From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Tue, 13 Nov 2018 21:09:50 +0000 (-0800)
Subject: Many 0.4.1 and 0.4.2 changes
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=991f91bcfd033723990431a11e606f5d9feaee5c;p=bbctrl-firmware

Many 0.4.1 and 0.4.2 changes
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index dc977b0..8d53fb6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,24 @@
 Buildbotics CNC Controller Firmware Changelog
 ==============================================
 
+## v0.4.2
+ - Suppress ``Auto-creating missing tool`` warning.
+ - Prevent ``Stream is closed`` error.
+ - Suppress ``WebGL not supported`` warning.
+
+## v0.4.1
+ - Fix toolpath view axes bug.
+ - Added LASER intensity view.
+ - Fixed reverse path planner bug.
+ - Video size and path view controls persistent over browser reload.
+ - Fixed time and progress bugs.
+ - Added PWM rapid auto off feature for LASER/Plasma.
+ - Added dynamic PWM for LASER/Plasma.
+ - Added motor faults table to indicators page.
+ - Emit error and indicate FAULT on axis for motor driver faults.
+ - Display axis motor FAULT on LCD.
+ - Fixed bug with rapid repeated unpause.
+
 ## v0.4.0
  - Increased display precision of position and motor config.
  - Added support for 256 microstepping.
diff --git a/Makefile b/Makefile
index 7364bbb..37f85c0 100644
--- a/Makefile
+++ b/Makefile
@@ -98,6 +98,7 @@ $(TARGET_DIR)/index.html: $(wildcard src/static/css/*)
 $(TARGET_DIR)/index.html: $(wildcard src/pug/templates/*)
 $(TARGET_DIR)/index.html: $(wildcard src/js/*)
 $(TARGET_DIR)/index.html: $(wildcard src/stylus/*)
+$(TARGET_DIR)/index.html: src/resources/config-template.json
 
 $(TARGET_DIR)/%.html: src/pug/%.pug node_modules
 	@mkdir -p $(shell dirname $@)
diff --git a/package-lock.json b/package-lock.json
index c42f3e0..01ec522 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,6 +1,6 @@
 {
   "name": "bbctrl",
-  "version": "0.4.0",
+  "version": "0.4.2",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {
diff --git a/package.json b/package.json
index c56b935..6f3701d 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "bbctrl",
-  "version": "0.4.0",
+  "version": "0.4.2",
   "homepage": "http://buildbotics.com/",
   "repository": "https://github.com/buildbotics/bbctrl-firmware",
   "license": "GPL-3.0+",
diff --git a/src/avr/src/command.c b/src/avr/src/command.c
index a4c4ea7..2b31db5 100644
--- a/src/avr/src/command.c
+++ b/src/avr/src/command.c
@@ -201,15 +201,15 @@ bool command_callback() {
     if (status == STAT_OK) cmd.active = true; // Disables LCD booting message
   }
 
-  block = 0; // Command consumed
-
   switch (status) {
   case STAT_OK: break;
   case STAT_NOP: break;
   case STAT_MACHINE_ALARMED: STATUS_WARNING(status, ""); break;
-  default: STATUS_ERROR(status, ""); break;
+  default: STATUS_ERROR(status, "%s", block); break;
   }
 
+  block = 0; // Command consumed
+
   return true;
 }
 
diff --git a/src/avr/src/command.def b/src/avr/src/command.def
index 7416595..7296df3 100644
--- a/src/avr/src/command.def
+++ b/src/avr/src/command.def
@@ -31,7 +31,8 @@ CMD('#', sync_var,     1) // Set variable synchronous
 CMD('s', seek,         1) // [switch][flags:active|error]
 CMD('a', set_axis,     1) // [axis][position] Set axis position
 CMD('l', line,         1) // [targetVel][maxJerk][axes][times]
-CMD('%', sync_speed,   1) // [offset][speed]
+CMD('%', sync_speed,   1) // [offset][speed] Command synchronized speed
+CMD('p', speed,        1) // [speed] Spindle speed
 CMD('I', input,        1) // [a|d][port][mode][timeout] Read input
 CMD('d', dwell,        1) // [seconds]
 CMD('P', pause,        1) // [type] Pause control
diff --git a/src/avr/src/config.h b/src/avr/src/config.h
index b96a4d3..4c2bd1f 100644
--- a/src/avr/src/config.h
+++ b/src/avr/src/config.h
@@ -67,7 +67,7 @@ enum {
   SPI_CS_X_PIN,
   SPI_CS_A_PIN,
   SPI_CS_Z_PIN,
-  SPIN_PWM_PIN,
+  PWM_PIN,
   SWITCH_2_PIN,
   RS485_RO_PIN,
   RS485_DI_PIN,
@@ -126,7 +126,7 @@ enum {
 // Timer assignments
 // NOTE, TCC1 free
 #define TIMER_STEP               TCC0 // Step timer (see stepper.h)
-#define TIMER_PWM                TCD1 // PWM timer  (see pwm_spindle.c)
+#define TIMER_PWM                TCD1 // PWM timer  (see pwm.c)
 
 #define M1_TIMER                 TCD0
 #define M2_TIMER                 TCE0
@@ -154,10 +154,13 @@ enum {
 #define STEP_TIMER_INTLVL        TC_OVFINTLVL_HI_gc
 #define STEP_LOW_LEVEL_ISR       ADCB_CH0_vect
 #define STEP_PULSE_WIDTH         (F_CPU * 0.000002 / 2) // 2uS w/ clk/2
-#define SEGMENT_TIME             (0.004 / 60.0) // mins
+#define SEGMENT_MS               4
+#define SEGMENT_TIME             (SEGMENT_MS / 60000.0) // mins
 
 
 // DRV8711 settings
+// NOTE, PWM frequency = 1 / (2 * DTIME + TBLANK + TOFF)
+// We have PWM frequency = 1 / (2 * 850nS + 1uS + 6.5uS) ~= 110kHz
 #define DRV8711_OFF              12
 #define DRV8711_BLANK            (0x32 | DRV8711_BLANK_ABT_bm)
 #define DRV8711_DECAY            (DRV8711_DECAY_DECMOD_MIXED | 16)
@@ -166,13 +169,15 @@ enum {
                                   DRV8711_STALL_VDIV_4 | 200)
 #define DRV8711_DRIVE            (DRV8711_DRIVE_IDRIVEP_50  | \
                                   DRV8711_DRIVE_IDRIVEN_100 | \
-                                  DRV8711_DRIVE_TDRIVEP_250 | \
-                                  DRV8711_DRIVE_TDRIVEN_250 | \
+                                  DRV8711_DRIVE_TDRIVEP_500 | \
+                                  DRV8711_DRIVE_TDRIVEN_500 | \
                                   DRV8711_DRIVE_OCPDEG_1    | \
-                                  DRV8711_DRIVE_OCPTH_250)
+                                  DRV8711_DRIVE_OCPTH_500)
 #define DRV8711_TORQUE            DRV8711_TORQUE_SMPLTH_50
+// NOTE, Datasheet suggests 850ns DTIME with the optional gate resistor
+// installed.  See page 30 section 8.1.2 of DRV8711 datasheet.
 #define DRV8711_CTRL             (DRV8711_CTRL_ISGAIN_10 | \
-                                  DRV8711_CTRL_DTIME_450 | \
+                                  DRV8711_CTRL_DTIME_850 | \
                                   DRV8711_CTRL_EXSTALL_bm)
 
 
@@ -198,9 +203,8 @@ enum {
 #define SERIAL_CTS_THRESH        4
 
 
-// Spindle settings
-#define SPEED_QUEUE_SIZE         64
-#define SPEED_OFFSET             6 // ms
+// PWM settings
+#define POWER_MAX_UPDATES        SEGMENT_MS
 
 // Input
 #define INPUT_BUFFER_LEN         128 // text buffer size (255 max)
diff --git a/src/avr/src/drv8711.c b/src/avr/src/drv8711.c
index ef996e1..f4fb2ca 100644
--- a/src/avr/src/drv8711.c
+++ b/src/avr/src/drv8711.c
@@ -61,6 +61,7 @@ typedef struct {
 
   uint8_t status;
   uint16_t flags;
+  bool reset_flags;
   bool stalled;
 
   drv8711_state_t state;
@@ -133,7 +134,12 @@ static bool _driver_get_enabled(int driver) {
 }
 
 
+static bool _driver_fault(int driver) {return drivers[driver].flags & 0x1f;}
+
+
 static float _driver_get_current(int driver) {
+  if (_driver_fault(driver)) return 0;
+
   drv8711_driver_t *drv = &drivers[driver];
 
   switch (drv->state) {
@@ -176,15 +182,14 @@ static uint8_t _spi_next_command(uint8_t cmd) {
       switch (DRV8711_CMD_ADDR(command)) {
       case DRV8711_STATUS_REG:
         drv->status = spi.responses[driver];
-
-        if ((drv->status & drv->flags) != drv->status)
-          drv->flags |= drv->status;
+        drv->flags |= drv->status;
         break;
 
       case DRV8711_OFF_REG:
         // We read back the OFF register to test for communication failure.
         if ((spi.responses[driver] & 0x1ff) != DRV8711_OFF)
           drv->flags |= DRV8711_COMM_ERROR_bm;
+        else drv->flags &= ~DRV8711_COMM_ERROR_bm;
         break;
       }
   }
@@ -202,9 +207,14 @@ static uint8_t _spi_next_command(uint8_t cmd) {
 
     switch (DRV8711_CMD_ADDR(*command)) {
     case DRV8711_STATUS_REG:
-      if (!DRV8711_CMD_IS_READ(*command))
-        // Clear STATUS flags
-        *command = (*command & 0xf000) | (0x0fff & ~(drv->status));
+      if (!DRV8711_CMD_IS_READ(*command)) {
+        if (drv->reset_flags) { // Clear STATUS flags
+          *command = (*command & 0xf000) | (0x0fff & ~drv->status);
+          drv->reset_flags = false;
+          drv->flags = 0;
+
+        } else *command = (*command & 0xf000) | 0x0fff; // Don't clear flags
+      }
       break;
 
     case DRV8711_TORQUE_REG: // Update motor current setting
@@ -349,6 +359,8 @@ void drv8711_init() {
     switch_id_t stall_sw = drivers[i].stall_sw;
     switch_set_type(stall_sw, SW_NORMALLY_OPEN);
     switch_set_callback(stall_sw, _stall_switch_cb);
+
+    drivers[i].reset_flags = true; // Reset flags once on startup
   }
 
   switch_set_type(SW_MOTOR_FAULT, SW_NORMALLY_OPEN);
@@ -435,6 +447,11 @@ float get_active_current(int driver) {
 bool get_motor_fault() {return motor_fault;}
 
