diff --git a/Grbl_Esp32/Custom/CoreXY.cpp b/Grbl_Esp32/Custom/CoreXY.cpp
index b1c6fb87..0acad5b4 100644
--- a/Grbl_Esp32/Custom/CoreXY.cpp
+++ b/Grbl_Esp32/Custom/CoreXY.cpp
@@ -314,7 +314,7 @@ void forward_kinematics(float* position) {
     // apply the forward kinemetics to the machine coordinates
     // https://corexy.com/theory.html
     //calc_fwd[X_AXIS] = 0.5 / geometry_factor * (position[X_AXIS] + position[Y_AXIS]);
-    calc_fwd[X_AXIS] = ((0.5 * (print_position[X_AXIS] + print_position[Y_AXIS]) * geometry_factor) - wco[X_AXIS]);
+    calc_fwd[X_AXIS] = ((0.5 * (print_position[X_AXIS] + print_position[Y_AXIS]) / geometry_factor) - wco[X_AXIS]);
     calc_fwd[Y_AXIS] = ((0.5 * (print_position[X_AXIS] - print_position[Y_AXIS])) - wco[Y_AXIS]);
 
     for (int axis = 0; axis < n_axis; axis++) {
diff --git a/Grbl_Esp32/Custom/oled_basic.cpp b/Grbl_Esp32/Custom/oled_basic.cpp
index 49984ab8..fedc543e 100644
--- a/Grbl_Esp32/Custom/oled_basic.cpp
+++ b/Grbl_Esp32/Custom/oled_basic.cpp
@@ -38,12 +38,11 @@
 
     Add this to your machine definition file
         #define DISPLAY_CODE_FILENAME "Custom/oled_basic.cpp"
-
 */
 
 // Include the correct display library
 
-#include "SSD1306Wire.h"  // legacy: #include "SSD1306.h"
+#include "SSD1306Wire.h"
 #include "../src/WebUI/WebSettings.h"
 
 #ifndef OLED_ADDRESS
@@ -66,142 +65,129 @@ SSD1306Wire display(OLED_ADDRESS, OLED_SDA, OLED_SCL, OLED_GEOMETRY);
 
 static TaskHandle_t displayUpdateTaskHandle = 0;
 
-// returns the position of a machine axis
-// wpos =true for corrected work postion
-float getPosition(uint8_t axis, bool wpos = true) {
-    float wco;  // work coordinate system offset
-
-    float current_position = sys_position[axis] / axis_settings[axis]->steps_per_mm->get();
-
-    if (wpos) {
-        // Apply work coordinate offsets and tool length offset to current position.
-        wco = gc_state.coord_system[axis] + gc_state.coord_offset[axis];
-        if (axis == TOOL_LENGTH_OFFSET_AXIS) {
-            wco += gc_state.tool_length_offset;
-        }
-
-        current_position -= wco;
-    }
-    return current_position;
-}
-
-String getStateText() {
-    String str = "";
-
-    switch (sys.state) {
-        case State::Idle:
-            str = "Idle";
-            break;
-        case State::Cycle:
-            str = "Run";
-            break;
-        case State::Hold:
-            if (!(sys.suspend.bit.jogCancel)) {
-                str = "Hold:";
-                sys.suspend.bit.holdComplete ? str += "0" : str += "1";  // Ready to resume
-                break;
-            }  // Continues to print jog state during jog cancel.
-        case State::Jog:
-            str = "Jog";
-            break;
-        case State::Homing:
-            str = "Homing";
-            break;
-        case State::Alarm:
-            str = "Alarm";
-            break;
-        case State::CheckMode:
-            str = "Check";
-            break;
-        case State::SafetyDoor:
-            str = "Door:";
-            if (sys.suspend.bit.initiateRestore) {
-                str += "3";  // Restoring
-            } else {
-                if (sys.suspend.bit.retractComplete) {
-                    sys.suspend.bit.safetyDoorAjar ? str += "1" : str += "0";  // Door ajar
-                    // Door closed and ready to resume
-                } else {
-                    str += "2";  // Retracting
-                }
-            }
-            break;
-        case State::Sleep:
-            str = "Sleep";
-            break;
-    }
-
-    return str;
-}
-
 // This displays the status of the ESP32 Radios...BT, WiFi, etc
 void displayRadioInfo() {
-    String radio_info = "";
-
-    const uint8_t row1 = 18;
-    const uint8_t row2 = 30;
-    const uint8_t row3 = 42;
-
-    display.setTextAlignment(TEXT_ALIGN_LEFT);
-    display.setFont(ArialMT_Plain_10);
+    String radio_addr   = "";
+    String radio_name   = "";
+    String radio_status = "";
 
