From 5e4e535ce8d0bc1f37464a20d0b29dc8678f032f Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Wed, 27 Apr 2016 07:15:20 -0700
Subject: [PATCH 1/5] Stepper and Endstops as singleton objects

---
 Marlin/Marlin.h        |   2 +-
 Marlin/Marlin_main.cpp | 223 ++++++-------
 Marlin/cardreader.cpp  |   2 +-
 Marlin/endstops.cpp    | 317 ++++++++++++++++++
 Marlin/endstops.h      |  94 ++++++
 Marlin/planner.cpp     |   8 +-
 Marlin/stepper.cpp     | 707 +++++++++--------------------------------
 Marlin/stepper.h       | 351 ++++++++++++++++----
 Marlin/temperature.cpp |   2 +-
 Marlin/ultralcd.cpp    |   6 +-
 10 files changed, 950 insertions(+), 762 deletions(-)
 create mode 100644 Marlin/endstops.cpp
 create mode 100644 Marlin/endstops.h

diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 9cd13c90ee..1db06e9bc2 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -216,7 +216,7 @@ void manage_inactivity(bool ignore_stepper_queue = false);
  */
 enum AxisEnum {X_AXIS = 0, A_AXIS = 0, Y_AXIS = 1, B_AXIS = 1, Z_AXIS = 2, C_AXIS = 2, E_AXIS = 3, X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 5};
 
-enum EndstopEnum {X_MIN = 0, Y_MIN = 1, Z_MIN = 2, Z_MIN_PROBE = 3, X_MAX = 4, Y_MAX = 5, Z_MAX = 6, Z2_MIN = 7, Z2_MAX = 8};
+#define _AXIS(AXIS) AXIS ##_AXIS
 
 void enable_all_steppers();
 void disable_all_steppers();
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 37c472f3ca..7cc7c028c8 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -48,6 +48,7 @@
 #include "ultralcd.h"
 #include "planner.h"
 #include "stepper.h"
+#include "endstops.h"
 #include "temperature.h"
 #include "cardreader.h"
 #include "configuration_store.h"
@@ -547,10 +548,6 @@ static void report_current_position();
   float extrude_min_temp = EXTRUDE_MINTEMP;
 #endif
 
-#if ENABLED(HAS_Z_MIN_PROBE)
-  extern volatile bool z_probe_is_active;
-#endif
-
 #if ENABLED(SDSUPPORT)
   #include "SdFatUtil.h"
   int freeMemory() { return SdFatUtil::FreeRam(); }
@@ -711,7 +708,7 @@ void servo_init() {
 
    #if HAS_SERVO_ENDSTOPS
 
-    z_probe_is_active = false;
+    endstops.enable_z_probe(false);
 
     /**
      * Set position of all defined Servo Endstops
@@ -831,7 +828,7 @@ void setup() {
     watchdog_init();
   #endif
 
-  st_init();    // Initialize stepper, this enables interrupts!
+  stepper.init();    // Initialize stepper, this enables interrupts!
   setup_photpin();
   servo_init();
 
@@ -915,7 +912,7 @@ void loop() {
     commands_in_queue--;
     cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
   }
-  checkHitEndstops();
+  endstops.report_state();
   idle();
 }
 
@@ -1445,9 +1442,9 @@ static void setup_for_endstop_move() {
   feedrate_multiplier = 100;
   refresh_cmd_timeout();
   #if ENABLED(DEBUG_LEVELING_FEATURE)
-    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > endstops.enable()");
   #endif
-  enable_endstops(true);
+  endstops.enable();
 }
 
 #if ENABLED(AUTO_BED_LEVELING_FEATURE)
@@ -1553,7 +1550,7 @@ static void setup_for_endstop_move() {
     #if ENABLED(DELTA)
 
       float start_z = current_position[Z_AXIS];
-      long start_steps = st_get_position(Z_AXIS);
+      long start_steps = stepper.position(Z_AXIS);
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
@@ -1563,14 +1560,14 @@ static void setup_for_endstop_move() {
       feedrate = homing_feedrate[Z_AXIS] / 4;
       destination[Z_AXIS] = -10;
       prepare_move_raw(); // this will also set_current_to_destination
-      st_synchronize();
-      endstops_hit_on_purpose(); // clear endstop hit flags
+      stepper.synchronize();
+      endstops.hit_on_purpose(); // clear endstop hit flags
 
       /**
        * We have to let the planner know where we are right now as it
        * is not where we said to go.
        */
-      long stop_steps = st_get_position(Z_AXIS);
+      long stop_steps = stepper.position(Z_AXIS);
       float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
       current_position[Z_AXIS] = mm;
 
@@ -1588,10 +1585,10 @@ static void setup_for_endstop_move() {
       // Move down until the Z probe (or endstop?) is triggered
       float zPosition = -(Z_MAX_LENGTH + 10);
       line_to_z(zPosition);
-      st_synchronize();
+      stepper.synchronize();
 
       // Tell the planner where we ended up - Get this from the stepper handler
-      zPosition = st_get_axis_position_mm(Z_AXIS);
+      zPosition = stepper.get_axis_position_mm(Z_AXIS);
       plan_set_position(
         current_position[X_AXIS], current_position[Y_AXIS], zPosition,
         current_position[E_AXIS]
@@ -1600,19 +1597,19 @@ static void setup_for_endstop_move() {
       // move up the retract distance
       zPosition += home_bump_mm(Z_AXIS);
       line_to_z(zPosition);
-      st_synchronize();
-      endstops_hit_on_purpose(); // clear endstop hit flags
+      stepper.synchronize();
+      endstops.hit_on_purpose(); // clear endstop hit flags
 
       // move back down slowly to find bed
       set_homing_bump_feedrate(Z_AXIS);
 
       zPosition -= home_bump_mm(Z_AXIS) * 2;
       line_to_z(zPosition);
-      st_synchronize();
-      endstops_hit_on_purpose(); // clear endstop hit flags
+      stepper.synchronize();
+      endstops.hit_on_purpose(); // clear endstop hit flags
 
       // Get the current stepper position after bumping an endstop
-      current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
+      current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
       sync_plan_position();
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1641,7 +1638,7 @@ static void setup_for_endstop_move() {
       destination[Y_AXIS] = y;
       destination[Z_AXIS] = z;
       prepare_move_raw(); // this will also set_current_to_destination
-      st_synchronize();
+      stepper.synchronize();
 
     #else
 
@@ -1649,14 +1646,14 @@ static void setup_for_endstop_move() {
 
       current_position[Z_AXIS] = z;
       line_to_current_position();
-      st_synchronize();
+      stepper.synchronize();
 
       feedrate = xy_travel_speed;
 
       current_position[X_AXIS] = x;
       current_position[Y_AXIS] = y;
       line_to_current_position();
-      st_synchronize();
+      stepper.synchronize();
 
     #endif
 
@@ -1681,9 +1678,9 @@ static void setup_for_endstop_move() {
 
   static void clean_up_after_endstop_move() {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops_not_homing()");
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
     #endif
-    endstops_not_homing();
+    endstops.not_homing();
     feedrate = saved_feedrate;
     feedrate_multiplier = saved_feedrate_multiplier;
     refresh_cmd_timeout();
@@ -1697,7 +1694,7 @@ static void setup_for_endstop_move() {
       if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
     #endif
 
-    if (z_probe_is_active) return;
+    if (endstops.z_probe_enabled) return;
 
     #if HAS_SERVO_ENDSTOPS
 
@@ -1757,7 +1754,7 @@ static void setup_for_endstop_move() {
       destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
       prepare_move_raw(); // this will also set_current_to_destination
 
-      st_synchronize();
+      stepper.synchronize();
 
       #if ENABLED(Z_MIN_PROBE_ENDSTOP)
         z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
@@ -1778,10 +1775,10 @@ static void setup_for_endstop_move() {
     #endif // Z_PROBE_ALLEN_KEY
 
     #if ENABLED(FIX_MOUNTED_PROBE)
-      // Noting to be done. Just set z_probe_is_active
+      // Noting to be done. Just set endstops.z_probe_enabled
     #endif
 
-    z_probe_is_active = true;
+    endstops.enable_z_probe();
 
   }
 
@@ -1793,7 +1790,7 @@ static void setup_for_endstop_move() {
       if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
     #endif
 
-    if (!z_probe_is_active) return;
+    if (!endstops.z_probe_enabled) return;
 
     #if HAS_SERVO_ENDSTOPS
 
@@ -1811,7 +1808,7 @@ static void setup_for_endstop_move() {
               }
             #endif
             raise_z_after_probing(); // this also updates current_position
-            st_synchronize();
+            stepper.synchronize();
           }
         #endif
 
@@ -1861,7 +1858,7 @@ static void setup_for_endstop_move() {
       destination[Y_AXIS] = 0;
       prepare_move_raw(); // this will also set_current_to_destination
 
-      st_synchronize();
+      stepper.synchronize();
 
       #if ENABLED(Z_MIN_PROBE_ENDSTOP)
         bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
@@ -1881,10 +1878,10 @@ static void setup_for_endstop_move() {
     #endif // Z_PROBE_ALLEN_KEY
 
     #if ENABLED(FIX_MOUNTED_PROBE)
-      // Nothing to do here. Just clear z_probe_is_active
+      // Nothing to do here. Just clear endstops.z_probe_enabled
     #endif
 
-    z_probe_is_active = false;
+    endstops.enable_z_probe(false);
   }
   #endif // HAS_Z_MIN_PROBE
 
@@ -2081,13 +2078,13 @@ static void setup_for_endstop_move() {
       }
     #endif
 
-    if (z_probe_is_active == dock) return;
-
     if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
       axis_unhomed_error();
       return;
     }
 
+    if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
+
     float oldXpos = current_position[X_AXIS]; // save x position
     if (dock) {
       #if Z_RAISE_AFTER_PROBING > 0
@@ -2105,7 +2102,7 @@ static void setup_for_endstop_move() {
     }
     do_blocking_move_to_x(oldXpos); // return to position before docking
 
-    z_probe_is_active = dock;
+    endstops.enable_z_probe(!dock); // logically disable docked probe
   }
 
 #endif // Z_PROBE_SLED
@@ -2167,39 +2164,39 @@ static void homeaxis(AxisEnum axis) {
       // Engage an X or Y Servo endstop if enabled
       if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
         servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
-        if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
+        if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true;
       }
     #endif
 
     // Set a flag for Z motor locking
     #if ENABLED(Z_DUAL_ENDSTOPS)
-      if (axis == Z_AXIS) In_Homing_Process(true);
+      if (axis == Z_AXIS) stepper.set_homing_flag(true);
     #endif
 
     // Move towards the endstop until an endstop is triggered
     destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
     feedrate = homing_feedrate[axis];
     line_to_destination();
-    st_synchronize();
+    stepper.synchronize();
 
     // Set the axis position as setup for the move
     current_position[axis] = 0;
     sync_plan_position();
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
     #endif
-    enable_endstops(false); // Disable endstops while moving away
+    endstops.enable(false); // Disable endstops while moving away
 
     // Move away from the endstop by the axis HOME_BUMP_MM
     destination[axis] = -home_bump_mm(axis) * axis_home_dir;
     line_to_destination();
-    st_synchronize();
+    stepper.synchronize();
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
     #endif
-    enable_endstops(true); // Enable endstops for next homing move
+    endstops.enable(true); // Enable endstops for next homing move
 
     // Slow down the feedrate for the next move
     set_homing_bump_feedrate(axis);
@@ -2207,7 +2204,7 @@ static void homeaxis(AxisEnum axis) {
     // Move slowly towards the endstop until triggered
     destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
     line_to_destination();
-    st_synchronize();
+    stepper.synchronize();
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
@@ -2224,17 +2221,17 @@ static void homeaxis(AxisEnum axis) {
         else
           lockZ1 = (z_endstop_adj < 0);
 
-        if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
+        if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
         sync_plan_position();
 
         // Move to the adjusted endstop height
         feedrate = homing_feedrate[axis];
         destination[Z_AXIS] = adj;
         line_to_destination();
-        st_synchronize();
+        stepper.synchronize();
 
-        if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
-        In_Homing_Process(false);
+        if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
+        stepper.set_homing_flag(false);
       } // Z_AXIS
     #endif
 
@@ -2242,9 +2239,9 @@ static void homeaxis(AxisEnum axis) {
       // retrace by the amount specified in endstop_adj
       if (endstop_adj[axis] * axis_home_dir < 0) {
         #if ENABLED(DEBUG_LEVELING_FEATURE)
-          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
+          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
         #endif
-        enable_endstops(false); // Disable endstops while moving away
+        endstops.enable(false); // Disable endstops while moving away
         sync_plan_position();
         destination[axis] = endstop_adj[axis];
         #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -2254,11 +2251,11 @@ static void homeaxis(AxisEnum axis) {
           }
         #endif
         line_to_destination();
-        st_synchronize();
+        stepper.synchronize();
         #if ENABLED(DEBUG_LEVELING_FEATURE)
-          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
+          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
         #endif
-        enable_endstops(true); // Enable endstops for next homing move
+        endstops.enable(true); // Enable endstops for next homing move
       }
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         else {
@@ -2280,7 +2277,7 @@ static void homeaxis(AxisEnum axis) {
 
     destination[axis] = current_position[axis];
     feedrate = 0.0;
-    endstops_hit_on_purpose(); // clear endstop hit flags
+    endstops.hit_on_purpose(); // clear endstop hit flags
     axis_known_position[axis] = true;
     axis_homed[axis] = true;
 
@@ -2301,7 +2298,7 @@ static void homeaxis(AxisEnum axis) {
           if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
         #endif
         servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
-        if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
+        if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false);
       }
     #endif
 
@@ -2499,7 +2496,7 @@ inline void gcode_G4() {
   if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
   if (code_seen('S')) codenum = code_value() * 1000UL; // seconds to wait
 
-  st_synchronize();
+  stepper.synchronize();
   refresh_cmd_timeout();
   codenum += previous_cmd_ms;  // keep track of when we started waiting
 
@@ -2551,7 +2548,7 @@ inline void gcode_G28() {
   #endif
 
   // Wait for planner moves to finish!
-  st_synchronize();
+  stepper.synchronize();
 
   // For auto bed leveling, clear the level matrix
   #if ENABLED(AUTO_BED_LEVELING_FEATURE)
@@ -2594,8 +2591,8 @@ inline void gcode_G28() {
     for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
     feedrate = 1.732 * homing_feedrate[X_AXIS];
     line_to_destination();
-    st_synchronize();
-    endstops_hit_on_purpose(); // clear endstop hit flags
+    stepper.synchronize();
+    endstops.hit_on_purpose(); // clear endstop hit flags
 
     // Destination reached
     for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
@@ -2643,7 +2640,7 @@ inline void gcode_G28() {
           }
         #endif
         line_to_destination();
-        st_synchronize();
+        stepper.synchronize();
 
         /**
          * Update the current Z position even if it currently not real from
@@ -2676,7 +2673,7 @@ inline void gcode_G28() {
         destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
         feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
         line_to_destination();
-        st_synchronize();
+        stepper.synchronize();
 
         set_axis_is_at_home(X_AXIS);
         set_axis_is_at_home(Y_AXIS);
@@ -2690,8 +2687,8 @@ inline void gcode_G28() {
         destination[Y_AXIS] = current_position[Y_AXIS];
         line_to_destination();
         feedrate = 0.0;
-        st_synchronize();
-        endstops_hit_on_purpose(); // clear endstop hit flags
+        stepper.synchronize();
+        endstops.hit_on_purpose(); // clear endstop hit flags
 
         current_position[X_AXIS] = destination[X_AXIS];
         current_position[Y_AXIS] = destination[Y_AXIS];
@@ -2784,7 +2781,7 @@ inline void gcode_G28() {
 
             // Move in the XY plane
             line_to_destination();
-            st_synchronize();
+            stepper.synchronize();
 
             /**
              * Update the current positions for XY, Z is still at least at
@@ -2857,10 +2854,10 @@ inline void gcode_G28() {
   #endif
 
   #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-    enable_endstops(false);
+    endstops.enable(false);
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) {
-        SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
+        SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING endstops.enable(false)");
       }
     #endif
   #endif
@@ -2875,7 +2872,7 @@ inline void gcode_G28() {
       set_destination_to_current();
       feedrate = homing_feedrate[Z_AXIS];
       line_to_destination();
-      st_synchronize();
+      stepper.synchronize();
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("mbl_was_active", current_position);
       #endif
@@ -2885,7 +2882,7 @@ inline void gcode_G28() {
   feedrate = saved_feedrate;
   feedrate_multiplier = saved_feedrate_multiplier;
   refresh_cmd_timeout();
-  endstops_hit_on_purpose(); // clear endstop hit flags
+  endstops.hit_on_purpose(); // clear endstop hit flags
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
@@ -2921,7 +2918,7 @@ inline void gcode_G28() {
     #endif
 
     feedrate = saved_feedrate;
-    st_synchronize();
+    stepper.synchronize();
   }
 
   /**
@@ -3015,7 +3012,7 @@ inline void gcode_G28() {
             #endif
           ;
           line_to_current_position();
-          st_synchronize();
+          stepper.synchronize();
 
           // After recording the last point, activate the mbl and home
           SERIAL_PROTOCOLLNPGM("Mesh probing done.");
@@ -3240,7 +3237,7 @@ inline void gcode_G28() {
       deploy_z_probe();
     #endif
 
-    st_synchronize();
+    stepper.synchronize();
 
     setup_for_endstop_move();
 
@@ -3511,7 +3508,7 @@ inline void gcode_G28() {
         float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
               y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
               z_tmp = current_position[Z_AXIS],
-              real_z = st_get_axis_position_mm(Z_AXIS);  //get the real Z (since plan_get_position is now correcting the plane)
+              real_z = stepper.get_axis_position_mm(Z_AXIS);  //get the real Z (since plan_get_position is now correcting the plane)
 
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) {
@@ -3588,9 +3585,9 @@ inline void gcode_G28() {
       #endif
       enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
       #if ENABLED(HAS_Z_MIN_PROBE)
-        z_probe_is_active = false;
+        endstops.enable_z_probe(false);
       #endif
-      st_synchronize();
+      stepper.synchronize();
     #endif
 
     KEEPALIVE_STATE(IN_HANDLER);
@@ -3615,7 +3612,7 @@ inline void gcode_G28() {
       #endif
       deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
 
-      st_synchronize();
+      stepper.synchronize();
       // TODO: clear the leveling matrix or the planner will be set incorrectly
       setup_for_endstop_move(); // Too late. Must be done before deploying.
 
