Merge remote-tracking branch 'upstream/MK3' into MK3

merging new changes from upsream

Firmware/Configuration.h

@@ -186,7 +186,6 @@
 #undef PREVENT_LENGTHY_EXTRUDE
 #endif //DEBUG_DISABLE_PREVENT_EXTRUDER
 
-
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 
 /*================== Thermal Runaway Protection ==============================
@@ -258,8 +257,8 @@ your extruder heater takes 2 minutes to hit the target on heating.
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
 
-const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS
@@ -295,12 +294,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
-
 #ifdef DEBUG_DISABLE_SWLIMITS
 #define min_software_endstops false
 #define max_software_endstops false
+#else
+#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
 #endif //DEBUG_DISABLE_SWLIMITS
 
 
@@ -745,4 +744,8 @@ enum CalibrationStatus
 #include "Configuration_adv.h"
 #include "thermistortables.h"
 
+#define PINDA_THERMISTOR
+
+#define AMBIENT_THERMISTOR
+
 #endif //__CONFIGURATION_H

Firmware/Configuration_adv.h

@@ -356,6 +356,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 //The ASCII buffer for receiving from the serial:
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
+#define CMDHDRSIZE 2
 
 
 // Firmware based and LCD controlled retract
@@ -413,6 +414,12 @@ const unsigned int dropsegments=5; //everything with less than this number of st
   #define THERMISTORBED TEMP_SENSOR_BED
   #define BED_USES_THERMISTOR
 #endif
+#if TEMP_SENSOR_PINDA > 0
+  #define THERMISTORPINDA TEMP_SENSOR_PINDA
+#endif
+#if TEMP_SENSOR_AMBIENT > 0
+  #define THERMISTORAMBIENT TEMP_SENSOR_AMBIENT
+#endif
 #if TEMP_SENSOR_0 == -1
   #define HEATER_0_USES_AD595
 #endif

Firmware/Configuration_prusa.h

@@ -0,0 +1,485 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define FILAMENT_SIZE "1_75mm_MK3"
+#define NOZZLE_TYPE "E3Dv6full"
+
+// Developer flag
+#define DEVELOPER
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
+
+// Electronics
+#define MOTHERBOARD BOARD_EINY_0_4a
+
+
+// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
+//#define E3D_PT100_EXTRUDER_WITH_AMP
+//#define E3D_PT100_EXTRUDER_NO_AMP
+//#define E3D_PT100_BED_WITH_AMP
+//#define E3D_PT100_BED_NO_AMP
+
+
+/*------------------------------------
+ AXIS SETTINGS
+ *------------------------------------*/
+
+// Steps per unit {X,Y,Z,E}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+
+// Endstop inverting
+const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+
+// Home position
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS -2.2
+#define MANUAL_Z_HOME_POS 0.2
+
+// Travel limits after homing
+#define X_MAX_POS 255
+#define X_MIN_POS 0
+#define Y_MAX_POS 210
+#define Y_MIN_POS -12 //orig -4
+#define Z_MAX_POS 210
+#define Z_MIN_POS 0.15
+
+// Canceled home position
+#define X_CANCEL_POS 50
+#define Y_CANCEL_POS 190
+
+//Pause print position
+#define X_PAUSE_POS 50
+#define Y_PAUSE_POS 190
+#define Z_PAUSE_LIFT 20
+
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
+
+//#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+
+#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+
+#define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
+//#define MAX_SILENT_FEEDRATE           2700   // 
+
+#define Z_AXIS_ALWAYS_ON 1
+
+//DEBUG
+#define DEBUG_DCODES //D codes
+#if 0
+#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
+#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
+#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
+#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+//#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
+//#define DEBUG_BLINK_ACTIVE
+#endif
+
+/*------------------------------------
+ TMC2130 default settings
+ *------------------------------------*/
+
+#define TMC2130_FCLK 12000000       // fclk = 12MHz
+
+#define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
+#define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
+#define TMC2130_USTEPS_E    32        // microstep resolution for E axis
+#define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
+#define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
+#define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
+
+#define TMC2130_PWM_GRAD_X  4         // PWMCONF
+#define TMC2130_PWM_AMPL_X  200       // PWMCONF
+#define TMC2130_PWM_AUTO_X  1         // PWMCONF
+#define TMC2130_PWM_FREQ_X  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_Y  4         // PWMCONF
+#define TMC2130_PWM_AMPL_Y  210       // PWMCONF
+#define TMC2130_PWM_AUTO_Y  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Y  2         // PWMCONF
+
+/* //not used
+#define TMC2130_PWM_GRAD_Z  4         // PWMCONF
+#define TMC2130_PWM_AMPL_Z  200       // PWMCONF
+#define TMC2130_PWM_AUTO_Z  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Z  2         // PWMCONF
+#define TMC2130_PWM_GRAD_E  4         // PWMCONF
+#define TMC2130_PWM_AMPL_E  200       // PWMCONF
+#define TMC2130_PWM_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+*/
+
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+
+#define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
+#define TMC2130_THIGH     0         // THIGH - unused
+
+#define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
+
+#define TMC2130_SG_HOMING       1     // stallguard homing
+//#define TMC2130_SG_HOMING_SW_XY  1    // stallguard "software" homing for XY axes
+#define TMC2130_SG_HOMING_SW_Z  1     // stallguard "software" homing for Z axis
+#define TMC2130_SG_THRS_X       0     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       0     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Z       2     // stallguard sensitivity for Z axis
+#define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
+
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
+#define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 15
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 15
+
+// Maxtemps
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define HEATER_0_MAXTEMP 410
+#else
+#define HEATER_0_MAXTEMP 305
+#endif
+#define HEATER_1_MAXTEMP 305
+#define HEATER_2_MAXTEMP 305
+#define BED_MAXTEMP 150
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_Kp 21.70
+#define  DEFAULT_Ki 1.60
+#define  DEFAULT_Kd 73.76
+#else
+// Define PID constants for extruder
+//#define  DEFAULT_Kp 40.925
+//#define  DEFAULT_Ki 4.875
+//#define  DEFAULT_Kd 86.085
+#define  DEFAULT_Kp 16.13
+#define  DEFAULT_Ki 1.1625
+#define  DEFAULT_Kd 56.23
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 130
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+
+/*------------------------------------
+ LOAD/UNLOAD FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Load filament commands
+#define LOAD_FILAMENT_0 "M83"
+#define LOAD_FILAMENT_1 "G1 E70 F400"
+#define LOAD_FILAMENT_2 "G1 E40 F100"
+
+// Unload filament commands
+#define UNLOAD_FILAMENT_0 "M83"
+#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
+
+/*------------------------------------
+ CHANGE FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Filament change configuration
+#define FILAMENTCHANGEENABLE
+#ifdef FILAMENTCHANGEENABLE
+#define FILAMENTCHANGE_XPOS 211
+#define FILAMENTCHANGE_YPOS 0
+#define FILAMENTCHANGE_ZADD 2
+#define FILAMENTCHANGE_FIRSTRETRACT -2
+#define FILAMENTCHANGE_FINALRETRACT -80
+
+#define FILAMENTCHANGE_FIRSTFEED 70
+#define FILAMENTCHANGE_FINALFEED 50
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED 20
+#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// Define Prusa filament runout sensor
+//#define FILAMENT_RUNOUT_SUPPORT
+
+#ifdef FILAMENT_RUNOUT_SUPPORT
+#define FILAMENT_RUNOUT_SENSOR 1
+#endif
+
+// temperature runaway
+//#define TEMP_RUNAWAY_BED_HYSTERESIS 5
+//#define TEMP_RUNAWAY_BED_TIMEOUT 360
+
+#define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
+#define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current setting for BIG RAMBo
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
+
+// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
+#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
+#define MOTOR_CURRENT_PWM_RANGE 2000
+#define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
+#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
+#endif
+
+/*------------------------------------
+ BED SETTINGS
+ *------------------------------------*/
+
+// Define Mesh Bed Leveling system to enable it
+#define MESH_BED_LEVELING
+#ifdef MESH_BED_LEVELING
+
+#define MBL_Z_STEP 0.01
+
+// Mesh definitions
+#define MESH_MIN_X 35
+#define MESH_MAX_X 238
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 202
+
+// Mesh upsample definition
+#define MESH_NUM_X_POINTS 7
+#define MESH_NUM_Y_POINTS 7
+// Mesh measure definition
+#define MESH_MEAS_NUM_X_POINTS 3
+#define MESH_MEAS_NUM_Y_POINTS 3
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
+
+#define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 9     // Z probe to nozzle Y offset: -front +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
+#endif
+
+// Bed Temperature Control
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+#define PIDTEMPBED
+//
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+// Bed temperature compensation settings
+#define BED_OFFSET 10
+#define BED_OFFSET_START 40
+#define BED_OFFSET_CENTER 50
+
+
+#ifdef PIDTEMPBED
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+#if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_bedKp 21.70
+#define  DEFAULT_bedKi 1.60
+#define  DEFAULT_bedKd 73.76
+#else
+#define  DEFAULT_bedKp 126.13
+#define  DEFAULT_bedKi 4.30
+#define  DEFAULT_bedKd 924.76
+#endif
+
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from pidautotune
+//    #define  DEFAULT_bedKp 97.1
+//    #define  DEFAULT_bedKi 1.41
+//    #define  DEFAULT_bedKd 1675.16
+
+// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 55
+#define PLA_PREHEAT_FAN_SPEED 0
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 0
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+#define HIPS_PREHEAT_FAN_SPEED 0
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+#define PP_PREHEAT_FAN_SPEED 0
+
+#define PET_PREHEAT_HOTEND_TEMP 240
+#define PET_PREHEAT_HPB_TEMP 90
+#define PET_PREHEAT_FAN_SPEED 0
+
+#define FLEX_PREHEAT_HOTEND_TEMP 230
+#define FLEX_PREHEAT_HPB_TEMP 50
+#define FLEX_PREHEAT_FAN_SPEED 0
+
+/*------------------------------------
+ THERMISTORS SETTINGS
+ *------------------------------------*/
+
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+// 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
+// 247 is Pt100 with 4k7 pullup and PT100 Amplifier
+// 110 is Pt100 with 1k pullup (non standard)
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP)
+#define TEMP_SENSOR_0 247
+#elif defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define TEMP_SENSOR_0 148
+#else
+#define TEMP_SENSOR_0 5
+#endif
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#if defined(E3D_PT100_BED_WITH_AMP)
+#define TEMP_SENSOR_BED 247
+#elif defined(E3D_PT100_BED_NO_AMP)
+#define TEMP_SENSOR_BED 148
+#else
+#define TEMP_SENSOR_BED 1
+#endif
+#define TEMP_SENSOR_PINDA 1
+#define TEMP_SENSOR_AMBIENT 2000
+
+#define STACK_GUARD_TEST_VALUE 0xA2A2
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#define MAX_E_STEPS_PER_UNIT 250
+#define MIN_E_STEPS_PER_UNIT 100
+
+#define Z_BABYSTEP_MIN -3999
+#define Z_BABYSTEP_MAX 0
+
+#define PINDA_PREHEAT_X 70
+#define PINDA_PREHEAT_Y -3
+#define PINDA_PREHEAT_Z 1
+#define PINDA_HEAT_T 120 //time in s
+
+#define PINDA_MIN_T 50
+#define PINDA_STEP_T 10
+#define PINDA_MAX_T 100
+
+#define PING_TIME 60 //time in s
+#define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid false triggering when dealing with long gcodes
+#define PING_ALLERT_PERIOD 60 //time in s
+
+#define LONG_PRESS_TIME 1000 //time in ms for button long press
+#define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
+
+#define DEFAULT_PID_TEMP 210
+
+#define MIN_PRINT_FAN_SPEED 50
+
+#ifdef SNMM
+#define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
+#else
+#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
+#endif
+
+#define UVLO_Z_AXIS_SHIFT 2
+
+#endif //__CONFIGURATION_PRUSA_H

Firmware/Dcodes.cpp

@@ -0,0 +1,192 @@
+#include "Dcodes.h"
+#include "Marlin.h"
+#include "cmdqueue.h"
+
+inline void serial_print_hex_nibble(uint8_t val)
+{
+	MYSERIAL.write((val > 9)?(val - 10 + 'a'):(val + '0'));
+}
+
+void serial_print_hex_byte(uint8_t val)
+{
+	serial_print_hex_nibble(val >> 4);
+	serial_print_hex_nibble(val & 15);
+}
+
+void serial_print_hex_word(uint16_t val)
+{
+	serial_print_hex_byte(val >> 8);
+	serial_print_hex_byte(val & 255);
+}
+
+int parse_hex(char* hex, uint8_t* data, int count)
+{
+	int parsed = 0;
+	while (*hex)
+	{
+		if (count && (parsed >= count)) break;
+		char c = *(hex++);
+		if (c == ' ') continue;
+		if (c == '\n') break;
+		uint8_t val = 0x00;
+		if ((c >= '0') && (c <= '9')) val |= ((c - '0') << 4);
+		else if ((c >= 'a') && (c <= 'f')) val |= ((c - 'a' + 10) << 4);
+		else return -parsed;
+		c = *(hex++);
+		if ((c >= '0') && (c <= '9')) val |= (c - '0');
+		else if ((c >= 'a') && (c <= 'f')) val |= (c - 'a' + 10);
+		else return -parsed;
+		data[parsed] = val;
+		parsed++;
+	}
+	return parsed;
+}
+
+void dcode_0()
+{
+	if (*(strchr_pointer + 1) == 0) return;
+	MYSERIAL.println("D0 - Reset");
+	if (code_seen('B')) //bootloader
+		asm volatile("jmp 0x1e000");
+	else //reset
+		asm volatile("jmp 0x00000");
+/*
+	cli(); //disable interrupts
+	wdt_reset(); //reset watchdog
+	WDTCSR = (1<<WDCE) | (1<<WDE); //enable watchdog
+	WDTCSR = (1<<WDE) | (1<<WDP0); //30ms prescaler
+	while(1); //wait for reset
+*/
+}
+
+void dcode_1()
+{
+	MYSERIAL.println("D1 - Clear EEPROM");
+	cli();
+	for (int i = 0; i < 4096; i++)
+		eeprom_write_byte((unsigned char*)i, (unsigned char)0);
+	sei();
+}
+
+void dcode_2()
+{
+	MYSERIAL.println("D2 - Read/Write RAM");
+	uint16_t address = 0x0000; //default 0x0000
+	uint16_t count = 0x2000; //default 0x2000 (entire ram)
+	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++)
+				*((uint8_t*)(address + i)) =  data[i];
+			MYSERIAL.print(count, DEC);
+			MYSERIAL.println(" bytes written to RAM at addres ");
+			serial_print_hex_word(address);
+			MYSERIAL.write('\n');
+		}
+		else
+			count = 0;
+	}
+	while (count)
+	{
+		serial_print_hex_word(address);
+		MYSERIAL.write(' ');
+		uint8_t countperline = 16;
+		while (count && countperline)
+		{
+			uint8_t data = *((uint8_t*)address++);
+			MYSERIAL.write(' ');
+			serial_print_hex_byte(data);
+			countperline--;
+			count--;
+		}
+		MYSERIAL.write('\n');
+	}
+}
+void dcode_3()
+{
+	MYSERIAL.println("D3 - Read/Write EEPROM");
+	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]);
+			MYSERIAL.print(count, DEC);
+			MYSERIAL.println(" bytes written to EEPROM at addres ");
+			serial_print_hex_word(address);
+			MYSERIAL.write('\n');
+		}
+		else
+			count = 0;
+	}
+	while (count)
+	{
+		serial_print_hex_word(address);
+		MYSERIAL.write(' ');
+		uint8_t countperline = 16;
+		while (count && countperline)
+		{
+			uint8_t data = eeprom_read_byte((uint8_t*)address++);
+			MYSERIAL.write(' ');
+			serial_print_hex_byte(data);
+			countperline--;
+			count--;
+		}
+		MYSERIAL.write('\n');
+	}
+}
+
+void dcode_4()
+{
+	MYSERIAL.println("D4 - Read/Write PIN");
+	if (code_seen('P')) // Pin (0-255)
+	{
+		int pin = (int)code_value();
+		if ((pin >= 0) && (pin <= 255))
+		{
+			if (code_seen('F')) // Function in/out (0/1)
+			{
+				int fnc = (int)code_value();
+				if (fnc == 0) pinMode(pin, INPUT);
+				else if (fnc == 1) pinMode(pin, OUTPUT);
+			}
+			if (code_seen('V')) // Value (0/1)
+			{
+				int val = (int)code_value();
+				if (val == 0) digitalWrite(pin, LOW);
+				else if (val == 1) digitalWrite(pin, HIGH);
+			}
+			else
+			{
+				int val = (digitalRead(pin) != LOW)?1:0;
+				MYSERIAL.print("PIN");
+				MYSERIAL.print(pin);
+				MYSERIAL.print("=");
+				MYSERIAL.println(val);
+			}
+		}
+	}
+}
+
+

Firmware/Dcodes.h

@@ -0,0 +1,11 @@
+#ifndef DCODES_H
+#define DCODES_H
+
+extern void dcode_0();
+extern void dcode_1();
+extern void dcode_2();
+extern void dcode_3();
+extern void dcode_4();
+
+
+#endif //DCODES_H

Firmware/Marlin.h

@@ -269,6 +269,11 @@ extern void homeaxis(int axis);
 extern unsigned char fanSpeedSoftPwm;
 #endif
 
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+extern unsigned char lcdSoftPwm;
+extern unsigned char lcdBlinkDelay;
+#endif
+
 #ifdef FILAMENT_SENSOR
   extern float filament_width_nominal;  //holds the theoretical filament diameter ie., 3.00 or 1.75
   extern bool filament_sensor;  //indicates that filament sensor readings should control extrusion
@@ -356,6 +361,11 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 float temp_comp_interpolation(float temperature);
 void temp_compensation_apply();
 void temp_compensation_start();
+
+#ifdef PINDA_THERMISTOR
+float temp_compensation_pinda_thermistor_offset();
+#endif //PINDA_THERMISTOR
+
 void wait_for_heater(long codenum);
 void serialecho_temperatures();
 

Firmware/MarlinSerial.cpp

@@ -23,6 +23,8 @@
 #include "Marlin.h"
 #include "MarlinSerial.h"
 
+int selectedSerialPort = 0; 
+
 #ifndef AT90USB
 // this next line disables the entire HardwareSerial.cpp, 
 // this is so I can support Attiny series and any other chip without a UART
@@ -64,6 +66,23 @@ FORCE_INLINE void store_char(unsigned char c)
           store_char(c);
       }
   }
+  
+  SIGNAL(USART2_RX_vect)
+  {
+      if (selectedSerialPort == 1) {
+        // Test for a framing error.
+        if (UCSR2A & (1<<FE2)) {
+            // Characters received with the framing errors will be ignored.
+            // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
+            volatile unsigned char c = UDR2;
+        } else {
+            // Read the input register.
+            unsigned char c = UDR2;
+            store_char(c);
+            
+        }
+      }
+  }
 #endif
 
 // Constructors ////////////////////////////////////////////////////////////////
@@ -88,7 +107,7 @@ void MarlinSerial::begin(long baud)
     useU2X = false;
   }
 #endif
-  
+// set up the first (original serial port)
   if (useU2X) {
     M_UCSRxA = 1 << M_U2Xx;
     baud_setting = (F_CPU / 4 / baud - 1) / 2;
@@ -104,13 +123,35 @@ void MarlinSerial::begin(long baud)
   sbi(M_UCSRxB, M_RXENx);
   sbi(M_UCSRxB, M_TXENx);
   sbi(M_UCSRxB, M_RXCIEx);
+  
+  
+// set up the second serial port
+  if (useU2X) {
+        UCSR2A = 1 << U2X2;
+        baud_setting = (F_CPU / 4 / baud - 1) / 2;
+    } else {
+        UCSR2A = 0;
+        baud_setting = (F_CPU / 8 / baud - 1) / 2;
+    }
+
+    // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+    UBRR2H = baud_setting >> 8;
+    UBRR2L = baud_setting;
+
+    sbi(UCSR2B, RXEN2);
+    sbi(UCSR2B, TXEN2);
+    sbi(UCSR2B, RXCIE2);
 }
 
 void MarlinSerial::end()
 {
   cbi(M_UCSRxB, M_RXENx);
   cbi(M_UCSRxB, M_TXENx);
-  cbi(M_UCSRxB, M_RXCIEx);  
+  cbi(M_UCSRxB, M_RXCIEx);
+  
+  cbi(UCSR2B, RXEN2);
+  cbi(UCSR2B, TXEN2);
+  cbi(UCSR2B, RXCIE2); 
 }
 
 

Firmware/MarlinSerial.h

@@ -73,6 +73,7 @@
 // is the index of the location from which to read.
 #define RX_BUFFER_SIZE 128
 
+extern int selectedSerialPort;
 
 struct ring_buffer
 {
@@ -110,24 +111,48 @@ class MarlinSerial //: public Stream
     }
     
     
-    FORCE_INLINE void checkRx(void)
+    void checkRx(void)
     {
-        if((M_UCSRxA & (1<<M_RXCx)) != 0) {
-            // Test for a framing error.
-            if (M_UCSRxA & (1<<M_FEx)) {
-                // Characters received with the framing errors will be ignored.
-                // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
-                volatile unsigned char c = M_UDRx;
-            } else {
-                unsigned char c  =  M_UDRx;
-                int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
-                // if we should be storing the received character into the location
-                // just before the tail (meaning that the head would advance to the
-                // current location of the tail), we're about to overflow the buffer
-                // and so we don't write the character or advance the head.
-                if (i != rx_buffer.tail) {
-                    rx_buffer.buffer[rx_buffer.head] = c;
-                    rx_buffer.head = i;
+        if (selectedSerialPort == 0) {
+            if((M_UCSRxA & (1<<M_RXCx)) != 0) {
+                // Test for a framing error.
+                if (M_UCSRxA & (1<<M_FEx)) {
+                    // Characters received with the framing errors will be ignored.
+                    // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
+                    volatile unsigned char c = M_UDRx;
+                } else {
+                    unsigned char c  =  M_UDRx;
+                    int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+                    // if we should be storing the received character into the location
+                    // just before the tail (meaning that the head would advance to the
+                    // current location of the tail), we're about to overflow the buffer
+                    // and so we don't write the character or advance the head.
+                    if (i != rx_buffer.tail) {
+                        rx_buffer.buffer[rx_buffer.head] = c;
+                        rx_buffer.head = i;
+                    }
+                    selectedSerialPort = 0;
+                }
+            }
+        } else if(selectedSerialPort == 1) {
+            if((UCSR2A & (1<<RXC2)) != 0) {
+                // Test for a framing error.
+                if (UCSR2A & (1<<FE2)) {
+                    // Characters received with the framing errors will be ignored.
+                    // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
+                    volatile unsigned char c = UDR2;
+                } else {
+                    unsigned char c  =  UDR2;
+                    int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
+                    // if we should be storing the received character into the location
+                    // just before the tail (meaning that the head would advance to the
+                    // current location of the tail), we're about to overflow the buffer
+                    // and so we don't write the character or advance the head.
+                    if (i != rx_buffer.tail) {
+                        rx_buffer.buffer[rx_buffer.head] = c;
+                        rx_buffer.head = i;
+                    }
+                    selectedSerialPort = 1;
                 }
             }
         }

Firmware/Marlin_main.cpp

@@ -57,14 +57,24 @@
 
 #include <avr/wdt.h>
 
-#ifdef HAVE_PAT9125_SENSOR
+#include "Dcodes.h"
+
+
+#ifdef SWSPI
 #include "swspi.h"
+#endif //SWSPI
+
+#ifdef SWI2C
+#include "swi2c.h"
+#endif //SWI2C
+
+#ifdef PAT9125
 #include "pat9125.h"
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 
 #ifdef BLINKM
@@ -89,6 +99,8 @@
 
 #include "ultralcd.h"
 
+#include "cmdqueue.h"
+
 // Macros for bit masks
 #define BIT(b) (1<<(b))
 #define TEST(n,b) (((n)&BIT(b))!=0)
@@ -233,8 +245,6 @@
 CardReader card;
 #endif
 
