diff --git a/Marlin/ConfigurationStore.cpp b/Marlin/ConfigurationStore.cpp
index 3872b505d..b1da94a30 100644
--- a/Marlin/ConfigurationStore.cpp
+++ b/Marlin/ConfigurationStore.cpp
@@ -263,8 +263,6 @@ void Config_StoreSettings()  {
     EEPROM_WRITE_VAR(i, dummy);
   }
 
-  int storageSize = i;
-
   char ver2[4] = EEPROM_VERSION;
   int j = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(j, ver2); // validate data
@@ -446,7 +444,7 @@ void Config_ResetDefault() {
   float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
   float tmp2[] = DEFAULT_MAX_FEEDRATE;
   long tmp3[] = DEFAULT_MAX_ACCELERATION;
-  for (int i = 0; i < NUM_AXIS; i++) {
+  for (uint16_t i = 0; i < NUM_AXIS; i++) {
     axis_steps_per_unit[i] = tmp1[i];
     max_feedrate[i] = tmp2[i];
     max_acceleration_units_per_sq_second[i] = tmp3[i];
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 520d4a6a5..009620624 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -211,72 +211,37 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
 int feedmultiply = 100; //100->1 200->2
 int saved_feedmultiply;
 int extrudemultiply = 100; //100->1 200->2
-int extruder_multiply[EXTRUDERS] = { 100
-  #if EXTRUDERS > 1
-    , 100
-    #if EXTRUDERS > 2
-      , 100
-      #if EXTRUDERS > 3
-        , 100
-      #endif
-    #endif
-  #endif
-};
+int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
 bool volumetric_enabled = false;
-float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
-  #if EXTRUDERS > 1
-      , DEFAULT_NOMINAL_FILAMENT_DIA
-    #if EXTRUDERS > 2
-       , DEFAULT_NOMINAL_FILAMENT_DIA
-      #if EXTRUDERS > 3
-        , DEFAULT_NOMINAL_FILAMENT_DIA
-      #endif
-    #endif
-  #endif
-};
-float volumetric_multiplier[EXTRUDERS] = {1.0
-  #if EXTRUDERS > 1
-    , 1.0
-    #if EXTRUDERS > 2
-      , 1.0
-      #if EXTRUDERS > 3
-        , 1.0
-      #endif
-    #endif
-  #endif
-};
-float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
-float home_offset[3] = { 0, 0, 0 };
+float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
+float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0, 1.0, 1.0, 1.0);
+float current_position[NUM_AXIS] = { 0.0 };
+float home_offset[3] = { 0 };
 #ifdef DELTA
-  float endstop_adj[3] = { 0, 0, 0 };
+  float endstop_adj[3] = { 0 };
 #elif defined(Z_DUAL_ENDSTOPS)
   float z_endstop_adj = 0;
 #endif
 
 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
-bool axis_known_position[3] = { false, false, false };
+bool axis_known_position[3] = { false };
 
 // Extruder offset
 #if EXTRUDERS > 1
-#ifndef DUAL_X_CARRIAGE
-  #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
-#else
-  #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
-#endif
-float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
-  #if defined(EXTRUDER_OFFSET_X)
-    EXTRUDER_OFFSET_X
-  #else
-    0
+  #ifndef EXTRUDER_OFFSET_X
+    #define EXTRUDER_OFFSET_X 0
+  #endif
+  #ifndef EXTRUDER_OFFSET_Y
+    #define EXTRUDER_OFFSET_Y 0
   #endif
-  ,
-  #if defined(EXTRUDER_OFFSET_Y)
-    EXTRUDER_OFFSET_Y
+  #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
-};
+  #define _EXY { EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y }
+  float extruder_offset[EXTRUDERS][NUM_EXTRUDER_OFFSETS] = ARRAY_BY_EXTRUDERS(_EXY, _EXY, _EXY, _EXY);
 #endif
 
 uint8_t active_extruder = 0;
@@ -295,28 +260,8 @@ int fanSpeed = 0;
 #ifdef FWRETRACT
 
   bool autoretract_enabled = false;
-  bool retracted[EXTRUDERS] = { false
-    #if EXTRUDERS > 1
-      , false
-      #if EXTRUDERS > 2
-        , false
-        #if EXTRUDERS > 3
-          , false
-        #endif
-      #endif
-    #endif
-  };
-  bool retracted_swap[EXTRUDERS] = { false
-    #if EXTRUDERS > 1
-      , false
-      #if EXTRUDERS > 2
-        , false
-        #if EXTRUDERS > 3
-          , false
-        #endif
-      #endif
-    #endif
-  };
+  bool retracted[EXTRUDERS] = { false };
+  bool retracted_swap[EXTRUDERS] = { false };
 
   float retract_length = RETRACT_LENGTH;
   float retract_length_swap = RETRACT_LENGTH_SWAP;
@@ -385,10 +330,14 @@ const char errormagic[] PROGMEM = "Error:";
 const char echomagic[] PROGMEM = "echo:";
 
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-static float destination[NUM_AXIS] = { 0, 0, 0, 0 };
+static float destination[NUM_AXIS] = { 0 };
+
+static float offset[3] = { 0 };
+
+#ifndef DELTA
+  static bool home_all_axis = true;
+#endif
 
-static float offset[3] = { 0, 0, 0 };
-static bool home_all_axis = true;
 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
 
@@ -396,8 +345,8 @@ static bool relative_mode = false;  //Determines Absolute or Relative Coordinate
 
 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
 #ifdef SDSUPPORT
-static bool fromsd[BUFSIZE];
-#endif //!SDSUPPORT
+  static bool fromsd[BUFSIZE];
+#endif
 static int bufindr = 0;
 static int bufindw = 0;
 static int buflen = 0;
@@ -933,24 +882,22 @@ void get_command()
 
 }
 
-
-float code_value()
-{
+float code_value() {
   float ret;
   char *e = strchr(strchr_pointer, 'E');
-  if (e != NULL) *e = 0;
-  ret = strtod(strchr_pointer+1, NULL);
-  if (e != NULL) *e = 'E';
+  if (e) {
+    *e = 0;
+    ret = strtod(strchr_pointer+1, NULL);
+    *e = 'E';
+  }
+  else
+    ret = strtod(strchr_pointer+1, NULL);
   return ret;
 }
 
-long code_value_long()
-{
-  return (strtol(strchr_pointer + 1, NULL, 10));
-}
+long code_value_long() { return (strtol(strchr_pointer + 1, NULL, 10)); }
 
-bool code_seen(char code)
-{
+bool code_seen(char code) {
   strchr_pointer = strchr(cmdbuffer[bufindr], code);
   return (strchr_pointer != NULL);  //Return True if a character was found
 }
@@ -991,7 +938,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
       // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
       // This allow soft recalibration of the second extruder offset position without firmware reflash
       // (through the M218 command).
-      return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
+      return (extruder_offset[1][X_AXIS] > 0) ? extruder_offset[1][X_AXIS] : X2_HOME_POS;
   }
 
   static int x_home_dir(int extruder) {
@@ -1009,84 +956,84 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);
 #endif //DUAL_X_CARRIAGE
 
 static void axis_is_at_home(int axis) {
-#ifdef DUAL_X_CARRIAGE
-  if (axis == X_AXIS) {
-    if (active_extruder != 0) {
-      current_position[X_AXIS] = x_home_pos(active_extruder);
-      min_pos[X_AXIS] =          X2_MIN_POS;
-      max_pos[X_AXIS] =          max(extruder_offset[X_AXIS][1], X2_MAX_POS);
-      return;
-    }
-    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],
-                                  max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
-      return;
+
+  #ifdef DUAL_X_CARRIAGE
+    if (axis == X_AXIS) {
+      if (active_extruder != 0) {
+        current_position[X_AXIS] = x_home_pos(active_extruder);
+        min_pos[X_AXIS] = X2_MIN_POS;
+        max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
+        return;
+      }
+      else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
+        current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
+        min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
+        max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
+                                max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
+        return;
+      }
     }
-  }
-#endif
-#ifdef SCARA
-   float homeposition[3];
-   char i;
-   
-   if (axis < 2)
-   {
+  #endif
+
+  #ifdef SCARA
+    float homeposition[3];
    
-     for (i=0; i<3; i++)
-     {
-        homeposition[i] = base_home_pos(i); 
-     }  
-  // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
-   //  SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
-   // Works out real Homeposition angles using inverse kinematics, 
-   // and calculates homing offset using forward kinematics
-     calculate_delta(homeposition);
+    if (axis < 2) {
+
+      for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
+
+      // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
+      // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
+      // Works out real Homeposition angles using inverse kinematics, 
+      // and calculates homing offset using forward kinematics
+      calculate_delta(homeposition);
      
-    // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
-    // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
+      // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
+      // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
      
-     for (i=0; i<2; i++)
-     {
-        delta[i] -= home_offset[i];
-     } 
+      for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
      
-    // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
-  // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
-    // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
-    // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
+      // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
+      // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
+      // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
+      // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
       
-     calculate_SCARA_forward_Transform(delta);
+      calculate_SCARA_forward_Transform(delta);
      
-    // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
-    // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
+      // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
+      // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
      
-    current_position[axis] = delta[axis];
+      current_position[axis] = delta[axis];
     
-    // SCARA home positions are based on configuration since the actual limits are determined by the 
-    // inverse kinematic transform.
-    min_pos[axis] =          base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
-    max_pos[axis] =          base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
-   } 
-   else
-   {
+      // SCARA home positions are based on configuration since the actual limits are determined by the 
+      // inverse kinematic transform.
+      min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
+      max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
+    } 
+    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];
-   }
-#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];
-#endif
+      min_pos[axis] = base_min_pos(axis) + home_offset[axis];
+      max_pos[axis] = base_max_pos(axis) + home_offset[axis];
+    }
+  #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];
+  #endif
+}
+
+/**
+ * Shorthand to tell the planner our current position (in mm).
+ */
+inline void sync_plan_position() {
+  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 #ifdef AUTO_BED_LEVELING_GRID
 
 #ifndef DELTA
-static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
-{
+  static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
     vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
     planeNormal.debug("planeNormal");
     plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
@@ -1097,13 +1044,13 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
     //uncorrected_position.debug("position before");
 
     vector_3 corrected_position = plan_get_position();
-//    corrected_position.debug("position after");
+    //corrected_position.debug("position after");
     current_position[X_AXIS] = corrected_position.x;
     current_position[Y_AXIS] = corrected_position.y;
-    current_position[Z_AXIS] = corrected_position.z;
+    current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
 
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-}
+    sync_plan_position();
+  }
 #endif
 
 #else // not AUTO_BED_LEVELING_GRID
@@ -1128,9 +1075,9 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float
     vector_3 corrected_position = plan_get_position();
     current_position[X_AXIS] = corrected_position.x;
     current_position[Y_AXIS] = corrected_position.y;
-    current_position[Z_AXIS] = corrected_position.z;
+    current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
 
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
 }
 
 #endif // AUTO_BED_LEVELING_GRID
@@ -1176,18 +1123,14 @@ static void run_z_probe() {
     endstops_hit_on_purpose();
 
     // move back down slowly to find bed
-    
-    if (homing_bump_divisor[Z_AXIS] >= 1)
-    {
-        feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
+    if (homing_bump_divisor[Z_AXIS] >= 1) {
+      feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
     } 
-    else
-    {
-        feedrate = homing_feedrate[Z_AXIS]/10;
-        SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
+    else {
+      feedrate = homing_feedrate[Z_AXIS]/10;
+      SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
     }
 
-    
     zPosition -= home_retract_mm(Z_AXIS) * 2;
     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
@@ -1195,7 +1138,7 @@ static void run_z_probe() {
 
     current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
     // make sure the planner knows where we are as it may be a bit different than we last said to move to
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
     
   #endif
 }
@@ -1233,10 +1176,6 @@ static void do_blocking_move_to(float x, float y, float z) {
     feedrate = oldFeedRate;
 }
 
-static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
-    do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
-}
-
 static void setup_for_endstop_move() {
     saved_feedrate = feedrate;
     saved_feedmultiply = feedmultiply;
@@ -1489,7 +1428,7 @@ static void homeaxis(int axis) {
 #endif
 
     current_position[axis] = 0;
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
 
