Merge remote-tracking branch 'remotes/upstream/Development' into Development

Conflicts: Marlin/Marlin_main.cpp Marlin/stepper.cpp
2015-03-10 10:46:37 +01:00
parent 075507fb9a c321c97f35
commit d813090d90
29 changed files with 3962 additions and 3287 deletions
--- a/Documentation/GCodes.md
+++ b/Documentation/GCodes.md
@@ -101,3 +101,25 @@
 *  M908 - Control digital trimpot directly.
 *  M928 - Start SD logging (M928 filename.g) - ended by M29
 *  M999 - Restart after being stopped by error
+
+# Comments
+
+Comments start at a `;` (semicolon) and end with the end of the line:
+
+    N3 T0*57 ; This is a comment
+    N4 G92 E0*67
+    ; So is this
+    N5 G28*22
+
+(example taken from the [RepRap wiki](http://reprap.org/wiki/Gcode#Comments))
+
+If you need to use a literal `;` somewhere (for example within `M117`), you can escape semicolons with a `\`
+(backslash):
+
+     M117 Hello \;)
+
+`\` can also be used to escape `\` itself, if you need a literal `\` in front of a `;`:
+
+    M117 backslash: \\;and a comment
+
+Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -295,9 +295,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -382,40 +385,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -426,11 +427,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -467,29 +468,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

  #endif

-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-	
-  #endif
-  
 #endif // ENABLE_AUTO_BED_LEVELING


--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -23,41 +23,41 @@
 #include "pins.h"

 #ifndef AT90USB
-#define  HardwareSerial_h // trick to disable the standard HWserial
+  #define  HardwareSerial_h // trick to disable the standard HWserial
 #endif

 #if (ARDUINO >= 100)
-# include "Arduino.h"
+  #include "Arduino.h"
 #else
-# include "WProgram.h"
+  #include "WProgram.h"
 #endif

 // Arduino < 1.0.0 does not define this, so we need to do it ourselves
 #ifndef analogInputToDigitalPin
-# define analogInputToDigitalPin(p) ((p) + 0xA0)
+  #define analogInputToDigitalPin(p) ((p) + 0xA0)
 #endif

 #ifdef AT90USB
-#include "HardwareSerial.h"
+  #include "HardwareSerial.h"
 #endif

 #include "MarlinSerial.h"

 #ifndef cbi
-#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+  #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
 #endif
 #ifndef sbi
-#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+  #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
 #endif

 #include "WString.h"

 #ifdef AT90USB
-   #ifdef BTENABLED
-         #define MYSERIAL bt
-   #else
-         #define MYSERIAL Serial
-   #endif // BTENABLED
+  #ifdef BTENABLED
+    #define MYSERIAL bt
+  #else
+    #define MYSERIAL Serial
+  #endif // BTENABLED
 #else
  #define MYSERIAL MSerial
 #endif
@@ -86,7 +86,7 @@ extern const char echomagic[] PROGMEM;

 #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))

-#define SERIAL_EOL SERIAL_ECHOLN("")
+#define SERIAL_EOL MYSERIAL.write('\n')

 void serial_echopair_P(const char *s_P, float v);
 void serial_echopair_P(const char *s_P, double v);
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -22,8 +22,7 @@ CardReader::CardReader() {
  autostart_index = 0;
  //power to SD reader
  #if SDPOWER > -1
-    SET_OUTPUT(SDPOWER);
-    WRITE(SDPOWER, HIGH);
+    OUT_WRITE(SDPOWER, HIGH);
  #endif //SDPOWER

  autostart_atmillis = millis() + 5000;
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@@ -21,17 +21,13 @@
 **/

 #ifdef ULTIPANEL
-#define BLEN_A 0
-#define BLEN_B 1
-#define BLEN_C 2
-#define EN_A (1<<BLEN_A)
-#define EN_B (1<<BLEN_B)
-#define EN_C (1<<BLEN_C)
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
-#define LCD_CLICKED (buttons&EN_C)
+  #define BLEN_A 0
+  #define BLEN_B 1
+  #define BLEN_C 2
+  #define EN_A (1<<BLEN_A)
+  #define EN_B (1<<BLEN_B)
+  #define EN_C (1<<BLEN_C)
+  #define LCD_CLICKED (buttons&EN_C)
 #endif

 #include <U8glib.h>
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -82,7 +82,7 @@ Here are some standard links for getting your machine calibrated:
 // #define PS_DEFAULT_OFF

 //===========================================================================
-//============================= Thermal Settings  ============================
+//============================= Thermal Settings ============================
 //===========================================================================
 //
 //--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
@@ -118,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
@@ -297,9 +301,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -332,11 +339,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
@@ -389,40 +391,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -433,11 +433,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -474,29 +474,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

  #endif

-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-	
-  #endif
-  
 #endif // ENABLE_AUTO_BED_LEVELING


@@ -536,9 +513,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 5.0    // (mm/sec)


-//===========================================================================
-//============================= Additional Features =========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -569,7 +546,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -583,7 +565,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
-#define ULTIPANEL  //the UltiPanel as on Thingiverse
+//#define ULTIPANEL  //the UltiPanel as on Thingiverse
 //#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click

@@ -750,7 +732,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -759,7 +741,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -3,7 +3,6 @@

 #include "boards.h"

