ATTENTION: New config version!! Save your settings, before updating!!

Added experimental support for rotary axis (5 axis)

GRBL_Advanced.elay

@@ -21,9 +21,9 @@
 			<Cursor1 position="1639" topLine="32" />
 		</Cursor>
 	</File>
-	<File name="grbl\Config.h" open="1" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+	<File name="grbl\Config.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
-			<Cursor1 position="36781" topLine="531" />
+			<Cursor1 position="1123" topLine="21" />
 		</Cursor>
 	</File>
 	<File name="grbl\CoolantControl.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@@ -36,7 +36,7 @@
 			<Cursor1 position="873" topLine="13" />
 		</Cursor>
 	</File>
-	<File name="grbl\defaults.h" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+	<File name="grbl\defaults.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
 			<Cursor1 position="2407" topLine="10" />
 		</Cursor>
@@ -116,12 +116,12 @@
 			<Cursor1 position="842" topLine="3" />
 		</Cursor>
 	</File>
-	<File name="grbl\Report.c" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+	<File name="grbl\Report.c" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
 			<Cursor1 position="7135" topLine="235" />
 		</Cursor>
 	</File>
-	<File name="grbl\Report.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+	<File name="grbl\Report.h" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
 			<Cursor1 position="1483" topLine="9" />
 		</Cursor>
@@ -296,9 +296,9 @@
 			<Cursor1 position="781" topLine="12" />
 		</Cursor>
 	</File>
-	<File name="main.c" open="1" top="1" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+	<File name="main.c" open="1" top="1" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
-			<Cursor1 position="2509" topLine="62" />
+			<Cursor1 position="240" topLine="0" />
 		</Cursor>
 	</File>
 	<File name="SPL\inc\stm32f4xx_cryp.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">

HAL/GPIO/GPIO.c

@@ -83,7 +83,7 @@ static void GPIO_InitStepper(void)
 	GPIO_Init(GPIOA, &GPIO_InitStructure);
 
 	/* GPIO Configuration: A3, D3, D5, D4, D6 */
-	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_10;
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_10;
 	GPIO_Init(GPIOB, &GPIO_InitStructure);
 }
 

HAL/GPIO/GPIO.h

@@ -26,17 +26,25 @@
 #define GPIO_STEP_X_PORT		GPIOA
 #define GPIO_STEP_Y_PORT		GPIOB
 #define GPIO_STEP_Z_PORT		GPIOB
+#define GPIO_STEP_A_PORT		GPIOB
+#define GPIO_STEP_B_PORT		GPIOB
 #define GPIO_STEP_X_PIN			GPIO_Pin_10
 #define GPIO_STEP_Y_PIN			GPIO_Pin_3
 #define GPIO_STEP_Z_PIN			GPIO_Pin_5
+#define GPIO_STEP_A_PIN			GPIO_Pin_1
+#define GPIO_STEP_B_PIN			GPIO_Pin_14
 
 // Direction Pins
 #define GPIO_DIR_X_PORT			GPIOB
 #define GPIO_DIR_Y_PORT			GPIOB
 #define GPIO_DIR_Z_PORT			GPIOA
+#define GPIO_DIR_A_PORT			GPIOB
+#define GPIO_DIR_B_PORT			GPIOB
 #define GPIO_DIR_X_PIN			GPIO_Pin_4
 #define GPIO_DIR_Y_PIN			GPIO_Pin_10
 #define GPIO_DIR_Z_PIN			GPIO_Pin_8
+#define GPIO_DIR_A_PIN			GPIO_Pin_2
+#define GPIO_DIR_B_PIN			GPIO_Pin_15
 
 // Stepper Enable
 #define GPIO_ENABLE_PORT		GPIOA

grbl/Config.h

@@ -47,6 +47,9 @@
 // Uncomment to use external I2C EEPROM
 //#define USE_EXT_EEPROM
 
+// Uncomment to use 4th/5th axis
+//#define USE_MULTI_AXIS
+
 
 // Define realtime command special characters. These characters are 'picked-off' directly from the
 // serial read data stream and are not passed to the grbl line execution parser. Select characters
@@ -113,8 +116,8 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 		(1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
+#define HOMING_CYCLE_0 		    (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 		((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+#define HOMING_CYCLE_1 		    ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #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.