 #ifdef ENABLE_BLUETOOTH
     if (WebUI::wifi_radio_mode->get() == ESP_BT) {
-        radio_info = String("Bluetooth: ") + WebUI::bt_name->get();
-        display.drawString(0, row1, radio_info);
-        radio_info = String("Status: ") + String(WebUI::SerialBT.hasClient() ? "Connected" : "Not connected");
-        display.drawString(0, row2, radio_info);
+        radio_name = String("BT: ") + WebUI::bt_name->get();
     }
 #endif
 #ifdef ENABLE_WIFI
     if ((WiFi.getMode() == WIFI_MODE_STA) || (WiFi.getMode() == WIFI_MODE_APSTA)) {
-        radio_info = "STA SSID: " + WiFi.SSID();
-        display.drawString(0, row1, radio_info);
-
-        radio_info = "IP: " + WiFi.localIP().toString();
-        display.drawString(0, row2, radio_info);
-
-        radio_info = "Status: ";
-        (WiFi.status() == WL_CONNECTED) ? radio_info += "Connected" : radio_info += "Not connected";
-        display.drawString(0, row3, radio_info);
-        //}
+        radio_name = "STA: " + WiFi.SSID();
+        radio_addr = WiFi.localIP().toString();
     } else if ((WiFi.getMode() == WIFI_MODE_AP) || (WiFi.getMode() == WIFI_MODE_APSTA)) {
-        radio_info = String("AP SSID: ") + WebUI::wifi_ap_ssid->get();
-
-        display.drawString(0, row1, radio_info);
-
-        radio_info = "IP: " + WiFi.softAPIP().toString();
-        display.drawString(0, row2, radio_info);
+        radio_name = String("AP:") + WebUI::wifi_ap_ssid->get();
+        radio_addr = WiFi.softAPIP().toString();
     }
 #endif
 
 #ifdef WIFI_OR_BLUETOOTH
     if (WebUI::wifi_radio_mode->get() == ESP_RADIO_OFF) {
-        display.drawString(0, row1, "Radio Mode: None");
+        radio_name = "Radio Mode: None";
     }
 #else
-    display.drawString(0, row1, "Wifi and Bluetooth Disabled");
+    radio_name = "Radio Mode:Disabled";
 #endif
+
+    display.setTextAlignment(TEXT_ALIGN_LEFT);
+    display.setFont(ArialMT_Plain_10);
+
+    if (sys.state == State::Alarm) {  // print below Alarm:
+        display.drawString(0, 18, radio_name);
+        display.drawString(0, 30, radio_addr);
+
+    } else {  // print next to status
+        if (WebUI::wifi_radio_mode->get() == ESP_BT) {
+            display.drawString(55, 2, radio_name);
+        } else {
+            display.drawString(55, 2, radio_addr);
+        }
+    }
+}
+// Here changes begin  Here changes begin Here changes begin Here changes begin Here changes begin
+
+void draw_checkbox(int16_t x, int16_t y, int16_t width, int16_t height, bool checked) {
+    if (checked)
+        display.fillRect(x, y, width, height);  // If log.0
+    else
+        display.drawRect(x, y, width, height);  // If log.1
 }
 
 void displayDRO() {
+    uint8_t oled_y_pos;
+    float   print_position[MAX_N_AXIS];
+    //float   wco[MAX_N_AXIS];
+
+    display.setTextAlignment(TEXT_ALIGN_LEFT);
+    display.setFont(ArialMT_Plain_10);
+
     char axisVal[20];
 
-    display.setFont(ArialMT_Plain_16);
-    display.setTextAlignment(TEXT_ALIGN_LEFT);
-    display.drawString(0, 13, String('X') + ":");
-    display.drawString(0, 30, "Y:");
-    display.drawString(0, 47, "Z:");
+    display.drawString(80, 14, "L");  // Limit switch
 
-    display.setTextAlignment(TEXT_ALIGN_RIGHT);
-    snprintf(axisVal, 20 - 1, "%.3f", getPosition(X_AXIS, true));
-    display.drawString(100, 13, axisVal);
+    auto        n_axis         = number_axis->get();
+    AxisMask    lim_pin_state  = limits_get_state();
+    ControlPins ctrl_pin_state = system_control_get_state();
+    bool        prb_pin_state  = probe_get_state();
 
