _progress_scale) ? "-" : "|";

Firmware/util.cpp

@@ -1,6 +1,7 @@
 #include "Configuration.h"
 
 #include "ultralcd.h"
+#include "sound.h"
 #include "language.h"
 #include "util.h"
 
@@ -294,10 +295,12 @@ bool show_upgrade_dialog_if_version_newer(const char *version_string)
         for (const char *c = version_string; ! is_whitespace_or_nl_or_eol(*c); ++ c)
             lcd_putc(*c);
         lcd_puts_at_P(0, 3, _i("Please upgrade."));////MSG_NEW_FIRMWARE_PLEASE_UPGRADE c=20 r=0
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
         tone(BEEPER, 1000);
         delay_keep_alive(50);
         noTone(BEEPER);
         delay_keep_alive(500);
+if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
         tone(BEEPER, 1000);
         delay_keep_alive(50);
         noTone(BEEPER);

Firmware/variants/1_75mm_MK2-RAMBo10a-E3Dv6full.h

@@ -420,7 +420,7 @@ THERMISTORS SETTINGS
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
-#define END_FILE_SECTION 10000 //number of bytes from end of file used for checking if file is complete
+#define END_FILE_SECTION 20000 //number of bytes from end of file used for checking if file is complete
 
 // Safety timer
 #define SAFETYTIMER

Firmware/variants/1_75mm_MK2-RAMBo13a-E3Dv6full.h

@@ -420,7 +420,7 @@ THERMISTORS SETTINGS
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
-#define END_FILE_SECTION 10000 //number of bytes from end of file used for checking if file is complete
+#define END_FILE_SECTION 20000 //number of bytes from end of file used for checking if file is complete
 
 // Safety timer
 #define SAFETYTIMER

Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h

@@ -95,7 +95,7 @@
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //number of bytes from end of the file to start check
-#define END_FILE_SECTION 10000
+#define END_FILE_SECTION 20000
 
 #define Z_AXIS_ALWAYS_ON 1
 
@@ -113,6 +113,7 @@
 #define PAT9125
 #define FILAMENT_SENSOR
 
+#define DEBUG_DCODE3
 
 //#define DEBUG_BUILD
 #ifdef DEBUG_BUILD

Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h

@@ -96,7 +96,7 @@
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //number of bytes from end of the file to start check
-#define END_FILE_SECTION 10000
+#define END_FILE_SECTION 20000
 
 #define Z_AXIS_ALWAYS_ON 1
 
@@ -114,6 +114,7 @@
 #define PAT9125
 #define FILAMENT_SENSOR
 
+#define DEBUG_DCODE3
 
 //#define DEBUG_BUILD
 #ifdef DEBUG_BUILD

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -107,7 +107,7 @@
 #define NORMAL_MAX_FEEDRATE_XY   200  // max feedrate in mm/s
 
 //number of bytes from end of the file to start check
-#define END_FILE_SECTION 10000
+#define END_FILE_SECTION 20000
 
 #define Z_AXIS_ALWAYS_ON 1
 
@@ -147,6 +147,8 @@
 #define MINTEMP_MINAMBIENT      25
 #define MINTEMP_MINAMBIENT_RAW  978
 
+#define DEBUG_DCODE3
+
 //#define DEBUG_BUILD
 //#define DEBUG_SEC_LANG   //secondary language debug output at startup
 //#define DEBUG_W25X20CL   //debug external spi flash

Firmware/variants/1_75mm_MK3-MMU-EINSy10a-E3Dv6full.h

@@ -100,19 +100,15 @@
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //Silent mode limits
-#define SILENT_MAX_ACCEL  960ul // max axxeleration in silent mode in mm/s^2
-#define SILENT_MAX_ACCEL_ST (100*SILENT_MAX_ACCEL) // max accel in steps/s^2
-#define SILENT_MAX_FEEDRATE 172  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (172mm/s=9600mm/min>2700mm/min)
+#define SILENT_MAX_ACCEL_XY      960ul  // max acceleration in silent mode in mm/s^2
+#define SILENT_MAX_FEEDRATE_XY   172  // max feedrate in mm/s
 
