Da Annullare

1616d4c3 · MagoKimbra · 059c706a · 1616d4c3 · 1616d4c3 · 1616d4c3
Commit 1616d4c3 authored Mar 23, 2015 by MagoKimbra
13 changed files
--- a/MarlinKimbra/ConfigurationStore.cpp
+++ b/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, axis_steps_per_unit);
-    EEPROM_READ_VAR(i,max_feedrate);
+    EEPROM_READ_VAR(i, max_feedrate);
-    EEPROM_READ_VAR(i,max_retraction_feedrate);
+    EEPROM_READ_VAR(i, max_retraction_feedrate);
-    EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
+    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, acceleration);
-    EEPROM_READ_VAR(i,retract_acceleration);
+    EEPROM_READ_VAR(i, retract_acceleration);
    EEPROM_READ_VAR(i, travel_acceleration);
-    EEPROM_READ_VAR(i,minimumfeedrate);
+    EEPROM_READ_VAR(i, minimumfeedrate);
-    EEPROM_READ_VAR(i,mintravelfeedrate);
+    EEPROM_READ_VAR(i, mintravelfeedrate);
-    EEPROM_READ_VAR(i,minsegmenttime);
+    EEPROM_READ_VAR(i, minsegmenttime);
-    EEPROM_READ_VAR(i,max_xy_jerk);
+    EEPROM_READ_VAR(i, max_xy_jerk);
-    EEPROM_READ_VAR(i,max_z_jerk);
+    EEPROM_READ_VAR(i, max_z_jerk);
-    EEPROM_READ_VAR(i,max_e_jerk);
+    EEPROM_READ_VAR(i, max_e_jerk);
-    EEPROM_READ_VAR(i,add_homing);
+    EEPROM_READ_VAR(i, home_offset);
-    EEPROM_READ_VAR(i,zprobe_zoffset);
+    EEPROM_READ_VAR(i, zprobe_zoffset);
-    #if EXTRUDERS > 1 && !defined SINGLENOZZLE
+    #if HOTENDS > 1
      EEPROM_READ_VAR(i, hotend_offset);
    #endif
    #ifdef DELTA
-      EEPROM_READ_VAR(i,endstop_adj);
+      EEPROM_READ_VAR(i, endstop_adj);
-      EEPROM_READ_VAR(i,delta_radius);
+      EEPROM_READ_VAR(i, delta_radius);
-      EEPROM_READ_VAR(i,delta_diagonal_rod);
+      EEPROM_READ_VAR(i, delta_diagonal_rod);
-      EEPROM_READ_VAR(i,max_pos);
+      EEPROM_READ_VAR(i, max_pos);
-      EEPROM_READ_VAR(i,tower_adj);
+      EEPROM_READ_VAR(i, tower_adj);
-      EEPROM_READ_VAR(i,z_probe_offset);
+      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, plaPreheatHotendTemp);
-    EEPROM_READ_VAR(i,plaPreheatHPBTemp);
+    EEPROM_READ_VAR(i, plaPreheatHPBTemp);
-    EEPROM_READ_VAR(i,plaPreheatFanSpeed);
+    EEPROM_READ_VAR(i, plaPreheatFanSpeed);
-    EEPROM_READ_VAR(i,absPreheatHotendTemp);
+    EEPROM_READ_VAR(i, absPreheatHotendTemp);
-    EEPROM_READ_VAR(i,absPreheatHPBTemp);
+    EEPROM_READ_VAR(i, absPreheatHPBTemp);
-    EEPROM_READ_VAR(i,absPreheatFanSpeed);
+    EEPROM_READ_VAR(i, absPreheatFanSpeed);
-    EEPROM_READ_VAR(i,gumPreheatHotendTemp);
+    EEPROM_READ_VAR(i, gumPreheatHotendTemp);
-    EEPROM_READ_VAR(i,gumPreheatHPBTemp);
+    EEPROM_READ_VAR(i, gumPreheatHPBTemp);
-    EEPROM_READ_VAR(i,gumPreheatFanSpeed);
+    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, Kp);
-      EEPROM_READ_VAR(i,Ki);
+      EEPROM_READ_VAR(i, Ki);
-      EEPROM_READ_VAR(i,Kd);
+      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, autoretract_enabled);
-      EEPROM_READ_VAR(i,retract_length);
+      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_feedrate);
-      EEPROM_READ_VAR(i,retract_zlift);
+      EEPROM_READ_VAR(i, retract_zlift);
-      EEPROM_READ_VAR(i,retract_recover_length);
+      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 < HOTENDS; e++) 
-      for (int e = 0; e < EXTRUDERS; e++) 
-    #else
-      int e = 0; // only need to write once
-    #endif //SINGLENOZZLE
    {
      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("  M92 X", axis_steps_per_unit[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Y", axis_steps_per_unit[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[Z_AXIS]);
+  SERIAL_ECHOPAIR(" Z", axis_steps_per_unit[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E0 S",axis_steps_per_unit[E_AXIS + 0]);
+  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("  M365 X", axis_scaling[X_AXIS]);
-    SERIAL_ECHOPAIR(" Y",axis_scaling[Y_AXIS]);
+    SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
-    SERIAL_ECHOPAIR(" Z",axis_scaling[Z_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("  M203 X", max_feedrate[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y",max_feedrate[Y_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("  M201 X", max_acceleration_units_per_sq_second[X_AXIS] ); 
-  SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[Y_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(" Z", max_acceleration_units_per_sq_second[Z_AXIS] );
-  SERIAL_ECHOPAIR(" E0 S" ,max_acceleration_units_per_sq_second[E_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("  M205 S", minimumfeedrate );
-  SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); 
+  SERIAL_ECHOPAIR(" T", mintravelfeedrate );
-  SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
+  SERIAL_ECHOPAIR(" B", minsegmenttime );
-  SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
+  SERIAL_ECHOPAIR(" X", max_xy_jerk );
-  SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+  SERIAL_ECHOPAIR(" Z", max_z_jerk);
-  SERIAL_ECHOPAIR(" E" ,max_e_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("  M206 X", home_offset[X_AXIS] );
-  SERIAL_ECHOPAIR(" Y" ,add_homing[Y_AXIS] );
+  SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS] );
-  SERIAL_ECHOPAIR(" Z" ,add_homing[Z_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("  M666 X", endstop_adj[0]);
-    SERIAL_ECHOPAIR(" Y" ,endstop_adj[1]);
+    SERIAL_ECHOPAIR(" Y", endstop_adj[1]);
-    SERIAL_ECHOPAIR(" Z" ,endstop_adj[2]);
+    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("  M666 A", tower_adj[0]);
-    SERIAL_ECHOPAIR(" B" ,tower_adj[1]);
+    SERIAL_ECHOPAIR(" B", tower_adj[1]);
-    SERIAL_ECHOPAIR(" C" ,tower_adj[2]);
+    SERIAL_ECHOPAIR(" C", tower_adj[2]);
-    SERIAL_ECHOPAIR(" E" ,tower_adj[3]);
+    SERIAL_ECHOPAIR(" E", tower_adj[3]);
-    SERIAL_ECHOPAIR(" F" ,tower_adj[4]);
+    SERIAL_ECHOPAIR(" F", tower_adj[4]);
-    SERIAL_ECHOPAIR(" G" ,tower_adj[5]);
+    SERIAL_ECHOPAIR(" G", tower_adj[5]);
-    SERIAL_ECHOPAIR(" R" ,delta_radius);
+    SERIAL_ECHOPAIR(" R", delta_radius);
-    SERIAL_ECHOPAIR(" D" ,delta_diagonal_rod);
+    SERIAL_ECHOPAIR(" D", delta_diagonal_rod);
-    SERIAL_ECHOPAIR(" H" ,max_pos[2]);
+    SERIAL_ECHOPAIR(" H", max_pos[2]);
-    SERIAL_ECHOPAIR(" P" ,z_probe_offset[3]);
+    SERIAL_ECHOPAIR(" P", z_probe_offset[3]);
    SERIAL_EOL;
    SERIAL_ECHOLN("Tower Positions");
-    SERIAL_ECHOPAIR("Tower1 X:",delta_tower1_x);
+    SERIAL_ECHOPAIR("Tower1 X:", delta_tower1_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower1_y);
+    SERIAL_ECHOPAIR(" Y:", delta_tower1_y);
    SERIAL_EOL;
-    SERIAL_ECHOPAIR("Tower2 X:",delta_tower2_x);
+    SERIAL_ECHOPAIR("Tower2 X:", delta_tower2_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower2_y);
+    SERIAL_ECHOPAIR(" Y:", delta_tower2_y);
    SERIAL_EOL;
-    SERIAL_ECHOPAIR("Tower3 X:",delta_tower3_x);
+    SERIAL_ECHOPAIR("Tower3 X:", delta_tower3_x);
-    SERIAL_ECHOPAIR(" Y:",delta_tower3_y);
+    SERIAL_ECHOPAIR(" Y:", delta_tower3_y);
    SERIAL_EOL;
  #endif // DELTA
@@ -555,24 +551,20 @@ 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 < HOTENDS; e++)
-      for (int e = 0; e < EXTRUDERS; e++)
-    #else
-      int e = 0;
-    #endif
    {
      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(" I", unscalePID_i(Ki[e]));
-      SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd[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("  M207 S", retract_length); 
-    SERIAL_ECHOPAIR(" F" ,retract_feedrate*60); 
+    SERIAL_ECHOPAIR(" F", retract_feedrate*60); 
-    SERIAL_ECHOPAIR(" Z" ,retract_zlift);
+    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("  M208 S", retract_recover_length); 
-    SERIAL_ECHOPAIR(" F" ,retract_recover_feedrate*60); 
+    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");

--- a/MarlinKimbra/Configuration_Cartesian.h
+++ b/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

--- a/MarlinKimbra/Configuration_Corexy.h
