Revert "Da Annullare"

This reverts commit 1616d4c3.

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

MarlinKimbra/Configuration_Cartesian.h

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

MarlinKimbra/Configuration_Corexy.h

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

MarlinKimbra/Configuration_Scara.h

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

MarlinKimbra/Marlin.h

@@ -252,17 +252,19 @@ 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 home_offset[3];
-
-// Hotend offset
-#if HOTENDS > 1
-  #ifndef DUAL_X_CARRIAGE
-    #define NUM_HOTEND_OFFSETS 2 // only in XY plane
-  #else
-    #define NUM_HOTEND_OFFSETS 3 // supports offsets in XYZ plane
-  #endif
-  extern float hotend_offset[NUM_HOTEND_OFFSETS][HOTENDS];
-#endif // HOTENDS > 1
+extern float add_homing[3];
+
+// Extruder offset
+#if EXTRUDERS > 1
+  #ifndef SINGLENOZZLE
+    #ifndef DUAL_X_CARRIAGE
+      #define NUM_HOTEND_OFFSETS 2 // only in XY plane
+    #else
+      #define NUM_HOTEND_OFFSETS 3 // supports offsets in XYZ plane
+    #endif
+    extern float hotend_offset[NUM_HOTEND_OFFSETS][EXTRUDERS];
+  #endif // end SINGLENOZZLE
+#endif // end EXTRUDERS
 
 #ifdef NPR2
 extern int old_color; // old color for system NPR2

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 home_offset[3] = { 0, 0, 0 };
+float add_homing[3]={ 0, 0, 0 };
 int fanSpeed = 0;
 bool cancel_heatup = false;
 
@@ -294,27 +294,29 @@ bool axis_known_position[3] = { false, false, false };
 float zprobe_zoffset;
 float lastpos[4];
 
-// Hotend offset
-#if HOTENDS > 1  
-  #ifndef DUAL_X_CARRIAGE
-    #define NUM_HOTENDS_OFFSETS 2 // only in XY plane
-  #else
-    #define NUM_HOTENDS_OFFSETS 3 // supports offsets in XYZ plane
-  #endif
-  float hotend_offset[NUM_HOTENDS_OFFSETS][HOTENDS] = {
-    #if defined(HOTEND_OFFSET_X)
-      HOTEND_OFFSET_X
-    #else
-      0
-    #endif
-    ,
-    #if defined(HOTEND_OFFSET_Y)
-      HOTEND_OFFSET_Y
+// Extruder offset
+#ifndef SINGLENOZZLE
+  #if EXTRUDERS > 1  
+    #ifndef DUAL_X_CARRIAGE
+      #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
     #else
-      0
+      #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
     #endif
-  };
-#endif //HOTENDS > 1
+    float hotend_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
+      #if defined(EXTRUDER_OFFSET_X)
+        EXTRUDER_OFFSET_X
+      #else
+        0
+      #endif
+      ,
+      #if defined(EXTRUDER_OFFSET_Y)
+        EXTRUDER_OFFSET_Y
+      #else
+        0
+      #endif
+    };
+  #endif //EXTRUDERS > 1
+#endif //SINGLENOZZLE
 
 
 uint8_t active_extruder = 0;
@@ -1078,13 +1080,13 @@ 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) + home_offset[X_AXIS];
+    return base_home_pos(X_AXIS) + add_homing[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 (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
+    return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
 }
 
 static int x_home_dir(int extruder) {
@@ -1114,9 +1116,9 @@ 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) + home_offset[X_AXIS];
-          min_pos[X_AXIS]          = base_min_pos(X_AXIS) + home_offset[X_AXIS];
-          max_pos[X_AXIS]          = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
+          current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
+          min_pos[X_AXIS] =          base_min_pos(X_AXIS) + add_homing[X_AXIS];
+          max_pos[X_AXIS] =          min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
                                      max(hotend_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
           return;
         }
@@ -1141,11 +1143,11 @@ 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] -= home_offset[i];
+          delta[i] -= add_homing[i];
         }
 
-        // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
-        // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
+        // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
+        // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
         // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
         // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
 
@@ -1163,14 +1165,14 @@ bool extruder_duplication_enabled = false; // used in mode 2
       } 
       else
       {
-        current_position[axis] = base_home_pos(axis) + home_offset[axis];
-        min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-        max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
+        current_position[axis] = base_home_pos(axis) + add_homing[axis];
+        min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+        max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
       }
     #else // NO SCARA
-      current_position[axis] = base_home_pos(axis) + home_offset[axis];
-      min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-      max_pos[axis] =          base_max_pos(axis) + home_offset[axis];
+      current_position[axis] = base_home_pos(axis) + add_homing[axis];
+      min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+      max_pos[axis] =          base_max_pos(axis) + add_homing[axis];
     #endif // SCARA
   }
 
@@ -1331,15 +1333,10 @@ bool extruder_duplication_enabled = false; // used in mode 2
       #endif //NUM_SERVOS > 0
     }
 
-    enum ProbeAction {
-      ProbeStay             = 0,
-      ProbeEngage           = BIT(0),
-      ProbeRetract          = BIT(1),
-      ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
-    };
+    enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
 
     // 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=ProbeEngageAndRetract, int verbose_level=1) {
+    static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, 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]);
@@ -1448,9 +1445,9 @@ 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] + home_offset[axis];
-    min_pos[axis] =          base_min_pos(axis) + home_offset[axis];
-    max_pos[axis] =          base_max_pos[axis] + home_offset[axis];
+    current_position[axis] = base_home_pos[axis] + add_homing[axis];
+    min_pos[axis] =          base_min_pos(axis) + add_homing[axis];
+    max_pos[axis] =          base_max_pos[axis] + add_homing[axis];
   }
 
   static void homeaxis(int axis)
@@ -2369,7 +2366,7 @@ 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() + home_offset[X_AXIS];
+        current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
       #endif
     }
 
@@ -2377,7 +2374,7 @@ 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() + home_offset[Y_AXIS];
+        current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
       #endif
     }
 
@@ -2556,7 +2553,7 @@ 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() + home_offset[Z_AXIS];
+      current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
 
     #ifdef ENABLE_AUTO_BED_LEVELING
       if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
@@ -2677,7 +2674,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
 
     #ifdef AUTO_BED_LEVELING_GRID
 
-      bool do_topography_map = verbose_level > 2 || code_seen('T') || code_seen('t');
+      bool topo_flag = code_seen('T') || code_seen('t');
 
       if (verbose_level > 0) SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
 
@@ -2789,7 +2786,7 @@ 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 (do_topography_map) zig = !zig;
+        if (topo_flag) zig = !zig;
         for (int xCount=xStart; xCount != xStop; xCount += xInc)
         {
           double xProbe = left_probe_bed_position + xGridSpacing * xCount;
@@ -2809,7 +2806,7 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
               act = ProbeStay;
           }
           else
-            act = ProbeEngageAndRetract;
+            act = ProbeEngageRetract;
 
           measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
 
@@ -2846,30 +2843,49 @@ inline void gcode_G28(boolean home_x=false, boolean home_y=false) {
         }
       }
 
-      if (do_topography_map) {
+      if (topo_flag) {
+
+        int xx, yy;
 
         SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
-        SERIAL_PROTOCOLPGM("+-----------+\n");
-        SERIAL_PROTOCOLPGM("|...Back....|\n");
-        SERIAL_PROTOCOLPGM("|Left..Right|\n");
-        SERIAL_PROTOCOLPGM("|...Front...|\n");
-        SERIAL_PROTOCOLPGM("+-----------+\n");
-
-        for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
-          for (int xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) {
-            int ind = yy * auto_bed_leveling_grid_points + xx;
-            float diff = eqnBVector[ind] - mean;
-            if (diff >= 0.0)
-              SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
-            else
-              SERIAL_PROTOCOLPGM(" ");
-            SERIAL_PROTOCOL_F(diff, 5);
-          } // xx
+        #if TOPO_ORIGIN == OriginFrontLeft
+          SERIAL_PROTOCOLPGM("+-----------+\n");
+          SERIAL_PROTOCOLPGM("|...Back....|\n");
+          SERIAL_PROTOCOLPGM("|Left..Right|\n");
+          SERIAL_PROTOCOLPGM("|...Front...|\n");
+          SERIAL_PROTOCOLPGM("+-----------+\n");
+          for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
+        #else
+          for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
+        #endif
+          {
+            #if TOPO_ORIGIN == OriginBackRight
+              for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
+            #else
+              for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
+            #endif
+              {
+                int ind =
+                  #if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
+                    yy * auto_bed_leveling_grid_points + xx
+                  #elif TOPO_ORIGIN == OriginBackLeft
+                    xx * auto_bed_leveling_grid_points + yy
+                  #elif TOPO_ORIGIN == OriginFrontRight
+                    abl2 - xx * auto_bed_leveling_grid_points - yy - 1
+                  #endif
+                ;
+                float diff = eqnBVector[ind] - mean;
+                if (diff >= 0.0)
+                  SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
+                else
+                  SERIAL_PROTOCOLPGM(" ");
+                SERIAL_PROTOCOL_F(diff, 5);
+              } // xx
+              SERIAL_EOL;
+          } // yy
           SERIAL_EOL;
-        } // yy
-        SERIAL_EOL;
 
-      } //do_topography_map
+      } //topo_flag
 
 
       set_bed_level_equation_lsq(plane_equation_coefficients);
@@ -2896,6 +2912,9 @@ 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:");
 
@@ -3478,9 +3497,9 @@ inline void gcode_G92() {
       }
       else {
         #ifdef SCARA
-          current_position[i] = code_value() + ((i != X_AXIS && i != Y_AXIS) ? home_offset[i] : 0);
+          current_position[i] = code_value() + ((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0);
         #else
-          current_position[i] = code_value() + home_offset[i];
+          current_position[i] = code_value() + add_homing[i];
         #endif
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       }
@@ -3901,10 +3920,15 @@ inline void gcode_M204() {
     boolean sleep = false;
     int cnt = 0;
     
-    int old_target_temperature[HOTENDS] = { 0 };
-    for(int8_t e = 0; e < HOTENDS; e++)
+    #ifndef SINGLENOZZLE
+      int old_target_temperature[EXTRUDERS] = { 0 };
+      for(int8_t e=0;e<EXTRUDERS;e++)
+    #else
+      int old_target_temperature[1] = { 0 };
+      int8_t e=0;
+    #endif
     {
-      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
@@ -3938,7 +3962,11 @@ inline void gcode_M204() {
     lcd_reset_alert_level();
 
     if (sleep) {
-      for(int8_t e = 0; e < HOTENDS; e++)
+      #ifndef SINGLENOZZLE
+        for(int8_t e=0;e<EXTRUDERS;e++)
+      #else
+        int8_t e=0;
+      #endif
       {
         setTargetHotend(old_target_temperature[e], e);
         CooldownNoWait = true;
@@ -4560,7 +4588,7 @@ void process_commands()
       {
         if(setTargetedHotend(104)) break;
         if(debugDryrun()) break;
-        #if HOTENDS == 1
+        #ifdef SINGLENOZZLE
           if (tmp_extruder != active_extruder) break;
         #endif
         if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
@@ -4663,7 +4691,7 @@ void process_commands()
       {
         if(setTargetedHotend(109)) break;
         if(debugDryrun()) break;
-        #if HOTENDS == 1
+        #ifdef SINGLENOZZLE
           if (tmp_extruder != active_extruder) break;
         #endif
         LCD_MESSAGEPGM(MSG_HEATING);
@@ -4746,9 +4774,9 @@ void process_commands()
           SERIAL_PROTOCOLLN("");
 
           SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
-          SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
+          SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
           SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
-          SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
+          SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
           SERIAL_PROTOCOLLN("");
 
           SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
@@ -5018,16 +5046,16 @@ void process_commands()
       {
         for(int8_t i=0; i < 3; i++)
         {
-          if(code_seen(axis_codes[i])) home_offset[i] = code_value();
+          if(code_seen(axis_codes[i])) add_homing[i] = code_value();
         }
         #ifdef SCARA
           if(code_seen('T'))       // Theta
           {
-            home_offset[X_AXIS] = code_value() ;
+            add_homing[X_AXIS] = code_value() ;
           }
           if(code_seen('P'))       // Psi
           {
-            home_offset[Y_AXIS] = code_value() ;
+            add_homing[Y_AXIS] = code_value() ;
           }
         #endif
       }
@@ -5110,41 +5138,43 @@ void process_commands()
         break;
       #endif // FWRETRACT
 
