Set coolant pins for all supported boards in cpu-map.h

Merge branch 'more-axis'
Support coolant flood and mist for remix board
2017-08-03 16:00:15 +02:00 · 2017-08-03 15:07:11 +02:00 · 2017-08-03 15:01:34 +02:00 · 2017-07-12 19:01:01 +02:00 · 2017-07-12 18:34:50 +02:00 · 2017-07-12 17:56:46 +02:00
23 changed files with 862 additions and 304 deletions
--- a/README.md
+++ b/README.md
@ -1,7 +1,8 @@
 ![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)

 ***
-_Click the `Release` tab to download pre-compiled `.bin` files or just [click here](https://github.com/cprezzi/grbl-LPC/releases)_
+Old releases are in the `Release` tab. See [cprezzi's branch](https://github.com/cprezzi/grbl-LPC) for more recent releases.
+Note: cprezzi's branch disables current control and has defaults more suitable for other boards.
 ***
 This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.

@ -10,30 +11,30 @@ Usage notes:
  If it doesn't, try installing VCOM_lib/usbser.inf.
 * This doesn't pass the sdcard to the host. Once installed you need to use a micro sdcard adaptor to replace or change it.
 * Only tested with lasers with PWM. Non-PWM spindle control not ported.
-* This special version supports setting PWM frequency by $33. Default is 5000 Hz. Pin can only be changes in config.h.
-  * Pin 2.5
-  * 5 kHz
-  * PWM off value: 0%
-  * Mimimum PWM value: 0%
-  * Maximum PWM value: 100%
 * These are defaults for easy-to-change config values.
-  * Maximum S value: 1000.0 ($30)
+  * WPos enabled for LaserWeb compatability ($10=0)
+  * Laser mode: ON ($32)
  * Minimum S value: 0.0 ($31)
-  * Laser mode: 1 ($32)
-  * Laser PWM frequency: 5000 ($33)
+  * Maximum S value: 1.0 ($30)
 * Hard limits not yet ported
 * Control inputs not yet ported (e.g. Cycle Start and Safety Door switches)

 New configuration settings
 * $33 is PWM frequency in Hz
+* $34 is PWM off value in %
+* $35 is PWM min value in %
+* $36 is PWM max value in %
 * $140, $141, $142 are X, Y, Z current (amps)
-* Default to 0.0 A to avoid burning out your motors
-* Your motors will likely stall if you don't set these!
+  * Default to 0.0 A to avoid burning out your motors
+  * Your motors will likely stall if you don't set these!

 Build notes:
+* You should use virtual machines, if you use multiple toolchains on the same PC.
+* Install make if not already there (for Windows see http://gnuwin32.sourceforge.net/packages/make.htm)
+* Install the ARM embeded toolchain (see https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads)
 * Include ```make``` and the ```arm-none-eabi-*``` tools in your path.
 * Run ```git submodule init``` and ```git submodule update``` before building.
-* Make produces 2 files:
+* ```make``` produces 2 files:
  * ```build/firmware.bin```: this is compatible with the sdcard bootloader.
  * ```build/grbl.hex```: this is not compatible with the sdcard bootloader. It loads using Flash Magic 
    and is primarilly for developers who don't want to keep swapping sdcards. If you flash this,
--- a/doc/markdown/settings.md
+++ b/doc/markdown/settings.md
@ -51,6 +51,7 @@ $27=1.000
 $30=1000.
 $31=0.
 $32=0
+$33=5000
 $100=250.000
 $101=250.000
 $102=250.000
@ -63,6 +64,9 @@ $122=10.000
 $130=200.000
 $131=200.000
 $132=200.000
+$140=0.000
+$141=0.000
+$142=0.000
 ```

 #### $x=val - Save Grbl setting
@ -227,6 +231,10 @@ When enabled, Grbl will move continuously through consecutive `G1`, `G2`, or `G3

 When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds.

+#### $33 - Spindle/Laser PWM frequency
+
+This sets the PWM frequency.
+
 #### $100, $101 and $102 – [X,Y,Z] steps/mm

 Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know:
--- a/doc/media/Thumbs.db
+++ b/doc/media/Thumbs.db
--- a/grbl-lpc/current_control.cpp
+++ b/grbl-lpc/current_control.cpp
@ -55,7 +55,7 @@ void current_init()
    set_current(0, settings.current[0]);
    set_current(1, settings.current[1]);
    set_current(2, settings.current[2]);
-    set_current(3, DEFAULT_A_CURRENT);
+    set_current(3, settings.current[3]);
 #endif
 }

--- a/grbl/config.h
+++ b/grbl/config.h
@ -31,12 +31,17 @@
 #include "LPC17xx.h"


-// Define CPU pin map and default settings.
-// NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
-// one configuration file by placing their specific defaults and pin map at the bottom of this file.
-// If doing so, simply comment out these two defines and see instructions below.
-// #define DEFAULTS_GENERIC
-// #define CPU_MAP_ATMEGA328P // Arduino Uno CPU
+// Define board type for pin map and default settings.
+#define CPU_MAP_SMOOTHIEBOARD   // Smoothieboard (NXP LPC1769 MCU)
+//#define CPU_MAP_C3D_REMIX       // Cohesion3D Remix (NXP LPC1769 MCU)
+//#define CPU_MAP_C3D_MINI        // Cohesion3D Mini (NXP LPC1769 MCU)
+//#define CPU_MAP_MKS_SBASE       // MKS SBASE Board (NXP LPC1768 MCU)
+//#define CPU_MAP_AZTEEG_X5       // Azteeg X5 Board (NXP LPC1769 MCU)
+
+// Define machine type for machine specific defaults
+//#define DEFAULTS_GENERIC
+#define DEFAULTS_K40
+//#define DEFAULTS_FABKIT

 // Serial baud rate
 // #define BAUD_RATE 230400
@ -108,10 +113,11 @@
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable

 // NOTE: The following are two examples to setup homing for 2-axis machines.
-#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
+//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 

 // #define HOMING_CYCLE_0 (1<<X_AXIS)  // COREXY COMPATIBLE: First home X
 // #define HOMING_CYCLE_1 (1<<Y_AXIS)  // COREXY COMPATIBLE: Then home Y
+// Homing cycle pattern is defined in Machine defaults!!!

 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
@ -129,6 +135,9 @@
 // define to force Grbl to always set the machine origin at the homed location despite switch orientation.
 // #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.

+// Uncomment this define to force Grbl to always set the machine origin at bottom left.
+//#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
+
 // Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
 // and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
 // be stored and executed in order. These startup blocks would typically be used to set the g-code
@ -167,7 +176,7 @@
 // Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
 // analog pin 4. Only use this option if you require a second coolant control pin.
 // NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
-// #define ENABLE_M7 // Disabled by default. Uncomment to enable.
+//#define ENABLE_M7 // Disabled by default. Uncomment to enable.

 // This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
 // immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
@ -187,7 +196,7 @@
 // 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 requires the CoreXY A and B motors
 // have the same steps per mm internally.
-// #define COREXY // Default disabled. Uncomment to enable.
+//#define COREXY // Default disabled. Uncomment to enable.

 // Inverts pin logic of the control command pins based on a mask. This essentially means you can use
 // normally-closed switches on the specified pins, rather than the default normally-open switches.
@ -359,11 +368,6 @@
 //      pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max
 //            scales to SPINDLE_PWM_MAX_VALUE.

-//#define SPINDLE_PWM_PERIOD        (SystemCoreClock / 40000)         // SystemCoreClock / frequency
-#define SPINDLE_PWM_OFF_VALUE     0.0    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MIN_VALUE     (SPINDLE_PWM_PERIOD * 0.0)    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MAX_VALUE     (SPINDLE_PWM_PERIOD * 1.0)  // SPINDLE_PWM_PERIOD * fraction
-
 // Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
 // The PWM pin will still read 0V when the spindle is disabled. Most users will not need this option, but
 // it may be useful in certain scenarios. This minimum PWM settings coincides with the spindle rpm minimum
@ -565,7 +569,7 @@

 // LPC176x flash blocks have a rating of 10,000 write cycles. To prevent excess wear, we don't
 // write G10, G28.1, and G30.1. Uncomment to enable these writes.
-// #define STORE_COORD_DATA // Default disabled. Uncomment to enable.
+#define STORE_COORD_DATA // Default disabled. Uncomment to enable.