-unsigned long TimeSent = millis();
-unsigned long TimeNow = millis();
 unsigned long PingTime = millis();
 union Data
 {
@@ -410,58 +420,11 @@ static float delta[3] = {0.0, 0.0, 0.0};
 static float offset[3] = {0.0, 0.0, 0.0};
 static bool home_all_axis = true;
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
-static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
 
 // Determines Absolute or Relative Coordinates.
 // Also there is bool axis_relative_modes[] per axis flag.
 static bool relative_mode = false;  
 
-// String circular buffer. Commands may be pushed to the buffer from both sides:
-// Chained commands will be pushed to the front, interactive (from LCD menu) 
-// and printing commands (from serial line or from SD card) are pushed to the tail.
-// First character of each entry indicates the type of the entry: 
-#define CMDBUFFER_CURRENT_TYPE_UNKNOWN  0
-// Command in cmdbuffer was sent over USB.
-#define CMDBUFFER_CURRENT_TYPE_USB      1
-// Command in cmdbuffer was read from SDCARD.
-#define CMDBUFFER_CURRENT_TYPE_SDCARD   2
-// Command in cmdbuffer was generated by the UI.
-#define CMDBUFFER_CURRENT_TYPE_UI       3
-// Command in cmdbuffer was generated by another G-code.
-#define CMDBUFFER_CURRENT_TYPE_CHAINED  4
-
-// How much space to reserve for the chained commands
-// of type CMDBUFFER_CURRENT_TYPE_CHAINED,
-// which are pushed to the front of the queue?
-// Maximum 5 commands of max length 20 + null terminator.
-#define CMDBUFFER_RESERVE_FRONT       (5*21)
-// Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
-static char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
-// Head of the circular buffer, where to read.
-static int bufindr = 0;
-// Tail of the buffer, where to write.
-static int bufindw = 0;
-// Number of lines in cmdbuffer.
-static int buflen = 0;
-// Flag for processing the current command inside the main Arduino loop().
-// If a new command was pushed to the front of a command buffer while
-// processing another command, this replaces the command on the top.
-// Therefore don't remove the command from the queue in the loop() function.
-static bool cmdbuffer_front_already_processed = false;
-
-// Type of a command, which is to be executed right now.
-#define CMDBUFFER_CURRENT_TYPE   (cmdbuffer[bufindr])
-// String of a command, which is to be executed right now.
-#define CMDBUFFER_CURRENT_STRING (cmdbuffer+bufindr+1)
-
-// Enable debugging of the command buffer.
-// Debugging information will be sent to serial line.
-//#define CMDBUFFER_DEBUG
-
-static int serial_count = 0;  //index of character read from serial line
-static boolean comment_mode = false;
-static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
-
 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
 
 //static float tt = 0;
@@ -530,314 +493,6 @@ void serial_echopair_P(const char *s_P, unsigned long v)
   }
 #endif //!SDSUPPORT
 
-// Pop the currently processed command from the queue.
-// It is expected, that there is at least one command in the queue.
-bool cmdqueue_pop_front()
-{
-    if (buflen > 0) {
-#ifdef CMDBUFFER_DEBUG
-        SERIAL_ECHOPGM("Dequeing ");
-        SERIAL_ECHO(cmdbuffer+bufindr+1);
-        SERIAL_ECHOLNPGM("");
-        SERIAL_ECHOPGM("Old indices: buflen ");
-        SERIAL_ECHO(buflen);
-        SERIAL_ECHOPGM(", bufindr ");
-        SERIAL_ECHO(bufindr);
-        SERIAL_ECHOPGM(", bufindw ");
-        SERIAL_ECHO(bufindw);
-        SERIAL_ECHOPGM(", serial_count ");
-        SERIAL_ECHO(serial_count);
-        SERIAL_ECHOPGM(", bufsize ");
-        SERIAL_ECHO(sizeof(cmdbuffer));
-        SERIAL_ECHOLNPGM("");
-#endif /* CMDBUFFER_DEBUG */
-        if (-- buflen == 0) {
-            // Empty buffer.
-            if (serial_count == 0)
-                // No serial communication is pending. Reset both pointers to zero.
-                bufindw = 0;
-            bufindr = bufindw;
-        } else {
-            // There is at least one ready line in the buffer.
-            // First skip the current command ID and iterate up to the end of the string.
-            for (++ bufindr; 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) ;
-            }
-#ifdef CMDBUFFER_DEBUG
-            SERIAL_ECHOPGM("New indices: buflen ");
-            SERIAL_ECHO(buflen);
-            SERIAL_ECHOPGM(", bufindr ");
-            SERIAL_ECHO(bufindr);
-            SERIAL_ECHOPGM(", bufindw ");
-            SERIAL_ECHO(bufindw);
-            SERIAL_ECHOPGM(", serial_count ");
-            SERIAL_ECHO(serial_count);
-            SERIAL_ECHOPGM(" new command on the top: ");
-            SERIAL_ECHO(cmdbuffer+bufindr+1);
-            SERIAL_ECHOLNPGM("");
-#endif /* CMDBUFFER_DEBUG */
-        }
-        return true;
-    }
-    return false;
-}
-
-void cmdqueue_reset()
-{
-    while (cmdqueue_pop_front()) ;
-}
-
-// 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)
-{
-    // MAX_CMD_SIZE has to accommodate the zero terminator.
-    if (len_asked >= MAX_CMD_SIZE)
-        return false;
-    // Remove the currently processed command from the queue.
-    if (! cmdbuffer_front_already_processed) {
-        cmdqueue_pop_front();
-        cmdbuffer_front_already_processed = true;
-    }
-	if (bufindr == bufindw && buflen > 0)
-		// Full buffer.
-        return false;
-    // Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
-    int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
-    if (bufindw < bufindr) {
-        int bufindr_new = bufindr - len_asked - 2;
-        // Simple case. There is a contiguous space between the write buffer and the read buffer.
-        if (endw <= bufindr_new) {
-            bufindr = bufindr_new;
-            return true;
-        }
-    } else {
-        // Otherwise the free space is split between the start and end.
-        if (len_asked + 2 <= bufindr) {
-            // Could fit at the start.
-            bufindr -= len_asked + 2;
-            return true;
-        }
-        int bufindr_new = sizeof(cmdbuffer) - len_asked - 2;
-        if (endw <= bufindr_new) {
-            memset(cmdbuffer, 0, bufindr);
-            bufindr = bufindr_new;
-            return true;
-        }
-    }
-    return false;
-}
-
-// Could one enqueue a command of lenthg len_asked into the buffer,
-// while leaving CMDBUFFER_RESERVE_FRONT at the start?
-// If yes, adjust bufindw to the new position, where the new command could be enqued.
-// len_asked does not contain the zero terminator size.
-bool cmdqueue_could_enqueue_back(int len_asked)
-{
-    // MAX_CMD_SIZE has to accommodate the zero terminator.
-    if (len_asked >= MAX_CMD_SIZE)
-        return false;
-
-	if (bufindr == bufindw && buflen > 0)
-		// Full buffer.
-		return false;
-
-    if (serial_count > 0) {
-        // If there is some data stored starting at bufindw, len_asked is certainly smaller than
-        // the allocated data buffer. Try to reserve a new buffer and to move the already received
-        // 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 + 2;
-        if (bufindw < bufindr)
-            // Simple case. There is a contiguous space between the write buffer and the read buffer.
-            return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
-        // Otherwise the free space is split between the start and end.
-        if (// Could one fit to the end, including the reserve?
-            endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
-            // Could one fit to the end, and the reserve to the start?
-            (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
-            return true;
-        // Could one fit both to the start?
-        if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
-            // Mark the rest of the buffer as used.
-            memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
-            // and point to the start.
-            bufindw = 0;
-            return true;
-        }
-    } 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 + 2;
-        if (bufindw < bufindr)
-            // Simple case. There is a contiguous space between the write buffer and the read buffer.
-            return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
-        // Otherwise the free space is split between the start and end.
-        if (// Could one fit to the end, including the reserve?
-            endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
-            // Could one fit to the end, and the reserve to the start?
-            (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
-            return true;
-        // Could one fit both to the start?
-        if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
-            // Mark the rest of the buffer as used.
-            memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
-            // and point to the start.
-            bufindw = 0;
-            return true;
-        }
-    }
-    return false;
-}
-
-#ifdef CMDBUFFER_DEBUG
-static void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
-{
-    SERIAL_ECHOPGM("Entry nr: ");
-    SERIAL_ECHO(nr);
-    SERIAL_ECHOPGM(", type: ");
-    SERIAL_ECHO(int(*p));
-    SERIAL_ECHOPGM(", cmd: ");
-    SERIAL_ECHO(p+1);  
-    SERIAL_ECHOLNPGM("");
-}
-
-static void cmdqueue_dump_to_serial()
-{
-    if (buflen == 0) {
-        SERIAL_ECHOLNPGM("The command buffer is empty.");
-    } else {
-        SERIAL_ECHOPGM("Content of the buffer: entries ");
-        SERIAL_ECHO(buflen);
-        SERIAL_ECHOPGM(", indr ");
-        SERIAL_ECHO(bufindr);
-        SERIAL_ECHOPGM(", indw ");
-        SERIAL_ECHO(bufindw);
-        SERIAL_ECHOLNPGM("");
-        int nr = 0;
-        if (bufindr < bufindw) {
-            for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
-                cmdqueue_dump_to_serial_single_line(nr, p);
-                // Skip the command.
-                for (++p; *p != 0; ++ p);
-                // Skip the gaps.
-                for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
-            }
-        } else {
-            for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
-                cmdqueue_dump_to_serial_single_line(nr, p);
-                // Skip the command.
-                for (++p; *p != 0; ++ p);
-                // Skip the gaps.
-                for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
-            }
-            for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
-                cmdqueue_dump_to_serial_single_line(nr, p);
-                // Skip the command.
-                for (++p; *p != 0; ++ p);
-                // Skip the gaps.
-                for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
-            }
-        }
-        SERIAL_ECHOLNPGM("End of the buffer.");
-    }
-}
-#endif /* CMDBUFFER_DEBUG */
-
-//adds an command to the main command buffer
-//thats really done in a non-safe way.
-//needs overworking someday
-// 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);
-    // 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)) {
-        // This is dangerous if a mixing of serial and this happens
-        // This may easily be tested: If serial_count > 0, we have a problem.
-        cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
-        if (from_progmem)
-            strcpy_P(cmdbuffer + bufindw + 1, cmd);
-        else
-            strcpy(cmdbuffer + bufindw + 1, cmd);
-        SERIAL_ECHO_START;
-        SERIAL_ECHORPGM(MSG_Enqueing);
-        SERIAL_ECHO(cmdbuffer + bufindw + 1);
-        SERIAL_ECHOLNPGM("\"");
-        bufindw += len + 2;
-        if (bufindw == sizeof(cmdbuffer))
-            bufindw = 0;
-        ++ buflen;
-#ifdef CMDBUFFER_DEBUG
-        cmdqueue_dump_to_serial();
-#endif /* CMDBUFFER_DEBUG */
-    } else {
-        SERIAL_ERROR_START;
-        SERIAL_ECHORPGM(MSG_Enqueing);
-        if (from_progmem)
-            SERIAL_PROTOCOLRPGM(cmd);
-        else
-            SERIAL_ECHO(cmd);
-        SERIAL_ECHOLNPGM("\" failed: Buffer full!");
-#ifdef CMDBUFFER_DEBUG
-        cmdqueue_dump_to_serial();
-#endif /* CMDBUFFER_DEBUG */
-    }
-}
-
-void enquecommand_front(const char *cmd, bool from_progmem)
-{
-    int 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;
-        if (from_progmem)
-            strcpy_P(cmdbuffer + bufindr + 1, cmd);
-        else
-            strcpy(cmdbuffer + bufindr + 1, cmd);
-        ++ buflen;
-        SERIAL_ECHO_START;
-        SERIAL_ECHOPGM("Enqueing to the front: \"");
-        SERIAL_ECHO(cmdbuffer + bufindr + 1);
-        SERIAL_ECHOLNPGM("\"");
-#ifdef CMDBUFFER_DEBUG
-        cmdqueue_dump_to_serial();
-#endif /* CMDBUFFER_DEBUG */
-    } else {
-        SERIAL_ERROR_START;
-        SERIAL_ECHOPGM("Enqueing to the front: \"");
-        if (from_progmem)
-            SERIAL_PROTOCOLRPGM(cmd);
-        else
-            SERIAL_ECHO(cmd);
-        SERIAL_ECHOLNPGM("\" failed: Buffer full!");
-#ifdef CMDBUFFER_DEBUG
-        cmdqueue_dump_to_serial();
-#endif /* CMDBUFFER_DEBUG */
-    }
-}
-
-// Mark the command at the top of the command queue as new.
-// Therefore it will not be removed from the queue.
-void repeatcommand_front()
-{
-    cmdbuffer_front_already_processed = true;
-} 
-
-bool is_buffer_empty()
-{
-	if (buflen == 0) return true;
-	else return false;
-}
-
 void setup_killpin()
 {
   #if defined(KILL_PIN) && KILL_PIN > -1
@@ -909,7 +564,7 @@ void servo_init()
 static void lcd_language_menu();
 
 
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 
 bool fsensor_enabled = false;
 bool fsensor_ignore_error = true;
@@ -993,7 +648,7 @@ void fsensor_update()
 	}
 }
 
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
 
 
 #ifdef MESH_BED_LEVELING
@@ -1103,6 +758,17 @@ void setup()
     lcd_print_at_PGM(0, 2, PSTR("    3D  Printers    "));
 	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) || (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);
+		selectedSerialPort = 1;
+	}
+	else
+		selectedSerialPort = 0;
 	MYSERIAL.begin(BAUDRATE);
 	SERIAL_PROTOCOLLNPGM("start");
 	SERIAL_ECHO_START;
@@ -1158,15 +824,15 @@ void setup()
 	plan_init();  // Initialize planner;
 	watchdog_init();
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
 	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
     MYSERIAL.print("PAT9125_init:");
     MYSERIAL.println(pat9125_init(200, 200));
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
     
 	st_init();    // Initialize stepper, this enables interrupts!
     
@@ -1249,10 +915,14 @@ void setup()
 
 
 
-#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
+#if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
 	SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
 #endif
 
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+	SET_OUTPUT(LCD_PWM_PIN); //Set pin used for driver cooling fan
+#endif
+
 #ifdef DIGIPOT_I2C
 	digipot_i2c_init();
 #endif
@@ -1489,281 +1159,12 @@ void loop()
   isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
   checkHitEndstops();
   lcd_update();
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 	fsensor_update();
-#endif //HAVE_PAT9125_SENSOR
-#ifdef HAVE_TMC2130_DRIVERS
+#endif //PAT9125
+#ifdef TMC2130
 	tmc2130_check_overtemp();
-#endif //HAVE_TMC2130_DRIVERS
-}
-
-void get_command()
-{
-    // Test and reserve space for the new command string.
-	if (!cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1)) 
-		return;
-	
-	bool rx_buffer_full = false; //flag that serial rx buffer is full
-
-  while (MYSERIAL.available() > 0) {
-	  if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
-		  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	
-	  }
-    char serial_char = MYSERIAL.read();
-      TimeSent = millis();
-      TimeNow = millis();
-
-    if (serial_char < 0)
-        // Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
-        // and Marlin does not support such file names anyway.
-        // Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
-        // to a hang-up of the print process from an SD card.
-        continue;
-    if(serial_char == '\n' ||
-       serial_char == '\r' ||
-       (serial_char == ':' && comment_mode == false) ||
-       serial_count >= (MAX_CMD_SIZE - 1) )
-    {
-      if(!serial_count) { //if empty line
-        comment_mode = false; //for new command
-        return;
-      }
-      cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
-      if(!comment_mode){
-        comment_mode = false; //for new command
-        if ((strchr_pointer = strstr(cmdbuffer+bufindw+1, "PRUSA")) == NULL && (strchr_pointer = strchr(cmdbuffer+bufindw+1, 'N')) != NULL) {
-            if ((strchr_pointer = strchr(cmdbuffer+bufindw+1, 'N')) != NULL)
-            {
-            // Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
-            // and Marlin tests, whether the successive lines are stamped with an increasing line number ID.
-            gcode_N = (strtol(strchr_pointer+1, NULL, 10));
-            if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer+bufindw+1, PSTR("M110")) == NULL) ) {
-                // M110 - set current line number.
-                // Line numbers not sent in succession.
-                SERIAL_ERROR_START;
-                SERIAL_ERRORRPGM(MSG_ERR_LINE_NO);
-                SERIAL_ERRORLN(gcode_LastN);
-                //Serial.println(gcode_N);
-                FlushSerialRequestResend();
-                serial_count = 0;
-                return;
-            }
-
-            if((strchr_pointer = strchr(cmdbuffer+bufindw+1, '*')) != NULL)
-            {
-                byte checksum = 0;
-                char *p = cmdbuffer+bufindw+1;
-                while (p != strchr_pointer)
-                    checksum = checksum^(*p++);
-                if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
-                SERIAL_ERROR_START;
-                SERIAL_ERRORRPGM(MSG_ERR_CHECKSUM_MISMATCH);
-                SERIAL_ERRORLN(gcode_LastN);
-                FlushSerialRequestResend();
-                serial_count = 0;
-                return;
-                }
-                // If no errors, remove the checksum and continue parsing.
-                *strchr_pointer = 0;
-            }
-            else
-            {
-                SERIAL_ERROR_START;
-                SERIAL_ERRORRPGM(MSG_ERR_NO_CHECKSUM);
-                SERIAL_ERRORLN(gcode_LastN);
-                FlushSerialRequestResend();
-                serial_count = 0;
-                return;
-            }
-
-            gcode_LastN = gcode_N;
-            //if no errors, continue parsing
-            } // end of 'N' command
-        }
-        else  // if we don't receive 'N' but still see '*'
-        {
-          if((strchr(cmdbuffer+bufindw+1, '*') != NULL))
-          {
-            SERIAL_ERROR_START;
-            SERIAL_ERRORRPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
-            SERIAL_ERRORLN(gcode_LastN);
-            serial_count = 0;
-            return;
-          }
-        } // end of '*' command
-        if ((strchr_pointer = strchr(cmdbuffer+bufindw+1, 'G')) != NULL) {
-      		  if (! IS_SD_PRINTING) {
-        			  usb_printing_counter = 10;
-        			  is_usb_printing = true;
-      		  }
-            if (Stopped == true) {
-                int gcode = strtol(strchr_pointer+1, NULL, 10);
-                if (gcode >= 0 && gcode <= 3) {
-                    SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
-                    LCD_MESSAGERPGM(MSG_STOPPED);
-                }
-            }
-        } // end of 'G' command
-
-        //If command was e-stop process now
-        if(strcmp(cmdbuffer+bufindw+1, "M112") == 0)
-          kill("", 2);
-        
-        // Store the current line into buffer, move to the next line.
-        cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_USB;
-#ifdef CMDBUFFER_DEBUG
-        SERIAL_ECHO_START;
-        SERIAL_ECHOPGM("Storing a command line to buffer: ");
-        SERIAL_ECHO(cmdbuffer+bufindw+1);
-        SERIAL_ECHOLNPGM("");
-#endif /* CMDBUFFER_DEBUG */
-        bufindw += strlen(cmdbuffer+bufindw+1) + 2;
-        if (bufindw == sizeof(cmdbuffer))
-            bufindw = 0;
-        ++ buflen;
-#ifdef CMDBUFFER_DEBUG
-        SERIAL_ECHOPGM("Number of commands in the buffer: ");
-        SERIAL_ECHO(buflen);
-        SERIAL_ECHOLNPGM("");
-#endif /* CMDBUFFER_DEBUG */
-      } // end of 'not comment mode'
-      serial_count = 0; //clear buffer
-      // Don't call cmdqueue_could_enqueue_back if there are no characters waiting
-      // in the queue, as this function will reserve the memory.
-      if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
-          return;
-    } // end of "end of line" processing
-    else {
-      // Not an "end of line" symbol. Store the new character into a buffer.
-      if(serial_char == ';') comment_mode = true;
-      if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
-    }
-  } // end of serial line processing loop
-
-    if(farm_mode){
-        TimeNow = millis();
-        if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
-            cmdbuffer[bufindw+serial_count+1] = 0;
-            
-            bufindw += strlen(cmdbuffer+bufindw+1) + 2;
-            if (bufindw == sizeof(cmdbuffer))
-                bufindw = 0;
-            ++ buflen;
-            
-            serial_count = 0;
-            
-            SERIAL_ECHOPGM("TIMEOUT:");
-            //memset(cmdbuffer, 0 , sizeof(cmdbuffer));
-            return;
-        }
-    }
-
-	//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
-    // continuing with the serial line.
-     return;
-  }
-
-  //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
-  // if it occurs, stop_buffering is triggered and the buffer is ran dry.
-  // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
-
-  static bool stop_buffering=false;
-  if(buflen==0) stop_buffering=false;
-
-  // Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
-  while( !card.eof() && !stop_buffering) {
-    int16_t n=card.get();
-    char serial_char = (char)n;
-    if(serial_char == '\n' ||
-       serial_char == '\r' ||
-       (serial_char == '#' && comment_mode == false) ||
-       (serial_char == ':' && comment_mode == false) ||
-       serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
-    {
-      if(card.eof()){
-        SERIAL_PROTOCOLLNRPGM(MSG_FILE_PRINTED);
-        stoptime=millis();
-        char time[30];
-        unsigned long t=(stoptime-starttime-pause_time)/1000;
-		pause_time = 0;
-        int hours, minutes;
-        minutes=(t/60)%60;
-        hours=t/60/60;
-		save_statistics(total_filament_used, t);
-		sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLN(time);
-        lcd_setstatus(time);
-        card.printingHasFinished();
-        card.checkautostart(true);
-
-		if (farm_mode)
-		{
-			prusa_statistics(6);
-			lcd_commands_type = LCD_COMMAND_FARM_MODE_CONFIRM;
-		}
-
-      }
-      if(serial_char=='#')
-        stop_buffering=true;
-
-      if(!serial_count)
-      {
-        comment_mode = false; //for new command
-        return; //if empty line
-      }
-      cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
-      cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
-	  SERIAL_ECHOPGM("cmdbuffer:");
-	  MYSERIAL.print(cmdbuffer);
-      ++ buflen;
-	  SERIAL_ECHOPGM("buflen:");
-	  MYSERIAL.print(buflen);
-      bufindw += strlen(cmdbuffer+bufindw+1) + 2;
-      if (bufindw == sizeof(cmdbuffer))
-          bufindw = 0;
-      comment_mode = false; //for new command
-      serial_count = 0; //clear buffer
-      // The following line will reserve buffer space if available.
-      if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
-          return;
-    }
-    else
-    {
-      if(serial_char == ';') comment_mode = true;
-      if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
-    }
-  }
-
-  #endif //SDSUPPORT
-}
-
-
-// Return True if a character was found
-static inline bool    code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
-static inline bool    code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
-static inline float   code_value()      { return strtod(strchr_pointer+1, NULL);}
-static inline long    code_value_long()    { return strtol(strchr_pointer+1, NULL, 10); }
-static inline int16_t code_value_short()   { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
-static inline uint8_t code_value_uint8()   { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
-
-static inline float code_value_float() {
-    char* e = strchr(strchr_pointer, 'E');
-    if (!e) return strtod(strchr_pointer + 1, NULL);
-    *e = 0;
-    float ret = strtod(strchr_pointer + 1, NULL);
-    *e = 'E';
-    return ret;
+#endif //TMC2130
 }
 
 #define DEFINE_PGM_READ_ANY(type, reader)       \
@@ -1985,55 +1386,76 @@ inline void gcode_M900() {
     }
 #endif // LIN_ADVANCE
 
