diff --git a/README.md b/README.md
index b16a3ef90..984931402 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ Slic3r [![Build Status](https://travis-ci.org/alexrj/Slic3r.png?branch=master)](
 Slic3r takes 3D models (STL, OBJ, AMF) and converts them into G-code instructions for 
 3D printers. It's compatible with any modern printer based on the RepRap toolchain,
 including all those based on the Marlin, Sprinter and Repetier firmware. It also works
-with Mach3 and LinuxCNC controllers.
+with Mach3, LinuxCNC and Machinekit controllers.
 
 See the [project homepage](http://slic3r.org/) at slic3r.org and the
 [manual](http://manual.slic3r.org/) for more information.
@@ -30,7 +30,7 @@ Key features are:
 * **multi-platform** (Linux/Mac/Win) and packaged as standalone-app with no dependencies required
 * complete **command-line interface** to use it with no GUI
 * multi-material **(multiple extruders)** object printing
-* multiple G-code flavors supported (RepRap, Makerbot, Mach3 etc.)
+* multiple G-code flavors supported (RepRap, Makerbot, Mach3, Machinekit etc.)
 * ability to plate **multiple objects having distinct print settings**
 * **multithread** processing
 * **STL auto-repair** (tolerance for broken models)
@@ -132,7 +132,7 @@ The author of the Silk icon set is Mark James.
                             (default: 100,100)
         --z-offset          Additional height in mm to add to vertical coordinates
                             (+/-, default: 0)
-        --gcode-flavor      The type of G-code to generate (reprap/teacup/makerware/sailfish/mach3/no-extrusion,
+        --gcode-flavor      The type of G-code to generate (reprap/teacup/makerware/sailfish/mach3/machinekit/no-extrusion,
                             default: reprap)
         --use-relative-e-distances Enable this to get relative E values (default: no)
         --use-firmware-retraction  Enable firmware-controlled retraction using G10/G11 (default: no)
diff --git a/lib/Slic3r/Config.pm b/lib/Slic3r/Config.pm
index e2739c421..bc0455889 100644
--- a/lib/Slic3r/Config.pm
+++ b/lib/Slic3r/Config.pm
@@ -243,7 +243,7 @@ sub validate {
         if !first { $_ eq $self->gcode_flavor } @{$Options->{gcode_flavor}{values}};
     
     die "--use-firmware-retraction is only supported by Marlin firmware\n"
-        if $self->use_firmware_retraction && $self->gcode_flavor ne 'reprap';
+        if $self->use_firmware_retraction && $self->gcode_flavor ne 'reprap' && $self->gcode_flavor ne 'machinekit';
     
     die "--use-firmware-retraction is not compatible with --wipe\n"
         if $self->use_firmware_retraction && first {$_} @{$self->wipe};
diff --git a/lib/Slic3r/Print/GCode.pm b/lib/Slic3r/Print/GCode.pm
index b2c96d122..47f56ef45 100644
--- a/lib/Slic3r/Print/GCode.pm
+++ b/lib/Slic3r/Print/GCode.pm
@@ -249,6 +249,7 @@ sub export {
     print $fh $gcodegen->writer->set_fan(0);
     printf $fh "%s\n", $gcodegen->placeholder_parser->process($self->config->end_gcode);
     print $fh $gcodegen->writer->update_progress($gcodegen->layer_count, $gcodegen->layer_count, 1);  # 100%
+    print $fh $gcodegen->writer->end_program();
     