 
 #ifndef Z_PROBE_SLED
@@ -1515,7 +1454,7 @@ static void homeaxis(int axis) {
     st_synchronize();
 
     current_position[axis] = 0;
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
     destination[axis] = -home_retract_mm(axis) * axis_home_dir;
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
@@ -1538,7 +1477,7 @@ static void homeaxis(int axis) {
       if (axis==Z_AXIS)
       {
         feedrate = homing_feedrate[axis];
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
         if (axis_home_dir > 0)
         {
           destination[axis] = (-1) * fabs(z_endstop_adj);
@@ -1558,7 +1497,7 @@ static void homeaxis(int axis) {
 #ifdef DELTA
     // retrace by the amount specified in endstop_adj
     if (endstop_adj[axis] * axis_home_dir < 0) {
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      sync_plan_position();
       destination[axis] = endstop_adj[axis];
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
       st_synchronize();
@@ -1614,7 +1553,7 @@ void refresh_cmd_timeout(void)
          calculate_delta(current_position); // change cartesian kinematic to  delta kinematic;
          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
 #else
-         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+         sync_plan_position();
 #endif
          prepare_move();
       }
@@ -1630,7 +1569,7 @@ void refresh_cmd_timeout(void)
          calculate_delta(current_position); // change cartesian kinematic  to  delta kinematic;
          plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
 #else
-         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+         sync_plan_position();
 #endif
          //prepare_move();
       }
@@ -1774,7 +1713,25 @@ inline void gcode_G4() {
 #endif //FWRETRACT
 
 /**
- * G28: Home all axes, one at a time
+ * G28: Home all axes according to settings
+ *
+ * Parameters
+ *
+ *  None  Home to all axes with no parameters.
+ *        With QUICK_HOME enabled XY will home together, then Z.
+ *
+ * Cartesian parameters
+ *
+ *  X   Home to the X endstop
+ *  Y   Home to the Y endstop
+ *  Z   Home to the Z endstop
+ *
+ * If numbers are included with XYZ set the position as with G92
+ * Currently adds the home_offset, which may be wrong and removed soon.
+ *
+ *  Xn  Home X, setting X to n + home_offset[X_AXIS]
+ *  Yn  Home Y, setting Y to n + home_offset[Y_AXIS]
+ *  Zn  Home Z, setting Z to n + home_offset[Z_AXIS]
  */
 inline void gcode_G28() {
   #ifdef ENABLE_AUTO_BED_LEVELING
@@ -1797,7 +1754,7 @@ inline void gcode_G28() {
 
   enable_endstops(true);
 
-  for (int i = X_AXIS; i < NUM_AXIS; i++) destination[i] = current_position[i];
+  for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; // includes E_AXIS
 
   feedrate = 0.0;
 
@@ -1807,7 +1764,7 @@ inline void gcode_G28() {
 
     // Move all carriages up together until the first endstop is hit.
     for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
 
     for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
     feedrate = 1.732 * homing_feedrate[X_AXIS];
@@ -1828,26 +1785,28 @@ inline void gcode_G28() {
 
   #else // NOT DELTA
 
-    home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
+    bool  homeX = code_seen(axis_codes[X_AXIS]),
+          homeY = code_seen(axis_codes[Y_AXIS]),
+          homeZ = code_seen(axis_codes[Z_AXIS]);
+
+    home_all_axis = !homeX && !homeY && !homeZ; // No parameters means home all axes
 
     #if Z_HOME_DIR > 0                      // If homing away from BED do Z first
-      if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
-        HOMEAXIS(Z);
-      }
+      if (home_all_axis || homeZ) HOMEAXIS(Z);
     #endif
 
     #ifdef QUICK_HOME
-      if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) {  //first diagonal move
+      if (home_all_axis || (homeX && homeY)) {  //first diagonal move
         current_position[X_AXIS] = current_position[Y_AXIS] = 0;
 
-        #ifndef DUAL_X_CARRIAGE
-          int x_axis_home_dir = home_dir(X_AXIS);
-        #else
+        #ifdef DUAL_X_CARRIAGE
           int x_axis_home_dir = x_home_dir(active_extruder);
           extruder_duplication_enabled = false;
+        #else
+          int x_axis_home_dir = home_dir(X_AXIS);
         #endif
 
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
         destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
         destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
         feedrate = homing_feedrate[X_AXIS];
@@ -1862,7 +1821,7 @@ inline void gcode_G28() {
 
         axis_is_at_home(X_AXIS);
         axis_is_at_home(Y_AXIS);
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
         destination[X_AXIS] = current_position[X_AXIS];
         destination[Y_AXIS] = current_position[Y_AXIS];
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@@ -1878,7 +1837,8 @@ inline void gcode_G28() {
       }
     #endif //QUICK_HOME
 
-    if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
+    // Home X
+    if (home_all_axis || homeX) {
       #ifdef DUAL_X_CARRIAGE
         int tmp_extruder = active_extruder;
         extruder_duplication_enabled = false;
@@ -1896,31 +1856,38 @@ inline void gcode_G28() {
       #endif
     }
 
-    if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y);
+    // Home Y
+    if (home_all_axis || homeY) HOMEAXIS(Y);
 
+    // Set the X position, if included
+    // Adds the home_offset as well, which may be wrong
     if (code_seen(axis_codes[X_AXIS])) {
-      if (code_value_long() != 0) {
-          current_position[X_AXIS] = code_value()
-            #ifndef SCARA
-              + home_offset[X_AXIS]
-            #endif
-          ;
-      }
+      float v = code_value();
+      if (v) current_position[X_AXIS] = v
+        #ifndef SCARA
+          + home_offset[X_AXIS]
+        #endif
+      ;
     }
 
-    if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
-      current_position[Y_AXIS] = code_value()
+    // Set the Y position, if included
+    // Adds the home_offset as well, which may be wrong
+    if (code_seen(axis_codes[Y_AXIS])) {
+      float v = code_value();
+      if (v) current_position[Y_AXIS] = v
         #ifndef SCARA
           + home_offset[Y_AXIS]
         #endif
       ;
     }
 
-    #if Z_HOME_DIR < 0                      // If homing towards BED do Z last
+    // Home Z last if homing towards the bed
+    #if Z_HOME_DIR < 0
 
       #ifndef Z_SAFE_HOMING
 
-        if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
+        if (home_all_axis || homeZ) {
+          // Raise Z before homing Z? Shouldn't this happen before homing X or Y?
           #if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
             #ifndef Z_PROBE_AND_ENDSTOP
             destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
@@ -1941,7 +1908,7 @@ inline void gcode_G28() {
           feedrate = XY_TRAVEL_SPEED / 60;
           current_position[Z_AXIS] = 0;
 
-          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+          sync_plan_position();
           plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
           st_synchronize();
           current_position[X_AXIS] = destination[X_AXIS];
@@ -1951,7 +1918,7 @@ inline void gcode_G28() {
         }
 
         // Let's see if X and Y are homed and probe is inside bed area.
-        if (code_seen(axis_codes[Z_AXIS])) {
+        if (homeZ) {
 
           if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
 
@@ -1985,15 +1952,17 @@ inline void gcode_G28() {
 
     #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];
+    // Set the Z position, if included
+    // Adds the home_offset as well, which may be wrong
+    if (code_seen(axis_codes[Z_AXIS])) {
+      float v = code_value();
+      if (v) current_position[Z_AXIS] = v + home_offset[Z_AXIS];
+    }
 
     #if defined(ENABLE_AUTO_BED_LEVELING) && (Z_HOME_DIR < 0)
-      if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
-        current_position[Z_AXIS] += zprobe_zoffset;  //Add Z_Probe offset (the distance is negative)
+      if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset;  // Add Z_Probe offset (the distance is negative)
     #endif
-    plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+    sync_plan_position();
 
   #endif // else DELTA
 
@@ -2018,7 +1987,7 @@ inline void gcode_G28() {
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
       st_synchronize();
       current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      sync_plan_position();
       mbl.active = 1;
     }
   #endif
@@ -2089,7 +2058,7 @@ inline void gcode_G28() {
       int ix, iy;
       if (probe_point == 0) {
         current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
       } else {
         ix = (probe_point-1) % MESH_NUM_X_POINTS;
         iy = (probe_point-1) / MESH_NUM_X_POINTS;
@@ -2151,8 +2120,8 @@ inline void gcode_G28() {
    *
    * Global Parameters:
    *
-   * E/e By default G29 engages / disengages the probe for each point.
-   *     Include "E" to engage and disengage the probe just once.
+   * E/e By default G29 will engages the probe, test the bed, then disengage.
+   *     Include "E" to engage/disengage the probe for each sample.
    *     There's no extra effect if you have a fixed probe.
    *     Usage: "G29 E" or "G29 e"
    *
@@ -2168,7 +2137,6 @@ inline void gcode_G28() {
     }
 
     int verbose_level = 1;
-    float x_tmp, y_tmp, z_tmp, real_z;
 
     if (code_seen('V') || code_seen('v')) {
       verbose_level = code_value_long();
@@ -2179,7 +2147,7 @@ inline void gcode_G28() {
     }
 
     bool dryrun = code_seen('D') || code_seen('d');
-    bool enhanced_g29 = code_seen('E') || code_seen('e');
+    bool engage_probe_for_each_reading = code_seen('E') || code_seen('e');
 
     #ifdef AUTO_BED_LEVELING_GRID
 
@@ -2263,7 +2231,7 @@ inline void gcode_G28() {
         current_position[X_AXIS] = uncorrected_position.x;
         current_position[Y_AXIS] = uncorrected_position.y;
         current_position[Z_AXIS] = uncorrected_position.z;
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
 
       #endif
     }
@@ -2337,16 +2305,14 @@ inline void gcode_G28() {
 
           // Enhanced G29 - Do not retract servo between probes
           ProbeAction act;
-          if (enhanced_g29) {
-            if (yProbe == front_probe_bed_position && xCount == 0)
-              act = ProbeEngage;
-            else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
-              act = ProbeRetract;
-            else
-              act = ProbeStay;
-          }
-          else
+          if (engage_probe_for_each_reading)
             act = ProbeEngageAndRetract;
+          else if (yProbe == front_probe_bed_position && xCount == 0)
+            act = ProbeEngage;
+          else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
+            act = ProbeRetract;
+          else
+            act = ProbeStay;
 
           measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
 
@@ -2428,20 +2394,17 @@ inline void gcode_G28() {
 
     #else // !AUTO_BED_LEVELING_GRID
 
-      // Probe at 3 arbitrary points
-      float z_at_pt_1, z_at_pt_2, z_at_pt_3;
+      // Actions for each probe
+      ProbeAction p1, p2, p3;
+      if (engage_probe_for_each_reading)
+        p1 = p2 = p3 = ProbeEngageAndRetract;
+      else
+        p1 = ProbeEngage, p2 = ProbeStay, p3 = ProbeRetract;
 
-      if (enhanced_g29) {
-        // Basic Enhanced G29
-        z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage, verbose_level);
-        z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay, verbose_level);
-        z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
-      }
-      else {
-        z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngageAndRetract, verbose_level);
-        z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
-        z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeEngageAndRetract, verbose_level);
-      }
+      // Probe at 3 arbitrary points
+      float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, p1, verbose_level),
+            z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p2, verbose_level),
+            z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p3, verbose_level);
       clean_up_after_endstop_move();
       if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
 
@@ -2456,6 +2419,7 @@ inline void gcode_G28() {
       // When the bed is uneven, this height must be corrected.
       if (!dryrun)
       {
+        float x_tmp, y_tmp, z_tmp, real_z;
         real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)
         x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
         y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
@@ -2463,7 +2427,7 @@ inline void gcode_G28() {
 
         apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);         //Apply the correction sending the probe offset
         current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        sync_plan_position();
       }
     #endif // !DELTA
 
@@ -2514,15 +2478,17 @@ inline void gcode_G92() {
   if (!code_seen(axis_codes[E_AXIS]))
     st_synchronize();
 