-void homeaxis(int axis) {
+#ifdef TMC2130
+bool calibrate_z_auto()
+{
+	lcd_display_message_fullscreen_P(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);
+	tmc2130_home_restart(Z_AXIS);
+	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-3.f;
+    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)
+{
+	bool endstops_enabled  = enable_endstops(true); //RP: endstops should be allways enabled durring homming
 #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) {
+    if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
+	{
         int axis_home_dir = home_dir(axis);
-        
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
-        
         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);
-
-#ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+#ifdef TMC2130
+		tmc2130_home_restart(axis);
 #endif
         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]);
         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);
-
-#ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+#ifdef TMC2130
+		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
-        
         destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
-#ifdef HAVE_TMC2130_DRIVERS
-        if (tmc2130_didLastHomingStall())
-            feedrate = homing_feedrate[axis];
-        else
-#endif
+#ifdef TMC2130
+		feedrate = homing_feedrate[axis];
+#else
 		feedrate = homing_feedrate[axis] / 2;
+#endif
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-
-#ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
-		tmc2130_axis_stalled[axis] = false;
+#ifdef TMC2130
+		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
         axis_is_at_home(axis);
@@ -2041,29 +1463,27 @@ void homeaxis(int axis) {
         feedrate = 0.0;
         endstops_hit_on_purpose();
         axis_known_position[axis] = true;
-        
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
+//        destination[axis] += 2;
+//        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], homing_feedrate[axis]/60, active_extruder);
+//        st_synchronize();
 #endif
     }
-    else if (axis==Z_AXIS ? HOMEAXIS_DO(Z) :
-             0) {
+    else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
+	{
         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();
-        
         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);
@@ -2074,7 +1494,9 @@ void homeaxis(int axis) {
         endstops_hit_on_purpose();
         axis_known_position[axis] = true;
     }
+    enable_endstops(endstops_enabled);
 }
+
 /**/
 void home_xy()
 {
@@ -2232,7 +1654,7 @@ void process_commands()
 
 #ifdef CMDBUFFER_DEBUG
   SERIAL_ECHOPGM("Processing a GCODE command: ");
-  SERIAL_ECHO(cmdbuffer+bufindr+1);
+  SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
   SERIAL_ECHOLNPGM("");
   SERIAL_ECHOPGM("In cmdqueue: ");
   SERIAL_ECHO(buflen);
@@ -2295,7 +1717,35 @@ void process_commands()
         trace();
         prusa_sd_card_upload = true;
         card.openFile(strchr_pointer+4,false);
-    } else if(code_seen("Fir")){
+	} else if (code_seen("SN")) { 
+        if (farm_mode) { 
+            selectedSerialPort = 0; 
+            MSerial.write(";S"); 
+            // S/N is:CZPX0917X003XC13518 
+            int numbersRead = 0; 
+ 
+            while (numbersRead < 19) { 
+                while (MSerial.available() > 0) { 
+                    uint8_t serial_char = MSerial.read(); 
+                    selectedSerialPort = 1; 
+                    MSerial.write(serial_char); 
+                    numbersRead++; 
+                    selectedSerialPort = 0; 
+                } 
+            } 
+            selectedSerialPort = 1; 
+            MSerial.write('\n'); 
+            /*for (int b = 0; b < 3; b++) { 
+                tone(BEEPER, 110); 
+                delay(50); 
+                noTone(BEEPER); 
+                delay(50); 
+            }*/ 
+        } else { 
+            MYSERIAL.println("Not in farm mode."); 
+        } 
+		
+	} else if(code_seen("Fir")){
 
       SERIAL_PROTOCOLLN(FW_version);
 
@@ -3021,6 +2471,139 @@ void process_commands()
 
 	case 76: //PINDA probe temperature calibration
 	{
+#ifdef PINDA_THERMISTOR
+		if (true)
+		{
+			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;
+			}
+			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;
+			SERIAL_ECHOPGM("start temperature: ");
+			MYSERIAL.println(start_temp);
+
+//			setTargetHotend(200, 0);
+			setTargetBed(50 + 10 * (start_temp - 30) / 5);
+
+			custom_message = true;
+			custom_message_type = 4;
+			custom_message_state = 1;
+			custom_message = 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 (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] = 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];
+
+			//current_position[Z_AXIS]
+			SERIAL_ECHOLNPGM("");
+			SERIAL_ECHOPGM("ZERO: ");
+			MYSERIAL.print(current_position[Z_AXIS]);
+			SERIAL_ECHOLNPGM("");
+
+			int i = -1; for (; i < 5; i++)
+			{
+				float temp = (40 + i * 5);
+				SERIAL_ECHOPGM("Step: ");
+				MYSERIAL.print(i + 2);
+				SERIAL_ECHOLNPGM("/6 (skipped)");
+				SERIAL_ECHOPGM("PINDA temperature: ");
+				MYSERIAL.print((40 + i*5));
+				SERIAL_ECHOPGM(" Z shift (mm):");
+				MYSERIAL.print(0);
+				SERIAL_ECHOLNPGM("");
+				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);
+				SERIAL_ECHOPGM("Step: ");
+				MYSERIAL.print(i + 2);
+				SERIAL_ECHOLNPGM("/6");
+				custom_message_state = i + 2;
+				setTargetBed(50 + 10 * (temp - 30) / 5);
+//				setTargetHotend(255, 0);
+				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 (current_temperature_pinda < temp)
+				{
+					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]);
+
+				SERIAL_ECHOLNPGM("");
+				SERIAL_ECHOPGM("PINDA temperature: ");
+				MYSERIAL.print(current_temperature_pinda);
+				SERIAL_ECHOPGM(" Z shift (mm):");
+				MYSERIAL.print(current_position[Z_AXIS] - zero_z);
+				SERIAL_ECHOLNPGM("");
+
+				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);
+			SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
+			disable_x();
+			disable_y();
+			disable_z();
+			disable_e0();
+			disable_e1();
+			disable_e2();
+			lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
+			lcd_update_enable(true);
+			lcd_update(2);
+
+			setTargetBed(0); //set bed target temperature back to 0
+//			setTargetHotend(0,0); //set hotend target temperature back to 0
+			break;
+		}
+#endif //PINDA_THERMISTOR
+
 		setTargetBed(PINDA_MIN_T);
 		float zero_z;
 		int z_shift = 0; //unit: steps
@@ -3209,6 +2792,13 @@ void process_commands()
 			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();
@@ -3339,12 +2929,20 @@ void process_commands()
 				SERIAL_PROTOCOLPGM("\n");
 			}
 
+			float offset_z = 0;
+
+#ifdef PINDA_THERMISTOR
+			offset_z = temp_compensation_pinda_thermistor_offset();
+#endif //PINDA_THERMISTOR
+
 			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("");
 			}
-			mbl.set_z(ix, iy, current_position[Z_AXIS]); //store measured z values z_values[iy][ix] = z;
+			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++;
@@ -3364,6 +2962,12 @@ void process_commands()
 		}
 		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");
@@ -3862,9 +3466,19 @@ void process_commands()
         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(MSG_AUTO_HOME);
+		home_xy();
+
         // 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();
 			if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ)) {
 				lcd_wait_for_cool_down();
@@ -3879,14 +3493,10 @@ void process_commands()
             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();
 
-#ifdef HAVE_TMC2130_DRIVERS
-		tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
-#endif
+//#ifdef TMC2130
+//		tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
+//#endif
 
             int8_t verbosity_level = 0;
             if (code_seen('V')) {
@@ -3946,7 +3556,7 @@ void process_commands()
                     lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
                 }
             }
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
         } else {
@@ -4334,6 +3944,17 @@ Sigma_Exit:
         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;
 
@@ -4858,7 +4479,7 @@ Sigma_Exit:
             SERIAL_ECHO_START;
             SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
             SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
-            SERIAL_ECHOLNPGM("\"");
+            SERIAL_ECHOLNPGM("\"(1)");
         }
       }
 
@@ -5595,13 +5216,13 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	  lcd_setstatuspgm(WELCOME_MSG);
 	  custom_message = false;
 	  custom_message_type = 0;
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 	  if (fsensor_M600)
 	  {
 		cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
 		fsensor_enable();
 	  }
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
         
     }
     break;
@@ -5703,12 +5324,15 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 
 	case 916: // M916 Set sg_thrs
     {
-		if (code_seen('X')) sg_thrs_x = code_value();
-		if (code_seen('Y')) sg_thrs_y = code_value();
-		MYSERIAL.print("sg_thrs_x=");
-		MYSERIAL.print(sg_thrs_x, DEC);
-		MYSERIAL.print(" sg_thrs_y=");
-		MYSERIAL.println(sg_thrs_y, DEC);
+		if (code_seen('X')) tmc2131_axis_sg_thr[X_AXIS] = code_value();
+		if (code_seen('Y')) tmc2131_axis_sg_thr[Y_AXIS] = code_value();
+		if (code_seen('Z')) tmc2131_axis_sg_thr[Z_AXIS] = code_value();
+		MYSERIAL.print("tmc2131_axis_sg_thr[X]=");
+		MYSERIAL.print(tmc2131_axis_sg_thr[X_AXIS], DEC);
+		MYSERIAL.print("tmc2131_axis_sg_thr[Y]=");
+		MYSERIAL.print(tmc2131_axis_sg_thr[Y_AXIS], DEC);
+		MYSERIAL.print("tmc2131_axis_sg_thr[Z]=");
+		MYSERIAL.print(tmc2131_axis_sg_thr[Z_AXIS], DEC);
     }
     break;
 
@@ -5943,77 +5567,103 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	  }
   } // 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 0: // D0 - Reset
-		MYSERIAL.println("D0 - Reset");
-		cli(); //disable interrupts
-		wdt_reset(); //reset watchdog
-		WDTCSR = (1<<WDCE) | (1<<WDE); //enable watchdog
-		WDTCSR = (1<<WDE) | (1<<WDP0); //30ms prescaler
-		while(1); //wait for reset
-		break;
+		dcode_0(); break;
 	case 1: // D1 - Clear EEPROM
-		{
-			MYSERIAL.println("D1 - Clear EEPROM");
-			cli();
-			for (int i = 0; i < 4096; i++)
-				eeprom_write_byte((unsigned char*)i, (unsigned char)0);
-			sei();
-		}
+		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:
+		MYSERIAL.println("D5 - Test");
+		if (code_seen('P'))
+			selectedSerialPort = (int)code_value();
+		MYSERIAL.print("selectedSerialPort = ");
+		MYSERIAL.println(selectedSerialPort, DEC);
 		break;
-	case 2: // D2 - read/write PIN
+/*	case 4:
 		{
-			if (code_seen('P')) // Pin (0-255)
+			MYSERIAL.println("D4 - Test");
+			uint8_t data[16];
+			int cnt = parse_hex(strchr_pointer + 2, data, 16);
+			MYSERIAL.println(cnt, DEC);
+			for (int i = 0; i < cnt; i++)
 			{
-				int pin = (int)code_value();
-				if ((pin >= 0) && (pin <= 255))
-				{
-					if (code_seen('F')) // Function in/out (0/1)
-					{
-						int fnc = (int)code_value();
-						if (fnc == 0) pinMode(pin, INPUT);
-						else if (fnc == 1) pinMode(pin, OUTPUT);
-					}
-					if (code_seen('V')) // Value (0/1)
-					{
-						int val = (int)code_value();
-						if (val == 0) digitalWrite(pin, LOW);
-						else if (val == 1) digitalWrite(pin, HIGH);
-					}
-					else
-					{
-						int val = (digitalRead(pin) != LOW)?1:0;
-						MYSERIAL.print("PIN");
-						MYSERIAL.print(pin);
-						MYSERIAL.print("=");
-						MYSERIAL.println(val);
-					}
-				}
+				serial_print_hex_byte(data[i]);
+				MYSERIAL.write(' ');
 			}
+			MYSERIAL.write('\n');
 		}
 		break;
-	case 3:
-#ifdef HAVE_PAT9125_SENSOR
+/*	case 3:
+		if (code_seen('L')) // lcd pwm (0-255)
+		{
+			lcdSoftPwm = (int)code_value();
+		}
+		if (code_seen('B')) // lcd blink delay (0-255)
+		{
+			lcdBlinkDelay = (int)code_value();
+		}
+//		calibrate_z_auto();
+/*		MYSERIAL.print("fsensor_enable()");
+#ifdef PAT9125
 		fsensor_enable();
-#endif
+#endif*/
 		break;
-	case 4:
-#ifdef HAVE_PAT9125_SENSOR
+//	case 4:
+//			lcdBlinkDelay = 10;
+/*		MYSERIAL.print("fsensor_disable()");
+#ifdef PAT9125
 		fsensor_disable();
 #endif            
+		break;*/
+//		break;
+/*	case 5:
+		{
+			MYSERIAL.print("tmc2130_rd_MSCNT(0)=");
+			int val = tmc2130_rd_MSCNT(tmc2130_cs[0]);
+			MYSERIAL.println(val);
+			homeaxis(0);
+		}
+		break;*/
+	case 6:
+		{
+/*			MYSERIAL.print("tmc2130_rd_MSCNT(1)=");
+			int val = tmc2130_rd_MSCNT(tmc2130_cs[1]);
+			MYSERIAL.println(val);*/
+			homeaxis(1);
+		}
+		break;
+	case 7:
+		{
+			MYSERIAL.print("pat9125_init=");
+			MYSERIAL.println(pat9125_init(200, 200));
+		}
+		break;
+	case 8:
+		{
+			MYSERIAL.print("swi2c_check=");
+			MYSERIAL.println(swi2c_check(0x75));
+		}
 		break;
 	}
   }
+#endif //DEBUG_DCODES
 
   else
   {
     SERIAL_ECHO_START;
     SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
     SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
-    SERIAL_ECHOLNPGM("\"");
+    SERIAL_ECHOLNPGM("\"(2)");
   }
 
   ClearToSend();
@@ -6085,6 +5735,9 @@ void get_arc_coordinates()
 
 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.
@@ -6929,7 +6582,11 @@ float temp_comp_interpolation(float inp_temperature) {
 	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];
 	}
@@ -6976,6 +6633,15 @@ float temp_comp_interpolation(float inp_temperature) {
 
 }
 
+#ifdef PINDA_THERMISTOR
+float temp_compensation_pinda_thermistor_offset()
+{
+	if (!temp_cal_active) return 0;
+	if (!calibration_status_pinda()) return 0;
+	return temp_comp_interpolation(current_temperature_pinda) / axis_steps_per_unit[Z_AXIS];
+}
+#endif //PINDA_THERMISTOR
+
 void long_pause() //long pause print
 {
 	st_synchronize();
@@ -7032,7 +6698,7 @@ void serialecho_temperatures() {
 
 
 void uvlo_() {
-		//SERIAL_ECHOLNPGM("UVLO");	
+		SERIAL_ECHOLNPGM("UVLO");
 		save_print_to_eeprom();
 		float current_position_bckp[2];
 		int feedrate_bckp = feedrate;

Firmware/boards.h

@@ -3,15 +3,14 @@
 
 #define BOARD_UNKNOWN -1
 
-#define BOARD_EINY_0_3a         300  // EINY 0.3a
-#define BOARD_EINY_0_4a         299  // EINY 0.4a
+#define BOARD_RAMBO             100  // Rambo - 100 (orig 301)
 
-#define BOARD_RAMBO             301  // Rambo
-#define BOARD_RAMBO_MINI_1_3    302  // Rambo-mini 1.3
-#define BOARD_RAMBO_MINI_1_0    102  // Rambo-mini 1.0
+#define BOARD_RAMBO_MINI_1_0    200  // Rambo-mini 1.0 - 200 (orig 102)
+#define BOARD_RAMBO_MINI_1_3    203  // Rambo-mini 1.3 - 203 (orig 302)
 
-
-#define BOARD_99                99   // This is in pins.h but...?
+#define BOARD_EINY_0_3a         303  // EINY 0.3a - 303 (orig 300)
+#define BOARD_EINY_0_4a         304  // EINY 0.4a - 304 (orig 299)
+#define BOARD_EINY_0_5a         305  // EINY 0.5a - 305 (orig 298)
 
 #define MB(board) (MOTHERBOARD==BOARD_##board)
 #define IS_RAMPS (MB(RAMPS_OLD) || MB(RAMPS_13_EFB) || MB(RAMPS_13_EEB) || MB(RAMPS_13_EFF) || MB(RAMPS_13_EEF))

