From 06faad4261b8750e10e0c30537c77925845538ea Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Fri, 19 Oct 2018 21:54:49 -0400
Subject: [PATCH 1/8] Added 3 serial func. Dump calibration, set calibration,
 and force setup menu start

---
 .gitignore            | 15 +++++---
 main.cpp              | 79 +++++++++++++++++++++++++++++++++++++++----
 permanent_storage.cpp | 18 +---------
 permanent_storage.h   | 20 +++++++++++
 4 files changed, 104 insertions(+), 28 deletions(-)

diff --git a/.gitignore b/.gitignore
index c13749fa..84ae2210 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,12 +4,17 @@
 
 /MM-control-01.sln
 /__vm/.MMU_FW.vsarduino.h
-.cproject
-.project
-.settings
-/Debug
+.cproject
+.project
+.settings
+/Debug
 /__vm/.MM-Control.vsarduino.h
 /.vs/MM-control-01/v14/.suo
 /main.cpp~RFdf1346e.TMP
 /__vm/.MM-control-01.vsarduino.h
-Doc
+Doc
+.pioenvs
+.piolibdeps
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
diff --git a/main.cpp b/main.cpp
index 06efc7ac..0a2d4e6e 100644
--- a/main.cpp
+++ b/main.cpp
@@ -16,7 +16,7 @@
 #include "Buttons.h"
 #include <avr/wdt.h>
 #include "permanent_storage.h"
-
+#include "uart.h"
 
 int8_t sys_state = 0;
 uint8_t sys_signals = 0;
@@ -25,7 +25,7 @@ int _c = 0;
 uint8_t tmc2130_mode = NORMAL_MODE;
 
 #if (UART_COM == 0)
-FILE* uart_com = uart0io;
+FILE* uart_com = uart0io;//USB
 #elif (UART_COM == 1)
 FILE* uart_com = uart1io;
 #endif //(UART_COM == 0)
@@ -92,7 +92,6 @@ void setup()
 
 	init_Pulley();
 
-
 	// if FINDA is sensing filament do not home
 	while (digitalRead(A1) == 1)
 	{
@@ -196,9 +195,11 @@ void manual_extruder_selector()
 //! middle | feed filament
 //!
 //! @copydoc manual_extruder_selector()
+
 void loop()
 {
 	process_commands(uart_com);
+	process_commands(uart0io);
 
 	if (!isPrinting)
 	{
@@ -220,8 +221,28 @@ extern "C" {
 
 void process_commands(FILE* inout)
 {
-	static char line[32];
-	static int count = 0;
+	//static char line[32];
+	//static int count = 0;
+	
+	static char line_usb[32];
+	static int count_usb = 0;
+
+	static char line_hw[32];
+	static int count_hw = 0;
+
+	char* line;
+	int count = 0;
+	if(inout == uart0io)
+	{
+		line = line_usb;
+		count = count_usb;
+	}
+	else
+	{
+		line = line_hw;
+		count = count_hw;
+	}
+	
 	int c = -1;
 	if (count < 32)
 	{
@@ -230,6 +251,8 @@ void process_commands(FILE* inout)
 			if (c == '\r') c = 0;
 			if (c == '\n') c = 0;
 			line[count++] = c;
+			if(inout == uart0io)
+				printf_P(PSTR("%c"),c);
 		}
 	}
 	else
@@ -243,7 +266,8 @@ void process_commands(FILE* inout)
 	if ((count > 0) && (c == 0))
 	{
 		//line received
-		//printf_P(PSTR("line received: '%s' %d\n"), line, count);
+		if(inout == uart0io)
+			printf_P(PSTR("\r\nline received: '%s' %d\r\n"), line, count);
 		count = 0;
 		if (sscanf_P(line, PSTR("T%d"), &value) > 0)
 		{
@@ -344,10 +368,53 @@ void process_commands(FILE* inout)
 				fprintf_P(inout, PSTR("ok\n"));
 			}
 		}
+		else if(strcmp_P(line, PSTR("!D")) == 0)
+		{
+			fprintf_P(inout, PSTR("DUMPING TUBE LENGTH CALIBRATION\r\n")); 
+			for(int i=0;i<5;i++)
+			{
+				uint8_t filament = i;
+				if (1)//validFilament(filament))
+				{
+					uint16_t bowdenLength = eeprom_read_word(&(eepromBase->eepromBowdenLen[filament]));
+
+					fprintf_P(inout,PSTR("%d:%d\r\n"),i,bowdenLength);
+					//if (validBowdenLen(bowdenLength)) 
+					//	return bowdenLength;
+				}
+			}
+		}
+		else if(sscanf_P(line,PSTR("!S%d,%d"),&value,&value0) > 0)
+		{
+			if(value < 0 || value > 4)
+			{
+				fprintf_P(inout, PSTR("Invalid extruder #\r\n")); 
+			}
+			fprintf_P(inout, PSTR("Storing Extruder Tube Length %d to %d\r\n"),value,value0); 
+			if (validFilament(value))
+				eeprom_update_word(&(eepromBase->eepromBowdenLen[value]), value0);
+			else
+			{
+				fprintf_P(inout, PSTR("Invalid length\r\n")); 
+			}
+		}
+		else if(strcmp_P(line,PSTR("!CMODE")) == 0)
+		{
+			fprintf_P(inout, PSTR("Entering Setup Menu\r\n")); 
+			setupMenu();
+		}
 	}
 	else
 	{ //nothing received
 	}
+	if(inout == uart0io)
+	{
+		count_usb = count;
+	}
+	else
+	{
+		count_hw = count;
+	}
 }
 
 
diff --git a/permanent_storage.cpp b/permanent_storage.cpp
index 7af1f023..3e1878bd 100644
--- a/permanent_storage.cpp
+++ b/permanent_storage.cpp
@@ -5,28 +5,12 @@
 #include "mmctl.h"
 #include <avr/eeprom.h>
 
-//! @brief EEPROM data layout
-//!
-//! Do not remove, reorder or change size of existing fields.
-//! Otherwise values stored with previous version of firmware would be broken.
-//! It is possible to add fields in the end of this struct, ensure that erased EEPROM is handled well.
-typedef struct
-{
-	uint8_t eepromLengthCorrection; //!< legacy bowden length correction
-	uint16_t eepromBowdenLen[5];    //!< Bowden length for each filament
-}eeprom_t;
 
