Refactor and optimize Stepper/Planner

Marlin/src/Marlin.cpp

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

Marlin/src/gcode/config/M540.cpp

Marlin/src/gcode/control/M17_M18_M84.cpp

Marlin/src/gcode/control/M80_M81.cpp

Marlin/src/gcode/motion/G2_G3.cpp

Marlin/src/lcd/ultralcd.cpp

Marlin/src/module/endstops.cpp

Marlin/src/module/motion.cpp

Marlin/src/module/planner.cpp

Marlin/src/module/planner.h

Marlin/src/module/planner_bezier.cpp

Marlin/src/module/stepper.cpp

Marlin/src/module/stepper.h

Marlin/src/module/temperature.cpp

Marlin/src/sd/cardreader.cpp