diff --git a/Configuration.h b/Configuration.h
index 85e94e1..dcb91b9 100644
--- a/Configuration.h
+++ b/Configuration.h
@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78j-dc42"
-#define DATE "2014-08-17"
+#define VERSION "0.78k-dc42"
+#define DATE "2014-08-18"
 #define AUTHORS "reprappro, dc42, zpl"
 
 // Other firmware that we might switch to be compatible with.
diff --git a/GCodes.cpp b/GCodes.cpp
index afb51c7..3ef9873 100644
--- a/GCodes.cpp
+++ b/GCodes.cpp
@@ -1877,7 +1877,6 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		}
 		break;
 
-
 	case 21: // Initialise SD - ignore
 		break;
 
@@ -2849,6 +2848,21 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
        	}
     	break;
 
+    case 569: // Set/report axis direction
+		if(gb->Seen('P'))
+		{
+			int8_t drive = gb->GetIValue();
+			if(gb->Seen('S'))
+			{
+				platform->SetDirectionValue(drive, gb->GetIValue());
+			}
+			else
+			{
+				reply.printf("A %d sends drive %d forwards.", (int)platform->GetDirectionValue(drive), drive);
+			}
+		}
+		break;
+
     case 906: // Set/report Motor currents
 		{
 			bool seen = false;
diff --git a/Move.cpp b/Move.cpp
index 7d1644e..3abbb90 100644
--- a/Move.cpp
+++ b/Move.cpp
@@ -1199,7 +1199,8 @@ void DDA::Step()
   
   if(active)
   {
-      timeStep = move->stepDistances[drivesMoving]/velocity;
+	timeStep = distance/(totalSteps * velocity);	// dc42 use the average distance per step
+	//timeStep = move->stepDistances[drivesMoving]/velocity;
       
     // Simple Euler integration to get velocities.
     // Maybe one day do a Runge-Kutta?
diff --git a/Platform.cpp b/Platform.cpp
index 98e2ca9..2adae27 100644
--- a/Platform.cpp
+++ b/Platform.cpp
@@ -182,6 +182,7 @@ void Platform::Init()
 
 	stepPins = STEP_PINS;
 	directionPins = DIRECTION_PINS;
+	directions = DIRECTIONS;
 	enablePins = ENABLE_PINS;
 	disableDrives = DISABLE_DRIVES;
 	lowStopPins = LOW_STOP_PINS;
@@ -986,13 +987,15 @@ void Platform::SetDirection(byte drive, bool direction)
 {
 	if(directionPins[drive] < 0)
 		return;
+
+	bool d = (direction == FORWARDS) ? directions[drive] : !directions[drive];
 	if(drive == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
 	{
-		digitalWriteNonDue(directionPins[drive], direction);
+		digitalWriteNonDue(directionPins[drive], d);
 	}
 	else
 	{
-		digitalWrite(directionPins[drive], direction);
+		digitalWrite(directionPins[drive], d);
 	}
 }
 
@@ -1014,9 +1017,13 @@ void Platform::Step(byte drive)
 	if(!driveEnabled[drive] && enablePins[drive] >= 0)
 	{
 		if(drive == Z_AXIS || drive==E0_DRIVE || drive==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
+		{
 			digitalWriteNonDue(enablePins[drive], ENABLE);
+		}
 		else
+		{
 			digitalWrite(enablePins[drive], ENABLE);
+		}
 		driveEnabled[drive] = true;
 	}
 	if(drive == E0_DRIVE || drive == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
@@ -1469,7 +1476,7 @@ bool MassStorage::FindNext(FileInfo &file_info)
 	file_info.year = (entry.fdate >> 9) + 1980;
 	if (file_info.fileName[0] == 0)
 	{
-		strncpy(file_info.fileName, entry.fname, ARRAY_UPB(file_info.fileName));
+		strncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
 	}
 
