PAT9125 I2C, hardware SG homing

separate pin configuration file for each board
changed board codes:
RAMBO =100, MiniRambo1.0 =200, MiniRambo1.3 = 203, Einy03 =303, Einy04 =304

22 files changed, 1258 insertions, 888 deletions

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index 61f38be8d..d96395f3f 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -186,7 +186,6 @@
 #undef PREVENT_LENGTHY_EXTRUDE
 #endif //DEBUG_DISABLE_PREVENT_EXTRUDER
 
-
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 
 /*================== Thermal Runaway Protection ==============================
@@ -295,12 +294,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
-
 #ifdef DEBUG_DISABLE_SWLIMITS
 #define min_software_endstops false
 #define max_software_endstops false
+#else
+#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
 #endif //DEBUG_DISABLE_SWLIMITS
 
 
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 53988194f..6e2f5b610 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -57,14 +57,21 @@
 
 #include <avr/wdt.h>
 
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef SWSPI
 #include "swspi.h"
+#endif //SWSPI
+
+#ifdef SWI2C
+#include "swi2c.h"
+#endif //SWI2C
+
+#ifdef PAT9125
 #include "pat9125.h"
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 
 #ifdef BLINKM
@@ -909,7 +916,7 @@ void servo_init()
 static void lcd_language_menu();
 
 
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 
 bool fsensor_enabled = false;
 bool fsensor_ignore_error = true;
@@ -993,7 +1000,7 @@ void fsensor_update()
 	}
 }
 
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
 
 
 #ifdef MESH_BED_LEVELING
@@ -1158,15 +1165,15 @@ void setup()
 	plan_init();  // Initialize planner;
 	watchdog_init();
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
 	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
     MYSERIAL.print("PAT9125_init:");
     MYSERIAL.println(pat9125_init(200, 200));
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
     
 	st_init();    // Initialize stepper, this enables interrupts!
     
@@ -1489,12 +1496,12 @@ void loop()
   isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
   checkHitEndstops();
   lcd_update();
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 	fsensor_update();
-#endif //HAVE_PAT9125_SENSOR
-#ifdef HAVE_TMC2130_DRIVERS
+#endif //PAT9125
+#ifdef TMC2130
 	tmc2130_check_overtemp();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 }
 
 void get_command()
@@ -1993,7 +2000,7 @@ void homeaxis(int axis)
     if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
 	{
         int axis_home_dir = home_dir(axis);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
         current_position[axis] = 0;
@@ -2001,7 +2008,7 @@ void homeaxis(int axis)
         destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
         feedrate = homing_feedrate[axis];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
@@ -2009,18 +2016,18 @@ void homeaxis(int axis)
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         destination[axis] = -home_retract_mm(axis) * axis_home_dir;
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
         destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		feedrate = homing_feedrate[axis];
 #else
 		feedrate = homing_feedrate[axis] / 2;
 #endif
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_restart(axis);
 #endif
         st_synchronize();
@@ -2029,7 +2036,7 @@ void homeaxis(int axis)
         feedrate = 0.0;
         endstops_hit_on_purpose();
         axis_known_position[axis] = true;
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
     }
@@ -3847,7 +3854,12 @@ void process_commands()
         babystep_reset();
         // Mark all axes as in a need for homing.
         memset(axis_known_position, 0, sizeof(axis_known_position));
-                
+
+        // Home in the XY plane.
+        //set_destination_to_current();
+        setup_for_endstop_move();
+        home_xy();
+
         // Let the user move the Z axes up to the end stoppers.
         if (lcd_calibrate_z_end_stop_manual( onlyZ )) {
             refresh_cmd_timeout();
@@ -3864,14 +3876,10 @@ void process_commands()
             plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
             st_synchronize();
 
-            // Home in the XY plane.
-            set_destination_to_current();
-            setup_for_endstop_move();
-            home_xy();
 
-#ifdef HAVE_TMC2130_DRIVERS
-		tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
-#endif
+//#ifdef TMC2130
+//		tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
+//#endif
 
             int8_t verbosity_level = 0;
             if (code_seen('V')) {
@@ -3931,7 +3939,7 @@ void process_commands()
                     lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
                 }
             }
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
         } else {
@@ -5580,13 +5588,13 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	  lcd_setstatuspgm(WELCOME_MSG);
 	  custom_message = false;
 	  custom_message_type = 0;
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 	  if (fsensor_M600)
 	  {
 		cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
 		fsensor_enable();
 	  }
-#endif //HAVE_PAT9125_SENSOR
+#endif //PAT9125
         
     }
     break;
@@ -5928,18 +5936,22 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	  }
   } // end if(code_seen('T')) (end of T codes)
 
+#ifdef DEBUG_DCODES
   else if (code_seen('D')) // D codes (debug)
   {
     switch((int)code_value())
     {
 	case 0: // D0 - Reset
+		if (*(strchr_pointer + 1) == 0) break;
 		MYSERIAL.println("D0 - Reset");
+		asm volatile("jmp 0x00000");
+		break;
+/*		MYSERIAL.println("D0 - Reset");
 		cli(); //disable interrupts
 		wdt_reset(); //reset watchdog
 		WDTCSR = (1<<WDCE) | (1<<WDE); //enable watchdog
 		WDTCSR = (1<<WDE) | (1<<WDP0); //30ms prescaler
-		while(1); //wait for reset
-		break;
+		while(1); //wait for reset*/
 	case 1: // D1 - Clear EEPROM
 		{
 			MYSERIAL.println("D1 - Clear EEPROM");
@@ -5949,7 +5961,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 			sei();
 		}
 		break;
-	case 2: // D2 - read/write PIN
+	case 2: // D2 - Read/Write PIN
 		{
 			if (code_seen('P')) // Pin (0-255)
 			{
@@ -5982,13 +5994,13 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		break;
 	case 3:
 		MYSERIAL.print("fsensor_enable()");
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 		fsensor_enable();
 #endif
 		break;
 	case 4:
 		MYSERIAL.print("fsensor_disable()");
-#ifdef HAVE_PAT9125_SENSOR
+#ifdef PAT9125
 		fsensor_disable();
 #endif            
 		break;
@@ -6008,8 +6020,21 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 			homeaxis(1);
 		}
 		break;
+	case 7:
+		{
+			MYSERIAL.print("pat9125_init=");
+			MYSERIAL.println(pat9125_init(200, 200));
+		}
+		break;
+	case 8:
+		{
+			MYSERIAL.print("swi2c_check=");
+			MYSERIAL.println(swi2c_check(0x75));
+		}
+		break;
 	}
   }
+#endif //DEBUG_DCODES
 
   else
   {
@@ -6088,6 +6113,9 @@ void get_arc_coordinates()
 
 void clamp_to_software_endstops(float target[3])
 {
+#ifdef DEBUG_DISABLE_SWLIMITS
+	return;
+#endif //DEBUG_DISABLE_SWLIMITS
     world2machine_clamp(target[0], target[1]);
 
     // Clamp the Z coordinate.
diff --git a/Firmware/boards.h b/Firmware/boards.h
index ba93802a2..c5507c20f 100644
--- a/Firmware/boards.h
+++ b/Firmware/boards.h
@@ -3,15 +3,14 @@
 
 #define BOARD_UNKNOWN -1
 
-#define BOARD_EINY_0_3a         300  // EINY 0.3a
-#define BOARD_EINY_0_4a         299  // EINY 0.4a
+#define BOARD_RAMBO             100  // Rambo - 100 (orig 301)
 
-#define BOARD_RAMBO             301  // Rambo
-#define BOARD_RAMBO_MINI_1_3    302  // Rambo-mini 1.3
-#define BOARD_RAMBO_MINI_1_0    102  // Rambo-mini 1.0
+#define BOARD_RAMBO_MINI_1_0    200  // Rambo-mini 1.0 - 200 (orig 102)
+#define BOARD_RAMBO_MINI_1_3    203  // Rambo-mini 1.3 - 203 (orig 302)
 
-
-#define BOARD_99                99   // This is in pins.h but...?
+#define BOARD_EINY_0_3a         303  // EINY 0.3a - 303 (orig 300)
+#define BOARD_EINY_0_4a         304  // EINY 0.4a - 304 (orig 299)
+#define BOARD_EINY_0_5a         305  // EINY 0.5a - 305 (orig 298)
 
 #define MB(board) (MOTHERBOARD==BOARD_##board)
 #define IS_RAMPS (MB(RAMPS_OLD) || MB(RAMPS_13_EFB) || MB(RAMPS_13_EEB) || MB(RAMPS_13_EFF) || MB(RAMPS_13_EEF))
diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp
index 9b207513e..c3a7f366c 100644
--- a/Firmware/mesh_bed_calibration.cpp
+++ b/Firmware/mesh_bed_calibration.cpp
@@ -19,8 +19,8 @@ float   world2machine_shift[2];
 #define WEIGHT_FIRST_ROW_Y_HIGH (0.3f)
 #define WEIGHT_FIRST_ROW_Y_LOW  (0.0f)
 
-#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER)
-#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER)
+#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1
+#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER) // -0.6 + 9 = 8.4
 
 // Scaling of the real machine axes against the programmed dimensions in the firmware.
 // The correction is tiny, here around 0.5mm on 250mm length.
diff --git a/Firmware/pat9125.cpp b/Firmware/pat9125.cpp
index 92b240e36..ab63736d6 100755
--- a/Firmware/pat9125.cpp
+++ b/Firmware/pat9125.cpp
@@ -1,79 +1,91 @@
-#include "pat9125.h"

