Update more function

MarlinKimbra/Configuration.h

@@ -75,6 +75,11 @@
 // This is used for single nozzle and multiple extrusion configuration
 // Uncomment below to enable (One Hotend)
 //#define SINGLENOZZLE
+#ifdef SINGLENOZZLE
+  #define HOTENDS 1
+#else
+  #define HOTENDS EXTRUDERS
+#endif
 
 /***********************************************************************
  *********************** Multiextruder MKR4  ***************************
@@ -646,6 +651,7 @@ your extruder heater takes 2 minutes to hit the target on heating.
 //When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status.  Status will appear for 5 sec.
 //#define FILAMENT_LCD_DISPLAY
 
+
 /**********************************************************************\
  * Support for a current sensor (Hall effect sensor like ACS712) for measure the power consumption
  * Since it's more simple to deal with, we measure the DC current and we assume that POWER_VOLTAGE that comes from your power supply it's almost stable.
@@ -653,7 +659,7 @@ your extruder heater takes 2 minutes to hit the target on heating.
  * With this module we measure the Printer power consumption ignoring the Power Supply power consumption, so we consider the EFFICIENCY of our supply to be 100% so without
  * any power dispersion. If you want to approximately add the supply consumption you can decrease the EFFICIENCY to a value less than 100. Eg: 85 is a good value.
  * You can find a better value measuring the AC current with a good multimeter and moltiple it with the mains voltage.
- * MULTIMETER_WATT := MULTIMETER_CURRENT*MAINS_VOLTAGE
+ * MULTIMETER_WATT := MULTIMETER_CURRENT * MAINS_VOLTAGE
  * Now you have a Wattage value that you can compare with the one measured from ACS712.
  * NEW_EFFICENCY := (SENSOR_WATT*EFFICIENCY)/MULTIMETER_WATT
  * For now this feature is to be consider BETA as i'll have to do some accurate test to see the affidability
@@ -661,13 +667,14 @@ your extruder heater takes 2 minutes to hit the target on heating.
 // Uncomment below to enable
 //#define POWER_CONSUMPTION
 
-#define POWER_VOLTAGE			12.00  		//(V) 	The power supply OUT voltage
-#define POWER_ZERO				2.5			//(V) 	The /\V coming out from the sensor when no current flow.
-#define POWER_SENSITIVITY		0.066		//(V/A)	How much increase V for 1A of increase
-#define POWER_EFFICIENCY		100.0			//(%)	The power efficency of the power supply
+#define POWER_VOLTAGE      12.00    //(V)   The power supply OUT voltage
+#define POWER_ZERO          2.5     //(V)   The /\V coming out from the sensor when no current flow.
+#define POWER_SENSITIVITY   0.066   //(V/A) How much increase V for 1A of increase
+#define POWER_EFFICIENCY    100.0   //(%) The power efficency of the power supply
 
 //When using an LCD, uncomment the line below to display the Power consumption sensor data on the last line instead of status.  Status will appear for 5 sec.
 //#define POWER_CONSUMPTION_LCD_DISPLAY
+
 //=================================== Misc =================================
 
 // Temperature status LEDs that display the hotend and bet temperature.

MarlinKimbra/ConfigurationStore.cpp

@@ -63,10 +63,10 @@ void Config_StoreSettings() {
   EEPROM_WRITE_VAR(i, max_xy_jerk);
   EEPROM_WRITE_VAR(i, max_z_jerk);
   EEPROM_WRITE_VAR(i, max_e_jerk);
-  EEPROM_WRITE_VAR(i, add_homing);
+  EEPROM_WRITE_VAR(i, home_offset);
   EEPROM_WRITE_VAR(i, zprobe_zoffset);
 
-  #if EXTRUDERS > 1 && !defined SINGLENOZZLE
+  #if HOTENDS > 1
     EEPROM_WRITE_VAR(i, hotend_offset);
   #endif
 
@@ -150,39 +150,39 @@ void Config_RetrieveSettings()
   if (strncmp(ver,stored_ver,3) == 0)
   {
     // version number match
-    EEPROM_READ_VAR(i,baudrate);
+    EEPROM_READ_VAR(i, baudrate);
     if(baudrate!=9600 && baudrate!=14400 && baudrate!=19200 && baudrate!=28800 && baudrate!=38400 && baudrate!=56000 && baudrate!=115200 && baudrate!=250000) baudrate=BAUDRATE;
-    EEPROM_READ_VAR(i,axis_steps_per_unit);
-    EEPROM_READ_VAR(i,max_feedrate);
-    EEPROM_READ_VAR(i,max_retraction_feedrate);
-    EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
+    EEPROM_READ_VAR(i, axis_steps_per_unit);
+    EEPROM_READ_VAR(i, max_feedrate);
+    EEPROM_READ_VAR(i, max_retraction_feedrate);
+    EEPROM_READ_VAR(i, max_acceleration_units_per_sq_second);
 
     // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
     reset_acceleration_rates();
 
-    EEPROM_READ_VAR(i,acceleration);
-    EEPROM_READ_VAR(i,retract_acceleration);
+    EEPROM_READ_VAR(i, acceleration);
+    EEPROM_READ_VAR(i, retract_acceleration);
     EEPROM_READ_VAR(i, travel_acceleration);
-    EEPROM_READ_VAR(i,minimumfeedrate);
-    EEPROM_READ_VAR(i,mintravelfeedrate);
-    EEPROM_READ_VAR(i,minsegmenttime);
-    EEPROM_READ_VAR(i,max_xy_jerk);
-    EEPROM_READ_VAR(i,max_z_jerk);
-    EEPROM_READ_VAR(i,max_e_jerk);
-    EEPROM_READ_VAR(i,add_homing);
-    EEPROM_READ_VAR(i,zprobe_zoffset);
-
-    #if EXTRUDERS > 1 && !defined SINGLENOZZLE
+    EEPROM_READ_VAR(i, minimumfeedrate);
+    EEPROM_READ_VAR(i, mintravelfeedrate);
+    EEPROM_READ_VAR(i, minsegmenttime);
+    EEPROM_READ_VAR(i, max_xy_jerk);
+    EEPROM_READ_VAR(i, max_z_jerk);
+    EEPROM_READ_VAR(i, max_e_jerk);
+    EEPROM_READ_VAR(i, home_offset);
+    EEPROM_READ_VAR(i, zprobe_zoffset);
+
+    #if HOTENDS > 1
       EEPROM_READ_VAR(i, hotend_offset);
     #endif
 
     #ifdef DELTA
-      EEPROM_READ_VAR(i,endstop_adj);
-      EEPROM_READ_VAR(i,delta_radius);
-      EEPROM_READ_VAR(i,delta_diagonal_rod);
-      EEPROM_READ_VAR(i,max_pos);
-      EEPROM_READ_VAR(i,tower_adj);
-      EEPROM_READ_VAR(i,z_probe_offset);
+      EEPROM_READ_VAR(i, endstop_adj);
+      EEPROM_READ_VAR(i, delta_radius);
+      EEPROM_READ_VAR(i, delta_diagonal_rod);
+      EEPROM_READ_VAR(i, max_pos);
+      EEPROM_READ_VAR(i, tower_adj);
+      EEPROM_READ_VAR(i, z_probe_offset);
       // Update delta constants for updated delta_radius & tower_adj values
       set_delta_constants();
     #endif //DELTA
@@ -193,46 +193,46 @@ void Config_RetrieveSettings()
       int gumPreheatHotendTemp, gumPreheatHPBTemp, gumPreheatFanSpeed;
     #endif
 
-    EEPROM_READ_VAR(i,plaPreheatHotendTemp);
-    EEPROM_READ_VAR(i,plaPreheatHPBTemp);
-    EEPROM_READ_VAR(i,plaPreheatFanSpeed);
-    EEPROM_READ_VAR(i,absPreheatHotendTemp);
-    EEPROM_READ_VAR(i,absPreheatHPBTemp);
-    EEPROM_READ_VAR(i,absPreheatFanSpeed);
-    EEPROM_READ_VAR(i,gumPreheatHotendTemp);
-    EEPROM_READ_VAR(i,gumPreheatHPBTemp);
-    EEPROM_READ_VAR(i,gumPreheatFanSpeed);
+    EEPROM_READ_VAR(i, plaPreheatHotendTemp);
+    EEPROM_READ_VAR(i, plaPreheatHPBTemp);
+    EEPROM_READ_VAR(i, plaPreheatFanSpeed);
+    EEPROM_READ_VAR(i, absPreheatHotendTemp);
+    EEPROM_READ_VAR(i, absPreheatHPBTemp);
+    EEPROM_READ_VAR(i, absPreheatFanSpeed);
+    EEPROM_READ_VAR(i, gumPreheatHotendTemp);
+    EEPROM_READ_VAR(i, gumPreheatHPBTemp);
+    EEPROM_READ_VAR(i, gumPreheatFanSpeed);
 
     #ifdef PIDTEMP
       // do not need to scale PID values as the values in EEPROM are already scaled		
-      EEPROM_READ_VAR(i,Kp);
-      EEPROM_READ_VAR(i,Ki);
-      EEPROM_READ_VAR(i,Kd);
+      EEPROM_READ_VAR(i, Kp);
+      EEPROM_READ_VAR(i, Ki);
+      EEPROM_READ_VAR(i, Kd);
     #endif // PIDTEMP
 
     #if !defined(DOGLCD) || LCD_CONTRAST < 0
       int lcd_contrast;
     #endif //DOGLCD
 
-    EEPROM_READ_VAR(i,lcd_contrast);
+    EEPROM_READ_VAR(i, lcd_contrast);
 
     #ifdef SCARA
-      EEPROM_READ_VAR(i,axis_scaling);
+      EEPROM_READ_VAR(i, axis_scaling);
     #endif //SCARA
 
     #ifdef FWRETRACT
-      EEPROM_READ_VAR(i,autoretract_enabled);
-      EEPROM_READ_VAR(i,retract_length);
+      EEPROM_READ_VAR(i, autoretract_enabled);
+      EEPROM_READ_VAR(i, retract_length);
       #if EXTRUDERS > 1
-        EEPROM_READ_VAR(i,retract_length_swap);
+        EEPROM_READ_VAR(i, retract_length_swap);
       #endif //EXTRUDERS > 1
-      EEPROM_READ_VAR(i,retract_feedrate);
-      EEPROM_READ_VAR(i,retract_zlift);
-      EEPROM_READ_VAR(i,retract_recover_length);
+      EEPROM_READ_VAR(i, retract_feedrate);
+      EEPROM_READ_VAR(i, retract_zlift);
+      EEPROM_READ_VAR(i, retract_recover_length);
       #if EXTRUDERS > 1
-        EEPROM_READ_VAR(i,retract_recover_length_swap);
+        EEPROM_READ_VAR(i, retract_recover_length_swap);
       #endif //EXTRUDERS > 1
-      EEPROM_READ_VAR(i,retract_recover_feedrate);
+      EEPROM_READ_VAR(i, retract_recover_feedrate);
     #endif //FWRETRACT
 
     EEPROM_READ_VAR(i, volumetric_enabled);
@@ -294,7 +294,7 @@ void Config_ResetDefault()
 
   for (int i = 0; i < EXTRUDERS; i++) {
     max_retraction_feedrate[i] = tmp3[i];
-    #if EXTRUDERS > 1 && !defined SINGLENOZZLE
+    #if HOTENDS > 1
       hotend_offset[X_AXIS][i] = tmp8[i];
       hotend_offset[Y_AXIS][i] = tmp9[i];
     #endif
@@ -316,7 +316,7 @@ void Config_ResetDefault()
   max_xy_jerk = DEFAULT_XYJERK;
   max_z_jerk = DEFAULT_ZJERK;
   max_e_jerk = DEFAULT_EJERK;
-  add_homing[X_AXIS] = add_homing[Y_AXIS] = add_homing[Z_AXIS] = 0;
+  home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
 
   #ifdef ENABLE_AUTO_BED_LEVELING
     zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
@@ -351,11 +351,7 @@ void Config_ResetDefault()
   #endif //DOGLCD
 
   #ifdef PIDTEMP
-    #ifndef SINGLENOZZLE
-      for (int e = 0; e < EXTRUDERS; e++) 
-    #else
-      int e = 0; // only need to write once
-    #endif //SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++) 
     {
       Kp[e] = tmp5[e];
       Ki[e] = scalePID_i(tmp6[e]);
@@ -405,16 +401,16 @@ void Config_PrintSettings()
   SERIAL_EOL;
   SERIAL_ECHOLNPGM("Steps per unit:");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M92 X",axis_steps_per_unit[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E0 S",axis_steps_per_unit[E_AXIS + 0]);
+  SERIAL_ECHOPAIR("  M92 X", axis_steps_per_unit[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", axis_steps_per_unit[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", axis_steps_per_unit[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E0 S", axis_steps_per_unit[E_AXIS + 0]);
   #if EXTRUDERS > 1
-    SERIAL_ECHOPAIR(" E1 S",axis_steps_per_unit[E_AXIS + 1]);
+    SERIAL_ECHOPAIR(" E1 S", axis_steps_per_unit[E_AXIS + 1]);
     #if EXTRUDERS > 2
-      SERIAL_ECHOPAIR(" E2 S",axis_steps_per_unit[E_AXIS + 2]);
+      SERIAL_ECHOPAIR(" E2 S", axis_steps_per_unit[E_AXIS + 2]);
       #if EXTRUDERS > 3
-        SERIAL_ECHOPAIR(" E3 S",axis_steps_per_unit[E_AXIS + 3]);
+        SERIAL_ECHOPAIR(" E3 S", axis_steps_per_unit[E_AXIS + 3]);
       #endif //EXTRUDERS > 3
     #endif //EXTRUDERS > 2
   #endif //EXTRUDERS > 1
@@ -424,17 +420,17 @@ void Config_PrintSettings()
   #ifdef SCARA
     SERIAL_ECHOLNPGM("Scaling factors:");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M365 X",axis_scaling[X_AXIS]);
-    SERIAL_ECHOPAIR(" Y",axis_scaling[Y_AXIS]);
-    SERIAL_ECHOPAIR(" Z",axis_scaling[Z_AXIS]);
+    SERIAL_ECHOPAIR("  M365 X", axis_scaling[X_AXIS]);
+    SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
+    SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]);
     SERIAL_EOL;
     SERIAL_ECHO_START;
   #endif
 
   SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M203 X",max_feedrate[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y",max_feedrate[Y_AXIS] ); 
+  SERIAL_ECHOPAIR("  M203 X", max_feedrate[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS] ); 
   SERIAL_ECHOPAIR(" Z", max_feedrate[Z_AXIS] ); 
   SERIAL_ECHOPAIR(" E0 S", max_feedrate[E_AXIS + 0]);
   #if EXTRUDERS > 1
@@ -452,11 +448,11 @@ void Config_PrintSettings()
   SERIAL_ECHO_START;
   SERIAL_ECHOPAIR("  E0 ",max_retraction_feedrate[0]);
   #if EXTRUDERS > 1
-    SERIAL_ECHOPAIR(" E1 ",max_retraction_feedrate[1]);
+    SERIAL_ECHOPAIR(" E1 ", max_retraction_feedrate[1]);
     #if EXTRUDERS > 2
-      SERIAL_ECHOPAIR(" E2 ",max_retraction_feedrate[2]);
+      SERIAL_ECHOPAIR(" E2 ", max_retraction_feedrate[2]);
       #if EXTRUDERS > 3
-        SERIAL_ECHOPAIR(" E3 ",max_retraction_feedrate[3]);
+        SERIAL_ECHOPAIR(" E3 ", max_retraction_feedrate[3]);
       #endif //EXTRUDERS > 3
     #endif //EXTRUDERS > 2
   #endif //EXTRUDERS > 1
@@ -464,16 +460,16 @@ void Config_PrintSettings()
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M201 X" ,max_acceleration_units_per_sq_second[X_AXIS] ); 
-  SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[Y_AXIS] ); 
-  SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[Z_AXIS] );
-  SERIAL_ECHOPAIR(" E0 S" ,max_acceleration_units_per_sq_second[E_AXIS]);
+  SERIAL_ECHOPAIR("  M201 X", max_acceleration_units_per_sq_second[X_AXIS] ); 
+  SERIAL_ECHOPAIR(" Y", max_acceleration_units_per_sq_second[Y_AXIS] ); 
+  SERIAL_ECHOPAIR(" Z", max_acceleration_units_per_sq_second[Z_AXIS] );
+  SERIAL_ECHOPAIR(" E0 S", max_acceleration_units_per_sq_second[E_AXIS]);
   #if EXTRUDERS > 1
-    SERIAL_ECHOPAIR(" E1 S" ,max_acceleration_units_per_sq_second[E_AXIS+1]);
+    SERIAL_ECHOPAIR(" E1 S", max_acceleration_units_per_sq_second[E_AXIS+1]);
     #if EXTRUDERS > 2
-      SERIAL_ECHOPAIR(" E2 S" ,max_acceleration_units_per_sq_second[E_AXIS+2]);
+      SERIAL_ECHOPAIR(" E2 S", max_acceleration_units_per_sq_second[E_AXIS+2]);
       #if EXTRUDERS > 3
-        SERIAL_ECHOPAIR(" E3 S" ,max_acceleration_units_per_sq_second[E_AXIS+3]);
+        SERIAL_ECHOPAIR(" E3 S", max_acceleration_units_per_sq_second[E_AXIS+3]);
       #endif //EXTRUDERS > 3
     #endif //EXTRUDERS > 2
   #endif //EXTRUDERS > 1
@@ -481,7 +477,7 @@ void Config_PrintSettings()
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M204 P",acceleration ); 
+  SERIAL_ECHOPAIR("  M204 P", acceleration );
   SERIAL_ECHOPAIR(" R", retract_acceleration);
   SERIAL_ECHOPAIR(" T", travel_acceleration);
   SERIAL_EOL;
@@ -489,65 +485,65 @@ void Config_PrintSettings()
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M205 S",minimumfeedrate ); 
-  SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); 
-  SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
-  SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
-  SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
-  SERIAL_ECHOPAIR(" E" ,max_e_jerk);
-  SERIAL_EOL; 
+  SERIAL_ECHOPAIR("  M205 S", minimumfeedrate );
+  SERIAL_ECHOPAIR(" T", mintravelfeedrate );
+  SERIAL_ECHOPAIR(" B", minsegmenttime );
+  SERIAL_ECHOPAIR(" X", max_xy_jerk );
+  SERIAL_ECHOPAIR(" Z", max_z_jerk);
+  SERIAL_ECHOPAIR(" E", max_e_jerk);
+  SERIAL_EOL;
 
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM("Home offset (mm):");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("  M206 X",add_homing[X_AXIS] );
-  SERIAL_ECHOPAIR(" Y" ,add_homing[Y_AXIS] );
-  SERIAL_ECHOPAIR(" Z" ,add_homing[Z_AXIS] );
+  SERIAL_ECHOPAIR("  M206 X", home_offset[X_AXIS] );
+  SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS] );
+  SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS] );
   SERIAL_EOL;
 
-  #if EXTRUDERS > 1 && !defined SINGLENOZZLE
+  #if HOTENDS > 1
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Hotend offset (mm):");
-    for (int e = 0; e < EXTRUDERS; e++) {
+    for (int e = 0; e < HOTENDS; e++) {
       SERIAL_ECHO_START;
       SERIAL_ECHOPAIR("  M218 T", (long unsigned int)e);
       SERIAL_ECHOPAIR(" X", hotend_offset[X_AXIS][e]);
       SERIAL_ECHOPAIR(" Y" ,hotend_offset[Y_AXIS][e]);
       SERIAL_EOL;
     }
-  #endif //EXTRUDERS > 1 && !defined SINGLENOZZLE
+  #endif //HOTENDS > 1
   
   #ifdef DELTA
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Endstop adjustment (mm):");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M666 X",endstop_adj[0]);
-    SERIAL_ECHOPAIR(" Y" ,endstop_adj[1]);
-    SERIAL_ECHOPAIR(" Z" ,endstop_adj[2]);
+    SERIAL_ECHOPAIR("  M666 X", endstop_adj[0]);
+    SERIAL_ECHOPAIR(" Y", endstop_adj[1]);
+    SERIAL_ECHOPAIR(" Z", endstop_adj[2]);
     SERIAL_EOL;
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Delta Geometry adjustment:");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M666 A",tower_adj[0]);
-    SERIAL_ECHOPAIR(" B" ,tower_adj[1]);
-    SERIAL_ECHOPAIR(" C" ,tower_adj[2]);
-    SERIAL_ECHOPAIR(" E" ,tower_adj[3]);
-    SERIAL_ECHOPAIR(" F" ,tower_adj[4]);
-    SERIAL_ECHOPAIR(" G" ,tower_adj[5]);
-    SERIAL_ECHOPAIR(" R" ,delta_radius);
-    SERIAL_ECHOPAIR(" D" ,delta_diagonal_rod);
-    SERIAL_ECHOPAIR(" H" ,max_pos[2]);
-    SERIAL_ECHOPAIR(" P" ,z_probe_offset[3]);
+    SERIAL_ECHOPAIR("  M666 A", tower_adj[0]);
+    SERIAL_ECHOPAIR(" B", tower_adj[1]);
+    SERIAL_ECHOPAIR(" C", tower_adj[2]);
+    SERIAL_ECHOPAIR(" E", tower_adj[3]);
+    SERIAL_ECHOPAIR(" F", tower_adj[4]);
+    SERIAL_ECHOPAIR(" G", tower_adj[5]);
+    SERIAL_ECHOPAIR(" R", delta_radius);
+    SERIAL_ECHOPAIR(" D", delta_diagonal_rod);
+    SERIAL_ECHOPAIR(" H", max_pos[2]);
+    SERIAL_ECHOPAIR(" P", z_probe_offset[3]);
     SERIAL_EOL;
     SERIAL_ECHOLN("Tower Positions");
-    SERIAL_ECHOPAIR("Tower1 X:",delta_tower1_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower1_y);
+    SERIAL_ECHOPAIR("Tower1 X:", delta_tower1_x);
+    SERIAL_ECHOPAIR(" Y:", delta_tower1_y);
     SERIAL_EOL;
-    SERIAL_ECHOPAIR("Tower2 X:",delta_tower2_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower2_y);
+    SERIAL_ECHOPAIR("Tower2 X:", delta_tower2_x);
+    SERIAL_ECHOPAIR(" Y:", delta_tower2_y);
     SERIAL_EOL;
-    SERIAL_ECHOPAIR("Tower3 X:",delta_tower3_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower3_y);
+    SERIAL_ECHOPAIR("Tower3 X:", delta_tower3_x);
+    SERIAL_ECHOPAIR(" Y:", delta_tower3_y);
     SERIAL_EOL;
   #endif // DELTA
 