 //Normal mode limits
-#define NORMAL_MAX_ACCEL 2500ul // Y-axis max axxeleration in normal mode in mm/s^2
-#define NORMAL_MAX_ACCEL_ST (100*NORMAL_MAX_ACCEL) // max accel in steps/s^2
-#define NORMAL_MAX_FEEDRATE 200  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (172mm/s=9600mm/min>2700mm/min)
-
-//#define SIMPLE_ACCEL_LIMIT          //new limitation method for normal/silent
+#define NORMAL_MAX_ACCEL_XY     2500ul  // max acceleration in normal mode in mm/s^2
+#define NORMAL_MAX_FEEDRATE_XY   200  // max feedrate in mm/s
 
 //number of bytes from end of the file to start check
-#define END_FILE_SECTION 10000
+#define END_FILE_SECTION 20000
 
 #define Z_AXIS_ALWAYS_ON 1
 
@@ -138,10 +134,12 @@
 
 // Filament sensor
 #define PAT9125
+#define FILAMENT_SENSOR
 
+// Backlash - 
+//#define BACKLASH_X
+//#define BACKLASH_Y
 
-// Disable some commands
-#define _DISABLE_M42_M226
 
 // Minimum ambient temperature limit to start triggering MINTEMP errors [C]
 // this value is litlebit higher that real limit, because ambient termistor is on the board and is temperated from it,
@@ -384,13 +382,6 @@
 #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
 #endif
 
-/*------------------------------------
- PAT9125 SETTINGS
- *------------------------------------*/
-
-#define PAT9125_XRES			0
-#define PAT9125_YRES			255
-
 /*------------------------------------
  BED SETTINGS
  *------------------------------------*/

lang/lang_en_es.txt

@@ -80,7 +80,7 @@
 
 #MSG_AUTOLOADING_ENABLED c=20 r=4
 "Autoloading filament is active, just press the knob and insert filament..."
-"La carga automatica de filamento esta activada, pulse el dial e inserte el filamento..."
+"La carga automatica de filamento esta activada, pulse el mando e inserte el filamento..."
 
 #MSG_SELFTEST_AXIS_LENGTH c=0 r=0
 "Axis length"
@@ -104,7 +104,7 @@
 
 #MSG_BED_CORRECTION_MENU c=0 r=0
 "Bed level correct"
-"Corr. de la cama"
+"Correcion cama"
 
 #MSG_BED_LEVELING_FAILED_POINT_LOW c=20 r=4
 "Bed leveling failed. Sensor didnt trigger. Debris on nozzle? Waiting for reset."
@@ -116,11 +116,11 @@
 
 #MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
 "Bed leveling failed. Sensor triggered too high. Waiting for reset."
-"Nivelacion fallada. Sensor funciona demasiado pronto. Esperando reset."
+"Nivelacion fallada. Sensor activado muy arriba. Esperando reset."
 
 #MSG_BED c=0 r=0
 "Bed"
-"Base calefactable "
+"Base caliente"
 
 #MSG_BEGIN_FILE_LIST c=0 r=0
 "Begin file list"
@@ -132,7 +132,7 @@
 
 #MSG_RECOVER_PRINT c=20 r=2
 "Blackout occurred. Recover print?"
-"Se fue la luz. Reanudar la impresion?"
+"Corte electrico. Reanudar la impresion?"
 
 #MSG_CALIBRATE_BED c=0 r=0
 "Calibrate XYZ"
@@ -148,7 +148,7 @@
 
 #MSG_MOVE_CARRIAGE_TO_THE_TOP c=20 r=8
 "Calibrating XYZ. Rotate the knob to move the Z carriage up to the end stoppers. Click when done."
-"Calibrando XYZ. Gira el dial para subir el extrusor hasta tocar los topes superiores. Despues haz clic."
+"Calibrando XYZ. Gira el mando para subir el extrusor hasta tocar los topes superiores. Despues haz clic."
 
