diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h
index 6726a622..093af036 100644
--- a/Grbl_Esp32/config.h
+++ b/Grbl_Esp32/config.h
@@ -39,17 +39,17 @@ Some features should not be changed. See notes below.
 #define config_h
 #include <Arduino.h>
 
-//#define ESP_DEBUG
+// !!!! Most Important Configuration Item !!!!
+// #define the CPU map you want to use
+// The CPU map is the main definition of the machine/controller you want to use
+// These are typically found in the cpu_map.h file.
+// See Github repo wiki for more details
+#define CPU_MAP_TEST_DRIVE // these are defined in cpu_map.h
+
 #define N_AXIS 3 // Number of axes defined (valid range: 3 to 6) 
 
-// 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 CPU_MAP_TEST_DRIVE // these are defined in cpu_map.h
 #define VERBOSE_HELP // adds addition help info, but could confuse some senders
 
-
 // Serial baud rate
 #define BAUD_RATE 115200
 
diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h
index 26dbe271..f704182a 100644
--- a/Grbl_Esp32/cpu_map.h
+++ b/Grbl_Esp32/cpu_map.h
@@ -59,8 +59,6 @@
 	*/
 	#define CPU_MAP_NAME "CPU_MAP_DEFAULT - Demo Only No I/O!"	
 	
-	#define CONTROL_FEED_HOLD_PIN     GPIO_NUM_21  // Uno A1 
-	
 	#define LIMIT_MASK 0  // no limit pins		
 #endif
 
@@ -99,16 +97,10 @@
 		#define Z_LIMIT_PIN     	GPIO_NUM_15 
 	#endif
 	
-	#define X_STEP_PIN      	GPIO_NUM_12
-	
-	#define X_RMT_CHANNEL		0
-	
-	// #define Y_STEP_PIN (see versions above) 	
-	#define Y_RMT_CHANNEL		1
+	#define X_STEP_PIN      	GPIO_NUM_12	
 	
 	#define Z_STEP_PIN      	GPIO_NUM_27		
-	#define Z_DIRECTION_PIN   	GPIO_NUM_33		 
-	#define Z_RMT_CHANNEL		2		
+	#define Z_DIRECTION_PIN   	GPIO_NUM_33	
 	
 	// OK to comment out to use pin for other features
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
@@ -138,44 +130,44 @@
     // !!!! Experimental Untested !!!!!
 	// This is a CPU MAP for ESPDUINO-32 Boards and Protoneer V3 boards
 	// Note: Probe pin is mapped, but will require a 10k external pullup to 3.3V to work.
+	
+	// Rebooting...See this issue https://github.com/bdring/Grbl_Esp32/issues/314
+	
 	#define CPU_MAP_NAME "CPU_MAP_ESPDUINO_32"	
 	
 	#define USE_RMT_STEPS
 	
-	#define X_STEP_PIN      		GPIO_NUM_26  // Uno D2
-	#define X_DIRECTION_PIN  		GPIO_NUM_16  // Uno D5
-	#define X_RMT_CHANNEL			0
+	#define X_STEP_PIN      		GPIO_NUM_26
+	#define X_DIRECTION_PIN  		GPIO_NUM_16
 	
-	#define Y_STEP_PIN      		GPIO_NUM_25  // Uno D3
-	#define Y_DIRECTION_PIN   	GPIO_NUM_27  // Uno D6
-	#define Y_RMT_CHANNEL			1
+	#define Y_STEP_PIN      		GPIO_NUM_25
+	#define Y_DIRECTION_PIN   	GPIO_NUM_27
 	
-	#define Z_STEP_PIN      		GPIO_NUM_17	// Uno D4
-	#define Z_DIRECTION_PIN   	GPIO_NUM_14	// Uno D7
-	#define Z_RMT_CHANNEL			2		
+	#define Z_STEP_PIN      		GPIO_NUM_17
+	#define Z_DIRECTION_PIN   	GPIO_NUM_14
 	
 	// OK to comment out to use pin for other features
-	#define STEPPERS_DISABLE_PIN GPIO_NUM_12	// Uno D8
+	#define STEPPERS_DISABLE_PIN GPIO_NUM_12
 			
-	#define SPINDLE_PWM_PIN    GPIO_NUM_19    // Uno D11
+	#define SPINDLE_PWM_PIN    GPIO_NUM_19
 	#define SPINDLE_PWM_CHANNEL 0	
 	#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE	
-	#define SPINDLE_DIR_PIN		GPIO_NUM_18	// Uno D13
+	#define SPINDLE_DIR_PIN		GPIO_NUM_18
 	
