diff --git a/.gitignore b/.gitignore
index 40c50802..95228f92 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,5 @@ embedded/node_modules
 embedded/dist
 *~
 .pio/
-.vscode/
\ No newline at end of file
+.vscode/
+.history/
\ No newline at end of file
diff --git a/Grbl_Esp32/Machines/3x_v3.h b/Grbl_Esp32/Machines/3axis_v3.h
similarity index 81%
rename from Grbl_Esp32/Machines/3x_v3.h
rename to Grbl_Esp32/Machines/3axis_v3.h
index 5d8313fc..d0ad82b8 100644
--- a/Grbl_Esp32/Machines/3x_v3.h
+++ b/Grbl_Esp32/Machines/3axis_v3.h
@@ -1,6 +1,6 @@
 // Pin assignments for the ESP32 Development Controller, v3.5.
-// https://github.com/bdring/Grbl_ESP32_Development_Controller
-// https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
+//   https://github.com/bdring/Grbl_ESP32_Development_Controller
+//   https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
 
 #define MACHINE_NAME            "MACHINE_ESP32_V3.5"
 
@@ -21,8 +21,8 @@
 
 #define SPINDLE_PWM_PIN         GPIO_NUM_17  // labeled SpinPWM
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl
-#define MIST_PIN                GPIO_NUM_21  // labeled Mist
-#define FLOOD_PIN               GPIO_NUM_16  // labeled Flood
+#define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist
+#define COOLANT_FLOOD_PIN       GPIO_NUM_16  // labeled Flood
 #define PROBE_PIN               GPIO_NUM_32  // labeled Probe
 
 #define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35  // labeled Door,  needs external pullup
diff --git a/Grbl_Esp32/Machines/3x_v4.h b/Grbl_Esp32/Machines/3axis_v4.h
similarity index 89%
rename from Grbl_Esp32/Machines/3x_v4.h
rename to Grbl_Esp32/Machines/3axis_v4.h
index 8c8835e8..fb7bce45 100644
--- a/Grbl_Esp32/Machines/3x_v4.h
+++ b/Grbl_Esp32/Machines/3axis_v4.h
@@ -1,6 +1,6 @@
 // Pin assignments for the ESP32 Development Controller, v4.1 and later.
-// https://github.com/bdring/Grbl_ESP32_Development_Controller
-// https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
+//   https://github.com/bdring/Grbl_ESP32_Development_Controller
+//   https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
 
 #define MACHINE_NAME            "MACHINE_ESP32_V4"
 
diff --git a/Grbl_Esp32/Machines/3x_xyx.h b/Grbl_Esp32/Machines/3axis_xyx.h
similarity index 80%
rename from Grbl_Esp32/Machines/3x_xyx.h
rename to Grbl_Esp32/Machines/3axis_xyx.h
index ca44c239..d2f07667 100644
--- a/Grbl_Esp32/Machines/3x_xyx.h
+++ b/Grbl_Esp32/Machines/3axis_xyx.h
@@ -1,8 +1,8 @@
-// This is the CPU Map for the ESP32 Development Controller
+// Pin assignments for the ESP32 Development Controller
 // used to drive a dual motor gantry where the drivers
 // labeled X, Y and Z drive the machine axes X, Y and X.
-// https://github.com/bdring/Grbl_ESP32_Development_Controller
-// https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
+//   https://github.com/bdring/Grbl_ESP32_Development_Controller
+//   https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
 
 #define MACHINE_NAME            "MACHINE_ESP32_V4_XYX"
 #define X_STEP_PIN              GPIO_NUM_26  /* labeled Y */
@@ -21,8 +21,8 @@
 
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_13
 
-#define COOLANT_MIST_PIN_1      GPIO_NUM_21
-#define COOLANT_FLOOE_PIN_2     GPIO_NUM_25
+#define COOLANT_MIST_PIN        GPIO_NUM_21
+#define COOLANT_FLOOD_PIN       GPIO_NUM_25
 