+++ b/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

--- a/MarlinKimbra/Configuration_Scara.h
+++ b/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

--- a/MarlinKimbra/Marlin.h
+++ b/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];
+extern float home_offset[3];
-// Extruder offset
+// Hotend offset
-#if EXTRUDERS > 1
+#if HOTENDS > 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];
+  extern float hotend_offset[NUM_HOTEND_OFFSETS][HOTENDS];
-  #endif // end SINGLENOZZLE
+#endif // HOTENDS > 1
-#endif // end EXTRUDERS
 #ifdef NPR2
 extern int old_color; // old color for system NPR2

--- a/MarlinKimbra/Marlin_main.cpp
+++ b/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
+// Hotend offset
-#ifndef SINGLENOZZLE
+#if HOTENDS > 1  
-  #if EXTRUDERS > 1  
  #ifndef DUAL_X_CARRIAGE
-      #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
+    #define NUM_HOTENDS_OFFSETS 2 // only in XY plane
  #else
-      #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
+    #define NUM_HOTENDS_OFFSETS 3 // supports offsets in XYZ plane
  #endif
-    float hotend_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
+  float hotend_offset[NUM_HOTENDS_OFFSETS][HOTENDS] = {
-      #if defined(EXTRUDER_OFFSET_X)
+    #if defined(HOTEND_OFFSET_X)
-        EXTRUDER_OFFSET_X
+      HOTEND_OFFSET_X
    #else
      0
    #endif
    ,
-      #if defined(EXTRUDER_OFFSET_Y)
+    #if defined(HOTEND_OFFSET_Y)
-        EXTRUDER_OFFSET_Y
+      HOTEND_OFFSET_Y
    #else
      0
    #endif
  };
-  #endif //EXTRUDERS > 1
+#endif //HOTENDS > 1
-#endif //SINGLENOZZLE
 uint8_t active_extruder = 0;
@@ -1080,13 +1078,13 @@ 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) {
@@ -1116,9 +1114,9 @@ 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];
+          current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
-          min_pos[X_AXIS] =          base_min_pos(X_AXIS) + add_homing[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) + add_homing[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;
        }
@@ -1143,11 +1141,11 @@ 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 X="); SERIAL_ECHO(home_offset[X_AXIS]);
-        // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_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]);
@@ -1165,14 +1163,14 @@ bool extruder_duplication_enabled = false; // used in mode 2
      } 
      else
      {
-        current_position[axis] = base_home_pos(axis) + add_homing[axis];
+        current_position[axis] = base_home_pos(axis) + home_offset[axis];
-        min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+        min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-        max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+        max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
      }
    #else // NO SCARA
-      current_position[axis] = base_home_pos(axis) + add_homing[axis];
+      current_position[axis] = base_home_pos(axis) + home_offset[axis];
-      min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+      min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-      max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
+      max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
    #endif // SCARA
  }
@@ -1333,10 +1331,15 @@ 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]);
@@ -1445,9 +1448,9 @@ 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];
+    current_position[axis] = base_home_pos[axis] + home_offset[axis];
-    min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+    min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-    max_pos[axis] =          base_max_pos[axis] + add_homing[axis];
+    max_pos[axis] =          base_max_pos[axis] + home_offset[axis];
  }
  static void homeaxis(int axis)
@@ -2366,7 +2369,7 @@ 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
    }
@@ -2374,7 +2377,7 @@ 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
    }
@@ -2553,7 +2556,7 @@ 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]))
@@ -2674,7 +2677,7 @@ 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");
@@ -2786,7 +2789,7 @@ 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;
@@ -2806,7 +2809,7 @@ 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);
@@ -2843,37 +2846,18 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
        }
      }
-      if (topo_flag) {
+      if (do_topography_map) {
-        int xx, yy;
        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 (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
-          for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
+          for (int xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) {
-        #endif
+            int ind = yy * auto_bed_leveling_grid_points + xx;
-          {
-            #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
@@ -2885,7 +2869,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
        } // yy
        SERIAL_EOL;
-      } //topo_flag
+      } //do_topography_map
      set_bed_level_equation_lsq(plane_equation_coefficients);
@@ -2912,9 +2896,6 @@ 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:");
@@ -3497,9 +3478,9 @@ 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]);
      }
@@ -3920,15 +3901,10 @@ inline void gcode_M204() {
    boolean sleep = false;
    int cnt = 0;
-    #ifndef SINGLENOZZLE
+    int old_target_temperature[HOTENDS] = { 0 };
-      int old_target_temperature[EXTRUDERS] = { 0 };
+    for(int8_t e = 0; e < HOTENDS; e++)
-      for(int8_t e=0;e<EXTRUDERS;e++)
-    #else
-      int old_target_temperature[1] = { 0 };
-      int8_t e=0;
-    #endif
    {
-      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
@@ -3962,11 +3938,7 @@ inline void gcode_M204() {
    lcd_reset_alert_level();
    if (sleep) {
-      #ifndef SINGLENOZZLE
+      for(int8_t e = 0; e < HOTENDS; e++)
-        for(int8_t e=0;e<EXTRUDERS;e++)
-      #else
-        int8_t e=0;
-      #endif
      {
        setTargetHotend(old_target_temperature[e], e);
        CooldownNoWait = true;
@@ -4588,7 +4560,7 @@ 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);
@@ -4691,7 +4663,7 @@ 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);
@@ -4774,9 +4746,9 @@ 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:");
@@ -5046,16 +5018,16 @@ 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
      }
@@ -5138,8 +5110,7 @@ void process_commands()
        break;
      #endif // FWRETRACT
-      #ifndef SINGLENOZZLE
+      #if HOTENDS > 1
-        #if EXTRUDERS > 1
        case 218: //M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
        {
          if(setTargetedHotend(218)) break;
@@ -5174,7 +5145,6 @@ void process_commands()
        }
        break;
      #endif //EXTRUDERS > 1
-      #endif // SINGLENOZZLE
      case 220: //M220 S<factor in percent>- set speed factor override percentage
      {
@@ -5896,16 +5866,11 @@ void process_commands()
              delayed_move_time = 0;
            }
          #else
-            // Offset extruder (only by XY)
+            // Offset hotend (only by XY)
-            #ifndef SINGLENOZZLE
+            #if HOTENDS > 1
-              int i;
+              for (int i=X_AXIS; i<=Y_AXIS; i++)
-              for(i = 0; i < 2; i++)
+                current_position[i] += hotend_offset[i][tmp_extruder] - hotend_offset[i][active_extruder];
-              {
+            #endif // HOTENDS > 1
-                current_position[i] = current_position[i] -
-                  hotend_offset[i][active_extruder] +
-                  hotend_offset[i][tmp_extruder];
-              }
-            #endif // SINGLENOZZLE
            #if defined(MKR4) && (EXTRUDERS > 1)
              #if (EXTRUDERS == 4) && (E0E2_CHOICE_PIN >1) && (E1E3_CHOICE_PIN > 1)
@@ -6120,7 +6085,7 @@ 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;

--- a/MarlinKimbra/planner.cpp
+++ b/MarlinKimbra/planner.cpp