-    snprintf(axisVal, 20 - 1, "%.3f", getPosition(Y_AXIS, true));
-    display.drawString(100, 30, axisVal);
+    if (bit_istrue(status_mask->get(), RtStatus::Position)) {
+        calc_mpos(print_position);
+    } else {
+        calc_wpos(print_position);
+    }
 
-    snprintf(axisVal, 20 - 1, "%.3f", getPosition(Z_AXIS, true));
-    display.drawString(100, 47, axisVal);
+    for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
+        oled_y_pos = 24 + (axis * 10);
+
+        String axis_letter = String(report_get_axis_letter(axis));
+        axis_letter += ":";
+        display.setTextAlignment(TEXT_ALIGN_LEFT);
+        display.drawString(0, oled_y_pos, axis_letter);  // String('X') + ":");
+
+        display.setTextAlignment(TEXT_ALIGN_RIGHT);
+        snprintf(axisVal, 20 - 1, "%.3f", print_position[axis]);
+        display.drawString(60, oled_y_pos, axisVal);
+
+        if (limitsSwitchDefined(axis, 0)) {  // olny draw the box if a switch has been defined
+            draw_checkbox(80, 27 + (axis * 10), 7, 7, bit_istrue(lim_pin_state, bit(axis)));
+        }
+    }
+
+    oled_y_pos = 14;
+
+    if (PROBE_PIN != UNDEFINED_PIN) {
+        display.drawString(110, oled_y_pos, "P");
+        draw_checkbox(120, oled_y_pos + 3, 7, 7, prb_pin_state);
+        oled_y_pos += 10;
+    }
+
+#ifdef CONTROL_FEED_HOLD_PIN
+    display.drawString(110, oled_y_pos, "H");
+    draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pin_state.bit.feedHold);
+    oled_y_pos += 10;
+#endif
+
+#ifdef CONTROL_CYCLE_START_PIN
+    display.drawString(110, oled_y_pos, "S");
+    draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pin_state.bit.cycleStart);
+    oled_y_pos += 10;
+#endif
+
+#ifdef CONTROL_RESET_PIN
+    display.drawString(110, oled_y_pos, "R");
+    draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pin_state.bit.reset);
+    oled_y_pos += 10;
+#endif
+
+#ifdef CONTROL_SAFETY_DOOR_PIN
+    display.drawString(110, oled_y_pos, "D");
+    draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pin_state.bit.safetyDoor);
+#endif
 }
 
 void displayUpdate(void* pvParameters) {
@@ -218,31 +204,33 @@ void displayUpdate(void* pvParameters) {
     while (true) {
         display.clear();
 
-        String state_string = getStateText();
-
-        state_string.toUpperCase();
+        String state_string = "";
 
         display.setTextAlignment(TEXT_ALIGN_LEFT);
         display.setFont(ArialMT_Plain_16);
-        display.drawString(0, 0, state_string);
+        display.drawString(0, 0, report_state_text());
 
         if (get_sd_state(false) == SDState::BusyPrinting) {
             display.clear();
-            display.setTextAlignment(TEXT_ALIGN_LEFT);
-            display.setFont(ArialMT_Plain_16);
+            display.setTextAlignment(TEXT_ALIGN_CENTER);
+            display.setFont(ArialMT_Plain_10);
             state_string = "SD File";
             for (int i = 0; i < sd_file_ticker % 10; i++) {
                 state_string += ".";
             }
             sd_file_ticker++;
-            display.drawString(25, 0, state_string);
+            display.drawString(63, 0, state_string);
+
+            char path[50];
+            sd_get_current_filename(path);
+            display.drawString(63, 12, path);
 
             int progress = sd_report_perc_complete();
             // draw the progress bar
             display.drawProgressBar(0, 45, 120, 10, progress);
 
             // draw the percentage as String
-            display.setFont(ArialMT_Plain_16);
+            display.setFont(ArialMT_Plain_10);
             display.setTextAlignment(TEXT_ALIGN_CENTER);
             display.drawString(64, 25, String(progress) + "%");
 