-      #if HOTENDS > 1
-        case 218: //M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-        {
-          if(setTargetedHotend(218)) break;
-          if(code_seen('X'))
-          {
-            hotend_offset[X_AXIS][tmp_extruder] = code_value();
-          }
-          if(code_seen('Y'))
+      #ifndef SINGLENOZZLE
+        #if EXTRUDERS > 1
+          case 218: //M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
           {
-            hotend_offset[Y_AXIS][tmp_extruder] = code_value();
-          }
-          #ifdef DUAL_X_CARRIAGE
-            if(code_seen('Z'))
+            if(setTargetedHotend(218)) break;
+            if(code_seen('X'))
             {
-              hotend_offset[Z_AXIS][tmp_extruder] = code_value();
+              hotend_offset[X_AXIS][tmp_extruder] = code_value();
+            }
+            if(code_seen('Y'))
+            {
+              hotend_offset[Y_AXIS][tmp_extruder] = code_value();
             }
-          #endif
-          SERIAL_ECHO_START;
-          SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
-          for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
-          {
-            SERIAL_ECHO(" ");
-            SERIAL_ECHO(hotend_offset[X_AXIS][tmp_extruder]);
-            SERIAL_ECHO(",");
-            SERIAL_ECHO(hotend_offset[Y_AXIS][tmp_extruder]);
             #ifdef DUAL_X_CARRIAGE
-              SERIAL_ECHO(",");
-              SERIAL_ECHO(hotend_offset[Z_AXIS][tmp_extruder]);
+              if(code_seen('Z'))
+              {
+                hotend_offset[Z_AXIS][tmp_extruder] = code_value();
+              }
             #endif
+            SERIAL_ECHO_START;
+            SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+            for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
+            {
+              SERIAL_ECHO(" ");
+              SERIAL_ECHO(hotend_offset[X_AXIS][tmp_extruder]);
+              SERIAL_ECHO(",");
+              SERIAL_ECHO(hotend_offset[Y_AXIS][tmp_extruder]);
+              #ifdef DUAL_X_CARRIAGE
+                SERIAL_ECHO(",");
+                SERIAL_ECHO(hotend_offset[Z_AXIS][tmp_extruder]);
+              #endif
+            }
+            SERIAL_EOL;
           }
-          SERIAL_EOL;
-        }
-        break;
-      #endif //EXTRUDERS > 1
+          break;
+        #endif //EXTRUDERS > 1
+      #endif // SINGLENOZZLE
 
       case 220: //M220 S<factor in percent>- set speed factor override percentage
       {
@@ -5866,11 +5896,16 @@ void process_commands()
               delayed_move_time = 0;
             }
           #else
-            // Offset hotend (only by XY)
-            #if HOTENDS > 1
-              for (int i=X_AXIS; i<=Y_AXIS; i++)
-                current_position[i] += hotend_offset[i][tmp_extruder] - hotend_offset[i][active_extruder];
-            #endif // HOTENDS > 1
+            // Offset extruder (only by XY)
+            #ifndef SINGLENOZZLE
+              int i;
+              for(i = 0; i < 2; i++)
+              {
+                current_position[i] = current_position[i] -
+                  hotend_offset[i][active_extruder] +
+                  hotend_offset[i][tmp_extruder];
+              }
+            #endif // SINGLENOZZLE
 
             #if defined(MKR4) && (EXTRUDERS > 1)
               #if (EXTRUDERS == 4) && (E0E2_CHOICE_PIN >1) && (E1E3_CHOICE_PIN > 1)
@@ -6085,7 +6120,7 @@ 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 (home_offset[Z_AXIS] < 0) negative_z_offset = negative_z_offset + home_offset[Z_AXIS];
+      if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
     #endif
     
     if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;

MarlinKimbra/planner.cpp

@@ -114,26 +114,39 @@ volatile unsigned char block_buffer_tail; // Index of the block to process now
   float extrude_min_temp = EXTRUDE_MINTEMP;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
-  // Used for the frequency limit
-  #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-  // Old direction bits. Used for speed calculations
-  static unsigned char old_direction_bits = 0;
-  // Segment times (in us). Used for speed calculations
-  static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
-  static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
+#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+// Used for the frequency limit
+static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0};     // Segment times (in us). Used for speed calculations
+static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
 #endif
 
-#ifdef FILAMENT_SENSOR
-  static char meas_sample; //temporary variable to hold filament measurement sample
+#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
+ static char meas_sample; //temporary variable to hold filament measurement sample
 #endif
 
-// Get the next / previous index of the next block in the ring buffer
-// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
-FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
-FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
+// Returns the index of the next block in the ring buffer
+// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
+static int8_t next_block_index(int8_t block_index) {
+  block_index++;
+  if (block_index == BLOCK_BUFFER_SIZE) { 
+    block_index = 0; 
+  }
+  return(block_index);
+}
+
+
+// Returns the index of the previous block in the ring buffer
+static int8_t prev_block_index(int8_t block_index) {
+  if (block_index == 0) { 
+    block_index = BLOCK_BUFFER_SIZE; 
+  }
+  block_index--;
+  return(block_index);
+}
 
 //===========================================================================
-//================================ Functions ================================
+//=============================functions         ============================
 //===========================================================================
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
@@ -188,15 +201,15 @@ 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) { // Don't update variables if block is busy.
+  if(block->busy == false) { // Don't update variables if block is busy.
     block->accelerate_until = accelerate_steps;
     block->decelerate_after = accelerate_steps+plateau_steps;
     block->initial_rate = initial_rate;
     block->final_rate = final_rate;
-    #ifdef ADVANCE
-      block->initial_advance = initial_advance;
-      block->final_advance = final_advance;
-    #endif //ADVANCE
+#ifdef ADVANCE
+    block->initial_advance = initial_advance;
+    block->final_advance = final_advance;
+#endif //ADVANCE
   }
   CRITICAL_SECTION_END;
 }                    
@@ -204,12 +217,23 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
 // acceleration within the allotted distance.
 FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
-  return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
+  return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
 }
 
+// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
+// This method will calculate the junction jerk as the euclidean distance between the nominal 
+// velocities of the respective blocks.
+//inline float junction_jerk(block_t *before, block_t *after) {
+//  return sqrt(
+//    pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
+//}
+
+
 // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
 void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if (!current) return;
+  if(!current) { 
+    return; 
+  }
 
   if (next) {
     // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@@ -219,9 +243,9 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 
       // If nominal length true, max junction speed is guaranteed to be reached. Only compute
       // for max allowable speed if block is decelerating and nominal length is false.
-      if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
-        current->entry_speed = min(current->max_entry_speed,
-          max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
+      if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
+        current->entry_speed = min( current->max_entry_speed,
+        max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
       } 
       else {
         current->entry_speed = current->max_entry_speed;
@@ -239,14 +263,15 @@ void planner_reverse_pass() {
   
   //Make a local copy of block_buffer_tail, because the interrupt can alter it
   CRITICAL_SECTION_START;
-    unsigned char tail = block_buffer_tail;
+  unsigned char tail = block_buffer_tail;
   CRITICAL_SECTION_END
   
-  if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
-    block_index = BLOCK_MOD(block_buffer_head - 3);
-    block_t *block[3] = { NULL, NULL, NULL };
-    while (block_index != tail) {
-      block_index = prev_block_index(block_index);
+  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+    block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
+    block_t *block[3] = { 
+      NULL, NULL, NULL         };
+    while(block_index != tail) { 
+      block_index = prev_block_index(block_index); 
       block[2]= block[1];
       block[1]= block[0];
       block[0] = &block_buffer[block_index];
@@ -257,7 +282,9 @@ void planner_reverse_pass() {
 
 // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
 void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if (!previous) return;
+  if(!previous) { 
+    return; 
+  }
 
   // If the previous block is an acceleration block, but it is not long enough to complete the
   // full speed change within the block, we need to adjust the entry speed accordingly. Entry
@@ -265,8 +292,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
   // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
   if (!previous->nominal_length_flag) {
     if (previous->entry_speed < current->entry_speed) {
-      double entry_speed = min(current->entry_speed,
-        max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
+      double entry_speed = min( current->entry_speed,
+      max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
 
       // Check for junction speed change
       if (current->entry_speed != entry_speed) {
@@ -277,17 +304,18 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
   }
 }
 
-// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
+// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This 
 // implements the forward pass.
 void planner_forward_pass() {
   uint8_t block_index = block_buffer_tail;
-  block_t *block[3] = { NULL, NULL, NULL };
+  block_t *block[3] = { 
+    NULL, NULL, NULL   };
 
-  while (block_index != block_buffer_head) {
+  while(block_index != block_buffer_head) {
     block[0] = block[1];
     block[1] = block[2];
     block[2] = &block_buffer[block_index];
-    planner_forward_pass_kernel(block[0], block[1], block[2]);
+    planner_forward_pass_kernel(block[0],block[1],block[2]);
     block_index = next_block_index(block_index);
   }
   planner_forward_pass_kernel(block[1], block[2], NULL);
@@ -301,24 +329,24 @@ 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.
-        float nom = current->nominal_speed;
-        calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
+        calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
+        next->entry_speed/current->nominal_speed);
         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) {
-    float nom = next->nominal_speed;
-    calculate_trapezoid_for_block(next, next->entry_speed / nom, MINIMUM_PLANNER_SPEED / nom);
+  if(next != NULL) {
+    calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
+    MINIMUM_PLANNER_SPEED/next->nominal_speed);
     next->recalculate_flag = false;
   }
 }
@@ -347,130 +375,161 @@ void planner_recalculate() {
 }
 
 void plan_init() {
-  block_buffer_head = block_buffer_tail = 0;
+  block_buffer_head = 0;
+  block_buffer_tail = 0;
   memset(position, 0, sizeof(position)); // clear position
-  for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0; 
+  previous_speed[0] = 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() {
-    static float oldt = 0;
 
-    if (!autotemp_enabled) return;
-    if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
 
-    float high = 0.0;
-    uint8_t block_index = block_buffer_tail;
 
-    while (block_index != block_buffer_head) {
-      block_t *block = &block_buffer[block_index];
-      if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
-        float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
-        if (se > high) high = se;
+#ifdef AUTOTEMP
+void getHighESpeed()
+{
+  static float oldt=0;
+  if(!autotemp_enabled){
+    return;
+  }
+  if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
+    return; //do nothing
+  }
+
+  float high=0.0;
+  uint8_t block_index = block_buffer_tail;
+
+  while(block_index != block_buffer_head) {
+    if((block_buffer[block_index].steps_x != 0) ||
+      (block_buffer[block_index].steps_y != 0) ||
+      (block_buffer[block_index].steps_z != 0)) {
+      float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+      //se; mm/sec;
+      if(se>high)
+      {
+        high=se;
       }
-      block_index = next_block_index(block_index);
     }
+    block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+  }
 
-    float t = autotemp_min + high * autotemp_factor;
-    if (t < autotemp_min) t = autotemp_min;
-    if (t > autotemp_max) t = autotemp_max;
-    if (oldt > t) t = AUTOTEMP_OLDWEIGHT * oldt + (1 - AUTOTEMP_OLDWEIGHT) * t;
-    oldt = t;
-    setTargetHotend0(t);
+  float g=autotemp_min+high*autotemp_factor;
+  float t=g;
+  if(t<autotemp_min)
+    t=autotemp_min;
+  if(t>autotemp_max)
+    t=autotemp_max;
+  if(oldt>t)
+  {
+    t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
   }
+  oldt=t;
+  setTargetHotend0(t);
+}
 #endif
 
-void check_axes_activity() {
-  unsigned char axis_active[NUM_AXIS],
-                tail_fan_speed = fanSpeed;
+void check_axes_activity()
+{
+  unsigned char x_active = 0;
+  unsigned char y_active = 0;  
+  unsigned char z_active = 0;
+  unsigned char e_active = 0;
+  unsigned char tail_fan_speed = fanSpeed;
   #ifdef BARICUDA
-    unsigned char tail_valve_pressure = ValvePressure,
-                  tail_e_to_p_pressure = EtoPPressure;
+  unsigned char tail_valve_pressure = ValvePressure;
+  unsigned char tail_e_to_p_pressure = EtoPPressure;
   #endif
   #ifdef LASERBEAM
-    unsigned char tail_laser_ttl_modulation = laser_ttl_modulation;
+  unsigned char tail_laser_ttl_modulation = laser_ttl_modulation;
   #endif
   block_t *block;
 
-  if (blocks_queued()) {
+  if(block_buffer_tail != block_buffer_head)
+  {
     uint8_t block_index = block_buffer_tail;
     tail_fan_speed = block_buffer[block_index].fan_speed;
     #ifdef BARICUDA
-      block = &block_buffer[block_index];
-      tail_valve_pressure = block->valve_pressure;
-      tail_e_to_p_pressure = block->e_to_p_pressure;
+    tail_valve_pressure = block_buffer[block_index].valve_pressure;
+    tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
     #endif
     #ifdef LASERBEAM
-      tail_laser_ttl_modulation = block_buffer[block_index].laser_ttlmodulation;
+    tail_laser_ttl_modulation = block_buffer[block_index].laser_ttlmodulation;
     #endif
 