 
+void set_driver_flags(int driver, uint16_t flags) {
+  drivers[driver].reset_flags = true;
+}
+
+
 uint16_t get_driver_flags(int driver) {return drivers[driver].flags;}
 
 
@@ -497,16 +514,3 @@ void print_status_flags(uint16_t flags) {
 
 uint16_t get_status_strings(int driver) {return get_driver_flags(driver);}
 bool get_driver_stalled(int driver) {return drivers[driver].stalled;}
-
-
-// Command callback
-void command_mreset(int argc, char *argv[]) {
-  if (argc == 1)
-    for (int driver = 0; driver < DRIVERS; driver++)
-      drivers[driver].flags = 0;
-
-  else {
-    int driver = atoi(argv[1]);
-    if (driver < DRIVERS) drivers[driver].flags = 0;
-  }
-}
diff --git a/src/avr/src/estop.c b/src/avr/src/estop.c
index de822fe..20559fa 100644
--- a/src/avr/src/estop.c
+++ b/src/avr/src/estop.c
@@ -91,7 +91,7 @@ void estop_trigger(stat_t reason) {
 
   // Hard stop the motors and the spindle
   st_shutdown();
-  spindle_stop();
+  spindle_estop();
 
   // Set machine state
   state_estop();
diff --git a/src/avr/src/exec.c b/src/avr/src/exec.c
index 3736632..23373c8 100644
--- a/src/avr/src/exec.c
+++ b/src/avr/src/exec.c
@@ -57,9 +57,9 @@ static struct {
     float time;
     float vel;
     float accel;
-    float max_vel;
     float max_accel;
     float max_jerk;
+    power_update_t power_updates[2 * POWER_MAX_UPDATES];
     exec_cb_t cb;
   } seg;
 } ex;
@@ -106,6 +106,8 @@ void exec_set_acceleration(float a) {
 
 float exec_get_acceleration() {return ex.accel;}
 void exec_set_jerk(float j) {ex.jerk = j;}
+
+
 void exec_set_cb(exec_cb_t cb) {ex.cb = cb;}
 
 
@@ -115,6 +117,15 @@ void exec_move_to_target(const float target[]) {
                isfinite(target[AXIS_B]) && isfinite(target[AXIS_C]),
                STAT_BAD_FLOAT);
 
+  // Prep power updates
+  st_prep_power(ex.seg.power_updates);
+
+  // Shift power updates
+  for (unsigned i = 0; i < POWER_MAX_UPDATES; i++) {
+    ex.seg.power_updates[i] = ex.seg.power_updates[i + POWER_MAX_UPDATES];
+    ex.seg.power_updates[i + POWER_MAX_UPDATES].state = POWER_IGNORE;
+  }
+
   // Update position
   copy_vector(ex.position, target);
 
@@ -146,14 +157,19 @@ stat_t _segment_exec() {
 
   // Wait for next seg if time is too short and we are still moving
   if (t < SEGMENT_TIME && (!t || v)) {
-    if (!v) ex.velocity = ex.accel = ex.jerk = 0;
+    if (!v) {
+      exec_set_velocity(0);
+      exec_set_acceleration(0);
+      exec_set_jerk(0);
+      ex.seg.time = 0;
+    }
     ex.cb = ex.seg.cb;
     return STAT_AGAIN;
   }
 
   // Update velocity and accel
-  ex.velocity = v;
-  ex.accel = a;
+  exec_set_velocity(v);
+  exec_set_acceleration(a);
 
   if (t <= SEGMENT_TIME) {
     // Move
@@ -185,14 +201,24 @@ stat_t _segment_exec() {
 
 
 stat_t exec_segment(float time, const float target[], float vel, float accel,
-                    float maxVel, float maxAccel, float maxJerk) {
+                    float maxAccel, float maxJerk,
+                    const power_update_t power_updates[]) {
   ESTOP_ASSERT(time <= SEGMENT_TIME, STAT_SHORT_SEG_TIME);
 
+  // Copy power updates in to the correct position given the time offset
+  float nextT = ex.seg.time + time;
+  const float stepT = 1.0 / 60000; // 1ms in mins
+  float t = 0.5 / 60000; // 0.5ms in mins
+  unsigned j = 0;
+  for (unsigned i = 0; t < nextT && j < POWER_MAX_UPDATES; i++) {
+    if (ex.seg.time < t) ex.seg.power_updates[i] = power_updates[j++];
+    t += stepT;
+  }
+
   copy_vector(ex.seg.target, target);
-  ex.seg.time += time;
+  ex.seg.time = nextT;
   ex.seg.vel = vel;
   ex.seg.accel = accel;
-  ex.seg.max_vel = maxVel;
   ex.seg.max_accel = maxAccel;
   ex.seg.max_jerk = maxJerk;
   ex.seg.cb = ex.cb;
diff --git a/src/avr/src/exec.h b/src/avr/src/exec.h
index d139c36..af238cd 100644
--- a/src/avr/src/exec.h
+++ b/src/avr/src/exec.h
@@ -29,6 +29,7 @@
 
 
 #include "config.h"
+#include "spindle.h"
 #include "status.h"
 
 #include <stdbool.h>
@@ -42,6 +43,7 @@ void exec_init();
 
 void exec_get_position(float p[AXES]);
 float exec_get_axis_position(int axis);
+float exec_get_power_scale();
 void exec_set_velocity(float v);
 float exec_get_velocity();
 void exec_set_acceleration(float a);
@@ -52,5 +54,6 @@ void exec_set_cb(exec_cb_t cb);
 
 void exec_move_to_target(const float target[]);
 stat_t exec_segment(float time, const float target[], float vel, float accel,
-                    float maxVel, float maxAccel, float maxJerk);
+                    float maxAccel, float maxJerk,
+                    const power_update_t power_updates[]);
 stat_t exec_next();
diff --git a/src/avr/src/huanyang.c b/src/avr/src/huanyang.c
index 8c82115..4ad7ca5 100644
--- a/src/avr/src/huanyang.c
+++ b/src/avr/src/huanyang.c
@@ -112,7 +112,7 @@ static struct {
   deinit_cb_t deinit_cb;
   bool shutdown;
   bool changed;
-  float speed;
+  float power;
 
   float actual_freq;
   float actual_current;
@@ -234,9 +234,9 @@ static void _next_command() {
   case 0: { // Update direction
     hy_ctrl_state_t state = HUANYANG_STOP;
     if (!hy.shutdown && !estop_triggered()) {
-      if (0 < hy.speed)
+      if (0 < hy.power)
         state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_FORWARD);
-      else if (hy.speed < 0)
+      else if (hy.power < 0)
         state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_REV_FWD);
     }
 
@@ -250,7 +250,7 @@ static void _next_command() {
 
   case 4: { // Update freqency
     // Compute frequency in Hz
-    float freq = fabs(hy.speed * hy.max_freq);
+    float freq = fabs(hy.power * hy.max_freq);
 
     // Frequency write command
     _freq_write(freq * 100);
@@ -278,9 +278,9 @@ void huanyang_deinit(deinit_cb_t cb) {
 }
 
 
-void huanyang_set(float speed) {
-  if (hy.speed != speed && !hy.shutdown) {
-    hy.speed = speed;
+void huanyang_set(float power) {
+  if (hy.power != power && !hy.shutdown) {
+    hy.power = power;
     hy.changed = true;
   }
 }
diff --git a/src/avr/src/huanyang.h b/src/avr/src/huanyang.h
index 5c51c00..b482404 100644
--- a/src/avr/src/huanyang.h
+++ b/src/avr/src/huanyang.h
@@ -32,7 +32,7 @@
 
 void huanyang_init();
 void huanyang_deinit(deinit_cb_t cb);
-void huanyang_set(float speed);
+void huanyang_set(float power);
 float huanyang_get();
 
 
diff --git a/src/avr/src/line.c b/src/avr/src/line.c
index b1f18e6..132c14f 100644
--- a/src/avr/src/line.c
+++ b/src/avr/src/line.c
@@ -27,7 +27,6 @@
 
 #include "config.h"
 #include "exec.h"
-#include "axis.h"
 #include "command.h"
 #include "spindle.h"
 #include "util.h"
@@ -43,7 +42,6 @@ typedef struct {
   float target[AXES];
   float times[7];
   float target_vel;
-  float max_vel;
   float max_accel;
   float max_jerk;
 
@@ -52,12 +50,6 @@ typedef struct {
 } line_t;
 
 
-typedef struct {
-  float time;
-  float speed;
-} speed_t;
-
-
 static struct {
   line_t line;
 
@@ -69,9 +61,9 @@ static struct {
   float iA; // Initial section acceleration
   float jerk;
   float lV; // Last velocity
+  float lD; // Last distance
 
-  float lineT;
-  speed_t speed;
+  power_update_t power_updates[POWER_MAX_UPDATES];
 } l;
 