@@ -114,39 +114,26 @@ volatile unsigned char block_buffer_tail; // Index of the block to process now
  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
-// Used for the frequency limit
+  #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+  // 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 unsigned char old_direction_bits = 0;
-static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
+  // 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)
+#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
+// Get the next / previous index of the next block in the ring buffer
-// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
+// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
-static int8_t next_block_index(int8_t block_index) {
+FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
-  block_index++;
+FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
-  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);
-}
 //===========================================================================
-//=============================functions         ============================
+//================================ Functions ================================
 //===========================================================================
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
@@ -201,15 +188,15 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
  // 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
+    #ifdef ADVANCE
      block->initial_advance = initial_advance;
      block->final_advance = final_advance;
-#endif //ADVANCE
+    #endif //ADVANCE
  }
  CRITICAL_SECTION_END;
 }                    
@@ -217,23 +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) { 
+  if (!current) return;
-    return; 
-  }
  if (next) {
    // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@@ -243,9 +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)) {
+      if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
-        current->entry_speed = min( current->max_entry_speed,
+        current->entry_speed = min(current->max_entry_speed,
-        max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
+          max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
      } 
      else {
        current->entry_speed = current->max_entry_speed;
@@ -266,11 +242,10 @@ void planner_reverse_pass() {
    unsigned char tail = block_buffer_tail;
  CRITICAL_SECTION_END
-  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+  if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
-    block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
+    block_index = BLOCK_MOD(block_buffer_head - 3);
-    block_t *block[3] = { 
+    block_t *block[3] = { NULL, NULL, NULL };
-      NULL, NULL, NULL         };
+    while (block_index != tail) {
-    while(block_index != tail) { 
      block_index = prev_block_index(block_index);
      block[2]= block[1];
      block[1]= block[0];
@@ -282,9 +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) { 
+  if (!previous) return;
-    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
@@ -292,8 +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,
+      double entry_speed = min(current->entry_speed,
-      max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
+        max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
      // Check for junction speed change
      if (current->entry_speed != entry_speed) {
@@ -308,14 +281,13 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // implements the forward pass.
 void planner_forward_pass() {
  uint8_t block_index = block_buffer_tail;
-  block_t *block[3] = { 
+  block_t *block[3] = { NULL, NULL, NULL };
-    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);
@@ -329,24 +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,
+        float nom = current->nominal_speed;
-        next->entry_speed/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) {
+  if (next) {
-    calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
+    float nom = next->nominal_speed;
-    MINIMUM_PLANNER_SPEED/next->nominal_speed);
+    calculate_trapezoid_for_block(next, next->entry_speed / nom, MINIMUM_PLANNER_SPEED / nom);
    next->recalculate_flag = false;
  }
 }
@@ -375,111 +347,81 @@ void planner_recalculate() {
 }
 void plan_init() {
-  block_buffer_head = 0;
+  block_buffer_head = block_buffer_tail = 0;
-  block_buffer_tail = 0;
  memset(position, 0, sizeof(position)); // clear position
-  previous_speed[0] = 0.0;
+  for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0; 
-  previous_speed[1] = 0.0;
-  previous_speed[2] = 0.0;
-  previous_speed[3] = 0.0;
  previous_nominal_speed = 0.0;
 }
 #ifdef AUTOTEMP
-void getHighESpeed()
+  void getHighESpeed() {
-{
+    static float oldt = 0;
-  static float oldt=0;
-  if(!autotemp_enabled){
+    if (!autotemp_enabled) return;
-    return;
+    if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
-  }
-  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
-    return; //do nothing
-  }
-  float high=0.0;
+    float high = 0.0;
    uint8_t block_index = block_buffer_tail;
-  while(block_index != block_buffer_head) {
+    while (block_index != block_buffer_head) {
-    if((block_buffer[block_index].steps_x != 0) ||
+      block_t *block = &block_buffer[block_index];
-      (block_buffer[block_index].steps_y != 0) ||
+      if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
-      (block_buffer[block_index].steps_z != 0)) {
+        float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
-      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+        if (se > high) high = se;
-      //se; 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 = autotemp_min + high * autotemp_factor;
-  float t=g;
+    if (t < autotemp_min) t = autotemp_min;
-  if(t<autotemp_min)
+    if (t > autotemp_max) t = autotemp_max;
-    t=autotemp_min;
+    if (oldt > t) t = AUTOTEMP_OLDWEIGHT * oldt + (1 - AUTOTEMP_OLDWEIGHT) * t;
-  if(t>autotemp_max)
+    oldt = t;
-    t=autotemp_max;
-  if(oldt>t)
-  {
-    t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
-  }
-  oldt=t;
    setTargetHotend0(t);
-}
+  }
 #endif
-void check_axes_activity()
+void check_axes_activity() {
-{
+  unsigned char axis_active[NUM_AXIS],
-  unsigned char x_active = 0;
+                tail_fan_speed = fanSpeed;
-  unsigned char y_active = 0;  
-  unsigned char z_active = 0;
-  unsigned char e_active = 0;
-  unsigned char tail_fan_speed = fanSpeed;
  #ifdef BARICUDA
-  unsigned char tail_valve_pressure = ValvePressure;
+    unsigned char tail_valve_pressure = ValvePressure,
-  unsigned char tail_e_to_p_pressure = EtoPPressure;
+                  tail_e_to_p_pressure = EtoPPressure;
  #endif
  #ifdef LASERBEAM
    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;
+      block = &block_buffer[block_index];
-    tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+      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;
    #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++;
+      for (int i=0; i<NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
-      if(block->steps_y != 0) y_active++;
+      block_index = next_block_index(block_index);
-      if(block->steps_z != 0) z_active++;
-      if(block->steps_e != 0) e_active++;
-      block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
    }
  }
-  if((DISABLE_X) && (x_active == 0)) disable_x();
+  if (DISABLE_X && !axis_active[X_AXIS]) disable_x();
-  if((DISABLE_Y) && (y_active == 0)) disable_y();
+  if (DISABLE_Y && !axis_active[Y_AXIS]) disable_y();
-  if((DISABLE_Z) && (z_active == 0)) disable_z();
+  if (DISABLE_Z && !axis_active[Z_AXIS]) disable_z();
-  if((DISABLE_E) && (e_active == 0))
+  if (DISABLE_E && !axis_active[E_AXIS]) {
-  {
    disable_e0();
    disable_e1();
    disable_e2();
    disable_e3();
  }
-#if defined(FAN_PIN) && FAN_PIN > -1
+  #if defined(FAN_PIN) && FAN_PIN > -1 // HAS_FAN
    #ifdef FAN_KICKSTART_TIME
      static unsigned long fan_kick_end;