-static eeprom_t * const eepromBase = reinterpret_cast<eeprom_t*>(0); //!< First EEPROM address
-static const uint16_t eepromEmpty = 0xffff; //!< EEPROM content when erased
-static const uint16_t eepromLengthCorrectionBase = 7900u; //!< legacy bowden length correction base
-static const uint16_t eepromBowdenLenDefault = 8900u; //!< Default bowden length
-static const uint16_t eepromBowdenLenMinimum = 6900u; //!< Minimum bowden length
-static const uint16_t eepromBowdenLenMaximum = 10900u; //!< Maximum bowden length
 
 //! @brief Is filament number valid?
 //! @retval true valid
 //! @retval false invalid
-static bool validFilament(uint8_t filament)
+bool validFilament(uint8_t filament)
 {
 	if (filament < (sizeof(eeprom_t::eepromBowdenLen)/sizeof(eeprom_t::eepromBowdenLen[0]))) return true;
 	else return false;
diff --git a/permanent_storage.h b/permanent_storage.h
index 733fe509..a0cf1132 100644
--- a/permanent_storage.h
+++ b/permanent_storage.h
@@ -5,6 +5,26 @@
 #define PERMANENT_STORAGE_H_
 
 #include <stdint.h>
+//! @brief EEPROM data layout
+//!
+//! Do not remove, reorder or change size of existing fields.
+//! Otherwise values stored with previous version of firmware would be broken.
+//! It is possible to add fields in the end of this struct, ensure that erased EEPROM is handled well.
+typedef struct
+{
+	uint8_t eepromLengthCorrection; //!< legacy bowden length correction
+	uint16_t eepromBowdenLen[5];    //!< Bowden length for each filament
+}eeprom_t;
+
+static eeprom_t * const eepromBase = reinterpret_cast<eeprom_t*>(0); //!< First EEPROM address
+static const uint16_t eepromEmpty = 0xffff; //!< EEPROM content when erased
+static const uint16_t eepromLengthCorrectionBase = 7900u; //!< legacy bowden length correction base
+static const uint16_t eepromBowdenLenDefault = 8900u; //!< Default bowden length
+static const uint16_t eepromBowdenLenMinimum = 6900u; //!< Minimum bowden length
+static const uint16_t eepromBowdenLenMaximum = 10900u; //!< Maximum bowden length
+
+bool validFilament(uint8_t filament);
+
 
 //! @brief Read manipulate and store bowden length
 //!

From b40245a87a0c11fd0a277bfdc992199accc19f3e Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Fri, 19 Oct 2018 22:57:22 -0400
Subject: [PATCH 2/8] Another cmd for direct calibration and debug output from
 length calibration

---
 Buttons.cpp         | 27 +++++++++++++++++++++++++--
 Buttons.h           |  2 +-
 main.cpp            |  7 ++++++-
 permanent_storage.h |  3 ++-
 4 files changed, 34 insertions(+), 5 deletions(-)

diff --git a/Buttons.cpp b/Buttons.cpp
index ef921e76..728c0aef 100644
--- a/Buttons.cpp
+++ b/Buttons.cpp
@@ -7,6 +7,7 @@
 #include "motion.h"
 #include "permanent_storage.h"
 #include "main.h"
+#include "uart.h"
 
 const int ButtonPin = A2;
 
@@ -31,7 +32,8 @@ void settings_select_filament()
 			delay(500);
 			if (Btn::middle == buttonClicked())
 			{
-				if (active_extruder < 5) settings_bowden_length();
+				if (active_extruder < 5) 
+					settings_bowden_length();
 				else
 				{
 					select_extruder(4);
@@ -76,6 +78,7 @@ void setupMenu()
 	bool eraseLocked = true;
 
 		
+	fprintf_P(uart0io,PSTR("\r\nEntered Setup Menu\r\n"));
 
 	do
 	{
@@ -90,32 +93,46 @@ void setupMenu()
 		{
 		case Btn::right:
 			if (_menu > 0) { _menu--; delay(800); }
+			fprintf_P(uart0io,PSTR("B Right\r\n"));
 			break;
 		case Btn::middle:
 				
 			switch (_menu)
 			{
 				case 1:
+					fprintf_P(uart0io,PSTR("Selected settings_select_filament\r\n"));
 					settings_select_filament();
 					_exit = true;
 					break;
 				case 2:
 					if (!eraseLocked)
 					{
+						fprintf_P(uart0io,PSTR("Erasing BowdenLength\r\n"));
 						BowdenLength::eraseAll();
 						_exit = true;
 					}
+					else
+					{
+						fprintf_P(uart0io,PSTR("Locked BowdenLength\r\n"));
+					}
 					break;
 				case 3: //unlock erase
+					fprintf_P(uart0io,PSTR("Unlocked erase\r\n"));
 					eraseLocked = false;
 					break;
 				case 4: // exit menu
+					fprintf_P(uart0io,PSTR("Exit Setup\r\n"));
 					_exit = true;
 					break;
 			}
 			break;
 		case Btn::left:
-			if (_menu < 4) { _menu++; delay(800); }
+			if (_menu < 4)
+			{ 
+				_menu++;
+				delay(800);
+			}
+			fprintf_P(uart0io,PSTR("B Left\r\n"));
 			break;
 		default:
 			break;
@@ -162,6 +179,7 @@ void settings_bowden_length()
 	{
 		BowdenLength bowdenLength;
 		load_filament_withSensor();
+		fprintf_P(uart0io,PSTR("Selected #: %d\r\n"),bowdenLength.m_filament);
 
 		tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
 		do
@@ -174,6 +192,7 @@ void settings_bowden_length()
 				{
 					move(0, 0, -bowdenLength.stepSize);
 					delay(400);
+					fprintf_P(uart0io,PSTR("Dec: %d\r\n"),bowdenLength.m_length);
 				}
 				break;
 
@@ -182,8 +201,10 @@ void settings_bowden_length()
 				{
 					move(0, 0, bowdenLength.stepSize);
 					delay(400);
+					fprintf_P(uart0io,PSTR("Inc: %d\r\n"),bowdenLength.m_length);
 				}
 				break;
+
 			default:
 				break;
 			}
@@ -197,6 +218,8 @@ void settings_bowden_length()
 