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_22
 
diff --git a/Grbl_Esp32/Machines/3x_esc_spindle.h b/Grbl_Esp32/Machines/add_esc_spindle.h
similarity index 63%
rename from Grbl_Esp32/Machines/3x_esc_spindle.h
rename to Grbl_Esp32/Machines/add_esc_spindle.h
index 65f6b189..33426a52 100644
--- a/Grbl_Esp32/Machines/3x_esc_spindle.h
+++ b/Grbl_Esp32/Machines/add_esc_spindle.h
@@ -1,9 +1,12 @@
-// This is an example of using a Brushless DC Hobby motor as
-// a spindle motor.  See this wiki page for more info
-// https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
-//
-// To use this file you must first include another machine file
-// that defines the pin assignments, such as Machines/3x_v4.h
+// This is an additional configuration fragment that can be
+// included after a base configuration file.  The base file
+// establishes most settings and the add-on changes a few things.
+// For example, in machines.h, you would write:
+//   #include "Machines/3axis_v4.h"             // Basic pin assignments
+//   #include "Machines/add_esc_spindle.h"      // Add-ons for ESC spindle
+
+// This uses a Brushless DC Hobby motor as a spindle motor.  See:
+//   https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
 
 #define SHOW_EXTENDED_SETTINGS
 
diff --git a/Grbl_Esp32/Machines/atari_1020.h b/Grbl_Esp32/Machines/atari_1020.h
index 972ad5bd..328283b0 100644
--- a/Grbl_Esp32/Machines/atari_1020.h
+++ b/Grbl_Esp32/Machines/atari_1020.h
@@ -1,30 +1,14 @@
-/*
-        atari_1020.h
-        Part of Grbl_ESP32
+// Pin assignments and other configuration for an Atari 1020 pen plotter
 
-        copyright (c) 2018 -    Bart Dring This file was modified for use on the ESP32
-                                        CPU. Do not use this with Grbl for atMega328P
-
-        Grbl is free software: you can redistribute it and/or modify
-        it under the terms of the GNU General Public License as published by
-        the Free Software Foundation, either version 3 of the License, or
-        (at your option) any later version.
-
-        Grbl is distributed in the hope that it will be useful,
-        but WITHOUT ANY WARRANTY; without even the implied warranty of
-        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-        GNU General Public License for more details.
-
-        You should have received a copy of the GNU General Public License
-        along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-
-        This contains all the special features required to control an
-        Atari 1010 Pen Plotter
-*/
+// The pen plotter uses several special options, including unipolar
+// motors, custom homing and tool changing.  The file atari_1020.cpp
+// defines custom functions to handle the special features.  As such,
+// this file defines not only pin assignments but also many other
+// things that are necessary to override default choices that are
+// inappropriate for this particular machine.
 
 #define MACHINE_NAME "MACHINE_ATARI_1020"
 
-// ================== CPU MAP ======================
 #ifdef USE_RMT_STEPS
         #undef USE_RMT_STEPS
 #endif
@@ -78,7 +62,7 @@
 #define INVERT_CONTROL_PIN_MASK   B01110000
 
 #define MACRO_BUTTON_0_PIN              GPIO_NUM_34  // Pen Switch
-#define MACRO_BUTTON_1_PIN              GPIO_NUM_35      // Color Switch
+#define MACRO_BUTTON_1_PIN              GPIO_NUM_35  // Color Switch
 #define MACRO_BUTTON_2_PIN              GPIO_NUM_36  // Paper Switch
 
 #ifdef DEFAULTS_GENERIC
@@ -131,8 +115,6 @@
 #define DEFAULT_Y_MAX_TRAVEL 20000.0 // mm NOTE: Must be a positive value.
 #define DEFAULT_Z_MAX_TRAVEL 10.0 // This is percent in servo mode
 
-// ================== CPU MAP ======================
-
 #define ATARI_1020
 
 #define SOLENOID_PWM_FREQ 5000
@@ -144,7 +126,7 @@
 
 #define SOLENOID_TASK_FREQ 50  // this is milliseconds
 
-#define MAX_PEN_NUMBER                  4
+#define MAX_PEN_NUMBER          4
 #define BUMPS_PER_PEN_CHANGE    3
 