     $self->print->total_used_filament(0);
     $self->print->total_extruded_volume(0);
diff --git a/slic3r.pl b/slic3r.pl
index d83b18f7f..ede37dbc0 100755
--- a/slic3r.pl
+++ b/slic3r.pl
@@ -287,7 +287,7 @@ $j
                         (default: 100,100)
     --z-offset          Additional height in mm to add to vertical coordinates
                         (+/-, default: $config->{z_offset})
-    --gcode-flavor      The type of G-code to generate (reprap/teacup/makerware/sailfish/mach3/no-extrusion,
+    --gcode-flavor      The type of G-code to generate (reprap/teacup/makerware/sailfish/mach3/machinekit/no-extrusion,
                         default: $config->{gcode_flavor})
     --use-relative-e-distances Enable this to get relative E values (default: no)
     --use-firmware-retraction  Enable firmware-controlled retraction using G10/G11 (default: no)
diff --git a/utils/zsh/functions/_slic3r b/utils/zsh/functions/_slic3r
index 41a36963f..df1cecb03 100644
--- a/utils/zsh/functions/_slic3r
+++ b/utils/zsh/functions/_slic3r
@@ -22,7 +22,7 @@ _arguments -S \
     '*--nozzle-diameter[specify nozzle diameter]:nozzle diameter in mm' \
     '--print-center[specify print center coordinates]:print center coordinates in mm,mm' \
     '--z-offset[specify Z-axis offset]:Z-axis offset in mm' \
-    '--gcode-flavor[specify the type of G-code to generate]:G-code flavor:(reprap teacup makerware sailfish mach3 no-extrusion)' \
+    '--gcode-flavor[specify the type of G-code to generate]:G-code flavor:(reprap teacup makerware sailfish mach3 machinekit no-extrusion)' \
     '(--use-relative-e-distances --no-use-relative-e-distances)'--{no-,}use-relative-e-distances'[disable/enable relative E values]' \
     '--extrusion-axis[specify letter associated with the extrusion axis]:extrusion axis letter' \
     '(--gcode-arcs --no-gcode-arcs)'--{no-,}gcode-arcs'[disable/enable G2/G3 commands for native arcs]' \
diff --git a/xs/src/libslic3r/GCodeWriter.cpp b/xs/src/libslic3r/GCodeWriter.cpp
index 9aa7616a6..cacedd427 100644
--- a/xs/src/libslic3r/GCodeWriter.cpp
+++ b/xs/src/libslic3r/GCodeWriter.cpp
@@ -83,7 +83,7 @@ GCodeWriter::set_temperature(unsigned int temperature, bool wait, int tool)
     
     std::ostringstream gcode;
     gcode << code << " ";
-    if (FLAVOR_IS(gcfMach3)) {
+    if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
         gcode << "P";
     } else {
         gcode << "S";
@@ -118,7 +118,7 @@ GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait)
     
     std::ostringstream gcode;
     gcode << code << " ";
-    if (FLAVOR_IS(gcfMach3)) {
+    if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
         gcode << "P";
     } else {
         gcode << "S";
@@ -153,7 +153,7 @@ GCodeWriter::set_fan(unsigned int speed, bool dont_save)
                 gcode << "M126";
             } else {
                 gcode << "M106 ";
-                if (FLAVOR_IS(gcfMach3)) {
+                if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
                     gcode << "P";
                 } else {
                     gcode << "S";
@@ -434,7 +434,10 @@ GCodeWriter::_retract(double length, double restart_extra, const std::string &co
     double dE = this->_extruder->retract(length, restart_extra);
     if (dE != 0) {
         if (this->config.use_firmware_retraction) {
-            gcode << "G10 ; retract\n";
+            if (FLAVOR_IS(gcfMachinekit))
+                gcode << "G22 ; retract\n";
+            else
+                gcode << "G10 ; retract\n";
         } else {
             gcode << "G1 " << this->_extrusion_axis << E_NUM(this->_extruder->E)
                            << " F" << this->_extruder->retract_speed_mm_min;
@@ -460,7 +463,10 @@ GCodeWriter::unretract()
     double dE = this->_extruder->unretract();
     if (dE != 0) {
         if (this->config.use_firmware_retraction) {
-            gcode << "G11 ; unretract\n";
+            if (FLAVOR_IS(gcfMachinekit))
+                 gcode << "G23 ; unretract\n";
+            else
+                 gcode << "G11 ; unretract\n";
             gcode << this->reset_e();
         } else {
             // use G1 instead of G0 because G0 will blend the restart with the previous travel move
@@ -505,8 +511,17 @@ GCodeWriter::get_position() const
     return this->_pos;
 }
 
+std::string
+GCodeWriter::end_program()
+{
+    std::ostringstream gcode;
+    if (FLAVOR_IS(gcfMachinekit))
+          gcode << "M2 ; end of program\n";
+    return gcode.str();
+}
+
 #ifdef SLIC3RXS
 REGISTER_CLASS(GCodeWriter, "GCode::Writer");
 #endif
 
-}
\ No newline at end of file
+}
diff --git a/xs/src/libslic3r/GCodeWriter.hpp b/xs/src/libslic3r/GCodeWriter.hpp
index 03de197d1..6854f02e0 100644
--- a/xs/src/libslic3r/GCodeWriter.hpp
+++ b/xs/src/libslic3r/GCodeWriter.hpp
@@ -46,6 +46,7 @@ class GCodeWriter {
     std::string lift();
     std::string unlift();
     Pointf3 get_position() const;
+    std::string end_program();
     