grbl/GCode.c

@@ -461,8 +461,10 @@ uint8_t GC_ExecuteLine(char *line)
 			words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
 			switch(letter)
 			{
-			// case 'A': // Not supported
+#ifdef USE_MULTI_AXIS
-			// case 'B': // Not supported
+			case 'A': word_bit = WORD_A; gc_block.values.xyz[A_AXIS] = value; axis_words |= (1<<A_AXIS); break;
+			case 'B': word_bit = WORD_B; gc_block.values.xyz[B_AXIS] = value; axis_words |= (1<<B_AXIS); break;
+#endif
 			// case 'C': // Not supported
 			// case 'D': // Not supported
 			case 'F': word_bit = WORD_F; gc_block.values.f = value; break;
@@ -1199,7 +1201,7 @@ uint8_t GC_ExecuteLine(char *line)
 
 						// Convert IJK values to proper units.
 						if(gc_block.modal.units == UNITS_MODE_INCHES) {
-							for(idx = 0; idx < N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
+							for(idx = 0; idx < N_LINEAR_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
 								if(ijk_words & BIT(idx)) {
 									gc_block.values.ijk[idx] *= MM_PER_INCH;
 								}
@@ -1283,7 +1285,7 @@ uint8_t GC_ExecuteLine(char *line)
 	if(axis_command)
     {
 		// Remove axis words.
-		BIT_FALSE(value_words, (BIT(WORD_X)|BIT(WORD_Y)|BIT(WORD_Z)));
+		BIT_FALSE(value_words, (BIT(WORD_X)|BIT(WORD_Y)|BIT(WORD_Z)|BIT(WORD_A)|BIT(WORD_B)));
 	}
 
 	if(value_words)
@@ -1807,7 +1809,6 @@ uint8_t GC_ExecuteLine(char *line)
 
   - Canned cycles
   - Tool radius compensation
-  - A,B,C-axes
   - Evaluation of expressions
   - Variables
   - Override control (TBD)

grbl/GCode.h

@@ -157,6 +157,8 @@
 #define WORD_Y		11
 #define WORD_Z		12
 #define WORD_Q      13
+#define WORD_A      14
+#define WORD_B      15
 
 // Define g-code parser position updating flags
 #define GC_UPDATE_POS_TARGET	0 // Must be zero
@@ -209,7 +211,7 @@ typedef struct {
 
 typedef struct {
 	float f;         // Feed
-	float ijk[3];    // I,J,K Axis arc offsets
+	float ijk[N_AXIS];    // I,J,K Axis arc offsets
 	uint8_t l;       // G10 or canned cycles parameters
 	int32_t n;       // Line number
 	float p;         // G10 or dwell parameters

grbl/MotionControl.c

@@ -141,8 +141,8 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
     pl_backlash.backlash_motion = 1;
     pl_backlash.condition = PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
 
-	// Backlash compensation
+	// Backlash compensation (not for A & B)
-    for(uint8_t i = 0; i < N_AXIS; i++)
+    for(uint8_t i = 0; i < N_LINEAR_AXIS; i++)
     {
         // Move positive?
         if(target[i] > target_prev[i])

grbl/MotionControl.h

@@ -33,6 +33,8 @@
 #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)
 
 
 void MC_Init(void);

grbl/Planner.c

@@ -111,6 +111,8 @@ uint8_t Planner_BufferLine(float *target, Planner_LineData_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];
+		position_steps[B_AXIS] = sys_position[B_AXIS];
 #else
 		memcpy(position_steps, sys_position, sizeof(sys_position));
 #endif

grbl/Report.c

@@ -83,11 +83,16 @@ static void report_util_gcode_modes_M(void)
 static void Report_AxisValue(float *axis_value)
 {
 	uint8_t idx;
+	uint8_t axis_num = N_LINEAR_AXIS;
 
-	for(idx = 0; idx < N_AXIS; idx++) {
+#ifdef USE_MULTI_AXIS
+    axis_num = N_AXIS;
+#endif
+
+	for(idx = 0; idx < axis_num; idx++) {
 		PrintFloat_CoordValue(axis_value[idx]);
 