@@ -555,25 +551,21 @@ void Config_PrintSettings()
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Z Probe offset (mm)");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M666 P",zprobe_zoffset);
+    SERIAL_ECHOPAIR("  M666 P", zprobe_zoffset);
     SERIAL_EOL;
   #endif // ENABLE_AUTO_BED_LEVELING
 
   #ifdef PIDTEMP
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("PID settings:");
-    #ifndef SINGLENOZZLE
-      for (int e = 0; e < EXTRUDERS; e++)
-    #else
-      int e = 0;
-    #endif
+    for (int e = 0; e < HOTENDS; e++)
     {
       SERIAL_ECHO_START;
       SERIAL_ECHOPAIR("  M301 E", (long unsigned int)e);
       SERIAL_ECHOPAIR(" P", Kp[e]);
-      SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki[e])); 
-      SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd[e]));
-      SERIAL_EOL; 
+      SERIAL_ECHOPAIR(" I", unscalePID_i(Ki[e]));
+      SERIAL_ECHOPAIR(" D", unscalePID_d(Kd[e]));
+      SERIAL_EOL;
     }
   #endif // PIDTEMP
 
@@ -581,15 +573,15 @@ void Config_PrintSettings()
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M207 S",retract_length); 
-    SERIAL_ECHOPAIR(" F" ,retract_feedrate*60); 
-    SERIAL_ECHOPAIR(" Z" ,retract_zlift);
+    SERIAL_ECHOPAIR("  M207 S", retract_length); 
+    SERIAL_ECHOPAIR(" F", retract_feedrate*60); 
+    SERIAL_ECHOPAIR(" Z", retract_zlift);
     SERIAL_EOL; 
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M208 S",retract_recover_length); 
-    SERIAL_ECHOPAIR(" F" ,retract_recover_feedrate*60); 
+    SERIAL_ECHOPAIR("  M208 S", retract_recover_length); 
+    SERIAL_ECHOPAIR(" F", retract_recover_feedrate*60); 
     SERIAL_EOL;
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries");

MarlinKimbra/Configuration_Cartesian.h

@@ -126,11 +126,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;     // set to true to invert the log
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
     #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
 
     // Set the number of grid points per dimension

MarlinKimbra/Configuration_Corexy.h

@@ -126,11 +126,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = false;      // set to true to invert the lo
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
     #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
 
     // Set the number of grid points per dimension

MarlinKimbra/Configuration_Scara.h

@@ -150,11 +150,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true;      // set to true to invert the log
 
   #ifdef AUTO_BED_LEVELING_GRID
 
-    // Use one of these defines to specify the origin
-    // for a topographical map to be printed for your bed.
-    enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
-    #define TOPO_ORIGIN OriginFrontLeft
-
     #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
 
     // Set the number of grid points per dimension

MarlinKimbra/Configuration_adv.h

@@ -47,32 +47,33 @@
 //  extruder idle oozing prevention
 //if the extruder motor is idle for more than SECONDS, and the temperature over MINTEMP, some filament is retracted. The filament retracted is re-added before the next extrusion
 //#define IDLE_OOZING_PREVENT
-#define IDLE_OOZING_MINTEMP 170
-#define IDLE_OOZING_FEEDRATE 45			  //default feedrate for retracting (mm/s)
-#define IDLE_OOZING_SECONDS 10			  
-#define IDLE_OOZING_LENGTH 15 			  //default retract length (positive mm)
-#define IDLE_OOZING_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
-#define IDLE_OOZING_RECOVER_FEEDRATE 50     //default feedrate for recovering from retraction (mm/s)
+#define IDLE_OOZING_MINTEMP          170
+#define IDLE_OOZING_FEEDRATE          45    //default feedrate for retracting (mm/s)
+#define IDLE_OOZING_SECONDS           10
+#define IDLE_OOZING_LENGTH            15    //default retract length (positive mm)
+#define IDLE_OOZING_RECOVER_LENGTH     0    //default additional recover length (mm, added to retract length when recovering)
+#define IDLE_OOZING_RECOVER_FEEDRATE  50    //default feedrate for recovering from retraction (mm/s)
 
 #if defined(IDLE_OOZING_PREVENT) && IDLE_OOZING_MINTEMP < EXTRUDE_MINTEMP
-	#error IDLE_OOZING_MINTEMP have to be greater than EXTRUDE_MINTEMP
+  #error IDLE_OOZING_MINTEMP have to be greater than EXTRUDE_MINTEMP
 #endif
 //  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
+#define EXTRUDER_RUNOUT_SECONDS  30
+#define EXTRUDER_RUNOUT_ESTEPS   14  //mm filament
+#define EXTRUDER_RUNOUT_SPEED  1500  //extrusion speed
 #define EXTRUDER_RUNOUT_EXTRUDE 100
 
 #if defined(EXTRUDER_RUNOUT_PREVENT) && EXTRUDER_RUNOUT_MINTEMP < EXTRUDE_MINTEMP
-	#error EXTRUDER_RUNOUT_MINTEMP have to be greater than EXTRUDE_MINTEMP
+  #error EXTRUDER_RUNOUT_MINTEMP have to be greater than EXTRUDE_MINTEMP
 #endif
 
 #if defined(EXTRUDER_RUNOUT_PREVENT) && defined(IDLE_OOZING_PREVENT)
-	#error EXTRUDER_RUNOUT_PREVENT and IDLE_OOZING_PREVENT are incopatible. Please comment one of them.
+  #error EXTRUDER_RUNOUT_PREVENT and IDLE_OOZING_PREVENT are incopatible. Please comment one of them.
 #endif
+
 //These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
 //The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
 #define TEMP_SENSOR_AD595_OFFSET 0.0
@@ -486,6 +487,12 @@ const unsigned int dropsegments=5; //everything with less than this number of st
   #endif
 #endif
 
+#ifdef FILAMENTCHANGEENABLE
+  #ifdef EXTRUDER_RUNOUT_PREVENT
+    #error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
+  #endif
+#endif
+
 
 /******************************************************************************\
  * enable this section if you have TMC26X motor drivers. 

MarlinKimbra/Marlin.h

@@ -252,19 +252,17 @@ extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in m
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
 extern float current_position[NUM_AXIS];
 extern float destination[NUM_AXIS];
-extern float add_homing[3];
-
-// Extruder offset
-#if EXTRUDERS > 1
-  #ifndef SINGLENOZZLE
-    #ifndef DUAL_X_CARRIAGE
-      #define NUM_HOTEND_OFFSETS 2 // only in XY plane
-    #else
-      #define NUM_HOTEND_OFFSETS 3 // supports offsets in XYZ plane
-    #endif
-    extern float hotend_offset[NUM_HOTEND_OFFSETS][EXTRUDERS];
-  #endif // end SINGLENOZZLE
-#endif // end EXTRUDERS
+extern float home_offset[3];
+
+// Hotend offset
+#if HOTENDS > 1
+  #ifndef DUAL_X_CARRIAGE
+    #define NUM_HOTEND_OFFSETS 2 // only in XY plane
+  #else
+    #define NUM_HOTEND_OFFSETS 3 // supports offsets in XYZ plane
+  #endif
+  extern float hotend_offset[NUM_HOTEND_OFFSETS][HOTENDS];
+#endif // HOTENDS > 1
 
 #ifdef NPR2
 extern int old_color; // old color for system NPR2
@@ -300,20 +298,21 @@ extern int EtoPPressure;
 extern unsigned char fanSpeedSoftPwm;
 #endif
 
-#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
-  extern float filament_width_nominal;  //holds the theoretical filament diameter ie., 3.00 or 1.75
-  extern bool filament_sensor;  //indicates that filament sensor readings should control extrusion
-  extern float filament_width_meas; //holds the filament diameter as accurately measured
-  extern signed char measurement_delay[];  //ring buffer to delay measurement
+#if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0)
+  extern float filament_width_nominal;    //holds the theoretical filament diameter ie., 3.00 or 1.75
+  extern bool filament_sensor;            //indicates that filament sensor readings should control extrusion
+  extern float filament_width_meas;       //holds the filament diameter as accurately measured
+  extern signed char measurement_delay[]; //ring buffer to delay measurement
   extern int delay_index1, delay_index2;  //index into ring buffer
-  extern float delay_dist; //delay distance counter
-  extern int meas_delay_cm; //delay distance
+  extern float delay_dist;                //delay distance counter
+  extern int meas_delay_cm;               //delay distance
 #endif
 
 #if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0)
-  extern unsigned int power_consumption_meas; //holds the power consumption as accurately measured
-  extern unsigned long power_consumption_hour; //holds the power consumption per hour as accurately measured
+  extern unsigned int power_consumption_meas;   //holds the power consumption as accurately measured
+  extern unsigned long power_consumption_hour;  //holds the power consumption per hour as accurately measured
 #endif
+
 #ifdef FWRETRACT
 extern bool autoretract_enabled;
 extern bool retracted[EXTRUDERS];

MarlinKimbra/Marlin_main.cpp

@@ -245,7 +245,7 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
 };
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
 float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
-float add_homing[3]={ 0, 0, 0 };
+float home_offset[3] = { 0, 0, 0 };
 int fanSpeed = 0;
 bool cancel_heatup = false;
 
@@ -294,29 +294,27 @@ bool axis_known_position[3] = { false, false, false };
 float zprobe_zoffset;
 float lastpos[4];
 
-// Extruder offset
-#ifndef SINGLENOZZLE
-  #if EXTRUDERS > 1  
-    #ifndef DUAL_X_CARRIAGE
-      #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
+// Hotend offset
+#if HOTENDS > 1  
+  #ifndef DUAL_X_CARRIAGE
+    #define NUM_HOTENDS_OFFSETS 2 // only in XY plane
+  #else
+    #define NUM_HOTENDS_OFFSETS 3 // supports offsets in XYZ plane
+  #endif
+  float hotend_offset[NUM_HOTENDS_OFFSETS][HOTENDS] = {
+    #if defined(HOTEND_OFFSET_X)
+      HOTEND_OFFSET_X
     #else
-      #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
+      0
     #endif
-    float hotend_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
-      #if defined(EXTRUDER_OFFSET_X)
-        EXTRUDER_OFFSET_X
-      #else
-        0
-      #endif
-      ,
-      #if defined(EXTRUDER_OFFSET_Y)
-        EXTRUDER_OFFSET_Y
-      #else
-        0
-      #endif
-    };
-  #endif //EXTRUDERS > 1
-#endif //SINGLENOZZLE
+    ,
+    #if defined(HOTEND_OFFSET_Y)
+      HOTEND_OFFSET_Y
+    #else
+      0
+    #endif
+  };
+#endif //HOTENDS > 1
 
 
 uint8_t active_extruder = 0;
@@ -333,24 +331,26 @@ uint8_t debugLevel = 0;
   int EtoPPressure = 0;
 #endif //BARICUDA
 
-#ifdef FILAMENTCHANGEENABLE
+#if defined(FILAMENTCHANGEENABLE) || defined(IDLE_OOZING_PREVENT)
 	bool filament_changing = false;
 #endif
-#ifdef IDLE_OOZING_PREVENT || EXTRUDER_RUNOUT_PREVENT
-   unsigned long axis_last_activity = 0;
-   bool axis_is_moving = false;
+
+#if defined(IDLE_OOZING_PREVENT) || defined(EXTRUDER_RUNOUT_PREVENT)
+  unsigned long axis_last_activity = 0;
+  bool axis_is_moving = false;
 #endif
+
 #ifdef IDLE_OOZING_PREVENT
-	bool IDLE_OOZING_retracted[EXTRUDERS] = { false
+  bool IDLE_OOZING_retracted[EXTRUDERS] = { false
     #if EXTRUDERS > 1
       , false
       #if EXTRUDERS > 2
         , false
         #if EXTRUDERS > 3
           , false
-        #endif
-      #endif
-    #endif
+        #endif //EXTRUDERS > 3
+      #endif //EXTRUDERS > 2
+    #endif //EXTRUDERS > 1
   };
 #endif
 
@@ -400,21 +400,21 @@ uint8_t debugLevel = 0;
   static float delta[3] = { 0, 0, 0 };
 #endif //SCARA
 
-#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
+#if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0)
   //Variables for Filament Sensor input 
   float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA;  //Set nominal filament width, can be changed with M404 
-  bool filament_sensor=false;  //M405 turns on filament_sensor control, M406 turns it off 
-  float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter 
-  signed char measurement_delay[MAX_MEASUREMENT_DELAY+1];  //ring buffer to delay measurement  store extruder factor after subtracting 100 
-  int delay_index1=0;  //index into ring buffer
-  int delay_index2=-1;  //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
-  float delay_dist=0; //delay distance counter  
-  int meas_delay_cm = MEASUREMENT_DELAY_CM;  //distance delay setting
+  bool filament_sensor=false;                                 //M405 turns on filament_sensor control, M406 turns it off 
+  float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA;    //Stores the measured filament diameter 
+  signed char measurement_delay[MAX_MEASUREMENT_DELAY+1];     //ring buffer to delay measurement  store extruder factor after subtracting 100 
+  int delay_index1=0;                                         //index into ring buffer
+  int delay_index2=-1;                                        //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
+  float delay_dist=0;                                         //delay distance counter
+  int meas_delay_cm = MEASUREMENT_DELAY_CM;                   //distance delay setting
 #endif
 
-#if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0)
- unsigned int power_consumption_meas = 0;
- unsigned long power_consumption_hour = 0.0;
+#if defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0
+  unsigned int power_consumption_meas = 0;
+  unsigned long power_consumption_hour = 0.0;
 #endif
 
 #ifdef LASERBEAM
@@ -1097,13 +1097,13 @@ static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
 
 static float x_home_pos(int extruder) {
   if (extruder == 0)
-    return base_home_pos(X_AXIS) + add_homing[X_AXIS];
+    return base_home_pos(X_AXIS) + home_offset[X_AXIS];
   else
     // In dual carriage mode the extruder offset provides an override of the
     // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
     // This allow soft recalibration of the second extruder offset position without firmware reflash
     // (through the M218 command).
-    return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
+    return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
 }
 
 static int x_home_dir(int extruder) {
@@ -1133,9 +1133,9 @@ bool extruder_duplication_enabled = false; // used in mode 2
         }
         else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
         {
-          current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
-          min_pos[X_AXIS] =          base_min_pos(X_AXIS) + add_homing[X_AXIS];
-          max_pos[X_AXIS] =          min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
+          current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
+          min_pos[X_AXIS]          = base_min_pos(X_AXIS) + home_offset[X_AXIS];
+          max_pos[X_AXIS]          = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
                                      max(hotend_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
           return;
         }
@@ -1160,11 +1160,11 @@ bool extruder_duplication_enabled = false; // used in mode 2
         // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
 
         for (i=0; i<2; i++) {
-          delta[i] -= add_homing[i];
+          delta[i] -= home_offset[i];
         }
 
-        // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
-        // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
+        // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
+        // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
         // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
         // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
 
@@ -1182,14 +1182,14 @@ bool extruder_duplication_enabled = false; // used in mode 2
       } 
       else
       {
-        current_position[axis] = base_home_pos(axis) + add_homing[axis];
-        min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
-        max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+        current_position[axis] = base_home_pos(axis) + home_offset[axis];
+        min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
+        max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
       }
     #else // NO SCARA
-      current_position[axis] = base_home_pos(axis) + add_homing[axis];
-      min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
-      max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+      current_position[axis] = base_home_pos(axis) + home_offset[axis];
+      min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
+      max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
     #endif // SCARA
   }
 
@@ -1341,7 +1341,7 @@ bool extruder_duplication_enabled = false; // used in mode 2
           #if SERVO_LEVELING
             servos[servo_endstops[Z_AXIS]].attach(0);
           #endif
-            servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
+          servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
           #if SERVO_LEVELING
             delay(PROBE_SERVO_DEACTIVATION_DELAY);
             servos[servo_endstops[Z_AXIS]].detach();
@@ -1350,10 +1350,15 @@ bool extruder_duplication_enabled = false; // used in mode 2
       #endif //NUM_SERVOS > 0
     }
 
-    enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
+    enum ProbeAction {
+      ProbeStay             = 0,
+      ProbeEngage           = BIT(0),
+      ProbeRetract          = BIT(1),
+      ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
+    };
 
     // Probe bed height at position (x,y), returns the measured z value
-    static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, int verbose_level=1) {
+    static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
       // move to right place
       do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
       do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
@@ -1462,9 +1467,9 @@ bool extruder_duplication_enabled = false; // used in mode 2
 #ifdef DELTA
   static void axis_is_at_home(int axis)
   {
-    current_position[axis] = base_home_pos[axis] + add_homing[axis];
-    min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
-    max_pos[axis] =          base_max_pos[axis] + add_homing[axis];
+    current_position[axis] = base_home_pos[axis] + home_offset[axis];
+    min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
+    max_pos[axis] =          base_max_pos[axis] + home_offset[axis];
   }
 
   static void homeaxis(int axis)
@@ -1961,32 +1966,32 @@ void refresh_cmd_timeout(void) { previous_millis_cmd = millis(); }
 #ifdef IDLE_OOZING_PREVENT
   void IDLE_OOZING_retract(bool retracting)
   {  
-    if(retracting && !IDLE_OOZING_retracted[active_extruder]) {
-	  //SERIAL_ECHOLN("RETRACT FOR OOZING PREVENT");
-	  destination[X_AXIS]=current_position[X_AXIS];
-	  destination[Y_AXIS]=current_position[Y_AXIS];
-	  destination[Z_AXIS]=current_position[Z_AXIS];
-	  destination[E_AXIS]=current_position[E_AXIS];
-	  current_position[E_AXIS]+=IDLE_OOZING_LENGTH/volumetric_multiplier[active_extruder];
-	  plan_set_e_position(current_position[E_AXIS]);
-	  float oldFeedrate = feedrate;
-	  feedrate=IDLE_OOZING_FEEDRATE*60;
-	  IDLE_OOZING_retracted[active_extruder]=true;
-	  prepare_move();
-	  feedrate = oldFeedrate;
+    if (retracting && !IDLE_OOZING_retracted[active_extruder]) {
+  	  //SERIAL_ECHOLN("RETRACT FOR OOZING PREVENT");
+  	  destination[X_AXIS]=current_position[X_AXIS];
+  	  destination[Y_AXIS]=current_position[Y_AXIS];
+  	  destination[Z_AXIS]=current_position[Z_AXIS];
+  	  destination[E_AXIS]=current_position[E_AXIS];
+  	  current_position[E_AXIS]+=IDLE_OOZING_LENGTH/volumetric_multiplier[active_extruder];
+  	  plan_set_e_position(current_position[E_AXIS]);
+  	  float oldFeedrate = feedrate;
+  	  feedrate=IDLE_OOZING_FEEDRATE*60;
+  	  IDLE_OOZING_retracted[active_extruder]=true;
+  	  prepare_move();
+  	  feedrate = oldFeedrate;
     }
-    else if(!retracting && IDLE_OOZING_retracted[active_extruder]){
-	  //SERIAL_ECHOLN("EXTRUDE FOR OOZING PREVENT");
-	  destination[X_AXIS]=current_position[X_AXIS];
-	  destination[Y_AXIS]=current_position[Y_AXIS];
-	  destination[Z_AXIS]=current_position[Z_AXIS];
-	  destination[E_AXIS]=current_position[E_AXIS];
-	  current_position[E_AXIS]-=(IDLE_OOZING_LENGTH+IDLE_OOZING_RECOVER_LENGTH)/volumetric_multiplier[active_extruder];
-	  plan_set_e_position(current_position[E_AXIS]);
-	  float oldFeedrate = feedrate;
-	  feedrate=IDLE_OOZING_RECOVER_FEEDRATE * 60;
-	  IDLE_OOZING_retracted[active_extruder] = false;
-	  prepare_move();
+    else if(!retracting && IDLE_OOZING_retracted[active_extruder]) {
+  	  //SERIAL_ECHOLN("EXTRUDE FOR OOZING PREVENT");
+  	  destination[X_AXIS]=current_position[X_AXIS];
+  	  destination[Y_AXIS]=current_position[Y_AXIS];
+  	  destination[Z_AXIS]=current_position[Z_AXIS];
+  	  destination[E_AXIS]=current_position[E_AXIS];
+  	  current_position[E_AXIS]-=(IDLE_OOZING_LENGTH+IDLE_OOZING_RECOVER_LENGTH)/volumetric_multiplier[active_extruder];
+  	  plan_set_e_position(current_position[E_AXIS]);
+  	  float oldFeedrate = feedrate;
+  	  feedrate=IDLE_OOZING_RECOVER_FEEDRATE * 60;
+  	  IDLE_OOZING_retracted[active_extruder] = false;
+  	  prepare_move();
       feedrate = oldFeedrate;
     }
   }
@@ -2215,10 +2220,13 @@ inline void wait_bed() {
 // G0-G1: Coordinated movement of X Y Z E axes
 inline void gcode_G0_G1() {
   if (!Stopped) {
-  #ifdef IDLE_OOZING_PREVENT
-	IDLE_OOZING_retract(false);
-  #endif
+
+    #ifdef IDLE_OOZING_PREVENT
+      IDLE_OOZING_retract(false);
+    #endif
+
     get_coordinates(); // For X Y Z E F
+
     #ifdef FWRETRACT
       if (autoretract_enabled) {
         if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
@@ -2337,6 +2345,11 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
 
   #endif //DELTA
 
+  #ifdef SCARA
+    calculate_delta(current_position);
+    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+  #endif
+  
   #if defined(CARTESIAN) || defined(COREXY) || defined(SCARA)
     #if Z_HOME_DIR > 0  // If homing away from BED do Z first
       if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
@@ -2415,7 +2428,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
       #ifdef SCARA
         current_position[X_AXIS]=code_value();
       #else
-        current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
+        current_position[X_AXIS]=code_value() + home_offset[X_AXIS];
       #endif
     }
 
@@ -2423,7 +2436,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
       #ifdef SCARA
         current_position[Y_AXIS]=code_value();
       #else
-        current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
+        current_position[Y_AXIS]=code_value() + home_offset[Y_AXIS];
       #endif
     }
 
@@ -2602,7 +2615,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
     #endif //Z_HOME_DIR < 0
 
     if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
-      current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
+      current_position[Z_AXIS] = code_value() + home_offset[Z_AXIS];
 
     #ifdef ENABLE_AUTO_BED_LEVELING
       if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
@@ -2723,7 +2736,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
 
     #ifdef AUTO_BED_LEVELING_GRID
 
-      bool topo_flag = code_seen('T') || code_seen('t');
+      bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
 
       if (verbose_level > 0) SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
 
@@ -2787,8 +2800,8 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
     current_position[Y_AXIS] = uncorrected_position.y;
     current_position[Z_AXIS] = uncorrected_position.z;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-    setup_for_endstop_move();
 
+    setup_for_endstop_move();
     feedrate = homing_feedrate[Z_AXIS];
 