-    while (block_index != block_buffer_head) {
+    while(block_index != block_buffer_head)
+    {
       block = &block_buffer[block_index];
-      for (int i=0; i<NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
-      block_index = next_block_index(block_index);
+      if(block->steps_x != 0) x_active++;
+      if(block->steps_y != 0) y_active++;
+      if(block->steps_z != 0) z_active++;
+      if(block->steps_e != 0) e_active++;
+      block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
     }
   }
-  if (DISABLE_X && !axis_active[X_AXIS]) disable_x();
-  if (DISABLE_Y && !axis_active[Y_AXIS]) disable_y();
-  if (DISABLE_Z && !axis_active[Z_AXIS]) disable_z();
-  if (DISABLE_E && !axis_active[E_AXIS]) {
+  if((DISABLE_X) && (x_active == 0)) disable_x();
+  if((DISABLE_Y) && (y_active == 0)) disable_y();
+  if((DISABLE_Z) && (z_active == 0)) disable_z();
+  if((DISABLE_E) && (e_active == 0))
+  {
     disable_e0();
     disable_e1();
-    disable_e2();
+    disable_e2(); 
     disable_e3();
   }
+#if defined(FAN_PIN) && FAN_PIN > -1
+  #ifdef FAN_KICKSTART_TIME
+    static unsigned long fan_kick_end;
+    if (tail_fan_speed) {
+      if (fan_kick_end == 0) {
+        // Just starting up fan - run at full power.
+        fan_kick_end = millis() + FAN_KICKSTART_TIME;
+        tail_fan_speed = 255;
+      } else if (fan_kick_end > millis())
+        // Fan still spinning up.
+        tail_fan_speed = 255;
+    } else {
+      fan_kick_end = 0;
+    }
+  #endif//FAN_KICKSTART_TIME
+  #ifdef FAN_SOFT_PWM
+  fanSpeedSoftPwm = tail_fan_speed;
+  #else
+  analogWrite(FAN_PIN,tail_fan_speed);
+  #endif//!FAN_SOFT_PWM
+#endif//FAN_PIN > -1
+#ifdef AUTOTEMP
+  getHighESpeed();
+#endif
 
-  #if defined(FAN_PIN) && FAN_PIN > -1 // HAS_FAN
-    #ifdef FAN_KICKSTART_TIME
-      static unsigned long fan_kick_end;
-      if (tail_fan_speed) {
-        if (fan_kick_end == 0) {
-          // Just starting up fan - run at full power.
-          fan_kick_end = millis() + FAN_KICKSTART_TIME;
-          tail_fan_speed = 255;
-        } else if (fan_kick_end > millis())
-          // Fan still spinning up.
-          tail_fan_speed = 255;
-        } else {
-          fan_kick_end = 0;
-        }
-    #endif//FAN_KICKSTART_TIME
-    #ifdef FAN_SOFT_PWM
-      fanSpeedSoftPwm = tail_fan_speed;
-    #else
-      analogWrite(FAN_PIN, tail_fan_speed);
-    #endif //!FAN_SOFT_PWM
-  #endif //FAN_PIN > -1
-
-  #ifdef AUTOTEMP
-    getHighESpeed();
+#ifdef BARICUDA
+  #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
+      analogWrite(HEATER_1_PIN,tail_valve_pressure);
   #endif
 
-  #ifdef BARICUDA
-    #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 // HAS_HEATER_1
-      analogWrite(HEATER_1_PIN,tail_valve_pressure);
-    #endif
-    #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 // HAS_HEATER_2
+  #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 
+#ifdef LASERBEAM
+  analogWrite(LASER_TTL_PIN, tail_laser_ttl_modulation);
+#endif
 
-  // add Laser TTL Modulation(PWM) Control
-  #ifdef LASERBEAM
-    analogWrite(LASER_TTL_PIN, tail_laser_ttl_modulation);
-  #endif
 }
 
 
 float junction_deviation = 0.1;
-// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in 
+// Add a new linear movement to the buffer. steps_x, _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
@@ -478,64 +537,68 @@ float junction_deviation = 0.1;
 
   // If the buffer is full: good! That means we are well ahead of the robot. 
   // Rest here until there is room in the buffer.
-  while(block_buffer_tail == next_buffer_head) {
+  while(block_buffer_tail == next_buffer_head)
+  {
     manage_heater(); 
     manage_inactivity(); 
     lcd_update();
   }
 
-  #ifdef ENABLE_AUTO_BED_LEVELING
-    apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
-  #endif // ENABLE_AUTO_BED_LEVELING
+#ifdef ENABLE_AUTO_BED_LEVELING
+  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+#endif // ENABLE_AUTO_BED_LEVELING
 
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
-  long target[NUM_AXIS];
-  target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
-  target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
-  target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);     
-  target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + active_extruder]);
-
-  float dx = target[X_AXIS] - position[X_AXIS],
-        dy = target[Y_AXIS] - position[Y_AXIS],
-        dz = target[Z_AXIS] - position[Z_AXIS],
-        de = target[E_AXIS] - position[E_AXIS];
-
-  #ifdef PREVENT_DANGEROUS_EXTRUDE
-    if (de) {
-      #ifdef NPR2
-        if (active_extruder!=1) {
-          if(degHotend(active_extruder) < extrude_min_temp && !debugDryrun()) {
-            position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
-            SERIAL_ECHO_START;
-            SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
-          }
-        }
-      #else // NO NPR2
-        if(degHotend(active_extruder) < extrude_min_temp && !debugDryrun()) {
-          position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
-          SERIAL_ECHO_START;
-          SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
-        }
-      #endif // NPR2
-
-      #ifdef PREVENT_LENGTHY_EXTRUDE
-        if(labs(de) > axis_steps_per_unit[E_AXIS + active_extruder] * EXTRUDE_MAXLENGTH) {
-          #ifdef EASY_LOAD
-            if (!allow_lengthy_extrude_once) {
-          #endif
-          position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
-          SERIAL_ECHO_START;
-          SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
-          #ifdef EASY_LOAD
-            }
-            allow_lengthy_extrude_once = false;
-          #endif
-        }
-      #endif // PREVENT_LENGTHY_EXTRUDE
+  long target[4];
+  target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
+  target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
+  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS + active_extruder]);
+
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+#ifdef NPR2
+  if(target[E_AXIS]!=position[E_AXIS])
+  {
+    if (active_extruder!=1)
+    {
+      if(degHotend(active_extruder)<extrude_min_temp && !debugDryrun())
+      {
+        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+        SERIAL_ECHO_START;
+        SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+      }
+    }
+#else // NO NPR2
+  if(target[E_AXIS]!=position[E_AXIS])
+  {
+    if(degHotend(active_extruder)<extrude_min_temp && !debugDryrun())
+    {
+      position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+    }
+#endif // NPR2
+
+#ifdef PREVENT_LENGTHY_EXTRUDE
+    if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[active_extruder+3]*EXTRUDE_MAXLENGTH)
+    {
+#ifdef EASY_LOAD
+      if (!allow_lengthy_extrude_once) {
+#endif
+        position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
+        SERIAL_ECHO_START;
+        SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+#ifdef EASY_LOAD
+      }
+      allow_lengthy_extrude_once = false;
+#endif
     }
-  #endif // PREVENT_DANGEROUS_EXTRUDE
+#endif // PREVENT_LENGTHY_EXTRUDE
+  }
+
+#endif // PREVENT_DANGEROUS_EXTRUDE
 
   // Prepare to set up new block
   block_t *block = &block_buffer[block_buffer_head];
@@ -544,125 +607,140 @@ float junction_deviation = 0.1;
   block->busy = false;
 
   // Number of steps for each axis
-  #ifdef COREXY
-    // corexy planning
-    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
-    block->steps[A_AXIS] = labs(dx + dy);
-    block->steps[B_AXIS] = labs(dx - dy);
-  #else
-    // default non-h-bot planning
-    block->steps[X_AXIS] = labs(dx);
-    block->steps[Y_AXIS] = labs(dy);
-  #endif
-
-  block->steps[Z_AXIS] = labs(dz);
-  block->steps[E_AXIS] = labs(de);
-  block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
-  block->steps[E_AXIS] *= extruder_multiplier[active_extruder];
-  block->steps[E_AXIS] /= 100;
-  block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
+#ifndef COREXY
+// default non-h-bot planning
+block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
+block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
+#else
+// corexy planning
+// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
+block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
+#endif
+  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
+  block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
+  block->steps_e *= volumetric_multiplier[active_extruder];
+  block->steps_e *= extruder_multiplier[active_extruder];
+  block->steps_e /= 100;
+  block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
 
   // Bail if this is a zero-length block
-  if (block->step_event_count <= dropsegments) return;
+  if (block->step_event_count <= dropsegments)
+  { 
+    return; 
+  }
 
   block->fan_speed = fanSpeed;
   #ifdef BARICUDA
-    block->valve_pressure = ValvePressure;
-    block->e_to_p_pressure = EtoPPressure;
+  block->valve_pressure = ValvePressure;
+  block->e_to_p_pressure = EtoPPressure;
   #endif
   
   // Add update block variables for LASER BEAM control 
   #ifdef LASERBEAM
-    block->laser_ttlmodulation = laser_ttl_modulation;
+  block->laser_ttlmodulation = laser_ttl_modulation;
   #endif
 
   // Compute direction bits for this block 
-  uint8_t db = 0;
-  #ifdef COREXY
-    if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
-    if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
-    if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
-    if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
-  #else
-    if (dx < 0) db |= BIT(X_AXIS);
-    if (dy < 0) db |= BIT(Y_AXIS); 
-  #endif
-  if (dz < 0) db |= BIT(Z_AXIS);
-  if (de < 0) db |= BIT(E_AXIS); 
-  block->direction_bits = db;
+  block->direction_bits = 0;
+#ifndef COREXY
+  if (target[X_AXIS] < position[X_AXIS])
+  {
+    block->direction_bits |= BIT(X_AXIS); 
+  }
+  if (target[Y_AXIS] < position[Y_AXIS])
+  {
+    block->direction_bits |= BIT(Y_AXIS); 
+  }
+#else //COREXY
+  if (target[X_AXIS] < position[X_AXIS])
+  {
+    block->direction_bits |= BIT(X_HEAD);
+  }
+  if (target[Y_AXIS] < position[Y_AXIS])
+  {
+    block->direction_bits |= BIT(Y_HEAD);
+  }
+  if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
+  {
+    block->direction_bits |= BIT(X_AXIS);
+  }
+  if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
+  {
+    block->direction_bits |= BIT(Y_AXIS);
+  }
+#endif //COREXY
+  if (target[Z_AXIS] < position[Z_AXIS])
+  {
+    block->direction_bits |= BIT(Z_AXIS); 
+  }
+  if (target[E_AXIS] < position[E_AXIS])
+  {
+    block->direction_bits |= BIT(E_AXIS); 
+  }
 
   block->active_driver = driver;
 
   //enable active axes
   #ifdef COREXY
-    if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
-      enable_x();
-      enable_y();
+    if((block->steps_x != 0) || (block->steps_y != 0)) {
+    enable_x();
+    enable_y();
     }
-  #else
-    if (block->steps[X_AXIS]) enable_x();
-    if (block->steps[Y_AXIS]) enable_y();
-  #endif
-
+  #else //NO COREXY
+    if(block->steps_x != 0) enable_x();
+    if(block->steps_y != 0) enable_y();
+  #endif //NOCOREXY
   #ifndef Z_LATE_ENABLE
-    if (block->steps[Z_AXIS]) enable_z();
+    if(block->steps_z != 0) enable_z();
   #endif
 
   // Enable extruder(s)
-  if (block->steps[E_AXIS]) {
+  if(block->steps_e != 0)
+  {
     #if !defined(MKR4) && !defined(NPR2)
-      if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
+      if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
+      {
 
-        for (int i=0; i<EXTRUDERS; i++)
-          if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
+        if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
+        if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
+        if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
+        if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
 