 
 		} while (buttonClicked() != Btn::middle);
+		
+		fprintf_P(uart0io,PSTR("Len: %d\r\n"),bowdenLength.m_length);
 
 		unload_filament_withSensor();
 	}
diff --git a/Buttons.h b/Buttons.h
index 3cd8f8ab..43140905 100644
--- a/Buttons.h
+++ b/Buttons.h
@@ -28,7 +28,7 @@ inline bool operator& (Btn a, Btn b)
 {
 	return static_cast<uint8_t>(a) & static_cast<uint8_t>(b);
 }
-
+void settings_select_filament();
 void setupMenu();
 Btn buttonClicked();
 
diff --git a/main.cpp b/main.cpp
index 0a2d4e6e..696b99b2 100644
--- a/main.cpp
+++ b/main.cpp
@@ -398,7 +398,12 @@ void process_commands(FILE* inout)
 				fprintf_P(inout, PSTR("Invalid length\r\n")); 
 			}
 		}
-		else if(strcmp_P(line,PSTR("!CMODE")) == 0)
+		else if (strcmp_P(line,PSTR("!CALI")) == 0)
+		{
+			fprintf_P(inout, PSTR("Entering Filamint Calibration Mode\r\n")); 
+			settings_select_filament();
+		}
+		else if(strcmp_P(line,PSTR("!SETUP")) == 0)
 		{
 			fprintf_P(inout, PSTR("Entering Setup Menu\r\n")); 
 			setupMenu();
diff --git a/permanent_storage.h b/permanent_storage.h
index a0cf1132..5a425364 100644
--- a/permanent_storage.h
+++ b/permanent_storage.h
@@ -40,7 +40,8 @@ class BowdenLength
 	bool increase();
 	bool decrease();
 	~BowdenLength();
-private:
+
+public:
 	uint8_t m_filament; //!< Selected filament
 	uint16_t m_length;  //!< Selected filament bowden length
 };

From 55496d1913101d4ca243a21a21a18c6728062087 Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Mon, 22 Oct 2018 19:10:12 -0400
Subject: [PATCH 3/8] Added more commands for calibration and stepper disable

---
 Buttons.cpp |  4 +++-
 main.cpp    | 43 ++++++++++++++++++++++++++++++++++++++++++-
 tmc2130.c   | 12 ++++++++----
 3 files changed, 53 insertions(+), 6 deletions(-)

diff --git a/Buttons.cpp b/Buttons.cpp
index 728c0aef..bee729ff 100644
--- a/Buttons.cpp
+++ b/Buttons.cpp
@@ -178,8 +178,10 @@ void settings_bowden_length()
 	if (!isFilamentLoaded)
 	{
 		BowdenLength bowdenLength;
-		load_filament_withSensor();
 		fprintf_P(uart0io,PSTR("Selected #: %d\r\n"),bowdenLength.m_filament);
+		fprintf_P(uart0io,PSTR("Current Len: %d\r\n"),bowdenLength.m_length);
+
+		load_filament_withSensor();
 
 		tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
 		do
diff --git a/main.cpp b/main.cpp
index 696b99b2..a10f0ffe 100644
--- a/main.cpp
+++ b/main.cpp
@@ -268,11 +268,20 @@ void process_commands(FILE* inout)
 		//line received
 		if(inout == uart0io)
 			printf_P(PSTR("\r\nline received: '%s' %d\r\n"), line, count);
+		else if(strcmp_P(line,PSTR("P0")) != 0)
+			fprintf_P(uart0io,PSTR("line received: '%s' %d\r\n"), line, count);
 		count = 0;
 		if (sscanf_P(line, PSTR("T%d"), &value) > 0)
 		{
 			//T-code scanned
-			if ((value >= 0) && (value < EXTRUDERS))
+			if(value == 999)
+			{
+				tmc2130_disable_axis(AX_PUL,STEALTH_MODE);
+				tmc2130_disable_axis(AX_SEL,STEALTH_MODE);
+				tmc2130_disable_axis(AX_IDL,STEALTH_MODE);
+				fprintf_P(inout, PSTR("ok\n"));
+			}
+			else if ((value >= 0) && (value < EXTRUDERS))
 			{
 				switch_extruder_withSensor(value);
 
@@ -408,6 +417,38 @@ void process_commands(FILE* inout)
 			fprintf_P(inout, PSTR("Entering Setup Menu\r\n")); 
 			setupMenu();
 		}
+		else if(strcmp_P(line,PSTR("!DISABLE")) == 0)
+		{
+			tmc2130_disable_axis(AX_PUL,STEALTH_MODE);
+			tmc2130_disable_axis(AX_SEL,STEALTH_MODE);
+			tmc2130_disable_axis(AX_IDL,STEALTH_MODE);
+		}
+		else if(sscanf_P(line,PSTR("!L%d"),&value) > 0)
+		{
+			if ((value >= 0) && (value < EXTRUDERS) && !isFilamentLoaded)
+			{
+				fprintf_P(inout, PSTR("Loading #%d\r\n"),value); 
+
+				select_extruder(value);
+				//feed_filament();
+				load_filament_withSensor();
+
+			}	
+			else
+				fprintf_P(inout, PSTR("Load cmd error\r\n")); 	
+//			tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
+		}
+		else if(strcmp_P(line,PSTR("!U")) == 0)
+		{
+			if (isFilamentLoaded)
+			{
+				fprintf_P(inout, PSTR("Unloading\r\n")); 
+
+				unload_filament_withSensor();
+			}
+			else
+				fprintf_P(inout, PSTR("Unload cmd error\r\n")); 
+		}
 	}
 	else
 	{ //nothing received
diff --git a/tmc2130.c b/tmc2130.c
index 4509899a..dfe7e3b9 100644
--- a/tmc2130.c
+++ b/tmc2130.c
@@ -193,14 +193,17 @@ int8_t tmc2130_init_axis(uint8_t axis, uint8_t mode)
 void tmc2130_disable_axis(uint8_t axis, uint8_t mode)
 {
 	//temporary solution, use enable pin instead
-	if (mode == STEALTH_MODE) tmc2130_init_axis_current_stealth(axis, 0, 0);
-	else tmc2130_init_axis_current_normal(axis, 0, 0);
+	if (mode == STEALTH_MODE) 
+		tmc2130_init_axis_current_stealth(axis, 0, 0);
+	else 
+		tmc2130_init_axis_current_normal(axis, 0, 0);
 }
 