Firmware/cmdqueue.cpp

@@ -0,0 +1,620 @@
+#include "cmdqueue.h"
+#include "cardreader.h"
+#include "ultralcd.h"
+
+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;
+// Tail of the buffer, where to write.
+int bufindw = 0;
+// Number of lines in cmdbuffer.
+int buflen = 0;
+// Flag for processing the current command inside the main Arduino loop().
+// If a new command was pushed to the front of a command buffer while
+// processing another command, this replaces the command on the top.
+// Therefore don't remove the command from the queue in the loop() function.
+bool cmdbuffer_front_already_processed = false;
+
+int serial_count = 0;  //index of character read from serial line
+boolean comment_mode = false;
+char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
+
+unsigned long TimeSent = millis();
+unsigned long TimeNow = millis();
+
+long gcode_N = 0;
+long gcode_LastN = 0;
+long Stopped_gcode_LastN = 0;
+
+
+// Pop the currently processed command from the queue.
+// It is expected, that there is at least one command in the queue.
+bool cmdqueue_pop_front()
+{
+    if (buflen > 0) {
+#ifdef CMDBUFFER_DEBUG
+        SERIAL_ECHOPGM("Dequeing ");
+        SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
+        SERIAL_ECHOLNPGM("");
+        SERIAL_ECHOPGM("Old indices: buflen ");
+        SERIAL_ECHO(buflen);
+        SERIAL_ECHOPGM(", bufindr ");
+        SERIAL_ECHO(bufindr);
+        SERIAL_ECHOPGM(", bufindw ");
+        SERIAL_ECHO(bufindw);
+        SERIAL_ECHOPGM(", serial_count ");
+        SERIAL_ECHO(serial_count);
+        SERIAL_ECHOPGM(", bufsize ");
+        SERIAL_ECHO(sizeof(cmdbuffer));
+        SERIAL_ECHOLNPGM("");
+#endif /* CMDBUFFER_DEBUG */
+        if (-- buflen == 0) {
+            // Empty buffer.
+            if (serial_count == 0)
+                // No serial communication is pending. Reset both pointers to zero.
+                bufindw = 0;
+            bufindr = bufindw;
+        } else {
+            // There is at least one ready line in the buffer.
+            // First skip the current command ID and iterate up to the end of the string.
+//            for (++ bufindr; cmdbuffer[bufindr] != 0; ++ bufindr) ;
+            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) ;
+            }
+#ifdef CMDBUFFER_DEBUG
+            SERIAL_ECHOPGM("New indices: buflen ");
+            SERIAL_ECHO(buflen);
+            SERIAL_ECHOPGM(", bufindr ");
+            SERIAL_ECHO(bufindr);
+            SERIAL_ECHOPGM(", bufindw ");
+            SERIAL_ECHO(bufindw);
+            SERIAL_ECHOPGM(", serial_count ");
+            SERIAL_ECHO(serial_count);
+            SERIAL_ECHOPGM(" new command on the top: ");
+            SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
+            SERIAL_ECHOLNPGM("");
+#endif /* CMDBUFFER_DEBUG */
+        }
+        return true;
+    }
+    return false;
+}
+
+void cmdqueue_reset()
+{
+    while (cmdqueue_pop_front()) ;
+}
+
+// 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)
+{
+    // MAX_CMD_SIZE has to accommodate the zero terminator.
+    if (len_asked >= MAX_CMD_SIZE)
+        return false;
+    // Remove the currently processed command from the queue.
+    if (! cmdbuffer_front_already_processed) {
+        cmdqueue_pop_front();
+        cmdbuffer_front_already_processed = true;
+    }
+	if (bufindr == bufindw && buflen > 0)
+		// Full buffer.
+        return false;
+    // Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
+    int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
+    if (bufindw < bufindr) {
+        int bufindr_new = bufindr - len_asked - (1 + CMDHDRSIZE);
+        // Simple case. There is a contiguous space between the write buffer and the read buffer.
+        if (endw <= bufindr_new) {
+            bufindr = bufindr_new;
+            return true;
+        }
+    } else {
+        // Otherwise the free space is split between the start and end.
+        if (len_asked + (1 + CMDHDRSIZE) <= bufindr) {
+            // Could fit at the start.
+            bufindr -= len_asked + (1 + CMDHDRSIZE);
+            return true;
+        }
+        int bufindr_new = sizeof(cmdbuffer) - len_asked - (1 + CMDHDRSIZE);
+        if (endw <= bufindr_new) {
+            memset(cmdbuffer, 0, bufindr);
+            bufindr = bufindr_new;
+            return true;
+        }
+    }
+    return false;
+}
+
+// Could one enqueue a command of lenthg len_asked into the buffer,
+// while leaving CMDBUFFER_RESERVE_FRONT at the start?
+// If yes, adjust bufindw to the new position, where the new command could be enqued.
+// len_asked does not contain the zero terminator size.
+bool cmdqueue_could_enqueue_back(int len_asked)
+{
+    // MAX_CMD_SIZE has to accommodate the zero terminator.
+    if (len_asked >= MAX_CMD_SIZE)
+        return false;
+
+	if (bufindr == bufindw && buflen > 0)
+		// Full buffer.
+		return false;
+
+    if (serial_count > 0) {
+        // If there is some data stored starting at bufindw, len_asked is certainly smaller than
+        // the allocated data buffer. Try to reserve a new buffer and to move the already received
+        // 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);
+        if (bufindw < bufindr)
+            // Simple case. There is a contiguous space between the write buffer and the read buffer.
+            return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
+        // Otherwise the free space is split between the start and end.
+        if (// Could one fit to the end, including the reserve?
+            endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
+            // Could one fit to the end, and the reserve to the start?
+            (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
+            return true;
+        // Could one fit both to the start?
+        if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
+            // Mark the rest of the buffer as used.
+            memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
+            // and point to the start.
+            bufindw = 0;
+            return true;
+        }
+    } 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);
+        if (bufindw < bufindr)
+            // Simple case. There is a contiguous space between the write buffer and the read buffer.
+            return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
+        // Otherwise the free space is split between the start and end.
+        if (// Could one fit to the end, including the reserve?
+            endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
+            // Could one fit to the end, and the reserve to the start?
+            (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
+            return true;
+        // Could one fit both to the start?
+        if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
+            // Mark the rest of the buffer as used.
+            memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
+            // and point to the start.
+            bufindw = 0;
+            return true;
+        }
+    }
+    return false;
+}
+
+#ifdef CMDBUFFER_DEBUG
+void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
+{
+    SERIAL_ECHOPGM("Entry nr: ");
+    SERIAL_ECHO(nr);
+    SERIAL_ECHOPGM(", type: ");
+    SERIAL_ECHO(int(*p));
+    SERIAL_ECHOPGM(", cmd: ");
+    SERIAL_ECHO(p+1);  
+    SERIAL_ECHOLNPGM("");
+}
+
+void cmdqueue_dump_to_serial()
+{
+    if (buflen == 0) {
+        SERIAL_ECHOLNPGM("The command buffer is empty.");
+    } else {
+        SERIAL_ECHOPGM("Content of the buffer: entries ");
+        SERIAL_ECHO(buflen);
+        SERIAL_ECHOPGM(", indr ");
+        SERIAL_ECHO(bufindr);
+        SERIAL_ECHOPGM(", indw ");
+        SERIAL_ECHO(bufindw);
+        SERIAL_ECHOLNPGM("");
+        int nr = 0;
+        if (bufindr < bufindw) {
+            for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
+                cmdqueue_dump_to_serial_single_line(nr, p);
+                // Skip the command.
+                for (++p; *p != 0; ++ p);
+                // Skip the gaps.
+                for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
+            }
+        } else {
+            for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
+                cmdqueue_dump_to_serial_single_line(nr, p);
+                // Skip the command.
+                for (++p; *p != 0; ++ p);
+                // Skip the gaps.
+                for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
+            }
+            for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
+                cmdqueue_dump_to_serial_single_line(nr, p);
+                // Skip the command.
+                for (++p; *p != 0; ++ p);
+                // Skip the gaps.
+                for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
+            }
+        }
+        SERIAL_ECHOLNPGM("End of the buffer.");
+    }
+}
+#endif /* CMDBUFFER_DEBUG */
+
+//adds an command to the main command buffer
+//thats really done in a non-safe way.
+//needs overworking someday
+// 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);
+    // 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)) {
+        // This is dangerous if a mixing of serial and this happens
+        // This may easily be tested: If serial_count > 0, we have a problem.
+        cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
+        if (from_progmem)
+            strcpy_P(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
+        else
+            strcpy(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
+        SERIAL_ECHO_START;
+        SERIAL_ECHORPGM(MSG_Enqueing);
+        SERIAL_ECHO(cmdbuffer + bufindw + CMDHDRSIZE);
+        SERIAL_ECHOLNPGM("\"");
+        bufindw += len + (CMDHDRSIZE + 1);
+        if (bufindw == sizeof(cmdbuffer))
+            bufindw = 0;
+        ++ buflen;
+#ifdef CMDBUFFER_DEBUG
+        cmdqueue_dump_to_serial();
+#endif /* CMDBUFFER_DEBUG */
+    } else {
+        SERIAL_ERROR_START;
+        SERIAL_ECHORPGM(MSG_Enqueing);
+        if (from_progmem)
+            SERIAL_PROTOCOLRPGM(cmd);
+        else
+            SERIAL_ECHO(cmd);
+        SERIAL_ECHOLNPGM("\" failed: Buffer full!");
+#ifdef CMDBUFFER_DEBUG
+        cmdqueue_dump_to_serial();
+#endif /* CMDBUFFER_DEBUG */
+    }
+}
+
+void enquecommand_front(const char *cmd, bool from_progmem)
+{
+    int 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;
+        if (from_progmem)
+            strcpy_P(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
+        else
+            strcpy(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
+        ++ buflen;
+        SERIAL_ECHO_START;
+        SERIAL_ECHOPGM("Enqueing to the front: \"");
+        SERIAL_ECHO(cmdbuffer + bufindr + CMDHDRSIZE);
+        SERIAL_ECHOLNPGM("\"");
+#ifdef CMDBUFFER_DEBUG
+        cmdqueue_dump_to_serial();
+#endif /* CMDBUFFER_DEBUG */
+    } else {
+        SERIAL_ERROR_START;
+        SERIAL_ECHOPGM("Enqueing to the front: \"");
+        if (from_progmem)
+            SERIAL_PROTOCOLRPGM(cmd);
+        else
+            SERIAL_ECHO(cmd);
+        SERIAL_ECHOLNPGM("\" failed: Buffer full!");
+#ifdef CMDBUFFER_DEBUG
+        cmdqueue_dump_to_serial();
+#endif /* CMDBUFFER_DEBUG */
+    }
+}
+
+// Mark the command at the top of the command queue as new.
+// Therefore it will not be removed from the queue.
+void repeatcommand_front()
+{
+    cmdbuffer_front_already_processed = true;
+} 
+
+bool is_buffer_empty()
+{
+	if (buflen == 0) return true;
+	else return false;
+}
+
+void get_command()
+{
+    // Test and reserve space for the new command string.
+	if (!cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1)) 
+		return;
+	
+	bool rx_buffer_full = false; //flag that serial rx buffer is full
+
+  while (MYSERIAL.available() > 0) {
+	  if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
+		  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	
+	  }
+    char serial_char = MYSERIAL.read();
+	if (selectedSerialPort == 1)
+	{
+		selectedSerialPort = 0; 
+		MYSERIAL.write(serial_char); // for debuging serial line 2 in farm_mode
+		selectedSerialPort = 1; 
+	} 
+      TimeSent = millis();
+      TimeNow = millis();
+
+    if (serial_char < 0)
+        // Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
+        // and Marlin does not support such file names anyway.
+        // Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
+        // to a hang-up of the print process from an SD card.
+        continue;
+    if(serial_char == '\n' ||
+       serial_char == '\r' ||
+       (serial_char == ':' && comment_mode == false) ||
+       serial_count >= (MAX_CMD_SIZE - 1) )
+    {
+      if(!serial_count) { //if empty line
+        comment_mode = false; //for new command
+        return;
+      }
+      cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
+      if(!comment_mode){
+        comment_mode = false; //for new command
+        if ((strchr_pointer = strstr(cmdbuffer+bufindw+CMDHDRSIZE, "PRUSA")) == NULL && (strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'N')) != NULL) {
+            if ((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'N')) != NULL)
+            {
+            // Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
+            // and Marlin tests, whether the successive lines are stamped with an increasing line number ID.
+            gcode_N = (strtol(strchr_pointer+1, NULL, 10));
+            if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer+bufindw+CMDHDRSIZE, PSTR("M110")) == NULL) ) {
+                // M110 - set current line number.
+                // Line numbers not sent in succession.
+                SERIAL_ERROR_START;
+                SERIAL_ERRORRPGM(MSG_ERR_LINE_NO);
+                SERIAL_ERRORLN(gcode_LastN);
+                //Serial.println(gcode_N);
+                FlushSerialRequestResend();
+                serial_count = 0;
+                return;
+            }
+
+            if((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*')) != NULL)
+            {
+                byte checksum = 0;
+                char *p = cmdbuffer+bufindw+CMDHDRSIZE;
+                while (p != strchr_pointer)
+                    checksum = checksum^(*p++);
+                if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
+                SERIAL_ERROR_START;
+                SERIAL_ERRORRPGM(MSG_ERR_CHECKSUM_MISMATCH);
+                SERIAL_ERRORLN(gcode_LastN);
+                FlushSerialRequestResend();
+                serial_count = 0;
+                return;
+                }
+                // If no errors, remove the checksum and continue parsing.
+                *strchr_pointer = 0;
+            }
+            else
+            {
+                SERIAL_ERROR_START;
+                SERIAL_ERRORRPGM(MSG_ERR_NO_CHECKSUM);
+                SERIAL_ERRORLN(gcode_LastN);
+                FlushSerialRequestResend();
+                serial_count = 0;
+                return;
+            }
+
+            gcode_LastN = gcode_N;
+            //if no errors, continue parsing
+            } // end of 'N' command
+        }
+        else  // if we don't receive 'N' but still see '*'
+        {
+          if((strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*') != NULL))
+          {
+            SERIAL_ERROR_START;
+            SERIAL_ERRORRPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
+            SERIAL_ERRORLN(gcode_LastN);
+            serial_count = 0;
+            return;
+          }
+        } // end of '*' command
+        if ((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'G')) != NULL) {
+      		  if (! IS_SD_PRINTING) {
+        			  usb_printing_counter = 10;
+        			  is_usb_printing = true;
+      		  }
+            if (Stopped == true) {
+                int gcode = strtol(strchr_pointer+1, NULL, 10);
+                if (gcode >= 0 && gcode <= 3) {
+                    SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
+                    LCD_MESSAGERPGM(MSG_STOPPED);
+                }
+            }
+        } // end of 'G' command
+
+        //If command was e-stop process now
+        if(strcmp(cmdbuffer+bufindw+CMDHDRSIZE, "M112") == 0)
+          kill("", 2);
+        
+        // Store the current line into buffer, move to the next line.
+        cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_USB;
+#ifdef CMDBUFFER_DEBUG
+        SERIAL_ECHO_START;
+        SERIAL_ECHOPGM("Storing a command line to buffer: ");
+        SERIAL_ECHO(cmdbuffer+bufindw+CMDHDRSIZE);
+        SERIAL_ECHOLNPGM("");
+#endif /* CMDBUFFER_DEBUG */
+        bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
+        if (bufindw == sizeof(cmdbuffer))
+            bufindw = 0;
+        ++ buflen;
+#ifdef CMDBUFFER_DEBUG
+        SERIAL_ECHOPGM("Number of commands in the buffer: ");
+        SERIAL_ECHO(buflen);
+        SERIAL_ECHOLNPGM("");
+#endif /* CMDBUFFER_DEBUG */
+      } // end of 'not comment mode'
+      serial_count = 0; //clear buffer
+      // Don't call cmdqueue_could_enqueue_back if there are no characters waiting
+      // in the queue, as this function will reserve the memory.
+      if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
+          return;
+    } // end of "end of line" processing
+    else {
+      // Not an "end of line" symbol. Store the new character into a buffer.
+      if(serial_char == ';') comment_mode = true;
+      if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
+    }
+  } // end of serial line processing loop
+
+    if(farm_mode){
+        TimeNow = millis();
+        if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
+            cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0;
+            
+            bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
+            if (bufindw == sizeof(cmdbuffer))
+                bufindw = 0;
+            ++ buflen;
+            
+            serial_count = 0;
+            
+            SERIAL_ECHOPGM("TIMEOUT:");
+            //memset(cmdbuffer, 0 , sizeof(cmdbuffer));
+            return;
+        }
+    }
+
+	//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
+    // continuing with the serial line.
+     return;
+  }
+
+  //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
+  // if it occurs, stop_buffering is triggered and the buffer is ran dry.
+  // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
+
+  static bool stop_buffering=false;
+  if(buflen==0) stop_buffering=false;
+  unsigned char sd_count = 0;
+  // Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
+  while( !card.eof() && !stop_buffering) {
+    int16_t n=card.get();
+	sd_count++;
+    char serial_char = (char)n;
+    if(serial_char == '\n' ||
+       serial_char == '\r' ||
+       (serial_char == '#' && comment_mode == false) ||
+       (serial_char == ':' && comment_mode == false) ||
+       serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
+    {
+      if(card.eof()){
+        SERIAL_PROTOCOLLNRPGM(MSG_FILE_PRINTED);
+        stoptime=millis();
+        char time[30];
+        unsigned long t=(stoptime-starttime-pause_time)/1000;
+		pause_time = 0;
+        int hours, minutes;
+        minutes=(t/60)%60;
+        hours=t/60/60;
+		save_statistics(total_filament_used, t);
+		sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
+        SERIAL_ECHO_START;
+        SERIAL_ECHOLN(time);
+        lcd_setstatus(time);
+        card.printingHasFinished();
+        card.checkautostart(true);
+
+		if (farm_mode)
+		{
+			prusa_statistics(6);
+			lcd_commands_type = LCD_COMMAND_FARM_MODE_CONFIRM;
+		}
+
+      }
+      if(serial_char=='#')
+        stop_buffering=true;
+
+      if(!serial_count)
+      {
+        comment_mode = false; //for new command
+        return; //if empty line
+      }
+      cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
+      cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
+      cmdbuffer[bufindw+1] = sd_count;
+/*	  SERIAL_ECHOPGM("SD cmd(");
+	  MYSERIAL.print(sd_count, DEC);
+	  SERIAL_ECHOPGM(") ");
+	  SERIAL_ECHOLN(cmdbuffer+bufindw+CMDHDRSIZE);*/
+//	  SERIAL_ECHOPGM("cmdbuffer:");
+//	  MYSERIAL.print(cmdbuffer);
+      ++ buflen;
+//	  SERIAL_ECHOPGM("buflen:");
+//	  MYSERIAL.print(buflen);
+      bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
+      if (bufindw == sizeof(cmdbuffer))
+          bufindw = 0;
+      comment_mode = false; //for new command
+      serial_count = 0; //clear buffer
+      // The following line will reserve buffer space if available.
+      if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
+          return;
+    }
+    else
+    {
+      if(serial_char == ';') comment_mode = true;
+      if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
+    }
+  }
+
+  #endif //SDSUPPORT
+}
+
+uint16_t cmdqueue_calc_sd_length()
+{
+	int _buflen = buflen;
+	int _bufindr = bufindr;
+	uint16_t sdlen = 0;
+	while (_buflen--)
+	{
+		if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD)
+			sdlen += cmdbuffer[_bufindr + 1];
+		//skip header, skip command
+		for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
+		//skip zeros
+		for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
+	}
+    return sdlen;
+}

Firmware/cmdqueue.h

@@ -0,0 +1,86 @@
+#ifndef CMDQUEUE_H
+#define CMDQUEUE_H
+
+#include "Marlin.h"
+#include "language_all.h"
+
+
+// String circular buffer. Commands may be pushed to the buffer from both sides:
+// Chained commands will be pushed to the front, interactive (from LCD menu) 
+// and printing commands (from serial line or from SD card) are pushed to the tail.
+// First character of each entry indicates the type of the entry: 
+#define CMDBUFFER_CURRENT_TYPE_UNKNOWN  0
+// Command in cmdbuffer was sent over USB.
+#define CMDBUFFER_CURRENT_TYPE_USB      1
+// Command in cmdbuffer was read from SDCARD.
+#define CMDBUFFER_CURRENT_TYPE_SDCARD   2
+// Command in cmdbuffer was generated by the UI.
+#define CMDBUFFER_CURRENT_TYPE_UI       3
+// Command in cmdbuffer was generated by another G-code.
+#define CMDBUFFER_CURRENT_TYPE_CHAINED  4
+
+// How much space to reserve for the chained commands
+// of type CMDBUFFER_CURRENT_TYPE_CHAINED,
+// which are pushed to the front of the queue?
+// Maximum 5 commands of max length 20 + null terminator.
+#define CMDBUFFER_RESERVE_FRONT       (5*21)
+
+extern char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
+extern int bufindr;
+extern int bufindw;
+extern int buflen;
+extern bool cmdbuffer_front_already_processed;
+
+// Type of a command, which is to be executed right now.
+#define CMDBUFFER_CURRENT_TYPE   (cmdbuffer[bufindr])
+// String of a command, which is to be executed right now.
+#define CMDBUFFER_CURRENT_STRING (cmdbuffer+bufindr+CMDHDRSIZE)
+
+// Enable debugging of the command buffer.
+// Debugging information will be sent to serial line.
+//#define CMDBUFFER_DEBUG
+
+extern int serial_count;
+extern boolean comment_mode;
+extern char *strchr_pointer;
+
+extern unsigned long TimeSent;
+extern unsigned long TimeNow;
+
+extern long gcode_N;
+extern long gcode_LastN;
+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);
+extern void cmdqueue_dump_to_serial_single_line(int nr, const char *p);
+extern void cmdqueue_dump_to_serial();
+extern void enquecommand(const char *cmd, bool from_progmem);
+extern void enquecommand_front(const char *cmd, bool from_progmem);
+extern void repeatcommand_front();
+extern bool is_buffer_empty();
+extern void get_command();
+extern uint16_t cmdqueue_calc_sd_length();
+
+// Return True if a character was found
+static inline bool    code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
+static inline bool    code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
+static inline float   code_value()      { return strtod(strchr_pointer+1, NULL);}
+static inline long    code_value_long()    { return strtol(strchr_pointer+1, NULL, 10); }
+static inline int16_t code_value_short()   { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
+static inline uint8_t code_value_uint8()   { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
+
+static inline float code_value_float()
+{
+    char* e = strchr(strchr_pointer, 'E');
+    if (!e) return strtod(strchr_pointer + 1, NULL);
+    *e = 0;
+    float ret = strtod(strchr_pointer + 1, NULL);
+    *e = 'E';
+    return ret;
+}
+
+
+#endif //CMDQUEUE_H

Firmware/language_all.cpp

@@ -1096,6 +1096,21 @@ const char * const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM] P
 	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN
 };
 
+const char MSG_CALIBRATE_Z_AUTO_EN[] PROGMEM = "Calibrating Z...";
+const char MSG_CALIBRATE_Z_AUTO_CZ[] PROGMEM = "Calibrating Z...";
+const char MSG_CALIBRATE_Z_AUTO_IT[] PROGMEM = "Calibrating Z...";
+const char MSG_CALIBRATE_Z_AUTO_ES[] PROGMEM = "Calibrating Z...";
+const char MSG_CALIBRATE_Z_AUTO_PL[] PROGMEM = "Calibrating Z...";
+const char MSG_CALIBRATE_Z_AUTO_DE[] PROGMEM = "Calibrating Z...";
+const char * const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_CALIBRATE_Z_AUTO_EN,
+	MSG_CALIBRATE_Z_AUTO_CZ,
+	MSG_CALIBRATE_Z_AUTO_IT,
+	MSG_CALIBRATE_Z_AUTO_ES,
+	MSG_CALIBRATE_Z_AUTO_PL,
+	MSG_CALIBRATE_Z_AUTO_DE
+};
+
 const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point";
 const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky";
 const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz.";
@@ -2848,35 +2863,35 @@ const char * const MSG_SHOW_END_STOPS_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_SHOW_END_STOPS_DE
 };
 
-const char MSG_FSENSOR_OFF_EN[] PROGMEM = "Filam. probe [off]";
-const char MSG_FSENSOR_OFF_CZ[] PROGMEM = "Filam. probe [off]";
-const char MSG_FSENSOR_OFF_IT[] PROGMEM = "Filam. probe [off]";
-const char MSG_FSENSOR_OFF_ES[] PROGMEM = "Filam. probe [off]";
-const char MSG_FSENSOR_OFF_PL[] PROGMEM = "Filam. probe [off]";
-const char MSG_FSENSOR_OFF_DE[] PROGMEM = "Filam. probe [off]";
-const char * const MSG_FSENSOR_OFF_LANG_TABLE[LANG_NUM] PROGMEM = {
-	MSG_FSENSOR_OFF_EN,
-	MSG_FSENSOR_OFF_CZ,
-	MSG_FSENSOR_OFF_IT,
-	MSG_FSENSOR_OFF_ES,
-	MSG_FSENSOR_OFF_PL,
-	MSG_FSENSOR_OFF_DE
-};
-
-const char MSG_FSENSOR_ON_EN[] PROGMEM = "Filam. probe  [on]";
-const char MSG_FSENSOR_ON_CZ[] PROGMEM = "Filam. probe  [on]";
-const char MSG_FSENSOR_ON_IT[] PROGMEM = "Filam. probe  [on]";
-const char MSG_FSENSOR_ON_ES[] PROGMEM = "Filam. probe  [on]";
-const char MSG_FSENSOR_ON_PL[] PROGMEM = "Filam. probe  [on]";
-const char MSG_FSENSOR_ON_DE[] PROGMEM = "Filam. probe  [on]";
-const char * const MSG_FSENSOR_ON_LANG_TABLE[LANG_NUM] PROGMEM = {
-	MSG_FSENSOR_ON_EN,
-	MSG_FSENSOR_ON_CZ,
-	MSG_FSENSOR_ON_IT,
-	MSG_FSENSOR_ON_ES,
-	MSG_FSENSOR_ON_PL,
-	MSG_FSENSOR_ON_DE
-};
+const char MSG_FSENSOR_OFF_EN[] PROGMEM = "Filam. probe [off]";
+const char MSG_FSENSOR_OFF_CZ[] PROGMEM = "Filam. probe [off]";
+const char MSG_FSENSOR_OFF_IT[] PROGMEM = "Filam. probe [off]";
+const char MSG_FSENSOR_OFF_ES[] PROGMEM = "Filam. probe [off]";
+const char MSG_FSENSOR_OFF_PL[] PROGMEM = "Filam. probe [off]";
+const char MSG_FSENSOR_OFF_DE[] PROGMEM = "Filam. probe [off]";
+const char * const MSG_FSENSOR_OFF_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_FSENSOR_OFF_EN,
+	MSG_FSENSOR_OFF_CZ,
+	MSG_FSENSOR_OFF_IT,
+	MSG_FSENSOR_OFF_ES,
+	MSG_FSENSOR_OFF_PL,
+	MSG_FSENSOR_OFF_DE
+};
+
+const char MSG_FSENSOR_ON_EN[] PROGMEM = "Filam. probe  [on]";
+const char MSG_FSENSOR_ON_CZ[] PROGMEM = "Filam. probe  [on]";
+const char MSG_FSENSOR_ON_IT[] PROGMEM = "Filam. probe  [on]";
+const char MSG_FSENSOR_ON_ES[] PROGMEM = "Filam. probe  [on]";
+const char MSG_FSENSOR_ON_PL[] PROGMEM = "Filam. probe  [on]";
+const char MSG_FSENSOR_ON_DE[] PROGMEM = "Filam. probe  [on]";
+const char * const MSG_FSENSOR_ON_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_FSENSOR_ON_EN,
+	MSG_FSENSOR_ON_CZ,
+	MSG_FSENSOR_ON_IT,
+	MSG_FSENSOR_ON_ES,
+	MSG_FSENSOR_ON_PL,
+	MSG_FSENSOR_ON_DE
+};
 
 const char MSG_SILENT_MODE_OFF_EN[] PROGMEM = "Mode [high power]";
 const char MSG_SILENT_MODE_OFF_CZ[] PROGMEM = "Mod  [vys. vykon]";

Firmware/language_all.h

@@ -220,6 +220,8 @@ extern const char* const MSG_FIL_ADJUSTING_LANG_TABLE[LANG_NUM];
 #define MSG_FIL_ADJUSTING LANG_TABLE_SELECT(MSG_FIL_ADJUSTING_LANG_TABLE)
 extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM];
 #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE)
+extern const char* const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM];
+#define MSG_CALIBRATE_Z_AUTO LANG_TABLE_SELECT(MSG_CALIBRATE_Z_AUTO_LANG_TABLE)
 extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM];
 #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE)
 extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM];
@@ -546,12 +548,12 @@ extern const char* const MSG_SET_TEMPERATURE_LANG_TABLE[LANG_NUM];
 #define MSG_SET_TEMPERATURE LANG_TABLE_SELECT(MSG_SET_TEMPERATURE_LANG_TABLE)
 extern const char* const MSG_SHOW_END_STOPS_LANG_TABLE[LANG_NUM];
 #define MSG_SHOW_END_STOPS LANG_TABLE_SELECT(MSG_SHOW_END_STOPS_LANG_TABLE)
-
-extern const char* const MSG_FSENSOR_OFF_LANG_TABLE[LANG_NUM];
-#define MSG_FSENSOR_OFF LANG_TABLE_SELECT(MSG_FSENSOR_OFF_LANG_TABLE)
-extern const char* const MSG_FSENSOR_ON_LANG_TABLE[LANG_NUM];
-#define MSG_FSENSOR_ON LANG_TABLE_SELECT(MSG_FSENSOR_ON_LANG_TABLE)
-
+
+extern const char* const MSG_FSENSOR_OFF_LANG_TABLE[LANG_NUM];
+#define MSG_FSENSOR_OFF LANG_TABLE_SELECT(MSG_FSENSOR_OFF_LANG_TABLE)
+extern const char* const MSG_FSENSOR_ON_LANG_TABLE[LANG_NUM];
+#define MSG_FSENSOR_ON LANG_TABLE_SELECT(MSG_FSENSOR_ON_LANG_TABLE)
+
 extern const char* const MSG_SILENT_MODE_OFF_LANG_TABLE[LANG_NUM];
 #define MSG_SILENT_MODE_OFF LANG_TABLE_SELECT(MSG_SILENT_MODE_OFF_LANG_TABLE)
 extern const char* const MSG_SILENT_MODE_ON_LANG_TABLE[LANG_NUM];

Firmware/mesh_bed_calibration.cpp

@@ -19,8 +19,8 @@ float   world2machine_shift[2];
 #define WEIGHT_FIRST_ROW_Y_HIGH (0.3f)
 #define WEIGHT_FIRST_ROW_Y_LOW  (0.0f)
 
-#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER)
-#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER)
+#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1
+#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER) // -0.6 + 9 = 8.4
 
 // Scaling of the real machine axes against the programmed dimensions in the firmware.
 // The correction is tiny, here around 0.5mm on 250mm length.

