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

Marlin/Configuration.h

@@ -214,6 +214,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
 #define Z_HOME_RETRACT_MM 1 
+#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
 

Marlin/Marlin.h

@@ -16,7 +16,6 @@
 #include "Configuration.h"
 #include "MarlinSerial.h"
 
-
 #define  FORCE_INLINE __attribute__((always_inline)) inline
 //#define SERIAL_ECHO(x) Serial << "echo: " << x;
 //#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
@@ -25,15 +24,25 @@
 //#define SERIAL_PROTOCOL(x) Serial << x;
 //#define SERIAL_PROTOCOLLN(x) Serial << x<<endl;
 
+//this is a unfinsihed attemp to removes a lot of warning messages, see:
+// http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011
+//typedef char prog_char PROGMEM; 
+// //#define PSTR    (s )        ((const PROGMEM char *)(s))
+// //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) 
+// //#define MYPGM(s) ((const prog_char *g PROGMEM=s))
+// //#define MYPGM(s) PSTR(s)
+#define MYPGM(s)  (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];}))  //This is the normal behaviour
+//#define MYPGM(s)  (__extension__({static prog_char __c[]  = (s); &__c[0];})) //this does not work but hides the warnings
 
 
 #define SERIAL_PROTOCOL(x) MSerial.print(x);
-#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
+#define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
 #define SERIAL_PROTOCOLLN(x) {MSerial.print(x);MSerial.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MSerial.write('\n');}
+#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MSerial.write('\n');}
 
-const char errormagic[] PROGMEM ="Error:";
+
-const char echomagic[] PROGMEM ="echo:";
+const prog_char errormagic[] PROGMEM ="Error:";
+const prog_char echomagic[] PROGMEM ="echo:";
 #define SERIAL_ERROR_START serialprintPGM(errormagic);
 #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
 #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
@@ -50,7 +59,7 @@ const char echomagic[] PROGMEM ="echo:";
 
 
 //things to write to serial from Programmemory. saves 400 to 2k of RAM.
-#define SerialprintPGM(x) serialprintPGM(PSTR(x))
+#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
 FORCE_INLINE void serialprintPGM(const char *str)
 {
   char ch=pgm_read_byte(str);

Marlin/Marlin.pde

@@ -167,7 +167,8 @@ static char *strchr_pointer; // just a pointer to find chars in the cmd string l
 
 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
 
-static float tt = 0, bt = 0;
+//static float tt = 0;
+//static float bt = 0;
 
 //Inactivity shutdown variables
 static unsigned long previous_millis_cmd = 0;
@@ -532,7 +533,7 @@ FORCE_INLINE void process_commands()
       }
       feedrate = 0.0;
       home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-      
+      #ifdef QUICK_HOME
       if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) )  //first diagonal move
       {
         current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
@@ -545,6 +546,7 @@ FORCE_INLINE void process_commands()
         prepare_move();
         current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
       }
+      #endif
       
       if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) 
       {
@@ -669,6 +671,7 @@ FORCE_INLINE void process_commands()
       SERIAL_ECHO_START;
       SERIAL_ECHOLN(time);
       LCD_MESSAGE(time);
+      autotempShutdown();
     }
     break;
     case 42: //M42 -Change pin status via gcode

Marlin/MarlinSerial.cpp

@@ -20,6 +20,7 @@
   Modified 28 September 2010 by Mark Sproul
 */
 
+
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>

Marlin/MarlinSerial.h

@@ -120,7 +120,7 @@ class MarlinSerial //: public Stream
 
     FORCE_INLINE void print(const String &s)
     {
-      for (int i = 0; i < s.length(); i++) {
+      for (int i = 0; i < (int)s.length(); i++) {
         write(s[i]);
       }
     }

Marlin/cardreader.h

@@ -59,7 +59,7 @@ private:
   LsAction lsAction; //stored for recursion.
   int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory.
   char* diveDirName;
-  void lsDive(char *prepend,SdFile parent);
+  void lsDive(const char *prepend,SdFile parent);
 };
   