 
@@ -122,30 +114,10 @@ static bool _section_next() {
 }
 
 
-static void _load_sync_speeds(float startT, float endT) {
-  // Convert from mins to ms
-  startT *= 60000;
-  endT *= 60000;
-
-  while (true) {
-    // Load new sync speed if needed and available
-    if (l.speed.time < 0 && command_peek() == COMMAND_sync_speed)
-      l.speed = *(speed_t *)(command_next() + 1);
-
-    // Exit if we don't have a speed or it's not ready to be set
-    if (l.speed.time < 0 || endT < l.speed.time) break;
-
-    // Queue speed
-    spindle_set_speed(round(l.speed.time - startT), l.speed.speed);
-    l.speed.time = -1; // Mark done
-  }
-}
-
-
 static stat_t _exec_segment(float time, const float target[], float vel,
                             float accel) {
-  return exec_segment(time, target, vel, accel, l.line.max_vel,
-                      l.line.max_accel, l.line.max_jerk);
+  return exec_segment(time, target, vel, accel, l.line.max_accel,
+                      l.line.max_jerk, l.power_updates);
 }
 
 
@@ -161,9 +133,6 @@ static stat_t _line_exec() {
     t = section_time;
   }
 
-  // Handle synchronous speeds
-  _load_sync_speeds(l.lineT + t - seg_time, l.lineT + t);
-
   // Compute distance and velocity
   float d = _segment_distance(t);
   float v = _segment_velocity(t);
@@ -172,6 +141,10 @@ static stat_t _line_exec() {
   // Don't allow overshoot
   if (l.line.length < d) d = l.line.length;
 
+  // Handle synchronous speeds
+  spindle_load_power_updates(l.power_updates, l.lD, d);
+  l.lD = d;
+
   // Check if section complete
   if (t == section_time) {
     if (_section_next()) {
@@ -179,7 +152,6 @@ static stat_t _line_exec() {
       l.seg = 0;
       l.iD = d;
       l.iV = v;
-      l.lineT += t;
 
     } else {
       exec_set_cb(0);
@@ -257,14 +229,6 @@ stat_t command_line(char *cmd) {
   for (int axis = 0; axis < AXES; axis++)
     if (line.unit[axis]) line.unit[axis] /= line.length;
 
-  // Compute max velocity
-  line.max_vel = FLT_MAX;
-  for (int axis = 0; axis < AXES; axis++)
-    if (line.unit[axis]) {
-      float axis_max_vel = axis_get_velocity_max(axis) / fabs(line.unit[axis]);
-      if (axis_max_vel < line.max_vel) line.max_vel = axis_max_vel;
-    }
-
   // Queue
   command_push(COMMAND_line, &line);
 
@@ -278,12 +242,10 @@ unsigned command_line_size() {return sizeof(line_t);}
 void command_line_exec(void *data) {
   l.line = *(line_t *)data;
 