-#include "swspi.h"

-

-

-#ifdef SWSPI_RPI

-//	#include <bcm2835.h>

-	#define DELAY(delay) usleep(delay)

-#endif //SWSPI_RPI

-

-#ifdef SWSPI_AVR

-	#include "Arduino.h"

-	#define DELAY(delay) delayMicroseconds(delay)

-#endif //SWSPI_AVR

-

-unsigned char ucPID1 = 0;

-unsigned char ucPID2 = 0;

-int pat9125_x = 0;

-int pat9125_y = 0;

-int pat9125_b = 0;

-

-int pat9125_init(unsigned char xres, unsigned char yres)

-{

-	swspi_init();

-	ucPID1 = pat9125_rd_reg(PAT9125_PID1);

-	ucPID2 = pat9125_rd_reg(PAT9125_PID2);

-	if ((ucPID1 != 0x31) || (ucPID2 != 0x91))

-	{

-		return 0;

-	}

-    pat9125_wr_reg(PAT9125_RES_X, xres);

-    pat9125_wr_reg(PAT9125_RES_Y, yres);

-	return 1;

-}

-

-int pat9125_update()

-{

-	if ((ucPID1 == 0x31) && (ucPID2 == 0x91))

-	{

-		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);

-		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);

-		if (ucMotion & 0x80)

-		{

-			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);

-			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);

-			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);

-			int iDX = ucXL | ((ucXYH << 4) & 0xf00);

-			int iDY = ucYL | ((ucXYH << 8) & 0xf00);

-			if (iDX & 0x800) iDX -= 4096;

-			if (iDY & 0x800) iDY -= 4096;

-			pat9125_x += iDX;

-			pat9125_y += iDY;

-			return 1;

-		}

-	}

-	return 0;

-}

-

-unsigned char pat9125_rd_reg(unsigned char addr)

-{

-	swspi_start();

-	DELAY(100);

-	swspi_tx(addr & 0x7f);

-	DELAY(100);

-	unsigned char data = swspi_rx();

-	swspi_stop();

-	DELAY(100);

-	return data;

-}

-

-void pat9125_wr_reg(unsigned char addr, unsigned char data)

-{

-	swspi_start();

-	DELAY(100);

-	swspi_tx(addr | 0x80);

-	DELAY(100);

-	swspi_tx(data);

-	swspi_stop();

-	DELAY(100);

-}

+#include "uni_avr_rpi.h"
+
+#ifdef PAT9125
+
+#include "pat9125.h"
+
+#ifdef PAT9125_SWSPI
+#include "swspi.h"
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+#include "swi2c.h"
+#endif //PAT9125_SWI2C
+
+
+unsigned char pat9125_PID1 = 0;
+unsigned char pat9125_PID2 = 0;
+int pat9125_x = 0;
+int pat9125_y = 0;
+int pat9125_b = 0;
+
+int pat9125_init(unsigned char xres, unsigned char yres)
+{
+#ifdef PAT9125_SWSPI
+	swspi_init();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	swi2c_init(PAT9125_SWI2C_SDA, PAT9125_SWI2C_SCL, PAT9125_SWI2C_CFG);
+#endif //PAT9125_SWI2C
+	pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
+	pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
+	if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
+	{
+		return 0;
+	}
+    pat9125_wr_reg(PAT9125_RES_X, xres);
+    pat9125_wr_reg(PAT9125_RES_Y, yres);
+	return 1;
+}
+
+int pat9125_update()
+{
+	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
+	{
+		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
+		if (ucMotion & 0x80)
+		{
+			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
+			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
+			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
+			int iDX = ucXL | ((ucXYH << 4) & 0xf00);
+			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
+			if (iDX & 0x800) iDX -= 4096;
+			if (iDY & 0x800) iDY -= 4096;
+			pat9125_x += iDX;
+			pat9125_y += iDY;
+			return 1;
+		}
+	}
+	return 0;
+}
+
+unsigned char pat9125_rd_reg(unsigned char addr)
+{
+	unsigned char data = 0;
+#ifdef PAT9125_SWSPI
+	swspi_start();
+	swspi_tx(addr & 0x7f);
+	data = swspi_rx();
+	swspi_stop();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
+#endif //PAT9125_SWI2C
+	return data;
+}
+
+void pat9125_wr_reg(unsigned char addr, unsigned char data)
+{
+#ifdef PAT9125_SWSPI
+	swspi_start();
+	swspi_tx(addr | 0x80);
+	swspi_tx(data);
+	swspi_stop();
+#endif //PAT9125_SWSPI
+#ifdef PAT9125_SWI2C
+	int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
+#endif //PAT9125_SWI2C
+}
+
+#endif //PAT9125
diff --git a/Firmware/pat9125.h b/Firmware/pat9125.h
index aa3d9d6d4..0c7abccc1 100755
--- a/Firmware/pat9125.h
+++ b/Firmware/pat9125.h
@@ -1,39 +1,41 @@
-#ifndef PAT9125_H

-#define PAT9125_H

-

-//#define PAT9125_RPI

-#define PAT9125_AVR

-

-//PAT9125 registers

-#define PAT9125_PID1			0x00

-#define PAT9125_PID2			0x01

-#define PAT9125_MOTION			0x02

-#define PAT9125_DELTA_XL		0x03

-#define PAT9125_DELTA_YL		0x04

-#define PAT9125_MODE			0x05

-#define PAT9125_CONFIG			0x06

-#define PAT9125_WP				0x09

-#define PAT9125_SLEEP1			0x0a

-#define PAT9125_SLEEP2			0x0b

-#define PAT9125_RES_X			0x0d

-#define PAT9125_RES_Y			0x0e

-#define PAT9125_DELTA_XYH		0x12

-#define PAT9125_SHUTTER			0x14

-#define PAT9125_FRAME			0x17

-#define PAT9125_ORIENTATION		0x19

-

-extern unsigned char ucPID1;

-extern unsigned char ucPID2;

-

-extern int pat9125_x;

-extern int pat9125_y;

-extern int pat9125_b;

-

-int pat9125_init(unsigned char xres, unsigned char yres);

-int pat9125_update();

-

-unsigned char pat9125_rd_reg(unsigned char addr);

-void pat9125_wr_reg(unsigned char addr, unsigned char data);

