Merge pull request #106 from kliment/experimental

Merge Experimental into master

4 files changed, 357 insertions, 110 deletions

diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index f36183e..71e0b08 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -12,6 +12,7 @@
 // Teensylu (at90usb) = 8
 // Gen 3 Plus = 21
 // gen 3  Monolithic Electronics = 22
+// Gen3 PLUS for TechZone Gen3 Remix Motherboard = 23
 #define MOTHERBOARD 3 
 
 //// Thermistor settings:
@@ -37,9 +38,11 @@ float axis_steps_per_unit[] = {80, 80, 3200/1.25,700};
 //// Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops
 //If your axes are only moving in one direction, make sure the endstops are connected properly.
-//If your axes move in one direction ONLY when the endstops are triggered, set ENDSTOPS_INVERTING to true here
+//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
+const bool X_ENDSTOP_INVERT = false;
+const bool Y_ENDSTOP_INVERT = false;
+const bool Z_ENDSTOP_INVERT = false;
 
 // This determines the communication speed of the printer
 #define BAUDRATE 115200
@@ -117,15 +120,21 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
 
 //// PID settings:
 // Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
-//#define PIDTEMP
+//#define PIDTEMP 1
 #ifdef PIDTEMP
-#define PID_MAX 255 // limits current to nozzle
-#define PID_INTEGRAL_DRIVE_MAX 220
-#define PID_PGAIN 180 //100 is 1.0
-#define PID_IGAIN 2 //100 is 1.0
-#define PID_DGAIN 100 //100 is 1.0
+#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
+#define PID_PGAIN 1280 //256 is 1.0  // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range
+#define PID_IGAIN 64 //256 is 1.0  // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?)
+#define PID_DGAIN 2048 //256 is 1.0  // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate
+// magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula
+#define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint)
+// magic formula 2, to make led brightness approximately linear
+#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
 #endif
 
+// Change this value (range 1-255) to limit the current to the nozzle
+#define HEATER_CURRENT 255
+
 // How often should the heater check for new temp readings, in milliseconds
 #define HEATER_CHECK_INTERVAL 500
 #define BED_CHECK_INTERVAL 5000
@@ -149,6 +158,10 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
 // If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
 //#define WATCHPERIOD 5000 //5 seconds
 
+// Actual temperature must be close to target for this long before M109 returns success
+//#define TEMP_RESIDENCY_TIME 20  // (seconds)
+//#define TEMP_HYSTERESIS 5       // (C°) range of +/- temperatures considered "close" to the target one
+
 //// The minimal temperature defines the temperature below which the heater will not be enabled
 #define MINTEMP 5
 
@@ -167,6 +180,12 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
 #define BED_USES_THERMISTOR
 //#define BED_USES_AD595
 
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
+#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+
 // Uncomment the following line to enable debugging. You can better control debugging below the following line
 //#define DEBUG
 #ifdef DEBUG
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h
index d612b5d..2ac9163 100644
--- a/Sprinter/Sprinter.h
+++ b/Sprinter/Sprinter.h
@@ -8,33 +8,47 @@ void get_command();
 void process_commands();
 
 void manage_inactivity(byte debug);
+void setup_acceleration();
 
 void manage_heater();
-int temp2analogu(int celsius, const short table[][2], int numtemps, int source);
-int analog2tempu(int raw, const short table[][2], int numtemps, int source);
-#ifdef HEATER_USES_THERMISTOR
-    #define HEATERSOURCE 1
-#endif
-#ifdef HEATER_USES_AD595
-    #define HEATERSOURCE 2
+
+#if defined HEATER_USES_THERMISTOR
+#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS)
+#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS)
+#elif defined HEATER_USES_AD595
+#define temp2analogh( c ) temp2analog_ad595(c)
+#define analog2temp( c ) analog2temp_ad595(c)
+#elif defined HEATER_USES_MAX6675
+#define temp2analogh( c ) temp2analog_max6675(c)
+#define analog2temp( c ) analog2temp_max6675(c)
 #endif
-#ifdef HEATER_USES_MAX6675
-    #define HEATERSOURCE 3
+
+#if defined BED_USES_THERMISTOR
+#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS)
+#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS)
+#elif defined BED_USES_AD595
+#define temp2analogBed( c ) temp2analog_ad595(c)
+#define analog2tempBed( c ) analog2temp_ad595(c)
+#elif defined BED_USES_MAX6675
+#define temp2analogBed( c ) temp2analog_max6675(c)
+#define analog2tempBed( c ) analog2temp_max6675(c)
 #endif
-#ifdef BED_USES_THERMISTOR
-    #define BEDSOURCE 1
+
+#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+int temp2analog_thermistor(int celsius, const short table[][2], int numtemps);
+int analog2temp_thermistor(int raw,const short table[][2], int numtemps);
 #endif
-#ifdef BED_USES_AD595
-    #define BEDSOURCE 2
+
+#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
+int temp2analog_ad595(int celsius);
+int analog2temp_ad595(int raw);
 #endif
-#ifdef BED_USES_MAX6675
-    #define BEDSOURCE 3
+
+#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
+int temp2analog_max6675(int celsius);
+int analog2temp_max6675(int raw);
 #endif
 
