diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index d4e23bd16..58f5bcaea 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -20,9 +20,6 @@
 // if unwanted behavior is observed on a user's machine when running at very slow speeds.
 #define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
 
-// If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
-
 // BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
 
 //// The following define selects which electronics board you have. Please choose the one that matches your setup
@@ -65,11 +62,11 @@
 
 #define BED_CHECK_INTERVAL 5000 //ms
 
-//// Experimental watchdog and minimal temp
-// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
-// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
-/// CURRENTLY NOT IMPLEMENTED AND UNUSEABLE
-//#define WATCHPERIOD 5000 //5 seconds
+//// Heating sanity check:
+// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero. 
+// It can be reset with another M104/M109
+//#define WATCHPERIOD 20000 //20 seconds
 
 // Actual temperature must be close to target for this long before M109 returns success
 #define TEMP_RESIDENCY_TIME 30  // (seconds)
@@ -163,6 +160,14 @@
   #endif
 #endif // PIDTEMP
 
+//  extruder run-out prevention. 
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT  
+#define EXTRUDER_RUNOUT_MINTEMP 190  
+#define EXTRUDER_RUNOUT_SECONDS 30.
+#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
+#define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
+
 
 //===========================================================================
 //=============================Mechanical Settings===========================
@@ -250,7 +255,12 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define DEFAULT_XYJERK                20.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
 
+// If defined the movements slow down when the look ahead buffer is only half full
+#define SLOWDOWN
 
+//default stepper release if idle
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+#define DEFAULT_STEPPER_DEACTIVE_COMMAND "M84 X Y E"  //z stays  powered
 
 
 //===========================================================================
@@ -303,6 +313,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 //#define ULTRA_LCD  //general lcd support, also 16x2
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 #define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y E" // no z because of layer shift.
 
 #define ULTIPANEL
 #ifdef ULTIPANEL
@@ -339,6 +350,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
   #define AUTOTEMP_OLDWEIGHT 0.98
 #endif
 
+//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
+//can be software-disabled for whatever purposes by
+#define PREVENT_DANGEROUS_EXTRUDE
+#define EXTRUDE_MINTEMP 190
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 
 const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
 
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index d4654a386..f8ded924e 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -4,6 +4,7 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
 #define  HardwareSerial_h // trick to disable the standard HWserial
+#include <stdio.h>
 #include <math.h>
 #if ARDUINO >= 100
   #include "Arduino.h"
@@ -147,6 +148,7 @@ extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
+extern bool stop_heating_wait;
 
 // Handling multiple extruders pins
 extern uint8_t active_extruder;
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 183002fe2..79707e8c3 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -27,6 +27,8 @@
 
 #include <math.h>
 #include <EEPROM.h>
+#include <stdio.h>
+
 #include "EEPROMwrite.h"
 #include "fastio.h"
 #include "Configuration.h"
@@ -39,7 +41,7 @@
 #include "motion_control.h"
 #include "cardreader.h"
 #include "watchdog.h"
-#include <stdio.h>
+
 
 
 #define VERSION_STRING  "1.0.0 Beta 1"
@@ -108,6 +110,7 @@
 // M206 - set additional homeing offset
 // M220 - set speed factor override percentage S:factor in percent
 // M301 - Set PID parameters P I and D
+// M302 - Allow cold extrudes
 // M400 - Finish all moves
 // M500 - stores paramters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
@@ -135,7 +138,7 @@ volatile bool feedmultiplychanged=false;
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
 float add_homeing[3]={0,0,0};
 uint8_t active_extruder = 0;
-
+bool stop_heating_wait=false;
 