 // In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
 // may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
@ -629,154 +633,5 @@
   below.
 */

-// Paste CPU_MAP definitions here.
-// 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        LPC_GPIO2->FIODIR
-#define STEP_PORT       LPC_GPIO2->FIOPIN
-#define X_STEP_BIT      0
-#define Y_STEP_BIT      1
-#define Z_STEP_BIT      2
-#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     LPC_GPIO0->FIODIR
-#define DIRECTION_PORT    LPC_GPIO0->FIOPIN
-#define X_DIRECTION_BIT   5
-#define Y_DIRECTION_BIT   11
-#define Z_DIRECTION_BIT   20
-#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    LPC_GPIO0->FIODIR
-#define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
-#define X_DISABLE_BIT           4
-#define Y_DISABLE_BIT           10
-#define Z_DISABLE_BIT           19
-#define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_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 (CONTROL).
-#define LIMIT_DDR         LPC_GPIO1->FIODIR
-#define LIMIT_PIN         LPC_GPIO1->FIOPIN
-#define LIMIT_PORT        LPC_GPIO1->FIOPIN
-#define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
-#define Y_LIMIT_BIT       27  // Y-MIN=26, Y-MAX=27
-#define Z_LIMIT_BIT	      29  // Z-MIN=28, Z-MAX=29
-#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) //|(1<<Z_LIMIT_BIT)) // All limit bits
-// hard limits not ported    #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
-// hard limits not ported    #define LIMIT_INT_vect   PCINT0_vect
-// hard limits not ported    #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
-
-// Define spindle enable and spindle direction output pins.
-/* not ported
-#define SPINDLE_ENABLE_DDR    DDRB
-#define SPINDLE_ENABLE_PORT   PORTB
-// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
-#ifdef VARIABLE_SPINDLE
-  #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
-    // If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
-    #define SPINDLE_ENABLE_BIT    5  // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
-  #else
-    #define SPINDLE_ENABLE_BIT    3  // Uno Digital Pin 11
-  #endif
-#else
-  #define SPINDLE_ENABLE_BIT    4  // Uno Digital Pin 12
-#endif
-#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
-  #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.)
-#endif
-*/
-
-// Define flood and mist coolant enable output pins.
-#define COOLANT_FLOOD_DDR   NotUsed
-#define COOLANT_FLOOD_PORT  NotUsed
-#define COOLANT_FLOOD_BIT   3  // Uno Analog Pin 3
-#define COOLANT_MIST_DDR   NotUsed
-#define COOLANT_MIST_PORT  NotUsed
-#define COOLANT_MIST_BIT   4  // Uno Analog Pin 3
-
-// Define user-control controls (cycle start, reset, feed hold) input pins.
-// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
-#define CONTROL_DDR       NotUsed
-#define CONTROL_PIN       NotUsed
-#define CONTROL_PORT      NotUsed
-#define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
-#define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
-#define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
-#define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
-#define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
-#define CONTROL_INT_vect  PCINT1_vect
-#define CONTROL_PCMSK     NotUsed // Pin change interrupt register
-#define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
-#define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
-
-// Define probe switch input pin.
-#define PROBE_DDR       NotUsed
-#define PROBE_PIN       NotUsed
-#define PROBE_PORT      NotUsed
-#define PROBE_BIT       5  // Uno Analog Pin 5
-#define PROBE_MASK      (1<<PROBE_BIT)
-
-// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
-//
-// PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
-// Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
-// Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
-#define SPINDLE_PWM_CHANNEL           PWM1_CH6
-#define SPINDLE_PWM_USE_PRIMARY_PIN   false
-#define SPINDLE_PWM_USE_SECONDARY_PIN true
-
-// Stepper current control
-//#define CURRENT_I2C Driver_I2C1         // I2C driver for current control. Comment out to disable.
-#define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
-#define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
-#define CURRENT_FACTOR 113.33           // Convert amps to digipot value
-
-// Paste default settings definitions here.
-#define DEFAULT_X_STEPS_PER_MM 160.0
-#define DEFAULT_Y_STEPS_PER_MM 160.0
-#define DEFAULT_Z_STEPS_PER_MM 160.0
-#define DEFAULT_X_MAX_RATE 24000 // mm/min
-#define DEFAULT_Y_MAX_RATE 24000 // mm/min
-#define DEFAULT_Z_MAX_RATE 24000 // mm/min
-#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_X_CURRENT 0.0 // amps
-#define DEFAULT_Y_CURRENT 0.0 // amps
-#define DEFAULT_Z_CURRENT 0.0 // amps
-#define DEFAULT_A_CURRENT 0.0  // amps
-#define DEFAULT_X_MAX_TRAVEL 300.0 // mm
-#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
-#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
-#define DEFAULT_STEP_PULSE_MICROSECONDS 10
-#define DEFAULT_STEPPING_INVERT_MASK 0
-#define DEFAULT_DIRECTION_INVERT_MASK 0
-#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-#define DEFAULT_ARC_TOLERANCE 0.002 // mm
-#define DEFAULT_REPORT_INCHES 0 // false
-#define DEFAULT_INVERT_ST_ENABLE 0 // false
-#define DEFAULT_INVERT_LIMIT_PINS 1 // false
-#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-#define DEFAULT_INVERT_PROBE_PIN 0 // false
-#define DEFAULT_LASER_MODE 1 // true
-#define DEFAULT_HOMING_ENABLE 0  // false
-#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
-#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-#define DEFAULT_HOMING_PULLOFF 1.0 // mm

 #endif
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@ -144,11 +144,521 @@

  // NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
  #define SPINDLE_PWM_DDR	  DDRB
-  #define SPINDLE_PWM_PORT  PORTB
+  #define SPINDLE_PWM_PORT    PORTB
  #define SPINDLE_PWM_BIT	  3    // Uno Digital Pin 11

 #endif

+
+#ifdef CPU_MAP_SMOOTHIEBOARD // (Smoothieboards)
+
+  // 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        LPC_GPIO2->FIODIR
+  #define STEP_PORT       LPC_GPIO2->FIOPIN
+  #define X_STEP_BIT      0
+  #define Y_STEP_BIT      1
+  #define Z_STEP_BIT      2
+  #define A_STEP_BIT      3
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     LPC_GPIO0->FIODIR
+  #define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+  #define X_DIRECTION_BIT   5
+  #define Y_DIRECTION_BIT   11
+  #define Z_DIRECTION_BIT   20
+  #define A_DIRECTION_BIT   22
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+  #define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+  #define X_DISABLE_BIT           4
+  #define Y_DISABLE_BIT           10
+  #define Z_DISABLE_BIT           19
+  #define A_DISABLE_BIT           21
+  #define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 (CONTROL).
+  #define LIMIT_DDR         LPC_GPIO1->FIODIR
+  #define LIMIT_PIN         LPC_GPIO1->FIOPIN
+  #define LIMIT_PORT        LPC_GPIO1->FIOPIN
+  #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
+  #define Y_LIMIT_BIT       26  // Y-MIN=26, Y-MAX=27
+  #define Z_LIMIT_BIT	    28  // Z-MIN=28, Z-MAX=29
+  #define A_LIMIT_BIT       29  // reuse p1.29
+  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   LPC_GPIO2->FIODIR
+  #define COOLANT_FLOOD_PORT  LPC_GPIO2->FIOPIN
+  #define COOLANT_FLOOD_BIT   4  // SMALL MOSFET Q8 (P2.4)
+  #define COOLANT_MIST_DDR    LPC_GPIO2->FIODIR
+  #define COOLANT_MIST_PORT   LPC_GPIO2->FIOPIN
+  #define COOLANT_MIST_BIT   6  // SMALL MOSFET Q9 (P2.6)
+  #define ENABLE_M7           // enables COOLANT MIST
+
+  // Define user-control controls (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       NotUsed
+  #define CONTROL_PIN       NotUsed
+  #define CONTROL_PORT      NotUsed
+  #define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
+  #define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
+  #define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
+  #define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
+  #define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT1_vect
+  #define CONTROL_PCMSK     NotUsed // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+  #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       NotUsed
+  #define PROBE_PIN       NotUsed
+  #define PROBE_PORT      NotUsed
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
+  //
+  // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
+  // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
+  // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
+  #define SPINDLE_PWM_CHANNEL           PWM1_CH6    // BIG MOSFET Q6 (P2.5)
+  #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+  #define SPINDLE_PWM_USE_SECONDARY_PIN true
+
+  // Stepper current control
+  #define CURRENT_I2C Driver_I2C1       // I2C driver for current control. Comment out to disable (for C3d boards!)