 
diff --git a/Grbl_Esp32/Machines/custom_machine_template.h b/Grbl_Esp32/Machines/custom_machine_template.h
index 23cbb91a..03b74bbb 100644
--- a/Grbl_Esp32/Machines/custom_machine_template.h
+++ b/Grbl_Esp32/Machines/custom_machine_template.h
@@ -1,79 +1 @@
-/*
-	custom_machine_template.h
-	Part of Grbl_ESP32
-
-	copyright (c) 2020 -	Bart Dring. This file was intended for use on the ESP32
-						CPU. Do not use this with Grbl for atMega328P
-
-	Grbl_ESP32 is free software: you can redistribute it and/or modify
-	it under the terms of the GNU General Public License as published by
-	the Free Software Foundation, either version 3 of the License, or
-	(at your option) any later version.
-
-	Grbl_ESP32 is distributed in the hope that it will be useful,
-	but WITHOUT ANY WARRANTY; without even the implied warranty of
-	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-	GNU General Public License for more details.
-
-	You should have received a copy of the GNU General Public License
-	along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-
-	====================================================================
-
-	See custom_machine_templete.cpp for getting started creating custom
-	machines
-*/
-
-// =============== MACHINE NAME ========================
-// Change "MACHINE_CUSTOM", replacing "CUSTOM" with your chosen name
-
-// #define MACHINE_NAME 		"MACHINE_CUSTOM"
-
-// ================ config.h overrides ====================================
-// If you want to make some changes to config.h, it is best to do it here
-// if possible so all your changes are in your files.  Many of the #defines
-// in config.h are only applied if the symbol is not already defined in
-// a machine definition file.  Example:
-
-// #define N_AXIS 4
-
-// =============== MACHINE CONFIGURATION ========================
-// Look at the other files in the Machines/ directory
-// for all the things that can go here
-
-// Assign CPU pins to machine functions, for example:
-#define X_STEP_PIN              GPIO_NUM_12
-#define X_DIRECTION_PIN         GPIO_NUM_26
-#define X_LIMIT_PIN             GPIO_NUM_2
-
-// #define SPINDLE_PWM_PIN         GPIO_NUM_17
-
-// #define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35
-
-// Set the number of bits to the number of limit switches
-#define LIMIT_MASK      	B111
-
-// ============== Enable custom features =======================
-
-// There are several customization functions that the code only
-// calls if the symbols below are defined.  To use such a function,
-// you must define the symbol herein, and define the function in
-// your my_machine.cpp file.
-
-// #define USE_MACHINE_INIT  // Enables use of custom machine_init()
-// #define USE_CUSTOM_HOMING // Enables use of user_defined_homing()
-// #define USE_KINEMATICS    // Enables use of inverse_kinematics(), kinematics_pre_homing(), and kinematics_post_homing()
-// #define USE_FWD_KINEMATIC // Enables use of forward_kinematics()
-// #define USE_TOOL_CHANGE   // Enables use off user_tool_change()
-// #define USE_M30           // Enables use of user_m30()
-// #define USE_TRIAMINIC     // Enables use of functions shown in grbl_triaminic.h
-// #define USE_MACHINE_TRINAMIC_INIT  // Enables use of machine_triaminic_setup()
-
-// ===================== $$ Defaults ==========================================
-// defaults.h defines default values for the $$ settings that will be
-// applied when you upload new firmware or if you reset them with $RST=$.
-// You can override individual defaults by defining them here.  Examples:
-
-// #define DEFAULT_SPINDLE_FREQ 2000.0
-// #define DEFAULT_X_MAX_TRAVEL 100.0
-
+// See template.h
\ No newline at end of file
diff --git a/Grbl_Esp32/Machines/espduino.h b/Grbl_Esp32/Machines/espduino.h
index 681de94b..59e11da3 100644
--- a/Grbl_Esp32/Machines/espduino.h
+++ b/Grbl_Esp32/Machines/espduino.h
@@ -4,7 +4,6 @@
 // Rebooting...See this issue https://github.com/bdring/Grbl_Esp32/issues/314
 // !!!! Experimental Untested !!!!!
 
-
 #define MACHINE_NAME "MACHINE_ESPDUINO_32"
 
 #define X_STEP_PIN              GPIO_NUM_26
diff --git a/Grbl_Esp32/Machines/foo_6x.h b/Grbl_Esp32/Machines/foo_6axis.h
similarity index 99%
rename from Grbl_Esp32/Machines/foo_6x.h
rename to Grbl_Esp32/Machines/foo_6axis.h
index 127d2f50..60190a84 100644
--- a/Grbl_Esp32/Machines/foo_6x.h
+++ b/Grbl_Esp32/Machines/foo_6axis.h
@@ -1,4 +1,4 @@
-// Pin assignments for 6-axis system
+// Pin assignments for a 6-axis system
 
