From 9be7b3d9304a0968e238b5ef2ab8e2292aa5e351 Mon Sep 17 00:00:00 2001
From: Sonny Jeon <chamnit@gmail.com>
Date: Wed, 14 Jan 2015 22:14:52 -0700
Subject: [PATCH] Lot of refactoring for the future. CoreXY support.
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

- Rudimentary CoreXY kinematics support. Didn’t test, but homing and
feed holds should work. See config.h. Please report successes and
issues as we find bugs.

- G40 (disable cutter comp) is now “supported”. Meaning that Grbl will
no longer issue an error when typically sent in g-code program header.

- Refactored coolant and spindle state setting into separate functions
for future features.

- Configuration option for fixing homing behavior when there are two
limit switches on the same axis sharing an input pin.

- Created a new “grbl.h” that will eventually be used as the main
include file for Grbl. Also will help simply uploading through the
Arduino IDE

- Separated out the alarms execution flags from the realtime (used be
called runtime) execution flag variable. Now reports exactly what
caused the alarm. Expandable for new alarms later on.

- Refactored the homing cycle to support CoreXY.

- Applied @EliteEng updates to Mega2560 support. Some pins were
reconfigured.

- Created a central step to position and vice versa function. Needed
for non-traditional cartesian machines. Should make it easier later.

- Removed the new CPU map for the Uno. No longer going to used. There
will be only one configuration to keep things uniform.
---
 config.h                         |   27 +-
 coolant_control.c                |   16 +-
 coolant_control.h                |    3 +-
 cpu_map.h                        |  174 +-
 defaults.h                       |    2 +-
 gcode.c                          |   34 +-
 gcode.h                          |   43 +-
 grbl.h                           |   49 +
 limits.c                         |  139 +-
 limits.h                         |    2 +-
 main.c                           |    5 +-
 motion_control.c                 |   66 +-
 motion_control.h                 |    2 +-
 nuts_bolts.c                     |    2 +-
 nuts_bolts.h                     |   14 +-
 planner.c                        |   53 +-
 planner.h                        |    2 +-
 print.c                          |    2 +-
 print.h                          |    2 +-
 probe.c                          |    4 +-
 probe.h                          |    2 +-
 protocol.c                       |   93 +-
 protocol.h                       |    6 +-
 report.c                         |   19 +-
 report.h                         |    9 +-
 serial.c                         |   14 +-
 serial.h                         |    2 +-
 settings.c                       |    4 +-
 settings.h                       |    6 +-
 spindle_control.c                |   41 +-
 spindle_control.h                |    4 +-
 stepper.c                        |    8 +-
 stepper.h                        |    8 +-
 system.c                         |   67 +-
 system.h                         |   36 +-
 test/gcode/8x_gear_test.nc       | 4919 ------------------------------
 test/gcode/HSM_test.nc           | 1758 -----------
 test/gcode/SO2_helloworld.nc     |  773 -----
 test/gcode/braid_cut2d.nc        | 2517 ---------------
 test/matlab/grbl_sim.m           |  437 ---
 test/matlab/matlab.gcode         | 2362 --------------
 test/matlab/matlab_convert.py    |  270 --
 test/matlab/test.gcode           | 2363 --------------
 test/settings/kikigey89.settings |   31 -
 test/test.py                     |   25 -
 45 files changed, 529 insertions(+), 15886 deletions(-)
 create mode 100644 grbl.h
 delete mode 100644 test/gcode/8x_gear_test.nc
 delete mode 100644 test/gcode/HSM_test.nc
 delete mode 100644 test/gcode/SO2_helloworld.nc
 delete mode 100644 test/gcode/braid_cut2d.nc
 delete mode 100644 test/matlab/grbl_sim.m
 delete mode 100644 test/matlab/matlab.gcode
 delete mode 100755 test/matlab/matlab_convert.py
 delete mode 100644 test/matlab/test.gcode
 delete mode 100644 test/settings/kikigey89.settings
 delete mode 100644 test/test.py

diff --git a/config.h b/config.h
index 378ad6a..60d240b 100644
--- a/config.h
+++ b/config.h
@@ -2,7 +2,7 @@
   config.h - compile time configuration
   Part of Grbl v0.9
 
-  Copyright (c) 2013-2014 Sungeun K. Jeon
+  Copyright (c) 2013-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -43,9 +43,9 @@
 
 // Default cpu mappings. Grbl officially supports the Arduino Uno only. Other processor types
 // may exist from user-supplied templates or directly user-defined in cpu_map.h
-#define CPU_MAP_ATMEGA328P_TRADITIONAL // Arduino Uno CPU
+#define CPU_MAP_ATMEGA328P // Arduino Uno CPU
 
-// Define runtime command special characters. These characters are 'picked-off' directly from the
+// Define realtime command special characters. These characters are 'picked-off' directly from the
 // serial read data stream and are not passed to the grbl line execution parser. Select characters
 // that do not and must not exist in the streamed g-code program. ASCII control characters may be 
 // used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in 
@@ -107,6 +107,14 @@
 #define N_DECIMAL_RATEVALUE_MM    0 // Rate or velocity value in mm/min
 #define N_DECIMAL_SETTINGVALUE    3 // Decimals for floating point setting values
 
+// If your machine has two limits switches wired in parallel to one axis, you will need to enable
+// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
+// which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will 
+// alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one
+// limit switch for each axis, don't enable this option. By keeping it disabled, you can homing while
+// on the limit switch and not have to move the machine off of it.
+// #define LIMITS_TWO_SWITCHES_ON_AXES
+
 // Allows GRBL to track and report gcode line numbers.  Enabling this means that the planning buffer
 // goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct
 // #define USE_LINE_NUMBERS // Disabled by default. Uncomment to enable.
@@ -126,6 +134,15 @@
 // NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless.
 // #define ENABLE_M7 // Disabled by default. Uncomment to enable.
 
+// Enable CoreXY kinematics. Use ONLY with CoreXY machines. 
+// IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to 
+// #define HOMING_CYCLE_0 (1<<X_AXIS) and #define HOMING_CYCLE_1 (1<<Y_AXIS)
+// NOTE: This configuration option alters the motion of the X and Y axes to principle of operation
+// defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
+// described, if not, motions may move in strange directions. Grbl assumes the CoreXY A and B motors
+// have the same steps per mm internally.
+// #define COREXY // Default disabled. Uncomment to enable.
+
 // ---------------------------------------------------------------------------------------
 // ADVANCED CONFIGURATION OPTIONS:
 
@@ -268,9 +285,7 @@
 // ---------------------------------------------------------------------------------------
 // COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
 
-// #if (ISR_TICKS_PER_ACCELERATION_TICK > 255)
-// #error Parameters ACCELERATION_TICKS / ISR_TICKS must be < 256 to prevent integer overflow.
-// #endif
+
 
 // ---------------------------------------------------------------------------------------
 
diff --git a/coolant_control.c b/coolant_control.c
index 9f629ce..d8336d5 100644
--- a/coolant_control.c
+++ b/coolant_control.c
@@ -2,7 +2,7 @@
   coolant_control.c - coolant control methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -43,12 +43,8 @@ void coolant_stop()
 }
 
 
-void coolant_run(uint8_t mode)
+void coolant_set_state(uint8_t mode)
 {
-  if (sys.state == STATE_CHECK_MODE) { return; }
-
-  protocol_auto_cycle_start();   //temp fix for M8 lockup
-  protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
   if (mode == COOLANT_FLOOD_ENABLE) {
     COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
 
@@ -61,3 +57,11 @@ void coolant_run(uint8_t mode)
     coolant_stop();
   }
 }
+
+
+void coolant_run(uint8_t mode)
+{
+  if (sys.state == STATE_CHECK_MODE) { return; }
+  protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.  
+  coolant_set_state(mode);
+}
diff --git a/coolant_control.h b/coolant_control.h
index db3c71c..f093cee 100644
--- a/coolant_control.h
+++ b/coolant_control.h
@@ -2,7 +2,7 @@
   coolant_control.h - spindle control methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -24,6 +24,7 @@
 
 void coolant_init();
 void coolant_stop();
+void coolant_set_state(uint8_t mode);
 void coolant_run(uint8_t mode);
 
 #endif
\ No newline at end of file
diff --git a/cpu_map.h b/cpu_map.h
index 7295513..3e46c30 100644
--- a/cpu_map.h
+++ b/cpu_map.h
@@ -2,7 +2,7 @@
   cpu_map.h - CPU and pin mapping configuration file
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -31,7 +31,7 @@
 
 //----------------------------------------------------------------------------------------
 
-#ifdef CPU_MAP_ATMEGA328P_TRADITIONAL // (Arduino Uno) Officially supported by Grbl.
+#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
 
   // Define serial port pins and interrupt vectors.
   #define SERIAL_RX     USART_RX_vect
@@ -123,6 +123,7 @@
   
   #ifdef VARIABLE_SPINDLE
     // Advanced Configuration Below You should not need to touch these variables
+    #define PWM_MAX_VALUE    255.0
     #define TCCRA_REGISTER	 TCCR2A
     #define TCCRB_REGISTER	 TCCR2B
     #define OCR_REGISTER     OCR2A
@@ -142,118 +143,6 @@
 #endif
 
 
-//----------------------------------------------------------------------------------------
-
-#ifdef CPU_MAP_ATMEGA328P_NEW // (Arduino Uno) New test pinout configuration. Still subject to change. Not finalized!
-
-  // Define serial port pins and interrupt vectors.
-  #define SERIAL_RX     USART_RX_vect
-  #define SERIAL_UDRE   USART_UDRE_vect
-
-  // Define step pulse output pins. NOTE: All step bit pins must be on the same port.
-  #define STEP_DDR        DDRD
-  #define STEP_PORT       PORTD
-  #define X_STEP_BIT      2  // Uno Digital Pin 2
-  #define Y_STEP_BIT      3  // Uno Digital Pin 3
-  #define Z_STEP_BIT      4  // Uno Digital Pin 4
-  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
-
-  // Define step direction output pins. NOTE: All direction pins must be on the same port.
-  #define DIRECTION_DDR     DDRD
-  #define DIRECTION_PORT    PORTD
-  #define X_DIRECTION_BIT   5  // Uno Digital Pin 5
-  #define Y_DIRECTION_BIT   6  // Uno Digital Pin 6
-  #define Z_DIRECTION_BIT   7  // Uno Digital Pin 7
-  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
-
-  // Define stepper driver enable/disable output pin.
-  #define STEPPERS_DISABLE_DDR    DDRB
-  #define STEPPERS_DISABLE_PORT   PORTB
-  #define STEPPERS_DISABLE_BIT    0  // Uno Digital Pin 8
-  #define STEPPERS_DISABLE_MASK   (1<<STEPPERS_DISABLE_BIT)
-
-  // Define homing/hard limit switch input pins and limit interrupt vectors. 
-  // NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (pinout).
-  #define LIMIT_DDR        DDRB
-  #define LIMIT_PIN        PINB
-  #define LIMIT_PORT       PORTB
-  #define X_LIMIT_BIT      1  // Uno Digital Pin 9
-  #define Y_LIMIT_BIT      2  // Uno Digital Pin 10
-  #ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.  
-    #define Z_LIMIT_BIT	   4 // Uno Digital Pin 12
-  #else
-    #define Z_LIMIT_BIT    3  // Uno Digital Pin 11
-  #endif
-  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
-  #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
-  #define LIMIT_INT_vect   PCINT0_vect 
-  #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
-
-  // Define spindle enable and spindle direction output pins.
-  #define SPINDLE_ENABLE_DDR    DDRB
-  #define SPINDLE_ENABLE_PORT   PORTB
-  #ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.  
-    #define SPINDLE_ENABLE_BIT    3  // Uno Digital Pin 11
-  #else
-    #define SPINDLE_ENABLE_BIT    4  // Uno Digital Pin 12
-  #endif  
-  #define SPINDLE_DIRECTION_DDR   DDRB
-  #define SPINDLE_DIRECTION_PORT  PORTB
-  #define SPINDLE_DIRECTION_BIT   5  // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
-
-  // Define flood and mist coolant enable output pins.
-  // NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
-  // a later date if flash and memory space allows.
-  #define COOLANT_FLOOD_DDR   DDRC
-  #define COOLANT_FLOOD_PORT  PORTC
-  #define COOLANT_FLOOD_BIT   1  // Uno Analog Pin 1
-  #ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
-    #define COOLANT_MIST_DDR   DDRC
-    #define COOLANT_MIST_PORT  PORTC
-    #define COOLANT_MIST_BIT   2 // Uno Analog Pin 2
-  #endif  
-
-  // Define user-control pinouts (cycle start, reset, feed hold) input pins.
-  // NOTE: All pinouts pins must be on the same port and not on a port with other input pins (limits).
-  #define PINOUT_DDR       DDRC
-  #define PINOUT_PIN       PINC
-  #define PINOUT_PORT      PORTC
-  #define PIN_RESET        3  // Uno Analog Pin 3
-  #define PIN_FEED_HOLD    4  // Uno Analog Pin 4
-  #define PIN_CYCLE_START  5  // Uno Analog Pin 5
-  #define PINOUT_INT       PCIE1  // Pin change interrupt enable pin
-  #define PINOUT_INT_vect  PCINT1_vect
-  #define PINOUT_PCMSK     PCMSK1 // Pin change interrupt register
-  #define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
-  
-  // Define probe switch input pin.
-  #define PROBE_DDR       DDRC
-  #define PROBE_PIN       PINC
-  #define PROBE_PORT      PORTC
-  #define PROBE_BIT       0  // Uno Analog Pin 0
-  #define PROBE_MASK      (1<<PROBE_BIT)
-
-  
-  #ifdef VARIABLE_SPINDLE
-    // Advanced Configuration Below You should not need to touch these variables
-    #define TCCRA_REGISTER	 TCCR2A
-    #define TCCRB_REGISTER	 TCCR2B
-    #define OCR_REGISTER     OCR2A
-
-    #define COMB_BIT	     COM2A1
-    #define WAVE0_REGISTER	 WGM20
-    #define WAVE1_REGISTER	 WGM21
-    #define WAVE2_REGISTER	 WGM22
-    #define WAVE3_REGISTER	 WGM23
-
-    // NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
-    #define SPINDLE_PWM_DDR	  SPINDLE_ENABLE_DDR
-    #define SPINDLE_PWM_PORT  SPINDLE_ENABLE_PORT
-    #define SPINDLE_PWM_BIT	  SPINDLE_ENABLE_BIT // Shared with SPINDLE_ENABLE.
-  #endif // End of VARIABLE_SPINDLE
-
-#endif
-
 //----------------------------------------------------------------------------------------
 
 #ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
@@ -272,18 +161,18 @@
   #define STEP_DDR      DDRA
   #define STEP_PORT     PORTA
   #define STEP_PIN      PINA
-  #define X_STEP_BIT        2 // MEGA2560 Digital Pin 24
-  #define Y_STEP_BIT        3 // MEGA2560 Digital Pin 25
-  #define Z_STEP_BIT        4 // MEGA2560 Digital Pin 26
+  #define X_STEP_BIT    2 // MEGA2560 Digital Pin 24
+  #define Y_STEP_BIT    3 // MEGA2560 Digital Pin 25
+  #define Z_STEP_BIT    4 // MEGA2560 Digital Pin 26
   #define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
 
   // Define step direction output pins. NOTE: All direction pins must be on the same port.
-  #define DIRECTION_DDR      DDRA
-  #define DIRECTION_PORT     PORTA
-  #define DIRECTION_PIN      PINA
-  #define X_DIRECTION_BIT   5 // MEGA2560 Digital Pin 27
-  #define Y_DIRECTION_BIT   6 // MEGA2560 Digital Pin 28
-  #define Z_DIRECTION_BIT   7 // MEGA2560 Digital Pin 29
+  #define DIRECTION_DDR     DDRC
+  #define DIRECTION_PORT    PORTC
+  #define DIRECTION_PIN     PINC
+  #define X_DIRECTION_BIT   7 // MEGA2560 Digital Pin 30
+  #define Y_DIRECTION_BIT   6 // MEGA2560 Digital Pin 31
+  #define Z_DIRECTION_BIT   5 // MEGA2560 Digital Pin 32
   #define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
 