-
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
@@ -39,7 +38,7 @@ Here are some standard links for getting your machine calibrated:
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
-#define STRING_VERSION "v1.0.2"
+#define STRING_VERSION "1.0.2"
 #define STRING_URL "reprap.org"
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
 #define STRING_CONFIG_H_AUTHOR "(K8200, CONSULitAS)" // Who made the changes.
@@ -82,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF

-
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
@@ -120,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 5
 #define TEMP_SENSOR_1 0
@@ -260,7 +262,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -305,9 +306,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -340,11 +344,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
@@ -397,40 +396,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -441,11 +438,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -482,29 +479,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

  #endif

-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-	
-  #endif
-  
 #endif // ENABLE_AUTO_BED_LEVELING


@@ -544,9 +518,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 5.0    // (mm/sec)


-//===========================================================================
-//============================= Additional Features =========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -577,9 +551,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 60
 #define ABS_PREHEAT_FAN_SPEED 0   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================

-// VM8201 (LCD Option for K8200) uses "DISPLAY_CHARSET_HD44870_JAPAN" and "ULTIMAKERCONTROLLER"
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -760,7 +737,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -769,7 +746,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -3,7 +3,6 @@

 #include "boards.h"

-
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
@@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
 * http://www.thingiverse.com/thing:298812
 */

-
 // This configuration file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
@@ -52,7 +50,7 @@ Here are some standard links for getting your machine calibrated:
 #define L2_2 sq(Linkage_2) // do not change

 //===========================================================================
-//========================= SCARA Settings end ==================================
+//========================= SCARA Settings end ==============================
 //===========================================================================

 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
@@ -70,7 +68,6 @@ Here are some standard links for getting your machine calibrated:
 // Serial port 0 is still used by the Arduino bootloader regardless of this setting.
 #define SERIAL_PORT 0

-// This determines the communication speed of the printer
 // This determines the communication speed of the printer
 #define BAUDRATE 250000

@@ -125,6 +122,7 @@ Here are some standard links for getting your machine calibrated:
 // 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
 //
@@ -138,6 +136,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
@@ -189,31 +191,24 @@ Here are some standard links for getting your machine calibrated:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
-  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
-  #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
-  //  #define  DEFAULT_Kp 22.2
-  //  #define  DEFAULT_Ki 1.08
-   // #define  DEFAULT_Kd 114
-  
- // Jhead MK5: From Autotune  
-  //  #define  DEFAULT_Kp 20.92
-   // #define  DEFAULT_Ki 1.51
-  //  #define  DEFAULT_Kd 72.34
-    
- //Merlin Hotend: From Autotune  
-    #define  DEFAULT_Kp 24.5
-    #define  DEFAULT_Ki 1.72
-    #define  DEFAULT_Kd 87.73
+//    #define  DEFAULT_Kp 22.2
+//    #define  DEFAULT_Ki 1.08
+//    #define  DEFAULT_Kd 114

 // MakerGear
 //    #define  DEFAULT_Kp 7.0
@@ -221,9 +216,20 @@ Here are some standard links for getting your machine calibrated:
 //    #define  DEFAULT_Kd 12

 // Mendel Parts V9 on 12V
-  //  #define  DEFAULT_Kp 63.0
-   // #define  DEFAULT_Ki 2.25
-   // #define  DEFAULT_Kd 440
+//    #define  DEFAULT_Kp 63.0
+//    #define  DEFAULT_Ki 2.25
+//    #define  DEFAULT_Kd 440
+  
+// Jhead MK5: From Autotune
+//    #define  DEFAULT_Kp 20.92
+//    #define  DEFAULT_Ki 1.51
+//    #define  DEFAULT_Kd 72.34
+    
+// Merlin Hotend: From Autotune
+    #define  DEFAULT_Kp 24.5
+    #define  DEFAULT_Ki 1.72
+    #define  DEFAULT_Kd 87.73
+
 #endif // PIDTEMP

 //===========================================================================
@@ -251,9 +257,9 @@ Here are some standard links for getting your machine calibrated:
 #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)
-  //  #define  DEFAULT_bedKp 10.00
-  //  #define  DEFAULT_bedKi .023
-  //  #define  DEFAULT_bedKd 305.4
+//    #define  DEFAULT_bedKp 10.00
+//    #define  DEFAULT_bedKi .023
+//    #define  DEFAULT_bedKd 305.4

 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
 //from pidautotune
@@ -271,7 +277,6 @@ Here are some standard links for getting your machine calibrated:
 #endif // PIDTEMPBED


-
 //this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
 //can be software-disabled for whatever purposes by
 //#define PREVENT_DANGEROUS_EXTRUDE
@@ -281,7 +286,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 150
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -323,12 +327,15 @@ your extruder heater takes 2 minutes to hit the target on heating.


 //===========================================================================
-//============================ Mechanical Settings ==========================
+//============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 //#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -361,11 +368,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
@@ -388,7 +390,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define INVERT_E3_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false

 // ENDSTOP SETTINGS:
-// Sets direction of endstop	s when homing; 1=MAX, -1=MIN
+// Sets direction of endstops when homing; 1=MAX, -1=MIN
 #define X_HOME_DIR 1
 #define Y_HOME_DIR 1
 #define Z_HOME_DIR -1
@@ -414,43 +416,42 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //===========================================================================

 //#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
+#define Z_PROBE_REPEATABILITY_TEST  // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -461,10 +462,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // X and Y offsets must be integers
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  //#define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -474,6 +476,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
  #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points

+  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
+  //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.