     #ifdef AUTO_BED_LEVELING_GRID
@@ -2835,7 +2848,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
 
         // If topo_flag is set then don't zig-zag. Just scan in one direction.
         // This gets the probe points in more readable order.
-        if (topo_flag) zig = !zig;
+        if (do_topography_map) zig = !zig;
         for (int xCount=xStart; xCount != xStop; xCount += xInc)
         {
           double xProbe = left_probe_bed_position + xGridSpacing * xCount;
@@ -2855,7 +2868,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
               act = ProbeStay;
           }
           else
-            act = ProbeEngageRetract;
+            act = ProbeEngageAndRetract;
 
           measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
 
@@ -2892,49 +2905,30 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
         }
       }
 
-      if (topo_flag) {
-
-        int xx, yy;
+      if (do_topography_map) {
 
         SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
-        #if TOPO_ORIGIN == OriginFrontLeft
-          SERIAL_PROTOCOLPGM("+-----------+\n");
-          SERIAL_PROTOCOLPGM("|...Back....|\n");
-          SERIAL_PROTOCOLPGM("|Left..Right|\n");
-          SERIAL_PROTOCOLPGM("|...Front...|\n");
-          SERIAL_PROTOCOLPGM("+-----------+\n");
-          for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
-        #else
-          for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
-        #endif
-          {
-            #if TOPO_ORIGIN == OriginBackRight
-              for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
-            #else
-              for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
-            #endif
-              {
-                int ind =
-                  #if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
-                    yy * auto_bed_leveling_grid_points + xx
-                  #elif TOPO_ORIGIN == OriginBackLeft
-                    xx * auto_bed_leveling_grid_points + yy
-                  #elif TOPO_ORIGIN == OriginFrontRight
-                    abl2 - xx * auto_bed_leveling_grid_points - yy - 1
-                  #endif
-                ;
-                float diff = eqnBVector[ind] - mean;
-                if (diff >= 0.0)
-                  SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
-                else
-                  SERIAL_PROTOCOLPGM(" ");
-                SERIAL_PROTOCOL_F(diff, 5);
-              } // xx
-              SERIAL_EOL;
-          } // yy
+        SERIAL_PROTOCOLPGM("+-----------+\n");
+        SERIAL_PROTOCOLPGM("|...Back....|\n");
+        SERIAL_PROTOCOLPGM("|Left..Right|\n");
+        SERIAL_PROTOCOLPGM("|...Front...|\n");
+        SERIAL_PROTOCOLPGM("+-----------+\n");
+
+        for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
+          for (int xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) {
+            int ind = yy * auto_bed_leveling_grid_points + xx;
+            float diff = eqnBVector[ind] - mean;
+            if (diff >= 0.0)
+              SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
+            else
+              SERIAL_PROTOCOLPGM(" ");
+            SERIAL_PROTOCOL_F(diff, 5);
+          } // xx
           SERIAL_EOL;
+        } // yy
+        SERIAL_EOL;
 
-      } //topo_flag
+      } //do_topography_map
 
 
       set_bed_level_equation_lsq(plane_equation_coefficients);
@@ -2961,9 +2955,6 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
 
     #endif // !AUTO_BED_LEVELING_GRID
 
-    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
-    st_synchronize();
-
     if (verbose_level > 0)
       plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
 
@@ -3546,9 +3537,9 @@ inline void gcode_G92() {
       }
       else {
         #ifdef SCARA
-          current_position[i] = code_value() + ((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0);
+          current_position[i] = code_value() + ((i != X_AXIS && i != Y_AXIS) ? home_offset[i] : 0);
         #else
-          current_position[i] = code_value() + add_homing[i];
+          current_position[i] = code_value() + home_offset[i];
         #endif
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       }
@@ -3900,7 +3891,7 @@ inline void gcode_M204() {
 #ifdef FILAMENTCHANGEENABLE
   //M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
   inline void gcode_M600() {
-	filament_changing = true;
+    filament_changing = true;
     float target[NUM_AXIS];
     for (int i=0; i < NUM_AXIS; i++) target[i] = lastpos[i] = current_position[i];
 
@@ -3969,15 +3960,10 @@ inline void gcode_M204() {
     boolean sleep = false;
     int cnt = 0;
     
-    #ifndef SINGLENOZZLE
-      int old_target_temperature[EXTRUDERS] = { 0 };
-      for(int8_t e=0;e<EXTRUDERS;e++)
-    #else
-      int old_target_temperature[1] = { 0 };
-      int8_t e=0;
-    #endif
+    int old_target_temperature[HOTENDS] = { 0 };
+    for(int8_t e = 0; e < HOTENDS; e++)
     {
-      old_target_temperature[e]=target_temperature[e];
+      old_target_temperature[e] = target_temperature[e];
     }
     int old_target_temperature_bed = target_temperature_bed;
     timer.set_max_delay(60000); // 1 minute
@@ -4011,11 +3997,7 @@ inline void gcode_M204() {
     lcd_reset_alert_level();
 
     if (sleep) {
-      #ifndef SINGLENOZZLE
-        for(int8_t e=0;e<EXTRUDERS;e++)
-      #else
-        int8_t e=0;
-      #endif
+      for(int8_t e = 0; e < HOTENDS; e++)
       {
         setTargetHotend(old_target_temperature[e], e);
         CooldownNoWait = true;
@@ -4060,7 +4042,7 @@ inline void gcode_M204() {
       for(int8_t i=0; i < NUM_AXIS; i++) current_position[i]=lastpos[i];
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
     #endif
-	filament_changing = false;
+    filament_changing = false;
   }
 #endif //FILAMENTCHANGEENABLE
 
@@ -4637,7 +4619,7 @@ void process_commands()
       {
         if(setTargetedHotend(104)) break;
         if(debugDryrun()) break;
-        #ifdef SINGLENOZZLE
+        #if HOTENDS == 1
           if (tmp_extruder != active_extruder) break;
         #endif
         if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
@@ -4740,7 +4722,7 @@ void process_commands()
       {
         if(setTargetedHotend(109)) break;
         if(debugDryrun()) break;
-        #ifdef SINGLENOZZLE
+        #if HOTENDS == 1
           if (tmp_extruder != active_extruder) break;
         #endif
         LCD_MESSAGEPGM(MSG_HEATING);
@@ -4823,9 +4805,9 @@ void process_commands()
           SERIAL_PROTOCOLLN("");
 
           SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
-          SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
+          SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
           SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
-          SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
+          SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
           SERIAL_PROTOCOLLN("");
 
           SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
@@ -5095,16 +5077,16 @@ void process_commands()
       {
         for(int8_t i=0; i < 3; i++)
         {
-          if(code_seen(axis_codes[i])) add_homing[i] = code_value();
+          if(code_seen(axis_codes[i])) home_offset[i] = code_value();
         }
         #ifdef SCARA
           if(code_seen('T'))       // Theta
           {
-            add_homing[X_AXIS] = code_value() ;
+            home_offset[X_AXIS] = code_value() ;
           }
           if(code_seen('P'))       // Psi
           {
-            add_homing[Y_AXIS] = code_value() ;
+            home_offset[Y_AXIS] = code_value() ;
           }
         #endif
       }
@@ -5187,43 +5169,41 @@ void process_commands()
         break;
       #endif // FWRETRACT
 
-      #ifndef SINGLENOZZLE
-        #if EXTRUDERS > 1
-          case 218: //M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+      #if HOTENDS > 1
+        case 218: //M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+        {
+          if(setTargetedHotend(218)) break;
+          if(code_seen('X'))
           {
-            if(setTargetedHotend(218)) break;
-            if(code_seen('X'))
-            {
-              hotend_offset[X_AXIS][tmp_extruder] = code_value();
-            }
-            if(code_seen('Y'))
+            hotend_offset[X_AXIS][tmp_extruder] = code_value();
+          }
+          if(code_seen('Y'))
+          {
+            hotend_offset[Y_AXIS][tmp_extruder] = code_value();
+          }
+          #ifdef DUAL_X_CARRIAGE
+            if(code_seen('Z'))
             {
-              hotend_offset[Y_AXIS][tmp_extruder] = code_value();
+              hotend_offset[Z_AXIS][tmp_extruder] = code_value();
             }
+          #endif
+          SERIAL_ECHO_START;
+          SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+          for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
+          {
+            SERIAL_ECHO(" ");
+            SERIAL_ECHO(hotend_offset[X_AXIS][tmp_extruder]);
+            SERIAL_ECHO(",");
+            SERIAL_ECHO(hotend_offset[Y_AXIS][tmp_extruder]);
             #ifdef DUAL_X_CARRIAGE
-              if(code_seen('Z'))
-              {
-                hotend_offset[Z_AXIS][tmp_extruder] = code_value();
-              }
-            #endif
-            SERIAL_ECHO_START;
-            SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
-            for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
-            {
-              SERIAL_ECHO(" ");
-              SERIAL_ECHO(hotend_offset[X_AXIS][tmp_extruder]);
               SERIAL_ECHO(",");
-              SERIAL_ECHO(hotend_offset[Y_AXIS][tmp_extruder]);
-              #ifdef DUAL_X_CARRIAGE
-                SERIAL_ECHO(",");
-                SERIAL_ECHO(hotend_offset[Z_AXIS][tmp_extruder]);
-              #endif
-            }
-            SERIAL_EOL;
+              SERIAL_ECHO(hotend_offset[Z_AXIS][tmp_extruder]);
+            #endif
           }
-          break;
-        #endif //EXTRUDERS > 1
-      #endif // SINGLENOZZLE
+          SERIAL_EOL;
+        }
+        break;
+      #endif //EXTRUDERS > 1
 
       case 220: //M220 S<factor in percent>- set speed factor override percentage
       {
@@ -5635,7 +5615,7 @@ void process_commands()
         break;
       #endif // NABLE_AUTO_BED_LEVELING
 
-      #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
+      #if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0)
         case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width 
         {
           if(code_seen('D')) filament_width_nominal=code_value();
@@ -5945,16 +5925,11 @@ void process_commands()
               delayed_move_time = 0;
             }
           #else
-            // Offset extruder (only by XY)
-            #ifndef SINGLENOZZLE
-              int i;
-              for(i = 0; i < 2; i++)
-              {
-                current_position[i] = current_position[i] -
-                  hotend_offset[i][active_extruder] +
-                  hotend_offset[i][tmp_extruder];
-              }
-            #endif // SINGLENOZZLE
+            // Offset hotend (only by XY)
+            #if HOTENDS > 1
+              for (int i=X_AXIS; i<=Y_AXIS; i++)
+                current_position[i] += hotend_offset[i][tmp_extruder] - hotend_offset[i][active_extruder];
+            #endif // HOTENDS > 1
 
             #if defined(MKR4) && (EXTRUDERS > 1)
               #if (EXTRUDERS == 4) && (E0E2_CHOICE_PIN >1) && (E1E3_CHOICE_PIN > 1)
@@ -6169,7 +6144,7 @@ void clamp_to_software_endstops(float target[3])
     float negative_z_offset = 0;
     #ifdef ENABLE_AUTO_BED_LEVELING
       if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
-      if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
+      if (home_offset[Z_AXIS] < 0) negative_z_offset = negative_z_offset + home_offset[Z_AXIS];
     #endif
     
     if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
@@ -6184,9 +6159,10 @@ void clamp_to_software_endstops(float target[3])
 
 void prepare_move()
 {
-#ifdef IDLE_OOZING_PREVENT || EXTRUDER_RUNOUT_PREVENT
-  axis_is_moving = true;
-#endif
+  #ifdef IDLE_OOZING_PREVENT || EXTRUDER_RUNOUT_PREVENT
+    axis_is_moving = true;
+  #endif
+
   clamp_to_software_endstops(destination);
   refresh_cmd_timeout();
 
@@ -6206,7 +6182,6 @@ void prepare_move()
     return; 
   }
   float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
-
   int steps = max(1, int(scara_segments_per_second * seconds));
   //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
   //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
@@ -6321,6 +6296,7 @@ void prepare_move()
   axis_is_moving = false;
 #endif
 
+
   for(int8_t i=0; i < NUM_AXIS; i++) {
     current_position[i] = destination[i];
   }
@@ -6585,11 +6561,13 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
   #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
     controllerFan(); //Check if fan should be turned on to cool stepper drivers down
   #endif
+
   #ifdef IDLE_OOZING_PREVENT
-	if(!debugDryrun() && !axis_is_moving && !filament_changing && (millis() - axis_last_activity) >  IDLE_OOZING_SECONDS*1000 && degHotend(active_extruder) > IDLE_OOZING_MINTEMP) {
-	  IDLE_OOZING_retract(true);
-	}
+    if(!debugDryrun() && !axis_is_moving && !filament_changing && (millis() - axis_last_activity) >  IDLE_OOZING_SECONDS*1000 && degHotend(active_extruder) > IDLE_OOZING_MINTEMP) {
+      IDLE_OOZING_retract(true);
+    }
   #endif
+
   #ifdef EXTRUDER_RUNOUT_PREVENT
     if(!debugDryrun() && !axis_is_moving && !filament_changing && (millis() - axis_last_activity) >  EXTRUDER_RUNOUT_SECONDS*1000 && degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
     {
@@ -6607,6 +6585,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
       WRITE(E0_ENABLE_PIN,oldstatus);
     }
   #endif
+
   #if defined(DUAL_X_CARRIAGE)
     // handle delayed move timeout
     if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
@@ -6617,9 +6596,11 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
       prepare_move();
     }
   #endif
+
   #ifdef TEMP_STAT_LEDS
     handle_status_leds();
   #endif
+
   check_axes_activity();
 }
 

MarlinKimbra/cardreader.cpp

@@ -504,7 +504,6 @@ void CardReader::printingHasFinished() {
     startFileprint();
   }
   else {
-    quickStop();
     file.close();
     sdprinting = false;
     if (SD_FINISHED_STEPPERRELEASE) {

MarlinKimbra/dogm_lcd_implementation.h

@@ -267,38 +267,35 @@ static void lcd_implementation_status_screen() {
   // Status line
   u8g.setFont(FONT_STATUSMENU);
   u8g.setPrintPos(0,63);
-  #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) || (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
-
-
-
+  #if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) || (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && (POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
     if (millis() < message_millis + 5000) {  //Display both Status message line and Filament display on the last line
       u8g.print(lcd_status_message);
     }
-	#if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
-	#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
-	else if (millis() < message_millis + 10000)
-	#else
-	else
-	#endif
-	{
-	  lcd_printPGM(PSTR("P:"));
-      u8g.print(itostr3(power_consumption_meas));
-      lcd_printPGM(PSTR("W C:"));
-      u8g.print(ltostr7(power_consumption_hour));
-      lcd_printPGM(PSTR("Wh"));
-	}
-	#endif
-	#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
-    else {
-      lcd_printPGM(PSTR("D:"));
-      u8g.print(ftostr12ns(filament_width_meas));
-      lcd_printPGM(PSTR("mm F:"));
-      u8g.print(itostr3(volumetric_multiplier[active_extruder] * 100));
-      u8g.print('%');
-    }
-	#endif
+    #if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
+      #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
+        else if (millis() < message_millis + 10000)
+      #else
+        else
+      #endif
+      {
+        lcd_printPGM(PSTR("P:"));
+        u8g.print(itostr3(power_consumption_meas));
+        lcd_printPGM(PSTR("W C:"));
+        u8g.print(ltostr7(power_consumption_hour));
+        lcd_printPGM(PSTR("Wh"));
+      }
+    #endif
+    #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
+      else {
+        lcd_printPGM(PSTR("D:"));
+        u8g.print(ftostr12ns(filament_width_meas));
+        lcd_printPGM(PSTR("mm F:"));
+        u8g.print(itostr3(volumetric_multiplier[active_extruder] * 100));
+        u8g.print('%');
+      }
+    #endif
   #else
-  u8g.print(lcd_status_message);
+    u8g.print(lcd_status_message);
   #endif
 }
 

MarlinKimbra/planner.cpp

@@ -78,12 +78,12 @@ float mintravelfeedrate;
 unsigned long axis_steps_per_sqr_second[3 + EXTRUDERS];
 
 #ifdef ENABLE_AUTO_BED_LEVELING
-// this holds the required transform to compensate for bed level
-matrix_3x3 plan_bed_level_matrix = {
-	1.0, 0.0, 0.0,
-	0.0, 1.0, 0.0,
-	0.0, 0.0, 1.0
-};
+  // this holds the required transform to compensate for bed level
+  matrix_3x3 plan_bed_level_matrix = {
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0
+  };
 #endif // #ifdef ENABLE_AUTO_BED_LEVELING
 
 // The current position of the tool in absolute steps
@@ -92,74 +92,55 @@ static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
 static float previous_nominal_speed; // Nominal speed of previous path line segment
 
 #ifdef AUTOTEMP
-float autotemp_max=250;
-float autotemp_min=210;
-float autotemp_factor=0.1;
-bool autotemp_enabled=false;
+  float autotemp_max = 250;
+  float autotemp_min = 210;
+  float autotemp_factor = 0.1;
+  bool autotemp_enabled = false;
 #endif
 
 unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
 
 //===========================================================================
-//=================semi-private variables, used in inline  functions    =====
+//=================semi-private variables, used in inline functions =========
 //===========================================================================
-block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
-volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-volatile unsigned char block_buffer_tail;           // Index of the block to process now
+block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructions
+volatile unsigned char block_buffer_head; // Index of the next block to be pushed
+volatile unsigned char block_buffer_tail; // Index of the block to process now
 
 //===========================================================================
 //=============================private variables ============================
 //===========================================================================
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-float extrude_min_temp=EXTRUDE_MINTEMP;
+  float extrude_min_temp = EXTRUDE_MINTEMP;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
-#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-// Used for the frequency limit
-static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0};     // Segment times (in us). Used for speed calculations
-static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
+  // Used for the frequency limit
+  #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+  // Old direction bits. Used for speed calculations
+  static unsigned char old_direction_bits = 0;
+  // Segment times (in us). Used for speed calculations
+  static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
+  static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
 #endif
 
-#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
- static char meas_sample; //temporary variable to hold filament measurement sample
+#ifdef FILAMENT_SENSOR
+  static char meas_sample; //temporary variable to hold filament measurement sample
 #endif
 
-// Returns the index of the next block in the ring buffer
-// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
-static int8_t next_block_index(int8_t block_index) {
-  block_index++;
-  if (block_index == BLOCK_BUFFER_SIZE) { 
-    block_index = 0; 
-  }
-  return(block_index);
-}
-
-
-// Returns the index of the previous block in the ring buffer
-static int8_t prev_block_index(int8_t block_index) {
-  if (block_index == 0) { 
-    block_index = BLOCK_BUFFER_SIZE; 
-  }
-  block_index--;
-  return(block_index);
-}
+// Get the next / previous index of the next block in the ring buffer
+// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
+FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
+FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
 
 //===========================================================================
-//=============================functions         ============================
+//================================ Functions ================================
 //===========================================================================
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
-FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
-{
-  if (acceleration!=0) {
-    return((target_rate*target_rate-initial_rate*initial_rate)/
-      (2.0*acceleration));
-  }
-  else {
-    return 0.0;  // acceleration was 0, set acceleration distance to 0
-  }
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+  if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
+  return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
 }
 
 // This function gives you the point at which you must start braking (at the rate of -acceleration) if 
@@ -167,67 +148,55 @@ FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float targ
 // a total travel of distance. This can be used to compute the intersection point between acceleration and
 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
 
-FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) 
-{
-  if (acceleration!=0) {
-    return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
-      (4.0*acceleration) );
-  }
-  else {
-    return 0.0;  // acceleration was 0, set intersection distance to 0
-  }
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
+  if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
+  return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
 }
 
 // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
 
 void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
-  unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
-  unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
+  unsigned long initial_rate = ceil(block->nominal_rate * entry_factor); // (step/min)
+  unsigned long final_rate = ceil(block->nominal_rate * exit_factor); // (step/min)
 
   // Limit minimal step rate (Otherwise the timer will overflow.)
-  if(initial_rate <120) {
-    initial_rate=120; 
-  }
-  if(final_rate < 120) {
-    final_rate=120;  
-  }
+  if (initial_rate < 120) initial_rate = 120;
+  if (final_rate < 120) final_rate = 120;
 
   long acceleration = block->acceleration_st;
-  int32_t accelerate_steps =
-    ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
-  int32_t decelerate_steps =
-    floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
+  int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
+  int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
 
   // Calculate the size of Plateau of Nominal Rate.
-  int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
+  int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
 
   // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
   // have to use intersection_distance() to calculate when to abort acceleration and start braking
   // in order to reach the final_rate exactly at the end of this block.
   if (plateau_steps < 0) {
     accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
-    accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
-    accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
+    accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
+    accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
     plateau_steps = 0;
   }
 
-#ifdef ADVANCE
-  volatile long initial_advance = block->advance*entry_factor*entry_factor; 
-  volatile long final_advance = block->advance*exit_factor*exit_factor;
-#endif // ADVANCE
+  #ifdef ADVANCE
+    volatile long initial_advance = block->advance * entry_factor * entry_factor; 
+    volatile long final_advance = block->advance * exit_factor * exit_factor;
+  #endif // ADVANCE
 
   // block->accelerate_until = accelerate_steps;
   // block->decelerate_after = accelerate_steps+plateau_steps;
   CRITICAL_SECTION_START;  // Fill variables used by the stepper in a critical section
-  if(block->busy == false) { // Don't update variables if block is busy.
+  if (!block->busy) { // Don't update variables if block is busy.
     block->accelerate_until = accelerate_steps;
     block->decelerate_after = accelerate_steps+plateau_steps;
     block->initial_rate = initial_rate;
     block->final_rate = final_rate;
-#ifdef ADVANCE
-    block->initial_advance = initial_advance;
-    block->final_advance = final_advance;
-#endif //ADVANCE
+    #ifdef ADVANCE
+      block->initial_advance = initial_advance;
+      block->final_advance = final_advance;
+    #endif //ADVANCE
   }
   CRITICAL_SECTION_END;
 }                    
@@ -235,23 +204,12 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
 // acceleration within the allotted distance.
 FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
-  return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
+  return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
 }
 
-// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
-// This method will calculate the junction jerk as the euclidean distance between the nominal 
-// velocities of the respective blocks.
-//inline float junction_jerk(block_t *before, block_t *after) {
-//  return sqrt(
-//    pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
-//}
-
-
 // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
 void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!current) { 
-    return; 
-  }
+  if (!current) return;
 
   if (next) {
     // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@@ -261,9 +219,9 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 
       // If nominal length true, max junction speed is guaranteed to be reached. Only compute
       // for max allowable speed if block is decelerating and nominal length is false.
-      if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
-        current->entry_speed = min( current->max_entry_speed,
-        max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
+      if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
+        current->entry_speed = min(current->max_entry_speed,
+          max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
       } 
       else {
         current->entry_speed = current->max_entry_speed;
@@ -281,15 +239,14 @@ void planner_reverse_pass() {
   