 

Marlin/cardreader.pde

@@ -40,7 +40,7 @@ char *createFilename(char *buffer,const dir_t &p) //buffer>12characters
 }
 
 
-void  CardReader::lsDive(char *prepend,SdFile parent)
+void  CardReader::lsDive(const char *prepend,SdFile parent)
 {
   dir_t p;
  uint8_t cnt=0;
@@ -436,5 +436,6 @@ void CardReader::printingHasFinished()
  {
    finishAndDisableSteppers();
  }
+ autotempShutdown();
 }
 #endif //SDSUPPORT

Marlin/planner.cpp

@@ -91,7 +91,7 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
 #ifdef AUTOTEMP
     float autotemp_max=250;
     float autotemp_min=210;
-    float autotemp_factor=1;
+    float autotemp_factor=0.1;
     bool autotemp_enabled=false;
 #endif
 
@@ -107,10 +107,12 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 //=============================private variables ============================
 //===========================================================================
 
-// Used for the frequency limit
+#ifdef XY_FREQUENCY_LIMIT
-static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+  // Used for the frequency limit
-static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
+  static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-static long y_segment_time[3]={0,0,0};
+  static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
+  static long y_segment_time[3]={0,0,0};
+#endif
 
 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
@@ -254,7 +256,7 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the reverse pass.
 void planner_reverse_pass() {
-  char block_index = block_buffer_head;
+  uint8_t block_index = block_buffer_head;
   if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
     block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
     block_t *block[3] = { NULL, NULL, NULL };
@@ -293,7 +295,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the forward pass.
 void planner_forward_pass() {
-  char block_index = block_buffer_tail;
+  uint8_t block_index = block_buffer_tail;
   block_t *block[3] = { NULL, NULL, NULL };
 
   while(block_index != block_buffer_head) {
@@ -383,7 +385,7 @@ void getHighESpeed()
     return; //do nothing
   
   float high=0;
-  char block_index = block_buffer_tail;
+  uint8_t block_index = block_buffer_tail;
   
   while(block_index != block_buffer_head) {
     float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
@@ -422,7 +424,7 @@ void check_axes_activity() {
   block_t *block;
 
   if(block_buffer_tail != block_buffer_head) {
-    char block_index = block_buffer_tail;
+    uint8_t block_index = block_buffer_tail;
     while(block_index != block_buffer_head) {
       block = &block_buffer[block_index];
       if(block->steps_x != 0) x_active++;
@@ -518,8 +520,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
   block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
 
-  //  segment time im micro seconds
+  
-  long segment_time = lround(1000000.0/inverse_second);
  
 
   if (block->steps_e == 0) {
@@ -537,6 +538,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif
 
 /*
+  //  segment time im micro seconds
+  long segment_time = lround(1000000.0/inverse_second);
   if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
     if (segment_time<minsegmenttime)  { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
         segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);

Marlin/stepper.cpp

@@ -21,6 +21,7 @@
 /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
    and Philipp Tiefenbacher. */
 
+
 #include "stepper.h"
 #include "Configuration.h"
 #include "Marlin.h"
@@ -454,7 +455,7 @@ ISR(TIMER1_COMPA_vect)
     // Calculare new timer value
     unsigned short timer;
     unsigned short step_rate;
-    if (step_events_completed <= current_block->accelerate_until) {
+    if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
       
       MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
       acc_step_rate += current_block->initial_rate;
@@ -478,7 +479,7 @@ ISR(TIMER1_COMPA_vect)
         
       #endif
     } 
-    else if (step_events_completed > current_block->decelerate_after) {   
+    else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {   
       MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
       
       if(step_rate > acc_step_rate) { // Check step_rate stays positive
@@ -695,7 +696,7 @@ void st_set_e_position(const long &e)
   CRITICAL_SECTION_END;
 }
 
-long st_get_position(char axis)
+long st_get_position(uint8_t axis)
 {
   long count_pos;
   CRITICAL_SECTION_START;

Marlin/stepper.h

@@ -34,7 +34,7 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
 void st_set_e_position(const long &e);
 
 // Get current position in steps
-long st_get_position(char axis);
+long st_get_position(uint8_t axis);
 
 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
 // to notify the subsystem that it is time to go to work.