-	#define COOLANT_FLOOD_PIN 	GPIO_NUM_34  // Uno A3
-	#define COOLANT_MIST_PIN   	GPIO_NUM_36// Uno A4
+	#define COOLANT_FLOOD_PIN 	GPIO_NUM_34
+	#define COOLANT_MIST_PIN   	GPIO_NUM_36
 	
-	#define X_LIMIT_PIN      		GPIO_NUM_13  // Uno D9
-	#define Y_LIMIT_PIN      		GPIO_NUM_5   // Uno D10
-	#define Z_LIMIT_PIN     		GPIO_NUM_19  // Uno D12	
+	#define X_LIMIT_PIN      		GPIO_NUM_13
+	#define Y_LIMIT_PIN      		GPIO_NUM_5 
+	#define Z_LIMIT_PIN     		GPIO_NUM_19
 	#define LIMIT_MASK      		B111
 	
-	#define PROBE_PIN       		GPIO_NUM_39  // Uno A5		
+	#define PROBE_PIN       		GPIO_NUM_39	
 	
 	// comment out #define IGNORE_CONTROL_PINS in config.h to use control pins  	
-	#define CONTROL_RESET_PIN         GPIO_NUM_2  // Uno A0
-	#define CONTROL_FEED_HOLD_PIN     GPIO_NUM_4  // Uno A1 
-	#define CONTROL_CYCLE_START_PIN   GPIO_NUM_35  // Uno A2 ... ESP32 needs external pullup
+	#define CONTROL_RESET_PIN         GPIO_NUM_2
+	#define CONTROL_FEED_HOLD_PIN     GPIO_NUM_4
+	#define CONTROL_CYCLE_START_PIN   GPIO_NUM_35 // ESP32 needs external pullup
 #endif
 
 #ifdef CPU_MAP_ESP32_ESC_SPINDLE
@@ -185,20 +177,19 @@
 	// https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
 	
 	#define CPU_MAP_NAME 		"CPU_MAP_ESP32_ESC_SPINDLE"	
+	
+	#define SHOW_EXTENDED_SETTINGS
 		
 	#define USE_RMT_STEPS	
 	
 	#define X_STEP_PIN      	GPIO_NUM_12
-	#define X_DIRECTION_PIN  	GPIO_NUM_14	
-	#define X_RMT_CHANNEL		0
+	#define X_DIRECTION_PIN  	GPIO_NUM_14
 	
 	#define Y_STEP_PIN      	GPIO_NUM_26
-	#define Y_DIRECTION_PIN   	GPIO_NUM_15// #define Y_STEP_PIN (see versions above) 	
-	#define Y_RMT_CHANNEL		1
+	#define Y_DIRECTION_PIN   	GPIO_NUM_15// #define Y_STEP_PIN (see versions above)
 	
 	#define Z_STEP_PIN      	GPIO_NUM_27		
-	#define Z_DIRECTION_PIN   	GPIO_NUM_33		 
-	#define Z_RMT_CHANNEL		2		
+	#define Z_DIRECTION_PIN   	GPIO_NUM_33
 	
 	// OK to comment out to use pin for other features
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13	
@@ -209,9 +200,12 @@
 			
 	// Begin RC ESC Based Spindle Information ======================	
 	#define SPINDLE_PWM_BIT_PRECISION 16   // 16 bit recommended for ESC (don't change)
+	
+	
 	/*	
 		Important ESC Settings
 		$33=50 // Hz this is the typical good frequency for an ESC
+		#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
 		
 		Determine the typical min and max pulse length of your ESC
 		min_pulse is typically 1ms (0.001 sec) or less
@@ -223,10 +217,16 @@
 		
 		(pulse / PWM_period)
 		
-		min_pulse = (0.001 / 0.02) = 0.035 = 3.5%  so ... $33 and $34 = 3.5
+		min_pulse = (0.001 / 0.02) = 0.05 = 5%  so ... $34 and $35 = 5.0
 		max_pulse = (0.002 / .02) = 0.1 = 10%  so ... $36=10
 
 	*/
+	#define DEFAULT_SPINDLE_FREQ		50.0
+	#define DEFAULT_SPINDLE_OFF_VALUE	5.0
+	#define DEFAULT_SPINDLE_MIN_VALUE	5.0
+	#define DEFAULT_SPINDLE_MAX_VALUE	10.0
+	
+	
 	
 	
 	// End RC ESC Based Spindle #defines ===========================
@@ -260,13 +260,10 @@
 		#define PEN_LASER_V2
 
 		#define X_STEP_PIN      	GPIO_NUM_12
-		#define X_DIRECTION_PIN   	GPIO_NUM_26
-		#define X_RMT_CHANNEL		0
-		
+		#define X_DIRECTION_PIN   	GPIO_NUM_26		
 		