+  #define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
+  #define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
+  #define CURRENT_FACTOR 113.33           // Convert amps to digipot value
+
+  // Variable spindle configuration below. Do not change unless you know what you are doing.
+  // NOTE: Only used when variable spindle is enabled.
+  #define SPINDLE_PWM_MAX_VALUE     255 // Don't change. 328p fast PWM mode fixes top value as 255.
+  #ifndef SPINDLE_PWM_MIN_VALUE
+    #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  //#define SPINDLE_PWM_OFF_VALUE     0 // Defined in config.h
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+  #define SPINDLE_TCCRA_REGISTER	TCCR2A
+  #define SPINDLE_TCCRB_REGISTER	TCCR2B
+  #define SPINDLE_OCR_REGISTER      OCR2A
+  #define SPINDLE_COMB_BIT	        COM2A1
+#endif
+
+
+#ifdef CPU_MAP_C3D_REMIX // (Cohesion3D Remix Boards)
+
+  // 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        LPC_GPIO2->FIODIR
+  #define STEP_PORT       LPC_GPIO2->FIOPIN
+  #define X_STEP_BIT      0
+  #define Y_STEP_BIT      1
+  #define Z_STEP_BIT      2
+  #define A_STEP_BIT      3
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     LPC_GPIO0->FIODIR
+  #define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+  #define X_DIRECTION_BIT   5
+  #define Y_DIRECTION_BIT   11
+  #define Z_DIRECTION_BIT   20
+  #define A_DIRECTION_BIT   22
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+  #define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+  #define X_DISABLE_BIT           4
+  #define Y_DISABLE_BIT           10
+  #define Z_DISABLE_BIT           19
+  #define A_DISABLE_BIT           21
+  #define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 (CONTROL).
+  #define LIMIT_DDR         LPC_GPIO1->FIODIR
+  #define LIMIT_PIN         LPC_GPIO1->FIOPIN
+  #define LIMIT_PORT        LPC_GPIO1->FIOPIN
+  #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
+  #define Y_LIMIT_BIT       26  // Y-MIN=26, Y-MAX=27
+  #define Z_LIMIT_BIT	    28  // Z-MIN=28, Z-MAX=29
+  #define A_LIMIT_BIT       29  // reuse p1.29 from Z-MAX
+  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   LPC_GPIO2->FIODIR
+  #define COOLANT_FLOOD_PORT  LPC_GPIO2->FIOPIN
+  #define COOLANT_FLOOD_BIT   6  // MOSFET 2.6
+  #define COOLANT_MIST_DDR    LPC_GPIO2->FIODIR
+  #define COOLANT_MIST_PORT   LPC_GPIO2->FIOPIN
+  #define COOLANT_MIST_BIT    7  // MOSFET 2.7
+  #define ENABLE_M7           // enables COOLANT MIST
+
+  // Define user-control controls (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       NotUsed
+  #define CONTROL_PIN       NotUsed
+  #define CONTROL_PORT      NotUsed
+  #define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
+  #define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
+  #define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
+  #define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
+  #define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT1_vect
+  #define CONTROL_PCMSK     NotUsed // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+  #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       NotUsed
+  #define PROBE_PIN       NotUsed
+  #define PROBE_PORT      NotUsed
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
+  //
+  // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
+  // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
+  // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
+  #define SPINDLE_PWM_CHANNEL           PWM1_CH6    // BED MOSFET (P2.5)
+  #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+  #define SPINDLE_PWM_USE_SECONDARY_PIN true
+
+  // Variable spindle configuration below. Do not change unless you know what you are doing.
+  // NOTE: Only used when variable spindle is enabled.
+  #define SPINDLE_PWM_MAX_VALUE     255 // Don't change. 328p fast PWM mode fixes top value as 255.
+  #ifndef SPINDLE_PWM_MIN_VALUE
+    #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  //#define SPINDLE_PWM_OFF_VALUE     0 // Defined in config.h
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+  #define SPINDLE_TCCRA_REGISTER	TCCR2A
+  #define SPINDLE_TCCRB_REGISTER	TCCR2B
+  #define SPINDLE_OCR_REGISTER      OCR2A
+  #define SPINDLE_COMB_BIT	        COM2A1
+#endif
+
+
+#ifdef CPU_MAP_C3D_MINI // (Cohesion3D Mini Boards)
+
+  // 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        LPC_GPIO2->FIODIR
+  #define STEP_PORT       LPC_GPIO2->FIOPIN
+  #define X_STEP_BIT      0
+  #define Y_STEP_BIT      1
+  #define Z_STEP_BIT      2
+  #define A_STEP_BIT      3
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     LPC_GPIO0->FIODIR
+  #define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+  #define X_DIRECTION_BIT   5
+  #define Y_DIRECTION_BIT   11
+  #define Z_DIRECTION_BIT   20
+  #define A_DIRECTION_BIT   22
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+  #define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+  #define X_DISABLE_BIT           4
+  #define Y_DISABLE_BIT           10
+  #define Z_DISABLE_BIT           19
+  #define A_DISABLE_BIT           21
+  #define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 (CONTROL).
+  #define LIMIT_DDR         LPC_GPIO1->FIODIR
+  #define LIMIT_PIN         LPC_GPIO1->FIOPIN
+  #define LIMIT_PORT        LPC_GPIO1->FIOPIN
+  #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
+  #define Y_LIMIT_BIT       26  // Y-MIN=26, Y-MAX=27
+  #define Z_LIMIT_BIT	    28  // Z-MIN=28, Z-MAX=29
+  #define A_LIMIT_BIT       29  // reuse p1.29 from Z-MAX
+  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   NotUsed
+  #define COOLANT_FLOOD_PORT  NotUsed
+  #define COOLANT_FLOOD_BIT   6  // not available
+  #define COOLANT_MIST_DDR    LPC_GPIO2->FIODIR
+  #define COOLANT_MIST_PORT   LPC_GPIO2->FIOPIN
+  #define COOLANT_MIST_BIT    7  // MOSFET 2 (P2.7)
+  #define ENABLE_M7           // enables COOLANT MIST
+
+  // Define user-control controls (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       NotUsed
+  #define CONTROL_PIN       NotUsed
+  #define CONTROL_PORT      NotUsed
+  #define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
+  #define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
+  #define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
+  #define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
+  #define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT1_vect
+  #define CONTROL_PCMSK     NotUsed // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+  #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       NotUsed
+  #define PROBE_PIN       NotUsed
+  #define PROBE_PORT      NotUsed
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
+  //
+  // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
+  // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
+  // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
+  #define SPINDLE_PWM_CHANNEL           PWM1_CH6    // BED MOSFET (P2.5)
+  #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+  #define SPINDLE_PWM_USE_SECONDARY_PIN true
+
+  // Variable spindle configuration below. Do not change unless you know what you are doing.
+  // NOTE: Only used when variable spindle is enabled.
+  #define SPINDLE_PWM_MAX_VALUE     255 // Don't change. 328p fast PWM mode fixes top value as 255.
+  #ifndef SPINDLE_PWM_MIN_VALUE
+    #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  //#define SPINDLE_PWM_OFF_VALUE     0 // Defined in config.h
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+  #define SPINDLE_TCCRA_REGISTER	TCCR2A
+  #define SPINDLE_TCCRB_REGISTER	TCCR2B
+  #define SPINDLE_OCR_REGISTER      OCR2A
+  #define SPINDLE_COMB_BIT	        COM2A1
+#endif
+
+
+#ifdef CPU_MAP_MKS_SBASE // (MKS SBASE Boards)
+
+  // 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        LPC_GPIO2->FIODIR
+  #define STEP_PORT       LPC_GPIO2->FIOPIN
+  #define X_STEP_BIT      0
+  #define Y_STEP_BIT      1
+  #define Z_STEP_BIT      2
+  #define A_STEP_BIT      3
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     LPC_GPIO0->FIODIR
+  #define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+  #define X_DIRECTION_BIT   5
+  #define Y_DIRECTION_BIT   11
+  #define Z_DIRECTION_BIT   20
+  #define A_DIRECTION_BIT   22
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+  #define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+  #define X_DISABLE_BIT           4
+  #define Y_DISABLE_BIT           10
+  #define Z_DISABLE_BIT           19
+  #define A_DISABLE_BIT           21
+  #define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 (CONTROL).