Marlin/temperature.cpp

@@ -67,7 +67,8 @@ int heatingtarget_raw[3]= {0, 0, 0};
 //===========================================================================
 static bool temp_meas_ready = false;
 
-static unsigned long previous_millis_heater, previous_millis_bed_heater;
+static unsigned long  previous_millis_bed_heater;
+//static unsigned long previous_millis_heater;
 
 #ifdef PIDTEMP
   //static cannot be external:
@@ -80,8 +81,8 @@ static unsigned long previous_millis_heater, previous_millis_bed_heater;
   static float pid_error;
   static float temp_iState_min;
   static float temp_iState_max;
-  static float pid_input;
+ // static float pid_input; 
-  static float pid_output;
+ // static float pid_output;
   static bool pid_reset;
  
 #endif //PIDTEMP
@@ -94,8 +95,8 @@ static unsigned long previous_millis_heater, previous_millis_bed_heater;
 // Init min and max temp with extreme values to prevent false errors during startup
   static int minttemp_0   = 0;
   static int maxttemp_0   = 16383;
-  static int minttemp_1   = 0;
+  //static int minttemp_1   = 0;
-  static int maxttemp_1   = 16383;
+  //static int maxttemp_1   = 16383;
   static int bed_minttemp = 0;
   static int bed_maxttemp = 16383;
 
@@ -268,7 +269,10 @@ int temp2analogBed(int celsius) {
     return (1023 * OVERSAMPLENR) - raw;
   #elif defined BED_USES_AD595
     return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
+  #else
+    #warning No heater-type defined for the bed.
   #endif
+  return 0;
 }
 
 // Derived from RepRap FiveD extruder::getTemperature()
@@ -296,6 +300,8 @@ float analog2temp(int raw) {
     return celsius;
   #elif defined HEATER_0_USES_AD595
     return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+  #else
+    #error PLEASE DEFINE HEATER TYPE 
   #endif
 }
 
@@ -328,7 +334,10 @@ float analog2tempBed(int raw) {
     
   #elif defined BED_USES_AD595
     return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+  #else
+    #warning No heater-type defined for the bed.
   #endif
+  return 0;
 }
 
 void tp_init()

Marlin/temperature.h

@@ -86,7 +86,7 @@ FORCE_INLINE void setTargetHotend0(const float &celsius)
   #endif //PIDTEMP
 };
 FORCE_INLINE void setTargetHotend1(const float &celsius) {  target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);};
-FORCE_INLINE float setTargetHotend(const float &celcius, uint8_t extruder){  
+FORCE_INLINE void setTargetHotend(const float &celcius, uint8_t extruder){  
   if(extruder == 0) setTargetHotend0(celcius);
   if(extruder == 1) setTargetHotend1(celcius);
 };
@@ -94,20 +94,32 @@ FORCE_INLINE void setTargetBed(const float &celsius)     {  target_raw[TEMPSENSO
 
 FORCE_INLINE bool isHeatingHotend0() {return heatingtarget_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];};
 FORCE_INLINE bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];};
-FORCE_INLINE float isHeatingHotend(uint8_t extruder){  
+FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
   if(extruder == 0) return heatingtarget_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];
   if(extruder == 1) return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];
+  return false; 
 };
 FORCE_INLINE bool isHeatingBed() {return target_raw[TEMPSENSOR_BED] > current_raw[TEMPSENSOR_BED];};
 