-        switch(extruder) {
+        switch(extruder)
+        {
           case 0:
             enable_e0();
-            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
-            #if EXTRUDERS > 1
-              if (g_uc_extruder_last_move[1] == 0) disable_e1();
-              #if EXTRUDERS > 2
-                if (g_uc_extruder_last_move[2] == 0) disable_e2();
-                #if EXTRUDERS > 3
-                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
-                #endif
-              #endif
-            #endif
+            g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 1:
+            enable_e1();
+            g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 2:
+            enable_e2();
+            g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[3] == 0) disable_e3();
+          break;
+          case 3:
+            enable_e3();
+            g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
+
+            if(g_uc_extruder_last_move[0] == 0) disable_e0();
+            if(g_uc_extruder_last_move[1] == 0) disable_e1();
+            if(g_uc_extruder_last_move[2] == 0) disable_e2();
           break;
-          #if EXTRUDERS > 1
-            case 1:
-              enable_e1();
-              g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
-              if (g_uc_extruder_last_move[0] == 0) disable_e0();
-              #if EXTRUDERS > 2
-                if (g_uc_extruder_last_move[2] == 0) disable_e2();
-                #if EXTRUDERS > 3
-                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
-                #endif
-              #endif
-            break;
-            #if EXTRUDERS > 2
-              case 2:
-                enable_e2();
-                g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
-                if (g_uc_extruder_last_move[0] == 0) disable_e0();
-                if (g_uc_extruder_last_move[1] == 0) disable_e1();
-                #if EXTRUDERS > 3
-                  if (g_uc_extruder_last_move[3] == 0) disable_e3();
-                #endif
-              break;
-              #if EXTRUDERS > 3
-                case 3:
-                  enable_e3();
-                  g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
-                  if (g_uc_extruder_last_move[0] == 0) disable_e0();
-                  if (g_uc_extruder_last_move[1] == 0) disable_e1();
-                  if (g_uc_extruder_last_move[2] == 0) disable_e2();
-                break;
-              #endif // EXTRUDERS > 3
-            #endif // EXTRUDERS > 2
-          #endif // EXTRUDERS > 1
         }
       }
       else //enable all
@@ -689,110 +767,133 @@ float junction_deviation = 0.1;
         break;
       }
     #endif //!MKR4 && !NPR2
-    if (feed_rate < minimumfeedrate) feed_rate = minimumfeedrate;
   }
-  else if (feed_rate < mintravelfeedrate) feed_rate = mintravelfeedrate;
-
 
-  /**
-   * This part of the code calculates the total length of the movement. 
-   * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
-   * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
-   * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
-   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. 
-   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
-   */ 
-  #ifdef COREXY
-    float delta_mm[6];
-    delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
-    delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
-    delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
-    delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
-  #else
+  if (block->steps_e == 0)
+  {
+    if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
+  }
+  else
+  {
+    if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
+  } 
+
+/* This part of the code calculates the total length of the movement. 
+For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
+But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. 
+Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+*/ 
+  #ifndef COREXY
     float delta_mm[4];
-    delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
+    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[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
+    delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
+    delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
   #endif
-  delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS + active_extruder]) * volumetric_multiplier[active_extruder] * extruder_multiplier[active_extruder] / 100.0;
-  
-  if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
+  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
+  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[active_extruder+3])*volumetric_multiplier[active_extruder]*extruder_multiplier[active_extruder]/100.0;
+  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
+  {
     block->millimeters = fabs(delta_mm[E_AXIS]);
+  } 
+  else
+  {
+    #ifndef COREXY
+      block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+    #else
+      block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
+    #endif	
   }
-  else {
-    block->millimeters = sqrt(
-      #ifdef COREXY
-        square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
-      #else
-        square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
-      #endif
-      + square(delta_mm[Z_AXIS])
-    );
-  }
-  float inverse_millimeters = 1.0 / block->millimeters;  // Inverse millimeters to remove multiple divides 
+  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
 
-  // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
+    // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
   float inverse_second = feed_rate * inverse_millimeters;
 
-  int moves_queued = movesplanned();
+  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
 
   // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  #ifdef OLD_SLOWDOWN
-    if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
-      feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-  #endif
+#ifdef OLD_SLOWDOWN
+  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
+    feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
+#endif
 
-  #ifdef SLOWDOWN
-    //  segment time im micro seconds
-    unsigned long segment_time = lround(1000000.0 / inverse_second);
-    if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
-      if (segment_time < minsegmenttime) {
-        // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-        inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
-        #ifdef XY_FREQUENCY_LIMIT
-           segment_time = lround(1000000.0 / inverse_second);
-        #endif
-      }
+#ifdef SLOWDOWN
+  //  segment time im micro seconds
+  unsigned long segment_time = lround(1000000.0/inverse_second);
+  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
+  {
+    if (segment_time < minsegmenttime)
+    { // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
+      inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
+      #ifdef XY_FREQUENCY_LIMIT
+         segment_time = lround(1000000.0/inverse_second);
+      #endif
     }
-  #endif // SLOWDOWN
-  //  END OF SLOW DOWN SECTION
+  }
+#endif // SLOWDOWN
+  //  END OF SLOW DOWN SECTION    
+
 
   block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
   block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
 
-  #ifdef FILAMENT_SENSOR
-    //FMM update ring buffer used for delay with filament measurements
-
-    if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
-
-      const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
-
-      delay_dist += delta_mm[E_AXIS];  //increment counter with next move in e axis
-      while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
-      while (delay_dist < 0) delay_dist += MMD10;
+#if (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN >= 0)
+  //FMM update ring buffer used for delay with filament measurements
+  
+  
+    if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1))  //only for extruder with filament sensor and if ring buffer is initialized
+  	  {
+    delay_dist = delay_dist + delta_mm[E_AXIS];  //increment counter with next move in e axis
+  
+    while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1)))  //check if counter is over max buffer size in mm
+      	  delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1);  //loop around the buffer
+    while (delay_dist<0)
+    	  delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
+      
+    delay_index1=delay_dist/10.0;  //calculate index
+    
+    //ensure the number is within range of the array after converting from floating point
+    if(delay_index1<0)
+    	delay_index1=0;
+    else if (delay_index1>MAX_MEASUREMENT_DELAY)
+    	delay_index1=MAX_MEASUREMENT_DELAY;
+    	
+    if(delay_index1 != delay_index2)  //moved index
+  	  {
+    	meas_sample=widthFil_to_size_ratio()-100;  //subtract off 100 to reduce magnitude - to store in a signed char
+  	  }
+    while( delay_index1 != delay_index2)
+  	  {
+  	  delay_index2 = delay_index2 + 1;
+  	if(delay_index2>MAX_MEASUREMENT_DELAY)
+  			  delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1);  //loop around buffer when incrementing
+  	  if(delay_index2<0)
+  		delay_index2=0;
+  	  else if (delay_index2>MAX_MEASUREMENT_DELAY)
+  		delay_index2=MAX_MEASUREMENT_DELAY;  
+  	  
+  	  measurement_delay[delay_index2]=meas_sample;
+  	  }
+    	
+    
+  	  }
+#endif
 
-      delay_index1 = delay_dist / 10.0;  // calculate index
-      delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
-
-      if (delay_index1 != delay_index2) { // moved index
-        meas_sample = widthFil_to_size_ratio() - 100;  // Subtract 100 to reduce magnitude - to store in a signed char
-        while (delay_index1 != delay_index2) {
-          // Increment and loop around buffer
-          if (++delay_index2 >= MMD) delay_index2 -= MMD;
-          delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
-          measurement_delay[delay_index2] = meas_sample;
-        }
-      }
-    }
-  #endif
 
   // Calculate and limit speed in mm/sec for each axis
   float current_speed[4];
   float speed_factor = 1.0; //factor <=1 do decrease speed
-  for(int i=0; i < 3; i++) {
+  for(int i=0; i < 3; i++)
+  {
     current_speed[i] = delta_mm[i] * inverse_second;
-    float cs = fabs(current_speed[i]), mf = max_feedrate[i];
-    if (cs > mf) speed_factor = min(speed_factor, mf / cs);
+    if(fabs(current_speed[i]) > max_feedrate[i])
+      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
   }
 
   current_speed[E_AXIS] = delta_mm[E_AXIS] * inverse_second;
@@ -808,111 +909,118 @@ float junction_deviation = 0.1;
   }
 
   // Max segement time in us.
-  #ifdef XY_FREQUENCY_LIMIT
-    #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-    // Check and limit the xy direction change frequency
-    unsigned char direction_change = block->direction_bits ^ old_direction_bits;
-    old_direction_bits = block->direction_bits;
-    segment_time = lround((float)segment_time / speed_factor);
-    
-    if((direction_change & BIT(X_AXIS)) == 0) {
-      x_segment_time[0] += segment_time;
-    }
-    else {
-      x_segment_time[2] = x_segment_time[1];
-      x_segment_time[1] = x_segment_time[0];
-      x_segment_time[0] = segment_time;
-    }
-
-    if((direction_change & BIT(Y_AXIS)) == 0) {
-      y_segment_time[0] += segment_time;
-    }
-    else {
-      y_segment_time[2] = y_segment_time[1];
-      y_segment_time[1] = y_segment_time[0];
-      y_segment_time[0] = segment_time;
-    }
-
-    long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
-    long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
-    long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
-    if(min_xy_segment_time < MAX_FREQ_TIME)
-      speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
-  #endif // XY_FREQUENCY_LIMIT
+#ifdef XY_FREQUENCY_LIMIT
+#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+  // Check and limit the xy direction change frequency
+  unsigned char direction_change = block->direction_bits ^ old_direction_bits;
+  old_direction_bits = block->direction_bits;
+  segment_time = lround((float)segment_time / speed_factor);
+  
+  if((direction_change & BIT(X_AXIS)) == 0)
+  {
+    x_segment_time[0] += segment_time;
+  }
+  else
+  {
+    x_segment_time[2] = x_segment_time[1];
+    x_segment_time[1] = x_segment_time[0];
+    x_segment_time[0] = segment_time;
+  }
+  if((direction_change & BIT(Y_AXIS)) == 0)
+  {
+    y_segment_time[0] += segment_time;
+  }
+  else
+  {
+    y_segment_time[2] = y_segment_time[1];
+    y_segment_time[1] = y_segment_time[0];
+    y_segment_time[0] = segment_time;
+  }
+  long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
+  long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
+  long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
+  if(min_xy_segment_time < MAX_FREQ_TIME)
+    speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
+#endif // XY_FREQUENCY_LIMIT
 
   // Correct the speed  
-  if( speed_factor < 1.0) {
-    for(unsigned char i=0; i < 4; i++) {
+  if( speed_factor < 1.0)
+  {
+    for(unsigned char i=0; i < 4; i++)
+    {
       current_speed[i] *= speed_factor;
     }
     block->nominal_speed *= speed_factor;
     block->nominal_rate *= speed_factor;
   }
 
-  // Compute and limit the acceleration rate for the trapezoid generator.
+  // Compute and limit the acceleration rate for the trapezoid generator.  
   float steps_per_mm = block->step_event_count/block->millimeters;
-  if(block->steps[X_AXIS] == 0 && block->steps[Y_AXIS] == 0 && block->steps[Z_AXIS] == 0) {
+  if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
+  {
     block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
-  else if(block->steps[E_AXIS] == 0) {
+  else if(block->steps_e == 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_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps_x / (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_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps_y / (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_AXIS] / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps_e / (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_AXIS] / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
+  if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
     block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  
   block->acceleration = block->acceleration_st / steps_per_mm;
   block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
 
-  #if 0  // Use old jerk for now
-    // Compute path unit vector
-    double unit_vec[3];
-
-    unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
-    unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
-    unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
-
-    // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
-    // Let a circle be tangent to both previous and current path line segments, where the junction
-    // deviation is defined as the distance from the junction to the closest edge of the circle,
-    // colinear with the circle center. The circular segment joining the two paths represents the
-    // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
-    // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
-    // path width or max_jerk in the previous grbl version. This approach does not actually deviate
-    // from path, but used as a robust way to compute cornering speeds, as it takes into account the
-    // nonlinearities of both the junction angle and junction velocity.
-    double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
-
-    // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
-    if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
-      // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
-      // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
-      double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
-        - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
-        - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
-
-      // Skip and use default max junction speed for 0 degree acute junction.
-      if (cos_theta < 0.95) {
-        vmax_junction = min(previous_nominal_speed,block->nominal_speed);
-        // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
-        if (cos_theta > -0.95) {
-          // Compute maximum junction velocity based on maximum acceleration and junction deviation
-          double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
-          vmax_junction = min(vmax_junction,
-          sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
-        }
+#if 0  // Use old jerk for now
+  // Compute path unit vector
+  double unit_vec[3];
+
+  unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
+  unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
+  unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
+
+  // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
+  // Let a circle be tangent to both previous and current path line segments, where the junction
+  // deviation is defined as the distance from the junction to the closest edge of the circle,
+  // colinear with the circle center. The circular segment joining the two paths represents the
+  // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
+  // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
+  // path width or max_jerk in the previous grbl version. This approach does not actually deviate
+  // from path, but used as a robust way to compute cornering speeds, as it takes into account the
+  // nonlinearities of both the junction angle and junction velocity.
+  double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
+
+  // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
+  if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+    // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
+    // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
+    double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
+      - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+      - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+
+    // Skip and use default max junction speed for 0 degree acute junction.
+    if (cos_theta < 0.95) {
+      vmax_junction = min(previous_nominal_speed,block->nominal_speed);
+      // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
+      if (cos_theta > -0.95) {
+        // Compute maximum junction velocity based on maximum acceleration and junction deviation
+        double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
+        vmax_junction = min(vmax_junction,
+        sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
       }
     }
-  #endif
+  }
+#endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2; 
   float vmax_junction_factor = 1.0; 
@@ -965,32 +1073,33 @@ float junction_deviation = 0.1;
   memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
   previous_nominal_speed = block->nominal_speed;
 