@@ -250,7 +238,9 @@ void displayUpdate(void* pvParameters) {
             displayRadioInfo();
         } else {
             displayDRO();
+            displayRadioInfo();
         }
+
         display.display();
 
         vTaskDelayUntil(&xLastWakeTime, xDisplayFrequency);
@@ -260,20 +250,22 @@ void displayUpdate(void* pvParameters) {
 void display_init() {
     // Initialising the UI will init the display too.
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Init Basic OLED SDA:%s SCL:%s", pinName(OLED_SDA), pinName(OLED_SCL));
-
     display.init();
+
     display.flipScreenVertically();
+
     display.clear();
+
     display.setTextAlignment(TEXT_ALIGN_CENTER);
-    display.setFont(ArialMT_Plain_16);
+    display.setFont(ArialMT_Plain_10);
 
     String mach_name = MACHINE_NAME;
     // remove characters from the end until the string fits
     while (display.getStringWidth(mach_name) > 128) {
         mach_name = mach_name.substring(0, mach_name.length() - 1);
     }
-
     display.drawString(63, 0, mach_name);
+
     display.display();
 
     xTaskCreatePinnedToCore(displayUpdate,        // task
diff --git a/Grbl_Esp32/src/data/favicon.ico b/Grbl_Esp32/data/favicon.ico
similarity index 100%
rename from Grbl_Esp32/src/data/favicon.ico
rename to Grbl_Esp32/data/favicon.ico
diff --git a/Grbl_Esp32/src/data/index.html.gz b/Grbl_Esp32/data/index.html.gz
similarity index 100%
rename from Grbl_Esp32/src/data/index.html.gz
rename to Grbl_Esp32/data/index.html.gz
diff --git a/Grbl_Esp32/src/Grbl.h b/Grbl_Esp32/src/Grbl.h
index bfa875e3..1aa867c5 100644
--- a/Grbl_Esp32/src/Grbl.h
+++ b/Grbl_Esp32/src/Grbl.h
@@ -22,7 +22,7 @@
 
 // Grbl versioning system
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210320";
+const char* const GRBL_VERSION_BUILD = "20210329";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index b87840c1..2c31661e 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -406,6 +406,10 @@ bool limitsCheckTravel(float* target) {
     return false;
 }
 
+bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) {
+    return (limit_pins[axis][gang_index] != UNDEFINED_PIN);
+}
+
 bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) {
     return false;
 }
diff --git a/Grbl_Esp32/src/Limits.h b/Grbl_Esp32/src/Limits.h
index 3cc2fccd..3697f8e0 100644
--- a/Grbl_Esp32/src/Limits.h
+++ b/Grbl_Esp32/src/Limits.h
@@ -54,3 +54,6 @@ float limitsMinPosition(uint8_t axis);
 
 // Internal factor used by limits_soft_check
 bool limitsCheckTravel(float* target);
+
+// check if a switch has been defined
+bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index);
diff --git a/Grbl_Esp32/src/Report.cpp b/Grbl_Esp32/src/Report.cpp
index b4728154..678c1d0e 100644
--- a/Grbl_Esp32/src/Report.cpp
+++ b/Grbl_Esp32/src/Report.cpp
@@ -291,13 +291,13 @@ std::map<Message, const char*> MessageText = {
 // NOTE: For interfaces, messages are always placed within brackets. And if silent mode
 // is installed, the message number codes are less than zero.
 void report_feedback_message(Message message) {  // ok to send to all clients
-#if defined (ENABLE_SD_CARD) 
+#if defined(ENABLE_SD_CARD)
     if (message == Message::SdFileQuit) {
         grbl_notifyf("SD print canceled", "Reset during SD file at line: %d", sd_get_current_line_number());
         grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Reset during SD file at line: %d", sd_get_current_line_number());
 
-    } else 
-#endif //ENABLE_SD_CARD  
+    } else
+#endif  //ENABLE_SD_CARD
     {
         auto it = MessageText.find(message);
         if (it != MessageText.end()) {
@@ -592,82 +592,52 @@ void report_echo_line_received(char* line, uint8_t client) {
     grbl_sendf(client, "[echo: %s]\r\n", line);
 }
 
