From 1f0ab33787d4bc8c827af38a10c251b5139164de Mon Sep 17 00:00:00 2001
From: cprezzi <cprezzi@comsulting.ch>
Date: Thu, 18 May 2017 12:47:37 +0200
Subject: [PATCH] Merged new $ params

---
 grbl/config.h          |   9 +-
 grbl/cpu_map.h         |   6 +-
 grbl/defaults.h        | 209 ++++++++++++++++++++---------------------
 grbl/settings.c        |   3 +
 grbl/settings.h        |   5 +-
 grbl/spindle_control.c |  19 ++--
 grbl/stepper.c         |   4 +-
 7 files changed, 125 insertions(+), 130 deletions(-)

diff --git a/grbl/config.h b/grbl/config.h
index 4534b3e..05f45d2 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -111,10 +111,11 @@
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
 
 // NOTE: The following are two examples to setup homing for 2-axis machines.
-#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
+//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
 
 // #define HOMING_CYCLE_0 (1<<X_AXIS)  // COREXY COMPATIBLE: First home X
 // #define HOMING_CYCLE_1 (1<<Y_AXIS)  // COREXY COMPATIBLE: Then home Y
+// Homing cycle pattern is defined in Machine defaults!!!
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
@@ -362,12 +363,6 @@
 //      pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max
 //            scales to SPINDLE_PWM_MAX_VALUE.
 
-// Not needed anymore, as spindle PWM frequency is set by $33 param
-//#define SPINDLE_PWM_PERIOD        (SystemCoreClock / 40000)         // SystemCoreClock / frequency
-#define SPINDLE_PWM_OFF_VALUE     0.0    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MIN_VALUE     (SPINDLE_PWM_PERIOD * 0.0)    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MAX_VALUE     (SPINDLE_PWM_PERIOD * 1.0)  // SPINDLE_PWM_PERIOD * fraction
-
 // Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
 // The PWM pin will still read 0V when the spindle is disabled. Most users will not need this option, but
 // it may be useful in certain scenarios. This minimum PWM settings coincides with the spindle rpm minimum
diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index f49c7a0..3479eea 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -269,10 +269,10 @@
   // Stepper current control
   #ifndef BOARD_C3D
     #define CURRENT_I2C Driver_I2C1       // I2C driver for current control. Comment out to disable (for C3d boards!)
+    #define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
+    #define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
+    #define CURRENT_FACTOR 113.33           // Convert amps to digipot value
   #endif
-  #define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
-  #define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
-  #define CURRENT_FACTOR 113.33           // Convert amps to digipot value
 
   // Variable spindle configuration below. Do not change unless you know what you are doing.
   // NOTE: Only used when variable spindle is enabled.
diff --git a/grbl/defaults.h b/grbl/defaults.h
index a3d12db..489f746 100644
--- a/grbl/defaults.h
+++ b/grbl/defaults.h
@@ -33,112 +33,100 @@
   #define DEFAULT_Y_STEPS_PER_MM 250.0
   #define DEFAULT_Z_STEPS_PER_MM 250.0
   #define DEFAULT_A_STEPS_PER_MM 160.0
-  //#define DEFAULT_B_STEPS_PER_MM 160.0
-  //#define DEFAULT_C_STEPS_PER_MM 160.0
   #define DEFAULT_X_MAX_RATE 500.0 // mm/min
   #define DEFAULT_Y_MAX_RATE 500.0 // mm/min
   #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
   #define DEFAULT_A_MAX_RATE 500.0 // mm/min
-  //#define DEFAULT_B_MAX_RATE 500.0 // mm/min
-  //#define DEFAULT_C_MAX_RATE 500.0 // mm/min
   #define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
   #define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
   #define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
   #define DEFAULT_A_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  //#define DEFAULT_B_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  //#define DEFAULT_C_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
   #define DEFAULT_X_CURRENT 0.6 // amps
   #define DEFAULT_Y_CURRENT 0.6 // amps
   #define DEFAULT_Z_CURRENT 0.0 // amps
   #define DEFAULT_A_CURRENT 0.0 // amps
-  //#define DEFAULT_B_CURRENT 0.0 // amps
-  //#define DEFAULT_C_CURRENT 0.0 // amps
   #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  //#define DEFAULT_B_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  //#define DEFAULT_C_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
   #define DEFAULT_STEPPING_INVERT_MASK 0
   #define DEFAULT_DIRECTION_INVERT_MASK 0
   #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 0 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 0 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 0       // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 0       // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 0              // false
+  #define DEFAULT_HOMING_ENABLE 0           // false
+  #define DEFAULT_HOMING_DIR_MASK 0         // move positive dir
+  #define DEFAULT_HOMING_FEED_RATE 25.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 500.0    // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_HOMING_PULLOFF 1.0        // mm
+  #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
 #endif
 