-

-

-#endif //PAT9125_H

+#ifndef PAT9125_H
+#define PAT9125_H
+
+//PAT9125 I2C
+#define PAT9125_I2C_ADDR        0x75  //ID=LO
+//#define PAT9125_I2C_ADDR        0x79  //ID=HI
+//#define PAT9125_I2C_ADDR        0x73  //ID=NC
+
+//PAT9125 registers
+#define PAT9125_PID1			0x00
+#define PAT9125_PID2			0x01
+#define PAT9125_MOTION			0x02
+#define PAT9125_DELTA_XL		0x03
+#define PAT9125_DELTA_YL		0x04
+#define PAT9125_MODE			0x05
+#define PAT9125_CONFIG			0x06
+#define PAT9125_WP				0x09
+#define PAT9125_SLEEP1			0x0a
+#define PAT9125_SLEEP2			0x0b
+#define PAT9125_RES_X			0x0d
+#define PAT9125_RES_Y			0x0e
+#define PAT9125_DELTA_XYH		0x12
+#define PAT9125_SHUTTER			0x14
+#define PAT9125_FRAME			0x17
+#define PAT9125_ORIENTATION		0x19
+
+extern unsigned char pat9125_PID1;
+extern unsigned char pat9125_PID2;
+
+extern int pat9125_x;
+extern int pat9125_y;
+extern int pat9125_b;
+
+extern int pat9125_init(unsigned char xres, unsigned char yres);
+extern int pat9125_update();
+
+extern unsigned char pat9125_rd_reg(unsigned char addr);
+extern void pat9125_wr_reg(unsigned char addr, unsigned char data);
+
+
+#endif //PAT9125_H
diff --git a/Firmware/pins.h b/Firmware/pins.h
index c8868ccc1..324f85ac4 100644
--- a/Firmware/pins.h
+++ b/Firmware/pins.h
@@ -22,541 +22,30 @@
 /*****************************************************************
 * Rambo Pin Assignments 1.3
 ******************************************************************/
-#if MOTHERBOARD == 302
-  #define MINI_RAMBO
-  
-#endif
-#if MOTHERBOARD == 301 || MOTHERBOARD == 302
-  #define KNOWN_BOARD
-  #ifndef __AVR_ATmega2560__
-    #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
-  #endif
-  
-
-  #define FR_SENS 21
-
-
-  #define X_STEP_PIN 37
-  #define X_DIR_PIN 48
-  #define X_MIN_PIN 12
-  #define X_MAX_PIN 30
-  #define X_ENABLE_PIN 29
-  #define X_MS1_PIN 40
-  #define X_MS2_PIN 41
-  #define Y_STEP_PIN 36
-  #define Y_DIR_PIN 49
-  #define Y_MIN_PIN 11
-  #define Y_MAX_PIN 24
-  #define Y_ENABLE_PIN 28
-  #define Y_MS1_PIN 69
-  #define Y_MS2_PIN 39
-  #define Z_STEP_PIN 35
-  #define Z_DIR_PIN 47
-  #define Z_MIN_PIN 10
-  #define Z_MAX_PIN 23
-  #define Z_ENABLE_PIN 27
-  #define Z_MS1_PIN 68
-  #define Z_MS2_PIN 67
-  #define TEMP_BED_PIN 2
-  #define TEMP_0_PIN 0
-  #define HEATER_1_PIN 7
-  #define TEMP_1_PIN 1
-  #define TEMP_2_PIN -1
-  
-#ifdef SNMM 
-
-#define E_MUX0_PIN 17
-#define E_MUX1_PIN 16
-#define E_MUX2_PIN 84
-
-
-#endif
- 
-#ifdef DIS
-#define D_REQUIRE 30
-#define D_DATA 20
-#define D_DATACLOCK 21
-
-#endif
-
-// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
-#define SDSS               53
-
-#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
-  #define SCK_PIN           52
-  #define MISO_PIN         50
-  #define MOSI_PIN         51
-#endif
-  
-    #define BEEPER 84
-
-        #define BTN_EN1 72
-        #define BTN_EN2 14
-        #define BTN_ENC 9
-
-        #define SDCARDDETECT 15
-        
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-  
-  
-  
-  #define E0_STEP_PIN         34
-  #define E0_DIR_PIN          43
-  #define E0_ENABLE_PIN       26
-  #define E0_MS1_PIN 65
-  #define E0_MS2_PIN 66
-  #define LED_PIN            13
-  #ifdef THREEMM_PRINTER
-      #define FAN_PIN            8
-  #else
-      #define FAN_PIN            6
-  #endif
-  #define KILL_PIN           -1 //80 with Smart Controller LCD
-  #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
-  #define SDPOWER            -1
-  #define HEATER_2_PIN -1
-  #ifdef MINI_RAMBO
-
-    #define ELECTRONICS "RAMBo13a"
-
-    #define HEATER_0_PIN 3
-    #define HEATER_BED_PIN 4
-    #define FAN_1_PIN -1 //6
-    #define PS_ON_PIN 71
-    #define MOTOR_CURRENT_PWM_XY_PIN 46
-    #define MOTOR_CURRENT_PWM_Z_PIN 45
-    #define MOTOR_CURRENT_PWM_E_PIN 44
-    
-  #else //RAMBo
-    #define ELECTRONICS "RAMBoBig"
-
-    #define E1_STEP_PIN         33
-    #define E1_DIR_PIN          42
-    #define E1_ENABLE_PIN       25
-    #define E1_MS1_PIN 63
-    #define E1_MS2_PIN 64
-    #define DIGIPOTSS_PIN 38
-    #define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
-    #define HEATER_0_PIN  9
-    #define HEATER_BED_PIN 3
-    #define PS_ON_PIN          4
-    #define SDSS               53
-    #ifdef ULTRA_LCD
-      #define KILL_PIN 80
-      #ifdef NEWPANEL
-        //arduino pin which triggers an piezzo beeper
-        #define BEEPER 84      // Beeper on AUX-4
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-        //buttons are directly attached using AUX-2
-        #define BTN_EN1 76
-        #define BTN_EN2 77
-        #define BTN_ENC 78  //the click
-        #define BLEN_C 2
-        #define BLEN_B 1
-        #define BLEN_A 0
-        #define SDCARDDETECT 81    // Ramps does not use this port
-        //encoder rotation values
-        #define encrot0 0
-        #define encrot1 2
-        #define encrot2 3
-        #define encrot3 1
-      #else //old style panel with shift register
-        //arduino pin witch triggers an piezzo beeper
-        #define BEEPER 84    //No Beeper added
-        //buttons are attached to a shift register
-        // Not wired this yet
-        // #define SHIFT_CLK 38
-        // #define SHIFT_LD 42
-        // #define SHIFT_OUT 40
-        // #define SHIFT_EN 17
-        #define LCD_PINS_RS 82
-        #define LCD_PINS_ENABLE 18
-        #define LCD_PINS_D4 19
-        #define LCD_PINS_D5 70
-        #define LCD_PINS_D6 85
-        #define LCD_PINS_D7 71
-        //encoder rotation values
-        #define encrot0 0
-        #define encrot1 2
-        #define encrot2 3
-        #define encrot3 1
-        //bits in the shift register that carry the buttons for:
-        // left up center down right red
-        #define BL_LE 7
-        #define BL_UP 6
-        #define BL_MI 5
-        #define BL_DW 4
-        #define BL_RI 3
-        #define BL_ST 2
-        #define BLEN_B 1
-        #define BLEN_A 0
-      #endif
-    #endif //ULTRA_LCD
-  #endif //RAMBo/MiniRambo option
-#endif
-
-
-
-
-
-
-
-
-/*****************************************************************
-* Rambo mini Pin Assignments 1.0
-******************************************************************/
-#if MOTHERBOARD == 102
-  #define ELECTRONICS "RAMBo10a"
-  #define KNOWN_BOARD
-  #ifndef __AVR_ATmega2560__
-    #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
-  #endif
-
-  #define FR_SENS 21
-
-#ifdef SNMM
-
-#define E_MUX0_PIN 17
-#define E_MUX1_PIN 16
-#define E_MUX2_PIN 84
-
-
-#endif
-  #define LARGE_FLASH true
-  #define X_STEP_PIN 37
-  #define X_DIR_PIN 48
-  #define X_MIN_PIN 12
-  #define X_MAX_PIN 30
-  #define X_ENABLE_PIN 29
-  #define X_MS1_PIN 40
-  #define X_MS2_PIN 41
-  #define Y_STEP_PIN 36
-  #define Y_DIR_PIN 49
-  #define Y_MIN_PIN 11
-  #define Y_MAX_PIN 24
-  #define Y_ENABLE_PIN 28
-  #define Y_MS1_PIN 69
-  #define Y_MS2_PIN 39
-  #define Z_STEP_PIN 35
-  #define Z_DIR_PIN 47
-  #define Z_MIN_PIN 10
-  #define Z_MAX_PIN 23
-  #define Z_ENABLE_PIN 27
-  #define Z_MS1_PIN 68
-  #define Z_MS2_PIN 67
-  #define TEMP_BED_PIN 2
-  #define TEMP_0_PIN 0
-  #define HEATER_1_PIN 7
-  #define TEMP_1_PIN 1
-  #define TEMP_2_PIN -1
-  
-  // The SDSS pin uses a different pin mapping from file Sd2PinMap.h
-#define SDSS               53
-
-#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
-  #define SCK_PIN           52
-  #define MISO_PIN         50
-  #define MOSI_PIN         51
-#endif
-  