@@ -3650,7 +3647,7 @@ inline void gcode_G28() {
 inline void gcode_G92() {
   bool didE = code_seen(axis_codes[E_AXIS]);
 
-  if (!didE) st_synchronize();
+  if (!didE) stepper.synchronize();
 
   bool didXYZ = false;
   for (int i = 0; i < NUM_AXIS; i++) {
@@ -3712,7 +3709,7 @@ inline void gcode_G92() {
     }
 
     lcd_ignore_click();
-    st_synchronize();
+    stepper.synchronize();
     refresh_cmd_timeout();
     if (codenum > 0) {
       codenum += previous_cmd_ms;  // wait until this time for a click
@@ -3853,7 +3850,7 @@ inline void gcode_M31() {
    */
   inline void gcode_M32() {
     if (card.sdprinting)
-      st_synchronize();
+      stepper.synchronize();
 
     char* namestartpos = strchr(current_command_args, '!');  // Find ! to indicate filename string start.
     if (!namestartpos)
@@ -4819,7 +4816,7 @@ inline void gcode_M140() {
  */
 inline void gcode_M81() {
   disable_all_heaters();
-  finishAndDisableSteppers();
+  stepper.finish_and_disable();
   #if FAN_COUNT > 0
     #if FAN_COUNT > 1
       for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
@@ -4829,7 +4826,7 @@ inline void gcode_M81() {
   #endif
   delay(1000); // Wait 1 second before switching off
   #if HAS_SUICIDE
-    st_synchronize();
+    stepper.synchronize();
     suicide();
   #elif HAS_POWER_SWITCH
     OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
@@ -4864,10 +4861,10 @@ inline void gcode_M18_M84() {
   else {
     bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])) || (code_seen(axis_codes[E_AXIS])));
     if (all_axis) {
-      finishAndDisableSteppers();
+      stepper.finish_and_disable();
     }
     else {
-      st_synchronize();
+      stepper.synchronize();
       if (code_seen('X')) disable_x();
       if (code_seen('Y')) disable_y();
       if (code_seen('Z')) disable_z();
@@ -4927,35 +4924,7 @@ static void report_current_position() {
   SERIAL_PROTOCOLPGM(" E:");
   SERIAL_PROTOCOL(current_position[E_AXIS]);
 
-  CRITICAL_SECTION_START;
-  extern volatile long count_position[NUM_AXIS];
-  long xpos = count_position[X_AXIS],
-       ypos = count_position[Y_AXIS],
-       zpos = count_position[Z_AXIS];
-  CRITICAL_SECTION_END;
-
-  #if ENABLED(COREXY) || ENABLED(COREXZ)
-    SERIAL_PROTOCOLPGM(MSG_COUNT_A);
-  #else
-    SERIAL_PROTOCOLPGM(MSG_COUNT_X);
-  #endif
-  SERIAL_PROTOCOL(xpos);
-
-  #if ENABLED(COREXY)
-    SERIAL_PROTOCOLPGM(" B:");
-  #else
-    SERIAL_PROTOCOLPGM(" Y:");
-  #endif
-  SERIAL_PROTOCOL(ypos);
-
-  #if ENABLED(COREXZ)
-    SERIAL_PROTOCOLPGM(" C:");
-  #else
-    SERIAL_PROTOCOLPGM(" Z:");
-  #endif
-  SERIAL_PROTOCOL(zpos);
-
-  SERIAL_EOL;
+  stepper.report_positions();
 
   #if ENABLED(SCARA)
     SERIAL_PROTOCOLPGM("SCARA Theta:");
@@ -5039,12 +5008,12 @@ inline void gcode_M119() {
 /**
  * M120: Enable endstops and set non-homing endstop state to "enabled"
  */
-inline void gcode_M120() { enable_endstops_globally(true); }
+inline void gcode_M120() { endstops.enable_globally(true); }
 
 /**
  * M121: Disable endstops and set non-homing endstop state to "disabled"
  */
-inline void gcode_M121() { enable_endstops_globally(false); }
+inline void gcode_M121() { endstops.enable_globally(false); }
 
 #if ENABLED(BLINKM)
 
@@ -5439,7 +5408,7 @@ inline void gcode_M226() {
       if (pin_number > -1) {
         int target = LOW;
 
-        st_synchronize();
+        stepper.synchronize();
 
         pinMode(pin_number, INPUT);
 
@@ -5801,7 +5770,7 @@ inline void gcode_M303() {
 /**
  * M400: Finish all moves
  */
-inline void gcode_M400() { st_synchronize(); }
+inline void gcode_M400() { stepper.synchronize(); }
 
 #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
 
@@ -5887,7 +5856,7 @@ inline void gcode_M400() { st_synchronize(); }
  * This will stop the carriages mid-move, so most likely they
  * will be out of sync with the stepper position after this.
  */
-inline void gcode_M410() { quickStop(); }
+inline void gcode_M410() { stepper.quick_stop(); }
 
 
 #if ENABLED(MESH_BED_LEVELING)
@@ -6111,7 +6080,7 @@ inline void gcode_M503() {
     RUNPLAN;
 
     //finish moves
-    st_synchronize();
+    stepper.synchronize();
     //disable extruder steppers so filament can be removed
     disable_e0();
     disable_e1();
@@ -6135,7 +6104,7 @@ inline void gcode_M503() {
         current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
         destination[E_AXIS] = current_position[E_AXIS];
         line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
-        st_synchronize();
+        stepper.synchronize();
       #endif
     } // while(!lcd_clicked)
     KEEPALIVE_STATE(IN_HANDLER);
@@ -6143,7 +6112,7 @@ inline void gcode_M503() {
 
     #if ENABLED(AUTO_FILAMENT_CHANGE)
       current_position[E_AXIS] = 0;
-      st_synchronize();
+      stepper.synchronize();
     #endif
 
     //return to normal
@@ -6198,7 +6167,7 @@ inline void gcode_M503() {
    *    Note: the X axis should be homed after changing dual x-carriage mode.
    */
   inline void gcode_M605() {
-    st_synchronize();
+    stepper.synchronize();
     if (code_seen('S')) dual_x_carriage_mode = code_value();
     switch (dual_x_carriage_mode) {
       case DXC_DUPLICATION_MODE:
@@ -6375,7 +6344,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
                            current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
           plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
                            current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
-          st_synchronize();
+          stepper.synchronize();
         }
 
         // apply Y & Z extruder offset (x offset is already used in determining home pos)
@@ -6460,7 +6429,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
     } // (tmp_extruder != active_extruder)
 
     #if ENABLED(EXT_SOLENOID)
-      st_synchronize();
+      stepper.synchronize();
       disable_all_solenoids();
       enable_solenoid_on_active_extruder();
     #endif // EXT_SOLENOID
@@ -7400,7 +7369,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
         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);
         sync_plan_position();
-        st_synchronize();
+        stepper.synchronize();
         extruder_duplication_enabled = true;
         active_extruder_parked = false;
       }
@@ -7927,7 +7896,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
       destination[E_AXIS] = oldedes;
       plan_set_e_position(oldepos);
       previous_cmd_ms = ms; // refresh_cmd_timeout()
-      st_synchronize();
+      stepper.synchronize();
       switch (active_extruder) {
         case 0:
           E0_ENABLE_WRITE(oldstatus);
@@ -8004,7 +7973,7 @@ void kill(const char* lcd_msg) {
     if (!filament_ran_out) {
       filament_ran_out = true;
       enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
-      st_synchronize();
+      stepper.synchronize();
     }
   }
 
diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp
index fbe4ae7e70..1e9aab3b66 100644
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -596,7 +596,7 @@ void CardReader::updir() {
 }
 
 void CardReader::printingHasFinished() {
-  st_synchronize();
+  stepper.synchronize();
   if (file_subcall_ctr > 0) { // Heading up to a parent file that called current as a procedure.
     file.close();
     file_subcall_ctr--;
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
new file mode 100644
index 0000000000..e3d5f4b827
--- /dev/null
+++ b/Marlin/endstops.cpp
@@ -0,0 +1,317 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * endstops.cpp - A singleton object to manage endstops
+ */
+
+#include "Marlin.h"
+#include "endstops.h"
+#include "stepper.h"
+#include "ultralcd.h"
+
+// TEST_ENDSTOP: test the old and the current status of an endstop
+#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits & old_endstop_bits, ENDSTOP))
+
+Endstops endstops;
+
+Endstops::Endstops() {
+  enable_globally(ENABLED(ENDSTOPS_ONLY_FOR_HOMING));
+  enable(true);
+  #if ENABLED(HAS_Z_MIN_PROBE)
+    enable_z_probe(false);
+  #endif
+} // Endstops::Endstops
+
+void Endstops::init() {
+
+  #if HAS_X_MIN
+    SET_INPUT(X_MIN_PIN);
+    #if ENABLED(ENDSTOPPULLUP_XMIN)
+      WRITE(X_MIN_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Y_MIN
+    SET_INPUT(Y_MIN_PIN);
+    #if ENABLED(ENDSTOPPULLUP_YMIN)
+      WRITE(Y_MIN_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Z_MIN
+    SET_INPUT(Z_MIN_PIN);
+    #if ENABLED(ENDSTOPPULLUP_ZMIN)
+      WRITE(Z_MIN_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Z2_MIN
+    SET_INPUT(Z2_MIN_PIN);
+    #if ENABLED(ENDSTOPPULLUP_ZMIN)
+      WRITE(Z2_MIN_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_X_MAX
+    SET_INPUT(X_MAX_PIN);
+    #if ENABLED(ENDSTOPPULLUP_XMAX)
+      WRITE(X_MAX_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Y_MAX
+    SET_INPUT(Y_MAX_PIN);
+    #if ENABLED(ENDSTOPPULLUP_YMAX)
+      WRITE(Y_MAX_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Z_MAX
+    SET_INPUT(Z_MAX_PIN);
+    #if ENABLED(ENDSTOPPULLUP_ZMAX)
+      WRITE(Z_MAX_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Z2_MAX
+    SET_INPUT(Z2_MAX_PIN);
+    #if ENABLED(ENDSTOPPULLUP_ZMAX)
+      WRITE(Z2_MAX_PIN,HIGH);
+    #endif
+  #endif
+
+  #if HAS_Z_PROBE && ENABLED(Z_MIN_PROBE_ENDSTOP) // Check for Z_MIN_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
+    SET_INPUT(Z_MIN_PROBE_PIN);
+    #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
+      WRITE(Z_MIN_PROBE_PIN,HIGH);
+    #endif
+  #endif
+
+} // Endstops::init
+
+void Endstops::report_state() {
+  if (endstop_hit_bits) {
+    #if ENABLED(ULTRA_LCD)
+      char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
+      #define _SET_STOP_CHAR(A,C) (chr## A = C)
+    #else
+      #define _SET_STOP_CHAR(A,C) ;
+    #endif
+
+    #define _ENDSTOP_HIT_ECHO(A,C) do{ \
+      SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(A ##_AXIS)); \
+      _SET_STOP_CHAR(A,C); }while(0)
+
+    #define _ENDSTOP_HIT_TEST(A,C) \
+      if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
+        _ENDSTOP_HIT_ECHO(A,C)
+
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
+    _ENDSTOP_HIT_TEST(X, 'X');
+    _ENDSTOP_HIT_TEST(Y, 'Y');
+    _ENDSTOP_HIT_TEST(Z, 'Z');
+
+    #if ENABLED(Z_MIN_PROBE_ENDSTOP)
+      #define P_AXIS Z_AXIS
+      if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
+    #endif
+    SERIAL_EOL;
+
+    #if ENABLED(ULTRA_LCD)
+      char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
+      sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
+      lcd_setstatus(msg);
+    #endif
+
+    hit_on_purpose();
+
+    #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
+      if (abort_on_endstop_hit) {
+        card.sdprinting = false;
+        card.closefile();
+        stepper.quick_stop();
+        disable_all_heaters(); // switch off all heaters.
+      }
+    #endif
+  }
+} // Endstops::report_state
+
+// Check endstops - Called from ISR!
+void Endstops::update() {
+
+  #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
+  #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
+  #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
+  #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
+
+  // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
+  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
+  // COPY_BIT: copy the value of COPY_BIT to BIT in bits
+  #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
+
+  #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
+      UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
+      if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
+        _ENDSTOP_HIT(AXIS); \
+        stepper.endstop_triggered(_AXIS(AXIS)); \
+      } \
+    } while(0)
+
+  #if ENABLED(COREXY) || ENABLED(COREXZ)
+    // Head direction in -X axis for CoreXY and CoreXZ bots.
+    // If Delta1 == -Delta2, the movement is only in Y or Z axis
+    if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
+      if (stepper.motor_direction(X_HEAD))
+  #else
+    if (stepper.motor_direction(X_AXIS))   // stepping along -X axis (regular Cartesian bot)
+  #endif
+      { // -direction
+        #if ENABLED(DUAL_X_CARRIAGE)
+          // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+          if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+        #endif
+          {
+            #if HAS_X_MIN
+              UPDATE_ENDSTOP(X, MIN);
+            #endif
+          }
+      }
+      else { // +direction
+        #if ENABLED(DUAL_X_CARRIAGE)
+          // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+          if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+        #endif
+          {
+            #if HAS_X_MAX
+              UPDATE_ENDSTOP(X, MAX);
+            #endif
+          }
+      }
+  #if ENABLED(COREXY) || ENABLED(COREXZ)
+    }
+  #endif
+
+  #if ENABLED(COREXY)
+    // Head direction in -Y axis for CoreXY bots.
+    // If DeltaX == DeltaY, the movement is only in X axis
+    if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
+      if (stepper.motor_direction(Y_HEAD))
+  #else
+      if (stepper.motor_direction(Y_AXIS))   // -direction
+  #endif
+      { // -direction
+        #if HAS_Y_MIN
+          UPDATE_ENDSTOP(Y, MIN);
+        #endif
+      }
+      else { // +direction
+        #if HAS_Y_MAX
+          UPDATE_ENDSTOP(Y, MAX);
+        #endif
+      }
+  #if ENABLED(COREXY)
+    }
+  #endif
+
+  #if ENABLED(COREXZ)
+    // Head direction in -Z axis for CoreXZ bots.
+    // If DeltaX == DeltaZ, the movement is only in X axis
+    if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
+      if (stepper.motor_direction(Z_HEAD))
+  #else
+      if (stepper.motor_direction(Z_AXIS))
+  #endif
+      { // z -direction
+        #if HAS_Z_MIN
+
+          #if ENABLED(Z_DUAL_ENDSTOPS)
+
+            UPDATE_ENDSTOP_BIT(Z, MIN);
+            #if HAS_Z2_MIN
+              UPDATE_ENDSTOP_BIT(Z2, MIN);
+            #else
+              COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
+            #endif
+
+            byte z_test = TEST_ENDSTOP(Z_MIN) | (TEST_ENDSTOP(Z2_MIN) << 1); // bit 0 for Z, bit 1 for Z2
+
+            if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
+              stepper.endstop_triggered(Z_AXIS);
+              SBI(endstop_hit_bits, Z_MIN);
+              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
+                stepper.kill_current_block();
+            }
+
+          #else // !Z_DUAL_ENDSTOPS
+
+            #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
+              if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
+            #else
+              UPDATE_ENDSTOP(Z, MIN);
+            #endif
+
+          #endif // !Z_DUAL_ENDSTOPS
+
+        #endif // HAS_Z_MIN
+
+        #if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
+          if (z_probe_enabled) {
+            UPDATE_ENDSTOP(Z, MIN_PROBE);
+            if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
+          }
+        #endif
+      }
+      else { // z +direction
+        #if HAS_Z_MAX
+
+          #if ENABLED(Z_DUAL_ENDSTOPS)
+
+            UPDATE_ENDSTOP_BIT(Z, MAX);
+            #if HAS_Z2_MAX
+              UPDATE_ENDSTOP_BIT(Z2, MAX);
+            #else
+              COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
+            #endif
+
+            byte z_test = TEST_ENDSTOP(Z_MAX) | (TEST_ENDSTOP(Z2_MAX) << 1); // bit 0 for Z, bit 1 for Z2
+
+            if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {  // t_test = Z_MAX || Z2_MAX
+              stepper.endstop_triggered(Z_AXIS);
+              SBI(endstop_hit_bits, Z_MIN);
+              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
+                stepper.kill_current_block();
+            }
+
+          #else // !Z_DUAL_ENDSTOPS
+
+            UPDATE_ENDSTOP(Z, MAX);
+
+          #endif // !Z_DUAL_ENDSTOPS
+        #endif // Z_MAX_PIN
+      }
+  #if ENABLED(COREXZ)
+    }
+  #endif
+  old_endstop_bits = current_endstop_bits;
+} // Endstops::update()
diff --git a/Marlin/endstops.h b/Marlin/endstops.h
new file mode 100644
index 0000000000..4cf6f5b088
--- /dev/null
+++ b/Marlin/endstops.h
@@ -0,0 +1,94 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ *  endstops.h - manages endstops
+ */
+
+#ifndef ENDSTOPS_H
+#define ENDSTOPS_H
+
+enum EndstopEnum {X_MIN = 0, Y_MIN = 1, Z_MIN = 2, Z_MIN_PROBE = 3, X_MAX = 4, Y_MAX = 5, Z_MAX = 6, Z2_MIN = 7, Z2_MAX = 8};
+
+class Endstops {
+
+  public:
+
+    volatile char endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
+
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      uint16_t current_endstop_bits = 0,
+                   old_endstop_bits = 0;
+    #else
+      byte current_endstop_bits = 0,
+               old_endstop_bits = 0;
+    #endif
+        
+
+    bool enabled = true;
+    bool enabled_globally =
+      #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
+        false
+      #else
+        true
+      #endif
+    ;
+
+    Endstops();
+
+    /**
+     * Initialize the endstop pins
+     */
+    void init();
+
+    /**
+     * Update the endstops bits from the pins
+     */
+    void update();
+
+    /**
+     * Print an error message reporting the position when the endstops were last hit.
+     */
+    void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
+
+    // Enable / disable endstop checking globally
+    FORCE_INLINE void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
+
+    // Enable / disable endstop checking
+    FORCE_INLINE void enable(bool onoff=true) { enabled = onoff; }
+
+    // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable
+    FORCE_INLINE void not_homing() { enabled = enabled_globally; }
+
+    // Clear endstops (i.e., they were hit intentionally) to suppress the report
+    FORCE_INLINE void hit_on_purpose() { endstop_hit_bits = 0; }
+
+    // Enable / disable endstop z-probe checking
+    #if ENABLED(HAS_Z_MIN_PROBE)
+      volatile bool z_probe_enabled = false;
+      FORCE_INLINE void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
+    #endif
+};
+
+extern Endstops endstops;
+
+#endif // ENDSTOPS_H
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index f5062d2a7d..9347744a58 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1085,7 +1085,7 @@ float junction_deviation = 0.1;
 
   planner_recalculate();
 
-  st_wake_up();
+  stepper.wake_up();
 
 } // plan_buffer_line()
 
@@ -1097,7 +1097,7 @@ float junction_deviation = 0.1;
    * On CORE machines XYZ is derived from ABC.
    */
   vector_3 plan_get_position() {
-    vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
+    vector_3 position = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
 
     //position.debug("in plan_get position");
     //plan_bed_level_matrix.debug("in plan_get_position");
@@ -1132,7 +1132,7 @@ float junction_deviation = 0.1;
          ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
          nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
          ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
-    st_set_position(nx, ny, nz, ne);
+    stepper.set_position(nx, ny, nz, ne);
     previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
 
     for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
@@ -1140,7 +1140,7 @@ float junction_deviation = 0.1;
 
 void plan_set_e_position(const float& e) {
   position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
-  st_set_e_position(position[E_AXIS]);
+  stepper.set_e_position(position[E_AXIS]);
 }
 
 // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 4b52edac9b..d3fa2b6375 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -21,7 +21,7 @@
  */
 