   // Define stepper driver enable/disable output pin.
@@ -305,9 +194,9 @@
   #define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
 
   // Define spindle enable and spindle direction output pins.
-  #define SPINDLE_ENABLE_DDR   DDRH
-  #define SPINDLE_ENABLE_PORT  PORTH
-  #define SPINDLE_ENABLE_BIT   3 // MEGA2560 Digital Pin 6
+  #define SPINDLE_ENABLE_DDR      DDRH
+  #define SPINDLE_ENABLE_PORT     PORTH
+  #define SPINDLE_ENABLE_BIT      3 // MEGA2560 Digital Pin 6
   #define SPINDLE_DIRECTION_DDR   DDRE
   #define SPINDLE_DIRECTION_PORT  PORTE
   #define SPINDLE_DIRECTION_BIT   3 // MEGA2560 Digital Pin 5
@@ -315,13 +204,13 @@
   // Define flood and mist coolant enable output pins.
   // NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
   // a later date if flash and memory space allows.
-  #define COOLANT_FLOOD_DDR   DDRH
-  #define COOLANT_FLOOD_PORT  PORTH
-  #define COOLANT_FLOOD_BIT   5 // MEGA2560 Digital Pin 8
+  #define COOLANT_FLOOD_DDR     DDRH
+  #define COOLANT_FLOOD_PORT    PORTH
+  #define COOLANT_FLOOD_BIT     5 // MEGA2560 Digital Pin 8
   #ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
-    #define COOLANT_MIST_DDR   DDRH
-    #define COOLANT_MIST_PORT  PORTH
-    #define COOLANT_MIST_BIT   6 // MEGA2560 Digital Pin 9
+    #define COOLANT_MIST_DDR    DDRH
+    #define COOLANT_MIST_PORT   PORTH
+    #define COOLANT_MIST_BIT    6 // MEGA2560 Digital Pin 9
   #endif  
 
   // Define user-control pinouts (cycle start, reset, feed hold) input pins.
@@ -347,20 +236,21 @@
   // Start of PWM & Stepper Enabled Spindle
   #ifdef VARIABLE_SPINDLE
     // Advanced Configuration Below You should not need to touch these variables
-    // Set Timer up to use TIMER2B which is attached to Digital Pin 9
-    #define TCCRA_REGISTER		TCCR2A
-    #define TCCRB_REGISTER		TCCR2B
-    #define OCR_REGISTER		OCR2B
+    // Set Timer up to use TIMER4B which is attached to Digital Pin 7
+    #define PWM_MAX_VALUE       65535.0
+    #define TCCRA_REGISTER		TCCR4A
+    #define TCCRB_REGISTER		TCCR4B
+    #define OCR_REGISTER		OCR4B
 
-    #define COMB_BIT			COM2B1
-    #define WAVE0_REGISTER		WGM20
-    #define WAVE1_REGISTER		WGM21
-    #define WAVE2_REGISTER		WGM22
-    #define WAVE3_REGISTER		WGM23
+    #define COMB_BIT			COM4B1
+    #define WAVE0_REGISTER		WGM40
+    #define WAVE1_REGISTER		WGM41
+    #define WAVE2_REGISTER		WGM42
+    #define WAVE3_REGISTER		WGM43
 
     #define SPINDLE_PWM_DDR		DDRH
     #define SPINDLE_PWM_PORT    PORTH
-    #define SPINDLE_PWM_BIT		6 // MEGA2560 Digital Pin 9
+    #define SPINDLE_PWM_BIT		4 // MEGA2560 Digital Pin 97
   #endif // End of VARIABLE_SPINDLE
 
 #endif
diff --git a/defaults.h b/defaults.h
index 834f21b..0142fa2 100644
--- a/defaults.h
+++ b/defaults.h
@@ -2,7 +2,7 @@
   defaults.h - defaults settings configuration file
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/gcode.c b/gcode.c
index 6c482cd..69d58e0 100644
--- a/gcode.c
+++ b/gcode.c
@@ -2,7 +2,7 @@
   gcode.c - rs274/ngc parser.
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -66,10 +66,7 @@ void gc_init()
 // limit pull-off routines.
 void gc_sync_position() 
 {
-  uint8_t i;
-  for (i=0; i<N_AXIS; i++) {
-    gc_state.position[i] = sys.position[i]/settings.steps_per_mm[i];
-  }
+  system_convert_array_steps_to_mpos(gc_state.position,sys.position);
 }
 
 
@@ -243,6 +240,12 @@ uint8_t gc_execute_line(char *line)
             if (int_value == 20) { gc_block.modal.units = UNITS_MODE_INCHES; }  // G20
             else { gc_block.modal.units = UNITS_MODE_MM; } // G21
             break;
+          case 40:
+            word_bit = MODAL_GROUP_G7;
+            // NOTE: Not required since cutter radius compensation is always disabled. Only here
+            // to support G40 commands that often appear in g-code program headers to setup defaults.
+            // gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
+            break;
           case 43: case 49:
             word_bit = MODAL_GROUP_G8;
             // NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
@@ -306,7 +309,7 @@ uint8_t gc_execute_line(char *line)
             }
             break;
           default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
-        }            
+        }
       
         // Check for more than one command per modal group violations in the current block
         // NOTE: Variable 'word_bit' is always assigned, if the command is valid.
@@ -488,7 +491,10 @@ uint8_t gc_execute_line(char *line)
     }
   }
   
-  // [13. Cutter radius compensation ]: NOT SUPPORTED. Error, if G53 is active.
+  // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED. Error, if enabled while G53 is active.
+  // [G40 Errors]: G2/3 arc is programmed after a G40. The linear move after disabling is less than tool diameter.
+  //   NOTE: Since cutter radius compensation is never enabled, these G40 errors don't apply. Grbl supports G40 
+  //   only for the purpose to not error when G40 is sent with a g-code program header to setup the default modes.
   
   // [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are. 
   // [G43.1 Errors]: Motion command in same line. 
@@ -839,10 +845,9 @@ uint8_t gc_execute_line(char *line)
 
   // [4. Set spindle speed ]:
   if (gc_state.spindle_speed != gc_block.values.s) { 
-    gc_state.spindle_speed = gc_block.values.s; 
-    
     // Update running spindle only if not in check mode and not already enabled.
-    if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_state.spindle_speed); }
+    if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_block.values.s); }
+    gc_state.spindle_speed = gc_block.values.s; 
   }
     
   // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
@@ -852,15 +857,15 @@ uint8_t gc_execute_line(char *line)
 
   // [7. Spindle control ]:
   if (gc_state.modal.spindle != gc_block.modal.spindle) {
-    gc_state.modal.spindle = gc_block.modal.spindle;    
     // Update spindle control and apply spindle speed when enabling it in this block.    
-    spindle_run(gc_state.modal.spindle, gc_state.spindle_speed);
+    spindle_run(gc_block.modal.spindle, gc_state.spindle_speed);
+    gc_state.modal.spindle = gc_block.modal.spindle;    
   }
 
   // [8. Coolant control ]:  
   if (gc_state.modal.coolant != gc_block.modal.coolant) {
+    coolant_run(gc_block.modal.coolant);
     gc_state.modal.coolant = gc_block.modal.coolant;
-    coolant_run(gc_state.modal.coolant);
   }
   
   // [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED
@@ -874,7 +879,8 @@ uint8_t gc_execute_line(char *line)
   // [12. Set length units ]:
   gc_state.modal.units = gc_block.modal.units;
 
-  // [13. Cutter radius compensation ]: NOT SUPPORTED
+  // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED
+  // gc_state.modal.cutter_comp = gc_block.modal.cutter_comp; // NOTE: Not needed since always disabled.
 
   // [14. Cutter length compensation ]: G43.1 and G49 supported. G43 NOT SUPPORTED.
   // NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms
diff --git a/gcode.h b/gcode.h
index 88a5384..d1ee3d5 100644
--- a/gcode.h
+++ b/gcode.h
@@ -2,7 +2,7 @@
   gcode.h - rs274/ngc parser.
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -40,16 +40,17 @@
 #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
 #define MODAL_GROUP_G5 4 // [G93,G94] Feed rate mode
 #define MODAL_GROUP_G6 5 // [G20,G21] Units
-#define MODAL_GROUP_G8 6 // [G43,G43.1,G49] Tool length offset
-#define MODAL_GROUP_G12 7 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
+#define MODAL_GROUP_G7 6 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
+#define MODAL_GROUP_G8 7 // [G43,G43.1,G49] Tool length offset
+#define MODAL_GROUP_G12 8 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
 
-#define MODAL_GROUP_M4 8  // [M0,M1,M2,M30] Stopping
-#define MODAL_GROUP_M7 9  // [M3,M4,M5] Spindle turning
-#define MODAL_GROUP_M8 10 // [M7,M8,M9] Coolant control
+#define MODAL_GROUP_M4 9  // [M0,M1,M2,M30] Stopping
+#define MODAL_GROUP_M7 10 // [M3,M4,M5] Spindle turning
+#define MODAL_GROUP_M8 11 // [M7,M8,M9] Coolant control
 
-#define OTHER_INPUT_F 11
-#define OTHER_INPUT_S 12
-#define OTHER_INPUT_T 13
+#define OTHER_INPUT_F 12
+#define OTHER_INPUT_S 13
+#define OTHER_INPUT_T 14
 
 // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
 // internally by the parser to know which command to execute.
@@ -99,6 +100,9 @@
 #define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
 #define UNITS_MODE_INCHES 1 // G20
 
+// Modal Group G7: Cutter radius compensation mode
+#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
+
 // Modal Group M7: Spindle control
 #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
 #define SPINDLE_ENABLE_CW 1 // M3
@@ -135,16 +139,17 @@
 
 // NOTE: When this struct is zeroed, the above defines set the defaults for the system.
 typedef struct {
-  uint8_t motion;        // {G0,G1,G2,G3,G38.2,G80}
-  uint8_t feed_rate;     // {G93,G94}
-  uint8_t units;         // {G20,G21}
-  uint8_t distance;      // {G90,G91}
-  uint8_t plane_select;  // {G17,G18,G19}
-  uint8_t tool_length;   // {G43.1,G49}
-  uint8_t coord_select;  // {G54,G55,G56,G57,G58,G59}
-  uint8_t program_flow;  // {M0,M1,M2,M30}
-  uint8_t coolant;       // {M7,M8,M9}
-  uint8_t spindle;       // {M3,M4,M5}
+  uint8_t motion;          // {G0,G1,G2,G3,G38.2,G80}
+  uint8_t feed_rate;       // {G93,G94}
+  uint8_t units;           // {G20,G21}
+  uint8_t distance;        // {G90,G91}
+  uint8_t plane_select;    // {G17,G18,G19}
+  // uint8_t cutter_comp;  // {G40} NOTE: Don't need to track since it's always disabled.
+  uint8_t tool_length;     // {G43.1,G49}
+  uint8_t coord_select;    // {G54,G55,G56,G57,G58,G59}
+  uint8_t program_flow;    // {M0,M1,M2,M30}
+  uint8_t coolant;         // {M7,M8,M9}
+  uint8_t spindle;         // {M3,M4,M5}
 } gc_modal_t;  
 
 typedef struct {
diff --git a/grbl.h b/grbl.h
new file mode 100644
index 0000000..913e4f5
--- /dev/null
+++ b/grbl.h
@@ -0,0 +1,49 @@
+/*
+  grbl.h - include file
+  Part of Grbl v0.9
+
+  Copyright (c) 2015 Sungeun K. Jeon
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// NOTE: This is not used by the 'make' compiling method. This is currently only used for
+// simplifying compiling through the Arduino IDE at the moment. However, it may eventually
+// turn into a central include file for the overall system.
+
+#ifndef grbl_h
+#define grbl_h
+
+// All of the Grbl system include files.
+#include "config.h"
+#include "coolant_control.h"
+#include "cpu_map.h"
+#include "defaults.h"
+#include "eeprom.h"
+#include "gcode.h"
+#include "limits.h"
+#include "motion_control.h"
+#include "nuts_bolts.h"
+#include "planner.h"
+#include "print.h"
+#include "probe.h"
+#include "protocol.h"
+#include "report.h"
+#include "serial.h"
+#include "settings.h"
+#include "spindle_control.h"
+#include "stepper.h"
+#include "system.h"
+
+#endif
diff --git a/limits.c b/limits.c
index 4538dcb..9cb43c4 100644
--- a/limits.c
+++ b/limits.c
@@ -2,7 +2,7 @@
   limits.c - code pertaining to limit-switches and performing the homing cycle
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -89,9 +89,9 @@ void limits_disable()
     // locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
     // limit setting if their limits are constantly triggering after a reset and move their axes.
     if (sys.state != STATE_ALARM) { 
-      if (bit_isfalse(sys.execute,EXEC_ALARM)) {
+      if (!(sys.rt_exec_alarm)) {
         mc_reset(); // Initiate system kill.
-        bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate hard limit critical event
+        bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
       }
     }
   }  
@@ -102,13 +102,13 @@ void limits_disable()
   {
     WDTCSR &= ~(1<<WDIE); // Disable watchdog timer. 
     if (sys.state != STATE_ALARM) {  // Ignore if already in alarm state. 
-      if (bit_isfalse(sys.execute,EXEC_ALARM)) {
+      if (!(sys.rt_exec_alarm)) {
         uint8_t bits = LIMIT_PIN;
         // Check limit pin state. 
         if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
         if (bits & LIMIT_MASK) {
           mc_reset(); // Initiate system kill.
-          bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate hard limit critical event
+          bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
         }
       }  
     }
@@ -121,7 +121,7 @@ void limits_disable()
 // the trigger point of the limit switches. The rapid stops are handled by a system level axis lock 
 // mask, which prevents the stepper algorithm from executing step pulses. Homing motions typically 
 // circumvent the processes for executing motions in normal operation.
-// NOTE: Only the abort runtime command can interrupt this process.
+// NOTE: Only the abort realtime command can interrupt this process.
 // TODO: Move limit pin-specific calls to a general function for portability.
 void limits_go_home(uint8_t cycle_mask) 
 {
@@ -140,7 +140,10 @@ void limits_go_home(uint8_t cycle_mask)
     // Initialize limit and step pin masks
     limit_pin[idx] = get_limit_pin_mask(idx);
     step_pin[idx] = get_step_pin_mask(idx);
-
+    #ifdef COREXY    
+      if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); } 
+    #endif
+    
     // Determine travel distance to the furthest homing switch based on user max travel settings.
     // NOTE: settings.max_travel[] is stored as a negative value.
     if (max_travel > settings.max_travel[idx]) { max_travel = settings.max_travel[idx]; }
@@ -148,6 +151,7 @@ void limits_go_home(uint8_t cycle_mask)
   max_travel *= -HOMING_AXIS_SEARCH_SCALAR; // Ensure homing switches engaged by over-estimating max travel.
   
   plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
+  plan_sync_position(); // Sync planner position to current machine position.
   
   do {
     // Initialize invert_pin boolean based on approach and invert pin user setting.
@@ -157,20 +161,23 @@ void limits_go_home(uint8_t cycle_mask)
     // Initialize and declare variables needed for homing routine.
     uint8_t n_active_axis = 0;
     uint8_t axislock = 0;
-        
+
+    system_convert_array_steps_to_mpos(target,sys.position);      
     for (idx=0; idx<N_AXIS; idx++) {
       // Set target location for active axes and setup computation for homing rate.
       if (bit_istrue(cycle_mask,bit(idx))) { 
         n_active_axis++;
-        if (!approach) { target[idx] = -max_travel; }
-        else { target[idx] = max_travel; }
-      } else {
-        target[idx] = 0.0;
+        if (!approach) {
+          // Set target direction based on cycle mask
+          if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] += max_travel; }
+          else { target[idx] -= max_travel; }
+        } else { 
+          // Set target direction based on cycle mask
+          if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] -= max_travel; }
+          else { target[idx] += max_travel; }
+        }
       }
 