 int8_t tmc2130_init_axis_current_stealth(uint8_t axis, uint8_t current_h, uint8_t current_r)
 {
 	//stealth mode
-	if (tmc2130_setup_chopper(axis, (uint32_t)__res(axis), current_h, current_r)) return -1;
+	if (tmc2130_setup_chopper(axis, (uint32_t)__res(axis), current_h, current_r)) 
+		return -1;
 	tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
 	tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)TMC2130_SG_THR) << 16));
 	tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
@@ -213,7 +216,8 @@ int8_t tmc2130_init_axis_current_stealth(uint8_t axis, uint8_t current_h, uint8_
 int8_t tmc2130_init_axis_current_normal(uint8_t axis, uint8_t current_h, uint8_t current_r)
 {
 	//normal mode
-	if (tmc2130_setup_chopper(axis, (uint32_t)__res(axis), current_h, current_r)) return -1;
+	if (tmc2130_setup_chopper(axis, (uint32_t)__res(axis), current_h, current_r)) 
+		return -1;
 	tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
 	tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)__sg_thr(axis)) << 16));
 	tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));

From 7e0b774045e67fb3e58834f4d15d851af3317ebc Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jwilhelm@ohio.edu>
Date: Mon, 22 Oct 2018 20:04:29 -0400
Subject: [PATCH 4/8] Added inc/dec to serial commands with length save

---
 main.cpp | 26 ++++++++++++++++++++++++--
 1 file changed, 24 insertions(+), 2 deletions(-)

diff --git a/main.cpp b/main.cpp
index a10f0ffe..23266b02 100644
--- a/main.cpp
+++ b/main.cpp
@@ -223,7 +223,8 @@ void process_commands(FILE* inout)
 {
 	//static char line[32];
 	//static int count = 0;
-	
+	static 	BowdenLength *pbowdenLength = 0;
+
 	static char line_usb[32];
 	static int count_usb = 0;
 
@@ -412,6 +413,24 @@ void process_commands(FILE* inout)
 			fprintf_P(inout, PSTR("Entering Filamint Calibration Mode\r\n")); 
 			settings_select_filament();
 		}
+		else if (strcmp_P(line,PSTR("!INC"))==0)
+		{
+			if (pbowdenLength != 0 && pbowdenLength->decrease())
+			{
+				move(0, 0, pbowdenLength->stepSize);
+				delay(400);
+				fprintf_P(uart0io,PSTR("Inc: %d\r\n"),pbowdenLength->m_length);
+			}
+		}
+		else if (strcmp_P(line,PSTR("!DEC"))==0)
+		{
+			if (pbowdenLength != 0 && pbowdenLength->decrease())
+			{
+				move(0, 0, -pbowdenLength->stepSize);
+				delay(400);
+				fprintf_P(uart0io,PSTR("Dec: %d\r\n"),pbowdenLength->m_length);
+			}
+		}
 		else if(strcmp_P(line,PSTR("!SETUP")) == 0)
 		{
 			fprintf_P(inout, PSTR("Entering Setup Menu\r\n")); 
@@ -431,8 +450,9 @@ void process_commands(FILE* inout)
 
 				select_extruder(value);
 				//feed_filament();
-				load_filament_withSensor();
+				pbowdenLength = new BowdenLength();
 
+				load_filament_withSensor();
 			}	
 			else
 				fprintf_P(inout, PSTR("Load cmd error\r\n")); 	
@@ -445,6 +465,8 @@ void process_commands(FILE* inout)
 				fprintf_P(inout, PSTR("Unloading\r\n")); 
 
 				unload_filament_withSensor();
+				if(pbowdenLength)
+					delete pbowdenLength;
 			}
 			else
 				fprintf_P(inout, PSTR("Unload cmd error\r\n")); 

From 7d668ded4d414509db0a0257780621e639db0a29 Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Mon, 29 Oct 2018 19:50:27 -0400
Subject: [PATCH 5/8] inc/dec updated

---
 main.cpp | 45 +++++++++++++++++++++++++++------------------
 1 file changed, 27 insertions(+), 18 deletions(-)

diff --git a/main.cpp b/main.cpp
index 23266b02..a44a3328 100644
--- a/main.cpp
+++ b/main.cpp
@@ -413,24 +413,7 @@ void process_commands(FILE* inout)
 			fprintf_P(inout, PSTR("Entering Filamint Calibration Mode\r\n")); 
 			settings_select_filament();
 		}
-		else if (strcmp_P(line,PSTR("!INC"))==0)
-		{
-			if (pbowdenLength != 0 && pbowdenLength->decrease())
-			{
-				move(0, 0, pbowdenLength->stepSize);
-				delay(400);
-				fprintf_P(uart0io,PSTR("Inc: %d\r\n"),pbowdenLength->m_length);
-			}
-		}
-		else if (strcmp_P(line,PSTR("!DEC"))==0)
-		{
-			if (pbowdenLength != 0 && pbowdenLength->decrease())
-			{
-				move(0, 0, -pbowdenLength->stepSize);
-				delay(400);
-				fprintf_P(uart0io,PSTR("Dec: %d\r\n"),pbowdenLength->m_length);
-			}
-		}
+		
 		else if(strcmp_P(line,PSTR("!SETUP")) == 0)
 		{
 			fprintf_P(inout, PSTR("Entering Setup Menu\r\n")); 
@@ -453,6 +436,9 @@ void process_commands(FILE* inout)
 				pbowdenLength = new BowdenLength();
 
 				load_filament_withSensor();
+
+				tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
+
 			}	
 			else
 				fprintf_P(inout, PSTR("Load cmd error\r\n")); 	
@@ -471,6 +457,29 @@ void process_commands(FILE* inout)
 			else
 				fprintf_P(inout, PSTR("Unload cmd error\r\n")); 
 		}
+		else if (strcmp_P(line,PSTR("!INC"))==0)
+		{
+			if (pbowdenLength != 0 && pbowdenLength->increase() && isFilamentLoaded)
+			{
+				move(0, 0, 10*pbowdenLength->stepSize);
+				delay(400);
+				fprintf_P(uart0io,PSTR("Inc: %d\r\n"),pbowdenLength->m_length);
+			}
+			else
+				fprintf_P(uart0io,PSTR("Cannot increase\r\n"),pbowdenLength->m_length);
+
+		}
+		else if (strcmp_P(line,PSTR("!DEC"))==0)
+		{
+			if (pbowdenLength != 0 && pbowdenLength->decrease() && isFilamentLoaded)
+			{
+				move(0, 0, -pbowdenLength->stepSize);
+				delay(400);
+				fprintf_P(uart0io,PSTR("Dec: %d\r\n"),pbowdenLength->m_length);
+			}
+			else
+				fprintf_P(uart0io,PSTR("Cannot decrease\r\n"),pbowdenLength->m_length);
+		}
 	}
 	else
 	{ //nothing received