 /**
- * stepper.cpp - stepper motor driver: executes motion plans using stepper motors
+ * stepper.cpp - A singleton object to execute motion plans using stepper motors
  * Marlin Firmware
  *
  * Derived from Grbl
@@ -46,6 +46,7 @@
 
 #include "Marlin.h"
 #include "stepper.h"
+#include "endstops.h"
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
@@ -57,85 +58,7 @@
   #include <SPI.h>
 #endif
 
-//===========================================================================
-//============================= public variables ============================
-//===========================================================================
-block_t* current_block;  // A pointer to the block currently being traced
-
-#if ENABLED(HAS_Z_MIN_PROBE)
-  volatile bool z_probe_is_active = false;
-#endif
-
-//===========================================================================
-//============================= private variables ===========================
-//===========================================================================
-//static makes it impossible to be called from outside of this file by extern.!
-
-// Variables used by The Stepper Driver Interrupt
-static unsigned char out_bits = 0;        // The next stepping-bits to be output
-static unsigned int cleaning_buffer_counter;
-
-#if ENABLED(Z_DUAL_ENDSTOPS)
-  static bool performing_homing = false,
-              locked_z_motor = false,
-              locked_z2_motor = false;
-#endif
-
-// Counter variables for the Bresenham line tracer
-static long counter_x, counter_y, counter_z, counter_e;
-volatile static unsigned long step_events_completed; // The number of step events executed in the current block
-
-#if ENABLED(ADVANCE)
-  static long advance_rate, advance, final_advance = 0;
-  static long old_advance = 0;
-  static long e_steps[4];
-#endif
-
-static long acceleration_time, deceleration_time;
-//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
-static unsigned short acc_step_rate; // needed for deceleration start point
-static uint8_t step_loops;
-static uint8_t step_loops_nominal;
-static unsigned short OCR1A_nominal;
-
-volatile long endstops_trigsteps[3] = { 0 };
-volatile long endstops_stepsTotal, endstops_stepsDone;
-static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
-
-#if DISABLED(Z_DUAL_ENDSTOPS)
-  static byte
-#else
-  static uint16_t
-#endif
-    old_endstop_bits = 0; // use X_MIN, X_MAX... Z_MAX, Z_MIN_PROBE, Z2_MIN, Z2_MAX
-
-#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-  bool abort_on_endstop_hit = false;
-#endif
-
-#if HAS_MOTOR_CURRENT_PWM
-  #ifndef PWM_MOTOR_CURRENT
-    #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
-  #endif
-  const int motor_current_setting[3] = PWM_MOTOR_CURRENT;
-#endif
-
-static bool check_endstops = true;
-static bool check_endstops_global =
-  #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-    false
-  #else
-    true
-  #endif
-;
-
-volatile long count_position[NUM_AXIS] = { 0 }; // Positions of stepper motors, in step units
-volatile signed char count_direction[NUM_AXIS] = { 1 };
-
-
-//===========================================================================
-//================================ functions ================================
-//===========================================================================
+Stepper stepper; // Singleton
 
 #if ENABLED(DUAL_X_CARRIAGE)
   #define X_APPLY_DIR(v,ALWAYS) \
@@ -173,12 +96,12 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
     #define Z_APPLY_STEP(v,Q) \
     if (performing_homing) { \
       if (Z_HOME_DIR > 0) {\
-        if (!(TEST(old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
-        if (!(TEST(old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+        if (!(TEST(endstops.old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+        if (!(TEST(endstops.old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
       } \
       else { \
-        if (!(TEST(old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
-        if (!(TEST(old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+        if (!(TEST(endstops.old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+        if (!(TEST(endstops.old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
       } \
     } \
     else { \
@@ -195,31 +118,6 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
 
 #define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
 
-// intRes = intIn1 * intIn2 >> 16
-// uses:
-// r26 to store 0
-// r27 to store the byte 1 of the 24 bit result
-#define MultiU16X8toH16(intRes, charIn1, intIn2) \
-  asm volatile ( \
-                 "clr r26 \n\t" \
-                 "mul %A1, %B2 \n\t" \
-                 "movw %A0, r0 \n\t" \
-                 "mul %A1, %A2 \n\t" \
-                 "add %A0, r1 \n\t" \
-                 "adc %B0, r26 \n\t" \
-                 "lsr r0 \n\t" \
-                 "adc %A0, r26 \n\t" \
-                 "adc %B0, r26 \n\t" \
-                 "clr r1 \n\t" \
-                 : \
-                 "=&r" (intRes) \
-                 : \
-                 "d" (charIn1), \
-                 "d" (intIn2) \
-                 : \
-                 "r26" \
-               )
-
 // intRes = longIn1 * longIn2 >> 24
 // uses:
 // r26 to store 0
@@ -281,312 +179,38 @@ volatile signed char count_direction[NUM_AXIS] = { 1 };
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  SBI(TIMSK1, OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
 
-void enable_endstops(bool check) { check_endstops = check; }
-
-void enable_endstops_globally(bool check) { check_endstops_global = check_endstops = check; }
-
-void endstops_not_homing() { check_endstops = check_endstops_global; }
-
-void endstops_hit_on_purpose() { endstop_hit_bits = 0; }
-
-void checkHitEndstops() {
-  if (endstop_hit_bits) {
-    #if ENABLED(ULTRA_LCD)
-      char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
-      #define _SET_STOP_CHAR(A,C) (chr## A = C)
-    #else
-      #define _SET_STOP_CHAR(A,C) ;
-    #endif
-
-    #define _ENDSTOP_HIT_ECHO(A,C) do{ \
-      SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", endstops_trigsteps[A ##_AXIS] / axis_steps_per_unit[A ##_AXIS]); \
-      _SET_STOP_CHAR(A,C); }while(0)
-
-    #define _ENDSTOP_HIT_TEST(A,C) \
-      if (TEST(endstop_hit_bits, A ##_MIN) || TEST(endstop_hit_bits, A ##_MAX)) \
-        _ENDSTOP_HIT_ECHO(A,C)
-
-    SERIAL_ECHO_START;
-    SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
-    _ENDSTOP_HIT_TEST(X, 'X');
-    _ENDSTOP_HIT_TEST(Y, 'Y');
-    _ENDSTOP_HIT_TEST(Z, 'Z');
-
-    #if ENABLED(Z_MIN_PROBE_ENDSTOP)
-      #define P_AXIS Z_AXIS
-      if (TEST(endstop_hit_bits, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P');
-    #endif
-    SERIAL_EOL;
-
-    #if ENABLED(ULTRA_LCD)
-      char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
-      sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
-      lcd_setstatus(msg);
-    #endif
-
-    endstops_hit_on_purpose();
-
-    #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
-      if (abort_on_endstop_hit) {
-        card.sdprinting = false;
-        card.closefile();
-        quickStop();
-        disable_all_heaters(); // switch off all heaters.
-      }
-    #endif
-  }
-}
-
-// Check endstops - Called from ISR!
-inline void update_endstops() {
-
-  #if ENABLED(Z_DUAL_ENDSTOPS)
-    uint16_t
-  #else
-    byte
-  #endif
-      current_endstop_bits = 0;
-
-  #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
-  #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-  #define _AXIS(AXIS) AXIS ##_AXIS
-  #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
-  #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
-
-  // SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
-  #define SET_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
-  // COPY_BIT: copy the value of COPY_BIT to BIT in bits
-  #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
-  // TEST_ENDSTOP: test the old and the current status of an endstop
-  #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
-
-  #if ENABLED(COREXY) || ENABLED(COREXZ)
-
-    #define _SET_TRIGSTEPS(AXIS) do { \
-        float axis_pos = count_position[_AXIS(AXIS)]; \
-        if (_AXIS(AXIS) == A_AXIS) \
-          axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2; \
-        else if (_AXIS(AXIS) == CORE_AXIS_2) \
-          axis_pos = (count_position[A_AXIS] - axis_pos) / 2; \
-        endstops_trigsteps[_AXIS(AXIS)] = axis_pos; \
-      } while(0)
-
-  #else
-
-    #define _SET_TRIGSTEPS(AXIS) endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]
-
-  #endif // COREXY || COREXZ
-
-  #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
-      SET_ENDSTOP_BIT(AXIS, MINMAX); \
-      if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && current_block->steps[_AXIS(AXIS)] > 0) { \
-        _SET_TRIGSTEPS(AXIS); \
-        _ENDSTOP_HIT(AXIS); \
-        step_events_completed = current_block->step_event_count; \
-      } \
-    } while(0)
-
-  #if ENABLED(COREXY) || ENABLED(COREXZ)
-    // Head direction in -X axis for CoreXY and CoreXZ bots.
-    // If Delta1 == -Delta2, the movement is only in Y or Z axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[CORE_AXIS_2]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, CORE_AXIS_2))) {
-      if (TEST(out_bits, X_HEAD))
-  #else
-    if (TEST(out_bits, X_AXIS))   // stepping along -X axis (regular Cartesian bot)
-  #endif
-      { // -direction
-        #if ENABLED(DUAL_X_CARRIAGE)
-          // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-          if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
-        #endif
-          {
-            #if HAS_X_MIN
-              UPDATE_ENDSTOP(X, MIN);
-            #endif
-          }
-      }
-      else { // +direction
-        #if ENABLED(DUAL_X_CARRIAGE)
-          // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
-          if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
-        #endif
-          {
-            #if HAS_X_MAX
-              UPDATE_ENDSTOP(X, MAX);
-            #endif
-          }
-      }
-  #if ENABLED(COREXY) || ENABLED(COREXZ)
-    }
-  #endif
-
-  #if ENABLED(COREXY)
-    // Head direction in -Y axis for CoreXY bots.
-    // If DeltaX == DeltaY, the movement is only in X axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
-      if (TEST(out_bits, Y_HEAD))
-  #else
-      if (TEST(out_bits, Y_AXIS))   // -direction
-  #endif
-      { // -direction
-        #if HAS_Y_MIN
-          UPDATE_ENDSTOP(Y, MIN);
-        #endif
-      }
-      else { // +direction
-        #if HAS_Y_MAX
-          UPDATE_ENDSTOP(Y, MAX);
-        #endif
-      }
-  #if ENABLED(COREXY)
-    }
-  #endif
-
-  #if ENABLED(COREXZ)
-    // Head direction in -Z axis for CoreXZ bots.
-    // If DeltaX == DeltaZ, the movement is only in X axis
-    if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
-      if (TEST(out_bits, Z_HEAD))
-  #else
-      if (TEST(out_bits, Z_AXIS))
-  #endif
-      { // z -direction
-        #if HAS_Z_MIN
-
-          #if ENABLED(Z_DUAL_ENDSTOPS)
-            SET_ENDSTOP_BIT(Z, MIN);
-            #if HAS_Z2_MIN
-              SET_ENDSTOP_BIT(Z2, MIN);
-            #else
-              COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
-            #endif
-
-            byte z_test = TEST_ENDSTOP(Z_MIN) | (TEST_ENDSTOP(Z2_MIN) << 1); // bit 0 for Z, bit 1 for Z2
-
-            if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
-              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-              SBI(endstop_hit_bits, Z_MIN);
-              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
-                step_events_completed = current_block->step_event_count;
-            }
-          #else // !Z_DUAL_ENDSTOPS
-
-            #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
-              if (z_probe_is_active) UPDATE_ENDSTOP(Z, MIN);
-            #else
-              UPDATE_ENDSTOP(Z, MIN);
-            #endif
-          #endif // !Z_DUAL_ENDSTOPS
-        #endif
-
-        #if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
-          if (z_probe_is_active) {
-            UPDATE_ENDSTOP(Z, MIN_PROBE);
-            if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
-          }
-        #endif
-      }
-      else { // z +direction
-        #if HAS_Z_MAX
-
-          #if ENABLED(Z_DUAL_ENDSTOPS)
-
-            SET_ENDSTOP_BIT(Z, MAX);
-            #if HAS_Z2_MAX
-              SET_ENDSTOP_BIT(Z2, MAX);
-            #else
-              COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
-            #endif
-
-            byte z_test = TEST_ENDSTOP(Z_MAX) | (TEST_ENDSTOP(Z2_MAX) << 1); // bit 0 for Z, bit 1 for Z2
-
-            if (z_test && current_block->steps[Z_AXIS] > 0) {  // t_test = Z_MAX || Z2_MAX
-              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-              SBI(endstop_hit_bits, Z_MIN);
-              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
-                step_events_completed = current_block->step_event_count;
-            }
-
-          #else // !Z_DUAL_ENDSTOPS
-
-            UPDATE_ENDSTOP(Z, MAX);
-
-          #endif // !Z_DUAL_ENDSTOPS
-        #endif // Z_MAX_PIN
-      }
-  #if ENABLED(COREXZ)
-    }
-  #endif
-  old_endstop_bits = current_endstop_bits;
-}
-
-//         __________________________
-//        /|                        |\     _________________         ^
-//       / |                        | \   /|               |\        |
-//      /  |                        |  \ / |               | \       s
-//     /   |                        |   |  |               |  \      p
-//    /    |                        |   |  |               |   \     e
-//   +-----+------------------------+---+--+---------------+----+    e
-//   |               BLOCK 1            |      BLOCK 2          |    d
-//
-//                           time ----->
-//
-//  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
-//  first block->accelerate_until step_events_completed, then keeps going at constant speed until
-//  step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
-//  The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
-
-void st_wake_up() {
+/**
+ *         __________________________
+ *        /|                        |\     _________________         ^
+ *       / |                        | \   /|               |\        |
+ *      /  |                        |  \ / |               | \       s
+ *     /   |                        |   |  |               |  \      p
+ *    /    |                        |   |  |               |   \     e
+ *   +-----+------------------------+---+--+---------------+----+    e
+ *   |               BLOCK 1            |      BLOCK 2          |    d
+ *
+ *                           time ----->
+ *
+ *  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
+ *  first block->accelerate_until step_events_completed, then keeps going at constant speed until
+ *  step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
+ *  The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
+ */
+void Stepper::wake_up() {
   //  TCNT1 = 0;
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 
-FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
-  unsigned short timer;
-
-  NOMORE(step_rate, MAX_STEP_FREQUENCY);
-
-  if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
-    step_rate = (step_rate >> 2) & 0x3fff;
-    step_loops = 4;
-  }
-  else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
-    step_rate = (step_rate >> 1) & 0x7fff;
-    step_loops = 2;
-  }
-  else {
-    step_loops = 1;
-  }
-
-  NOLESS(step_rate, F_CPU / 500000);
-  step_rate -= F_CPU / 500000; // Correct for minimal speed
-  if (step_rate >= (8 * 256)) { // higher step rate
-    unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
-    unsigned char tmp_step_rate = (step_rate & 0x00ff);
-    unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
-    MultiU16X8toH16(timer, tmp_step_rate, gain);
-    timer = (unsigned short)pgm_read_word_near(table_address) - timer;
-  }
-  else { // lower step rates
-    unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
-    table_address += ((step_rate) >> 1) & 0xfffc;
-    timer = (unsigned short)pgm_read_word_near(table_address);
-    timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
-  }
-  if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
-  return timer;
-}
-
 /**
  * Set the stepper direction of each axis
  *
  *   X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
  *   X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
  */
-void set_stepper_direction() {
+void Stepper::set_directions() {
 
   #define SET_STEP_DIR(AXIS) \
-    if (TEST(out_bits, AXIS ##_AXIS)) { \
+    if (motor_direction(AXIS ##_AXIS)) { \
       AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
       count_direction[AXIS ##_AXIS] = -1; \
     } \
@@ -600,7 +224,7 @@ void set_stepper_direction() {
   SET_STEP_DIR(Z); // C
 
   #if DISABLED(ADVANCE)
-    if (TEST(out_bits, E_AXIS)) {
+    if (motor_direction(E_AXIS)) {
       REV_E_DIR();
       count_direction[E_AXIS] = -1;
     }
@@ -611,49 +235,11 @@ void set_stepper_direction() {
   #endif //!ADVANCE
 }
 
-// Initializes the trapezoid generator from the current block. Called whenever a new
-// block begins.
-FORCE_INLINE void trapezoid_generator_reset() {
-
-  static int8_t last_extruder = -1;
-
-  if (current_block->direction_bits != out_bits || current_block->active_extruder != last_extruder) {
-    out_bits = current_block->direction_bits;
-    last_extruder = current_block->active_extruder;
-    set_stepper_direction();
-  }
-
-  #if ENABLED(ADVANCE)
-    advance = current_block->initial_advance;
-    final_advance = current_block->final_advance;
-    // Do E steps + advance steps
-    e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
-    old_advance = advance >>8;
-  #endif
-  deceleration_time = 0;
-  // step_rate to timer interval
-  OCR1A_nominal = calc_timer(current_block->nominal_rate);
-  // make a note of the number of step loops required at nominal speed
-  step_loops_nominal = step_loops;
-  acc_step_rate = current_block->initial_rate;
-  acceleration_time = calc_timer(acc_step_rate);
-  OCR1A = acceleration_time;
-
-  // SERIAL_ECHO_START;
-  // SERIAL_ECHOPGM("advance :");
-  // SERIAL_ECHO(current_block->advance/256.0);
-  // SERIAL_ECHOPGM("advance rate :");
-  // SERIAL_ECHO(current_block->advance_rate/256.0);
-  // SERIAL_ECHOPGM("initial advance :");
-  // SERIAL_ECHO(current_block->initial_advance/256.0);
-  // SERIAL_ECHOPGM("final advance :");
-  // SERIAL_ECHOLN(current_block->final_advance/256.0);
-}
-
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
 // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
-ISR(TIMER1_COMPA_vect) {
+ISR(TIMER1_COMPA_vect) { stepper.isr(); }
 
+void Stepper::isr() {
   if (cleaning_buffer_counter) {
     current_block = NULL;
     plan_discard_current_block();
@@ -672,8 +258,8 @@ ISR(TIMER1_COMPA_vect) {
     if (current_block) {
       current_block->busy = true;
       trapezoid_generator_reset();
-      counter_x = -(current_block->step_event_count >> 1);
-      counter_y = counter_z = counter_e = counter_x;
+      counter_X = -(current_block->step_event_count >> 1);
+      counter_Y = counter_Z = counter_E = counter_X;
       step_events_completed = 0;
 
       #if ENABLED(Z_LATE_ENABLE)
@@ -697,9 +283,9 @@ ISR(TIMER1_COMPA_vect) {
 
     // Update endstops state, if enabled
     #if ENABLED(HAS_Z_MIN_PROBE)
-      if (check_endstops || z_probe_is_active) update_endstops();
+      if (endstops.enabled || endstops.z_probe_enabled) endstops.update();
     #else
-      if (check_endstops) update_endstops();
+      if (endstops.enabled) endstops.update();
     #endif
 
     // Take multiple steps per interrupt (For high speed moves)
@@ -709,48 +295,47 @@ ISR(TIMER1_COMPA_vect) {
       #endif
 
       #if ENABLED(ADVANCE)
-        counter_e += current_block->steps[E_AXIS];
-        if (counter_e > 0) {
-          counter_e -= current_block->step_event_count;
-          e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
+        counter_E += current_block->steps[E_AXIS];
+        if (counter_E > 0) {
+          counter_E -= current_block->step_event_count;
+          e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
         }
       #endif //ADVANCE
 
-      #define _COUNTER(axis) counter_## axis
+      #define _COUNTER(AXIS) counter_## AXIS
       #define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
       #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
 