      if (tail_fan_speed) {
@@ -497,39 +439,38 @@ void check_axes_activity()
    #ifdef FAN_SOFT_PWM
      fanSpeedSoftPwm = tail_fan_speed;
    #else
-  analogWrite(FAN_PIN,tail_fan_speed);
+      analogWrite(FAN_PIN, tail_fan_speed);
-  #endif//!FAN_SOFT_PWM
+    #endif //!FAN_SOFT_PWM
-#endif//FAN_PIN > -1
+  #endif //FAN_PIN > -1
-#ifdef AUTOTEMP
+  #ifdef AUTOTEMP
    getHighESpeed();
-#endif
+  #endif
-#ifdef BARICUDA
+  #ifdef BARICUDA
-  #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
+    #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
-  #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
      analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
    #endif
-#endif
+  #endif
-// add Laser TTL Modulation(PWM) Control 
+  // add Laser TTL Modulation(PWM) Control
-#ifdef LASERBEAM
+  #ifdef LASERBEAM
    analogWrite(LASER_TTL_PIN, tail_laser_ttl_modulation);
-#endif
+  #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
@@ -537,68 +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
+  #ifdef ENABLE_AUTO_BED_LEVELING
    apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
-#endif // ENABLE_AUTO_BED_LEVELING
+  #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];
+  long target[NUM_AXIS];
-  target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
+  target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
-  target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
+  target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
-  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_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]);
+  target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + active_extruder]);
-#ifdef PREVENT_DANGEROUS_EXTRUDE
+  float dx = target[X_AXIS] - position[X_AXIS],
-#ifdef NPR2
+        dy = target[Y_AXIS] - position[Y_AXIS],
-  if(target[E_AXIS]!=position[E_AXIS])
+        dz = target[Z_AXIS] - position[Z_AXIS],
-  {
+        de = target[E_AXIS] - position[E_AXIS];
-    if (active_extruder!=1)
-    {
+  #ifdef PREVENT_DANGEROUS_EXTRUDE
-      if(degHotend(active_extruder)<extrude_min_temp && !debugDryrun())
+    if (de) {
-      {
+      #ifdef NPR2
-        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+        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
+      #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
-    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
+      #endif // NPR2
-#ifdef PREVENT_LENGTHY_EXTRUDE
+      #ifdef PREVENT_LENGTHY_EXTRUDE
-    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[active_extruder+3]*EXTRUDE_MAXLENGTH)
+        if(labs(de) > axis_steps_per_unit[E_AXIS + active_extruder] * EXTRUDE_MAXLENGTH) {
-    {
+          #ifdef EASY_LOAD
-#ifdef EASY_LOAD
            if (!allow_lengthy_extrude_once) {
-#endif
+          #endif
-        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+          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
+          #ifdef EASY_LOAD
            }
            allow_lengthy_extrude_once = false;
-#endif
+          #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];
@@ -607,28 +544,26 @@ 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
+  #ifdef COREXY
-// default non-h-bot planning
+    // corexy planning
-block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
+    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
-block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+    block->steps[A_AXIS] = labs(dx + dy);
-#else
+    block->steps[B_AXIS] = labs(dx - dy);
-// corexy planning
+  #else
-// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+    // default non-h-bot planning
-block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
+    block->steps[X_AXIS] = labs(dx);
-block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
+    block->steps[Y_AXIS] = labs(dy);
-#endif
+  #endif
-  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
-  block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps[Z_AXIS] = labs(dz);
-  block->steps_e *= volumetric_multiplier[active_extruder];
+  block->steps[E_AXIS] = labs(de);
-  block->steps_e *= extruder_multiplier[active_extruder];
+  block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
-  block->steps_e /= 100;
+  block->steps[E_AXIS] *= extruder_multiplier[active_extruder];
-  block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
+  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)
+  if (block->step_event_count <= dropsegments) return;
-  { 
-    return; 
-  }
  block->fan_speed = fanSpeed;
  #ifdef BARICUDA
@@ -642,105 +577,92 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
  #endif
  // Compute direction bits for this block 
-  block->direction_bits = 0;
+  uint8_t db = 0;
-#ifndef COREXY
+  #ifdef COREXY
-  if (target[X_AXIS] < position[X_AXIS])
+    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
-    block->direction_bits |= BIT(X_AXIS); 
+    if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
-  }
+    if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
-  if (target[Y_AXIS] < position[Y_AXIS])
+  #else
-  {
+    if (dx < 0) db |= BIT(X_AXIS);
-    block->direction_bits |= BIT(Y_AXIS); 
+    if (dy < 0) db |= BIT(Y_AXIS); 
-  }
+  #endif
-#else //COREXY
+  if (dz < 0) db |= BIT(Z_AXIS);
-  if (target[X_AXIS] < position[X_AXIS])
+  if (de < 0) db |= BIT(E_AXIS); 
-  {
+  block->direction_bits = db;
-    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); 
-  }
  block->active_driver = driver;
  //enable active axes
  #ifdef COREXY
-    if((block->steps_x != 0) || (block->steps_y != 0)) {
+    if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
      enable_x();
      enable_y();
    }
-  #else //NO COREXY
+  #else
-    if(block->steps_x != 0) enable_x();
+    if (block->steps[X_AXIS]) enable_x();
-    if(block->steps_y != 0) enable_y();
+    if (block->steps[Y_AXIS]) enable_y();
-  #endif //NOCOREXY
+  #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]--;
+        for (int i=0; i<EXTRUDERS; i++)
-        if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
+          if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
-        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]--;
-        switch(extruder)
+        switch(extruder) {
-        {
          case 0:
            enable_e0();
-            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
+            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
+            #if EXTRUDERS > 1
-            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+              if (g_uc_extruder_last_move[1] == 0) disable_e1();
-            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+              #if EXTRUDERS > 2
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+                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(g_uc_extruder_last_move[0] == 0) disable_e0();
+              #if EXTRUDERS > 2
-            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+                if (g_uc_extruder_last_move[2] == 0) disable_e2();
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+                #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[0] == 0) disable_e0();
+                if (g_uc_extruder_last_move[1] == 0) disable_e1();
-            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+                #if EXTRUDERS > 3
-            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+                  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[0] == 0) disable_e0();
+                  if (g_uc_extruder_last_move[1] == 0) disable_e1();
-            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[2] == 0) disable_e2();
                break;
+              #endif // EXTRUDERS > 3
+            #endif // EXTRUDERS > 2
+          #endif // EXTRUDERS > 1
        }
      }
      else //enable all
@@ -767,133 +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.