From 7cf478614d4875efaba9a21f978686d1d763edc2 Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Sun, 25 Nov 2018 10:06:02 -0500
Subject: [PATCH 6/8] slowed up calibration

---
 main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main.cpp b/main.cpp
index a44a3328..45fb8849 100644
--- a/main.cpp
+++ b/main.cpp
@@ -461,7 +461,7 @@ void process_commands(FILE* inout)
 		{
 			if (pbowdenLength != 0 && pbowdenLength->increase() && isFilamentLoaded)
 			{
-				move(0, 0, 10*pbowdenLength->stepSize);
+				move(0, 0, pbowdenLength->stepSize);
 				delay(400);
 				fprintf_P(uart0io,PSTR("Inc: %d\r\n"),pbowdenLength->m_length);
 			}

From 7675aea0a73500b674b520c42d7c2c473d5bf5da Mon Sep 17 00:00:00 2001
From: Jay Wilhelm <jay.wilhelm@gmail.com>
Date: Sun, 23 Dec 2018 21:13:36 -0500
Subject: [PATCH 7/8] more conflict resolution for v1.0.3

---
 MM-control-01/Buttons.cpp           | 11 ++---------
 MM-control-01/Buttons.h             |  4 ++--
 MM-control-01/main.cpp              |  3 ---
 MM-control-01/permanent_storage.cpp | 17 -----------------
 4 files changed, 4 insertions(+), 31 deletions(-)

diff --git a/MM-control-01/Buttons.cpp b/MM-control-01/Buttons.cpp
index b183c858..93c1cf97 100644
--- a/MM-control-01/Buttons.cpp
+++ b/MM-control-01/Buttons.cpp
@@ -1,4 +1,3 @@
-<<<<<<< HEAD
 //! @file
 
 #include "Buttons.h"
@@ -193,7 +192,7 @@ void settings_bowden_length()
 			switch (buttonClicked())
 			{
 			case Btn::right:
-				if (!button_active || (((millis() - saved_millis) > 1000) && button_active)) {
+				if (!button_active || (((millis() - saved_millis) > 1000) && button_active))
 				{
 					move(0, 0, -bowdenLength.stepSize);
 					delay(400);
@@ -203,7 +202,7 @@ void settings_bowden_length()
 				break;
 
 			case Btn::left:
-				if (!button_active || (((millis() - saved_millis) > 1000) && button_active)) {
+				if (!button_active || (((millis() - saved_millis) > 1000) && button_active))
 				{
 					move(0, 0, bowdenLength.stepSize);
 					delay(400);
@@ -225,25 +224,19 @@ void settings_bowden_length()
 			shr16_set_led(2 << 2 * 1);
 			delay(50);
 
-
 		} while (buttonClicked() != Btn::middle);
-		
 		fprintf_P(uart0io,PSTR("Len: %d\r\n"),bowdenLength.m_length);
-
 		unload_filament_withSensor();
 	}
 }
-
 //! @brief Is button pushed?
 //!
 //! @return button pushed
 Btn buttonClicked()
 {
 	int raw = analogRead(ButtonPin);
-
 	if (raw < 50) return Btn::right;
 	if (raw > 80 && raw < 100) return Btn::middle;
 	if (raw > 160 && raw < 180) return Btn::left;
-
 	return Btn::none;
 }
\ No newline at end of file
diff --git a/MM-control-01/Buttons.h b/MM-control-01/Buttons.h
index 5af00374..dc6234af 100644
--- a/MM-control-01/Buttons.h
+++ b/MM-control-01/Buttons.h
@@ -28,8 +28,8 @@ inline bool operator& (Btn a, Btn b)
 {
 	return static_cast<uint8_t>(a) & static_cast<uint8_t>(b);
 }
-void settings_select_filament();
+
 void setupMenu();
 Btn buttonClicked();
-
+void settings_select_filament();
 #endif //_BUTTONS_h
\ No newline at end of file
diff --git a/MM-control-01/main.cpp b/MM-control-01/main.cpp
index 6a9bfb52..629da479 100644
--- a/MM-control-01/main.cpp
+++ b/MM-control-01/main.cpp
@@ -271,11 +271,8 @@ void manual_extruder_selector()
 void loop()
 {
 	process_commands(uart_com);
-<<<<<<< HEAD
 	process_commands(uart0io);
-=======
     filament_presence_signaler();
->>>>>>> 468aeec76f09dad0d53dfc13702fd74943033b3d
 
 	if (!isPrinting)
 	{
diff --git a/MM-control-01/permanent_storage.cpp b/MM-control-01/permanent_storage.cpp
index 42463a74..29af679c 100644
--- a/MM-control-01/permanent_storage.cpp
+++ b/MM-control-01/permanent_storage.cpp
@@ -6,23 +6,6 @@
 
 
 
-<<<<<<< HEAD
-=======
-//d = 6.3 mm        pulley diameter
-//c = pi * d        pulley circumference
-//FSPR = 200        full steps per revolution (stepper motor constant) (1.8 deg/step)
-//mres = 2          pulley microstep resolution (uint8_t __res(AX_PUL))
-//mres = 2          selector microstep resolution (uint8_t __res(AX_SEL))
-//mres = 16         idler microstep resolution (uint8_t __res(AX_IDL))
-//1 pulley ustep = (d*pi)/(mres*FSPR) = 49.48 um
-
-static eeprom_t * const eepromBase = reinterpret_cast<eeprom_t*>(0); //!< First EEPROM address
-static const uint16_t eepromEmpty = 0xffff; //!< EEPROM content when erased
-static const uint16_t eepromLengthCorrectionBase = 7900u; //!< legacy bowden length correction base (~391mm)
-static const uint16_t eepromBowdenLenDefault = 8900u; //!< Default bowden length (~427 mm)
-static const uint16_t eepromBowdenLenMinimum = 6900u; //!< Minimum bowden length (~341 mm)
-static const uint16_t eepromBowdenLenMaximum = 16000u; //!< Maximum bowden length (~792 mm)
->>>>>>> 468aeec76f09dad0d53dfc13702fd74943033b3d
 
 void permanentStorageInit()
 {

From 983d1379b1a082ce12810a9cf48835d2ed1ef01e Mon Sep 17 00:00:00 2001
From: JW <jwilhelm@ohio.edu>
Date: Fri, 29 Mar 2019 21:30:20 -0400
Subject: [PATCH 8/8] merge fixes for compile