 		#define Y_STEP_PIN      	GPIO_NUM_14
-		#define Y_DIRECTION_PIN   	GPIO_NUM_25
-		#define Y_RMT_CHANNEL		1
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25		
 		
 		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
 		
@@ -362,11 +359,9 @@
 
 		#define X_STEP_PIN      GPIO_NUM_12
 		#define Y_STEP_PIN      GPIO_NUM_14
-		#define X_RMT_CHANNEL		0
 		
 		#define X_DIRECTION_PIN   GPIO_NUM_26
 		#define Y_DIRECTION_PIN   GPIO_NUM_25
-		#define Y_RMT_CHANNEL		1		
 		
 		#ifndef COREXY // maybe set in config.h
 			#define COREXY
@@ -827,7 +822,6 @@
 	#define X_DRIVER_TMC2130 	// Which Driver Type?
 	#define X_CS_PIN    			GPIO_NUM_17  //chip select
 	#define X_RSENSE				0.11f   // .11 Ohm
-	#define X_RMT_CHANNEL		0
 	
 	#define Y_STEP_PIN      	GPIO_NUM_14   
 	#define Y_DIRECTION_PIN   	GPIO_NUM_25 
@@ -835,7 +829,6 @@
 	#define Y_DRIVER_TMC2130 	// Which Driver Type?
 	#define Y_CS_PIN    			GPIO_NUM_16  //chip select
 	#define Y_RSENSE				0.11f   // .11 Ohm
-	#define Y_RMT_CHANNEL		1		
 	
 	// OK to comment out to use pin for other features
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13	
@@ -844,6 +837,7 @@
 		#define USE_SERVO_AXES
 	#endif
 	
+	
 	#define SERVO_Z_PIN 				GPIO_NUM_27
 	#define SERVO_Z_CHANNEL_NUM 		5
 	#define SERVO_Z_RANGE_MIN			0.0
@@ -852,17 +846,13 @@
 	#define SERVO_Z_HOME_POS			SERVO_Z_RANGE_MAX // move to max during homing
 	#define SERVO_Z_MPOS				false		// will not use mpos, uses work coordinates
 	
-	// *** the flood coolant feature code is activated by defining this pins
-	// *** Comment it out to use the pin for other features
-	//#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
-	//#define COOLANT_MIST_PIN   	GPIO_NUM_21
 	
-	// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
-	// use a virtual spindle. Do not comment out the other parameters for the spindle.
-	//#define SPINDLE_PWM_PIN    GPIO_NUM_17 
+	// Comment out servo pin and uncomment spindle pwm pin to use the servo PWM to control a spindle
+	/*
+	#define SPINDLE_PWM_PIN    GPIO_NUM_27
 	#define SPINDLE_PWM_CHANNEL 0		
 	#define SPINDLE_PWM_BIT_PRECISION 8   // be sure to match this with SPINDLE_PWM_MAX_VALUE
-	
+	*/
 	
 	// #define X_LIMIT_PIN      	See version section
 	#define Y_LIMIT_PIN      	GPIO_NUM_4
@@ -884,21 +874,17 @@
 	
 	#define X_STEP_PIN      	GPIO_NUM_12
 	#define X_DIRECTION_PIN   GPIO_NUM_26
-	#define X_RMT_CHANNEL		0		
 	
 	#define Y_STEP_PIN      	GPIO_NUM_14   
 	#define Y_DIRECTION_PIN   GPIO_NUM_25
-	#define Y_RMT_CHANNEL		1
 
 	// Z is a servo
 	
 	#define A_STEP_PIN      	GPIO_NUM_27   
 	#define A_DIRECTION_PIN   GPIO_NUM_33
-	#define A_RMT_CHANNEL		2	
 	
 	#define B_STEP_PIN      	GPIO_NUM_15
 	#define B_DIRECTION_PIN   GPIO_NUM_32
-	#define B_RMT_CHANNEL		3	
 	
 	// C is a servo
 		
@@ -1035,7 +1021,6 @@
 	#define X_DRIVER_TMC2130 	// Which Driver Type?
 	#define X_CS_PIN    		GPIO_NUM_17  // Daisy Chain, all share same CS pin
 	#define X_RSENSE			0.11f   // .11 Ohm
-	#define X_RMT_CHANNEL		0
 	
 	#define Y_STEP_PIN      	GPIO_NUM_27
 	#define Y_DIRECTION_PIN   	GPIO_NUM_26
@@ -1043,7 +1028,6 @@
 	#define Y_DRIVER_TMC2130 	// Which Driver Type?
 	#define Y_CS_PIN    		X_CS_PIN  // Daisy Chain, all share same CS pin
 	#define Y_RSENSE			0.11f   // .11 Ohm
-	#define Y_RMT_CHANNEL		1	
 	