   //Make a local copy of block_buffer_tail, because the interrupt can alter it
   CRITICAL_SECTION_START;
-  unsigned char tail = block_buffer_tail;
+    unsigned char tail = block_buffer_tail;
   CRITICAL_SECTION_END
   
-  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
-    block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
-    block_t *block[3] = { 
-      NULL, NULL, NULL         };
-    while(block_index != tail) { 
-      block_index = prev_block_index(block_index); 
+  if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
+    block_index = BLOCK_MOD(block_buffer_head - 3);
+    block_t *block[3] = { NULL, NULL, NULL };
+    while (block_index != tail) {
+      block_index = prev_block_index(block_index);
       block[2]= block[1];
       block[1]= block[0];
       block[0] = &block_buffer[block_index];
@@ -300,9 +257,7 @@ void planner_reverse_pass() {
 
 // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
 void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!previous) { 
-    return; 
-  }
+  if (!previous) return;
 
   // If the previous block is an acceleration block, but it is not long enough to complete the
   // full speed change within the block, we need to adjust the entry speed accordingly. Entry
@@ -310,8 +265,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
   // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
   if (!previous->nominal_length_flag) {
     if (previous->entry_speed < current->entry_speed) {
-      double entry_speed = min( current->entry_speed,
-      max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
+      double entry_speed = min(current->entry_speed,
+        max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
 
       // Check for junction speed change
       if (current->entry_speed != entry_speed) {
@@ -322,18 +277,17 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
   }
 }
 
-// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
+// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
 // implements the forward pass.
 void planner_forward_pass() {
   uint8_t block_index = block_buffer_tail;
-  block_t *block[3] = { 
-    NULL, NULL, NULL   };
+  block_t *block[3] = { NULL, NULL, NULL };
 
-  while(block_index != block_buffer_head) {
+  while (block_index != block_buffer_head) {
     block[0] = block[1];
     block[1] = block[2];
     block[2] = &block_buffer[block_index];
-    planner_forward_pass_kernel(block[0],block[1],block[2]);
+    planner_forward_pass_kernel(block[0], block[1], block[2]);
     block_index = next_block_index(block_index);
   }
   planner_forward_pass_kernel(block[1], block[2], NULL);
@@ -347,24 +301,24 @@ void planner_recalculate_trapezoids() {
   block_t *current;
   block_t *next = NULL;
 
-  while(block_index != block_buffer_head) {
+  while (block_index != block_buffer_head) {
     current = next;
     next = &block_buffer[block_index];
     if (current) {
       // Recalculate if current block entry or exit junction speed has changed.
       if (current->recalculate_flag || next->recalculate_flag) {
         // NOTE: Entry and exit factors always > 0 by all previous logic operations.
-        calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
-        next->entry_speed/current->nominal_speed);
+        float nom = current->nominal_speed;
+        calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
         current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
       }
     }
     block_index = next_block_index( block_index );
   }
   // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
-  if(next != NULL) {
-    calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
-    MINIMUM_PLANNER_SPEED/next->nominal_speed);
+  if (next) {
+    float nom = next->nominal_speed;
+    calculate_trapezoid_for_block(next, next->entry_speed / nom, MINIMUM_PLANNER_SPEED / nom);
     next->recalculate_flag = false;
   }
 }
@@ -393,161 +347,130 @@ void planner_recalculate() {
 }
 
 void plan_init() {
-  block_buffer_head = 0;
-  block_buffer_tail = 0;
+  block_buffer_head = block_buffer_tail = 0;
   memset(position, 0, sizeof(position)); // clear position
-  previous_speed[0] = 0.0;
-  previous_speed[1] = 0.0;
-  previous_speed[2] = 0.0;
-  previous_speed[3] = 0.0;
+  for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0; 
   previous_nominal_speed = 0.0;
 }
 
-
-
-
 #ifdef AUTOTEMP
-void getHighESpeed()
-{
-  static float oldt=0;
-  if(!autotemp_enabled){
-    return;
-  }
-  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
-    return; //do nothing
-  }
+  void getHighESpeed() {
+    static float oldt = 0;
 
-  float high=0.0;
-  uint8_t block_index = block_buffer_tail;
+    if (!autotemp_enabled) return;
+    if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
 
-  while(block_index != block_buffer_head) {
-    if((block_buffer[block_index].steps_x != 0) ||
-      (block_buffer[block_index].steps_y != 0) ||
-      (block_buffer[block_index].steps_z != 0)) {
-      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
-      //se; mm/sec;
-      if(se>high)
-      {
-        high=se;
+    float high = 0.0;
+    uint8_t block_index = block_buffer_tail;
+
+    while (block_index != block_buffer_head) {
+      block_t *block = &block_buffer[block_index];
+      if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
+        float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
+        if (se > high) high = se;
       }
+      block_index = next_block_index(block_index);
     }
-    block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
-  }
 
-  float g=autotemp_min+high*autotemp_factor;
-  float t=g;
-  if(t<autotemp_min)
-    t=autotemp_min;
-  if(t>autotemp_max)
-    t=autotemp_max;
-  if(oldt>t)
-  {
-    t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
+    float t = autotemp_min + high * autotemp_factor;
+    if (t < autotemp_min) t = autotemp_min;
+    if (t > autotemp_max) t = autotemp_max;
+    if (oldt > t) t = AUTOTEMP_OLDWEIGHT * oldt + (1 - AUTOTEMP_OLDWEIGHT) * t;
+    oldt = t;
+    setTargetHotend0(t);
   }
-  oldt=t;
-  setTargetHotend0(t);
-}
 #endif
 
-void check_axes_activity()
-{
-  unsigned char x_active = 0;
-  unsigned char y_active = 0;  
-  unsigned char z_active = 0;
-  unsigned char e_active = 0;
-  unsigned char tail_fan_speed = fanSpeed;
+void check_axes_activity() {
+  unsigned char axis_active[NUM_AXIS],
+                tail_fan_speed = fanSpeed;
   #ifdef BARICUDA
-  unsigned char tail_valve_pressure = ValvePressure;
-  unsigned char tail_e_to_p_pressure = EtoPPressure;
+    unsigned char tail_valve_pressure = ValvePressure,
+                  tail_e_to_p_pressure = EtoPPressure;
   #endif
   #ifdef LASERBEAM
-  unsigned char tail_laser_ttl_modulation = laser_ttl_modulation;
+    unsigned char tail_laser_ttl_modulation = laser_ttl_modulation;
   #endif
   block_t *block;
 
-  if(block_buffer_tail != block_buffer_head)
-  {
+  if (blocks_queued()) {
     uint8_t block_index = block_buffer_tail;
     tail_fan_speed = block_buffer[block_index].fan_speed;
     #ifdef BARICUDA
-    tail_valve_pressure = block_buffer[block_index].valve_pressure;
-    tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+      block = &block_buffer[block_index];
+      tail_valve_pressure = block->valve_pressure;
+      tail_e_to_p_pressure = block->e_to_p_pressure;
     #endif
     #ifdef LASERBEAM
-    tail_laser_ttl_modulation = block_buffer[block_index].laser_ttlmodulation;
+      tail_laser_ttl_modulation = block_buffer[block_index].laser_ttlmodulation;
     #endif
 
-    while(block_index != block_buffer_head)
-    {
+    while (block_index != block_buffer_head) {
       block = &block_buffer[block_index];
-      if(block->steps_x != 0) x_active++;
-      if(block->steps_y != 0) y_active++;
-      if(block->steps_z != 0) z_active++;
-      if(block->steps_e != 0) e_active++;
-      block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+      for (int i=0; i<NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
+      block_index = next_block_index(block_index);
     }
   }
-  if((DISABLE_X) && (x_active == 0)) disable_x();
-  if((DISABLE_Y) && (y_active == 0)) disable_y();
-  if((DISABLE_Z) && (z_active == 0)) disable_z();
-  if((DISABLE_E) && (e_active == 0))
-  {
+  if (DISABLE_X && !axis_active[X_AXIS]) disable_x();
+  if (DISABLE_Y && !axis_active[Y_AXIS]) disable_y();
+  if (DISABLE_Z && !axis_active[Z_AXIS]) disable_z();
+  if (DISABLE_E && !axis_active[E_AXIS]) {
     disable_e0();
     disable_e1();
-    disable_e2(); 
+    disable_e2();
     disable_e3();
   }
-#if defined(FAN_PIN) && FAN_PIN > -1
-  #ifdef FAN_KICKSTART_TIME
-    static unsigned long fan_kick_end;
-    if (tail_fan_speed) {
-      if (fan_kick_end == 0) {
-        // Just starting up fan - run at full power.
-        fan_kick_end = millis() + FAN_KICKSTART_TIME;
-        tail_fan_speed = 255;
-      } else if (fan_kick_end > millis())
-        // Fan still spinning up.
-        tail_fan_speed = 255;
-    } else {
-      fan_kick_end = 0;
-    }
-  #endif//FAN_KICKSTART_TIME
-  #ifdef FAN_SOFT_PWM
-  fanSpeedSoftPwm = tail_fan_speed;
-  #else
-  analogWrite(FAN_PIN,tail_fan_speed);
-  #endif//!FAN_SOFT_PWM
-#endif//FAN_PIN > -1
-#ifdef AUTOTEMP
-  getHighESpeed();
-#endif
 
-#ifdef BARICUDA
-  #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
-      analogWrite(HEATER_1_PIN,tail_valve_pressure);
+  #if defined(FAN_PIN) && FAN_PIN > -1 // HAS_FAN
+    #ifdef FAN_KICKSTART_TIME
+      static unsigned long fan_kick_end;
+      if (tail_fan_speed) {
+        if (fan_kick_end == 0) {
+          // Just starting up fan - run at full power.
+          fan_kick_end = millis() + FAN_KICKSTART_TIME;
+          tail_fan_speed = 255;
+        } else if (fan_kick_end > millis())
+          // Fan still spinning up.
+          tail_fan_speed = 255;
+        } else {
+          fan_kick_end = 0;
+        }
+    #endif//FAN_KICKSTART_TIME
+    #ifdef FAN_SOFT_PWM
+      fanSpeedSoftPwm = tail_fan_speed;
+    #else
+      analogWrite(FAN_PIN, tail_fan_speed);
+    #endif //!FAN_SOFT_PWM
+  #endif //FAN_PIN > -1
+
+  #ifdef AUTOTEMP
+    getHighESpeed();
   #endif
 
-  #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
+  #ifdef BARICUDA
+    #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 // HAS_HEATER_1
+      analogWrite(HEATER_1_PIN,tail_valve_pressure);
+    #endif
+    #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 // HAS_HEATER_2
       analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
+    #endif
   #endif
-#endif
-
-// add Laser TTL Modulation(PWM) Control 
-#ifdef LASERBEAM
-  analogWrite(LASER_TTL_PIN, tail_laser_ttl_modulation);
-#endif
 
+  // add Laser TTL Modulation(PWM) Control
+  #ifdef LASERBEAM
+    analogWrite(LASER_TTL_PIN, tail_laser_ttl_modulation);
+  #endif
 }
 
 
 float junction_deviation = 0.1;
-// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
+// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
 #ifdef ENABLE_AUTO_BED_LEVELING
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, const uint8_t &driver)
+  void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, const uint8_t &driver)
 #else
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder, const uint8_t &driver)
+  void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder, const uint8_t &driver)
 #endif  //ENABLE_AUTO_BED_LEVELING
 {
   // Calculate the buffer head after we push this byte
@@ -555,68 +478,64 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 
   // If the buffer is full: good! That means we are well ahead of the robot. 
   // Rest here until there is room in the buffer.
-  while(block_buffer_tail == next_buffer_head)
-  {
+  while(block_buffer_tail == next_buffer_head) {
     manage_heater(); 
     manage_inactivity(); 
     lcd_update();
   }
 
-#ifdef ENABLE_AUTO_BED_LEVELING
-  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
-#endif // ENABLE_AUTO_BED_LEVELING
+  #ifdef ENABLE_AUTO_BED_LEVELING
+    apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+  #endif // ENABLE_AUTO_BED_LEVELING
 
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
-  long target[4];
-  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 + active_extruder]);
-
-#ifdef PREVENT_DANGEROUS_EXTRUDE
-#ifdef NPR2
-  if(target[E_AXIS]!=position[E_AXIS])
-  {
-    if (active_extruder!=1)
-    {
-      if(degHotend(active_extruder)<extrude_min_temp && !debugDryrun())
-      {
-        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
-      }
-    }
-#else // NO NPR2
-  if(target[E_AXIS]!=position[E_AXIS])
-  {
-    if(degHotend(active_extruder)<extrude_min_temp && !debugDryrun())
-    {
-      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
-      SERIAL_ECHO_START;
-      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
-    }
-#endif // NPR2
-
-#ifdef PREVENT_LENGTHY_EXTRUDE
-    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[active_extruder+3]*EXTRUDE_MAXLENGTH)
-    {
-#ifdef EASY_LOAD
-      if (!allow_lengthy_extrude_once) {
-#endif
-        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
-#ifdef EASY_LOAD
-      }
-      allow_lengthy_extrude_once = false;
-#endif
+  long target[NUM_AXIS];
+  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 + active_extruder]);
+
+  float dx = target[X_AXIS] - position[X_AXIS],
+        dy = target[Y_AXIS] - position[Y_AXIS],
+        dz = target[Z_AXIS] - position[Z_AXIS],
+        de = target[E_AXIS] - position[E_AXIS];
+
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
+    if (de) {
+      #ifdef NPR2
+        if (active_extruder!=1) {
+          if(degHotend(active_extruder) < extrude_min_temp && !debugDryrun()) {
+            position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
+            SERIAL_ECHO_START;
+            SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+          }
+        }
+      #else // NO NPR2
+        if(degHotend(active_extruder) < extrude_min_temp && !debugDryrun()) {
+          position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
+          SERIAL_ECHO_START;
+          SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+        }
+      #endif // NPR2
+
+      #ifdef PREVENT_LENGTHY_EXTRUDE
+        if(labs(de) > axis_steps_per_unit[E_AXIS + active_extruder] * EXTRUDE_MAXLENGTH) {
+          #ifdef EASY_LOAD
+            if (!allow_lengthy_extrude_once) {
+          #endif
+          position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
+          SERIAL_ECHO_START;
+          SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+          #ifdef EASY_LOAD
+            }
+            allow_lengthy_extrude_once = false;
+          #endif
+        }
+      #endif // PREVENT_LENGTHY_EXTRUDE
     }
-#endif // PREVENT_LENGTHY_EXTRUDE
-  }
-
-#endif // PREVENT_DANGEROUS_EXTRUDE
+  #endif // PREVENT_DANGEROUS_EXTRUDE
 
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
@@ -625,140 +544,125 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->busy = false;
 
   // Number of steps for each axis
-#ifndef COREXY
-// default non-h-bot planning
-block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
-block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
-#else
-// corexy planning
-// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
-block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
-block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
-#endif
-  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
-  block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
-  block->steps_e *= volumetric_multiplier[active_extruder];
-  block->steps_e *= extruder_multiplier[active_extruder];
-  block->steps_e /= 100;
-  block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
+  #ifdef COREXY
+    // corexy planning
+    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+    block->steps[A_AXIS] = labs(dx + dy);
+    block->steps[B_AXIS] = labs(dx - dy);
+  #else
+    // default non-h-bot planning
+    block->steps[X_AXIS] = labs(dx);
+    block->steps[Y_AXIS] = labs(dy);
+  #endif
+
+  block->steps[Z_AXIS] = labs(dz);
+  block->steps[E_AXIS] = labs(de);
+  block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
+  block->steps[E_AXIS] *= extruder_multiplier[active_extruder];
+  block->steps[E_AXIS] /= 100;
+  block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
 
   // Bail if this is a zero-length block
-  if (block->step_event_count <= dropsegments)
-  { 
-    return; 
-  }
+  if (block->step_event_count <= dropsegments) return;
 
   block->fan_speed = fanSpeed;
   #ifdef BARICUDA
-  block->valve_pressure = ValvePressure;
-  block->e_to_p_pressure = EtoPPressure;
+    block->valve_pressure = ValvePressure;
+    block->e_to_p_pressure = EtoPPressure;
   #endif
   
   // Add update block variables for LASER BEAM control 
   #ifdef LASERBEAM
-  block->laser_ttlmodulation = laser_ttl_modulation;
+    block->laser_ttlmodulation = laser_ttl_modulation;
   #endif
 
   // Compute direction bits for this block 
-  block->direction_bits = 0;
-#ifndef COREXY
-  if (target[X_AXIS] < position[X_AXIS])
-  {
-    block->direction_bits |= BIT(X_AXIS); 
-  }
-  if (target[Y_AXIS] < position[Y_AXIS])
-  {
-    block->direction_bits |= BIT(Y_AXIS); 
-  }
-#else //COREXY
-  if (target[X_AXIS] < position[X_AXIS])
-  {
-    block->direction_bits |= BIT(X_HEAD);
-  }
-  if (target[Y_AXIS] < position[Y_AXIS])
-  {
-    block->direction_bits |= BIT(Y_HEAD);
-  }
-  if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
-  {
-    block->direction_bits |= BIT(X_AXIS);
-  }
-  if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
-  {
-    block->direction_bits |= BIT(Y_AXIS);
-  }
-#endif //COREXY
-  if (target[Z_AXIS] < position[Z_AXIS])
-  {
-    block->direction_bits |= BIT(Z_AXIS); 
-  }
-  if (target[E_AXIS] < position[E_AXIS])
-  {
-    block->direction_bits |= BIT(E_AXIS); 
-  }
+  uint8_t db = 0;
+  #ifdef COREXY
+    if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
+    if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
+    if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
+    if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
+  #else
+    if (dx < 0) db |= BIT(X_AXIS);
+    if (dy < 0) db |= BIT(Y_AXIS); 
+  #endif
+  if (dz < 0) db |= BIT(Z_AXIS);
+  if (de < 0) db |= BIT(E_AXIS); 
+  block->direction_bits = db;
 
   block->active_driver = driver;
 
   //enable active axes
   #ifdef COREXY
-    if((block->steps_x != 0) || (block->steps_y != 0)) {
-    enable_x();
-    enable_y();
+    if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
+      enable_x();
+      enable_y();
     }
-  #else //NO COREXY
-    if(block->steps_x != 0) enable_x();
-    if(block->steps_y != 0) enable_y();
-  #endif //NOCOREXY
+  #else
+    if (block->steps[X_AXIS]) enable_x();
+    if (block->steps[Y_AXIS]) enable_y();
+  #endif
+
   #ifndef Z_LATE_ENABLE
-    if(block->steps_z != 0) enable_z();
+    if (block->steps[Z_AXIS]) enable_z();
   #endif
 
   // Enable extruder(s)
-  if(block->steps_e != 0)
-  {
+  if (block->steps[E_AXIS]) {
     #if !defined(MKR4) && !defined(NPR2)
-      if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
-      {
+      if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
 
-        if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
-        if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
-        if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
-        if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
+        for (int i=0; i<EXTRUDERS; i++)
+          if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
 
-        switch(extruder)
-        {
+        switch(extruder) {
           case 0:
             enable_e0();
-            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
-
-            if(g_uc_extruder_last_move[1] == 0) disable_e1();
-            if(g_uc_extruder_last_move[2] == 0) disable_e2();
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
-          break;
-          case 1:
-            enable_e1();
-            g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
-
-            if(g_uc_extruder_last_move[0] == 0) disable_e0();
-            if(g_uc_extruder_last_move[2] == 0) disable_e2();
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
-          break;
-          case 2:
-            enable_e2();
-            g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
-
-            if(g_uc_extruder_last_move[0] == 0) disable_e0();
-            if(g_uc_extruder_last_move[1] == 0) disable_e1();
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
-          break;
-          case 3:
-            enable_e3();
-            g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
-
-            if(g_uc_extruder_last_move[0] == 0) disable_e0();
-            if(g_uc_extruder_last_move[1] == 0) disable_e1();
-            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
+            #if EXTRUDERS > 1
+              if (g_uc_extruder_last_move[1] == 0) disable_e1();
+              #if EXTRUDERS > 2
+                if (g_uc_extruder_last_move[2] == 0) disable_e2();
+                #if EXTRUDERS > 3
+                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                #endif
+              #endif
+            #endif
           break;
+          #if EXTRUDERS > 1
+            case 1:
+              enable_e1();
+              g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
+              if (g_uc_extruder_last_move[0] == 0) disable_e0();
+              #if EXTRUDERS > 2
+                if (g_uc_extruder_last_move[2] == 0) disable_e2();
+                #if EXTRUDERS > 3
+                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                #endif
+              #endif
+            break;
+            #if EXTRUDERS > 2
+              case 2:
+                enable_e2();
+                g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
+                if (g_uc_extruder_last_move[0] == 0) disable_e0();
+                if (g_uc_extruder_last_move[1] == 0) disable_e1();
+                #if EXTRUDERS > 3
+                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
+                #endif
+              break;
+              #if EXTRUDERS > 3
+                case 3:
+                  enable_e3();
+                  g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
+                  if (g_uc_extruder_last_move[0] == 0) disable_e0();
+                  if (g_uc_extruder_last_move[1] == 0) disable_e1();
+                  if (g_uc_extruder_last_move[2] == 0) disable_e2();
+                break;
+              #endif // EXTRUDERS > 3
+            #endif // EXTRUDERS > 2
+          #endif // EXTRUDERS > 1
         }
       }
       else //enable all
@@ -785,133 +689,110 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
         break;
       }
     #endif //!MKR4 && !NPR2
+    if (feed_rate < minimumfeedrate) feed_rate = minimumfeedrate;
   }
+  else if (feed_rate < mintravelfeedrate) feed_rate = mintravelfeedrate;
 
-  if (block->steps_e == 0)
-  {
-    if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
-  }
-  else
-  {
-    if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
-  } 
-
-/* This part of the code calculates the total length of the movement. 
-For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
-But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
-and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
-So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. 
-Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
-*/ 
-  #ifndef COREXY
-    float delta_mm[4];
-    delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
-  #else
+
+  /**
+   * This part of the code calculates the total length of the movement. 
+   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
+   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. 
+   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+   */ 
+  #ifdef COREXY
     float delta_mm[6];
-    delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
-    delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
+    delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
+    delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
+    delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
+    delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
+  #else
+    float delta_mm[4];
+    delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
+    delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
   #endif
-  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[active_extruder+3])*volumetric_multiplier[active_extruder]*extruder_multiplier[active_extruder]/100.0;
-  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
-  {
+  delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
+  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS + active_extruder]) * volumetric_multiplier[active_extruder] * extruder_multiplier[active_extruder] / 100.0;
+  
+  if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
     block->millimeters = fabs(delta_mm[E_AXIS]);
-  } 
-  else
-  {
-    #ifndef COREXY
-      block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
-    #else
-      block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
-    #endif	
   }
-  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
+  else {
+    block->millimeters = sqrt(
+      #ifdef COREXY
+        square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
+      #else
+        square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
+      #endif
+      + square(delta_mm[Z_AXIS])
+    );
+  }
+  float inverse_millimeters = 1.0 / block->millimeters;  // Inverse millimeters to remove multiple divides 
 
