diff --git a/Marlin/cardreader.h b/Marlin/cardreader.h
index 67fe58a90a..55fa786d7b 100644
--- a/Marlin/cardreader.h
+++ b/Marlin/cardreader.h
@@ -64,39 +64,11 @@ private:
   char* diveDirName;
   void lsDive(const char *prepend,SdFile parent);
 };
-  
+#define IS_SD_PRINTING (card.sdprinting)
 
 #else
 
-#define dir_t bool 
-class CardReader
-{
-public:
-  FORCE_INLINE CardReader(){};
-  
-  FORCE_INLINE static void initsd(){};
-  FORCE_INLINE static void write_command(char *buf){};
-  
-  FORCE_INLINE static void checkautostart(bool x) {}; 
-  
-  FORCE_INLINE static void openFile(char* name,bool read){};
-  FORCE_INLINE static void closefile() {};
-  FORCE_INLINE static void release(){};
-  FORCE_INLINE static void startFileprint(){};
-  FORCE_INLINE static void startFilewrite(char *name){};
-  FORCE_INLINE static void pauseSDPrint(){};
-  FORCE_INLINE static void getStatus(){};
-  
-  FORCE_INLINE static void selectFile(char* name){};
-  FORCE_INLINE static void getfilename(const uint8_t nr){};
-  FORCE_INLINE static uint8_t getnrfilenames(){return 0;};
-  
+#define IS_SD_PRINTING (false)
 
-  FORCE_INLINE static void ls() {};
-  FORCE_INLINE static bool eof() {return true;};
-  FORCE_INLINE static char get() {return 0;};
-  FORCE_INLINE static void setIndex(){};
-  FORCE_INLINE uint8_t percentDone(){return 0;};
-};
 #endif //SDSUPPORT
-#endif
\ No newline at end of file
+#endif
diff --git a/Marlin/pins.h b/Marlin/pins.h
index 10847519cf..0d2be6ea37 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -940,22 +940,20 @@
 #endif
 
 //List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
-#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN
-#if EXTRUDERS == 3
-  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN
-  #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN
-#elif EXTRUDERS == 2
-  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN
-  #define _E2_PINS -1
-#elif EXTRUDERS == 1
-  #define _E1_PINS -1 
-  #define _E2_PINS -1
+#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, 
+#if EXTRUDERS > 1
+  #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
 #else
-  #error Unsupported number of extruders
+  #define _E1_PINS
 #endif
+#if EXTRUDERS > 2
+  #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN, HEATER_2_PIN,
+#else
+  #define _E2_PINS
+#endif
+
 #define SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, LED_PIN, PS_ON_PIN, \
-                        HEATER_0_PIN, HEATER_1_PIN, HEATER_2_PIN, \
                         HEATER_BED_PIN, FAN_PIN,                  \
-                        _E0_PINS, _E1_PINS, _E2_PINS,             \
+                        _E0_PINS _E1_PINS _E2_PINS             \
                         TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN, TEMP_BED_PIN }
 #endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 00fead1288..b1e1d2b2b7 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -441,7 +441,7 @@ float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, uint8_t &extruder)
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
 {
   // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
diff --git a/Marlin/planner.h b/Marlin/planner.h
index c90581bfd8..ac9719fbcf 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -67,7 +67,7 @@ void plan_init();
 
 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
 // millimaters. Feed rate specifies the speed of the motion.
-void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, uint8_t &extruder);
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 
 // Set position. Used for G92 instructions.
 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index c4392d26fc..253149cbba 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -129,6 +129,7 @@
 
   //conversion routines, could need some overworking
   char *ftostr51(const float &x);
+  char *ftostr52(const float &x);
   char *ftostr31(const float &x);
   char *ftostr3(const float &x);
 
@@ -142,10 +143,8 @@
   #define LCD_MESSAGE(x)
   #define LCD_MESSAGEPGM(x)
   FORCE_INLINE void lcd_status() {};
-#endif
-  
-#ifndef ULTIPANEL  
- #define CLICKED false
+
+  #define CLICKED false
   #define BLOCK ;
 #endif 
   
@@ -160,4 +159,3 @@ char *itostr3(const int &xx);
 char *itostr4(const int &xx);
 char *ftostr51(const float &x);
 #endif //ULTRALCD
-
diff --git a/Marlin/ultralcd.pde b/Marlin/ultralcd.pde
index 54b7012848..8a059a1b7f 100644
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@@ -12,7 +12,9 @@ extern volatile bool feedmultiplychanged;
 extern volatile int extrudemultiply;
 
 extern long position[4];   
+#ifdef SDSUPPORT
 extern CardReader card;
+#endif
 
 //===========================================================================
 //=============================public variables============================
@@ -480,7 +482,11 @@ void MainMenu::showPrepare()
       MENUITEM(  lcdprintPGM(MSG_MAIN)  ,  BLOCK;status=Main_Menu;beepshort(); ) ;
       break;
     case ItemP_autostart:
-      MENUITEM(  lcdprintPGM(MSG_AUTOSTART)  ,  BLOCK;card.lastnr=0;card.setroot();card.checkautostart(true);beepshort(); ) ;
+      MENUITEM(  lcdprintPGM(MSG_AUTOSTART)  ,  BLOCK;
+#ifdef SDSUPPORT
+          card.lastnr=0;card.setroot();card.checkautostart(true);
+#endif
+          beepshort(); ) ;
       break;
     case ItemP_disstep:
       MENUITEM(  lcdprintPGM(MSG_DISABLE_STEPPERS)  ,  BLOCK;enquecommand("M84");beepshort(); ) ;
@@ -1629,7 +1635,7 @@ void MainMenu::showControlMotion()
         if(linechanging)
         {
           if(encoderpos<5) encoderpos=5;
-          if(encoderpos>99999) encoderpos=99999;
+          if(encoderpos>32000) encoderpos=32000;//TODO: This is a problem, encoderpos is 16bit, but steps_per_unit for e can be wel over 800
           lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
         }
         
@@ -1957,7 +1963,7 @@ void MainMenu::showMainMenu()
   #endif
   if(tune)
   {
-    if(!(movesplanned() ||card.sdprinting))
+    if(!(movesplanned() || IS_SD_PRINTING))
     {
       force_lcd_update=true;
       tune=false;
@@ -1965,7 +1971,7 @@ void MainMenu::showMainMenu()
   }
   else 
   {
-    if(movesplanned() ||card.sdprinting)
+    if(movesplanned() || IS_SD_PRINTING)
     {
       force_lcd_update=true;
       tune=true;