Firmware/pat9125.cpp

@@ -1,79 +1,91 @@
-#include "pat9125.h"
-#include "swspi.h"
-
-
-#ifdef SWSPI_RPI
-//	#include <bcm2835.h>
-	#define DELAY(delay) usleep(delay)
-#endif //SWSPI_RPI
-
-#ifdef SWSPI_AVR
-	#include "Arduino.h"
-	#define DELAY(delay) delayMicroseconds(delay)
-#endif //SWSPI_AVR
-
-unsigned char ucPID1 = 0;
-unsigned char ucPID2 = 0;
-int pat9125_x = 0;
-int pat9125_y = 0;
-int pat9125_b = 0;
-
-int pat9125_init(unsigned char xres, unsigned char yres)
-{
-	swspi_init();
-	ucPID1 = pat9125_rd_reg(PAT9125_PID1);
-	ucPID2 = pat9125_rd_reg(PAT9125_PID2);
-	if ((ucPID1 != 0x31) || (ucPID2 != 0x91))
-	{
-		return 0;
-	}
-    pat9125_wr_reg(PAT9125_RES_X, xres);
-    pat9125_wr_reg(PAT9125_RES_Y, yres);
-	return 1;
-}
-
-int pat9125_update()
-{
-	if ((ucPID1 == 0x31) && (ucPID2 == 0x91))
-	{
-		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
-		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
-		if (ucMotion & 0x80)
-		{
-			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
-			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
-			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
-			int iDX = ucXL | ((ucXYH << 4) & 0xf00);
-			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
-			if (iDX & 0x800) iDX -= 4096;
-			if (iDY & 0x800) iDY -= 4096;
-//			pat9125_x += iDX;
-			pat9125_y += iDY;
-			return 1;
-		}
-	}
-	return 0;
-}
-
-unsigned char pat9125_rd_reg(unsigned char addr)
-{
-	swspi_start();
-	DELAY(100);
-	swspi_tx(addr & 0x7f);
-	DELAY(100);
-	unsigned char data = swspi_rx();
-	swspi_stop();
-	DELAY(100);
-	return data;
-}
-
-void pat9125_wr_reg(unsigned char addr, unsigned char data)
-{
-	swspi_start();
-	DELAY(100);
-	swspi_tx(addr | 0x80);
-	DELAY(100);
-	swspi_tx(data);
-	swspi_stop();
-	DELAY(100);
-}
+#include "uni_avr_rpi.h"
+
+#ifdef PAT9125
+
+#include "pat9125.h"
+
+#ifdef PAT9125_SWSPI
+#include "swspi.h"
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+#include "swi2c.h"
+#endif //PAT9125_SWI2C
+
+
+unsigned char pat9125_PID1 = 0;
+unsigned char pat9125_PID2 = 0;
+int pat9125_x = 0;
+int pat9125_y = 0;
+int pat9125_b = 0;
+
+int pat9125_init(unsigned char xres, unsigned char yres)
+{
+#ifdef PAT9125_SWSPI
+	swspi_init();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	swi2c_init(PAT9125_SWI2C_SDA, PAT9125_SWI2C_SCL, PAT9125_SWI2C_CFG);
+#endif //PAT9125_SWI2C
+	pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
+	pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
+	if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
+	{
+		return 0;
+	}
+    pat9125_wr_reg(PAT9125_RES_X, xres);
+    pat9125_wr_reg(PAT9125_RES_Y, yres);
+	return 1;
+}
+
+int pat9125_update()
+{
+	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
+	{
+		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
+		if (ucMotion & 0x80)
+		{
+			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
+			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
+			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
+			int iDX = ucXL | ((ucXYH << 4) & 0xf00);
+			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
+			if (iDX & 0x800) iDX -= 4096;
+			if (iDY & 0x800) iDY -= 4096;
+			pat9125_x += iDX;
+			pat9125_y += iDY;
+			return 1;
+		}
+	}
+	return 0;
+}
+
+unsigned char pat9125_rd_reg(unsigned char addr)
+{
+	unsigned char data = 0;
+#ifdef PAT9125_SWSPI
+	swspi_start();
+	swspi_tx(addr & 0x7f);
+	data = swspi_rx();
+	swspi_stop();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
+#endif //PAT9125_SWI2C
+	return data;
+}
+
+void pat9125_wr_reg(unsigned char addr, unsigned char data)
+{
+#ifdef PAT9125_SWSPI
+	swspi_start();
+	swspi_tx(addr | 0x80);
+	swspi_tx(data);
+	swspi_stop();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
+#endif //PAT9125_SWI2C
+}
+
+#endif //PAT9125

Firmware/pat9125.h

@@ -1,39 +1,41 @@
-#ifndef PAT9125_H
-#define PAT9125_H
-
-//#define PAT9125_RPI
-#define PAT9125_AVR
-
-//PAT9125 registers
-#define PAT9125_PID1			0x00
-#define PAT9125_PID2			0x01
-#define PAT9125_MOTION			0x02
-#define PAT9125_DELTA_XL		0x03
-#define PAT9125_DELTA_YL		0x04
-#define PAT9125_MODE			0x05
-#define PAT9125_CONFIG			0x06
-#define PAT9125_WP				0x09
-#define PAT9125_SLEEP1			0x0a
-#define PAT9125_SLEEP2			0x0b
-#define PAT9125_RES_X			0x0d
-#define PAT9125_RES_Y			0x0e
-#define PAT9125_DELTA_XYH		0x12
-#define PAT9125_SHUTTER			0x14
-#define PAT9125_FRAME			0x17
-#define PAT9125_ORIENTATION		0x19
-
-extern unsigned char ucPID1;
-extern unsigned char ucPID2;
-
-extern int pat9125_x;
-extern int pat9125_y;
-extern int pat9125_b;
-
-int pat9125_init(unsigned char xres, unsigned char yres);
-int pat9125_update();
-
-unsigned char pat9125_rd_reg(unsigned char addr);
-void pat9125_wr_reg(unsigned char addr, unsigned char data);
-
-
-#endif //PAT9125_H
+#ifndef PAT9125_H
+#define PAT9125_H
+
+//PAT9125 I2C
+#define PAT9125_I2C_ADDR        0x75  //ID=LO
+//#define PAT9125_I2C_ADDR        0x79  //ID=HI
+//#define PAT9125_I2C_ADDR        0x73  //ID=NC
+
+//PAT9125 registers
+#define PAT9125_PID1			0x00
+#define PAT9125_PID2			0x01
+#define PAT9125_MOTION			0x02
+#define PAT9125_DELTA_XL		0x03
+#define PAT9125_DELTA_YL		0x04
+#define PAT9125_MODE			0x05
+#define PAT9125_CONFIG			0x06
+#define PAT9125_WP				0x09
+#define PAT9125_SLEEP1			0x0a
+#define PAT9125_SLEEP2			0x0b
+#define PAT9125_RES_X			0x0d
+#define PAT9125_RES_Y			0x0e
+#define PAT9125_DELTA_XYH		0x12
+#define PAT9125_SHUTTER			0x14
+#define PAT9125_FRAME			0x17
+#define PAT9125_ORIENTATION		0x19
+
+extern unsigned char pat9125_PID1;
+extern unsigned char pat9125_PID2;
+
+extern int pat9125_x;
+extern int pat9125_y;
+extern int pat9125_b;
+
+extern int pat9125_init(unsigned char xres, unsigned char yres);
+extern int pat9125_update();
+
+extern unsigned char pat9125_rd_reg(unsigned char addr);
+extern void pat9125_wr_reg(unsigned char addr, unsigned char data);
+
+
+#endif //PAT9125_H

Firmware/pins.h

@@ -22,523 +22,30 @@
 /*****************************************************************
 * Rambo Pin Assignments 1.3
 ******************************************************************/
-#if MOTHERBOARD == 302
-  #define MINI_RAMBO
-  
-#endif
-#if MOTHERBOARD == 301 || MOTHERBOARD == 302
-  #define KNOWN_BOARD
-  #ifndef __AVR_ATmega2560__
-    #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
-  #endif
-  
-
-  #define FR_SENS 21
-
-
-  #define X_STEP_PIN 37
-  #define X_DIR_PIN 48
-  #define X_MIN_PIN 12
-  #define X_MAX_PIN 30
-  #define X_ENABLE_PIN 29
-  #define X_MS1_PIN 40
-  #define X_MS2_PIN 41
-  #define Y_STEP_PIN 36
-  #define Y_DIR_PIN 49
-  #define Y_MIN_PIN 11
-  #define Y_MAX_PIN 24
-  #define Y_ENABLE_PIN 28
-  #define Y_MS1_PIN 69
-  #define Y_MS2_PIN 39
-  #define Z_STEP_PIN 35
-  #define Z_DIR_PIN 47
-  #define Z_MIN_PIN 10
-  #define Z_MAX_PIN 23
-  #define Z_ENABLE_PIN 27
-  #define Z_MS1_PIN 68
-  #define Z_MS2_PIN 67
-  #define TEMP_BED_PIN 2
-  #define TEMP_0_PIN 0
-  #define HEATER_1_PIN 7
-  #define TEMP_1_PIN 1
-  #define TEMP_2_PIN -1
-  
-#ifdef SNMM 
-
-#define E_MUX0_PIN 17
-#define E_MUX1_PIN 16
-#define E_MUX2_PIN 84
-
-
-#endif
- 
-#ifdef DIS
-#define D_REQUIRE 30
-#define D_DATA 20
-#define D_DATACLOCK 21
-
-#endif
-
-// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
-#define SDSS               53
-
-#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
-  #define SCK_PIN           52
-  #define MISO_PIN         50
-  #define MOSI_PIN         51
-#endif
-  
-    #define BEEPER 84
-
-        #define BTN_EN1 72
-        #define BTN_EN2 14
-        #define BTN_ENC 9
-
-        #define SDCARDDETECT 15
-        
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-  
-  
-  
-  #define E0_STEP_PIN         34
-  #define E0_DIR_PIN          43
-  #define E0_ENABLE_PIN       26
-  #define E0_MS1_PIN 65
-  #define E0_MS2_PIN 66
-  #define LED_PIN            13
-  #ifdef THREEMM_PRINTER
-      #define FAN_PIN            8
-  #else
-      #define FAN_PIN            6
-  #endif
-  #define KILL_PIN           -1 //80 with Smart Controller LCD
-  #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
-  #define SDPOWER            -1
-  #define HEATER_2_PIN -1
-  #ifdef MINI_RAMBO
-
-    #define ELECTRONICS "RAMBo13a"
-
-    #define HEATER_0_PIN 3
-    #define HEATER_BED_PIN 4
-    #define FAN_1_PIN -1 //6
-    #define PS_ON_PIN 71
-    #define MOTOR_CURRENT_PWM_XY_PIN 46
-    #define MOTOR_CURRENT_PWM_Z_PIN 45
-    #define MOTOR_CURRENT_PWM_E_PIN 44
-    
-  #else //RAMBo
-    #define ELECTRONICS "RAMBoBig"
-
-    #define E1_STEP_PIN         33
-    #define E1_DIR_PIN          42
-    #define E1_ENABLE_PIN       25
-    #define E1_MS1_PIN 63
-    #define E1_MS2_PIN 64
-    #define DIGIPOTSS_PIN 38
-    #define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
-    #define HEATER_0_PIN  9
-    #define HEATER_BED_PIN 3
-    #define PS_ON_PIN          4
-    #define SDSS               53
-    #ifdef ULTRA_LCD
-      #define KILL_PIN 80
-      #ifdef NEWPANEL
-        //arduino pin which triggers an piezzo beeper
-        #define BEEPER 84      // Beeper on AUX-4
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-        //buttons are directly attached using AUX-2
-        #define BTN_EN1 76
-        #define BTN_EN2 77
-        #define BTN_ENC 78  //the click
-        #define BLEN_C 2
-        #define BLEN_B 1
-        #define BLEN_A 0
-        #define SDCARDDETECT 81    // Ramps does not use this port
-        //encoder rotation values
-        #define encrot0 0
-        #define encrot1 2
-        #define encrot2 3
-        #define encrot3 1
-      #else //old style panel with shift register
-        //arduino pin witch triggers an piezzo beeper
-        #define BEEPER 84    //No Beeper added
-        //buttons are attached to a shift register
-        // Not wired this yet
-        // #define SHIFT_CLK 38
-        // #define SHIFT_LD 42
-        // #define SHIFT_OUT 40
-        // #define SHIFT_EN 17
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-        //encoder rotation values
-        #define encrot0 0
-        #define encrot1 2
-        #define encrot2 3
-        #define encrot3 1
-        //bits in the shift register that carry the buttons for:
-        // left up center down right red
-        #define BL_LE 7
-        #define BL_UP 6
-        #define BL_MI 5
-        #define BL_DW 4
-        #define BL_RI 3
-        #define BL_ST 2
-        #define BLEN_B 1
-        #define BLEN_A 0
-      #endif
-    #endif //ULTRA_LCD
-  #endif //RAMBo/MiniRambo option
-#endif
-
-
-
-
-
-
-
-
-/*****************************************************************
-* Rambo mini Pin Assignments 1.0
-******************************************************************/
-#if MOTHERBOARD == 102
-  #define ELECTRONICS "RAMBo10a"
-  #define KNOWN_BOARD
-  #ifndef __AVR_ATmega2560__
-    #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
-  #endif
-
-  #define FR_SENS 21
-
-#ifdef SNMM
-
-#define E_MUX0_PIN 17
-#define E_MUX1_PIN 16
-#define E_MUX2_PIN 84
-
-
-#endif
-  #define LARGE_FLASH true
-  #define X_STEP_PIN 37
-  #define X_DIR_PIN 48
-  #define X_MIN_PIN 12
-  #define X_MAX_PIN 30
-  #define X_ENABLE_PIN 29
-  #define X_MS1_PIN 40
-  #define X_MS2_PIN 41
-  #define Y_STEP_PIN 36
-  #define Y_DIR_PIN 49
-  #define Y_MIN_PIN 11
-  #define Y_MAX_PIN 24
-  #define Y_ENABLE_PIN 28
-  #define Y_MS1_PIN 69
-  #define Y_MS2_PIN 39
-  #define Z_STEP_PIN 35
-  #define Z_DIR_PIN 47
-  #define Z_MIN_PIN 10
-  #define Z_MAX_PIN 23
-  #define Z_ENABLE_PIN 27
-  #define Z_MS1_PIN 68
-  #define Z_MS2_PIN 67
-  #define TEMP_BED_PIN 2
-  #define TEMP_0_PIN 0
-  #define HEATER_1_PIN 7
-  #define TEMP_1_PIN 1
-  #define TEMP_2_PIN -1
-  
-  // The SDSS pin uses a different pin mapping from file Sd2PinMap.h
-#define SDSS               53
-
-#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
-  #define SCK_PIN           52
-  #define MISO_PIN         50
-  #define MOSI_PIN         51
-#endif
-  
-    #define BEEPER 78
-
-        #define BTN_EN1 80
-        #define BTN_EN2 73
-        #define BTN_ENC 21
-
-        #define SDCARDDETECT 72
-        
-        #define LCD_PINS_RS 38
-        #define LCD_PINS_ENABLE 5
-        #define LCD_PINS_D4 14
-        #define LCD_PINS_D5 15
-        #define LCD_PINS_D6 32
-        #define LCD_PINS_D7 31
-  
-  
-  
-  #define E0_STEP_PIN         34
-  #define E0_DIR_PIN          43
-  #define E0_ENABLE_PIN       26
-  #define E0_MS1_PIN 65
-  #define E0_MS2_PIN 66
-  #define LED_PIN            13
-  #ifdef THREEMM_PRINTER
-      #define FAN_PIN            8
-  #else
-      #define FAN_PIN            6
-  #endif
-  #define KILL_PIN           -1 //80 with Smart Controller LCD
-  #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
-  #define SDPOWER            -1
-  #define HEATER_2_PIN -1
-
-    #define HEATER_0_PIN 3
-    #define HEATER_BED_PIN 4
-    #define FAN_1_PIN -1 //6
-    #define PS_ON_PIN 71
-    #define MOTOR_CURRENT_PWM_XY_PIN 46
-    #define MOTOR_CURRENT_PWM_Z_PIN 45
-    #define MOTOR_CURRENT_PWM_E_PIN 44
-    
-
-#endif
-
-/*****************************************************************
-* EINY Rambo Pin Assignments 0.3a
-******************************************************************/
-#if MOTHERBOARD == 300
-#define ELECTRONICS "EINY_03a"
-#define KNOWN_BOARD
-#ifndef __AVR_ATmega2560__
-#error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
-#endif
-
-#define LARGE_FLASH         true
-#define HAVE_TMC2130_DRIVERS
-#define HAVE_PAT9125_SENSOR
-
-#define X_STEP_PIN          37
-#define X_DIR_PIN           49
-#define X_MIN_PIN           12
-#define X_MAX_PIN           30
-//#define X_MIN_PIN           64 //TMC2130 SG homing
-//#define X_MAX_PIN           64 //TMC2130 SG homing
-#define X_ENABLE_PIN        29
-#define X_MS1_PIN -1
-#define X_MS2_PIN -1
-#define X_TMC2130_CS 41
-
-#define Y_STEP_PIN          36
-#define Y_DIR_PIN           48
-#define Y_MIN_PIN           11
-#define Y_MAX_PIN           24
-//#define Y_MIN_PIN           69 //TMC2130 SG homing
-//#define Y_MAX_PIN           69 //TMC2130 SG homing
-#define Y_ENABLE_PIN        28
-#define Y_MS1_PIN -1
-#define Y_MS2_PIN -1
-#define Y_TMC2130_CS 39
-
-#define Z_STEP_PIN          35
-#define Z_DIR_PIN           47
-#define Z_MIN_PIN           10
-#define Z_MAX_PIN           23
-#define Z_ENABLE_PIN        27
-#define Z_MS1_PIN -1
-#define Z_MS2_PIN -1
-#define Z_TMC2130_CS 67
-
-#define HEATER_BED_PIN       4
-#define TEMP_BED_PIN         2
-
-#define HEATER_0_PIN         3
-#define TEMP_0_PIN           0
-
-#define HEATER_1_PIN         7
-#define TEMP_1_PIN           1
-
-#ifdef BARICUDA
-#define HEATER_2_PIN       6
-#else
-#define HEATER_2_PIN      -1
-#endif
-
-#define TEMP_2_PIN          -1
-
-#define E0_STEP_PIN         34
-#define E0_DIR_PIN          43
-#define E0_ENABLE_PIN       26
-#define E0_MS1_PIN -1
-#define E0_MS2_PIN -1
-#define E0_TMC2130_CS 66
-
-#define MOTOR_CURRENT_PWM_XY_PIN 46
-#define MOTOR_CURRENT_PWM_Z_PIN  45
-#define MOTOR_CURRENT_PWM_E_PIN  44
-#define SDPOWER             -1
-#define SDSS                53
-#define LED_PIN             13
-#define FAN_PIN              6
-#define FAN_1_PIN            -1
-#define PS_ON_PIN           -1
-#define KILL_PIN            -1  // 80 with Smart Controller LCD
-#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
-
-#ifdef ULTRA_LCD
-
-#define KILL_PIN          32
-
-#ifdef NEWPANEL
-
-#define BEEPER      84  // Beeper on AUX-4
-#define LCD_PINS_RS     82
-#define LCD_PINS_ENABLE 18
-#define LCD_PINS_D4     19
-#define LCD_PINS_D5     70
-#define LCD_PINS_D6     85
-#define LCD_PINS_D7     71
-
-//buttons are directly attached using AUX-2
-#define BTN_EN1         72
-#define BTN_EN2         14
-#define BTN_ENC          9  // the click
-
-#define SDCARDDETECT   15
-
-#define TACH_0 81
-#define TACH_1 80 
-
-#endif //NEWPANEL
-#endif //ULTRA_LCD
-
-#endif //MOTHERBOARD == 300
-
-
-/*****************************************************************
-* EINY Rambo Pin Assignments 0.4a
-******************************************************************/
-#if MOTHERBOARD == 299
-#define ELECTRONICS "EINY_04a"
-#define KNOWN_BOARD
-#ifndef __AVR_ATmega2560__
-#error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
-#endif
-
-#define LARGE_FLASH         true
-#define HAVE_TMC2130_DRIVERS
-#define HAVE_PAT9125_SENSOR
-
-#define X_STEP_PIN          37
-#define X_DIR_PIN           49
-#define X_MIN_PIN           12
-#define X_MAX_PIN           30
-//#define X_MIN_PIN           64 //TMC2130 SG homing
-//#define X_MAX_PIN           64 //TMC2130 SG homing
-#define X_ENABLE_PIN        29
-#define X_MS1_PIN -1
-#define X_MS2_PIN -1
-#define X_TMC2130_CS 41
-
-#define Y_STEP_PIN          36
-#define Y_DIR_PIN           48
-#define Y_MIN_PIN           11
-#define Y_MAX_PIN           24
-//#define Y_MIN_PIN           69 //TMC2130 SG homing
-//#define Y_MAX_PIN           69 //TMC2130 SG homing
-#define Y_ENABLE_PIN        28
-#define Y_MS1_PIN -1
-#define Y_MS2_PIN -1
-#define Y_TMC2130_CS 39
-
-#define Z_STEP_PIN          35
-#define Z_DIR_PIN           47
-#define Z_MIN_PIN           10
-#define Z_MAX_PIN           23
-#define Z_ENABLE_PIN        27
-#define Z_MS1_PIN -1
-#define Z_MS2_PIN -1
-#define Z_TMC2130_CS 67
-
-#define HEATER_BED_PIN       4
-#define TEMP_BED_PIN         2
-
-#define HEATER_0_PIN         3
-#define TEMP_0_PIN           0
-
-#define HEATER_1_PIN         7
-#define TEMP_1_PIN           1
-
-#ifdef BARICUDA
-#define HEATER_2_PIN       6
-#else
-#define HEATER_2_PIN      -1
-#endif
-
-#define TEMP_2_PIN          -1
-
-#define E0_STEP_PIN         34
-#define E0_DIR_PIN          43
-#define E0_ENABLE_PIN       26
-#define E0_MS1_PIN -1
-#define E0_MS2_PIN -1
-#define E0_TMC2130_CS 66
-
-#define MOTOR_CURRENT_PWM_XY_PIN 46
-#define MOTOR_CURRENT_PWM_Z_PIN  45
-#define MOTOR_CURRENT_PWM_E_PIN  44
-#define SDPOWER             -1
-#define SDSS                77
-#define LED_PIN             13
-#define FAN_PIN              6
-#define FAN_1_PIN            -1
-#define PS_ON_PIN           -1
-#define KILL_PIN            -1  // 80 with Smart Controller LCD
-#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
-
-#ifdef ULTRA_LCD
-
-//#define KILL_PIN          32
-
-#ifdef NEWPANEL
-
-
-#define BEEPER      84  // Beeper on AUX-4
-#define LCD_PINS_RS     82
-//#define LCD_PINS_ENABLE 18
-//#define LCD_PINS_D4     19
-#define LCD_PINS_ENABLE 61
-#define LCD_PINS_D4		59
-#define LCD_PINS_D5     70
-#define LCD_PINS_D6     85
-#define LCD_PINS_D7     71
 
-//buttons are directly attached using AUX-2
-#define BTN_EN1         72
-#define BTN_EN2         14
-#define BTN_ENC          9  // the click
+#if MOTHERBOARD == 100 //100 - orig 301
+#include "pins_Rambo.h"
+#endif //MOTHERBOARD == 100
 
-#define SDCARDDETECT   15
+#if MOTHERBOARD == 200 //200 - orig 102
+#include "pins_Rambo_1_0.h"
+#endif //MOTHERBOARD == 200
 
-#define TACH_0 79
-#define TACH_1 80 
+#if MOTHERBOARD == 203 //203 - orig 302
+#include "pins_Rambo_1_3.h"
+#endif //MOTHERBOARD == 203
 
-#endif //NEWPANEL
-#endif //ULTRA_LCD
+#if MOTHERBOARD == 303 //303 - orig 300
+#include "pins_Einy_0_3.h"
+#endif //MOTHERBOARD == 303
 
-#endif //MOTHERBOARD == 300
+#if MOTHERBOARD == 304 //304 - orig 299
+#include "pins_Einy_0_4.h"
+#endif //MOTHERBOARD == 304
 
+#if MOTHERBOARD == 305 //305 - orig 298
+#include "pins_Einy_0_4.h"
+#endif //MOTHERBOARD == 305
 