-      #define STEP_ADD(axis, AXIS) \
-        _COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
-        if (_COUNTER(axis) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
+      #define STEP_ADD(AXIS) \
+        _COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
+        if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
 
-      STEP_ADD(x,X);
-      STEP_ADD(y,Y);
-      STEP_ADD(z,Z);
+      STEP_ADD(X);
+      STEP_ADD(Y);
+      STEP_ADD(Z);
       #if DISABLED(ADVANCE)
-        STEP_ADD(e,E);
+        STEP_ADD(E);
       #endif
 
-      #define STEP_IF_COUNTER(axis, AXIS) \
-        if (_COUNTER(axis) > 0) { \
-          _COUNTER(axis) -= current_block->step_event_count; \
+      #define STEP_IF_COUNTER(AXIS) \
+        if (_COUNTER(AXIS) > 0) { \
+          _COUNTER(AXIS) -= current_block->step_event_count; \
           count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
           _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
         }
 
-      STEP_IF_COUNTER(x, X);
-      STEP_IF_COUNTER(y, Y);
-      STEP_IF_COUNTER(z, Z);
+      STEP_IF_COUNTER(X);
+      STEP_IF_COUNTER(Y);
+      STEP_IF_COUNTER(Z);
       #if DISABLED(ADVANCE)
-        STEP_IF_COUNTER(e, E);
+        STEP_IF_COUNTER(E);
       #endif
 
       step_events_completed++;
       if (step_events_completed >= current_block->step_event_count) break;
     }
     // Calculate new timer value
-    unsigned short timer;
-    unsigned short step_rate;
+    unsigned short timer, step_rate;
     if (step_events_completed <= (unsigned long)current_block->accelerate_until) {
 
       MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
@@ -817,10 +402,11 @@ ISR(TIMER1_COMPA_vect) {
 }
 
 #if ENABLED(ADVANCE)
-  unsigned char old_OCR0A;
   // Timer interrupt for E. e_steps is set in the main routine;
   // Timer 0 is shared with millies
-  ISR(TIMER0_COMPA_vect) {
+  ISR(TIMER0_COMPA_vect) { stepper.advance_isr(); }
+
+  void Stepper::advance_isr() {
     old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
     OCR0A = old_OCR0A;
 
@@ -852,9 +438,10 @@ ISR(TIMER1_COMPA_vect) {
       #endif
     }
   }
+
 #endif // ADVANCE
 
-void st_init() {
+void Stepper::init() {
   digipot_init(); //Initialize Digipot Motor Current
   microstep_init(); //Initialize Microstepping Pins
 
@@ -944,70 +531,10 @@ void st_init() {
     if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
   #endif
 
-  //endstops and pullups
-
-  #if HAS_X_MIN
-    SET_INPUT(X_MIN_PIN);
-    #if ENABLED(ENDSTOPPULLUP_XMIN)
-      WRITE(X_MIN_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Y_MIN
-    SET_INPUT(Y_MIN_PIN);
-    #if ENABLED(ENDSTOPPULLUP_YMIN)
-      WRITE(Y_MIN_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Z_MIN
-    SET_INPUT(Z_MIN_PIN);
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      WRITE(Z_MIN_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Z2_MIN
-    SET_INPUT(Z2_MIN_PIN);
-    #if ENABLED(ENDSTOPPULLUP_ZMIN)
-      WRITE(Z2_MIN_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_X_MAX
-    SET_INPUT(X_MAX_PIN);
-    #if ENABLED(ENDSTOPPULLUP_XMAX)
-      WRITE(X_MAX_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Y_MAX
-    SET_INPUT(Y_MAX_PIN);
-    #if ENABLED(ENDSTOPPULLUP_YMAX)
-      WRITE(Y_MAX_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Z_MAX
-    SET_INPUT(Z_MAX_PIN);
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      WRITE(Z_MAX_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Z2_MAX
-    SET_INPUT(Z2_MAX_PIN);
-    #if ENABLED(ENDSTOPPULLUP_ZMAX)
-      WRITE(Z2_MAX_PIN,HIGH);
-    #endif
-  #endif
-
-  #if HAS_Z_PROBE && ENABLED(Z_MIN_PROBE_ENDSTOP) // Check for Z_MIN_PROBE_ENDSTOP so we don't pull a pin high unless it's to be used.
-    SET_INPUT(Z_MIN_PROBE_PIN);
-    #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
-      WRITE(Z_MIN_PROBE_PIN,HIGH);
-    #endif
-  #endif
+  //
+  // Init endstops and pullups here
+  //
+  endstops.init();
 
   #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT
   #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW)
@@ -1083,17 +610,17 @@ void st_init() {
     SBI(TIMSK0, OCIE0A);
   #endif //ADVANCE
 
-  enable_endstops(true); // Start with endstops active. After homing they can be disabled
+  endstops.enable(true); // Start with endstops active. After homing they can be disabled
   sei();
 
-  set_stepper_direction(); // Init directions to out_bits = 0
+  set_directions(); // Init directions to last_direction_bits = 0
 }
 
 
 /**
  * Block until all buffered steps are executed
  */
-void st_synchronize() { while (blocks_queued()) idle(); }
+void Stepper::synchronize() { while (blocks_queued()) idle(); }
 
 /**
  * Set the stepper positions directly in steps
@@ -1101,10 +628,10 @@ void st_synchronize() { while (blocks_queued()) idle(); }
  * The input is based on the typical per-axis XYZ steps.
  * For CORE machines XYZ needs to be translated to ABC.
  *
- * This allows st_get_axis_position_mm to correctly
+ * This allows get_axis_position_mm to correctly
  * derive the current XYZ position later on.
  */
-void st_set_position(const long& x, const long& y, const long& z, const long& e) {
+void Stepper::set_position(const long& x, const long& y, const long& z, const long& e) {
   CRITICAL_SECTION_START;
 
   #if ENABLED(COREXY)
@@ -1129,7 +656,7 @@ void st_set_position(const long& x, const long& y, const long& z, const long& e)
   CRITICAL_SECTION_END;
 }
 
-void st_set_e_position(const long& e) {
+void Stepper::set_e_position(const long& e) {
   CRITICAL_SECTION_START;
   count_position[E_AXIS] = e;
   CRITICAL_SECTION_END;
@@ -1138,7 +665,7 @@ void st_set_e_position(const long& e) {
 /**
  * Get a stepper's position in steps.
  */
-long st_get_position(AxisEnum axis) {
+long Stepper::position(AxisEnum axis) {
   CRITICAL_SECTION_START;
   long count_pos = count_position[axis];
   CRITICAL_SECTION_END;
@@ -1149,7 +676,7 @@ long st_get_position(AxisEnum axis) {
  * Get an axis position according to stepper position(s)
  * For CORE machines apply translation from ABC to XYZ.
  */
-float st_get_axis_position_mm(AxisEnum axis) {
+float Stepper::get_axis_position_mm(AxisEnum axis) {
   float axis_steps;
   #if ENABLED(COREXY) | ENABLED(COREXZ)
     if (axis == X_AXIS || axis == CORE_AXIS_2) {
@@ -1162,19 +689,19 @@ float st_get_axis_position_mm(AxisEnum axis) {
       axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
     }
     else
-      axis_steps = st_get_position(axis);
+      axis_steps = position(axis);
   #else
-    axis_steps = st_get_position(axis);
+    axis_steps = position(axis);
   #endif
   return axis_steps / axis_steps_per_unit[axis];
 }
 
-void finishAndDisableSteppers() {
-  st_synchronize();
+void Stepper::finish_and_disable() {
+  synchronize();
   disable_all_steppers();
 }
 
-void quickStop() {
+void Stepper::quick_stop() {
   cleaning_buffer_counter = 5000;
   DISABLE_STEPPER_DRIVER_INTERRUPT();
   while (blocks_queued()) plan_discard_current_block();
@@ -1182,11 +709,62 @@ void quickStop() {
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 
+void Stepper::endstop_triggered(AxisEnum axis) {
+
+  #if ENABLED(COREXY) || ENABLED(COREXZ)
+
+    float axis_pos = count_position[axis];
+    if (axis == A_AXIS)
+      axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2;
+    else if (axis == CORE_AXIS_2)
+      axis_pos = (count_position[A_AXIS] - axis_pos) / 2;
+    endstops_trigsteps[axis] = axis_pos;
+
+  #else // !COREXY && !COREXZ
+
+    endstops_trigsteps[axis] = count_position[axis];
+
+  #endif // !COREXY && !COREXZ
+
+  kill_current_block();
+}
+
+void Stepper::report_positions() {
+  CRITICAL_SECTION_START;
+  long xpos = count_position[X_AXIS],
+       ypos = count_position[Y_AXIS],
+       zpos = count_position[Z_AXIS];
+  CRITICAL_SECTION_END;
+
+  #if ENABLED(COREXY) || ENABLED(COREXZ)
+    SERIAL_PROTOCOLPGM(MSG_COUNT_A);
+  #else
+    SERIAL_PROTOCOLPGM(MSG_COUNT_X);
+  #endif
+  SERIAL_PROTOCOL(xpos);
+
+  #if ENABLED(COREXY) || ENABLED(COREXZ)
+    SERIAL_PROTOCOLPGM(" B:");
+  #else
+    SERIAL_PROTOCOLPGM(" Y:");
+  #endif
+  SERIAL_PROTOCOL(ypos);
+
+  #if ENABLED(COREXZ) || ENABLED(COREXZ)
+    SERIAL_PROTOCOLPGM(" C:");
+  #else
+    SERIAL_PROTOCOLPGM(" Z:");
+  #endif
+  SERIAL_PROTOCOL(zpos);
+
+  SERIAL_EOL;
+}
+
 #if ENABLED(BABYSTEPPING)
 
   // MUST ONLY BE CALLED BY AN ISR,
   // No other ISR should ever interrupt this!
-  void babystep(const uint8_t axis, const bool direction) {
+  void Stepper::babystep(const uint8_t axis, const bool direction) {
 
     #define _ENABLE(axis) enable_## axis()
     #define _READ_DIR(AXIS) AXIS ##_DIR_READ
@@ -1256,10 +834,14 @@ void quickStop() {
 
 #endif //BABYSTEPPING
 
+/**
+ * Software-controlled Stepper Motor Current
+ */
+
 #if HAS_DIGIPOTSS
 
   // From Arduino DigitalPotControl example
-  void digitalPotWrite(int address, int value) {
+  void Stepper::digitalPotWrite(int address, int value) {
     digitalWrite(DIGIPOTSS_PIN, LOW); // take the SS pin low to select the chip
     SPI.transfer(address); //  send in the address and value via SPI:
     SPI.transfer(value);
@@ -1269,8 +851,7 @@ void quickStop() {
 
 #endif //HAS_DIGIPOTSS
 
-// Initialize Digipot Motor Current
-void digipot_init() {
+void Stepper::digipot_init() {
   #if HAS_DIGIPOTSS
     const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
 
@@ -1299,7 +880,7 @@ void digipot_init() {
   #endif
 }
 
-void digipot_current(uint8_t driver, int current) {
+void Stepper::digipot_current(uint8_t driver, int current) {
   #if HAS_DIGIPOTSS
     const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
     digitalPotWrite(digipot_ch[driver], current);
@@ -1322,7 +903,7 @@ void digipot_current(uint8_t driver, int current) {
   #endif
 }
 
-void microstep_init() {
+void Stepper::microstep_init() {
   #if HAS_MICROSTEPS_E1
     pinMode(E1_MS1_PIN, OUTPUT);
     pinMode(E1_MS2_PIN, OUTPUT);
@@ -1343,7 +924,11 @@ void microstep_init() {
   #endif
 }
 
-void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
+/**
+ * Software-controlled Microstepping
+ */
+
+void Stepper::microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
   if (ms1 >= 0) switch (driver) {
     case 0: digitalWrite(X_MS1_PIN, ms1); break;
     case 1: digitalWrite(Y_MS1_PIN, ms1); break;
@@ -1364,7 +949,7 @@ void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
   }
 }
 
-void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
+void Stepper::microstep_mode(uint8_t driver, uint8_t stepping_mode) {
   switch (stepping_mode) {
     case 1: microstep_ms(driver, MICROSTEP1); break;
     case 2: microstep_ms(driver, MICROSTEP2); break;
@@ -1374,7 +959,7 @@ void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
   }
 }
 
-void microstep_readings() {
+void Stepper::microstep_readings() {
   SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
   SERIAL_PROTOCOLPGM("X: ");
   SERIAL_PROTOCOL(digitalRead(X_MS1_PIN));
@@ -1396,7 +981,7 @@ void microstep_readings() {
 }
 
 #if ENABLED(Z_DUAL_ENDSTOPS)
-  void In_Homing_Process(bool state) { performing_homing = state; }
-  void Lock_z_motor(bool state) { locked_z_motor = state; }
-  void Lock_z2_motor(bool state) { locked_z2_motor = state; }
+  void Stepper::set_homing_flag(bool state) { performing_homing = state; }
+  void Stepper::set_z_lock(bool state) { locked_z_motor = state; }
+  void Stepper::set_z2_lock(bool state) { locked_z2_motor = state; }
 #endif
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index b0230b8cd2..3efad54694 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -21,90 +21,313 @@
  */
 
 /**
-  stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
-  Part of Grbl
+ * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
+ * Part of Grbl
+ *
+ * Copyright (c) 2009-2011 Simen Svale Skogsrud
+ *
+ * Grbl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Grbl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+ */
 
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef stepper_h
-#define stepper_h
+#ifndef STEPPER_H
+#define STEPPER_H
 
 #include "planner.h"
+#include "speed_lookuptable.h"
 #include "stepper_indirection.h"
+#include "language.h"
 
-#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-  extern bool abort_on_endstop_hit;
-#endif
+class Stepper;
+extern Stepper stepper;
 
-// Initialize and start the stepper motor subsystem
-void st_init();
+// intRes = intIn1 * intIn2 >> 16
+// uses:
+// r26 to store 0
+// r27 to store the byte 1 of the 24 bit result
+#define MultiU16X8toH16(intRes, charIn1, intIn2) \
+  asm volatile ( \
+                 "clr r26 \n\t" \
+                 "mul %A1, %B2 \n\t" \
+                 "movw %A0, r0 \n\t" \
+                 "mul %A1, %A2 \n\t" \
+                 "add %A0, r1 \n\t" \
+                 "adc %B0, r26 \n\t" \
+                 "lsr r0 \n\t" \
+                 "adc %A0, r26 \n\t" \
+                 "adc %B0, r26 \n\t" \
+                 "clr r1 \n\t" \
+                 : \
+                 "=&r" (intRes) \
+                 : \
+                 "d" (charIn1), \
+                 "d" (intIn2) \
+                 : \
+                 "r26" \
+               )
 
-// Block until all buffered steps are executed
-void st_synchronize();
+class Stepper {
 
-// Set current position in steps
-void st_set_position(const long& x, const long& y, const long& z, const long& e);
-void st_set_e_position(const long& e);
+  public:
 
-// Get current position in steps
-long st_get_position(AxisEnum axis);
+    block_t* current_block = NULL;  // A pointer to the block currently being traced
 
-// Get current axis position in mm
-float st_get_axis_position_mm(AxisEnum axis);
+    #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+      bool abort_on_endstop_hit = false;
+    #endif
 
-// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
-// to notify the subsystem that it is time to go to work.
-void st_wake_up();
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      bool performing_homing = false;
+    #endif
 
+    #if ENABLED(ADVANCE)
+      long e_steps[4];
+    #endif
 
-void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
-void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
+  private:
 
-void enable_endstops(bool check); // Enable/disable endstop checking
+    unsigned char last_direction_bits = 0;        // The next stepping-bits to be output
+    unsigned int cleaning_buffer_counter = 0;
 
-void enable_endstops_globally(bool check);
-void endstops_not_homing();
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      bool locked_z_motor = false,
+           locked_z2_motor = false;
+    #endif
 
-void checkStepperErrors(); //Print errors detected by the stepper
+    // Counter variables for the Bresenham line tracer
+    long counter_X = 0, counter_Y = 0, counter_Z = 0, counter_E = 0;
+    volatile unsigned long step_events_completed = 0; // The number of step events executed in the current block
 
-void finishAndDisableSteppers();
+    #if ENABLED(ADVANCE)
+      unsigned char old_OCR0A;
+      long advance_rate, advance, final_advance = 0;
+      long old_advance = 0;
+    #endif
 
-extern block_t* current_block;  // A pointer to the block currently being traced
+    long acceleration_time, deceleration_time;
+    //unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
+    unsigned short acc_step_rate; // needed for deceleration start point
+    uint8_t step_loops;
+    uint8_t step_loops_nominal;
+    unsigned short OCR1A_nominal;
 
-void quickStop();
+    volatile long endstops_trigsteps[3];
+    volatile long endstops_stepsTotal, endstops_stepsDone;
 
-#if HAS_DIGIPOTSS
-  void digitalPotWrite(int address, int value);
-#endif
-void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
-void microstep_mode(uint8_t driver, uint8_t stepping);
-void digipot_init();
-void digipot_current(uint8_t driver, int current);
-void microstep_init();
-void microstep_readings();
+    #if HAS_MOTOR_CURRENT_PWM
+      #ifndef PWM_MOTOR_CURRENT
+        #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
+      #endif
+      const int motor_current_setting[3] = PWM_MOTOR_CURRENT;
+    #endif
 
-#if ENABLED(Z_DUAL_ENDSTOPS)
-  void In_Homing_Process(bool state);
-  void Lock_z_motor(bool state);
-  void Lock_z2_motor(bool state);
-#endif
+    //
+    // Positions of stepper motors, in step units
+    //
+    volatile long count_position[NUM_AXIS] = { 0 };
 
-#if ENABLED(BABYSTEPPING)
-  void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
-#endif
+    //
+    // Current direction of stepper motors (+1 or -1)
+    //
+    volatile signed char count_direction[NUM_AXIS] = { 1 };
 