-  #ifdef ADVANCE
-    // Calculate advance rate
-    if((block->steps[E_AXIS] == 0) || (block->steps[X_AXIS] == 0 && block->steps[Y_AXIS] == 0 && block->steps[Z_AXIS] == 0)) {
+
+#ifdef ADVANCE
+  // Calculate advance rate
+  if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
+    block->advance_rate = 0;
+    block->advance = 0;
+  }
+  else {
+    long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+    float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
+      (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
+    block->advance = advance;
+    if(acc_dist == 0) {
       block->advance_rate = 0;
-      block->advance = 0;
-    }
+    } 
     else {
-      long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
-      float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * 
-        (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
-      block->advance = advance;
-      if(acc_dist == 0) {
-        block->advance_rate = 0;
-      } 
-      else {
-        block->advance_rate = advance / (float)acc_dist;
-      }
+      block->advance_rate = advance / (float)acc_dist;
     }
-    /*
-      SERIAL_ECHO_START;
-     SERIAL_ECHOPGM("advance :");
-     SERIAL_ECHO(block->advance/256.0);
-     SERIAL_ECHOPGM("advance rate :");
-     SERIAL_ECHOLN(block->advance_rate/256.0);
-     */
-  #endif // ADVANCE
+  }
+  /*
+    SERIAL_ECHO_START;
+   SERIAL_ECHOPGM("advance :");
+   SERIAL_ECHO(block->advance/256.0);
+   SERIAL_ECHOPGM("advance rate :");
+   SERIAL_ECHOLN(block->advance_rate/256.0);
+   */
+#endif // ADVANCE
 
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
   safe_speed/block->nominal_speed);

MarlinKimbra/planner.h

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

MarlinKimbra/stepper.cpp

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

MarlinKimbra/temperature.cpp

@@ -41,17 +41,21 @@
 //================================== macros =================================
 //===========================================================================
 
-#if HOTENDS > 4
-  #error Unsupported number of hotends
-#elif HOTENDS > 3
-  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3, v4 }
-#elif HOTENDS > 2
-  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2, v3 }
-#elif HOTENDS > 1
-  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1, v2 }
+#ifndef SINGLENOZZLE
+  #if EXTRUDERS > 4
+    #error Unsupported number of extruders
+  #elif EXTRUDERS > 3
+    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 }
+  #elif EXTRUDERS > 2
+    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 }
+  #elif EXTRUDERS > 1
+    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 }
+  #else
+    #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
+  #endif
 #else
-  #define ARRAY_BY_HOTENDS(v1, v2, v3, v4) { v1 }
-#endif
+   #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 }
+#endif //SINGLENOZZLE
 
 #define HAS_TEMP_0 (defined(TEMP_0_PIN) && TEMP_0_PIN >= 0)
 #define HAS_TEMP_1 (defined(TEMP_1_PIN) && TEMP_1_PIN >= 0)
@@ -82,10 +86,15 @@
 #endif
 #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
 
-int target_temperature[HOTENDS] = { 0 };
-int current_temperature_raw[HOTENDS] = { 0 };
-float current_temperature[HOTENDS] = { 0.0 };
-
+#ifndef SINGLENOZZLE
+  int target_temperature[EXTRUDERS] = { 0 };
+  int current_temperature_raw[EXTRUDERS] = { 0 };
+  float current_temperature[EXTRUDERS] = { 0.0 };
+#else
+  int current_temperature_raw[1] = { 0 };
+  float current_temperature[1] = { 0.0 };
+  int target_temperature[1] = { 0 };
+#endif //SINGLENOZZLE
 int target_temperature_bed = 0;
 int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0.0;
@@ -94,7 +103,11 @@ float current_temperature_bed = 0.0;
   float redundant_temperature = 0.0;
 #endif
 #ifdef PIDTEMP
-  float Kp[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
+  #ifndef SINGLENOZZLE
+    float Kp[EXTRUDERS],Ki[EXTRUDERS],Kd[EXTRUDERS];
+  #else
+    float Kp[1],Ki[1],Kd[1];
+  #endif
 #endif //PIDTEMP
 
 #ifdef PIDTEMPBED
@@ -128,16 +141,33 @@ static volatile bool temp_meas_ready = false;
 
 #ifdef PIDTEMP
   //static cannot be external:
-  static float temp_iState[HOTENDS] = { 0 };
-  static float temp_dState[HOTENDS] = { 0 };
-  static float pTerm[HOTENDS];
-  static float iTerm[HOTENDS];
-  static float dTerm[HOTENDS];
-  //int output;
-  static float pid_error[HOTENDS];
-  static float temp_iState_min[HOTENDS];
-  static float temp_iState_max[HOTENDS];
-  static bool pid_reset[HOTENDS];
+  #ifndef SINGLENOZZLE
+    static float temp_iState[EXTRUDERS] = { 0 };
+    static float temp_dState[EXTRUDERS] = { 0 };
+    static float pTerm[EXTRUDERS];
+    static float iTerm[EXTRUDERS];
+    static float dTerm[EXTRUDERS];
+    //int output;
+    static float pid_error[EXTRUDERS];
+    static float temp_iState_min[EXTRUDERS];
+    static float temp_iState_max[EXTRUDERS];
+    // static float pid_input[EXTRUDERS];
+    // static float pid_output[EXTRUDERS];
+    static bool pid_reset[EXTRUDERS];
+  #else
+    static float temp_iState[1] = { 0 };
+    static float temp_dState[1] = { 0 };
+    static float pTerm[1];
+    static float iTerm[1];
+    static float dTerm[1];
+    //int output;
+    static float pid_error[1];
+    static float temp_iState_min[1];
+    static float temp_iState_max[1];
+    // static float pid_input[1];
+    // static float pid_output[1];
+    static bool pid_reset[1];
+  #endif //SINGLENOZZLE
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
   //static cannot be external:
@@ -153,9 +183,11 @@ static volatile bool temp_meas_ready = false;
 #else //PIDTEMPBED
   static unsigned long  previous_millis_bed_heater;
 #endif //PIDTEMPBED
-
-static unsigned char soft_pwm[HOTENDS];
-
+#ifndef SINGLENOZZLE
+  static unsigned char soft_pwm[EXTRUDERS];
+#else
+  static unsigned char soft_pwm[1];
+#endif
 #ifdef FAN_SOFT_PWM
   static unsigned char soft_pwm_fan;
 #endif
@@ -164,11 +196,19 @@ static unsigned char soft_pwm[HOTENDS];
 #endif
 
 // Init min and max temp with extreme values to prevent false errors during startup
-static int minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
-static int maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
-static int minttemp[HOTENDS] = ARRAY_BY_HOTENDS( 0, 0, 0, 0 );
-static int maxttemp[HOTENDS] = ARRAY_BY_HOTENDS( 16383, 16383, 16383, 16383 );
-//static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
+#ifndef SINGLENOZZLE
+  static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
+  static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
+  static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
+  static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
+  //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
+#else
+  static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_0_RAW_LO_TEMP , HEATER_0_RAW_LO_TEMP, HEATER_0_RAW_LO_TEMP );
+  static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_0_RAW_HI_TEMP , HEATER_0_RAW_HI_TEMP, HEATER_0_RAW_HI_TEMP );
+  static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
+  static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
+  //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
+#endif
 
 #ifdef BED_MAXTEMP
   static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
@@ -178,8 +218,8 @@ static int maxttemp[HOTENDS] = ARRAY_BY_HOTENDS( 16383, 16383, 16383, 16383 );
   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[HOTENDS] = ARRAY_BY_HOTENDS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE, (void *)HEATER_3_TEMPTABLE );
-  static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
+  static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE, (void *)HEATER_3_TEMPTABLE );
+  static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
 #endif
 
 static float analog2temp(int raw, uint8_t e);
@@ -187,8 +227,13 @@ static float analog2tempBed(int raw);
 static void updateTemperaturesFromRawValues();
 
 #ifdef WATCH_TEMP_PERIOD
-  int watch_start_temp[HOTENDS] = ARRAY_BY_HOTENDS(0,0,0,0);
-  unsigned long watchmillis[HOTENDS] = ARRAY_BY_HOTENDS(0,0,0,0);
+  #ifndef SINGLENOZZLE
+    int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+    unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+  #else
+    int watch_start_temp[1] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+    unsigned long watchmillis[1] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+  #endif
 #endif //WATCH_TEMP_PERIOD
 
 #ifndef SOFT_PWM_SCALE
@@ -204,11 +249,10 @@ static void updateTemperaturesFromRawValues();
 #endif
 
 //===========================================================================
-//=============================   Functions      ============================
+//=============================   functions      ============================
 //===========================================================================
 
-void PID_autotune(float temp, int hotend, int ncycles)
-{
+void PID_autotune(float temp, int extruder, int ncycles) {
   float input = 0.0;
   int cycles = 0;
   bool heating = true;
@@ -225,9 +269,9 @@ void PID_autotune(float temp, int hotend, int ncycles)
     unsigned long extruder_autofan_last_check = temp_millis;
   #endif
 
-  if (hotend >= HOTENDS
+  if (extruder >= EXTRUDERS
     #if !HAS_TEMP_BED
-       || hotend < 0
+       || extruder < 0
     #endif
   ) {
     SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
@@ -238,10 +282,10 @@ void PID_autotune(float temp, int hotend, int ncycles)
 
   disable_heater(); // switch off all heaters.
 
-  if (hotend < 0)
+  if (extruder < 0)
     soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
   else
-    soft_pwm[hotend] = bias = d = PID_MAX / 2;
+    soft_pwm[extruder] = bias = d = PID_MAX / 2;
 
   // PID Tuning loop
   for(;;) {
@@ -251,7 +295,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
     if (temp_meas_ready == true) { // temp sample ready
       updateTemperaturesFromRawValues();
 
-      input = (hotend<0)?current_temperature_bed:current_temperature[hotend];
+      input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
 
       max = max(max, input);
       min = min(min, input);
@@ -266,10 +310,10 @@ void PID_autotune(float temp, int hotend, int ncycles)
       if (heating == true && input > temp) {
         if (ms - t2 > 5000) {
           heating = false;
-          if (hotend < 0)
+          if (extruder < 0)
             soft_pwm_bed = (bias - d) >> 1;
           else
-            soft_pwm[hotend] = (bias - d) >> 1;
+            soft_pwm[extruder] = (bias - d) >> 1;
           t1 = ms;
           t_high = t1 - t2;
           max = temp;
@@ -281,7 +325,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
           t2 = ms;
           t_low = t2 - t1;
           if (cycles > 0) {
-            long max_pow = hotend < 0 ? MAX_BED_POWER : PID_MAX;
+            long max_pow = extruder < 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;
@@ -320,10 +364,10 @@ void PID_autotune(float temp, int hotend, int ncycles)
               */
             }
           }
-          if (hotend < 0)
+          if (extruder < 0)
             soft_pwm_bed = (bias + d) >> 1;
           else
-            soft_pwm[hotend] = (bias + d) >> 1;
+            soft_pwm[extruder] = (bias + d) >> 1;
           cycles++;
           min = temp;
         }
@@ -336,12 +380,12 @@ void PID_autotune(float temp, int hotend, int ncycles)
     // Every 2 seconds...
     if (ms > temp_millis + 2000) {
       int p;
-      if (hotend < 0) {
+      if (extruder < 0) {
         p = soft_pwm_bed;
         SERIAL_PROTOCOLPGM(MSG_OK_B);
       }
       else {
-        p = soft_pwm[hotend];
+        p = soft_pwm[extruder];
         SERIAL_PROTOCOLPGM(MSG_OK_T);
       }
 
@@ -366,9 +410,13 @@ void PID_autotune(float temp, int hotend, int ncycles)
 
 void updatePID() {
   #ifdef PIDTEMP
-    for (int e = 0; e < HOTENDS; e++) {
-      temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
-    }
+    #ifndef SINGLENOZZLE
+      for(int e = 0; e < EXTRUDERS; e++) {
+        temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
+      }
+    #else
+      temp_iState_max[0] = PID_INTEGRAL_DRIVE_MAX / Ki[0];
+    #endif
   #endif
   #ifdef PIDTEMPBED
     temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
@@ -380,6 +428,7 @@ 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"
@@ -395,109 +444,113 @@ int getHeaterPower(int heater) {
     #endif
   #endif 
 
