Merge remote-tracking branch 'origin/Marlin_v1' into Marlin_v1

Conflicts: Marlin/Configuration.h Marlin/EEPROMwrite.h Marlin/Marlin.h Marlin/Marlin.pde Marlin/temperature.cpp Marlin/temperature.h Marlin/thermistortables.h
2011-11-05 20:03:38 +01:00 · 2011-11-05 20:03:38 +01:00 · 04d3b5537f
parent d15f01e1b4 ea86a5e10f
commit 04d3b5537f
33 changed files with 11273 additions and 11073 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -54,9 +54,8 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 // Comment out (using // at the start of the line) to disable SD support:

 // #define ULTRA_LCD  //any lcd 
-#define LCD_WIDTH 16
-#define LCD_HEIGHT 2

+#define ULTIPANEL
 #define ULTIPANEL
 #ifdef ULTIPANEL
 //#define NEWPANEL  //enable this if you have a click-encoder panel
@ -64,6 +63,11 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 #define ULTRA_LCD
 #define LCD_WIDTH 20
 #define LCD_HEIGHT 4
+#else //no panel but just lcd 
+  #ifdef ULTRA_LCD
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2
+  #endif
 #endif


@ -169,25 +173,46 @@ const int dropsegments=5; //everything with this number of steps  will be ignore
 //#define_HEATER_1_MAXTEMP 275
 //#define BED_MAXTEMP 150

+
+
+
+
+
+
+#define PIDTEMP
+#ifdef PIDTEMP
  /// PID settings:
  // Uncomment the following line to enable PID support.
  //#define SMOOTHING
  //#define SMOOTHFACTOR 5.0
  //float current_raw_average=0;
-
-#define PIDTEMP
-#ifdef PIDTEMP
+    #define K1 0.95 //smoothing of the PID
  //#define PID_DEBUG // Sends debug data to the serial port. 
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
  #define PID_MAX 255 // limits current to nozzle
  #define PID_INTEGRAL_DRIVE_MAX 255
-#define PID_dT 0.10 // 100ms sample time
-#define DEFAULT_Kp 20.0
-#define DEFAULT_Ki 1.5*PID_dT
-#define DEFAULT_Kd 80/PID_dT
-#define DEFAULT_Kc 0
-#endif // PIDTEMP
+  #define PID_dT 0.1
+ //machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47

+  #define PID_CRITIAL_GAIN 3000
+  #define PID_SWING_AT_CRITIAL 45 //seconds
+  #define PIDIADD 5
+  /*
+  //PID according to Ziegler-Nichols method
+  float Kp = 0.6*PID_CRITIAL_GAIN; 
+  float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;  
+  float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;  
+  */
+  //PI according to Ziegler-Nichols method
+  #define  DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) 
+  #define  DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
+  #define  DEFAULT_Kd (0)
+  
+  #define PID_ADD_EXTRUSION_RATE  
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
+  #endif
+#endif // PIDTEMP

 // extruder advance constant (s2/mm3)
 //
@ -208,6 +233,7 @@ const int dropsegments=5; //everything with this number of steps  will be ignore

 #endif // ADVANCE

+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32 
 #if defined SDSUPPORT
 // The number of linear motions that can be in the plan at any give time.  
  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
@ -215,8 +241,5 @@ const int dropsegments=5; //everything with this number of steps  will be ignore
  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
 #endif

-#ifdef SIMPLE_LCD
-  #define BLOCK_BUFFER_SIZE 16 // A little less buffer for just a simple LCD
-#endif

 #endif
--- a/Marlin/EEPROMwrite.h
+++ b/Marlin/EEPROMwrite.h
@ -1,13 +1,17 @@
-
+#ifndef __EEPROMH
+#define __EEPROMH
 #include "planner.h"
 #include "temperature.h"
+#include <EEPROM.h>
+#include "Marlin.h"
+#include "streaming.h"

 //======================================================================================
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
 {
    const byte* p = (const byte*)(const void*)&value;
    int i;
-    for (i = 0; i < sizeof(value); i++)
+    for (i = 0; i < (int)sizeof(value); i++)
 	  EEPROM.write(ee++, *p++);
    return i;
 }
@ -16,7 +20,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 {
    byte* p = (byte*)(void*)&value;
    int i;
-    for (i = 0; i < sizeof(value); i++)
+    for (i = 0; i < (int)sizeof(value); i++)
 	  *p++ = EEPROM.read(ee++);
    return i;
 }
@ -120,4 +124,6 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
  
 }  

+#endif
+

--- a/Marlin/Makefile
+++ b/Marlin/Makefile
@ -1,274 +1,320 @@
+TARGET = $(notdir $(CURDIR))
+# CHANGE BELOW:
+#~ INSTALL_DIR = /Applications/Arduino.app/Contents/Resources/Java
+INSTALL_DIR = /home/bkubicek/software/arduino-0022
+#~ PORT = /dev/cu.usbserial*
+PORT = /dev/ttyACM0
+
+# Get these values from:
+#     $(INSTALL_DIR)/hardware/boards.txt
+#     (arduino-0022/hardware/arduino/boards.txt)
+# The values below are for the "Arduino Duemilanove or Nano w/ ATmega328"
+# now for "Arduino Mega 2560"
+UPLOAD_SPEED = 115200
+UPLOAD_PROTOCOL = stk500v2
+BUILD_MCU = atmega2560
+BUILD_F_CPU = 16000000L
+
+# getting undefined reference to `__cxa_pure_virtual'
+#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
+#~ http://www.arduino.cc/playground/OpenBSD/CLI
+#~ [http://arduino.cc/forum/index.php?topic=52041.0 A "simple" makefile for Arduino]
+#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1275488191 Arduino Forum - Configuring avr-gcc options in arduino IDE]
+# found in /usr/lib/gcc/avr/4.3.5/cc1plus; fixed with -Wl,--gc-section
+
+############################################################################
+# Below here nothing should be changed...
+
+ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
 #
-# Arduino 0022 Makefile 
-# Uno with DOGS102 Shield
-#
-# written by olikraus@gmail.com
-#
-# Features:
-#   - boards.txt is used to derive parameters
-#   - All intermediate files are put into a separate directory (TMPDIRNAME)
-#   - Simple use: Copy Makefile into the same directory of the .pde file
-#
-# Limitations:
-#   - requires UNIX environment
-#   - TMPDIRNAME must be subdirectory of the current directory.
-#
-# Targets
-# 	all		build everything
-#	upload	build and upload to arduino
-#	clean	remove all temporary files (includes final hex file)
-#
-# History
-#	001	28 Apr 2010	first  release
-#	002  05 Oct 2010	added 'uno'
+#~ AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
+# in Ubuntu, avr-gcc is installed separate;
+# only avrdude comes with the IDE
+AVR_TOOLS_PATH = /usr/bin
+AVR_DUDE_PATH = $(INSTALL_DIR)/hardware/tools
 #
+SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
+    $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
+    $(ARDUINO)/wiring_pulse.c \
+    $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
+# added applet/$(TARGET).cpp as in IDE 0022
+CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
+    $(ARDUINO)/Print.cpp \
+    $(ARDUINO)/main.cpp
+#    applet/$(TARGET).cpp # no need, having a rule now for applet/$(TARGET).cpp.o
+# added main.cpp, as in 0022
+FORMAT = ihex