+  bool didXYZ = false;
   for (int i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      current_position[i] = code_value();
+      float v = current_position[i] = code_value();
       if (i == E_AXIS)
-        plan_set_e_position(current_position[E_AXIS]);
+        plan_set_e_position(v);
       else
-        plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        didXYZ = true;
     }
   }
+  if (didXYZ) sync_plan_position();
 }
 
 #ifdef ULTIPANEL
@@ -2805,14 +2771,14 @@ inline void gcode_M42() {
    *
    * Usage:
    *   M48 <n#> <X#> <Y#> <V#> <E> <L#>
-   *     n = Number of samples (4-50, default 10)
+   *     P = Number of sampled points (4-50, default 10)
    *     X = Sample X position
    *     Y = Sample Y position
    *     V = Verbose level (0-4, default=1)
    *     E = Engage probe for each reading
    *     L = Number of legs of movement before probe
    *  
-   * This function assumes the bed has been homed.  Specificaly, that a G28 command
+   * This function assumes the bed has been homed.  Specifically, that a G28 command
    * as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
    * Any information generated by a prior G29 Bed leveling command will be lost and need to be
    * regenerated.
@@ -2839,10 +2805,10 @@ inline void gcode_M42() {
     if (verbose_level > 0)
       SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
 
-    if (code_seen('n')) {
+    if (code_seen('P') || code_seen('p') || code_seen('n')) { // `n` for legacy support only - please use `P`!
       n_samples = code_value();
       if (n_samples < 4 || n_samples > 50) {
-        SERIAL_PROTOCOLPGM("?Specified sample size not plausible (4-50).\n");
+        SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
         return;
       }
     }
@@ -2859,7 +2825,7 @@ inline void gcode_M42() {
     if (code_seen('X') || code_seen('x')) {
       X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
       if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
-        SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
+        SERIAL_PROTOCOLPGM("?X position out of range.\n");
         return;
       }
     }
@@ -2867,7 +2833,7 @@ inline void gcode_M42() {
     if (code_seen('Y') || code_seen('y')) {
       Y_probe_location = code_value() -  Y_PROBE_OFFSET_FROM_EXTRUDER;
       if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
-        SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
+        SERIAL_PROTOCOLPGM("?Y position out of range.\n");
         return;
       }
     }
@@ -2876,7 +2842,7 @@ inline void gcode_M42() {
       n_legs = code_value();
       if (n_legs == 1) n_legs = 2;
       if (n_legs < 0 || n_legs > 15) {
-        SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausible (0-15).\n");
+        SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
         return;
       }
     }
@@ -2899,7 +2865,7 @@ inline void gcode_M42() {
     // use that as a starting point for each probe.
     //
     if (verbose_level > 2)
-      SERIAL_PROTOCOL("Positioning probe for the test.\n");
+      SERIAL_PROTOCOL("Positioning the probe...\n");
 
     plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
         ext_position,
@@ -2948,7 +2914,7 @@ inline void gcode_M42() {
         //SERIAL_ECHOPAIR("starting radius: ",radius);
         //SERIAL_ECHOPAIR("   theta: ",theta);
         //SERIAL_ECHOPAIR("   direction: ",rotational_direction);
-        //SERIAL_PROTOCOLLNPGM("");
+        //SERIAL_EOL;
 
         float dir = rotational_direction ? 1 : -1;
         for (l = 0; l < n_legs - 1; l++) {
@@ -2967,7 +2933,7 @@ inline void gcode_M42() {
           if (verbose_level > 3) {
             SERIAL_ECHOPAIR("x: ", X_current);
             SERIAL_ECHOPAIR("y: ", Y_current);
-            SERIAL_PROTOCOLLNPGM("");
+            SERIAL_EOL;
           }
 
           do_blocking_move_to( X_current, Y_current, Z_current );
@@ -3783,23 +3749,23 @@ inline void gcode_M206() {
   inline void gcode_M218() {
     if (setTargetedHotend(218)) return;
 
-    if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
-    if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
+    if (code_seen('X')) extruder_offset[tmp_extruder][X_AXIS] = code_value();
+    if (code_seen('Y')) extruder_offset[tmp_extruder][Y_AXIS] = code_value();
 
     #ifdef DUAL_X_CARRIAGE
-      if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
+      if (code_seen('Z')) extruder_offset[tmp_extruder][Z_AXIS] = code_value();
     #endif
 
     SERIAL_ECHO_START;
     SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
     for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
       SERIAL_ECHO(" ");
-      SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
+      SERIAL_ECHO(extruder_offset[tmp_extruder][X_AXIS]);
       SERIAL_ECHO(",");
-      SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
+      SERIAL_ECHO(extruder_offset[tmp_extruder][Y_AXIS]);
       #ifdef DUAL_X_CARRIAGE
         SERIAL_ECHO(",");
-        SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
+        SERIAL_ECHO(extruder_offset[tmp_extruder][Z_AXIS]);
       #endif
     }
     SERIAL_EOL;
@@ -4490,13 +4456,13 @@ inline void gcode_M503() {
         SERIAL_ECHO_START;
         SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
         SERIAL_ECHO(" ");
-        SERIAL_ECHO(extruder_offset[X_AXIS][0]);
+        SERIAL_ECHO(extruder_offset[0][X_AXIS]);
         SERIAL_ECHO(",");
-        SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
+        SERIAL_ECHO(extruder_offset[0][Y_AXIS]);
         SERIAL_ECHO(" ");
         SERIAL_ECHO(duplicate_extruder_x_offset);
         SERIAL_ECHO(",");
-        SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
+        SERIAL_ECHOLN(extruder_offset[1][Y_AXIS]);
         break;
       case DXC_FULL_CONTROL_MODE:
       case DXC_AUTO_PARK_MODE:
@@ -4605,7 +4571,6 @@ inline void gcode_T() {
     #if EXTRUDERS > 1
       bool make_move = false;
     #endif
-
     if (code_seen('F')) {
       #if EXTRUDERS > 1
         make_move = true;
@@ -4632,11 +4597,11 @@ inline void gcode_T() {
 
           // apply Y & Z extruder offset (x offset is already used in determining home pos)
           current_position[Y_AXIS] = current_position[Y_AXIS] -
-                       extruder_offset[Y_AXIS][active_extruder] +
-                       extruder_offset[Y_AXIS][tmp_extruder];
+                       extruder_offset[active_extruder][Y_AXIS] +
+                       extruder_offset[tmp_extruder][Y_AXIS];
           current_position[Z_AXIS] = current_position[Z_AXIS] -
-                       extruder_offset[Z_AXIS][active_extruder] +
-                       extruder_offset[Z_AXIS][tmp_extruder];
+                       extruder_offset[active_extruder][Z_AXIS] +
+                       extruder_offset[tmp_extruder][Z_AXIS];
 
           active_extruder = tmp_extruder;
 
@@ -4666,7 +4631,7 @@ inline void gcode_T() {
         #else // !DUAL_X_CARRIAGE
           // Offset extruder (only by XY)
           for (int i=X_AXIS; i<=Y_AXIS; i++)
-            current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
+            current_position[i] += extruder_offset[tmp_extruder][i] - extruder_offset[active_extruder][i];
           // Set the new active extruder and position
           active_extruder = tmp_extruder;
         #endif // !DUAL_X_CARRIAGE
@@ -4675,7 +4640,7 @@ inline void gcode_T() {
           //sent position to plan_set_position();
           plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
         #else
-          plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+          sync_plan_position();
         #endif
         // Move to the old position if 'F' was in the parameters
         if (make_move && !Stopped) prepare_move();
@@ -4978,14 +4943,13 @@ void process_commands() {
         case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
           gcode_M665();
           break;
-        case 666: // M666 set delta endstop adjustment
-          gcode_M666();
-          break;
-      #elif defined(Z_DUAL_ENDSTOPS)
-        case 666: // M666 set delta endstop adjustment
+      #endif
+
+      #if defined(DELTA) || defined(Z_DUAL_ENDSTOPS)
+        case 666: // M666 set delta / dual endstop adjustment
           gcode_M666();
           break;
-      #endif // DELTA
+      #endif
 
       #ifdef FWRETRACT
         case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
@@ -5208,16 +5172,10 @@ void ClearToSend()
 
 void get_coordinates() {
   for (int i = 0; i < NUM_AXIS; i++) {
-    float dest;
-    if (code_seen(axis_codes[i])) {
-      dest = code_value();
-      if (axis_relative_modes[i] || relative_mode)
-        dest += current_position[i];
-    }
+    if (code_seen(axis_codes[i]))
+      destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
     else
-      dest = current_position[i];
-
-    destination[i] = dest;
+      destination[i] = current_position[i];
   }
   if (code_seen('F')) {
     next_feedrate = code_value();
@@ -5522,7 +5480,7 @@ for (int s = 1; s <= steps; s++) {
       plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
           current_position[E_AXIS], max_feedrate[X_AXIS], 1);
-      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      sync_plan_position();
       st_synchronize();
       extruder_duplication_enabled = true;
       active_extruder_parked = false;
diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp
index 125caab01..fae6c1be6 100644
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -489,7 +489,7 @@ void CardReader::updir() {
   if (workDirDepth > 0) {
     --workDirDepth;
     workDir = workDirParents[0];
-    for (int d = 0; d < workDirDepth; d++)
+    for (uint16_t d = 0; d < workDirDepth; d++)
       workDirParents[d] = workDirParents[d+1];
   }
 }
diff --git a/Marlin/configurator/config/language.h b/Marlin/configurator/config/language.h
index e13fc3176..f1193b924 100644
--- a/Marlin/configurator/config/language.h
+++ b/Marlin/configurator/config/language.h
@@ -34,7 +34,6 @@
 #endif
 
 #define PROTOCOL_VERSION "1.0"
-#define FIRMWARE_URL "https://github.com/MarlinFirmware/Marlin"
 
 #if MB(ULTIMAKER)|| MB(ULTIMAKER_OLD)|| MB(ULTIMAIN_2)
   #define MACHINE_NAME "Ultimaker"
@@ -59,14 +58,16 @@
   #define FIRMWARE_URL "http://www.bq.com/gb/downloads-prusa-i3-hephestos.html"
 #else // Default firmware set to Mendel
   #define MACHINE_NAME "Mendel"
+  #define FIRMWARE_URL "https://github.com/MarlinFirmware/Marlin"
 #endif
 
 #ifdef CUSTOM_MENDEL_NAME
+  #undef MACHINE_NAME
   #define MACHINE_NAME CUSTOM_MENDEL_NAME
 #endif
 
 #ifndef MACHINE_UUID
-   #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
+  #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 #endif
 
 
diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h
index b9235145b..89cd5e835 100644
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@@ -124,8 +124,6 @@
 // Maximum here is 0x1f because 0x20 is ' ' (space) and the normal charsets begin.
 // Better stay below 0x10 because DISPLAY_CHARSET_HD44780_WESTERN begins here.
 
-int lcd_contrast;
-
 // LCD selection
 #ifdef U8GLIB_ST7920
 //U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
@@ -143,7 +141,9 @@ U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);  // HW-SPI Com: CS, A0
 
 #include "utf_mapper.h"
 
-char currentfont = 0;
+int lcd_contrast;
+static unsigned char blink = 0; // Variable for visualization of fan rotation in GLCD
+static char currentfont = 0;
 
 static void lcd_setFont(char font_nr) {
   switch(font_nr) {
@@ -256,9 +256,6 @@ static void _draw_heater_status(int x, int heater) {
 }
 
 static void lcd_implementation_status_screen() {
-
-  static unsigned char fan_rot = 0;
- 
   u8g.setColorIndex(1); // black on white
 
   // Symbols menu graphics, animated fan
@@ -485,7 +482,7 @@ static void _drawmenu_sd(bool isSelected, uint8_t row, const char* pstr, const c
   lcd_implementation_mark_as_selected(row, isSelected);
 
   if (isDir) lcd_print(LCD_STR_FOLDER[0]);
-  while (c = *filename) {
+  while ((c = *filename)) {
     n -= lcd_print(c);
     filename++;
   }
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index 452f8edeb..0a1833c75 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -275,13 +275,9 @@
 
 #ifdef ADVANCE
   #define EXTRUDER_ADVANCE_K .0
-
   #define D_FILAMENT 1.75
   #define STEPS_MM_E 1000
-  #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
-  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
-
-#endif // ADVANCE
+#endif
 
 // Arc interpretation settings:
 #define MM_PER_ARC_SEGMENT 1
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index bbbcdbaae..41eb19f4a 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -107,11 +107,11 @@ Here are some standard links for getting your machine calibrated:
 // Horizontal offset of the universal joints on the carriages.
 #define DELTA_CARRIAGE_OFFSET 18.0 // mm
 
-// Effective horizontal distance bridged by diagonal push rods.
+// Horizontal distance bridged by diagonal push rods when effector is centered.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 
 // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-#define DELTA_PRINTABLE_RADIUS 90
+#define DELTA_PRINTABLE_RADIUS 140
 
 
 //===========================================================================
@@ -391,10 +391,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.
 