 FORCE_INLINE bool isCoolingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];};
 FORCE_INLINE bool isCoolingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];};
-FORCE_INLINE float isCoolingHotend(uint8_t extruder){  
+FORCE_INLINE bool isCoolingHotend(uint8_t extruder){  
   if(extruder == 0) return target_raw[TEMPSENSOR_HOTEND_0] < current_raw[TEMPSENSOR_HOTEND_0];
   if(extruder == 1) return target_raw[TEMPSENSOR_HOTEND_1] < current_raw[TEMPSENSOR_HOTEND_1];
+  return false; 
 };
 FORCE_INLINE bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMPSENSOR_BED];};
 
+FORCE_INLINE void autotempShutdown(){
+ #ifdef AUTOTEMP
+ if(autotemp_enabled)
+ {
+  autotemp_enabled=false;
+  if(degTargetHotend0()>autotemp_min)
+    setTargetHotend0(0);
+ }
+ #endif
+}
 void disable_heater();
 void setWatch();
 void updatePID();

Marlin/ultralcd.h

@@ -1,7 +1,7 @@
 #ifndef __ULTRALCDH
 #define __ULTRALCDH
 #include "Configuration.h"
-
+#include "Marlin.h"
 #ifdef ULTRA_LCD
 
   void lcd_status();
@@ -104,7 +104,6 @@
             curencoderpos=maxlines*lcdslow; 
         } 
         lastencoderpos=encoderpos=curencoderpos;
-        int lastactiveline=activeline;
         activeline=curencoderpos/lcdslow;
         if(activeline<0) activeline=0;
         if(activeline>LCD_HEIGHT-1) activeline=LCD_HEIGHT-1;
@@ -137,7 +136,7 @@
 
 
   #define LCD_MESSAGE(x) lcd_status(x);
-  #define LCD_MESSAGEPGM(x) lcd_statuspgm(PSTR(x));
+  #define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
   #define LCD_STATUS lcd_status()
 #else //no lcd
   #define LCD_STATUS

Marlin/ultralcd.pde

@@ -53,7 +53,7 @@ void lcdProgMemprint(const char *str)
     ch=pgm_read_byte(++str);
   }
 }
-#define lcdprintPGM(x) lcdProgMemprint(PSTR(x))
+#define lcdprintPGM(x) lcdProgMemprint(MYPGM(x))
 
 
 //===========================================================================
@@ -159,8 +159,8 @@ void lcd_status()
 {
   #ifdef ULTIPANEL
     static uint8_t oldbuttons=0;
-    static long previous_millis_buttons=0;
+    //static long previous_millis_buttons=0;
-    static long previous_lcdinit=0;
+    //static long previous_lcdinit=0;
   //  buttons_check(); // Done in temperature interrupt
     //previous_millis_buttons=millis();
     
@@ -503,31 +503,32 @@ void MainMenu::showTune()
         lcd.setCursor(13,line);lcd.print(ftostr3(feedmultiply));
       }
       
-      if((activeline==line) )
+      if((activeline!=line) )
+        break;
+      
+      if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
       {
-        if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
+        linechanging=!linechanging;
-        {
-          linechanging=!linechanging;
-          if(linechanging)
-          {
-              encoderpos=feedmultiply;
-          }
-          else
-          {
-            encoderpos=activeline*lcdslow;
-            beepshort();
-          }
-          BLOCK;
-        }
         if(linechanging)
         {
-          if(encoderpos<1) encoderpos=1;
+            encoderpos=feedmultiply;
-          if(encoderpos>400) encoderpos=400;
-          feedmultiply = encoderpos;
-          feedmultiplychanged=true;
-          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
         }
+        else
+        {
+          encoderpos=activeline*lcdslow;
+          beepshort();
+        }
+        BLOCK;
       }
+      if(linechanging)
+      {
+        if(encoderpos<1) encoderpos=1;
+        if(encoderpos>400) encoderpos=400;
+        feedmultiply = encoderpos;
+        feedmultiplychanged=true;
+        lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+      }
+      
     }break;
     case ItemT_nozzle:
       {
@@ -537,29 +538,29 @@ void MainMenu::showTune()
           lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0())));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=intround(degTargetHotend0());
-            }
-            else
-            {
-              setTargetHotend0(encoderpos);
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=intround(degTargetHotend0());
-            if(encoderpos>260) encoderpos=260;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            setTargetHotend0(encoderpos);
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
         }
       }break;
       