 #ifdef DEFAULTS_K40
   // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
-  #define DEFAULT_X_STEPS_PER_MM 160.0
+  #define DEFAULT_X_STEPS_PER_MM 160.0      // 200 stepps/rev. * 32 microstepps / 40mm/rev
   #define DEFAULT_Y_STEPS_PER_MM 160.0
   #define DEFAULT_Z_STEPS_PER_MM 160.0
   #define DEFAULT_A_STEPS_PER_MM 160.0
-  //#define DEFAULT_B_STEPS_PER_MM 160.0
-  //#define DEFAULT_C_STEPS_PER_MM 160.0
-  #define DEFAULT_X_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_A_MAX_RATE 24000.0 // mm/min
-  //#define DEFAULT_B_MAX_RATE 24000.0 // mm/min
-  //#define DEFAULT_C_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_A_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  //#define DEFAULT_B_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  //#define DEFAULT_C_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_X_CURRENT 0.6 // amps
-  #define DEFAULT_Y_CURRENT 0.6 // amps
-  #define DEFAULT_Z_CURRENT 0.0 // amps
-  #define DEFAULT_A_CURRENT 0.0 // amps
-  //#define DEFAULT_B_CURRENT 0.0 // amps
-  //#define DEFAULT_C_CURRENT 0.0 // amps
-  #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Z_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  //#define DEFAULT_B_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  //#define DEFAULT_C_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+  #define DEFAULT_X_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_Y_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_Z_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_A_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_X_CURRENT 0.6             // amps
+  #define DEFAULT_Y_CURRENT 0.6             // amps
+  #define DEFAULT_Z_CURRENT 0.0             // amps
+  #define DEFAULT_A_CURRENT 0.0             // amps
+  #define DEFAULT_X_MAX_TRAVEL 300.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_Y_MAX_TRAVEL 200.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_Z_MAX_TRAVEL 50.0         // mm NOTE: Must be a positive value.
+  #define DEFAULT_A_MAX_TRAVEL 100.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
   #define DEFAULT_STEPPING_INVERT_MASK 0
   #define DEFAULT_DIRECTION_INVERT_MASK 0
-  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 1 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 1 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 1       // true
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1       // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 1              // true
+  #define DEFAULT_HOMING_ENABLE 1           // true
+  #define DEFAULT_HOMING_DIR_MASK 1         // move top/left
+  #define DEFAULT_HOMING_FEED_RATE 50.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 6000.0   // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_HOMING_PULLOFF 2.0        // mm
+  #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
 #endif
 
 #ifdef DEFAULTS_FABKIT
@@ -146,42 +134,51 @@
   #define DEFAULT_X_STEPS_PER_MM 80.0
   #define DEFAULT_Y_STEPS_PER_MM 80.0
   #define DEFAULT_Z_STEPS_PER_MM 640.0
-  #define DEFAULT_X_MAX_RATE 30000 // mm/min
-  #define DEFAULT_Y_MAX_RATE 4500 // mm/min
-  #define DEFAULT_Z_MAX_RATE 1200 // mm/min
-  #define DEFAULT_X_ACCELERATION (4000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (250.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (150.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-  #define DEFAULT_X_CURRENT 1.5 // amps
-  #define DEFAULT_Y_CURRENT 1.5 // amps
-  #define DEFAULT_Z_CURRENT 1.5 // amps
-  #define DEFAULT_A_CURRENT 0.0  // amps
-  #define DEFAULT_X_MAX_TRAVEL 680.0 // mm
-  #define DEFAULT_Y_MAX_TRAVEL 460.0 // mm
-  #define DEFAULT_Z_MAX_TRAVEL 150.0 // mm
-  #define DEFAULT_SPINDLE_PWM_FREQ 50000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 0.7 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.08 // rpm
+  #define DEFAULT_A_STEPS_PER_MM 160.0
+  #define DEFAULT_X_MAX_RATE 30000          // mm/min
+  #define DEFAULT_Y_MAX_RATE 4500           // mm/min
+  #define DEFAULT_Z_MAX_RATE 1200           // mm/min
+  #define DEFAULT_A_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_X_ACCELERATION (4000.0*60*60) // 4000*60*60 mm/min^2 = 4000 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (250.0*60*60)  // 250*60*60 mm/min^2 = 250 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (150.0*60*60)  // 150*60*60 mm/min^2 = 150 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (150.0*60*60)  // 150*60*60 mm/min^2 = 150 mm/sec^2
+  #define DEFAULT_X_CURRENT 1.5             // amps
+  #define DEFAULT_Y_CURRENT 1.5             // amps
+  #define DEFAULT_Z_CURRENT 1.5             // amps
+  #define DEFAULT_A_CURRENT 0.0             // amps
+  #define DEFAULT_X_MAX_TRAVEL 680.0        // mm
+  #define DEFAULT_Y_MAX_TRAVEL 460.0        // mm
+  #define DEFAULT_Z_MAX_TRAVEL 150.0        // mm
+  #define DEFAULT_A_MAX_TRAVEL 150.0        // mm
+  #define DEFAULT_SPINDLE_PWM_FREQ 50000    // Hz
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 0.7       // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.08      // rpm (S-value)
   #define DEFAULT_STEP_PULSE_MICROSECONDS 1
   #define DEFAULT_STEPPING_INVERT_MASK 0
   #define DEFAULT_DIRECTION_INVERT_MASK 2
-  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 1 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 1 // true
-  #define DEFAULT_HOMING_ENABLE 1  // false
-  #define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 60.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 1       // true
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1       // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 1              // true
+  #define DEFAULT_HOMING_ENABLE 1           // true
+  #define DEFAULT_HOMING_DIR_MASK 1         // move top/left
+  #define DEFAULT_HOMING_FEED_RATE 60.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 6000.0   // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_HOMING_PULLOFF 2.0        // mm
+  #define HOMING_CYCLE_0 (1<<Z_AXIS)
+  #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))
 #endif
 