---
 MM-control-01/Buttons.cpp           | 264 ++--------------------------
 MM-control-01/Buttons.h             |   2 +-
 MM-control-01/main.cpp              |  43 +++--
 MM-control-01/permanent_storage.cpp |  32 ----
 MM-control-01/permanent_storage.h   |  18 +-
 5 files changed, 52 insertions(+), 307 deletions(-)

diff --git a/MM-control-01/Buttons.cpp b/MM-control-01/Buttons.cpp
index d6c74260..ee12e911 100644
--- a/MM-control-01/Buttons.cpp
+++ b/MM-control-01/Buttons.cpp
@@ -1,248 +1,5 @@
 //! @file
 
-#include "Buttons.h"
-#include "shr16.h"
-#include "tmc2130.h"
-#include "mmctl.h"
-#include "motion.h"
-#include "permanent_storage.h"
-#include "main.h"
-#include "uart.h"
-
-const int ButtonPin = A2;
-
-void settings_bowden_length();
-
-
-//!	@brief Select filament for bowden length calibration
-//!
-//! Filaments are selected by left and right buttons, calibration is activated by middle button.
-//! Park position (one behind last filament) can be also selected.
-//! Activating calibration in park position exits selector.
-//!
-void settings_select_filament()
-{
-	while (1)
-	{
-		manual_extruder_selector();
-
-		if(Btn::middle == buttonClicked())
-		{
-			shr16_set_led(2 << 2 * (4 - active_extruder));
-			delay(500);
-			if (Btn::middle == buttonClicked())
-			{
-				if (!isHomed) { home(); }
-				if (active_extruder < 5) settings_bowden_length();
-				else
-				{
-					select_extruder(0);
-					return;
-				}
-			}
-		}
-	}
-}
-
-//!	@brief Show setup menu
-//!
-//! Items are selected by left and right buttons, activated by middle button.
-//!
-//! LED indication of states
-//!
-//! RG | RG | RG | RG | RG | meaning
-//! -- | -- | -- | -- | -- | ------------------------
-//! 11 | 00 | 00 | 00 | 01 | initial state, no action
-//! 11 | 00 | 00 | 01 | 00 | setup bowden length
-//! 11 | 00 | 01 | 00 | 00 | erase EEPROM if unlocked
-//! 11 | 01 | 00 | 00 | 00 | unlock EEPROM erase
-//! 11 | 00 | 00 | 00 | 00 | exit setup menu
-//!
-//! @n R - Red LED
-//! @n G - Green LED
-//! @n 1 - active
-//! @n 0 - inactive
-//!
-void setupMenu()
-{
-	shr16_set_led(0x000);
-	delay(200);
-	shr16_set_led(0x2aa);
-	delay(1200);
-	shr16_set_led(0x000);
-	delay(600);
-
-	int _menu = 0;
-	bool _exit = false;
-	bool eraseLocked = true;
-
-		
-	fprintf_P(uart0io,PSTR("\r\nEntered Setup Menu\r\n"));
-
-	do
-	{
-		shr16_set_led(1 << 2 * 4);
-		delay(1);
-		shr16_set_led(2 << 2 * 4);
-		delay(1);
-		shr16_set_led(2 << 2 * _menu);
-		delay(1);
-
-		switch (buttonClicked())
-		{
-		case Btn::right:
-			if (_menu > 0) { _menu--; delay(800); }
-			fprintf_P(uart0io,PSTR("B Right\r\n"));
-			break;
-		case Btn::middle:
-				
-			switch (_menu)
-			{
-				case 1:
-					fprintf_P(uart0io,PSTR("Selected settings_select_filament\r\n"));
-					settings_select_filament();
-					_exit = true;
-					break;
-				case 2:
-					if (!eraseLocked)
-					{
-						fprintf_P(uart0io,PSTR("Erasing BowdenLength\r\n"));
-						eepromEraseAll();
-						//BowdenLength::eraseAll();
-						_exit = true;
-					}
-					else
-					{
-						fprintf_P(uart0io,PSTR("Locked BowdenLength\r\n"));
-					}
-					break;
-				case 3: //unlock erase
-					fprintf_P(uart0io,PSTR("Unlocked erase\r\n"));
-					eraseLocked = false;
-					break;
-				case 4: // exit menu
-					fprintf_P(uart0io,PSTR("Exit Setup\r\n"));
-					_exit = true;
-					break;
-			}
-			break;
-		case Btn::left:
-			if (_menu < 4)
-			{ 
-				_menu++;
-				delay(800);
-			}
-			fprintf_P(uart0io,PSTR("B Left\r\n"));
-			break;
-		default:
-			break;
-		}
-		
-	} while (!_exit);
-
-
-	shr16_set_led(0x000);
-	delay(400);
-	shr16_set_led(0x2aa);
-	delay(400);
-	shr16_set_led(0x000);
-	delay(400);
-
-	shr16_set_led(0x000);
-	shr16_set_led(1 << 2 * (4 - active_extruder));
-}
-
-//! @brief Set bowden length
-//!
-//! button | action
-//! ------ | ------
-//! left   | increase bowden length / feed more filament
-//! right  | decrease bowden length / feed less filament
-//! middle | store bowden length to EEPROM and exit
-//!
-//! This state is indicated by following LED pattern:
-//!
-//! RG | RG | RG | RG | RG
-//! -- | -- | -- | -- | --
-//! bb | 00 | 00 | 0b | 00
-//!
-//! @n R - Red LED
-//! @n G - Green LED
-//! @n 1 - active
-//! @n 0 - inactive
-//! @n b - blinking
-//!
-void settings_bowden_length()
-{
-	// load filament above Bondtech gears to check correct length of bowden tube
-	if (!isFilamentLoaded)
-	{
-		BowdenLength bowdenLength;
-		fprintf_P(uart0io,PSTR("Selected #: %d\r\n"),bowdenLength.m_filament);
-		fprintf_P(uart0io,PSTR("Current Len: %d\r\n"),bowdenLength.m_length);
-
-		load_filament_withSensor();
-
-		tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
-		uint32_t saved_millis=millis();
-		bool button_active = false;
-		do
-		{
-
-			switch (buttonClicked())
-			{
-			case Btn::right:
-				if (!button_active || (((millis() - saved_millis) > 1000) && button_active))
-				{
-					move(0, 0, -bowdenLength.stepSize);
-					delay(400);
-					fprintf_P(uart0io,PSTR("Dec: %d\r\n"),bowdenLength.m_length);
-				}
-				button_active = true;
-				break;
-
-			case Btn::left:
-				if (!button_active || (((millis() - saved_millis) > 1000) && button_active))
-				{
-					move(0, 0, bowdenLength.stepSize);
-					delay(400);
-					fprintf_P(uart0io,PSTR("Inc: %d\r\n"),bowdenLength.m_length);
-				}
-				button_active = true;
-				break;
-
-			default:
-				button_active = false;
-				saved_millis = millis();
-				break;
-			}
-
-			shr16_set_led(1 << 2 * 4);
-			delay(10);
-			shr16_set_led(2 << 2 * 4);
-			delay(10);
-			shr16_set_led(2 << 2 * 1);
-			delay(50);
-
-		} while (buttonClicked() != Btn::middle);
-		fprintf_P(uart0io,PSTR("Len: %d\r\n"),bowdenLength.m_length);
-		unload_filament_withSensor();
-	}
-}
-//! @brief Is button pushed?
-//!
-//! @return button pushed
-Btn buttonClicked()
-{
-	int raw = analogRead(ButtonPin);
-	if (raw < 50) return Btn::right;
-	if (raw > 80 && raw < 100) return Btn::middle;
-	if (raw > 160 && raw < 180) return Btn::left;
-	return Btn::none;
-}
-=======
-//! @file
-
 #include "Buttons.h"
 #include "shr16.h"
 #include "tmc2130.h"
@@ -251,6 +8,7 @@ Btn buttonClicked()
 #include "permanent_storage.h"
 #include "main.h"
 #include "motion.h"
+#include "uart.h"
 