 #define MACHINE_NAME "MACHINE_FOO_6X"
 
diff --git a/Grbl_Esp32/Machines/spi_daisy_4x.h b/Grbl_Esp32/Machines/spi_daisy_4axis.h
similarity index 100%
rename from Grbl_Esp32/Machines/spi_daisy_4x.h
rename to Grbl_Esp32/Machines/spi_daisy_4axis.h
diff --git a/Grbl_Esp32/Machines/template.h b/Grbl_Esp32/Machines/template.h
new file mode 100644
index 00000000..11f8acf3
--- /dev/null
+++ b/Grbl_Esp32/Machines/template.h
@@ -0,0 +1,240 @@
+// Template for a machine configuration file.
+
+// This contains a long list of things that might possibly be
+// configured.  Most machines - especially simple cartesian machines
+// that use stepper motors - will only need to define a few of the
+// options herein, often just the pin assignments.
+
+// Pin assignments depend on how the ESP32 is connected to
+// the external machine.  Typically the ESP32 module plugs into
+// an adapter board that wires specific ESP32 GPIO pins to
+// other connectors on the board, such as Pololu sockets for
+// stepper drivers or connectors for external drivers, limit
+// pins, spindle control, etc.  This file describes how those
+// GPIO pins are wired to those other connectors.
+
+// Some machines might choose to use an adapter board in a
+// non-standard way, for example a 3-axis board might have axes
+// labeled XYZ, but the machine might have only 2 axes one of which is
+// driven by two ganged motors.  In that case, you would need
+// a custom version of this file that assigns the pins differently
+// from the adapter board labels.
+
+// In addition to pin assignments, many other aspects of Grbl
+// can be configured, such as spindle speeds, special motor
+// types like servos and unipolars, homing order, default values
+// for $$ settings, etc.  A detailed list of such options is
+// given below.
+
+// Furthermore, it is possible to implement special complex
+// behavior in custom C++ code, for non-Cartesian machines,
+// unusual homing cycles, etc.  See the Special Features section
+// below for additional instructions.
+
+// === Machine Name
+// Change TEMPLATE to some name of your own choosing.  That name
+// will be shown in a Grbl startup message to identify your
+// configuration.  If you need to implement custom code functions
+// as in custom_code_template.cpp, the beginning #ifdef in
+// your custom .cpp file must match your chosen MACHINE_name ,
+// so as to enable the compilation of your file and suppress
+// compilation of other custom .cpp files.
+
+#define MACHINE_NAME            "MACHINE_TEMPLATE"
+
+// === Number of axes
+
+// You can set the number of axes that the machine supports
+// by defining N_AXIS.  If you do not define it, 3 will be
+// used.  The value must be at least 3, even if your machine
+// has fewer axes.
+// #define N_AXIS 4
+
+
+// == Pin Assignments
+
+// Step and direction pins; these must be output-capable pins,
+// specifically ESP32 GPIO numbers 0..31
+// #define X_STEP_PIN              GPIO_NUM_12
+// #define X_DIRECTION_PIN         GPIO_NUM_14
+// #define Y_STEP_PIN              GPIO_NUM_26
+// #define Y_DIRECTION_PIN         GPIO_NUM_15
+// #define Z_STEP_PIN              GPIO_NUM_27
+// #define Z_DIRECTION_PIN         GPIO_NUM_33
+
+// The 1 bits in LIMIT_MASK set the axes that have limit switches
+// For example, if the Y axis has no limit switches but the
+// X, Z, A and B axes do, the LIMIT_MASK value would be B11101
+// #define LIMIT_MASK              B111
+
+// #define X_LIMIT_PIN             GPIO_NUM_17
+// #define Y_LIMIT_PIN             GPIO_NUM_4
+// #define Z_LIMIT_PIN             GPIO_NUM_16
+
+// Common enable for all steppers.  If it is okay to leave
+// your drivers enabled at all times, you can leave
+// STEPPERS_DISABLE_PIN undefined and use the pin for something else.
+// #define STEPPERS_DISABLE_PIN    GPIO_NUM_13
+
+// Pins for controlling various aspects of the machine.  If your
+// machine does not support one of these features, you can leave
+// the corresponding pin undefined.
+
+// #define SPINDLE_PWM_PIN         GPIO_NUM_2   // labeled SpinPWM
+// #define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl
+// #define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist
+// #define COOLANT_FLOOD_PIN       GPIO_NUM_25  // labeled Flood
+// #define PROBE_PIN               GPIO_NUM_32  // labeled Probe
+
+// Input pins for various functions.  If the corresponding pin is not defined,
+// the function will not be available.
+
+// CONTROL_SAFETY_DOOR_PIN shuts off the machine when a door is opened
+// or some other unsafe condition exists.
+// #define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35  // labeled Door,  needs external pullup
+
+// RESET, FEED_HOLD, and CYCLE_START can control GCode execution at
+// the push of a button.
+
+// #define CONTROL_RESET_PIN       GPIO_NUM_34  // labeled Reset, needs external pullup
+// #define CONTROL_FEED_HOLD_PIN   GPIO_NUM_36  // labeled Hold,  needs external pullup
+// #define CONTROL_CYCLE_START_PIN GPIO_NUM_39  // labeled Start, needs external pullup
+
+// === Ganging
+// If you need to use two motors on one axis, you can "gang" the motors by
+// defining a second pin to control the other motor on the axis.  For example:
+
+// #define Y2_STEP_PIN             GPIO_NUM_27  /* labeled Z */
+// #define Y2_DIRECTION_PIN        GPIO_NUM_33  /* labeled Z */
+
+// === Servos
+// To use a servo motor on an axis, do not define step and direction
+// pins for that axis, but instead include a block like this:
+// #define USE_SERVO_AXES
+
+// #define SERVO_Z_PIN             GPIO_NUM_22
