diff --git a/src/.Config.h.swp b/src/.Config.h.swp
new file mode 100644
index 0000000..36bce52
Binary files /dev/null and b/src/.Config.h.swp differ
diff --git a/src/Config.h b/src/Config.h
index d503f37..5fd9883 100644
--- a/src/Config.h
+++ b/src/Config.h
@@ -22,6 +22,28 @@ const int LOGGING = 0;
 //const bool AXIS_HOME_UP_Y = false;
 //const bool AXIS_HOME_UP_Z = true;
 
+const String COMM_REPORT_CMD_START  = "R01";
+const String COMM_REPORT_CMD_DONE   = "R02";
+const String COMM_REPORT_CMD_ERROR  = "R03";
+const String COMM_REPORT_CMD_BUSY   = "R04";
+const String COMM_REPORT_CMD_STATUS = "R05";
+const String COMM_REPORT_COMMENT    = "R99";
+
+const int COMM_REPORT_MOVE_STATUS_IDLE         = 0;
+const int COMM_REPORT_MOVE_STATUS_START_MOTOR  = 1;
+const int COMM_REPORT_MOVE_STATUS_ACCELERATING = 2;
+const int COMM_REPORT_MOVE_STATUS_CRUISING     = 3;
+const int COMM_REPORT_MOVE_STATUS_DECELERATING = 4;
+const int COMM_REPORT_MOVE_STATUS_STOP_MOTOR   = 5;
+const int COMM_REPORT_MOVE_STATUS_CRAWLING     = 6;
+const int COMM_REPORT_MOVE_STATUS_ERROR        = -1;
+
+const int COMM_REPORT_CALIBRATE_STATUS_IDLE    = 0;
+const int COMM_REPORT_CALIBRATE_STATUS_TO_HOME = 1;
+const int COMM_REPORT_CALIBRATE_STATUS_TO_END  = 2;
+const int COMM_REPORT_CALIBRATE_STATUS_ERROR   = -1;
+
+
 const int MOVEMENT_INTERRUPT_SPEED = 100; // Interrupt cycle in micro seconds
 
 const unsigned int MOVEMENT_SPEED_BASE_TIME      = 2000;
diff --git a/src/GCodeProcessor.cpp b/src/GCodeProcessor.cpp
index 4d4465d..5a74f54 100644
--- a/src/GCodeProcessor.cpp
+++ b/src/GCodeProcessor.cpp
@@ -34,12 +34,12 @@ int GCodeProcessor::execute(Command* command) {
 		Serial.println("This is false: handler == NULL");
 		return -1;
 	}
-	Serial.println("R01");
+	Serial.println(COMM_REPORT_CMD_START);
 	int execution = handler->execute(command);
 	if(execution == 0) {
-		Serial.println("R02");
+		Serial.println(COMM_REPORT_CMD_DONE);
 	} else {
-		Serial.println("R03");
+		Serial.println(COMM_REPORT_CMD_ERROR);
 	}
 	return execution;
 };
diff --git a/src/StepperControl.cpp b/src/StepperControl.cpp
index ce32fa4..36b9a7e 100644
--- a/src/StepperControl.cpp
+++ b/src/StepperControl.cpp
@@ -296,7 +296,8 @@ int StepperControl::moveToCoords(		long xDest, long yDest, long zDest,
 		if (currentMillis % 750 == 0)
 		//if (1 == 1) 
 		{
-			Serial.print("R04\n");
+			Serial.print(COMM_REPORT_CMD_BUSY);
+			Serial.print("\n");
 			reportPosition();
 				/*
 				Serial.print("R99");
@@ -488,7 +489,8 @@ int StepperControl::calibrateAxis(int axis) {
 	                if (stepsCount % (speedMin[axis] * 3) == 0)
 	                {
 				// Periodically send message still active
-	                        Serial.print("R04\n");
+	                        Serial.print(COMM_REPORT_CMD_BUSY);
+	                        Serial.print("\n");
 	                }
 
 	                if (stepsCount % (speedMin[axis] / 6) == 0 /*|| *missedSteps > 3*/)
@@ -604,7 +606,8 @@ int StepperControl::calibrateAxis(int axis) {
 	                if (stepsCount % (speedMin[axis] * 3) == 0)
         	        {
 				// Periodically send message still active
-	                        Serial.print("R04\n");
+	                        Serial.print(COMM_REPORT_CMD_BUSY);
+	                        Serial.print("\n");
 	                }
 			/*
 	                if (stepsCount % (speedMin[axis] / 6) == 0)
@@ -685,6 +688,28 @@ int StepperControl::calibrateAxis(int axis) {
 }
 