  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
@@ -528,7 +532,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_RETRACT_ACCELERATION  2000  // X, Y, Z and E max acceleration in mm/s^2 for retracts

 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
-// The offset has to be X=0, Y=0 for extruder 0 hotend (default extruder).
+// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
 // For the other hotends it is their distance from the extruder 0 hotend.
 // #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
 // #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
@@ -539,9 +543,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 3    // (mm/sec)


-//===========================================================================
-//============================= Additional Features =========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 //#define CUSTOM_M_CODES
@@ -572,7 +576,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -739,10 +748,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
-//#define SR_LCD
-#ifdef SR_LCD
-   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
-   //#define NEWPANEL
+
+//#define SAV_3DLCD
+#ifdef SAV_3DLCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define NEWPANEL
+   #define ULTIPANEL
 #endif


@@ -751,7 +762,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -760,7 +771,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
@@ -844,13 +855,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Uncomment below to enable
 //#define FILAMENT_SENSOR

-#define FILAMENT_SENSOR_EXTRUDER_NUM  0  //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM      14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel

 #define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
 #define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
 #define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY     20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)

 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -3,7 +3,6 @@

 #include "boards.h"

-
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
@@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
 * http://www.thingiverse.com/thing:298812
 */

-
 // This configuration file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
@@ -83,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF

-
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
@@ -121,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
@@ -164,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
 //#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
 //#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

-
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
@@ -184,7 +184,7 @@ Here are some standard links for getting your machine calibrated:
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
-  #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
@@ -256,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -301,9 +300,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -336,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
@@ -393,40 +390,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -437,11 +432,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -478,29 +473,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

  #endif

-  #ifdef AUTO_BED_LEVELING_GRID	// Check if Probe_Offset * Grid Points is greater than Probing Range
-    #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
-	     #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-    #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
-      #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#else
-      #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
-	     #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
-	  #endif
-	#endif
-
-	
-  #endif
-  
 #endif // ENABLE_AUTO_BED_LEVELING


@@ -540,9 +512,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 5.0    // (mm/sec)


-//===========================================================================
-//============================ Additional Features ==========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -573,7 +545,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -587,7 +564,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
-#define ULTIPANEL  //the UltiPanel as on Thingiverse
+//#define ULTIPANEL  //the UltiPanel as on Thingiverse
 //#define LCD_FEEDBACK_FREQUENCY_HZ 1000	// this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click

@@ -754,7 +731,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -763,7 +740,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
--- a/Marlin/example_configurations/delta/Configuration.h
+++ b/Marlin/example_configurations/delta/Configuration.h
@@ -1,9 +1,8 @@
-#ifndef CONFIGURATION_H
+#ifndef CONFIGURATION_H
 #define CONFIGURATION_H

 #include "boards.h"

-
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
@@ -22,7 +21,6 @@ Here are some standard links for getting your machine calibrated:
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

-
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
@@ -30,6 +28,13 @@ Here are some standard links for getting your machine calibrated:
 // example_configurations/delta directory.
 //

+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
@@ -143,6 +148,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1
@@ -186,7 +195,6 @@ Here are some standard links for getting your machine calibrated:
 //#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
 //#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

-
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
@@ -195,13 +203,16 @@ Here are some standard links for getting your machine calibrated:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
-  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

@@ -222,7 +233,6 @@ Here are some standard links for getting your machine calibrated:
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP

-
 //===========================================================================
 //============================= PID > Bed Temperature Control ===============
 //===========================================================================
@@ -271,7 +281,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -316,6 +325,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //============================= Mechanical Settings =========================
 //===========================================================================

+// Uncomment this option to enable CoreXY kinematics
+// #define COREXY
+
+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -348,10 +363,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 // Deltas never have min endstops
 #define DISABLE_MIN_ENDSTOPS
-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif

 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
@@ -397,6 +408,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
 #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)

+
 //===========================================================================
 //============================= Bed Auto Leveling ===========================
 //===========================================================================
@@ -407,12 +419,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of


 // The position of the homing switches
-//#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
+#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)

 //Manual homing switch locations:
-
-#define MANUAL_HOME_POSITIONS  // MANUAL_*_HOME_POS below will be used
 // For deltabots this means top and center of the Cartesian print volume.
 #define MANUAL_X_HOME_POS 0
 #define MANUAL_Y_HOME_POS 0
@@ -444,9 +454,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_ZJERK                 20.0    // (mm/sec) Must be same as XY for delta
 #define DEFAULT_EJERK                 5.0    // (mm/sec)

-//===========================================================================
-//============================= Additional Features =========================
-//===========================================================================
+
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -477,7 +488,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -651,10 +667,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
-//#define SR_LCD
-#ifdef SR_LCD
-   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
-   //#define NEWPANEL
+
+//#define SAV_3DLCD
+#ifdef SAV_3DLCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define NEWPANEL
+   #define ULTIPANEL
 #endif


@@ -663,7 +681,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -672,7 +690,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
@@ -756,13 +774,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Uncomment below to enable
 //#define FILAMENT_SENSOR

-#define FILAMENT_SENSOR_EXTRUDER_NUM  0  //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM      14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel

 #define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
 #define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
 #define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY     20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)

 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
@@ -775,7 +793,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of



-
 #include "Configuration_adv.h"
 #include "thermistortables.h"

--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -3,7 +3,6 @@

 #include "boards.h"

-
 //===========================================================================
 //============================= Getting Started =============================
 //===========================================================================
@@ -18,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
 * http://www.thingiverse.com/thing:298812
 */

-
 // This configuration file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

-
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
@@ -31,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
 // example_configurations/delta directory.
 //

-
 //===========================================================================
 //============================= SCARA Printer ===============================
 //===========================================================================
@@ -85,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF

-
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
@@ -123,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
@@ -166,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
 //#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
 //#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

-
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
@@ -175,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
-  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

@@ -202,7 +203,6 @@ Here are some standard links for getting your machine calibrated:
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP

-
 //===========================================================================
 //============================= PID > Bed Temperature Control ===============
 //===========================================================================
@@ -254,7 +254,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -296,12 +295,15 @@ your extruder heater takes 2 minutes to hit the target on heating.


 //===========================================================================
-//============================ Mechanical Settings ==========================
+//============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+// #define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -334,11 +336,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0
 #define Y_ENABLE_ON 0
@@ -391,40 +388,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -435,10 +430,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // X and Y offsets must be integers
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -514,9 +510,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 5.0    // (mm/sec)


-//===========================================================================
-//============================ Additional Features ==========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -547,7 +543,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -714,10 +715,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
-//#define SR_LCD
-#ifdef SR_LCD
-   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
-   //#define NEWPANEL
+
+//#define SAV_3DLCD
+#ifdef SAV_3DLCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define NEWPANEL
+   #define ULTIPANEL
 #endif


@@ -726,7 +729,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -735,7 +738,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -17,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
 * http://www.thingiverse.com/thing:298812
 */

-
 // This configuration file contains the basic settings.
 // Advanced settings can be found in Configuration_adv.h
 // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

-
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
@@ -30,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
 // example_configurations/delta directory.
 //

-
 //===========================================================================
 //============================= SCARA Printer ===============================
 //===========================================================================
@@ -84,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
 // #define PS_DEFAULT_OFF

-
 //===========================================================================
 //============================= Thermal Settings ============================
 //===========================================================================
@@ -122,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
+// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below. 
+//     Use it for Testing or Development purposes. NEVER for production machine.
+//     #define DUMMY_THERMISTOR_998_VALUE 25
+//     #define DUMMY_THERMISTOR_999_VALUE 100

 #define TEMP_SENSOR_0 5
 #define TEMP_SENSOR_1 0
@@ -156,8 +156,6 @@ Here are some standard links for getting your machine calibrated:
 #define HEATER_3_MAXTEMP 275
 #define BED_MAXTEMP 150

-#define CONFIG_STEPPERS_TOSHIBA	1
-
 // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
 // average current. The value should be an integer and the heat bed will be turned on for 1 interval of
 // HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
@@ -167,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
 //#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
 //#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

-
 //===========================================================================
 //============================= PID Settings ================================
 //===========================================================================
@@ -176,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
-  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID
  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

@@ -208,7 +208,6 @@ Here are some standard links for getting your machine calibrated:
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP

-
 //===========================================================================
 //============================= PID > Bed Temperature Control ===============
 //===========================================================================
@@ -257,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

-
 //===========================================================================
 //============================= Thermal Runaway Protection ==================
 //===========================================================================
@@ -299,12 +297,15 @@ your extruder heater takes 2 minutes to hit the target on heating.


 //===========================================================================
-//============================ Mechanical Settings ==========================
+//============================= Mechanical Settings =========================
 //===========================================================================

-// Uncomment the following line to enable CoreXY kinematics
+// Uncomment this option to enable CoreXY kinematics
 // #define COREXY

+// Enable this option for Toshiba steppers
+#define CONFIG_STEPPERS_TOSHIBA
+
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

@@ -337,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS

-// Disable max endstops for compatibility with endstop checking routine
-#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
-  #define DISABLE_MAX_ENDSTOPS
-#endif
-
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 1
 #define Y_ENABLE_ON 1
@@ -394,40 +390,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 #ifdef ENABLE_AUTO_BED_LEVELING

-// There are 2 different ways to pick the X and Y locations to probe:
-
-//  - "grid" mode
-//    Probe every point in a rectangular grid
-//    You must specify the rectangle, and the density of sample points
-//    This mode is preferred because there are more measurements.
-//    It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-//  - "3-point" mode
-//    Probe 3 arbitrary points on the bed (that aren't colinear)
-//    You must specify the X & Y coordinates of all 3 points
+  // There are 2 different ways to specify probing locations
+  //
+  // - "grid" mode
+  //   Probe several points in a rectangular grid.
+  //   You specify the rectangle and the density of sample points.
+  //   This mode is preferred because there are more measurements.
+  //
+  // - "3-point" mode
+  //   Probe 3 arbitrary points on the bed (that aren't colinear)
+  //   You specify the XY coordinates of all 3 points.