 #ifndef KNOWN_BOARD
 #error Unknown MOTHERBOARD value in configuration.h

Firmware/pins_Einy_0_3.h

@@ -0,0 +1,129 @@
+/*****************************************************************
+* EINY Rambo 0.3a Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "EINY_03a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define TMC2130
+#define PAT9125
+
+#define SWI2C                    // enable software i2c
+#define SWI2C_A8                 // 8bit address functions
+
+#define PAT9125_SWI2C
+#define PAT9125_SWI2C_SDA   20 //SDA on P3
+#define PAT9125_SWI2C_SCL   21 //SCL on P3
+#define PAT9125_SWI2C_CFG   0xb1 //2us clock delay, 2048 cycles timeout
+
+//#define SWSPI_MISO          16 //RX2
+//#define SWSPI_MOSI          16 //RX2
+//#define SWSPI_SCK           17 //TX2
+//#define SWSPI_CS            20 //SDA
+
+////#define SWI2C_SDA           20 //SDA
+////#define SWI2C_SCL           21 //SCL
+//#define SWI2C_SDA           16 //RX2
+//#define SWI2C_SCL           17 //TX2
+
+#define X_TMC2130_CS        41
+#define X_TMC2130_DIAG      40
+#define X_STEP_PIN          37
+#define X_DIR_PIN           49
+//#define X_MIN_PIN           12
+//#define X_MAX_PIN           30
+#define X_MIN_PIN           X_TMC2130_DIAG
+#define X_MAX_PIN           X_TMC2130_DIAG
+#define X_ENABLE_PIN        29
+#define X_MS1_PIN           -1
+#define X_MS2_PIN           -1
+
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
+#define Y_STEP_PIN          36
+#define Y_DIR_PIN           48
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
+#define Y_ENABLE_PIN        28
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
+
+#define Z_TMC2130_CS        67
+#define Z_TMC2130_DIAG      68
+#define Z_STEP_PIN          35
+#define Z_DIR_PIN           47
+#define Z_MIN_PIN           10
+#define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
+#define Z_ENABLE_PIN        27
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
+
+#define HEATER_BED_PIN       4 //PG5
+#define TEMP_BED_PIN         2 //A2
+
+#define HEATER_0_PIN         3 //PE5
+#define TEMP_0_PIN           0 //A0
+
+#define HEATER_1_PIN        -1
+#define TEMP_1_PIN           1 //A1
+
+#define HEATER_2_PIN        -1
+#define TEMP_2_PIN          -1
+
+#define TEMP_AMBIENT_PIN     6 //A6
+
+#define TEMP_PINDA_PIN       3 //A3
+
+#define E0_TMC2130_CS       66
+#define E0_TMC2130_DIAG     65
+#define E0_STEP_PIN         34
+#define E0_DIR_PIN          43
+#define E0_ENABLE_PIN       26
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
+
+#define MOTOR_CURRENT_PWM_XY_PIN 46
+#define MOTOR_CURRENT_PWM_Z_PIN  45
+#define MOTOR_CURRENT_PWM_E_PIN  44
+#define SDPOWER             -1
+#define SDSS                53
+#define LED_PIN             13
+#define FAN_PIN              6
+#define FAN_1_PIN           -1
+#define PS_ON_PIN           -1
+#define KILL_PIN            -1  // 80 with Smart Controller LCD
+#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
+
+#ifdef ULTRA_LCD
+
+//#define KILL_PIN            32
+
+#ifdef NEWPANEL
+
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+#define LCD_PINS_ENABLE     18
+#define LCD_PINS_D4         19
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
+
+//buttons are directly attached using AUX-2
+#define BTN_EN1             72
+#define BTN_EN2             14
+#define BTN_ENC              9  // the click
+
+#define SDCARDDETECT        15
+
+#define TACH_0              81
+#define TACH_1              80 
+
+#endif //NEWPANEL
+#endif //ULTRA_LCD

Firmware/pins_Einy_0_4.h

@@ -0,0 +1,122 @@
+/*****************************************************************
+* EINY Rambo 0.4a Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "EINY_04a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define TMC2130
+#define PAT9125
+
+#define SWI2C                    // enable software i2c
+#define SWI2C_A8                 // 8bit address functions
+
+#define PAT9125_SWI2C
+#define PAT9125_SWI2C_SDA      20 //SDA on P3
+#define PAT9125_SWI2C_SCL      21 //SCL on P3
+#define PAT9125_SWI2C_CFG    0xb1 //2us clock delay, 2048 cycles timeout
+
+#define X_TMC2130_CS           41
+#define X_TMC2130_DIAG         64 // !!! changed from 40 (EINY03)
+#define X_STEP_PIN             37
+#define X_DIR_PIN              49
+//#define X_MIN_PIN            12
+//#define X_MAX_PIN            30
+#define X_MIN_PIN              X_TMC2130_DIAG
+#define X_MAX_PIN              X_TMC2130_DIAG
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN           -1
+#define X_MS2_PIN           -1
+
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
+#define Y_STEP_PIN          36
+#define Y_DIR_PIN           48
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
+#define Y_ENABLE_PIN        28
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
+
+#define Z_TMC2130_CS        67
+#define Z_TMC2130_DIAG      68
+#define Z_STEP_PIN          35
+#define Z_DIR_PIN           47
+#define Z_MIN_PIN           10
+#define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
+#define Z_ENABLE_PIN        27
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
+
+#define HEATER_BED_PIN       4 //PG5
+#define TEMP_BED_PIN         2 //A2
+
+#define HEATER_0_PIN         3 //PE5
+#define TEMP_0_PIN           0 //A0
+
+#define HEATER_1_PIN        -1
+#define TEMP_1_PIN           1 //A1
+
+#define HEATER_2_PIN        -1
+#define TEMP_2_PIN          -1
+
+#define TEMP_AMBIENT_PIN     6 //A6
+
+#define TEMP_PINDA_PIN       3 //A3
+
+#define E0_TMC2130_CS       66
+#define E0_TMC2130_DIAG     65
+#define E0_STEP_PIN         34
+#define E0_DIR_PIN          43
+#define E0_ENABLE_PIN       26
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
+
+#define MOTOR_CURRENT_PWM_XY_PIN 46
+#define MOTOR_CURRENT_PWM_Z_PIN  45
+#define MOTOR_CURRENT_PWM_E_PIN  44
+#define SDPOWER             -1
+#define SDSS                77
+#define LED_PIN             13
+#define FAN_PIN              6
+#define FAN_1_PIN           -1
+#define PS_ON_PIN           -1
+#define KILL_PIN            -1  // 80 with Smart Controller LCD
+#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
+
+#ifdef ULTRA_LCD
+
+//#define KILL_PIN            32
+
+#ifdef NEWPANEL
+
+#define LCD_PWM_PIN         32  // lcd backlight brightnes pwm control pin
+#define LCD_PWM_MAX       0x0f  // lcd pwm maximum value (0x07=64Hz, 0x0f=32Hz, 0x1f=16Hz)
+
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+#define LCD_PINS_ENABLE     61 // !!! changed from 18 (EINY03)
+#define LCD_PINS_D4	        59 // !!! changed from 19 (EINY03)
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
+
+//buttons are directly attached using AUX-2
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9  // the click
+
+#define SDCARDDETECT           15
+
+#define TACH_0                 79 // !!! changed from 81 (EINY03)
+#define TACH_1                 80 
+
+#endif //NEWPANEL
+#endif //ULTRA_LCD

Firmware/pins_Rambo.h

@@ -0,0 +1,162 @@
+/*****************************************************************
+* Rambo Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBoBig"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM 
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+#ifdef DIS
+  #define D_REQUIRE            30
+  #define D_DATA               20
+  #define D_DATACLOCK          21
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+
+#define BEEPER                 84
+
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9
+
+#define SDCARDDETECT           15
+
+#define LCD_PINS_RS            82
+#define LCD_PINS_ENABLE        18
+#define LCD_PINS_D4            19
+#define LCD_PINS_D5            70
+#define LCD_PINS_D6            85
+#define LCD_PINS_D7            71
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define E1_STEP_PIN            33
+#define E1_DIR_PIN             42
+#define E1_ENABLE_PIN          25
+#define E1_MS1_PIN             63
+#define E1_MS2_PIN             64
+#define DIGIPOTSS_PIN          38
+#define DIGIPOT_CHANNELS       {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
+#define HEATER_0_PIN            9
+#define HEATER_BED_PIN          3
+#define PS_ON_PIN               4
+#define SDSS                   53
+#ifdef ULTRA_LCD
+ #define KILL_PIN              80
+ #ifdef NEWPANEL
+  //arduino pin which triggers an piezzo beeper
+  #define BEEPER               84      // Beeper on AUX-4
+  #define LCD_PINS_RS          82
+  #define LCD_PINS_ENABLE      18
+  #define LCD_PINS_D4          19
+  #define LCD_PINS_D5          70
+  #define LCD_PINS_D6          85
+  #define LCD_PINS_D7          71
+  //buttons are directly attached using AUX-2
+  #define BTN_EN1              76
+  #define BTN_EN2              77
+  #define BTN_ENC              78  //the click
+  #define BLEN_C                2
+  #define BLEN_B                1
+  #define BLEN_A                0
+  #define SDCARDDETECT         81    // Ramps does not use this port
+  //encoder rotation values
+  #define encrot0               0
+  #define encrot1               2
+  #define encrot2               3
+  #define encrot3               1
+ #else //old style panel with shift register
+  //arduino pin witch triggers an piezzo beeper
+  #define BEEPER               84    //No Beeper added
+  //buttons are attached to a shift register
+  // Not wired this yet
+  // #define SHIFT_CLK 38
+  // #define SHIFT_LD 42
+  // #define SHIFT_OUT 40
+  // #define SHIFT_EN 17
+  #define LCD_PINS_RS          82
+  #define LCD_PINS_ENABLE      18
+  #define LCD_PINS_D4          19
+  #define LCD_PINS_D5          70
+  #define LCD_PINS_D6          85
+  #define LCD_PINS_D7          71
+  //encoder rotation values
+  #define encrot0               0
+  #define encrot1               2
+  #define encrot2               3
+  #define encrot3               1
+  //bits in the shift register that carry the buttons for:
+  // left up center down right red
+  #define BL_LE                 7
+  #define BL_UP                 6
+  #define BL_MI                 5
+  #define BL_DW                 4
+  #define BL_RI                 3
+  #define BL_ST                 2
+  #define BLEN_B                1
+  #define BLEN_A                0
+ #endif
+#endif //ULTRA_LCD

Firmware/pins_Rambo_1_0.h

@@ -0,0 +1,94 @@
+/*****************************************************************
+* Rambo mini 1.0 Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBo10a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+  
+#define BEEPER                 78
+
+#define BTN_EN1                80
+#define BTN_EN2                73
+#define BTN_ENC                21
+
+#define SDCARDDETECT           72
+
+#define LCD_PINS_RS            38
+#define LCD_PINS_ENABLE         5
+#define LCD_PINS_D4            14
+#define LCD_PINS_D5            15
+#define LCD_PINS_D6            32
+#define LCD_PINS_D7            31
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define HEATER_0_PIN            3
+#define HEATER_BED_PIN          4
+#define FAN_1_PIN              -1 //6
+#define PS_ON_PIN              71
+#define MOTOR_CURRENT_PWM_XY_PIN   46
+#define MOTOR_CURRENT_PWM_Z_PIN    45
+#define MOTOR_CURRENT_PWM_E_PIN    44

Firmware/pins_Rambo_1_3.h

@@ -0,0 +1,102 @@
+/*****************************************************************
+* Rambo mini 1.3 Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBo13a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM 
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+#ifdef DIS
+  #define D_REQUIRE            30
+  #define D_DATA               20
+  #define D_DATACLOCK          21
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+
+#define BEEPER                 84
+
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9
+
+#define SDCARDDETECT           15
+
+#define LCD_PINS_RS            82
+#define LCD_PINS_ENABLE        18
+#define LCD_PINS_D4            19
+#define LCD_PINS_D5            70
+#define LCD_PINS_D6            85
+#define LCD_PINS_D7            71
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define HEATER_0_PIN            3
+#define HEATER_BED_PIN          4
+#define FAN_1_PIN              -1 //6
+#define PS_ON_PIN              71
+#define MOTOR_CURRENT_PWM_XY_PIN   46
+#define MOTOR_CURRENT_PWM_Z_PIN    45
+#define MOTOR_CURRENT_PWM_E_PIN    44

Firmware/planner.cpp

@@ -593,7 +593,7 @@ float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen)
 {
     // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
@@ -723,6 +723,9 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
 
+  // Set sdlen for calculating sd position
+  block->sdlen = sdlen;
+
   // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
   block->busy = false;
 
@@ -1295,4 +1298,17 @@ void planner_queue_min_reset()
 {
   g_cntr_planner_queue_min = moves_planned();
 }
-#endif /* PLANNER_DIAGNOSTICS */
+#endif /* PLANNER_DIAGNOSTICS */
+
+uint16_t planner_calc_sd_length()
+{
+	unsigned char _block_buffer_head = block_buffer_head;
+	unsigned char _block_buffer_tail = block_buffer_tail;
+	uint16_t sdlen = 0;
+	while (_block_buffer_head != _block_buffer_tail)
+	{
+		sdlen += block_buffer[_block_buffer_tail].sdlen;
+	    _block_buffer_tail = (_block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);  
+	}
+	return sdlen;
+}

Firmware/planner.h

@@ -93,6 +93,8 @@ typedef struct {
   bool use_advance_lead;
   unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
 #endif
+
+  uint8_t sdlen;
 } block_t;
 
 #ifdef LIN_ADVANCE
@@ -111,12 +113,12 @@ void plan_init();
 // millimaters. Feed rate specifies the speed of the motion.
 
 #ifdef ENABLE_AUTO_BED_LEVELING
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen = 0);
 
 // Get the position applying the bed level matrix if enabled
 vector_3 plan_get_position();
 #else
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen = 0);
 //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING
 
@@ -217,3 +219,5 @@ extern uint8_t planner_queue_min();
 // Diagnostic function: Reset the minimum planner segments.
 extern void planner_queue_min_reset();
 #endif /* PLANNER_DIAGNOSTICS */
+
+extern uint16_t planner_calc_sd_length();

Firmware/stepper.cpp

@@ -32,9 +32,9 @@
 #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 
 //===========================================================================
@@ -45,6 +45,8 @@ bool x_min_endstop = false;
 bool x_max_endstop = false;
 bool y_min_endstop = false;
 bool y_max_endstop = false;
+bool z_min_endstop = false;
+bool z_max_endstop = false;
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
@@ -85,11 +87,7 @@ static bool old_y_max_endstop=false;
 static bool old_z_min_endstop=false;
 static bool old_z_max_endstop=false;
 
-#ifdef TMC2130_SG_HOMING_SW
-static bool check_endstops = false;
-#else
 static bool check_endstops = true;
-#endif
 
 static bool check_z_endstop = false;
 
@@ -431,12 +429,12 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-			#ifndef TMC2130_SG_HOMING_SW
+          #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				x_min_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
             if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -451,12 +449,12 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-			#ifndef TMC2130_SG_HOMING_SW
+          #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				x_max_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
             if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -475,12 +473,12 @@ void isr() {
     #endif
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-			#ifndef TMC2130_SG_HOMING_SW
+        #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -493,12 +491,12 @@ void isr() {
     else { // +direction
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-			#ifndef TMC2130_SG_HOMING_SW
+        #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
+			#ifndef TMC2130_SG_HOMING_SW_XY
 				y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
-			#else //TMC2130_SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW_XY
 				y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //TMC2130_SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW_XY
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -519,8 +517,8 @@ void isr() {
       count_direction[Z_AXIS]=-1;
       if(check_endstops && ! check_z_endstop)
       {
-        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+        #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
+          z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -540,8 +538,12 @@ void isr() {
       count_direction[Z_AXIS]=1;
       CHECK_ENDSTOPS
       {
-        #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
-          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
+        #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
+			#ifndef TMC2130_SG_HOMING_SW_Z
+				z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
+			#else //TMC2130_SG_HOMING_SW_Z
+				z_max_endstop = tmc2130_axis_stalled[Z_AXIS];
+			#endif //TMC2130_SG_HOMING_SW_Z
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
@@ -553,11 +555,11 @@ void isr() {
     }
 
     // Supporting stopping on a trigger of the Z-stop induction sensor, not only for the Z-minus movements.
-    #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
+    #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
     if(check_z_endstop) {
         // Check the Z min end-stop no matter what.
         // Good for searching for the center of an induction target.
-        bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+        z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
         if(z_min_endstop && old_z_min_endstop) {
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
           endstop_z_hit=true;
@@ -829,9 +831,9 @@ void clear_current_adv_vars() {
       
 void st_init()
 {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
   digipot_init(); //Initialize Digipot Motor Current
   microstep_init(); //Initialize Microstepping Pins
@@ -1042,7 +1044,7 @@ void st_synchronize()
 {
 	while(blocks_queued())
 	{
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		manage_heater();
 		// Vojtech: Don't disable motors inside the planner!
 		if (!tmc2130_update_sg())
@@ -1050,12 +1052,12 @@ void st_synchronize()
 			manage_inactivity(true);
 			lcd_update();
 		}
-#else //HAVE_TMC2130_DRIVERS
+#else //TMC2130
 		manage_heater();
 		// Vojtech: Don't disable motors inside the planner!
 		manage_inactivity(true);
 		lcd_update();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 	}
 }
 

Firmware/swi2c.cpp

@@ -0,0 +1,209 @@
+#include "uni_avr_rpi.h"
+
+#ifdef SWI2C
+#include "swi2c.h"
+
+#ifdef __AVR
+unsigned char swi2c_sda = 20; // SDA pin
+unsigned char swi2c_scl = 21; // SCL pin
+#endif //__AVR
+
+#ifdef __RPI
+unsigned char swi2c_sda = 2; // SDA pin
+unsigned char swi2c_scl = 3; // SCL pin
+#endif //__RPI
+
+unsigned char swi2c_cfg = 0xb1; // config
+//  bit0..3 = clock delay factor = 1 << 1 = 2 [us]
+//  bit4..7 = ack timeout factor = 1 << 11 = 2048 [cycles]
+
+#define SWI2C_SDA    swi2c_sda
+#define SWI2C_SCL    swi2c_scl
+#define SWI2C_RMSK   0x01 //read mask (bit0 = 1)
+#define SWI2C_WMSK   0x00 //write mask (bit0 = 0)
+#define SWI2C_ASHF   0x01 //address shift (<< 1)
+#define SWI2C_DMSK   0x7f //device address mask
+
+
+void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg)
+{
+	swi2c_sda = sda;
+	swi2c_scl = scl;
+	swi2c_cfg = cfg;
+	GPIO_OUT(SWI2C_SDA);
+	GPIO_OUT(SWI2C_SCL);
+	GPIO_SET(SWI2C_SDA);
+	GPIO_SET(SWI2C_SCL);
+	DELAY(1000);
+}
+
+void swi2c_start(int delay)
+{
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+}
+
+void swi2c_stop(int delay)
+{
+	GPIO_SET(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+}
+
+void swi2c_ack(int delay)
+{
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+}
+
+int swi2c_wait_ack(int delay, int ackto)
+{
+	GPIO_INP(SWI2C_SDA);
+	DELAY(delay);
+//	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SCL);
+//	DELAY(delay);
+	int ack = 0;
+	while (!(ack = !GPIO_GET(SWI2C_SDA)) && ackto--) DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_OUT(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	return ack;
+}
+
+unsigned char swi2c_read(int delay)
+{
+	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_INP(SWI2C_SDA);
+	unsigned char data = 0;
+	int bit; for (bit = 7; bit >= 0; bit--)
+	{
+		GPIO_SET(SWI2C_SCL);
+		DELAY(delay);
+		data |= GPIO_GET(SWI2C_SDA) << bit;
+		GPIO_CLR(SWI2C_SCL);
+		DELAY(delay);
+	}
+	GPIO_OUT(SWI2C_SDA);
+	return data;
+}
+
+void swi2c_write(int delay, unsigned char data)
+{
+	int bit; for (bit = 7; bit >= 0; bit--)
+	{
+		if (data & (1 << bit)) GPIO_SET(SWI2C_SDA);
+		else GPIO_CLR(SWI2C_SDA);
+		DELAY(delay);
+		GPIO_SET(SWI2C_SCL);
+		DELAY(delay);
+		GPIO_CLR(SWI2C_SCL);
+		DELAY(delay);
+	}
+}
+
+int swi2c_check(unsigned char dev_addr)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, (dev_addr & SWI2C_DMSK) << SWI2C_ASHF);
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_stop(delay);
+	return 1;
+}
+
+#ifdef SWI2C_A8 //8bit address
+
+int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	unsigned char byte = swi2c_read(delay);
+	swi2c_stop(delay);
+	if (pbyte) *pbyte = byte;
+	return 1;
+}
+
+int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, *pbyte);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	return 1;
+}
+
+#endif //SWI2C_A8
+
+#ifdef SWI2C_A16 //16bit address
+
+int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr >> 8);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	unsigned char byte = swi2c_read(delay);
+	swi2c_stop(delay);
+	if (pbyte) *pbyte = byte;
+	return 1;
+}
+
+int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr >> 8);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, *pbyte);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	return 1;
+}
+
+#endif //SWI2C_A16
+
+
+#endif //SWI2C

Firmware/swi2c.h

@@ -0,0 +1,22 @@
+#ifndef SWI2C_H
+#define SWI2C_H
+
+//initialize
+extern void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg);
+
+//check device address acknowledge
+extern int swi2c_check(unsigned char dev_addr);
+
+//read write functions - 8bit address (most i2c chips)
+#ifdef SWI2C_A8
+extern int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
+extern int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
+#endif //SWI2C_A8
+
+//read write functions - 16bit address (e.g. serial eeprom AT24C256)
+#ifdef SWI2C_A16
+extern int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
+extern int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
+#endif //SWI2C_A16
+
+#endif //SWI2C_H