 	#define Z_STEP_PIN      	GPIO_NUM_15
 	#define Z_DIRECTION_PIN   	GPIO_NUM_2
@@ -1051,7 +1035,6 @@
 	#define Z_DRIVER_TMC2130 	// Which Driver Type?
 	#define Z_CS_PIN    		X_CS_PIN  // Daisy Chain, all share same CS pin
 	#define Z_RSENSE			0.11f   // .11 Ohm
-	#define Z_RMT_CHANNEL		2
 
 	#define A_STEP_PIN      	GPIO_NUM_33
 	#define A_DIRECTION_PIN   	GPIO_NUM_32
@@ -1059,7 +1042,6 @@
 	#define A_DRIVER_TMC2130 	// Which Driver Type?
 	#define A_CS_PIN    		X_CS_PIN  // Daisy Chain, all share same CS pin
 	#define A_RSENSE			0.11f   // .11 Ohm
-	#define A_RMT_CHANNEL		3
 	
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13
 	
diff --git a/Grbl_Esp32/grbl.h b/Grbl_Esp32/grbl.h
index 33135184..94dc289c 100644
--- a/Grbl_Esp32/grbl.h
+++ b/Grbl_Esp32/grbl.h
@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20200110"
+#define GRBL_VERSION_BUILD "20200115"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
diff --git a/Grbl_Esp32/grbl_trinamic.cpp b/Grbl_Esp32/grbl_trinamic.cpp
index 8616cf23..15ee5655 100644
--- a/Grbl_Esp32/grbl_trinamic.cpp
+++ b/Grbl_Esp32/grbl_trinamic.cpp
@@ -134,12 +134,16 @@
 
 void Trinamic_Init()
 {
+	uint8_t testResult;
+	
     grbl_sendf(CLIENT_SERIAL, "[MSG:TMCStepper Init using Library Ver 0x%06x]\r\n", TMCSTEPPER_VERSION);
 	
 	SPI.begin();
 	
 	#ifdef X_TRINAMIC
 		TRINAMIC_X.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_X.test_connection();
+		trinamic_test_response(testResult, "X");
 		TRINAMIC_X.toff(5);
 		TRINAMIC_X.microsteps(settings.microsteps[X_AXIS]);
 		TRINAMIC_X.rms_current(settings.current[X_AXIS] * 1000.0, settings.hold_current[X_AXIS]/100.0);	
@@ -149,6 +153,8 @@ void Trinamic_Init()
 	
 	#ifdef Y_TRINAMIC
 		TRINAMIC_Y.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_Y.test_connection();
+		trinamic_test_response(testResult, "Y");
 		TRINAMIC_Y.toff(5);
 		TRINAMIC_Y.microsteps(settings.microsteps[Y_AXIS]);
 		TRINAMIC_Y.rms_current(settings.current[Y_AXIS] * 1000.0, settings.hold_current[Y_AXIS]/100.0);	
@@ -158,6 +164,8 @@ void Trinamic_Init()
 	
 	#ifdef Z_TRINAMIC
 		TRINAMIC_Z.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_Z.test_connection();
+		trinamic_test_response(testResult, "Z");
 		TRINAMIC_Z.toff(5);
 		TRINAMIC_Z.microsteps(settings.microsteps[Z_AXIS]);
 		TRINAMIC_Z.rms_current(settings.current[Z_AXIS] * 1000.0, settings.hold_current[Z_AXIS]/100.0);
@@ -167,6 +175,8 @@ void Trinamic_Init()
 	
 	#ifdef A_TRINAMIC
 		TRINAMIC_A.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_A.test_connection();
+		trinamic_test_response(testResult, "A");
 		TRINAMIC_A.toff(5);
 		TRINAMIC_A.microsteps(settings.microsteps[A_AXIS]);
 		TRINAMIC_A.rms_current(settings.current[A_AXIS] * 1000.0, settings.hold_current[A_AXIS]/100.0);
@@ -176,6 +186,8 @@ void Trinamic_Init()
 	
 	#ifdef B_TRINAMIC
 		TRINAMIC_B.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_B.test_connection();
+		trinamic_test_response(testResult, "B");
 		TRINAMIC_B.toff(5);
 		TRINAMIC_B.microsteps(settings.microsteps[B_AXIS]);
 		TRINAMIC_B.rms_current(settings.current[B_AXIS] * 1000.0, settings.hold_current[B_AXIS]/100.0);
@@ -185,6 +197,8 @@ void Trinamic_Init()
 	