+  // Enable this to sample the bed in a grid (least squares solution)
+  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID
-  // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
-  // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
-  // and least squares solution is calculated
-  // Note: this feature occupies 10'206 byte
+
  #ifdef AUTO_BED_LEVELING_GRID

-    // set the rectangle in which to probe
+    // The edges of the rectangle in which to probe
    #define LEFT_PROBE_BED_POSITION 15
    #define RIGHT_PROBE_BED_POSITION 170
-    #define BACK_PROBE_BED_POSITION 180
    #define FRONT_PROBE_BED_POSITION 20
+    #define BACK_PROBE_BED_POSITION 170

-     // set the number of grid points per dimension
-     // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
+    // Set the number of grid points per dimension
+    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2


-  #else  // not AUTO_BED_LEVELING_GRID
-    // with no grid, just probe 3 arbitrary points.  A simple cross-product
-    // is used to esimate the plane of the print bed
+  #else  // !AUTO_BED_LEVELING_GRID

+      // Arbitrary points to probe. A simple cross-product
+      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
@@ -438,10 +432,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #endif // AUTO_BED_LEVELING_GRID


-  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
-  #define X_PROBE_OFFSET_FROM_EXTRUDER -25
-  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
-  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
+  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
+  // X and Y offsets must be integers
+  #define X_PROBE_OFFSET_FROM_EXTRUDER -25     // -left  +right
+  #define Y_PROBE_OFFSET_FROM_EXTRUDER -29     // -front +behind
+  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case
@@ -498,21 +493,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of

 // default settings

-//#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200.0*8/3,760*1.1}  // default steps per unit for Ultimaker
-//#define //DEFAULT_AXIS_STEPS_PER_UNIT   {79.87, 79.87, 2566, 563,78} // Al's TVRR
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {79.87, 79.87, 2566, 563,78} // Al's TVRR
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {81.26, 80.01, 2561, 599.14} // Michel TVRR old
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {71.1, 71.1, 2560, 739.65} // Michel TVRR
 #define DEFAULT_AXIS_STEPS_PER_UNIT   {71.1, 71.1, 2560, 600} // David TVRR
-
-
-
-//#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 25}    // (mm/sec) default
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec) David TVRR   
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // 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.

 /* MICHEL: This has an impact on the "ripples" in print walls */
 #define DEFAULT_ACCELERATION          500    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-//#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts

 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@@ -527,9 +516,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_EJERK                 5.0    // (mm/sec)


-//===========================================================================
-//============================ Additional Features ==========================
-//===========================================================================
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================

 // Custom M code points
 #define CUSTOM_M_CODES
@@ -560,7 +549,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 255   // Insert Value between 0 and 255

-//LCD and SD support
+//==============================LCD and SD support=============================
+
+// Define your display language below. Replace (en) with your language code and uncomment.
+// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
+// See also language.h
+//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

 // Character based displays can have different extended charsets.
 #define DISPLAY_CHARSET_HD44780_JAPAN     // "ääööüüß23°"
@@ -727,10 +721,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection 
-//#define SR_LCD
-#ifdef SR_LCD
-   #define SR_LCD_2W_NL    // Non latching 2 wire shift register
-   //#define NEWPANEL
+
+//#define SAV_3DLCD
+#ifdef SAV_3DLCD
+   #define SR_LCD_2W_NL    // Non latching 2 wire shiftregister
+   #define NEWPANEL
+   #define ULTIPANEL
 #endif


@@ -739,7 +735,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
  #define SDSUPPORT
  #define ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the DOG graphic display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 20
@@ -748,7 +744,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #else //no panel but just LCD
  #ifdef ULTRA_LCD
  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
-    #define LCD_WIDTH 20
+    #define LCD_WIDTH 22
    #define LCD_HEIGHT 5
  #else
    #define LCD_WIDTH 16
@@ -832,13 +828,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Uncomment below to enable
 //#define FILAMENT_SENSOR

-#define FILAMENT_SENSOR_EXTRUDER_NUM  0  //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM      14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel
+#define FILAMENT_SENSOR_EXTRUDER_NUM	0  //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM			14  //measurement delay in cm.  This is the distance from filament sensor to middle of barrel

 #define DEFAULT_NOMINAL_FILAMENT_DIA  3.0  //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software.  Used for sensor reading validation
 #define MEASURED_UPPER_LIMIT          3.30  //upper limit factor used for sensor reading validation in mm
 #define MEASURED_LOWER_LIMIT          1.90  //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY     20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY			20  //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM  and lower number saves RAM)

 //defines used in the code
 #define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially 
--- a/Marlin/fastio.h
+++ b/Marlin/fastio.h
@@ -83,6 +83,9 @@
 /// check if pin is an timer wrapper
 #define GET_TIMER(IO)  _GET_TIMER(IO)

+// Shorthand
+#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
+
 /*
 	ports and functions