 //===========================================================================
 //=============================private variables=============================
@@ -175,7 +178,8 @@ const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
 //Inactivity shutdown variables
 static unsigned long previous_millis_cmd = 0;
 static unsigned long max_inactive_time = 0;
-static unsigned long stepper_inactive_time = 0;
+static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
+static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
 
 static unsigned long starttime=0;
 static unsigned long stoptime=0;
@@ -232,7 +236,9 @@ void setup()
   SERIAL_PROTOCOLLNPGM("start");
   SERIAL_ECHO_START;
   SERIAL_ECHOPGM("Free Memory:");
-  SERIAL_ECHOLN(freeMemory());
+  SERIAL_ECHO(freeMemory());
+  SERIAL_ECHOPGM(" PlannerBufferBytes:");
+  SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
   for(int8_t i = 0; i < BUFSIZE; i++)
   {
     fromsd[i] = false;
@@ -498,19 +504,16 @@ FORCE_INLINE void process_commands()
     case 1: // G1
       get_coordinates(); // For X Y Z E F
       prepare_move();
-      previous_millis_cmd = millis();
       //ClearToSend();
       return;
       //break;
     case 2: // G2  - CW ARC
       get_arc_coordinates();
       prepare_arc_move(true);
-      previous_millis_cmd = millis();
       return;
     case 3: // G3  - CCW ARC
       get_arc_coordinates();
       prepare_arc_move(false);
-      previous_millis_cmd = millis();
       return;
     case 4: // G4 dwell
       LCD_MESSAGEPGM("DWELL...");
@@ -520,7 +523,7 @@ FORCE_INLINE void process_commands()
       
       st_synchronize();
       codenum += millis();  // keep track of when we started waiting
-      
+      previous_millis_cmd = millis();
       while(millis()  < codenum ){
         manage_heater();
       }
@@ -540,34 +543,53 @@ FORCE_INLINE void process_commands()
       #ifdef QUICK_HOME
       if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) )  //first diagonal move
       {
-        current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
+        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;  
 
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); 
-        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
-        destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; 
-        feedrate =homing_feedrate[X_AXIS]; 
+        destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;  
+        feedrate = homing_feedrate[X_AXIS]; 
         if(homing_feedrate[Y_AXIS]<feedrate)
           feedrate =homing_feedrate[Y_AXIS]; 
-        prepare_move();
-        current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
+        prepare_move(); 
+    
+        current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
+        current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
+        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        destination[X_AXIS] = current_position[X_AXIS];
+        destination[Y_AXIS] = current_position[Y_AXIS];
+        feedrate = 0.0;
+        st_synchronize();
+        plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
+        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
+        endstops_hit_on_purpose();
       }
       #endif
       
       if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) 
       {
         HOMEAXIS(X);
-	current_position[0]=code_value()+add_homeing[0];
       }
 
       if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
        HOMEAXIS(Y);
-       current_position[1]=code_value()+add_homeing[1];
       }
 
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
         HOMEAXIS(Z);
-	current_position[2]=code_value()+add_homeing[2];
-      }       
+      }
+      
+      if(code_seen(axis_codes[X_AXIS])) 
+      {
+        current_position[0]=code_value()+add_homeing[0];
+      }
+
+      if(code_seen(axis_codes[Y_AXIS])) {
+       current_position[1]=code_value()+add_homeing[1];
+      }
+
+      if(code_seen(axis_codes[Z_AXIS])) {
+        current_position[2]=code_value()+add_homeing[2];
+      }
       #ifdef ENDSTOPS_ONLY_FOR_HOMING
         enable_endstops(false);
       #endif
@@ -817,6 +839,7 @@ FORCE_INLINE void process_commands()
           }
           manage_heater();
           LCD_STATUS;
+        if(stop_heating_wait) break;
         #ifdef TEMP_RESIDENCY_TIME
             /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
               or when current temp falls outside the hysteresis after target temp was reached */
@@ -830,6 +853,7 @@ FORCE_INLINE void process_commands()
         }
         LCD_MESSAGEPGM("Heating done.");
         starttime=millis();
+        previous_millis_cmd = millis();
       }
       break;
     case 190: // M190 - Wait for bed heater to reach target.
@@ -853,6 +877,7 @@ FORCE_INLINE void process_commands()
           manage_heater();
         }
         LCD_MESSAGEPGM("Bed done.");
+        previous_millis_cmd = millis();
     #endif
     break;
 