@@ -571,31 +572,32 @@ void MainMenu::showTune()
           lcd.setCursor(13,line);lcd.print(ftostr3(fanpwm));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
         {
-          if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=fanpwm;
-            }
-            else
-            {
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=fanpwm;
-            if(encoderpos>255) encoderpos=255;
-            fanpwm=encoderpos;
-              analogWrite(FAN_PIN,  fanpwm);
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>255) encoderpos=255;
+          fanpwm=encoderpos;
+            analogWrite(FAN_PIN,  fanpwm);
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
       case ItemT_flow://axis_steps_per_unit[i] = code_value();
          {
@@ -605,34 +607,35 @@ void MainMenu::showTune()
           lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)axis_steps_per_unit[3];
-            }
-            else
-            {
-              float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
-              position[E_AXIS]=lround(position[E_AXIS]*factor);
-              //current_position[3]*=factor;
-              axis_steps_per_unit[E_AXIS]= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<5) encoderpos=5;
+              encoderpos=(int)axis_steps_per_unit[3];
-            if(encoderpos>9999) encoderpos=9999;
-            lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
           }
+          else
+          {
+            float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
+            position[E_AXIS]=lround(position[E_AXIS]*factor);
+            //current_position[3]*=factor;
+            axis_steps_per_unit[E_AXIS]= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<5) encoderpos=5;
+          if(encoderpos>9999) encoderpos=9999;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+        }
+        
       }break; 
     default:   
       break;
@@ -688,30 +691,31 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0())));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=intround(degTargetHotend0());
-            }
-            else
-            {
-              setTargetHotend0(encoderpos);
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=intround(degTargetHotend0());
-            if(encoderpos>260) encoderpos=260;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            setTargetHotend0(encoderpos);
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
       #ifdef AUTOTEMP
       case ItemCT_autotempmin:
@@ -719,33 +723,34 @@ void MainMenu::showControlTemp()
         if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcdprintPGM(" \002 Min:");
-          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max));
+          lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_min));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=intround(autotemp_max);
-            }
-            else
-            {
-              autotemp_max=encoderpos;
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=intround(autotemp_min);
-            if(encoderpos>260) encoderpos=260;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            autotemp_min=encoderpos;
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;  
       case ItemCT_autotempmax:
       {
@@ -755,30 +760,31 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=intround(autotemp_max);
-            }
-            else
-            {
-              autotemp_max=encoderpos;
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=intround(autotemp_max);
-            if(encoderpos>260) encoderpos=260;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            autotemp_max=encoderpos;
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>260) encoderpos=260;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;  
       case ItemCT_autotempfact:
       {
@@ -788,30 +794,31 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(ftostr32(autotemp_factor));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=intround(autotemp_factor*100);
-            }
-            else
-            {
-              autotemp_max=encoderpos;
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=intround(autotemp_factor*100);
-            if(encoderpos>99) encoderpos=99;
-            lcd.setCursor(13,line);lcd.print(ftostr32(encoderpos/100.));
           }
+          else
+          {
+            autotemp_max=encoderpos;
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>99) encoderpos=99;
+          lcd.setCursor(13,line);lcd.print(ftostr32(encoderpos/100.));
+        }
+        
       }break;
       case ItemCT_autotempactive:
       {
@@ -819,20 +826,26 @@ void MainMenu::showControlTemp()
         {
           lcd.setCursor(0,line);lcdprintPGM(" Autotemp:");
           lcd.setCursor(13,line);
-	  if(autotemp_enabled)
+          if(autotemp_enabled)
-	    lcdprintPGM("On");
+            lcdprintPGM("On");
-	  else
+          else
-	    lcdprintPGM("Off");
+            lcdprintPGM("Off");
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          autotemp_enabled=!autotemp_enabled;
-          {
+          lcd.setCursor(13,line);
-            autotemp_enabled=!autotemp_enabled;