Firmware/swspi.cpp

@@ -1,107 +1,93 @@
-#include "swspi.h"
-
-
-#ifdef SWSPI_RPI
-	#include <bcm2835.h>
-	#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT)
-	#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP)
-	#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH)
-	#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW)
-	#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)
-	#define DELAY(delay) usleep(delay)
-#endif //SWSPI_RPI
-
-#ifdef SWSPI_AVR
-	#include "Arduino.h"
-	#define GPIO_INP(gpio) pinMode(gpio, INPUT)
-	#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)
-	#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)
-	#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)
-	#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)
-	#define DELAY(delay) delayMicroseconds(delay)
-#endif //SWSPI_AVR
-
-#if (SWSPI_POL != 0)
-	#define SWSPI_SCK_UP GPIO_CLR(SWSPI_SCK)
-	#define SWSPI_SCK_DN GPIO_SET(SWSPI_SCK)
-#else
-	#define SWSPI_SCK_UP GPIO_SET(SWSPI_SCK)
-	#define SWSPI_SCK_DN GPIO_CLR(SWSPI_SCK)
-#endif
-
-
-void swspi_init()
-{
-	GPIO_INP(SWSPI_MISO);
-	GPIO_OUT(SWSPI_MOSI);
-	GPIO_OUT(SWSPI_SCK);
-	GPIO_OUT(SWSPI_CS);
-	GPIO_CLR(SWSPI_MOSI);
-	SWSPI_SCK_DN;
-	GPIO_SET(SWSPI_CS);
-}
-
-#if (SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_tx(unsigned char tx)
-{
-	GPIO_OUT(SWSPI_MOSI);
-	unsigned char i = 0; for (; i < 8; i++)
-	{
-		if (tx & 0x80) GPIO_SET(SWSPI_MOSI);
-		else GPIO_CLR(SWSPI_MOSI);
-	    DELAY(SWSPI_DEL);
-		SWSPI_SCK_UP;
-	    DELAY(SWSPI_DEL);
-		SWSPI_SCK_DN;
-		tx <<= 1;
-	}
-}
-
-unsigned char swspi_rx()
-{
-	GPIO_INP(SWSPI_MISO);
-	unsigned char rx = 0;
-	unsigned char i = 0; for (; i < 8; i++)
-	{
-		rx <<= 1;
-	    DELAY(SWSPI_DEL);
-		SWSPI_SCK_UP;
-	    DELAY(SWSPI_DEL);
-		rx |= GPIO_GET(SWSPI_MISO)?1:0;
-		SWSPI_SCK_DN;
-	}
-	return rx;
-}
-
-#else //(SWSPI_MOSI == SWSPI_MISO)
-
-unsigned char swspi_txrx(unsigned char tx)
-{
-	unsigned char rx = 0;
-	unsigned char i = 0; for (; i < 8; i++)
-	{
-		rx <<= 1;
-		if (tx & 0x80) GPIO_SET(SWSPI_MOSI);
-		else GPIO_CLR(SWSPI_MOSI);
-	    DELAY(SWSPI_DEL);
-		SWSPI_SCK_UP;
-	    DELAY(SWSPI_DEL);
-		rx |= GPIO_GET(SWSPI_MISO)?1:0;
-		SWSPI_SCK_DN;
-		tx <<= 1;
-	}
-	return rx;
-}
-
-#endif //(SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_start()
-{
-	GPIO_CLR(SWSPI_CS);
-}
-
-void swspi_stop()
-{
-	GPIO_SET(SWSPI_CS);
-}
+#include "uni_avr_rpi.h"
+
+#ifdef __SWSPI
+#include "swspi.h"
+
+#ifdef __RPI
+//#define swspi_miso	9
+#define swspi_miso	10
+#define swspi_mosi	10
+#define swspi_sck	11
+#define SWSPI_CS	7
+#endif //__RPI
+
+
+#define SWSPI_DEL	0x0f //delay mask (0-3. bit, delay = 1 << DEL [us])
+#define SWSPI_POL	0x10 //polarity mask (4. bit, 1=inverted)
+#define SWSPI_PHA	0x20 //phase mask (5. bit)
+#define SWSPI_DOR	0x40 //data order mask (6. bit, 0=MSB first, 1=LSB first)
+
+#define SWSPI_SCK_UP if (swspi_cfg & SWSPI_POL) GPIO_CLR(swspi_sck); else GPIO_SET(swspi_sck);
+#define SWSPI_SCK_DN if (swspi_cfg & SWSPI_POL) GPIO_SET(swspi_sck); else GPIO_CLR(swspi_sck);
+
+unsigned char swspi_miso = 0;
+unsigned char swspi_mosi = 0;
+unsigned char swspi_sck = 0;
+unsigned char swspi_cfg = 0;
+
+void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg)
+{
+	swspi_miso = miso;
+	swspi_mosi = mosi;
+	swspi_sck = sck;
+	swspi_cfg = cfg;
+	GPIO_INP(swspi_miso);
+	GPIO_OUT(swspi_mosi);
+	GPIO_OUT(swspi_sck);
+	GPIO_CLR(swspi_mosi);
+	SWSPI_SCK_DN;
+}
+
+void swspi_tx(unsigned char tx)
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		if (tx & 0x80) GPIO_SET(swspi_mosi);
+		else GPIO_CLR(swspi_mosi);
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		SWSPI_SCK_DN;
+		tx <<= 1;
+	}
+}
+
+unsigned char swspi_rx()
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
+	unsigned char rx = 0;
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		rx <<= 1;
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		rx |= GPIO_GET(swspi_miso)?1:0;
+		SWSPI_SCK_DN;
+	}
+	return rx;
+}
+
+unsigned char swspi_txrx(unsigned char tx)
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	unsigned char rx = 0;
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		rx <<= 1;
+		if (tx & 0x80) GPIO_SET(swspi_mosi);
+		else GPIO_CLR(swspi_mosi);
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		rx |= GPIO_GET(swspi_miso)?1:0;
+		SWSPI_SCK_DN;
+		tx <<= 1;
+	}
+	return rx;
+}
+
+#endif //__SWSPI

Firmware/swspi.h

@@ -1,56 +1,14 @@
-#ifndef SWSPI_H
-#define SWSPI_H
-
-
-//#define SWSPI_RPI
-#define SWSPI_AVR
-
-#ifdef SWSPI_RPI
-//#define SWSPI_MISO	9
-#define SWSPI_MISO	10
-#define SWSPI_MOSI	10
-#define SWSPI_SCK	11
-#define SWSPI_CS	7
-#endif //SWSPI_RPI
-
-#ifdef SWSPI_AVR
-#if (MOTHERBOARD == BOARD_EINY_0_3a)
-#define SWSPI_MISO	16 //RX2
-#define SWSPI_MOSI	16 //RX2
-#define SWSPI_SCK	17 //TX2
-#define SWSPI_CS	20 //SDA
-#endif //(MOTHERBOARD == BOARD_EINY_0_3a)
-#if (MOTHERBOARD == BOARD_EINY_0_4a)
-#define SWSPI_MISO	21 //PK0
-#define SWSPI_MOSI	21 //PK0
-#define SWSPI_SCK	62 //SCL
-#define SWSPI_CS	20 //SDA
-#endif //(MOTHERBOARD == BOARD_EINY_0_4a)
-#endif //SWSPI_AVR
-
-#define SWSPI_POL	1 //polarity
-#define SWSPI_PHA	0 //phase
-#define SWSPI_DOR	0 //data order
-#define SWSPI_DEL	2 //delay
-
-
-void swspi_init();
-
-#if (SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_tx(unsigned char tx);
-unsigned char swspi_rx();
-
-#else //(SWSPI_MOSI == SWSPI_MISO)
-
-#define swspi_tx swspi_txrx
-#define swspi_rx swspi_txrx
-unsigned char swspi_txrx(unsigned char tx);
-
-#endif //(SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_start();
-void swspi_stop();
-
-
-#endif //SWSPI_H
+// Software SPI
+#ifndef SWSPI_H
+#define SWSPI_H
+
+//initialize gpio
+extern void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg);
+//transmit and receive (full duplex mode)
+extern unsigned char swspi_txrx(unsigned char tx);
+//transmit (half dublex mode, miso == mosi)
+extern void swspi_tx(unsigned char tx);
+//receive (half dublex mode, miso == mosi)
+extern unsigned char swspi_rx();
+
+#endif //SWSPI_H

Firmware/temperature.cpp

@@ -45,6 +45,17 @@ int target_temperature[EXTRUDERS] = { 0 };
 int target_temperature_bed = 0;
 int current_temperature_raw[EXTRUDERS] = { 0 };
 float current_temperature[EXTRUDERS] = { 0.0 };
+
+#ifdef PINDA_THERMISTOR
+int current_temperature_raw_pinda =  0 ;
+float current_temperature_pinda = 0.0;
+#endif //PINDA_THERMISTOR
+
+#ifdef AMBIENT_THERMISTOR
+int current_temperature_raw_ambient =  0 ;
+float current_temperature_ambient = 0.0;
+#endif //AMBIENT_THERMISTOR
+
 int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0.0;
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
@@ -75,8 +86,13 @@ float current_temperature_bed = 0.0;
   unsigned char fanSpeedSoftPwm;
 #endif
 
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+  unsigned char lcdSoftPwm = (LCD_PWM_MAX * 2 + 1); //set default value to maximum
+  unsigned char lcdBlinkDelay = 0; //lcd blinking delay (0 = no blink)
+#endif
+
 unsigned char soft_pwm_bed;
-  
+
 #ifdef BABYSTEPPING
   volatile int babystepsTodo[3]={0,0,0};
 #endif
@@ -129,6 +145,12 @@ static volatile bool temp_meas_ready = false;
   static unsigned long extruder_autofan_last_check;
 #endif  
 
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+  static unsigned char soft_pwm_lcd = 0;
+  static unsigned char lcd_blink_delay = 0;
+  static bool lcd_blink_on = false;
+#endif
+
 #if EXTRUDERS > 3
   # error Unsupported number of extruders
 #elif EXTRUDERS > 2
@@ -161,6 +183,7 @@ static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
 
 static float analog2temp(int raw, uint8_t e);
 static float analog2tempBed(int raw);
+static float analog2tempAmbient(int raw);
 static void updateTemperaturesFromRawValues();
 
 enum TempRunawayStates
@@ -845,6 +868,27 @@ static float analog2tempBed(int raw) {
   #endif
 }
 
+static float analog2tempAmbient(int raw)
+{
+    float celsius = 0;
+    byte i;
+
+    for (i=1; i<AMBIENTTEMPTABLE_LEN; i++)
+    {
+      if (PGM_RD_W(AMBIENTTEMPTABLE[i][0]) > raw)
+      {
+        celsius  = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]) + 
+          (raw - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0])) * 
+          (float)(PGM_RD_W(AMBIENTTEMPTABLE[i][1]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][1])) /
+          (float)(PGM_RD_W(AMBIENTTEMPTABLE[i][0]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0]));
+        break;
+      }
+    }
+    // Overflow: Set to last value in the table
+    if (i == AMBIENTTEMPTABLE_LEN) celsius = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]);
+    return celsius;
+}
+
 /* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
     and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */
 static void updateTemperaturesFromRawValues()
@@ -853,7 +897,15 @@ static void updateTemperaturesFromRawValues()
     {
         current_temperature[e] = analog2temp(current_temperature_raw[e], e);
     }
-    
+
+#ifdef PINDA_THERMISTOR
+	current_temperature_pinda = analog2tempBed(current_temperature_raw_pinda); //thermistor for pinda is the same as for bed
+#endif
+
+#ifdef AMBIENT_THERMISTOR
+	current_temperature_ambient = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
+#endif
+   
 	current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
 
     #ifdef TEMP_SENSOR_1_AS_REDUNDANT
@@ -942,7 +994,12 @@ void tp_init()
     #ifdef FAN_SOFT_PWM
     soft_pwm_fan = fanSpeedSoftPwm / 2;
     #endif
-  #endif  
+	#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+    soft_pwm_lcd = lcdSoftPwm / 2;
+	lcd_blink_delay = lcdBlinkDelay;
+    lcd_blink_on = true;
+    #endif
+  #endif
 
   #ifdef HEATER_0_USES_MAX6675
     #ifndef SDSUPPORT
@@ -1469,7 +1526,9 @@ ISR(TIMER0_COMPB_vect)
   static unsigned long raw_temp_1_value = 0;
   static unsigned long raw_temp_2_value = 0;
   static unsigned long raw_temp_bed_value = 0;
-  static unsigned char temp_state = 10;
+  static unsigned long raw_temp_pinda_value = 0;
+  static unsigned long raw_temp_ambient_value = 0;
+  static unsigned char temp_state = 14;
   static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
   static unsigned char soft_pwm_0;
 #ifdef SLOW_PWM_HEATERS
@@ -1507,15 +1566,16 @@ ISR(TIMER0_COMPB_vect)
   /*
    * standard PWM modulation
    */
-  if(pwm_count == 0){
+  if (pwm_count == 0)
+  {
     soft_pwm_0 = soft_pwm[0];
-    if(soft_pwm_0 > 0) { 
+    if(soft_pwm_0 > 0)
+	{ 
       WRITE(HEATER_0_PIN,1);
 #ifdef HEATERS_PARALLEL
       WRITE(HEATER_1_PIN,1);
 #endif
     } else WRITE(HEATER_0_PIN,0);
-    
 #if EXTRUDERS > 1
     soft_pwm_1 = soft_pwm[1];
     if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0);
@@ -1533,12 +1593,35 @@ ISR(TIMER0_COMPB_vect)
     if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0);
 #endif
   }
-  if(soft_pwm_0 < pwm_count) { 
+  if(soft_pwm_0 < pwm_count)
+  { 
     WRITE(HEATER_0_PIN,0);
 #ifdef HEATERS_PARALLEL
     WRITE(HEATER_1_PIN,0);
 #endif
   }
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+	if ((pwm_count & LCD_PWM_MAX) == 0)
+	{
+		if (lcd_blink_delay)
+		{
+			lcd_blink_delay--;
+			if (lcd_blink_delay == 0)
+			{
+				lcd_blink_delay = lcdBlinkDelay;
+				lcd_blink_on = !lcd_blink_on;
+			}
+		}
+		else
+		{
+			lcd_blink_delay = lcdBlinkDelay;
+			lcd_blink_on = true;
+		}
+		soft_pwm_lcd = (lcd_blink_on) ? (lcdSoftPwm / 2) : 0;
+		if (soft_pwm_lcd > 0) WRITE(LCD_PWM_PIN,1); else WRITE(LCD_PWM_PIN,0);
+	}
+#endif
+
 #if EXTRUDERS > 1
   if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0);
 #endif
@@ -1551,10 +1634,13 @@ ISR(TIMER0_COMPB_vect)
 #ifdef FAN_SOFT_PWM
   if(soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0);
 #endif
+#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
+  if (soft_pwm_lcd < (pwm_count & LCD_PWM_MAX)) WRITE(LCD_PWM_PIN,0);
+#endif
   
   pwm_count += (1 << SOFT_PWM_SCALE);
   pwm_count &= 0x7f;
-  
+
 #else //ifndef SLOW_PWM_HEATERS
   /*
    * SLOW PWM HEATERS
@@ -1742,7 +1828,7 @@ ISR(TIMER0_COMPB_vect)
   }
   if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0);
 #endif
-  
+
   pwm_count += (1 << SOFT_PWM_SCALE);
   pwm_count &= 0x7f;
   
@@ -1872,7 +1958,7 @@ ISR(TIMER0_COMPB_vect)
      temp_state = 9; 
      break; 
     case 9:   //Measure FILWIDTH 
-     #if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1) 
+     #if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1)
      //raw_filwidth_value += ADC;  //remove to use an IIR filter approach 
       if(ADC>102)  //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
         {
@@ -1880,14 +1966,53 @@ ISR(TIMER0_COMPB_vect)
         
         raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7);  //add new ADC reading 
         }
-     #endif 
-     temp_state = 0;   
+     #endif
+      temp_state = 10;
+      break;
+    case 10: // Prepare TEMP_AMBIENT
+      #if defined(TEMP_AMBIENT_PIN) && (TEMP_AMBIENT_PIN > -1)
+        #if TEMP_AMBIENT_PIN > 7
+          ADCSRB = 1<<MUX5;
+        #else
+          ADCSRB = 0;
+        #endif
+        ADMUX = ((1 << REFS0) | (TEMP_AMBIENT_PIN & 0x07));
+        ADCSRA |= 1<<ADSC; // Start conversion
+      #endif
+      lcd_buttons_update();
+      temp_state = 11;
+      break;
+    case 11: // Measure TEMP_AMBIENT
+      #if defined(TEMP_AMBIENT_PIN) && (TEMP_AMBIENT_PIN > -1)
+        raw_temp_ambient_value += ADC;
+      #endif
+      temp_state = 12;
+      break;
+    case 12: // Prepare TEMP_PINDA
+      #if defined(TEMP_PINDA_PIN) && (TEMP_PINDA_PIN > -1)
+        #if TEMP_PINDA_PIN > 7
+          ADCSRB = 1<<MUX5;
+        #else
+          ADCSRB = 0;
+        #endif
+        ADMUX = ((1 << REFS0) | (TEMP_PINDA_PIN & 0x07));
+        ADCSRA |= 1<<ADSC; // Start conversion
+      #endif
+      lcd_buttons_update();
+      temp_state = 13;
+      break;
+    case 13: // Measure TEMP_PINDA
+      #if defined(TEMP_PINDA_PIN) && (TEMP_PINDA_PIN > -1)
+        raw_temp_pinda_value += ADC;
+      #endif
+
+	 temp_state = 0;   
       
      temp_count++;
      break;      
       
       
-    case 10: //Startup, delay initial temp reading a tiny bit so the hardware can settle.
+    case 14: //Startup, delay initial temp reading a tiny bit so the hardware can settle.
       temp_state = 0;
       break;
 //    default:
@@ -1900,17 +2025,23 @@ ISR(TIMER0_COMPB_vect)
   {
     if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading.
     {
-      current_temperature_raw[0] = raw_temp_0_value;
+		current_temperature_raw[0] = raw_temp_0_value;
 #if EXTRUDERS > 1
-      current_temperature_raw[1] = raw_temp_1_value;
+		current_temperature_raw[1] = raw_temp_1_value;
 #endif
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
-      redundant_temperature_raw = raw_temp_1_value;
+		redundant_temperature_raw = raw_temp_1_value;
 #endif
 #if EXTRUDERS > 2
-      current_temperature_raw[2] = raw_temp_2_value;
-#endif
-      current_temperature_bed_raw = raw_temp_bed_value;
+		current_temperature_raw[2] = raw_temp_2_value;
+#endif
+#ifdef PINDA_THERMISTOR
+		current_temperature_raw_pinda = raw_temp_pinda_value;
+#endif //PINDA_THERMISTOR
+#ifdef AMBIENT_THERMISTOR
+		current_temperature_raw_ambient = raw_temp_ambient_value;
+#endif //AMBIENT_THERMISTOR
+		current_temperature_bed_raw = raw_temp_bed_value;
     }
 
 //Add similar code for Filament Sensor - can be read any time since IIR filtering is used 
@@ -1925,6 +2056,8 @@ ISR(TIMER0_COMPB_vect)
     raw_temp_1_value = 0;
     raw_temp_2_value = 0;
     raw_temp_bed_value = 0;
+	raw_temp_pinda_value = 0;
+	raw_temp_ambient_value = 0;
 
 #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
     if(current_temperature_raw[0] <= maxttemp_raw[0]) {

Firmware/temperature.h

@@ -49,6 +49,17 @@ extern float current_temperature[EXTRUDERS];
 #endif
 extern int target_temperature_bed;
 extern float current_temperature_bed;
+
+#ifdef PINDA_THERMISTOR
+//extern int current_temperature_raw_pinda;
+extern float current_temperature_pinda;
+#endif
+
+#ifdef AMBIENT_THERMISTOR
+//extern int current_temperature_raw_ambient;
+extern float current_temperature_ambient;
+#endif
+
 #ifdef TEMP_SENSOR_1_AS_REDUNDANT
   extern float redundant_temperature;
 #endif

Firmware/thermistortables.h

@@ -1211,6 +1211,47 @@ const short temptable_1047[][2] PROGMEM = {
 };
 #endif
 
+#if (THERMISTORAMBIENT == 2000) //100k thermistor NTCG104LH104JT1
+const short temptable_2000[][2] PROGMEM = {
+// Source: https://product.tdk.com/info/en/catalog/datasheets/503021/tpd_ntc-thermistor_ntcg_en.pdf
+// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
+{305*OVERSAMPLENR, 125},
+{338*OVERSAMPLENR, 120},
+{374*OVERSAMPLENR, 115},
+{412*OVERSAMPLENR, 110},
+{452*OVERSAMPLENR, 105},
+{494*OVERSAMPLENR, 100},
+{536*OVERSAMPLENR, 95},
+{580*OVERSAMPLENR, 90},
+{623*OVERSAMPLENR, 85},
+{665*OVERSAMPLENR, 80},
+{706*OVERSAMPLENR, 75},
+{744*OVERSAMPLENR, 70},
+{780*OVERSAMPLENR, 65},
+{813*OVERSAMPLENR, 60},
+{843*OVERSAMPLENR, 55},
+{869*OVERSAMPLENR, 50},
+{892*OVERSAMPLENR, 45},
+{912*OVERSAMPLENR, 40},
+{929*OVERSAMPLENR, 35},
+{943*OVERSAMPLENR, 30},
+{955*OVERSAMPLENR, 25},
+{965*OVERSAMPLENR, 20},
+{973*OVERSAMPLENR, 15},
+{979*OVERSAMPLENR, 10},
+{984*OVERSAMPLENR, 5},
+{988*OVERSAMPLENR, 0},
+{991*OVERSAMPLENR, -5},
+{993*OVERSAMPLENR, -10},
+{995*OVERSAMPLENR, -15},
+{996*OVERSAMPLENR, -20},
+{997*OVERSAMPLENR, -25},
+{998*OVERSAMPLENR, -30},
+{999*OVERSAMPLENR, -35},
+{999*OVERSAMPLENR, -40},
+};
+#endif
+
 #define _TT_NAME(_N) temptable_ ## _N
 #define TT_NAME(_N) _TT_NAME(_N)
 
@@ -1292,6 +1333,11 @@ const short temptable_1047[][2] PROGMEM = {
 # endif // BED_USES_THERMISTOR
 #endif
 
+#ifdef THERMISTORAMBIENT
+# define AMBIENTTEMPTABLE TT_NAME(THERMISTORAMBIENT)
+# define AMBIENTTEMPTABLE_LEN (sizeof(AMBIENTTEMPTABLE)/sizeof(*AMBIENTTEMPTABLE))
+#endif
+
 //Set the high and low raw values for the heater, this indicates which raw value is a high or low temperature
 #ifndef HEATER_BED_RAW_HI_TEMP
 # ifdef BED_USES_THERMISTOR   //In case of a thermistor the highest temperature results in the lowest ADC value

Firmware/tmc2130.cpp

@@ -1,16 +1,23 @@
 #include "Marlin.h"
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 
 #include "tmc2130.h"
 #include <SPI.h>
 
+#define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
+#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
+#define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
+
 //externals for debuging
 extern float current_position[4];
 extern void st_get_position_xy(long &x, long &y);
+extern long st_get_position(uint8_t axis);
 
 //chipselect pins
 uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
+//diag pins
+uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
 //mode
 uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
 //holding currents
@@ -18,24 +25,23 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
 //running currents
 uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
 //axis stalled flags
-uint8_t tmc2130_axis_stalled[2] = {0, 0};
-//last homing stalled
-uint8_t tmc2130_LastHomingStalled = 0;
+uint8_t tmc2130_axis_stalled[3] = {0, 0, 0};
 
 //pwm_ampl
-uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY};
+uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
 //pwm_grad
-uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_XY, TMC2130_PWM_GRAD_XY};
+uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y};
 //pwm_auto
-uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY};
+uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
 //pwm_freq
-uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY};
+uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
+
 
+uint8_t tmc2131_axis_sg_thr[3] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z};
+
+uint32_t tmc2131_axis_sg_pos[3] = {0, 0, 0};
 
 uint8_t sg_homing_axes_mask = 0x00;
-uint8_t sg_homing_delay = 0;
-uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
-uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
 
 bool skip_debug_msg = false;
 
@@ -74,7 +80,8 @@ bool skip_debug_msg = false;
 
 
 uint16_t tmc2130_rd_TSTEP(uint8_t cs);
-uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
+uint16_t tmc2130_rd_MSCNT(uint8_t cs);
+uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs);
 
 void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
 void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
@@ -102,6 +109,10 @@ void tmc2130_init()
 	SET_OUTPUT(Y_TMC2130_CS);
 	SET_OUTPUT(Z_TMC2130_CS);
 	SET_OUTPUT(E0_TMC2130_CS);
+	SET_INPUT(X_TMC2130_DIAG);
+	SET_INPUT(Y_TMC2130_DIAG);
+	SET_INPUT(Z_TMC2130_DIAG);
+	SET_INPUT(E0_TMC2130_DIAG);
 	SPI.begin();
 	for (int i = 0; i < 2; i++) // X Y axes
 	{
@@ -109,7 +120,8 @@ void tmc2130_init()
 		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
 		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
 		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
 		tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
 		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
 		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
@@ -128,7 +140,7 @@ void tmc2130_init()
 			tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
 		}
 		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
 	}
 	for (int i = 3; i < 4; i++) // E axis
 	{
@@ -140,13 +152,43 @@ void tmc2130_init()
 	}
 }
 