-#=== user configuration ===
-# All ...PATH variables must have a '/' at the end
+# Name of this Makefile (used for "make depend").
+MAKEFILE = Makefile

-# Board (and prozessor) information: see $(ARDUINO_PATH)hardware/arduino/boards.txt
-# Some examples:
-#	BOARD		DESCRIPTION
-#	uno			Arduino Uno
-#	atmega328	Arduino Duemilanove or Nano w/ ATmega328
-#	diecimila		Arduino Diecimila, Duemilanove, or Nano w/ ATmega168
-#	mega		Arduino Mega
-#	mini			Arduino Mini
-#	lilypad328	LilyPad Arduino w/ ATmega328  
-BOARD:=mega
+# Debugging format.
+# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
+# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
+DEBUG = stabs

-# additional (comma separated) defines 
-# -DDOGM128_HW		board is connected to DOGM128 display
-# -DDOGM132_HW		board is connected to DOGM132 display
-# -DDOGS102_HW		board is connected to DOGS102 display
-# -DDOG_REVERSE		180 degree rotation
-# -DDOG_SPI_SW_ARDUINO	force SW shiftOut
-DEFS=-DDOGS102_HW -DDOG_DOUBLE_MEMORY -DDOG_SPI_SW_ARDUINO
+OPT = 2

-# The location where the avr tools (e.g. avr-gcc) are located. Requires a '/' at the end.
-# Can be empty if all tools are accessable through the search path
-AVR_TOOLS_PATH:=/usr/bin/
+# Place -D or -U options here
+#~ CDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
+#~ CXXDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
+# now called DF_CPU
+CDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
+CXXDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22

-# Install path of the arduino software. Requires a '/' at the end.
-ARDUINO_PATH:=/home/bkubicek/software/arduino-0022/
+# Place -I options here
+CINCS = -I$(ARDUINO) -I$(INSTALL_DIR)/libraries/LiquidCrystal/ -I$(INSTALL_DIR)/libraries/EEPROM/
+CXXINCS = -I$(ARDUINO)

-# Install path for avrdude. Requires a '/' at the end. Can be empty if avrdude is in the search path.
-AVRDUDE_PATH:= 
+# Compiler flag to set the C Standard level.
+# c89 - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99 - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+CDEBUG = -g$(DEBUG)
+# note that typically, IDE 0022 uses -w to suppress warnings (both in cpp and c)!
+CWARN = -Wall
+#~ CWARN = -w
+#  "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++:
+CCWARN = -Wstrict-prototypes
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)

-# The unix device where we can reach the arduino board
-# Uno: /dev/ttyACM0
-# Duemilanove: /dev/ttyUSB0
-AVRDUDE_PORT:=/dev/ttyACM0
+# to eliminate pins_ardiuno warnings:
+# http://arduino.cc/pipermail/developers_arduino.cc/2010-December/004005.html

-# List of all libaries which should be included.
-#EXTRA_DIRS=$(ARDUINO_PATH)libraries/LiquidCrystal/
-#EXTRA_DIRS+=$(ARDUINO_PATH)libraries/Dogm/
-#EXTRA_DIRS+=/home/kraus/src/arduino/dogm128/hg/libraries/Dogm/
+# [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
+#~ For building the objects files "-ffunction-sections -fdata-sections" was missing
+#~ and the final avr-gcc call needs "-Wl,--gc-section".
+CXSECTF = -fno-exceptions -ffunction-sections -fdata-sections
+CFINALF = -Wl,--gc-section

-#=== fetch parameter from boards.txt processor parameter ===
-# the basic idea is to get most of the information from boards.txt
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CCWARN) $(CSTANDARD) $(CEXTRA)
+# added CWARN also to .cpp
+CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CXSECTF)
+#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
+LDFLAGS = -lm

-BOARDS_TXT:=$(ARDUINO_PATH)hardware/arduino/boards.txt
+# Programming support using avrdude. Settings and variables.
+AVRDUDE_PORT = $(PORT)
+AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
+AVRDUDE_FLAGS = -V -F \
+    -p $(BUILD_MCU) -P $(AVRDUDE_PORT) -c $(UPLOAD_PROTOCOL) \
+    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avrdude.conf
+#    -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf

-# get the MCU value from the $(BOARD).build.mcu variable. For the atmega328 board this is atmega328p
-MCU:=$(shell sed -n -e "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_TXT))
-# get the F_CPU value from the $(BOARD).build.f_cpu variable. For the atmega328 board this is 16000000
-F_CPU:=$(shell sed -n -e "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_TXT))
+# Program settings
+CC = $(AVR_TOOLS_PATH)/avr-gcc
+CXX = $(AVR_TOOLS_PATH)/avr-g++
+OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
+OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
+AR = $(AVR_TOOLS_PATH)/avr-ar
+SIZE = $(AVR_TOOLS_PATH)/avr-size
+NM = $(AVR_TOOLS_PATH)/avr-nm
+#~ AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
+AVRDUDE = $(AVR_DUDE_PATH)/avrdude
+REMOVE = rm -f
+MV = mv -f

-# avrdude
-# get the AVRDUDE_UPLOAD_RATE value from the $(BOARD).upload.speed variable. For the atmega328 board this is 57600
-AVRDUDE_UPLOAD_RATE:=$(shell sed -n -e "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_TXT))
-# get the AVRDUDE_PROGRAMMER value from the $(BOARD).upload.protocol variable. For the atmega328 board this is stk500
-# AVRDUDE_PROGRAMMER:=$(shell sed -n -e "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_TXT))
-# use stk500v1, because stk500 will default to stk500v2
-AVRDUDE_PROGRAMMER:=stk500v1
+# Define all object files.
+# NOTE: obj files will be created in respective src directories (libraries or $(INSTALL_DIR));
+#  make clean deletes them fine
+# note that srcs are in libraries or other directories;
+# $(CXXSRC:.cpp=.o) will cause obj files to be in same loc as src files
+#~ OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
+# to change the output directory for object files;
+# must change the obj list here!
+# and then, match to corresponding rule somehow?
+# or leave this - and parse in rule (auth automatic variable $(@F))?
+# "Suffix Replacement"
+OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)