-      // Set target direction based on cycle mask
-      if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] = -target[idx]; }
-      
       // Apply axislock to the step port pins active in this cycle.
       if (bit_istrue(cycle_mask,bit(idx))) { axislock |= step_pin[idx]; }
     }      
@@ -199,12 +206,14 @@ void limits_go_home(uint8_t cycle_mask)
       }
       sys.homing_axis_lock = axislock;
       st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
-      // Check only for user reset. No time to run protocol_execute_runtime() in this loop.
-      if (sys.execute & EXEC_RESET) { protocol_execute_runtime(); return; }
+      // Check only for user reset. No time to run protocol_execute_realtime() in this loop.
+
+      if (sys.rt_exec_state & EXEC_RESET) { protocol_execute_realtime(); return; }
     } while (STEP_MASK & axislock);
     
     st_reset(); // Immediately force kill steppers and reset step segment buffer.
     plan_reset(); // Reset planner buffer. Zero planner positions. Ensure homing motion is cleared.
+    plan_sync_position(); // Sync planner position to current machine position
 
     delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
 
@@ -220,45 +229,73 @@ void limits_go_home(uint8_t cycle_mask)
   // set up pull-off maneuver from axes limit switches that have been homed. This provides
   // some initial clearance off the switches and should also help prevent them from falsely
   // triggering when hard limits are enabled or when more than one axes shares a limit pin.
+  #ifdef COREXY
+    int32_t off_axis_position = 0;
+  #endif
+  int32_t set_axis_position;
+  // Set machine positions for homed limit switches. Don't update non-homed axes.
   for (idx=0; idx<N_AXIS; idx++) {
-    // Set up pull off targets and machine positions for limit switches homed in the negative
-    // direction, rather than the traditional positive. Leave non-homed positions as zero and
-    // do not move them.
     // NOTE: settings.max_travel[] is stored as a negative value.
     if (cycle_mask & bit(idx)) {
-    
-      #ifdef HOMING_FORCE_SET_ORIGIN
-        sys.position[idx] = 0;  // Set axis homed location as axis origin
-        target[idx] = settings.homing_pulloff;  
-        if ( bit_isfalse(settings.homing_dir_mask,bit(idx)) ) { target[idx] = -target[idx]; }     
-      #else
+      set_axis_position = 0;     
+      #ifndef HOMING_FORCE_SET_ORIGIN
         if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
-          target[idx] = settings.homing_pulloff+settings.max_travel[idx];
-          sys.position[idx] = lround(settings.max_travel[idx]*settings.steps_per_mm[idx]);
-        } else {
-          target[idx] = -settings.homing_pulloff;
-          sys.position[idx] = 0;
+          set_axis_position = lround(settings.max_travel[idx]*settings.steps_per_mm[idx]);
         }
       #endif
-      
-    } else { // Non-active cycle axis. Set target to not move during pull-off. 
-      target[idx] = (float)sys.position[idx]/settings.steps_per_mm[idx];
+
+      #ifdef COREXY
+        if (idx==X_AXIS) { 
+          off_axis_position = (sys.position[B_MOTOR] - sys.position[A_MOTOR])/2;
+          sys.position[A_MOTOR] = set_axis_position - off_axis_position;
+          sys.position[B_MOTOR] = set_axis_position + off_axis_position;          
+        } else if (idx==Y_AXIS) {
+          off_axis_position = (sys.position[A_MOTOR] + sys.position[B_MOTOR])/2;
+          sys.position[A_MOTOR] = off_axis_position - set_axis_position;
+          sys.position[B_MOTOR] = off_axis_position + set_axis_position;
+        } else {
+          sys.position[idx] = set_axis_position;
+        }        
+      #else 
+        sys.position[idx] = set_axis_position;
+      #endif
+
     }
   }
-  plan_sync_position(); // Sync planner position to current machine position for pull-off move.
+  plan_sync_position(); // Sync planner position to homed machine position.
+
+  // Set pull-off motion target. Seperated from above loop if target is dependent on sys.position.
+  if (settings.homing_pulloff > 0.0) {
+    for (idx=0; idx<N_AXIS; idx++) {
+      if (cycle_mask & bit(idx)) {
+        #ifdef HOMING_FORCE_SET_ORIGIN
+          target[idx] = settings.homing_pulloff;  
+          if ( bit_isfalse(settings.homing_dir_mask,bit(idx)) ) { target[idx] = -target[idx]; }     
+        #else
+          if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
+            target[idx] = settings.homing_pulloff+settings.max_travel[idx];
+          } else {
+            target[idx] = -settings.homing_pulloff;
+          }
+        #endif      
+      } else {
+        // Non-active cycle axis. Set target to not move during pull-off. 
+        target[idx] = system_convert_axis_steps_to_mpos(sys.position, idx);
+      }
+    }      
+    #ifdef USE_LINE_NUMBERS
+      plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
+    #else
+      plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
+    #endif
   
-  #ifdef USE_LINE_NUMBERS
-    plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
-  #else
-    plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
-  #endif
-  
-  // Initiate pull-off using main motion control routines. 
-  // TODO : Clean up state routines so that this motion still shows homing state.
-  sys.state = STATE_QUEUED;
-  bit_true_atomic(sys.execute, EXEC_CYCLE_START);
-  protocol_execute_runtime();
-  protocol_buffer_synchronize(); // Complete pull-off motion.
+    // Initiate pull-off using main motion control routines. 
+    // TODO : Clean up state routines so that this motion still shows homing state.
+    sys.state = STATE_QUEUED;
+    bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START);
+    protocol_execute_realtime();
+    protocol_buffer_synchronize(); // Complete pull-off motion.
+  }
   
   // Set system state to homing before returning. 
   sys.state = STATE_HOMING; 
@@ -291,16 +328,16 @@ void limits_soft_check(float *target)
       // workspace volume so just come to a controlled stop so position is not lost. When complete
       // enter alarm mode.
       if (sys.state == STATE_CYCLE) {
-        bit_true_atomic(sys.execute, EXEC_FEED_HOLD);
+        bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD);
         do {
-          protocol_execute_runtime();
+          protocol_execute_realtime();
           if (sys.abort) { return; }
         } while ( sys.state != STATE_IDLE || sys.state != STATE_QUEUED);
       }
     
       mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
-      bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate soft limit critical event
-      protocol_execute_runtime(); // Execute to enter critical event loop and system abort
+      bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_SOFT_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate soft limit critical event
+      protocol_execute_realtime(); // Execute to enter critical event loop and system abort
       return;
     }
   }
diff --git a/limits.h b/limits.h
index 6ccd70f..4c96a5d 100644
--- a/limits.h
+++ b/limits.h
@@ -2,7 +2,7 @@
   limits.h - code pertaining to limit-switches and performing the homing cycle
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon  
+  Copyright (c) 2012-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/main.c b/main.c
index 6a57ba5..cd83478 100644
--- a/main.c
+++ b/main.c
@@ -2,7 +2,7 @@
   main.c - An embedded CNC Controller with rs274/ngc (g-code) support
   Part of Grbl v0.9
   
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -89,7 +89,8 @@ int main(void)
 
     // Reset system variables.
     sys.abort = false;
-    sys.execute = 0;
+    sys.rt_exec_state = 0;
+    sys.rt_exec_alarm = 0;
     if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
     else { sys.auto_start = false; }
           
diff --git a/motion_control.c b/motion_control.c
index dbefe89..1cd9d05 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -2,7 +2,7 @@
   motion_control.c - high level interface for issuing motion commands
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -76,12 +76,13 @@
   // If the buffer is full: good! That means we are well ahead of the robot. 
   // Remain in this loop until there is room in the buffer.
   do {
-    protocol_execute_runtime(); // Check for any run-time commands
+    protocol_execute_realtime(); // Check for any run-time commands
     if (sys.abort) { return; } // Bail, if system abort.
     if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
     else { break; }
   } while (1);
 
+  // Plan and queue motion into planner buffer
   #ifdef USE_LINE_NUMBERS
     plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
   #else
@@ -227,8 +228,8 @@ void mc_dwell(float seconds)
    protocol_buffer_synchronize();
    delay_ms(floor(1000*seconds-i*DWELL_TIME_STEP)); // Delay millisecond remainder.
    while (i-- > 0) {
-     // NOTE: Check and execute runtime commands during dwell every <= DWELL_TIME_STEP milliseconds.
-     protocol_execute_runtime();
+     // NOTE: Check and execute realtime commands during dwell every <= DWELL_TIME_STEP milliseconds.
+     protocol_execute_realtime();
      if (sys.abort) { return; }
      _delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
    }
@@ -243,15 +244,16 @@ void mc_homing_cycle()
   // Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
   // with machines with limits wired on both ends of travel to one limit pin.
   // TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
-  uint8_t limit_state = (LIMIT_PIN & LIMIT_MASK);
-  if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; }
-  if (limit_state) { 
-    mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
-    bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate homing limit critical event
-    return;
-  }
- 
-  sys.state = STATE_HOMING; // Set system state variable
+  #ifdef LIMITS_TWO_SWITCHES_ON_AXES  
+    uint8_t limit_state = (LIMIT_PIN & LIMIT_MASK);
+    if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; }
+    if (limit_state) { 
+      mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
+      bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT));
+      return;
+    }
+  #endif
+   
   limits_disable(); // Disable hard limits pin change register for cycle duration
     
   // -------------------------------------------------------------------------------------
@@ -266,7 +268,7 @@ void mc_homing_cycle()
     limits_go_home(HOMING_CYCLE_2);  // Homing cycle 2
   #endif
     
-  protocol_execute_runtime(); // Check for reset and set system abort.
+  protocol_execute_realtime(); // Check for reset and set system abort.
   if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
 
   // Homing cycle complete! Setup system for normal operation.
@@ -275,10 +277,6 @@ void mc_homing_cycle()
   // Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
   gc_sync_position();
   
-  // Set idle state after homing completes and before returning to main program.  
-  sys.state = STATE_IDLE;
-  st_go_idle(); // Set idle state after homing completes
-
   // If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
   limits_init();
 }
@@ -308,8 +306,8 @@ void mc_homing_cycle()
   // After syncing, check if probe is already triggered. If so, halt and issue alarm.
   // NOTE: This probe initialization error applies to all probing cycles.
   if ( probe_get_state() ) { // Check probe pin state.
-    bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
-    protocol_execute_runtime();
+    bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL);
+    protocol_execute_realtime();
   }
   if (sys.abort) { return; } // Return if system reset has been issued.
 
@@ -324,9 +322,9 @@ void mc_homing_cycle()
   sys.probe_state = PROBE_ACTIVE;
 
   // Perform probing cycle. Wait here until probe is triggered or motion completes.
-  bit_true_atomic(sys.execute, EXEC_CYCLE_START);
+  bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START);
   do {
-    protocol_execute_runtime(); 
+    protocol_execute_realtime(); 
     if (sys.abort) { return; } // Check for system abort
   } while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED));
   
@@ -335,12 +333,12 @@ void mc_homing_cycle()
   // Set state variables and error out, if the probe failed and cycle with error is enabled.
   if (sys.probe_state == PROBE_ACTIVE) {
     if (is_no_error) { memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS); }
-    else { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); }
+    else { bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL); }
   } else { 
     sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
   }
   sys.probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
-  protocol_execute_runtime();   // Check and execute run-time commands
+  protocol_execute_realtime();   // Check and execute run-time commands
   if (sys.abort) { return; } // Check for system abort
 
   // Reset the stepper and planner buffers to remove the remainder of the probe motion.
@@ -349,13 +347,11 @@ void mc_homing_cycle()
   plan_sync_position(); // Sync planner position to current machine position.
 
   // TODO: Update the g-code parser code to not require this target calculation but uses a gc_sync_position() call.
-  uint8_t idx;
-  for(idx=0; idx<N_AXIS; idx++){
-    // NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
-    target[idx] = (float)sys.position[idx]/settings.steps_per_mm[idx];
-  }
+  // NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
+  system_convert_array_steps_to_mpos(target, sys.position);
 
-  sys.auto_start = auto_start_state; // Restore run state before returning
+  // Restore run state before returning
+  sys.auto_start = auto_start_state;
 
   #ifdef MESSAGE_PROBE_COORDINATES
     // All done! Output the probe position as message.
@@ -364,16 +360,16 @@ void mc_homing_cycle()
 }
 
 
-// Method to ready the system to reset by setting the runtime reset command and killing any
+// Method to ready the system to reset by setting the realtime reset command and killing any
 // active processes in the system. This also checks if a system reset is issued while Grbl
 // is in a motion state. If so, kills the steppers and sets the system alarm to flag position
 // lost, since there was an abrupt uncontrolled deceleration. Called at an interrupt level by
-// runtime abort command and hard limits. So, keep to a minimum.
+// realtime abort command and hard limits. So, keep to a minimum.
 void mc_reset()
 {
   // Only this function can set the system reset. Helps prevent multiple kill calls.
-  if (bit_isfalse(sys.execute, EXEC_RESET)) {
-    bit_true_atomic(sys.execute, EXEC_RESET);
+  if (bit_isfalse(sys.rt_exec_state, EXEC_RESET)) {
+    bit_true_atomic(sys.rt_exec_state, EXEC_RESET);
 
     // Kill spindle and coolant.   
     spindle_stop();
@@ -384,7 +380,7 @@ void mc_reset()
     // the steppers enabled by avoiding the go_idle call altogether, unless the motion state is
     // violated, by which, all bets are off.
     if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_HOMING)) {
-      bit_true_atomic(sys.execute, EXEC_ALARM); // Flag main program to execute alarm state.
+      bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_ABORT_CYCLE);
       st_go_idle(); // Force kill steppers. Position has likely been lost.
     }
   }
diff --git a/motion_control.h b/motion_control.h
index 3537b40..285a928 100644
--- a/motion_control.h
+++ b/motion_control.h
@@ -2,7 +2,7 @@
   motion_control.h - high level interface for issuing motion commands
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/nuts_bolts.c b/nuts_bolts.c
index 7853725..d620a62 100644
--- a/nuts_bolts.c
+++ b/nuts_bolts.c
@@ -2,7 +2,7 @@
   nuts_bolts.c - Shared functions
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/nuts_bolts.h b/nuts_bolts.h
index 7e5a06b..5f11eb2 100644
--- a/nuts_bolts.h
+++ b/nuts_bolts.h
@@ -2,7 +2,7 @@
   nuts_bolts.h - Header file for shared definitions, variables, and functions
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon  
+  Copyright (c) 2012-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -30,15 +30,23 @@
 #define false 0
 #define true 1
 
+// Axis array index values. Must start with 0 and be continuous.
 #define N_AXIS 3 // Number of axes
-#define X_AXIS 0 // Axis indexing value. Must start with 0 and be continuous.
+#define X_AXIS 0 // Axis indexing value. 
 #define Y_AXIS 1
 #define Z_AXIS 2
 // #define A_AXIS 3
 
+// CoreXY motor assignments. DO NOT ALTER.
+// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
+#ifdef COREXY
+ #define A_MOTOR X_AXIS // Must be X_AXIS
+ #define B_MOTOR Y_AXIS // Must be Y_AXIS
+#endif
+
+// Conversions
 #define MM_PER_INCH (25.40)
 #define INCH_PER_MM (0.0393701)
-
 #define TICKS_PER_MICROSECOND (F_CPU/1000000)
 
 // Useful macros
diff --git a/planner.c b/planner.c
index 21e4181..cc41535 100644
--- a/planner.c
+++ b/planner.c
@@ -2,7 +2,7 @@
   planner.c - buffers movement commands and manages the acceleration profile plan
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -284,17 +284,36 @@ uint8_t plan_check_full_buffer()
   int32_t target_steps[N_AXIS];
   float unit_vec[N_AXIS], delta_mm;
   uint8_t idx;
+  #ifdef COREXY
+    target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
+    target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
+    block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
+    block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]));
+  #endif
+
   for (idx=0; idx<N_AXIS; idx++) {
-    // Calculate target position in absolute steps. This conversion should be consistent throughout.
-    target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
-  
-    // Number of steps for each axis and determine max step events
-    block->steps[idx] = labs(target_steps[idx]-pl.position[idx]);
-    block->step_event_count = max(block->step_event_count, block->steps[idx]);
-    
-    // Compute individual axes distance for move and prep unit vector calculations.
+    // Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
+    // Also, compute individual axes distance for move and prep unit vector calculations.
     // NOTE: Computes true distance from converted step values.
-    delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx];
+    #ifdef COREXY
+      if ( !(idx == A_MOTOR) && !(idx == B_MOTOR) ) {
+        target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
+        block->steps[idx] = labs(target_steps[idx]-pl.position[idx]);
+      }
+      block->step_event_count = max(block->step_event_count, block->steps[idx]);
+      if (idx == A_MOTOR) {
+        delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx];
+      } else if (idx == B_MOTOR) {
+        delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx];
+      } else {
+        delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx];
+      }
+    #else
+      target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
+      block->steps[idx] = labs(target_steps[idx]-pl.position[idx]);
+      block->step_event_count = max(block->step_event_count, block->steps[idx]);
+      delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx];
+    #endif
     unit_vec[idx] = delta_mm; // Store unit vector numerator. Denominator computed later.
         