-  l.lineT = 0;
-  l.speed.time = -1;
-
   // Setup first section
   l.seg = 0;
   l.iD = 0;
+  l.lD = 0;
   // If current velocity is non-zero use last target velocity
   l.iV = exec_get_velocity() ? l.lV : 0;
   l.lV = l.line.target_vel;
@@ -310,28 +272,3 @@ void command_line_exec(void *data) {
   // Set callback
   exec_set_cb(_line_exec);
 }
-
-
-stat_t command_sync_speed(char *cmd) {
-  speed_t s;
-
-  cmd++; // Skip command code
-
-  // Get target velocity
-  if (!decode_float(&cmd, &s.time)) return STAT_BAD_FLOAT;
-  if (!decode_float(&cmd, &s.speed)) return STAT_BAD_FLOAT;
-
-  // Queue
-  command_push(COMMAND_sync_speed, &s);
-
-  return STAT_OK;
-}
-
-
-unsigned command_sync_speed_size() {return sizeof(speed_t);}
-
-
-void command_sync_speed_exec(void *data) {
-  speed_t s = *(speed_t *)data;
-  spindle_set_speed(0, s.speed);
-}
diff --git a/src/avr/src/pwm.c b/src/avr/src/pwm.c
new file mode 100644
index 0000000..a19722a
--- /dev/null
+++ b/src/avr/src/pwm.c
@@ -0,0 +1,221 @@
+/******************************************************************************\
+
+                 This file is part of the Buildbotics firmware.
+
+                   Copyright (c) 2015 - 2018, Buildbotics LLC
+                              All rights reserved.
+
+      This file ("the software") is free software: you can redistribute it
+      and/or modify it under the terms of the GNU General Public License,
+       version 2 as published by the Free Software Foundation. You should
+       have received a copy of the GNU General Public License, version 2
+      along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+      The software 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
+                Lesser General Public License for more details.
+
+        You should have received a copy of the GNU Lesser General Public
+                 License along with the software.  If not, see
+                        <http://www.gnu.org/licenses/>.
+
+                 For information regarding this software email:
+                   "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include "pwm.h"
+
+#include "config.h"
+#include "estop.h"
+#include "outputs.h"
+
+#include <math.h>
+
+
+typedef struct {
+  bool initialized;
+  float freq; // base frequency for PWM driver, in Hz
+  float min_duty;
+  float max_duty;
+  float power;
+} pwm_t;
+
+
+static pwm_t pwm = {0};
+
+
+static void _set_enable(bool enable) {
+  outputs_set_active(TOOL_ENABLE_PIN, enable);
+}
+
+
+static void _set_dir(bool clockwise) {
+  outputs_set_active(TOOL_DIR_PIN, !clockwise);
+}
+
+
+static void _update_clock(uint16_t period) {
+  if (estop_triggered()) period = 0;
+
+  // Disable
+  if (!period) {
+    TIMER_PWM.CTRLB = 0; // Disable clock control of pin
+    OUTCLR_PIN(PWM_PIN);
+    _set_enable(false);
+    return;
+  }
+  _set_enable(true);
+
+  // 100% duty
+  if (period == 0xffff) {
+    TIMER_PWM.CTRLB = 0; // Disable clock control of pin
+    OUTSET_PIN(PWM_PIN);
+    return;
+  }
+
+  // Configure clock
+  TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
+  TIMER_PWM.CCA = period;
+}
+
+
+static float _compute_duty(float power) {
+  power = fabsf(power);
+  if (!power) return 0; // 0% duty
+  if (power == 1 && pwm.max_duty == 1) return 1; // 100% duty
+  return power * (pwm.max_duty - pwm.min_duty) + pwm.min_duty;
+}
+
+
+static uint16_t _compute_period(float duty) {return TIMER_PWM.PER * duty;}
+
+
+static void _update_pwm() {
+  if (pwm.initialized)
+    _update_clock(_compute_period(_compute_duty(pwm.power)));
+}
+
+
+static void _update_freq() {
+  // Set clock period and optimal prescaler value
+  float prescale = (F_CPU >> 16) / pwm.freq;
+
+  if (prescale <= 1) {
+    TIMER_PWM.PER = F_CPU / pwm.freq;
+    TIMER_PWM.CTRLA = TC_CLKSEL_DIV1_gc;
+
+  } else if (prescale <= 2) {
+    TIMER_PWM.PER = F_CPU / 2 / pwm.freq;
+    TIMER_PWM.CTRLA = TC_CLKSEL_DIV2_gc;
+
+  } else if (prescale <= 4) {
+    TIMER_PWM.PER = F_CPU / 4 / pwm.freq;
+    TIMER_PWM.CTRLA = TC_CLKSEL_DIV4_gc;
+
+  } else if (prescale <= 8) {
+    TIMER_PWM.PER = F_CPU / 8 / pwm.freq;
+    TIMER_PWM.CTRLA = TC_CLKSEL_DIV8_gc;
+
+  } else if (prescale <= 64) {
+    TIMER_PWM.PER = F_CPU / 64 / pwm.freq;
+    TIMER_PWM.CTRLA = TC_CLKSEL_DIV64_gc;
+
+  } else TIMER_PWM.CTRLA = 0;
+
+  _update_pwm();
+}
+
+
+void pwm_init() {
+  pwm.initialized = true;
+  pwm.power = 0;
+
+  // Configure IO
+  _set_dir(true);
+  _set_enable(false);
+  _update_freq();
+
+  // PWM output
+  OUTCLR_PIN(PWM_PIN);
+  DIRSET_PIN(PWM_PIN);
+}
+
+
+float pwm_get() {return pwm.power;}
+
+
+void pwm_deinit(deinit_cb_t cb) {
+  pwm.initialized = false;
+
+  _set_enable(false);
+
+  // Float PWM output pin
+  DIRCLR_PIN(PWM_PIN);
+
+  // Disable clock
+  TIMER_PWM.CTRLA = 0;
+
+  cb();
+}
+
+
+power_update_t pwm_get_update(float power) {
+  power_update_t update = {
+    0 <= power ? POWER_FORWARD : POWER_REVERSE,
+    power,
+    _compute_period(_compute_duty(power))
+  };
+
+  return update;
+}
+
+
+// Called from hi-priority stepper interrupt, must be very fast
+void pwm_update(power_update_t update) {
+  if (!pwm.initialized || update.state == POWER_IGNORE) return;
+  _update_clock(update.period);
+  if (update.period) _set_dir(update.state == POWER_FORWARD);
+  pwm.power = update.power;
+}
+
+
+// Var callbacks
+float get_pwm_min_duty() {return pwm.min_duty * 100;}
+
+
+void set_pwm_min_duty(float value) {
+  pwm.min_duty = value / 100;
+  _update_pwm();
+}
+
+
+float get_pwm_max_duty() {return pwm.max_duty * 100;}
+
+
+void set_pwm_max_duty(float value) {
+  pwm.max_duty = value / 100;
+  _update_pwm();
+}
+
+
+float get_pwm_duty() {return _compute_duty(pwm.power);}
+float get_pwm_freq() {return pwm.freq;}
+
+
+void set_pwm_freq(float value) {
+  if (value < 8) value = 8;
+  if (320000 < value) value = 320000;
+  pwm.freq = value;
+  _update_freq();
+}
+
+
+bool get_pwm_invert() {return PINCTRL_PIN(PWM_PIN) & PORT_INVEN_bm;}
+
+
+void set_pwm_invert(bool invert) {
+  if (invert) PINCTRL_PIN(PWM_PIN) |= PORT_INVEN_bm;
+  else PINCTRL_PIN(PWM_PIN) &= ~PORT_INVEN_bm;
+}
diff --git a/src/avr/src/pwm.h b/src/avr/src/pwm.h
new file mode 100644
index 0000000..044d811
--- /dev/null
+++ b/src/avr/src/pwm.h
@@ -0,0 +1,37 @@
+/******************************************************************************\
+
+                 This file is part of the Buildbotics firmware.
+
+                   Copyright (c) 2015 - 2018, Buildbotics LLC
+                              All rights reserved.
+
+      This file ("the software") is free software: you can redistribute it
+      and/or modify it under the terms of the GNU General Public License,
+       version 2 as published by the Free Software Foundation. You should
+       have received a copy of the GNU General Public License, version 2
+      along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+      The software 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
+                Lesser General Public License for more details.
+
+        You should have received a copy of the GNU Lesser General Public
+                 License along with the software.  If not, see
+                        <http://www.gnu.org/licenses/>.
+
+                 For information regarding this software email:
+                   "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "spindle.h"
+
+
+void pwm_init();
+float pwm_get();
+void pwm_deinit(deinit_cb_t cb);
+power_update_t pwm_get_update(float power);
+void pwm_update(power_update_t update);
diff --git a/src/avr/src/pwm_spindle.c b/src/avr/src/pwm_spindle.c
deleted file mode 100644
index b905610..0000000
--- a/src/avr/src/pwm_spindle.c
+++ /dev/null
@@ -1,251 +0,0 @@
-/******************************************************************************\
-
-                 This file is part of the Buildbotics firmware.
-
-                   Copyright (c) 2015 - 2018, Buildbotics LLC
-                              All rights reserved.
-
-      This file ("the software") is free software: you can redistribute it
-      and/or modify it under the terms of the GNU General Public License,
-       version 2 as published by the Free Software Foundation. You should
-       have received a copy of the GNU General Public License, version 2
-      along with the software. If not, see <http://www.gnu.org/licenses/>.
-
-      The software 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
-                Lesser General Public License for more details.
-
-        You should have received a copy of the GNU Lesser General Public
-                 License along with the software.  If not, see
-                        <http://www.gnu.org/licenses/>.
-
-                 For information regarding this software email:
-                   "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#include "pwm_spindle.h"
-
-#include "config.h"
-#include "estop.h"
-#include "outputs.h"
-
-#include <math.h>
-
-
-typedef struct {
-  uint8_t time;
-  uint16_t period;
-  bool clockwise;
-} update_t;
-
-
-#define RING_BUF_NAME update_q
-#define RING_BUF_TYPE update_t
-#define RING_BUF_INDEX_TYPE volatile uint8_t
-#define RING_BUF_SIZE SPEED_QUEUE_SIZE
-#include "ringbuf.def"
-
-
-typedef struct {
-  float freq; // base frequency for PWM driver, in Hz
-  float min_duty;
-  float max_duty;
-  float duty;
-  float speed;
-  uint8_t time;
-} pwm_spindle_t;
-
-
-static pwm_spindle_t spindle = {0};
-
-
-static void _set_enable(bool enable) {
-  outputs_set_active(TOOL_ENABLE_PIN, enable);
-}
-
-
-static void _set_dir(bool clockwise) {
-  outputs_set_active(TOOL_DIR_PIN, !clockwise);
-}
-
-
-static void _update_clock(uint16_t period) {
-  if (estop_triggered()) period = 0;
-
-  // Disable
-  if (!period) {
-    TIMER_PWM.CTRLB = 0; // Disable clock control of pin
-    OUTCLR_PIN(SPIN_PWM_PIN);
-    _set_enable(false);
-    return;
-  }
-  _set_enable(true);
-
-  // 100% duty
-  if (period == 0xffff) {
-    TIMER_PWM.CTRLB = 0; // Disable clock control of pin
-    OUTSET_PIN(SPIN_PWM_PIN);
-    return;
-  }
-
-  // Configure clock
-  TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
-  TIMER_PWM.CCA = period;
-}
-
-
-static float _compute_duty(float speed) {
-  if (!speed) return 0; // 0% duty
-  if (speed == 1 && spindle.max_duty == 1) return 1; // 100% duty
-  return speed * (spindle.max_duty - spindle.min_duty) + spindle.min_duty;
-}
-
-
-static uint16_t _compute_period(float speed) {
-  spindle.speed = speed;
-  spindle.duty = _compute_duty(speed);
-
-  if (!spindle.duty) return 0;
-  if (spindle.duty == 1) return 0xffff;
-  return TIMER_PWM.PER * spindle.duty;
-}
-
-
-static void _update_pwm() {_update_clock(_compute_period(spindle.speed));}
-
-
-static void _update_freq() {
-  // Set clock period and optimal prescaler value
-  float prescale = (F_CPU >> 16) / spindle.freq;
-
-  if (prescale <= 1) {
-    TIMER_PWM.PER = F_CPU / spindle.freq;
-    TIMER_PWM.CTRLA = TC_CLKSEL_DIV1_gc;
-
-  } else if (prescale <= 2) {
-    TIMER_PWM.PER = F_CPU / 2 / spindle.freq;
-    TIMER_PWM.CTRLA = TC_CLKSEL_DIV2_gc;
-
-  } else if (prescale <= 4) {
-    TIMER_PWM.PER = F_CPU / 4 / spindle.freq;
-    TIMER_PWM.CTRLA = TC_CLKSEL_DIV4_gc;
-
-  } else if (prescale <= 8) {
-    TIMER_PWM.PER = F_CPU / 8 / spindle.freq;
-    TIMER_PWM.CTRLA = TC_CLKSEL_DIV8_gc;
-
-  } else if (prescale <= 64) {
-    TIMER_PWM.PER = F_CPU / 64 / spindle.freq;
-    TIMER_PWM.CTRLA = TC_CLKSEL_DIV64_gc;
-
-  } else TIMER_PWM.CTRLA = 0;
-
-  _update_pwm();
-}
-
-
-void pwm_spindle_init() {
-  update_q_init();
-
-  // Configure IO
-  _set_dir(true);
-  _set_enable(false);
-  _update_freq();
-
-  // PWM output
-  OUTCLR_PIN(SPIN_PWM_PIN);
-  DIRSET_PIN(SPIN_PWM_PIN);
-}
-
-
-void pwm_spindle_deinit(deinit_cb_t cb) {
-  _set_enable(false);
-
-  // Float PWM output pin
-  DIRCLR_PIN(SPIN_PWM_PIN);
-
-  // Disable clock
-  TIMER_PWM.CTRLA = 0;
-
-  cb();
-}
-
-
-void pwm_spindle_set(uint8_t time, float speed) {
-  if (update_q_full()) update_q_init();
-
-  update_t d = {
-    (uint8_t)(spindle.time + time + SPEED_OFFSET),
-    _compute_period(fabsf(speed)),
-    0 < speed
-  };
-
-  update_q_push(d);
-}
-
-
-float pwm_spindle_get() {return spindle.speed;}
-
-
-void pwm_spindle_update() {
-  bool set = false;
-  uint16_t period;
-  bool clockwise;
-
-  while (!update_q_empty()) {
-    update_t d = update_q_peek();
-    if (spindle.time != d.time) break;
-    update_q_pop();
-    set = true;
-    period = d.period;
-    clockwise = d.clockwise;
-  }
-
-  if (set) {
-    _update_clock(period);
-    if (period) _set_dir(clockwise);
-  }
-
-  spindle.time++;
-}
-
-
-// Var callbacks
-float get_pwm_min_duty() {return spindle.min_duty * 100;}
-
-
-void set_pwm_min_duty(float value) {
-  spindle.min_duty = value / 100;
-  _update_pwm();
-}
-
-
-float get_pwm_max_duty() {return spindle.max_duty * 100;}
-
-
-void set_pwm_max_duty(float value) {
-  spindle.max_duty = value / 100;
-  _update_pwm();
-}
-
-
-float get_pwm_duty() {return spindle.duty;}
-float get_pwm_freq() {return spindle.freq;}
-
-
-void set_pwm_freq(float value) {
-  if (value < 8) value = 8;
-  if (320000 < value) value = 320000;
-  spindle.freq = value; _update_freq();
-}
-
-
-bool get_pwm_invert() {return PINCTRL_PIN(SPIN_PWM_PIN) & PORT_INVEN_bm;}
-
-
-void set_pwm_invert(bool invert) {
-  if (invert) PINCTRL_PIN(SPIN_PWM_PIN) |= PORT_INVEN_bm;
-  else PINCTRL_PIN(SPIN_PWM_PIN) &= ~PORT_INVEN_bm;
-}
diff --git a/src/avr/src/pwm_spindle.h b/src/avr/src/pwm_spindle.h
deleted file mode 100644
index 5ac5e54..0000000
--- a/src/avr/src/pwm_spindle.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/******************************************************************************\
-
-                 This file is part of the Buildbotics firmware.
-
-                   Copyright (c) 2015 - 2018, Buildbotics LLC
-                              All rights reserved.
-
-      This file ("the software") is free software: you can redistribute it
-      and/or modify it under the terms of the GNU General Public License,
-       version 2 as published by the Free Software Foundation. You should
-       have received a copy of the GNU General Public License, version 2
-      along with the software. If not, see <http://www.gnu.org/licenses/>.
-
-      The software 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
-                Lesser General Public License for more details.
-
-        You should have received a copy of the GNU Lesser General Public
-                 License along with the software.  If not, see
-                        <http://www.gnu.org/licenses/>.
-
-                 For information regarding this software email:
-                   "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#pragma once
-
-#include "spindle.h"
-
-
-void pwm_spindle_init();
-void pwm_spindle_deinit(deinit_cb_t cb);
-void pwm_spindle_set(uint8_t time, float speed);
-float pwm_spindle_get();
-void pwm_spindle_update();
diff --git a/src/avr/src/spindle.c b/src/avr/src/spindle.c
index 1965cae..0e5a2f1 100644
--- a/src/avr/src/spindle.c
+++ b/src/avr/src/spindle.c
@@ -26,139 +26,279 @@
 \******************************************************************************/
 