+// Calculate the position for status reports.
+// float print_position = returned position
+// float wco            = returns the work coordinate offset
+// bool wpos            = true for work position compensation
+void report_calc_status_position(float* print_position, float* wco, bool wpos) {
+    int32_t current_position[MAX_N_AXIS];  // Copy current state of the system position variable
+    memcpy(current_position, sys_position, sizeof(sys_position));
+    system_convert_array_steps_to_mpos(print_position, current_position);
+
+    //float wco[MAX_N_AXIS];
+    if (wpos || (sys.report_wco_counter == 0)) {
+        auto n_axis = number_axis->get();
+        for (uint8_t idx = 0; idx < n_axis; idx++) {
+            // Apply work coordinate offsets and tool length offset to current position.
+            wco[idx] = gc_state.coord_system[idx] + gc_state.coord_offset[idx];
+            if (idx == TOOL_LENGTH_OFFSET_AXIS) {
+                wco[idx] += gc_state.tool_length_offset;
+            }
+            if (wpos) {
+                print_position[idx] -= wco[idx];
+            }
+        }
+    }
+
+    forward_kinematics(print_position);  // a weak definition does nothing. Users can provide strong version
+}
+
 // Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
 // and the actual location of the CNC machine. Users may change the following function to their
 // specific needs, but the desired real-time data report must be as short as possible. This is
 // requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
 // especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
 void report_realtime_status(uint8_t client) {
-    uint8_t idx;
-    int32_t current_position[MAX_N_AXIS];  // Copy current state of the system position variable
-    memcpy(current_position, sys_position, sizeof(sys_position));
     float print_position[MAX_N_AXIS];
     char  status[200];
     char  temp[MAX_N_AXIS * 20];
-    system_convert_array_steps_to_mpos(print_position, current_position);
-    // Report current machine state and sub-states
+
     strcpy(status, "<");
-    switch (sys.state) {
-        case State::Idle:
-            strcat(status, "Idle");
-            break;
-        case State::Cycle:
-            strcat(status, "Run");
-            break;
-        case State::Hold:
-            if (!(sys.suspend.bit.jogCancel)) {
-                strcat(status, "Hold:");
-                strcat(status, sys.suspend.bit.holdComplete ? "0" : "1");  // Ready to resume
-                break;
-            }  // Continues to print jog state during jog cancel.
-        case State::Jog:
-            strcat(status, "Jog");
-            break;
-        case State::Homing:
-            strcat(status, "Home");
-            break;
-        case State::Alarm:
-            strcat(status, "Alarm");
-            break;
-        case State::CheckMode:
-            strcat(status, "Check");
-            break;
-        case State::SafetyDoor:
-            strcat(status, "Door:");
-            if (sys.suspend.bit.initiateRestore) {
-                strcat(status, "3");  // Restoring
-            } else {
-                if (sys.suspend.bit.retractComplete) {
-                    strcat(status, sys.suspend.bit.safetyDoorAjar ? "1" : "0");  // Door ajar
-                    // Door closed and ready to resume
-                } else {
-                    strcat(status, "2");  // Retracting
-                }
-            }
-            break;
-        case State::Sleep:
-            strcat(status, "Sleep");
-            break;
-    }
-    float wco[MAX_N_AXIS];
-    if (bit_isfalse(status_mask->get(), RtStatus::Position) || (sys.report_wco_counter == 0)) {
-        auto n_axis = number_axis->get();
-        for (idx = 0; idx < n_axis; idx++) {
-            // Apply work coordinate offsets and tool length offset to current position.
-            wco[idx] = gc_state.coord_system[idx] + gc_state.coord_offset[idx];
-            if (idx == TOOL_LENGTH_OFFSET_AXIS) {
-                wco[idx] += gc_state.tool_length_offset;
-            }
-            if (bit_isfalse(status_mask->get(), RtStatus::Position)) {
-                print_position[idx] -= wco[idx];
-            }
-        }
-    }
-    forward_kinematics(print_position);  // a weak definition does nothing. Users can provide strong version
-    // Report machine position
+    strcat(status, report_state_text());
+
+    // Report position
     if (bit_istrue(status_mask->get(), RtStatus::Position)) {
+        calc_mpos(print_position);
         strcat(status, "|MPos:");
     } else {
+        calc_wpos(print_position);
         strcat(status, "|WPos:");
     }
     report_util_axis_values(print_position, temp);
@@ -793,7 +763,7 @@ void report_realtime_status(uint8_t client) {
             sys.report_ovr_counter = 1;  // Set override on next report.
         }
         strcat(status, "|WCO:");
-        report_util_axis_values(wco, temp);
+        report_util_axis_values(get_wco(), temp);
         strcat(status, temp);
     }
 #endif
@@ -913,6 +883,54 @@ void report_hex_msg(uint8_t* buf, const char* prefix, int len) {
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s", report);
 }
 