     // Set direction bits. Bit enabled always means direction is negative.
@@ -403,9 +422,21 @@ uint8_t plan_check_full_buffer()
 // Reset the planner position vectors. Called by the system abort/initialization routine.
 void plan_sync_position()
 {
+  // TODO: For motor configurations not in the same coordinate frame as the machine position,
+  // this function needs to be updated to accomodate the difference. 
   uint8_t idx;
   for (idx=0; idx<N_AXIS; idx++) {
-    pl.position[idx] = sys.position[idx];
+    #ifdef COREXY
+     if (idx==A_MOTOR) { 
+        pl.position[idx] = (sys.position[A_MOTOR] + sys.position[B_MOTOR])/2;
+      } else if (idx==B_MOTOR) { 
+        pl.position[idx] = (sys.position[A_MOTOR] - sys.position[B_MOTOR])/2;
+      } else {
+        pl.position[idx] = sys.position[idx];
+      }
+    #else
+      pl.position[idx] = sys.position[idx];
+    #endif
   }
 }
 
diff --git a/planner.h b/planner.h
index 5385163..8209c02 100644
--- a/planner.h
+++ b/planner.h
@@ -2,7 +2,7 @@
   planner.h - buffers movement commands and manages the acceleration profile plan
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon 
+  Copyright (c) 2012-2015 Sungeun K. Jeon 
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/print.c b/print.c
index b398e82..65fb975 100644
--- a/print.c
+++ b/print.c
@@ -2,7 +2,7 @@
   print.c - Functions for formatting output strings
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/print.h b/print.h
index 845c80c..7b2040f 100644
--- a/print.h
+++ b/print.h
@@ -2,7 +2,7 @@
   print.h - Functions for formatting output strings
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/probe.c b/probe.c
index 9876294..e7063b0 100644
--- a/probe.c
+++ b/probe.c
@@ -2,7 +2,7 @@
   probe.c - code pertaining to probing methods
   Part of Grbl v0.9
 
-  Copyright (c) 2014 Sungeun K. Jeon
+  Copyright (c) 2014-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -63,7 +63,7 @@ void probe_state_monitor()
     if (probe_get_state()) {
       sys.probe_state = PROBE_OFF;
       memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
-      bit_true(sys.execute, EXEC_FEED_HOLD);
+      bit_true(sys.rt_exec_state, EXEC_FEED_HOLD);
     }
   }
 }
diff --git a/probe.h b/probe.h
index 968d7ec..1e8674d 100644
--- a/probe.h
+++ b/probe.h
@@ -2,7 +2,7 @@
   probe.h - code pertaining to probing methods
   Part of Grbl v0.9
 
-  Copyright (c) 2014 Sungeun K. Jeon
+  Copyright (c) 2014-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/protocol.c b/protocol.c
index 8978325..1c2651a 100644
--- a/protocol.c
+++ b/protocol.c
@@ -2,7 +2,7 @@
   protocol.c - controls Grbl execution protocol and procedures
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon  
+  Copyright (c) 2012-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -43,7 +43,7 @@ static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
 // such as settings, initiating the homing cycle, and toggling switch states.
 static void protocol_execute_line(char *line) 
 {      
-  protocol_execute_runtime(); // Runtime command check point.
+  protocol_execute_realtime(); // Runtime command check point.
   if (sys.abort) { return; } // Bail to calling function upon system abort  
 
   if (line[0] == 0) {
@@ -160,7 +160,7 @@ void protocol_main_loop()
     // completed. In either case, auto-cycle start, if enabled, any queued moves.
     protocol_auto_cycle_start();
 
-    protocol_execute_runtime();  // Runtime command check point.
+    protocol_execute_realtime();  // Runtime command check point.
     if (sys.abort) { return; } // Bail to main() program loop to reset system.
               
   }
@@ -172,50 +172,52 @@ void protocol_main_loop()
 // Executes run-time commands, when required. This is called from various check points in the main
 // program, primarily where there may be a while loop waiting for a buffer to clear space or any
 // point where the execution time from the last check point may be more than a fraction of a second.
-// This is a way to execute runtime commands asynchronously (aka multitasking) with grbl's g-code
+// This is a way to execute realtime commands asynchronously (aka multitasking) with grbl's g-code
 // parsing and planning functions. This function also serves as an interface for the interrupts to 
-// set the system runtime flags, where only the main program handles them, removing the need to
+// set the system realtime flags, where only the main program handles them, removing the need to
 // define more computationally-expensive volatile variables. This also provides a controlled way to 
 // execute certain tasks without having two or more instances of the same task, such as the planner
 // recalculating the buffer upon a feedhold or override.
-// NOTE: The sys.execute variable flags are set by any process, step or serial interrupts, pinouts,
+// NOTE: The sys.rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
 // limit switches, or the main program.
-void protocol_execute_runtime()
+void protocol_execute_realtime()
 {
-  uint8_t rt_exec = sys.execute; // Copy to avoid calling volatile multiple times
+  uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
+  
+  // Check and execute alarms. 
+  rt_exec = sys.rt_exec_alarm; // Copy volatile sys.rt_exec_alarm.
   if (rt_exec) { // Enter only if any bit flag is true
-    
     // System alarm. Everything has shutdown by something that has gone severely wrong. Report
     // the source of the error to the user. If critical, Grbl disables by entering an infinite
     // loop until system reset/abort.
-    if (rt_exec & (EXEC_ALARM | EXEC_CRIT_EVENT)) {      
-      sys.state = STATE_ALARM; // Set system alarm state
-
-      // Critical events. Hard/soft limit events identified by both critical event and alarm exec
-      // flags. Probe fail is identified by the critical event exec flag only.
-      if (rt_exec & EXEC_CRIT_EVENT) {
-        if (rt_exec & EXEC_ALARM) { report_alarm_message(ALARM_LIMIT_ERROR); }
-        else { report_alarm_message(ALARM_PROBE_FAIL); }
-        report_feedback_message(MESSAGE_CRITICAL_EVENT);
-        bit_false_atomic(sys.execute,EXEC_RESET); // Disable any existing reset
-        do { 
-          // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits
-          // typically occur while unattended or not paying attention. Gives the user time
-          // to do what is needed before resetting, like killing the incoming stream. The 
-          // same could be said about soft limits. While the position is not lost, the incoming
-          // stream could be still engaged and cause a serious crash if it continues afterwards.
-        } while (bit_isfalse(sys.execute,EXEC_RESET));
-
-      // Standard alarm event. Only abort during motion qualifies.
-      } else {
-        // Runtime abort command issued during a cycle, feed hold, or homing cycle. Message the
-        // user that position may have been lost and set alarm state to enable the alarm lockout
-        // to indicate the possible severity of the problem.
-        report_alarm_message(ALARM_ABORT_CYCLE);
-      }
-      bit_false_atomic(sys.execute,(EXEC_ALARM | EXEC_CRIT_EVENT));
-    } 
+    sys.state = STATE_ALARM; // Set system alarm state
+    if (rt_exec & EXEC_ALARM_HARD_LIMIT) {
+      report_alarm_message(ALARM_HARD_LIMIT_ERROR); 
+    } else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) {
+      report_alarm_message(ALARM_SOFT_LIMIT_ERROR);
+    } else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) {      
+      report_alarm_message(ALARM_ABORT_CYCLE);
+    } else if (rt_exec & EXEC_ALARM_PROBE_FAIL) {
+      report_alarm_message(ALARM_PROBE_FAIL);
+    }
+    // Halt everything upon a critical event flag. Currently hard and soft limits flag this.
+    if (rt_exec & EXEC_CRITICAL_EVENT) {
+      report_feedback_message(MESSAGE_CRITICAL_EVENT);
+      bit_false_atomic(sys.rt_exec_state,EXEC_RESET); // Disable any existing reset
+      do { 
+        // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits
+        // typically occur while unattended or not paying attention. Gives the user time
+        // to do what is needed before resetting, like killing the incoming stream. The 
+        // same could be said about soft limits. While the position is not lost, the incoming
+        // stream could be still engaged and cause a serious crash if it continues afterwards.
+      } while (bit_isfalse(sys.rt_exec_state,EXEC_RESET));
+    }
+    bit_false_atomic(sys.rt_exec_alarm,0xFF); // Clear all alarm flags
+  }
   
+  // Check amd execute realtime commands
+  rt_exec = sys.rt_exec_state; // Copy volatile sys.rt_exec_state.
+  if (rt_exec) { // Enter only if any bit flag is true
     // Execute system abort. 
     if (rt_exec & EXEC_RESET) {
       sys.abort = true;  // Only place this is set true.
@@ -225,7 +227,7 @@ void protocol_execute_runtime()
     // Execute and serial print status
     if (rt_exec & EXEC_STATUS_REPORT) { 
       report_realtime_status();
-      bit_false_atomic(sys.execute,EXEC_STATUS_REPORT);
+      bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT);
     }
     
     // Execute a feed hold with deceleration, only during cycle.
@@ -238,7 +240,7 @@ void protocol_execute_runtime()
         st_prep_buffer();
         sys.auto_start = false; // Disable planner auto start upon feed hold.
       }
-      bit_false_atomic(sys.execute,EXEC_FEED_HOLD);
+      bit_false_atomic(sys.rt_exec_state,EXEC_FEED_HOLD);
     }
         
     // Execute a cycle start by starting the stepper interrupt begin executing the blocks in queue.
@@ -253,24 +255,23 @@ void protocol_execute_runtime()
           sys.auto_start = false; // Reset auto start per settings.
         }
       }    
-      bit_false_atomic(sys.execute,EXEC_CYCLE_START);
+      bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_START);
     }
     
     // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by 
-    // runtime command execution in the main program, ensuring that the planner re-plans safely.
+    // realtime command execution in the main program, ensuring that the planner re-plans safely.
     // NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
     // cycle reinitializations. The stepper path should continue exactly as if nothing has happened.   
     // NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
     if (rt_exec & EXEC_CYCLE_STOP) {
       if ( plan_get_current_block() ) { sys.state = STATE_QUEUED; }
       else { sys.state = STATE_IDLE; }
-      bit_false_atomic(sys.execute,EXEC_CYCLE_STOP);
+      bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
     }
-
   }
-  
+
   // Overrides flag byte (sys.override) and execution should be installed here, since they 
-  // are runtime and require a direct and controlled interface to the main stepper program.
+  // are realtime and require a direct and controlled interface to the main stepper program.
 
   // Reload step segment buffer
   if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_HOMING)) { st_prep_buffer(); }  
@@ -287,7 +288,7 @@ void protocol_buffer_synchronize()
   // Check and set auto start to resume cycle after synchronize and caller completes.
   if (sys.state == STATE_CYCLE) { sys.auto_start = true; }
   while (plan_get_current_block() || (sys.state == STATE_CYCLE)) { 
-    protocol_execute_runtime();   // Check and execute run-time commands
+    protocol_execute_realtime();   // Check and execute run-time commands
     if (sys.abort) { return; } // Check for system abort
   }    
 }
@@ -303,4 +304,4 @@ void protocol_buffer_synchronize()
 // NOTE: This function is called from the main loop and mc_line() only and executes when one of
 // two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished, 
 // single commands), or the planner buffer is full and ready to go.
-void protocol_auto_cycle_start() { if (sys.auto_start) { bit_true_atomic(sys.execute, EXEC_CYCLE_START); } } 
+void protocol_auto_cycle_start() { if (sys.auto_start) { bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); } } 
diff --git a/protocol.h b/protocol.h
index 5a752fd..6095bd7 100644
--- a/protocol.h
+++ b/protocol.h
@@ -2,7 +2,7 @@
   protocol.h - controls Grbl execution protocol and procedures
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -41,8 +41,8 @@
 // them as they complete. It is also responsible for finishing the initialization procedures.
 void protocol_main_loop();
 
-// Checks and executes a runtime command at various stop points in main program
-void protocol_execute_runtime();
+// Checks and executes a realtime command at various stop points in main program
+void protocol_execute_realtime();
 
 // Notify the stepper subsystem to start executing the g-code program in buffer.
 // void protocol_cycle_start();
diff --git a/report.c b/report.c
index 58f01d0..fd47e90 100644
--- a/report.c
+++ b/report.c
@@ -2,7 +2,7 @@
   report.c - reporting and messaging methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon  
+  Copyright (c) 2012-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -97,8 +97,10 @@ void report_alarm_message(int8_t alarm_code)
 {
   printPgmString(PSTR("ALARM: "));
   switch (alarm_code) {
-    case ALARM_LIMIT_ERROR: 
-    printPgmString(PSTR("Hard/soft limit")); break;
+    case ALARM_HARD_LIMIT_ERROR: 
+    printPgmString(PSTR("Hard limit")); break;
+    case ALARM_SOFT_LIMIT_ERROR:
+    printPgmString(PSTR("Soft limit")); break;
     case ALARM_ABORT_CYCLE: 
     printPgmString(PSTR("Abort during cycle")); break;
     case ALARM_PROBE_FAIL:
@@ -230,9 +232,9 @@ void report_probe_parameters()
   float print_position[N_AXIS];
  
   // Report in terms of machine position.
-  printPgmString(PSTR("[PRB:")); 
+  printPgmString(PSTR("[PRB:"));
   for (i=0; i< N_AXIS; i++) {
-    print_position[i] = sys.probe_position[i]/settings.steps_per_mm[i];
+    print_position[i] = system_convert_axis_steps_to_mpos(sys.probe_position,i);
     printFloat_CoordValue(print_position[i]);
     if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
   }
@@ -394,17 +396,12 @@ void report_realtime_status()
  
   // If reporting a position, convert the current step count (current_position) to millimeters.
   if (bit_istrue(settings.status_report_mask,(BITFLAG_RT_STATUS_MACHINE_POSITION | BITFLAG_RT_STATUS_WORK_POSITION))) {
-    for (i=0; i< N_AXIS; i++) { print_position[i] = current_position[i]/settings.steps_per_mm[i]; }
+    system_convert_array_steps_to_mpos(print_position,current_position);
   }
   