 #MSG_CALIBRATE_Z_AUTO c=20 r=2
 "Calibrating Z"
@@ -156,7 +156,7 @@
 
 #MSG_MOVE_CARRIAGE_TO_THE_TOP_Z c=20 r=8
 "Calibrating Z. Rotate the knob to move the Z carriage up to the end stoppers. Click when done."
-"Calibrando Z. Gira el dial para subir el extrusor hasta tocar los topes superiores. Despues haz clic."
+"Calibrando Z. Gira el mando para subir el extrusor hasta tocar los topes superiores. Despues haz clic."
 
 #MSG_HOMEYZ_DONE c=0 r=0
 "Calibration done"
@@ -192,7 +192,7 @@
 
 #MSG_CRASHDETECT_NA c=0 r=0
 "Crash det.  [N/A]"
-"Dec. choque [N/D]"
+"Det. choque [N/D]"
 
 #MSG_CRASHDETECT_OFF c=0 r=0
 "Crash det.  [off]"
@@ -220,7 +220,7 @@
 
 #MSG_WIZARD_REPEAT_V2_CAL c=20 r=7
 "Do you want to repeat last step to readjust distance between nozzle and heatbed?"
-"Quieres repetir el ultimo paso para reajustar la distancia boquilla-base?"
+"Quieres repetir el ultimo paso para reajustar la distancia entre boquilla y base?"
 
 #MSG_EXTRUDER_CORRECTION c=9 r=0
 "E-correct"
@@ -232,7 +232,7 @@
 
 #MSG_SELFTEST_ENDSTOP_NOTHIT c=20 r=1
 "Endstop not hit"
-"Endstop no alcanzado"
+"Endstop no detectado"
 
 #MSG_SELFTEST_ENDSTOP c=0 r=0
 "Endstop"
@@ -240,7 +240,7 @@
 
 #MSG_ENDSTOPS_HIT c=0 r=0
 "endstops hit: "
-"endstops golpean: "
+"endstops detectado: "
 
 #MSG_SELFTEST_ENDSTOPS c=0 r=0
 "Endstops"
@@ -252,7 +252,7 @@
 
 #MSG_STACK_ERROR c=20 r=4
 "Error - static memory has been overwritten"
-"Error - se ha sobre-escrito la memoria estatica"
+"Error - se ha sobreescrito la memoria estatica"
 
 #MSG_SD_ERR_WRITE_TO_FILE c=0 r=0
 "error writing to file"
@@ -320,7 +320,7 @@
 
 #MSG_FILAMENT_CLEAN c=20 r=2
 "Filament extruding & with correct color?"
-"Es nitido el color nuevo?"
+"Es homogeneo el color nuevo?"
 
 #MSG_NOT_LOADED c=19 r=0
 "Filament not loaded"
@@ -384,7 +384,7 @@
 
 #MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
 "Heating disabled by safety timer."
-"Calentadores desactivados por el temporizador de seguridad."
+"Calentadores desactivados por seguridad."
 
 #MSG_HEATING_COMPLETE c=20 r=0
 "Heating done."
@@ -448,7 +448,7 @@
 
 #MSG_ERR_CHECKSUM_MISMATCH c=0 r=0
 "checksum mismatch, Last Line: "
-"inconcluencia checksum, Ult. Linea: "
+"disparidad checksum, Ult. Linea: "
 
 #MSG_CHOOSE_EXTRUDER c=20 r=1
 "Choose extruder:"
@@ -464,11 +464,11 @@
 
 #MSG_WIZARD_V2_CAL_2 c=20 r=12
 "I will start to print line and you will gradually lower the nozzle by rotating the knob, until you reach optimal height. Check the pictures in our handbook in chapter Calibration."
-"Voy a comenzar a imprimir la linea y tu bajaras el nozzle gradualmente al rotar el dial, hasta que llegues a la altura optima. Mira las imagenes del capitulo Calibracion en el manual."
+"Voy a comenzar a imprimir la linea y tu bajaras el nozzle gradualmente al rotar el mando, hasta que llegues a la altura optima. Mira las imagenes del capitulo Calibracion en el manual."
 