-#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS,HEATERSOURCE)
-#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
-#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE)
-#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
 #if X_ENABLE_PIN > -1
 #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
 #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 2a36875..7a6bf5e 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1,4 +1,4 @@
-// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+  // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
 
 #include "fastio.h"
@@ -43,6 +43,7 @@
 // M27  - Report SD print status
 // M28  - Start SD write (M28 filename.g)
 // M29  - Stop SD write
+// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on
 // M81  - Turn off Power Supply
 // M82  - Set E codes absolute (default)
 // M83  - Set E codes relative while in Absolute Coordinates (G90) mode
@@ -111,20 +112,25 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X,
 // degree increments (i.e. 100=25 deg). 
 
 int target_raw = 0;
+int target_temp = 0;
 int current_raw = 0;
 int target_bed_raw = 0;
 int current_bed_raw = 0;
 int tt = 0, bt = 0;
 #ifdef PIDTEMP
   int temp_iState = 0;
-  int temp_dState = 0;
+  int prev_temp = 0;
   int pTerm;
   int iTerm;
   int dTerm;
       //int output;
   int error;
-  int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
-  int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+  int heater_duty = 0;
+  const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+  const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+#endif
+#ifndef HEATER_CURRENT
+  #define HEATER_CURRENT 255
 #endif
 #ifdef SMOOTHING
   uint32_t nma = 0;
@@ -239,6 +245,10 @@ void setup()
   if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
   #endif
   
+  #ifdef CONTROLLERFAN_PIN
+    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
+  #endif
+  
   //endstops and pullups
   #ifdef ENDSTOPPULLUPS
   #if X_MIN_PIN > -1
@@ -288,9 +298,11 @@ void setup()
   
   #if (HEATER_0_PIN > -1) 
     SET_OUTPUT(HEATER_0_PIN);
+    WRITE(HEATER_0_PIN,LOW);
   #endif  
   #if (HEATER_1_PIN > -1) 
     SET_OUTPUT(HEATER_1_PIN);
+    WRITE(HEATER_1_PIN,LOW);
   #endif  
   
   //Initialize Fan Pin
@@ -298,6 +310,18 @@ void setup()
     SET_OUTPUT(FAN_PIN);
   #endif
   
+  //Initialize Alarm Pin
+  #if (ALARM_PIN > -1) 
+    SET_OUTPUT(ALARM_PIN);
+    WRITE(ALARM_PIN,LOW);
+  #endif
+
+  //Initialize LED Pin
+  #if (LED_PIN > -1) 
+    SET_OUTPUT(LED_PIN);
+    WRITE(LED_PIN,LOW);
+  #endif
+  
 //Initialize Step Pins
   #if (X_STEP_PIN > -1) 
     SET_OUTPUT(X_STEP_PIN);
@@ -312,11 +336,7 @@ void setup()
     SET_OUTPUT(E_STEP_PIN);
   #endif  
   #ifdef RAMP_ACCELERATION
-  for(int i=0; i < NUM_AXIS; i++){
-        axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
-        axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
-        axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
-    }
+    setup_acceleration();
   #endif
     