-#=== identify user files ===
-PDESRC:=$(shell ls *.pde)
-TARGETNAME=$(basename $(PDESRC))
+# added - OBJ list, transformed into applet/
+OBJT = $(addprefix applet/,$(notdir $(OBJ)))
+ALLSRC = $(SRC) $(CXXSRC) $(ASRC)

-CDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS))
-CDIRS:=*.c utility/*.c $(addsuffix *.c,$(CDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.c
-CSRC:=$(shell ls $(CDIRS) 2>/dev/null)
+# Define all listing files.
+LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)

-CCSRC:=$(shell ls *.cc 2>/dev/null)
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(BUILD_MCU) -I. $(CFLAGS)
+ALL_CXXFLAGS = -mmcu=$(BUILD_MCU) -I. $(CXXFLAGS)
+ALL_ASFLAGS = -mmcu=$(BUILD_MCU) -I. -x assembler-with-cpp $(ASFLAGS)

-CPPDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS))
-CPPDIRS:=*.cpp utility/*.cpp $(addsuffix *.cpp,$(CPPDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.cpp 
-CPPSRC:=$(shell ls $(CPPDIRS) 2>/dev/null)
+# depended libraries of .pde need to be added from
+# $(INSTALL_DIR)/libraries (TODO: and/or ~/sketchbook/libraries)
+# grep for 'include', test if exists, add...
+# note: prefix "a real tab character" http://www.delorie.com/djgpp/doc/ug/larger/makefiles.html
+# $$ to escape $ for shell;
+# note: must NOT put comments # inside bash execution;
+# those would get removed by make; making shell see "EOF in backquote substitution"
+#		 echo $$ix ; \
+# 'shell' twice - for each subprocess! Backtick doesn't get expanded?
+GREPRES:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
+		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
+			LINCS="$$LINCS -I$(INSTALL_DIR)/libraries/$$ix" ;\
+		fi; \
+	done; \
+	echo $$LINCS)
+# append includes:
+CINCS += $(GREPRES)
+CXXINCS += $(GREPRES)
+# append library source .cpp files too (CXXSRC)
+GREPRESB:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
+		if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
+			CPPSRCS="$$CPPSRCS $(INSTALL_DIR)/libraries/$$ix/*.cpp" ;\
+		fi; \
+	done; \
+	echo $$CPPSRCS)
+CXXSRC += $(GREPRESB)
+# added - only CXX obj from libraries:
+CXXLIBOBJ = $(GREPRESB:.cpp=.o)

-#=== build internal variables ===
+# Default target.
+all: applet_files build sizeafter

-# the name of the subdirectory where everything is stored
-TMPDIRNAME:=tmp
-TMPDIRPATH:=$(TMPDIRNAME)/
+build: elf hex

-AVRTOOLSPATH:=$(AVR_TOOLS_PATH)
-
-OBJCOPY:=$(AVRTOOLSPATH)avr-objcopy
-OBJDUMP:=$(AVRTOOLSPATH)avr-objdump
-SIZE:=$(AVRTOOLSPATH)avr-size
-
-CPPSRC:=$(addprefix $(TMPDIRPATH),$(PDESRC:.pde=.cpp)) $(CPPSRC)
-
-COBJ:=$(CSRC:.c=.o)
-CCOBJ:=$(CCSRC:.cc=.o)
-CPPOBJ:=$(CPPSRC:.cpp=.o)
-
-OBJFILES:=$(COBJ)  $(CCOBJ)  $(CPPOBJ)
-DIRS:= $(dir $(OBJFILES))
-
-DEPFILES:=$(OBJFILES:.o=.d)
-# assembler files from avr-gcc -S
-ASSFILES:=$(OBJFILES:.o=.s)
-# disassembled object files with avr-objdump -S
-DISFILES:=$(OBJFILES:.o=.dis)
+applet_files: $(TARGET).pde
+    # Here is the "preprocessing".
+    # It creates a .cpp file based with the same name as the .pde file.
+    # On top of the new .cpp file comes the WProgram.h header.
+    # At the end there is a generic main() function attached.
+    # Then the .cpp file will be compiled. Errors during compile will
+    # refer to this new, automatically generated, file.
+    # Not the original .pde file you actually edit...
+	test -d applet || mkdir applet
+    # @ supresses printout of the cmdline itself; so only the out of echo is printed
+	@echo ALL OBJT: $(OBJT)
+	@echo ALL CXXLIBOBJ: $(CXXLIBOBJ)
+#	echo '#include "WProgram.h"' > applet/$(TARGET).cpp
+	@echo "#include \"WProgram.h\"\nvoid setup();\nvoid loop();\n" > applet/$(TARGET).cpp
+	cat $(TARGET).pde >> applet/$(TARGET).cpp
+    # no more need to cat main.cpp (v0022) - now it is compiled in
+#	cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp


-LIBNAME:=$(TMPDIRPATH)$(TARGETNAME).a
-ELFNAME:=$(TMPDIRPATH)$(TARGETNAME).elf
-HEXNAME:=$(TMPDIRPATH)$(TARGETNAME).hex
-
-AVRDUDE_FLAGS = -V -F
-AVRDUDE_FLAGS += -C $(ARDUINO_PATH)/hardware/tools/avrdude.conf 
-AVRDUDE_FLAGS += -p $(MCU)
-AVRDUDE_FLAGS += -P $(AVRDUDE_PORT)
-AVRDUDE_FLAGS += -c $(AVRDUDE_PROGRAMMER) 
-AVRDUDE_FLAGS += -b $(AVRDUDE_UPLOAD_RATE)
-AVRDUDE_FLAGS += -U flash:w:$(HEXNAME)
-
-AVRDUDE = avrdude
-
-#=== predefined variable override ===
-# use "make -p -f/dev/null" to see the default rules and definitions
-
-# Build C and C++ flags. Include path information must be placed here
-COMMON_FLAGS = -DF_CPU=$(F_CPU) -mmcu=$(MCU) $(DEFS)
-# COMMON_FLAGS += -gdwarf-2
-COMMON_FLAGS += -Os
-COMMON_FLAGS += -Wall -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-COMMON_FLAGS += -I. 
-COMMON_FLAGS += -I$(ARDUINO_PATH)hardware/arduino/cores/arduino
-COMMON_FLAGS += $(addprefix -I,$(EXTRA_DIRS))
-COMMON_FLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections
-COMMON_FLAGS += -Wl,--relax
-COMMON_FLAGS += -mcall-prologues
-
-CFLAGS = $(COMMON_FLAGS) -std=gnu99 -Wstrict-prototypes  
-CXXFLAGS = $(COMMON_FLAGS) 
-
-# Replace standard build tools by avr tools
-CC = $(AVRTOOLSPATH)avr-gcc
-CXX = $(AVRTOOLSPATH)avr-g++
-AR  = @$(AVRTOOLSPATH)avr-ar
-
-
-# "rm" must be able to delete a directory tree
-RM = rm -rf 
-
-#=== rules ===
-
-# add rules for the C/C++ files where the .o file is placed in the TMPDIRPATH
-# reuse existing variables as far as possible
-
-$(TMPDIRPATH)%.o: %.c
-	@echo compile $<
-	@$(COMPILE.c) $(OUTPUT_OPTION) $<
-
-$(TMPDIRPATH)%.o: %.cc
-	@echo compile $< 
-	@$(COMPILE.cc) $(OUTPUT_OPTION) $<
-
-$(TMPDIRPATH)%.o: %.cpp
-	@echo compile $<
-	@$(COMPILE.cpp) $(OUTPUT_OPTION) $<
-
-$(TMPDIRPATH)%.s: %.c
-	@$(COMPILE.c) $(OUTPUT_OPTION) -S $<
-
-$(TMPDIRPATH)%.s: %.cc
-	@$(COMPILE.cc) $(OUTPUT_OPTION) -S $<
-
-$(TMPDIRPATH)%.s: %.cpp
-	@$(COMPILE.cpp) $(OUTPUT_OPTION) -S $<
-
-$(TMPDIRPATH)%.dis: $(TMPDIRPATH)%.o
-	@$(OBJDUMP) -S $< > $@
-
-.SUFFIXES: .elf .hex .pde
-
-.elf.hex:
-	@$(OBJCOPY) -O ihex -R .eeprom $< $@
-	
-$(TMPDIRPATH)%.cpp: %.pde
-	@cat $(ARDUINO_PATH)hardware/arduino/cores/arduino/main.cpp > $@
-	@cat $< >> $@
-	@echo >> $@
-	@echo 'extern "C" void __cxa_pure_virtual() { while (1); }' >> $@
-
-
-.PHONY: all
-all: tmpdir $(HEXNAME) assemblersource showsize
-	ls -al $(HEXNAME) $(ELFNAME)
-
-$(ELFNAME): $(LIBNAME)($(addprefix $(TMPDIRPATH),$(OBJFILES))) 
-	$(LINK.o) $(COMMON_FLAGS) $(LIBNAME) $(LOADLIBES) $(LDLIBS) -o $@
-
-$(LIBNAME)(): $(addprefix $(TMPDIRPATH),$(OBJFILES))
-
-#=== create temp directory ===
-# not really required, because it will be also created during the dependency handling
-.PHONY: tmpdir
-tmpdir:
-	@test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH)
-
-#=== create assembler files for each C/C++ file ===
-.PHONY: assemblersource
-assemblersource: $(addprefix $(TMPDIRPATH),$(ASSFILES)) $(addprefix $(TMPDIRPATH),$(DISFILES))
-
-
-#=== show the section sizes of the ELF file ===
-.PHONY: showsize
-showsize: $(ELFNAME)
-	$(SIZE) $<
-
-#=== clean up target ===
-# this is simple: the TMPDIRPATH is removed
-.PHONY: clean
-clean:
-	$(RM) $(TMPDIRPATH)
+elf: applet/$(TARGET).elf
+hex: applet/$(TARGET).hex
+eep: applet/$(TARGET).eep
+lss: applet/$(TARGET).lss
+sym: applet/$(TARGET).sym

 # Program the device.
-# step 1: reset the arduino board with the stty command
-# step 2: user avrdude to upload the software
-.PHONY: upload
-upload: $(HEXNAME)
-	stty -F $(AVRDUDE_PORT) hupcl
-	$(AVRDUDE) $(AVRDUDE_FLAGS)
+upload: applet/$(TARGET).hex
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)

+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
+ELFSIZE = $(SIZE) applet/$(TARGET).elf
+sizebefore:
+	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi

-# === dependency handling ===
-# From the gnu make manual (section 4.14, Generating Prerequisites Automatically)
-# Additionally (because this will be the first executed rule) TMPDIRPATH is created here.
-# Instead of "sed" the "echo" command is used
-# cd $(TMPDIRPATH); mkdir -p $(DIRS) 2> /dev/null; cd ..
-DEPACTION=test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH);\
-mkdir -p $(addprefix $(TMPDIRPATH),$(DIRS));\
-set -e; echo -n $@ $(dir $@) > $@; $(CC) -MM $(COMMON_FLAGS) $< >> $@
+sizeafter:
+	@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi

+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT=$(OBJCOPY) --debugging \
+    --change-section-address .data-0x800000 \
+    --change-section-address .bss-0x800000 \
+    --change-section-address .noinit-0x800000 \
+    --change-section-address .eeprom-0x810000

-$(TMPDIRPATH)%.d: %.c
-	@$(DEPACTION)
+coff: applet/$(TARGET).elf
+	$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof

-$(TMPDIRPATH)%.d: %.cc
-	@$(DEPACTION)
+extcoff: $(TARGET).elf
+	$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof

+.SUFFIXES: .elf .hex .eep .lss .sym

-$(TMPDIRPATH)%.d: %.cpp
-	@$(DEPACTION)
+.elf.hex:
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

-# Include dependency files. If a .d file is missing, a warning is created and the .d file is created
-# This warning is not a problem (gnu make manual, section 3.3 Including Other Makefiles)
-include $(addprefix $(TMPDIRPATH),$(DEPFILES))
+.elf.eep:
+    -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+    --change-section-lma .eeprom=0 -O $(FORMAT) $< $@

+# Create extended listing file from ELF output file.
+.elf.lss:
+	$(OBJDUMP) -h -S $< > $@