--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -121,6 +121,7 @@
 #define MSG_UNKNOWN_COMMAND                 "Unknown command: \""
 #define MSG_ACTIVE_EXTRUDER                 "Active Extruder: "
 #define MSG_INVALID_EXTRUDER                "Invalid extruder"
+#define MSG_INVALID_SOLENOID                "Invalid solenoid"
 #define MSG_X_MIN                           "x_min: "
 #define MSG_X_MAX                           "x_max: "
 #define MSG_Y_MIN                           "y_min: "
@@ -168,8 +169,8 @@
 #define MSG_PID_TIMEOUT                     MSG_PID_AUTOTUNE_FAILED " timeout"
 #define MSG_BIAS                            " bias: "
 #define MSG_D                               " d: "
-#define MSG_MIN                             " min: "
-#define MSG_MAX                             " max: "
+#define MSG_T_MIN                           " min: "
+#define MSG_T_MAX                           " max: "
 #define MSG_KU                              " Ku: "
 #define MSG_TU                              " Tu: "
 #define MSG_CLASSIC_PID                     " Classic PID "
@@ -225,8 +226,7 @@
    #define STR_h3 "3"
    #define STR_Deg "\271"
    #define STR_THERMOMETER "\002"
-  #endif
-  #ifdef DISPLAY_CHARSET_HD44780_WESTERN // HD44780 ROM Code: A02 (Western)
+  #elif defined(DISPLAY_CHARSET_HD44780_WESTERN) // HD44780 ROM Code: A02 (Western)
    #define STR_Ae "\216"
    #define STR_ae "\204"
    #define STR_Oe "\211"
@@ -238,6 +238,8 @@
    #define STR_h3 "\263"
    #define STR_Deg "\337"
    #define STR_THERMOMETER "\002"
+  #elif defined(ULTRA_LCD)
+    #error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN for your LCD controller.
  #endif
 #endif
 /*
--- a/Marlin/pins_CHEAPTRONIC.h
+++ b/Marlin/pins_CHEAPTRONIC.h
@@ -87,9 +87,3 @@

 // Cheaptronic v1.0 does not use this port
 #define SDCARDDETECT -1
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
--- a/Marlin/pins_ELEFU_3.h
+++ b/Marlin/pins_ELEFU_3.h
@@ -74,12 +74,6 @@
  #define BLEN_B           1
  #define BLEN_A           0

-  //encoder rotation values
-  #define encrot0          0
-  #define encrot1          2
-  #define encrot2          3
-  #define encrot3          1
-
 #endif // RA_CONTROL_PANEL

 #ifdef RA_DISCO
--- a/Marlin/pins_MEGATRONICS.h
+++ b/Marlin/pins_MEGATRONICS.h
@@ -83,10 +83,4 @@

  #define SDCARDDETECT -1   // Ramps does not use this port

-    //encoder rotation values
-  #define encrot0 0
-  #define encrot1 2
-  #define encrot2 3
-  #define encrot3 1
-
 #endif // ULTRA_LCD && NEWPANEL
--- a/Marlin/pins_MEGATRONICS_1.h
+++ b/Marlin/pins_MEGATRONICS_1.h
@@ -80,9 +80,3 @@
 #define BLEN_A 0

 #define SDCARDDETECT -1  // Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
--- a/Marlin/pins_MEGATRONICS_2.h
+++ b/Marlin/pins_MEGATRONICS_2.h
@@ -95,9 +95,3 @@
 #define BLEN_A 0

 #define SDCARDDETECT -1  // Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
--- a/Marlin/pins_MEGATRONICS_3.h
+++ b/Marlin/pins_MEGATRONICS_3.h
@@ -95,9 +95,3 @@
 #define BLEN_A 0

 #define SDCARDDETECT -1	// Megatronics does not use this port
-
-// Encoder rotation values
-#define encrot0 0
-#define encrot1 2
-#define encrot2 3
-#define encrot3 1
--- a/Marlin/pins_RAMBO.h
+++ b/Marlin/pins_RAMBO.h
@@ -116,11 +116,6 @@

    #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 //!NEWPANEL - old style panel with shift register
    //arduino pin witch triggers an piezzo beeper
    #define BEEPER 33    No Beeper added
@@ -138,12 +133,6 @@
    #define LCD_PINS_D6 27
    #define LCD_PINS_D7 29

-    //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
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -187,7 +187,7 @@ void checkHitEndstops()
     SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
   }
-   SERIAL_ECHOLN("");
+   SERIAL_EOL;
   endstop_x_hit=false;
   endstop_y_hit=false;
   endstop_z_hit=false;
@@ -554,54 +554,48 @@ ISR(TIMER1_COMPA_vect)
      #endif //ADVANCE

      counter_x += current_block->steps_x;
+
 #ifdef CONFIG_STEPPERS_TOSHIBA
-	/* The toshiba stepper controller require much longer pulses
-	 * tjerfore we 'stage' decompose the pulses between high, and
-	 * low instead of doing each in turn. The extra tests add enough
-	 * lag to allow it work with without needing NOPs */ 
-      if (counter_x > 0) {
-        X_STEP_WRITE(HIGH);
-      }
+    /* The Toshiba stepper controller require much longer pulses.
+     * So we 'stage' decompose the pulses between high and low
+     * instead of doing each in turn. The extra tests add enough
+     * lag to allow it work with without needing NOPs
+     */
+      if (counter_x > 0) X_STEP_WRITE(HIGH);

      counter_y += current_block->steps_y;
-      if (counter_y > 0) {
-        Y_STEP_WRITE( HIGH);
-      }
+      if (counter_y > 0) Y_STEP_WRITE(HIGH);

      counter_z += current_block->steps_z;
-      if (counter_z > 0) {
-        Z_STEP_WRITE( HIGH);
-      }
+      if (counter_z > 0) Z_STEP_WRITE(HIGH);