     private:
     std::string _extrusion_axis;
diff --git a/xs/src/libslic3r/PrintConfig.cpp b/xs/src/libslic3r/PrintConfig.cpp
index c7afe9fbc..f11d64dc2 100644
--- a/xs/src/libslic3r/PrintConfig.cpp
+++ b/xs/src/libslic3r/PrintConfig.cpp
@@ -380,12 +380,14 @@ PrintConfigDef::build_def() {
     Options["gcode_flavor"].enum_values.push_back("makerware");
     Options["gcode_flavor"].enum_values.push_back("sailfish");
     Options["gcode_flavor"].enum_values.push_back("mach3");
+    Options["gcode_flavor"].enum_values.push_back("machinekit");
     Options["gcode_flavor"].enum_values.push_back("no-extrusion");
     Options["gcode_flavor"].enum_labels.push_back("RepRap (Marlin/Sprinter/Repetier)");
     Options["gcode_flavor"].enum_labels.push_back("Teacup");
     Options["gcode_flavor"].enum_labels.push_back("MakerWare (MakerBot)");
     Options["gcode_flavor"].enum_labels.push_back("Sailfish (MakerBot)");
     Options["gcode_flavor"].enum_labels.push_back("Mach3/LinuxCNC");
+    Options["gcode_flavor"].enum_labels.push_back("Machinekit");
     Options["gcode_flavor"].enum_labels.push_back("No extrusion");
 
     Options["infill_acceleration"].type = coFloat;
diff --git a/xs/src/libslic3r/PrintConfig.hpp b/xs/src/libslic3r/PrintConfig.hpp
index 19ae75928..869ae5caa 100644
--- a/xs/src/libslic3r/PrintConfig.hpp
+++ b/xs/src/libslic3r/PrintConfig.hpp
@@ -6,7 +6,7 @@
 namespace Slic3r {
 
 enum GCodeFlavor {
-    gcfRepRap, gcfTeacup, gcfMakerWare, gcfSailfish, gcfMach3, gcfNoExtrusion,
+    gcfRepRap, gcfTeacup, gcfMakerWare, gcfSailfish, gcfMach3, gcfMachinekit, gcfNoExtrusion,
 };
 
 enum InfillPattern {
@@ -29,6 +29,7 @@ template<> inline t_config_enum_values ConfigOptionEnum<GCodeFlavor>::get_enum_v
     keys_map["makerware"]       = gcfMakerWare;
     keys_map["sailfish"]        = gcfSailfish;
     keys_map["mach3"]           = gcfMach3;
+    keys_map["machinekit"]      = gcfMachinekit;
     keys_map["no-extrusion"]    = gcfNoExtrusion;
     return keys_map;
 }
@@ -410,7 +411,7 @@ class GCodeConfig : public virtual StaticPrintConfig
     
     std::string get_extrusion_axis() const
     {
-        if (this->gcode_flavor.value == gcfMach3) {
+        if ((this->gcode_flavor.value == gcfMach3) || (this->gcode_flavor.value == gcfMachinekit)) {
             return "A";
         } else if (this->gcode_flavor.value == gcfNoExtrusion) {
             return "";
diff --git a/xs/t/15_config.t b/xs/t/15_config.t
index e051d9a86..43bfe501c 100644
--- a/xs/t/15_config.t
+++ b/xs/t/15_config.t
@@ -4,7 +4,7 @@ use strict;
 use warnings;
 
 use Slic3r::XS;
-use Test::More tests => 108;
+use Test::More tests => 110;
 
 foreach my $config (Slic3r::Config->new, Slic3r::Config::Full->new) {
     $config->set('layer_height', 0.3);
@@ -51,6 +51,8 @@ foreach my $config (Slic3r::Config->new, Slic3r::Config::Full->new) {
     is $config->serialize('gcode_flavor'), 'teacup', 'serialize enum';
     $config->set_deserialize('gcode_flavor', 'mach3');
     is $config->get('gcode_flavor'), 'mach3', 'deserialize enum (gcode_flavor)';
+    $config->set_deserialize('gcode_flavor', 'machinekit');
+    is $config->get('gcode_flavor'), 'machinekit', 'deserialize enum (gcode_flavor)';
     
     $config->set_deserialize('fill_pattern', 'line');
     is $config->get('fill_pattern'), 'line', 'deserialize enum (fill_pattern)';
diff --git a/xs/xsp/GCodeWriter.xsp b/xs/xsp/GCodeWriter.xsp
index a76c0e55f..d2f1e00d4 100644
--- a/xs/xsp/GCodeWriter.xsp
+++ b/xs/xsp/GCodeWriter.xsp
@@ -45,6 +45,7 @@
     std::string lift();
     std::string unlift();
     Clone<Pointf3> get_position() const;
+    std::string end_program();
 %{
 
 SV*