+char* report_state_text() {
+    static char state[10];
+
+    switch (sys.state) {
+        case State::Idle:
+            strcpy(state, "Idle");
+            break;
+        case State::Cycle:
+            strcpy(state, "Run");
+            break;
+        case State::Hold:
+            if (!(sys.suspend.bit.jogCancel)) {
+                sys.suspend.bit.holdComplete ? strcpy(state, "Hold:0") : strcpy(state, "Hold:1");
+                break;
+            }  // Continues to print jog state during jog cancel.
+        case State::Jog:
+            strcpy(state, "Jog");
+            break;
+        case State::Homing:
+            strcpy(state, "Home");
+            break;
+        case State::Alarm:
+            strcpy(state, "Alarm");
+            break;
+        case State::CheckMode:
+            strcpy(state, "Check");
+            break;
+        case State::SafetyDoor:
+            strcpy(state, "Door:");
+            if (sys.suspend.bit.initiateRestore) {
+                strcat(state, "3");  // Restoring
+            } else {
+                if (sys.suspend.bit.retractComplete) {
+                    sys.suspend.bit.safetyDoorAjar ? strcat(state, "1") : strcat(state, "0");
+                    ;  // Door ajar
+                    // Door closed and ready to resume
+                } else {
+                    strcat(state, "2");  // Retracting
+                }
+            }
+            break;
+        case State::Sleep:
+            strcpy(state, "Sleep");
+            break;
+    }
+    return state;
+}
+
 char report_get_axis_letter(uint8_t axis) {
     switch (axis) {
         case X_AXIS:
@@ -960,4 +978,37 @@ void reportTaskStackSize(UBaseType_t& saved) {
 #endif
 }
 
+void calc_mpos(float* print_position) {
+    int32_t current_position[MAX_N_AXIS];  // Copy current state of the system position variable
+    memcpy(current_position, sys_position, sizeof(sys_position));
+    system_convert_array_steps_to_mpos(print_position, current_position);
+    forward_kinematics(print_position);  // a weak definition does nothing. Users can provide strong version
+}
+
+void calc_wpos(float* print_position) {
+    int32_t current_position[MAX_N_AXIS];  // Copy current state of the system position variable
+    memcpy(current_position, sys_position, sizeof(sys_position));
+    system_convert_array_steps_to_mpos(print_position, current_position);
+
+    float* wco    = get_wco();
+    auto   n_axis = number_axis->get();
+    for (int idx = 0; idx < n_axis; idx++) {
+        print_position[idx] -= wco[idx];
+    }
+
+    forward_kinematics(print_position);  // a weak definition does nothing. Users can provide strong version
+}
+float* get_wco() {
+    static float wco[MAX_N_AXIS];
+    auto         n_axis = number_axis->get();
+    for (int idx = 0; idx < n_axis; idx++) {
+        // Apply work coordinate offsets and tool length offset to current position.
+        wco[idx] = gc_state.coord_system[idx] + gc_state.coord_offset[idx];
+        if (idx == TOOL_LENGTH_OFFSET_AXIS) {
+            wco[idx] += gc_state.tool_length_offset;
+        }
+    }
+    return wco;
+}
+
 void __attribute__((weak)) forward_kinematics(float* position) {}  // This version does nothing. Make your own to do something with it
diff --git a/Grbl_Esp32/src/Report.h b/Grbl_Esp32/src/Report.h
index 2ffcecee..366e8d9d 100644
--- a/Grbl_Esp32/src/Report.h
+++ b/Grbl_Esp32/src/Report.h
@@ -92,6 +92,9 @@ void report_grbl_settings(uint8_t client, uint8_t show_extended);
 // Prints an echo of the pre-parsed line received right before execution.
 void report_echo_line_received(char* line, uint8_t client);
 
+// calculate the postion for status reports
+void report_calc_status_position(float* print_position, float* wco, bool wpos);
+
 // Prints realtime status report
 void report_realtime_status(uint8_t client);
 
@@ -122,10 +125,14 @@ void report_machine_type(uint8_t client);
 void report_hex_msg(char* buf, const char* prefix, int len);
 void report_hex_msg(uint8_t* buf, const char* prefix, int len);
 
-char report_get_axis_letter(uint8_t axis);
-
+char  report_get_axis_letter(uint8_t axis);
 char* reportAxisLimitsMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis, uint8_t dual_axis);
 
 void reportTaskStackSize(UBaseType_t& saved);
+
+char*  report_state_text();
+float* get_wco();
+void   calc_mpos(float* print_position);
+void   calc_wpos(float* print_position);