@@ -896,20 +921,25 @@ FORCE_INLINE void process_commands()
       }
       else
       { 
-        #if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
-        if(code_seen('E')) {
-          st_synchronize();
-          LCD_MESSAGEPGM("Free Move");
+        bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
+        if(all_axis)
+        {
           disable_e0();
           disable_e1();
           disable_e2();
-        }
-        else {
           finishAndDisableSteppers();
         }
-        #else
-          finishAndDisableSteppers();
-        #endif
+        else
+        {
+          st_synchronize();
+          if(code_seen('X')) disable_x();
+          if(code_seen('Y')) disable_y();
+          if(code_seen('Z')) disable_z();
+          #if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
+            if(code_seen('E')) disable_e();
+          #endif 
+          LCD_MESSAGEPGM("Partial Release");
+        }
       }
       break;
     case 85: // M85
@@ -979,7 +1009,11 @@ FORCE_INLINE void process_commands()
     case 201: // M201
       for(int8_t i=0; i < NUM_AXIS; i++) 
       {
-        if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+        if(code_seen(axis_codes[i]))
+        {
+          max_acceleration_units_per_sq_second[i] = code_value();
+          axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+        }
       }
       break;
     #if 0 // Not used for Sprinter/grbl gen6
@@ -1049,6 +1083,12 @@ FORCE_INLINE void process_commands()
       }
       break;
     #endif //PIDTEMP
+      
+    case 302: // finish all moves
+    {
+      allow_cold_extrudes(true);
+    }
+    break;
     case 400: // finish all moves
     {
       st_synchronize();
@@ -1146,6 +1186,7 @@ FORCE_INLINE void get_arc_coordinates()
 
 void prepare_move()
 {
+  
   if (min_software_endstops) {
     if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
     if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
@@ -1162,6 +1203,7 @@ void prepare_move()
   for(int8_t i=0; i < NUM_AXIS; i++) {
     current_position[i] = destination[i];
   }
+  previous_millis_cmd = millis();
 }
 
 void prepare_arc_move(char isclockwise) {
@@ -1176,6 +1218,7 @@ void prepare_arc_move(char isclockwise) {
   for(int8_t i=0; i < NUM_AXIS; i++) {
     current_position[i] = destination[i];
   }
+  previous_millis_cmd = millis();
 }
 
 void manage_inactivity(byte debug) 
@@ -1183,16 +1226,38 @@ void manage_inactivity(byte debug)
   if( (millis()-previous_millis_cmd) >  max_inactive_time ) 
     if(max_inactive_time) 
       kill(); 
-  if( (millis()-previous_millis_cmd) >  stepper_inactive_time ) 
-    if(stepper_inactive_time) 
-    { 
-      disable_x(); 
-      disable_y(); 
-      disable_z(); 
-      disable_e0(); 
-      disable_e1(); 
-      disable_e2(); 
+  if(stepper_inactive_time)  
+  if( (millis()-last_stepperdisabled_time) >  stepper_inactive_time ) 
+  {
+    if(previous_millis_cmd>last_stepperdisabled_time)
+      last_stepperdisabled_time=previous_millis_cmd;
+    else
+    {
+      if(  (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0))  ||  (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0)  )
+        enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND); 
+      last_stepperdisabled_time=millis();
     }
+  }
+  #ifdef EXTRUDER_RUNOUT_PREVENT
+    if( (millis()-previous_millis_cmd) >  EXTRUDER_RUNOUT_SECONDS*1000 ) 
+    if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
+    {
+     bool oldstatus=READ(E_ENABLE_PIN);
+     enable_e();
+     float oldepos=current_position[E_AXIS];
+     float oldedes=destination[E_AXIS];
+     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 
+                      current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], 
+                      EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
+     current_position[E_AXIS]=oldepos;
+     destination[E_AXIS]=oldedes;
+     plan_set_e_position(oldepos);
+     previous_millis_cmd=millis();
+     //enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
+     st_synchronize();
+     WRITE(E_ENABLE_PIN,oldstatus);
+    }
+  #endif
   check_axes_activity();
 }
 
