├── .clang-format ├── .editorconfig ├── .gitignore ├── Creative Commons — Attribution-NonCommercial-ShareAlike 4.0 International — CC BY-NC-SA 4.pdf ├── FAQ.md ├── README.md ├── Todo.md ├── docs ├── GCode │ ├── Linux CNC G Code Overview.pdf │ └── NIST RS274NGC.pdf ├── Hardware │ ├── MAX232 - MAX3232 │ │ ├── MAX232 datasheet.pdf │ │ └── MAX3232 datasheet.pdf │ ├── Resource Selector - STMicroelectronics.url │ ├── STM32F103 │ │ ├── AN2606 - STM32 Bootloader.pdf │ │ ├── Programming STM32 through Serial.png │ │ ├── STM32F103XX Datasheet.pdf │ │ └── The-Generic-STM32F103-Pinout-Diagram.png │ ├── Stepper Motors │ │ ├── 23HS22-2804S datasheet.pdf │ │ ├── A3967 Stepperdriver Datasheet.pdf │ │ ├── EasyDriver_v45 Schematic.pdf │ │ └── OSM Stepper Motors datasheet.pdf │ ├── Teensy 3.2 │ │ ├── GPIO Pinouts Teensy - Cheat sheet.xlsx │ │ ├── K20 Cortex M4 Datasheet.pdf │ │ ├── K20 Overview.pdf │ │ ├── Nested-Vector-Interrupt-Controller-Training.pdf │ │ ├── Periodic Interrupt Timer.pdf │ │ ├── Teensy 3.2 Pinout Bottom view.pdf │ │ └── Teensy 3.2 Pinout Top view.pdf │ └── Teensy 3.5 - 3.6 │ │ ├── K64P144M120SF5RM.pdf │ │ ├── Teensy 3.5 3.6 Electrical Schema.png │ │ └── Teensy 3.6 Pinout.jpg ├── Kinematics │ └── Motion Profiles.xlsm ├── Reliable Data Transfer │ ├── ASCII (tekenset) - Wikipedia.url │ ├── Principles of Reliable Data Transmission.pdf │ └── arq.pdf ├── axis directions.png ├── circularbuffer.drawio ├── images │ ├── 2017-05-24 21.02.25.jpg │ ├── Architecture Block-diagram.png │ ├── Circular Buffers.png │ ├── Limit Switches.png │ ├── Solid State Relais.jpg │ ├── Stepper motor driver TB6600A - Back.png │ ├── Stepper motor driver TB6600A - Front.png │ ├── Teensy 3.5 Front.jpg │ └── ee-sx670.jpg ├── machine configuration.md ├── modules topLevel.drawio └── toplevel.drawio ├── hw ├── Datasheets │ ├── ILQ620 Datasheet.pdf │ └── Omron Photomicrosensors Datasheet.pdf └── MotherBoard V1 │ ├── LimitSwitches.sch │ ├── Motherboard.brd │ ├── Motherboard.sch │ ├── MotherboardBottom.pdf │ └── MotherboardTop.pdf ├── lib ├── event │ ├── event.cpp │ ├── event.h │ ├── event.md │ ├── eventbuffer.cpp │ └── eventbuffer.h ├── gcode │ ├── gcode.cpp │ ├── gcode.h │ ├── gcode.md │ ├── gcodeblock.cpp │ ├── gcodeblock.h │ ├── gcodeletter.cpp │ ├── gcodeletter.h │ ├── gcodemodalgroup.h │ ├── gcodeparseerror.cpp │ ├── gcodeparseerror.h │ ├── gcodeparseresulttype.cpp │ ├── gcodeparseresulttype.h │ ├── gcodeperipherals.h │ ├── gcodespeedprofile.h │ ├── gcodestate.cpp │ ├── gcodestate.h │ ├── gcodetrajectory.h │ ├── gcodeword.cpp │ ├── gcodeword.h │ └── todo.md ├── general │ ├── coordinates.md │ ├── point.cpp │ ├── point.h │ ├── rotationdirection.cpp │ ├── rotationdirection.h │ ├── version.cpp │ └── version.h ├── hostinterface │ ├── hostinterface.cpp │ ├── hostinterface.h │ ├── hostinterfaceerror.cpp │ ├── hostinterfaceerror.h │ └── todo.md ├── inputs │ ├── debouncedinput.cpp │ ├── debouncedinput.h │ └── inputs.md ├── maincontroller │ ├── command.h │ ├── homing.cpp │ ├── homing.drawio │ ├── homing.h │ ├── homing.md │ ├── homingstate.cpp │ ├── homingstate.h │ ├── maincontroller.cpp │ ├── maincontroller.h │ ├── mainstate.cpp │ ├── mainstate.h │ ├── probingstate.cpp │ ├── probingstate.h │ └── todo.md ├── motion │ ├── arccalculations.drawio │ ├── motion.md │ ├── motionbuffer.cpp │ ├── motionbuffer.h │ ├── motioncalculatedirection.cpp │ ├── motioncalculatedirection.h │ ├── motionctrl.cpp │ ├── motionctrl.drawio │ ├── motionctrl.h │ ├── motionitem.cpp │ ├── motionitem.h │ ├── motionitem.md │ ├── motionperipherals.cpp │ ├── motionperipherals.h │ ├── motionspeedprofile.cpp │ ├── motionspeedprofile.h │ ├── motionstate.cpp │ ├── motionstate.h │ ├── motionstrategy.cpp │ ├── motionstrategy.h │ ├── motiontrajectory.cpp │ ├── motiontrajectory.h │ ├── motiontype.cpp │ ├── motiontype.h │ ├── overrides.h │ ├── position.cpp │ ├── position.h │ ├── sampletime.cpp │ ├── sampletime.h │ ├── simplifiedmotion.cpp │ ├── simplifiedmotion.h │ ├── simplifiedmotion.md │ ├── speedprofileaccdec.cpp │ ├── speedprofileaccdec.h │ ├── speedprofilecruise.cpp │ ├── speedprofilecruise.h │ ├── speedprofileorder.cpp │ ├── speedprofileorder.h │ ├── speedprofilepassed.cpp │ └── speedprofilepassed.h └── outputs_stepper_motor │ ├── step.h │ ├── stepbuffer.cpp │ ├── stepbuffer.drawio │ ├── stepbuffer.h │ ├── stepbuffer.md │ ├── stepsignals.cpp │ └── stepsignals.h ├── lib_target ├── cnc3axis │ ├── general │ │ ├── axis.cpp │ │ ├── axis.h │ │ ├── machineproperties.h │ │ ├── mcuload.cpp │ │ ├── mcuload.h │ │ ├── mcuload.md │ │ ├── plane.cpp │ │ └── plane.h │ ├── hostinterface │ │ ├── hostinterface_uart.cpp │ │ └── hostinterface_uart.h │ ├── inputs │ │ ├── switches.cpp │ │ └── switches.h │ └── outputs │ │ ├── steppermotor.cpp │ │ ├── steppermotor.h │ │ ├── timers.cpp │ │ └── timers.h ├── native │ └── general │ │ ├── axis.cpp │ │ ├── axis.h │ │ ├── machineproperties.cpp │ │ ├── machineproperties.h │ │ ├── plane.cpp │ │ └── plane.h └── plotter2axis │ ├── general │ ├── axis.cpp │ ├── axis.h │ ├── machineproperties.h │ ├── plane.cpp │ └── plane.h │ ├── hostinterface │ ├── hostinterface_uart.cpp │ └── hostinterface_uart.h │ ├── inputs │ ├── switches.cpp │ └── switches.h │ └── outputs │ ├── steppermotor.cpp │ └── steppermotor.h ├── platformio.ini ├── src ├── cnc3axis │ └── main.cpp ├── native │ └── main.cpp ├── plotter2axis │ └── main.cpp └── threadsafety.md └── test ├── native ├── test_eventbuffer │ ├── eventbuffer_tests.cpp │ └── testplan.md ├── test_gcode_block │ └── gcodeblock_tests.cpp ├── test_gcode_parser │ └── gcodeparser_tests.cpp ├── test_gcode_state │ └── gcodestate_tests.cpp ├── test_maincontrol_homing │ ├── homing_tests.cppo │ └── main.cpp ├── test_motion_buffer │ └── motionbuffer_tests.cpp ├── test_motion_control │ ├── motion_control_testplan.md │ └── motioncontrol_tests.cpp ├── test_motion_gcode │ └── motioncontrol_tests.cpp ├── test_motion_item │ ├── motionitem_tests.cpp │ └── motionitem_tests.md ├── test_motion_simplifiedmotion │ └── simplifiedmotion_tests.cpp ├── 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