 const int ButtonPin = A2;
 
@@ -263,8 +21,6 @@ void settings_bowden_length();
 //! Park position (one behind last filament) can be also selected.
 //! Activating calibration in park position exits selector.
 //!
-//! @retval true exit
-//! @retval false to be called again
 bool settings_select_filament()
 {
     manual_extruder_selector();
@@ -306,11 +62,9 @@ bool settings_select_filament()
 //! @n 1 - active
 //! @n 0 - inactive
 //!
-//! @retval true continue
-//! @retval false exit
 bool setupMenu()
 {
-    static bool onEnter = true;
+	static bool onEnter = true;
     if (onEnter)
     {
         shr16_set_led(0x000);
@@ -397,6 +151,7 @@ bool setupMenu()
     return true;
 }
 
+
 //! @brief Set bowden length
 //!
 //! button | action
@@ -424,7 +179,9 @@ void settings_bowden_length()
 	{
 		BowdenLength bowdenLength;
 		load_filament_withSensor();
-
+		fprintf_P(uart0io,PSTR("Selected #: %d\r\n"),bowdenLength.m_filament);
+		fprintf_P(uart0io,PSTR("Current Len: %d\r\n"),bowdenLength.m_length);
+		
 		tmc2130_init_axis_current_normal(AX_PUL, 1, 30);
 		uint32_t saved_millis=millis();
 		bool button_active = false;
@@ -443,6 +200,8 @@ void settings_bowden_length()
 						delayMicroseconds(1200);
 						do_pulley_step();
 						}
+						fprintf_P(uart0io,PSTR("Dec: %d\r\n"),bowdenLength.m_length);
+
 					}
 				}
 				button_active = true;
@@ -457,6 +216,8 @@ void settings_bowden_length()
 							delayMicroseconds(1200);
 							do_pulley_step();
 						}
+						fprintf_P(uart0io,PSTR("Inc: %d\r\n"),bowdenLength.m_length);
+
 					}
 				}
 				button_active = true;
@@ -476,21 +237,20 @@ void settings_bowden_length()
 
 
 		} while (buttonClicked() != Btn::middle);
+		fprintf_P(uart0io,PSTR("Len: %d\r\n"),bowdenLength.m_length);
 
 		unload_filament_withSensor();
 	}
 }
-
 //! @brief Is button pushed?
 //!
 //! @return button pushed
 Btn buttonClicked()
 {
 	int raw = analogRead(ButtonPin);
-
 	if (raw < 50) return Btn::right;
 	if (raw > 80 && raw < 100) return Btn::middle;
 	if (raw > 160 && raw < 180) return Btn::left;
-
 	return Btn::none;
 }
+
diff --git a/MM-control-01/Buttons.h b/MM-control-01/Buttons.h
index e892575e..52b35913 100644
--- a/MM-control-01/Buttons.h
+++ b/MM-control-01/Buttons.h
@@ -31,5 +31,5 @@ inline bool operator& (Btn a, Btn b)
 
 bool setupMenu();
 Btn buttonClicked();
-void settings_select_filament();
+bool settings_select_filament();
 #endif //_BUTTONS_h
\ No newline at end of file
diff --git a/MM-control-01/main.cpp b/MM-control-01/main.cpp
index 77a81a9c..200f4d12 100644
--- a/MM-control-01/main.cpp
+++ b/MM-control-01/main.cpp
@@ -283,23 +283,19 @@ void setup()
 	shr16_set_led(0x000);
 
 
-	init_Pulley();
-
-	home_idler(true);
-
-  // check if to goto the settings menu
-  if (buttonClicked() == Btn::middle)
-  {
-      state = S::Setup;
-  }
+	// check if to goto the settings menu
+	if (buttonClicked() == Btn::middle)
+	{
+	  state = S::Setup;
+	}
 