-  void setExtruderAutoFanState(int pin, bool state)
-  {
-    unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
-    // this idiom allows both digital and PWM fan outputs (see M42 handling).
-    pinMode(pin, OUTPUT);
-    digitalWrite(pin, newFanSpeed);
-    analogWrite(pin, newFanSpeed);
-  }
+void setExtruderAutoFanState(int pin, bool state)
+{
+  unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
+  // this idiom allows both digital and PWM fan outputs (see M42 handling).
+  pinMode(pin, OUTPUT);
+  digitalWrite(pin, newFanSpeed);
+  analogWrite(pin, newFanSpeed);
+}
 
-  void checkExtruderAutoFans()
-  {
-    uint8_t fanState = 0;
+void checkExtruderAutoFans()
+{
+  uint8_t fanState = 0;
 
-    // which fan pins need to be turned on?      
-    #if HAS_AUTO_FAN_0
-      if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
-        fanState |= 1;
-    #endif
+  // which fan pins need to be turned on?      
+  #if HAS_AUTO_FAN_0
+    if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
+      fanState |= 1;
+  #endif
 
-    #if HAS_AUTO_FAN_1
-      if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
-      {
-        if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
-          fanState |= 1;
-        else
-          fanState |= 2;
-      }
-    #endif
-    #if HAS_AUTO_FAN_2
-      if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
-        if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
-          fanState |= 1;
-        else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
-          fanState |= 2;
-        else
-          fanState |= 4;
-      }
-    #endif
-    #if HAS_AUTO_FAN_3
-      if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
-        if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
-          fanState |= 1;
-        else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
-          fanState |= 2;
-        else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
-          fanState |= 4;
-        else
-          fanState |= 8;
-      }
-    #endif
+#ifndef SINGLENOZZLE
+  #if HAS_AUTO_FAN_1
+    if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) 
+    {
+      if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+        fanState |= 1;
+      else
+        fanState |= 2;
+    }
+  #endif
+  #if HAS_AUTO_FAN_2
+    if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
+      if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+        fanState |= 1;
+      else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
+        fanState |= 2;
+      else
+        fanState |= 4;
+    }
+  #endif
+  #if HAS_AUTO_FAN_3
+    if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
+      if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
+        fanState |= 1;
+      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
+        fanState |= 2;
+      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
+        fanState |= 4;
+      else
+        fanState |= 8;
+    }
+  #endif
+#endif // !SINLGENOZZE
 
-    // update extruder auto fan states
-    #if HAS_AUTO_FAN_0
-      setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
-    #endif
+  // update extruder auto fan states
+  #if HAS_AUTO_FAN_0
+    setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
+  #endif 
 
-    #if HAS_AUTO_FAN_1
-      if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
-        setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
-    #endif
-    #if HAS_AUTO_FAN_2
-      if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
-          && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
-        setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
-    #endif
-    #if HAS_AUTO_FAN_3
-      if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
-          && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
-          && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
-        setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
-    #endif
-  }
+#ifndef SINGLENOZZLE
+  #if HAS_AUTO_FAN_1
+    if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
+      setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
+  #endif 
+  #if HAS_AUTO_FAN_2
+    if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
+        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
+      setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
+  #endif
+  #if HAS_AUTO_FAN_3
+    if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
+        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
+        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
+      setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
+  #endif
+#endif //!SINGLENOZZLE
+}
 #endif // any extruder auto fan pins set
 
 //
 // Error checking and Write Routines
 //
-#if HOTENDS > 0
+#if EXTRUDERS > 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
-
-#if HOTENDS > 1 || defined(HEATERS_PARALLEL)
-  #if !HAS_HEATER_1
-    #error HEATER_1_PIN not defined for this board
-  #endif
-  #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v)
-  #if HOTENDS > 2
-    #if !HAS_HEATER_2
-      #error HEATER_2_PIN not defined for this board
+#ifndef SINGLENOZZLE
+  #if EXTRUDERS > 1 || defined(HEATERS_PARALLEL)
+    #if !HAS_HEATER_1
+      #error HEATER_1_PIN not defined for this board
     #endif
-    #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v)
-    #if HOTENDS > 3
-      #if !HAS_HEATER_3
-        #error HEATER_3_PIN not defined for this board
+    #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v)
+    #if EXTRUDERS > 2
+      #if !HAS_HEATER_2
+        #error HEATER_2_PIN not defined for this board
+      #endif
+      #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v)
+      #if EXTRUDERS > 3
+        #if !HAS_HEATER_3
+          #error HEATER_3_PIN not defined for this board
+        #endif
+        #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v)
       #endif
-      #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v)
     #endif
   #endif
-#endif
-
+#endif //SINGLENOZZLE
 #ifdef HEATERS_PARALLEL
   #define WRITE_HEATER_0(v) { WRITE_HEATER_0P(v); WRITE_HEATER_1(v); }
 #else
@@ -556,9 +609,14 @@ void manage_heater() {
 
   unsigned long ms = millis();
 
-  // Loop through all hotends
-  for (int e = 0; e < HOTENDS; e++) 
+  // Loop through all extruders
+  #ifndef SINGLENOZZLE
+    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
@@ -649,7 +707,7 @@ void manage_heater() {
         _temp_error(-1, MSG_EXTRUDER_SWITCHED_OFF, MSG_ERR_REDUNDANT_TEMP);
       }
     #endif //TEMP_SENSOR_1_AS_REDUNDANT
-  } // Hotends Loop
+  } // Extruders Loop
 
   #if HAS_AUTO_FAN
     if (ms > extruder_autofan_last_check + 2500) { // only need to check fan state very infrequently
@@ -841,7 +899,11 @@ static void updateTemperaturesFromRawValues() {
     current_temperature_raw[0] = read_max6675();
   #endif
 
-  for (int e = 0; e < HOTENDS; e++)
+  #ifndef SINGLENOZZLE
+    for (int e = 0; e < EXTRUDERS; e++)
+  #else
+    int e = 0;
+  #endif // !SINGLENOZZLE
   {
     current_temperature[e] = analog2temp(current_temperature_raw[e], e);
   }
@@ -906,8 +968,12 @@ void tp_init()
     MCUCR=BIT(JTD);
   #endif
 
-  // Finish init of mult hotends arrays
-  for (int e = 0; e < HOTENDS; e++)
+  // Finish init of mult extruder arrays
+  #ifndef SINGLENOZZLE
+    for (int e = 0; e < EXTRUDERS; e++)
+  #else
+    int e = 0;
+  #endif // !SINGLENOZZLE
   {
     // populate with the first value
     maxttemp[e] = maxttemp[0];
@@ -1027,30 +1093,32 @@ void tp_init()
     TEMP_MAX_ROUTINE(0);
   #endif
 
-  #if HOTENDS > 1
+#ifndef SINGLENOZZLE
+  #if EXTRUDERS > 1
     #ifdef HEATER_1_MINTEMP
       TEMP_MIN_ROUTINE(1);
     #endif
     #ifdef HEATER_1_MAXTEMP
       TEMP_MAX_ROUTINE(1);
     #endif
-    #if HOTENDS > 2
+    #if EXTRUDERS > 2
       #ifdef HEATER_2_MINTEMP
         TEMP_MIN_ROUTINE(2);
       #endif
       #ifdef HEATER_2_MAXTEMP
         TEMP_MAX_ROUTINE(2);
       #endif
-      #if HOTENDS > 3
+      #if EXTRUDERS > 3
         #ifdef HEATER_3_MINTEMP
           TEMP_MIN_ROUTINE(3);
         #endif
         #ifdef HEATER_3_MAXTEMP
           TEMP_MAX_ROUTINE(3);
         #endif
-      #endif // HOTENDS > 3
-    #endif // HOTENDS > 2
-  #endif // HOTENDS > 1
+      #endif // EXTRUDERS > 3
+    #endif // EXTRUDERS > 2
+  #endif // EXTRUDERS > 1
+#endif //SINGLENOZZLE
 
   #ifdef BED_MINTEMP
     /* No bed MINTEMP error implemented?!? */ /*
@@ -1077,7 +1145,11 @@ void tp_init()
 void setWatch() {
   #ifdef WATCH_TEMP_PERIOD
     unsigned long ms = millis();
-    for (int e = 0; e < HOTENDS; e++)
+    #ifndef SINGLENOZZLE
+      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);
@@ -1153,7 +1225,11 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat
 
 
 void disable_heater() {
-    for (int e = 0; e < HOTENDS; e++)
+  #ifndef SINGLENOZZLE
+    for (int e = 0; e < EXTRUDERS; e++)
+  #else
+    int e = 0;
+  #endif // !SINGLENOZZLE
       setTargetHotend(0, e);
   setTargetBed(0);
   #if HAS_TEMP_0
@@ -1162,19 +1238,19 @@ void disable_heater() {
     WRITE_HEATER_0P(LOW); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
   #endif
 
-  #if HOTENDS > 1 && HAS_TEMP_1
+  #if EXTRUDERS > 1 && HAS_TEMP_1
     target_temperature[1] = 0;
     soft_pwm[1] = 0;
     WRITE_HEATER_1(LOW);
   #endif
 
-  #if HOTENDS > 2 && HAS_TEMP_2
+  #if EXTRUDERS > 2 && HAS_TEMP_2
     target_temperature[2] = 0;
     soft_pwm[2] = 0;
     WRITE_HEATER_2(LOW);
   #endif
 
-  #if HOTENDS > 3 && HAS_TEMP_3
+  #if EXTRUDERS > 3 && HAS_TEMP_3
     target_temperature[3] = 0;
     soft_pwm[3] = 0;
     WRITE_HEATER_3(LOW);
@@ -1267,7 +1343,10 @@ 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_value[HOTENDS] = { 0 };
+  static unsigned long raw_temp_0_value = 0;
+  static unsigned long raw_temp_1_value = 0;
+  static unsigned long raw_temp_2_value = 0;
+  static unsigned long raw_temp_3_value = 0;
   static unsigned long raw_temp_bed_value = 0;
   static TempState temp_state = StartupDelay;
   static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
@@ -1285,16 +1364,17 @@ ISR(TIMER0_COMPB_vect) {
 
   // Statics per heater
   ISR_STATICS(0);
-  #if (HOTENDS > 1) || defined(HEATERS_PARALLEL)
+#ifndef SINGLENOZZLE
+  #if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL)
     ISR_STATICS(1);
-    #if HOTENDS > 2
+    #if EXTRUDERS > 2
       ISR_STATICS(2);
-      #if HOTENDS > 3
+      #if EXTRUDERS > 3
         ISR_STATICS(3);
       #endif
     #endif
   #endif
-
+#endif //SINGLENOZZLE
   #if HAS_HEATER_BED
     ISR_STATICS(BED);
   #endif
@@ -1306,7 +1386,7 @@ ISR(TIMER0_COMPB_vect) {
   #if HAS_POWER_CONSUMPTION_SENSOR
     static unsigned long raw_powconsumption_value = 0;
   #endif
-
+  
   #ifndef SLOW_PWM_HEATERS
     /**
      * standard PWM modulation
@@ -1317,20 +1397,20 @@ ISR(TIMER0_COMPB_vect) {
         WRITE_HEATER_0(1);
       }
       else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
-
-      #if HOTENDS > 1
+#ifndef SINGLENOZZLE
+      #if EXTRUDERS > 1
         soft_pwm_1 = soft_pwm[1];
         WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
-        #if HOTENDS > 2
+        #if EXTRUDERS > 2
           soft_pwm_2 = soft_pwm[2];
           WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
-          #if HOTENDS > 3
+          #if EXTRUDERS > 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);
@@ -1342,17 +1422,17 @@ ISR(TIMER0_COMPB_vect) {
     }
 
     if (soft_pwm_0 < pwm_count) { WRITE_HEATER_0(0); }
-
-    #if HOTENDS > 1
+#ifndef SINGLENOZZLE
+    #if EXTRUDERS > 1
       if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
-      #if HOTENDS > 2
+      #if EXTRUDERS > 2
         if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
-        #if HOTENDS > 3
+        #if EXTRUDERS > 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
@@ -1404,34 +1484,36 @@ ISR(TIMER0_COMPB_vect) {
 
     if (slow_pwm_count == 0) {
 
-      SLOW_PWM_ROUTINE(0); // HOTEND 0
-      #if HOTENDS > 1
-        SLOW_PWM_ROUTINE(1); // HOTEND 1
-        #if HOTENDS > 2
-          SLOW_PWM_ROUTINE(2); // HOTEND 2
-          #if HOTENDS > 3
-            SLOW_PWM_ROUTINE(3); // HOTEND 3
+      SLOW_PWM_ROUTINE(0); // EXTRUDER 0
+#ifndef SINGLENOZZLE
+      #if EXTRUDERS > 1
+        SLOW_PWM_ROUTINE(1); // EXTRUDER 1
+        #if EXTRUDERS > 2
+          SLOW_PWM_ROUTINE(2); // EXTRUDER 2
+          #if EXTRUDERS > 3
+            SLOW_PWM_ROUTINE(3); // EXTRUDER 3
           #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); // HOTEND 0
-    #if HOTENDS > 1
-      PWM_OFF_ROUTINE(1); // HOTEND 1
-      #if HOTENDS > 2
-        PWM_OFF_ROUTINE(2); // HOTEND 2
-        #if HOTENDS > 3
-          PWM_OFF_ROUTINE(3); // HOTEND 3
+    PWM_OFF_ROUTINE(0); // EXTRUDER 0
+#ifndef SINGLENOZZLE
+    #if EXTRUDERS > 1
+      PWM_OFF_ROUTINE(1); // EXTRUDER 1
+      #if EXTRUDERS > 2
+        PWM_OFF_ROUTINE(2); // EXTRUDER 2
+        #if EXTRUDERS > 3
+          PWM_OFF_ROUTINE(3); // EXTRUDER 3
         #endif
       #endif
     #endif
-
+#endif //SINGLENOZZLE
     #if HAS_HEATER_BED
       PWM_OFF_ROUTINE(BED); // BED
     #endif
@@ -1452,18 +1534,19 @@ ISR(TIMER0_COMPB_vect) {
       slow_pwm_count++;
       slow_pwm_count &= 0x7f;
     