 #include "spindle.h"
-#include "pwm_spindle.h"
+#include "pwm.h"
 #include "huanyang.h"
 #include "vfd_spindle.h"
+#include "stepper.h"
 #include "config.h"
-#include "pgmspace.h"
+#include "command.h"
+#include "exec.h"
+#include "util.h"
 
 #include <math.h>
 
 
+typedef struct {
+  float dist;
+  float speed;
+} sync_speed_t;
+
+
 static struct {
   spindle_type_t type;
   float override;
+  sync_speed_t sync_speed;
   float speed;
   bool reversed;
   float min_rpm;
   float max_rpm;
 
+  bool dynamic_power;
+  float inv_feed;
+
+  bool dirty;
   spindle_type_t next_type;
 
 } spindle = {
   .type = SPINDLE_TYPE_DISABLED,
-  .override = 1
+  .override = 1,
+  .sync_speed = {-1, 0}
 };
 
 
-spindle_type_t spindle_get_type() {return spindle.type;}
-
-
-void spindle_set_speed(uint8_t time, float speed) {
-  spindle.speed = speed;
-
+static float _speed_to_power(float speed) {
   speed *= spindle.override;
 
   bool negative = speed < 0;
-  if (spindle.max_rpm <= fabs(speed)) speed = negative ? -1 : 1;
-  else if (fabs(speed) < spindle.min_rpm) speed = 0;
+  if (fabs(speed) < spindle.min_rpm) speed = 0;
+  else if (spindle.max_rpm <= fabs(speed)) speed = negative ? -1 : 1;
   else speed /= spindle.max_rpm;
 
-  if (spindle.reversed) speed = -speed;
-
-  switch (spindle.type) {
-  case SPINDLE_TYPE_DISABLED: break;
-  case SPINDLE_TYPE_PWM: pwm_spindle_set(time, speed); break;
-  case SPINDLE_TYPE_HUANYANG: huanyang_set(speed); break;
-  default: vfd_spindle_set(speed); break;
-  }
+  return spindle.reversed ? -speed : speed;
 }
 
 
-float _get_speed() {
-  float speed = 0;
-
-  switch (spindle.type) {
-  case SPINDLE_TYPE_DISABLED: break;
-  case SPINDLE_TYPE_PWM: speed = pwm_spindle_get(); break;
-  case SPINDLE_TYPE_HUANYANG: speed = huanyang_get(); break;
-  default: speed = vfd_spindle_get(); break;
-  }
-
-  return speed * spindle.max_rpm;
+static power_update_t _get_update() {
+  float power = _speed_to_power(spindle.speed);
+  if (spindle.dynamic_power)
+    power *= spindle.inv_feed ? spindle.inv_feed * exec_get_velocity() : 1;
+  return pwm_get_update(power);
 }
 
 
-void spindle_stop() {spindle_set_speed(0, 0);}
-
+static void _set_speed(float speed) {
+  spindle.speed = speed;
+  spindle.dirty = false;
 
-bool spindle_is_reversed() {return spindle.reversed;}
+  if (spindle.type == SPINDLE_TYPE_PWM) {
+    // PWM speed updates must be synchronized with stepper movement
+    power_update_t update = _get_update();
+    spindle_update(update);
+    return;
+  }
 
+  float power = _speed_to_power(speed);
 
-void spindle_update() {
-  if (spindle.type == SPINDLE_TYPE_PWM) pwm_spindle_update();
+  switch (spindle.type) {
+  case SPINDLE_TYPE_DISABLED: break;
+  case SPINDLE_TYPE_HUANYANG: huanyang_set(power); break;
+  default: vfd_spindle_set(power); break;
+  }
 }
 
 
-static void _update_speed() {spindle_set_speed(0, spindle.speed);}
-
-
 static void _deinit_cb() {
   spindle.type = spindle.next_type;
   spindle.next_type = SPINDLE_TYPE_DISABLED;
 
   switch (spindle.type) {
   case SPINDLE_TYPE_DISABLED: break;
-  case SPINDLE_TYPE_PWM: pwm_spindle_init(); break;
+  case SPINDLE_TYPE_PWM: pwm_init(); break;
   case SPINDLE_TYPE_HUANYANG: huanyang_init(); break;
   default: vfd_spindle_init(); break;
   }
 
-  spindle_set_speed(0, spindle.speed);
+  spindle.dirty = true;
 }
 
 
-// Var callbacks
-uint8_t get_tool_type() {return spindle.type;}
-
-
-void set_tool_type(uint8_t value) {
-  if (value == spindle.type) return;
+static void _set_type(spindle_type_t type) {
+  if (type == spindle.type) return;
 
   spindle_type_t old_type = spindle.type;
-  spindle.next_type = (spindle_type_t)value;
+  spindle.next_type = type;
   spindle.type = SPINDLE_TYPE_DISABLED;
 
   switch (old_type) {
   case SPINDLE_TYPE_DISABLED: _deinit_cb(); break;
-  case SPINDLE_TYPE_PWM: pwm_spindle_deinit(_deinit_cb); break;
+  case SPINDLE_TYPE_PWM: pwm_deinit(_deinit_cb); break;
   case SPINDLE_TYPE_HUANYANG: huanyang_deinit(_deinit_cb); break;
   default: vfd_spindle_deinit(_deinit_cb); break;
   }
 }
 
 
-float get_speed() {return _get_speed();}
-void set_speed(float speed) {spindle_set_speed(0, speed);}
+spindle_type_t spindle_get_type() {return spindle.type;}
+
+
+void spindle_load_power_updates(power_update_t updates[], float minD,
+                                float maxD) {
+  float stepD = (maxD - minD) * (1.0 / POWER_MAX_UPDATES);
+  float d = minD + 1e-3; // Starting distance
+
+  for (unsigned i = 0; i < POWER_MAX_UPDATES; i++) {
+    bool set = false;
+
+    d += stepD; // Ending distance for this power step
+    updates[i].state = POWER_IGNORE;
+
+    while (true) {
+      // Load new sync speed if needed and available
+      if (spindle.sync_speed.dist < 0 && command_peek() == COMMAND_sync_speed)
+        spindle.sync_speed = *(sync_speed_t *)(command_next() + 1);
+
+      // Exit if we don't have a speed or it's not ready to be set
+      if (spindle.sync_speed.dist < 0 || d < spindle.sync_speed.dist) break;
+
+      set = true;
+      spindle.speed = spindle.sync_speed.speed;
+      spindle.sync_speed.dist = -1; // Mark done
+    }
+
+    // Prep power update
+    if (spindle.type == SPINDLE_TYPE_PWM) updates[i] = _get_update();
+    else if (set) _set_speed(spindle.speed); // Set speed now for non-PWM
+  }
+}
+
+
+void spindle_update(power_update_t update) {return pwm_update(update);}
+
+
+static void _flush_sync_speeds() {
+  spindle.sync_speed.dist = -1;
+  while (command_peek() == COMMAND_sync_speed) command_next();
+}
+
+
+// Called from lo-level stepper interrupt
+void spindle_idle() {
+  if (spindle.dirty) _set_speed(spindle.speed);
+  _flush_sync_speeds(); // Flush speeds in case we are holding there are more
+}
+
+
+float spindle_get_speed() {
+  float speed = 0;
+
+  switch (spindle.type) {
+  case SPINDLE_TYPE_DISABLED: break;
+  case SPINDLE_TYPE_PWM: speed = pwm_get(); break;
+  case SPINDLE_TYPE_HUANYANG: speed = huanyang_get(); break;
+  default: speed = vfd_spindle_get(); break;
+  }
+
+  return speed * spindle.max_rpm;
+}
+
+
+void spindle_stop() {
+  _flush_sync_speeds();
+  _set_speed(0);
+}
+
+
+void spindle_estop() {_set_type(SPINDLE_TYPE_DISABLED);}
+bool spindle_is_reversed() {return spindle.reversed;}
+
+
+// Var callbacks
+uint8_t get_tool_type() {return spindle.type;}
+void set_tool_type(uint8_t value) {_set_type((spindle_type_t)value);}
+float get_speed() {return spindle_get_speed();}
 bool get_tool_reversed() {return spindle.reversed;}
 
 
 void set_tool_reversed(bool reversed) {
   if (spindle.reversed != reversed) {
     spindle.reversed = reversed;
-    _update_speed();
+    spindle.dirty = true;
   }
 }
 
 
 float get_max_spin() {return spindle.max_rpm;}
-void set_max_spin(float value) {spindle.max_rpm = value; _update_speed();}
+void set_max_spin(float value) {spindle.max_rpm = value; spindle.dirty = true;}
 float get_min_spin() {return spindle.min_rpm;}
-void set_min_spin(float value) {spindle.min_rpm = value; _update_speed();}
+void set_min_spin(float value) {spindle.min_rpm = value; spindle.dirty = true;}
 uint16_t get_speed_override() {return spindle.override * 1000;}
 
 
 void set_speed_override(uint16_t value) {
   spindle.override = value / 1000.0;
-  _update_speed();
+  spindle.dirty = true;
+}
+
+
+bool get_dynamic_power() {return spindle.dynamic_power;}
+
+
+void set_dynamic_power(bool enable) {
+  if (spindle.dynamic_power == enable) return;
+  spindle.dynamic_power = enable;
+  spindle.dirty = true;
 }
+
+
+float get_inverse_feed() {return spindle.inv_feed;}
+
+
+void set_inverse_feed(float iF) {
+  if (spindle.inv_feed == iF) return;
+  spindle.inv_feed = iF;
+  spindle.dirty = true;
+}
+
+
+// Command callbacks
+stat_t command_sync_speed(char *cmd) {
+  sync_speed_t s;
+
+  cmd++; // Skip command code
+
+  // Get distance and speed
+  if (!decode_float(&cmd, &s.dist)) return STAT_BAD_FLOAT;
+  if (!decode_float(&cmd, &s.speed)) return STAT_BAD_FLOAT;
+
+  // Queue
+  command_push(COMMAND_sync_speed, &s);
+
+  return STAT_OK;
+}
+
+
+unsigned command_sync_speed_size() {return sizeof(sync_speed_t);}
+
+
+void command_sync_speed_exec(void *data) {
+  spindle.sync_speed.dist = -1; // Flush any left over
+  _set_speed(((sync_speed_t *)data)->speed);
+}
+
+
+stat_t command_speed(char *cmd) {
+  cmd++; // Skip command code
+
+  // Get speed
+  float speed;
+  if (!decode_float(&cmd, &speed)) return STAT_BAD_FLOAT;
+
+  // Queue
+  command_push(COMMAND_speed, &speed);
+
+  return STAT_OK;
+}
+
+
+unsigned command_speed_size() {return sizeof(float);}
+void command_speed_exec(void *data) {_set_speed(*(float *)data);}
diff --git a/src/avr/src/spindle.h b/src/avr/src/spindle.h
index 7626f41..94de062 100644
--- a/src/avr/src/spindle.h
+++ b/src/avr/src/spindle.h
@@ -31,6 +31,20 @@
 #include <stdint.h>
 