-    // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
+  // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
   float inverse_second = feed_rate * inverse_millimeters;
 
-  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+  int moves_queued = movesplanned();
 
   // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-#ifdef OLD_SLOWDOWN
-  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
-    feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-#endif
+  #ifdef OLD_SLOWDOWN
+    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
+      feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+  #endif
 
-#ifdef SLOWDOWN
-  //  segment time im micro seconds
-  unsigned long segment_time = lround(1000000.0/inverse_second);
-  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
-  {
-    if (segment_time < minsegmenttime)
-    { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-      inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
-      #ifdef XY_FREQUENCY_LIMIT
-         segment_time = lround(1000000.0/inverse_second);
-      #endif
+  #ifdef SLOWDOWN
+    //  segment time im micro seconds
+    unsigned long segment_time = lround(1000000.0 / inverse_second);
+    if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
+      if (segment_time < minsegmenttime) {
+        // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
+        inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
+        #ifdef XY_FREQUENCY_LIMIT
+           segment_time = lround(1000000.0 / inverse_second);
+        #endif
+      }
     }
-  }
-#endif // SLOWDOWN
-  //  END OF SLOW DOWN SECTION    
-
+  #endif // SLOWDOWN
+  //  END OF SLOW DOWN SECTION
 
   block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
   block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
 
-#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
-  //FMM update ring buffer used for delay with filament measurements
-  
-  
-    if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1))  //only for extruder with filament sensor and if ring buffer is initialized
-  	  {
-    delay_dist = delay_dist + delta_mm[E_AXIS];  //increment counter with next move in e axis
-  
-    while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1)))  //check if counter is over max buffer size in mm
-      	  delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1);  //loop around the buffer
-    while (delay_dist<0)
-    	  delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
-      
-    delay_index1=delay_dist/10.0;  //calculate index
-    
-    //ensure the number is within range of the array after converting from floating point
-    if(delay_index1<0)
-    	delay_index1=0;
-    else if (delay_index1>MAX_MEASUREMENT_DELAY)
-    	delay_index1=MAX_MEASUREMENT_DELAY;
-    	
-    if(delay_index1 != delay_index2)  //moved index
-  	  {
-    	meas_sample=widthFil_to_size_ratio()-100;  //subtract off 100 to reduce magnitude - to store in a signed char
-  	  }
-    while( delay_index1 != delay_index2)
-  	  {
-  	  delay_index2 = delay_index2 + 1;
-  	if(delay_index2>MAX_MEASUREMENT_DELAY)
-  			  delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1);  //loop around buffer when incrementing
-  	  if(delay_index2<0)
-  		delay_index2=0;
-  	  else if (delay_index2>MAX_MEASUREMENT_DELAY)
-  		delay_index2=MAX_MEASUREMENT_DELAY;  
-  	  
-  	  measurement_delay[delay_index2]=meas_sample;
-  	  }
-    	
-    
-  	  }
-#endif
+  #ifdef FILAMENT_SENSOR
+    //FMM update ring buffer used for delay with filament measurements
 
+    if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
+
+      const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
+
+      delay_dist += delta_mm[E_AXIS];  //increment counter with next move in e axis
+      while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
+      while (delay_dist < 0) delay_dist += MMD10;
+
+      delay_index1 = delay_dist / 10.0;  // calculate index
+      delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
+
+      if (delay_index1 != delay_index2) { // moved index
+        meas_sample = widthFil_to_size_ratio() - 100;  // Subtract 100 to reduce magnitude - to store in a signed char
+        while (delay_index1 != delay_index2) {
+          // Increment and loop around buffer
+          if (++delay_index2 >= MMD) delay_index2 -= MMD;
+          delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
+          measurement_delay[delay_index2] = meas_sample;
+        }
+      }
+    }
+  #endif
 
   // Calculate and limit speed in mm/sec for each axis
   float current_speed[4];
   float speed_factor = 1.0; //factor <=1 do decrease speed
-  for(int i=0; i < 3; i++)
-  {
+  for(int i=0; i < 3; i++) {
     current_speed[i] = delta_mm[i] * inverse_second;
-    if(fabs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
+    float cs = fabs(current_speed[i]), mf = max_feedrate[i];
+    if (cs > mf) speed_factor = min(speed_factor, mf / cs);
   }
 
   current_speed[E_AXIS] = delta_mm[E_AXIS] * inverse_second;
@@ -927,118 +808,111 @@ Having the real displacement of the head, we can calculate the total movement le
   }
 
   // Max segement time in us.
-#ifdef XY_FREQUENCY_LIMIT
-#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-  // Check and limit the xy direction change frequency
-  unsigned char direction_change = block->direction_bits ^ old_direction_bits;
-  old_direction_bits = block->direction_bits;
-  segment_time = lround((float)segment_time / speed_factor);
-  
-  if((direction_change & BIT(X_AXIS)) == 0)
-  {
-    x_segment_time[0] += segment_time;
-  }
-  else
-  {
-    x_segment_time[2] = x_segment_time[1];
-    x_segment_time[1] = x_segment_time[0];
-    x_segment_time[0] = segment_time;
-  }
-  if((direction_change & BIT(Y_AXIS)) == 0)
-  {
-    y_segment_time[0] += segment_time;
-  }
-  else
-  {
-    y_segment_time[2] = y_segment_time[1];
-    y_segment_time[1] = y_segment_time[0];
-    y_segment_time[0] = segment_time;
-  }
-  long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
-  long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
-  long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
-  if(min_xy_segment_time < MAX_FREQ_TIME)
-    speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
-#endif // XY_FREQUENCY_LIMIT
+  #ifdef XY_FREQUENCY_LIMIT
+    #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+    // Check and limit the xy direction change frequency
+    unsigned char direction_change = block->direction_bits ^ old_direction_bits;
+    old_direction_bits = block->direction_bits;
+    segment_time = lround((float)segment_time / speed_factor);
+    
+    if((direction_change & BIT(X_AXIS)) == 0) {
+      x_segment_time[0] += segment_time;
+    }
+    else {
+      x_segment_time[2] = x_segment_time[1];
+      x_segment_time[1] = x_segment_time[0];
+      x_segment_time[0] = segment_time;
+    }
+
+    if((direction_change & BIT(Y_AXIS)) == 0) {
+      y_segment_time[0] += segment_time;
+    }
+    else {
+      y_segment_time[2] = y_segment_time[1];
+      y_segment_time[1] = y_segment_time[0];
+      y_segment_time[0] = segment_time;
+    }
+
+    long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
+    long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
+    long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
+    if(min_xy_segment_time < MAX_FREQ_TIME)
+      speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
+  #endif // XY_FREQUENCY_LIMIT
 
   // Correct the speed  
-  if( speed_factor < 1.0)
-  {
-    for(unsigned char i=0; i < 4; i++)
-    {
+  if( speed_factor < 1.0) {
+    for(unsigned char i=0; i < 4; i++) {
       current_speed[i] *= speed_factor;
     }
     block->nominal_speed *= speed_factor;
     block->nominal_rate *= speed_factor;
   }
 
-  // Compute and limit the acceleration rate for the trapezoid generator.  
+  // Compute and limit the acceleration rate for the trapezoid generator.
   float steps_per_mm = block->step_event_count/block->millimeters;
-  if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
-  {
+  if(block->steps[X_AXIS] == 0 && block->steps[Y_AXIS] == 0 && block->steps[Z_AXIS] == 0) {
     block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
-  else if(block->steps_e == 0)
-  {
+  else if(block->steps[E_AXIS] == 0) {
     block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
-  else
-  {
+  else {
     block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
   // Limit acceleration per axis
-  if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps[X_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
     block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
-  if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps[Y_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
     block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
-  if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps[E_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
     block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
-  if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps[Z_AXIS] / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
     block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  
   block->acceleration = block->acceleration_st / steps_per_mm;
   block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
 
-#if 0  // Use old jerk for now
-  // Compute path unit vector
-  double unit_vec[3];
-
-  unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
-  unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
-  unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
-
-  // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
-  // Let a circle be tangent to both previous and current path line segments, where the junction
-  // deviation is defined as the distance from the junction to the closest edge of the circle,
-  // colinear with the circle center. The circular segment joining the two paths represents the
-  // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
-  // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
-  // path width or max_jerk in the previous grbl version. This approach does not actually deviate
-  // from path, but used as a robust way to compute cornering speeds, as it takes into account the
-  // nonlinearities of both the junction angle and junction velocity.
-  double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
-
-  // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
-  if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
-    // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
-    // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
-    double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
-      - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
-      - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
-
-    // Skip and use default max junction speed for 0 degree acute junction.
-    if (cos_theta < 0.95) {
-      vmax_junction = min(previous_nominal_speed,block->nominal_speed);
-      // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
-      if (cos_theta > -0.95) {
-        // Compute maximum junction velocity based on maximum acceleration and junction deviation
-        double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
-        vmax_junction = min(vmax_junction,
-        sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+  #if 0  // Use old jerk for now
+    // Compute path unit vector
+    double unit_vec[3];
+
+    unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
+    unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
+    unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
+
+    // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
+    // Let a circle be tangent to both previous and current path line segments, where the junction
+    // deviation is defined as the distance from the junction to the closest edge of the circle,
+    // colinear with the circle center. The circular segment joining the two paths represents the
+    // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
+    // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
+    // path width or max_jerk in the previous grbl version. This approach does not actually deviate
+    // from path, but used as a robust way to compute cornering speeds, as it takes into account the
+    // nonlinearities of both the junction angle and junction velocity.
+    double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
+
+    // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
+    if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+      // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
+      // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
+      double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
+        - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+        - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+
+      // Skip and use default max junction speed for 0 degree acute junction.
+      if (cos_theta < 0.95) {
+        vmax_junction = min(previous_nominal_speed,block->nominal_speed);
+        // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
+        if (cos_theta > -0.95) {
+          // Compute maximum junction velocity based on maximum acceleration and junction deviation
+          double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
+          vmax_junction = min(vmax_junction,
+          sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+        }
       }
     }
-  }
-#endif
+  #endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2; 
   float vmax_junction_factor = 1.0; 
@@ -1091,33 +965,32 @@ Having the real displacement of the head, we can calculate the total movement le
   memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
   previous_nominal_speed = block->nominal_speed;
 
-
-#ifdef ADVANCE
-  // Calculate advance rate
-  if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
-    block->advance_rate = 0;
-    block->advance = 0;
-  }
-  else {
-    long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
-    float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
-      (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
-    block->advance = advance;
-    if(acc_dist == 0) {
+  #ifdef ADVANCE
+    // Calculate advance rate
+    if((block->steps[E_AXIS] == 0) || (block->steps[X_AXIS] == 0 && block->steps[Y_AXIS] == 0 && block->steps[Z_AXIS] == 0)) {
       block->advance_rate = 0;
-    } 
+      block->advance = 0;
+    }
     else {
-      block->advance_rate = advance / (float)acc_dist;
+      long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+      float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
+        (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
+      block->advance = advance;
+      if(acc_dist == 0) {
+        block->advance_rate = 0;
+      } 
+      else {
+        block->advance_rate = advance / (float)acc_dist;
+      }
     }
-  }
-  /*
-    SERIAL_ECHO_START;
-   SERIAL_ECHOPGM("advance :");
-   SERIAL_ECHO(block->advance/256.0);
-   SERIAL_ECHOPGM("advance rate :");
-   SERIAL_ECHOLN(block->advance_rate/256.0);
-   */
-#endif // ADVANCE
+    /*
+      SERIAL_ECHO_START;
+     SERIAL_ECHOPGM("advance :");
+     SERIAL_ECHO(block->advance/256.0);
+     SERIAL_ECHOPGM("advance rate :");
+     SERIAL_ECHOLN(block->advance_rate/256.0);
+     */
+  #endif // ADVANCE
 
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
   safe_speed/block->nominal_speed);

MarlinKimbra/planner.h

@@ -34,7 +34,7 @@
 // the source g-code and may never actually be reached if acceleration management is active.
 typedef struct {
   // Fields used by the bresenham algorithm for tracing the line
-  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
+  long steps[NUM_AXIS];                     // Step count along each axis
   unsigned long step_event_count;           // The number of step events required to complete this block
   long accelerate_until;                    // The index of the step event on which to stop acceleration
   long decelerate_after;                    // The index of the step event on which to start decelerating
@@ -49,7 +49,7 @@ typedef struct {
   #endif
 
   // Fields used by the motion planner to manage acceleration
-  //  float speed_x, speed_y, speed_z, speed_e;      // Nominal mm/sec for each axis
+  // float speed_x, speed_y, speed_z, speed_e;       // Nominal mm/sec for each axis
   float nominal_speed;                               // The nominal speed for this block in mm/sec 
   float entry_speed;                                 // Entry speed at previous-current junction in mm/sec
   float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec
@@ -74,6 +74,8 @@ typedef struct {
   volatile char busy;
 } block_t;
 
+#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
+
 #ifdef ENABLE_AUTO_BED_LEVELING
 // this holds the required transform to compensate for bed level
 extern matrix_3x3 plan_bed_level_matrix;

MarlinKimbra/stepper.cpp

@@ -107,11 +107,8 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
       X_DIR_WRITE(v); \
       X2_DIR_WRITE(v); \
     } \
-    else{ \
-      if (current_block->active_driver) \
-        X2_DIR_WRITE(v); \
-      else \
-        X_DIR_WRITE(v); \
+    else { \
+      if (current_block->active_driver) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
     }
   #define X_APPLY_STEP(v,ALWAYS) \
     if (extruder_duplication_enabled || ALWAYS) { \
@@ -119,10 +116,7 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
       X2_STEP_WRITE(v); \
     } \
     else { \
-      if (current_block->active_driver != 0) \
-        X2_STEP_WRITE(v); \
-      else \
-        X_STEP_WRITE(v); \
+      if (current_block->active_driver != 0) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
     }
 #else
   #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
@@ -130,16 +124,16 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
 #endif
 
 #ifdef Y_DUAL_STEPPER_DRIVERS
-  #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR)
-  #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v), Y2_STEP_WRITE(v)
+  #define Y_APPLY_DIR(v,Q) { Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }
+  #define Y_APPLY_STEP(v,Q) { Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }
 #else
   #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
   #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
 #endif
 
 #ifdef Z_DUAL_STEPPER_DRIVERS
-  #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v), Z2_DIR_WRITE(v)
-  #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v), Z2_STEP_WRITE(v)
+  #define Z_APPLY_DIR(v,Q) { Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }
+  #define Z_APPLY_STEP(v,Q) { Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }
 #else
   #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
   #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
@@ -423,7 +417,7 @@ ISR(TIMER1_COMPA_vect) {
       step_events_completed = 0;
 
       #ifdef Z_LATE_ENABLE
-        if (current_block->steps_z > 0) {
+        if (current_block->steps[Z_AXIS] > 0) {
           enable_z();
           OCR1A = 2000; //1ms wait
           return;
@@ -464,7 +458,7 @@ ISR(TIMER1_COMPA_vect) {
 
     #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
       bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
-      if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps_## axis > 0)) { \
+      if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
         endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
         endstop_## axis ##_hit = true; \
         step_events_completed = current_block->step_event_count; \
@@ -473,55 +467,54 @@ ISR(TIMER1_COMPA_vect) {
 
     // Check X and Y endstops
     if (check_endstops) {
-      #ifndef COREXY
-        if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular cartesians bot)
-      #else
+      #ifdef COREXY
         // Head direction in -X axis for CoreXY bots.
         // If DeltaX == -DeltaY, the movement is only in Y axis
-        if (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) == TEST(out_bits, Y_AXIS)))      
-            if (TEST(out_bits, X_HEAD))
+        if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS)))
+          if (TEST(out_bits, X_HEAD))
+      #else
+          if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular cartesians bot)
       #endif
-        { // -direction
-          #ifdef DUAL_X_CARRIAGE
-            // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-            if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
-          #endif          
-            {
-              #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
-                UPDATE_ENDSTOP(x, X, min, MIN);
-              #endif
-            }
-        }
-        else { // +direction
-          #ifdef DUAL_X_CARRIAGE
-            // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-            if ((current_block->active_driver == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
-          #endif
-            {
-              #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
-                UPDATE_ENDSTOP(x, X, max, MAX);
-              #endif
-            }
-        }
-
-        #ifndef COREXY
+          { // -direction
+            #ifdef DUAL_X_CARRIAGE
+              // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+              if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+            #endif          
+              {
+                #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
+                  UPDATE_ENDSTOP(x, X, min, MIN);
+                #endif
+              }
+          }
+          else { // +direction
+            #ifdef DUAL_X_CARRIAGE
+              // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+              if ((current_block->active_driver == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+            #endif
+              {
+                #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
+                  UPDATE_ENDSTOP(x, X, max, MAX);
+                #endif
+              }
+          }
+      #ifdef COREXY
+        // Head direction in -Y axis for CoreXY bots.
+        // If DeltaX == DeltaY, the movement is only in X axis
+        if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS)))
+          if (TEST(out_bits, Y_HEAD))
+      #else
           if (TEST(out_bits, Y_AXIS))   // -direction
-        #else
-          // Head direction in -Y axis for CoreXY bots.
-          // If DeltaX == DeltaY, the movement is only in X axis
-          if (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) != TEST(out_bits, Y_AXIS)))
-            if (TEST(out_bits, Y_HEAD))
-        #endif
-        { // -direction
-          #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
-            UPDATE_ENDSTOP(y, Y, min, MIN);
-          #endif
-        }
-        else { // +direction
-          #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
-            UPDATE_ENDSTOP(y, Y, max, MAX);
-          #endif
-        }
+      #endif
+          { // -direction
+            #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
+              UPDATE_ENDSTOP(y, Y, min, MIN);
+            #endif
+          }
+          else { // +direction
+            #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
+              UPDATE_ENDSTOP(y, Y, max, MAX);
+            #endif
+          }
     }
 
     if (TEST(out_bits, Z_AXIS)) {   // -direction
@@ -559,7 +552,7 @@ ISR(TIMER1_COMPA_vect) {
           if (check_endstops) {
             #if defined(E_MIN_PIN) && E_MIN_PIN > -1
               bool e_min_endstop=(READ(E_MIN_PIN) != E_MIN_ENDSTOP_INVERTING);
-              if (e_min_endstop && old_e_min_endstop && (current_block->steps_e > 0)) {
+              if (e_min_endstop && old_e_min_endstop && (current_block->steps[E_AXIS] > 0)) {
                 endstops_trigsteps[E_AXIS] = count_position[E_AXIS];
                 endstop_e_hit=true;
                 step_events_completed = current_block->step_event_count;
@@ -582,7 +575,7 @@ ISR(TIMER1_COMPA_vect) {
       #endif
 
       #ifdef ADVANCE
-        counter_e += current_block->steps_e;
+        counter_e += current_block->steps[E_AXIS];
         if (counter_e > 0) {
           counter_e -= current_block->step_event_count;
           e_steps[current_block->active_driver] += TEST(out_bits, E_AXIS) ? -1 : 1;
@@ -596,15 +589,14 @@ ISR(TIMER1_COMPA_vect) {
          * instead of doing each in turn. The extra tests add enough
          * lag to allow it work with without needing NOPs
          */
-        counter_x += current_block->steps_x;
-        if (counter_x > 0) X_STEP_WRITE(HIGH);
-        counter_y += current_block->steps_y;
-        if (counter_y > 0) Y_STEP_WRITE(HIGH);
-        counter_z += current_block->steps_z;
-        if (counter_z > 0) Z_STEP_WRITE(HIGH);
+        #define STEP_ADD(axis, AXIS) \
+         counter_## axis += current_block->steps[AXIS ##_AXIS]; \
+         if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
+        STEP_ADD(x,X);
+        STEP_ADD(y,Y);
+        STEP_ADD(z,Z);
         #ifndef ADVANCE
-          counter_e += current_block->steps_e;
-          if (counter_e > 0) E_STEP_WRITE(HIGH);
+          STEP_ADD(e,E);
         #endif
 
         #define STEP_IF_COUNTER(axis, AXIS) \
@@ -624,7 +616,7 @@ ISR(TIMER1_COMPA_vect) {
       #else // !CONFIG_STEPPERS_TOSHIBA
 
         #define APPLY_MOVEMENT(axis, AXIS) \
-          counter_## axis += current_block->steps_## axis; \
+          counter_## axis += current_block->steps[AXIS ##_AXIS]; \
           if (counter_## axis > 0) { \
             AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
             counter_## axis -= current_block->step_event_count; \

MarlinKimbra/temperature.cpp

@@ -41,21 +41,17 @@
 //================================== macros =================================
 //===========================================================================
 
-#ifndef SINGLENOZZLE
-  #if EXTRUDERS > 4
-    #error Unsupported number of extruders
-  #elif EXTRUDERS > 3
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 }
-  #elif EXTRUDERS > 2
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 }
-  #elif EXTRUDERS > 1
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 }
-  #else
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
-  #endif
+#if HOTENDS > 4
+  #error Unsupported number of hotends
+#elif HOTENDS > 3
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3, v4 }
+#elif HOTENDS > 2
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3 }
+#elif HOTENDS > 1
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2 }
 #else
-   #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
-#endif //SINGLENOZZLE
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1 }
+#endif
 
 #define HAS_TEMP_0 (defined(TEMP_0_PIN) && TEMP_0_PIN >= 0)
 #define HAS_TEMP_1 (defined(TEMP_1_PIN) && TEMP_1_PIN >= 0)
@@ -84,17 +80,12 @@
 #ifdef PID_dT
   #undef PID_dT
 #endif
-#define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
+#define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
+
+int target_temperature[HOTENDS] = { 0 };
+int current_temperature_raw[HOTENDS] = { 0 };
+float current_temperature[HOTENDS] = { 0.0 };
 
-#ifndef SINGLENOZZLE
-  int target_temperature[EXTRUDERS] = { 0 };
-  int current_temperature_raw[EXTRUDERS] = { 0 };
-  float current_temperature[EXTRUDERS] = { 0.0 };
-#else
-  int current_temperature_raw[1] = { 0 };
-  float current_temperature[1] = { 0.0 };
-  int target_temperature[1] = { 0 };
-#endif //SINGLENOZZLE
 int target_temperature_bed = 0;
 int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0.0;
@@ -103,11 +94,7 @@ float current_temperature_bed = 0.0;
   float redundant_temperature = 0.0;
 #endif
 #ifdef PIDTEMP
-  #ifndef SINGLENOZZLE
-    float Kp[EXTRUDERS],Ki[EXTRUDERS],Kd[EXTRUDERS];
-  #else
-    float Kp[1],Ki[1],Kd[1];
-  #endif
+  float Kp[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
 #endif //PIDTEMP
 