+          if(autotemp_enabled)
-            BLOCK;
+            lcdprintPGM("On ");
-          }
+          else
+            lcdprintPGM("Off");
+          BLOCK;
         }
+        
       }break;  
       #endif //autotemp
       case ItemCT_fan:
@@ -843,31 +856,32 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(ftostr3(fanpwm));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
         {
-          if(CLICKED) //nalogWrite(FAN_PIN,  fanpwm);
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=fanpwm;
-            }
-            else
-            {
-              encoderpos=activeline*lcdslow;
-              beepshort();
-            }
-            BLOCK;
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=fanpwm;
-            if(encoderpos>255) encoderpos=255;
-            fanpwm=encoderpos;
-              analogWrite(FAN_PIN,  fanpwm);
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            encoderpos=activeline*lcdslow;
+            beepshort();
+          }
+          BLOCK;
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>255) encoderpos=255;
+          fanpwm=encoderpos;
+            analogWrite(FAN_PIN,  fanpwm);
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
       case ItemCT_PID_P: 
       {
@@ -877,31 +891,32 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(itostr4(Kp));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)Kp;
-            }
-            else
-            {
-              Kp= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<1) encoderpos=1;
+              encoderpos=(int)Kp;
-            if(encoderpos>9990) encoderpos=9990;
-            lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
           }
+          else
+          {
+            Kp= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>9990) encoderpos=9990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+        }
+        
       }break;
     case ItemCT_PID_I: 
       {
@@ -911,31 +926,32 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(ftostr51(Ki/PID_dT));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)(Ki*10/PID_dT);
-            }
-            else
-            {
-              Ki= encoderpos/10.*PID_dT;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=(int)(Ki*10/PID_dT);
-            if(encoderpos>9990) encoderpos=9990;
-            lcd.setCursor(13,line);lcd.print(ftostr51(encoderpos/10.));
           }
+          else
+          {
+            Ki= encoderpos/10.*PID_dT;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>9990) encoderpos=9990;
+          lcd.setCursor(13,line);lcd.print(ftostr51(encoderpos/10.));
+        }
+        
       }break;
       case ItemCT_PID_D: 
       {
@@ -945,31 +961,33 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(itostr4(Kd*PID_dT));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)(Kd/5./PID_dT);
-            }
-            else
-            {
-              Kd= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=(int)(Kd/5./PID_dT);
-            if(encoderpos>9990) encoderpos=9990;
-            lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
           }
+          else
+          {
+            Kd= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>9990) encoderpos=9990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+        }
+       
       }break;   
     case ItemCT_PID_C: 
       #ifdef PID_ADD_EXTRUSION_RATE
@@ -980,31 +998,32 @@ void MainMenu::showControlTemp()
           lcd.setCursor(13,line);lcd.print(itostr3(Kc));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)Kc;
-            }
-            else
-            {
-              Kc= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=(int)Kc;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            Kc= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }
       #endif
       break;
@@ -1051,30 +1070,31 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(acceleration/100));lcdprintPGM("00");
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)acceleration/100;
-            }
-            else
-            {
-              acceleration= encoderpos*100;
-              encoderpos=activeline*lcdslow;
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<5) encoderpos=5;
+              encoderpos=(int)acceleration/100;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
           }
+          else
+          {
+            acceleration= encoderpos*100;
+            encoderpos=activeline*lcdslow;
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<5) encoderpos=5;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
+        }
+        
       }break;
     case ItemCM_xyjerk: //max_xy_jerk
       {
@@ -1084,31 +1104,32 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(max_xy_jerk));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)max_xy_jerk;
-            }
-            else
-            {
-              max_xy_jerk= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<1) encoderpos=1;
+              encoderpos=(int)max_xy_jerk;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            max_xy_jerk= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
       