 #ifdef HEATER_USES_MAX6675
@@ -726,8 +746,33 @@ inline void process_commands()
         //savetosd = false;
         break;
 #endif
+      case 42: //M42 -Change pin status via gcode
+        if (code_seen('S'))
+        {
+          int pin_status = code_value();
+          if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
+          {
+            int pin_number = code_value();
+            for(int i = 0; i < sizeof(sensitive_pins); i++)
+            {
+              if (sensitive_pins[i] == pin_number)
+              {
+                pin_number = -1;
+                break;
+              }
+            }
+            
+            if (pin_number > -1)
+            {              
+              pinMode(pin_number, OUTPUT);
+              digitalWrite(pin_number, pin_status);
+              analogWrite(pin_number, pin_status);
+            }
+          }
+        }
+        break;
       case 104: // M104
-        if (code_seen('S')) target_raw = temp2analogh(code_value());
+        if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
         #ifdef WATCHPERIOD
             if(target_raw > current_raw){
                 watchmillis = max(1,millis());
@@ -752,6 +797,12 @@ inline void process_commands()
         #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595
             Serial.print("ok T:");
             Serial.print(tt); 
+          #ifdef PIDTEMP
+            Serial.print(" @:");
+            Serial.print(heater_duty); 
+            Serial.print(",");
+            Serial.print(iTerm);
+          #endif
           #if TEMP_1_PIN > -1 || defined BED_USES_AD595
             Serial.print(" B:");
             Serial.println(bt); 
@@ -763,8 +814,8 @@ inline void process_commands()
         #endif
         return;
         //break;
-      case 109: // M109 - Wait for extruder heater to reach target.
-        if (code_seen('S')) target_raw = temp2analogh(code_value());
+      case 109: { // M109 - Wait for extruder heater to reach target.
+        if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
         #ifdef WATCHPERIOD
             if(target_raw>current_raw){
                 watchmillis = max(1,millis());
@@ -774,16 +825,39 @@ inline void process_commands()
             }
         #endif
         codenum = millis(); 
-        while(current_raw < target_raw) {
-          if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
+        
+        /* See if we are heating up or cooling down */
+        bool target_direction = (current_raw < target_raw);  // true if heating, false if cooling
+        
+      #ifdef TEMP_RESIDENCY_TIME
+        long residencyStart;
+        residencyStart = -1;
+        /* continue to loop until we have reached the target temp   
+           _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
+        while( (target_direction ? (current_raw < target_raw) : (current_raw > target_raw))
+            || (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
+      #else
+        while ( target_direction ? (current_raw < target_raw) : (current_raw > target_raw) ) {
+      #endif
+          if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up/cooling down
           {
             Serial.print("T:");
-            Serial.println( analog2temp(current_raw) ); 
-            codenum = millis(); 
+            Serial.println( analog2temp(current_raw) );
+            codenum = millis();
           }
           manage_heater();
-        }
-        break;
+          #ifdef TEMP_RESIDENCY_TIME
+            /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
+               or when current temp falls outside the hysteresis after target temp was reached */
+            if (   (residencyStart == -1 &&  target_direction && current_raw >= target_raw)
+                || (residencyStart == -1 && !target_direction && current_raw <= target_raw)
+                || (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) {
+              residencyStart = millis();
+            }
+          #endif
+	    }
+      }
+      break;
       case 190: // M190 - Wait bed for heater to reach target.
       #if TEMP_1_PIN > -1
         if (code_seen('S')) target_bed_raw = temp2analogh(code_value());
@@ -845,15 +919,10 @@ inline void process_commands()
           if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
         }
         
-        //Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it
-        // should also be used in setup() as well
         #ifdef RAMP_ACCELERATION
-          long temp_max_intervals[NUM_AXIS];
-          for(int i=0; i < NUM_AXIS; i++) {
-            axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);//TODO: do this for
-                  // all steps_per_unit related variables
-          }
+          setup_acceleration();
         #endif
+        
         break;
       case 115: // M115
         Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:");
@@ -872,27 +941,27 @@ inline void process_commands()
       case 119: // M119
       	#if (X_MIN_PIN > -1)
       	Serial.print("x_min:");
-        Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
       	#if (X_MAX_PIN > -1)
       	Serial.print("x_max:");
-        Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
       	#if (Y_MIN_PIN > -1)
       	Serial.print("y_min:");
-        Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
       	#if (Y_MAX_PIN > -1)
       	Serial.print("y_max:");
-        Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
       	#if (Z_MIN_PIN > -1)
       	Serial.print("z_min:");
-        Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
       	#if (Z_MAX_PIN > -1)
       	Serial.print("z_max:");
-        Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+        Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
       	#endif
         Serial.println("");
       	break;
@@ -1047,22 +1116,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
   else WRITE(E_DIR_PIN,INVERT_E_DIR);
   movereset:
   #if (X_MIN_PIN > -1) 
-    if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+    if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
   #endif
   #if (Y_MIN_PIN > -1) 
-    if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+    if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
   #endif
   #if (Z_MIN_PIN > -1) 
-    if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+    if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
   #endif
   #if (X_MAX_PIN > -1) 
-    if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+    if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
   #endif
   #if (Y_MAX_PIN > -1) 
-    if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+    if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
   #endif
   # if(Z_MAX_PIN > -1) 
-    if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+    if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
   #endif
   