 
+void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus) {
+	int newStatus = 0;
+
+	if (axis->isAccelerating()) {
+		newStatus = COMM_REPORT_MOVE_STATUS_ACCELERATING;
+	}
+
+	if (axis->isCruising()) {
+		newStatus = COMM_REPORT_MOVE_STATUS_CRUISING;
+	}
+
+	if (axis->isDecelerating()) {
+		newStatus = COMM_REPORT_MOVE_STATUS_DECELERATING;
+	}
+
+	if (axis->isCrawling()) {
+		newStatus = COMM_REPORT_MOVE_STATUS_CRAWLING;
+	}
+
+
+}
+
 // Handle movement by checking each axis
 void StepperControl::handleMovementInterrupt(void){
 
diff --git a/src/StepperControl.h b/src/StepperControl.h
index 3081c14..a47c3d2 100644
--- a/src/StepperControl.h
+++ b/src/StepperControl.h
@@ -51,8 +51,10 @@ private:
 	StepperControlEncoder encoderZ;
 
 	void checkAxisVsEncoder(StepperControlAxis* axis, StepperControlEncoder* encoder, float* missedSteps, long* lastPosition, float* encoderStepDecay, bool* encoderEnabled);
+	void checkAxisSubStatus(StepperControlAxis* axis, int* axisSubStatus);
 
 	bool axisActive[3];
+	int axisSubStep[3];
 
 	void loadMotorSettings();
 	void loadEncoderSettings();
diff --git a/src/StepperControlAxis.cpp b/src/StepperControlAxis.cpp
index 1729e97..28ada93 100644
--- a/src/StepperControlAxis.cpp
+++ b/src/StepperControlAxis.cpp
@@ -18,6 +18,11 @@ StepperControlAxis::StepperControlAxis() {
 
 	movementUp		= false;
 	movementToHome		= false;
+        movementAccelerating	= false;
+        movementDecelerating	= false;
+        movementCruising	= false;
+        movementCrawling	= false;
+        movementMotorActive	= false;
 }
 
 void StepperControlAxis::test() {
@@ -41,6 +46,12 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
 	long staPos;
 	long endPos;
 
+
+	movementAccelerating = false;
+	movementDecelerating = false;
+	movementCruising     = false;
+	movementCrawling     = false;
+
 	if (abs(sourcePosition) < abs(destinationPosition)) {
 		staPos = abs(sourcePosition);
 		endPos = abs(destinationPosition);;
@@ -54,24 +65,29 @@ unsigned int StepperControlAxis::calculateSpeed(long sourcePosition, long curren
 	// Set the minimum speed if the position would be out of bounds
 	if (curPos < staPos || curPos > endPos) {
 		newSpeed = minSpeed;
+		movementCrawling = true;
 	} else {
 		if (curPos >= staPos && curPos <= halfway) {
 			// accelerating
 			if (curPos > (staPos + stepsAccDec)) {
 				// now beyond the accelleration point to go full speed
 				newSpeed = maxSpeed + 1;
+				movementCruising = true;
 			} else {
 				// speeding up, increase speed linear within the first period
 				newSpeed = (1.0 * (curPos - staPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
+				movementAccelerating = true;
 			}
 		} else {
 			// decelerating
 			if (curPos < (endPos - stepsAccDec)) {
 				// still before the deceleration point so keep going at full speed
 				newSpeed = maxSpeed + 2;
+				movementCruising = true;
 			} else {
 				// speeding up, increase speed linear within the first period
 				newSpeed = (1.0 * (endPos - curPos) / stepsAccDec * (maxSpeed - minSpeed)) + minSpeed;
+				movementDecelerating = true;
 			}
 		}
 	}
@@ -294,10 +310,12 @@ void StepperControlAxis::loadCoordinates(long sourcePoint, long destinationPoint
 
 void StepperControlAxis::enableMotor() {
 	digitalWrite(pinEnable, LOW);
+        movementMotorActive = true;
 }
 
 void StepperControlAxis::disableMotor() {
 	digitalWrite(pinEnable, HIGH);
+        movementMotorActive = false;
 }
 
 void StepperControlAxis::setDirectionUp() {
@@ -418,3 +436,20 @@ bool StepperControlAxis::movingToHome() {
 bool StepperControlAxis::movingUp() {
 	return movementUp;
 }
+
+bool StepperControlAxis::isAccelerating() {
+	return movementAccelerating;
+}
+
+bool StepperControlAxis::isDecelerating() {
+	return movementDecelerating;
+}
+
+bool StepperControlAxis::isCrawling() {
+	return movementCrawling;
+}
+
+bool StepperControlAxis::isMotorActive() {
+	return movementMotorActive;
+}
+
diff --git a/src/StepperControlAxis.h b/src/StepperControlAxis.h
index 165b4c2..1485137 100644
--- a/src/StepperControlAxis.h
+++ b/src/StepperControlAxis.h
@@ -35,6 +35,11 @@ public:
 
 	bool isAxisActive();
 	void deactivateAxis();
+	bool isAccelerating();
+	bool isDecelerating();
+	bool isCruising();
+	bool isCrawling();
+	bool isMotorActive();
 
 	bool endStopMin();
 	bool endStopMax();
@@ -107,6 +112,11 @@ private:
 	bool movementUp;
 	bool movementToHome;
 	bool movementStepDone;
+	bool movementAccelerating;
+	bool movementDecelerating;
+	bool movementCruising;
+	bool movementCrawling;
+	bool movementMotorActive;
 
 	void step(long &currentPoint, unsigned long steps, long destinationPoint);
 	bool pointReached(long currentPoint, long destinationPoint);