-    #define BEEPER 78
-
-        #define BTN_EN1 80
-        #define BTN_EN2 73
-        #define BTN_ENC 21
-
-        #define SDCARDDETECT 72
-        
-        #define LCD_PINS_RS 38
-        #define LCD_PINS_ENABLE 5
-        #define LCD_PINS_D4 14
-        #define LCD_PINS_D5 15
-        #define LCD_PINS_D6 32
-        #define LCD_PINS_D7 31
-  
-  
-  
-  #define E0_STEP_PIN         34
-  #define E0_DIR_PIN          43
-  #define E0_ENABLE_PIN       26
-  #define E0_MS1_PIN 65
-  #define E0_MS2_PIN 66
-  #define LED_PIN            13
-  #ifdef THREEMM_PRINTER
-      #define FAN_PIN            8
-  #else
-      #define FAN_PIN            6
-  #endif
-  #define KILL_PIN           -1 //80 with Smart Controller LCD
-  #define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
-  #define SDPOWER            -1
-  #define HEATER_2_PIN -1
-
-    #define HEATER_0_PIN 3
-    #define HEATER_BED_PIN 4
-    #define FAN_1_PIN -1 //6
-    #define PS_ON_PIN 71
-    #define MOTOR_CURRENT_PWM_XY_PIN 46
-    #define MOTOR_CURRENT_PWM_Z_PIN 45
-    #define MOTOR_CURRENT_PWM_E_PIN 44
-    
-
-#endif
-
-/*****************************************************************
-* EINY Rambo Pin Assignments 0.3a
-******************************************************************/
-#if MOTHERBOARD == 300
-#define ELECTRONICS "EINY_03a"
-#define KNOWN_BOARD
-#ifndef __AVR_ATmega2560__
-#error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
-#endif
-
-#define LARGE_FLASH         true
-#define HAVE_TMC2130_DRIVERS
-#define HAVE_PAT9125_SENSOR
-
-#define SWSPI_MISO          16 //RX2
-#define SWSPI_MOSI          16 //RX2
-#define SWSPI_SCK           17 //TX2
-#define SWSPI_CS            20 //SDA
-
-#define X_TMC2130_CS        41
-#define X_TMC2130_DIAG      40
-#define X_STEP_PIN          37
-#define X_DIR_PIN           49
-//#define X_MIN_PIN           12
-//#define X_MAX_PIN           30
-#define X_MIN_PIN           X_TMC2130_DIAG
-#define X_MAX_PIN           X_TMC2130_DIAG
-#define X_ENABLE_PIN        29
-#define X_MS1_PIN           -1
-#define X_MS2_PIN           -1
-
-#define Y_TMC2130_CS        39
-#define Y_TMC2130_DIAG      69
-#define Y_STEP_PIN          36
-#define Y_DIR_PIN           48
-//#define Y_MIN_PIN           11
-//#define Y_MAX_PIN           24
-#define Y_MIN_PIN           Y_TMC2130_DIAG
-#define Y_MAX_PIN           Y_TMC2130_DIAG
-#define Y_ENABLE_PIN        28
-#define Y_MS1_PIN           -1
-#define Y_MS2_PIN           -1
-
-#define Z_TMC2130_CS        67
-#define Z_TMC2130_DIAG      68
-#define Z_STEP_PIN          35
-#define Z_DIR_PIN           47
-#define Z_MIN_PIN           10
-#define Z_MAX_PIN           23
-//#define Z_MAX_PIN           Z_TMC2130_DIAG
-#define Z_ENABLE_PIN        27
-#define Z_MS1_PIN           -1
-#define Z_MS2_PIN           -1
-
-#define HEATER_BED_PIN       4
-#define TEMP_BED_PIN         2
-
-#define HEATER_0_PIN         3
-#define TEMP_0_PIN           0
-
-#define HEATER_1_PIN         7
-#define TEMP_1_PIN           1
-
-#ifdef BARICUDA
-#define HEATER_2_PIN         6
-#else
-#define HEATER_2_PIN        -1
-#endif
-
-#define TEMP_2_PIN          -1
-
-#define E0_TMC2130_CS       66
-#define E0_TMC2130_DIAG     65
-#define E0_STEP_PIN         34
-#define E0_DIR_PIN          43
-#define E0_ENABLE_PIN       26
-#define E0_MS1_PIN          -1
-#define E0_MS2_PIN          -1
-
-#define MOTOR_CURRENT_PWM_XY_PIN 46
-#define MOTOR_CURRENT_PWM_Z_PIN  45
-#define MOTOR_CURRENT_PWM_E_PIN  44
-#define SDPOWER             -1
-#define SDSS                53
-#define LED_PIN             13
-#define FAN_PIN              6
-#define FAN_1_PIN           -1
-#define PS_ON_PIN           -1
-#define KILL_PIN            -1  // 80 with Smart Controller LCD
-#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
-
-#ifdef ULTRA_LCD
-
-#define KILL_PIN            32
-
-#ifdef NEWPANEL
-
-#define BEEPER              84  // Beeper on AUX-4
-#define LCD_PINS_RS         82
-#define LCD_PINS_ENABLE     18
-#define LCD_PINS_D4         19
-#define LCD_PINS_D5         70
-#define LCD_PINS_D6         85
-#define LCD_PINS_D7         71
-
-//buttons are directly attached using AUX-2
-#define BTN_EN1             72
-#define BTN_EN2             14
-#define BTN_ENC              9  // the click
-
-#define SDCARDDETECT        15
-
-#define TACH_0              81
-#define TACH_1              80 
-
-#endif //NEWPANEL
-#endif //ULTRA_LCD
-
-#endif //MOTHERBOARD == 300
-
-
-/*****************************************************************
-* EINY Rambo Pin Assignments 0.4a
-******************************************************************/
-#if MOTHERBOARD == 299
-#define ELECTRONICS "EINY_04a"
-#define KNOWN_BOARD
-#ifndef __AVR_ATmega2560__
-#error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
-#endif
-
-#define LARGE_FLASH         true
-#define HAVE_TMC2130_DRIVERS
-#define HAVE_PAT9125_SENSOR
-
-#define SWSPI_MISO          21 //SCL
-#define SWSPI_MOSI          21 //SCL
-#define SWSPI_SCK           62 //PK0
-#define SWSPI_CS            20 //SDA
-
-#define X_TMC2130_CS        41
-#define X_TMC2130_DIAG      64 // !!! changed from 40 (EINY03)
-#define X_STEP_PIN          37
-#define X_DIR_PIN           49
-//#define X_MIN_PIN           12
-//#define X_MAX_PIN           30
-#define X_MIN_PIN           X_TMC2130_DIAG
-#define X_MAX_PIN           X_TMC2130_DIAG
-#define X_ENABLE_PIN        29
-#define X_MS1_PIN -1
-#define X_MS2_PIN -1
-
-#define Y_TMC2130_CS        39
-#define Y_TMC2130_DIAG      69
-#define Y_STEP_PIN          36
-#define Y_DIR_PIN           48
-//#define Y_MIN_PIN           11
-//#define Y_MAX_PIN           24
-#define Y_MIN_PIN           Y_TMC2130_DIAG
-#define Y_MAX_PIN           Y_TMC2130_DIAG
-#define Y_ENABLE_PIN        28
-#define Y_MS1_PIN           -1
-#define Y_MS2_PIN           -1
-
-#define Z_TMC2130_CS        67
-#define Z_STEP_PIN          35
-#define Z_DIR_PIN           47
-#define Z_MIN_PIN           10
-#define Z_MAX_PIN           23
-//#define Z_MAX_PIN           Z_TMC2130_DIAG
-#define Z_ENABLE_PIN        27
-#define Z_MS1_PIN           -1
-#define Z_MS2_PIN           -1
-
-#define HEATER_BED_PIN       4
-#define TEMP_BED_PIN         2
-
-#define HEATER_0_PIN         3
-#define TEMP_0_PIN           0
-
-#define HEATER_1_PIN         7
-#define TEMP_1_PIN           1
-
-#ifdef BARICUDA
-#define HEATER_2_PIN         6
-#else
-#define HEATER_2_PIN        -1
-#endif
-
-#define TEMP_2_PIN          -1
-
-#define E0_TMC2130_CS       66
-#define E0_STEP_PIN         34
-#define E0_DIR_PIN          43
-#define E0_ENABLE_PIN       26
-#define E0_MS1_PIN          -1
-#define E0_MS2_PIN          -1
-
-#define MOTOR_CURRENT_PWM_XY_PIN 46
-#define MOTOR_CURRENT_PWM_Z_PIN  45
-#define MOTOR_CURRENT_PWM_E_PIN  44
-#define SDPOWER             -1
-#define SDSS                77
-#define LED_PIN             13
-#define FAN_PIN              6
-#define FAN_1_PIN           -1
-#define PS_ON_PIN           -1
-#define KILL_PIN            -1  // 80 with Smart Controller LCD
-#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
-
-#ifdef ULTRA_LCD
-
-//#define KILL_PIN          32
-
-#ifdef NEWPANEL
-
-
-#define BEEPER              84  // Beeper on AUX-4
-#define LCD_PINS_RS         82
-//#define LCD_PINS_ENABLE   18
-//#define LCD_PINS_D4       19
-#define LCD_PINS_ENABLE     61
-#define LCD_PINS_D4	        59
-#define LCD_PINS_D5         70
-#define LCD_PINS_D6         85
-#define LCD_PINS_D7         71
 