-#endif
+  public:
+
+    //
+    // Constructor / initializer
+    //
+    Stepper() {};
+
+    //
+    // Initialize stepper hardware
+    //
+    void init();
+
+    //
+    // Interrupt Service Routines
+    //
+
+    void isr();
+
+    #if ENABLED(ADVANCE)
+      void advance_isr();
+    #endif
+
+    //
+    // Block until all buffered steps are executed
+    //
+    void synchronize();
+
+    //
+    // Set the current position in steps
+    //
+    void set_position(const long& x, const long& y, const long& z, const long& e);
+    void set_e_position(const long& e);
+
+    //
+    // Set direction bits for all steppers
+    //
+    void set_directions();
+
+    //
+    // Get the position of a stepper, in steps
+    //
+    long position(AxisEnum axis);
+
+    //
+    // Report the positions of the steppers, in steps
+    //
+    void report_positions();
+
+    //
+    // Get the position (mm) of an axis based on stepper position(s)
+    //
+    float get_axis_position_mm(AxisEnum axis);
+
+    //
+    // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
+    // to notify the subsystem that it is time to go to work.
+    //
+    void wake_up();
+
+    //
+    // Wait for moves to finish and disable all steppers
+    //
+    void finish_and_disable();
+
+    //
+    // Quickly stop all steppers and clear the blocks queue
+    //
+    void quick_stop();
+
+    //
+    // The direction of a single motor
+    //
+    FORCE_INLINE bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
+
+    #if HAS_DIGIPOTSS
+      void digitalPotWrite(int address, int value);
+    #endif
+    void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
+    void digipot_current(uint8_t driver, int current);
+    void microstep_readings();
+
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      void set_homing_flag(bool state);
+      void set_z_lock(bool state);
+      void set_z2_lock(bool state);
+    #endif
+
+    #if ENABLED(BABYSTEPPING)
+      void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
+    #endif
+
+    inline void kill_current_block() {
+      step_events_completed = current_block->step_event_count;
+    }
+
+    //
+    // Handle a triggered endstop
+    //
+    void endstop_triggered(AxisEnum axis);
+
+    //
+    // Triggered position of an axis in mm (not core-savvy)
+    //
+    FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
+      return endstops_trigsteps[axis] / axis_steps_per_unit[axis];
+    }
+
+    FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
+      unsigned short timer;
+
+      NOMORE(step_rate, MAX_STEP_FREQUENCY);
+
+      if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
+        step_rate = (step_rate >> 2) & 0x3fff;
+        step_loops = 4;
+      }
+      else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
+        step_rate = (step_rate >> 1) & 0x7fff;
+        step_loops = 2;
+      }
+      else {
+        step_loops = 1;
+      }
+
+      NOLESS(step_rate, F_CPU / 500000);
+      step_rate -= F_CPU / 500000; // Correct for minimal speed
+      if (step_rate >= (8 * 256)) { // higher step rate
+        unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
+        unsigned char tmp_step_rate = (step_rate & 0x00ff);
+        unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
+        MultiU16X8toH16(timer, tmp_step_rate, gain);
+        timer = (unsigned short)pgm_read_word_near(table_address) - timer;
+      }
+      else { // lower step rates
+        unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
+        table_address += ((step_rate) >> 1) & 0xfffc;
+        timer = (unsigned short)pgm_read_word_near(table_address);
+        timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
+      }
+      if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
+      return timer;
+    }
+
+    // Initializes the trapezoid generator from the current block. Called whenever a new
+    // block begins.
+    FORCE_INLINE void trapezoid_generator_reset() {
+
+      static int8_t last_extruder = -1;
+
+      if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
+        last_direction_bits = current_block->direction_bits;
+        last_extruder = current_block->active_extruder;
+        set_directions();
+      }
+
+      #if ENABLED(ADVANCE)
+        advance = current_block->initial_advance;
+        final_advance = current_block->final_advance;
+        // Do E steps + advance steps
+        e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
+        old_advance = advance >>8;
+      #endif
+      deceleration_time = 0;
+      // step_rate to timer interval
+      OCR1A_nominal = calc_timer(current_block->nominal_rate);
+      // make a note of the number of step loops required at nominal speed
+      step_loops_nominal = step_loops;
+      acc_step_rate = current_block->initial_rate;
+      acceleration_time = calc_timer(acc_step_rate);
+      OCR1A = acceleration_time;
+
+      // SERIAL_ECHO_START;
+      // SERIAL_ECHOPGM("advance :");
+      // SERIAL_ECHO(current_block->advance/256.0);
+      // SERIAL_ECHOPGM("advance rate :");
+      // SERIAL_ECHO(current_block->advance_rate/256.0);
+      // SERIAL_ECHOPGM("initial advance :");
+      // SERIAL_ECHO(current_block->initial_advance/256.0);
+      // SERIAL_ECHOPGM("final advance :");
+      // SERIAL_ECHOLN(current_block->final_advance/256.0);
+    }
+
+  private:
+    void microstep_mode(uint8_t driver, uint8_t stepping);
+    void digipot_init();
+    void microstep_init();
+
+};
+
+#endif // STEPPER_H
\ No newline at end of file
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 5713cb6937..de61e63304 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -604,7 +604,7 @@ float get_pid_output(int e) {
         #if ENABLED(PID_ADD_EXTRUSION_RATE)
           cTerm[e] = 0;
           if (e == active_extruder) {
-            long e_position = st_get_position(E_AXIS);
+            long e_position = stepper.position(E_AXIS);
             if (e_position > last_position[e]) {
               lpq[lpq_ptr++] = e_position - last_position[e];
               last_position[e] = e_position;
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 97a07f5232..33ede883a0 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -476,7 +476,7 @@ inline void line_to_current(AxisEnum axis) {
   static void lcd_sdcard_resume() { card.startFileprint(); }
 
   static void lcd_sdcard_stop() {
-    quickStop();
+    stepper.quick_stop();
     card.sdprinting = false;
     card.closefile();
     autotempShutdown();
@@ -911,7 +911,7 @@ void lcd_cooldown() {
       current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
       line_to_current(Z_AXIS);
     #endif
-    st_synchronize();
+    stepper.synchronize();
   }
 
   static void _lcd_level_goto_next_point();
@@ -964,7 +964,7 @@ void lcd_cooldown() {
             #endif
           ;
           line_to_current(Z_AXIS);
-          st_synchronize();
+          stepper.synchronize();
 
           mbl.active = true;
           enqueue_and_echo_commands_P(PSTR("G28"));

From 5076d123447108bda1782e2cee59ae679197e03c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Wed, 27 Apr 2016 14:46:24 -0700
Subject: [PATCH 2/5] Localize M119 in Endstops class

---
 Marlin/Marlin_main.cpp | 36 +-----------------------------------
 Marlin/endstops.cpp    | 36 ++++++++++++++++++++++++++++++++++++
 Marlin/endstops.h      |  5 +++++
 3 files changed, 42 insertions(+), 35 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 7cc7c028c8..ce85e5091b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -4969,41 +4969,7 @@ inline void gcode_M117() {
 /**
  * M119: Output endstop states to serial output
  */
-inline void gcode_M119() {
-  SERIAL_PROTOCOLLN(MSG_M119_REPORT);
-  #if HAS_X_MIN
-    SERIAL_PROTOCOLPGM(MSG_X_MIN);
-    SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_X_MAX
-    SERIAL_PROTOCOLPGM(MSG_X_MAX);
-    SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Y_MIN
-    SERIAL_PROTOCOLPGM(MSG_Y_MIN);
-    SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Y_MAX
-    SERIAL_PROTOCOLPGM(MSG_Y_MAX);
-    SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Z_MIN
-    SERIAL_PROTOCOLPGM(MSG_Z_MIN);
-    SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Z_MAX
-    SERIAL_PROTOCOLPGM(MSG_Z_MAX);
-    SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Z2_MAX
-    SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
-    SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-  #if HAS_Z_PROBE
-    SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
-    SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
-  #endif
-}
+inline void gcode_M119() { endstops.M119(); }
 
 /**
  * M120: Enable endstops and set non-homing endstop state to "enabled"
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index e3d5f4b827..f87b4c9b6a 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -157,6 +157,42 @@ void Endstops::report_state() {
   }
 } // Endstops::report_state
 
+void Endstops::M119() {
+  SERIAL_PROTOCOLLN(MSG_M119_REPORT);
+  #if HAS_X_MIN
+    SERIAL_PROTOCOLPGM(MSG_X_MIN);
+    SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_X_MAX
+    SERIAL_PROTOCOLPGM(MSG_X_MAX);
+    SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Y_MIN
+    SERIAL_PROTOCOLPGM(MSG_Y_MIN);
+    SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Y_MAX
+    SERIAL_PROTOCOLPGM(MSG_Y_MAX);
+    SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Z_MIN
+    SERIAL_PROTOCOLPGM(MSG_Z_MIN);
+    SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Z_MAX
+    SERIAL_PROTOCOLPGM(MSG_Z_MAX);
+    SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Z2_MAX
+    SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
+    SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+  #if HAS_Z_PROBE
+    SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
+    SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
+  #endif
+} // Endstops::M119
+
 // Check endstops - Called from ISR!
 void Endstops::update() {
 
diff --git a/Marlin/endstops.h b/Marlin/endstops.h
index 4cf6f5b088..c7e9c0a386 100644
--- a/Marlin/endstops.h
+++ b/Marlin/endstops.h
@@ -70,6 +70,11 @@ class Endstops {
      */
     void report_state(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
 
+    /**
+     * Report endstop positions in response to M119
+     */
+    void M119();
+
     // Enable / disable endstop checking globally
     FORCE_INLINE void enable_globally(bool onoff=true) { enabled_globally = enabled = onoff; }
 

From 96f51f400f1ef444baf9e31b8788d64d6cdaad71 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Wed, 27 Apr 2016 18:06:32 -0700
Subject: [PATCH 3/5] Planner singleton class

---
 Marlin/Marlin.h                |   6 +
 Marlin/Marlin_main.cpp         | 192 +++++++++---------
 Marlin/configuration_store.cpp | 142 ++++++-------
 Marlin/planner.cpp             | 350 ++++++++++++++-------------------
 Marlin/planner.h               | 302 ++++++++++++++++++++--------
 Marlin/stepper.cpp             |  12 +-
 Marlin/stepper.h               |   2 +-
 Marlin/temperature.cpp         |   2 +-
 Marlin/temperature.h           |  10 +-
 Marlin/ultralcd.cpp            |  68 +++----
 10 files changed, 587 insertions(+), 499 deletions(-)

diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 1db06e9bc2..f6f488df84 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -283,6 +283,12 @@ extern float sw_endstop_max[3]; // axis[n].sw_endstop_max
 extern bool axis_known_position[3]; // axis[n].is_known
 extern bool axis_homed[3]; // axis[n].is_homed
 
+// GCode support for external objects
+extern bool code_seen(char);
+extern float code_value();
+extern long code_value_long();
+extern int16_t code_value_short();
+
 #if ENABLED(DELTA)
   #ifndef DELTA_RADIUS_TRIM_TOWER_1
     #define DELTA_RADIUS_TRIM_TOWER_1 0.0
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index ce85e5091b..0f5fa9c42d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -149,7 +149,7 @@
  * M84  - Disable steppers until next move,
  *        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
  * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- * M92  - Set axis_steps_per_unit - same syntax as G92
+ * M92  - Set planner.axis_steps_per_unit - same syntax as G92
  * M104 - Set extruder target temp
  * M105 - Read current temp
  * M106 - Fan on
@@ -540,7 +540,7 @@ static void report_current_position();
       if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
     #endif
     calculate_delta(current_position);
-    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+    planner.set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
   }
 #endif
 
@@ -817,7 +817,6 @@ void setup() {
   lcd_init();
 
   tp_init();    // Initialize temperature loop
-  plan_init();  // Initialize planner;
 
   #if ENABLED(DELTA) || ENABLED(SCARA)
     // Vital to init kinematic equivalent for X0 Y0 Z0
@@ -1405,17 +1404,17 @@ inline void set_homing_bump_feedrate(AxisEnum axis) {
 // (or from wherever it has been told it is located).
 //
 inline void line_to_current_position() {
-  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
 }
 inline void line_to_z(float zPosition) {
-  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
+  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
 }
 //
 // line_to_destination
 // Move the planner, not necessarily synced with current_position
 //
 inline void line_to_destination(float mm_m) {
-  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
+  planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
 }
 inline void line_to_destination() {
   line_to_destination(feedrate);
@@ -1430,9 +1429,9 @@ inline void sync_plan_position() {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
   #endif
-  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
-inline void sync_plan_position_e() { plan_set_e_position(current_position[E_AXIS]); }
+inline void sync_plan_position_e() { planner.set_e_position(current_position[E_AXIS]); }
 inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
 inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
 
@@ -1459,7 +1458,7 @@ static void setup_for_endstop_move() {
       #endif
       refresh_cmd_timeout();
       calculate_delta(destination);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
       set_current_to_destination();
     }
   #endif
@@ -1470,21 +1469,21 @@ static void setup_for_endstop_move() {
 
       static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
 
-        //plan_bed_level_matrix.debug("bed level before");
+        //planner.bed_level_matrix.debug("bed level before");
 
         #if ENABLED(DEBUG_LEVELING_FEATURE)
-          plan_bed_level_matrix.set_to_identity();
+          planner.bed_level_matrix.set_to_identity();
           if (DEBUGGING(LEVELING)) {
-            vector_3 uncorrected_position = plan_get_position();
+            vector_3 uncorrected_position = planner.adjusted_position();
             DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
             DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
           }
         #endif
 
         vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
-        plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+        planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
 
-        vector_3 corrected_position = plan_get_position();
+        vector_3 corrected_position = planner.adjusted_position();
         current_position[X_AXIS] = corrected_position.x;
         current_position[Y_AXIS] = corrected_position.y;
         current_position[Z_AXIS] = corrected_position.z;
@@ -1502,7 +1501,7 @@ static void setup_for_endstop_move() {
 
     static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
 
-      plan_bed_level_matrix.set_to_identity();
+      planner.bed_level_matrix.set_to_identity();
 
       vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
       vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
@@ -1515,9 +1514,9 @@ static void setup_for_endstop_move() {
         planeNormal.z = -planeNormal.z;
       }
 
-      plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+      planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
 
-      vector_3 corrected_position = plan_get_position();
+      vector_3 corrected_position = planner.adjusted_position();
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) {
@@ -1568,7 +1567,7 @@ static void setup_for_endstop_move() {
        * is not where we said to go.
        */
       long stop_steps = stepper.position(Z_AXIS);
-      float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
+      float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_unit[Z_AXIS];
       current_position[Z_AXIS] = mm;
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1579,7 +1578,7 @@ static void setup_for_endstop_move() {
 
     #else // !DELTA
 
-      plan_bed_level_matrix.set_to_identity();
+      planner.bed_level_matrix.set_to_identity();
       feedrate = homing_feedrate[Z_AXIS];
 
       // Move down until the Z probe (or endstop?) is triggered
@@ -1589,7 +1588,7 @@ static void setup_for_endstop_move() {
 
       // Tell the planner where we ended up - Get this from the stepper handler
       zPosition = stepper.get_axis_position_mm(Z_AXIS);
-      plan_set_position(
+      planner.set_position(
         current_position[X_AXIS], current_position[Y_AXIS], zPosition,
         current_position[E_AXIS]
       );
@@ -2552,7 +2551,7 @@ inline void gcode_G28() {
 
   // For auto bed leveling, clear the level matrix
   #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-    plan_bed_level_matrix.set_to_identity();
+    planner.bed_level_matrix.set_to_identity();
     #if ENABLED(DELTA)
       reset_bed_level();
     #endif
@@ -2630,7 +2629,7 @@ inline void gcode_G28() {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
       if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
         destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
-        feedrate = max_feedrate[Z_AXIS] * 60;  // feedrate (mm/m) = max_feedrate (mm/s)
+        feedrate = planner.max_feedrate[Z_AXIS] * 60;  // feedrate (mm/m) = max_feedrate (mm/s)
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) {
             SERIAL_ECHOPAIR("Raise Z (before homing) to ", (MIN_Z_HEIGHT_FOR_HOMING));
@@ -3201,22 +3200,22 @@ inline void gcode_G28() {
 
       #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(DELTA)
         if (DEBUGGING(LEVELING)) {
-          vector_3 corrected_position = plan_get_position();
+          vector_3 corrected_position = planner.adjusted_position();
           DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
           DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
         }
       #endif
 
       // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
-      plan_bed_level_matrix.set_to_identity();
+      planner.bed_level_matrix.set_to_identity();
 
       #if ENABLED(DELTA)
         reset_bed_level();
       #else //!DELTA
 
-        //vector_3 corrected_position = plan_get_position();
+        //vector_3 corrected_position = planner.adjusted_position();
         //corrected_position.debug("position before G29");
-        vector_3 uncorrected_position = plan_get_position();
+        vector_3 uncorrected_position = planner.adjusted_position();
         //uncorrected_position.debug("position during G29");
         current_position[X_AXIS] = uncorrected_position.x;
         current_position[Y_AXIS] = uncorrected_position.y;
@@ -3415,7 +3414,7 @@ inline void gcode_G28() {
                     y_tmp = eqnAMatrix[ind + 1 * abl2],
                     z_tmp = 0;
 
-              apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
+              apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
 
               NOMORE(min_diff, eqnBVector[ind] - z_tmp);
 
@@ -3438,7 +3437,7 @@ inline void gcode_G28() {
                       y_tmp = eqnAMatrix[ind + 1 * abl2],
                       z_tmp = 0;
 
-                apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
+                apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
 
                 float diff = eqnBVector[ind] - z_tmp - min_diff;
                 if (diff >= 0.0)
@@ -3497,7 +3496,7 @@ inline void gcode_G28() {
       #endif
     #else // !DELTA
       if (verbose_level > 0)
-        plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
+        planner.bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
 
       if (!dryrun) {
         /**
@@ -3508,7 +3507,7 @@ inline void gcode_G28() {
         float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
               y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
               z_tmp = current_position[Z_AXIS],
-              real_z = stepper.get_axis_position_mm(Z_AXIS);  //get the real Z (since plan_get_position is now correcting the plane)
+              real_z = stepper.get_axis_position_mm(Z_AXIS);  //get the real Z (since planner.adjusted_position is now correcting the plane)
 
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) {
@@ -3520,13 +3519,13 @@ inline void gcode_G28() {
         #endif
 
         // Apply the correction sending the Z probe offset
-        apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
+        apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
 
         /*
          * Get the current Z position and send it to the planner.
          *
          * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
-         * (most recent plan_set_position/sync_plan_position)
+         * (most recent planner.set_position/sync_plan_position)
          *
          * >> zprobe_zoffset : Z distance from nozzle to Z probe
          * (set by default, M851, EEPROM, or Menu)
@@ -4065,7 +4064,7 @@ inline void gcode_M42() {
       reset_bed_level();
     #else
       // we don't do bed level correction in M48 because we want the raw data when we probe
-      plan_bed_level_matrix.set_to_identity();
+      planner.bed_level_matrix.set_to_identity();
     #endif
 
     if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
@@ -4454,10 +4453,7 @@ inline void gcode_M109() {
   }
 
   #if ENABLED(AUTOTEMP)
-    autotemp_enabled = code_seen('F');
-    if (autotemp_enabled) autotemp_factor = code_value();
-    if (code_seen('S')) autotemp_min = code_value();
-    if (code_seen('B')) autotemp_max = code_value();
+    planner.autotemp_M109();
   #endif
 
   #if TEMP_RESIDENCY_TIME > 0
@@ -4897,15 +4893,15 @@ inline void gcode_M92() {
       if (i == E_AXIS) {
         float value = code_value();
         if (value < 20.0) {
-          float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
-          max_e_jerk *= factor;
-          max_feedrate[i] *= factor;
-          axis_steps_per_sqr_second[i] *= factor;
+          float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
+          planner.max_e_jerk *= factor;
+          planner.max_feedrate[i] *= factor;
+          planner.axis_steps_per_sqr_second[i] *= factor;
         }
-        axis_steps_per_unit[i] = value;
+        planner.axis_steps_per_unit[i] = value;
       }
       else {
-        axis_steps_per_unit[i] = code_value();
+        planner.axis_steps_per_unit[i] = code_value();
       }
     }
   }
@@ -4940,9 +4936,9 @@ static void report_current_position() {
     SERIAL_EOL;
 
     SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
-    SERIAL_PROTOCOL(delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
+    SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_unit[X_AXIS]);
     SERIAL_PROTOCOLPGM("   Psi+Theta:");
-    SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
+    SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_unit[Y_AXIS]);
     SERIAL_EOL; SERIAL_EOL;
   #endif
 }
@@ -5083,17 +5079,17 @@ inline void gcode_M200() {
 inline void gcode_M201() {
   for (int8_t i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      max_acceleration_units_per_sq_second[i] = code_value();
+      planner.max_acceleration_units_per_sq_second[i] = code_value();
     }
   }
   // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
-  reset_acceleration_rates();
+  planner.reset_acceleration_rates();
 }
 
 #if 0 // Not used for Sprinter/grbl gen6
   inline void gcode_M202() {
     for (int8_t i = 0; i < NUM_AXIS; i++) {
-      if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+      if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * planner.axis_steps_per_unit[i];
     }
   }
 #endif
@@ -5105,7 +5101,7 @@ inline void gcode_M201() {
 inline void gcode_M203() {
   for (int8_t i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      max_feedrate[i] = code_value();
+      planner.max_feedrate[i] = code_value();
     }
   }
 }
@@ -5121,23 +5117,23 @@ inline void gcode_M203() {
  */
 inline void gcode_M204() {
   if (code_seen('S')) {  // Kept for legacy compatibility. Should NOT BE USED for new developments.
-    travel_acceleration = acceleration = code_value();
-    SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", acceleration);
+    planner.travel_acceleration = planner.acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
     SERIAL_EOL;
   }
   if (code_seen('P')) {
-    acceleration = code_value();
-    SERIAL_ECHOPAIR("Setting Print Acceleration: ", acceleration);
+    planner.acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Print Acceleration: ", planner.acceleration);
     SERIAL_EOL;
   }
   if (code_seen('R')) {
-    retract_acceleration = code_value();
-    SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration);
+    planner.retract_acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
     SERIAL_EOL;
   }
   if (code_seen('T')) {
-    travel_acceleration = code_value();
-    SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration);
+    planner.travel_acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
     SERIAL_EOL;
   }
 }
@@ -5153,12 +5149,12 @@ inline void gcode_M204() {
  *    E = Max E Jerk (mm/s/s)
  */
 inline void gcode_M205() {
-  if (code_seen('S')) minimumfeedrate = code_value();
-  if (code_seen('T')) mintravelfeedrate = code_value();
-  if (code_seen('B')) minsegmenttime = code_value();
-  if (code_seen('X')) max_xy_jerk = code_value();
-  if (code_seen('Z')) max_z_jerk = code_value();
-  if (code_seen('E')) max_e_jerk = code_value();
+  if (code_seen('S')) planner.min_feedrate = code_value();
+  if (code_seen('T')) planner.min_travel_feedrate = code_value();
+  if (code_seen('B')) planner.min_segment_time = code_value();
+  if (code_seen('X')) planner.max_xy_jerk = code_value();
+  if (code_seen('Z')) planner.max_z_jerk = code_value();
+  if (code_seen('E')) planner.max_e_jerk = code_value();
 }
 
 /**
@@ -6004,7 +6000,7 @@ inline void gcode_M503() {
 
     #if ENABLED(DELTA)
       #define RUNPLAN calculate_delta(destination); \
-                      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
+                      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
     #else
       #define RUNPLAN line_to_destination();
     #endif
@@ -6097,8 +6093,8 @@ inline void gcode_M503() {
     #if ENABLED(DELTA)
       // Move XYZ to starting position, then E
       calculate_delta(lastpos);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder);
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder);
     #else
       // Move XY to starting position, then Z, then E
       destination[X_AXIS] = lastpos[X_AXIS];
@@ -6292,7 +6288,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
     #ifdef XY_TRAVEL_SPEED
       feedrate = XY_TRAVEL_SPEED;
     #else
-      feedrate = min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]);
+      feedrate = min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS]);
     #endif
   }
 
@@ -6304,12 +6300,12 @@ inline void gcode_T(uint8_t tmp_extruder) {
         if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
             (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
           // Park old head: 1) raise 2) move to park position 3) lower
-          plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
-                           current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
-          plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
-                           current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
-          plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
-                           current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+          planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+                           current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
+          planner.buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+                           current_position[E_AXIS], planner.max_feedrate[X_AXIS], active_extruder);
+          planner.buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
+                           current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
           stepper.synchronize();
         }
 
@@ -7186,9 +7182,9 @@ void clamp_to_software_endstops(float target[3]) {
 #if ENABLED(MESH_BED_LEVELING)
 
 // This function is used to split lines on mesh borders so each segment is only part of one mesh area
-void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
+void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
   if (!mbl.active) {
-    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    planner.buffer_line(x, y, z, e, feed_rate, extruder);
     set_current_to_destination();
     return;
   }
@@ -7202,7 +7198,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
   iy = min(iy, MESH_NUM_Y_POINTS - 2);
   if (pix == ix && piy == iy) {
     // Start and end on same mesh square
-    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    planner.buffer_line(x, y, z, e, feed_rate, extruder);
     set_current_to_destination();
     return;
   }
@@ -7241,7 +7237,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
   }
   else {
     // Already split on a border
-    plan_buffer_line(x, y, z, e, feed_rate, extruder);
+    planner.buffer_line(x, y, z, e, feed_rate, extruder);
     set_current_to_destination();
     return;
   }
@@ -7250,12 +7246,12 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
   destination[Y_AXIS] = ny;
   destination[Z_AXIS] = nz;
   destination[E_AXIS] = ne;
-  mesh_plan_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
+  mesh_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
   destination[X_AXIS] = x;
   destination[Y_AXIS] = y;
   destination[Z_AXIS] = z;
   destination[E_AXIS] = e;
-  mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
+  mesh_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
 }
 #endif  // MESH_BED_LEVELING
 
@@ -7314,7 +7310,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
       //DEBUG_POS("prepare_move_delta", target);
       //DEBUG_POS("prepare_move_delta", delta);
 
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
     }
     return true;
   }
@@ -7331,9 +7327,9 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
     if (active_extruder_parked) {
       if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
         // move duplicate extruder into correct duplication position.
-        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);
+        planner.set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
+                         current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
         sync_plan_position();
         stepper.synchronize();
         extruder_duplication_enabled = true;
@@ -7353,9 +7349,9 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
         }
         delayed_move_time = 0;
         // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
-        plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]), active_extruder);
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+        planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
+        planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS]), active_extruder);
+        planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
         active_extruder_parked = false;
       }
     }
@@ -7373,7 +7369,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
     }
     else {
       #if ENABLED(MESH_BED_LEVELING)
-        mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
+        mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
         return false;
       #else
         line_to_destination(feedrate * feedrate_multiplier / 100.0);
@@ -7387,7 +7383,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
 /**
  * Prepare a single move and get ready for the next one
  *
- * (This may call plan_buffer_line several times to put
+ * (This may call planner.buffer_line several times to put
  *  smaller moves into the planner for DELTA or SCARA.)
  */
 void prepare_move() {
@@ -7531,9 +7527,9 @@ void plan_arc(
       #if ENABLED(AUTO_BED_LEVELING_FEATURE)
         adjust_delta(arc_target);
       #endif
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
     #else
-      plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
+      planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
     #endif
   }
 
@@ -7543,9 +7539,9 @@ void plan_arc(
     #if ENABLED(AUTO_BED_LEVELING_FEATURE)
       adjust_delta(target);
     #endif
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
+    planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
   #else
-    plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
+    planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
   #endif
 
   // As far as the parser is concerned, the position is now == target. In reality the
@@ -7762,7 +7758,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
   if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
 
   if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
-      && !ignore_stepper_queue && !blocks_queued()) {
+      && !ignore_stepper_queue && !planner.blocks_queued()) {
     #if ENABLED(DISABLE_INACTIVE_X)
       disable_x();
     #endif
@@ -7855,12 +7851,12 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
           #endif
         }
         float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
-        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
-                         destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS],
-                         (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS], active_extruder);
+        planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
+                         destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS],
+                         (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], active_extruder);
       current_position[E_AXIS] = oldepos;
       destination[E_AXIS] = oldedes;
-      plan_set_e_position(oldepos);
+      planner.set_e_position(oldepos);
       previous_cmd_ms = ms; // refresh_cmd_timeout()
       stepper.synchronize();
       switch (active_extruder) {
@@ -7900,7 +7896,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
     handle_status_leds();
   #endif
 
-  check_axes_activity();
+  planner.check_axes_activity();
 }
 
 void kill(const char* lcd_msg) {
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 057f95b1c5..8946156b11 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -43,18 +43,18 @@
  *
  *  100  Version (char x4)
  *
- *  104  M92 XYZE  axis_steps_per_unit (float x4)
- *  120  M203 XYZE max_feedrate (float x4)
- *  136  M201 XYZE max_acceleration_units_per_sq_second (uint32_t x4)
- *  152  M204 P    acceleration (float)
- *  156  M204 R    retract_acceleration (float)
- *  160  M204 T    travel_acceleration (float)
- *  164  M205 S    minimumfeedrate (float)
- *  168  M205 T    mintravelfeedrate (float)
- *  172  M205 B    minsegmenttime (ulong)
- *  176  M205 X    max_xy_jerk (float)
- *  180  M205 Z    max_z_jerk (float)
- *  184  M205 E    max_e_jerk (float)
+ *  104  M92 XYZE  planner.axis_steps_per_unit (float x4)
+ *  120  M203 XYZE planner.max_feedrate (float x4)
+ *  136  M201 XYZE planner.max_acceleration_units_per_sq_second (uint32_t x4)
+ *  152  M204 P    planner.acceleration (float)
+ *  156  M204 R    planner.retract_acceleration (float)
+ *  160  M204 T    planner.travel_acceleration (float)
+ *  164  M205 S    planner.min_feedrate (float)
+ *  168  M205 T    planner.min_travel_feedrate (float)
+ *  172  M205 B    planner.min_segment_time (ulong)
+ *  176  M205 X    planner.max_xy_jerk (float)
+ *  180  M205 Z    planner.max_z_jerk (float)
+ *  184  M205 E    planner.max_e_jerk (float)
  *  188  M206 XYZ  home_offset (float x3)
  *
  * Mesh bed leveling:
@@ -173,18 +173,18 @@ void Config_StoreSettings()  {
   char ver[4] = "000";
   int i = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i, ver); // invalidate data first
-  EEPROM_WRITE_VAR(i, axis_steps_per_unit);
-  EEPROM_WRITE_VAR(i, max_feedrate);
-  EEPROM_WRITE_VAR(i, max_acceleration_units_per_sq_second);
-  EEPROM_WRITE_VAR(i, acceleration);
-  EEPROM_WRITE_VAR(i, retract_acceleration);
-  EEPROM_WRITE_VAR(i, travel_acceleration);
-  EEPROM_WRITE_VAR(i, minimumfeedrate);
-  EEPROM_WRITE_VAR(i, mintravelfeedrate);
-  EEPROM_WRITE_VAR(i, minsegmenttime);
-  EEPROM_WRITE_VAR(i, max_xy_jerk);
-  EEPROM_WRITE_VAR(i, max_z_jerk);
-  EEPROM_WRITE_VAR(i, max_e_jerk);
+  EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit);
+  EEPROM_WRITE_VAR(i, planner.max_feedrate);
+  EEPROM_WRITE_VAR(i, planner.max_acceleration_units_per_sq_second);
+  EEPROM_WRITE_VAR(i, planner.acceleration);
+  EEPROM_WRITE_VAR(i, planner.retract_acceleration);
+  EEPROM_WRITE_VAR(i, planner.travel_acceleration);
+  EEPROM_WRITE_VAR(i, planner.min_feedrate);
+  EEPROM_WRITE_VAR(i, planner.min_travel_feedrate);
+  EEPROM_WRITE_VAR(i, planner.min_segment_time);
+  EEPROM_WRITE_VAR(i, planner.max_xy_jerk);
+  EEPROM_WRITE_VAR(i, planner.max_z_jerk);
+  EEPROM_WRITE_VAR(i, planner.max_e_jerk);
   EEPROM_WRITE_VAR(i, home_offset);
 
   uint8_t mesh_num_x = 3;
@@ -351,22 +351,22 @@ void Config_RetrieveSettings() {
     float dummy = 0;
 
     // version number match
-    EEPROM_READ_VAR(i, axis_steps_per_unit);
-    EEPROM_READ_VAR(i, max_feedrate);
-    EEPROM_READ_VAR(i, max_acceleration_units_per_sq_second);
+    EEPROM_READ_VAR(i, planner.axis_steps_per_unit);
+    EEPROM_READ_VAR(i, planner.max_feedrate);
+    EEPROM_READ_VAR(i, planner.max_acceleration_units_per_sq_second);
 
     // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
-    reset_acceleration_rates();
+    planner.reset_acceleration_rates();
 
-    EEPROM_READ_VAR(i, acceleration);
-    EEPROM_READ_VAR(i, retract_acceleration);
-    EEPROM_READ_VAR(i, travel_acceleration);
-    EEPROM_READ_VAR(i, minimumfeedrate);
-    EEPROM_READ_VAR(i, mintravelfeedrate);
-    EEPROM_READ_VAR(i, minsegmenttime);
-    EEPROM_READ_VAR(i, max_xy_jerk);
-    EEPROM_READ_VAR(i, max_z_jerk);
-    EEPROM_READ_VAR(i, max_e_jerk);
+    EEPROM_READ_VAR(i, planner.acceleration);
+    EEPROM_READ_VAR(i, planner.retract_acceleration);
+    EEPROM_READ_VAR(i, planner.travel_acceleration);
+    EEPROM_READ_VAR(i, planner.min_feedrate);
+    EEPROM_READ_VAR(i, planner.min_travel_feedrate);
+    EEPROM_READ_VAR(i, planner.min_segment_time);
+    EEPROM_READ_VAR(i, planner.max_xy_jerk);
+    EEPROM_READ_VAR(i, planner.max_z_jerk);
+    EEPROM_READ_VAR(i, planner.max_e_jerk);
     EEPROM_READ_VAR(i, home_offset);
 
     uint8_t dummy_uint8 = 0, mesh_num_x = 0, mesh_num_y = 0;
@@ -528,9 +528,9 @@ void Config_ResetDefault() {
   float tmp2[] = DEFAULT_MAX_FEEDRATE;
   long tmp3[] = DEFAULT_MAX_ACCELERATION;
   for (uint8_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];
+    planner.axis_steps_per_unit[i] = tmp1[i];
+    planner.max_feedrate[i] = tmp2[i];
+    planner.max_acceleration_units_per_sq_second[i] = tmp3[i];
     #if ENABLED(SCARA)
       if (i < COUNT(axis_scaling))
         axis_scaling[i] = 1;
@@ -538,17 +538,17 @@ void Config_ResetDefault() {
   }
 
   // steps per sq second need to be updated to agree with the units per sq second
-  reset_acceleration_rates();
+  planner.reset_acceleration_rates();
 
-  acceleration = DEFAULT_ACCELERATION;
-  retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
-  travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
-  minimumfeedrate = DEFAULT_MINIMUMFEEDRATE;
-  minsegmenttime = DEFAULT_MINSEGMENTTIME;
-  mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE;
-  max_xy_jerk = DEFAULT_XYJERK;
-  max_z_jerk = DEFAULT_ZJERK;
-  max_e_jerk = DEFAULT_EJERK;
+  planner.acceleration = DEFAULT_ACCELERATION;
+  planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
+  planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
+  planner.min_feedrate = DEFAULT_MINIMUMFEEDRATE;
+  planner.min_segment_time = DEFAULT_MINSEGMENTTIME;
+  planner.min_travel_feedrate = DEFAULT_MINTRAVELFEEDRATE;
+  planner.max_xy_jerk = DEFAULT_XYJERK;
+  planner.max_z_jerk = DEFAULT_ZJERK;
+  planner.max_e_jerk = DEFAULT_EJERK;
   home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
 
   #if ENABLED(MESH_BED_LEVELING)
@@ -653,10 +653,10 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Steps per unit:");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M92 X", axis_steps_per_unit[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y", axis_steps_per_unit[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z", axis_steps_per_unit[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E", axis_steps_per_unit[E_AXIS]);
+  SERIAL_ECHOPAIR("  M92 X", planner.axis_steps_per_unit[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_unit[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_unit[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.axis_steps_per_unit[E_AXIS]);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;
@@ -677,10 +677,10 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M203 X", max_feedrate[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z", max_feedrate[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E", max_feedrate[E_AXIS]);
+  SERIAL_ECHOPAIR("  M203 X", planner.max_feedrate[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.max_feedrate[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.max_feedrate[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.max_feedrate[E_AXIS]);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;
@@ -688,19 +688,19 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M201 X", max_acceleration_units_per_sq_second[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y", max_acceleration_units_per_sq_second[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z", max_acceleration_units_per_sq_second[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E", max_acceleration_units_per_sq_second[E_AXIS]);
+  SERIAL_ECHOPAIR("  M201 X", planner.max_acceleration_units_per_sq_second[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.max_acceleration_units_per_sq_second[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.max_acceleration_units_per_sq_second[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.max_acceleration_units_per_sq_second[E_AXIS]);
   SERIAL_EOL;
   CONFIG_ECHO_START;
   if (!forReplay) {
     SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M204 P", acceleration);
-  SERIAL_ECHOPAIR(" R", retract_acceleration);
-  SERIAL_ECHOPAIR(" T", travel_acceleration);
+  SERIAL_ECHOPAIR("  M204 P", planner.acceleration);
+  SERIAL_ECHOPAIR(" R", planner.retract_acceleration);
+  SERIAL_ECHOPAIR(" T", planner.travel_acceleration);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;
@@ -708,12 +708,12 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M205 S", minimumfeedrate);
-  SERIAL_ECHOPAIR(" T", mintravelfeedrate);
-  SERIAL_ECHOPAIR(" B", minsegmenttime);
-  SERIAL_ECHOPAIR(" X", max_xy_jerk);
-  SERIAL_ECHOPAIR(" Z", max_z_jerk);
-  SERIAL_ECHOPAIR(" E", max_e_jerk);
+  SERIAL_ECHOPAIR("  M205 S", planner.min_feedrate);
+  SERIAL_ECHOPAIR(" T", planner.min_travel_feedrate);
+  SERIAL_ECHOPAIR(" B", planner.min_segment_time);
+  SERIAL_ECHOPAIR(" X", planner.max_xy_jerk);
+  SERIAL_ECHOPAIR(" Z", planner.max_z_jerk);
+  SERIAL_ECHOPAIR(" E", planner.max_e_jerk);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 9347744a58..5e55c7dd88 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -81,105 +81,27 @@
   #include "mesh_bed_leveling.h"
 #endif
 
-//===========================================================================
-//============================= public variables ============================
-//===========================================================================
+Planner planner;
 