+  #define LIMIT_DDR         LPC_GPIO1->FIODIR
+  #define LIMIT_PIN         LPC_GPIO1->FIOPIN
+  #define LIMIT_PORT        LPC_GPIO1->FIOPIN
+  #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
+  #define Y_LIMIT_BIT       26  // Y-MIN=26, Y-MAX=27
+  #define Z_LIMIT_BIT	    28  // Z-MIN=28, Z-MAX=29
+  #define A_LIMIT_BIT       29  // reuse p1.29
+  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   LPC_GPIO2->FIODIR
+  #define COOLANT_FLOOD_PORT  LPC_GPIO2->FIOPIN
+  #define COOLANT_FLOOD_BIT   6  // MOSFET 2.6
+  #define COOLANT_MIST_DDR    LPC_GPIO2->FIODIR
+  #define COOLANT_MIST_PORT   LPC_GPIO2->FIOPIN
+  #define COOLANT_MIST_BIT    7  // MOSFET 2.7
+  #define ENABLE_M7           // enables COOLANT MIST
+
+  // Define user-control controls (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       NotUsed
+  #define CONTROL_PIN       NotUsed
+  #define CONTROL_PORT      NotUsed
+  #define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
+  #define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
+  #define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
+  #define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
+  #define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT1_vect
+  #define CONTROL_PCMSK     NotUsed // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+  #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       NotUsed
+  #define PROBE_PIN       NotUsed
+  #define PROBE_PORT      NotUsed
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
+  //
+  // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
+  // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
+  // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
+  #define SPINDLE_PWM_CHANNEL           PWM1_CH6
+  #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+  #define SPINDLE_PWM_USE_SECONDARY_PIN true
+
+  // Stepper current control
+  #define CURRENT_I2C Driver_I2C1       // I2C driver for current control. Comment out to disable (for C3d boards!)
+  #define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
+  #define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
+  #define CURRENT_FACTOR 113.33           // Convert amps to digipot value
+
+  // Variable spindle configuration below. Do not change unless you know what you are doing.
+  // NOTE: Only used when variable spindle is enabled.
+  #define SPINDLE_PWM_MAX_VALUE     255 // Don't change. 328p fast PWM mode fixes top value as 255.
+  #ifndef SPINDLE_PWM_MIN_VALUE
+    #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  //#define SPINDLE_PWM_OFF_VALUE     0 // Defined in config.h
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+  #define SPINDLE_TCCRA_REGISTER	TCCR2A
+  #define SPINDLE_TCCRB_REGISTER	TCCR2B
+  #define SPINDLE_OCR_REGISTER      OCR2A
+  #define SPINDLE_COMB_BIT	        COM2A1
+#endif
+
+
+#ifdef CPU_MAP_AZTEEG_X5 // (Azteeg X5 Boards)  not tested yet!
+
+  // 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        LPC_GPIO2->FIODIR
+  #define STEP_PORT       LPC_GPIO2->FIOPIN
+  #define X_STEP_BIT      1
+  #define Y_STEP_BIT      2
+  #define Z_STEP_BIT      3
+  #define A_STEP_BIT      0
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     LPC_GPIO0->FIODIR
+  #define DIRECTION_PORT    LPC_GPIO0->FIOPIN
+  #define X_DIRECTION_BIT   11
+  #define Y_DIRECTION_BIT   20
+  #define Z_DIRECTION_BIT   22
+  #define A_DIRECTION_BIT   5
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
+  #define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
+  #define X_DISABLE_BIT           10
+  #define Y_DISABLE_BIT           19
+  #define Z_DISABLE_BIT           21
+  #define A_DISABLE_BIT           4
+  #define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 (CONTROL).
+  #define LIMIT_DDR         LPC_GPIO1->FIODIR
+  #define LIMIT_PIN         LPC_GPIO1->FIOPIN
+  #define LIMIT_PORT        LPC_GPIO1->FIOPIN
+  #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=27
+  #define Y_LIMIT_BIT       25  // Y-MIN=25, Y-MAX=28
+  #define Z_LIMIT_BIT	    26  // Z-MIN=26, Z-MAX=29
+  #define A_LIMIT_BIT       27  // reuse p1.27, as X-MAX is not used
+  #define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   LPC_GPIO2->FIODIR
+  #define COOLANT_FLOOD_PORT  LPC_GPIO2->FIOPIN
+  #define COOLANT_FLOOD_BIT   4  // FAN MOSFET (P2.4)
+  #define COOLANT_MIST_DDR    LPC_GPIO2->FIODIR
+  #define COOLANT_MIST_PORT   LPC_GPIO2->FIOPIN
+  #define COOLANT_MIST_BIT    7  // BED MOSFET (P2.7)
+  #define ENABLE_M7           // enables COOLANT MIST
+  
+  // Define user-control controls (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       NotUsed
+  #define CONTROL_PIN       NotUsed
+  #define CONTROL_PORT      NotUsed
+  #define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
+  #define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
+  #define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
+  #define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
+  #define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT1_vect
+  #define CONTROL_PCMSK     NotUsed // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+  #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       NotUsed
+  #define PROBE_PIN       NotUsed
+  #define PROBE_PORT      NotUsed
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
+  //
+  // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
+  // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26   
+  // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5     
+  #define SPINDLE_PWM_CHANNEL           PWM1_CH6    // use Hotend MOSFET (P2.5)
+  #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+  #define SPINDLE_PWM_USE_SECONDARY_PIN true
+
+  // Stepper current control via SPI not ported yet!
+
+  // Variable spindle configuration below. Do not change unless you know what you are doing.
+  // NOTE: Only used when variable spindle is enabled.
+  #define SPINDLE_PWM_MAX_VALUE     255 // Don't change. 328p fast PWM mode fixes top value as 255.
+  #ifndef SPINDLE_PWM_MIN_VALUE
+    #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  //#define SPINDLE_PWM_OFF_VALUE     0 // Defined in config.h
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+  #define SPINDLE_TCCRA_REGISTER	TCCR2A
+  #define SPINDLE_TCCRB_REGISTER	TCCR2B
+  #define SPINDLE_OCR_REGISTER      OCR2A
+  #define SPINDLE_COMB_BIT	        COM2A1
+#endif
+
+
 /*
 #ifdef CPU_MAP_CUSTOM_PROC
  // For a custom pin map or different processor, copy and edit one of the available cpu
--- a/grbl/defaults.h
+++ b/grbl/defaults.h
@ -32,81 +32,153 @@
  #define DEFAULT_X_STEPS_PER_MM 250.0
  #define DEFAULT_Y_STEPS_PER_MM 250.0
  #define DEFAULT_Z_STEPS_PER_MM 250.0
+  #define DEFAULT_A_STEPS_PER_MM 160.0
  #define DEFAULT_X_MAX_RATE 500.0 // mm/min
  #define DEFAULT_Y_MAX_RATE 500.0 // mm/min
  #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_A_MAX_RATE 500.0 // mm/min
  #define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
  #define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
  #define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_X_CURRENT 0.6 // amps
+  #define DEFAULT_Y_CURRENT 0.6 // amps
+  #define DEFAULT_Z_CURRENT 0.0 // amps
+  #define DEFAULT_A_CURRENT 0.0 // amps
  #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+  #define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
  #define DEFAULT_STEPPING_INVERT_MASK 0
  #define DEFAULT_DIRECTION_INVERT_MASK 0
  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 0 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 0 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 0       // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 0       // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 0              // false
+  #define DEFAULT_HOMING_ENABLE 0           // false
+  #define DEFAULT_HOMING_DIR_MASK 0         // move positive dir
+  #define DEFAULT_HOMING_FEED_RATE 25.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 500.0    // mm/min
  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_HOMING_PULLOFF 1.0        // mm
+  #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
 #endif

 #ifdef DEFAULTS_K40
  // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
-  #define DEFAULT_X_STEPS_PER_MM 160.0
+  #define DEFAULT_X_STEPS_PER_MM 160.0      // 200 stepps/rev. * 32 microstepps / 40mm/rev
  #define DEFAULT_Y_STEPS_PER_MM 160.0
  #define DEFAULT_Z_STEPS_PER_MM 160.0
-  #define DEFAULT_X_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_X_CURRENT 0.0 // amps
-  #define DEFAULT_Y_CURRENT 0.0 // amps
-  #define DEFAULT_Z_CURRENT 0.0 // amps
-  #define DEFAULT_A_CURRENT 0.0  // amps
-  #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+  #define DEFAULT_A_STEPS_PER_MM 160.0
+  #define DEFAULT_X_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_Y_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_Z_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_A_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_X_CURRENT 0.6             // amps
+  #define DEFAULT_Y_CURRENT 0.6             // amps
+  #define DEFAULT_Z_CURRENT 0.0             // amps
+  #define DEFAULT_A_CURRENT 0.0             // amps
+  #define DEFAULT_X_MAX_TRAVEL 300.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_Y_MAX_TRAVEL 200.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_Z_MAX_TRAVEL 50.0         // mm NOTE: Must be a positive value.