 	#ifdef C_TRINAMIC
 		TRINAMIC_C.begin(); // Initiate pins and registries
+		testResult = TRINAMIC_C.test_connection();
+		trinamic_test_response(testResult, "C");
 		TRINAMIC_C.toff(5);
 		TRINAMIC_C.microsteps(settings.microsteps[C_AXIS]);
 		TRINAMIC_C.rms_current(settings.current[C_AXIS] * 1000.0, settings.hold_current[C_AXIS]/100.0);
@@ -228,4 +242,19 @@ void trinamic_change_settings()
 	#endif
 }
 
+void trinamic_test_response(uint8_t result, const char *axis) 
+{
+	grbl_sendf(CLIENT_SERIAL, "[MSG:%s Trinamic driver test ", axis);
+	if (result) {
+		grbl_sendf(CLIENT_SERIAL, "failed.");
+		switch(result) {
+            case 1: grbl_sendf(CLIENT_SERIAL, " Check connection]\r\n"); break;
+            case 2: grbl_sendf(CLIENT_SERIAL, " Check motor power]\r\n"); break;
+        }
+	}
+	else {
+		grbl_sendf(CLIENT_SERIAL, "passed]\r\n");
+	}		
+}
+
 #endif
\ No newline at end of file
diff --git a/Grbl_Esp32/grbl_trinamic.h b/Grbl_Esp32/grbl_trinamic.h
index 9723124a..574430a3 100644
--- a/Grbl_Esp32/grbl_trinamic.h
+++ b/Grbl_Esp32/grbl_trinamic.h
@@ -27,6 +27,7 @@
 	#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
 	void Trinamic_Init();
 	void trinamic_change_settings();
+	void trinamic_test_response(uint8_t result, const char *axis);
 #endif
 
 #endif
\ No newline at end of file
diff --git a/Grbl_Esp32/polar_coaster.h b/Grbl_Esp32/polar_coaster.h
index a7826172..6d570a02 100644
--- a/Grbl_Esp32/polar_coaster.h
+++ b/Grbl_Esp32/polar_coaster.h
@@ -33,9 +33,7 @@
 #define USE_RMT_STEPS
 
 #define X_STEP_PIN			GPIO_NUM_15
-#define X_RMT_CHANNEL		0
 #define Y_STEP_PIN      	GPIO_NUM_2
-#define Y_RMT_CHANNEL		1
 #define X_DIRECTION_PIN 	GPIO_NUM_25
 #define Y_DIRECTION_PIN 	GPIO_NUM_26
 
diff --git a/Grbl_Esp32/report.cpp b/Grbl_Esp32/report.cpp
index 73a85b5e..1d20b2db 100644
--- a/Grbl_Esp32/report.cpp
+++ b/Grbl_Esp32/report.cpp
@@ -275,16 +275,23 @@ void report_init_message(uint8_t client)
 
 // Grbl help message
 void report_grbl_help(uint8_t client) {	
-  grbl_send(client,"[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H $F ~ ! ? ctrl-x]\r\n");	
+  grbl_send(client,"[HLP:$$ $+ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H $F ~ ! ? ctrl-x]\r\n");	
 }
 
 
 // Grbl global settings print out.
 // NOTE: The numbering scheme here must correlate to storing in settings.c
-void report_grbl_settings(uint8_t client) {
+// Extended setting will be displayed if force_extended is true or #ifdef SHOW_EXTENDED_SETTINGS
+void report_grbl_settings(uint8_t client, uint8_t show_extended) {
   // Print Grbl settings.
 	char setting[20];
-	char rpt[1000];  
+	char rpt[1000];
+	
+	#ifdef SHOW_EXTENDED_SETTINGS
+		show_extended = true;
+	#endif
+	
+	grbl_sendf(CLIENT_SERIAL, "[MSG:Extended %d]\r\n", show_extended);
 	
 	rpt[0] = '\0';
 	
@@ -322,7 +329,7 @@ void report_grbl_settings(uint8_t client) {
     strcat(rpt, "$32=0\r\n");
   #endif
   
-  #ifdef SHOW_EXTENDED_SETTINGS
+  if (show_extended) {
 		sprintf(setting, "$33=%5.3f\r\n", settings.spindle_pwm_freq);   strcat(rpt, setting);
 		sprintf(setting, "$34=%3.3f\r\n", settings.spindle_pwm_off_value);   strcat(rpt, setting);
 		sprintf(setting, "$35=%3.3f\r\n", settings.spindle_pwm_min_value);   strcat(rpt, setting);
@@ -334,9 +341,8 @@ void report_grbl_settings(uint8_t client) {
 
     for (uint8_t index = 0; index<USER_SETTING_COUNT; index++) {
       sprintf(setting, "$%d=%5.3f\r\n", 90 + index, settings.machine_float[index]);   strcat(rpt, setting);
-    }
-
-  #endif
+	}
+  }
 	