 // Travel limits after homing (units are in mm)
-#define X_MAX_POS 90
-#define X_MIN_POS -90
-#define Y_MAX_POS 90
-#define Y_MIN_POS -90
+#define X_MAX_POS DELTA_PRINTABLE_RADIUS
+#define X_MIN_POS -DELTA_PRINTABLE_RADIUS
+#define Y_MAX_POS DELTA_PRINTABLE_RADIUS
+#define Y_MIN_POS -DELTA_PRINTABLE_RADIUS
 #define Z_MAX_POS MANUAL_Z_HOME_POS
 #define Z_MIN_POS 0
 
@@ -441,7 +441,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
   #define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
   #define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
   #define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
-  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS   
+  #define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS  
+
+  #define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this      
 
   // Non-linear bed leveling will be used.
   // Compensate by interpolating between the nearest four Z probe values for each point.
@@ -532,7 +534,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_RETRACT_ACCELERATION  3000   // E acceleration in mm/s^2 for retracts
 #define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
-
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
 // For the other hotends it is their distance from the extruder 0 hotend.
@@ -652,7 +653,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // #define DELTA_CALIBRATION_MENU
 
 /**
- * I2C PANELS
+ * I2C Panels
  */
 
 //#define LCD_I2C_SAINSMART_YWROBOT
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 7e58bb0b7..8381e1523 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -107,7 +107,6 @@ Here are some standard links for getting your machine calibrated:
 // Horizontal offset of the universal joints on the carriages.
 #define DELTA_CARRIAGE_OFFSET 19.5 // mm
 
-
 // Horizontal distance bridged by diagonal push rods when effector is centered.
 #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
 
@@ -531,8 +530,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 500, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E acceleration in mm/s^2 for retracts
 #define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
diff --git a/Marlin/language.h b/Marlin/language.h
index 0fbaa39b1..f4a2d2610 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -40,12 +40,14 @@
 #define FIRMWARE_URL "https://github.com/MarlinFirmware/Marlin"
 
 #if MB(ULTIMAKER)|| MB(ULTIMAKER_OLD)|| MB(ULTIMAIN_2)
+  #undef FIRMWARE_URL
   #define MACHINE_NAME "Ultimaker"
   #define FIRMWARE_URL "http://firmware.ultimaker.com"
 #elif MB(RUMBA)
   #define MACHINE_NAME "Rumba"
 #elif MB(3DRAG)
   #define MACHINE_NAME "3Drag"
+  #undef FIRMWARE_URL
   #define FIRMWARE_URL "http://3dprint.elettronicain.it/"
 #elif MB(K8200)
   #define MACHINE_NAME "K8200"
@@ -53,18 +55,22 @@
   #define MACHINE_NAME "Makibox"
 #elif MB(SAV_MKI)
   #define MACHINE_NAME "SAV MkI"
+  #undef FIRMWARE_URL
   #define FIRMWARE_URL "https://github.com/fmalpartida/Marlin/tree/SAV-MkI-config"
 #elif MB(WITBOX)
   #define MACHINE_NAME "WITBOX"
+  #undef FIRMWARE_URL
   #define FIRMWARE_URL "http://www.bq.com/gb/downloads-witbox.html"
 #elif MB(HEPHESTOS)
   #define MACHINE_NAME "HEPHESTOS"
+  #undef FIRMWARE_URL
   #define FIRMWARE_URL "http://www.bq.com/gb/downloads-prusa-i3-hephestos.html"
 #else // Default firmware set to Mendel
   #define MACHINE_NAME "Mendel"
 #endif
 
 #ifdef CUSTOM_MENDEL_NAME
+  #undef MACHINE_NAME
   #define MACHINE_NAME CUSTOM_MENDEL_NAME
 #endif
 
diff --git a/Marlin/pins.h b/Marlin/pins.h
index e9d06e998..6db56e9f4 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -127,10 +127,13 @@
 #define _E3_PINS
 
 #if EXTRUDERS > 1
+  #undef _E1_PINS
   #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN, analogInputToDigitalPin(TEMP_1_PIN),
   #if EXTRUDERS > 2
+    #undef _E2_PINS
     #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN, HEATER_2_PIN, analogInputToDigitalPin(TEMP_2_PIN),
     #if EXTRUDERS > 3
+      #undef _E3_PINS
       #define _E3_PINS E3_STEP_PIN, E3_DIR_PIN, E3_ENABLE_PIN, HEATER_3_PIN, analogInputToDigitalPin(TEMP_3_PIN),
     #endif
   #endif
@@ -167,12 +170,18 @@
 #endif
 
 #ifdef DISABLE_MAX_ENDSTOPS
+  #undef X_MAX_PIN
+  #undef Y_MAX_PIN
+  #undef Z_MAX_PIN
   #define X_MAX_PIN          -1
   #define Y_MAX_PIN          -1
   #define Z_MAX_PIN          -1
 #endif
 
 #ifdef DISABLE_MIN_ENDSTOPS
+  #undef X_MIN_PIN
+  #undef Y_MIN_PIN
+  #undef Z_MIN_PIN
   #define X_MIN_PIN          -1
   #define Y_MIN_PIN          -1
   #define Z_MIN_PIN          -1
diff --git a/Marlin/pins_3DRAG.h b/Marlin/pins_3DRAG.h
index 9db6b56e4..fa54eea61 100644
--- a/Marlin/pins_3DRAG.h
+++ b/Marlin/pins_3DRAG.h
@@ -4,18 +4,25 @@
 
 #include "pins_RAMPS_13.h"
 
+#undef Z_ENABLE_PIN
 #define Z_ENABLE_PIN       63
 
+#undef X_MAX_PIN
+#undef Y_MAX_PIN
+#undef Z_MAX_PIN
 #define X_MAX_PIN          2
 #define Y_MAX_PIN          15
 #define Z_MAX_PIN          -1
 
+#undef SDSS
 #define SDSS               25//53
 
-#define BEEPER             33
-
+#undef FAN_PIN
 #define FAN_PIN            8
 
+#undef HEATER_1_PIN
+#undef HEATER_2_PIN
+#undef HEATER_BED_PIN
 #define HEATER_0_PIN       10
 #define HEATER_1_PIN       12
 #define HEATER_2_PIN       6
@@ -23,8 +30,15 @@
 #define HEATER_BED_PIN     9    // BED
 
 #if defined(ULTRA_LCD) && defined(NEWPANEL)
+  #undef BEEPER
   #define BEEPER -1
 
+  #undef LCD_PINS_RS
+  #undef LCD_PINS_ENABLE
+  #undef LCD_PINS_D4
+  #undef LCD_PINS_D5
+  #undef LCD_PINS_D6
+  #undef LCD_PINS_D7
   #define LCD_PINS_RS 27
   #define LCD_PINS_ENABLE 29
   #define LCD_PINS_D4 37
@@ -33,7 +47,15 @@
   #define LCD_PINS_D7 31
 
   // Buttons
+  #undef BTN_EN1
+  #undef BTN_EN2
+  #undef BTN_ENC
   #define BTN_EN1 16
   #define BTN_EN2 17
   #define BTN_ENC 23 //the click
+
+#else
+
+  #define BEEPER 33
+
 #endif // ULTRA_LCD && NEWPANEL
diff --git a/Marlin/pins_5DPRINT.h b/Marlin/pins_5DPRINT.h
index 20e69ef36..b483326d3 100644
--- a/Marlin/pins_5DPRINT.h
+++ b/Marlin/pins_5DPRINT.h
@@ -64,6 +64,15 @@
 // Microstepping pins
 // Note that the pin mapping is not from fastio.h
 // See Sd2PinMap.h for the pin configurations
+
+#undef X_MS1_PIN
+#undef X_MS2_PIN
+#undef Y_MS1_PIN
+#undef Y_MS2_PIN
+#undef Z_MS1_PIN
+#undef Z_MS2_PIN
+#undef E0_MS1_PIN
+#undef E0_MS2_PIN
 #define X_MS1_PIN 25
 #define X_MS2_PIN 26
 #define Y_MS1_PIN 9
diff --git a/Marlin/pins_AZTEEG_X3.h b/Marlin/pins_AZTEEG_X3.h
index d346e0bd2..ea98f95c5 100644
--- a/Marlin/pins_AZTEEG_X3.h
+++ b/Marlin/pins_AZTEEG_X3.h
@@ -7,7 +7,30 @@
 #define FAN_PIN            9 // (Sprinter config)
 #define HEATER_1_PIN       -1
 
-#ifdef TEMP_STAT_LEDS
+//LCD Pins//
+
+#if defined(VIKI2) || defined(miniVIKI)
+ #define BEEPER 33
+ // Pins for DOGM SPI LCD Support
+ #define DOGLCD_A0  31 
+ #define DOGLCD_CS  32 
+ #define LCD_SCREEN_ROT_180
+ 
+ //The encoder and click button 
+ #define BTN_EN1 22 
+ #define BTN_EN2 7
+ #define BTN_ENC 12  //the click switch
+ 
+ #define SDSS 53
+ #define SDCARDDETECT -1 // Pin 49 if using display sd interface   
+ 
+  #ifdef TEMP_STAT_LEDS
+   #define STAT_LED_RED 64
+   #define STAT_LED_BLUE 63
+  #endif
+#endif
+
+#elif define TEMP_STAT_LEDS
   #define STAT_LED_RED       6
   #define STAT_LED_BLUE     11
 #endif
diff --git a/Marlin/pins_AZTEEG_X3_PRO.h b/Marlin/pins_AZTEEG_X3_PRO.h
index 5d0d70db6..0cdc71601 100644
--- a/Marlin/pins_AZTEEG_X3_PRO.h
+++ b/Marlin/pins_AZTEEG_X3_PRO.h
@@ -4,8 +4,36 @@
 
 #include "pins_RAMPS_13.h"
 
-#define FAN_PIN             9 // (Sprinter config)
+#undef FAN_PIN
+#define FAN_PIN             6 //Part Cooling System
 #define BEEPER             33
+#define CONTROLLERFAN_PIN   4 //Pin used for the fan to cool motherboard (-1 to disable)
+//Fans/Water Pump to cool the hotend cool side.
+#define EXTRUDER_0_AUTO_FAN_PIN   5
+#define EXTRUDER_1_AUTO_FAN_PIN   5
+#define EXTRUDER_2_AUTO_FAN_PIN   5
+#define EXTRUDER_3_AUTO_FAN_PIN   5
+//
+//This section is to swap the MIN and MAX pins because the X3 Pro comes with only
+//MIN endstops soldered onto the board. Delta code wants the homing endstops to be 
+//the MAX so I swapped them here.
+//
+ #ifdef DELTA
+  #undef X_MIN_PIN
+  #undef X_MAX_PIN
+  #undef Y_MIN_PIN
+  #undef Y_MAX_PIN
+  #undef Z_MIN_PIN
+  #undef Z_MAX_PIN
+
+  #define X_MIN_PIN           2
+  #define X_MAX_PIN           3
+  #define Y_MIN_PIN          15
+  #define Y_MAX_PIN          14
+  #define Z_MIN_PIN          19
+  #define Z_MAX_PIN          18
+ #endif
+//
 