@@ -1215,4 +1280,4 @@ void kill()
   while(1); // Wait for reset
 }
 
-
+
diff --git a/Marlin/cardreader.h b/Marlin/cardreader.h
index 70244a877..70f0d2c1d 100644
--- a/Marlin/cardreader.h
+++ b/Marlin/cardreader.h
@@ -44,6 +44,7 @@ public:
   bool cardOK ;
   char filename[11];
   bool filenameIsDir;
+  int lastnr; //last number of the autostart;
 private:
   SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
   Sd2Card card;
diff --git a/Marlin/cardreader.pde b/Marlin/cardreader.pde
index 4d3eac789..0c346e1ea 100644
--- a/Marlin/cardreader.pde
+++ b/Marlin/cardreader.pde
@@ -14,6 +14,7 @@ CardReader::CardReader()
    autostart_atmillis=0;
 
    autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
+   lastnr=0;
   //power to SD reader
   #if SDPOWER > -1
     SET_OUTPUT(SDPOWER); 
@@ -334,7 +335,7 @@ void CardReader::checkautostart(bool force)
     if(!cardOK) //fail
       return;
   }
-  static int lastnr=0;
+  
   char autoname[30];
   sprintf(autoname,"auto%i.g",lastnr);
   for(int8_t i=0;i<(int)strlen(autoname);i++)
@@ -431,10 +432,13 @@ void CardReader::updir()
 
 void CardReader::printingHasFinished()
 {
+ quickStop();
  sdprinting = false;
+ stop_heating_wait=true;
  if(SD_FINISHED_STEPPERRELEASE)
  {
-   finishAndDisableSteppers();
+   //finishAndDisableSteppers();
+   enquecommand(SD_FINISHED_RELEASECOMMAND);
  }
  autotempShutdown();
 }
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index afe2f3e83..1d66dad03 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -103,7 +103,9 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
-
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+  bool allow_cold_extrude=false;
+#endif
 #ifdef XY_FREQUENCY_LIMIT
   // Used for the frequency limit
   static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
@@ -462,7 +464,23 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
   target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); 
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+  
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    if(target[E_AXIS]!=position[E_AXIS])
+    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(" cold extrusion prevented");
+    }
+    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(" too long extrusion prevented");
+    }
+  #endif
   
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
@@ -778,3 +796,9 @@ uint8_t movesplanned()
  return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 }
 
+void allow_cold_extrudes(bool allow)
+{
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    allow_cold_extrude=allow;
+  #endif
+}
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 66bd9025c..82f53413e 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -128,4 +128,16 @@ FORCE_INLINE block_t *plan_get_current_block()
   block->busy = true;
   return(block);
 }
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE bool blocks_queued() 
+{
+  if (block_buffer_head == block_buffer_tail) { 
+    return false; 
+  }
+  else
+    return true;
+}
+
+void allow_cold_extrudes(bool allow);
 #endif
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 586ea7c95..cffa25f2a 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -757,14 +757,15 @@ void st_init()
   sei();
 }
 
+
 // Block until all buffered steps are executed
 void st_synchronize()
 {
-  while(plan_get_current_block()) {
+    while( blocks_queued()) {
     manage_heater();
     manage_inactivity(1);
     LCD_STATUS;
-  }   
+  }
 }
 
 void st_set_position(const long &x, const long &y, const long &z, const long &e)
@@ -804,3 +805,12 @@ void finishAndDisableSteppers()
   disable_e1(); 
   disable_e2(); 
 }
+
+void quickStop()
+{
+  DISABLE_STEPPER_DRIVER_INTERRUPT();
+  while(blocks_queued())
+    plan_discard_current_block();
+  ENABLE_STEPPER_DRIVER_INTERRUPT();
+}
+
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index faf825cf4..7671a65ea 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -67,5 +67,5 @@ void finishAndDisableSteppers();
 
 extern block_t *current_block;  // A pointer to the block currently being traced
 
-
+void quickStop();
 #endif
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 761e136a3..ba116c7aa 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -85,6 +85,7 @@ static unsigned long  previous_millis_bed_heater;
   