   // Print axis settings
   uint8_t idx, set_idx;
@@ -348,12 +354,12 @@ void report_grbl_settings(uint8_t client) {
 				case 1: sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.max_rate[idx]);   strcat(rpt, setting);	 break;
 				case 2: sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.acceleration[idx]/(60*60));   strcat(rpt, setting);	 break;
 				case 3: sprintf(setting, "$%d=%4.3f\r\n", val+idx, -settings.max_travel[idx]);   strcat(rpt, setting);	 break;
-				#ifdef SHOW_EXTENDED_SETTINGS
-					case 4: sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.current[idx]);   strcat(rpt, setting);	 break;
-					case 5: sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.hold_current[idx]);   strcat(rpt, setting);	 break;
-					case 6: sprintf(setting, "$%d=%d\r\n", val+idx, settings.microsteps[idx]);   strcat(rpt, setting);	 break;
-          case 7: sprintf(setting, "$%d=%d\r\n", val+idx, settings.stallguard[idx]);   strcat(rpt, setting);	 break;
-				#endif
+				
+					case 4: if (show_extended) {sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.current[idx]);   strcat(rpt, setting);}	 break;
+					case 5: if (show_extended) {sprintf(setting, "$%d=%4.3f\r\n", val+idx, settings.hold_current[idx]);   strcat(rpt, setting);}	 break;
+					case 6: if (show_extended) {sprintf(setting, "$%d=%d\r\n", val+idx, settings.microsteps[idx]);   strcat(rpt, setting);}	 break;
+					case 7: if (show_extended) {sprintf(setting, "$%d=%d\r\n", val+idx, settings.stallguard[idx]);   strcat(rpt, setting);}	 break;
+				
       }
     }
     val += AXIS_SETTINGS_INCREMENT;
diff --git a/Grbl_Esp32/report.h b/Grbl_Esp32/report.h
index 55f2a422..f61ea294 100644
--- a/Grbl_Esp32/report.h
+++ b/Grbl_Esp32/report.h
@@ -132,7 +132,7 @@ void report_init_message(uint8_t client);
 void report_grbl_help(uint8_t client);
 
 // Prints Grbl global settings
-void report_grbl_settings(uint8_t client);
+void report_grbl_settings(uint8_t client, uint8_t show_extended);
 
 // Prints an echo of the pre-parsed line received right before execution.
 void report_echo_line_received(char *line, uint8_t client);
diff --git a/Grbl_Esp32/settings.cpp b/Grbl_Esp32/settings.cpp
index 5be2f57d..0219e2ac 100644
--- a/Grbl_Esp32/settings.cpp
+++ b/Grbl_Esp32/settings.cpp
@@ -43,7 +43,7 @@ void settings_init()
   if(!read_global_settings()) {
     report_status_message(STATUS_SETTING_READ_FAIL, CLIENT_SERIAL);
     settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
-    report_grbl_settings(CLIENT_SERIAL); // only the serial could be working at this point
+    report_grbl_settings(CLIENT_SERIAL, false); // only the serial could be working at this point
   }
 }
 
diff --git a/Grbl_Esp32/settings.h b/Grbl_Esp32/settings.h
index 3abc6bb1..1c5d47df 100644
--- a/Grbl_Esp32/settings.h
+++ b/Grbl_Esp32/settings.h
@@ -75,11 +75,8 @@
 // #define SETTING_INDEX_G92    N_COORDINATE_SYSTEM+2  // Coordinate offset (G92.2,G92.3 not supported)
 
 // Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
-#ifndef SHOW_EXTENDED_SETTINGS
-	#define AXIS_N_SETTINGS          4
-#else
-	#define AXIS_N_SETTINGS          8
-#endif
+#define AXIS_N_SETTINGS          8 // includes extended settings
+
 #define AXIS_SETTINGS_START_VAL  100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
 #define AXIS_SETTINGS_INCREMENT  10  // Must be greater than the number of axis settings
 
diff --git a/Grbl_Esp32/spindle_control.cpp b/Grbl_Esp32/spindle_control.cpp
index 8877bf37..6250399c 100644
--- a/Grbl_Esp32/spindle_control.cpp
+++ b/Grbl_Esp32/spindle_control.cpp
@@ -22,17 +22,17 @@
 