 #ifdef DEFAULTS_SHERLINE_5400
diff --git a/grbl/settings.c b/grbl/settings.c
index ed3aabb..f42015c 100644
--- a/grbl/settings.c
+++ b/grbl/settings.c
@@ -87,6 +87,9 @@ void settings_restore(uint8_t restore_flag) {
     settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
 
     settings.spindle_pwm_freq = DEFAULT_SPINDLE_PWM_FREQ;
+    settings.spindle_pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE;
+    settings.spindle_pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE;
+    settings.spindle_pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE;
     settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
     settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
 
diff --git a/grbl/settings.h b/grbl/settings.h
index b27d005..e6e5abe 100644
--- a/grbl/settings.h
+++ b/grbl/settings.h
@@ -92,7 +92,10 @@ typedef struct {
   float junction_deviation;
   float arc_tolerance;
 
-  uint16_t spindle_pwm_freq;
+  float spindle_pwm_freq;
+  float spindle_pwm_off_value; // Percent
+  float spindle_pwm_min_value; // Percent
+  float spindle_pwm_max_value; // Percent  
   float rpm_max;
   float rpm_min;
 
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index 118caa2..74a589f 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -25,10 +25,10 @@
 
 #ifdef VARIABLE_SPINDLE
   static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
-  static float spindle_pwm_period;
-  static float spindle_pwm_off_value;
-  static float spindle_pwm_min_value;
-  static float spindle_pwm_max_value;
+  float spindle_pwm_period;
+  float spindle_pwm_off_value;
+  float spindle_pwm_min_value;
+  float spindle_pwm_max_value;
 #endif
 
 
@@ -36,12 +36,10 @@ void spindle_init()
 {
   #ifdef VARIABLE_SPINDLE
     spindle_pwm_period = (SystemCoreClock / settings.spindle_pwm_freq);
-    spindle_pwm_off_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_min_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_max_value = (spindle_pwm_period * 1.0);    // SPINDLE_PWM_PERIOD * fraction
-
-    //pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
-    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0); //SPINDLE_PWM_PERIOD
+    spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100);
+    spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100);
+    spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
+    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0);
     pwm_enable(&SPINDLE_PWM_CHANNEL);
 
     /* not ported
@@ -54,7 +52,6 @@ void spindle_init()
     #endif
     */
 
-    //pwm_gradient = (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)/(settings.rpm_max-settings.rpm_min);
     pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
 
   #else
diff --git a/grbl/stepper.c b/grbl/stepper.c
index a78b480..5613f0c 100644
--- a/grbl/stepper.c
+++ b/grbl/stepper.c
@@ -391,7 +391,7 @@ extern "C" void TIMER1_IRQHandler()
       st_go_idle();
       #ifdef VARIABLE_SPINDLE
         // Ensure pwm is set properly upon completion of rate-controlled motion.
-        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
+        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(spindle_pwm_off_value); }
       #endif
       system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
       return; // Nothing to do but exit.
@@ -948,7 +948,7 @@ void st_prep_buffer()
           prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
         } else { 
           sys.spindle_speed = 0.0;
-          prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
+          prep.current_spindle_pwm = spindle_pwm_off_value;
         }
         bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
       }