-		if(idx < (N_AXIS-1)) {
+		if(idx < (axis_num-1)) {
 			Putc(',');
 		}
 	}
@@ -574,6 +579,9 @@ void Report_BuildInfo(char *line)
 #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
     Putc('+');
 #endif
+#ifdef USE_MULTI_AXIS
+    Putc('A');
+#endif
 
 	// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
 	Putc(',');

grbl/Settings.c

@@ -119,15 +119,26 @@ 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_DEG;
+		settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_DEG;
+
 		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.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.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.backlash[X_AXIS] = DEFAULT_X_BACKLASH;
 		settings.backlash[Y_AXIS] = DEFAULT_Y_BACKLASH;
@@ -405,8 +416,10 @@ uint8_t Settings_GetStepPinMask(uint8_t axis_idx)
 {
 	if(axis_idx == X_AXIS) { return (1<<X_STEP_BIT); }
 	if(axis_idx == Y_AXIS) { return (1<<Y_STEP_BIT); }
+	if(axis_idx == Z_AXIS) { return (1<<Z_STEP_BIT); }
+	if(axis_idx == A_AXIS) { return (1<<A_STEP_BIT); }
 
-	return (1<<Z_STEP_BIT);
+	return (1<<B_STEP_BIT);
 }
 
 
@@ -415,8 +428,10 @@ uint8_t Settings_GetDirectionPinMask(uint8_t axis_idx)
 {
 	if(axis_idx == X_AXIS) { return (1<<X_DIRECTION_BIT); }
 	if(axis_idx == Y_AXIS) { return (1<<Y_DIRECTION_BIT); }
+	if(axis_idx == Z_AXIS) { return (1<<Z_DIRECTION_BIT); }
+	if(axis_idx == A_AXIS) { return (1<<A_DIRECTION_BIT); }
 
-	return (1<<Z_DIRECTION_BIT);
+	return (1<<B_DIRECTION_BIT);
 }
 
 
@@ -425,6 +440,8 @@ uint8_t Settings_GetLimitPinMask(uint8_t axis_idx)
 {
 	if(axis_idx == X_AXIS) { return (1<<X_STEP_BIT); }
 	if(axis_idx == Y_AXIS) { return (1<<Y_STEP_BIT); }
+	if(axis_idx == Z_AXIS) { return (1<<Z_STEP_BIT); }
+	if(axis_idx == A_AXIS) { return (1<<A_STEP_BIT); }
 
-	return (1<<Z_STEP_BIT);
+	return (1<<B_STEP_BIT);
 }

grbl/Settings.h

@@ -28,7 +28,7 @@
 
 // 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 					4  // NOTE: Check settings_reset() when moving to next version.
+#define SETTINGS_VERSION 					5  // NOTE: Check settings_reset() when moving to next version.
 
 
 // Define bit flag masks for the boolean settings in settings.system_flags

grbl/Stepper.c

@@ -106,7 +106,7 @@ typedef struct {
 typedef struct {
 	// Used by the bresenham line algorithm
 	// Counter variables for the bresenham line tracer
-	uint32_t counter_x, counter_y, counter_z;
+	uint32_t counter_x, counter_y, counter_z, counter_a, counter_b;
 
 	uint8_t execute_step;     // Flags step execution for each interrupt.
 	uint8_t step_pulse_time;  // Step pulse reset time after step rise
@@ -366,6 +366,26 @@ void Stepper_MainISR(void)
 			GPIO_SetBits(GPIO_STEP_Z_PORT, GPIO_STEP_Z_PIN);
 		}
     }
+    if(st.step_outbits & (1<<A_STEP_BIT)) {
+		if(step_port_invert_mask & (1<<A_STEP_BIT)) {
+			// Low pulse
+			GPIO_ResetBits(GPIO_STEP_A_PORT, GPIO_STEP_A_PIN);
+		}
+		else {
+			// High pulse
+			GPIO_SetBits(GPIO_STEP_A_PORT, GPIO_STEP_A_PIN);
+		}
+    }
+    if(st.step_outbits & (1<<B_STEP_BIT)) {
+		if(step_port_invert_mask & (1<<B_STEP_BIT)) {
+			// Low pulse
+			//GPIO_ResetBits(GPIO_STEP_B_PORT, GPIO_STEP_B_PIN);
+		}
+		else {
+			// High pulse
+			//GPIO_SetBits(GPIO_STEP_B_PORT, GPIO_STEP_B_PIN);
+		}
+    }
 