   
@@ -1238,22 +1307,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
     //If there are x or y steps remaining, perform Bresenham algorithm
     if(axis_steps_remaining[primary_axis]) {
       #if (X_MIN_PIN > -1) 
-        if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+        if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
       #endif
       #if (Y_MIN_PIN > -1) 
-        if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+        if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
       #endif
       #if (X_MAX_PIN > -1) 
-        if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+        if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
       #endif
       #if (Y_MAX_PIN > -1) 
-        if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+        if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
       #endif
       #if (Z_MIN_PIN > -1) 
-        if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+        if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
       #endif
       #if (Z_MAX_PIN > -1) 
-        if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+        if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
       #endif
       timediff = micros() * 100 - axis_previous_micros[primary_axis];
       if(timediff<0){//check for overflow
@@ -1376,6 +1445,32 @@ int read_max6675()
 }
 #endif
 
+#ifdef CONTROLLERFAN_PIN
+unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
+unsigned long lastMotorCheck = 0;
+
+void controllerFan()
+{  
+  if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
+  {
+    lastMotorCheck = millis();
+    
+    if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || !READ(E_ENABLE_PIN)) //If any of the drivers are enabled...
+    {
+      lastMotor = millis(); //... set time to NOW so the fan will turn on
+    }
+    
+    if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
+    {
+      WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
+    }
+    else
+    {
+      WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
+    }
+  }
+}
+#endif
 
 void manage_heater()
 {
@@ -1404,8 +1499,9 @@ void manage_heater()
   #ifdef WATCHPERIOD
     if(watchmillis && millis() - watchmillis > WATCHPERIOD){
         if(watch_raw + 1 >= current_raw){
-            target_raw = 0;
+            target_temp = target_raw = 0;
             WRITE(HEATER_0_PIN,LOW);
+            analogWrite(HEATER_0_PIN, 0);
             #if LED_PIN>-1
                 WRITE(LED_PIN,LOW);
             #endif
@@ -1416,27 +1512,48 @@ void manage_heater()
   #endif
   #ifdef MINTEMP
     if(current_raw <= minttemp)
-        target_raw = 0;
+        target_temp = target_raw = 0;
   #endif
   #ifdef MAXTEMP
     if(current_raw >= maxttemp) {
-        target_raw = 0;
+        target_temp = target_raw = 0;
+        #if (ALARM_PIN > -1) 
+          WRITE(ALARM_PIN,HIGH);
+        #endif
     }
   #endif
   #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined (HEATER_USES_AD595)
     #ifdef PIDTEMP
-      error = target_raw - current_raw;
-      pTerm = (PID_PGAIN * error) / 100;
-      temp_iState += error;
-      temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
-      iTerm = (PID_IGAIN * temp_iState) / 100;
-      dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100;
-      temp_dState = current_raw;
-      analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX));
+      int current_temp = analog2temp(current_raw);
+      error = target_temp - current_temp;
+      int delta_temp = current_temp - prev_temp;
+      prev_temp = current_temp;
+      pTerm = ((long)PID_PGAIN * error) / 256;
+      const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
+      heater_duty = H0 + pTerm;
+      if(error < 20){
+        temp_iState += error;
+        temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
+        iTerm = ((long)PID_IGAIN * temp_iState) / 256;
+        heater_duty += iTerm;
+      }
+      int prev_error = abs(target_temp - prev_temp);
+      int log3 = 1; // discrete logarithm base 3, plus 1
+      if(prev_error > 81){ prev_error /= 81; log3 += 4; }
+      if(prev_error >  9){ prev_error /=  9; log3 += 2; }
+      if(prev_error >  3){ prev_error /=  3; log3 ++; }
+      dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
+      heater_duty += dTerm;
+      heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
+      analogWrite(HEATER_0_PIN, heater_duty);
+      #if LED_PIN>-1
+        analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255));
+      #endif
     #else
       if(current_raw >= target_raw)
       {
         WRITE(HEATER_0_PIN,LOW);
+        analogWrite(HEATER_0_PIN, 0);
         #if LED_PIN>-1
             WRITE(LED_PIN,LOW);
         #endif
@@ -1444,6 +1561,7 @@ void manage_heater()
       else 
       {
         WRITE(HEATER_0_PIN,HIGH);
+        analogWrite(HEATER_0_PIN, HEATER_CURRENT);
         #if LED_PIN > -1
             WRITE(LED_PIN,HIGH);
         #endif
@@ -1478,7 +1596,11 @@ void manage_heater()
   #endif
   