+  #define DEFAULT_A_MAX_TRAVEL 100.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz (2000 - 20000)
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
  #define DEFAULT_STEPPING_INVERT_MASK 0
-  #define DEFAULT_DIRECTION_INVERT_MASK 0
-  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 1 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 1 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
+  #define DEFAULT_DIRECTION_INVERT_MASK 3   // 3 = invert X+Y
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 1       // true for microswitches / false for optical sensors
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1       // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 1              // true
+  #define DEFAULT_HOMING_ENABLE 1           // true
+  #define DEFAULT_HOMING_DIR_MASK 1         // move top/left
+  #define DEFAULT_HOMING_FEED_RATE 50.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 6000.0   // mm/min
  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_HOMING_PULLOFF 2.0        // mm
+  #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
+#endif
+
+#ifdef DEFAULTS_FABKIT
+  // Paste default settings definitions here.
+  #define DEFAULT_X_STEPS_PER_MM 80.0
+  #define DEFAULT_Y_STEPS_PER_MM 80.0
+  #define DEFAULT_Z_STEPS_PER_MM 640.0
+  #define DEFAULT_A_STEPS_PER_MM 160.0
+  #define DEFAULT_X_MAX_RATE 30000          // mm/min
+  #define DEFAULT_Y_MAX_RATE 4500           // mm/min
+  #define DEFAULT_Z_MAX_RATE 1200           // mm/min
+  #define DEFAULT_A_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_X_ACCELERATION (4000.0*60*60) // 4000*60*60 mm/min^2 = 4000 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (250.0*60*60)  // 250*60*60 mm/min^2 = 250 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (150.0*60*60)  // 150*60*60 mm/min^2 = 150 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (150.0*60*60)  // 150*60*60 mm/min^2 = 150 mm/sec^2
+  #define DEFAULT_X_CURRENT 1.5             // amps
+  #define DEFAULT_Y_CURRENT 1.5             // amps
+  #define DEFAULT_Z_CURRENT 1.5             // amps
+  #define DEFAULT_A_CURRENT 0.0             // amps
+  #define DEFAULT_X_MAX_TRAVEL 680.0        // mm
+  #define DEFAULT_Y_MAX_TRAVEL 460.0        // mm
+  #define DEFAULT_Z_MAX_TRAVEL 150.0        // mm
+  #define DEFAULT_A_MAX_TRAVEL 150.0        // mm
+  #define DEFAULT_SPINDLE_PWM_FREQ 50000    // Hz
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 0.7       // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.08      // rpm (S-value)
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 1
+  #define DEFAULT_STEPPING_INVERT_MASK 0
+  #define DEFAULT_DIRECTION_INVERT_MASK 2   // 2 = invert Y
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_INVERT_LIMIT_PINS 1       // true
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1       // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 1              // true
+  #define DEFAULT_HOMING_ENABLE 1           // true
+  #define DEFAULT_HOMING_DIR_MASK 1         // move top/left
+  #define DEFAULT_HOMING_FEED_RATE 60.0     // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 6000.0   // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 2.0        // mm
+  #define HOMING_CYCLE_0 (1<<Z_AXIS)
+  #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))
 #endif

 #ifdef DEFAULTS_SHERLINE_5400
@ -127,6 +199,7 @@
  #define DEFAULT_X_MAX_TRAVEL 225.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 125.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 170.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 2800.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -172,6 +245,7 @@
  #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -217,6 +291,7 @@
  #define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -261,6 +336,7 @@
  #define DEFAULT_X_MAX_TRAVEL 425.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 465.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -306,6 +382,7 @@
  #define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -351,6 +428,7 @@
  #define DEFAULT_X_MAX_TRAVEL 740.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 790.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -394,6 +472,7 @@
  #define DEFAULT_X_MAX_TRAVEL 190.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 180.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 150.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -433,6 +512,7 @@
  #define DEFAULT_X_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 750.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -472,6 +552,7 @@
  #define DEFAULT_X_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Y_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
  #define DEFAULT_Z_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
--- a/grbl/gcode.c
+++ b/grbl/gcode.c
@ -80,7 +80,7 @@ uint8_t gc_execute_line(char *line)
  uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution

  // Initialize bitflag tracking variables for axis indices compatible operations.
-  uint8_t axis_words = 0; // XYZ tracking
+  uint8_t axis_words = 0; // XYZA tracking
  uint8_t ijk_words = 0; // IJK tracking

  // Initialize command and value words and parser flags variables.
@ -296,7 +296,7 @@ uint8_t gc_execute_line(char *line)
           legal g-code words and stores their value. Error-checking is performed later since some
           words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
        switch(letter){
-          // case 'A': // Not supported
+          case 'A': word_bit = WORD_A; gc_block.values.xyza[A_AXIS] = value; axis_words |= (1<<A_AXIS); break;
          // case 'B': // Not supported
          // case 'C': // Not supported
          // case 'D': // Not supported
@ -316,9 +316,9 @@ uint8_t gc_execute_line(char *line)
 					  if (value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); }
            gc_block.values.t = int_value;
 						break;
-          case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
-          case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
-          case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
+          case 'X': word_bit = WORD_X; gc_block.values.xyza[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
+          case 'Y': word_bit = WORD_Y; gc_block.values.xyza[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
+          case 'Z': word_bit = WORD_Z; gc_block.values.xyza[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
          default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
        }

@ -475,7 +475,7 @@ uint8_t gc_execute_line(char *line)
  if (gc_block.modal.units == UNITS_MODE_INCHES) {
    for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
      if (bit_istrue(axis_words,bit(idx)) ) {
-        gc_block.values.xyz[idx] *= MM_PER_INCH;
+        gc_block.values.xyza[idx] *= MM_PER_INCH;
      }
    }
  }
@ -549,11 +549,11 @@ uint8_t gc_execute_line(char *line)
          if (gc_block.values.l == 20) {
            // L20: Update coordinate system axis at current position (with modifiers) with programmed value
            // WPos = MPos - WCS - G92 - TLO  ->  WCS = MPos - G92 - TLO - WPos
-            gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx];
+            gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyza[idx];
            if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; }
          } else {
            // L2: Update coordinate system axis to programmed value.
-            gc_block.values.ijk[idx] = gc_block.values.xyz[idx];
+            gc_block.values.ijk[idx] = gc_block.values.xyza[idx];
          }
        } // Else, keep current stored value.
      }
@ -567,10 +567,10 @@ uint8_t gc_execute_line(char *line)
      for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
        if (bit_istrue(axis_words,bit(idx)) ) {
          // WPos = MPos - WCS - G92 - TLO  ->  G92 = MPos - WCS - TLO - WPos
-          gc_block.values.xyz[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyz[idx];
-          if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; }
+          gc_block.values.xyza[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyza[idx];
+          if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] -= gc_state.tool_length_offset; }
        } else {
-          gc_block.values.xyz[idx] = gc_state.coord_offset[idx];
+          gc_block.values.xyza[idx] = gc_state.coord_offset[idx];
        }
      }
      break;
@ -585,17 +585,17 @@ uint8_t gc_execute_line(char *line)
        if (axis_words) {
          for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
            if ( bit_isfalse(axis_words,bit(idx)) ) {
-              gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
+              gc_block.values.xyza[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
            } else {
              // Update specified value according to distance mode or ignore if absolute override is active.