+void tmc2130_update_sg_axis(uint8_t axis)
+{
+	if (!tmc2130_axis_stalled[axis])
+	{
+		uint8_t cs = tmc2130_cs[axis];
+		uint16_t tstep = tmc2130_rd_TSTEP(cs);
+		if (tstep < TMC2130_TCOOLTHRS)
+		{
+			long pos = st_get_position(axis);
+			if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
+			{
+				uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
+				if (sg == 0)
+					tmc2130_axis_stalled[axis] = true;
+			}
+		}
+	}
+}
+
 bool tmc2130_update_sg()
 {
-#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW))
+#ifdef TMC2130_SG_HOMING_SW_XY
+	if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
+	if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
+#endif //TMC2130_SG_HOMING_SW_XY
+#ifdef TMC2130_SG_HOMING_SW_Z
+	if (sg_homing_axes_mask & Z_AXIS_MASK) tmc2130_update_sg_axis(Z_AXIS);
+#endif //TMC2130_SG_HOMING_SW_Z
+#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW_XY))
 	if (sg_homing_axes_mask == 0) return false;
 #ifdef TMC2130_DEBUG
 	MYSERIAL.print("tmc2130_update_sg mask=0x");
-	MYSERIAL.println((int)sg_homing_axes_mask, 16);
+	MYSERIAL.print((int)sg_homing_axes_mask, 16);
+	MYSERIAL.print(" stalledX=");
+	MYSERIAL.print((int)tmc2130_axis_stalled[0]);
+	MYSERIAL.print(" stalledY=");
+	MYSERIAL.println((int)tmc2130_axis_stalled[1]);
 #endif //TMC2130_DEBUG
 	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
 	{
@@ -159,64 +201,26 @@ bool tmc2130_update_sg()
 				uint16_t tstep = tmc2130_rd_TSTEP(cs);
 				if (tstep < TMC2130_TCOOLTHRS)
 				{
-					if(sg_homing_delay < TMC2130_SG_DELAY) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
-						sg_homing_delay++;
-					else
+					long pos = st_get_position(axis);
+					if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
 					{
 						uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
-						if (sg==0)
+						if (sg == 0)
 						{
 							tmc2130_axis_stalled[axis] = true;
-							tmc2130_LastHomingStalled = true;
+#ifdef TMC2130_DEBUG
+	MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
+	MYSERIAL.println((int)axis);
+#endif //TMC2130_DEBUG
 						}
-//						else
-//							tmc2130_axis_stalled[axis] = false;
 					}
 				}
-//				else
-//					tmc2130_axis_stalled[axis] = false;
 			}
 		}
 	}
 	return true;
-//	else
-//	{
-//		tmc2130_axis_stalled[X_AXIS] = false;
-//		tmc2130_axis_stalled[Y_AXIS] = false;
-//	}
 #endif
-}
-
-void tmc2130_check_overtemp()
-{
-	const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
-	uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
-	static uint32_t checktime = 0;
-	//drivers_disabled[0] = 1; //TEST
-	if( millis() - checktime > 1000 )
-	{
-		//SERIAL_ECHOLNPGM("drv_status:");
-		for(int i=0;i<4;i++)
-		{
-			uint32_t drv_status = 0;
-
-			skip_debug_msg = true;
-
-			tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
-			//MYSERIAL.print(drv_status);
-			//SERIAL_ECHOPGM(" ");
-			if (drv_status & ((uint32_t)1<<26))
-			{ // BIT 26 - over temp prewarning ~120C (+-20C)
-				SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
-				SERIAL_ECHOLN(i);
-				for(int i=0; i < 4; i++)
-					tmc2130_wr(tmc2130_cs[i], TMC2130_REG_CHOPCONF, 0x00010000);
-				kill(TMC_OVERTEMP_MSG);
-			}
-		}
-		//SERIAL_ECHOLNPGM("");
-		checktime = millis();
-	}
+	return false;
 }
 
 void tmc2130_home_enter(uint8_t axes_mask)
@@ -226,22 +230,23 @@ void tmc2130_home_enter(uint8_t axes_mask)
 	MYSERIAL.println((int)axes_mask, 16);
 #endif //TMC2130_DEBUG
 #ifdef TMC2130_SG_HOMING
-	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
+	for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
 	{
 		uint8_t mask = (X_AXIS_MASK << axis);
+		uint8_t cs = tmc2130_cs[axis];
 		if (axes_mask & mask)
 		{
-			uint8_t cs = tmc2130_cs[axis];
 			sg_homing_axes_mask |= mask;
-			sg_homing_delay = 0;
+			tmc2131_axis_sg_pos[axis] = st_get_position(axis);
 			tmc2130_axis_stalled[axis] = false;
 			//Configuration to spreadCycle
-			tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000);
-			tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16);
+			tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
+			tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((unsigned long)tmc2131_axis_sg_thr[axis]) << 16);
 			tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
-#ifndef TMC2130_SG_HOMING_SW
-			tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000080); //stallguard output to DIAG0
-#endif //TMC2130_SG_HOMING_SW
+#ifndef TMC2130_SG_HOMING_SW_XY
+			if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
+				tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
+#endif //TMC2130_SG_HOMING_SW_XY
 		}
 	}
 #endif //TMC2130_SG_HOMING
@@ -256,27 +261,55 @@ void tmc2130_home_exit()
 #ifdef TMC2130_SG_HOMING
 	if (sg_homing_axes_mask)
 	{
-		for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
+		for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
 		{
 			uint8_t mask = (X_AXIS_MASK << axis);
-			if (sg_homing_axes_mask & mask)
+			if (sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK))
 			{
 				if (tmc2130_mode == TMC2130_MODE_SILENT)
-					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000004); // Configuration back to stealthChop
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
 				else
-					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000000);
+#ifdef TMC2130_SG_HOMING_SW_XY
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
+#else //TMC2130_SG_HOMING_SW_XY
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#endif //TMC2130_SG_HOMING_SW_XY
 			}
+			tmc2130_axis_stalled[axis] = false;
 		}
 		sg_homing_axes_mask = 0x00;
 	}
 #endif
 }
 
-uint8_t tmc2130_didLastHomingStall()
+void tmc2130_home_restart(uint8_t axis)
 {
-	uint8_t ret = tmc2130_LastHomingStalled;
-	tmc2130_LastHomingStalled = false;
-	return ret;
+	tmc2131_axis_sg_pos[axis] = st_get_position(axis);
+	tmc2130_axis_stalled[axis] = false;
+}
+
+void tmc2130_check_overtemp()
+{
+	const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
+	static uint32_t checktime = 0;
+	if (millis() - checktime > 1000 )
+	{
+		for (int i = 0; i < 4; i++)
+		{
+			uint32_t drv_status = 0;
+			skip_debug_msg = true;
+			tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
+			if (drv_status & ((uint32_t)1 << 26))
+			{ // BIT 26 - over temp prewarning ~120C (+-20C)
+				SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
+				SERIAL_ECHOLN(i);
+				for (int j = 0; j < 4; j++)
+					tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
+				kill(TMC_OVERTEMP_MSG);
+			}
+		}
+		checktime = millis();
+	}
 }
 
 void tmc2130_set_current_h(uint8_t axis, uint8_t current)
@@ -285,7 +318,6 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_h[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -296,7 +328,6 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_r[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -353,6 +384,13 @@ uint16_t tmc2130_rd_TSTEP(uint8_t cs)
 	return val32 & 0xffff;
 }
 
+uint16_t tmc2130_rd_MSCNT(uint8_t cs)
+{
+	uint32_t val32 = 0;
+	tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32);
+	return val32 & 0x3ff;
+}
+
 uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
 {
 	uint32_t val32 = 0;
@@ -406,7 +444,7 @@ void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
 	tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
 }
 
-
+#if defined(TMC2130_DEBUG_RD) || defined(TMC2130_DEBUG_WR)
 uint8_t tmc2130_axis_by_cs(uint8_t cs)
 {
 	switch (cs)
@@ -418,6 +456,7 @@ uint8_t tmc2130_axis_by_cs(uint8_t cs)
 	}
 	return -1;
 }
+#endif //TMC2130_DEBUG
 
 uint8_t tmc2130_mres(uint16_t microstep_resolution)
 {
@@ -498,4 +537,4 @@ uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
 	return stat;
 }
 
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130

Firmware/tmc2130.h

@@ -1,18 +1,17 @@
 #ifndef TMC2130_H
 #define TMC2130_H
 
+extern uint8_t tmc2130_cs[4];
+
 //mode
 extern uint8_t tmc2130_mode;
 //holding and running currents
 extern uint8_t tmc2130_current_h[4];
 extern uint8_t tmc2130_current_r[4];
 //flags for axis stall detection
-extern uint8_t tmc2130_axis_stalled[2];
-
-extern uint8_t sg_thrs_x;
-extern uint8_t sg_thrs_y;
+extern uint8_t tmc2130_axis_stalled[3];
 
-extern uint8_t sg_homing_delay;
+extern uint8_t tmc2131_axis_sg_thr[3];
 
 #define TMC2130_MODE_NORMAL 0
 #define TMC2130_MODE_SILENT 1
@@ -24,11 +23,11 @@ extern bool tmc2130_update_sg();
 //temperature watching (called from )
 extern void tmc2130_check_overtemp();
 //enter homing (called from homeaxis before homing starts)
-extern void tmc2130_home_enter(uint8_t axis);
+extern void tmc2130_home_enter(uint8_t axes_mask);
 //exit homing (called from homeaxis after homing ends)
 extern void tmc2130_home_exit();
-//
-extern uint8_t tmc2130_didLastHomingStall();
+//restart homing (called from homeaxis befor move)
+extern void tmc2130_home_restart(uint8_t axis);
 
 //set holding current for any axis (M911)
 extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
@@ -43,4 +42,7 @@ extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
 extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
 
 
+extern uint16_t tmc2130_rd_MSCNT(uint8_t cs);
+
+
 #endif //TMC2130_H

Firmware/ultralcd.cpp

@@ -14,11 +14,14 @@
 //#include "Configuration.h"
 
 #include "SdFatUtil.h"
+
+#ifdef PAT9125
 #include "pat9125.h"
+#endif //PAT9125
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 #define _STRINGIFY(s) #s
 
@@ -949,6 +952,24 @@ static void lcd_menu_extruder_info()
     }
 }
 
+static void lcd_menu_temperatures()
+{
+    lcd.setCursor(1, 1);
+    lcd.print("Ambient: ");
+    lcd.setCursor(12, 1);
+    lcd.print(ftostr31ns(current_temperature_ambient));
+	lcd.print(LCD_STR_DEGREE);
+    lcd.setCursor(1, 2);
+    lcd.print("PINDA: ");
+    lcd.setCursor(12, 2);
+    lcd.print(ftostr31ns(current_temperature_pinda));
+	lcd.print(LCD_STR_DEGREE);
+    if (lcd_clicked())
+    {
+        lcd_quick_feedback();
+        lcd_return_to_status();
+    }
+}
 
 static void lcd_preheat_menu()
 {
@@ -1023,6 +1044,7 @@ static void lcd_support_menu()
   MENU_ITEM(function, PSTR("XYZ cal. details"), lcd_service_mode_show_result);
     }
   MENU_ITEM(submenu, MSG_INFO_EXTRUDER, lcd_menu_extruder_info);
+  MENU_ITEM(submenu, PSTR("Temperatures"), lcd_menu_temperatures);
   #endif //MK1BP
   END_MENU();
 }
@@ -2487,10 +2509,10 @@ static void lcd_fsensor_state_set()
 static void lcd_silent_mode_set() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
   digipot_init();
   lcd_goto_menu(lcd_settings_menu, 7);
 }
@@ -3944,10 +3966,10 @@ static void lcd_autostart_sd()
 static void lcd_silent_mode_set_tune() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
   digipot_init();
   lcd_goto_menu(lcd_tune_menu, 9);
 }
@@ -4373,9 +4395,8 @@ static void lcd_selftest()
 
 	if (_result)
 	{
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
-		sg_homing_delay = 0;
 		enable_endstops(false);
 #endif
 		current_position[X_AXIS] = current_position[X_AXIS] + 14;
@@ -4437,10 +4458,8 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 	current_position[axis] = 0;
 	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_home_exit();
-	sg_homing_delay = 0;
-	tmc2130_axis_stalled[axis] = false;
 	enable_endstops(true);
 #endif
 
@@ -4450,7 +4469,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 		SERIAL_ECHOPGM("Current position 2:");
 		MYSERIAL.println(current_position[axis]);*/
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 
@@ -4460,8 +4479,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 
 		st_synchronize();
 
-#ifdef HAVE_TMC2130_DRIVERS
-		sg_homing_delay = 0;
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
 		//current_position[axis] = st_get_position_mm(axis);
@@ -4475,12 +4493,11 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 			st_synchronize();
 			current_position[axis] += axis_length;
 			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 			st_synchronize();
-#ifdef HAVE_TMC2130_DRIVERS
-			sg_homing_delay = 0;
+#ifdef TMC2130
 			tmc2130_home_exit();
 #endif
 			//current_position[axis] = st_get_position_mm(axis);
@@ -4495,8 +4512,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 
 		if (abs(measured_axis_length[i] - axis_length) > max_error_mm) {
 			//axis length
-#ifdef HAVE_TMC2130_DRIVERS
-			sg_homing_delay = 0;
+#ifdef TMC2130
 			tmc2130_home_exit();
 			enable_endstops(false);
 #endif
@@ -4576,7 +4592,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 			}
 			_stepdone = true;
 		}
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
 
@@ -4658,8 +4674,8 @@ static bool lcd_selfcheck_pulleys(int axis)
 			//if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents
 			//else digipot_current(0, tmp_motor_loud[0]); //set motor current back			
 			current_position[axis] = current_position[axis] - move;
-#ifdef HAVE_TMC2130_DRIVERS
-			tmc2130_home_enter(axis);
+#ifdef TMC2130
+			tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
 			
@@ -4668,7 +4684,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 				lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
 				return(false);
 			}
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_exit();
 #endif
 		}
@@ -4677,7 +4693,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 		manage_inactivity(true);
 		while (!endstop_triggered) {
 			if ((x_min_endstop) || (y_min_endstop)) {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 				tmc2130_home_exit();
 #endif
 				endstop_triggered = true;
@@ -4701,15 +4717,15 @@ static bool lcd_selfcheck_pulleys(int axis)
 				}
 			}
 			else {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 				tmc2130_home_exit();
 #endif
 				//current_position[axis] -= 1;
 				current_position[axis] += 50;
 				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 				current_position[axis] -= 100;
-#ifdef HAVE_TMC2130_DRIVERS
-				tmc2130_home_enter(axis);
+#ifdef TMC2130
+				tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 				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();

Firmware/ultralcd_implementation_hitachi_HD44780.h

@@ -734,7 +734,23 @@ static void lcd_implementation_status_screen()
       planner_queue_min_reset();
     }
 #endif
+	bool print_sd_status = true;
 	
+#ifdef PINDA_THERMISTOR
+//	if (farm_mode && (custom_message_type == 4))
+	if (false)
+	{
+		lcd.setCursor(0, 2);
+		lcd_printPGM(PSTR("P"));
+		lcd.print(ftostr3(current_temperature_pinda));
+		lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
+		print_sd_status = false;
+	}
+#endif //PINDA_THERMISTOR
+
+
+if (print_sd_status)
+{
     //Print SD status
     lcd.setCursor(0, 2);
 	if (is_usb_printing)
@@ -762,7 +778,8 @@ static void lcd_implementation_status_screen()
 			lcd.print('%');
 		}
 	}
-    
+}
+
 	// Farm number display
 	if (farm_mode)
 	{

Firmware/uni_avr_rpi.h

@@ -0,0 +1,31 @@
+// unification for AVR and RPI
+#define __AVR
+
+#ifdef __AVR
+	//#include "Arduino.h"
+	#include "Marlin.h"
+	#define GPIO_INP(gpio) pinMode(gpio, INPUT)
+	#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)
+	#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)
+	#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)
+	#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)
+	#define DELAY(delay) delayMicroseconds(delay)
+	#define PRINT MYSERIAL.print
+#endif //RC522_AVR
+
+#ifdef __RPI
+	#include <bcm2835.h>
+	#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT)
+	#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP)
+	#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH)
+	#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW)
+	#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)
+	#include <unistd.h>
+	#define DELAY(delay) usleep(delay)
+	#define PRINT(p) print(p)
+	#define DEC 10
+	#define HEX 16
+	void print(const char* pc) { printf("%s", pc); }
+	void print(int v) { printf("%d", v); }
+	void print(float v) { printf("%f", v); }
+#endif //RC522_RPI

Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h

@@ -16,7 +16,6 @@
 #define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
 
 // Electronics
-//#define MOTHERBOARD BOARD_EINY_0_4a
 #define MOTHERBOARD BOARD_EINY_0_3a
 
 
@@ -33,7 +32,7 @@
 
 // Steps per unit {X,Y,Z,E}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280} //Extruder motor changed back to 200step type
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -49,7 +48,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define X_MAX_POS 255
 #define X_MIN_POS 0
 #define Y_MAX_POS 210
-#define Y_MIN_POS -4
+#define Y_MIN_POS -12 //orig -4
 #define Z_MAX_POS 210
 #define Z_MIN_POS 0.15
 
@@ -67,11 +66,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
-
-#define DEFAULT_ACCELERATION          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
+#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 //#define MAX_SILENT_FEEDRATE           2700   // 
@@ -80,11 +78,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //DEBUG
 #if 0
+#define DEBUG_DCODES //D codes
+#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
-#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
 //#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
 //#define DEBUG_BLINK_ACTIVE
 #endif
@@ -97,15 +104,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
 #define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E    16        // microstep resolution for E axis
+#define TMC2130_USTEPS_E    32        // microstep resolution for E axis (increased from 16 to 32)
 #define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
 #define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
 #define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
 
-#define TMC2130_PWM_GRAD_XY 15         // PWMCONF
-#define TMC2130_PWM_AMPL_XY 200       // PWMCONF
-#define TMC2130_PWM_AUTO_XY 1         // PWMCONF
-#define TMC2130_PWM_FREQ_XY 2         // PWMCONF
+#define TMC2130_PWM_GRAD_X  4         // PWMCONF
+#define TMC2130_PWM_AMPL_X  200       // PWMCONF
+#define TMC2130_PWM_AUTO_X  1         // PWMCONF
+#define TMC2130_PWM_FREQ_X  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_Y  4         // PWMCONF
+#define TMC2130_PWM_AMPL_Y  210       // PWMCONF
+#define TMC2130_PWM_AUTO_Y  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
 /* //not used
 #define TMC2130_PWM_GRAD_Z  4         // PWMCONF
@@ -118,26 +130,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
 */
 
-//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
 
-#define TMC2130_TPWMTHRS 0          // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
-#define TMC2130_THIGH 0             // THIGH - unused
+#define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
+#define TMC2130_THIGH     0         // THIGH - unused
 
 #define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
 
-#define TMC2130_SG_HOMING     1     // stallguard homing
-#define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
-#define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
-#define TMC2130_SG_DELAY     10     // stallguard delay (temporary solution)
+#define TMC2130_SG_HOMING       1     // stallguard homing
+//#define TMC2130_SG_HOMING_SW_XY  1    // stallguard "software" homing for XY axes
+#define TMC2130_SG_HOMING_SW_Z  1     // stallguard "software" homing for Z axis
+#define TMC2130_SG_THRS_X       0     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       0     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Z       2     // stallguard sensitivity for Z axis
+#define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
-//new settings is possible for vsense = 1
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
+#define TMC2130_CURRENTS_R {13, 18, 20, 22}  // default running currents for all axes
 
-#define TMC2130_DEBUG
+//#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
 //#define TMC2130_DEBUG_RD
 
@@ -254,7 +268,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
 
 // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
-#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
+#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
 #define MOTOR_CURRENT_PWM_RANGE 2000
 #define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
 #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
@@ -426,6 +440,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #else
 #define TEMP_SENSOR_BED 1
 #endif
+#define TEMP_SENSOR_PINDA 1
+#define TEMP_SENSOR_AMBIENT 2000
 
 #define STACK_GUARD_TEST_VALUE 0xA2A2
 
@@ -464,4 +480,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
+#define UVLO_Z_AXIS_SHIFT 2
+
 #endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h

@@ -17,7 +17,6 @@
 
 // Electronics
 #define MOTHERBOARD BOARD_EINY_0_4a
-//#define MOTHERBOARD BOARD_EINY_0_3a
 
 
 // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
@@ -33,7 +32,7 @@
 
 // Steps per unit {X,Y,Z,E}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280*4}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280} //Extruder motor changed back to 200step type
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -42,14 +41,14 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 // Home position
 #define MANUAL_X_HOME_POS 0
-#define MANUAL_Y_HOME_POS -13
+#define MANUAL_Y_HOME_POS -2.2
 #define MANUAL_Z_HOME_POS 0.2
 
 // Travel limits after homing
 #define X_MAX_POS 255
 #define X_MIN_POS 0
 #define Y_MAX_POS 210
-#define Y_MIN_POS -13
+#define Y_MIN_POS -12 //orig -4
 #define Z_MAX_POS 210
 #define Z_MIN_POS 0.15
 
@@ -67,11 +66,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
-
-#define DEFAULT_ACCELERATION          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
+#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
 
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 //#define MAX_SILENT_FEEDRATE           2700   // 
@@ -80,11 +78,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //DEBUG
 #if 0
+#define DEBUG_DCODES //D codes
+#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
-#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
 //#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
 //#define DEBUG_BLINK_ACTIVE
 #endif
@@ -97,15 +104,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
 #define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E    64        // microstep resolution for E axis
+#define TMC2130_USTEPS_E    32        // microstep resolution for E axis (increased from 16 to 32)
 #define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
 #define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
 #define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
 
-#define TMC2130_PWM_GRAD_XY 15         // PWMCONF
-#define TMC2130_PWM_AMPL_XY 200       // PWMCONF
-#define TMC2130_PWM_AUTO_XY 1         // PWMCONF
-#define TMC2130_PWM_FREQ_XY 2         // PWMCONF
+#define TMC2130_PWM_GRAD_X  4         // PWMCONF
+#define TMC2130_PWM_AMPL_X  200       // PWMCONF
+#define TMC2130_PWM_AUTO_X  1         // PWMCONF
+#define TMC2130_PWM_FREQ_X  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_Y  4         // PWMCONF
+#define TMC2130_PWM_AMPL_Y  210       // PWMCONF
+#define TMC2130_PWM_AUTO_Y  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
 /* //not used
 #define TMC2130_PWM_GRAD_Z  4         // PWMCONF
@@ -118,28 +130,30 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
 */
 
-//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
 
-#define TMC2130_TPWMTHRS 0          // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
-#define TMC2130_THIGH 0             // THIGH - unused
+#define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
+#define TMC2130_THIGH     0         // THIGH - unused
 
 #define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
 
-#define TMC2130_SG_HOMING     1     // stallguard homing
-#define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
-#define TMC2130_SG_THRS_X    40     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y    40     // stallguard sensitivity for Y axis
-#define TMC2130_SG_DELAY     10     // stallguard delay (temporary solution)
+#define TMC2130_SG_HOMING       1     // stallguard homing
+//#define TMC2130_SG_HOMING_SW_XY  1    // stallguard "software" homing for XY axes
+#define TMC2130_SG_HOMING_SW_Z  1     // stallguard "software" homing for Z axis
+#define TMC2130_SG_THRS_X       0     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       0     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Z       2     // stallguard sensitivity for Z axis
+#define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
-//new settings is possible for vsense = 1
-#define TMC2130_CURRENTS_H {15, 15, 20, 28}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {15, 15, 40, 28}  // default running currents for all axes
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
+#define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {13, 18, 20, 22}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
-#define TMC2130_DEBUG_RD
+//#define TMC2130_DEBUG_RD
 
 
 /*------------------------------------
@@ -254,7 +268,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
 
 // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
-#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
+#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
 #define MOTOR_CURRENT_PWM_RANGE 2000
 #define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
 #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
@@ -273,7 +287,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Mesh definitions
 #define MESH_MIN_X 35
 #define MESH_MAX_X 238
-#define MESH_MIN_Y 8
+#define MESH_MIN_Y 6
 #define MESH_MAX_Y 202
 
 // Mesh upsample definition
@@ -287,7 +301,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
 
 #define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
-#define Y_PROBE_OFFSET_FROM_EXTRUDER 8     // Z probe to nozzle Y offset: -front +behind
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 9     // Z probe to nozzle Y offset: -front +behind
 #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
 #endif
 
@@ -426,6 +440,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #else
 #define TEMP_SENSOR_BED 1
 #endif
+#define TEMP_SENSOR_PINDA 1
+#define TEMP_SENSOR_AMBIENT 2000
 
 #define STACK_GUARD_TEST_VALUE 0xA2A2
 
@@ -464,7 +480,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
-
 #define UVLO_Z_AXIS_SHIFT 2
 
 #endif //__CONFIGURATION_PRUSA_H