 #define E2_STEP_PIN        23
 #define E2_DIR_PIN         25
@@ -19,7 +47,10 @@
 #define E4_DIR_PIN         37
 #define E4_ENABLE_PIN      42
 
-#define HEATER_1_PIN       -1
+#undef HEATER_1_PIN
+#undef HEATER_2_PIN
+#undef HEATER_3_PIN
+#define HEATER_1_PIN        9
 #define HEATER_2_PIN       16
 #define HEATER_3_PIN       17
 #define HEATER_4_PIN        4
@@ -27,8 +58,56 @@
 #define HEATER_6_PIN        6
 #define HEATER_7_PIN       11
 
+#undef TEMP_2_PIN
+#undef TEMP_3_PIN
 #define TEMP_2_PIN         12   // ANALOG NUMBERING
 #define TEMP_3_PIN         11   // ANALOG NUMBERING
 #define TEMP_4_PIN         10   // ANALOG NUMBERING
 #define TC1                 4   // ANALOG NUMBERING Thermo couple on Azteeg X3Pro
 #define TC2                 5   // ANALOG NUMBERING Thermo couple on Azteeg X3Pro
+
+//
+//These Servo pins are for when they are defined. Tested for usage with bed leveling
+//on a Delta with 1 servo. Running through the Z servo endstop in code. 
+//Physical wire attachment was done on EXT1 on the GND, 5V, and D47 pins.
+//
+#undef SERVO0_PIN
+#undef SERVO1_PIN
+#undef SERVO2_PIN
+#undef SERVO3_PIN
+
+#ifdef NUM_SERVOS
+  #define SERVO0_PIN         -1
+  #if NUM_SERVOS > 1
+    #define SERVO1_PIN       -1
+    #if NUM_SERVOS > 2
+      #define SERVO2_PIN     47
+      #if NUM_SERVOS > 3
+        #define SERVO3_PIN   -1
+      #endif
+    #endif
+  #endif
+#endif
+
+//LCD Pins//
+
+#if defined(VIKI2) || defined(miniVIKI)
+ #define BEEPER 33
+ // Pins for DOGM SPI LCD Support
+ #define DOGLCD_A0  44
+ #define DOGLCD_CS  45
+ #define LCD_SCREEN_ROT_180
+ 
+ //The encoder and click button
+ #define BTN_EN1 22
+ #define BTN_EN2 7
+ #define BTN_ENC 39  //the click switch
+
+ #define SDSS 53
+ #define SDCARDDETECT 49
+ 
+ #define KILL_PIN 31
+ 
+ #define STAT_LED_RED       32
+ #define STAT_LED_BLUE      35
+#endif
diff --git a/Marlin/pins_BAM_DICE_DUE.h b/Marlin/pins_BAM_DICE_DUE.h
index c3123d043..fba7f1b8c 100644
--- a/Marlin/pins_BAM_DICE_DUE.h
+++ b/Marlin/pins_BAM_DICE_DUE.h
@@ -4,8 +4,13 @@
 
 #include "pins_RAMPS_13.h"
 
+#undef FAN_PIN
 #define FAN_PIN             9 // (Sprinter config)
+
+#undef HEATER_1_PIN
 #define HEATER_1_PIN       -1
 
+#undef TEMP_0_PIN
+#undef TEMP_1_PIN
 #define TEMP_0_PIN          9 // ANALOG NUMBERING
 #define TEMP_1_PIN         11 // ANALOG NUMBERING
diff --git a/Marlin/pins_FELIX2.h b/Marlin/pins_FELIX2.h
index 5b31c8de6..f54de3453 100644
--- a/Marlin/pins_FELIX2.h
+++ b/Marlin/pins_FELIX2.h
@@ -4,13 +4,23 @@
 
 #include "pins_RAMPS_13.h"
 
+#undef X_MAX_PIN
+#undef Y_MAX_PIN
+#undef Z_MAX_PIN
 #define X_MAX_PIN          -1
 #define Y_MAX_PIN          -1
 #define Z_MAX_PIN          -1
 
+#undef Y2_STEP_PIN
+#undef Y2_DIR_PIN
+#undef Y2_ENABLE_PIN
 #define Y2_STEP_PIN        -1
 #define Y2_DIR_PIN         -1
 #define Y2_ENABLE_PIN      -1
+
+#undef Z2_STEP_PIN
+#undef Z2_DIR_PIN
+#undef Z2_ENABLE_PIN
 #define Z2_STEP_PIN        -1
 #define Z2_DIR_PIN         -1
 #define Z2_ENABLE_PIN      -1
@@ -19,11 +29,14 @@
 #define E1_DIR_PIN         34
 #define E1_ENABLE_PIN      30
 
+#undef SDPOWER
 #define SDPOWER             1
 
+#undef FAN_PIN
 #define FAN_PIN             9 // (Sprinter config)
 #define PS_ON_PIN          12
 
+#undef HEATER_1_PIN
 #define HEATER_1_PIN        7 // EXTRUDER 2
 
 #if defined(ULTRA_LCD) && defined(NEWPANEL)
diff --git a/Marlin/pins_HEPHESTOS.h b/Marlin/pins_HEPHESTOS.h
index 8fc5ba643..ec8d3fab2 100644
--- a/Marlin/pins_HEPHESTOS.h
+++ b/Marlin/pins_HEPHESTOS.h
@@ -4,5 +4,8 @@
 
 #include "pins_RAMPS_13.h"
 
+#undef FAN_PIN
 #define FAN_PIN             9 // (Sprinter config)
+
+#undef HEATER_1_PIN
 #define HEATER_1_PIN       -1
diff --git a/Marlin/pins_PRINTRBOARD.h b/Marlin/pins_PRINTRBOARD.h
index 2bf6efd14..74deb9157 100644
--- a/Marlin/pins_PRINTRBOARD.h
+++ b/Marlin/pins_PRINTRBOARD.h
@@ -59,6 +59,8 @@
 #define TEMP_1_PIN         -1
 #define TEMP_2_PIN         -1
 
+////LCD Pin Setup////
+
 #define SDPOWER            -1
 #define SDSS                8
 #define LED_PIN            -1
@@ -86,3 +88,24 @@
   //not connected to a pin
   #define SDCARDDETECT -1    
 #endif // ULTRA_LCD && NEWPANEL
+
+#if defined(VIKI2) || defined(miniVIKI)
+ #define BEEPER 32 //FastIO
+ // Pins for DOGM SPI LCD Support
+ #define DOGLCD_A0  42 //Non-FastIO
+ #define DOGLCD_CS  43 //Non-FastIO
+ #define LCD_SCREEN_ROT_180
+ 
+ //The encoder and click button (FastIO Pins)
+ #define BTN_EN1 26 
+ #define BTN_EN2 27
+ #define BTN_ENC 47  //the click switch
+
+ #define SDSS 45
+ #define SDCARDDETECT -1 // FastIO (Manual says 72 I'm not certain cause I can't test) 
+
+ #ifdef TEMP_STAT_LEDS
+  #define STAT_LED_RED      12 //Non-FastIO
+  #define STAT_LED_BLUE     10 //Non-FastIO
+ #endif  
+#endif
diff --git a/Marlin/pins_RAMBO.h b/Marlin/pins_RAMBO.h
index 3849e2948..6d782b9d9 100644
--- a/Marlin/pins_RAMBO.h
+++ b/Marlin/pins_RAMBO.h
@@ -22,6 +22,17 @@
   #endif
 #endif
 
+#undef X_MS1_PIN
+#undef X_MS2_PIN
+#undef Y_MS1_PIN
+#undef Y_MS2_PIN
+#undef Z_MS1_PIN
+#undef Z_MS2_PIN
+#undef E0_MS1_PIN
+#undef E0_MS2_PIN
+#undef E1_MS1_PIN
+#undef E1_MS2_PIN
+ 
 #define X_STEP_PIN 37
 #define X_DIR_PIN 48
 #define X_MIN_PIN 12
@@ -75,6 +86,7 @@
 #define E1_MS1_PIN 63
 #define E1_MS2_PIN 64
 
+#undef DIGIPOTSS_PIN
 #define DIGIPOTSS_PIN 38
 #define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
 
@@ -148,6 +160,26 @@
 
 #endif // ULTRA_LCD
 
+#if defined(VIKI2) || defined(miniVIKI)
+ #define BEEPER 44
+ // Pins for DOGM SPI LCD Support
+ #define DOGLCD_A0  70 
+ #define DOGLCD_CS  71 
+ #define LCD_SCREEN_ROT_180
+  
+ //The encoder and click button 
+ #define BTN_EN1 85 
+ #define BTN_EN2 84
+ #define BTN_ENC 83  //the click switch
+
+ #define SDCARDDETECT -1 // Pin 72 if using easy adapter board   
+
+  #ifdef TEMP_STAT_LEDS
+   #define STAT_LED_RED      22
+   #define STAT_LED_BLUE     32 
+  #endif
+#endif // VIKI2/miniVIKI
+
 #ifdef FILAMENT_SENSOR
   //Filip added pin for Filament sensor analog input 
   #define FILWIDTH_PIN        3
diff --git a/Marlin/pins_WITBOX.h b/Marlin/pins_WITBOX.h
index a4eb0e313..037b38de8 100644
--- a/Marlin/pins_WITBOX.h
+++ b/Marlin/pins_WITBOX.h
@@ -4,5 +4,8 @@
 
 #include "pins_RAMPS_13.h"
 
+#undef FAN_PIN
 #define FAN_PIN             9 // (Sprinter config)
+
+#undef HEATER_1_PIN
 #define HEATER_1_PIN       -1
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index a1ef453c0..786527d0d 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -342,7 +342,7 @@ void planner_recalculate_trapezoids() {
 //     b. No speed reduction within one block requires faster deceleration than the one, true constant 
 //        acceleration.
 //   2. Go over every block in chronological order and dial down junction speed reduction values if 
-//     a. The speed increase within one block would require faster accelleration than the one, true 
+//     a. The speed increase within one block would require faster acceleration than the one, true 
 //        constant acceleration.
 //
 // When these stages are complete all blocks have an entry_factor that will allow all speed changes to 
@@ -701,26 +701,26 @@ float junction_deviation = 0.1;
 
   int moves_queued = movesplanned();
 
-  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
-  #ifdef OLD_SLOWDOWN
-    if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
-  #endif
-
-  #ifdef SLOWDOWN
-    //  segment time im micro seconds
-    unsigned long segment_time = lround(1000000.0/inverse_second);
-    if (mq) {
-      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
+  // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
+  #if defined(OLD_SLOWDOWN) || defined(SLOWDOWN)
+    bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
+    #ifdef OLD_SLOWDOWN
+      if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
+    #endif
+    #ifdef SLOWDOWN
+      //  segment time im micro seconds
+      unsigned long segment_time = lround(1000000.0/inverse_second);
+      if (mq) {
+        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
   #endif
-  //  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
diff --git a/Marlin/planner.h b/Marlin/planner.h
index ed219fa23..41471a2b0 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -80,21 +80,37 @@ extern volatile unsigned char block_buffer_tail;
 FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
 