 #ifdef WATCHPERIOD
   static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
+  static int watch_oldtemp[3] = {0,0,0};
   static unsigned long watchmillis = 0;
 #endif //WATCHPERIOD
 
@@ -213,7 +214,20 @@ void manage_heater()
       soft_pwm[e] = 0;
     }
   } // End extruder for loop
-    
+  
+  #ifdef WATCHPERIOD
+    if(watchmillis && millis() - watchmillis > WATCHPERIOD){
+        if(watch_oldtemp[TEMPSENSOR_HOTEND_0] >= degHotend(active_extruder)){
+            setTargetHotend(0,active_extruder);
+            LCD_MESSAGEPGM("Heating failed");
+            SERIAL_ECHO_START;
+            SERIAL_ECHOLN("Heating failed");
+        }else{
+            watchmillis = 0;
+        }
+    }
+  #endif
+  
   if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
     return;
   previous_millis_bed_heater = millis();
@@ -493,6 +507,7 @@ void setWatch()
   for (int e = 0; e < EXTRUDERS; e++)
   {
     if(isHeatingHotend(e))
+    watch_oldtemp[TEMPSENSOR_HOTEND_0] = degHotend(0);
     {
       t = max(t,millis());
       watch_raw[e] = current_raw[e];
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index aa0d6c4f5..f8b09649f 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -1,144 +1,145 @@
-/*
-  temperature.h - temperature controller
-  Part of Marlin
-
-  Copyright (c) 2011 Erik van der Zalm
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef temperature_h
-#define temperature_h 
-
-#include "Marlin.h"
-#include "fastio.h"
-#ifdef PID_ADD_EXTRUSION_RATE
-  #include "stepper.h"
-#endif
-
-// public functions
-void tp_init();  //initialise the heating
-void manage_heater(); //it is critical that this is called periodically.
-
-//low leven conversion routines
-// do not use this routines and variables outsie of temperature.cpp
-int temp2analog(int celsius, uint8_t e);
-int temp2analogBed(int celsius);
-float analog2temp(int raw, uint8_t e);
-float analog2tempBed(int raw);
-extern int target_raw[EXTRUDERS];  
-extern int heatingtarget_raw[EXTRUDERS];  
-extern int current_raw[EXTRUDERS];
-extern int target_raw_bed;
-extern int current_raw_bed;
-extern float Kp,Ki,Kd,Kc;
-
-#ifdef PIDTEMP
-  extern float pid_setpoint[EXTRUDERS];
-#endif
-  
-#ifdef WATCHPERIOD
-  extern int watch_raw[EXTRUDERS] ;
-  extern unsigned long watchmillis;
-#endif
-
-
-//high level conversion routines, for use outside of temperature.cpp
-//inline so that there is no performance decrease.
-//deg=degreeCelsius
-
-FORCE_INLINE float degHotend(uint8_t extruder) {  
-  return analog2temp(current_raw[extruder], extruder);
-};
-
-FORCE_INLINE float degBed() {
-  return analog2tempBed(current_raw_bed);
-};
-
-FORCE_INLINE float degTargetHotend(uint8_t extruder) {  
-  return analog2temp(target_raw[extruder], extruder);
-};
-
-FORCE_INLINE float degTargetBed() {   
-  return analog2tempBed(target_raw_bed);
-};
-
-FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {  
-  target_raw[extruder] = temp2analog(celsius, extruder);
-#ifdef PIDTEMP
-  pid_setpoint[extruder] = celsius;
-#endif //PIDTEMP
-};
-
-FORCE_INLINE void setTargetBed(const float &celsius) {  
-  target_raw_bed = temp2analogBed(celsius);
-};
-
-FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
-  return target_raw[extruder] > current_raw[extruder];
-};
-
-FORCE_INLINE bool isHeatingBed() {
-  return target_raw_bed > current_raw_bed;
-};
-
-FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {  
-  return target_raw[extruder] < current_raw[extruder];
-};
-
-FORCE_INLINE bool isCoolingBed() {
-  return target_raw_bed < current_raw_bed;
-};
-
-#define degHotend0() degHotend(0)
-#define degTargetHotend0() degTargetHotend(0)
-#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
-#define isHeatingHotend0() isHeatingHotend(0)
-#define isCoolingHotend0() isCoolingHotend(0)
-#if EXTRUDERS > 1
-#define degHotend1() degHotend(1)
-#define degTargetHotend1() degTargetHotend(1)
-#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
-#define isHeatingHotend1() isHeatingHotend(1)
-#define isCoolingHotend1() isCoolingHotend(1)
-#endif
-#if EXTRUDERS > 2
-#define degHotend2() degHotend(2)