+// #define SERVO_Z_CHANNEL_NUM     6
+// #define SERVO_Z_RANGE_MIN       0.0
+// #define SERVO_Z_RANGE_MAX       5.0
+// #define SERVO_Z_HOMING_TYPE     SERVO_HOMING_TARGET // during homing it will instantly move to a target value
+// #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
+
+// === Homing cycles
+// The default homing order is Z first (HOMING_CYCLE_0),
+// then X (HOMING_CYCLE_1), and finally Y (HOMING_CYCLE_2)
+// For machines that need different homing order, you can
+// undefine HOMING_CYCLE_n and redefine it accordingly.
+// For example, the following would first home X and Y
+// simultaneously, then A and B simultaneously, and Z
+// not at all.
+
+// #undef HOMING_CYCLE_0
+// #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
+
+// #undef HOMING_CYCLE_1
+// #define HOMING_CYCLE_1 ((1<<A_AXIS)|(1<<B_AXIS))
+
+// #undef HOMING_CYCLE_2
+// #endif
+
+// === Default settings
+// Grbl has many run-time settings that the user can changed by
+// commands like $110=2000 .  Their values are stored in EEPROM
+// so they persist after the controller has been powered down.
+// Those settings have default values that are used if the user
+// has not altered them, or if the settings are explicitly reset
+// to the default values wth $RST=$.
+//
+// The default values are established in defaults.h, but you
+// can override any one of them by definining it here, for example:
+
+//#define DEFAULT_INVERT_LIMIT_PINS 1
+//#define DEFAULT_REPORT_INCHES 1
+
+// === Control Pins
+
+// The control pins with names that begin with CONTROL_ are
+// ignored by default, to avoid noise problems.  To make them
+// work, you must undefine IGNORE_CONTROL_PINS
+// #undef IGNORE_CONTROL_PINS
+
+// If some of the control pin switches are normally closed
+// (the default is normally open), you can invert some of them
+// with INVERT_CONTROL_PIN_MASK.  The bits in the mask are
+// Cycle Start, Feed Hold, Reset, Safety Door.  To use a
+// normally open switch on Reset, you would say
+// #define INVERT_CONTROL_PIN_MASK B1101
+
+// If your control pins do not have adequate hardware signal
+// conditioning, you can define these to use software to
+// reduce false triggering.
+// #define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
+// #define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
+
+
+// Grbl_ESP32 use the ESP32's special RMT (IR remote control) hardware
+// engine to achieve more precise high step rates than can be done
+// in software.  That feature is enabled by default, but there are
+// some machines that might not want to use it, such as machines that
+// do not use ordinary stepper motors.  To turn it off, do this:
+// #undef USE_RMT_STEPS
+
+// === Special Features
+// Grbl_ESP32 can support non-Cartesian machines and some other
+// scenarios that cannot be handled by choosing from a set of
+// predefined selections.  Instead they require machine-specific
+// C++ code functions.  There are callouts in the core code for
+// such code, guarded by ifdefs that enable calling the individual
+// functions.  custom_code_template.cpp describes the functions
+// that you can implement.  The ifdef guards are described below:
+//
+// USE_CUSTOM_HOMING enables the user_defined_homing() function
+// that can implement an arbitrary homing sequence.
+// #define USE_CUSTOM_HOMING
+
+// USE_KINEMATICS enables the functions inverse_kinematics(),
+// kinematics_pre_homing(), and kinematics_post_homing(),
+// so non-Cartesian machines can be implemented.
+// #define USE_KINEMATICS
+
+// USE_FWD_KINEMATIC enables the forward_kinematics() function
+// that converts motor positions in non-Cartesian coordinate
+// systems back to Cartesian form, for status reports.
+//#define USE_FWD_KINEMATIC
+
+// USE_TOOL_CHANGE enables the user_tool_change() function
+// that implements custom tool change procedures.
+// #define USE_TOOL_CHANGE
+
+// Any one of MACRO_BUTTON_0_PIN, MACRO_BUTTON_1_PIN, and MACRO_BUTTON_2_PIN
+// enables the user_defined_macro(number) function which
+// implements custom behavior at the press of a button
+// #define MACRO_BUTTON_0_PIN
+
+// USE_M30 enables the user_m30() function which implements
+// custom behavior when a GCode programs stops at the end
+// #define USE_M30
+
+// USE_TRIAMINIC enables a suite of functions that are defined
+// in grbl_triaminic.cpp, allowing the use of Triaminic stepper
+// drivers that require software configuration at startup.
+// There are several options that control the details of such
+// drivers; inspect the code in grbl_triaminic.cpp to see them.
+// #define USE_TRIAMINIC
+// #define X_TRIAMINIC
+// #define X_DRIVER_TMC2209
+// #define TRIAMINIC_DAISY_CHAIN
+
+// USE_MACHINE_TRINAMIC_INIT enables the machine_triaminic_setup()
+// function that replaces the normal setup of Triaminic drivers.
+// It could, for, example, setup StallGuard or other special modes.
+// #define USE_MACHINE_TRINAMIC_INIT
+
+
+// === Grbl behavior options
+// There are quite a few options that control aspects of Grbl that
+// are not specific to particular machines.  They are listed and
+// described in config.h after it includes the file machine.h.
+// Normally you would not need to change them, but if you do,
+// it will be necessary to make the change in config.h
diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h
index d5e0ca5d..0d64d1e2 100644
--- a/Grbl_Esp32/config.h
+++ b/Grbl_Esp32/config.h
@@ -99,6 +99,10 @@ Some features should not be changed. See notes below.
 #define N_AXIS 3
 #endif
 