+   * This part of the code calculates the total length of the movement. 
-But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
-and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
-So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. 
+   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
-Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+   * 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];
+  #ifdef COREXY
-    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
    float delta_mm[6];
-    delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
+    delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
-    delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
+    delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_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[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_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[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[Z_AXIS] = dz / 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;
+  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 <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
-  {
+  if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
    block->millimeters = fabs(delta_mm[E_AXIS]);
  }
-  else
+  else {
-  {
+    block->millimeters = sqrt(
-    #ifndef COREXY
+      #ifdef COREXY
-      block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+        square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
      #else
-      block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
+        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 
+  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.
  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
+  #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
+  #endif
-#ifdef SLOWDOWN
+  #ifdef SLOWDOWN
    //  segment time im micro seconds
-  unsigned long segment_time = lround(1000000.0/inverse_second);
+    unsigned long segment_time = lround(1000000.0 / inverse_second);
-  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
+    if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
-  {
+      if (segment_time < minsegmenttime) {
-    if (segment_time < minsegmenttime)
+        // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-    { // 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));
-      inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
        #ifdef XY_FREQUENCY_LIMIT
-         segment_time = lround(1000000.0/inverse_second);
+           segment_time = lround(1000000.0 / inverse_second);
        #endif
      }
    }
-#endif // SLOWDOWN
+  #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)
+  #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
-    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 = 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
+      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;
-    //ensure the number is within range of the array after converting from floating point
+      delay_index1 = delay_dist / 10.0;  // calculate index
-    if(delay_index1<0)
+      delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
-    	delay_index1=0;
-    else if (delay_index1>MAX_MEASUREMENT_DELAY)
-    	delay_index1=MAX_MEASUREMENT_DELAY;
-    if(delay_index1 != delay_index2)  //moved index
+      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
-    	meas_sample=widthFil_to_size_ratio()-100;  //subtract off 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;
        }
-    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
+  #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])
+    float cs = fabs(current_speed[i]), mf = max_feedrate[i];
-      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
+    if (cs > mf) speed_factor = min(speed_factor, mf / cs);
  }
  current_speed[E_AXIS] = delta_mm[E_AXIS] * inverse_second;
@@ -909,45 +808,41 @@ Having the real displacement of the head, we can calculate the total movement le
  }
  // Max segement time in us.
-#ifdef XY_FREQUENCY_LIMIT
+  #ifdef XY_FREQUENCY_LIMIT
-#define MAX_FREQ_TIME (1000000.0/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)
+    if((direction_change & BIT(X_AXIS)) == 0) {
-  {
      x_segment_time[0] += segment_time;
    }
-  else
+    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)
-  {
+    if((direction_change & BIT(Y_AXIS)) == 0) {
      y_segment_time[0] += segment_time;
    }
-  else
+    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
+  #endif // XY_FREQUENCY_LIMIT
  // Correct the speed  
-  if( speed_factor < 1.0)
+  if( speed_factor < 1.0) {
-  {
+    for(unsigned char i=0; i < 4; i++) {
-    for(unsigned char i=0; i < 4; i++)
-    {
      current_speed[i] *= speed_factor;
    }
    block->nominal_speed *= speed_factor;
@@ -956,32 +851,29 @@ Having the real displacement of the head, we can calculate the total movement le
  // 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
+  #if 0  // Use old jerk for now
    // Compute path unit vector
    double unit_vec[3];
@@ -1020,7 +912,7 @@ Having the real displacement of the head, we can calculate the total movement le
        }
      }
    }
-#endif
+  #endif
  // Start with a safe speed
  float vmax_junction = max_xy_jerk/2; 
  float vmax_junction_factor = 1.0; 
@@ -1073,10 +965,9 @@ 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
-#ifdef ADVANCE
    // Calculate advance rate
-  if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
+    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;
    }
@@ -1099,7 +990,7 @@ Having the real displacement of the head, we can calculate the total movement le
     SERIAL_ECHOPGM("advance rate :");
     SERIAL_ECHOLN(block->advance_rate/256.0);
     */
-#endif // ADVANCE
+  #endif // ADVANCE
  calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  safe_speed/block->nominal_speed);

--- a/MarlinKimbra/planner.h
+++ b/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
@@ -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;

--- a/MarlinKimbra/stepper.cpp
+++ b/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{ \
+    else { \
-      if (current_block->active_driver) \
+      if (current_block->active_driver) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
-        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) \
+      if (current_block->active_driver != 0) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \
-        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_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_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_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_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; \
@@ -473,13 +467,13 @@ ISR(TIMER1_COMPA_vect) {
    // Check X and Y endstops
    if (check_endstops) {
-      #ifndef COREXY
+      #ifdef COREXY
-        if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular cartesians bot)
-      #else
        // 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 (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
@@ -503,14 +497,13 @@ ISR(TIMER1_COMPA_vect) {
                #endif
              }
          }
+      #ifdef COREXY
-        #ifndef COREXY
-          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 (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
      #endif