 	return true;
@@ -1571,44 +1578,21 @@ bool FileStore::Open(const char* directory, const char* fileName, bool write)
 	const char* location = (directory != NULL)
 							? platform->GetMassStorage()->CombineName(directory, fileName)
 								: fileName;
-
 	writing = write;
 	lastBufferEntry = FILE_BUF_LEN - 1;
-	FRESULT openReturn;
-
-	if (writing)
+	FRESULT openReturn = f_open(&file, location, (writing) ?  FA_CREATE_ALWAYS | FA_WRITE : FA_OPEN_EXISTING | FA_READ);
+	if (openReturn != FR_OK)
 	{
-		openReturn = f_open(&file, location, FA_CREATE_ALWAYS | FA_WRITE);
-		if (openReturn != FR_OK)
-		{
-			char errString[10];		// don't use scratch_string for this because that may be holding the original filename
-			platform->Message(HOST_MESSAGE, "Can't open ");
-			platform->Message(HOST_MESSAGE, location);
-			platform->Message(HOST_MESSAGE, " to write to, error code ");
-			snprintf(errString, ARRAY_SIZE(errString), "%d", openReturn);
-			platform->Message(HOST_MESSAGE, errString);
-			platform->Message(HOST_MESSAGE, "\n");
-			return false;
-		}
-		bufferPointer = 0;
-	}
-	else
-	{
-		openReturn = f_open(&file, location, FA_OPEN_EXISTING | FA_READ);
-		if (openReturn != FR_OK)
-		{
-			char errString[10];		// don't use scratch_string for this because that may be holding the original filename
-			platform->Message(HOST_MESSAGE, "Can't open ");
-			platform->Message(HOST_MESSAGE, location);
-			platform->Message(HOST_MESSAGE, " to read from, error code ");
-			snprintf(errString, ARRAY_SIZE(errString), "%d", openReturn);
-			platform->Message(HOST_MESSAGE, errString);
-			platform->Message(HOST_MESSAGE, "\n");
-			return false;
-		}
-		bufferPointer = FILE_BUF_LEN;
+		char errString[12];		// don't use scratch_string for this because that may be holding the original filename
+		platform->Message(BOTH_MESSAGE, "Can't open ");
+		platform->AppendMessage(BOTH_MESSAGE, location);
+		platform->AppendMessage(BOTH_MESSAGE, (writing) ? " to write to, error code " : " to read from, error code ");
+		snprintf(errString, ARRAY_SIZE(errString), "%d\n", openReturn);
+		platform->AppendMessage(BOTH_MESSAGE, errString);
+		return false;
 	}
 
+	bufferPointer = (writing) ? 0 : FILE_BUF_LEN;
 	inUse = true;
 	openCount = 1;
 	return true;
diff --git a/Platform.h b/Platform.h
index 58033b9..45df81e 100644
--- a/Platform.h
+++ b/Platform.h
@@ -78,7 +78,8 @@ Licence: GPL
 #define STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
 #define DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
 #define FORWARDS true // What to send to go...
-#define BACKWARDS false // ...in each direction
+#define BACKWARDS (!FORWARDS) // ...in each direction
+#define DIRECTIONS {false, true, true, true, true, true, true, true}
 #define ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
 #define ENABLE false // What to send to enable...
 #define DISABLE true // ...and disable a drive
@@ -592,6 +593,8 @@ public:
   
   void EmergencyStop();
   void SetDirection(byte drive, bool direction);
+  void SetDirectionValue(byte drive, bool dVal);
+  bool GetDirectionValue(byte drive) const;
   void Step(byte drive);
   void Disable(byte drive); // There is no drive enable; drives get enabled automatically the first time they are used.
   void SetMotorCurrent(byte drive, float current);
@@ -704,6 +707,7 @@ private:
   int8_t enablePins[DRIVES];
   bool disableDrives[DRIVES];
   bool driveEnabled[DRIVES];
+  bool directions[DRIVES];
   int8_t lowStopPins[DRIVES];
   int8_t highStopPins[DRIVES];
   float maxFeedrates[DRIVES];  
@@ -972,6 +976,16 @@ inline bool Platform::HighStopButNotLow(int8_t axis) const
 }
 #endif
 
+inline void Platform::SetDirectionValue(byte drive, bool dVal)
+{
+	directions[drive] = dVal;
+}
+
+inline bool Platform::GetDirectionValue(byte drive) const
+{
+	return directions[drive];
+}
+
 inline float Platform::HomeFeedRate(int8_t axis) const
 {
   return homeFeedrates[axis];
diff --git a/Release/RepRapFirmware-078i-dc42.bin b/Release/RepRapFirmware-078k-dc42.bin
similarity index 50%
rename from Release/RepRapFirmware-078i-dc42.bin
rename to Release/RepRapFirmware-078k-dc42.bin
index 8e03909..5cad559 100644
Binary files a/Release/RepRapFirmware-078i-dc42.bin and b/Release/RepRapFirmware-078k-dc42.bin differ
diff --git a/Webserver.cpp b/Webserver.cpp
index 481a432..42d7bbd 100644
--- a/Webserver.cpp
+++ b/Webserver.cpp
@@ -343,7 +343,7 @@ void Webserver::ProcessGcode(const char* gc)
 			char c;
 			size_t i = 0;
 			bool reading_whitespace = false;
-			while (i < ARRAY_UPB(gcodeReply) && configFile->Read(c))
+			while (i < gcodeReply.Length() - 1 && configFile->Read(c))
 			{
 				if (!reading_whitespace || (c != ' ' && c != '\t'))
 				{