 #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
+
   #if defined(ENABLE_AUTO_BED_LEVELING)
     #include "vector_3.h"
-    // this holds the required transform to compensate for bed level
+
+    // Transform required to compensate for bed level
     extern matrix_3x3 plan_bed_level_matrix;
-    // Get the position applying the bed level matrix if enabled
+
+    /**
+     * Get the position applying the bed level matrix
+     */
     vector_3 plan_get_position();
   #endif  // ENABLE_AUTO_BED_LEVELING
-  // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
-  // millimeters. Feed rate specifies the speed of the motion.
+
+  /**
+   * Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in
+   * millimeters. Feed rate specifies the (target) speed of the motion.
+   */
   void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
-  // Set position. Used for G92 instructions.
+
+  /**
+   * Set the planner positions. Used for G92 instructions.
+   * Multiplies by axis_steps_per_unit[] to set stepper positions.
+   * Clears previous speed values.
+   */
   void plan_set_position(float x, float y, float z, const float &e);
+
 #else
+
   void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
   void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+
 #endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
 
 void plan_set_e_position(const float &e);
diff --git a/Marlin/qr_solve.cpp b/Marlin/qr_solve.cpp
index f19d989d4..4202db067 100644
--- a/Marlin/qr_solve.cpp
+++ b/Marlin/qr_solve.cpp
@@ -607,7 +607,6 @@ double dnrm2 ( int n, double x[], int incx )
   double norm;
   double scale;
   double ssq;
-  double value;
 
   if ( n < 1 || incx < 1 )
   {
diff --git a/Marlin/scripts/g29_auto.py b/Marlin/scripts/g29_auto.py
new file mode 100644
index 000000000..884e62b2a
--- /dev/null
+++ b/Marlin/scripts/g29_auto.py
@@ -0,0 +1,186 @@
+#!/usr/bin/python3
+
+# This file is for preprocessing gcode and the new G29 Autobedleveling from Marlin
+# It will analyse the first 2 Layer and return the maximum size for this part
+# After this it will replace with g29_keyword = ';MarlinG29Script' with the new G29 LRFB
+# the new file will be created in the same folder.
+
+# your gcode-file/folder
+folder = './'
+my_file = 'test.gcode'
+
+# this is the minimum of G1 instructions which should be between 2 different heights
+min_g1 = 3
+
+# maximum number of lines to parse, I don't want to parse the complete file
+# only the first plane is we are interested in
+max_g1 = 100000000
+
+# g29 keyword
+g29_keyword = 'g29'
+g29_keyword = g29_keyword.upper()
+
+# output filename
+output_file = folder + 'g29_' + my_file
+# input filename
+input_file = folder + my_file
+
+# minimum scan size
+min_size = 40
+probing_points = 3  # points x points
+
+# other stuff
+min_x = 500
+min_y = min_x
+max_x = -500
+max_y = max_x
+last_z = 0.001
+
+layer = 0
+lines_of_g1 = 0
+
+gcode = []
+
+
+# return only g1-lines
+def has_g1(line):
+    return line[:2].upper() == "G1"
+
+
+# find position in g1 (x,y,z)
+def find_axis(line, axis):
+    found = False
+    number = ""
+    for char in line:
+        if found:
+            if char == ".":
+                number += char
+            elif char == "-":
+                number += char
+            else:
+                try:
+                    int(char)
+                    number += char
+                except ValueError:
+                    break
+        else:
+            found = char.upper() == axis.upper()
+    try:
+        return float(number)
+    except ValueError:
+        return None
+
+
+# save the min or max-values for each axis
+def set_mima(line):
+    global min_x, max_x, min_y, max_y, last_z
+
+    current_x = find_axis(line, 'x')
+    current_y = find_axis(line, 'y')
+
+    if current_x is not None:
+        min_x = min(current_x, min_x)
+        max_x = max(current_x, max_x)
+    if current_y is not None:
+        min_y = min(current_y, min_y)
+        max_y = max(current_y, max_y)
+
+    return min_x, max_x, min_y, max_y
+
+
+# find z in the code and return it
+def find_z(gcode, start_at_line=0):
+    for i in range(start_at_line, len(gcode)):
+        my_z = find_axis(gcode[i], 'Z')
+        if my_z is not None:
+            return my_z, i
+
+
+def z_parse(gcode, start_at_line=0, end_at_line=0):
+    i = start_at_line
+    all_z = []
+    line_between_z = []
+    z_at_line = []
+    # last_z = 0
+    last_i = -1
+
+    while len(gcode) > i:
+        try:
+            z, i = find_z(gcode, i + 1)
+        except TypeError:
+            break
+
+        all_z.append(z)
+        z_at_line.append(i)
+        temp_line = i - last_i -1
+        line_between_z.append(i - last_i - 1)
+        # last_z = z
+        last_i = i
+        if 0 < end_at_line <= i or temp_line >= min_g1:
+            # print('break at line {} at heigth {}'.format(i, z))
+            break
+
+    line_between_z = line_between_z[1:]
+    return all_z, line_between_z, z_at_line
+
+
+# get the lines which should be the first layer
+def get_lines(gcode, minimum):
+    i = 0
+    all_z, line_between_z, z_at_line = z_parse(gcode, end_at_line=max_g1)
+    for count in line_between_z:
+        i += 1
+        if count > minimum:
+            # print('layer: {}:{}'.format(z_at_line[i-1], z_at_line[i]))
+            return z_at_line[i - 1], z_at_line[i]
+
+
+with open(input_file, 'r') as file:
+    lines = 0
+    for line in file:
+        lines += 1
+        if lines > 1000:
+            break
+        if has_g1(line):
+            gcode.append(line)
+file.close()
+
+start, end = get_lines(gcode, min_g1)
+for i in range(start, end):
+    set_mima(gcode[i])
+
+print('x_min:{} x_max:{}\ny_min:{} y_max:{}'.format(min_x, max_x, min_y, max_y))
+
+# resize min/max - values for minimum scan
+if max_x - min_x < min_size:
+    offset_x = int((min_size - (max_x - min_x)) / 2 + 0.5)  # int round up
+    # print('min_x! with {}'.format(int(max_x - min_x)))
+    min_x = int(min_x) - offset_x
+    max_x = int(max_x) + offset_x
+if max_y - min_y < min_size:
+    offset_y = int((min_size - (max_y - min_y)) / 2 + 0.5)  # int round up
+    # print('min_y! with {}'.format(int(max_y - min_y)))
+    min_y = int(min_y) - offset_y
+    max_y = int(max_y) + offset_y
+
+
+new_command = 'G29 L{0} R{1} F{2} B{3} P{4}\n'.format(min_x,
+                                                      max_x,
+                                                      min_y,
+                                                      max_y,
+                                                      probing_points)
+
+out_file = open(output_file, 'w')
+in_file = open(input_file, 'r')
+
+for line in in_file:
+    if line[:len(g29_keyword)].upper() == g29_keyword:
+        out_file.write(new_command)
+        print('write G29')
+    else:
+        out_file.write(line)
+
+file.close()
+out_file.close()
+
+print('auto G29 finished')
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index c246e5e52..73c23ae9d 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -85,18 +85,32 @@ static volatile bool endstop_z_hit = false;
   int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
 #endif
 
-static bool old_x_min_endstop = false,
-            old_x_max_endstop = false,
-            old_y_min_endstop = false,
-            old_y_max_endstop = false,
-            old_z_min_endstop = false,
-            #ifndef Z_DUAL_ENDSTOPS
-            old_z_max_endstop = false;
-            #else
-              old_z_max_endstop = false,
-              old_z2_min_endstop = false,
-              old_z2_max_endstop = false;
-            #endif
+#if defined(X_MIN_PIN) && X_MIN_PIN >= 0
+  static bool old_x_min_endstop = false;
+#endif
+#if defined(X_MAX_PIN) && X_MAX_PIN >= 0
+  static bool old_x_max_endstop = false;
+#endif
+#if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
+  static bool old_y_min_endstop = false;
+#endif
+#if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
+  static bool old_y_max_endstop = false;
+#endif
+#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
+  static bool old_z_min_endstop = false;
+#endif
+#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
+  static bool old_z_max_endstop = false;
+#endif
+#ifdef Z_DUAL_ENDSTOPS
+  #if defined(Z2_MIN_PIN) && Z2_MIN_PIN >= 0
+    static bool old_z2_min_endstop = false;
+  #endif
+  #if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
+    static bool old_z2_max_endstop = false;
+  #endif
+#endif
 
 #ifdef Z_PROBE_AND_ENDSTOP
 static bool old_z_probe_endstop = false;
@@ -449,7 +463,7 @@ ISR(TIMER1_COMPA_vect) {
       #ifdef COREXY
         // 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 ((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)
@@ -477,9 +491,10 @@ ISR(TIMER1_COMPA_vect) {
               }
           }
       #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 ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
           if (TEST(out_bits, Y_HEAD))
       #else
           if (TEST(out_bits, Y_AXIS))   // -direction
@@ -494,6 +509,9 @@ ISR(TIMER1_COMPA_vect) {
               UPDATE_ENDSTOP(y, Y, max, MAX);
             #endif
           }
+      #ifdef COREXY
+        }
+      #endif
     }
 
     if (TEST(out_bits, Z_AXIS)) {   // -direction
@@ -1227,8 +1245,8 @@ void microstep_init() {
     pinMode(E0_MS1_PIN,OUTPUT);
     pinMode(E0_MS2_PIN,OUTPUT);
     const uint8_t microstep_modes[] = MICROSTEP_MODES;
-    for (int i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++)
-        microstep_mode(i, microstep_modes[i]);
+    for (uint16_t i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++)
+      microstep_mode(i, microstep_modes[i]);
   #endif
 }
 
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 7b7eceaf7..d0720c5ec 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -83,6 +83,17 @@ unsigned char soft_pwm_bed;
 #ifdef FILAMENT_SENSOR
   int current_raw_filwidth = 0;  //Holds measured filament diameter - one extruder only
 #endif  
+#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0
+void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
+static int thermal_runaway_state_machine[4]; // = {0,0,0,0};
+static unsigned long thermal_runaway_timer[4]; // = {0,0,0,0};
+static bool thermal_runaway = false;
+#if TEMP_SENSOR_BED != 0
+  static int thermal_runaway_bed_state_machine;
+  static unsigned long thermal_runaway_bed_timer;
+#endif
+#endif
+
 //===========================================================================
 //=============================private variables============================
 //===========================================================================
@@ -586,7 +597,9 @@ void manage_heater() {
     if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
   #endif //HEATER_0_USES_MAX6675
 
-  unsigned long ms = millis();
+  #if defined(WATCH_TEMP_PERIOD) || !defined(PIDTEMPBED) || HAS_AUTO_FAN
+    unsigned long ms = millis();
+  #endif
 
   // Loop through all extruders
   for (int e = 0; e < EXTRUDERS; e++) {
@@ -1098,8 +1111,8 @@ void disable_heater() {
 }
 
 #ifdef HEATER_0_USES_MAX6675
-  #define MAX6675_HEAT_INTERVAL 250
-  long max6675_previous_millis = MAX6675_HEAT_INTERVAL;
+  #define MAX6675_HEAT_INTERVAL 250u
+  unsigned long max6675_previous_millis = MAX6675_HEAT_INTERVAL;
   int max6675_temp = 2000;
 
   static int read_max6675() {
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 853179be5..79146a355 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -146,16 +146,10 @@ void disable_heater();
 void setWatch();
 void updatePID();
 
-#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0
-void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
-static int thermal_runaway_state_machine[4]; // = {0,0,0,0};
-static unsigned long thermal_runaway_timer[4]; // = {0,0,0,0};
-static bool thermal_runaway = false;
-#if TEMP_SENSOR_BED != 0
-  static int thermal_runaway_bed_state_machine;
-  static unsigned long thermal_runaway_bed_timer;
-#endif
-#endif
+void PID_autotune(float temp, int extruder, int ncycles);
+
+void setExtruderAutoFanState(int pin, bool state);
+void checkExtruderAutoFans();
 
 FORCE_INLINE void autotempShutdown() {
   #ifdef AUTOTEMP
@@ -167,9 +161,5 @@ FORCE_INLINE void autotempShutdown() {
   #endif
 }
 
-void PID_autotune(float temp, int extruder, int ncycles);
-
-void setExtruderAutoFanState(int pin, bool state);
-void checkExtruderAutoFans();
 
 #endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 98629ad51..c85f8e14d 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -25,10 +25,6 @@ int absPreheatFanSpeed;
   unsigned long message_millis = 0;
 #endif
 
-#ifdef ULTIPANEL
-  static float manual_feedrate[] = MANUAL_FEEDRATE;
-#endif // ULTIPANEL
-
 /* !Configuration settings */
 
 //Function pointer to menu functions.
@@ -38,193 +34,197 @@ uint8_t lcd_status_message_level;
 char lcd_status_message[LCD_WIDTH+1] = WELCOME_MSG;
 
 #ifdef DOGLCD
-#include "dogm_lcd_implementation.h"
+  #include "dogm_lcd_implementation.h"
 #else
-#include "ultralcd_implementation_hitachi_HD44780.h"
+  #include "ultralcd_implementation_hitachi_HD44780.h"
 #endif
 