-  tmc2130_init(HOMING_MODE);
-  tmc2130_read_gstat(); //consume reset after power up
-  uint8_t filament;
-  if(FilamentLoaded::get(filament))
-  {
-      motion_set_idler(filament);
-  }
+	tmc2130_init(HOMING_MODE);
+	tmc2130_read_gstat(); //consume reset after power up
+	uint8_t filament;
+	if(FilamentLoaded::get(filament))
+	{
+	  motion_set_idler(filament);
+	}
 
 	if (digitalRead(A1) == 1) isFilamentLoaded = true;
 
@@ -687,7 +683,12 @@ void process_commands(FILE* inout)
 		{
 			if (pbowdenLength != 0 && pbowdenLength->increase() && isFilamentLoaded)
 			{
-				move(0, 0, pbowdenLength->stepSize);
+				set_pulley_dir_push();
+				for(auto i = pbowdenLength->stepSize; i > 0; --i)
+				{
+					delayMicroseconds(1200);
+					do_pulley_step();
+				}
 				delay(400);
 				fprintf_P(uart0io,PSTR("Inc: %d\r\n"),pbowdenLength->m_length);
 			}
@@ -699,7 +700,13 @@ void process_commands(FILE* inout)
 		{
 			if (pbowdenLength != 0 && pbowdenLength->decrease() && isFilamentLoaded)
 			{
-				move(0, 0, -pbowdenLength->stepSize);
+				set_pulley_dir_pull();
+
+				for(auto i = pbowdenLength->stepSize; i > 0; --i)
+				{
+					delayMicroseconds(1200);
+					do_pulley_step();
+				}
 				delay(400);
 				fprintf_P(uart0io,PSTR("Dec: %d\r\n"),pbowdenLength->m_length);
 			}
diff --git a/MM-control-01/permanent_storage.cpp b/MM-control-01/permanent_storage.cpp
index 27b63daf..3bb7e697 100644
--- a/MM-control-01/permanent_storage.cpp
+++ b/MM-control-01/permanent_storage.cpp
@@ -5,38 +5,6 @@
 #include "mmctl.h"
 
 
-
-=======
-//! @brief EEPROM data layout
-//!
-//! Do not remove, reorder or change size of existing fields.
-//! Otherwise values stored with previous version of firmware would be broken.
-//! It is possible to add fields in the end of this struct, ensure that erased EEPROM is handled well.
-//! Last byte in EEPROM is reserved for layoutVersion. If some field is repurposed, layoutVersion
-//! needs to be changed to force EEPROM erase.
-typedef struct __attribute__ ((packed))
-{
-	uint8_t eepromLengthCorrection; //!< legacy bowden length correction
-	uint16_t eepromBowdenLen[5];    //!< Bowden length for each filament
-	uint8_t eepromFilamentStatus[3];//!< Majority vote status of eepromFilament wear leveling
-	uint8_t eepromFilament[800];    //!< Top nibble status, bottom nibble last filament loaded
-	uint8_t eepromDriveErrorCountH;
-	uint8_t eepromDriveErrorCountL[2];
-}eeprom_t;
-static_assert(sizeof(eeprom_t) - 2 <= E2END, "eeprom_t doesn't fit into EEPROM available.");
-//! @brief EEPROM layout version
-static const uint8_t layoutVersion = 0xff;
-
-//d = 6.3 mm        pulley diameter
-//c = pi * d        pulley circumference
-//FSPR = 200        full steps per revolution (stepper motor constant) (1.8 deg/step)
-//mres = 2          pulley microstep resolution (uint8_t __res(AX_PUL))
-//mres = 2          selector microstep resolution (uint8_t __res(AX_SEL))
-//mres = 16         idler microstep resolution (uint8_t __res(AX_IDL))
-//1 pulley ustep = (d*pi)/(mres*FSPR) = 49.48 um
-
-
-
 void permanentStorageInit()
 {
     if (eeprom_read_byte((uint8_t*)E2END) != layoutVersion) eepromEraseAll();
diff --git a/MM-control-01/permanent_storage.h b/MM-control-01/permanent_storage.h
index 460e180d..ac948aab 100644
--- a/MM-control-01/permanent_storage.h
+++ b/MM-control-01/permanent_storage.h
@@ -21,17 +21,27 @@ typedef struct __attribute__ ((packed))
 	uint16_t eepromBowdenLen[5];    //!< Bowden length for each filament
 	uint8_t eepromFilamentStatus[3];//!< Majority vote status of eepromFilament wear leveling
 	uint8_t eepromFilament[800];    //!< Top nibble status, bottom nibble last filament loaded
+	uint8_t eepromDriveErrorCountH;
+	uint8_t eepromDriveErrorCountL[2];
 }eeprom_t;
 static_assert(sizeof(eeprom_t) - 2 <= E2END, "eeprom_t doesn't fit into EEPROM available.");
 //! @brief EEPROM layout version
 static const uint8_t layoutVersion = 0xff;
 
+//d = 6.3 mm        pulley diameter
+//c = pi * d        pulley circumference
+//FSPR = 200        full steps per revolution (stepper motor constant) (1.8 deg/step)
+//mres = 2          pulley microstep resolution (uint8_t __res(AX_PUL))
+//mres = 2          selector microstep resolution (uint8_t __res(AX_SEL))
+//mres = 16         idler microstep resolution (uint8_t __res(AX_IDL))
+//1 pulley ustep = (d*pi)/(mres*FSPR) = 49.48 um
+
 static eeprom_t * const eepromBase = reinterpret_cast<eeprom_t*>(0); //!< First EEPROM address
 static const uint16_t eepromEmpty = 0xffff; //!< EEPROM content when erased
-static const uint16_t eepromLengthCorrectionBase = 7900u; //!< legacy bowden length correction base
-static const uint16_t eepromBowdenLenDefault = 8900u; //!< Default bowden length
-static const uint16_t eepromBowdenLenMinimum = 6900u; //!< Minimum bowden length
-static const uint16_t eepromBowdenLenMaximum = 10900u; //!< Maximum bowden length
+static const uint16_t eepromLengthCorrectionBase = 7900u; //!< legacy bowden length correction base (~391mm)
+static const uint16_t eepromBowdenLenDefault = 8900u; //!< Default bowden length (~427 mm)
+static const uint16_t eepromBowdenLenMinimum = 6900u; //!< Minimum bowden length (~341 mm)
+static const uint16_t eepromBowdenLenMaximum = 16000u; //!< Maximum bowden length (~792 mm)
 
 void permanentStorageInit();
 bool validFilament(uint8_t filament);