+# Create a symbol table from ELF output file.
+.elf.sym:
+	$(NM) -n $< > $@
+
+# Link: create ELF output file from library.
+# NOTE: applet/$(TARGET).cpp.o MUST BE BEFORE applet/core.a
+#  in the dependency list, so its rule runs first!
+applet/$(TARGET).elf: $(TARGET).pde applet/$(TARGET).cpp.o applet/core.a
+#	$(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
+# changed as in IDE v0022: link cpp obj files
+	@echo $$(tput bold)$$(tput setaf 2) $(CC) $$(tput sgr0) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
+	@$(CC) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
+
+# added: cpp.o depends on cpp (and .pde which generates it)
+# $< "first item in the dependencies list"; $@ "left side of the :"; $^ "right side of the :"
+# http://www.cs.colby.edu/maxwell/courses/tutorials/maketutor/
+applet/$(TARGET).cpp.o: applet/$(TARGET).cpp
+	@echo $$(tput bold) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $< -o $@
+	@$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
+
+#~ applet/core.a: $(OBJ)
+#~	 @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
+
+applet/core.a: $(OBJT)
+	 @for i in $(OBJT); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
+
+# iterate through OBJ to find the original location; then build depending on source extension
+# TODO: add handling of assembler files
+applet/%.o:
+	@for iob in $(OBJ); do \
+		if [ "`basename $$iob`" = "`basename $@`" ]; then \
+			for ios in $(ALLSRC); do \
+				if [ "$${iob%%.*}" = "$${ios%%.*}" ]; then \
+					case $${ios##*.} in \
+						"cpp") \
+							echo "$$(tput bold)$$(tput setaf 1) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $$ios -o $@"; \
+							$(CXX) -c $(ALL_CXXFLAGS) $$ios -o $@;; \
+						"c") \
+							echo "$$(tput bold)$$(tput setaf 1) $(CC) $$(tput sgr0) -c $(ALL_CFLAGS) $$ios -o $@"; \
+							$(CC) -c $(ALL_CFLAGS) $$ios -o $@;; \
+					esac; \
+				fi; \
+			done; \
+		fi; \
+	done;
+
+#~ # Compile: create object files from C++ source files.
+#~ .cpp.o:
+#~	 $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
+
+#~ # Compile: create object files from C source files.
+#~ .c.o:
+#~	 $(CC) -c $(ALL_CFLAGS) $< -o $@
+
+#~ # Compile: create assembler files from C source files.
+#~ .c.s:
+#~	 $(CC) -S $(ALL_CFLAGS) $< -o $@
+
+#~ # Assemble: create object files from assembler source files.
+#~ .S.o:
+#~	 $(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+#~ # Automatic dependencies
+#~ %.d: %.c
+#~	 $(CC) -M $(ALL_CFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
+
+#~ %.d: %.cpp
+#~	 $(CXX) -M $(ALL_CXXFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
+
+# Target: clean project.
+clean:
+	$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
+        applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
+        $(OBJT) applet/$(TARGET).cpp.o \
+        $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
+
+.PHONY: all build elf hex eep lss sym program coff extcoff clean applet_files sizebefore sizeafter
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -68,7 +68,7 @@ void kill();
 //void st_wake_up();
 //void st_synchronize();
 void enquecommand(const char *cmd);
-void wd_reset();
+

 #ifndef CRITICAL_SECTION_START
 #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
@ -78,6 +78,5 @@ void wd_reset();
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];

-void manage_inactivity(byte debug);
-
+void wd_reset() ;
 #endif
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@ -25,7 +25,7 @@
    http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
 */

-#include <EEPROM.h>
+#include "EEPROMwrite.h"
 #include "fastio.h"
 #include "Configuration.h"
 #include "pins.h"
@ -171,7 +171,7 @@ bool sdmode = false;
 bool sdactive = false;
 bool savetosd = false;
 int16_t n;
-long autostart_atmillis=0;
+unsigned long autostart_atmillis=0;

 void initsd(){
  sdactive = false;
@ -293,18 +293,18 @@ void checkautostart(bool force)
        static int lastnr=0;
        char autoname[30];
        sprintf(autoname,"auto%i.g",lastnr);
-	for(int i=0;i<strlen(autoname);i++)
+        for(int i=0;i<(int)strlen(autoname);i++)
                autoname[i]=tolower(autoname[i]);
        dir_t p;

        root.rewind();
-	char filename[11];
-	int cnt=0;
+        //char filename[11];
+        //int cnt=0;

        bool found=false;
        while (root.readDir(p) > 0) 
        {
-		for(int i=0;i<strlen((char*)p.name);i++)
+                for(int i=0;i<(int)strlen((char*)p.name);i++)
                        p.name[i]=tolower(p.name[i]);
                //Serial.print((char*)p.name);
                //Serial.print(" ");
@ -784,7 +784,7 @@ inline void process_commands()
          if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
          {
            int pin_number = code_value();
-            for(int i = 0; i < sizeof(sensitive_pins); i++)
+            for(int i = 0; i < (int)sizeof(sensitive_pins); i++)
            {
              if (sensitive_pins[i] == pin_number)
              {
@ -803,28 +803,28 @@ inline void process_commands()
        }
        break;
      case 104: // M104
-                if (code_seen('S')) target_raw[0] = temp2analog(code_value());
+                if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
 #ifdef PIDTEMP
                pid_setpoint = code_value();
 #endif //PIDTEM
        #ifdef WATCHPERIOD
-            if(target_raw[0] > current_raw[0]){
+            if(target_raw[TEMPSENSOR_HOTEND] > current_raw[TEMPSENSOR_HOTEND]){
                watchmillis = max(1,millis());
-                watch_raw = current_raw[0];
+                watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
            }else{
                watchmillis = 0;
            }
        #endif
        break;
      case 140: // M140 set bed temp
-                if (code_seen('S')) target_raw[1] = temp2analogBed(code_value());
+                if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analogBed(code_value());
        break;
      case 105: // M105
        #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
-                tt = analog2temp(current_raw[0]);
+                tt = analog2temp(current_raw[TEMPSENSOR_HOTEND]);
        #endif
        #if TEMP_1_PIN > -1
-                bt = analog2tempBed(current_raw[1]);
+                bt = analog2tempBed(current_raw[TEMPSENSOR_BED]);
        #endif
        #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
            Serial.print("ok T:");
@ -852,14 +852,14 @@ inline void process_commands()
        //break;
      case 109: {// M109 - Wait for extruder heater to reach target.
            LCD_MESSAGE("Heating...");
-            if (code_seen('S')) target_raw[0] = temp2analog(code_value());
+               if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
            #ifdef PIDTEMP
            pid_setpoint = code_value();
            #endif //PIDTEM
            #ifdef WATCHPERIOD
-            if(target_raw[0]>current_raw[0]) {
+          if(target_raw[TEMPSENSOR_HOTEND]>current_raw[TEMPSENSOR_HOTEND]){
              watchmillis = max(1,millis());
-              watch_raw = current_raw[0];
+              watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
            } else {
              watchmillis = 0;
            }
@ -881,7 +881,7 @@ inline void process_commands()
            #endif //TEMP_RESIDENCY_TIME
              if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down
                Serial.print("T:");
-                Serial.println( analog2temp(current_raw[0]) );
+              Serial.println( analog2temp(current_raw[TEMPSENSOR_HOTEND]) ); 
                codenum = millis();
              }
              manage_heater();
@ -901,19 +901,19 @@ inline void process_commands()
          break;
      case 190: // M190 - Wait bed for heater to reach target.
      #if TEMP_1_PIN > -1
-          if (code_seen('S')) target_raw[1] = temp2analog(code_value());
+          if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analog(code_value());
        codenum = millis(); 
-          while(current_raw[1] < target_raw[1]) 
+          while(current_raw[TEMPSENSOR_BED] < target_raw[TEMPSENSOR_BED]) 
                                {
          if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
          {
-            float tt=analog2temp(current_raw[0]);
+            float tt=analog2temp(current_raw[TEMPSENSOR_HOTEND]);
            Serial.print("T:");
            Serial.println( tt );
            Serial.print("ok T:");
            Serial.print( tt ); 
            Serial.print(" B:");
-            Serial.println( analog2temp(current_raw[1]) ); 
+            Serial.println( analog2temp(current_raw[TEMPSENSOR_BED]) ); 
            codenum = millis(); 
          }
            manage_heater();
--- a/Marlin/lcd.h
+++ b/Marlin/lcd.h
@ -1,10 +0,0 @@
-#ifndef __LCDH
-#define __LCDH
-
-
-
-
-
-
-
-#endif
--- a/Marlin/lcd.pde
+++ b/Marlin/lcd.pde
@ -1 +0,0 @@
-
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -381,13 +381,6 @@ void check_axes_activity() {
 // calculation the caller must also provide the physical length of the line in millimeters.
 void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {

-  // The target position of the tool in absolute steps
-  // Calculate target position in absolute steps
-  long target[4];
-  target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
-  target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
-  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);     

  // Calculate the buffer head after we push this byte
  int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1);
@ -400,6 +393,15 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
    LCD_STATUS;
  }

+  // The target position of the tool in absolute steps
+  // Calculate target position in absolute steps
+  //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
+  long target[4];
+  target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
+  target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
+  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); 
+  
  // Prepare to set up new block
  block_t *block = &block_buffer[block_buffer_head];
  
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@ -24,6 +24,8 @@
 #ifndef planner_h
 #define planner_h

+#include "Configuration.h"
+
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
 // the source g-code and may never actually be reached if acceleration management is active.
 typedef struct {
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -115,7 +115,7 @@ asm volatile ( \
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  TIMSK1 |= (1<<OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)

-static block_t *current_block;  // A pointer to the block currently being traced
+block_t *current_block;  // A pointer to the block currently being traced

 // Variables used by The Stepper Driver Interrupt
 static unsigned char out_bits;        // The next stepping-bits to be output
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@ -20,6 +20,9 @@

 #ifndef stepper_h
 #define stepper_h 
+
+#include "planner.h"
+
 // Initialize and start the stepper motor subsystem
 void st_init();

@ -37,4 +40,5 @@ extern volatile long count_position[NUM_AXIS];
 extern volatile int count_direction[NUM_AXIS];
 #endif

+extern block_t *current_block;  // A pointer to the block currently being traced
 #endif
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -97,14 +97,15 @@ void manage_heater()
  
  float pid_input;
  float pid_output;
-  if(temp_meas_ready == true) {
+  if(temp_meas_ready != true)   //better readability
+    return; 

 CRITICAL_SECTION_START;
    temp_meas_ready = false;
 CRITICAL_SECTION_END;

 #ifdef PIDTEMP
-    pid_input = analog2temp(current_raw[0]);
+    pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND]);

 #ifndef PID_OPENLOOP
    pid_error = pid_setpoint - pid_input;
@ -125,10 +126,13 @@ CRITICAL_SECTION_END;
      temp_iState += pid_error;
      temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
      iTerm = Ki * temp_iState;
-      #define K1 0.95
+      //K1 defined in Configuration.h in the PID settings
      #define K2 (1.0-K1)
      dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
      temp_dState = pid_input;
+      #ifdef PID_ADD_EXTRUSION_RATE
+        pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
+      #endif
      pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
    }
 #endif //PID_OPENLOOP
@ -164,7 +168,7 @@ CRITICAL_SECTION_END;
  previous_millis_bed_heater = millis();
  
  #if TEMP_1_PIN > -1
-    if(current_raw[1] >= target_raw[1])
+    if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])
    {
      WRITE(HEATER_1_PIN,LOW);
    }
@ -174,7 +178,6 @@ CRITICAL_SECTION_END;
    }
  #endif
  }
-}

 // Takes hot end temperature value as input and returns corresponding raw value. 
 // For a thermistor, it uses the RepRap thermistor temp table.
@ -325,15 +328,18 @@ void tp_init()
  TIMSK0 |= (1<<OCIE0B);  
 }

+
+
+// Timer 0 is shared with millies
+ISR(TIMER0_COMPB_vect)
+{
+  //these variables are only accesible from the ISR, but static, so they don't loose their value
  static unsigned char temp_count = 0;
  static unsigned long raw_temp_0_value = 0;
  static unsigned long raw_temp_1_value = 0;
  static unsigned long raw_temp_2_value = 0;
  static unsigned char temp_state = 0;
  
