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A new Marlin beta version is available. 1 version for Gen6, Ultimaker, RAMPS and SL. You can find this version in: https://github.com/ErikZalm/Marlin/tree/Marlin_v1 We also made a tag that you can download. This is a light version of Marlin for non gen6 boards. It has no interrupt based temperature protection and extruder advance. This firmware is a mashup between Sprinter, grbl and many original parts. (https://github.com/kliment/Sprinter) (https://github.com/simen/grbl/tree) Features: - Interrupt based movement with real linear acceleration - High steprate - Look ahead (Keep the speed high when possible. High cornering speed)