 #ifdef PIDTEMPBED
@@ -133,6 +120,7 @@ unsigned char soft_pwm_bed;
 #if HAS_POWER_CONSUMPTION_SENSOR
   int current_raw_powconsumption = 0;  //Holds measured power consumption
 #endif
+
 //===========================================================================
 //=============================private variables============================
 //===========================================================================
@@ -140,33 +128,16 @@ static volatile bool temp_meas_ready = false;
 
 #ifdef PIDTEMP
   //static cannot be external:
-  #ifndef SINGLENOZZLE
-    static float temp_iState[EXTRUDERS] = { 0 };
-    static float temp_dState[EXTRUDERS] = { 0 };
-    static float pTerm[EXTRUDERS];
-    static float iTerm[EXTRUDERS];
-    static float dTerm[EXTRUDERS];
-    //int output;
-    static float pid_error[EXTRUDERS];
-    static float temp_iState_min[EXTRUDERS];
-    static float temp_iState_max[EXTRUDERS];
-    // static float pid_input[EXTRUDERS];
-    // static float pid_output[EXTRUDERS];
-    static bool pid_reset[EXTRUDERS];
-  #else
-    static float temp_iState[1] = { 0 };
-    static float temp_dState[1] = { 0 };
-    static float pTerm[1];
-    static float iTerm[1];
-    static float dTerm[1];
-    //int output;
-    static float pid_error[1];
-    static float temp_iState_min[1];
-    static float temp_iState_max[1];
-    // static float pid_input[1];
-    // static float pid_output[1];
-    static bool pid_reset[1];
-  #endif //SINGLENOZZLE
+  static float temp_iState[HOTENDS] = { 0 };
+  static float temp_dState[HOTENDS] = { 0 };
+  static float pTerm[HOTENDS];
+  static float iTerm[HOTENDS];
+  static float dTerm[HOTENDS];
+  //int output;
+  static float pid_error[HOTENDS];
+  static float temp_iState_min[HOTENDS];
+  static float temp_iState_max[HOTENDS];
+  static bool pid_reset[HOTENDS];
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
   //static cannot be external:
@@ -180,13 +151,11 @@ static volatile bool temp_meas_ready = false;
   static float temp_iState_min_bed;
   static float temp_iState_max_bed;
 #else //PIDTEMPBED
-	static unsigned long  previous_millis_bed_heater;
+  static unsigned long  previous_millis_bed_heater;
 #endif //PIDTEMPBED
-#ifndef SINGLENOZZLE
-  static unsigned char soft_pwm[EXTRUDERS];
-#else
-  static unsigned char soft_pwm[1];
-#endif
+
+static unsigned char soft_pwm[HOTENDS];
+
 #ifdef FAN_SOFT_PWM
   static unsigned char soft_pwm_fan;
 #endif
@@ -195,19 +164,11 @@ static volatile bool temp_meas_ready = false;
 #endif
 
 // Init min and max temp with extreme values to prevent false errors during startup
-#ifndef SINGLENOZZLE
-  static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
-  static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
-  static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
-  static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
-  //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
-#else
-  static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_0_RAW_LO_TEMP , HEATER_0_RAW_LO_TEMP, HEATER_0_RAW_LO_TEMP );
-  static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_0_RAW_HI_TEMP , HEATER_0_RAW_HI_TEMP, HEATER_0_RAW_HI_TEMP );
-  static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
-  static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
-  //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
-#endif
+static int minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
+static int maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
+static int minttemp[HOTENDS] = ARRAY_BY_HOTENDS( 0, 0, 0, 0 );
+static int maxttemp[HOTENDS] = ARRAY_BY_HOTENDS( 16383, 16383, 16383, 16383 );
+//static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
 
 #ifdef BED_MAXTEMP
   static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
@@ -217,8 +178,8 @@ static volatile bool temp_meas_ready = false;
   static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE };
   static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
 #else
-  static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE, (void *)HEATER_3_TEMPTABLE );
-  static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
+  static void *heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE, (void *)HEATER_3_TEMPTABLE );
+  static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
 #endif
 
 static float analog2temp(int raw, uint8_t e);
@@ -226,13 +187,8 @@ static float analog2tempBed(int raw);
 static void updateTemperaturesFromRawValues();
 
 #ifdef WATCH_TEMP_PERIOD
-  #ifndef SINGLENOZZLE
-    int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
-    unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
-  #else
-    int watch_start_temp[1] = ARRAY_BY_EXTRUDERS(0,0,0,0);
-    unsigned long watchmillis[1] = ARRAY_BY_EXTRUDERS(0,0,0,0);
-  #endif
+  int watch_start_temp[HOTENDS] = ARRAY_BY_HOTENDS(0,0,0,0);
+  unsigned long watchmillis[HOTENDS] = ARRAY_BY_HOTENDS(0,0,0,0);
 #endif //WATCH_TEMP_PERIOD
 
 #ifndef SOFT_PWM_SCALE
@@ -251,7 +207,8 @@ static void updateTemperaturesFromRawValues();
 //=============================   functions      ============================
 //===========================================================================
 
-void PID_autotune(float temp, int extruder, int ncycles) {
+void PID_autotune(float temp, int hotend, int ncycles)
+{
   float input = 0.0;
   int cycles = 0;
   bool heating = true;
@@ -268,9 +225,9 @@ void PID_autotune(float temp, int extruder, int ncycles) {
     unsigned long extruder_autofan_last_check = temp_millis;
   #endif
 
-  if (extruder >= EXTRUDERS
+  if (hotend >= HOTENDS
     #if !HAS_TEMP_BED
-       || extruder < 0
+       || hotend < 0
     #endif
   ) {
     SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
@@ -281,10 +238,10 @@ void PID_autotune(float temp, int extruder, int ncycles) {
 
   disable_heater(); // switch off all heaters.
 
-  if (extruder < 0)
+  if (hotend < 0)
     soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
   else
-    soft_pwm[extruder] = bias = d = PID_MAX / 2;
+    soft_pwm[hotend] = bias = d = PID_MAX / 2;
 
   // PID Tuning loop
   for(;;) {
@@ -294,7 +251,7 @@ void PID_autotune(float temp, int extruder, int ncycles) {
     if (temp_meas_ready == true) { // temp sample ready
       updateTemperaturesFromRawValues();
 
-      input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
+      input = (hotend<0)?current_temperature_bed:current_temperature[hotend];
 
       max = max(max, input);
       min = min(min, input);
@@ -309,10 +266,10 @@ void PID_autotune(float temp, int extruder, int ncycles) {
       if (heating == true && input > temp) {
         if (ms - t2 > 5000) {
           heating = false;
-          if (extruder < 0)
+          if (hotend < 0)
             soft_pwm_bed = (bias - d) >> 1;
           else
-            soft_pwm[extruder] = (bias - d) >> 1;
+            soft_pwm[hotend] = (bias - d) >> 1;
           t1 = ms;
           t_high = t1 - t2;
           max = temp;
@@ -324,7 +281,7 @@ void PID_autotune(float temp, int extruder, int ncycles) {
           t2 = ms;
           t_low = t2 - t1;
           if (cycles > 0) {
-            long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
+            long max_pow = hotend < 0 ? MAX_BED_POWER : PID_MAX;
             bias += (d*(t_high - t_low))/(t_low + t_high);
             bias = constrain(bias, 20, max_pow - 20);
             d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
@@ -363,10 +320,10 @@ void PID_autotune(float temp, int extruder, int ncycles) {
               */
             }
           }
-          if (extruder < 0)
+          if (hotend < 0)
             soft_pwm_bed = (bias + d) >> 1;
           else
-            soft_pwm[extruder] = (bias + d) >> 1;
+            soft_pwm[hotend] = (bias + d) >> 1;
           cycles++;
           min = temp;
         }
@@ -379,12 +336,12 @@ void PID_autotune(float temp, int extruder, int ncycles) {
     // Every 2 seconds...
     if (ms > temp_millis + 2000) {
       int p;
-      if (extruder < 0) {
+      if (hotend < 0) {
         p = soft_pwm_bed;
         SERIAL_PROTOCOLPGM(MSG_OK_B);
       }
       else {
-        p = soft_pwm[extruder];
+        p = soft_pwm[hotend];
         SERIAL_PROTOCOLPGM(MSG_OK_T);
       }
 
@@ -409,13 +366,9 @@ void PID_autotune(float temp, int extruder, int ncycles) {
 
 void updatePID() {
   #ifdef PIDTEMP
-    #ifndef SINGLENOZZLE
-      for(int e = 0; e < EXTRUDERS; e++) {
-        temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
-      }
-    #else
-      temp_iState_max[0] = PID_INTEGRAL_DRIVE_MAX / Ki[0];
-    #endif
+    for (int e = 0; e < HOTENDS; e++) {
+      temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
+    }
   #endif
   #ifdef PIDTEMPBED
     temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
@@ -427,7 +380,6 @@ int getHeaterPower(int heater) {
 }
 
 #if HAS_AUTO_FAN
-
   #if HAS_FAN
     #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN
       #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN"
@@ -443,113 +395,109 @@ int getHeaterPower(int heater) {
     #endif
   #endif 
 
-void setExtruderAutoFanState(int pin, bool state)
-{
-  unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
-  // this idiom allows both digital and PWM fan outputs (see M42 handling).
-  pinMode(pin, OUTPUT);
-  digitalWrite(pin, newFanSpeed);
-  analogWrite(pin, newFanSpeed);
-}
-
-void checkExtruderAutoFans()
-{
-  uint8_t fanState = 0;
+  void setExtruderAutoFanState(int pin, bool state)
+  {
+    unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
+    // this idiom allows both digital and PWM fan outputs (see M42 handling).
+    pinMode(pin, OUTPUT);
+    digitalWrite(pin, newFanSpeed);
+    analogWrite(pin, newFanSpeed);
+  }
 
-  // which fan pins need to be turned on?      
-  #if HAS_AUTO_FAN_0
-    if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
-      fanState |= 1;
-  #endif
+  void checkExtruderAutoFans()
+  {
+    uint8_t fanState = 0;
 
-#ifndef SINGLENOZZLE
-  #if HAS_AUTO_FAN_1
-    if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
-    {
-      if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
-        fanState |= 1;
-      else
-        fanState |= 2;
-    }
-  #endif
-  #if HAS_AUTO_FAN_2
-    if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
-      if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
-        fanState |= 1;
-      else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
-        fanState |= 2;
-      else
-        fanState |= 4;
-    }
-  #endif
-  #if HAS_AUTO_FAN_3
-    if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
-      if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+    // which fan pins need to be turned on?      
+    #if HAS_AUTO_FAN_0
+      if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
         fanState |= 1;
-      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
-        fanState |= 2;
-      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
-        fanState |= 4;
-      else
-        fanState |= 8;
-    }
-  #endif
-#endif // !SINLGENOZZE
+    #endif
 
-  // update extruder auto fan states
-  #if HAS_AUTO_FAN_0
-    setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
-  #endif 
+    #if HAS_AUTO_FAN_1
+      if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
+      {
+        if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+          fanState |= 1;
+        else
+          fanState |= 2;
+      }
+    #endif
+    #if HAS_AUTO_FAN_2
+      if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
+        if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+          fanState |= 1;
+        else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
+          fanState |= 2;
+        else
+          fanState |= 4;
+      }
+    #endif
+    #if HAS_AUTO_FAN_3
+      if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
+        if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+          fanState |= 1;
+        else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
+          fanState |= 2;
+        else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
+          fanState |= 4;
+        else
+          fanState |= 8;
+      }
+    #endif
 
-#ifndef SINGLENOZZLE
-  #if HAS_AUTO_FAN_1
-    if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
-      setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
-  #endif 
-  #if HAS_AUTO_FAN_2
-    if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
-        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
-      setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
-  #endif
-  #if HAS_AUTO_FAN_3
-    if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
-        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
-        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
-      setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
-  #endif
-#endif //!SINGLENOZZLE
-}
+    // update extruder auto fan states
+    #if HAS_AUTO_FAN_0
+      setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
+    #endif
+
+    #if HAS_AUTO_FAN_1
+      if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
+        setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
+    #endif
+    #if HAS_AUTO_FAN_2
+      if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
+          && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
+        setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
+    #endif
+    #if HAS_AUTO_FAN_3
+      if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
+          && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
+          && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
+        setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
+    #endif
+  }
 #endif // any extruder auto fan pins set
 
 //
 // Error checking and Write Routines
 //
-#if EXTRUDERS > 0
+#if HOTENDS > 0
   #if !HAS_HEATER_0
     #error HEATER_0_PIN not defined for this board
   #endif
   #define WRITE_HEATER_0P(v) WRITE(HEATER_0_PIN, v)
 #endif
-#ifndef SINGLENOZZLE
-  #if EXTRUDERS > 1 || defined(HEATERS_PARALLEL)
-    #if !HAS_HEATER_1
-      #error HEATER_1_PIN not defined for this board
+
+#if HOTENDS > 1 || defined(HEATERS_PARALLEL)
+  #if !HAS_HEATER_1
+    #error HEATER_1_PIN not defined for this board
+  #endif
+  #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v)
+  #if HOTENDS > 2
+    #if !HAS_HEATER_2
+      #error HEATER_2_PIN not defined for this board
     #endif
-    #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v)
-    #if EXTRUDERS > 2
-      #if !HAS_HEATER_2
-        #error HEATER_2_PIN not defined for this board
-      #endif
-      #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v)
-      #if EXTRUDERS > 3
-        #if !HAS_HEATER_3
-          #error HEATER_3_PIN not defined for this board
-        #endif
-        #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v)
+    #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v)
+    #if HOTENDS > 3
+      #if !HAS_HEATER_3
+        #error HEATER_3_PIN not defined for this board
       #endif
+      #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v)
     #endif
   #endif
-#endif //SINGLENOZZLE
+#endif
+
 #ifdef HEATERS_PARALLEL
   #define WRITE_HEATER_0(v) { WRITE_HEATER_0P(v); WRITE_HEATER_1(v); }
 #else
@@ -608,14 +556,9 @@ void manage_heater() {
 
   unsigned long ms = millis();
 
-  // Loop through all extruders
-  #ifndef SINGLENOZZLE
-    for (int e = 0; e < EXTRUDERS; e++) 
-  #else
-    int e = 0;
-  #endif  // !SINGLENOZZLE
+  // Loop through all hotends
+  for (int e = 0; e < HOTENDS; e++) 
   {
-
     #if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0
       thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
     #endif
@@ -706,7 +649,7 @@ void manage_heater() {
         _temp_error(-1, MSG_EXTRUDER_SWITCHED_OFF, MSG_ERR_REDUNDANT_TEMP);
       }
     #endif //TEMP_SENSOR_1_AS_REDUNDANT
-  } // Extruders Loop
+  } // Hotends Loop
 
   #if HAS_AUTO_FAN
     if (ms > extruder_autofan_last_check + 2500) { // only need to check fan state very infrequently
@@ -800,8 +743,8 @@ void manage_heater() {
   #if HAS_FILAMENT_SENSOR
     if (filament_sensor) {
       meas_shift_index = delay_index1 - meas_delay_cm;
-		  if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1;  //loop around buffer if needed
-		  
+      if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1;  //loop around buffer if needed
+
       // Get the delayed info and add 100 to reconstitute to a percent of
       // the nominal filament diameter then square it to get an area
       meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
@@ -858,7 +801,7 @@ static float analog2temp(int raw, uint8_t e) {
 
     return celsius;
   }
-  return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
+  return ((raw * ((5.0 * 100) / 1024) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
 }
 
 // Derived from RepRap FiveD extruder::getTemperature()
@@ -872,7 +815,7 @@ static float analog2tempBed(int raw) {
     {
       if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw)
       {
-        celsius  = PGM_RD_W(BEDTEMPTABLE[i-1][1]) +
+        celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) +
           (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) *
           (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i-1][1])) /
           (float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i-1][0]));
@@ -885,7 +828,7 @@ static float analog2tempBed(int raw) {
 
     return celsius;
   #elif defined BED_USES_AD595
-    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
+    return ((raw * ((5.0 * 100) / 1024) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
   #else //NO BED_USES_THERMISTOR
     return 0;
   #endif //BED_USES_THERMISTOR
@@ -898,11 +841,7 @@ static void updateTemperaturesFromRawValues() {
     current_temperature_raw[0] = read_max6675();
   #endif
 
-  #ifndef SINGLENOZZLE
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
+  for (int e = 0; e < HOTENDS; e++)
   {
     current_temperature[e] = analog2temp(current_temperature_raw[e], e);
   }
@@ -914,17 +853,17 @@ static void updateTemperaturesFromRawValues() {
     filament_width_meas = analog2widthFil();
   #endif
   #if HAS_POWER_CONSUMPTION_SENSOR
-	static float watt_overflow = 0.0;
-	static unsigned long last_power_update = millis();
-	unsigned long temp_last_power_update = millis();
-	float power_temp = analog2power();
+    static float watt_overflow = 0.0;
+    static unsigned long last_power_update = millis();
+    unsigned long temp_last_power_update = millis();
+    float power_temp = analog2power();
     power_consumption_meas = (unsigned int)power_temp;
-	watt_overflow += (power_temp*(temp_last_power_update-last_power_update))/3600000.0;
-	if(watt_overflow >= 1.0) {
-		power_consumption_hour++;
-		watt_overflow--;
-	}
-	last_power_update = temp_last_power_update;
+    watt_overflow += (power_temp*(temp_last_power_update-last_power_update))/3600000.0;
+    if(watt_overflow >= 1.0) {
+      power_consumption_hour++;
+      watt_overflow--;
+    }
+    last_power_update = temp_last_power_update;
   #endif
   //Reset the watchdog after we know we have a temperature measurement.
   watchdog_reset();
@@ -936,10 +875,9 @@ static void updateTemperaturesFromRawValues() {
 
 
 #if HAS_FILAMENT_SENSOR
-
   // Convert raw Filament Width to millimeters
   float analog2widthFil() {
-    return current_raw_filwidth / (1023.0 * OVERSAMPLENR) * 5.0;
+    return current_raw_filwidth / (1024 * OVERSAMPLENR) * 5.0;
     //return current_raw_filwidth;
   }
 
@@ -954,12 +892,10 @@ static void updateTemperaturesFromRawValues() {
 #endif
 
 #if HAS_POWER_CONSUMPTION_SENSOR
-
   // Convert raw Power Consumption to watt
   float analog2power() {
-	return (((((5.0 * current_raw_powconsumption) / (1023.0 * OVERSAMPLENR)) - POWER_ZERO) * (POWER_VOLTAGE * 100.0)) / (POWER_SENSITIVITY * POWER_EFFICIENCY));
+    return (((((5.0 * current_raw_powconsumption) / (1024.0 * OVERSAMPLENR)) - POWER_ZERO) * (POWER_VOLTAGE * 100.0)) / (POWER_SENSITIVITY * POWER_EFFICIENCY));
   }
-
 #endif
 
 void tp_init()
@@ -970,14 +906,10 @@ void tp_init()
     MCUCR=BIT(JTD);
   #endif
 
-  // Finish init of mult extruder arrays
-  #ifndef SINGLENOZZLE
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
+  // Finish init of mult hotends arrays
+  for (int e = 0; e < HOTENDS; e++)
   {
-    // populate with the first value 
+    // populate with the first value
     maxttemp[e] = maxttemp[0];
     #ifdef PIDTEMP
       temp_iState_min[e] = 0.0;
@@ -1095,32 +1027,30 @@ void tp_init()
     TEMP_MAX_ROUTINE(0);
   #endif
 
-#ifndef SINGLENOZZLE
-  #if EXTRUDERS > 1
+  #if HOTENDS > 1
     #ifdef HEATER_1_MINTEMP
       TEMP_MIN_ROUTINE(1);
     #endif
     #ifdef HEATER_1_MAXTEMP
       TEMP_MAX_ROUTINE(1);
     #endif
-    #if EXTRUDERS > 2
+    #if HOTENDS > 2
       #ifdef HEATER_2_MINTEMP
         TEMP_MIN_ROUTINE(2);
       #endif
       #ifdef HEATER_2_MAXTEMP
         TEMP_MAX_ROUTINE(2);
       #endif
-      #if EXTRUDERS > 3
+      #if HOTENDS > 3
         #ifdef HEATER_3_MINTEMP
           TEMP_MIN_ROUTINE(3);
         #endif
         #ifdef HEATER_3_MAXTEMP
           TEMP_MAX_ROUTINE(3);
         #endif
-      #endif // EXTRUDERS > 3
-    #endif // EXTRUDERS > 2
-  #endif // EXTRUDERS > 1
-#endif //SINGLENOZZLE
+      #endif // HOTENDS > 3
+    #endif // HOTENDS > 2
+  #endif // HOTENDS > 1
 
   #ifdef BED_MINTEMP
     /* No bed MINTEMP error implemented?!? */ /*
@@ -1147,11 +1077,7 @@ void tp_init()
 void setWatch() {
   #ifdef WATCH_TEMP_PERIOD
     unsigned long ms = millis();
-    #ifndef SINGLENOZZLE
-      for (int e = 0; e < EXTRUDERS; e++)
-    #else
-      int e = 0;
-    #endif // !SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++)
     {
       if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) {
         watch_start_temp[e] = degHotend(e);
@@ -1227,11 +1153,7 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat
 
 
 void disable_heater() {
-  #ifndef SINGLENOZZLE
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++)
       setTargetHotend(0, e);
   setTargetBed(0);
   #if HAS_TEMP_0
@@ -1240,19 +1162,19 @@ void disable_heater() {
     WRITE_HEATER_0P(LOW); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
   #endif
 
-  #if EXTRUDERS > 1 && HAS_TEMP_1
+  #if HOTENDS > 1 && HAS_TEMP_1
     target_temperature[1] = 0;
     soft_pwm[1] = 0;
     WRITE_HEATER_1(LOW);
   #endif
 
-  #if EXTRUDERS > 2 && HAS_TEMP_2
+  #if HOTENDS > 2 && HAS_TEMP_2
     target_temperature[2] = 0;
     soft_pwm[2] = 0;
     WRITE_HEATER_2(LOW);
   #endif
 