-// Timer 0 is shared with millies
-ISR(TIMER0_COMPB_vect)
-{
  switch(temp_state) {
    case 0: // Prepare TEMP_0
            #if (TEMP_0_PIN > -1)
@ -434,18 +440,17 @@ ISR(TIMER0_COMPB_vect)
    raw_temp_2_value = 0;
 #ifdef HEATER_0_MAXTEMP
  #if (HEATER_0_PIN > -1)
-    if(current_raw[0] >= maxttemp_0) {
-      target_raw[0] = 0;
+    if(current_raw[TEMPSENSOR_HOTEND] >= maxttemp) {
+      target_raw[TEMPSENSOR_HOTEND] = 0;
      analogWrite(HEATER_0_PIN, 0);
      Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!");
      kill();
    }
  #endif
 #endif
-#ifdef HEATER_1_MAXTEMP
-  #if (HEATER_1_PIN > -1)
+    if(current_raw[TEMPSENSOR_AUX] >= maxttemp) {
+      target_raw[TEMPSENSOR_AUX] = 0;
    if(current_raw[2] >= maxttemp_1) {
-      target_raw[2] = 0;
      analogWrite(HEATER_2_PIN, 0);
      Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!");
      kill()
@ -454,8 +459,8 @@ ISR(TIMER0_COMPB_vect)
 #endif //MAXTEMP
 #ifdef HEATER_0_MINTEMP
  #if (HEATER_0_PIN > -1)
-    if(current_raw[0] <= minttemp_0) {
-      target_raw[0] = 0;
+    if(current_raw[TEMPSENSOR_HOTEND] <= minttemp) {
+      target_raw[TEMPSENSOR_HOTEND] = 0;
      analogWrite(HEATER_0_PIN, 0);
      Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!");
      kill();
@ -464,8 +469,8 @@ ISR(TIMER0_COMPB_vect)
 #endif
 #ifdef HEATER_1_MINTEMP
  #if (HEATER_2_PIN > -1)
-    if(current_raw[2] <= minttemp_1) {
-      target_raw[2] = 0;
+    if(current_raw[TEMPSENSOR_AUX] <= minttemp) {
+      target_raw[TEMPSENSOR_AUX] = 0;
      analogWrite(HEATER_2_PIN, 0);
      Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!");
      kill();
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@ -21,8 +21,10 @@
 #ifndef temperature_h
 #define temperature_h 

-void manage_inactivity(byte debug);
-
+#include "Marlin.h"
+#ifdef PID_ADD_EXTRUSION_RATE
+  #include "stepper.h"
+#endif
 void tp_init();
 void manage_heater();
 //int temp2analogu(int celsius, const short table[][2], int numtemps);
@ -48,6 +50,7 @@ extern float Ki;
 extern float Kd;
 extern float Kc;

+enum {TEMPSENSOR_HOTEND=0,TEMPSENSOR_BED=1, TEMPSENSOR_AUX=2};
 extern int target_raw[3];
 extern int current_raw[3];
 extern double pid_setpoint;
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@ -253,17 +253,17 @@ void MainMenu::showStatus()
  }
    

-  if((abs(current_raw[0]-oldcurrentraw)>3)||force_lcd_update)
+  if((abs(current_raw[TEMPSENSOR_HOTEND]-oldcurrentraw)>3)||force_lcd_update)
  {
    lcd.setCursor(1,0);
-    lcd.print(ftostr3(analog2temp(current_raw[0])));
-    oldcurrentraw=current_raw[0];
+    lcd.print(ftostr3(analog2temp(current_raw[TEMPSENSOR_HOTEND])));
+    oldcurrentraw=current_raw[TEMPSENSOR_HOTEND];
  }
-  if((target_raw[0]!=oldtargetraw)||force_lcd_update)
+  if((target_raw[TEMPSENSOR_HOTEND]!=oldtargetraw)||force_lcd_update)
  {
    lcd.setCursor(5,0);
-    lcd.print(ftostr3(analog2temp(target_raw[0])));
-    oldtargetraw=target_raw[0];
+    lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
+    oldtargetraw=target_raw[TEMPSENSOR_HOTEND];
  }
  #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 
  static int oldcurrentbedraw=-1;
@ -272,7 +272,7 @@ void MainMenu::showStatus()
  {
    lcd.setCursor(1,0);
    lcd.print(ftostr3(analog2temp(current_bed_raw)));
-    oldcurrentraw=current_raw[1];
+    oldcurrentraw=current_raw[TEMPSENSOR_BED];
  }
  if((target_bed_raw!=oldtargebedtraw)||force_lcd_update)
  {
@ -339,17 +339,17 @@ void MainMenu::showStatus()
  }
    

-  if((abs(current_raw[0]-oldcurrentraw)>3)||force_lcd_update)
+  if((abs(current_raw[TEMPSENSOR_HOTEND]-oldcurrentraw)>3)||force_lcd_update)
  {
    lcd.setCursor(1,0);
-    lcd.print(ftostr3(analog2temp(current_raw[0])));
-    oldcurrentraw=current_raw[0];
+    lcd.print(ftostr3(analog2temp(current_raw[TEMPSENSOR_HOTEND])));
+    oldcurrentraw=current_raw[TEMPSENSOR_HOTEND];
  }
-  if((target_raw[0]!=oldtargetraw)||force_lcd_update)
+  if((target_raw[TEMPSENSOR_HOTEND]!=oldtargetraw)||force_lcd_update)
  {
    lcd.setCursor(5,0);
-    lcd.print(ftostr3(analog2temp(target_raw[0])));
-    oldtargetraw=target_raw[0];
+    lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
+    oldtargetraw=target_raw[TEMPSENSOR_HOTEND];
  }

  if(messagetext[0]!='\0')
@ -426,7 +426,7 @@ void MainMenu::showPrepare()
        if((activeline==line) && CLICKED)
        {
          BLOCK
-          target_raw[0] = temp2analog(170);
+          target_raw[TEMPSENSOR_HOTEND] = temp2analog(170);
          beepshort();
        }
      }break;
@ -531,7 +531,7 @@ void MainMenu::showControl()
        if(force_lcd_update)
        {
          lcd.setCursor(0,line);lcd.print(" \002Nozzle:");
-          lcd.setCursor(13,line);lcd.print(ftostr3(analog2temp(target_raw[0])));
+          lcd.setCursor(13,line);lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
        }
        
        if((activeline==line) )
@ -541,11 +541,11 @@ void MainMenu::showControl()
            linechanging=!linechanging;
            if(linechanging)
            {
-               encoderpos=(int)analog2temp(target_raw[0]);
+               encoderpos=(int)analog2temp(target_raw[TEMPSENSOR_HOTEND]);
            }
            else
            {
-              target_raw[0] = temp2analog(encoderpos);
+              target_raw[TEMPSENSOR_HOTEND] = temp2analog(encoderpos);
              encoderpos=activeline*lcdslow;
              beepshort();
            }
--- a/64
+++ b/64
@ -1,7 +1,14 @@
-This firmware is a mashup between Sprinter, grbl and many original parts.
+This RepRap firmware is a mashup between Sprinter, grbl and many original parts.
 (https://github.com/kliment/Sprinter)
 (https://github.com/simen/grbl/tree)

+Derived from Sprinter and Grbl by Erik van der Zalm.
+Sprinters lead developers are Kliment and caru.
+Grbls lead developer is Simen Svale Skogsrud.
+It has been adapted to the Ultimaker Printer by:
+Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
+
+
 Features:
 - Interrupt based movement with real linear acceleration
 - High steprate
@ -9,62 +16,49 @@ Features:
 - Interrupt based temperature protection
 - preliminary support for Matthew Roberts advance algorithm 
   For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+ - Full endstop support
+ - Simple LCD support (16x2)
+ - SD Card support
+ - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd

-This firmware is optimized for gen6 electronics.
+This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
+
+The default baudrate is 115200. 