          { // -direction
            #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
@@ -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;
+        #define STEP_ADD(axis, AXIS) \
-        if (counter_x > 0) X_STEP_WRITE(HIGH);
+         counter_## axis += current_block->steps[AXIS ##_AXIS]; \
-        counter_y += current_block->steps_y;
+         if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
-        if (counter_y > 0) Y_STEP_WRITE(HIGH);
+        STEP_ADD(x,X);
-        counter_z += current_block->steps_z;
+        STEP_ADD(y,Y);
-        if (counter_z > 0) Z_STEP_WRITE(HIGH);
+        STEP_ADD(z,Z);
        #ifndef ADVANCE
-          counter_e += current_block->steps_e;
+          STEP_ADD(e,E);
-          if (counter_e > 0) E_STEP_WRITE(HIGH);
        #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; \

--- a/MarlinKimbra/temperature.cpp
+++ b/MarlinKimbra/temperature.cpp
@@ -41,21 +41,17 @@
 //================================== macros =================================
 //===========================================================================
-#ifndef SINGLENOZZLE
+#if HOTENDS > 4
-  #if EXTRUDERS > 4
+  #error Unsupported number of hotends
-    #error Unsupported number of extruders
+#elif HOTENDS > 3
-  #elif EXTRUDERS > 3
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3, v4 }
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 }
+#elif HOTENDS > 2
-  #elif EXTRUDERS > 2
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3 }
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 }
+#elif HOTENDS > 1
-  #elif EXTRUDERS > 1
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2 }
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 }
-  #else
-    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
-  #endif
 #else
-   #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
+  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1 }
-#endif //SINGLENOZZLE
+#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)
@@ -86,15 +82,10 @@
 #endif
 #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
-#ifndef SINGLENOZZLE
+int target_temperature[HOTENDS] = { 0 };
-  int target_temperature[EXTRUDERS] = { 0 };
+int current_temperature_raw[HOTENDS] = { 0 };
-  int current_temperature_raw[EXTRUDERS] = { 0 };
+float current_temperature[HOTENDS] = { 0.0 };
-  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[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
-    float Kp[EXTRUDERS],Ki[EXTRUDERS],Kd[EXTRUDERS];
-  #else
-    float Kp[1],Ki[1],Kd[1];
-  #endif
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
@@ -141,33 +128,16 @@ static volatile bool temp_meas_ready = false;
 #ifdef PIDTEMP
  //static cannot be external:
-  #ifndef SINGLENOZZLE
+  static float temp_iState[HOTENDS] = { 0 };
-    static float temp_iState[EXTRUDERS] = { 0 };
+  static float temp_dState[HOTENDS] = { 0 };
-    static float temp_dState[EXTRUDERS] = { 0 };
+  static float pTerm[HOTENDS];
-    static float pTerm[EXTRUDERS];
+  static float iTerm[HOTENDS];
-    static float iTerm[EXTRUDERS];
+  static float dTerm[HOTENDS];
-    static float dTerm[EXTRUDERS];
  //int output;
-    static float pid_error[EXTRUDERS];
+  static float pid_error[HOTENDS];
-    static float temp_iState_min[EXTRUDERS];
+  static float temp_iState_min[HOTENDS];
-    static float temp_iState_max[EXTRUDERS];
+  static float temp_iState_max[HOTENDS];
-    // static float pid_input[EXTRUDERS];
+  static bool pid_reset[HOTENDS];
-    // 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
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
  //static cannot be external:
@@ -183,11 +153,9 @@ static volatile bool temp_meas_ready = false;
 #else //PIDTEMPBED
  static unsigned long  previous_millis_bed_heater;
 #endif //PIDTEMPBED
-#ifndef SINGLENOZZLE
-  static unsigned char soft_pwm[EXTRUDERS];
+static unsigned char soft_pwm[HOTENDS];
-#else
-  static unsigned char soft_pwm[1];
-#endif
 #ifdef FAN_SOFT_PWM
  static unsigned char soft_pwm_fan;
 #endif
@@ -196,19 +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[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 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[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 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[HOTENDS] = ARRAY_BY_HOTENDS( 0, 0, 0, 0 );
-  static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
+static int maxttemp[HOTENDS] = ARRAY_BY_HOTENDS( 16383, 16383, 16383, 16383 );
-  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?!? */
-  //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
 #ifdef BED_MAXTEMP
  static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
@@ -218,8 +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 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[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
+  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);
@@ -227,13 +187,8 @@ static float analog2tempBed(int raw);
 static void updateTemperaturesFromRawValues();
 #ifdef WATCH_TEMP_PERIOD
-  #ifndef SINGLENOZZLE
+  int watch_start_temp[HOTENDS] = ARRAY_BY_HOTENDS(0,0,0,0);
-    int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+  unsigned long watchmillis[HOTENDS] = ARRAY_BY_HOTENDS(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
 #endif //WATCH_TEMP_PERIOD
 #ifndef SOFT_PWM_SCALE
@@ -249,10 +204,11 @@ static void updateTemperaturesFromRawValues();
 #endif
 //===========================================================================
-//=============================   functions      ============================
+//=============================   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;
@@ -269,9 +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);
@@ -282,10 +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(;;) {
@@ -295,7 +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);
@@ -310,10 +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;
@@ -325,7 +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;
@@ -364,10 +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;
        }
@@ -380,12 +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);
      }
@@ -410,13 +366,9 @@ void PID_autotune(float temp, int extruder, int ncycles) {
 void updatePID() {
  #ifdef PIDTEMP
-    #ifndef SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++) {
-      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
  #endif
  #ifdef PIDTEMPBED
    temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
@@ -428,7 +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"
@@ -444,17 +395,17 @@ int getHeaterPower(int heater) {
    #endif
  #endif 
-void setExtruderAutoFanState(int pin, bool state)
+  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()
+  void checkExtruderAutoFans()
-{
+  {
    uint8_t fanState = 0;
    // which fan pins need to be turned on?      
@@ -463,7 +414,6 @@ void checkExtruderAutoFans()
        fanState |= 1;
    #endif
-#ifndef SINGLENOZZLE
    #if HAS_AUTO_FAN_1
      if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
      {
@@ -495,14 +445,12 @@ void checkExtruderAutoFans()
          fanState |= 8;
      }
    #endif
-#endif // !SINLGENOZZE
    // update extruder auto fan states
    #if HAS_AUTO_FAN_0
      setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
    #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);