-  #if EXTRUDERS > 3 && HAS_TEMP_3
+  #if HOTENDS > 3 && HAS_TEMP_3
     target_temperature[3] = 0;
     soft_pwm[3] = 0;
     WRITE_HEATER_3(LOW);
@@ -1345,10 +1267,7 @@ enum TempState {
 ISR(TIMER0_COMPB_vect) {
   //these variables are only accessible from the ISR, but static, so they don't lose their value
   static unsigned char temp_count = 0;
-  static unsigned long raw_temp_0_value = 0;
-  static unsigned long raw_temp_1_value = 0;
-  static unsigned long raw_temp_2_value = 0;
-  static unsigned long raw_temp_3_value = 0;
+  static unsigned long raw_temp_value[HOTENDS] = { 0 };
   static unsigned long raw_temp_bed_value = 0;
   static TempState temp_state = StartupDelay;
   static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
@@ -1366,17 +1285,16 @@ ISR(TIMER0_COMPB_vect) {
 
   // Statics per heater
   ISR_STATICS(0);
-#ifndef SINGLENOZZLE
-  #if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL)
+  #if (HOTENDS > 1) || defined(HEATERS_PARALLEL)
     ISR_STATICS(1);
-    #if EXTRUDERS > 2
+    #if HOTENDS > 2
       ISR_STATICS(2);
-      #if EXTRUDERS > 3
+      #if HOTENDS > 3
         ISR_STATICS(3);
       #endif
     #endif
   #endif
-#endif //SINGLENOZZLE
+
   #if HAS_HEATER_BED
     ISR_STATICS(BED);
   #endif
@@ -1388,7 +1306,7 @@ ISR(TIMER0_COMPB_vect) {
   #if HAS_POWER_CONSUMPTION_SENSOR
     static unsigned long raw_powconsumption_value = 0;
   #endif
-  
+
   #ifndef SLOW_PWM_HEATERS
     /**
      * standard PWM modulation
@@ -1399,20 +1317,20 @@ ISR(TIMER0_COMPB_vect) {
         WRITE_HEATER_0(1);
       }
       else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
-#ifndef SINGLENOZZLE
-      #if EXTRUDERS > 1
+
+      #if HOTENDS > 1
         soft_pwm_1 = soft_pwm[1];
         WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
-        #if EXTRUDERS > 2
+        #if HOTENDS > 2
           soft_pwm_2 = soft_pwm[2];
           WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
-          #if EXTRUDERS > 3
+          #if HOTENDS > 3
             soft_pwm_3 = soft_pwm[3];
             WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0);
           #endif
         #endif
       #endif
-#endif //SINGLENOZZLE
+
       #if HAS_HEATER_BED
         soft_pwm_BED = soft_pwm_bed;
         WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0);
@@ -1424,17 +1342,17 @@ ISR(TIMER0_COMPB_vect) {
     }
 
     if (soft_pwm_0 < pwm_count) { WRITE_HEATER_0(0); }
-#ifndef SINGLENOZZLE
-    #if EXTRUDERS > 1
+
+    #if HOTENDS > 1
       if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
-      #if EXTRUDERS > 2
+      #if HOTENDS > 2
         if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
-        #if EXTRUDERS > 3
+        #if HOTENDS > 3
           if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0);
         #endif
       #endif
     #endif
-#endif //SINGLENOZZLE
+
     #if HAS_HEATER_BED
       if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(0);
     #endif
@@ -1486,36 +1404,34 @@ ISR(TIMER0_COMPB_vect) {
 
     if (slow_pwm_count == 0) {
 
-      SLOW_PWM_ROUTINE(0); // EXTRUDER 0
-#ifndef SINGLENOZZLE
-      #if EXTRUDERS > 1
-        SLOW_PWM_ROUTINE(1); // EXTRUDER 1
-        #if EXTRUDERS > 2
-          SLOW_PWM_ROUTINE(2); // EXTRUDER 2
-          #if EXTRUDERS > 3
-            SLOW_PWM_ROUTINE(3); // EXTRUDER 3
+      SLOW_PWM_ROUTINE(0); // HOTEND 0
+      #if HOTENDS > 1
+        SLOW_PWM_ROUTINE(1); // HOTEND 1
+        #if HOTENDS > 2
+          SLOW_PWM_ROUTINE(2); // HOTEND 2
+          #if HOTENDS > 3
+            SLOW_PWM_ROUTINE(3); // HOTEND 3
           #endif
         #endif
       #endif
-#endif //SINGLENOZZLE
+
       #if HAS_HEATER_BED
         _SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED
       #endif
 
     } // slow_pwm_count == 0
 
-    PWM_OFF_ROUTINE(0); // EXTRUDER 0
-#ifndef SINGLENOZZLE
-    #if EXTRUDERS > 1
-      PWM_OFF_ROUTINE(1); // EXTRUDER 1
-      #if EXTRUDERS > 2
-        PWM_OFF_ROUTINE(2); // EXTRUDER 2
-        #if EXTRUDERS > 3
-          PWM_OFF_ROUTINE(3); // EXTRUDER 3
+    PWM_OFF_ROUTINE(0); // HOTEND 0
+    #if HOTENDS > 1
+      PWM_OFF_ROUTINE(1); // HOTEND 1
+      #if HOTENDS > 2
+        PWM_OFF_ROUTINE(2); // HOTEND 2
+        #if HOTENDS > 3
+          PWM_OFF_ROUTINE(3); // HOTEND 3
         #endif
       #endif
     #endif
-#endif //SINGLENOZZLE
+
     #if HAS_HEATER_BED
       PWM_OFF_ROUTINE(BED); // BED
     #endif
@@ -1536,19 +1452,18 @@ ISR(TIMER0_COMPB_vect) {
       slow_pwm_count++;
       slow_pwm_count &= 0x7f;
     
-      // EXTRUDER 0
+      // HOTEND 0
       if (state_timer_heater_0 > 0) state_timer_heater_0--;
-#ifndef SINGLENOZZLE
-      #if EXTRUDERS > 1    // EXTRUDER 1
+      #if HOTENDS > 1    // HOTEND 1
         if (state_timer_heater_1 > 0) state_timer_heater_1--;
-        #if EXTRUDERS > 2    // EXTRUDER 2
+        #if HOTENDS > 2    // HOTEND 2
           if (state_timer_heater_2 > 0) state_timer_heater_2--;
-          #if EXTRUDERS > 3    // EXTRUDER 3
+          #if HOTENDS > 3    // HOTEND 3
             if (state_timer_heater_3 > 0) state_timer_heater_3--;
           #endif
         #endif
       #endif
-#endif //SINGLENOZZLE
+
       #if HAS_HEATER_BED
         if (state_timer_heater_BED > 0) state_timer_heater_BED--;
       #endif
@@ -1573,7 +1488,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_0:
       #if HAS_TEMP_0
-        raw_temp_0_value += ADC;
+        raw_temp_value[0] += ADC;
       #endif
       temp_state = PrepareTemp_BED;
       break;
@@ -1599,7 +1514,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_1:
       #if HAS_TEMP_1
-        raw_temp_1_value += ADC;
+        raw_temp_value[1] += ADC;
       #endif
       temp_state = PrepareTemp_2;
       break;
@@ -1612,7 +1527,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_2:
       #if HAS_TEMP_2
-        raw_temp_2_value += ADC;
+        raw_temp_value[2] += ADC;
       #endif
       temp_state = PrepareTemp_3;
       break;
@@ -1625,7 +1540,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_3:
       #if HAS_TEMP_3
-        raw_temp_3_value += ADC;
+        raw_temp_value[3] += ADC;
       #endif
       temp_state = Prepare_FILWIDTH;
       break;
@@ -1645,8 +1560,8 @@ ISR(TIMER0_COMPB_vect) {
         }
       #endif
       temp_state = Prepare_POWCONSUMPTION;
-      break;
-	case Prepare_POWCONSUMPTION:
+    break;
+    case Prepare_POWCONSUMPTION:
       #if HAS_POWER_CONSUMPTION_SENSOR
         START_ADC(POWER_CONSUMPTION_PIN);
       #endif
@@ -1657,7 +1572,7 @@ ISR(TIMER0_COMPB_vect) {
       #if HAS_POWER_CONSUMPTION_SENSOR
         // raw_powconsumption_value += ADC;  //remove to use an IIR filter approach
         raw_powconsumption_value -= (raw_powconsumption_value>>7);  //multiply raw_powconsumption_value by 127/128
-        raw_powconsumption_value += ((unsigned long)((ADC < (POWER_ZERO*1023)/5.0) ? (1023 - ADC) : (ADC))<<7);  //add new ADC reading
+        raw_powconsumption_value += ((unsigned long)((ADC < (POWER_ZERO*1024)/5.0) ? (1024 - ADC) : (ADC))<<7);  //add new ADC reading
       #endif
       temp_state = PrepareTemp_0;
       temp_count++;
@@ -1675,21 +1590,20 @@ ISR(TIMER0_COMPB_vect) {
   if (temp_count >= OVERSAMPLENR) { // 12 * 16 * 1/(16000000/64/256)  = 164ms.
     if (!temp_meas_ready) { //Only update the raw values if they have been read. Else we could be updating them during reading.
       #ifndef HEATER_0_USES_MAX6675
-        current_temperature_raw[0] = raw_temp_0_value;
+        current_temperature_raw[0] = raw_temp_value[0];
       #endif
-#ifndef SINGLENOZZLE
-      #if EXTRUDERS > 1
-        current_temperature_raw[1] = raw_temp_1_value;
-        #if EXTRUDERS > 2
-          current_temperature_raw[2] = raw_temp_2_value;
-          #if EXTRUDERS > 3
-            current_temperature_raw[3] = raw_temp_3_value;
+      #if HOTENDS > 1
+        current_temperature_raw[1] = raw_temp_value[1];
+        #if HOTENDS > 2
+          current_temperature_raw[2] = raw_temp_value[2];
+          #if HOTENDS > 3
+            current_temperature_raw[3] = raw_temp_value[3];
           #endif
         #endif
       #endif
-#endif //SINGLENOZZLE
+
       #ifdef TEMP_SENSOR_1_AS_REDUNDANT
-        redundant_temperature_raw = raw_temp_1_value;
+        redundant_temperature_raw = raw_temp_value[1];
       #endif
       current_temperature_bed_raw = raw_temp_bed_value;
     } //!temp_meas_ready
@@ -1698,42 +1612,68 @@ ISR(TIMER0_COMPB_vect) {
     #if HAS_FILAMENT_SENSOR
       current_raw_filwidth = raw_filwidth_value >> 10;  // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
     #endif
-	// Power Sensor - can be read any time since IIR filtering is used
-	#if HAS_POWER_CONSUMPTION_SENSOR
-      current_raw_powconsumption = raw_powconsumption_value >> 10;  // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
-    #endif
     
     temp_meas_ready = true;
     temp_count = 0;
-    raw_temp_0_value = 0;
-    raw_temp_1_value = 0;
-    raw_temp_2_value = 0;
-    raw_temp_3_value = 0;
+    for (int i = 0; i < HOTENDS; i++) raw_temp_value[i] = 0;
     raw_temp_bed_value = 0;
 
     #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
-      #define MAXTEST <=
-      #define MINTEST >=
+      #define GE0 <=
+      #define LE0 >=
     #else
-      #define MAXTEST >=
-      #define MINTEST <=
+      #define GE0 >=
+      #define LE0 <=
     #endif
+    if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
+    if (current_temperature_raw[0] LE0 minttemp_raw[0]) min_temp_error(0);
+
+    #if HOTENDS > 1
+      #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
+        #define GE1 <=
+        #define LE1 >=
+      #else
+        #define GE1 >=
+        #define LE1 <=
+      #endif
+      if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
+      if (current_temperature_raw[1] LE1 minttemp_raw[1]) min_temp_error(1);
+      #if HOTENDS > 2
+        #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
+          #define GE2 <=
+          #define LE2 >=
+        #else
+          #define GE2 >=
+          #define LE2 <=
+        #endif
+        if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
+        if (current_temperature_raw[2] LE2 minttemp_raw[2]) min_temp_error(2);
+        #if HOTENDS > 3
+          #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
+            #define GE3 <=
+            #define LE3 >=
+          #else
+            #define GE3 >=
+            #define LE3 <=
+          #endif
+          if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
+          if (current_temperature_raw[3] LE3 minttemp_raw[3]) min_temp_error(3);
+        #endif // HOTENDS > 3
+      #endif // HOTENDS > 2
+    #endif // HOTENDS > 1
 
-    #ifndef SINGLENOZZLE
-      for (int i = 0; i < EXTRUDERS; i++)
-    #else
-      int i = 0;
-    #endif
-    {
-      if (current_temperature_raw[i] MAXTEST maxttemp_raw[i]) max_temp_error(i);
-      else if (current_temperature_raw[i] MINTEST minttemp_raw[i]) min_temp_error(i);
-    }
-    /* No bed MINTEMP error? */
     #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
-      if (current_temperature_bed_raw MAXTEST bed_maxttemp_raw) {
-          target_temperature_bed = 0;
-          bed_max_temp_error();
-        }
+      #if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
+        #define GEBED <=
+        #define LEBED >=
+      #else
+        #define GEBED >=
+        #define LEBED <=
+      #endif
+      if (current_temperature_bed_raw GEBED bed_maxttemp_raw) {
+        target_temperature_bed = 0;
+        bed_max_temp_error();
+      }
     #endif
   } // temp_count >= OVERSAMPLENR
 

MarlinKimbra/temperature.h

@@ -31,35 +31,26 @@ void tp_init();  //initialize the heating
 void manage_heater(); //it is critical that this is called periodically.
 
 #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
-// For converting raw Filament Width to milimeters 
- float analog2widthFil(); 
- 
-// For converting raw Filament Width to an extrusion ratio 
- int widthFil_to_size_ratio();
+  // For converting raw Filament Width to milimeters 
+  float analog2widthFil(); 
+
+  // For converting raw Filament Width to an extrusion ratio 
+  int widthFil_to_size_ratio();
 #endif
 
 #if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0)
-// For converting raw Power Consumption to watt
- float analog2power();
+  // For converting raw Power Consumption to watt
+  float analog2power();
 #endif
 
 // low level conversion routines
 // do not use these routines and variables outside of temperature.cpp
-#ifndef SINGLENOZZLE
-  extern int target_temperature[EXTRUDERS];  
-  extern float current_temperature[EXTRUDERS];
-  #ifdef SHOW_TEMP_ADC_VALUES
-    extern int current_temperature_raw[EXTRUDERS];
-    extern int current_temperature_bed_raw;
-  #endif
-#else
-  extern int target_temperature[1];  
-  extern float current_temperature[1];
-  #ifdef SHOW_TEMP_ADC_VALUES
-    extern int current_temperature_raw[1];
-    extern int current_temperature_bed_raw;
-  #endif
-#endif //SINGLENOZZLE
+extern int target_temperature[HOTENDS];  
+extern float current_temperature[HOTENDS];
+#ifdef SHOW_TEMP_ADC_VALUES
+  extern int current_temperature_raw[HOTENDS];
+  extern int current_temperature_bed_raw;
+#endif
 
 extern int target_temperature_bed;
 extern float current_temperature_bed;
@@ -72,11 +63,7 @@ extern float current_temperature_bed;
 #endif
 
 #ifdef PIDTEMP
-  #ifndef SINGLENOZZLE
-    extern float Kp[EXTRUDERS],Ki[EXTRUDERS],Kd[EXTRUDERS];
-  #else
-    extern float Kp[1],Ki[1],Kd[1];
-  #endif
+  extern float Kp[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
   float scalePID_i(float i);
   float scalePID_d(float d);
   float unscalePID_i(float i);
@@ -94,64 +81,33 @@ extern float current_temperature_bed;
 //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) {  
-#ifndef SINGLENOZZLE
-  return current_temperature[extruder];
+#if HOTENDS <= 1
+  #define HOTEND_ARG 0
 #else
-  return current_temperature[0];
+  #define HOTEND_ARG hotend
 #endif
-}
 
-#ifdef SHOW_TEMP_ADC_VALUES
-  FORCE_INLINE float rawHotendTemp(uint8_t extruder) {
-  #ifndef SINGLENOZZLE  
-   return current_temperature_raw[extruder];
-  #else
-   return current_temperature_raw[0];
-  #endif
-  }
+FORCE_INLINE float degHotend(uint8_t hotend) { return current_temperature[HOTEND_ARG]; }
+FORCE_INLINE float degBed() { return current_temperature_bed; }
 
+#ifdef SHOW_TEMP_ADC_VALUES
+  FORCE_INLINE float rawHotendTemp(uint8_t hotend) { return current_temperature_raw[HOTEND_ARG]; }
   FORCE_INLINE float rawBedTemp() { return current_temperature_bed_raw; }
 #endif //SHOW_TEMP_ADC_VALUES
 
-FORCE_INLINE float degBed() { return current_temperature_bed; }
+FORCE_INLINE float degTargetHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG]; }
 
-FORCE_INLINE float degTargetHotend(uint8_t extruder) {
-  #ifndef SINGLENOZZLE  
-    return target_temperature[extruder];
-  #else
-    return target_temperature[0];
-  #endif
-}
 FORCE_INLINE float degTargetBed() { return target_temperature_bed; }
 
-FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
-  #ifndef SINGLENOZZLE  
-    target_temperature[extruder] = celsius;
-  #else
-    target_temperature[0] = celsius;
-  #endif
-}
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t hotend) { target_temperature[HOTEND_ARG] = celsius; }
+
 FORCE_INLINE void setTargetBed(const float &celsius) { target_temperature_bed = celsius; }
 
-FORCE_INLINE bool isHeatingHotend(uint8_t extruder) {
-  #ifndef SINGLENOZZLE
-    return target_temperature[extruder] > current_temperature[extruder];
-  #else
-    return target_temperature[0] > current_temperature[0];
-  #endif
-}
+FORCE_INLINE bool isHeatingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] > current_temperature[HOTEND_ARG]; }
 
 FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
 
-FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
-#ifndef SINGLENOZZLE
-  return target_temperature[extruder] < current_temperature[extruder];
-#else
-  return target_temperature[0] < current_temperature[0];
-#endif
-}
+FORCE_INLINE bool isCoolingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] < current_temperature[HOTEND_ARG]; }
 
 FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
 
@@ -160,7 +116,7 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
 #define isHeatingHotend0() isHeatingHotend(0)
 #define isCoolingHotend0() isCoolingHotend(0)
-#if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
+#if HOTENDS > 1
   #define degHotend1() degHotend(1)
   #define degTargetHotend1() degTargetHotend(1)
   #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
@@ -169,7 +125,7 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend1(_celsius) do{}while(0)
 #endif
-#if EXTRUDERS > 2 && !defined(SINGLENOZZLE)
+#if HOTENDS > 2
   #define degHotend2() degHotend(2)
   #define degTargetHotend2() degTargetHotend(2)
   #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
@@ -178,7 +134,7 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend2(_celsius) do{}while(0)
 #endif
-#if EXTRUDERS > 3 && !defined(SINGLENOZZLE)
+#if HOTENDS > 3
   #define degHotend3() degHotend(3)
   #define degTargetHotend3() degTargetHotend(3)
   #define setTargetHotend3(_celsius) setTargetHotend((_celsius), 3)
@@ -187,8 +143,8 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend3(_celsius) do{}while(0)
 #endif
-#if EXTRUDERS > 4
-  #error Invalid number of extruders
+#if HOTENDS > 4
+  #error Invalid number of hotends
 #endif
 
 int getHeaterPower(int heater);
@@ -217,7 +173,7 @@ FORCE_INLINE void autotempShutdown() {
   #endif
 }
 
-void PID_autotune(float temp, int extruder, int ncycles);
+void PID_autotune(float temp, int hotend, int ncycles);
 
 void setExtruderAutoFanState(int pin, bool state);
 void checkExtruderAutoFans();

MarlinKimbra/ultralcd.cpp

@@ -215,8 +215,8 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
   #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
 #endif //!ENCODER_RATE_MULTIPLIER
 #define END_MENU() \
-    if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; \
-    if ((uint8_t)(encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
+    if (encoderLine >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
+    if (encoderLine >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = encoderLine - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
     } } while(0)
 
 /** Used variables to keep track of the menu */
@@ -310,16 +310,12 @@ static void lcd_status_screen()
     lcd_implementation_status_screen();
     lcd_status_update_delay = 10;   /* redraw the main screen every second. This is easier then trying keep track of all things that change on the screen */
   }
-  #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) || (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
-	#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) && (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
-	if (millis() > message_millis + 15000)
-	#else
-	if (millis() > message_millis + 10000)
+
+  #if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) || defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && (POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
+    if (millis() > message_millis + 15000) message_millis = millis();
+  #else
+    if (millis() > message_millis + 10000) message_millis = millis();
 	#endif
-    {
-      message_millis = millis();
-	}
-  #endif
 
 #ifdef ULTIPANEL
 
@@ -454,7 +450,7 @@ static void lcd_main_menu() {
 void lcd_set_home_offsets() {
   for(int8_t i=0; i < NUM_AXIS; i++) {
     if (i != E_AXIS) {
-      add_homing[i] -= current_position[i];
+      home_offset[i] -= current_position[i];
       current_position[i] = 0.0;
     }
   }
@@ -693,89 +689,74 @@ void config_lcd_level_bed()
 
 void lcd_level_bed()
 {
- if(ChangeScreen){
-    switch(pageShowInfo){
-      
+  if(ChangeScreen) {
+    lcd.clear();
+    switch(pageShowInfo) {
       case 0:
-        {      
-          u8g.setPrintPos(0, 1);
+        {
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_INTRO));
-           currentMenu = lcd_level_bed;
-           ChangeScreen=false;
+          currentMenu = lcd_level_bed;
+          ChangeScreen=false;
         }
-        break;
-
+      break;
       case 1:
-        {      
-          u8g.setPrintPos(0, 1);
+        {
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_1));
-              currentMenu = lcd_level_bed;
-           ChangeScreen=false;         
+          currentMenu = lcd_level_bed;
+          ChangeScreen=false;
         }
-              
-        break;
+      break;
       case 2:
-        {      
-          u8g.setPrintPos(0, 1);
+        {
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_2));
               currentMenu = lcd_level_bed;
-           ChangeScreen=false;       
+           ChangeScreen=false;
         }
-              
-        break;        
+      break;
       case 3:
-        {      
-          u8g.setPrintPos(0, 1);
+        {  
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_3));
-              currentMenu = lcd_level_bed;
-           ChangeScreen=false;         
+          currentMenu = lcd_level_bed;
+          ChangeScreen=false;
         }
-              
-        break;        
-     case 4:
-        {     
-          u8g.setPrintPos(0, 1);
+      break;        
+      case 4:
+        {
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_4));
-              currentMenu = lcd_level_bed;
-           ChangeScreen=false;         
+          currentMenu = lcd_level_bed;
+          ChangeScreen=false; 
         }
-              
-        break;
-
-     case 5:
-        {     
-          u8g.setPrintPos(0, 1);
+      break;
+      case 5:
+        {
+          lcd.setCursor(0, 1);
           lcd_printPGM(PSTR(MSG_LP_5));
-              currentMenu = lcd_level_bed;
-           ChangeScreen=false;         
+          currentMenu = lcd_level_bed;
+          ChangeScreen=false;
         }
-              
-        break;
-    
-     case 6:
+      break;
+      case 6:
         {
-          u8g.setPrintPos(2, 2);          
-          lcd_printPGM(PSTR(MSG_LP_6));         
-          
+          lcd.setCursor(2, 2);
+          lcd_printPGM(PSTR(MSG_LP_6));
           ChangeScreen=false;
-          delay(1200);    
-          
+          delay(1200);
           encoderPosition = 0;
-<<<<<<< HEAD
           lcd.clear();
-=======
->>>>>>> parent of 3223901... Fix Power Consumation
           currentMenu = lcd_status_screen;
           lcd_status_screen();
           pageShowInfo=0;
-     
         }
-        break; 
+      break;
     }
-   }
+  }
 }
 