-/* Different menus */
+// The main status screen
 static void lcd_status_screen();
-#ifdef ULTIPANEL
-extern bool powersupply;
-static void lcd_main_menu();
-static void lcd_tune_menu();
-static void lcd_prepare_menu();
-static void lcd_move_menu();
-static void lcd_control_menu();
-static void lcd_control_temperature_menu();
-static void lcd_control_temperature_preheat_pla_settings_menu();
-static void lcd_control_temperature_preheat_abs_settings_menu();
-static void lcd_control_motion_menu();
-static void lcd_control_volumetric_menu();
-#ifdef DOGLCD
-static void lcd_set_contrast();
-#endif
-#ifdef FWRETRACT
-static void lcd_control_retract_menu();
-#endif
-static void lcd_sdcard_menu();
 
-#ifdef DELTA_CALIBRATION_MENU
-static void lcd_delta_calibrate_menu();
-#endif // DELTA_CALIBRATION_MENU
-
-#if defined(MANUAL_BED_LEVELING)
-#include "mesh_bed_leveling.h"
-static void _lcd_level_bed();
-static void _lcd_level_bed_homing();
-static void lcd_level_bed();
-#endif  // MANUAL_BED_LEVELING
+#ifdef ULTIPANEL
 
-static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audible feedback that something has happened
-
-/* Different types of actions that can be used in menu items. */
-static void menu_action_back(menuFunc_t data);
-static void menu_action_submenu(menuFunc_t data);
-static void menu_action_gcode(const char* pgcode);
-static void menu_action_function(menuFunc_t data);
-static void menu_action_sdfile(const char* filename, char* longFilename);
-static void menu_action_sddirectory(const char* filename, char* longFilename);
-static void menu_action_setting_edit_bool(const char* pstr, bool* ptr);
-static void menu_action_setting_edit_int3(const char* pstr, int* ptr, int minValue, int maxValue);
-static void menu_action_setting_edit_float3(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_float32(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_float43(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_float5(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_float51(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_float52(const char* pstr, float* ptr, float minValue, float maxValue);
-static void menu_action_setting_edit_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue);
-static void menu_action_setting_edit_callback_bool(const char* pstr, bool* ptr, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_int3(const char* pstr, int* ptr, int minValue, int maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float3(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float32(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float43(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float5(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float51(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_float52(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
-static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue, menuFunc_t callbackFunc);
-
-#define ENCODER_FEEDRATE_DEADZONE 10
-
-#if !defined(LCD_I2C_VIKI)
-  #ifndef ENCODER_STEPS_PER_MENU_ITEM
-    #define ENCODER_STEPS_PER_MENU_ITEM 5
+  extern bool powersupply;
+  static float manual_feedrate[] = MANUAL_FEEDRATE;
+  static void lcd_main_menu();
+  static void lcd_tune_menu();
+  static void lcd_prepare_menu();
+  static void lcd_move_menu();
+  static void lcd_control_menu();
+  static void lcd_control_temperature_menu();
+  static void lcd_control_temperature_preheat_pla_settings_menu();
+  static void lcd_control_temperature_preheat_abs_settings_menu();
+  static void lcd_control_motion_menu();
+  static void lcd_control_volumetric_menu();
+  #ifdef DOGLCD
+    static void lcd_set_contrast();
   #endif
-  #ifndef ENCODER_PULSES_PER_STEP
-    #define ENCODER_PULSES_PER_STEP 1
+  #ifdef FWRETRACT
+    static void lcd_control_retract_menu();
   #endif
-#else
-  #ifndef ENCODER_STEPS_PER_MENU_ITEM
-    #define ENCODER_STEPS_PER_MENU_ITEM 2 // VIKI LCD rotary encoder uses a different number of steps per rotation
+  static void lcd_sdcard_menu();
+
+  #ifdef DELTA_CALIBRATION_MENU
+    static void lcd_delta_calibrate_menu();
+  #endif
+
+  #if defined(MANUAL_BED_LEVELING)
+    #include "mesh_bed_leveling.h"
+    static void _lcd_level_bed();
+    static void _lcd_level_bed_homing();
+    static void lcd_level_bed();
   #endif
-  #ifndef ENCODER_PULSES_PER_STEP
-    #define ENCODER_PULSES_PER_STEP 1
+
+  static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visual or audible feedback that something has happened
+
+  /* Different types of actions that can be used in menu items. */
+  static void menu_action_back(menuFunc_t data);
+  static void menu_action_submenu(menuFunc_t data);
+  static void menu_action_gcode(const char* pgcode);
+  static void menu_action_function(menuFunc_t data);
+  static void menu_action_sdfile(const char* filename, char* longFilename);
+  static void menu_action_sddirectory(const char* filename, char* longFilename);
+  static void menu_action_setting_edit_bool(const char* pstr, bool* ptr);
+  static void menu_action_setting_edit_int3(const char* pstr, int* ptr, int minValue, int maxValue);
+  static void menu_action_setting_edit_float3(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_float32(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_float43(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_float5(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_float51(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_float52(const char* pstr, float* ptr, float minValue, float maxValue);
+  static void menu_action_setting_edit_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue);
+  static void menu_action_setting_edit_callback_bool(const char* pstr, bool* ptr, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_int3(const char* pstr, int* ptr, int minValue, int maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float3(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float32(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float43(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float5(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float51(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_float52(const char* pstr, float* ptr, float minValue, float maxValue, menuFunc_t callbackFunc);
+  static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned long* ptr, unsigned long minValue, unsigned long maxValue, menuFunc_t callbackFunc);
+
+  #define ENCODER_FEEDRATE_DEADZONE 10
+
+  #if !defined(LCD_I2C_VIKI)
+    #ifndef ENCODER_STEPS_PER_MENU_ITEM
+      #define ENCODER_STEPS_PER_MENU_ITEM 5
+    #endif
+    #ifndef ENCODER_PULSES_PER_STEP
+      #define ENCODER_PULSES_PER_STEP 1
+    #endif
+  #else
+    #ifndef ENCODER_STEPS_PER_MENU_ITEM
+      #define ENCODER_STEPS_PER_MENU_ITEM 2 // VIKI LCD rotary encoder uses a different number of steps per rotation
+    #endif
+    #ifndef ENCODER_PULSES_PER_STEP
+      #define ENCODER_PULSES_PER_STEP 1
+    #endif
   #endif
-#endif
 
 
-/* Helper macros for menus */
-
-/**
- * START_MENU generates the init code for a menu function
- */
-#define START_MENU() do { \
-  encoderRateMultiplierEnabled = false; \
-  if (encoderPosition > 0x8000) encoderPosition = 0; \
-  uint8_t encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM; \
-  if (encoderLine < currentMenuViewOffset) currentMenuViewOffset = encoderLine; \
-  uint8_t _lineNr = currentMenuViewOffset, _menuItemNr; \
-  bool wasClicked = LCD_CLICKED, itemSelected; \
-  if (wasClicked) lcd_quick_feedback(); \
-  for (uint8_t _drawLineNr = 0; _drawLineNr < LCD_HEIGHT; _drawLineNr++, _lineNr++) { \
-    _menuItemNr = 0;
-
-/**
- * MENU_ITEM generates draw & handler code for a menu item, potentially calling:
- *
- *   lcd_implementation_drawmenu_[type](sel, row, label, arg3...)
- *   menu_action_[type](arg3...)
- *
- * Examples:
- *   MENU_ITEM(back, MSG_WATCH, lcd_status_screen)
- *     lcd_implementation_drawmenu_back(sel, row, PSTR(MSG_WATCH), lcd_status_screen)
- *     menu_action_back(lcd_status_screen)
- *
- *   MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause)
- *     lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause)
- *     menu_action_function(lcd_sdcard_pause)
- *
- *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999)
- *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedmultiply, 10, 999)
- *     lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedmultiply, 10, 999)
- *     menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedmultiply, 10, 999)
- *
- */
-#define MENU_ITEM(type, label, args...) do { \
-  if (_menuItemNr == _lineNr) { \
-    itemSelected = encoderLine == _menuItemNr; \
-    if (lcdDrawUpdate) \
-      lcd_implementation_drawmenu_ ## type(itemSelected, _drawLineNr, PSTR(label), ## args); \
-    if (wasClicked && itemSelected) { \
-      menu_action_ ## type(args); \
-      return; \
-    } \
-  } \
-  _menuItemNr++; \
-} while(0)
+  /* Helper macros for menus */
 
-#ifdef ENCODER_RATE_MULTIPLIER
   /**
-   * MENU_MULTIPLIER_ITEM generates drawing and handling code for a multiplier menu item
+   * START_MENU generates the init code for a menu function
    */
-  #define MENU_MULTIPLIER_ITEM(type, label, args...) do { \
+  #define START_MENU() do { \
+    encoderRateMultiplierEnabled = false; \
+    if (encoderPosition > 0x8000) encoderPosition = 0; \
+    uint8_t encoderLine = encoderPosition / ENCODER_STEPS_PER_MENU_ITEM; \
+    if (encoderLine < currentMenuViewOffset) currentMenuViewOffset = encoderLine; \
+    uint8_t _lineNr = currentMenuViewOffset, _menuItemNr; \
+    bool wasClicked = LCD_CLICKED, itemSelected; \
+    if (wasClicked) lcd_quick_feedback(); \
+    for (uint8_t _drawLineNr = 0; _drawLineNr < LCD_HEIGHT; _drawLineNr++, _lineNr++) { \
+      _menuItemNr = 0;
+
+  /**
+   * MENU_ITEM generates draw & handler code for a menu item, potentially calling:
+   *
+   *   lcd_implementation_drawmenu_[type](sel, row, label, arg3...)
+   *   menu_action_[type](arg3...)
+   *
+   * Examples:
+   *   MENU_ITEM(back, MSG_WATCH, lcd_status_screen)
+   *     lcd_implementation_drawmenu_back(sel, row, PSTR(MSG_WATCH), lcd_status_screen)
+   *     menu_action_back(lcd_status_screen)
+   *
+   *   MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause)
+   *     lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause)
+   *     menu_action_function(lcd_sdcard_pause)
+   *
+   *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999)
+   *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *     lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *     menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedmultiply, 10, 999)
+   *
+   */
+  #define MENU_ITEM(type, label, args...) do { \
     if (_menuItemNr == _lineNr) { \
       itemSelected = encoderLine == _menuItemNr; \
       if (lcdDrawUpdate) \
         lcd_implementation_drawmenu_ ## type(itemSelected, _drawLineNr, PSTR(label), ## args); \
       if (wasClicked && itemSelected) { \
-        encoderRateMultiplierEnabled = true; \
-        lastEncoderMovementMillis = 0; \
         menu_action_ ## type(args); \
         return; \
       } \
     } \
     _menuItemNr++; \
   } while(0)
-#endif //ENCODER_RATE_MULTIPLIER
-
-#define MENU_ITEM_DUMMY() do { _menuItemNr++; } while(0)
-#define MENU_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
-#define MENU_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
-#ifdef ENCODER_RATE_MULTIPLIER
-  #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
-  #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
-#else //!ENCODER_RATE_MULTIPLIER
-  #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
-  #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; } \
-    } } while(0)
-
-/** Used variables to keep track of the menu */
-#ifndef REPRAPWORLD_KEYPAD
-volatile uint8_t buttons;//Contains the bits of the currently pressed buttons.
-#else
-volatile uint8_t buttons_reprapworld_keypad; // to store the reprapworld_keypad shift register values
-#endif
-#ifdef LCD_HAS_SLOW_BUTTONS
-volatile uint8_t slow_buttons;//Contains the bits of the currently pressed buttons.
-#endif
-uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
-uint32_t blocking_enc;
-uint8_t lastEncoderBits;
-uint32_t encoderPosition;
-#if (SDCARDDETECT > 0)
-bool lcd_oldcardstatus;
-#endif
-#endif //ULTIPANEL
+
+  #ifdef ENCODER_RATE_MULTIPLIER
+    /**
+     * MENU_MULTIPLIER_ITEM generates drawing and handling code for a multiplier menu item
+     */
+    #define MENU_MULTIPLIER_ITEM(type, label, args...) do { \
+      if (_menuItemNr == _lineNr) { \
+        itemSelected = encoderLine == _menuItemNr; \
+        if (lcdDrawUpdate) \
+          lcd_implementation_drawmenu_ ## type(itemSelected, _drawLineNr, PSTR(label), ## args); \
+        if (wasClicked && itemSelected) { \
+          encoderRateMultiplierEnabled = true; \
+          lastEncoderMovementMillis = 0; \
+          menu_action_ ## type(args); \
+          return; \
+        } \
+      } \
+      _menuItemNr++; \
+    } while(0)
+  #endif //ENCODER_RATE_MULTIPLIER
+
+  #define MENU_ITEM_DUMMY() do { _menuItemNr++; } while(0)
+  #define MENU_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
+  #define MENU_ITEM_EDIT_CALLBACK(type, label, args...) MENU_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
+  #ifdef ENCODER_RATE_MULTIPLIER
+    #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
+    #define MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(type, label, args...) MENU_MULTIPLIER_ITEM(setting_edit_callback_ ## type, label, PSTR(label), ## args)
+  #else //!ENCODER_RATE_MULTIPLIER
+    #define MENU_MULTIPLIER_ITEM_EDIT(type, label, args...) MENU_ITEM(setting_edit_ ## type, label, PSTR(label), ## args)
+    #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; } \
+      } } while(0)
+
+  /** Used variables to keep track of the menu */
+  #ifndef REPRAPWORLD_KEYPAD
+    volatile uint8_t buttons; // Bits of the pressed buttons.
+  #else
+    volatile uint8_t buttons_reprapworld_keypad; // The reprapworld_keypad shift register values
+  #endif
+  #ifdef LCD_HAS_SLOW_BUTTONS
+    volatile uint8_t slow_buttons; // Bits of the pressed buttons.
+  #endif
+  uint8_t currentMenuViewOffset;              /* scroll offset in the current menu */
+  uint32_t blocking_enc;
+  uint8_t lastEncoderBits;
+  uint32_t encoderPosition;
+  #if (SDCARDDETECT > 0)
+    bool lcd_oldcardstatus;
+  #endif
+
+#endif // ULTIPANEL
 