+#ifndef LIMIT_MASK
+#define LIMIT_MASK B0
+#endif
+
 #define VERBOSE_HELP // Currently this doesn't do anything
 #define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
 
diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h
new file mode 100644
index 00000000..64f174cb
--- /dev/null
+++ b/Grbl_Esp32/cpu_map.h
@@ -0,0 +1,2 @@
+// Machine configuration is now done in machine.h
+// Read that file for instructions.
diff --git a/Grbl_Esp32/custom_machine_template.cpp b/Grbl_Esp32/custom_code_template.cpp
similarity index 85%
rename from Grbl_Esp32/custom_machine_template.cpp
rename to Grbl_Esp32/custom_code_template.cpp
index 43425301..cd5b197f 100644
--- a/Grbl_Esp32/custom_machine_template.cpp
+++ b/Grbl_Esp32/custom_code_template.cpp
@@ -1,5 +1,5 @@
 /*
-	custom_machine_template.cpp
+	custom_code_template.cpp
 	Part of Grbl_ESP32
 
 	copyright (c) 2020 -	Bart Dring. This file was intended for use on the ESP32
@@ -20,13 +20,13 @@
 
 	=======================================================================
 
-This is a template for a custom machine file.  The various optional functions are
-called by main Grbl_ESP when enabled via #define statements in Machines/my_machine.h.
-The machine designer must fill in the contents of the functions that are enabled.
-See each function for more information
+This is a template for user-defined C++ code functions.  Grbl can be
+configured to call some optional functions, enabled by #define statements
+in the machine definition .h file.  Implement the functions thus enabled
+herein.  The possible functions are listed and described below.
 
-Copy custom_machine_template.cpp and Machines/custom_machine_template.h,
-changing the filenames to your machine's name.
+To use this file, copy it to a name of your own choosing, and also copy
+Machines/template.h to a similar name.
 
 Example:
 Machines/my_machine.h
@@ -36,6 +36,9 @@ Edit machine.h to include your Machines/my_machine.h file
 
 Edit Machines/my_machine.h according to the instructions therein.
 