   
+  #ifdef MINTEMP
+    if(current_bed_raw >= target_bed_raw || current_bed_raw < minttemp)
+  #else
     if(current_bed_raw >= target_bed_raw)
+  #endif
     {
       WRITE(HEATER_1_PIN,LOW);
     }
@@ -1487,12 +1609,14 @@ void manage_heater()
       WRITE(HEATER_1_PIN,HIGH);
     }
     #endif
+    
+#ifdef CONTROLLERFAN_PIN
+  controllerFan(); //Check if fan should be turned on to cool stepper drivers down
+#endif
 }
 
-
-int temp2analogu(int celsius, const short table[][2], int numtemps, int source) {
-  #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
-  if(source==1){
+#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+int temp2analog_thermistor(int celsius, const short table[][2], int numtemps) {
     int raw = 0;
     byte i;
     
@@ -1513,20 +1637,23 @@ int temp2analogu(int celsius, const short table[][2], int numtemps, int source)
     if (i == numtemps) raw = table[i-1][0];
 
     return 1023 - raw;
-    }
-  #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
-    if(source==2)
-        return celsius * 1024 / (500);
-  #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
-    if(source==3)
-        return celsius * 4;
-  #endif
-  return -1;
 }
+#endif
+
+#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
+int temp2analog_ad595(int celsius) {
+    return celsius * 1024 / (500);
+}
+#endif
+
+#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
+int temp2analog_max6675(int celsius) {
+    return celsius * 4;
+}
+#endif
 
-int analog2tempu(int raw,const short table[][2], int numtemps, int source) {
-  #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
-    if(source==1){
+#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+int analog2temp_thermistor(int raw,const short table[][2], int numtemps) {
     int celsius = 0;
     byte i;
     
@@ -1549,17 +1676,20 @@ int analog2tempu(int raw,const short table[][2], int numtemps, int source) {
     if (i == numtemps) celsius = table[i-1][1];
 
     return celsius;
-    }
-  #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
-    if(source==2)
+}
+#endif
+
+#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
+int analog2temp_ad595(int raw) {
         return raw * 500 / 1024;
-  #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
-    if(source==3)
-        return raw / 4;
-  #endif
-  return -1;
 }
+#endif
 
+#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
+int analog2temp_max6675(int raw) {
+    return raw / 4;
+}
+#endif
 
 inline void kill()
 {
@@ -1585,6 +1715,16 @@ if( (millis()-previous_millis_cmd) >  max_inactive_time ) if(max_inactive_time)
 if( (millis()-previous_millis_cmd) >  stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
 }
 
+#ifdef RAMP_ACCELERATION
+void setup_acceleration() {
+  for (int i=0; i < NUM_AXIS; i++) {
+    axis_max_interval[i]                = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
+    axis_steps_per_sqr_second[i]        = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+    axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+  }
+}
+#endif
+
 #ifdef DEBUG
 void log_message(char*   message) {
   Serial.print("DEBUG"); Serial.println(message);
diff --git a/Sprinter/pins.h b/Sprinter/pins.h
index d9111ce..2160335 100644
--- a/Sprinter/pins.h
+++ b/Sprinter/pins.h
@@ -57,6 +57,7 @@
 #define FAN_PIN            -1
 #define PS_ON_PIN          15
 #define KILL_PIN           -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN        6
 #define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
@@ -130,6 +131,7 @@
 #define FAN_PIN            -1
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN       14
 #define TEMP_0_PIN          4 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
@@ -191,6 +193,7 @@
 