@@ -518,39 +466,38 @@ void checkExtruderAutoFans()
          && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
        setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
    #endif
-#endif //!SINGLENOZZLE
+  }
-}
 #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 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 EXTRUDERS > 2
+  #if HOTENDS > 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 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
+#endif
-#endif //SINGLENOZZLE
 #ifdef HEATERS_PARALLEL
  #define WRITE_HEATER_0(v) { WRITE_HEATER_0P(v); WRITE_HEATER_1(v); }
 #else
@@ -609,14 +556,9 @@ void manage_heater() {
  unsigned long ms = millis();
-  // Loop through all extruders
+  // Loop through all hotends
-  #ifndef SINGLENOZZLE
+  for (int e = 0; e < HOTENDS; e++) 
-    for (int e = 0; e < EXTRUDERS; e++) 
-  #else
-    int e = 0;
-  #endif  // !SINGLENOZZLE
  {
    #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
@@ -707,7 +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
@@ -899,11 +841,7 @@ static void updateTemperaturesFromRawValues() {
    current_temperature_raw[0] = read_max6675();
  #endif
-  #ifndef SINGLENOZZLE
+  for (int e = 0; e < HOTENDS; e++)
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
  {
    current_temperature[e] = analog2temp(current_temperature_raw[e], e);
  }
@@ -968,12 +906,8 @@ void tp_init()
    MCUCR=BIT(JTD);
  #endif
-  // Finish init of mult extruder arrays
+  // Finish init of mult hotends arrays
-  #ifndef SINGLENOZZLE
+  for (int e = 0; e < HOTENDS; e++)
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
  {
    // populate with the first value
    maxttemp[e] = maxttemp[0];
@@ -1093,32 +1027,30 @@ void tp_init()
    TEMP_MAX_ROUTINE(0);
  #endif
-#ifndef SINGLENOZZLE
+  #if HOTENDS > 1
-  #if EXTRUDERS > 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 // HOTENDS > 3
-    #endif // EXTRUDERS > 2
+    #endif // HOTENDS > 2
-  #endif // EXTRUDERS > 1
+  #endif // HOTENDS > 1
-#endif //SINGLENOZZLE
  #ifdef BED_MINTEMP
    /* No bed MINTEMP error implemented?!? */ /*
@@ -1145,11 +1077,7 @@ void tp_init()
 void setWatch() {
  #ifdef WATCH_TEMP_PERIOD
    unsigned long ms = millis();
-    #ifndef SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++)
-      for (int e = 0; e < EXTRUDERS; e++)
-    #else
-      int e = 0;
-    #endif // !SINGLENOZZLE
    {
      if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) {
        watch_start_temp[e] = degHotend(e);
@@ -1225,11 +1153,7 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat
 void disable_heater() {
-  #ifndef SINGLENOZZLE
+    for (int e = 0; e < HOTENDS; e++)
-    for (int e = 0; e < EXTRUDERS; e++)
-  #else
-    int e = 0;
-  #endif // !SINGLENOZZLE
      setTargetHotend(0, e);
  setTargetBed(0);
  #if HAS_TEMP_0
@@ -1238,19 +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);
@@ -1343,10 +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_value[HOTENDS] = { 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_bed_value = 0;
  static TempState temp_state = StartupDelay;
  static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
@@ -1364,17 +1285,16 @@ ISR(TIMER0_COMPB_vect) {
  // Statics per heater
  ISR_STATICS(0);
-#ifndef SINGLENOZZLE
+  #if (HOTENDS > 1) || defined(HEATERS_PARALLEL)
-  #if (EXTRUDERS > 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
@@ -1397,20 +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);
@@ -1422,17 +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
@@ -1484,36 +1404,34 @@ ISR(TIMER0_COMPB_vect) {
    if (slow_pwm_count == 0) {
-      SLOW_PWM_ROUTINE(0); // EXTRUDER 0
+      SLOW_PWM_ROUTINE(0); // HOTEND 0
-#ifndef SINGLENOZZLE
+      #if HOTENDS > 1
-      #if EXTRUDERS > 1
+        SLOW_PWM_ROUTINE(1); // HOTEND 1
-        SLOW_PWM_ROUTINE(1); // EXTRUDER 1
+        #if HOTENDS > 2
-        #if EXTRUDERS > 2
+          SLOW_PWM_ROUTINE(2); // HOTEND 2
-          SLOW_PWM_ROUTINE(2); // EXTRUDER 2
+          #if HOTENDS > 3
-          #if EXTRUDERS > 3
+            SLOW_PWM_ROUTINE(3); // HOTEND 3
-            SLOW_PWM_ROUTINE(3); // EXTRUDER 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
+    PWM_OFF_ROUTINE(0); // HOTEND 0
-#ifndef SINGLENOZZLE
+    #if HOTENDS > 1
-    #if EXTRUDERS > 1
+      PWM_OFF_ROUTINE(1); // HOTEND 1
-      PWM_OFF_ROUTINE(1); // EXTRUDER 1
+      #if HOTENDS > 2
-      #if EXTRUDERS > 2
+        PWM_OFF_ROUTINE(2); // HOTEND 2
-        PWM_OFF_ROUTINE(2); // EXTRUDER 2
+        #if HOTENDS > 3
-        #if EXTRUDERS > 3
+          PWM_OFF_ROUTINE(3); // HOTEND 3
-          PWM_OFF_ROUTINE(3); // EXTRUDER 3
        #endif
      #endif
    #endif
-#endif //SINGLENOZZLE
    #if HAS_HEATER_BED
      PWM_OFF_ROUTINE(BED); // BED
    #endif
@@ -1534,19 +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 HOTENDS > 1    // HOTEND 1
-      #if EXTRUDERS > 1    // EXTRUDER 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
@@ -1571,7 +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;
@@ -1597,7 +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;
@@ -1610,7 +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;
@@ -1623,7 +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;
@@ -1673,21 +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 HOTENDS > 1
-      #if EXTRUDERS > 1
+        current_temperature_raw[1] = raw_temp_value[1];
-        current_temperature_raw[1] = raw_temp_1_value;
+        #if HOTENDS > 2
-        #if EXTRUDERS > 2
+          current_temperature_raw[2] = raw_temp_value[2];
-          current_temperature_raw[2] = raw_temp_2_value;
+          #if HOTENDS > 3
-          #if EXTRUDERS > 3
+            current_temperature_raw[3] = raw_temp_value[3];
-            current_temperature_raw[3] = raw_temp_3_value;
          #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
@@ -1696,39 +1612,65 @@ 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;
+    for (int i = 0; i < HOTENDS; i++) raw_temp_value[i] = 0;
-    raw_temp_1_value = 0;
-    raw_temp_2_value = 0;
-    raw_temp_3_value = 0;
    raw_temp_bed_value = 0;
    #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
-      #define MAXTEST <=
+      #define GE0 <=
-      #define MINTEST >=
+      #define LE0 >=
    #else
-      #define MAXTEST >=
+      #define GE0 >=
-      #define MINTEST <=
+      #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);
-    #ifndef SINGLENOZZLE
+    #if HOTENDS > 1
-      for (int i = 0; i < EXTRUDERS; i++)
+      #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
+        #define GE1 <=
+        #define LE1 >=
      #else
-      int i = 0;
+        #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[i] MAXTEST maxttemp_raw[i]) max_temp_error(i);
+          if (current_temperature_raw[3] LE3 minttemp_raw[3]) min_temp_error(3);
-      else if (current_temperature_raw[i] MINTEST minttemp_raw[i]) min_temp_error(i);
+        #endif // HOTENDS > 3
-    }
+      #endif // HOTENDS > 2
-    /* No bed MINTEMP error? */
+    #endif // HOTENDS > 1
    #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
-      if (current_temperature_bed_raw MAXTEST bed_maxttemp_raw) {
+      #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();
      }

--- a/MarlinKimbra/temperature.h
+++ b/MarlinKimbra/temperature.h
@@ -45,21 +45,12 @@ void manage_heater(); //it is critical that this is called periodically.