      #ifndef ADVANCE
        counter_e += current_block->steps_e;
-        if (counter_e > 0) {
-          WRITE_E_STEP(HIGH);
-        }
+        if (counter_e > 0) WRITE_E_STEP(HIGH);
      #endif //!ADVANCE

      if (counter_x > 0) {
        counter_x -= current_block->step_event_count;
-        count_position[X_AXIS]+=count_direction[X_AXIS];   
+        count_position[X_AXIS] += count_direction[X_AXIS];   
        X_STEP_WRITE(LOW);
      }

      if (counter_y > 0) {
        counter_y -= current_block->step_event_count;
-        count_position[Y_AXIS]+=count_direction[Y_AXIS];
+        count_position[Y_AXIS] += count_direction[Y_AXIS];
        Y_STEP_WRITE( LOW);
      }

      if (counter_z > 0) {
        counter_z -= current_block->step_event_count;
-        count_position[Z_AXIS]+=count_direction[Z_AXIS];
+        count_position[Z_AXIS] += count_direction[Z_AXIS];
        Z_STEP_WRITE(LOW);
      }

      #ifndef ADVANCE
        if (counter_e > 0) {
          counter_e -= current_block->step_event_count;
-          count_position[E_AXIS]+=count_direction[E_AXIS];
+          count_position[E_AXIS] += count_direction[E_AXIS];
          WRITE_E_STEP(LOW);
        }
      #endif //!ADVANCE
@@ -622,7 +616,7 @@ ISR(TIMER1_COMPA_vect)
          X_STEP_WRITE(!INVERT_X_STEP_PIN);
        #endif        
          counter_x -= current_block->step_event_count;
-          count_position[X_AXIS]+=count_direction[X_AXIS];   
+          count_position[X_AXIS] += count_direction[X_AXIS];   
        #ifdef DUAL_X_CARRIAGE
          if (extruder_duplication_enabled){
            X_STEP_WRITE(INVERT_X_STEP_PIN);
@@ -648,7 +642,7 @@ ISR(TIMER1_COMPA_vect)
 		  #endif
 		  
          counter_y -= current_block->step_event_count;
-          count_position[Y_AXIS]+=count_direction[Y_AXIS];
+          count_position[Y_AXIS] += count_direction[Y_AXIS];
          Y_STEP_WRITE(INVERT_Y_STEP_PIN);
 		  
 		  #ifdef Y_DUAL_STEPPER_DRIVERS
@@ -659,13 +653,12 @@ ISR(TIMER1_COMPA_vect)
      counter_z += current_block->steps_z;
      if (counter_z > 0) {
        Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
-        
        #ifdef Z_DUAL_STEPPER_DRIVERS
          Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
        #endif

        counter_z -= current_block->step_event_count;
-        count_position[Z_AXIS]+=count_direction[Z_AXIS];
+        count_position[Z_AXIS] += count_direction[Z_AXIS];
        Z_STEP_WRITE( INVERT_Z_STEP_PIN);

        #ifdef Z_DUAL_STEPPER_DRIVERS
@@ -678,7 +671,7 @@ ISR(TIMER1_COMPA_vect)
        if (counter_e > 0) {
          WRITE_E_STEP(!INVERT_E_STEP_PIN);
          counter_e -= current_block->step_event_count;
-          count_position[E_AXIS]+=count_direction[E_AXIS];
+          count_position[E_AXIS] += count_direction[E_AXIS];
          WRITE_E_STEP(INVERT_E_STEP_PIN);
        }
      #endif //!ADVANCE
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -296,8 +296,8 @@ void PID_autotune(float temp, int extruder, int ncycles)

            SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
            SERIAL_PROTOCOLPGM(MSG_D);    SERIAL_PROTOCOL(d);
-            SERIAL_PROTOCOLPGM(MSG_MIN);  SERIAL_PROTOCOL(min);
-            SERIAL_PROTOCOLPGM(MSG_MAX);  SERIAL_PROTOCOLLN(max);
+            SERIAL_PROTOCOLPGM(MSG_T_MIN);  SERIAL_PROTOCOL(min);
+            SERIAL_PROTOCOLPGM(MSG_T_MAX);  SERIAL_PROTOCOLLN(max);
            if (cycles > 2) {
              Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
              Tu = ((float)(t_low + t_high) / 1000.0);
@@ -901,21 +901,15 @@ void tp_init()
  #ifdef HEATER_0_USES_MAX6675

    #ifndef SDSUPPORT
-      SET_OUTPUT(SCK_PIN);
-      WRITE(SCK_PIN,0);
-    
-      SET_OUTPUT(MOSI_PIN);
-      WRITE(MOSI_PIN,1);
-    
-      SET_INPUT(MISO_PIN);
-      WRITE(MISO_PIN,1);
+      OUT_WRITE(SCK_PIN, LOW);
+      OUT_WRITE(MOSI_PIN, HIGH);
+      OUT_WRITE(MISO_PIN, HIGH);
    #else
      pinMode(SS_PIN, OUTPUT);
      digitalWrite(SS_PIN, HIGH);
    #endif
    
-    SET_OUTPUT(MAX6675_SS);
-    WRITE(MAX6675_SS,1);
+    OUT_WRITE(MAX6675_SS,HIGH);

  #endif //HEATER_0_USES_MAX6675

--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1394,6 +1394,17 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }

 #ifdef ULTIPANEL

+////////////////////////
+// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
+// These values are independent of which pins are used for EN_A and EN_B indications
+// The rotary encoder part is also independent to the chipset used for the LCD
+#if defined(EN_A) && defined(EN_B)
+  #define encrot0 0
+  #define encrot1 2
+  #define encrot2 3
+  #define encrot3 1
+#endif 
+
 /* Warning: This function is called from interrupt context */
 void lcd_buttons_update() {
  #ifdef NEWPANEL
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@@ -123,17 +123,6 @@
  #define LCD_CLICKED (buttons&(B_MI|B_ST))
 #endif

-////////////////////////
-// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
-// These values are independent of which pins are used for EN_A and EN_B indications
-// The rotary encoder part is also independent to the chipset used for the LCD
-#if defined(EN_A) && defined(EN_B)
-    #define encrot0 0
-    #define encrot1 2
-    #define encrot2 3
-    #define encrot3 1
-#endif 
-
 #endif //ULTIPANEL

 ////////////////////////////////////
@@ -832,32 +821,28 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst

 static void lcd_implementation_quick_feedback()
 {
-#ifdef LCD_USE_I2C_BUZZER
-	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
-	  lcd_buzz(1000/6,100);
-	#else
-	  lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
-	#endif
-#elif defined(BEEPER) && BEEPER > -1
-    SET_OUTPUT(BEEPER);
-	#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
-    for(int8_t i=0;i<10;i++)
-    {
-      WRITE(BEEPER,HIGH);
-      delayMicroseconds(100);
-      WRITE(BEEPER,LOW);
-      delayMicroseconds(100);
-    }
+  #ifdef LCD_USE_I2C_BUZZER
+    #if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ)
+      lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
    #else
-    for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++)
-    {
-      WRITE(BEEPER,HIGH);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
-      WRITE(BEEPER,LOW);
-      delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
-    }
+      lcd_buzz(1000/6, 100);
    #endif
-#endif
+  #elif defined(BEEPER) && BEEPER > -1
+    SET_OUTPUT(BEEPER);
+    #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
+      const unsigned int delay = 100;
+      uint8_t i = 10;
+    #else
+      const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
+      int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
+    #endif
+    while (i--) {
+      WRITE(BEEPER,HIGH);
+      delayMicroseconds(delay);
+      WRITE(BEEPER,LOW);
+      delayMicroseconds(delay);
+    }
+  #endif
 }

 #ifdef LCD_HAS_STATUS_INDICATORS
--- a/Marlin/ultralcd_st7920_u8glib_rrd.h
+++ b/Marlin/ultralcd_st7920_u8glib_rrd.h
@@ -47,12 +47,9 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
  {
    case U8G_DEV_MSG_INIT:
      {
-        SET_OUTPUT(ST7920_CS_PIN);
-        WRITE(ST7920_CS_PIN,0);
-        SET_OUTPUT(ST7920_DAT_PIN);
-        WRITE(ST7920_DAT_PIN,0);
-        SET_OUTPUT(ST7920_CLK_PIN);
-        WRITE(ST7920_CLK_PIN,1);
+        OUT_WRITE(ST7920_CS_PIN,LOW);
+        OUT_WRITE(ST7920_DAT_PIN,LOW);
+        OUT_WRITE(ST7920_CLK_PIN,HIGH);

        ST7920_CS();
        u8g_Delay(120);                 //initial delay for boot up
--- a/Marlin/vector_3.cpp
+++ b/Marlin/vector_3.cpp
@@ -84,7 +84,7 @@ void vector_3::debug(char* title)
 	SERIAL_PROTOCOL(y);
 	SERIAL_PROTOCOLPGM(" z: ");
 	SERIAL_PROTOCOL(z);
-	SERIAL_PROTOCOLPGM("\n");
+	SERIAL_EOL;
 }

 void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
@@ -145,22 +145,17 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
  return new_matrix;
 }

-void matrix_3x3::debug(char* title)
-{
-	SERIAL_PROTOCOL(title);
-	SERIAL_PROTOCOL("\n");
-	int count = 0;
-	for(int i=0; i<3; i++)
-	{
-		for(int j=0; j<3; j++)
-		{
-			SERIAL_PROTOCOL(matrix[count]);
-			SERIAL_PROTOCOLPGM(" ");
-		        count++;
-		}
-
-		SERIAL_PROTOCOLPGM("\n");
-	}
+void matrix_3x3::debug(char* title) {
+  SERIAL_PROTOCOLLN(title);
+  int count = 0;
+  for(int i=0; i<3; i++) {
+    for(int j=0; j<3; j++) {
+      SERIAL_PROTOCOL(matrix[count] + 0.0001);
+      SERIAL_PROTOCOLPGM(" ");
+      count++;
+    }
+    SERIAL_EOL;
+  }
 }

 #endif // #ifdef ENABLE_AUTO_BED_LEVELING
--- a/README.md
+++ b/README.md
@@ -52,9 +52,9 @@ More features have been added by:
  - Bradley Feldman,
  - and others...

-## Licence
+## License

-Marlin is published unde the [GPL license](/Documentation/COPYING.md) because I believe in open development.
+Marlin is published under the [GPL license](/Documentation/COPYING.md) because I believe in open development.
 Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.

 [![Flattr this git repo](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/MarlinFirmware/Marlin&title=Marlin&language=&tags=github&category=software)