 #define FAN_PIN         -1
 #define KILL_PIN        -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN    -1
 #define TEMP_0_PIN      -1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
@@ -201,7 +204,7 @@
 #endif
 
 /****************************************************************************************
-* Gen3 PLUS
+* Gen3 PLUS for RepRap Motherboard V1.2
 *
 ****************************************************************************************/
 #if MOTHERBOARD == 21
@@ -243,7 +246,7 @@
 #define HEATER_0_PIN	12
 
 //Pin for heated bed heater
-#define HEATER_1_PIN	 5
+#define HEATER_1_PIN	 16
 
 
 //pin for debugging.
@@ -265,7 +268,7 @@
 #endif
 
 /****************************************************************************************
-* Gen3  Monolithic Electronics
+* Gen3  Monolithic Electronics 
 *
 ****************************************************************************************/
 #if MOTHERBOARD == 22
@@ -324,6 +327,71 @@
 
 
 /****************************************************************************************
+* Gen3 PLUS for TechZone Gen3 Remix Motherboard
+*
+****************************************************************************************/
+#if MOTHERBOARD == 23
+#define KNOWN_BOARD 1
+
+#ifndef __AVR_ATmega644P__
+    #error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+
+
+//x axis pins
+#define X_STEP_PIN      15
+#define X_DIR_PIN       18
+#define X_ENABLE_PIN    24 //same as E/Y_enable_pin
+#define X_MIN_PIN       20
+#define X_MAX_PIN       -1
+
+//y axis pins
+#define Y_STEP_PIN      23
+#define Y_DIR_PIN       22
+#define Y_ENABLE_PIN    24 //same as E/X_enable_pin
+#define Y_MIN_PIN       25
+#define Y_MAX_PIN       -1
+
+//z axis pins
+#define Z_STEP_PIN      27
+#define Z_DIR_PIN       28
+#define Z_ENABLE_PIN    29
+#define Z_MIN_PIN       30
+#define Z_MAX_PIN       -1
+
+#define E_DIR_PIN        21
+#define E_STEP_PIN	19
+#define E_ENABLE_PIN	24 //same as X/Y_enable_pin
+
+//heaters
+
+//pin for hot end heater
+#define HEATER_0_PIN	16
+
+//Pin for heated bed heater
+#define HEATER_1_PIN	17
+
+
+//pin for debugging.
+#define DEBUG_PIN        -1
+
+//SD card pin
+
+#define SDSS		  4
+
+#define SDPOWER          -1
+#define FAN_PIN          -1
+#define TEMP_0_PIN        0
+#define TEMP_1_PIN        5
+#define LED_PIN          -1
+
+//pin for controlling the PSU.
+#define PS_ON_PIN       14
+
+#endif
+
+
+/****************************************************************************************
 * Arduino Mega pin assignment
 *
 ****************************************************************************************/
@@ -379,12 +447,13 @@
 #define FAN_PIN            9
 #define PS_ON_PIN          12
 #define KILL_PIN           -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN       10
 #define HEATER_1_PIN       8
 #define TEMP_0_PIN         13   // ANALOG NUMBERING
 #define TEMP_1_PIN         14   // ANALOG NUMBERING
-
+#define TEMP_2_PIN         15   // ANALOG NUMBERING
 
 #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
 
@@ -415,7 +484,7 @@
 #define LED_PIN            13
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
-
+#define ALARM_PIN          -1
 
 
 #ifdef RAMPS_V_1_0 // RAMPS_V_1_0
@@ -486,6 +555,7 @@
 #define FAN_PIN             5
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN        6
 #define TEMP_0_PIN          0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
@@ -587,6 +657,7 @@
 
 #define PS_ON_PIN          -1
 #define KILL_PIN           -1
+#define ALARM_PIN          -1
 
 #define HEATER_0_PIN       13 // (extruder)
 
@@ -619,6 +690,9 @@
 
 #endif
 
+//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
+const int sensitive_pins[] = {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN};
+
 #endif
 
 /****************************************************************************************