              // NOTE: G53 is never active with G28/30 since they are in the same modal group.
              if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
                // Apply coordinate offsets based on distance mode.
                if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
-                  gc_block.values.xyz[idx] += block_coord_system[idx] + gc_state.coord_offset[idx];
-                  if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }
+                  gc_block.values.xyza[idx] += block_coord_system[idx] + gc_state.coord_offset[idx];
+                  if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] += gc_state.tool_length_offset; }
                } else {  // Incremental mode
-                  gc_block.values.xyz[idx] += gc_state.position[idx];
+                  gc_block.values.xyza[idx] += gc_state.position[idx];
                }
              }
            }
@ -684,12 +684,12 @@ uint8_t gc_execute_line(char *line)

          // Calculate the change in position along each selected axis
          float x,y;
-          x = gc_block.values.xyz[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
-          y = gc_block.values.xyz[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target
+          x = gc_block.values.xyza[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
+          y = gc_block.values.xyza[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target

          if (value_words & bit(WORD_R)) { // Arc Radius Mode
            bit_false(value_words,bit(WORD_R));
-            if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
+            if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]

            // Convert radius value to proper units.
            if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; }
@ -816,7 +816,7 @@ uint8_t gc_execute_line(char *line)
          //   an error, it issues an alarm to prevent further motion to the probe. It's also done there to
          //   allow the planner buffer to empty and move off the probe trigger before another probing cycle.
          if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
-          if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
+          if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
          break;
      }
    }
@ -832,7 +832,7 @@ uint8_t gc_execute_line(char *line)
  } else {
    bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
  }
-  if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z))); } // Remove axis words.
+  if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z)|bit(WORD_A))); } // Remove axis words.
  if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]

  /* -------------------------------------------------------------------------------------
@ -861,7 +861,7 @@ uint8_t gc_execute_line(char *line)
    plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant);

    uint8_t status = jog_execute(&plan_data, &gc_block);
-    if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); }
+    if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); }
    return(status);
  }
  
@ -985,10 +985,10 @@ uint8_t gc_execute_line(char *line)
  if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change.
    gc_state.modal.tool_length = gc_block.modal.tool_length;
    if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_CANCEL) { // G49
-      gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
+      gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
    } // else G43.1
-    if ( gc_state.tool_length_offset != gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] ) {
-      gc_state.tool_length_offset = gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS];
+    if ( gc_state.tool_length_offset != gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] ) {
+      gc_state.tool_length_offset = gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS];
      system_flag_wco_change();
    }
  }
@ -1022,7 +1022,7 @@ uint8_t gc_execute_line(char *line)
      // Move to intermediate position before going home. Obeys current coordinate system and offsets
      // and absolute and incremental modes.
      pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
-      if (axis_command) { mc_line(gc_block.values.xyz, pl_data); }
+      if (axis_command) { mc_line(gc_block.values.xyza, pl_data); }
      mc_line(gc_block.values.ijk, pl_data);
      memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
      break;
@ -1033,7 +1033,7 @@ uint8_t gc_execute_line(char *line)
      settings_write_coord_data(SETTING_INDEX_G30,gc_state.position,false,true);
      break;
    case NON_MODAL_SET_COORDINATE_OFFSET:
-      memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz));
+      memcpy(gc_state.coord_offset,gc_block.values.xyza,sizeof(gc_block.values.xyza));
      system_flag_wco_change();
      break;
    case NON_MODAL_RESET_COORDINATE_OFFSET:
@ -1051,27 +1051,27 @@ uint8_t gc_execute_line(char *line)
    if (axis_command == AXIS_COMMAND_MOTION_MODE) {
      uint8_t gc_update_pos = GC_UPDATE_POS_TARGET;
      if (gc_state.modal.motion == MOTION_MODE_LINEAR) {
-        mc_line(gc_block.values.xyz, pl_data);
+        mc_line(gc_block.values.xyza, pl_data);
      } else if (gc_state.modal.motion == MOTION_MODE_SEEK) {
        pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
-        mc_line(gc_block.values.xyz, pl_data);
+        mc_line(gc_block.values.xyza, pl_data);
      } else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) {
-        mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
+        mc_arc(gc_block.values.xyza, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
            axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE));
      } else {
-        // NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
+        // NOTE: gc_block.values.xyza is returned from mc_probe_cycle with the updated position value. So
        // upon a successful probing cycle, the machine position and the returned value should be the same.
        #ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
          pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
        #endif
-        gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
+        gc_update_pos = mc_probe_cycle(gc_block.values.xyza, pl_data, gc_parser_flags);
      }  
     
      // As far as the parser is concerned, the position is now == target. In reality the
      // motion control system might still be processing the action and the real tool position
      // in any intermediate location.
      if (gc_update_pos == GC_UPDATE_POS_TARGET) {
-        memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[]
+        memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); // gc_state.position[] = gc_block.values.xyza[]
      } else if (gc_update_pos == GC_UPDATE_POS_SYSTEM) {
        gc_sync_position(); // gc_state.position[] = sys_position
      } // == GC_UPDATE_POS_NONE
--- a/grbl/gcode.h
+++ b/grbl/gcode.h
@ -149,6 +149,7 @@
 #define WORD_X  10
 #define WORD_Y  11
 #define WORD_Z  12
+#define WORD_A  13

 // Define g-code parser position updating flags
 #define GC_UPDATE_POS_TARGET   0 // Must be zero
@ -206,7 +207,7 @@ typedef struct {
  float r;         // Arc radius
  float s;         // Spindle speed
  uint8_t t;       // Tool selection
-  float xyz[3];    // X,Y,Z Translational axes
+  float xyza[N_AXIS];   // X,Y,Z,A Translational axes
 } gc_values_t;


--- a/grbl/grbl.h
+++ b/grbl/grbl.h
@ -23,7 +23,7 @@

 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20170131"
+#define GRBL_VERSION_BUILD "20170511"

 // Define standard libraries used by Grbl.
 #include <avr/io.h>
--- a/grbl/jog.c
+++ b/grbl/jog.c
@ -33,11 +33,11 @@ uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
  #endif

  if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
-    if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
+    if (system_check_travel_limits(gc_block->values.xyza)) { return(STATUS_TRAVEL_EXCEEDED); }
  }

  // Valid jog command. Plan, set state, and execute.
-  mc_line(gc_block->values.xyz,pl_data);
+  mc_line(gc_block->values.xyza,pl_data);
  if (sys.state == STATE_IDLE) {
    if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
      sys.state = STATE_JOG;
--- a/grbl/limits.c
+++ b/grbl/limits.c
@ -307,9 +307,17 @@ void limits_go_home(uint8_t cycle_mask)
        set_axis_position = 0;
      #else
        if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
-          set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround((settings.max_travel[idx]-settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #endif
        } else {
-          set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = lround(-settings.max_travel[idx]*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #endif
        }
      #endif

--- a/grbl/motion_control.c
+++ b/grbl/motion_control.c
@ -227,6 +227,9 @@ void mc_homing_cycle(uint8_t cycle_mask)
    #ifdef HOMING_CYCLE_2
      limits_go_home(HOMING_CYCLE_2);  // Homing cycle 2
    #endif
+    #ifdef HOMING_CYCLE_3
+      limits_go_home(HOMING_CYCLE_3);  // Homing cycle 3
+    #endif
  }

  protocol_execute_realtime(); // Check for reset and set system abort.
--- a/grbl/motion_control.h
+++ b/grbl/motion_control.h
@ -31,6 +31,9 @@
 #define HOMING_CYCLE_X    bit(X_AXIS)
 #define HOMING_CYCLE_Y    bit(Y_AXIS)
 #define HOMING_CYCLE_Z    bit(Z_AXIS)
+#define HOMING_CYCLE_A    bit(A_AXIS)
+//#define HOMING_CYCLE_B    bit(B_AXIS)
+//#define HOMING_CYCLE_C    bit(C_AXIS)


 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
--- a/grbl/nuts_bolts.h
+++ b/grbl/nuts_bolts.h
@ -30,11 +30,13 @@
 #define SOME_LARGE_VALUE 1.0E+38

 // Axis array index values. Must start with 0 and be continuous.
-#define N_AXIS 3 // Number of axes
+#define N_AXIS 4 // Number of axes
 #define X_AXIS 0 // Axis indexing value.
 #define Y_AXIS 1
 #define Z_AXIS 2
-// #define A_AXIS 3
+#define A_AXIS 3
+//#define B_AXIS 4
+//#define C_AXIS 5

 // CoreXY motor assignments. DO NOT ALTER.
 // NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
--- a/grbl/planner.c
+++ b/grbl/planner.c
@ -336,6 +336,7 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
      position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
      position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
      position_steps[Z_AXIS] = sys_position[Z_AXIS];
+      position_steps[A_AXIS] = sys_position[A_AXIS];
    #else
      memcpy(position_steps, sys_position, sizeof(sys_position)); 
    #endif
--- a/grbl/report.c
+++ b/grbl/report.c
@ -71,7 +71,6 @@ static void report_util_setting_string(uint8_t n) {
    case 30: printPgmString(PSTR("rpm max")); break;
    case 31: printPgmString(PSTR("rpm min")); break;
    case 32: printPgmString(PSTR("laser")); break;
-    case 33: printPgmString(PSTR("spindle_pwm_freq")); break;
    default:
      n -= AXIS_SETTINGS_START_VAL;
      uint8_t idx = 0;
@ -97,11 +96,6 @@ static void report_util_uint8_setting(uint8_t n, int val) {
  print_uint8_base10(val); 
  report_util_line_feed(); // report_util_setting_string(n); 
 }
-static void report_util_uint32_setting(uint8_t n, int val) { 
-  report_util_setting_prefix(n); 
-  print_uint32_base10(val); 
-  report_util_line_feed(); // report_util_setting_string(n); 
-}
 static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) { 
  report_util_setting_prefix(n); 
  printFloat(val,n_decimal);
@ -214,7 +208,10 @@ void report_grbl_settings() {
  #else
    report_util_uint8_setting(32,0);
  #endif
-  report_util_uint32_setting(33,settings.spindle_pwm_freq);
+  report_util_float_setting(33,settings.spindle_pwm_freq,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(34,settings.spindle_pwm_off_value,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(35,settings.spindle_pwm_min_value,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(36,settings.spindle_pwm_max_value,N_DECIMAL_SETTINGVALUE);
  // Print axis settings
  uint8_t idx, set_idx;
  uint8_t val = AXIS_SETTINGS_START_VAL;
@ -578,6 +575,9 @@ void report_realtime_status()
        if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
        if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
        if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
+        if (bit_istrue(lim_pin_state,bit(A_AXIS))) { serial_write('A'); }
+        //if (bit_istrue(lim_pin_state,bit(B_AXIS))) { serial_write('B'); }
+        //if (bit_istrue(lim_pin_state,bit(C_AXIS))) { serial_write('C'); }
      }
      if (ctrl_pin_state) {
        #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
--- a/grbl/settings.c
+++ b/grbl/settings.c
@ -87,6 +87,9 @@ void settings_restore(uint8_t restore_flag) {
    settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;

    settings.spindle_pwm_freq = DEFAULT_SPINDLE_PWM_FREQ;
+    settings.spindle_pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE;
+    settings.spindle_pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE;
+    settings.spindle_pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE;
    settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
    settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;

@ -109,18 +112,33 @@ void settings_restore(uint8_t restore_flag) {
    settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
    settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
    settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
+    settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_MM;
+    //settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_MM;
+    //settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM;
    settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
    settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
    settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
+    settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
+    //settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
+    //settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE;
    settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
    settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
    settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
+    settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
+    //settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
+    //settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION;
    settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
    settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
    settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
+    settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
+    //settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
+    //settings.max_travel[C_AXIS] = (-DEFAULT_C_MAX_TRAVEL);
    settings.current[X_AXIS] = DEFAULT_X_CURRENT;
    settings.current[Y_AXIS] = DEFAULT_Y_CURRENT;
    settings.current[Z_AXIS] = DEFAULT_Z_CURRENT;
+    settings.current[A_AXIS] = DEFAULT_A_CURRENT;
+    //settings.current[B_AXIS] = DEFAULT_B_CURRENT;
+    //settings.current[C_AXIS] = DEFAULT_C_CURRENT;

    write_global_settings(false);
  }
@ -319,6 +337,9 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
        #endif
        break;
      case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 35: settings.spindle_pwm_min_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 36: settings.spindle_pwm_max_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
      default:
        return(STATUS_INVALID_STATEMENT);
    }
@ -343,7 +364,11 @@ uint32_t get_step_pin_mask(uint8_t axis_idx)
 {
  if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
-  return((1<<Z_STEP_BIT));
+  if ( axis_idx == Z_AXIS ) { return((1<<Z_STEP_BIT)); }
+  return((1<<A_STEP_BIT));
+  //if ( axis_idx == A_AXIS ) { return((1<<A_STEP_BIT)); }
+  //if ( axis_idx == B_AXIS ) { return((1<<B_STEP_BIT)); }
+  //return((1<<C_STEP_BIT));
 }


@ -352,7 +377,11 @@ uint32_t get_direction_pin_mask(uint8_t axis_idx)
 {
  if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
-  return((1<<Z_DIRECTION_BIT));
+  if ( axis_idx == Z_AXIS ) { return((1<<Z_DIRECTION_BIT)); }
+  return((1<<A_DIRECTION_BIT));
+  //if ( axis_idx == A_AXIS ) { return((1<<A_DIRECTION_BIT)); }
+  //if ( axis_idx == B_AXIS ) { return((1<<B_DIRECTION_BIT)); }
+  //return((1<<C_DIRECTION_BIT));
 }


@ -361,5 +390,9 @@ uint32_t get_limit_pin_mask(uint8_t axis_idx)
 {
  if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
-  return((1<<Z_LIMIT_BIT));
+  if ( axis_idx == Z_AXIS ) { return((1<<Z_LIMIT_BIT)); }
+  return((1<<A_LIMIT_BIT));
+  //if ( axis_idx == A_AXIS ) { return((1<<A_LIMIT_BIT)); }
+  //if ( axis_idx == B_AXIS ) { return((1<<B_LIMIT_BIT)); }
+  //return((1<<C_LIMIT_BIT));
 }
--- a/grbl/settings.h
+++ b/grbl/settings.h
@ -27,7 +27,7 @@

 // 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
-#define SETTINGS_VERSION 10  // NOTE: Check settings_reset() when moving to next version.
+#define SETTINGS_VERSION 11  // NOTE: Check settings_reset() when moving to next version.

 // Define bit flag masks for the boolean settings in settings.flag.
 #define BITFLAG_REPORT_INCHES      bit(0)
@ -92,7 +92,10 @@ typedef struct {
  float junction_deviation;
  float arc_tolerance;

-  uint16_t spindle_pwm_freq;
+  float spindle_pwm_freq;      // Hz
+  float spindle_pwm_off_value; // Percent
+  float spindle_pwm_min_value; // Percent
+  float spindle_pwm_max_value; // Percent
  float rpm_max;
  float rpm_min;

--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@ -25,10 +25,10 @@

 #ifdef VARIABLE_SPINDLE
  static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
-  static float spindle_pwm_period;
-  static float spindle_pwm_off_value;
-  static float spindle_pwm_min_value;
-  static float spindle_pwm_max_value;
+  float spindle_pwm_period;
+  float spindle_pwm_off_value;
+  float spindle_pwm_min_value;
+  float spindle_pwm_max_value;
 #endif


@ -36,12 +36,10 @@ void spindle_init()
 {
  #ifdef VARIABLE_SPINDLE
    spindle_pwm_period = (SystemCoreClock / settings.spindle_pwm_freq);
-    spindle_pwm_off_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_min_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_max_value = (spindle_pwm_period * 1.0);    // SPINDLE_PWM_PERIOD * fraction
-
-    //pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
-    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0); //SPINDLE_PWM_PERIOD
+    spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100);
+    spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100);
+    spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
+    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0);
    pwm_enable(&SPINDLE_PWM_CHANNEL);

    /* not ported
@ -54,7 +52,6 @@ void spindle_init()
    #endif
    */

-    //pwm_gradient = (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)/(settings.rpm_max-settings.rpm_min);
    pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);

  #else
@ -145,21 +142,21 @@ void spindle_stop()
    rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
    if (rpm <= 0) {
      sys.spindle_speed = 0;
-      pwm_value = spindle_pwm_off_value;    //SPINDLE_PWM_OFF_VALUE
+      pwm_value = spindle_pwm_off_value;
    }
    else if (rpm <= settings.rpm_min) {
      sys.spindle_speed = settings.rpm_min;
-      pwm_value = spindle_pwm_min_value;    //SPINDLE_PWM_MIN_VALUE
+      pwm_value = spindle_pwm_min_value;
    }
    else if (rpm >= settings.rpm_max) {
      sys.spindle_speed = settings.rpm_max;
-      pwm_value = spindle_pwm_max_value - 1;    //SPINDLE_PWM_MAX_VALUE
+      pwm_value = spindle_pwm_max_value - 1;
    }
    else {
      sys.spindle_speed = rpm;
-      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;   //SPINDLE_PWM_MIN_VALUE
-      if(pwm_value >= spindle_pwm_max_value)    //SPINDLE_PWM_MAX_VALUE
-        pwm_value = spindle_pwm_max_value - 1;  //SPINDLE_PWM_MAX_VALUE
+      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;
+      if(pwm_value >= spindle_pwm_max_value)
+        pwm_value = spindle_pwm_max_value - 1;
    }
    return(pwm_value);
  }
--- a/grbl/spindle_control.h
+++ b/grbl/spindle_control.h
@ -40,6 +40,10 @@ uint8_t spindle_get_state();
 // Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
 // Called by spindle_sync() after sync and parking motion/spindle stop override during restore.