 
+typedef enum {
+  POWER_IGNORE,
+  POWER_FORWARD,
+  POWER_REVERSE
+} power_state_t;
+
+
+typedef struct {
+  power_state_t state;
+  float power;
+  uint16_t period; // Used by PWM
+} power_update_t;
+
+
 typedef enum {
   SPINDLE_TYPE_DISABLED,
   SPINDLE_TYPE_PWM,
@@ -47,7 +61,11 @@ typedef void (*deinit_cb_t)();
 
 
 spindle_type_t spindle_get_type();
+float spindle_get_speed();
 void spindle_stop();
+void spindle_estop();
 bool spindle_is_reversed();
-void spindle_update();
-void spindle_set_speed(uint8_t time, float speed);
+void spindle_load_power_updates(power_update_t updates[], float minD,
+                                float maxD);
+void spindle_update(power_update_t update);
+void spindle_idle();
diff --git a/src/avr/src/status.c b/src/avr/src/status.c
index 702eda5..f1aaa11 100644
--- a/src/avr/src/status.c
+++ b/src/avr/src/status.c
@@ -72,13 +72,17 @@ stat_t status_message_P(const char *location, status_level_t level,
            status_level_pgmstr(level));
 
   // Message
+  printf_P(PSTR("%" PRPSTR), status_to_pgmstr(code));
+
   if (msg && pgm_read_byte(msg)) {
+    putchar(':');
+    putchar(' ');
+
     // TODO escape invalid chars
     va_start(args, msg);
     vfprintf_P(stdout, msg, args);
     va_end(args);
-
-  } else printf_P(PSTR("%" PRPSTR), status_to_pgmstr(code));
+  }
 
   putchar('"');
 
diff --git a/src/avr/src/stepper.c b/src/avr/src/stepper.c
index 6e6904a..167a38e 100644
--- a/src/avr/src/stepper.c
+++ b/src/avr/src/stepper.c
@@ -34,7 +34,6 @@
 #include "util.h"
 #include "cpp_magic.h"
 #include "exec.h"
-#include "spindle.h"
 #include "drv8711.h"
 
 #include <string.h>
@@ -53,6 +52,8 @@ typedef struct {
   bool busy;
   bool requesting;
   float dwell;
+  uint8_t power_index;
+  power_update_t powers[POWER_MAX_UPDATES];
 
   // Move prep
   bool move_ready;         // prepped move ready for loader
@@ -60,11 +61,13 @@ typedef struct {
   move_type_t move_type;
   float prep_dwell;
 
+  power_update_t prep_powers[POWER_MAX_UPDATES];
+
   uint32_t underflow;
 } stepper_t;
 
 
-static volatile stepper_t st = {0};
+static stepper_t st = {0};
 
 
 void stepper_init() {
@@ -111,7 +114,11 @@ ISR(STEP_LOW_LEVEL_ISR) {
     stat_t status = exec_next();
 
     switch (status) {
-    case STAT_NOP: st.busy = false;  break; // No command executed
+    case STAT_NOP:                          // No move executed, idle
+      spindle_idle();
+      st.busy = false;
+      break;
+
     case STAT_AGAIN: continue;              // No command executed, try again
 
     case STAT_OK:                           // Move executed
@@ -142,11 +149,18 @@ static void _request_exec_move() {
 }
 
 
+static void _update_power() {
+  if (st.power_index < POWER_MAX_UPDATES)
+    spindle_update(st.powers[st.power_index++]);
+}
+
+
 /// Dwell or dequeue and load next move.
 static void _load_move() {
   static uint8_t tick = 0;
 
-  spindle_update();
+  // Update spindle power on every tick
+  _update_power();
 
   // Dwell
   if (0 < st.dwell) {
@@ -161,7 +175,7 @@ static void _load_move() {
     if (exec_get_velocity()) st.underflow++;
     _request_exec_move();
     _end_move();
-    tick = 0;
+    tick = 0; // Try again in 1ms
     return;
   }
 
@@ -178,6 +192,11 @@ static void _load_move() {
   // Start dwell
   st.dwell = st.prep_dwell;
 
+  // Copy power updates
+  st.power_index = 0;
+  memcpy(st.powers, st.prep_powers, sizeof(st.powers));
+  _update_power();
+
   // We are done with this move
   st.move_type = MOVE_TYPE_NULL;
   st.prep_dwell = 0;      // clear dwell
@@ -193,6 +212,12 @@ static void _load_move() {
 ISR(STEP_TIMER_ISR) {_load_move();}
 
 
+void st_prep_power(const power_update_t powers[]) {
+  ESTOP_ASSERT(!st.move_ready, STAT_STEPPER_NOT_READY);
+  memcpy(st.prep_powers, powers, sizeof(st.prep_powers));
+}
+
+
 void st_prep_line(const float target[]) {
   // Trap conditions that would prevent queuing the line
   ESTOP_ASSERT(!st.move_ready, STAT_STEPPER_NOT_READY);
diff --git a/src/avr/src/stepper.h b/src/avr/src/stepper.h
index f3ec277..210c85a 100644
--- a/src/avr/src/stepper.h
+++ b/src/avr/src/stepper.h
@@ -27,6 +27,8 @@
 
 #pragma once
 
+#include "spindle.h"
+
 #include <stdbool.h>
 #include <stdint.h>
 
@@ -35,5 +37,7 @@ void stepper_init();
 void st_shutdown();
 void st_enable();
 bool st_is_busy();
+void st_set_power_scale(float scale);
+void st_prep_power(const power_update_t powers[]);
 void st_prep_line(const float target[]);
 void st_prep_dwell(float seconds);
diff --git a/src/avr/src/vars.c b/src/avr/src/vars.c
index 888c350..e6fe699 100644
--- a/src/avr/src/vars.c
+++ b/src/avr/src/vars.c
@@ -229,6 +229,12 @@ static char *_resolve_name(const char *_name) {
 }
 
 
+static int _index(char c, const char *s) {
+  char *index = strchr(s, c);
+  return index ? index - s : -1;
+}
+
+
 static bool _find_var(const char *_name, var_info_t *info) {
   char *name = _resolve_name(_name);
   if (!name) return false;
@@ -238,14 +244,14 @@ static bool _find_var(const char *_name, var_info_t *info) {
   strcpy(info->name, name);
 
 #define VAR(NAME, CODE, TYPE, INDEX, SET, ...)                          \
-  if (!strcmp(IF_ELSE(INDEX)(name + 1, name), #CODE)) {                 \
-    IF(INDEX)                                                           \
-      (i = strchr(INDEX##_LABEL, name[0]) - INDEX##_LABEL;              \
-       if (i < 0) return false);                                        \
+  if (!strcmp(IF_ELSE(INDEX)(name + 1, name), #CODE)                    \
+      IF(INDEX)(&& (i = _index(name[0], INDEX##_LABEL)) != -1)          \
+      ) {                                                               \
                                                                         \
     info->type = TYPE_##TYPE;                                           \
     info->index = i;                                                    \
-    info->get.IF_ELSE(INDEX)(get_##TYPE##_index, get_##TYPE) = get_##NAME; \
+    info->get.IF_ELSE(INDEX)(get_##TYPE##_index, get_##TYPE) =          \
+      get_##NAME;                                                       \
                                                                         \
     IF(SET)(info->set.IF_ELSE(INDEX)                                    \
             (set_##TYPE##_index, set_##TYPE) = set_##NAME;)             \
diff --git a/src/avr/src/vars.def b/src/avr/src/vars.def
index bd0ab9d..52c4258 100644
--- a/src/avr/src/vars.def
+++ b/src/avr/src/vars.def
@@ -53,7 +53,7 @@ VAR(max_soft_limit,  tm, f32,   MOTORS, 1, 1) // Max soft limit
 VAR(homed,            h, b8,    MOTORS, 1, 1) // Motor homed status
 
 VAR(active_current,  ac, f32,   MOTORS, 0, 1) // Motor current now
-VAR(driver_flags,    df, u16,   MOTORS, 0, 1) // Motor driver flags
+VAR(driver_flags,    df, u16,   MOTORS, 1, 1) // Motor driver flags
 VAR(status_strings,  ds, flags, MOTORS, 0, 1) // Motor driver status
 VAR(driver_stalled,  sl, b8,    MOTORS, 0, 1) // Motor driver status
 VAR(encoder,         en, s32,   MOTORS, 0, 0) // Motor encoder
@@ -84,7 +84,7 @@ VAR(analog_input,    ai, f32,   ANALOG, 0, 0) // Analog input pins
 
