diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index 8f0fef76..dd3ff50a 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -323,7 +323,7 @@ static AxisMask squaredAxes() {
     for (int axis = 0; axis < n_axis; axis++) {
         auto homing = axes->_axis[axis]->_homing;
         if (homing && homing->_square) {
-            mask |= bit(axis);
+            bitnum_true(mask, axis);
         }
     }
     return mask;
diff --git a/Grbl_Esp32/src/Motors/Dynamixel2.h b/Grbl_Esp32/src/Motors/Dynamixel2.h
index 580d1a90..92e7db84 100644
--- a/Grbl_Esp32/src/Motors/Dynamixel2.h
+++ b/Grbl_Esp32/src/Motors/Dynamixel2.h
@@ -99,8 +99,6 @@ namespace Motors {
         int _countMin = 1024;
         int _countMax = 3072;
 
-        int _dynamixelFullTimeMove = 1000;  // time in milliseconds to do a full DYNAMIXEL_FULL_MOVE_TIME
-
         bool _disabled;
         bool _has_errors;
 
@@ -128,7 +126,6 @@ namespace Motors {
 
             handler.item("count_min", _countMin);
             handler.item("count_max", _countMax);
-            handler.item("full_time_move", _dynamixelFullTimeMove);
             handler.section("uart", _uart);
 
             int id = _id;
diff --git a/Grbl_Esp32/src/Motors/RcServoSettings.h b/Grbl_Esp32/src/Motors/RcServoSettings.h
index a11c20bd..883349d1 100644
--- a/Grbl_Esp32/src/Motors/RcServoSettings.h
+++ b/Grbl_Esp32/src/Motors/RcServoSettings.h
@@ -21,5 +21,3 @@ const uint16_t SERVO_MAX_PULSE = (uint16_t)(SERVO_MAX_PULSE_SEC / SERVO_TIME_PER
 const uint16_t SERVO_PULSE_RANGE = (SERVO_MAX_PULSE - SERVO_MIN_PULSE);
 
 const double SERVO_TIMER_INT_FREQ = 50.0;  // Hz This is the task frequency
-
-const int SERVO_FULL_MOVE_TIME = 750;  // rtos ticks
diff --git a/Grbl_Esp32/src/Uart.h b/Grbl_Esp32/src/Uart.h
index b5644345..340de73a 100644
--- a/Grbl_Esp32/src/Uart.h
+++ b/Grbl_Esp32/src/Uart.h
@@ -84,7 +84,7 @@ public:
         handler.item("txd_pin", _txd_pin);
         handler.item("rxd_pin", _rxd_pin);
         handler.item("rts_pin", _rts_pin);
-        handler.item("rts_pin", _cts_pin);
+        handler.item("cts_pin", _cts_pin);
 
         handler.item("baud", baud);
         handler.item("mode", dataBits, parity, stopBits);
diff --git a/platformio.ini b/platformio.ini
index 027900ff..56a29385 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -10,6 +10,7 @@
 
 [platformio]
 src_dir = Grbl_Esp32
+include_dir = Grbl_Esp32
 lib_dir = libraries
 test_dir = Grbl_Esp32/test
 data_dir = Grbl_Esp32/data