 #ifdef VARIABLE_SPINDLE
+  extern float spindle_pwm_period;
+  extern float spindle_pwm_off_value;
+  extern float spindle_pwm_min_value;
+  extern float spindle_pwm_max_value;

  // Called by g-code parser when setting spindle state and requires a buffer sync.
  void spindle_sync(uint8_t state, float rpm);
--- a/grbl/stepper.c
+++ b/grbl/stepper.c
@ -97,7 +97,10 @@ typedef struct {
  // Used by the bresenham line algorithm
  uint32_t counter_x,        // Counter variables for the bresenham line tracer
           counter_y,
-           counter_z;
+           counter_z,
+           counter_a;
+           //counter_b,
+           //counter_c;
  #ifdef STEP_PULSE_DELAY
    uint32_t step_bits;  // Stores out_bits output to complete the step pulse delay
  #endif
@ -370,6 +373,9 @@ extern "C" void TIMER1_IRQHandler()
        st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
        st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
        st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
+        st.steps[A_AXIS] = st.exec_block->steps[A_AXIS] >> st.exec_segment->amass_level;
+        //st.steps[B_AXIS] = st.exec_block->steps[B_AXIS] >> st.exec_segment->amass_level;
+        //st.steps[C_AXIS] = st.exec_block->steps[C_AXIS] >> st.exec_segment->amass_level;
      #endif

      #ifdef VARIABLE_SPINDLE
@ -385,7 +391,7 @@ extern "C" void TIMER1_IRQHandler()
      st_go_idle();
      #ifdef VARIABLE_SPINDLE
        // Ensure pwm is set properly upon completion of rate-controlled motion.
-        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
+        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(spindle_pwm_off_value); }
      #endif
      system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
      return; // Nothing to do but exit.
@ -433,6 +439,41 @@ extern "C" void TIMER1_IRQHandler()
    if (st.exec_block->direction_bits & (1<<Z_DIRECTION_BIT)) { sys_position[Z_AXIS]--; }
    else { sys_position[Z_AXIS]++; }
  }
+  #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
+    st.counter_a += st.steps[A_AXIS];
+  #else
+    st.counter_a += st.exec_block->steps[A_AXIS];
+  #endif
+  if (st.counter_a > st.exec_block->step_event_count) {
+    st.step_outbits |= (1<<A_STEP_BIT);
+    st.counter_a -= st.exec_block->step_event_count;
+    if (st.exec_block->direction_bits & (1<<A_DIRECTION_BIT)) { sys_position[A_AXIS]--; }
+    else { sys_position[A_AXIS]++; }
+  }
+/*
+  #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
+    st.counter_b += st.steps[B_AXIS];
+  #else
+    st.counter_b += st.exec_block->steps[B_AXIS];
+  #endif
+  if (st.counter_b > st.exec_block->step_event_count) {
+    st.step_outbits |= (1<<B_STEP_BIT);
+    st.counter_b -= st.exec_block->step_event_count;
+    if (st.exec_block->direction_bits & (1<<B_DIRECTION_BIT)) { sys_position[B_AXIS]--; }
+    else { sys_position[B_AXIS]++; }
+  }
+  #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
+    st.counter_c += st.steps[C_AXIS];
+  #else
+    st.counter_c += st.exec_block->steps[C_AXIS];
+  #endif
+  if (st.counter_c > st.exec_block->step_event_count) {
+    st.step_outbits |= (1<<C_STEP_BIT);
+    st.counter_c -= st.exec_block->step_event_count;
+    if (st.exec_block->direction_bits & (1<<C_DIRECTION_BIT)) { sys_position[C_AXIS]--; }
+    else { sys_position[C_AXIS]++; }
+  }
+*/

  // During a homing cycle, lock out and prevent desired axes from moving.
  if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; }
@ -907,7 +948,7 @@ void st_prep_buffer()
          prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
        } else { 
          sys.spindle_speed = 0.0;
-          prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
+          prep.current_spindle_pwm = spindle_pwm_off_value;
        }
        bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
      }
--- a/grbl/system.c
+++ b/grbl/system.c
@ -185,6 +185,9 @@ uint8_t system_execute_line(char *line)
                case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
                case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
                case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
+                case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
+                //case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
+                //case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
                default: return(STATUS_INVALID_STATEMENT);
              }
          #endif
@ -342,7 +345,11 @@ uint8_t system_check_travel_limits(float *target)
      }
    #else
      // NOTE: max_travel is stored as negative
-      if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+      #ifdef HOMING_FORCE_POSITIVE_SPACE
+        if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
+      #else
+        if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+      #endif
    #endif
  }
  return(false);
Author	SHA1	Message	Date
cprezzi	96ad0afdda	Set coolant pins for all supported boards in cpu-map.h	2017-08-03 16:00:15 +02:00
cprezzi	4252f75a84	Merge branch 'more-axis'	2017-08-03 15:07:11 +02:00
cprezzi	dc92bf565e	Support coolant flood and mist for remix board	2017-08-03 15:01:34 +02:00
cprezzi	436615095f	Always use MIN endstop pins (independant of board!)	2017-07-12 19:01:01 +02:00
cprezzi	a661778252	Made board switchable in config.h	2017-07-12 18:34:50 +02:00
cprezzi	54ae403094	Made A-Axis switchable in config.h	2017-07-12 17:56:46 +02:00
cprezzi	06e9bf8f82	Made CPU-MAP per Board instead of MCU	2017-07-12 17:45:06 +02:00
Claudio Prezzi	f904fff7ba	Highlight make as command.	2017-06-21 09:06:55 +02:00
Claudio Prezzi	b24e01d588	Merge branch 'master' of https://github.com/cprezzi/grbl-LPC	2017-06-21 09:04:30 +02:00
Claudio Prezzi	ba4e83723f	Added Links for Make Tool and ARM Toolchain.	2017-06-21 09:01:12 +02:00
Claudio Prezzi	14983881ee	Added Links for Make and ARM Toolchain.	2017-06-21 08:58:57 +02:00
Claudio Prezzi	eeb206ec97	Adjusted config.h	2017-06-21 08:32:02 +02:00
cprezzi	83c1b57c41	Merge branch 'master' into more-axis	2017-05-26 20:23:51 +02:00
cprezzi	50c13a1868	Moved homing origin to bottom/left instead of top/right	2017-05-18 23:10:44 +02:00
cprezzi	8856b3fef4	Corrected K40 defaults	2017-05-18 16:45:59 +02:00
cprezzi	73cdb2f722	Corrected stepper invert mask for K40	2017-05-18 14:47:53 +02:00
cprezzi	b28fd39e7d	Merge branch 'master' into more-axis	2017-05-18 12:51:28 +02:00
cprezzi	1f0ab33787	Merged new $ params	2017-05-18 12:47:37 +02:00
cprezzi	d85bfa8c83	Added default settings for PWM_OFF_VALUE, PWM_MIN_VALUE and PMW_MAX_VALUE	2017-05-18 11:51:16 +02:00
cprezzi	da946353c8	Merge remote-tracking branch 'upstream/master'	2017-05-16 15:03:18 +02:00
Todd Fleming	b1ecb47bec	#4 : PWM $ settings	2017-05-13 13:54:50 -04:00
cprezzi	f7083b9491	Added 4.axes (A) and moved default settings to defaults.h and cpu-map.h	2017-05-11 19:58:41 +02:00