 menuFunc_t currentMenu = lcd_status_screen; /* function pointer to the currently active menu */
 uint32_t lcd_next_update_millis;
@@ -520,22 +520,21 @@ void _lcd_preheat(int endnum, const float temph, const float tempb, const int fa
 void lcd_preheat_pla0() { _lcd_preheat(0, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
 void lcd_preheat_abs0() { _lcd_preheat(0, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
 
-#if TEMP_SENSOR_1 != 0 //2nd extruder preheat
-  void lcd_preheat_pla1() { _lcd_preheat(1, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
-  void lcd_preheat_abs1() { _lcd_preheat(1, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
-#endif //2nd extruder preheat
+#if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_3 != 0 || TEMP_SENSOR_BED != 0 //more than one extruder present
 
-#if TEMP_SENSOR_2 != 0 //3 extruder preheat
-  void lcd_preheat_pla2() { _lcd_preheat(2, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
-  void lcd_preheat_abs2() { _lcd_preheat(2, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
-#endif //3 extruder preheat
-
-#if TEMP_SENSOR_3 != 0 //4 extruder preheat
-  void lcd_preheat_pla3() { _lcd_preheat(3, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
-  void lcd_preheat_abs3() { _lcd_preheat(3, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
-#endif //4 extruder preheat
+  #if TEMP_SENSOR_1 != 0
+    void lcd_preheat_pla1() { _lcd_preheat(1, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
+    void lcd_preheat_abs1() { _lcd_preheat(1, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
+  #endif
+  #if TEMP_SENSOR_2 != 0
+    void lcd_preheat_pla2() { _lcd_preheat(2, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
+    void lcd_preheat_abs2() { _lcd_preheat(2, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
+  #endif
+  #if TEMP_SENSOR_3 != 0
+    void lcd_preheat_pla3() { _lcd_preheat(3, plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed); }
+    void lcd_preheat_abs3() { _lcd_preheat(3, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed); }
+  #endif
 
-#if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_3 != 0 //more than one extruder present
   void lcd_preheat_pla0123() {
     setTargetHotend0(plaPreheatHotendTemp);
     setTargetHotend1(plaPreheatHotendTemp);
@@ -548,54 +547,54 @@ void lcd_preheat_abs0() { _lcd_preheat(0, absPreheatHotendTemp, absPreheatHPBTem
     setTargetHotend2(absPreheatHotendTemp);
     _lcd_preheat(3, absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed);
   }
-#endif //more than one extruder present
 
-void lcd_preheat_pla_bedonly() { _lcd_preheat(0, 0, plaPreheatHPBTemp, plaPreheatFanSpeed); }
-void lcd_preheat_abs_bedonly() { _lcd_preheat(0, 0, absPreheatHPBTemp, absPreheatFanSpeed); }
+  #if TEMP_SENSOR_0 != 0
 
-static void lcd_preheat_pla_menu() {
-  START_MENU();
-  MENU_ITEM(back, MSG_PREPARE, lcd_prepare_menu);
-  MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H1, lcd_preheat_pla0);
-  #if TEMP_SENSOR_1 != 0 //2 extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H2, lcd_preheat_pla1);
-  #endif //2 extruder preheat
-  #if TEMP_SENSOR_2 != 0 //3 extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H3, lcd_preheat_pla2);
-  #endif //3 extruder preheat
-  #if TEMP_SENSOR_3 != 0 //4 extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H4, lcd_preheat_pla3);
-  #endif //4 extruder preheat
-  #if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_3 != 0 //all extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_PLA_ALL, lcd_preheat_pla0123);
-  #endif //all extruder preheat
-  #if TEMP_SENSOR_BED != 0
-    MENU_ITEM(function, MSG_PREHEAT_PLA_BEDONLY, lcd_preheat_pla_bedonly);
-  #endif
-  END_MENU();
-}
+    void lcd_preheat_pla_bedonly() { _lcd_preheat(0, 0, plaPreheatHPBTemp, plaPreheatFanSpeed); }
+    void lcd_preheat_abs_bedonly() { _lcd_preheat(0, 0, absPreheatHPBTemp, absPreheatFanSpeed); }
 
-static void lcd_preheat_abs_menu() {
-  START_MENU();
-  MENU_ITEM(back, MSG_PREPARE, lcd_prepare_menu);
-  MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H1, lcd_preheat_abs0);
-  #if TEMP_SENSOR_1 != 0 //2 extruder preheat
-	  MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H2, lcd_preheat_abs1);
-  #endif //2 extruder preheat
-  #if TEMP_SENSOR_2 != 0 //3 extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H3, lcd_preheat_abs2);
-  #endif //3 extruder preheat
-  #if TEMP_SENSOR_3 != 0 //4 extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H4, lcd_preheat_abs3);
-  #endif //4 extruder preheat
-  #if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_3 != 0 //all extruder preheat
-    MENU_ITEM(function, MSG_PREHEAT_ABS_ALL, lcd_preheat_abs0123);
-  #endif //all extruder preheat
-  #if TEMP_SENSOR_BED != 0
-    MENU_ITEM(function, MSG_PREHEAT_ABS_BEDONLY, lcd_preheat_abs_bedonly);
+    static void lcd_preheat_pla_menu() {
+      START_MENU();
+      MENU_ITEM(back, MSG_PREPARE, lcd_prepare_menu);
+      MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H1, lcd_preheat_pla0);
+      #if TEMP_SENSOR_1 != 0
+        MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H2, lcd_preheat_pla1);
+      #endif
+      #if TEMP_SENSOR_2 != 0
+        MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H3, lcd_preheat_pla2);
+      #endif
+      #if TEMP_SENSOR_3 != 0
+        MENU_ITEM(function, MSG_PREHEAT_PLA_N MSG_H4, lcd_preheat_pla3);
+      #endif
+      MENU_ITEM(function, MSG_PREHEAT_PLA_ALL, lcd_preheat_pla0123);
+      #if TEMP_SENSOR_BED != 0
+        MENU_ITEM(function, MSG_PREHEAT_PLA_BEDONLY, lcd_preheat_pla_bedonly);
+      #endif
+      END_MENU();
+    }
+
+    static void lcd_preheat_abs_menu() {
+      START_MENU();
+      MENU_ITEM(back, MSG_PREPARE, lcd_prepare_menu);
+      MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H1, lcd_preheat_abs0);
+      #if TEMP_SENSOR_1 != 0
+        MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H2, lcd_preheat_abs1);
+      #endif
+      #if TEMP_SENSOR_2 != 0
+        MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H3, lcd_preheat_abs2);
+      #endif
+      #if TEMP_SENSOR_3 != 0
+        MENU_ITEM(function, MSG_PREHEAT_ABS_N MSG_H4, lcd_preheat_abs3);
+      #endif
+      MENU_ITEM(function, MSG_PREHEAT_ABS_ALL, lcd_preheat_abs0123);
+      #if TEMP_SENSOR_BED != 0
+        MENU_ITEM(function, MSG_PREHEAT_ABS_BEDONLY, lcd_preheat_abs_bedonly);
+      #endif
+      END_MENU();
+    }
   #endif
-  END_MENU();
-}
+
+#endif // more than one temperature sensor present
 
 void lcd_cooldown() {
   setTargetHotend0(0);
@@ -618,7 +617,7 @@ static void lcd_prepare_menu() {
   MENU_ITEM(function, MSG_SET_HOME_OFFSETS, lcd_set_home_offsets);
   //MENU_ITEM(gcode, MSG_SET_ORIGIN, PSTR("G92 X0 Y0 Z0"));
   #if TEMP_SENSOR_0 != 0
-    #if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_BED != 0
+    #if TEMP_SENSOR_1 != 0 || TEMP_SENSOR_2 != 0 || TEMP_SENSOR_3 != 0 || TEMP_SENSOR_BED != 0
       MENU_ITEM(submenu, MSG_PREHEAT_PLA, lcd_preheat_pla_menu);
       MENU_ITEM(submenu, MSG_PREHEAT_ABS, lcd_preheat_abs_menu);
     #else
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index befe8fd1e..4cdecb8bd 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -19,8 +19,6 @@
     void lcd_setcontrast(uint8_t value);
   #endif
 
-  static unsigned char blink = 0;	// Variable for visualization of fan rotation in GLCD
-
   #define LCD_MESSAGEPGM(x) lcd_setstatuspgm(PSTR(x))
   #define LCD_ALERTMESSAGEPGM(x) lcd_setalertstatuspgm(PSTR(x))
 
diff --git a/Marlin/ultralcd_st7920_u8glib_rrd.h b/Marlin/ultralcd_st7920_u8glib_rrd.h
index 6b6c005ad..fbf010982 100644
--- a/Marlin/ultralcd_st7920_u8glib_rrd.h
+++ b/Marlin/ultralcd_st7920_u8glib_rrd.h
@@ -43,7 +43,7 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val)
 #define ST7920_NCS()             {WRITE(ST7920_CS_PIN,0);}
 #define ST7920_SET_CMD()         {ST7920_SWSPI_SND_8BIT(0xf8);u8g_10MicroDelay();}
 #define ST7920_SET_DAT()         {ST7920_SWSPI_SND_8BIT(0xfa);u8g_10MicroDelay();}
-#define ST7920_WRITE_BYTE(a)     {ST7920_SWSPI_SND_8BIT((a)&0xf0);ST7920_SWSPI_SND_8BIT((a)<<4);u8g_10MicroDelay();}
+#define ST7920_WRITE_BYTE(a)     {ST7920_SWSPI_SND_8BIT((uint8_t)((a)&0xf0u));ST7920_SWSPI_SND_8BIT((uint8_t)((a)<<4u));u8g_10MicroDelay();}
 #define ST7920_WRITE_BYTES(p,l)  {uint8_t i;for(i=0;i<l;i++){ST7920_SWSPI_SND_8BIT(*p&0xf0);ST7920_SWSPI_SND_8BIT(*p<<4);p++;}u8g_10MicroDelay();}
 
 uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, void *arg)