diff --git a/config.h b/config.h
index 5b21fcf..93fd1ee 100644
--- a/config.h
+++ b/config.h
@@ -125,7 +125,7 @@
 #define ACCELERATION_TICKS_PER_SECOND 120L 
 
 // NOTE: Make sure this value is less than 256, when adjusting both dependent parameters.
-#define INTERRUPTS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND)
+#define ISR_TICKS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND)
 
 // The Ranade algorithm can use either floating point or long integers for its counters, but for 
 // integers the counter values must be scaled since these values can be very small (10^-6). This
diff --git a/planner.c b/planner.c
index 0d2f602..be99a31 100644
--- a/planner.c
+++ b/planner.c
@@ -32,7 +32,7 @@
 #include "protocol.h"
 
 #define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs
-                                 // to be larger than any feasible mm/min or mm/sec^2 value.
+                                 // to be larger than any feasible (mm/min)^2 or mm/sec^2 value.
 
 static block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructions
 static volatile uint8_t block_buffer_head;       // Index of the next block to be pushed
@@ -52,12 +52,6 @@ typedef struct {
 static planner_t pl;
 
 
-void plan_init() 
-{
-  plan_reset_buffer();
-  memset(&pl, 0, sizeof(pl)); // Clear planner struct
-}
-
 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
 static uint8_t next_block_index(uint8_t block_index) 
@@ -342,11 +336,12 @@ static void planner_recalculate()
 //   }
 }
 
-void plan_reset_buffer() 
+void plan_init() 
 {
   block_buffer_tail = block_buffer_head;
   next_buffer_head = next_block_index(block_buffer_head);
 //   block_buffer_planned = block_buffer_head;
+  memset(&pl, 0, sizeof(pl)); // Clear planner struct
 }
 
 inline void plan_discard_current_block() 
diff --git a/planner.h b/planner.h
index fa51722..a16c8c9 100644
--- a/planner.h
+++ b/planner.h
@@ -73,9 +73,6 @@ void plan_set_current_position(int32_t x, int32_t y, int32_t z);
 // Reinitialize plan with a partially completed block
 void plan_cycle_reinitialize(int32_t step_events_remaining);
 
-// Reset buffer
-void plan_reset_buffer();
-
 // Returns the status of the block ring buffer. True, if buffer is full.
 uint8_t plan_check_full_buffer();
 
diff --git a/stepper.c b/stepper.c
index 9d43430..f8d6c35 100644
--- a/stepper.c
+++ b/stepper.c
@@ -182,7 +182,7 @@ ISR(TIMER2_COMPA_vect)
         // Initialize Ranade variables
         st.d_counter = current_block->d_next;  
         st.delta_d = current_block->initial_rate;
-        st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;
+        st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2;
         
         // Initialize ramp type.
         if (st.step_events_remaining == current_block->decelerate_after) { st.ramp_type = DECEL_RAMP; }
@@ -203,7 +203,7 @@ ISR(TIMER2_COMPA_vect)
     // Tick acceleration ramp counter
     st.ramp_count--;
     if (st.ramp_count == 0) {
-      st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK; // Reload ramp counter
+      st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK; // Reload ramp counter
       if (st.ramp_type == ACCEL_RAMP) { // Adjust velocity for acceleration
         st.delta_d += current_block->rate_delta;
         if (st.delta_d >= current_block->nominal_rate) { // Reached cruise state.
@@ -232,7 +232,7 @@ ISR(TIMER2_COMPA_vect)
     if (sys.state == STATE_HOLD) {
       if (st.ramp_type != DECEL_RAMP) {
         st.ramp_type = DECEL_RAMP;
-        st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2; 
+        st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2; 
       } 
       if (st.delta_d <= current_block->rate_delta) {
         st_go_idle();
@@ -279,9 +279,9 @@ ISR(TIMER2_COMPA_vect)
           st.ramp_type = DECEL_RAMP;
           if (st.step_events_remaining == current_block->decelerate_after) {
             if (st.delta_d == current_block->nominal_rate) {
-              st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;  // Set ramp counter for trapezoid
+              st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2;  // Set ramp counter for trapezoid
             } else {
-              st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK-st.ramp_count; // Set ramp counter for triangle
+              st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK-st.ramp_count; // Set ramp counter for triangle
             }
           }
         }
@@ -373,7 +373,7 @@ void st_cycle_reinitialize()
     // Replan buffer from the feed hold stop location.
     plan_cycle_reinitialize(st.step_events_remaining);
     st.ramp_type = ACCEL_RAMP;
-    st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2; 
+    st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2; 
     st.delta_d = 0;
     sys.state = STATE_QUEUED;
   } else {