-      // HOTEND 0
+      // EXTRUDER 0
       if (state_timer_heater_0 > 0) state_timer_heater_0--;
-      #if HOTENDS > 1    // HOTEND 1
+#ifndef SINGLENOZZLE
+      #if EXTRUDERS > 1    // EXTRUDER 1
         if (state_timer_heater_1 > 0) state_timer_heater_1--;
-        #if HOTENDS > 2    // HOTEND 2
+        #if EXTRUDERS > 2    // EXTRUDER 2
           if (state_timer_heater_2 > 0) state_timer_heater_2--;
-          #if HOTENDS > 3    // HOTEND 3
+          #if EXTRUDERS > 3    // EXTRUDER 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
@@ -1488,7 +1571,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_0:
       #if HAS_TEMP_0
-        raw_temp_value[0] += ADC;
+        raw_temp_0_value += ADC;
       #endif
       temp_state = PrepareTemp_BED;
       break;
@@ -1514,7 +1597,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_1:
       #if HAS_TEMP_1
-        raw_temp_value[1] += ADC;
+        raw_temp_1_value += ADC;
       #endif
       temp_state = PrepareTemp_2;
       break;
@@ -1527,7 +1610,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_2:
       #if HAS_TEMP_2
-        raw_temp_value[2] += ADC;
+        raw_temp_2_value += ADC;
       #endif
       temp_state = PrepareTemp_3;
       break;
@@ -1540,7 +1623,7 @@ ISR(TIMER0_COMPB_vect) {
       break;
     case MeasureTemp_3:
       #if HAS_TEMP_3
-        raw_temp_value[3] += ADC;
+        raw_temp_3_value += ADC;
       #endif
       temp_state = Prepare_FILWIDTH;
       break;
@@ -1590,20 +1673,21 @@ 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_value[0];
+        current_temperature_raw[0] = raw_temp_0_value;
       #endif
-      #if HOTENDS > 1
-        current_temperature_raw[1] = raw_temp_value[1];
-        #if HOTENDS > 2
-          current_temperature_raw[2] = raw_temp_value[2];
-          #if HOTENDS > 3
-            current_temperature_raw[3] = raw_temp_value[3];
+#ifndef SINGLENOZZLE
+      #if EXTRUDERS > 1
+        current_temperature_raw[1] = raw_temp_1_value;
+        #if EXTRUDERS > 2
+          current_temperature_raw[2] = raw_temp_2_value;
+          #if EXTRUDERS > 3
+            current_temperature_raw[3] = raw_temp_3_value;
           #endif
         #endif
       #endif
-
+#endif //SINGLENOZZLE
       #ifdef TEMP_SENSOR_1_AS_REDUNDANT
-        redundant_temperature_raw = raw_temp_value[1];
+        redundant_temperature_raw = raw_temp_1_value;
       #endif
       current_temperature_bed_raw = raw_temp_bed_value;
     } //!temp_meas_ready
@@ -1612,68 +1696,42 @@ 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;
-    for (int i = 0; i < HOTENDS; i++) raw_temp_value[i] = 0;
+    raw_temp_0_value = 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 GE0 <=
-      #define LE0 >=
+      #define MAXTEST <=
+      #define MINTEST >=
     #else
-      #define GE0 >=
-      #define LE0 <=
+      #define MAXTEST >=
+      #define MINTEST <=
     #endif
-    if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
-    if (current_temperature_raw[0] LE0 minttemp_raw[0]) min_temp_error(0);
-
-    #if HOTENDS > 1
-      #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
-        #define GE1 <=
-        #define LE1 >=
-      #else
-        #define GE1 >=
-        #define LE1 <=
-      #endif
-      if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
-      if (current_temperature_raw[1] LE1 minttemp_raw[1]) min_temp_error(1);
-      #if HOTENDS > 2
-        #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
-          #define GE2 <=
-          #define LE2 >=
-        #else
-          #define GE2 >=
-          #define LE2 <=
-        #endif
-        if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
-        if (current_temperature_raw[2] LE2 minttemp_raw[2]) min_temp_error(2);
-        #if HOTENDS > 3
-          #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
-            #define GE3 <=
-            #define LE3 >=
-          #else
-            #define GE3 >=
-            #define LE3 <=
-          #endif
-          if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
-          if (current_temperature_raw[3] LE3 minttemp_raw[3]) min_temp_error(3);
-        #endif // HOTENDS > 3
-      #endif // HOTENDS > 2
-    #endif // HOTENDS > 1
 
+    #ifndef SINGLENOZZLE
+      for (int i = 0; i < EXTRUDERS; i++)
+    #else
+      int i = 0;
+    #endif
+    {
+      if (current_temperature_raw[i] MAXTEST maxttemp_raw[i]) max_temp_error(i);
+      else if (current_temperature_raw[i] MINTEST minttemp_raw[i]) min_temp_error(i);
+    }
+    /* No bed MINTEMP error? */
     #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
-      #if 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();
-      }
+      if (current_temperature_bed_raw MAXTEST bed_maxttemp_raw) {
+          target_temperature_bed = 0;
+          bed_max_temp_error();
+        }
     #endif
   } // temp_count >= OVERSAMPLENR
 

MarlinKimbra/temperature.h

@@ -45,12 +45,21 @@ 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
-extern int target_temperature[HOTENDS];  
-extern float current_temperature[HOTENDS];
-#ifdef SHOW_TEMP_ADC_VALUES
-  extern int current_temperature_raw[HOTENDS];
-  extern int current_temperature_bed_raw;
-#endif
+#ifndef SINGLENOZZLE
+  extern int target_temperature[EXTRUDERS];  
+  extern float current_temperature[EXTRUDERS];
+  #ifdef SHOW_TEMP_ADC_VALUES
+    extern int current_temperature_raw[EXTRUDERS];
+    extern int current_temperature_bed_raw;
+  #endif
+#else
+  extern int target_temperature[1];  
+  extern float current_temperature[1];
+  #ifdef SHOW_TEMP_ADC_VALUES
+    extern int current_temperature_raw[1];
+    extern int current_temperature_bed_raw;
+  #endif
+#endif //SINGLENOZZLE
 
 extern int target_temperature_bed;
 extern float current_temperature_bed;
@@ -63,7 +72,11 @@ extern float current_temperature_bed;
 #endif
 
 #ifdef PIDTEMP
-  extern float Kp[HOTENDS],Ki[HOTENDS],Kd[HOTENDS];
+  #ifndef SINGLENOZZLE
+    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);
@@ -81,33 +94,64 @@ 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
-  #define HOTEND_ARG 0
+
+FORCE_INLINE float degHotend(uint8_t extruder) {  
+#ifndef SINGLENOZZLE
+  return current_temperature[extruder];
 #else
-  #define HOTEND_ARG hotend
+  return current_temperature[0];
 #endif
-
-FORCE_INLINE float degHotend(uint8_t hotend) { return current_temperature[HOTEND_ARG]; }
-FORCE_INLINE float degBed() { return current_temperature_bed; }
+}
 
 #ifdef SHOW_TEMP_ADC_VALUES
-  FORCE_INLINE float rawHotendTemp(uint8_t hotend) { return current_temperature_raw[HOTEND_ARG]; }
+  FORCE_INLINE float rawHotendTemp(uint8_t extruder) {
+  #ifndef SINGLENOZZLE  
+   return current_temperature_raw[extruder];
+  #else
+   return current_temperature_raw[0];
+  #endif
+  }
+
   FORCE_INLINE float rawBedTemp() { return current_temperature_bed_raw; }
 #endif //SHOW_TEMP_ADC_VALUES
 
-FORCE_INLINE float degTargetHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG]; }
+FORCE_INLINE float degBed() { return current_temperature_bed; }
 
+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 hotend) { target_temperature[HOTEND_ARG] = celsius; }
-
+FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
+  #ifndef SINGLENOZZLE  
+    target_temperature[extruder] = celsius;
+  #else
+    target_temperature[0] = celsius;
+  #endif
+}
 FORCE_INLINE void setTargetBed(const float &celsius) { target_temperature_bed = celsius; }
 
-FORCE_INLINE bool isHeatingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] > current_temperature[HOTEND_ARG]; }
+FORCE_INLINE bool isHeatingHotend(uint8_t extruder) {
+  #ifndef SINGLENOZZLE
+    return target_temperature[extruder] > current_temperature[extruder];
+  #else
+    return target_temperature[0] > current_temperature[0];
+  #endif
+}
 
 FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
 
-FORCE_INLINE bool isCoolingHotend(uint8_t hotend) { return target_temperature[HOTEND_ARG] < current_temperature[HOTEND_ARG]; }
+FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
+#ifndef SINGLENOZZLE
+  return target_temperature[extruder] < current_temperature[extruder];
+#else
+  return target_temperature[0] < current_temperature[0];
+#endif
+}
 
 FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
 
@@ -116,7 +160,7 @@ 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 HOTENDS > 1
+#if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
   #define degHotend1() degHotend(1)
   #define degTargetHotend1() degTargetHotend(1)
   #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
@@ -125,7 +169,7 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend1(_celsius) do{}while(0)
 #endif
-#if HOTENDS > 2
+#if EXTRUDERS > 2 && !defined(SINGLENOZZLE)
   #define degHotend2() degHotend(2)
   #define degTargetHotend2() degTargetHotend(2)
   #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
@@ -134,7 +178,7 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend2(_celsius) do{}while(0)
 #endif
-#if HOTENDS > 3
+#if EXTRUDERS > 3 && !defined(SINGLENOZZLE)
   #define degHotend3() degHotend(3)
   #define degTargetHotend3() degTargetHotend(3)
   #define setTargetHotend3(_celsius) setTargetHotend((_celsius), 3)
@@ -143,8 +187,8 @@ FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_tempe
 #else
   #define setTargetHotend3(_celsius) do{}while(0)
 #endif
-#if HOTENDS > 4
-  #error Invalid number of hotend
+#if EXTRUDERS > 4
+  #error Invalid number of extruders
 #endif
 
 int getHeaterPower(int heater);
@@ -173,7 +217,7 @@ FORCE_INLINE void autotempShutdown() {
   #endif
 }
 
-void PID_autotune(float temp, int hotend, int ncycles);
+void PID_autotune(float temp, int extruder, int ncycles);
 
 void setExtruderAutoFanState(int pin, bool state);
 void checkExtruderAutoFans();