 #ifdef SPINDLE_PWM_PIN
 static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
-float spindle_pwm_period;
-float spindle_pwm_off_value;
-float spindle_pwm_min_value;
-float spindle_pwm_max_value;
+uint32_t spindle_pwm_period; // how many counts in 1 period
+uint32_t spindle_pwm_off_value;
+uint32_t spindle_pwm_min_value;
+uint32_t spindle_pwm_max_value;
 #endif
 
 void spindle_init()
 {
 	
 	#ifdef SPINDLE_PWM_PIN
-	
+		grbl_sendf(CLIENT_SERIAL, "[MSG:Spindle init on pin %d]\r\n", SPINDLE_PWM_PIN);
 		#ifdef INVERT_SPINDLE_PWM
 			grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_PWM]\r\n");
 		#endif
@@ -41,27 +41,21 @@ void spindle_init()
 			grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n");
 		#endif
 		
-		spindle_pwm_period = SPINDLE_PULSE_RES_COUNT;
-		
-		
-		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_gradient = (settings.spindle_pwm_max_value - settings.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);	
-			
-			
-		if ( (F_TIMERS / (uint32_t)settings.spindle_pwm_freq) < spindle_pwm_max_value) {
-			/*
-			PWM Generator is based on 80,000,000 Hz counter
-			Therefor the freq determines the resolution 80,000,000 / freq = max resolution
-			For 5000 that is 80,000,000 / 5000 = 16000
-			Round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
-			*/		
-			grbl_sendf(CLIENT_SERIAL, "[MSG: Warning! Spindle freq %5.0f too high for requested PWM max %5.2f%%  (%5.0f)]\r\n", settings.spindle_pwm_freq, settings.spindle_pwm_max_value, spindle_pwm_max_value);
+		// determine how many PWM counts are in eqach PWM cycle
+		spindle_pwm_period = ((1<<SPINDLE_PWM_BIT_PRECISION) -1);
+
+		if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value) {
+			grbl_sendf(CLIENT_SERIAL, "[MSG: Warning spindle min pwm is greater than max. Check $35 and $36]\r\n", pwm_gradient);			
 		}
 		
+		// pre-caculate some PWM count values		
+		spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100.0);
+		spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100.0);
+		spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100.0);		
+				
+		// The pwm_gradient is the pwm duty cycle units per rpm
+		pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
+		
 		// Use DIR and Enable if pins are defined
 		#ifdef SPINDLE_ENABLE_PIN
 			pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
@@ -73,15 +67,15 @@ void spindle_init()
 		
 		// use the LED control feature to setup PWM   https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
 		ledcSetup(SPINDLE_PWM_CHANNEL, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
-		ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin		
+		ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
 		
 		// Start with spindle off off
-		 spindle_stop();
+		spindle_stop();
 	#endif
 }
 
 void spindle_stop()
-{		
+{	
 	spindle_set_enable(false);	
 
 	#ifdef SPINDLE_PWM_PIN
@@ -119,6 +113,7 @@ uint8_t spindle_get_state()  // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW
 void spindle_set_speed(uint32_t pwm_value)
 {	
 	#ifndef SPINDLE_PWM_PIN
+		//grbl_sendf(CLIENT_SERIAL, "[MSG: set speed...no pin defined]\r\n");
 		return;
 	#else
 		#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
@@ -160,7 +155,7 @@ uint32_t spindle_compute_pwm_value(float rpm){
 			#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
 				pwm_value = piecewise_linear_fit(rpm);
 			#else
-				pwm_value = floor((rpm - settings.rpm_min)*pwm_gradient) + settings.spindle_pwm_min_value;
+				pwm_value = floor((rpm - settings.rpm_min)*pwm_gradient) + spindle_pwm_min_value;
 			#endif
 		}
 		return(pwm_value);
@@ -211,9 +206,7 @@ void spindle_sync(uint8_t state, float rpm)
 void grbl_analogWrite(uint8_t chan, uint32_t duty)
 {
 	if (ledcRead(chan) != duty) // reduce unnecessary calls to ledcWrite()
-	{
-		// Useful for debug, but too many messages in laser mode
-		// grbl_sendf(CLIENT_SERIAL, "[MSG: grbl_analogWrite %d]\r\n", duty);
+	{		
 		ledcWrite(chan, duty);
 	}
 }
diff --git a/Grbl_Esp32/spindle_control.h b/Grbl_Esp32/spindle_control.h
index fd4147d4..068661ef 100644
--- a/Grbl_Esp32/spindle_control.h
+++ b/Grbl_Esp32/spindle_control.h
@@ -31,7 +31,7 @@
 #define SPINDLE_STATE_CW       bit(0)
 #define SPINDLE_STATE_CCW      bit(1)
 