-//buttons are directly attached using AUX-2
-#define BTN_EN1             72
-#define BTN_EN2             14
-#define BTN_ENC              9  // the click
+#if MOTHERBOARD == 100 //100 - orig 301
+#include "pins_Rambo.h"
+#endif //MOTHERBOARD == 100
 
-#define SDCARDDETECT        15
+#if MOTHERBOARD == 200 //200 - orig 102
+#include "pins_Rambo_1_0.h"
+#endif //MOTHERBOARD == 200
 
-#define TACH_0              79
-#define TACH_1              80 
+#if MOTHERBOARD == 203 //203 - orig 302
+#include "pins_Rambo_1_3.h"
+#endif //MOTHERBOARD == 203
 
-#endif //NEWPANEL
-#endif //ULTRA_LCD
+#if MOTHERBOARD == 303 //303 - orig 300
+#include "pins_Einy_0_3.h"
+#endif //MOTHERBOARD == 303
 
-#endif //MOTHERBOARD == 300
+#if MOTHERBOARD == 304 //304 - orig 299
+#include "pins_Einy_0_4.h"
+#endif //MOTHERBOARD == 304
 
+#if MOTHERBOARD == 305 //305 - orig 298
+#include "pins_Einy_0_4.h"
+#endif //MOTHERBOARD == 305
 