+Fill in the function definitions below for the functions that you have
+enabled with USE_ defines in Machines/my_machine.h
+
 ===============================================================================
 
 */
@@ -44,13 +47,13 @@ Edit Machines/my_machine.h according to the instructions therein.
 // will be loaded before the remainder of this file is processed.
 #include "grbl.h"
 
-// !!! Change this to the name you chose in Machines/my_machine.h
+// !!! Change this to the MACHINE_name you chose in Machines/my_machine.h
 // The compiler will skip the rest of this file unless that name is defined
 #ifdef MACHINE_CUSTOM
 
 #ifdef USE_MACHINE_INIT
 /*
-This function will be called when Grbl_ESP32 first starts. You can use it to do any
+machine_init() is called when Grbl_ESP32 first starts. You can use it to do any
 special things your machine needs at startup.
 */
 void machine_init() {
@@ -110,10 +113,11 @@ bool kinematics_pre_homing(uint8_t cycle_mask)) {
   kinematics_post_homing() is called at the end of normal homing
 */
 void kinematics_post_homing() {
+
 }
 #endif
 
-#ifdef USE_FWD_KINEMATICS
+#ifdef USE_FWD_KINEMATIC
 /*
   The status command uses forward_kinematics() to convert
   your motor positions to cartesian X,Y,Z... coordinates.
@@ -132,16 +136,18 @@ void forward_kinematics(float *position) {
   to perform appropriate actions for your machine.
 */
 void user_tool_change(uint8_t new_tool) {
+
 }
 #endif
 
-#ifdef MACRO_BUTTON_0_PIN
+#if defined(MACRO_BUTTON_0_PIN) || defined(MACRO_BUTTON_1_PIN) || defined(MACRO_BUTTON_2_PIN)
 /*
   options.  user_defined_macro() is called with the button number to
   perform whatever actions you choose.
 */
 void user_defined_macro(uint8_t index)
 {
+
 }
 #endif
 
@@ -150,6 +156,7 @@ void user_defined_macro(uint8_t index)
   user_m30() is called when an M30 gcode signals the end of a gcode file.
 */
 void user_m30() {
+
 }
 #endif
 
diff --git a/Grbl_Esp32/machine.h b/Grbl_Esp32/machine.h
index a18d2167..d57814c4 100644
--- a/Grbl_Esp32/machine.h
+++ b/Grbl_Esp32/machine.h
@@ -1,33 +1,62 @@
-// Configure for a specific machine by including one or more
-// machine definition files as described below.  Machine
-// definition files assign CPU pins to machine functions
-// according to the wiring of interface boards.
+// This file is where you choose the machine type, by including
+// one or more machine definition files as described below.
 
 #ifndef _machine_h
 #define _machine_h
 
-// For initial testing, start with this one which disables all I/O pins
-// #include "Machines/test_drive.h"
+#ifndef MACHINE_FILENAME
 
-// For actual use, select the appropriate board from Machines/,
-// or create your own, for example:
-#include "Machines/3x_v4.h"
+// !!! For initial testing, start with test_drive.h which disables
+// all I/O pins
+#include "Machines/test_drive.h"
 
-// Some configurations use two files, the first assigning pins
-// and the second providing additional customization, for example:
-// #include "Machines/3x_v4.h"
-// #include "Machines/3x_esc_spindle.h"
+// !!! For actual use, change the line above to select a board
+// from Machines/, for example:
+// #include "Machines/3axis_v4.h"
 
+// Some configurations use two files, the first establishing a base
+// configuration and the second providing additional customization,
+// for example:
+// #include "Machines/3axis_v4.h"
+// #include "Machines/add_esc_spindle.h"
 
-/* ---------------------------------------------------------------------------------------
-   OEM Single File Configuration Option
+// === OEM Single File Configuration Option
+// OEMs that wish to publish source code that is configured for a
+// specific machine may put all of their configuration definitions
+// directly in this file, without including any other file above.
 