   // Report machine position
   if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) {
     printPgmString(PSTR(",MPos:")); 
-//     print_position[X_AXIS] = 0.5*current_position[X_AXIS]/settings.steps_per_mm[X_AXIS]; 
-//     print_position[Z_AXIS] = 0.5*current_position[Y_AXIS]/settings.steps_per_mm[Y_AXIS]; 
-//     print_position[Y_AXIS] = print_position[X_AXIS]-print_position[Z_AXIS]);
-//     print_position[X_AXIS] -= print_position[Z_AXIS];    
-//     print_position[Z_AXIS] = current_position[Z_AXIS]/settings.steps_per_mm[Z_AXIS];     
     for (i=0; i< N_AXIS; i++) {
       printFloat_CoordValue(print_position[i]);
       if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
diff --git a/report.h b/report.h
index ffbdcc3..e770469 100644
--- a/report.h
+++ b/report.h
@@ -2,7 +2,7 @@
   report.h - reporting and messaging methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -54,9 +54,10 @@
 #define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
 
 // Define Grbl alarm codes. Less than zero to distinguish alarm error from status error.
-#define ALARM_LIMIT_ERROR -1
-#define ALARM_ABORT_CYCLE -2
-#define ALARM_PROBE_FAIL -3
+#define ALARM_HARD_LIMIT_ERROR -1
+#define ALARM_SOFT_LIMIT_ERROR -2
+#define ALARM_ABORT_CYCLE -3
+#define ALARM_PROBE_FAIL -4
 
 // Define Grbl feedback message codes.
 #define MESSAGE_CRITICAL_EVENT 1
diff --git a/serial.c b/serial.c
index 8e7d50b..7b2339c 100644
--- a/serial.c
+++ b/serial.c
@@ -2,7 +2,7 @@
   serial.c - Low level functions for sending and recieving bytes via the serial port
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -98,7 +98,7 @@ void serial_write(uint8_t data) {
   // Wait until there is space in the buffer
   while (next_head == serial_tx_buffer_tail) { 
     // TODO: Restructure st_prep_buffer() calls to be executed here during a long print.    
-    if (sys.execute & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
+    if (sys.rt_exec_state & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
   }
 
   // Store data and advance head
@@ -170,12 +170,12 @@ ISR(SERIAL_RX)
   uint8_t data = UDR0;
   uint8_t next_head;
   
-  // Pick off runtime command characters directly from the serial stream. These characters are
-  // not passed into the buffer, but these set system state flag bits for runtime execution.
+  // Pick off realtime command characters directly from the serial stream. These characters are
+  // not passed into the buffer, but these set system state flag bits for realtime execution.
   switch (data) {
-    case CMD_STATUS_REPORT: bit_true_atomic(sys.execute, EXEC_STATUS_REPORT); break; // Set as true
-    case CMD_CYCLE_START:   bit_true_atomic(sys.execute, EXEC_CYCLE_START); break; // Set as true
-    case CMD_FEED_HOLD:     bit_true_atomic(sys.execute, EXEC_FEED_HOLD); break; // Set as true
+    case CMD_STATUS_REPORT: bit_true_atomic(sys.rt_exec_state, EXEC_STATUS_REPORT); break; // Set as true
+    case CMD_CYCLE_START:   bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); break; // Set as true
+    case CMD_FEED_HOLD:     bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); break; // Set as true
     case CMD_RESET:         mc_reset(); break; // Call motion control reset routine.
     default: // Write character to buffer    
       next_head = serial_rx_buffer_head + 1;
diff --git a/serial.h b/serial.h
index c281949..9c28afd 100644
--- a/serial.h
+++ b/serial.h
@@ -2,7 +2,7 @@
   serial.c - Low level functions for sending and recieving bytes via the serial port
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
diff --git a/settings.c b/settings.c
index 990955a..56e2fab 100644
--- a/settings.c
+++ b/settings.c
@@ -2,7 +2,7 @@
   settings.c - eeprom configuration handling 
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon  
+  Copyright (c) 2012-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -110,7 +110,7 @@ void settings_restore_global_settings() {
 // Helper function to clear the EEPROM space containing parameter data.
 void settings_clear_parameters() {
   uint8_t idx;
-  float coord_data[3];
+  float coord_data[N_AXIS];
   memset(&coord_data, 0, sizeof(coord_data));
   for (idx=0; idx < SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data); }
 }  
diff --git a/settings.h b/settings.h
index 1d63e38..c201ad7 100644
--- a/settings.h
+++ b/settings.h
@@ -2,7 +2,7 @@
   settings.h - eeprom configuration handling 
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -28,8 +28,8 @@
 #define settings_h
 
 
-#define GRBL_VERSION "0.9g"
-#define GRBL_VERSION_BUILD "20140905"
+#define GRBL_VERSION "0.9h"
+#define GRBL_VERSION_BUILD "20150114"
 
 // Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
 // when firmware is upgraded. Always stored in byte 0 of eeprom
diff --git a/spindle_control.c b/spindle_control.c
index de773ee..84b8612 100644
--- a/spindle_control.c
+++ b/spindle_control.c
@@ -2,7 +2,7 @@
   spindle_control.c - spindle control methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -60,22 +60,16 @@ void spindle_stop()
 }
 
 
-void spindle_run(uint8_t direction, float rpm) 
+void spindle_set_state(uint8_t state, float rpm)
 {
-  if (sys.state == STATE_CHECK_MODE) { return; }
-  
-  // Empty planner buffer to ensure spindle is set when programmed.
-  protocol_auto_cycle_start();  //temp fix for M3 lockup
-  protocol_buffer_synchronize(); 
-
   // Halt or set spindle direction and rpm. 
-  if (direction == SPINDLE_DISABLE) {
+  if (state == SPINDLE_DISABLE) {
 
     spindle_stop();
 
   } else {
 
-    if (direction == SPINDLE_ENABLE_CW) {
+    if (state == SPINDLE_ENABLE_CW) {
       SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
     } else {
       SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
@@ -83,21 +77,30 @@ void spindle_run(uint8_t direction, float rpm)
 
     #ifdef VARIABLE_SPINDLE
       // TODO: Install the optional capability for frequency-based output for servos.
+      #ifdef CPU_MAP_ATMEGA2560
+      	TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
+        TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02 | (1<<WAVE2_REGISTER) | (1<<WAVE3_REGISTER); // set to 1/8 Prescaler
+        OCR4A = 0xFFFF; // set the top 16bit value
+        uint16_t current_pwm;
+      #else
+        TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
+        TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
+        uint8_t current_pwm;
+      #endif
+
       #define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
-      TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
-      TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
       if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; } 
       else { 
         rpm -= SPINDLE_MIN_RPM; 
-        if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow
+        if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
       }
-      uint8_t current_pwm = floor( rpm*(255.0/SPINDLE_RPM_RANGE) + 0.5);
+      current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
       #ifdef MINIMUM_SPINDLE_PWM
         if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
       #endif
       OCR_REGISTER = current_pwm; // Set PWM pin output
     
-      #ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared.
+      #ifdef CPU_MAP_ATMEGA2560 // On the Uno, spindle enable and PWM are shared.
         SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
       #endif
     #else   
@@ -106,3 +109,11 @@ void spindle_run(uint8_t direction, float rpm)
 
   }
 }
+
+
+void spindle_run(uint8_t state, float rpm)
+{
+  if (sys.state != STATE_CHECK_MODE) { return; }
+  protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.  
+  spindle_set_state(state, rpm);
+}
diff --git a/spindle_control.h b/spindle_control.h
index 2f6a4df..0c728da 100644
--- a/spindle_control.h
+++ b/spindle_control.h
@@ -2,7 +2,7 @@
   spindle_control.h - spindle control methods
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -34,6 +34,8 @@ void spindle_init();
 // Sets spindle direction and spindle rpm via PWM, if enabled.
 void spindle_run(uint8_t direction, float rpm);
 
+void spindle_set_state(uint8_t state, float rpm);
+
 // Kills spindle.
 void spindle_stop();
 
diff --git a/stepper.c b/stepper.c
index 2b4bddf..fbc0426 100644
--- a/stepper.c
+++ b/stepper.c
@@ -2,7 +2,7 @@
   stepper.c - stepper motor driver: executes motion plans using stepper motors
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
   
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -228,7 +228,7 @@ void st_go_idle()
   
   // Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
   bool pin_state = false; // Keep enabled.
-  if (((settings.stepper_idle_lock_time != 0xff) || bit_istrue(sys.execute,EXEC_ALARM)) && sys.state != STATE_HOMING) {
+  if (((settings.stepper_idle_lock_time != 0xff) || sys.rt_exec_alarm) && sys.state != STATE_HOMING) {
     // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
     // stop and not drift from residual inertial forces at the end of the last movement.
     delay_ms(settings.stepper_idle_lock_time);
@@ -351,7 +351,7 @@ ISR(TIMER1_COMPA_vect)
     } else {
       // Segment buffer empty. Shutdown.
       st_go_idle();
-      bit_true_atomic(sys.execute,EXEC_CYCLE_STOP); // Flag main program for cycle end
+      bit_true_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP); // Flag main program for cycle end
       return; // Nothing to do but exit.
     }  
   }
@@ -846,7 +846,7 @@ void st_prep_buffer()
 }      
 
 
-// Called by runtime status reporting to fetch the current speed being executed. This value
+// Called by realtime status reporting to fetch the current speed being executed. This value
 // however is not exactly the current speed, but the speed computed in the last step segment
 // in the segment buffer. It will always be behind by up to the number of segment blocks (-1)
 // divided by the ACCELERATION TICKS PER SECOND in seconds. 
diff --git a/stepper.h b/stepper.h
index 0e8be87..fe4d853 100644
--- a/stepper.h
+++ b/stepper.h
@@ -2,7 +2,7 @@
   stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
   Part of Grbl v0.9
 
-  Copyright (c) 2012-2014 Sungeun K. Jeon
+  Copyright (c) 2012-2015 Sungeun K. Jeon
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -34,7 +34,7 @@
 // Initialize and setup the stepper motor subsystem
 void stepper_init();
 
-// Enable steppers, but cycle does not start unless called by motion control or runtime command.
+// Enable steppers, but cycle does not start unless called by motion control or realtime command.
 void st_wake_up();
 
 // Immediately disables steppers
@@ -46,13 +46,13 @@ void st_generate_step_dir_invert_masks();
 // Reset the stepper subsystem variables       
 void st_reset();
              
-// Reloads step segment buffer. Called continuously by runtime execution system.
+// Reloads step segment buffer. Called continuously by realtime execution system.
 void st_prep_buffer();
 
 // Called by planner_recalculate() when the executing block is updated by the new plan.
 void st_update_plan_block_parameters();
 
-// Called by runtime status reporting if realtime rate reporting is enabled in config.h.
+// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
 #ifdef REPORT_REALTIME_RATE
 float st_get_realtime_rate();
 #endif
diff --git a/system.c b/system.c
index b8e2f6b..046b72b 100644
--- a/system.c
+++ b/system.c
@@ -2,7 +2,7 @@
   system.c - Handles system level commands and real-time processes
   Part of Grbl v0.9
 
-  Copyright (c) 2014 Sungeun K. Jeon  
+  Copyright (c) 2014-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -20,8 +20,10 @@
 
 #include "system.h"
 #include "settings.h"
+#include "protocol.h"
 #include "gcode.h"
 #include "motion_control.h"
+#include "stepper.h"
 #include "report.h"
 #include "print.h"
 
@@ -36,8 +38,8 @@ void system_init()
 
 
 // Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
-// only the runtime command execute variable to have the main program execute these when 
-// its ready. This works exactly like the character-based runtime commands when picked off
+// only the realtime command execute variable to have the main program execute these when 
+// its ready. This works exactly like the character-based realtime commands when picked off
 // directly from the incoming serial data stream.
 ISR(PINOUT_INT_vect) 
 {
@@ -46,9 +48,9 @@ ISR(PINOUT_INT_vect)
     if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) {
       mc_reset();
     } else if (bit_isfalse(PINOUT_PIN,bit(PIN_FEED_HOLD))) {
-      bit_true(sys.execute, EXEC_FEED_HOLD); 
+      bit_true(sys.rt_exec_state, EXEC_FEED_HOLD); 
     } else if (bit_isfalse(PINOUT_PIN,bit(PIN_CYCLE_START))) {
-      bit_true(sys.execute, EXEC_CYCLE_START);
+      bit_true(sys.rt_exec_state, EXEC_CYCLE_START);
     } 
   }
 }
@@ -74,7 +76,7 @@ void system_execute_startup(char *line)
 // Directs and executes one line of formatted input from protocol_process. While mostly
 // incoming streaming g-code blocks, this also executes Grbl internal commands, such as 
 // settings, initiating the homing cycle, and toggling switch states. This differs from
-// the runtime command module by being susceptible to when Grbl is ready to execute the 
+// the realtime command module by being susceptible to when Grbl is ready to execute the 
 // next line during a cycle, so for switches like block delete, the switch only effects
 // the lines that are processed afterward, not necessarily real-time during a cycle, 
 // since there are motions already stored in the buffer. However, this 'lag' should not
@@ -118,17 +120,17 @@ uint8_t system_execute_line(char *line)
       } // Otherwise, no effect.
       break;               
 //  case 'J' : break;  // Jogging methods
-    // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be 
-    // susceptible to other runtime commands except for e-stop. The jogging function is intended to
-    // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped 
-    // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
-    // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
-    // motion by repeatedly toggling to slow the motion to the desired location. Location data would 
-    // need to be updated real-time and supplied to the user through status queries.
-    //   More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are 
-    // handled by the planner. It would be possible for the jog subprogram to insert blocks into the
-    // block buffer without having the planner plan them. It would need to manage de/ac-celerations 
-    // on its own carefully. This approach could be effective and possibly size/memory efficient.        
+      // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be 
+      // susceptible to other realtime commands except for e-stop. The jogging function is intended to
+      // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped 
+      // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
+      // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
+      // motion by repeatedly toggling to slow the motion to the desired location. Location data would 
+      // need to be updated real-time and supplied to the user through status queries.
+      //   More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are 
+      // handled by the planner. It would be possible for the jog subprogram to insert blocks into the
+      // block buffer without having the planner plan them. It would need to manage de/ac-celerations 
+      // on its own carefully. This approach could be effective and possibly size/memory efficient.        
     default : 
       // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
       if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
@@ -139,9 +141,14 @@ uint8_t system_execute_line(char *line)
           break;          
         case 'H' : // Perform homing cycle [IDLE/ALARM]
           if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 
+            sys.state = STATE_HOMING; // Set system state variable
             // Only perform homing if Grbl is idle or lost.
             mc_homing_cycle(); 
-            if (!sys.abort) { system_execute_startup(line); } // Execute startup scripts after successful homing.
+            if (!sys.abort) {  // Execute startup scripts after successful homing.
+              sys.state = STATE_IDLE; // Set to IDLE when complete.
+              st_go_idle(); // Set steppers to the settings idle state before returning.
+              system_execute_startup(line); 
+            }
           } else { return(STATUS_SETTING_DISABLED); }
           break;
         case 'I' : // Print or store build info. [IDLE/ALARM]
@@ -197,3 +204,27 @@ uint8_t system_execute_line(char *line)
   }
   return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
 }
+
+
+float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
+{
+  #ifdef COREXY
+    if (idx==A_MOTOR) { 
+      return((0.5*(steps[A_MOTOR] + steps[B_MOTOR]))/settings.steps_per_mm[idx]);
+    } else if (idx==B_MOTOR) { 
+      return((0.5*(steps[A_MOTOR] - steps[B_MOTOR]))/settings.steps_per_mm[idx]);
+    }
+  #else
+    return((float)steps[idx]/settings.steps_per_mm[idx]);
+  #endif
+}
+  
+
+void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
+{
+  uint8_t idx;
+  for (idx=0; idx<N_AXIS; idx++) {
+    position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
+  }
+  return;
+}
diff --git a/system.h b/system.h
index 2655c27..94139be 100644
--- a/system.h
+++ b/system.h
@@ -2,7 +2,7 @@
   system.h - Header for system level commands and real-time processes
   Part of Grbl v0.9
 