 #ifndef KNOWN_BOARD
 #error Unknown MOTHERBOARD value in configuration.h
diff --git a/Firmware/pins_Einy_0_3.h b/Firmware/pins_Einy_0_3.h
new file mode 100644
index 000000000..d59761a12
--- /dev/null
+++ b/Firmware/pins_Einy_0_3.h
@@ -0,0 +1,130 @@
+/*****************************************************************
+* EINY Rambo 0.3a Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "EINY_03a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define TMC2130
+#define PAT9125
+
+#define SWI2C                    // enable software i2c
+#define SWI2C_A8                 // 8bit address functions
+
+#define PAT9125_SWI2C
+#define PAT9125_SWI2C_SDA   20 //SDA on P3
+#define PAT9125_SWI2C_SCL   21 //SCL on P3
+#define PAT9125_SWI2C_CFG   0xb1 //2us clock delay, 2048 cycles timeout
+
+//#define SWSPI_MISO          16 //RX2
+//#define SWSPI_MOSI          16 //RX2
+//#define SWSPI_SCK           17 //TX2
+//#define SWSPI_CS            20 //SDA
+
+////#define SWI2C_SDA           20 //SDA
+////#define SWI2C_SCL           21 //SCL
+//#define SWI2C_SDA           16 //RX2
+//#define SWI2C_SCL           17 //TX2
+
+#define X_TMC2130_CS        41
+#define X_TMC2130_DIAG      40
+#define X_STEP_PIN          37
+#define X_DIR_PIN           49
+//#define X_MIN_PIN           12
+//#define X_MAX_PIN           30
+#define X_MIN_PIN           X_TMC2130_DIAG
+#define X_MAX_PIN           X_TMC2130_DIAG
+#define X_ENABLE_PIN        29
+#define X_MS1_PIN           -1
+#define X_MS2_PIN           -1
+
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
+#define Y_STEP_PIN          36
+#define Y_DIR_PIN           48
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
+#define Y_ENABLE_PIN        28
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
+
+#define Z_TMC2130_CS        67
+#define Z_TMC2130_DIAG      68
+#define Z_STEP_PIN          35
+#define Z_DIR_PIN           47
+#define Z_MIN_PIN           10
+#define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
+#define Z_ENABLE_PIN        27
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
+
+#define HEATER_BED_PIN       4
+#define TEMP_BED_PIN         2
+
+#define HEATER_0_PIN         3
+#define TEMP_0_PIN           0
+
+#define HEATER_1_PIN         7
+#define TEMP_1_PIN           1
+
+#ifdef BARICUDA
+#define HEATER_2_PIN         6
+#else
+#define HEATER_2_PIN        -1
+#endif
+
+#define TEMP_2_PIN          -1
+
+#define E0_TMC2130_CS       66
+#define E0_TMC2130_DIAG     65
+#define E0_STEP_PIN         34
+#define E0_DIR_PIN          43
+#define E0_ENABLE_PIN       26
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
+
+#define MOTOR_CURRENT_PWM_XY_PIN 46
+#define MOTOR_CURRENT_PWM_Z_PIN  45
+#define MOTOR_CURRENT_PWM_E_PIN  44
+#define SDPOWER             -1
+#define SDSS                53
+#define LED_PIN             13
+#define FAN_PIN              6
+#define FAN_1_PIN           -1
+#define PS_ON_PIN           -1
+#define KILL_PIN            -1  // 80 with Smart Controller LCD
+#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
+
+#ifdef ULTRA_LCD
+
+//#define KILL_PIN            32
+
+#ifdef NEWPANEL
+
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+#define LCD_PINS_ENABLE     18
+#define LCD_PINS_D4         19
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
+
+//buttons are directly attached using AUX-2
+#define BTN_EN1             72
+#define BTN_EN2             14
+#define BTN_ENC              9  // the click
+
+#define SDCARDDETECT        15
+
+#define TACH_0              81
+#define TACH_1              80 
+
+#endif //NEWPANEL
+#endif //ULTRA_LCD
diff --git a/Firmware/pins_Einy_0_4.h b/Firmware/pins_Einy_0_4.h
new file mode 100644
index 000000000..7984a0170
--- /dev/null
+++ b/Firmware/pins_Einy_0_4.h
@@ -0,0 +1,120 @@
+/*****************************************************************
+* EINY Rambo 0.4a Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "EINY_04a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define TMC2130
+#define PAT9125
+
+#define SWI2C                    // enable software i2c
+#define SWI2C_A8                 // 8bit address functions
+
+#define PAT9125_SWI2C
+#define PAT9125_SWI2C_SDA      20 //SDA on P3
+#define PAT9125_SWI2C_SCL      21 //SCL on P3
+#define PAT9125_SWI2C_CFG    0xb1 //2us clock delay, 2048 cycles timeout
+
+#define X_TMC2130_CS           41
+#define X_TMC2130_DIAG         64 // !!! changed from 40 (EINY03)
+#define X_STEP_PIN             37
+#define X_DIR_PIN              49
+//#define X_MIN_PIN            12
+//#define X_MAX_PIN            30
+#define X_MIN_PIN              X_TMC2130_DIAG
+#define X_MAX_PIN              X_TMC2130_DIAG
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN           -1
+#define X_MS2_PIN           -1
+
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
+#define Y_STEP_PIN          36
+#define Y_DIR_PIN           48
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
+#define Y_ENABLE_PIN        28
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
+
+#define Z_TMC2130_CS        67
+#define Z_TMC2130_DIAG      68
+#define Z_STEP_PIN          35
+#define Z_DIR_PIN           47
+#define Z_MIN_PIN           10
+#define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
+#define Z_ENABLE_PIN        27
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
+
+#define HEATER_BED_PIN       4
+#define TEMP_BED_PIN         2
+
+#define HEATER_0_PIN         3
+#define TEMP_0_PIN           0
+
+#define HEATER_1_PIN         7
+#define TEMP_1_PIN           1
+
+#ifdef BARICUDA
+#define HEATER_2_PIN         6
+#else
+#define HEATER_2_PIN        -1
+#endif
+
+#define TEMP_2_PIN          -1
+
+#define E0_TMC2130_CS       66
+#define E0_TMC2130_DIAG     65
+#define E0_STEP_PIN         34
+#define E0_DIR_PIN          43
+#define E0_ENABLE_PIN       26
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
+
+#define MOTOR_CURRENT_PWM_XY_PIN 46
+#define MOTOR_CURRENT_PWM_Z_PIN  45
+#define MOTOR_CURRENT_PWM_E_PIN  44
+#define SDPOWER             -1
+#define SDSS                77
+#define LED_PIN             13
+#define FAN_PIN              6
+#define FAN_1_PIN           -1
+#define PS_ON_PIN           -1
+#define KILL_PIN            -1  // 80 with Smart Controller LCD
+#define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
+
+#ifdef ULTRA_LCD
+
+//#define KILL_PIN            32
+
+#ifdef NEWPANEL
+
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+#define LCD_PINS_ENABLE     61 // !!! changed from 18 (EINY03)
+#define LCD_PINS_D4	        59 // !!! changed from 19 (EINY03)
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
+
+//buttons are directly attached using AUX-2
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9  // the click
+
+#define SDCARDDETECT           15
+
+#define TACH_0                 79 // !!! changed from 81 (EINY03)
+#define TACH_1                 80 
+
+#endif //NEWPANEL
+#endif //ULTRA_LCD
diff --git a/Firmware/pins_Rambo.h b/Firmware/pins_Rambo.h
new file mode 100644
index 000000000..4ba00d1a5
--- /dev/null
+++ b/Firmware/pins_Rambo.h
@@ -0,0 +1,162 @@
+/*****************************************************************
+* Rambo Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBoBig"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM 
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+#ifdef DIS
+  #define D_REQUIRE            30
+  #define D_DATA               20
+  #define D_DATACLOCK          21
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+
+#define BEEPER                 84
+
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9
+
+#define SDCARDDETECT           15
+
+#define LCD_PINS_RS            82
+#define LCD_PINS_ENABLE        18
+#define LCD_PINS_D4            19
+#define LCD_PINS_D5            70
+#define LCD_PINS_D6            85
+#define LCD_PINS_D7            71
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define E1_STEP_PIN            33
+#define E1_DIR_PIN             42
+#define E1_ENABLE_PIN          25
+#define E1_MS1_PIN             63
+#define E1_MS2_PIN             64
+#define DIGIPOTSS_PIN          38
+#define DIGIPOT_CHANNELS       {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
+#define HEATER_0_PIN            9
+#define HEATER_BED_PIN          3
+#define PS_ON_PIN               4
+#define SDSS                   53
+#ifdef ULTRA_LCD
+ #define KILL_PIN              80
+ #ifdef NEWPANEL
+  //arduino pin which triggers an piezzo beeper
+  #define BEEPER               84      // Beeper on AUX-4
+  #define LCD_PINS_RS          82
+  #define LCD_PINS_ENABLE      18
+  #define LCD_PINS_D4          19
+  #define LCD_PINS_D5          70
+  #define LCD_PINS_D6          85
+  #define LCD_PINS_D7          71
+  //buttons are directly attached using AUX-2
+  #define BTN_EN1              76
+  #define BTN_EN2              77
+  #define BTN_ENC              78  //the click
+  #define BLEN_C                2
+  #define BLEN_B                1
+  #define BLEN_A                0
+  #define SDCARDDETECT         81    // Ramps does not use this port
+  //encoder rotation values
+  #define encrot0               0
+  #define encrot1               2
+  #define encrot2               3
+  #define encrot3               1
+ #else //old style panel with shift register
+  //arduino pin witch triggers an piezzo beeper
+  #define BEEPER               84    //No Beeper added
+  //buttons are attached to a shift register
+  // Not wired this yet
+  // #define SHIFT_CLK 38
+  // #define SHIFT_LD 42
+  // #define SHIFT_OUT 40
+  // #define SHIFT_EN 17
+  #define LCD_PINS_RS          82
+  #define LCD_PINS_ENABLE      18
+  #define LCD_PINS_D4          19
+  #define LCD_PINS_D5          70
+  #define LCD_PINS_D6          85
+  #define LCD_PINS_D7          71
+  //encoder rotation values
+  #define encrot0               0
+  #define encrot1               2
+  #define encrot2               3
+  #define encrot3               1
+  //bits in the shift register that carry the buttons for:
+  // left up center down right red
+  #define BL_LE                 7
+  #define BL_UP                 6
+  #define BL_MI                 5
+  #define BL_DW                 4
+  #define BL_RI                 3
+  #define BL_ST                 2
+  #define BLEN_B                1
+  #define BLEN_A                0
+ #endif
+#endif //ULTRA_LCD
diff --git a/Firmware/pins_Rambo_1_0.h b/Firmware/pins_Rambo_1_0.h
new file mode 100644
index 000000000..fae9ddcc8
--- /dev/null
+++ b/Firmware/pins_Rambo_1_0.h
@@ -0,0 +1,94 @@
+/*****************************************************************
+* Rambo mini 1.0 Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBo10a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+  
+#define BEEPER                 78
+
+#define BTN_EN1                80
+#define BTN_EN2                73
+#define BTN_ENC                21
+
+#define SDCARDDETECT           72
+
+#define LCD_PINS_RS            38
+#define LCD_PINS_ENABLE         5
+#define LCD_PINS_D4            14
+#define LCD_PINS_D5            15
+#define LCD_PINS_D6            32
+#define LCD_PINS_D7            31
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define HEATER_0_PIN            3
+#define HEATER_BED_PIN          4
+#define FAN_1_PIN              -1 //6
+#define PS_ON_PIN              71
+#define MOTOR_CURRENT_PWM_XY_PIN   46
+#define MOTOR_CURRENT_PWM_Z_PIN    45
+#define MOTOR_CURRENT_PWM_E_PIN    44
diff --git a/Firmware/pins_Rambo_1_3.h b/Firmware/pins_Rambo_1_3.h
new file mode 100644
index 000000000..3e9c45dae
--- /dev/null
+++ b/Firmware/pins_Rambo_1_3.h
@@ -0,0 +1,102 @@
+/*****************************************************************
+* Rambo mini 1.3 Pin Assignments
+******************************************************************/
+
+#define ELECTRONICS "RAMBo13a"
+
+#define KNOWN_BOARD
+#ifndef __AVR_ATmega2560__
+  #error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define FR_SENS                21
+
+#define X_STEP_PIN             37
+#define X_DIR_PIN              48
+#define X_MIN_PIN              12
+#define X_MAX_PIN              30
+#define X_ENABLE_PIN           29
+#define X_MS1_PIN              40
+#define X_MS2_PIN              41
+#define Y_STEP_PIN             36
+#define Y_DIR_PIN              49
+#define Y_MIN_PIN              11
+#define Y_MAX_PIN              24
+#define Y_ENABLE_PIN           28
+#define Y_MS1_PIN              69
+#define Y_MS2_PIN              39
+#define Z_STEP_PIN             35
+#define Z_DIR_PIN              47
+#define Z_MIN_PIN              10
+#define Z_MAX_PIN              23
+#define Z_ENABLE_PIN           27
+#define Z_MS1_PIN              68
+#define Z_MS2_PIN              67
+#define TEMP_BED_PIN            2
+#define TEMP_0_PIN              0
+#define HEATER_1_PIN            7
+#define TEMP_1_PIN              1
+#define TEMP_2_PIN             -1
+
+#ifdef SNMM 
+  #define E_MUX0_PIN           17
+  #define E_MUX1_PIN           16
+  #define E_MUX2_PIN           84
+#endif
+
+#ifdef DIS
+  #define D_REQUIRE            30
+  #define D_DATA               20
+  #define D_DATACLOCK          21
+#endif
+
+// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
+#define SDSS                   53
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN              52
+  #define MISO_PIN             50
+  #define MOSI_PIN             51
+#endif
+
+#define BEEPER                 84
+
+#define BTN_EN1                72
+#define BTN_EN2                14
+#define BTN_ENC                 9
+
+#define SDCARDDETECT           15
+
+#define LCD_PINS_RS            82
+#define LCD_PINS_ENABLE        18
+#define LCD_PINS_D4            19
+#define LCD_PINS_D5            70
+#define LCD_PINS_D6            85
+#define LCD_PINS_D7            71
+
+#define E0_STEP_PIN            34
+#define E0_DIR_PIN             43
+#define E0_ENABLE_PIN          26
+#define E0_MS1_PIN             65
+#define E0_MS2_PIN             66
+#define LED_PIN                13
+
+#ifdef THREEMM_PRINTER
+  #define FAN_PIN               8
+#else
+  #define FAN_PIN               6
+#endif
+
+#define KILL_PIN               -1 //80 with Smart Controller LCD
+#define SUICIDE_PIN            -1  //PIN that has to be turned on right after start, to keep power flowing.
+#define SDPOWER                -1
+#define HEATER_2_PIN           -1
+
+#define HEATER_0_PIN            3
+#define HEATER_BED_PIN          4
+#define FAN_1_PIN              -1 //6
+#define PS_ON_PIN              71
+#define MOTOR_CURRENT_PWM_XY_PIN   46
+#define MOTOR_CURRENT_PWM_Z_PIN    45
+#define MOTOR_CURRENT_PWM_E_PIN    44
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index 5f131c505..b5fc90dee 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -32,9 +32,9 @@
 #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 #include <SPI.h>
 #endif
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 
 //===========================================================================
@@ -431,7 +431,7 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MIN_PIN) && X_MIN_PIN > -1
+          #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
 			#ifndef TMC2130_SG_HOMING_SW
 				x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
 			#else //TMC2130_SG_HOMING_SW
@@ -451,7 +451,7 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MAX_PIN) && X_MAX_PIN > -1
+          #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
 			#ifndef TMC2130_SG_HOMING_SW
 				x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
 			#else //TMC2130_SG_HOMING_SW
@@ -475,7 +475,7 @@ void isr() {
     #endif
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
+        #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
 			#ifndef TMC2130_SG_HOMING_SW
 				y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
 			#else //TMC2130_SG_HOMING_SW
@@ -493,7 +493,7 @@ void isr() {
     else { // +direction
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
+        #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
 			#ifndef TMC2130_SG_HOMING_SW
 				y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
 			#else //TMC2130_SG_HOMING_SW
@@ -519,7 +519,7 @@ void isr() {
       count_direction[Z_AXIS]=-1;
       if(check_endstops && ! check_z_endstop)
       {
-        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
+        #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
           bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@@ -540,7 +540,7 @@ void isr() {
       count_direction[Z_AXIS]=1;
       CHECK_ENDSTOPS
       {
-        #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
+        #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
           bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@@ -553,7 +553,7 @@ void isr() {
     }
 