-millis_t minsegmenttime;
-float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
-float axis_steps_per_unit[NUM_AXIS];
-unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
-float minimumfeedrate;
-float acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
-float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
-float travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-float max_xy_jerk;          // The largest speed change requiring no acceleration
-float max_z_jerk;
-float max_e_jerk;
-float mintravelfeedrate;
-unsigned long axis_steps_per_sqr_second[NUM_AXIS];
-
-#if ENABLED(AUTO_BED_LEVELING_FEATURE)
-  // Transform required to compensate for bed level
-  matrix_3x3 plan_bed_level_matrix = {
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  };
-#endif // AUTO_BED_LEVELING_FEATURE
-
-#if ENABLED(AUTOTEMP)
-  float autotemp_max = 250;
-  float autotemp_min = 210;
-  float autotemp_factor = 0.1;
-  bool autotemp_enabled = false;
-#endif
-
-#if ENABLED(FAN_SOFT_PWM)
-  extern unsigned char fanSpeedSoftPwm[FAN_COUNT];
-#endif
-
-//===========================================================================
-//============ semi-private variables, used in inline functions =============
-//===========================================================================
-
-block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
-volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-volatile unsigned char block_buffer_tail;           // Index of the block to process now
-
-//===========================================================================
-//============================ private variables ============================
-//===========================================================================
-
-// The current position of the tool in absolute steps
-long position[NUM_AXIS];               // Rescaled from extern when axis_steps_per_unit are changed by gcode
-static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
-static float previous_nominal_speed;   // Nominal speed of previous path line segment
-
-uint8_t g_uc_extruder_last_move[EXTRUDERS] = { 0 };
-
-#ifdef XY_FREQUENCY_LIMIT
-  // Used for the frequency limit
-  #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-  // Old direction bits. Used for speed calculations
-  static unsigned char old_direction_bits = 0;
-  // Segment times (in µs). Used for speed calculations
-  static long axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
-#endif
-
-#if ENABLED(DUAL_X_CARRIAGE)
-  extern bool extruder_duplication_enabled;
-#endif
-
-//===========================================================================
-//================================ functions ================================
-//===========================================================================
-
-// Get the next / previous index of the next block in the ring buffer
-// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
-FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
-FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
-
-// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
-// given acceleration:
-FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
-  if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
-  return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
+Planner::Planner() {
+  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+    bed_level_matrix.set_to_identity();
+  #endif
+  init();
 }
 
-// This function gives you the point at which you must start braking (at the rate of -acceleration) if
-// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
-// a total travel of distance. This can be used to compute the intersection point between acceleration and
-// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
-
-FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
-  if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
-  return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
+void Planner::init() {
+  block_buffer_head = block_buffer_tail = 0;
+  memset(position, 0, sizeof(position)); // clear position
+  for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
+  previous_nominal_speed = 0.0;
 }
 
-// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
-
-void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
+/**
+ * Calculate trapezoid parameters, multiplying the entry- and exit-speeds
+ * by the provided factors.
+ */
+void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
   unsigned long initial_rate = ceil(block->nominal_rate * entry_factor),
                 final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
 
@@ -225,12 +147,6 @@ void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exi
   CRITICAL_SECTION_END;
 }
 
-// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
-// acceleration within the allotted distance.
-FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
-  return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
-}
-
 // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
 // This method will calculate the junction jerk as the euclidean distance between the nominal
 // velocities of the respective blocks.
@@ -240,8 +156,8 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
 //}
 
 
-// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
-void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
+// The kernel called by recalculate() when scanning the plan from last to first entry.
+void Planner::reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
   if (!current) return;
   UNUSED(previous);
 
@@ -267,31 +183,34 @@ void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* n
   } // Skip last block. Already initialized and set for recalculation.
 }
 
-// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
-// implements the reverse pass.
-void planner_reverse_pass() {
-  uint8_t block_index = block_buffer_head;
+/**
+ * recalculate() needs to go over the current plan twice.
+ * Once in reverse and once forward. This implements the reverse pass.
+ */
+void Planner::reverse_pass() {
 
-  //Make a local copy of block_buffer_tail, because the interrupt can alter it
-  CRITICAL_SECTION_START;
-    unsigned char tail = block_buffer_tail;
-  CRITICAL_SECTION_END
+  if (movesplanned() > 3) {
 
-  if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
-    block_index = BLOCK_MOD(block_buffer_head - 3);
     block_t* block[3] = { NULL, NULL, NULL };
-    while (block_index != tail) {
-      block_index = prev_block_index(block_index);
+
+    // Make a local copy of block_buffer_tail, because the interrupt can alter it
+    CRITICAL_SECTION_START;
+      uint8_t tail = block_buffer_tail;
+    CRITICAL_SECTION_END
+
+    uint8_t b = BLOCK_MOD(block_buffer_head - 3);
+    while (b != tail) {
+      b = prev_block_index(b);
       block[2] = block[1];
       block[1] = block[0];
-      block[0] = &block_buffer[block_index];
-      planner_reverse_pass_kernel(block[0], block[1], block[2]);
+      block[0] = &block_buffer[b];
+      reverse_pass_kernel(block[0], block[1], block[2]);
     }
   }
 }
 
-// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
-void planner_forward_pass_kernel(block_t* previous, block_t* current, block_t* next) {
+// The kernel called by recalculate() when scanning the plan from first to last entry.
+void Planner::forward_pass_kernel(block_t* previous, block_t* current, block_t* next) {
   if (!previous) return;
   UNUSED(next);
 
@@ -312,26 +231,28 @@ void planner_forward_pass_kernel(block_t* previous, block_t* current, block_t* n
   }
 }
 
-// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
-// implements the forward pass.
-void planner_forward_pass() {
-  uint8_t block_index = block_buffer_tail;
+/**
+ * recalculate() needs to go over the current plan twice.
+ * Once in reverse and once forward. This implements the forward pass.
+ */
+void Planner::forward_pass() {
   block_t* block[3] = { NULL, NULL, NULL };
 
-  while (block_index != block_buffer_head) {
+  for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
     block[0] = block[1];
     block[1] = block[2];
-    block[2] = &block_buffer[block_index];
-    planner_forward_pass_kernel(block[0], block[1], block[2]);
-    block_index = next_block_index(block_index);
+    block[2] = &block_buffer[b];
+    forward_pass_kernel(block[0], block[1], block[2]);
   }
-  planner_forward_pass_kernel(block[1], block[2], NULL);
+  forward_pass_kernel(block[1], block[2], NULL);
 }
 
-// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
-// entry_factor for each junction. Must be called by planner_recalculate() after
-// updating the blocks.
-void planner_recalculate_trapezoids() {
+/**
+ * Recalculate the trapezoid speed profiles for all blocks in the plan
+ * according to the entry_factor for each junction. Must be called by
+ * recalculate() after updating the blocks.
+ */
+void Planner::recalculate_trapezoids() {
   int8_t block_index = block_buffer_tail;
   block_t* current;
   block_t* next = NULL;
@@ -358,54 +279,52 @@ void planner_recalculate_trapezoids() {
   }
 }
 
-// Recalculates the motion plan according to the following algorithm:
-//
-//   1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
-//      so that:
-//     a. The junction jerk is within the set limit
-//     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 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
-// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
-// the set limit. Finally it will:
-//
-//   3. Recalculate trapezoids for all blocks.
-
-void planner_recalculate() {
-  planner_reverse_pass();
-  planner_forward_pass();
-  planner_recalculate_trapezoids();
-}
-
-void plan_init() {
-  block_buffer_head = block_buffer_tail = 0;
-  memset(position, 0, sizeof(position)); // clear position
-  for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
-  previous_nominal_speed = 0.0;
+/*
+ * Recalculate the motion plan according to the following algorithm:
+ *
+ *   1. Go over every block in reverse order...
+ *
+ *      Calculate a junction speed reduction (block_t.entry_factor) so:
+ *
+ *      a. The junction jerk is within the set limit, and
+ *
+ *      b. No speed reduction within one block requires faster
+ *         deceleration than the one, true constant acceleration.
+ *
+ *   2. Go over every block in chronological order...
+ *
+ *      Dial down junction speed reduction values if:
+ *      a. The speed increase within one block would require faster
+ *         acceleration than the one, true constant acceleration.
+ *
+ * After that, all blocks will have an entry_factor allowing all speed changes to
+ * be performed using only the one, true constant acceleration, and where no junction
+ * jerk is jerkier than the set limit, Jerky. Finally it will:
+ *
+ *   3. Recalculate "trapezoids" for all blocks.
+ */
+void Planner::recalculate() {
+  reverse_pass();
+  forward_pass();
+  recalculate_trapezoids();
 }
 
 
 #if ENABLED(AUTOTEMP)
-  void getHighESpeed() {
+
+  void Planner::getHighESpeed() {
     static float oldt = 0;
 
     if (!autotemp_enabled) return;
     if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
 
     float high = 0.0;
-    uint8_t block_index = block_buffer_tail;
-
-    while (block_index != block_buffer_head) {
-      block_t* block = &block_buffer[block_index];
+    for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
+      block_t* block = &block_buffer[b];
       if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
         float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
         NOLESS(high, se);
       }
-      block_index = next_block_index(block_index);
     }
 
     float t = autotemp_min + high * autotemp_factor;
@@ -417,9 +336,13 @@ void plan_init() {
     oldt = t;
     setTargetHotend0(t);
   }
+
 #endif //AUTOTEMP
 
-void check_axes_activity() {
+/**
+ * Maintain fans, paste extruder pressure, 
+ */
+void Planner::check_axes_activity() {
   unsigned char axis_active[NUM_AXIS] = { 0 },
                 tail_fan_speed[FAN_COUNT];
 
@@ -432,26 +355,23 @@ void check_axes_activity() {
                   tail_e_to_p_pressure = baricuda_e_to_p_pressure;
   #endif
 
-  block_t* block;
-
   if (blocks_queued()) {
 
-    uint8_t block_index = block_buffer_tail;
-
     #if FAN_COUNT > 0
-      for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_index].fan_speed[i];
+      for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_buffer_tail].fan_speed[i];
     #endif
 
+    block_t* block;
+
     #if ENABLED(BARICUDA)
-      block = &block_buffer[block_index];
+      block = &block_buffer[block_buffer_tail];
       tail_valve_pressure = block->valve_pressure;
       tail_e_to_p_pressure = block->e_to_p_pressure;
     #endif
 
-    while (block_index != block_buffer_head) {
-      block = &block_buffer[block_index];
+    for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
+      block = &block_buffer[b];
       for (int i = 0; i < NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
-      block_index = next_block_index(block_index);
     }
   }
   #if ENABLED(DISABLE_X)
@@ -549,15 +469,20 @@ void check_axes_activity() {
   #endif
 }
 
+/**
+ * Planner::buffer_line
+ *
+ * Add a new linear movement to the buffer.
+ *
+ *  x,y,z,e   - target position in mm
+ *  feed_rate - (target) speed of the move
+ *  extruder  - target extruder
+ */
 
-float junction_deviation = 0.1;
-// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
-// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
-// calculation the caller must also provide the physical length of the line in millimeters.
 #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-  void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder)
+  void Planner::buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder)
 #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 Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder)
 #endif  // AUTO_BED_LEVELING_FEATURE
 {
   // Calculate the buffer head after we push this byte
@@ -570,7 +495,7 @@ float junction_deviation = 0.1;
   #if ENABLED(MESH_BED_LEVELING)
     if (mbl.active) z += mbl.get_z(x - home_offset[X_AXIS], y - home_offset[Y_AXIS]);
   #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
-    apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+    apply_rotation_xyz(bed_level_matrix, x, y, z);
   #endif
 
   // The target position of the tool in absolute steps
@@ -703,7 +628,8 @@ float junction_deviation = 0.1;
 
   // Enable extruder(s)
   if (block->steps[E_AXIS]) {
-    if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
+
+    #if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
 
       for (int i = 0; i < EXTRUDERS; i++)
         if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
@@ -762,19 +688,18 @@ float junction_deviation = 0.1;
           #endif // EXTRUDERS > 2
         #endif // EXTRUDERS > 1
       }
-    }
-    else { // enable all
+    #else
       enable_e0();
       enable_e1();
       enable_e2();
       enable_e3();
-    }
+    #endif
   }
 
   if (block->steps[E_AXIS])
-    NOLESS(feed_rate, minimumfeedrate);
+    NOLESS(feed_rate, min_feedrate);
   else
-    NOLESS(feed_rate, mintravelfeedrate);
+    NOLESS(feed_rate, min_travel_feedrate);
 
   /**
    * This part of the code calculates the total length of the movement.
@@ -837,9 +762,9 @@ float junction_deviation = 0.1;
       //  segment time im micro seconds
       unsigned long segment_time = lround(1000000.0/inverse_second);
       if (mq) {
-        if (segment_time < minsegmenttime) {
+        if (segment_time < min_segment_time) {
           // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-          inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
+          inverse_second = 1000000.0 / (segment_time + lround(2 * (min_segment_time - segment_time) / moves_queued));
           #ifdef XY_FREQUENCY_LIMIT
             segment_time = lround(1000000.0 / inverse_second);
           #endif
@@ -968,6 +893,9 @@ float junction_deviation = 0.1;
   block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
 
   #if 0  // Use old jerk for now
+
+    float junction_deviation = 0.1;
+
     // Compute path unit vector
     double unit_vec[3];
 
@@ -1083,11 +1011,11 @@ float junction_deviation = 0.1;
   // Update position
   for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
 
-  planner_recalculate();
+  recalculate();
 
   stepper.wake_up();
 
-} // plan_buffer_line()
+} // buffer_line()
 
 #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
 
@@ -1096,13 +1024,15 @@ float junction_deviation = 0.1;
    *
    * On CORE machines XYZ is derived from ABC.
    */
-  vector_3 plan_get_position() {
+  vector_3 Planner::adjusted_position() {
     vector_3 position = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
 
-    //position.debug("in plan_get position");
-    //plan_bed_level_matrix.debug("in plan_get_position");
-    matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
-    //inverse.debug("in plan_get inverse");
+    //position.debug("in Planner::position");
+    //bed_level_matrix.debug("in Planner::position");
+
+    matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
+    //inverse.debug("in Planner::inverse");
+
     position.apply_rotation(inverse);
     //position.debug("after rotation");
 
@@ -1117,15 +1047,15 @@ float junction_deviation = 0.1;
  * On CORE machines stepper ABC will be translated from the given XYZ.
  */
 #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-  void plan_set_position(float x, float y, float z, const float& e)
+  void Planner::set_position(float x, float y, float z, const float& e)
 #else
-  void plan_set_position(const float& x, const float& y, const float& z, const float& e)
+  void Planner::set_position(const float& x, const float& y, const float& z, const float& e)
 #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
   {
     #if ENABLED(MESH_BED_LEVELING)
       if (mbl.active) z += mbl.get_z(x - home_offset[X_AXIS], y - home_offset[Y_AXIS]);
     #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
-      apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+      apply_rotation_xyz(bed_level_matrix, x, y, z);
     #endif
 
     long nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]),
@@ -1138,13 +1068,27 @@ float junction_deviation = 0.1;
     for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
   }
 
-void plan_set_e_position(const float& e) {
+/**
+ * Directly set the planner E position (hence the stepper E position).
+ */
+void Planner::set_e_position(const float& e) {
   position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
   stepper.set_e_position(position[E_AXIS]);
 }
 
-// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
-void reset_acceleration_rates() {
+// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
+void Planner::reset_acceleration_rates() {
   for (int i = 0; i < NUM_AXIS; i++)
     axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
 }
+
+#if ENABLED(AUTOTEMP)
+
+  void Planner::autotemp_M109() {
+    autotemp_enabled = code_seen('F');
+    if (autotemp_enabled) autotemp_factor = code_value();
+    if (code_seen('S')) autotemp_min = code_value();
+    if (code_seen('B')) autotemp_max = code_value();
+  }
+
+#endif
diff --git a/Marlin/planner.h b/Marlin/planner.h
index dd724424b6..f4e126c0bd 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -48,17 +48,36 @@
 
 #include "Marlin.h"
 
-// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
-// the source g-code and may never actually be reached if acceleration management is active.
+#if ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #include "vector_3.h"
+#endif
+
+class Planner;
+extern Planner planner;
+
+/**
+ * struct block_t
+ *
+ * A single entry in the planner buffer.
+ * Tracks linear movement over multiple axes.
+ *
+ * The "nominal" values are as-specified by gcode, and
+ * may never actually be reached due to acceleration limits.
+ */
 typedef struct {
+
+  unsigned char active_extruder;            // The extruder to move (if E move)
+
   // Fields used by the bresenham algorithm for tracing the line
   long steps[NUM_AXIS];                     // Step count along each axis
   unsigned long step_event_count;           // The number of step events required to complete this block
+
   long accelerate_until;                    // The index of the step event on which to stop acceleration
   long decelerate_after;                    // The index of the step event on which to start decelerating
   long acceleration_rate;                   // The acceleration rate used for acceleration calculation
+
   unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
-  unsigned char active_extruder;            // Selects the active extruder
+
   #if ENABLED(ADVANCE)
     long advance_rate;
     volatile long initial_advance;
@@ -67,7 +86,6 @@ typedef struct {
   #endif
 
   // Fields used by the motion planner to manage acceleration
-  // float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/sec for each axis
   float nominal_speed;                               // The nominal speed for this block in mm/sec
   float entry_speed;                                 // Entry speed at previous-current junction in mm/sec
   float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec
@@ -97,102 +115,220 @@ typedef struct {
 
 #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
 
-// Initialize the motion plan subsystem
-void plan_init();
+class Planner {
 
-void check_axes_activity();
-
-// Get the number of buffered moves
-extern volatile unsigned char block_buffer_head;
-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 ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-    #include "vector_3.h"
-
-    // Transform required to compensate for bed level
-    extern matrix_3x3 plan_bed_level_matrix;
+  public:
 
     /**
-     * Get the position applying the bed level matrix
+     * A ring buffer of moves described in steps
      */
-    vector_3 plan_get_position();
-  #endif  // AUTO_BED_LEVELING_FEATURE
+    block_t block_buffer[BLOCK_BUFFER_SIZE];
+    volatile uint8_t block_buffer_head = 0;           // Index of the next block to be pushed
+    volatile uint8_t block_buffer_tail = 0;
 
-  /**
-   * 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);
+    float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
+    float axis_steps_per_unit[NUM_AXIS];
+    unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+    unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
 
-  /**
-   * 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);
+    millis_t min_segment_time;
+    float min_feedrate;
+    float acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
+    float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
+    float travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
+    float max_xy_jerk;          // The largest speed change requiring no acceleration
+    float max_z_jerk;
+    float max_e_jerk;
+    float min_travel_feedrate;
 
-#else
+    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+      matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
+    #endif
 
-  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);
+  private:
 
-#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
+    /**
+     * The current position of the tool in absolute steps
+     * Reclculated if any axis_steps_per_unit are changed by gcode
+     */
+    long position[NUM_AXIS] = { 0 };
 
-void plan_set_e_position(const float& e);
+    /**
+     * Speed of previous path line segment
+     */
+    float previous_speed[NUM_AXIS];
 
-//===========================================================================
-//============================= public variables ============================
-//===========================================================================
+    /**
+     * Nominal speed of previous path line segment
+     */
+    float previous_nominal_speed;
 
-extern millis_t minsegmenttime;
-extern float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
-extern float axis_steps_per_unit[NUM_AXIS];
-extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
-extern float minimumfeedrate;
-extern float acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
-extern float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
-extern float travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-extern float max_xy_jerk;          // The largest speed change requiring no acceleration
-extern float max_z_jerk;
-extern float max_e_jerk;
-extern float mintravelfeedrate;
-extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+    #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
+      /**
+       * Counters to manage disabling inactive extruders
+       */
+      uint8_t g_uc_extruder_last_move[EXTRUDERS] = { 0 };
+    #endif // DISABLE_INACTIVE_EXTRUDER
 