 #MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE1 c=60 r=0
 "Improving bed calibration point"
-"Mejorando punto de calibracion base"
+"Mejorando punto de cal. en la base"
 
 #MSG_WATCH c=0 r=0
 "Info screen"
@@ -744,7 +744,7 @@
 
 #MSG_PRESS_TO_UNLOAD c=20 r=4
 "Please press the knob to unload filament"
-"Por favor, pulsa el dial para descargar el filamento"
+"Por favor, pulsa el mando para descargar el filamento"
 
 #MSG_PULL_OUT_FILAMENT c=20 r=4
 "Please pull out filament immediately"
@@ -752,11 +752,11 @@
 
 #MSG_REMOVE_STEEL_SHEET c=20 r=4
 "Please remove steel sheet from heatbed."
-"Por favor retire la chapa de acero de la base calefactable."
+"Por favor retire la chapa de acero de la base caliente."
 
 #MSG_PLEASE_WAIT c=20 r=0
 "Please wait"
-"Por Favor Espere"
+"Espera por favor"
 
 #MSG_POWERUP c=0 r=0
 "PowerUp"
@@ -776,7 +776,7 @@
 
 #MSG_PRESS_TO_PREHEAT c=20 r=4
 "Press knob to preheat nozzle and continue."
-"Pulsa el dial para precalentar la boquilla y continue."
+"Pulsa el mando para precalentar la boquilla y continua."
 
 #MSG_PRINT_ABORTED c=20 r=0
 "Print aborted"
@@ -784,7 +784,7 @@
 
 #MSG_SELFTEST_PRINT_FAN_SPEED c=18 r=0
 "Print fan:"
-"Ventilador del fusor:"
+"Ventilador frontal:"
 
 #MSG_CARD_MENU c=0 r=0
 "Print from SD"
@@ -800,7 +800,7 @@
 
 #MSG_FOLLOW_CALIBRATION_FLOW c=20 r=8
 "Printer has not been calibrated yet. Please follow the manual, chapter First steps, section Calibration flow."
-"Impresora no esta  calibrada todavia.  Por favor usa el manual capitulo Primeros pasos Calibracion flujo."
+"Impresora no esta  calibrada todavia.  Por favor usa el manual, capitulo Primeros pasos, flujo de Calibracion."
 
 #MSG_ERR_STOPPED c=0 r=0
 "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)"
@@ -808,7 +808,7 @@
 
 #WELCOME_MSG c=20 r=0
 "Prusa i3 MK3 ready."
-"Prusa i3 MK3 prep."
+"Prusa i3 MK3 lista"
 
 #MSG_PRUSA3D c=0 r=0
 "prusa3d.com"
@@ -928,11 +928,11 @@
 
 #MSG_FILE_CNT c=20 r=4
 "Some files will not be sorted. Max. No. of files in 1 folder for sorting is 100."
-"Algunos archivos no se ordenaran. Maximo 100 archivos por carpeta para ordenar. "
+"Algunos archivos no se ordenaran. El maximo es 100 archivos por carpeta. "
 
 #MSG_SORT_NONE c=17 r=1
 "Sort:      [None]"
-"Ordena: [Ninguno]"
+"Orden: [Ninguno]"
 
 #MSG_SORT_TIME c=17 r=1
 "Sort:      [Time]"
@@ -1000,7 +1000,7 @@
 
 #MSG_TEMP_CAL_FAILED c=20 r=8
 "Temperature calibration failed"
-"Fallo de la calibracion de temperatura"
+"Fallo calibracion de temperatura"
 
 #MSG_TEMP_CALIBRATION_DONE c=20 r=12
 "Temperature calibration is finished and active. Temp. calibration can be disabled in menu Settings->Temp. cal."
@@ -1068,7 +1068,7 @@
 
 #MSG_UNLOAD_SUCCESSFUL c=20 r=2
 "Was filament unload successful?"
-"Se cargocon exito el filamento?"
+"Filamento cargado con exito?"
 
 #MSG_SELFTEST_WIRINGERROR c=0 r=0
 "Wiring error"
@@ -1084,7 +1084,7 @@
 
 #MSG_SD_WRITE_TO_FILE c=0 r=0
 "Writing to file: "
-"Escribiendo al arch.: "
+"Escribiendo en arch.: "
 
 #MSG_XYZ_DETAILS c=19 r=1
 "XYZ cal. details"