     // Supporting stopping on a trigger of the Z-stop induction sensor, not only for the Z-minus movements.
-    #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
+    #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
     if(check_z_endstop) {
         // Check the Z min end-stop no matter what.
         // Good for searching for the center of an induction target.
@@ -829,9 +829,9 @@ void clear_current_adv_vars() {
       
 void st_init()
 {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
   digipot_init(); //Initialize Digipot Motor Current
   microstep_init(); //Initialize Microstepping Pins
@@ -1042,7 +1042,7 @@ void st_synchronize()
 {
 	while(blocks_queued())
 	{
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		manage_heater();
 		// Vojtech: Don't disable motors inside the planner!
 		if (!tmc2130_update_sg())
@@ -1050,12 +1050,12 @@ void st_synchronize()
 			manage_inactivity(true);
 			lcd_update();
 		}
-#else //HAVE_TMC2130_DRIVERS
+#else //TMC2130
 		manage_heater();
 		// Vojtech: Don't disable motors inside the planner!
 		manage_inactivity(true);
 		lcd_update();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 	}
 }
 
diff --git a/Firmware/swi2c.cpp b/Firmware/swi2c.cpp
new file mode 100644
index 000000000..272ac4192
--- /dev/null
+++ b/Firmware/swi2c.cpp
@@ -0,0 +1,209 @@
+#include "uni_avr_rpi.h"
+
+#ifdef SWI2C
+#include "swi2c.h"
+
+#ifdef __AVR
+unsigned char swi2c_sda = 20; // SDA pin
+unsigned char swi2c_scl = 21; // SCL pin
+#endif //__AVR
+
+#ifdef __RPI
+unsigned char swi2c_sda = 2; // SDA pin
+unsigned char swi2c_scl = 3; // SCL pin
+#endif //__RPI
+
+unsigned char swi2c_cfg = 0xb1; // config
+//  bit0..3 = clock delay factor = 1 << 1 = 2 [us]
+//  bit4..7 = ack timeout factor = 1 << 11 = 2048 [cycles]
+
+#define SWI2C_SDA    swi2c_sda
+#define SWI2C_SCL    swi2c_scl
+#define SWI2C_RMSK   0x01 //read mask (bit0 = 1)
+#define SWI2C_WMSK   0x00 //write mask (bit0 = 0)
+#define SWI2C_ASHF   0x01 //address shift (<< 1)
+#define SWI2C_DMSK   0x7f //device address mask
+
+
+void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg)
+{
+	swi2c_sda = sda;
+	swi2c_scl = scl;
+	swi2c_cfg = cfg;
+	GPIO_OUT(SWI2C_SDA);
+	GPIO_OUT(SWI2C_SCL);
+	GPIO_SET(SWI2C_SDA);
+	GPIO_SET(SWI2C_SCL);
+	DELAY(1000);
+}
+
+void swi2c_start(int delay)
+{
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+}
+
+void swi2c_stop(int delay)
+{
+	GPIO_SET(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+}
+
+void swi2c_ack(int delay)
+{
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+}
+
+int swi2c_wait_ack(int delay, int ackto)
+{
+	GPIO_INP(SWI2C_SDA);
+	DELAY(delay);
+//	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_SET(SWI2C_SCL);
+//	DELAY(delay);
+	int ack = 0;
+	while (!(ack = !GPIO_GET(SWI2C_SDA)) && ackto--) DELAY(delay);
+	GPIO_CLR(SWI2C_SCL);
+	DELAY(delay);
+	GPIO_OUT(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_CLR(SWI2C_SDA);
+	DELAY(delay);
+	return ack;
+}
+
+unsigned char swi2c_read(int delay)
+{
+	GPIO_SET(SWI2C_SDA);
+	DELAY(delay);
+	GPIO_INP(SWI2C_SDA);
+	unsigned char data = 0;
+	int bit; for (bit = 7; bit >= 0; bit--)
+	{
+		GPIO_SET(SWI2C_SCL);
+		DELAY(delay);
+		data |= GPIO_GET(SWI2C_SDA) << bit;
+		GPIO_CLR(SWI2C_SCL);
+		DELAY(delay);
+	}
+	GPIO_OUT(SWI2C_SDA);
+	return data;
+}
+
+void swi2c_write(int delay, unsigned char data)
+{
+	int bit; for (bit = 7; bit >= 0; bit--)
+	{
+		if (data & (1 << bit)) GPIO_SET(SWI2C_SDA);
+		else GPIO_CLR(SWI2C_SDA);
+		DELAY(delay);
+		GPIO_SET(SWI2C_SCL);
+		DELAY(delay);
+		GPIO_CLR(SWI2C_SCL);
+		DELAY(delay);
+	}
+}
+
+int swi2c_check(unsigned char dev_addr)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, (dev_addr & SWI2C_DMSK) << SWI2C_ASHF);
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_stop(delay);
+	return 1;
+}
+
+#ifdef SWI2C_A8 //8bit address
+
+int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	unsigned char byte = swi2c_read(delay);
+	swi2c_stop(delay);
+	if (pbyte) *pbyte = byte;
+	return 1;
+}
+
+int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, *pbyte);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	return 1;
+}
+
+#endif //SWI2C_A8
+
+#ifdef SWI2C_A16 //16bit address
+
+int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr >> 8);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	unsigned char byte = swi2c_read(delay);
+	swi2c_stop(delay);
+	if (pbyte) *pbyte = byte;
+	return 1;
+}
+
+int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
+{
+	int delay = 1 << (swi2c_cfg & 0xf);
+	int tmout = 1 << (swi2c_cfg >> 4);
+	swi2c_start(delay);
+	swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
+	if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
+	swi2c_write(delay, addr >> 8);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, addr & 0xff);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_write(delay, *pbyte);
+	if (!swi2c_wait_ack(delay, tmout)) return 0;
+	swi2c_stop(delay);
+	return 1;
+}
+
+#endif //SWI2C_A16
+
+
+#endif //SWI2C
\ No newline at end of file
diff --git a/Firmware/swi2c.h b/Firmware/swi2c.h
new file mode 100644
index 000000000..ee2153257
--- /dev/null
+++ b/Firmware/swi2c.h
@@ -0,0 +1,22 @@
+#ifndef SWI2C_H
+#define SWI2C_H
+
+//initialize
+extern void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg);
+
+//check device address acknowledge
+extern int swi2c_check(unsigned char dev_addr);
+
+//read write functions - 8bit address (most i2c chips)
+#ifdef SWI2C_A8
+extern int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
+extern int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
+#endif //SWI2C_A8
+
+//read write functions - 16bit address (e.g. serial eeprom AT24C256)
+#ifdef SWI2C_A16
+extern int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
+extern int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
+#endif //SWI2C_A16
+
+#endif //SWI2C_H
diff --git a/Firmware/swspi.cpp b/Firmware/swspi.cpp
index 87678be15..efab8f73b 100755
--- a/Firmware/swspi.cpp
+++ b/Firmware/swspi.cpp
@@ -1,108 +1,93 @@
-#include "swspi.h"

-

-

-#ifdef SWSPI_RPI

-	#include <bcm2835.h>

-	#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT)

-	#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP)

-	#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH)

-	#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW)

-	#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)

-	#define DELAY(delay) usleep(delay)

-#endif //SWSPI_RPI

-

-#ifdef SWSPI_AVR

-	//#include "Arduino.h"

-	#include "Marlin.h"

-	#define GPIO_INP(gpio) pinMode(gpio, INPUT)

-	#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)

-	#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)

-	#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)

-	#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)

-	#define DELAY(delay) delayMicroseconds(delay)

-#endif //SWSPI_AVR

-

-#if (SWSPI_POL != 0)

-	#define SWSPI_SCK_UP GPIO_CLR(SWSPI_SCK)

-	#define SWSPI_SCK_DN GPIO_SET(SWSPI_SCK)

-#else

-	#define SWSPI_SCK_UP GPIO_SET(SWSPI_SCK)

-	#define SWSPI_SCK_DN GPIO_CLR(SWSPI_SCK)

-#endif

-

-

-void swspi_init()

-{

-	GPIO_INP(SWSPI_MISO);

-	GPIO_OUT(SWSPI_MOSI);

-	GPIO_OUT(SWSPI_SCK);

-	GPIO_OUT(SWSPI_CS);

-	GPIO_CLR(SWSPI_MOSI);

-	SWSPI_SCK_DN;

-	GPIO_SET(SWSPI_CS);

-}

-

-#if (SWSPI_MOSI == SWSPI_MISO)

-

-void swspi_tx(unsigned char tx)

-{

-	GPIO_OUT(SWSPI_MOSI);

-	unsigned char i = 0; for (; i < 8; i++)

-	{

-		if (tx & 0x80) GPIO_SET(SWSPI_MOSI);

-		else GPIO_CLR(SWSPI_MOSI);

-	    DELAY(SWSPI_DEL);

-		SWSPI_SCK_UP;

-	    DELAY(SWSPI_DEL);

-		SWSPI_SCK_DN;

-		tx <<= 1;

-	}

-}

-

-unsigned char swspi_rx()

-{

-	GPIO_INP(SWSPI_MISO);

-	unsigned char rx = 0;

-	unsigned char i = 0; for (; i < 8; i++)

-	{

-		rx <<= 1;

-	    DELAY(SWSPI_DEL);

-		SWSPI_SCK_UP;

-	    DELAY(SWSPI_DEL);

-		rx |= GPIO_GET(SWSPI_MISO)?1:0;

-		SWSPI_SCK_DN;

-	}

-	return rx;

-}

-

-#else //(SWSPI_MOSI == SWSPI_MISO)

-

-unsigned char swspi_txrx(unsigned char tx)

-{

-	unsigned char rx = 0;

-	unsigned char i = 0; for (; i < 8; i++)

-	{

-		rx <<= 1;

-		if (tx & 0x80) GPIO_SET(SWSPI_MOSI);

-		else GPIO_CLR(SWSPI_MOSI);

-	    DELAY(SWSPI_DEL);

-		SWSPI_SCK_UP;

-	    DELAY(SWSPI_DEL);

-		rx |= GPIO_GET(SWSPI_MISO)?1:0;

-		SWSPI_SCK_DN;

-		tx <<= 1;

-	}

-	return rx;

-}

-

-#endif //(SWSPI_MOSI == SWSPI_MISO)

-

-void swspi_start()

-{

-	GPIO_CLR(SWSPI_CS);

-}

-

-void swspi_stop()

-{

-	GPIO_SET(SWSPI_CS);

-}

+#include "uni_avr_rpi.h"
+
+#ifdef __SWSPI
+#include "swspi.h"
+
+#ifdef __RPI
+//#define swspi_miso	9
+#define swspi_miso	10
+#define swspi_mosi	10
+#define swspi_sck	11
+#define SWSPI_CS	7
+#endif //__RPI
+
+
+#define SWSPI_DEL	0x0f //delay mask (0-3. bit, delay = 1 << DEL [us])
+#define SWSPI_POL	0x10 //polarity mask (4. bit, 1=inverted)
+#define SWSPI_PHA	0x20 //phase mask (5. bit)
+#define SWSPI_DOR	0x40 //data order mask (6. bit, 0=MSB first, 1=LSB first)
+
+#define SWSPI_SCK_UP if (swspi_cfg & SWSPI_POL) GPIO_CLR(swspi_sck); else GPIO_SET(swspi_sck);
+#define SWSPI_SCK_DN if (swspi_cfg & SWSPI_POL) GPIO_SET(swspi_sck); else GPIO_CLR(swspi_sck);
+
+unsigned char swspi_miso = 0;
+unsigned char swspi_mosi = 0;
+unsigned char swspi_sck = 0;
+unsigned char swspi_cfg = 0;
+
+void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg)
+{
+	swspi_miso = miso;
+	swspi_mosi = mosi;
+	swspi_sck = sck;
+	swspi_cfg = cfg;
+	GPIO_INP(swspi_miso);
+	GPIO_OUT(swspi_mosi);
+	GPIO_OUT(swspi_sck);
+	GPIO_CLR(swspi_mosi);
+	SWSPI_SCK_DN;
+}
+
+void swspi_tx(unsigned char tx)
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		if (tx & 0x80) GPIO_SET(swspi_mosi);
+		else GPIO_CLR(swspi_mosi);
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		SWSPI_SCK_DN;
+		tx <<= 1;
+	}
+}
+
+unsigned char swspi_rx()
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
+	unsigned char rx = 0;
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		rx <<= 1;
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		rx |= GPIO_GET(swspi_miso)?1:0;
+		SWSPI_SCK_DN;
+	}
+	return rx;
+}
+
+unsigned char swspi_txrx(unsigned char tx)
+{
+	int delay = 1 << (swspi_cfg & SWSPI_DEL));
+	unsigned char rx = 0;
+	unsigned char i = 0; for (; i < 8; i++)
+	{
+		rx <<= 1;
+		if (tx & 0x80) GPIO_SET(swspi_mosi);
+		else GPIO_CLR(swspi_mosi);
+	    DELAY(delay);
+		SWSPI_SCK_UP;
+	    DELAY(delay);
+		rx |= GPIO_GET(swspi_miso)?1:0;
+		SWSPI_SCK_DN;
+		tx <<= 1;
+	}
+	return rx;
+}
+
+#endif //__SWSPI
diff --git a/Firmware/swspi.h b/Firmware/swspi.h
index ba75d2bb0..f95665c46 100755
--- a/Firmware/swspi.h
+++ b/Firmware/swspi.h
@@ -1,43 +1,14 @@
+// Software SPI
 #ifndef SWSPI_H
 #define SWSPI_H
 