 	// If there is no step segment, attempt to pop one from the stepper buffer
 	if(st.exec_segment == 0) {
@@ -391,7 +411,7 @@ void Stepper_MainISR(void)
 				st.exec_block = &st_block_buffer[st.exec_block_index];
 
 				// Initialize Bresenham line and distance counters
-				st.counter_x = st.counter_y = st.counter_z = (st.exec_block->step_event_count >> 1);
+				st.counter_x = st.counter_y = st.counter_z = st.counter_a = st.counter_b = (st.exec_block->step_event_count >> 1);
 			}
 
 			st.dir_outbits = st.exec_block->direction_bits ^ dir_port_invert_mask;
@@ -416,11 +436,25 @@ void Stepper_MainISR(void)
 			else {
 				GPIO_ResetBits(GPIO_DIR_Z_PORT, GPIO_DIR_Z_PIN);
 			}
+			if(st.dir_outbits & (1<<A_DIRECTION_BIT)) {
+				GPIO_SetBits(GPIO_DIR_A_PORT, GPIO_DIR_A_PIN);
+			}
+			else {
+				GPIO_ResetBits(GPIO_DIR_A_PORT, GPIO_DIR_A_PIN);
+			}
+			if(st.dir_outbits & (1<<B_DIRECTION_BIT)) {
+				//GPIO_SetBits(GPIO_DIR_B_PORT, GPIO_DIR_B_PIN);
+			}
+			else {
+				//GPIO_ResetBits(GPIO_DIR_B_PORT, GPIO_DIR_B_PIN);
+			}
 
 			// With AMASS enabled, adjust Bresenham axis increment counters according to AMASS level.
 			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;
 
 			// Set real-time spindle output as segment is loaded, just prior to the first step.
 			Spindle_SetSpeed(st.exec_segment->spindle_pwm);
@@ -501,6 +535,40 @@ void Stepper_MainISR(void)
         }
 	}
 
+	st.counter_a += st.steps[A_AXIS];
+
+	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_segment->backlash_motion == 0)
+        {
+            if(st.exec_block->direction_bits & (1<<A_DIRECTION_BIT)) {
+                sys_position[A_AXIS]--;
+            }
+            else {
+                sys_position[A_AXIS]++;
+            }
+        }
+	}
+
+	st.counter_b += st.steps[B_AXIS];
+
+	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_segment->backlash_motion == 0)
+        {
+            if(st.exec_block->direction_bits & (1<<B_DIRECTION_BIT)) {
+                sys_position[B_AXIS]--;
+            }
+            else {
+                sys_position[B_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;
@@ -552,6 +620,22 @@ void Stepper_PortResetISR(void)
 	else {
 		GPIO_ResetBits(GPIO_STEP_Z_PORT, GPIO_STEP_Z_PIN);
 	}
+
+	// A
+	if(step_port_invert_mask & (1<<A_STEP_BIT)) {
+		GPIO_SetBits(GPIO_STEP_A_PORT, GPIO_STEP_A_PIN);
+	}
+	else {
+		GPIO_ResetBits(GPIO_STEP_A_PORT, GPIO_STEP_A_PIN);
+	}
+
+	// B
+	if(step_port_invert_mask & (1<<B_STEP_BIT)) {
+		//GPIO_SetBits(GPIO_STEP_B_PORT, GPIO_STEP_B_PIN);
+	}
+	else {
+		//GPIO_ResetBits(GPIO_STEP_B_PORT, GPIO_STEP_B_PIN);
+	}
 }
 
 
@@ -600,11 +684,15 @@ void Stepper_Reset(void)
 	GPIO_ResetBits(GPIO_STEP_X_PORT, GPIO_STEP_X_PIN);
 	GPIO_ResetBits(GPIO_STEP_Y_PORT, GPIO_STEP_Y_PIN);
 	GPIO_ResetBits(GPIO_STEP_Z_PORT, GPIO_STEP_Z_PIN);
+	GPIO_ResetBits(GPIO_STEP_A_PORT, GPIO_STEP_A_PIN);
+	//GPIO_ResetBits(GPIO_STEP_B_PORT, GPIO_STEP_B_PIN);
 
