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Alberto Cotronei integrated the Dondolo on is MarlinKimbra firmware. So it's pretty easy to configure the fw with Dondolo support for any supported board that have the requested feature to drive it (like Rumba is). Please use the configurator tool available here:
http://marlinkimbra.it
Select the Firmware version 4.2.x dev which is stil under dvelopment but I have already tested with success on a Prusa ie Hephestos "Dondolo Powered".
Thanks,
Gianni.