-#define degTargetHotend2() degTargetHotend(2)
-#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
-#define isHeatingHotend2() isHeatingHotend(2)
-#define isCoolingHotend2() isCoolingHotend(2)
-#endif
-#if EXTRUDERS > 3
-#error Invalid number of extruders
-#endif
-
-FORCE_INLINE void autotempShutdown(){
- #ifdef AUTOTEMP
- if(autotemp_enabled)
- {
-  autotemp_enabled=false;
-  if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
-    setTargetHotend(0,ACTIVE_EXTRUDER);
- }
- #endif
-}
-
-int getHeaterPower(int heater);
-void disable_heater();
-void setWatch();
-void updatePID();
-
-#endif
+/*
+  temperature.h - temperature controller
+  Part of Marlin
+
+  Copyright (c) 2011 Erik van der Zalm
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef temperature_h
+#define temperature_h 
+
+#include "Marlin.h"
+#include "fastio.h"
+#include "planner.h"
+#ifdef PID_ADD_EXTRUSION_RATE
+  #include "stepper.h"
+#endif
+
+// public functions
+void tp_init();  //initialise the heating
+void manage_heater(); //it is critical that this is called periodically.
+
+//low leven conversion routines
+// do not use this routines and variables outsie of temperature.cpp
+int temp2analog(int celsius, uint8_t e);
+int temp2analogBed(int celsius);
+float analog2temp(int raw, uint8_t e);
+float analog2tempBed(int raw);
+extern int target_raw[EXTRUDERS];  
+extern int heatingtarget_raw[EXTRUDERS];  
+extern int current_raw[EXTRUDERS];
+extern int target_raw_bed;
+extern int current_raw_bed;
+extern float Kp,Ki,Kd,Kc;
+
+#ifdef PIDTEMP
+  extern float pid_setpoint[EXTRUDERS];
+#endif
+  
+// #ifdef WATCHPERIOD
+  extern int watch_raw[EXTRUDERS] ;
+//   extern unsigned long watchmillis;
+// #endif
+
+
+//high level conversion routines, for use outside of temperature.cpp
+//inline so that there is no performance decrease.
+//deg=degreeCelsius
+
+FORCE_INLINE float degHotend(uint8_t extruder) {  
+  return analog2temp(current_raw[extruder], extruder);
+};
+
+FORCE_INLINE float degBed() {
+  return analog2tempBed(current_raw_bed);
+};
+
+FORCE_INLINE float degTargetHotend(uint8_t extruder) {  
+  return analog2temp(target_raw[extruder], extruder);
+};
+
+FORCE_INLINE float degTargetBed() {   
+  return analog2tempBed(target_raw_bed);
+};
+
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {  
+  target_raw[extruder] = temp2analog(celsius, extruder);
+#ifdef PIDTEMP
+  pid_setpoint[extruder] = celsius;
+#endif //PIDTEMP
+};
+
+FORCE_INLINE void setTargetBed(const float &celsius) {  
+  target_raw_bed = temp2analogBed(celsius);
+};
+
+FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
+  return target_raw[extruder] > current_raw[extruder];
+};
+
+FORCE_INLINE bool isHeatingBed() {
+  return target_raw_bed > current_raw_bed;
+};
+
+FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {  
+  return target_raw[extruder] < current_raw[extruder];
+};
+
+FORCE_INLINE bool isCoolingBed() {
+  return target_raw_bed < current_raw_bed;
+};
+
+#define degHotend0() degHotend(0)
+#define degTargetHotend0() degTargetHotend(0)
+#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
+#define isHeatingHotend0() isHeatingHotend(0)
+#define isCoolingHotend0() isCoolingHotend(0)
+#if EXTRUDERS > 1
+#define degHotend1() degHotend(1)
+#define degTargetHotend1() degTargetHotend(1)
+#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
+#define isHeatingHotend1() isHeatingHotend(1)
+#define isCoolingHotend1() isCoolingHotend(1)
+#endif
+#if EXTRUDERS > 2
+#define degHotend2() degHotend(2)
+#define degTargetHotend2() degTargetHotend(2)
+#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
+#define isHeatingHotend2() isHeatingHotend(2)
+#define isCoolingHotend2() isCoolingHotend(2)
+#endif
+#if EXTRUDERS > 3
+#error Invalid number of extruders
+#endif
+
+FORCE_INLINE void autotempShutdown(){
+ #ifdef AUTOTEMP
+ if(autotemp_enabled)
+ {
+  autotemp_enabled=false;
+  if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
+    setTargetHotend(0,ACTIVE_EXTRUDER);
+ }
+ #endif
+}
+
+int getHeaterPower(int heater);
+void disable_heater();
+void setWatch();
+void updatePID();
+
+#endif
 