 	// Reset Direction Pins
 	GPIO_ResetBits(GPIO_DIR_X_PORT, GPIO_DIR_X_PIN);
 	GPIO_ResetBits(GPIO_DIR_Y_PORT, GPIO_DIR_Y_PIN);
 	GPIO_ResetBits(GPIO_DIR_Z_PORT, GPIO_DIR_Z_PIN);
+	GPIO_ResetBits(GPIO_DIR_A_PORT, GPIO_DIR_A_PIN);
+	//GPIO_ResetBits(GPIO_DIR_B_PORT, GPIO_DIR_B_PIN);
 }
 
 

grbl/System.c

@@ -324,6 +324,14 @@ uint8_t System_ExecuteLine(char *line)
 					MC_HomigCycle(HOMING_CYCLE_Z);
 					break;
 
+                case 'A':
+					MC_HomigCycle(HOMING_CYCLE_A);
+					break;
+
+                case 'B':
+					MC_HomigCycle(HOMING_CYCLE_B);
+					break;
+
 				default:
 					return STATUS_INVALID_STATEMENT;
 				}

grbl/defaults.h

@@ -33,15 +33,23 @@
   #define DEFAULT_X_STEPS_PER_MM 			400.0
   #define DEFAULT_Y_STEPS_PER_MM 			400.0
   #define DEFAULT_Z_STEPS_PER_MM 			400.0
+  #define DEFAULT_A_STEPS_PER_DEG           10.0
+  #define DEFAULT_B_STEPS_PER_DEG           10.0
   #define DEFAULT_X_MAX_RATE 				1000.0  // mm/min
   #define DEFAULT_Y_MAX_RATE 				1000.0  // mm/min
   #define DEFAULT_Z_MAX_RATE 				1000.0  // mm/min
+  #define DEFAULT_A_MAX_RATE                1000.0  // °/min
+  #define DEFAULT_B_MAX_RATE                1000.0  // °/min
   #define DEFAULT_X_ACCELERATION 			(30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
   #define DEFAULT_Y_ACCELERATION 			(30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
   #define DEFAULT_Z_ACCELERATION 			(30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
+  #define DEFAULT_A_ACCELERATION            (50.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
+  #define DEFAULT_B_ACCELERATION            (50.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
   #define DEFAULT_X_MAX_TRAVEL 				400.0   // mm NOTE: Must be a positive value.
   #define DEFAULT_Y_MAX_TRAVEL 				300.0   // mm NOTE: Must be a positive value.
   #define DEFAULT_Z_MAX_TRAVEL 				500.0   // mm NOTE: Must be a positive value.
+  #define DEFAULT_A_MAX_TRAVEL              360.0   // °
+  #define DEFAULT_B_MAX_TRAVEL              360.0   // °
   #define DEFAULT_SPINDLE_RPM_MAX 			3000.0  // rpm
   #define DEFAULT_SPINDLE_RPM_MIN 			0.0     // rpm
 

grbl/util.h

@@ -45,22 +45,26 @@
 #define F_CPU						96000000UL
 #define F_TIMER_STEPPER             24000000UL
 
-#define N_AXIS						3
+#define N_AXIS						5
+#define N_LINEAR_AXIS               3
 
 #define X_AXIS						0 // Axis indexing value.
 #define Y_AXIS						1
 #define Z_AXIS						2
 #define A_AXIS						3
+#define B_AXIS						4
 
 #define X_STEP_BIT					0
 #define Y_STEP_BIT					1
 #define Z_STEP_BIT					2
 #define A_STEP_BIT                  3
+#define B_STEP_BIT                  4
 
 #define X_DIRECTION_BIT				0
 #define Y_DIRECTION_BIT				1
 #define Z_DIRECTION_BIT				2
 #define A_DIRECTION_BIT             3
+#define B_DIRECTION_BIT             4
 
 #define X_LIMIT_BIT					0
 #define Y_LIMIT_BIT					1

main.c

@@ -4,7 +4,7 @@
 
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c)	2018-2019 Patrick F.
+  Copyright (c)	2018-2020 Patrick F.
 
   Grbl-Advanced is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by