-  Copyright (c) 2014 Sungeun K. Jeon  
+  Copyright (c) 2014-2015 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -41,19 +41,26 @@
 #include "nuts_bolts.h"
 
 
-// Define system executor bit map. Used internally by runtime protocol as runtime command flags, 
-// which notifies the main program to execute the specified runtime command asynchronously.
+// Define system executor bit map. Used internally by realtime protocol as realtime command flags, 
+// which notifies the main program to execute the specified realtime command asynchronously.
 // NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
-// flags are always false, so the runtime protocol only needs to check for a non-zero value to 
-// know when there is a runtime command to execute.
+// flags are always false, so the realtime protocol only needs to check for a non-zero value to 
+// know when there is a realtime command to execute.
 #define EXEC_STATUS_REPORT  bit(0) // bitmask 00000001
 #define EXEC_CYCLE_START    bit(1) // bitmask 00000010
 #define EXEC_CYCLE_STOP     bit(2) // bitmask 00000100
 #define EXEC_FEED_HOLD      bit(3) // bitmask 00001000
 #define EXEC_RESET          bit(4) // bitmask 00010000
-#define EXEC_ALARM          bit(5) // bitmask 00100000
-#define EXEC_CRIT_EVENT     bit(6) // bitmask 01000000
-// #define                  bit(7) // bitmask 10000000
+
+// Alarm executor bit map.
+// NOTE: EXEC_CRITICAL_EVENT is an optional flag that must be set with an alarm flag. When enabled,
+// this halts Grbl into an infinite loop until the user aknowledges the problem and issues a soft-
+// reset command. For example, a hard limit event needs this type of halt and aknowledgement.
+#define EXEC_CRITICAL_EVENT     bit(0) // bitmask 00000001 (SPECIAL FLAG. See NOTE:)
+#define EXEC_ALARM_HARD_LIMIT   bit(0) // bitmask 00000010
+#define EXEC_ALARM_SOFT_LIMIT   bit(1) // bitmask 00000100
+#define EXEC_ALARM_ABORT_CYCLE  bit(2) // bitmask 00001000
+#define EXEC_ALARM_PROBE_FAIL   bit(3) // bitmask 00010000
 
 // Define system state bit map. The state variable primarily tracks the individual functions
 // of Grbl to manage each without overlapping. It is also used as a messaging flag for
@@ -72,7 +79,9 @@
 typedef struct {
   uint8_t abort;                 // System abort flag. Forces exit back to main loop for reset.
   uint8_t state;                 // Tracks the current state of Grbl.
-  volatile uint8_t execute;      // Global system runtime executor bitflag variable. See EXEC bitmasks.
+
+  volatile uint8_t rt_exec_state;  // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
+  volatile uint8_t rt_exec_alarm;  // Global realtime executor bitflag variable for setting various alarms.
 
   int32_t position[N_AXIS];      // Real-time machine (aka home) position vector in steps. 
                                  // NOTE: This may need to be a volatile variable, if problems arise.                             
@@ -92,10 +101,13 @@ void system_init();
 // Executes an internal system command, defined as a string starting with a '$'
 uint8_t system_execute_line(char *line);
 
-// Checks and executes a runtime command at various stop points in main program
-void system_execute_runtime();
-
 // Execute the startup script lines stored in EEPROM upon initialization
 void system_execute_startup(char *line);
 