 // Spindle
 VAR(tool_type,       st, u8,    0,      1, 1) // See spindle.c
-VAR(speed,            s, f32,   0,      1, 1) // Current spindle speed
+VAR(speed,            s, f32,   0,      0, 1) // Current spindle speed
 VAR(tool_reversed,   sr, b8,    0,      1, 1) // Reverse tool
 VAR(max_spin,        sx, f32,   0,      1, 1) // Maximum spindle speed
 VAR(min_spin,        sm, f32,   0,      1, 1) // Minimum spindle speed
@@ -132,6 +132,8 @@ VAR(acceleration,    ax, f32,   0,      0, 1) // Current acceleration
 VAR(jerk,             j, f32,   0,      0, 1) // Current jerk
 VAR(peak_vel,        pv, f32,   0,      1, 1) // Peak velocity, set to clear
 VAR(peak_accel,      pa, f32,   0,      1, 1) // Peak accel, set to clear
+VAR(dynamic_power,   dp, b8,    0,      1, 1) // Dynamic power
+VAR(inverse_feed,    if, f32,   0,      1, 1) // Inverse feed rate
 VAR(hw_id,          hid, str,   0,      0, 1) // Hardware ID
 VAR(estop,           es, b8,    0,      1, 1) // Emergency stop
 VAR(estop_reason,    er, pstr,  0,      0, 1) // Emergency stop reason
diff --git a/src/avr/src/vfd_spindle.c b/src/avr/src/vfd_spindle.c
index 591d96f..74d55d7 100644
--- a/src/avr/src/vfd_spindle.c
+++ b/src/avr/src/vfd_spindle.c
@@ -84,7 +84,7 @@ const vfd_reg_t ac_tech_regs[] PROGMEM = {
   {REG_FWD_WRITE,         1,    8}, // Start drive
   {REG_REV_WRITE,         1,   64}, // Reverse
   {REG_REV_WRITE,         1,    8}, // Start drive
-  {REG_FREQ_ACTECH_READ, 24,    0}, // Actual speed
+  {REG_FREQ_ACTECH_READ, 24,    0}, // Actual freq
   {REG_DISCONNECT_WRITE,  1,    2}, // Lock controls and parameters
   {REG_DISABLED},
 };
@@ -139,9 +139,9 @@ static struct {
   bool changed;
   bool shutdown;
 
-  float speed;
+  float power;
   uint16_t max_freq;
-  float actual_speed;
+  float actual_power;
   uint16_t status;
 
   uint32_t wait;
@@ -159,13 +159,13 @@ static void _disconnected() {
 static bool _next_state() {
   switch (vfd.state) {
   case REG_MAX_FREQ_FIXED:
-    if (!vfd.speed) vfd.state = REG_STOP_WRITE;
+    if (!vfd.power) vfd.state = REG_STOP_WRITE;
     else vfd.state = REG_FREQ_SET;
     break;
 
   case REG_FREQ_SIGN_SET:
-    if (vfd.speed < 0) vfd.state = REG_REV_WRITE;
-    else if (0 < vfd.speed) vfd.state = REG_FWD_WRITE;
+    if (vfd.power < 0) vfd.state = REG_REV_WRITE;
+    else if (0 < vfd.power) vfd.state = REG_FWD_WRITE;
     else vfd.state = REG_STOP_WRITE;
     break;
 
@@ -239,14 +239,14 @@ static void _modbus_cb(bool ok, uint16_t addr, uint16_t value) {
 
   switch (regs[vfd.reg].type) {
   case REG_MAX_FREQ_READ: vfd.max_freq = value; break;
-  case REG_FREQ_READ: vfd.actual_speed = value / (float)vfd.max_freq; break;
+  case REG_FREQ_READ: vfd.actual_power = value / (float)vfd.max_freq; break;
 
   case REG_FREQ_SIGN_READ:
-    vfd.actual_speed = (int16_t)value / (float)vfd.max_freq;
+    vfd.actual_power = (int16_t)value / (float)vfd.max_freq;
     break;
 
   case REG_FREQ_ACTECH_READ:
-    if (vfd.read_count == 2) vfd.actual_speed = value / (float)vfd.max_freq;
+    if (vfd.read_count == 2) vfd.actual_power = value / (float)vfd.max_freq;
     if (vfd.read_count < 6) return;
     break;
 
@@ -275,12 +275,12 @@ static bool _exec_command() {
 
   case REG_FREQ_SET:
     write = true;
-    reg.value = fabs(vfd.speed) * vfd.max_freq;
+    reg.value = fabs(vfd.power) * vfd.max_freq;
     break;
 
   case REG_FREQ_SIGN_SET:
     write = true;
-    reg.value = vfd.speed * vfd.max_freq;
+    reg.value = vfd.power * vfd.max_freq;
     break;
 
   case REG_CONNECT_WRITE:
@@ -346,15 +346,15 @@ void vfd_spindle_deinit(deinit_cb_t cb) {
 }
 
 
-void vfd_spindle_set(float speed) {
-  if (vfd.speed != speed) {
-    vfd.speed = speed;
+void vfd_spindle_set(float power) {
+  if (vfd.power != power) {
+    vfd.power = power;
     vfd.changed = true;
   }
 }
 
 
-float vfd_spindle_get() {return vfd.actual_speed;}
+float vfd_spindle_get() {return vfd.actual_power;}
 
 
 void vfd_spindle_rtc_callback() {
diff --git a/src/avr/src/vfd_spindle.h b/src/avr/src/vfd_spindle.h
index 17de4f6..aa6950b 100644
--- a/src/avr/src/vfd_spindle.h
+++ b/src/avr/src/vfd_spindle.h
@@ -32,6 +32,6 @@
 
 void vfd_spindle_init();
 void vfd_spindle_deinit(deinit_cb_t cb);
-void vfd_spindle_set(float speed);
+void vfd_spindle_set(float power);
 float vfd_spindle_get();
 void vfd_spindle_rtc_callback();
diff --git a/src/js/app.js b/src/js/app.js
index 913145e..c8f4e5e 100644
--- a/src/js/app.js
+++ b/src/js/app.js
@@ -28,6 +28,7 @@
 'use strict'
 
 var api = require('./api');
+var cookie = require('./cookie')('bbctrl-');
 var Sock = require('./sock');
 
 
@@ -93,7 +94,7 @@ module.exports = new Vue({
       },
       state: {},
       messages: [],
-      video_size: 'small',
+      video_size: cookie.get('video-size', 'small'),
       errorTimeout: 30,
       errorTimeoutStart: 0,
       errorShow: false,
@@ -209,6 +210,7 @@ module.exports = new Vue({
     toggle_video: function () {
       if      (this.video_size == 'small')  this.video_size = 'large';
       else if (this.video_size == 'large')  this.video_size = 'small';
+      cookie.set('video-size', this.video_size);
     },
 
 
diff --git a/src/js/axis-vars.js b/src/js/axis-vars.js
index ffa0d4f..c86b224 100644
--- a/src/js/axis-vars.js
+++ b/src/js/axis-vars.js
@@ -78,9 +78,15 @@ module.exports = {
       var klass      = (homed ? 'homed' : 'unhomed') + ' axis-' + axis;
       var state      = 'UNHOMED';
       var icon       = 'question-circle';
+      var fault      = this.state[motor_id + 'df'] & 0x1f;
       var title;
 
-      if (0 < dim && dim < pathDim) {
+      if (fault) {
+        state = 'FAULT';
+        klass += ' error';
+        icon = 'exclamation-circle';
+
+      } else if (0 < dim && dim < pathDim) {
         state = 'NO FIT';
         klass += ' error';
         icon = 'ban';
@@ -114,6 +120,14 @@ module.exports = {
         title = 'Tool path dimensions exceed axis dimensions by ' +
           this._length_str(pathDim - dim) + '.';
         break;
+
+      case 'FAULT':
+        title = 'Motor driver fault.  A potentially damaging electrical ' +
+          'condition was detected and the motor driver was shutdown.  ' +
+          'Please power down the controller and check your motor cabling.  ' +
+          'See the "Motor Faults" table on the "Indicators" for more ' +
+          'information.';
+        break;
       }
 
       return {
diff --git a/src/js/console.js b/src/js/console.js
index 80659b7..52e0cd3 100644
--- a/src/js/console.js
+++ b/src/js/console.js
@@ -29,7 +29,7 @@
 
 
 function _msg_equal(a, b) {
-  return a.level == b.level && a.location == b.location && a.code == b.code &&
+  return a.level == b.level && a.source == b.source && a.where == b.where &&
     a.msg == b.msg;
 }
 
@@ -61,7 +61,6 @@ module.exports = {
       var repeat = messages.length && _msg_equal(msg, messages[0]);
       if (repeat) messages[0].repeat++;
       else {
-        msg.repeat = 1;
         messages.unshift(msg);
         while (256 < messages.length) messages.pop();
       }
diff --git a/src/js/control-view.js b/src/js/control-view.js
index 87065c4..25e910c 100644
--- a/src/js/control-view.js
+++ b/src/js/control-view.js
@@ -143,9 +143,15 @@ module.exports = {
     plan_time: function () {return this.state.plan_time},
 
 
+    plan_time_remaining: function () {
+      if (!(this.is_stopping || this.is_running || this.is_holding)) return 0;
+      return this.toolpath.time - this.plan_time
+    },
+
+
     eta: function () {
       if (this.mach_state != 'RUNNING') return '';
-      var remaining = this.toolpath.time - this.plan_time;
+      var remaining = this.plan_time_remaining;
       var d = new Date();
       d.setSeconds(d.getSeconds() + remaining);
       return d.toLocaleString();
@@ -153,7 +159,7 @@ module.exports = {
 
 
     progress: function () {
-      if (!this.toolpath.time) return 0;
+      if (!this.toolpath.time || this.is_ready) return 0;
       var p = this.plan_time / this.toolpath.time;
       return p < 1 ? p : 1;
     }
@@ -192,7 +198,8 @@ module.exports = {
 
     load: function () {
       var file = this.state.selected;
-      if (this.last_file == file) return;
+      if (this.last_file == file || typeof file == 'undefined' ||
+          typeof file == 'null') return;
       this.last_file = file;
 
       if (typeof file != 'undefined') this.$broadcast('gcode-load', file);
@@ -205,7 +212,7 @@ module.exports = {
     load_toolpath: function (file) {
       this.toolpath = {};
 