-#if ENABLED(AUTOTEMP)
-  extern bool autotemp_enabled;
-  extern float autotemp_max;
-  extern float autotemp_min;
-  extern float autotemp_factor;
-#endif
+    #ifdef XY_FREQUENCY_LIMIT
+      // Used for the frequency limit
+      #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+      // Old direction bits. Used for speed calculations
+      static unsigned char old_direction_bits = 0;
+      // Segment times (in µs). Used for speed calculations
+      static long axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
+    #endif
 
-extern block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instructions
-extern volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
-extern volatile unsigned char block_buffer_tail;
+    #if ENABLED(DUAL_X_CARRIAGE)
+      extern bool extruder_duplication_enabled;
+    #endif
 
-// Returns true if the buffer has a queued block, false otherwise
-FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+  public:
 
-// Called when the current block is no longer needed. Discards
-// the block and makes the memory available for new blocks.
-FORCE_INLINE void plan_discard_current_block() {
-  if (blocks_queued())
-    block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
-}
+    Planner();
 
-// Gets the current block. Returns NULL if buffer empty
-FORCE_INLINE block_t* plan_get_current_block() {
-  if (blocks_queued()) {
-    block_t* block = &block_buffer[block_buffer_tail];
-    block->busy = true;
-    return block;
-  }
-  else
-    return NULL;
-}
+    void init();
 
-void reset_acceleration_rates();
+    void reset_acceleration_rates();
+
+    // Manage fans, paste pressure, etc.
+    void check_axes_activity();
+
+    /**
+     * Number of moves currently in the planner
+     */
+    FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
+
+    #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
+
+      #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+        /**
+         * The corrected position, applying the bed level matrix
+         */
+        vector_3 adjusted_position();
+      #endif
+
+      /**
+       * Add a new linear movement to the buffer.
+       *
+       *  x,y,z,e   - target position in mm
+       *  feed_rate - (target) speed of the move
+       *  extruder  - target extruder
+       */
+      void buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
+
+      /**
+       * Set the planner.position and individual stepper positions.
+       * Used by G92, G28, G29, and other procedures.
+       *
+       * Multiplies by axis_steps_per_unit[] and does necessary conversion
+       * for COREXY / COREXZ to set the corresponding stepper positions.
+       *
+       * Clears previous speed values.
+       */
+      void set_position(float x, float y, float z, const float& e);
+
+    #else
+
+      void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
+      void set_position(const float& x, const float& y, const float& z, const float& e);
+
+    #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
+
+    /**
+     * Set the E position (mm) of the planner (and the E stepper)
+     */
+    void set_e_position(const float& e);
+
+    /**
+     * Does the buffer have any blocks queued?
+     */
+    FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+
+    /**
+     * "Discards" the block and "releases" the memory.
+     * Called when the current block is no longer needed.
+     */
+    FORCE_INLINE void discard_current_block() {
+      if (blocks_queued())
+        block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
+    }
+
+    /**
+     * The current block. NULL if the buffer is empty.
+     * This also marks the block as busy.
+     */
+    FORCE_INLINE block_t* get_current_block() {
+      if (blocks_queued()) {
+        block_t* block = &block_buffer[block_buffer_tail];
+        block->busy = true;
+        return block;
+      }
+      else
+        return NULL;
+    }
+
+    /**
+     * Get the index of the next / previous block in the ring buffer
+     */
+    FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
+    FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
+
+    /**
+     * Calculate the distance (not time) it takes to accelerate
+     * from initial_rate to target_rate using the given acceleration:
+     */
+    FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+      if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
+      return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
+    }
+
+    /**
+     * Return the point at which you must start braking (at the rate of -'acceleration') if
+     * you start at 'initial_rate', accelerate (until reaching the point), and want to end at
+     * 'final_rate' after traveling 'distance'.
+     *
+     * This is used to compute the intersection point between acceleration and deceleration
+     * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
+     */
+    FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
+      if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
+      return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
+    }
+
+    /**
+     * Calculate the maximum allowable speed at this point, in order
+     * to reach 'target_velocity' using 'acceleration' within a given
+     * 'distance'.
+     */
+    FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
+      return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
+    }
+
+
+    #if ENABLED(AUTOTEMP)
+      float autotemp_max = 250;
+      float autotemp_min = 210;
+      float autotemp_factor = 0.1;
+      bool autotemp_enabled = false;
+      void getHighESpeed();
+      void autotemp_M109();
+    #endif
+
+  private:
+
+    void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
+
+    void reverse_pass_kernel(block_t* previous, block_t* current, block_t* next);
+    void forward_pass_kernel(block_t* previous, block_t* current, block_t* next);
+
+    void reverse_pass();
+    void forward_pass();
+
+    void recalculate_trapezoids();
+
+    void recalculate();
+
+};
 
 #endif // PLANNER_H
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index d3fa2b6375..e282801373 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -242,7 +242,7 @@ ISR(TIMER1_COMPA_vect) { stepper.isr(); }
 void Stepper::isr() {
   if (cleaning_buffer_counter) {
     current_block = NULL;
-    plan_discard_current_block();
+    planner.discard_current_block();
     #ifdef SD_FINISHED_RELEASECOMMAND
       if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
     #endif
@@ -254,7 +254,7 @@ void Stepper::isr() {
   // If there is no current block, attempt to pop one from the buffer
   if (!current_block) {
     // Anything in the buffer?
-    current_block = plan_get_current_block();
+    current_block = planner.get_current_block();
     if (current_block) {
       current_block->busy = true;
       trapezoid_generator_reset();
@@ -396,7 +396,7 @@ void Stepper::isr() {
     // If current block is finished, reset pointer
     if (step_events_completed >= current_block->step_event_count) {
       current_block = NULL;
-      plan_discard_current_block();
+      planner.discard_current_block();
     }
   }
 }
@@ -620,7 +620,7 @@ void Stepper::init() {
 /**
  * Block until all buffered steps are executed
  */
-void Stepper::synchronize() { while (blocks_queued()) idle(); }
+void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
 
 /**
  * Set the stepper positions directly in steps
@@ -693,7 +693,7 @@ float Stepper::get_axis_position_mm(AxisEnum axis) {
   #else
     axis_steps = position(axis);
   #endif
-  return axis_steps / axis_steps_per_unit[axis];
+  return axis_steps / planner.axis_steps_per_unit[axis];
 }
 
 void Stepper::finish_and_disable() {
@@ -704,7 +704,7 @@ void Stepper::finish_and_disable() {
 void Stepper::quick_stop() {
   cleaning_buffer_counter = 5000;
   DISABLE_STEPPER_DRIVER_INTERRUPT();
-  while (blocks_queued()) plan_discard_current_block();
+  while (planner.blocks_queued()) planner.discard_current_block();
   current_block = NULL;
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 3efad54694..6f2e99dc99 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -245,7 +245,7 @@ class Stepper {
     // Triggered position of an axis in mm (not core-savvy)
     //
     FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
-      return endstops_trigsteps[axis] / axis_steps_per_unit[axis];
+      return endstops_trigsteps[axis] / planner.axis_steps_per_unit[axis];
     }
 
     FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index de61e63304..7c5db54c8f 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -613,7 +613,7 @@ float get_pid_output(int e) {
               lpq[lpq_ptr++] = 0;
             }
             if (lpq_ptr >= lpq_len) lpq_ptr = 0;
-            cTerm[e] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
+            cTerm[e] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
             pid_output += cTerm[e];
           }
         #endif //PID_ADD_EXTRUSION_RATE
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index c49f2c46a5..11406c5339 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -79,6 +79,10 @@ extern float current_temperature_bed;
   extern unsigned char soft_pwm_bed;
 #endif
 
+#if ENABLED(FAN_SOFT_PWM)
+  extern unsigned char fanSpeedSoftPwm[FAN_COUNT];
+#endif
+
 #if ENABLED(PIDTEMP)
 
   #if ENABLED(PID_PARAMS_PER_EXTRUDER)
@@ -178,9 +182,9 @@ void checkExtruderAutoFans();
 
 FORCE_INLINE void autotempShutdown() {
   #if ENABLED(AUTOTEMP)
-    if (autotemp_enabled) {
-      autotemp_enabled = false;
-      if (degTargetHotend(active_extruder) > autotemp_min)
+    if (planner.autotemp_enabled) {
+      planner.autotemp_enabled = false;
+      if (degTargetHotend(active_extruder) > planner.autotemp_min)
         setTargetHotend(0, active_extruder);
     }
   #endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 33ede883a0..6acb889ec7 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -463,9 +463,9 @@ static void lcd_status_screen() {
 inline void line_to_current(AxisEnum axis) {
   #if ENABLED(DELTA)
     calculate_delta(current_position);
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
+    planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #else
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #endif
 }
 
@@ -495,7 +495,7 @@ inline void line_to_current(AxisEnum axis) {
 static void lcd_main_menu() {
   START_MENU();
   MENU_ITEM(back, MSG_WATCH);
-  if (movesplanned() || IS_SD_PRINTING) {
+  if (planner.movesplanned() || IS_SD_PRINTING) {
     MENU_ITEM(submenu, MSG_TUNE, lcd_tune_menu);
   }
   else {
@@ -934,7 +934,7 @@ void lcd_cooldown() {
     ENCODER_DIRECTION_NORMAL();
 
     // Encoder wheel adjusts the Z position
-    if (encoderPosition && movesplanned() <= 3) {
+    if (encoderPosition && planner.movesplanned() <= 3) {
       refresh_cmd_timeout();
       current_position[Z_AXIS] += float((int32_t)encoderPosition) * (MBL_Z_STEP);
       NOLESS(current_position[Z_AXIS], 0);
@@ -1037,7 +1037,7 @@ void lcd_cooldown() {
     if (LCD_CLICKED) {
       _lcd_level_bed_position = 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]);
+      planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       lcd_goto_menu(_lcd_level_goto_next_point, true);
     }
   }
@@ -1191,7 +1191,7 @@ float move_menu_scale;
 
 static void _lcd_move(const char* name, AxisEnum axis, float min, float max) {
   ENCODER_DIRECTION_NORMAL();
-  if (encoderPosition && movesplanned() <= 3) {
+  if (encoderPosition && planner.movesplanned() <= 3) {
     refresh_cmd_timeout();
     current_position[axis] += float((int32_t)encoderPosition) * move_menu_scale;
     if (min_software_endstops) NOLESS(current_position[axis], min);
@@ -1223,7 +1223,7 @@ static void lcd_move_e(
     unsigned short original_active_extruder = active_extruder;
     active_extruder = e;
   #endif
-  if (encoderPosition && movesplanned() <= 3) {
+  if (encoderPosition && planner.movesplanned() <= 3) {
     current_position[E_AXIS] += float((int32_t)encoderPosition) * move_menu_scale;
     line_to_current(E_AXIS);
     lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
@@ -1511,10 +1511,10 @@ static void lcd_control_temperature_menu() {
   // Autotemp, Min, Max, Fact
   //
   #if ENABLED(AUTOTEMP) && (TEMP_SENSOR_0 != 0)
-    MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &autotemp_enabled);
-    MENU_ITEM_EDIT(float3, MSG_MIN, &autotemp_min, 0, HEATER_0_MAXTEMP - 15);
-    MENU_ITEM_EDIT(float3, MSG_MAX, &autotemp_max, 0, HEATER_0_MAXTEMP - 15);
-    MENU_ITEM_EDIT(float32, MSG_FACTOR, &autotemp_factor, 0.0, 1.0);
+    MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &planner.autotemp_enabled);
+    MENU_ITEM_EDIT(float3, MSG_MIN, &planner.autotemp_min, 0, HEATER_0_MAXTEMP - 15);
+    MENU_ITEM_EDIT(float3, MSG_MAX, &planner.autotemp_max, 0, HEATER_0_MAXTEMP - 15);
+    MENU_ITEM_EDIT(float32, MSG_FACTOR, &planner.autotemp_factor, 0.0, 1.0);
   #endif
 
   //
@@ -1618,6 +1618,8 @@ static void lcd_control_temperature_preheat_abs_settings_menu() {
   END_MENU();
 }
 
+static void _reset_acceleration_rates() { planner.reset_acceleration_rates(); }
+
 /**
  *
  * "Control" > "Motion" submenu
@@ -1633,34 +1635,34 @@ static void lcd_control_motion_menu() {
   #if ENABLED(MANUAL_BED_LEVELING)
     MENU_ITEM_EDIT(float43, MSG_BED_Z, &mbl.z_offset, -1, 1);
   #endif
-  MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 10, 99000);
-  MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &max_xy_jerk, 1, 990);
+  MENU_ITEM_EDIT(float5, MSG_ACC, &planner.acceleration, 10, 99000);
+  MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &planner.max_xy_jerk, 1, 990);
   #if ENABLED(DELTA)
-    MENU_ITEM_EDIT(float3, MSG_VZ_JERK, &max_z_jerk, 1, 990);
+    MENU_ITEM_EDIT(float3, MSG_VZ_JERK, &planner.max_z_jerk, 1, 990);
   #else
-    MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &max_z_jerk, 0.1, 990);
+    MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &planner.max_z_jerk, 0.1, 990);
   #endif
-  MENU_ITEM_EDIT(float3, MSG_VE_JERK, &max_e_jerk, 1, 990);
-  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &max_feedrate[X_AXIS], 1, 999);
-  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &max_feedrate[Y_AXIS], 1, 999);
-  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &max_feedrate[Z_AXIS], 1, 999);
-  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &max_feedrate[E_AXIS], 1, 999);
-  MENU_ITEM_EDIT(float3, MSG_VMIN, &minimumfeedrate, 0, 999);
-  MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &mintravelfeedrate, 0, 999);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &retract_acceleration, 100, 99000);
-  MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &travel_acceleration, 100, 99000);
-  MENU_ITEM_EDIT(float52, MSG_XSTEPS, &axis_steps_per_unit[X_AXIS], 5, 9999);
-  MENU_ITEM_EDIT(float52, MSG_YSTEPS, &axis_steps_per_unit[Y_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_e_jerk, 1, 990);
+  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &planner.max_feedrate[X_AXIS], 1, 999);
+  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &planner.max_feedrate[Y_AXIS], 1, 999);
+  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &planner.max_feedrate[Z_AXIS], 1, 999);
+  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate[E_AXIS], 1, 999);
+  MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate, 0, 999);
+  MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate, 0, 999);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
+  MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
+  MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_unit[Y_AXIS], 5, 9999);
   #if ENABLED(DELTA)
-    MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
+    MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999);
   #else
-    MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
+    MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999);
   #endif
-  MENU_ITEM_EDIT(float51, MSG_ESTEPS, &axis_steps_per_unit[E_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_unit[E_AXIS], 5, 9999);
   #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
     MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &abort_on_endstop_hit);
   #endif

From 462a8a951e09a74fbded92069f5dd973535875b3 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Wed, 27 Apr 2016 19:35:55 -0700
Subject: [PATCH 4/5] A little extra gcode_T spacing

---
 Marlin/Marlin_main.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0f5fa9c42d..4100e629a5 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -6374,20 +6374,27 @@ inline void gcode_T(uint8_t tmp_extruder) {
           #endif
 
         #else // !AUTO_BED_LEVELING_FEATURE
+
           // 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];
+
         #endif // !AUTO_BED_LEVELING_FEATURE
+
         // Set the new active extruder and position
         active_extruder = tmp_extruder;
+
       #endif // !DUAL_X_CARRIAGE
+
       #if ENABLED(DELTA)
         sync_plan_position_delta();
       #else
         sync_plan_position();
       #endif
+
       // Move to the old position
       if (IsRunning()) prepare_move();
+
     } // (tmp_extruder != active_extruder)
 
     #if ENABLED(EXT_SOLENOID)

From 24a15332b3b5adcdffaf55ecba3c8eff82ba561e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 28 Apr 2016 02:15:53 -0700
Subject: [PATCH 5/5] Encapsulate dual Z endstop handling

---
 Marlin/endstops.cpp | 35 +++++++++++++++++++----------------
 Marlin/endstops.h   |  6 ++++++
 2 files changed, 25 insertions(+), 16 deletions(-)

diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index f87b4c9b6a..ac37c5805f 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -193,6 +193,21 @@ void Endstops::M119() {
   #endif
 } // Endstops::M119
 
+#if ENABLED(Z_DUAL_ENDSTOPS)
+
+  // Pass the result of the endstop test
+  void Endstops::test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2) {
+    byte z_test = TEST_ENDSTOP(es1) | (TEST_ENDSTOP(es2) << 1); // bit 0 for Z, bit 1 for Z2
+    if (stepper.current_block->steps[Z_AXIS] > 0) {
+      stepper.endstop_triggered(Z_AXIS);
+      SBI(endstop_hit_bits, Z_MIN);
+      if (!stepper.performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
+        stepper.kill_current_block();
+    }
+  }
+
+#endif
+
 // Check endstops - Called from ISR!
 void Endstops::update() {
 
@@ -290,14 +305,7 @@ void Endstops::update() {
               COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
             #endif
 
-            byte z_test = TEST_ENDSTOP(Z_MIN) | (TEST_ENDSTOP(Z2_MIN) << 1); // bit 0 for Z, bit 1 for Z2
-
-            if (z_test && stepper.current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
-              stepper.endstop_triggered(Z_AXIS);
-              SBI(endstop_hit_bits, Z_MIN);
-              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
-                stepper.kill_current_block();
-            }
+            test_dual_z_endstops(Z_MIN, Z2_MIN);
 
           #else // !Z_DUAL_ENDSTOPS
 
@@ -330,14 +338,7 @@ void Endstops::update() {
               COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
             #endif
 
-            byte z_test = TEST_ENDSTOP(Z_MAX) | (TEST_ENDSTOP(Z2_MAX) << 1); // bit 0 for Z, bit 1 for Z2
-
-            if (z_test && stepper.current_block->steps[Z_AXIS] > 0) {  // t_test = Z_MAX || Z2_MAX
-              stepper.endstop_triggered(Z_AXIS);
-              SBI(endstop_hit_bits, Z_MIN);
-              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
-                stepper.kill_current_block();
-            }
+            test_dual_z_endstops(Z_MAX, Z2_MAX);
 
           #else // !Z_DUAL_ENDSTOPS
 
@@ -349,5 +350,7 @@ void Endstops::update() {
   #if ENABLED(COREXZ)
     }
   #endif
+
   old_endstop_bits = current_endstop_bits;
+
 } // Endstops::update()
diff --git a/Marlin/endstops.h b/Marlin/endstops.h
index c7e9c0a386..a72306728e 100644
--- a/Marlin/endstops.h
+++ b/Marlin/endstops.h
@@ -92,6 +92,12 @@ class Endstops {
       volatile bool z_probe_enabled = false;
       FORCE_INLINE void enable_z_probe(bool onoff=true) { z_probe_enabled = onoff; }
     #endif
+
+  private:
+
+    #if ENABLED(Z_DUAL_ENDSTOPS)
+      void test_dual_z_endstops(EndstopEnum es1, EndstopEnum es2);
+    #endif
 };
 
 extern Endstops endstops;