+// Returns machine position of axis 'idx'. Must be sent a 'step' array.
+float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
+
+// Updates a machine 'position' array based on the 'step' array sent.
+void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
+
 #endif
diff --git a/test/gcode/8x_gear_test.nc b/test/gcode/8x_gear_test.nc
deleted file mode 100644
index 35abf40..0000000
--- a/test/gcode/8x_gear_test.nc
+++ /dev/null
@@ -1,4919 +0,0 @@
-(Test program provided by @kikigey89)
-(Possible lockup issues when cutting gear tooth feature)
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-M5
-M30
diff --git a/test/gcode/HSM_test.nc b/test/gcode/HSM_test.nc
deleted file mode 100644
index 7a2166d..0000000
--- a/test/gcode/HSM_test.nc
+++ /dev/null
@@ -1,1758 +0,0 @@
-(DO NOT USE WHEN CONNECTED TO A MACHINE!!)
-(EXCEEDINGLY FAST HIGH-SPEED POCKETING ROUTINE)
-(NC program provided by Todd Fleming)
-
-G90
-G1 X0 Y0 F200.00000
-G1 Z0 F200.00000
-
-G1 Z-6.00000
-
-(Slow cut small circle)
-
-G1 X1.58750 F100.00000
-G1
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-G1 X1.57498 Y0.19897
-G1 X1.55938 Y0.29747
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-G1 X1.47602 Y0.58440
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-G1 X1.39114 Y0.76478
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-G1 X1.28431 Y0.93311
-G1 X1.22319 Y1.01191
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-
-(Outer Circle)
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-G1 X-1.57635 Y8.26349
-G1 X-2.09210 Y8.14821
-G1 X-2.59961 Y8.00076
-
-(Return)
-
-G1 X0.00000 Y0.00000 F500.00000
-(G4 P0.1)
-G1 Z0.00000
diff --git a/test/gcode/SO2_helloworld.nc b/test/gcode/SO2_helloworld.nc
deleted file mode 100644
index 1d10059..0000000
--- a/test/gcode/SO2_helloworld.nc
+++ /dev/null
@@ -1,773 +0,0 @@
-(ShapeOko2 "Hello World" test file)
-(Set up sheet of paper landscape, long edge on X-axis)
-(Starting location around the lower[-y] left[-x] corner)
-
-(originally Generated by PartKam Version 0.05)
-
-G20 G90 (remove G40)
-
-(write the words)
-G0 Z0.125
-(remove x)
-G17
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diff --git a/test/gcode/braid_cut2d.nc b/test/gcode/braid_cut2d.nc
deleted file mode 100644
index 1e8deda..0000000
--- a/test/gcode/braid_cut2d.nc
+++ /dev/null
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diff --git a/test/matlab/grbl_sim.m b/test/matlab/grbl_sim.m
deleted file mode 100644
index 3f34d95..0000000
--- a/test/matlab/grbl_sim.m
+++ /dev/null
@@ -1,437 +0,0 @@
-% ----------------------------------------------------------------------------------------
-% The MIT License (MIT)
-% 
-% Copyright (c) 2014 Sungeun K. Jeon
-% 
-% Permission is hereby granted, free of charge, to any person obtaining a copy
-% of this software and associated documentation files (the "Software"), to deal
-% in the Software without restriction, including without limitation the rights
-% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-% copies of the Software, and to permit persons to whom the Software is
-% furnished to do so, subject to the following conditions:
-% 
-% The above copyright notice and this permission notice shall be included in
-% all copies or substantial portions of the Software.
-% 
-% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-% FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-% AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-% LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-% OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-% THE SOFTWARE.
-% ----------------------------------------------------------------------------------------
-
-% This MATLAB script was written for the purpose of being a GRBL planner simulator. This
-% simulator is a rough representation of the actual workings of Grbl on the Arduino, but
-% was used to hone and proof the actual planner by providing quick visual feedback on its 
-% functionality when experimented on. This script should be considered for educational 
-% purposes only. This script requires and executes a pre-parsed g-code file from the 
-% matlab_convert.py script that is in a specific non-g-code format. 
-
-% There will be two figures plotted. The first is the line motion paths of the complete
-% g-code program. The second is a representation of Grbl's planner buffer as new line
-% motions are fed to it, plotting the velocity profiles the stepper motors will execute.
-% Every time the user inputs an <Enter>, this feeds the simulator planner one line motion
-% block. The left side is the first block in the buffer and the one that will be executed
-% by the stepper module first. The right side is the end of the planner buffer, where the
-% most recent streamed block is appended onto the planner buffer. Grbl's planner 
-% optimizes the velocity profiles between the beginning and end of the buffer based on 
-% the acceleration limits, intended velocity/feedrate, and line motion junction angles
-% with their corresponding velocity limits (i.e. junctions with acute angles needs to come
-% to a complete stop vs straight junctions can continue through at full speed.)
-
-% ----------------------------------------------------------------------------------------
-
-
-% Main function 
-% NOTE: This is just a way to keep all functions in one place, but all non-global variables 
-%   are cleared as soon as this script completes.
-function main()
-
-% Load pre-parsed gcode moves.
-close all;
-warning off;
-clearvars -global
-fid = fopen('matlab.gcode','r');
-gcode = textscan(fid,'%d8%f32%f32%f32%f32');
-nblock = length(gcode{1});
-
-% Plot all g-code moves.
-figure
-line(gcode{3},gcode{4},gcode{5});
-axis equal;
-% axis([min(gcode{3}) max(gcode{3}) min(gcode{4}) max(gcode{4}) min(gcode{5}) max(gcode{5})]);
-title('G-code programming line motions');
-view(3);
-
-% Set up figure for planner queue
-figure
-
-% Print help.
-disp('<NOTE: Press Enter to Advance One G-Code Line Motion>');
-disp('   BLUE line indicates completed planner blocks that require no recalculation.');
-disp('   RED line indicates planner blocks that have been recalculated.');
-disp('   GREEN line indicates the location of the BPLANNED pointer. Always a recalculated block.');
-disp('   BLACK dotted-line and ''x'' indicates block nominal speed and max junction velocity, respectively.');
-disp('   CYAN ''.'' indicates block initial entry speed.');
-
-% Define Grbl settings.
-BUFFER_SIZE = 18; % Number of planner blocks in its ring buffer.
-steps_per_mm = 200;
-seekrate = 2500; % mm/min
-acceleration = [100 100 100]; % mm/sec^2 [ X Y Z ] axes
-junction_deviation = 0.1; % mm. See Grbl documentation on this parameter.
-inch_2_mm = 25.4;
-ACCELERATION_TICKS_PER_SECOND = 100;
-
-gcode{2} = gcode{2};
-gcode{2} = inch_2_mm*gcode{2};
-gcode{3} = inch_2_mm*gcode{3};
-gcode{4} = inch_2_mm*gcode{4};
-gcode{5} = inch_2_mm*gcode{5};
-
-% Initialize blocks
-block.steps = [];
-block.step_event_count = [];
-block.delta_mm = [];
-block.millimeters = [];
-block.acceleration = [];
-block.speed = [];
-block.nominal_speed = [];
-block.max_entry_speed = [];
-block.entry_speed = [];
-block.recalculate_flag = false;
-for i = 2:BUFFER_SIZE
-  block(i) = block(1);
-end
-
-% Initialize planner
-position = [0 0 0];
-prev_unit_vec = [0 0 0];
-previous_nominal_speed = 0;
-pos = 0;
-
-% BHEAD and BTAIL act as pointers to the block head and tail. 
-% BPLANNED acts as a pointer of the location of the end of a completed/optimized plan.
-bhead = 1;
-btail = 1;
-bplanned = 1;
-
-global block bhead btail bplanned nind acceleration BUFFER_SIZE pos ACCELERATION_TICKS_PER_SECOND
-
-% Main loop. Simulates plan_buffer_line(). All of the precalculations for the newest incoming
-% block occurs here. Anything independent of the planner changes.
-for i = 1:nblock
-    
-  target = round([gcode{3}(i) gcode{4}(i) gcode{5}(i)].*steps_per_mm);
-  if gcode{1}(i) == 1
-    feedrate = gcode{2}(i);
-  else
-    feedrate = seekrate;
-  end
-  
-  nind = next_block_index(bhead);
-  if nind == btail
-    % Simulate a constantly full buffer. Move buffer tail. 
-    bind = next_block_index(btail);
-    % Push planned pointer if encountered. Prevents it from looping back around the ring buffer.    
-    if btail == bplanned; bplanned = bind; end
-    btail = bind;
-  end
-
-  block(bhead).steps = abs(target-position);
-  block(bhead).step_event_count = max(block(bhead).steps);
-
-  % Bail if this is a zero-length block
-  if block(bhead).step_event_count == 0
-    disp(['Zero-length block in line ',int2str(i)]);
-  else
-
-    % Compute path vector in terms of absolute step target and current positions  
-    delta_mm = single((target-position)./steps_per_mm);
-    block(bhead).millimeters = single(norm(delta_mm));
-    inverse_millimeters = single(1/block(bhead).millimeters);
- 
-    % Compute path unit vector                            
-    unit_vec = delta_mm/block(bhead).millimeters;
- 
-    % Calculate speed in mm/minute for each axis
-    inverse_minute = single(feedrate * inverse_millimeters);
-    block(bhead).speed = delta_mm*inverse_minute;
-    block(bhead).nominal_speed = block(bhead).millimeters*inverse_minute;
-    
-    % Calculate block acceleration. Operates on absolute value of unit vector.
-    [max_acc,ind] = max(abs(unit_vec)./acceleration); % Determine limiting acceleration
-    block(bhead).acceleration = acceleration(ind)/abs(unit_vec(ind));   
-    
-    % Compute maximum junction speed
-    block(bhead).max_entry_speed = 0.0;
-    if previous_nominal_speed > 0.0 
-      cos_theta = dot(-previous_unit_vec,unit_vec);                           
-      if (cos_theta < 0.95) 
-          block(bhead).max_entry_speed = min([block(bhead).nominal_speed,previous_nominal_speed]);
-        if (cos_theta > -0.95) 
-          sin_theta_d2 = sqrt(0.5*(1.0-cos_theta));
-          block(bhead).max_entry_speed = min([block(bhead).max_entry_speed,sqrt(block(bhead).acceleration*3600*junction_deviation*sin_theta_d2/(1.0-sin_theta_d2))]);
-        end
-      end
-    end
-    
-    block(bhead).entry_speed = 0; % Just initialize. Set accurately in the replanning function.  
-    block(bhead).recalculate_flag = true; % Plotting flag to indicate this block has been updated.
-    
-    previous_unit_vec = unit_vec;
-    previous_nominal_speed = block(bhead).nominal_speed;
-    position = target;
-    
-    bhead = nind; % Block complete. Push buffer pointer.
-    planner_recalculate();   
-     
-    plot_buffer_velocities();
-  end
-end
-return
-
-% Computes the next block index in the planner ring buffer
-function block_index = next_block_index(block_index) 
-global BUFFER_SIZE
-  block_index = block_index + 1;
-  if block_index > BUFFER_SIZE
-    block_index = 1;
-  end
-return
-
-% Computes the previous block index in the planner ring buffer
-function block_index = prev_block_index(block_index) 
-global BUFFER_SIZE
-  block_index = block_index-1;
-  if block_index < 1
-    block_index = BUFFER_SIZE;
-  end
-return
-
-
-% Planner recalculate function. The magic happens here.
-function planner_recalculate(block) 
-
-  global block bhead btail bplanned acceleration
-
-  bind = prev_block_index(bhead);
-  if bind == bplanned; return; end  % Bail, if only one block in buffer. Can't be operated on.
-  
-  % Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
-  % block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
-  % NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
-  next = [];
-  curr = bind;  % Last block in buffer.
-
-  % Calculate maximum entry speed for last block in buffer, where the exit speed is always zero.
-  block(curr).entry_speed = min([block(curr).max_entry_speed,sqrt(2*block(curr).acceleration*60*60*block(curr).millimeters)]);
-
-  bind = prev_block_index(bind); % Btail or second to last block
-  if (bind == bplanned)
-     % Only two plannable blocks in buffer. Reverse pass complete.
-     % Check if the first block is the tail. If so, notify stepper module to update its current parameters.
-     % if bind == btail; update_tail_block; end
-  else    
-    % Three or more plannable blocks in buffer. Loop it.
-    while bind ~= bplanned % Loop until bplanned point hits. Replans to last plan point.
-      next = curr; 
-      curr = bind;
-      bind = prev_block_index( bind ); % Previous block pointer.  
-            
-      % Check if the first block is the tail. If so, notify stepper module to update its current parameters.
-      % if bind == btail; update_tail_block; end
-                   
-      % Compute maximum entry speed decelerating over the current block from its exit speed.
-      if block(curr).entry_speed ~= block(curr).max_entry_speed  
-        block(curr).recalculate_flag = true; % Plotting flag to indicate this block has been updated.
-        block(curr).entry_speed = min([ block(curr).max_entry_speed,...
-                                        sqrt(block(next).entry_speed^2 + 2*block(curr).acceleration*60*60*block(curr).millimeters)]);                                        
-      end    
-
-    end
-  end
-
-  % For two blocks, reverse pass is skipped, but forward pass plans second block entry speed
-  % onward. This prevents the first, or the potentially executing block, from being over-written.
-  % NOTE: Can never be bhead, since bsafe is always in active buffer.
-  next = bplanned;  
-  bind = next_block_index(bplanned); % Start at bplanned
-  while bind ~= bhead
-    curr = next;
-    next = bind;
-    
-    % An acceleration block is always an optimally planned block since it starts from the first 
-    % block's current speed or a maximum junction speed. Compute accelerations from this block 
-    % and update the next block's entry speed.
-    if (block(curr).entry_speed < block(next).entry_speed)
-      % Once speed is set by forward planner, the plan for this block is finished and optimal.
-      % Increment the planner pointer forward one block.      
-        
-      entry_speed = sqrt(block(curr).entry_speed^2 + 2*block(curr).acceleration*60*60*block(curr).millimeters);
-      if (block(next).entry_speed > entry_speed)
-        block(next).entry_speed = entry_speed;
-        bplanned = bind;
-      end
-
-    end
-    
-    % Check if the next block entry speed is at max_entry_speed. If so, move the planned pointer, since
-    % this entry speed cannot be improved anymore and all prior blocks have been completed and optimally planned.
-    if block(next).entry_speed == block(next).max_entry_speed
-      bplanned = bind;
-    end
-    
-    % Recalculate trapezoid can be installed here, since it scans through all of the plannable blocks.
-    % NOTE: Eventually this will only be computed when being executed.
-    
-    bind = next_block_index( bind );
-
-  end
-  
-return
-
-% ----------------------------------------------------------------------------------------
-% PLOTTING FUNCTIONS
-
-% Plots the entire buffer plan into a MATLAB figure to visual the plan.
-%   BLUE line indicates completed planner blocks that require no recalculation.
-%   RED line indicates planner blocks that have been recalculated.
-%   GREEN line indicates the location of the BPLANNED pointer. Always a recalculated block.
-%   BLACK dotted-line and 'x' indicates block nominal speed and max junction velocity, respectively.
-%   CYAN '.' indicates block initial entry speed.
-function plot_buffer_velocities() 
-  global block bhead btail bplanned acceleration pos ACCELERATION_TICKS_PER_SECOND
-  bind = btail;
-  curr = [];
-  next = [];
-  
-  pos_initial = 0;
-  pos = 0;
-  while bind ~= bhead
-    curr = next;
-    next = bind;
-    hold on;
-    if ~isempty(curr) 
-      accel_d = estimate_acceleration_distance(block(curr).entry_speed, block(curr).nominal_speed, block(curr).acceleration*60*60);
-      decel_d = estimate_acceleration_distance(block(curr).nominal_speed, block(next).entry_speed,-block(curr).acceleration*60*60);
-      plateau_d = block(curr).millimeters-accel_d-decel_d;
-      if plateau_d < 0
-        accel_d = intersection_distance(block(curr).entry_speed, block(next).entry_speed, block(curr).acceleration*60*60, block(curr).millimeters);
-        if accel_d < 0
-          accel_d = 0;
-        elseif accel_d > block(curr).millimeters
-          accel_d = block(curr).millimeters;
-        end
-        plateau_d = 0;
-      end 
-      color = 'b'; 
-      if (block(curr).recalculate_flag || block(next).recalculate_flag) 
-        block(curr).recalculate_flag = false;
-        color = 'r'; 
-      end
-      if bplanned == curr
-        color = 'g'; 
-      end
-      
-      plot_trap(pos,block(curr).entry_speed,block(next).entry_speed,block(curr).nominal_speed,block(curr).acceleration,accel_d,plateau_d,block(curr).millimeters,color)
-      plot([pos pos+block(curr).millimeters],block(curr).nominal_speed*[1 1],'k:') % BLACK dotted indicates
-      plot(pos,block(curr).max_entry_speed,'kx')
-
-      pos = pos + block(curr).millimeters;
-      plot(pos,block(next).entry_speed,'c.');
-    end
-    bind = next_block_index( bind );
-  end
-
-  accel_d = estimate_acceleration_distance(block(next).entry_speed, block(next).nominal_speed, block(next).acceleration*60*60);
-  decel_d = estimate_acceleration_distance(block(next).nominal_speed, 0, -block(next).acceleration*60*60);
-  plateau_d = block(next).millimeters-accel_d-decel_d;
-  if plateau_d < 0
-     accel_d = intersection_distance(block(next).entry_speed, 0, block(next).acceleration*60*60, block(next).millimeters);
-     if accel_d < 0
-       accel_d = 0;
-     elseif accel_d > block(next).millimeters
-       accel_d = block(next).millimeters;
-     end
-     plateau_d = 0;
-   end 
-   block(next).recalculate_flag = false;
-   color = 'r';
-   if bplanned == next
-     color= 'g';
-   end
-   
-  plot_trap(pos,block(next).entry_speed,0,block(next).nominal_speed,block(next).acceleration,accel_d,plateau_d,block(next).millimeters,color)
-  plot([pos pos+block(next).millimeters],block(next).nominal_speed*[1 1],'k:')
-  plot(pos,block(next).max_entry_speed,'kx')
-
-  plot(pos,block(next).entry_speed,'.');
-  pos = pos + block(next).millimeters;
-  plot(pos,0,'rx');
-  xlabel('mm');
-  ylabel('mm/sec');
-  xlim([pos_initial pos])
-  title('Planner buffer optimized velocity profile');
-  pause();
-  hold off;
-  
-  plot(pos,0)
-return
-
-
-function d_a = estimate_acceleration_distance(initial_rate, target_rate, acceleration,rate_delta)
-  d_a = (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration);
-return
-
-function d_i = intersection_distance(initial_rate, final_rate, acceleration, distance, rate_delta)
-  d_i = (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration);
-return
-
-
-% Simply plots the ac/de-celeration curves and plateaus of a trapezoid.
-function plot_trap(pos,initial_rate,final_rate,rate,accel,accel_d,plateau_d,millimeters,color)
-
-  dx = 1.0; % Line segment length
-  linex = [pos]; liney = [initial_rate];
-
-  % Acceleration
-  np = floor(accel_d/dx);
-  if np
-    v = initial_rate;
-    for i = 1:np
-      v = sqrt(v^2+2*accel*60*60*dx);
-      linex = [linex pos+i*dx];
-      liney = [liney v];
-    end
-  end
-  
-  % Plateau
-  v = sqrt(initial_rate^2 + 2*accel*60*60*accel_d);
-  if v < rate
-    rate = v;
-  end
-  linex = [linex pos+[accel_d accel_d+plateau_d]];
-  liney = [liney [rate rate]];
-  
-  % Deceleration
-  np = floor((millimeters-accel_d-plateau_d)/dx);
-  if np
-    v = rate;
-    for i = 1:np
-      v = sqrt(v^2-2*accel*60*60*dx);
-      linex = [linex pos+i*dx+accel_d+plateau_d];
-      liney = [liney v];
-    end
-  end        
-        
-  linex = [linex pos+millimeters];
-  liney = [ liney final_rate];
-  plot(linex,liney,color);
-
-return
-
-
-