 // low level conversion routines
 // do not use these routines and variables outside of temperature.cpp
-#ifndef SINGLENOZZLE
+extern int target_temperature[HOTENDS];  
-  extern int target_temperature[EXTRUDERS];  
+extern float current_temperature[HOTENDS];
-  extern float current_temperature[EXTRUDERS];
+#ifdef SHOW_TEMP_ADC_VALUES
-  #ifdef SHOW_TEMP_ADC_VALUES
+  extern int current_temperature_raw[HOTENDS];
-    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
-#endif //SINGLENOZZLE
 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[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
-    extern float Kp[EXTRUDERS],Ki[EXTRUDERS],Kd[EXTRUDERS];
-  #else
-    extern float Kp[1],Ki[1],Kd[1];
-  #endif
  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
+#if HOTENDS <= 1
-FORCE_INLINE float degHotend(uint8_t extruder) {  
+  #define HOTEND_ARG 0
-#ifndef SINGLENOZZLE
-  return current_temperature[extruder];
 #else
-  return current_temperature[0];
+  #define HOTEND_ARG hotend
 #endif
-}
-#ifdef SHOW_TEMP_ADC_VALUES
+FORCE_INLINE float degHotend(uint8_t hotend) { return current_temperature[HOTEND_ARG]; }
-  FORCE_INLINE float rawHotendTemp(uint8_t extruder) {
+FORCE_INLINE float degBed() { return current_temperature_bed; }
-  #ifndef SINGLENOZZLE  
-   return current_temperature_raw[extruder];
-  #else
-   return current_temperature_raw[0];
-  #endif
-  }
+#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) {
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t hotend) { target_temperature[HOTEND_ARG] = celsius; }
-  #ifndef SINGLENOZZLE  
-    target_temperature[extruder] = celsius;
-  #else
-    target_temperature[0] = celsius;
-  #endif
-}
 FORCE_INLINE void setTargetBed(const float &celsius) { target_temperature_bed = celsius; }
-FORCE_INLINE bool isHeatingHotend(uint8_t extruder) {
+FORCE_INLINE bool isHeatingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] > current_temperature[HOTEND_ARG]; }
-  #ifndef SINGLENOZZLE
-    return target_temperature[extruder] > current_temperature[extruder];
-  #else
-    return target_temperature[0] > current_temperature[0];
-  #endif
-}
 FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
-FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
+FORCE_INLINE bool isCoolingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] < current_temperature[HOTEND_ARG]; }
-#ifndef SINGLENOZZLE
-  return target_temperature[extruder] < current_temperature[extruder];
-#else
-  return target_temperature[0] < current_temperature[0];
-#endif
-}
 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
+#if HOTENDS > 4
-  #error Invalid number of extruders
+  #error Invalid number of hotend
 #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();

--- a/MarlinKimbra/ultralcd.cpp
+++ b/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 (encoderLine >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
-    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 >= 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 */
@@ -450,7 +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;
    }
  }
@@ -975,21 +975,21 @@ 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 //HOTENDS > 3
-    #endif //EXTRUDERS > 2
+    #endif //HOTENDS > 2
-  #endif //EXTRUDERS > 1
+  #endif //HOTENDS > 1
  #if TEMP_SENSOR_BED != 0
    MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
  #endif
@@ -1008,8 +1008,7 @@ 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 HOTENDS > 1
-      #if EXTRUDERS > 1
      // set up temp variables - undo the default scaling
      raw_Ki = unscalePID_i(Ki[1]);
      raw_Kd = unscalePID_d(Kd[1]);
@@ -1017,8 +1016,8 @@ 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 " 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
+    #endif //HOTENDS > 1
-      #if EXTRUDERS > 2
+    #if HOTENDS > 2
      // set up temp variables - undo the default scaling
      raw_Ki = unscalePID_i(Ki[2]);
      raw_Kd = unscalePID_d(Kd[2]);
@@ -1026,8 +1025,8 @@ 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 " 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
+    #endif //HOTENDS > 2
-      #if EXTRUDERS > 3
+    #if HOTENDS > 3
      // set up temp variables - undo the default scaling
      raw_Ki = unscalePID_i(Ki[3]);
      raw_Kd = unscalePID_d(Kd[3]);
@@ -1035,8 +1034,7 @@ 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 " 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 //HOTENDS > 2
-    #endif //SINGLENOZZLE
  #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);

--- a/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
+++ b/MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h
@@ -468,10 +468,10 @@ static void lcd_implementation_status_screen() {
    lcd.print('/');
    lcd.print(itostr3left(tTarget));
-    #if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
+    #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 EXTRUDERS > 1 && !defined(SINGLENOZZLE)
+      #if HOTENDS > 1
        tHotend = int(degHotend(1) + 0.5);
        tTarget = int(degTargetHotend(1) + 0.5);
        lcd.print(LCD_STR_THERMOMETER[0]);
@@ -483,7 +483,7 @@ static void lcd_implementation_status_screen() {
      lcd.print(itostr3(tHotend));
      lcd.print('/');
      lcd.print(itostr3left(tTarget));
-    #endif //(EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
+    #endif //HOTENDS > 1 || TEMP_SENSOR_BED != 0
  #else//LCD_WIDTH > 19
    lcd.setCursor(0, 0);
@@ -494,10 +494,10 @@ static void lcd_implementation_status_screen() {
    lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
    if (tTarget < 10) lcd.print(' ');
-    #if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
+    #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 EXTRUDERS > 1 && !defined(SINGLENOZZLE)
+      #if HOTENDS > 1
        tHotend = int(degHotend(1) + 0.5);
        tTarget = int(degTargetHotend(1) + 0.5);
        lcd.print(LCD_STR_THERMOMETER[0]);
@@ -511,13 +511,13 @@ static void lcd_implementation_status_screen() {
      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//HOTENDS > 1 || TEMP_SENSOR_BED != 0
  #endif//LCD_WIDTH > 19
-#if LCD_HEIGHT > 2
+  #if LCD_HEIGHT > 2
-//Lines 2 for 4 line LCD
+    //Lines 2 for 4 line LCD
-# if LCD_WIDTH < 20
+    #if LCD_WIDTH < 20
-#  ifdef SDSUPPORT
+      #ifdef SDSUPPORT
        lcd.setCursor(0, 2);
        lcd_printPGM(PSTR("SD"));
        if (IS_SD_PRINTING)
@@ -525,9 +525,9 @@ static void lcd_implementation_status_screen() {
        else
          lcd_printPGM(PSTR("---"));
        lcd.print('%');
-#  endif//SDSUPPORT
+      #endif//SDSUPPORT
-# else//LCD_WIDTH > 19
+    #else //LCD_WIDTH > 19
-#  if EXTRUDERS > 1 && TEMP_SENSOR_BED != 0 && !defined(SINGLENOZZLE)
+      #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);
@@ -538,35 +538,34 @@ static void lcd_implementation_status_screen() {
        lcd.print('/');
        lcd.print(itostr3left(tTarget));
        lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
-    if (tTarget < 10)
+        if (tTarget < 10) lcd.print(' ');
-      lcd.print(' ');
+      #else
-#   else
        lcd.setCursor(0,1);
-#     ifdef DELTA
+        #ifdef DELTA
          lcd.print('X');
          lcd.print(ftostr30(current_position[X_AXIS]));
          lcd_printPGM(PSTR(" Y"));
          lcd.print(ftostr30(current_position[Y_AXIS]));
-#     else
+        #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 // DELTA
-#  endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0
+      #endif //HOTENDS > 1 || TEMP_SENSOR_BED != 0
-# endif//LCD_WIDTH > 19
+    #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
+  #endif //LCD_HEIGHT > 2
-#if LCD_HEIGHT > 3
+  #if LCD_HEIGHT > 3
    lcd.setCursor(0, 2);
    lcd.print(LCD_STR_FEEDRATE[0]);
    lcd.print(itostr3(feedmultiply));
    lcd.print('%');
-# if LCD_WIDTH > 19
+    #if LCD_WIDTH > 19
-#  ifdef SDSUPPORT
+      #ifdef SDSUPPORT
        lcd.setCursor(7, 2);
        lcd_printPGM(PSTR("SD"));
        if (IS_SD_PRINTING)
@@ -574,8 +573,8 @@ static void lcd_implementation_status_screen() {
        else
          lcd_printPGM(PSTR("---"));
        lcd.print('%');
-#  endif//SDSUPPORT
+      #endif //SDSUPPORT
-# endif//LCD_WIDTH > 19
+    #endif //LCD_WIDTH > 19
    lcd.setCursor(LCD_WIDTH - 6, 2);
    lcd.print(LCD_STR_CLOCK[0]);
    if(starttime != 0)
@@ -584,10 +583,12 @@ static void lcd_implementation_status_screen() {
      lcd.print(itostr2(time/60));
      lcd.print(':');
      lcd.print(itostr2(time%60));
-    }else{
+    }
+    else
+    {
      lcd_printPGM(PSTR("--:--"));
    }
-#endif
+  #endif
  // Status message line at the bottom
  lcd.setCursor(0, LCD_HEIGHT - 1);
@@ -788,7 +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) {