-   Instructions: Comment out all #include's above and paste the machine definition and
-   any default settings that you wish to override below.
-*/
+#else
 
-// Paste machine definitions here.
+// By using the external environment to define MACHINE_FILENAME,
+// a configuration can be chosen without editing this file.
+// That is useful for automated testing scripts.
+//
+// For example, when using the platformio compilation environment
+// under Linux, you could issue the following command line:
+//   PLATFORMIO_BUILD_FLAGS=-DMACHINE_FILENAME=3axis_v4.h platformio run
+//
+// Under Windows, using PowerShell, the command would be:
+//   $env:PLATFORMIO_BUILD_FLAGS='-DMACHINE_FILENAME=3axis_v4.h'; platformio run
+//
+// When using the Arduino IDE, there is no easy way to pass variables
+// to the compiler, so this feature is not useful for Arduino.
+//
+// MACHINE_FILENAME must not include the Machines/ path prefix; it is
+// supplied automatically.
 
-// Paste default settings override definitions here.
+// MACHINE_PATHNAME_QUOTED constructs a path that is suitable for #include
+#define MACHINE_PATHNAME_QUOTED(name) <Machines/name>
+
+#include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME)
+
+// You can choose two-file configurations by also defining MACHINE_FILENAME2,
+// for example:
+//   $env:PLATFORMIO_BUILD_FLAGS='-DMACHINE_FILENAME=3axis_v4.h -DMACHINE_FILENAME2=add_esc_spindle.h'; platformio run
+
+#ifdef MACHINE_FILENAME2
+#include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME2)
+#endif
+
+#endif // MACHINE_FILENAME
 
 #endif // _machine_h
diff --git a/build-all.ps1 b/build-all.ps1
new file mode 100644
index 00000000..964fc524
--- /dev/null
+++ b/build-all.ps1
@@ -0,0 +1,34 @@
+# This Windows PowerShell script uses PlatformIO to compile Grbl_ESP32
+# for every machine configuration in the Machines/ directory.
+# It is useful for automated testing.
+
+# Setting PYTHONIOENCODING avoids an obscure crash related to code page mismatch
+$env:PYTHONIOENCODING="utf-8"
+$envsave = $env:PLATFORMIO_BUILD_FLAGS
+
+Function BuildMachine($names) {
+     $basename = $names[0]
+     $addname = $names[1]
+     $env:PLATFORMIO_BUILD_FLAGS = "-DMACHINE_FILENAME=$basename"
+     $displayname = $basename
+     if ($addname -ne "") {
+          $env:PLATFORMIO_BUILD_FLAGS += " -DMACHINE_FILENAME2=$addname"
+          $displayname += " + $addname"
+      }
+     Write-Output "Building machine $displayname"
+     platformio run 2>&1 | Select-String error,Took
+     Write-Output " "
+}
+
+# First build all the base configurations with names that do not start with add_
+foreach ($filepath in Get-ChildItem -file .\Grbl_Esp32\Machines\* -Exclude add_*) {
+     BuildMachine($filepath.name, "")
+}
+
+# Then build all of the add-ons on top of a single base
+$base="3axis_v4.h"
+foreach ($filepath in Get-ChildItem -file .\Grbl_Esp32\Machines\add_*) {
+     BuildMachine($base, $filepath.name)
+}
+
+$env:PLATFORMIO_BUILD_FLAGS=$envsave
\ No newline at end of file
diff --git a/build-all.sh b/build-all.sh
new file mode 100644
index 00000000..b417aa73
--- /dev/null
+++ b/build-all.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+
+# This shell script uses PlatformIO to compile Grbl_ESP32
+# for every machine configuration in the Machines/ directory.
+# It is useful for automated testing.
+
+trap "echo; exit" SIGINT
+
+# With -v, show all output.  Otherwise, show just the result
+if [ "$1" = "-v" ]; then
+   FILTER="cat"
+else
+   FILTER="grep error\|Took"
+fi
+BuildMachine () {
+    basename=$1
+    addname=$2
+    BF="-DMACHINE_FILENAME=$basename"
+    displayname=$basename
+    if [ "$addname" != "" ]
+    then
+        BF="$BF -DMACHINE_FILENAME2=$addname"
+        displayname="$basename + $addname"
+    fi
+    echo "Building machine $displayname"
+    PLATFORMIO_BUILD_FLAGS=\'$BF\' platformio run 2>&1 | $FILTER
+    echo
+}
+
+# First build all the base configurations with names that do not start with add_
+for file in `ls ./Grbl_Esp32/Machines/* | grep -v add_\*`; do
+    base=`basename $file`
+    BuildMachine $base ""
+done
+
+# Then build all of the add-ons on top of a single base
+base="3axis_v4.h"
+for file in `ls ./Grbl_Esp32/Machines/add_*`
+do
+    adder=`basename $file`
+    BuildMachine $base $adder
+done