MarlinKimbra/ultralcd.cpp

@@ -215,8 +215,8 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l
   #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
 #endif //!ENCODER_RATE_MULTIPLIER
 #define END_MENU() \
-    if (encoderLine >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM;\
-    if (encoderLine >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = encoderLine - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
+    if (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM >= _menuItemNr) encoderPosition = _menuItemNr * ENCODER_STEPS_PER_MENU_ITEM - 1; \
+    if ((uint8_t)(encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) >= currentMenuViewOffset + LCD_HEIGHT) { currentMenuViewOffset = (encoderPosition / ENCODER_STEPS_PER_MENU_ITEM) - LCD_HEIGHT + 1; lcdDrawUpdate = 1; _lineNr = currentMenuViewOffset - 1; _drawLineNr = -1; } \
     } } 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) {
-      home_offset[i] -= current_position[i];
+      add_homing[i] -= current_position[i];
       current_position[i] = 0.0;
     }
   }
@@ -758,7 +758,7 @@ void lcd_level_bed()
           delay(1200);    
           
           encoderPosition = 0;
-          lcd.clear();
+          lcd.clear(); 
           currentMenu = lcd_status_screen;
           lcd_status_screen();
           pageShowInfo=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 HOTENDS > 1
+  #if EXTRUDERS > 1
     #if TEMP_SENSOR_1 != 0
       MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 2", &target_temperature[1], 0, HEATER_1_MAXTEMP - 15);
     #endif
-    #if HOTENDS > 2
+    #if EXTRUDERS > 2
       #if TEMP_SENSOR_2 != 0
         MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 3", &target_temperature[2], 0, HEATER_2_MAXTEMP - 15);
       #endif
-      #if HOTENDS > 3
+      #if EXTRUDERS > 3
         #if TEMP_SENSOR_3 != 0
           MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE " 4", &target_temperature[3], 0, HEATER_3_MAXTEMP - 15);
         #endif
-      #endif //HOTENDS > 3
-    #endif //HOTENDS > 2
-  #endif //HOTENDS > 1
+      #endif //EXTRUDERS > 3
+    #endif //EXTRUDERS > 2
+  #endif //EXTRUDERS > 1
   #if TEMP_SENSOR_BED != 0
     MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
   #endif
@@ -1001,40 +1001,42 @@ static void lcd_control_temperature_menu() {
     MENU_ITEM_EDIT(float32, MSG_FACTOR, &autotemp_factor, 0.0, 1.0);
   #endif
   #ifdef PIDTEMP
-    // set up temp variables - undo the default scaling
+  	// set up temp variables - undo the default scaling
     raw_Ki = unscalePID_i(Ki[0]);
     raw_Kd = unscalePID_d(Kd[0]);
     MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp[0], 1, 9990);
     // 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);
-    #if HOTENDS > 1
-      // set up temp variables - undo the default scaling
-      raw_Ki = unscalePID_i(Ki[1]);
-      raw_Kd = unscalePID_d(Kd[1]);
-      MENU_ITEM_EDIT(float52, MSG_PID_P " E2", &Kp[1], 1, 9990);
-      // i is typically a small value so allows values below 1
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E2", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E2", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-    #endif //HOTENDS > 1
-    #if HOTENDS > 2
-      // set up temp variables - undo the default scaling
-      raw_Ki = unscalePID_i(Ki[2]);
-      raw_Kd = unscalePID_d(Kd[2]);
-      MENU_ITEM_EDIT(float52, MSG_PID_P " E3", &Kp[2], 1, 9990);
-      // i is typically a small value so allows values below 1
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E3", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E3", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-    #endif //HOTENDS > 2
-    #if HOTENDS > 3
-      // set up temp variables - undo the default scaling
-      raw_Ki = unscalePID_i(Ki[3]);
-      raw_Kd = unscalePID_d(Kd[3]);
-      MENU_ITEM_EDIT(float52, MSG_PID_P " E4", &Kp[3], 1, 9990);
-      // i is typically a small value so allows values below 1
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E4", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E4", &raw_Kd, 1, 9990, copy_and_scalePID_d);
-    #endif //HOTENDS > 2
+    #ifndef SINGLENOZZLE
+      #if EXTRUDERS > 1
+        // set up temp variables - undo the default scaling
+        raw_Ki = unscalePID_i(Ki[1]);
+      	raw_Kd = unscalePID_d(Kd[1]);
+      	MENU_ITEM_EDIT(float52, MSG_PID_P " E2", &Kp[1], 1, 9990);
+        // i is typically a small value so allows values below 1
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E2", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E2", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+      #endif //EXTRUDERS > 1
+      #if EXTRUDERS > 2
+        // set up temp variables - undo the default scaling
+        raw_Ki = unscalePID_i(Ki[2]);
+      	raw_Kd = unscalePID_d(Kd[2]);
+        MENU_ITEM_EDIT(float52, MSG_PID_P " E3", &Kp[2], 1, 9990);
+        // i is typically a small value so allows values below 1
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E3", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E3", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+      #endif //EXTRUDERS > 2
+      #if EXTRUDERS > 3
+        // set up temp variables - undo the default scaling
+        raw_Ki = unscalePID_i(Ki[3]);
+      	raw_Kd = unscalePID_d(Kd[3]);
+        MENU_ITEM_EDIT(float52, MSG_PID_P " E4", &Kp[3], 1, 9990);
+        // i is typically a small value so allows values below 1
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I " E4", &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
+        MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D " E4", &raw_Kd, 1, 9990, copy_and_scalePID_d);
+      #endif //EXTRUDERS > 2
+    #endif //SINGLENOZZLE
   #endif //PIDTEMP
   MENU_ITEM(submenu, MSG_PREHEAT_PLA_SETTINGS, lcd_control_temperature_preheat_pla_settings_menu);
   MENU_ITEM(submenu, MSG_PREHEAT_ABS_SETTINGS, lcd_control_temperature_preheat_abs_settings_menu);

MarlinKimbra/ultralcd_implementation_hitachi_HD44780.h

@@ -468,10 +468,10 @@ static void lcd_implementation_status_screen() {
     lcd.print('/');
     lcd.print(itostr3left(tTarget));
 
-    #if HOTENDS > 1 || TEMP_SENSOR_BED != 0
+    #if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
       //If we have an 2nd extruder or heated bed, show that in the top right corner
       lcd.setCursor(8, 0);
-      #if HOTENDS > 1
+      #if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
         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 //HOTENDS > 1 || TEMP_SENSOR_BED != 0
+    #endif //(EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || 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 HOTENDS > 1 || TEMP_SENSOR_BED != 0
+    #if (EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
       //If we have an 2nd extruder or heated bed, show that in the top right corner
       lcd.setCursor(10, 0);
-      #if HOTENDS > 1
+      #if EXTRUDERS > 1 && !defined(SINGLENOZZLE)
         tHotend = int(degHotend(1) + 0.5);
         tTarget = int(degTargetHotend(1) + 0.5);
         lcd.print(LCD_STR_THERMOMETER[0]);
@@ -511,84 +511,83 @@ static void lcd_implementation_status_screen() {
       lcd.print(itostr3left(tTarget));
       lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
       if (tTarget < 10) lcd.print(' ');
-    #endif//HOTENDS > 1 || TEMP_SENSOR_BED != 0
+    #endif//(EXTRUDERS > 1 && !defined(SINGLENOZZLE)) || TEMP_SENSOR_BED != 0
   #endif//LCD_WIDTH > 19
 
-  #if LCD_HEIGHT > 2
-    //Lines 2 for 4 line LCD
-    #if LCD_WIDTH < 20
-      #ifdef SDSUPPORT
-        lcd.setCursor(0, 2);
-        lcd_printPGM(PSTR("SD"));
-        if (IS_SD_PRINTING)
-          lcd.print(itostr3(card.percentDone()));
-        else
-          lcd_printPGM(PSTR("---"));
-        lcd.print('%');
-      #endif//SDSUPPORT
-    #else //LCD_WIDTH > 19
-      #if HOTENDS > 1 && TEMP_SENSOR_BED != 0
-        //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps
-        tHotend=int(degBed() + 0.5);
-        tTarget=int(degTargetBed() + 0.5);
-
-        lcd.setCursor(0, 1);
-        lcd.print(LCD_STR_BEDTEMP[0]);
-        lcd.print(itostr3(tHotend));
-        lcd.print('/');
-        lcd.print(itostr3left(tTarget));
-        lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
-        if (tTarget < 10) lcd.print(' ');
-      #else
-        lcd.setCursor(0,1);
-        #ifdef DELTA
-          lcd.print('X');
-          lcd.print(ftostr30(current_position[X_AXIS]));
-          lcd_printPGM(PSTR(" Y"));
-          lcd.print(ftostr30(current_position[Y_AXIS]));
-        #else
-          lcd.print('X');
-          lcd.print(ftostr3(current_position[X_AXIS]));
-          lcd_printPGM(PSTR(" Y"));
-          lcd.print(ftostr3(current_position[Y_AXIS]));
-        #endif // DELTA
-      #endif //HOTENDS > 1 || TEMP_SENSOR_BED != 0
-    #endif //LCD_WIDTH > 19
-      lcd.setCursor(LCD_WIDTH - 8, 1);
-      lcd.print('Z');
-      lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
-  #endif //LCD_HEIGHT > 2
-
-  #if LCD_HEIGHT > 3
+#if LCD_HEIGHT > 2
+//Lines 2 for 4 line LCD
+# if LCD_WIDTH < 20
+#  ifdef SDSUPPORT
+    lcd.setCursor(0, 2);
+    lcd_printPGM(PSTR("SD"));
+    if (IS_SD_PRINTING)
+        lcd.print(itostr3(card.percentDone()));
+    else
+        lcd_printPGM(PSTR("---"));
+    lcd.print('%');
+#  endif//SDSUPPORT
+# else//LCD_WIDTH > 19
+#  if EXTRUDERS > 1 && TEMP_SENSOR_BED != 0 && !defined(SINGLENOZZLE)
+    //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps
+    tHotend=int(degBed() + 0.5);
+    tTarget=int(degTargetBed() + 0.5);
+
+    lcd.setCursor(0, 1);
+    lcd.print(LCD_STR_BEDTEMP[0]);
+    lcd.print(itostr3(tHotend));
+    lcd.print('/');
+    lcd.print(itostr3left(tTarget));
+    lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
+    if (tTarget < 10)
+      lcd.print(' ');
+#   else
+      lcd.setCursor(0,1);
+#     ifdef DELTA
+        lcd.print('X');
+        lcd.print(ftostr30(current_position[X_AXIS]));
+        lcd_printPGM(PSTR(" Y"));
+        lcd.print(ftostr30(current_position[Y_AXIS]));
+#     else
+        lcd.print('X');
+        lcd.print(ftostr3(current_position[X_AXIS]));
+        lcd_printPGM(PSTR(" Y"));
+        lcd.print(ftostr3(current_position[Y_AXIS]));
+#     endif // DELTA
+#  endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0
+# endif//LCD_WIDTH > 19
+    lcd.setCursor(LCD_WIDTH - 8, 1);
+    lcd.print('Z');
+    lcd.print(ftostr32sp(current_position[Z_AXIS] + 0.00001));
+#endif//LCD_HEIGHT > 2
+
+#if LCD_HEIGHT > 3
     lcd.setCursor(0, 2);
     lcd.print(LCD_STR_FEEDRATE[0]);
     lcd.print(itostr3(feedmultiply));
     lcd.print('%');
-    #if LCD_WIDTH > 19
-      #ifdef SDSUPPORT
-        lcd.setCursor(7, 2);
-        lcd_printPGM(PSTR("SD"));
-        if (IS_SD_PRINTING)
-          lcd.print(itostr3(card.percentDone()));
-        else
-          lcd_printPGM(PSTR("---"));
-        lcd.print('%');
-      #endif //SDSUPPORT
-    #endif //LCD_WIDTH > 19
+# if LCD_WIDTH > 19
+#  ifdef SDSUPPORT
+    lcd.setCursor(7, 2);
+    lcd_printPGM(PSTR("SD"));
+    if (IS_SD_PRINTING)
+        lcd.print(itostr3(card.percentDone()));
+    else
+        lcd_printPGM(PSTR("---"));
+    lcd.print('%');
+#  endif//SDSUPPORT
+# endif//LCD_WIDTH > 19
     lcd.setCursor(LCD_WIDTH - 6, 2);
     lcd.print(LCD_STR_CLOCK[0]);
     if(starttime != 0)
     {
-      uint16_t time = millis()/60000 - starttime/60000;
-      lcd.print(itostr2(time/60));
-      lcd.print(':');
-      lcd.print(itostr2(time%60));
+        uint16_t time = millis()/60000 - starttime/60000;
+        lcd.print(itostr2(time/60));
+        lcd.print(':');
+        lcd.print(itostr2(time%60));
+    }else{
+        lcd_printPGM(PSTR("--:--"));
     }
-    else
-    {
-      lcd_printPGM(PSTR("--:--"));
-    }
-  #endif
+#endif
 
   // Status message line at the bottom
   lcd.setCursor(0, LCD_HEIGHT - 1);
@@ -789,7 +788,7 @@ 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 HOTENDS > 1
+    #if EXTRUDERS > 1   && !defined(SINGLENOZZLE)
       if (target_temperature[1] > 0) leds |= LED_C;
     #endif
     if (leds != ledsprev) {