diff --git a/test/matlab/matlab.gcode b/test/matlab/matlab.gcode
deleted file mode 100644
index 8ad9cdc..0000000
--- a/test/matlab/matlab.gcode
+++ /dev/null
@@ -1,2362 +0,0 @@
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-1 300.0 -7.65 -35.13 20.0
-1 300.0 -7.54 -35.02 20.0
-1 300.0 -7.42 -34.92 20.0
-1 300.0 -7.28 -34.81 20.0
-1 300.0 -7.12 -34.72 20.0
-1 300.0 -6.95 -34.62 20.0
-1 300.0 -6.76 -34.53 20.0
-1 300.0 -6.56 -34.44 20.0
-1 300.0 -6.34 -34.36 20.0
-1 300.0 -6.12 -34.28 20.0
-1 300.0 -5.87 -34.2 20.0
-1 300.0 -5.62 -34.13 20.0
-1 300.0 -5.35 -34.06 20.0
-1 300.0 -5.08 -33.99 20.0
-1 300.0 -4.79 -33.93 20.0
-1 300.0 -4.49 -33.88 20.0
-1 300.0 -4.18 -33.82 20.0
-1 300.0 -3.86 -33.77 20.0
-1 300.0 -3.54 -33.73 20.0
-1 300.0 -3.21 -33.69 20.0
-1 300.0 -2.87 -33.66 20.0
-1 300.0 -2.52 -33.62 20.0
-1 300.0 -2.17 -33.6 20.0
-1 300.0 -1.82 -33.57 20.0
-1 300.0 -1.46 -33.55 20.0
-1 300.0 -1.1 -33.54 20.0
-1 300.0 -0.73 -33.53 20.0
-1 300.0 -0.37 -33.52 20.0
-1 300.0 0.0 -33.52 20.0
-0 300.0 0.0 -33.52 6.0
-0 300.0 37.56 12.33 6.0
-1 300.0 37.56 12.33 -1.0
-1 300.0 37.56 0.88 -1.0
-1 300.0 49.01 0.88 -1.0
-1 300.0 49.01 12.33 -1.0
-1 300.0 37.56 12.33 -1.0
-0 300.0 37.56 12.33 6.0
-0 300.0 37.56 0.88 6.0
-1 300.0 37.56 0.88 -1.0
-1 300.0 37.56 -10.57 -1.0
-1 300.0 49.01 -10.57 -1.0
-1 300.0 49.01 0.88 -1.0
-1 300.0 37.56 0.88 -1.0
-0 300.0 37.56 0.88 6.0
-0 300.0 49.01 12.33 6.0
-1 300.0 49.01 12.33 -1.0
-1 300.0 52.08 15.01 -1.0
-0 300.0 52.08 15.01 6.0
-0 300.0 49.01 0.88 6.0
-1 300.0 49.01 0.88 -1.0
-1 300.0 52.08 6.21 -1.0
-1 300.0 52.08 15.01 -1.0
-1 300.0 43.29 15.01 -1.0
-1 300.0 37.56 12.33 -1.0
-0 300.0 37.56 12.33 6.0
-0 300.0 49.01 -10.57 6.0
-1 300.0 49.01 -10.57 -1.0
-1 300.0 52.08 -2.58 -1.0
-1 300.0 52.08 6.21 -1.0
-1 300.0 49.01 0.88 -1.0
-0 300.0 49.01 0.88 6.0
-0 300.0 49.01 0.88 20.0
-0 300.0 0.0 0.0 20.0
-0 300.0 0.0 0.0 20.0
diff --git a/test/matlab/matlab_convert.py b/test/matlab/matlab_convert.py
deleted file mode 100755
index cf750ac..0000000
--- a/test/matlab/matlab_convert.py
+++ /dev/null
@@ -1,270 +0,0 @@
-#!/usr/bin/env python
-"""\
-The MIT License (MIT)
-
-Copyright (c) 2014 Sungeun K. Jeon
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-----------------------------------------------------------------------------------------
-"""
-"""\
-G-code preprocessor for the grbl_sim.m MATLAB script. Parses the g-code program to a
-specific file format for the MATLAB script to use. Based on PreGrbl by @chamnit.
-
-How to use: When running this python script, it will process the g-code program under
-the filename "test.gcode" (may be changed below) and produces a file called "matlab.gcode"
-that the grbl_sim.m MATLAB script will search for and execute.
-"""
-
-import re
-from math import *
-from copy import *
-
-# -= SETTINGS =-
-filein = 'test.gcode'   # Input file name
-fileout = 'matlab.gcode'  # Output file name
-ndigits_in = 4 # inch significant digits after '.'
-ndigits_mm = 2 # mm significant digits after '.'
-# mm_per_arc_segment = 0.38 # mm per arc segment      
-arc_tolerance = 0.00005*25.4
-n_arc_correction = 20
-inch2mm = 25.4 # inch to mm conversion scalar
-verbose = False  # Verbose flag to show all progress
-remove_unsupported = True   # Removal flag for all unsupported statements
-
-# Initialize parser state
-gc = { 'current_xyz' : [0,0,0], 
-       'feed_rate' : 0,         # F0
-       'motion_mode' : 'SEEK',  # G00
-       'plane_axis' : [0,1,2],  # G17
-       'inches_mode' : False,   # G21
-       'inverse_feedrate_mode' : False, # G94
-       'absolute_mode' : True}  # G90
-
-def unit_conv(val) : # Converts value to mm
-    if gc['inches_mode'] : val *= inch2mm
-    return(val)
-
-def fout_conv(val) : # Returns converted value as rounded string for output file.
-    if gc['inches_mode'] : return( str(round(val/inch2mm,ndigits_in)) )
-    else : return( str(round(val,ndigits_mm)) )
-
-# Open g-code file
-fin = open(filein,'r');
-fout = open(fileout,'w');
-
-# Iterate through g-code file
-l_count = 0
-for line in fin:
-    l_count += 1 # Iterate line counter
-    
-    # Strip comments/spaces/tabs/new line and capitalize. Comment MSG not supported.
-    block = re.sub('\s|\(.*?\)','',line).upper() 
-    block = re.sub('\\\\','',block) # Strip \ block delete character
-    block = re.sub('%','',block) # Strip % program start/stop character
-    
-    if len(block) == 0 :  # Ignore empty blocks
-        
-        print "Skipping: " + line.strip()
-        
-    else :  # Process valid g-code clean block. Assumes no block delete characters or comments
-        
-        g_cmd = re.findall(r'[^0-9\.\-]+',block) # Extract block command characters
-        g_num = re.findall(r'[0-9\.\-]+',block) # Extract block numbers
-        
-        # G-code block error checks
-        # if len(g_cmd) != len(g_num) : print block; raise Exception('Invalid block. Unbalanced word and values.')
-        if 'N' in g_cmd :
-            if g_cmd[0]!='N': raise Exception('Line number must be first command in line.')
-            if g_cmd.count('N') > 1: raise Exception('More than one line number in block.')
-            g_cmd = g_cmd[1:]  # Remove line number word
-            g_num = g_num[1:]
-        # Block item repeat checks? (0<=n'M'<5, G/M modal groups)
-        
-        # Initialize block state
-        blk = { 'next_action' : 'DEFAULT',
-                'absolute_override' : False,
-                'target_xyz' : deepcopy(gc['current_xyz']),
-                'offset_ijk' : [0,0,0],
-                'radius_mode' : False, 
-                'unsupported': [] }
-
-        # Pass 1
-        for cmd,num in zip(g_cmd,g_num) :
-            fnum = float(num)
-            inum = int(fnum)
-            if cmd is 'G' :
-                if   inum is 0 : gc['motion_mode'] = 'SEEK'
-                elif inum is 1 : gc['motion_mode'] = 'LINEAR'
-                elif inum is 2 : gc['motion_mode'] = 'CW_ARC'
-                elif inum is 3 : gc['motion_mode'] = 'CCW_ARC'
-                elif inum is 4 : blk['next_action'] = 'DWELL'
-                elif inum is 17 : gc['plane_axis'] = [0,1,2]    # Select XY Plane
-                elif inum is 18 : gc['plane_axis'] = [0,2,1]    # Select XZ Plane
-                elif inum is 19 : gc['plane_axis'] = [1,2,0]    # Select YZ Plane
-                elif inum is 20 : gc['inches_mode'] = True      
-                elif inum is 21 : gc['inches_mode'] = False
-                elif inum in [28,30] : blk['next_action'] = 'GO_HOME'
-                elif inum is 53 : blk['absolute_override'] = True
-                elif inum is 54 : pass
-                elif inum is 80 : gc['motion_mode'] = 'MOTION_CANCEL'
-                elif inum is 90 : gc['absolute_mode'] = True
-                elif inum is 91 : gc['absolute_mode'] = False
-                elif inum is 92 : blk['next_action'] = 'SET_OFFSET'
-                elif inum is 93 : gc['inverse_feedrate_mode'] = True
-                elif inum is 94 : gc['inverse_feedrate_mode'] = False
-                else : 
-                    print 'Unsupported command ' + cmd + num + ' on line ' + str(l_count) 
-                    if remove_unsupported : blk['unsupported'].append(zip(g_cmd,g_num).index((cmd,num)))
-            elif cmd is 'M' :
-                if   inum in [0,1] : pass   # Program Pause
-                elif inum in [2,30,60] : pass   # Program Completed
-                elif inum is 3 : pass   # Spindle Direction 1
-                elif inum is 4 : pass   # Spindle Direction -1
-                elif inum is 5 : pass   # Spindle Direction 0
-                else : 
-                    print 'Unsupported command ' + cmd + num + ' on line ' + str(l_count) 
-                    if remove_unsupported : blk['unsupported'].append(zip(g_cmd,g_num).index((cmd,num)))
-            elif cmd is 'T' : pass      # Tool Number
-            
-        # Pass 2
-        for cmd,num in zip(g_cmd,g_num) :
-            fnum = float(num)         
-            if   cmd is 'F' : gc['feed_rate'] = unit_conv(fnum)   # Feed Rate
-            elif cmd in ['I','J','K'] : blk['offset_ijk'][ord(cmd)-ord('I')] = unit_conv(fnum) # Arc Center Offset
-            elif cmd is 'N' : pass
-            elif cmd is 'P' : p = fnum  # Misc value parameter
-            elif cmd is 'R' : r = unit_conv(fnum); blk['radius_mode'] = True    # Arc Radius Mode
-            elif cmd is 'S' : pass      # Spindle Speed
-            elif cmd in ['X','Y','Z'] : # Target Coordinates
-                if (gc['absolute_mode'] | blk['absolute_override']) :
-                    blk['target_xyz'][ord(cmd)-ord('X')] = unit_conv(fnum)
-                else :
-                    blk['target_xyz'][ord(cmd)-ord('X')] += unit_conv(fnum)
-
-        # Execute actions
-        if   blk['next_action'] is 'GO_HOME' : 
-            gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position      
-        elif blk['next_action'] is 'SET_OFFSET' : 
-            pass 
-        elif blk['next_action'] is 'DWELL' :
-            if p < 0 : raise Exception('Dwell time negative.')
-        else : # 'DEFAULT'
-            if gc['motion_mode'] is 'SEEK' : 
-                fout.write('0 '+fout_conv(gc['feed_rate']))
-                fout.write(' '+fout_conv(blk['target_xyz'][0]))
-                fout.write(' '+fout_conv(blk['target_xyz'][1]))
-                fout.write(' '+fout_conv(blk['target_xyz'][2]))
-                fout.write('\n')  
-                gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position
-            elif gc['motion_mode'] is 'LINEAR' :
-                fout.write('1 '+fout_conv(gc['feed_rate']))
-                fout.write(' '+fout_conv(blk['target_xyz'][0]))
-                fout.write(' '+fout_conv(blk['target_xyz'][1]))
-                fout.write(' '+fout_conv(blk['target_xyz'][2]))
-                fout.write('\n')  
-                gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position
-            elif gc['motion_mode'] in ['CW_ARC','CCW_ARC'] :
-                axis = gc['plane_axis']
-                
-                # Convert radius mode to ijk mode
-                if blk['radius_mode'] :
-                    x = blk['target_xyz'][axis[0]]-gc['current_xyz'][axis[0]]
-                    y = blk['target_xyz'][axis[1]]-gc['current_xyz'][axis[1]]
-                    if not (x==0 and y==0) : raise Exception('Same target and current XYZ not allowed in arc radius mode.') 
-                    h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y)
-                    if isnan(h_x2_div_d) : raise Exception('Floating point error in arc conversion')
-                    if gc['motion_mode'] is 'CCW_ARC' : h_x2_div_d = -h_x2_div_d
-                    if r < 0 : h_x2_div_d = -h_x2_div_d
-                    blk['offset_ijk'][axis[0]] = (x-(y*h_x2_div_d))/2;
-                    blk['offset_ijk'][axis[1]] = (y+(x*h_x2_div_d))/2;
-                else :
-                    radius = sqrt(blk['offset_ijk'][axis[0]]**2+blk['offset_ijk'][axis[1]]**2)
-
-                center_axis0 = gc['current_xyz'][axis[0]]+blk['offset_ijk'][axis[0]]
-                center_axis1 = gc['current_xyz'][axis[1]]+blk['offset_ijk'][axis[1]]
-                linear_travel = blk['target_xyz'][axis[2]]-gc['current_xyz'][axis[2]]
-                r_axis0 = -blk['offset_ijk'][axis[0]]
-                r_axis1 = -blk['offset_ijk'][axis[1]]
-                rt_axis0 = blk['target_xyz'][axis[0]] - center_axis0;
-                rt_axis1 = blk['target_xyz'][axis[1]] - center_axis1;
-                clockwise_sign = 1
-                if gc['motion_mode'] is 'CW_ARC' : clockwise_sign = -1
-
-                angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1)
-                if gc['motion_mode'] is 'CW_ARC' :
-                    if angular_travel >= 0 :
-                        angular_travel -= 2*pi
-                else :
-                    if angular_travel <= 0 :
-                        angular_travel += 2*pi
-               
-                millimeters_of_travel = sqrt((angular_travel*radius)**2 + abs(linear_travel)**2)
-
-                mm_per_arc_segment = sqrt(4*(2*radius*arc_tolerance-arc_tolerance**2))
-                segments = int(millimeters_of_travel/mm_per_arc_segment)
-                print segments
-                print l_count
-                theta_per_segment = angular_travel/segments
-                linear_per_segment = linear_travel/segments
-                cos_T = 1-0.5*theta_per_segment*theta_per_segment
-                sin_T = theta_per_segment-theta_per_segment**3/6
-                print(fout_conv(mm_per_arc_segment))  
-                print theta_per_segment*180/pi
-                                
-                arc_target = [0,0,0]
-                arc_target[axis[2]] = gc['current_xyz'][axis[2]]
-
-                count = 0
-                for i in range(1,segments+1) :
-                    if i < segments :
-                        if count < n_arc_correction :
-                            r_axisi = r_axis0*sin_T + r_axis1*cos_T       
-                            r_axis0 = r_axis0*cos_T - r_axis1*sin_T
-                            r_axis1 = deepcopy(r_axisi)
-                            count += 1
-                        else :
-                            cos_Ti = cos((i-1)*theta_per_segment)
-                            sin_Ti = sin((i-1)*theta_per_segment)
-                            print n_arc_correction*(r_axis0 -( -blk['offset_ijk'][axis[0]]*cos_Ti + blk['offset_ijk'][axis[1]]*sin_Ti))
-                            print n_arc_correction*(r_axis1 -( -blk['offset_ijk'][axis[0]]*sin_Ti - blk['offset_ijk'][axis[1]]*cos_Ti))
-                            cos_Ti = cos(i*theta_per_segment)
-                            sin_Ti = sin(i*theta_per_segment)
-                            r_axis0 = -blk['offset_ijk'][axis[0]]*cos_Ti + blk['offset_ijk'][axis[1]]*sin_Ti
-                            r_axis1 = -blk['offset_ijk'][axis[0]]*sin_Ti - blk['offset_ijk'][axis[1]]*cos_Ti
-                            count = 0
-                        arc_target[axis[0]] = center_axis0 + r_axis0
-                        arc_target[axis[1]] = center_axis1 + r_axis1
-                        arc_target[axis[2]] += linear_per_segment
-                    else : 
-                        arc_target = deepcopy(blk['target_xyz']) # Last segment at target_xyz
-                    # Write only changed variables. 
-                    fout.write('1 '+fout_conv(gc['feed_rate']))
-                    fout.write(' '+fout_conv(arc_target[0]))
-                    fout.write(' '+fout_conv(arc_target[1]))
-                    fout.write(' '+fout_conv(arc_target[2]))
-                    fout.write('\n')            
-                    gc['current_xyz'] = deepcopy(arc_target) # Update position
-
-
-print 'Done!'
-
-# Close files
-fin.close()
-fout.close()
\ No newline at end of file
diff --git a/test/matlab/test.gcode b/test/matlab/test.gcode
deleted file mode 100644
index 3d9d56c..0000000
--- a/test/matlab/test.gcode
+++ /dev/null
@@ -1,2363 +0,0 @@
-(Braid.NC Test Program)
-T1M6
-G17G21
-G0X0Y0
-G0Z6.000
-G0X37.560Y12.327Z6.000
-G1Z-1.000 F300
-G1Y0.876
-X49.011
-Y12.327
-X37.560
-G0Z6.000
-G0Y0.876
-G1Z-1.000
-G1Y-10.575
-X49.011
-Y0.876
-X37.560
-G0Z6.000
-G0X49.011Y12.327
-G1Z-1.000
-G1X52.084Y15.011
-G0Z6.000
-G0X49.011Y0.876
-G1Z-1.000
-G1X52.084Y6.213
-Y15.011
-X43.286
-X37.560Y12.327
-G0Z6.000
-G0X49.011Y-10.575
-G1Z-1.000
-G1X52.084Y-2.585
-Y6.213
-X49.011Y0.876
-G0Z6.000
-G0Z20.000
-G0X0.000Y0.000
-G1X-7.098Y-39.876
-X-10.296Y-38.118
-X-10.698Y-37.897
-X-11.099Y-37.676
-X-11.894Y-37.235
-X-13.448Y-36.356
-X-13.825Y-36.137
-X-14.197Y-35.919
-X-14.923Y-35.485
-X-16.288Y-34.625
-X-16.636Y-34.395
-X-16.973Y-34.165
-X-17.613Y-33.711
-X-17.915Y-33.486
-X-18.204Y-33.262
-X-18.743Y-32.821
-X-18.992Y-32.602
-X-19.227Y-32.386
-X-19.447Y-32.171
-X-19.652Y-31.959
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-X5.028Y-50.390
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-X5.727Y-50.476
-X6.080Y-50.513
-X6.433Y-50.545
-X6.787Y-50.573
-X7.141Y-50.597
-X7.494Y-50.617
-X7.845Y-50.632
-X8.194Y-50.643
-X8.540Y-50.650
-X8.882Y-50.652
-X9.220Y-50.651
-X9.553Y-50.645
-X9.881Y-50.635
-X10.202Y-50.620
-X10.516Y-50.602
-X10.823Y-50.579
-X11.122Y-50.552
-X11.412Y-50.521
-X11.693Y-50.486
-X11.964Y-50.447
-X12.225Y-50.404
-X12.475Y-50.356
-X12.714Y-50.305
-X12.941Y-50.250
-X13.155Y-50.191
-X13.357Y-50.128
-X13.546Y-50.061
-X13.721Y-49.990
-X13.882Y-49.916
-X14.020Y-49.843
-X14.144Y-49.767
-X14.256Y-49.688
-X14.355Y-49.605
-X14.441Y-49.520
-X14.513Y-49.431
-X14.571Y-49.340
-X14.615Y-49.245
-X14.645Y-49.148
-X14.662Y-49.048
-X14.664Y-48.944
-X14.651Y-48.838
-X14.625Y-48.730
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-X14.376Y-48.268
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-X14.166Y-48.022
-X14.040Y-47.896
-X13.900Y-47.767
-X13.747Y-47.635
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-X-5.874Y-34.199
-X-5.620Y-34.127
-X-5.353Y-34.058
-X-5.076Y-33.993
-X-4.787Y-33.933
-X-4.489Y-33.876
-X-4.181Y-33.824
-X-3.864Y-33.775
-X-3.539Y-33.731
-X-3.207Y-33.691
-X-2.867Y-33.655
-X-2.522Y-33.623
-X-2.172Y-33.596
-X-1.817Y-33.572
-X-1.458Y-33.553
-X-1.096Y-33.538
-X-0.732Y-33.528
-X-0.366Y-33.521
-X0.000Y-33.519
-G0Z6.000
-G0X37.560Y12.327Z6.000
-G1Z-1.000
-G1Y0.876
-X49.011
-Y12.327
-X37.560
-G0Z6.000
-G0Y0.876
-G1Z-1.000
-G1Y-10.575
-X49.011
-Y0.876
-X37.560
-G0Z6.000
-G0X49.011Y12.327
-G1Z-1.000
-G1X52.084Y15.011
-G0Z6.000
-G0X49.011Y0.876
-G1Z-1.000
-G1X52.084Y6.213
-Y15.011
-X43.286
-X37.560Y12.327
-G0Z6.000
-G0X49.011Y-10.575
-G1Z-1.000
-G1X52.084Y-2.585
-Y6.213
-X49.011Y0.876
-G0Z6.000
-G0Z20.000
-G0X0.000Y0.000
-M30
diff --git a/test/settings/kikigey89.settings b/test/settings/kikigey89.settings
deleted file mode 100644
index e367d50..0000000
--- a/test/settings/kikigey89.settings
+++ /dev/null
@@ -1,31 +0,0 @@
-(Machine settings provided by @kikigey89)
-$0=87.489 (x, step/mm)
-$1=87.489 (y, step/mm)
-$2=1280.000 (z, step/mm)
-$3=1000.000 (x max rate, mm/min)
-$4=1000.000 (y max rate, mm/min)
-$5=500.000 (z max rate, mm/min)
-$6=10.000 (x accel, mm/sec^2)
-$7=10.000 (y accel, mm/sec^2)
-$8=10.000 (z accel, mm/sec^2)
-$9=211.000 (x max travel, mm)
-$10=335.000 (y max travel, mm)
-$11=70.000 (z max travel, mm)
-$12=20 (step pulse, usec)
-$13=160 (step port invert mask:10100000)
-$14=160 (dir port invert mask:10100000)
-$15=50 (step idle delay, msec)
-$16=0.010 (junction deviation, mm)
-$17=0.002 (arc tolerance, mm)
-$19=0 (report inches, bool)
-$20=1 (auto start, bool)
-$21=0 (invert step enable, bool)
-$22=0 (invert limit pins, bool)
-$23=0 (soft limits, bool)
-$24=0 (hard limits, bool)
-$25=0 (homing cycle, bool)
-$26=0 (homing dir invert mask:00000000)
-$27=50.000 (homing feed, mm/min)
-$28=500.000 (homing seek, mm/min)
-$29=10 (homing debounce, msec)
-$30=3.000 (homing pull-off, mm)
\ No newline at end of file
diff --git a/test/test.py b/test/test.py
deleted file mode 100644
index 41c845c..0000000
--- a/test/test.py
+++ /dev/null
@@ -1,25 +0,0 @@
-import random
-import serial
-import time
-ser = serial.Serial('/dev/tty.usbmodem24111', 115200, timeout=0.001)
-time.sleep(1)
-outstanding = 0
-data = ''
-while True:
-    time.sleep(0.1)
-    data += ser.read()
-    pos = data.find('\n')
-    if pos == -1:
-        line = ''
-    else:
-        line = data[0:pos + 1]
-        data = data[pos + 1:]
-    if line == '' and outstanding < 3:
-        while outstanding < 3:
-            ser.write("G0 Z%0.3f\n" % (0.01 * (random.random() - 0.5)))
-            #ser.write("M3\n")
-            outstanding += 1
-        continue
-    if line == 'ok\r\n':
-        outstanding -= 1
-    print outstanding, repr(line.rstrip())
\ No newline at end of file