-The default baudrate is 250000. 
-This gives less communication errors then regular baudrates.

 ========================================================================================

 Configuring and compilation


-Install the arduino software version 0018
+Install the latest arduino software IDE/toolset (currently 0022)
   http://www.arduino.cc/en/Main/Software

-Install the sanguino software, version 0018
-   http://sanguino.cc/useit
+Install Ultimaker's RepG 25 build
+    http://software.ultimaker.com
+(or alternatively install Kliment's printrun/pronterface  https://github.com/kliment/Printrun_)

-Install pronterface
-   https://github.com/kliment/Printrun
-
-Copy the Marlin firmware
-   https:/github.com/ErikZalm/Marlin
+Copy the Ultimaker Marlin firmware
+   https:/github.com/bkubicek/Marlin
   (Use the download button)

 Start the arduino IDE.
-Select Tools -> Board -> Sanguino 
+Select Tools -> Board -> Arduino Mega 2560 
 Select the correct serial port in Tools ->Serial Port
 Open Marlin.pde

-Change the printer specific setting in Configuration.h to the correct values.
-
-The following values are the most important:
- - float axis_steps_per_unit[]....         // Set the correct steps / mm in the corresponding field
- - const bool ENDSTOPS_INVERTING = false;  // Change if only positive moves are executed
- - #define INVERT_x_DIR true               // Change if the motor direction is wrong
+Click the Verify/Compile button

 Click the Upload button
 If all goes well the firmware is uploading

-Start pronterface
-
-Select the correct Serial Port. Type 250000 in the baudrate field.
-Press the Connect button
-
-===============================================================================================
-Known issues
-
-On some systems we get compilation errors.
-
-This is caused by the "wiring_serial.c" and "wiring.c".
-The simple fix is to delete these files but this may have a performance impact.
-
-The best workaround is to move these files to sanguino directory. 
-(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems)
-
+Start Ultimaker's Custom RepG 25
+Make sure Show Experimental Profiles is enabled in Preferences
+Select Sprinter as the Driver

+Press the Connect button.

+KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z

+That's ok.  Enjoy Silky Smooth Printing.

--- a/README.md
+++ b/README.md
@ -0,0 +1,69 @@
+WARNING: THIS IN A PROCESS OF HEAVY OVERWORKING.
+DO NOT USE THIS ON YOUR MACHINE UNTIL FURTHER NOTICE!!!
+
+===========================================
+
+This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
+
+Derived from Sprinter and Grbl by Erik van der Zalm.
+Sprinters lead developers are Kliment and caru.
+Grbls lead developer is Simen Svale Skogsrud.
+Some features have been added by and configuration has been added by:
+Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
+
+
+Features:
+ - Interrupt based movement with real linear acceleration
+ - High steprate
+ - Look ahead (Keep the speed high when possible. High cornering speed)
+ - Interrupt based temperature protection
+ - preliminary support for Matthew Roberts advance algorithm 
+   For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+ - Full endstop support
+ - Simple LCD support (16x2)
+ - SD Card support
+ - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
+
+This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
+
+The default baudrate is 115200. 
+
+
+========================================================================================
+
+Configuring and compilation
+
+
+Install the latest arduino software IDE/toolset (currently 0022)
+   http://www.arduino.cc/en/Main/Software
+
+Install Ultimaker's RepG 25 build
+    http://software.ultimaker.com
+(or alternatively install Kliment's printrun/pronterface  https://github.com/kliment/Printrun_)
+
+Copy the Ultimaker Marlin firmware
+   https:/github.com/bkubicek/Marlin
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Arduino Mega 2560 
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Click the Verify/Compile button
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+Start Ultimaker's Custom RepG 25
+Make sure Show Experimental Profiles is enabled in Preferences
+Select Sprinter as the Driver
+
+Press the Connect button.
+
+KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
+
+That's ok.  Enjoy Silky Smooth Printing.
+
+
+
--- a/needs.txt
+++ b/needs.txt
@ -0,0 +1,58 @@
+files to compare manually:
+planner.cpp
+stepper.cpp
+temperature.cpp
+
+---
+things that changed:
+* planner.cpp
+estimate_acc_distance now works with floats.
+in calculate_trapezoid:for_block
+ long acceleration_rate=(long)((float)acceleration*8.388608) is gone
+ so is block_>acceleration_rate
+void planner_reverse_pass:
+ some stuff I don't understand right now changed
+in planner_forward_pass:
+ done: BLOCK_BUFFER_SIZE is now necessarily power of 2 (aka 8 16, 32). Inportant to document this somewhere.
+no more inline in void plan_discard_current_block()
+no more inline in plan_get_current_block()
+in plan_buffer_line(...)
+ the long target[4]; and calculations of thoose should go after the while(block_buffer_tail==..). if the axis_steps_per_unit are changed from the gcode (M92) the calculation for the currently planned buffer move will be corrupt, because Target is calculated with one value, and the stuff afterwards with another. At least this solved the problem I had with the M92 E* changes in the code. Very sure about this, I took me 20min to find this as the solution for the bug I was hunting.
+around if(feed_rate<minimumfeedrate) this only should be done if it is not a pure extrusion. I think there is a bug right now.
+~line 447 blockcount= 
+ not sure if this also works if the difference is negative, as it would happen if the ringbuffer runs over the end and start at 0.
+~line 507 tmp_aceleration. not sure whats going on, but a lot changed.
+
+
+* stepper.cpp
+~214: if (busy) should be a echoln, maybe
+~331: great, The Z_M_PIN checks are in :)
+
+*temperature.cpp
+done: enum for heater, bed,
+manage_heater() is seriously different.
+  done: if tem_meas_ready ==true->!true+return?
+done #define K1 0.95 maybe in the configuration.h?
+semi-done: PID-C checking needed. Untested but added.
+----
+
+still needed to finish the merge, before testin!
+
+ manage_heater
+ ISR
+ movement planner
+
+TODO:
+
+remove traveling at maxpseed
+remove Simplelcd
+
+remove DEBUG_STEPS?
+
+block_t
+pid_dt ->0.1  whats the changes to the PID, checking needed
+
+
+----
+second merge saturday morning:
+done: PID_dt->0.1