-//#define SWSPI_RPI
-#define SWSPI_AVR
-
-#ifdef SWSPI_RPI
-//#define SWSPI_MISO	9
-#define SWSPI_MISO	10
-#define SWSPI_MOSI	10
-#define SWSPI_SCK	11
-#define SWSPI_CS	7
-#endif //SWSPI_RPI
-
-#ifdef SWSPI_AVR
-#endif //SWSPI_AVR
-
-#define SWSPI_POL	1 //polarity
-#define SWSPI_PHA	0 //phase
-#define SWSPI_DOR	0 //data order
-#define SWSPI_DEL	2 //delay
-
-
-void swspi_init();
-
-#if (SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_tx(unsigned char tx);
-unsigned char swspi_rx();
-
-#else //(SWSPI_MOSI == SWSPI_MISO)
-
-#define swspi_tx swspi_txrx
-#define swspi_rx swspi_txrx
-unsigned char swspi_txrx(unsigned char tx);
-
-#endif //(SWSPI_MOSI == SWSPI_MISO)
-
-void swspi_start();
-void swspi_stop();
-
+//initialize gpio
+extern void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg);
+//transmit and receive (full duplex mode)
+extern unsigned char swspi_txrx(unsigned char tx);
+//transmit (half dublex mode, miso == mosi)
+extern void swspi_tx(unsigned char tx);
+//receive (half dublex mode, miso == mosi)
+extern unsigned char swspi_rx();
 
 #endif //SWSPI_H
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index a2c93adbc..3abce4212 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -1,6 +1,6 @@
 #include "Marlin.h"
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 
 #include "tmc2130.h"
 #include <SPI.h>
@@ -508,4 +508,4 @@ uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
 	return stat;
 }
 
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index b716912ff..f26a0328e 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -14,11 +14,14 @@
 //#include "Configuration.h"
 
 #include "SdFatUtil.h"
+
+#ifdef PAT9125
 #include "pat9125.h"
+#endif //PAT9125
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 #include "tmc2130.h"
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
 
 #define _STRINGIFY(s) #s
 
@@ -2487,10 +2490,10 @@ static void lcd_fsensor_state_set()
 static void lcd_silent_mode_set() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
   digipot_init();
   lcd_goto_menu(lcd_settings_menu, 7);
 }
@@ -3944,10 +3947,10 @@ static void lcd_autostart_sd()
 static void lcd_silent_mode_set_tune() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
 	tmc2130_init();
-#endif //HAVE_TMC2130_DRIVERS
+#endif //TMC2130
   digipot_init();
   lcd_goto_menu(lcd_tune_menu, 9);
 }
@@ -4373,7 +4376,7 @@ static void lcd_selftest()
 
 	if (_result)
 	{
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 		enable_endstops(false);
 #endif
@@ -4436,7 +4439,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 	current_position[axis] = 0;
 	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 	tmc2130_home_exit();
 	enable_endstops(true);
 #endif
@@ -4447,7 +4450,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 		SERIAL_ECHOPGM("Current position 2:");
 		MYSERIAL.println(current_position[axis]);*/
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 
@@ -4457,7 +4460,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 
 		st_synchronize();
 
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
 		//current_position[axis] = st_get_position_mm(axis);
@@ -4471,11 +4474,11 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 			st_synchronize();
 			current_position[axis] += axis_length;
 			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 			st_synchronize();
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_exit();
 #endif
 			//current_position[axis] = st_get_position_mm(axis);
@@ -4490,7 +4493,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 
 		if (abs(measured_axis_length[i] - axis_length) > max_error_mm) {
 			//axis length
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_exit();
 			enable_endstops(false);
 #endif
@@ -4570,7 +4573,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 			}
 			_stepdone = true;
 		}
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 		tmc2130_home_exit();
 #endif
 
@@ -4652,8 +4655,8 @@ static bool lcd_selfcheck_pulleys(int axis)
 			//if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents
 			//else digipot_current(0, tmp_motor_loud[0]); //set motor current back			
 			current_position[axis] = current_position[axis] - move;
-#ifdef HAVE_TMC2130_DRIVERS
-			tmc2130_home_enter(axis);
+#ifdef TMC2130
+			tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
 			
@@ -4662,7 +4665,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 				lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
 				return(false);
 			}
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 			tmc2130_home_exit();
 #endif
 		}
@@ -4671,7 +4674,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 		manage_inactivity(true);
 		while (!endstop_triggered) {
 			if ((x_min_endstop) || (y_min_endstop)) {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 				tmc2130_home_exit();
 #endif
 				endstop_triggered = true;
@@ -4695,15 +4698,15 @@ static bool lcd_selfcheck_pulleys(int axis)
 				}
 			}
 			else {
-#ifdef HAVE_TMC2130_DRIVERS
+#ifdef TMC2130
 				tmc2130_home_exit();
 #endif
 				//current_position[axis] -= 1;
 				current_position[axis] += 50;
 				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 				current_position[axis] -= 100;
-#ifdef HAVE_TMC2130_DRIVERS
-				tmc2130_home_enter(axis);
+#ifdef TMC2130
+				tmc2130_home_enter(X_AXIS_MASK << axis);
 #endif
 				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 				st_synchronize();
diff --git a/Firmware/uni_avr_rpi.h b/Firmware/uni_avr_rpi.h
new file mode 100644
index 000000000..6a7200c31
--- /dev/null
+++ b/Firmware/uni_avr_rpi.h
@@ -0,0 +1,31 @@
+// unification for AVR and RPI
+#define __AVR
+
+#ifdef __AVR
+	//#include "Arduino.h"
+	#include "Marlin.h"
+	#define GPIO_INP(gpio) pinMode(gpio, INPUT)
+	#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)
+	#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)
+	#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)
+	#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)
+	#define DELAY(delay) delayMicroseconds(delay)
+	#define PRINT MYSERIAL.print
+#endif //RC522_AVR
+
+#ifdef __RPI
+	#include <bcm2835.h>
+	#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT)
+	#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP)
+	#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH)
+	#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW)
+	#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)
+	#include <unistd.h>
+	#define DELAY(delay) usleep(delay)
+	#define PRINT(p) print(p)
+	#define DEC 10
+	#define HEX 16
+	void print(const char* pc) { printf("%s", pc); }
+	void print(int v) { printf("%d", v); }
+	void print(float v) { printf("%f", v); }
+#endif //RC522_RPI
diff --git a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
index 129ec848c..d7f6b66a5 100644
--- a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
@@ -16,7 +16,6 @@
 #define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
 
 // Electronics
-//#define MOTHERBOARD BOARD_EINY_0_4a
 #define MOTHERBOARD BOARD_EINY_0_3a
 
 
@@ -49,7 +48,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define X_MAX_POS 255
 #define X_MIN_POS 0
 #define Y_MAX_POS 210
-#define Y_MIN_POS -4
+#define Y_MIN_POS -12 //orig -4
 #define Z_MAX_POS 210
 #define Z_MIN_POS 0.15
 
@@ -79,10 +78,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //DEBUG
 #if 0
+#define DEBUG_DCODES //D codes
+#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
-#define DEBUG_DISABLE_LCD_STATUS_LINE  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
 #define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
 //#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
@@ -255,7 +261,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
 
 // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
-#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
+#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
 #define MOTOR_CURRENT_PWM_RANGE 2000
 #define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
 #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
diff --git a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
index 5ba54bdd1..6b6c861ec 100644
--- a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
@@ -17,7 +17,6 @@
 
 // Electronics
 #define MOTHERBOARD BOARD_EINY_0_4a
-//#define MOTHERBOARD BOARD_EINY_0_3a
 
 
 // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
@@ -49,7 +48,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define X_MAX_POS 255
 #define X_MIN_POS 0
 #define Y_MAX_POS 210
-#define Y_MIN_POS -4
+#define Y_MIN_POS -12 //orig -4
 #define Z_MAX_POS 210
 #define Z_MIN_POS 0.15
 
@@ -79,10 +78,17 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //DEBUG
 #if 0
+#define DEBUG_DCODES //D codes
+#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
-#define DEBUG_DISABLE_LCD_STATUS_LINE  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
 #define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
 //#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
@@ -129,7 +135,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
 
 #define TMC2130_SG_HOMING     1     // stallguard homing
-#define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
+//#define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
 #define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
 #define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
 #define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
@@ -255,7 +261,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
 
 // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
-#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
+#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
 #define MOTOR_CURRENT_PWM_RANGE 2000
 #define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
 #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}