-
 static void lcd_prepare_menu() {
   START_MENU();
   MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
@@ -981,21 +962,21 @@ static void lcd_control_temperature_menu() {
   #if TEMP_SENSOR_0 != 0
     MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15);
   #endif
-  #if EXTRUDERS > 1
+  #if HOTENDS > 1
     #if TEMP_SENSOR_1 != 0
       MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
     #endif
-    #if EXTRUDERS > 2
+    #if HOTENDS > 2
       #if TEMP_SENSOR_2 != 0
         MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
       #endif
-      #if EXTRUDERS > 3
+      #if HOTENDS > 3
         #if TEMP_SENSOR_3 != 0
           MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
         #endif
-      #endif //EXTRUDERS > 3
-    #endif //EXTRUDERS > 2
-  #endif //EXTRUDERS > 1
+      #endif //HOTENDS > 3
+    #endif //HOTENDS > 2
+  #endif //HOTENDS > 1
   #if TEMP_SENSOR_BED != 0
     MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
   #endif
@@ -1014,35 +995,33 @@ static void lcd_control_temperature_menu() {
     // i is typically a small value so allows values below 1
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I, &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D, &raw_Kd, 1, 9990, copy_and_scalePID_d);
-    #ifndef SINGLENOZZLE
-      #if EXTRUDERS > 1
-        // set up temp variables - undo the default scaling
-        raw_Ki = unscalePID_i(Ki[1]);
-      	raw_Kd = unscalePID_d(Kd[1]);
-      	MENU_ITEM_EDIT(float52, MSG_PID_P " E2", &Kp[1], 1, 9990);
-        // i is typically a small value so allows values below 1
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E2", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E2", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-      #endif //EXTRUDERS > 1
-      #if EXTRUDERS > 2
-        // set up temp variables - undo the default scaling
-        raw_Ki = unscalePID_i(Ki[2]);
-      	raw_Kd = unscalePID_d(Kd[2]);
-        MENU_ITEM_EDIT(float52, MSG_PID_P " E3", &Kp[2], 1, 9990);
-        // i is typically a small value so allows values below 1
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E3", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E3", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-      #endif //EXTRUDERS > 2
-      #if EXTRUDERS > 3
-        // set up temp variables - undo the default scaling
-        raw_Ki = unscalePID_i(Ki[3]);
-      	raw_Kd = unscalePID_d(Kd[3]);
-        MENU_ITEM_EDIT(float52, MSG_PID_P " E4", &Kp[3], 1, 9990);
-        // i is typically a small value so allows values below 1
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E4", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E4", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-      #endif //EXTRUDERS > 2
-    #endif //SINGLENOZZLE
+    #if HOTENDS > 1
+      // set up temp variables - undo the default scaling
+      raw_Ki = unscalePID_i(Ki[1]);
+      raw_Kd = unscalePID_d(Kd[1]);
+      MENU_ITEM_EDIT(float52, MSG_PID_P " E2", &Kp[1], 1, 9990);
+      // i is typically a small value so allows values below 1
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E2", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E2", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+    #endif //HOTENDS > 1
+    #if HOTENDS > 2
+      // set up temp variables - undo the default scaling
+      raw_Ki = unscalePID_i(Ki[2]);
+      raw_Kd = unscalePID_d(Kd[2]);
+      MENU_ITEM_EDIT(float52, MSG_PID_P " E3", &Kp[2], 1, 9990);
+      // i is typically a small value so allows values below 1
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E3", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E3", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+    #endif //HOTENDS > 2
+    #if HOTENDS > 3
+      // set up temp variables - undo the default scaling
+      raw_Ki = unscalePID_i(Ki[3]);
+      raw_Kd = unscalePID_d(Kd[3]);
+      MENU_ITEM_EDIT(float52, MSG_PID_P " E4", &Kp[3], 1, 9990);
+      // i is typically a small value so allows values below 1
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E4", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E4", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+    #endif //HOTENDS > 2
   #endif //PIDTEMP
   MENU_ITEM(submenu, MSG_PREHEAT_PLA_SETTINGS, lcd_control_temperature_preheat_pla_settings_menu);
   MENU_ITEM(submenu, MSG_PREHEAT_ABS_SETTINGS, lcd_control_temperature_preheat_abs_settings_menu);

MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h

@@ -380,57 +380,55 @@ static void lcd_set_custom_characters(
   #endif
 }
 
-static void lcd_implementation_init(
+static void lcd_implementation_init (
   #if defined(LCD_PROGRESS_BAR) && defined(SDSUPPORT)
-    bool progress_bar_set=true
+    bool progress_bar_set = true
   #endif
-) {
+){
 
-#if defined(LCD_I2C_TYPE_PCF8575)
+  #if defined(LCD_I2C_TYPE_PCF8575)
     lcd.begin(LCD_WIDTH, LCD_HEIGHT);
   #ifdef LCD_I2C_PIN_BL
     lcd.setBacklightPin(LCD_I2C_PIN_BL,POSITIVE);
     lcd.setBacklight(HIGH);
   #endif
-  
-#elif defined(LCD_I2C_TYPE_MCP23017)
+
+  #elif defined(LCD_I2C_TYPE_MCP23017)
     lcd.setMCPType(LTI_TYPE_MCP23017);
     lcd.begin(LCD_WIDTH, LCD_HEIGHT);
     lcd.setBacklight(0); //set all the LEDs off to begin with
-    
-#elif defined(LCD_I2C_TYPE_MCP23008)
+  #elif defined(LCD_I2C_TYPE_MCP23008)
     lcd.setMCPType(LTI_TYPE_MCP23008);
     lcd.begin(LCD_WIDTH, LCD_HEIGHT);
-
-#elif defined(LCD_I2C_TYPE_PCA8574)
-      lcd.init();
-      lcd.backlight();
-    
-#else
+  #elif defined(LCD_I2C_TYPE_PCA8574)
+    lcd.init();
+    lcd.backlight();
+  #else
     lcd.begin(LCD_WIDTH, LCD_HEIGHT);
-#endif
+  #endif
 
-    lcd_set_custom_characters(
-        #if defined(LCD_PROGRESS_BAR) && defined(SDSUPPORT)
-            progress_bar_set
-        #endif
-    );
+  lcd_set_custom_characters(
+      #if defined(LCD_PROGRESS_BAR) && defined(SDSUPPORT)
+          progress_bar_set
+      #endif
+  );
 
-    lcd.clear();
+  lcd.clear();
 }
-static void lcd_implementation_clear()
-{
-    lcd.clear();
+
+static void lcd_implementation_clear() {
+  lcd.clear();
 }
+
 /* Arduino < 1.0.0 is missing a function to print PROGMEM strings, so we need to implement our own */
-static void lcd_printPGM(const char* str)
-{
-    char c;
-    while((c = pgm_read_byte(str++)) != '\0')
-    {
-        lcd.write(c);
-    }
+static void lcd_printPGM(const char* str) {
+  char c;
+  while((c = pgm_read_byte(str++)) != '\0')
+  {
+    lcd.write(c);
+  }
 }
+
 /*
 Possible status screens:
 16x2   |0123456789012345|
@@ -459,145 +457,143 @@ Possible status screens:
        |F100%  SD100% T--:--|
        |Status line.........|
 */
-static void lcd_implementation_status_screen()
-{
-    int tHotend=int(degHotend(0) + 0.5);
-    int tTarget=int(degTargetHotend(0) + 0.5);
 
-#if LCD_WIDTH < 20
-    lcd.setCursor(0, 0);
-    lcd.print(itostr3(tHotend));
-    lcd.print('/');
-    lcd.print(itostr3left(tTarget));
+static void lcd_implementation_status_screen() {
+  int tHotend=int(degHotend(0) + 0.5);
+  int tTarget=int(degTargetHotend(0) + 0.5);
 
-# if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
-    //If we have an 2nd extruder or heated bed, show that in the top right corner
-    lcd.setCursor(8, 0);
-#  if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
-    tHotend = int(degHotend(1) + 0.5);
-    tTarget = int(degTargetHotend(1) + 0.5);
-    lcd.print(LCD_STR_THERMOMETER[0]);
-#  else//Heated bed
-    tHotend=int(degBed() + 0.5);
-    tTarget=int(degTargetBed() + 0.5);
-    lcd.print(LCD_STR_BEDTEMP[0]);
-#  endif
+  #if LCD_WIDTH < 20
+    lcd.setCursor(0, 0);
     lcd.print(itostr3(tHotend));
     lcd.print('/');
     lcd.print(itostr3left(tTarget));
-# endif (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
 
-#else//LCD_WIDTH > 19
+    #if HOTENDS > 1 || TEMP_SENSOR_BED != 0
+      //If we have an 2nd extruder or heated bed, show that in the top right corner
+      lcd.setCursor(8, 0);
+      #if HOTENDS > 1
+        tHotend = int(degHotend(1) + 0.5);
+        tTarget = int(degTargetHotend(1) + 0.5);
+        lcd.print(LCD_STR_THERMOMETER[0]);
+      #else//Heated bed
+        tHotend=int(degBed() + 0.5);
+        tTarget=int(degTargetBed() + 0.5);
+        lcd.print(LCD_STR_BEDTEMP[0]);
+      #endif
+      lcd.print(itostr3(tHotend));
+      lcd.print('/');
+      lcd.print(itostr3left(tTarget));
+    #endif //HOTENDS > 1 || TEMP_SENSOR_BED != 0
+
+  #else//LCD_WIDTH > 19
     lcd.setCursor(0, 0);
     lcd.print(LCD_STR_THERMOMETER[0]);
     lcd.print(itostr3(tHotend));
     lcd.print('/');
     lcd.print(itostr3left(tTarget));
     lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
-    if (tTarget < 10)
-        lcd.print(' ');
-
-# if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
-    //If we have an 2nd extruder or heated bed, show that in the top right corner
-    lcd.setCursor(10, 0);
-#  if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
-    tHotend = int(degHotend(1) + 0.5);
-    tTarget = int(degTargetHotend(1) + 0.5);
-    lcd.print(LCD_STR_THERMOMETER[0]);
-#  else//Heated bed
-    tHotend=int(degBed() + 0.5);
-    tTarget=int(degTargetBed() + 0.5);
-    lcd.print(LCD_STR_BEDTEMP[0]);
-#  endif
-    lcd.print(itostr3(tHotend));
-    lcd.print('/');
-    lcd.print(itostr3left(tTarget));
-    lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
-    if (tTarget < 10)
-        lcd.print(' ');
-# endif//(EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
-#endif//LCD_WIDTH > 19
-
-#if LCD_HEIGHT > 2
-//Lines 2 for 4 line LCD
-# if LCD_WIDTH < 20
-#  ifdef SDSUPPORT
-    lcd.setCursor(0, 2);
-    lcd_printPGM(PSTR("SD"));
-    if (IS_SD_PRINTING)
-        lcd.print(itostr3(card.percentDone()));
-    else
-        lcd_printPGM(PSTR("---"));
-    lcd.print('%');
-#  endif//SDSUPPORT
-# else//LCD_WIDTH > 19
-#  if EXTRUDERS > 1 && TEMP_SENSOR_BED != 0 && !defined(SINGLENOZZLE)
-    //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps
-    tHotend=int(degBed() + 0.5);
-    tTarget=int(degTargetBed() + 0.5);
-
-    lcd.setCursor(0, 1);
-    lcd.print(LCD_STR_BEDTEMP[0]);
-    lcd.print(itostr3(tHotend));
-    lcd.print('/');
-    lcd.print(itostr3left(tTarget));
-    lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
-    if (tTarget < 10)
-      lcd.print(' ');
-#   else
-      lcd.setCursor(0,1);
-#     ifdef DELTA
-        lcd.print('X');
-        lcd.print(ftostr30(current_position[X_AXIS]));
-        lcd_printPGM(PSTR(" Y"));
-        lcd.print(ftostr30(current_position[Y_AXIS]));
-#     else
-        lcd.print('X');
-        lcd.print(ftostr3(current_position[X_AXIS]));
-        lcd_printPGM(PSTR(" Y"));
-        lcd.print(ftostr3(current_position[Y_AXIS]));
-#     endif // DELTA
-#  endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0
-# endif//LCD_WIDTH > 19
-    lcd.setCursor(LCD_WIDTH - 8, 1);
-    lcd.print('Z');
-    lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
-#endif//LCD_HEIGHT > 2
-
-#if LCD_HEIGHT > 3
+    if (tTarget < 10) lcd.print(' ');
+
+    #if HOTENDS > 1 || TEMP_SENSOR_BED != 0
+      //If we have an 2nd extruder or heated bed, show that in the top right corner
+      lcd.setCursor(10, 0);
+      #if HOTENDS > 1
+        tHotend = int(degHotend(1) + 0.5);
+        tTarget = int(degTargetHotend(1) + 0.5);
+        lcd.print(LCD_STR_THERMOMETER[0]);
+      #else//Heated bed
+        tHotend=int(degBed() + 0.5);
+        tTarget=int(degTargetBed() + 0.5);
+        lcd.print(LCD_STR_BEDTEMP[0]);
+      #endif
+      lcd.print(itostr3(tHotend));
+      lcd.print('/');
+      lcd.print(itostr3left(tTarget));
+      lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
+      if (tTarget < 10) lcd.print(' ');
+    #endif//HOTENDS > 1 || TEMP_SENSOR_BED != 0
+  #endif//LCD_WIDTH > 19
+
+  #if LCD_HEIGHT > 2
+    //Lines 2 for 4 line LCD
+    #if LCD_WIDTH < 20
+      #ifdef SDSUPPORT
+        lcd.setCursor(0, 2);
+        lcd_printPGM(PSTR("SD"));
+        if (IS_SD_PRINTING)
+          lcd.print(itostr3(card.percentDone()));
+        else
+          lcd_printPGM(PSTR("---"));
+        lcd.print('%');
+      #endif//SDSUPPORT
+    #else //LCD_WIDTH > 19
+      #if HOTENDS > 1 && TEMP_SENSOR_BED != 0
+        //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps
+        tHotend=int(degBed() + 0.5);
+        tTarget=int(degTargetBed() + 0.5);
+
+        lcd.setCursor(0, 1);
+        lcd.print(LCD_STR_BEDTEMP[0]);
+        lcd.print(itostr3(tHotend));
+        lcd.print('/');
+        lcd.print(itostr3left(tTarget));
+        lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
+        if (tTarget < 10) lcd.print(' ');
+      #else
+        lcd.setCursor(0,1);
+        #ifdef DELTA
+          lcd.print('X');
+          lcd.print(ftostr30(current_position[X_AXIS]));
+          lcd_printPGM(PSTR(" Y"));
+          lcd.print(ftostr30(current_position[Y_AXIS]));
+        #else
+          lcd.print('X');
+          lcd.print(ftostr3(current_position[X_AXIS]));
+          lcd_printPGM(PSTR(" Y"));
+          lcd.print(ftostr3(current_position[Y_AXIS]));
+        #endif // DELTA
+      #endif //HOTENDS > 1 || TEMP_SENSOR_BED != 0
+    #endif //LCD_WIDTH > 19
+      lcd.setCursor(LCD_WIDTH - 8, 1);
+      lcd.print('Z');
+      lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
+  #endif //LCD_HEIGHT > 2
+
+  #if LCD_HEIGHT > 3
     lcd.setCursor(0, 2);
     lcd.print(LCD_STR_FEEDRATE[0]);
     lcd.print(itostr3(feedmultiply));
     lcd.print('%');
-# if LCD_WIDTH > 19
-#  ifdef SDSUPPORT
-    lcd.setCursor(7, 2);
-    lcd_printPGM(PSTR("SD"));
-    if (IS_SD_PRINTING)
-        lcd.print(itostr3(card.percentDone()));
-    else
-        lcd_printPGM(PSTR("---"));
-    lcd.print('%');
-#  endif//SDSUPPORT
-# endif//LCD_WIDTH > 19
+    #if LCD_WIDTH > 19
+      #ifdef SDSUPPORT
+        lcd.setCursor(7, 2);
+        lcd_printPGM(PSTR("SD"));
+        if (IS_SD_PRINTING)
+          lcd.print(itostr3(card.percentDone()));
+        else
+          lcd_printPGM(PSTR("---"));
+        lcd.print('%');
+      #endif //SDSUPPORT
+    #endif //LCD_WIDTH > 19
     lcd.setCursor(LCD_WIDTH - 6, 2);
     lcd.print(LCD_STR_CLOCK[0]);
     if(starttime != 0)
     {
-        uint16_t time = millis()/60000 - starttime/60000;
-        lcd.print(itostr2(time/60));
-        lcd.print(':');
-        lcd.print(itostr2(time%60));
-    }else{
-        lcd_printPGM(PSTR("--:--"));
+      uint16_t time = millis()/60000 - starttime/60000;
+      lcd.print(itostr2(time/60));
+      lcd.print(':');
+      lcd.print(itostr2(time%60));
     }
-#endif
+    else
+    {
+      lcd_printPGM(PSTR("--:--"));
+    }
+  #endif
 
   // Status message line at the bottom
   lcd.setCursor(0, LCD_HEIGHT - 1);
 
   #if defined(LCD_PROGRESS_BAR) && defined(SDSUPPORT)
-
     if (card.isFileOpen()) {
       uint16_t mil = millis(), diff = mil - progressBarTick;
       if (diff >= PROGRESS_BAR_MSG_TIME || !lcd_status_message[0]) {
@@ -620,36 +616,36 @@ static void lcd_implementation_status_screen()
 
   #endif //LCD_PROGRESS_BAR
 
- //Display both Status message line and Filament display on the last line
+  //Display both Status message line and Filament display on the last line
   #if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY) || (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
     if (millis() < message_millis + 5000) {  //Display both Status message line and Filament display on the last line
       lcd.print(lcd_status_message);
     }
-	#if (defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
-	#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
-	else if (millis() < message_millis + 10000)
-	#else
-	else
-	#endif
-	{
-	  lcd_printPGM(PSTR("P:"));
-      lcd.print(itostr3(power_consumption_meas));
-	  lcd_printPGM(PSTR("W C:"));
-      lcd.print(ltostr7(power_consumption_hour));
-	  lcd_printPGM(PSTR("Wh"));
-	}
-	#endif
-	#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
-	else {
-      lcd_printPGM(PSTR("D:"));
-      lcd.print(ftostr12ns(filament_width_meas));
-      lcd_printPGM(PSTR("mm F:"));
-      lcd.print(itostr3(100.0*volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
-  	  lcd.print('%');
-
-    }
-  #else
-  lcd.print(lcd_status_message);
+    #if defined(POWER_CONSUMPTION) && defined(POWER_CONSUMPTION_PIN) && (POWER_CONSUMPTION_PIN >= 0) && defined(POWER_CONSUMPTION_LCD_DISPLAY)
+      #if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
+        else if (millis() < message_millis + 10000)
+      #else
+        else
+      #endif
+      {
+        lcd_printPGM(PSTR("P:"));
+        lcd.print(itostr3(power_consumption_meas));
+        lcd_printPGM(PSTR("W C:"));
+        lcd.print(ltostr7(power_consumption_hour));
+        lcd_printPGM(PSTR("Wh"));
+      }
+    #endif
+    #if defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && (FILWIDTH_PIN >= 0) && defined(FILAMENT_LCD_DISPLAY)
+      else {
+        lcd_printPGM(PSTR("D:"));
+        lcd.print(ftostr12ns(filament_width_meas));
+        lcd_printPGM(PSTR("mm F:"));
+        lcd.print(itostr3(100.0 * volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
+        lcd.print('%');
+        return;
+      }
+    #else
+    lcd.print(lcd_status_message);
   #endif
 }
 
@@ -667,6 +663,7 @@ static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const cha
   lcd.print(post_char);
   lcd.print(' ');
 }
+
 static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char* data) {
   char c;
   uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen(data);
@@ -681,6 +678,7 @@ static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t r
   while (n--) lcd.print(' ');
   lcd.print(data);
 }
+
 static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t row, const char* pstr, char pre_char, const char* data) {
   char c;
   uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen_P(data);
@@ -695,6 +693,7 @@ static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t
   while (n--) lcd.print(' ');
   lcd_printPGM(data);
 }
+
 #define lcd_implementation_drawmenu_setting_edit_int3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', itostr3(*(data)))
 #define lcd_implementation_drawmenu_setting_edit_float3(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr3(*(data)))
 #define lcd_implementation_drawmenu_setting_edit_float32(sel, row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(sel, row, pstr, '>', ftostr32(*(data)))
@@ -723,6 +722,7 @@ void lcd_implementation_drawedit(const char* pstr, char* value) {
   lcd.setCursor(LCD_WIDTH - (LCD_WIDTH < 20 ? 0 : 1) - lcd_strlen(value), 1);
   lcd.print(value);
 }
+
 static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat) {
   char c;
   uint8_t n = LCD_WIDTH - concat;
@@ -743,9 +743,11 @@ static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* ps
 static void lcd_implementation_drawmenu_sdfile(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
   lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 1);
 }
+
 static void lcd_implementation_drawmenu_sddirectory(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
   lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2);
 }
+
 #define lcd_implementation_drawmenu_back(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
 #define lcd_implementation_drawmenu_submenu(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
 #define lcd_implementation_drawmenu_gcode(sel, row, pstr, gcode) lcd_implementation_drawmenu_generic(sel, row, pstr, '>', ' ')
@@ -787,7 +789,7 @@ static void lcd_implementation_update_indicators()
     if (target_temperature_bed > 0) leds |= LED_A;
     if (target_temperature[0] > 0) leds |= LED_B;
     if (fanSpeed) leds |= LED_C;
-    #if EXTRUDERS > 1   && !defined(SINGLENOZZLE)
+    #if HOTENDS > 1
       if (target_temperature[1] > 0) leds |= LED_C;
     #endif
     if (leds != ledsprev) {