     case ItemCM_vmaxx:
@@ -1126,31 +1147,32 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(max_feedrate[i-ItemCM_vmaxx]));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)max_feedrate[i-ItemCM_vmaxx];
-            }
-            else
-            {
-              max_feedrate[i-ItemCM_vmaxx]= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<1) encoderpos=1;
+              encoderpos=(int)max_feedrate[i-ItemCM_vmaxx];
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            max_feedrate[i-ItemCM_vmaxx]= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
     
     case ItemCM_vmin:
@@ -1161,31 +1183,32 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(minimumfeedrate));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)(minimumfeedrate);
-            }
-            else
-            {
-              minimumfeedrate= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=(int)(minimumfeedrate);
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            minimumfeedrate= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
     case ItemCM_vtravmin:
     {
@@ -1195,31 +1218,32 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(mintravelfeedrate));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)mintravelfeedrate;
-            }
-            else
-            {
-              mintravelfeedrate= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<0) encoderpos=0;
+              encoderpos=(int)mintravelfeedrate;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
           }
+          else
+          {
+            mintravelfeedrate= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));
+        }
+        
       }break;
     
     case ItemCM_amaxx:      
@@ -1237,30 +1261,31 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr3(max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100));lcdprintPGM("00");
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
-            }
-            else
-            {
-              max_acceleration_units_per_sq_second[i-ItemCM_amaxx]= encoderpos*100;
-              encoderpos=activeline*lcdslow;
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<1) encoderpos=1;
+              encoderpos=(int)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
           }
+          else
+          {
+            max_acceleration_units_per_sq_second[i-ItemCM_amaxx]= encoderpos*100;
+            encoderpos=activeline*lcdslow;
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
+        }
+        
       }break;
     case ItemCM_aret://float retract_acceleration = 7000;
     {
@@ -1270,31 +1295,32 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(ftostr3(retract_acceleration/100));lcdprintPGM("00");
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)retract_acceleration/100;
-            }
-            else
-            {
-              retract_acceleration= encoderpos*100;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<10) encoderpos=10;
+              encoderpos=(int)retract_acceleration/100;
-            if(encoderpos>990) encoderpos=990;
-            lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
           }
+          else
+          {
+            retract_acceleration= encoderpos*100;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<10) encoderpos=10;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00");
+        }
+        
       }break;
     case ItemCM_esteps://axis_steps_per_unit[i] = code_value();
          {
@@ -1304,34 +1330,35 @@ void MainMenu::showControlMotion()
           lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
         }
         
-        if((activeline==line) )
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
         {
-          if(CLICKED)
+          linechanging=!linechanging;
-          {
-            linechanging=!linechanging;
-            if(linechanging)
-            {
-               encoderpos=(int)axis_steps_per_unit[3];
-            }
-            else
-            {
-              float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
-              position[E_AXIS]=lround(position[E_AXIS]*factor);
-              //current_position[3]*=factor;
-              axis_steps_per_unit[E_AXIS]= encoderpos;
-              encoderpos=activeline*lcdslow;
-                
-            }
-            BLOCK;
-            beepshort();
-          }
           if(linechanging)
           {
-            if(encoderpos<5) encoderpos=5;
+              encoderpos=(int)axis_steps_per_unit[3];
-            if(encoderpos>9999) encoderpos=9999;
-            lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
           }
+          else
+          {
+            float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
+            position[E_AXIS]=lround(position[E_AXIS]*factor);
+            //current_position[3]*=factor;
+            axis_steps_per_unit[E_AXIS]= encoderpos;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
         }
+        if(linechanging)
+        {
+          if(encoderpos<5) encoderpos=5;
+          if(encoderpos>9999) encoderpos=9999;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+        }
+        
       }break; 
     default:   
       break;