-#define SPINDLE_PULSE_RES_COUNT ((1<<SPINDLE_PWM_BIT_PRECISION) -1)  //(don't change)
+extern uint32_t spindle_pwm_off_value;
   
   void spindle_init();
   void spindle_stop();
diff --git a/Grbl_Esp32/stepper.cpp b/Grbl_Esp32/stepper.cpp
index 42cd94b4..2ad5bdf4 100644
--- a/Grbl_Esp32/stepper.cpp
+++ b/Grbl_Esp32/stepper.cpp
@@ -294,7 +294,7 @@ void IRAM_ATTR onStepperDriverTimer(void *para)  // ISR It is time to take a ste
 			if (!(sys.state & STATE_JOG)) {  // added to prevent ... jog after probing crash
 				// Ensure pwm is set properly upon completion of rate-controlled motion.
 				if (st.exec_block->is_pwm_rate_adjusted) {
-					spindle_set_speed(settings.spindle_pwm_off_value);
+					spindle_set_speed(spindle_pwm_off_value);
 				}
 			}		
 
@@ -1325,7 +1325,7 @@ void st_prep_buffer()
 			} else {
 				sys.spindle_speed = 0.0;
 				#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
-					prep.current_spindle_pwm = settings.spindle_pwm_off_value;
+					prep.current_spindle_pwm = spindle_pwm_off_value ;
 				#endif
 				
 			}
diff --git a/Grbl_Esp32/stepper.h b/Grbl_Esp32/stepper.h
index d2dd6bbd..d99a9d01 100644
--- a/Grbl_Esp32/stepper.h
+++ b/Grbl_Esp32/stepper.h
@@ -47,6 +47,14 @@
 #define PREP_FLAG_PARKING bit(2)
 #define PREP_FLAG_DECEL_OVERRIDE bit(3)
 
+// which RMT channels to use with the axes
+#define X_RMT_CHANNEL		0
+#define Y_RMT_CHANNEL		1
+#define Z_RMT_CHANNEL		2
+#define A_RMT_CHANNEL		3
+#define B_RMT_CHANNEL		4
+#define C_RMT_CHANNEL		5
+
 // Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
 // frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
 // starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
diff --git a/Grbl_Esp32/system.cpp b/Grbl_Esp32/system.cpp
index fbfd2264..dd54e371 100644
--- a/Grbl_Esp32/system.cpp
+++ b/Grbl_Esp32/system.cpp
@@ -183,13 +183,18 @@ uint8_t system_execute_line(char *line, uint8_t client)
       if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
       return(gc_execute_line(line, client)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
       break;
-    case '$': case 'G': case 'C': case 'X':
+    case '$': case 'G': case 'C': case 'X': case '+':
       if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
       switch( line[1] ) {
-        case '$' : // Prints Grbl settings
+        case '$': case '+' : // Prints Grbl settings
           if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
-          else { report_grbl_settings(client); }
-          break;
+          else { 
+			if (line[1] == '$')
+				report_grbl_settings(client, false); // entended settings depend on SHOW_EXTENDED_SETTINGS
+			else
+				report_grbl_settings(client, true);  // force display of extended settings
+		  }
+          break;		
         case 'G' : // Prints gcode parser state
           // TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
           report_gcode_modes(client);
diff --git a/doc/csv/setting_codes_en_US.csv b/doc/csv/setting_codes_en_US.csv
index 55362625..71571e40 100644
--- a/doc/csv/setting_codes_en_US.csv
+++ b/doc/csv/setting_codes_en_US.csv
@@ -21,10 +21,10 @@
 "30","Maximum spindle speed","RPM","Maximum spindle speed. Sets PWM to 100% duty cycle."
 "31","Minimum spindle speed","RPM","Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle."
 "32","Laser-mode enable","boolean","Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed."
-"33","Spindle PWM Freq","16-bit","Spindle PWM Freq"
-"34","Spindle PWM Off Value","16-bit","Spindle PWM Off Value"
-"35","Spindle PWM Min Value","16-bit","Spindle PWM Min Value"
-"36","Spindle PWM Max Value","16-bit","Spindle PWM Max Value"
+"33","Spindle PWM Freq","16-bit","Spindle PWM Freq (reboot to take effect)"
+"34","Spindle PWM Off Value","16-bit","Spindle PWM Off Value  (reboot to take effect)"
+"35","Spindle PWM Min Value","16-bit","Spindle PWM Min Value  (reboot to take effect)"
+"36","Spindle PWM Max Value","16-bit","Spindle PWM Max Value (reboot to take effect)"
 "80-84","User integer Values","unsigned 16-bit","Reserved for custom machine use"
 "90-94","User Floating point value","float","Reserved for custom machine use"
 "100","X-axis travel resolution","step/mm","X-axis travel resolution in steps per millimeter."