diff --git a/Marlin/ultralcd.pde b/Marlin/ultralcd.pde
index d5772750d..3b7663beb 100644
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@@ -441,7 +441,7 @@ void MainMenu::showStatus()
   force_lcd_update=false;
 }
 
-enum {ItemP_exit, ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude, ItemP_disstep};
+enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude};
 
 //any action must not contain a ',' character anywhere, or this breaks:
 #define MENUITEM(repaint_action, click_action) \
@@ -462,6 +462,12 @@ void MainMenu::showPrepare()
     case ItemP_exit:
       MENUITEM(  lcdprintPGM(" Main \003")  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
       break;
+    case ItemP_autostart:
+      MENUITEM(  lcdprintPGM(" Autostart")  ,  BLOCK;card.lastnr=0;card.checkautostart(true);beepshort(); ) ;
+      break;
+    case ItemP_disstep:
+      MENUITEM(  lcdprintPGM(" Disable Steppers")  ,  BLOCK;enquecommand("M84");beepshort(); ) ;
+      break;
     case ItemP_home:
       MENUITEM(  lcdprintPGM(" Auto Home")  ,  BLOCK;enquecommand("G28 X-105 Y-105 Z0");beepshort(); ) ;
       break;
@@ -474,15 +480,14 @@ void MainMenu::showPrepare()
     case ItemP_extrude:
       MENUITEM(  lcdprintPGM(" Extrude")  ,  BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ;
       break;
-    case ItemP_disstep:
-      MENUITEM(  lcdprintPGM(" Disable Steppers")  ,  BLOCK;enquecommand("M84");beepshort(); ) ;
-      break;
+    
+    
     default:   
       break;
   }
   line++;
  }
- updateActiveLines(ItemP_disstep,encoderpos);
+ updateActiveLines(ItemP_extrude,encoderpos);
 }
 
 enum {ItemT_exit,ItemT_speed,ItemT_flow,ItemT_nozzle,ItemT_fan};
@@ -1840,4 +1845,4 @@ char *ftostr51(const float &x)
 
 #endif //ULTRA_LCD
 
-
+