-      if (typeof file == 'undefined') return;
+      if (typeof file == 'undefined' || typeof file == 'null') return;
 
       api.get('path/' + file).done(function (toolpath) {
         if (this.last_file != file) return;
@@ -238,7 +245,12 @@ module.exports = {
 
 
     load_history: function (index) {this.mdi = this.history[index];},
-    open: function (e) {$('.gcode-file-input').click()},
+
+
+    open: function (e) {
+      // TODO browser caches file if name is same even if contents changed
+      $('.gcode-file-input').click();
+    },
 
 
     upload: function (e) {
@@ -252,6 +264,7 @@ module.exports = {
 
       api.upload('file', fd)
         .done(function () {
+          this.last_file = undefined; // Force reload
           this.$broadcast('gcode-reload', file.name);
           this.update();
         }.bind(this));
diff --git a/src/js/cookie.js b/src/js/cookie.js
new file mode 100644
index 0000000..6244436
--- /dev/null
+++ b/src/js/cookie.js
@@ -0,0 +1,69 @@
+/******************************************************************************\
+
+                    Copyright 2018. Buildbotics LLC
+                              All Rights Reserved.
+
+                  For information regarding this software email:
+                                 Joseph Coffland
+                              joseph@buildbotics.com
+
+        This software is free software: you clan redistribute it and/or
+        modify it under the terms of the GNU Lesser General Public License
+        as published by the Free Software Foundation, either version 2.1 of
+        the License, or (at your option) any later version.
+
+        This software 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
+        Lesser General Public License for more details.
+
+        You should have received a copy of the GNU Lesser General Public
+        License along with the C! library.  If not, see
+        <http://www.gnu.org/licenses/>.
+
+\******************************************************************************/
+
+'use strict'
+
+
+module.exports = function (prefix) {
+  if (typeof prefix == 'undefined') prefix = '';
+
+  var cookie = {
+    get: function (name, defaultValue) {
+      var decodedCookie = decodeURIComponent(document.cookie);
+      var ca = decodedCookie.split(';');
+      name = prefix + name + '=';
+
+      for (var i = 0; i < ca.length; i++) {
+        var c = ca[i];
+        while (c.charAt(0) == ' ') c = c.substring(1);
+        if (!c.indexOf(name)) return c.substring(name.length, c.length);
+      }
+
+      return defaultValue;
+    },
+
+
+    set: function (name, value, days) {
+      var offset = 2147483647; // Max value
+      if (typeof days != 'undefined') offset = days * 24 * 60 * 60 * 1000;
+      var d = new Date();
+      d.setTime(d.getTime() + offset);
+      var expires = 'expires=' + d.toUTCString();
+      document.cookie = prefix + name + '=' + value + ';' + expires + ';path=/';
+    },
+
+
+    set_bool: function (name, value) {
+      cookie.set(name, value ? 'true' : 'false');
+    },
+
+
+    get_bool: function (name, defaultValue) {
+      return cookie.get(name, defaultValue ? 'true' : 'false') == 'true';
+    }
+  }
+
+  return cookie;
+}
diff --git a/src/js/gcode-viewer.js b/src/js/gcode-viewer.js
index 67847e4..bbae51a 100644
--- a/src/js/gcode-viewer.js
+++ b/src/js/gcode-viewer.js
@@ -73,7 +73,8 @@ module.exports = {
 
   methods: {
     load: function (file) {
-      if (file == this.file) return;
+      if (file == this.file || typeof file == 'undefined' ||
+          typeof file == 'null') return;
       this.clear();
       this.file = file;
 
diff --git a/src/js/indicators.js b/src/js/indicators.js
index 15e8f08..e9881b1 100644
--- a/src/js/indicators.js
+++ b/src/js/indicators.js
@@ -77,6 +77,31 @@ module.exports = {
       case 2: return 10;
       case 3: return 12;
       }
+    },
+
+
+    motor_fault_class: function (motor, fault) {
+      if (typeof motor == 'undefined') {
+        var status = this.state['fa'];
+        if (typeof status == 'undefined') return 'fa-question';
+        return 'fa-thumbs-' + (status ? 'down error' : 'up success')
+      }
+
+      var status = this.state[motor + 'ds'];
+      if (typeof status == 'undefined') return 'fa-question';
+      return status.indexOf(fault) == -1 ? 'fa-thumbs-up success' :
+        'fa-thumbs-down error';
+    },
+
+
+    motor_reset: function (motor) {
+      if (typeof motor == 'undefined') {
+        var cmd = '';
+        for (var i = 0; i < 4; i++)
+          cmd += '\\$' + i + 'df=0\n';
+        this.$dispatch('send', cmd);
+
+      } else this.$dispatch('send', '\\$' + motor + 'df=0');
     }
   }
 }
diff --git a/src/js/main.js b/src/js/main.js
index 58be6fa..336a306 100644
--- a/src/js/main.js
+++ b/src/js/main.js
@@ -77,17 +77,17 @@ $(function() {
     var parts = [];
 
     if (DAY <= value) {
-      parts.push(value / DAY);
+      parts.push(Math.floor(value / DAY));
       value %= DAY;
     }
 
     if (HR <= value) {
-      parts.push(value / HR);
+      parts.push(Math.floor(value / HR));
       value %= HR;
     }
 
     if (MIN <= value) {
-      parts.push(value / MIN);
+      parts.push(Math.floor(value / MIN));
       value %= MIN;
 
     } else parts.push(0);
diff --git a/src/js/path-viewer.js b/src/js/path-viewer.js
index 0ceed82..2ac7082 100644
--- a/src/js/path-viewer.js
+++ b/src/js/path-viewer.js
@@ -26,6 +26,7 @@
 'use strict'
 
 var orbit = require('./orbit');
+var cookie = require('./cookie')('bbctrl-');
 
 
 function get(obj, name, defaultValue) {
@@ -48,16 +49,16 @@ module.exports = {
 
   data: function () {
     return {
-      enabled: true,
+      enabled: false,
       loading: false,
-      small: true,
+      snapView: cookie.get('snap-view', 'isometric'),
+      small: cookie.get_bool('small-path-view', true),
       surfaceMode: 'cut',
-      showPath: true,
-      showTool: true,
-      showBBox: true,
-      showAxes: true,
-      error: false,
-      message: ''
+      showPath: cookie.get_bool('show-path', true),
+      showTool: cookie.get_bool('show-tool', true),
+      showBBox: cookie.get_bool('show-bbox', true),
+      showAxes: cookie.get_bool('show-axes', true),
+      showIntensity: cookie.get_bool('show-intensity', false)
     }
   },
 
@@ -71,15 +72,42 @@ module.exports = {
   watch: {
     toolpath: function () {Vue.nextTick(this.update)},
     surfaceMode: function (mode) {this.update_surface_mode(mode)},
-    small: function () {Vue.nextTick(this.update_view)},
-    showPath: function (enable) {set_visible(this.path, enable)},
-    showTool: function (enable) {set_visible(this.tool, enable)},
-    showAxes: function (enable) {set_visible(this.axes, enable)},
+
+
+    small: function (enable) {
+      cookie.set_bool('small-path-view', enable);
+      Vue.nextTick(this.update_view)
+    },
+
+
+    showPath: function (enable) {
+      cookie.set_bool('show-path', enable);
+      set_visible(this.pathView, enable)
+    },
+
+
+    showTool: function (enable) {
+      cookie.set_bool('show-tool', enable);
+      set_visible(this.toolView, enable)
+    },
+
+
+    showAxes: function (enable) {
+      cookie.set_bool('show-axes', enable);
+      set_visible(this.axesView, enable)
+    },
+
+
+    showIntensity: function (enable) {
+      cookie.set_bool('show-intensity', enable);
+      Vue.nextTick(this.update)
+    },
 
 
     showBBox: function (enable) {
-      set_visible(this.bbox, enable);
-      set_visible(this.envelope, enable);
+      cookie.set_bool('show-bbox', enable);
+      set_visible(this.bboxView, enable);
+      set_visible(this.envelopeView, enable);
     },
 
 
@@ -100,15 +128,13 @@ module.exports = {
       if (!this.enabled) return;
 
       // Reset message
-      this.message = ''
-      this.error = false;
       this.loading = !this.hasPath;
 
       // Update scene
       this.scene = new THREE.Scene();
       if (this.hasPath) {
         this.draw(this.scene);
-        this.snap('isometric');
+        this.snap(this.snapView);
       }
 
       this.update_view();
@@ -166,7 +192,7 @@ module.exports = {
 
     update_tool: function (tool) {
       if (!this.enabled) return;
-      if (typeof tool == 'undefined') tool = this.tool;
+      if (typeof tool == 'undefined') tool = this.toolView;
       if (typeof tool == 'undefined') return;
       tool.position.x = this.x.pos;
       tool.position.y = this.y.pos;
@@ -176,7 +202,7 @@ module.exports = {
 
     update_envelope: function (envelope) {
       if (!this.enabled || !this.axes.homed) return;
-      if (typeof envelope == 'undefined') envelope = this.envelope;
+      if (typeof envelope == 'undefined') envelope = this.envelopeView;
       if (typeof envelope == 'undefined') return;
 
       var min = new THREE.Vector3();
@@ -209,12 +235,10 @@ module.exports = {
         this.target.appendChild(this.renderer.domElement);
 
       } catch (e) {
-        console.log(e);
-        this.error = true;
-        this.message = 'WebGL not supported';
-        this.enabled = false;
+        console.log('WebGL not supported: ', e);
         return;
       }
+      this.enabled = true;
 
       // Camera
       this.camera = new THREE.PerspectiveCamera(45, 4 / 3, 1, 1000);
@@ -247,7 +271,6 @@ module.exports = {
       this.controls.dampingFactor = 0.2;
       this.controls.rotateSpeed = 0.25;
       this.controls.enableZoom = true;
-      //this.controls.enablePan = false;
 
       // Move lights with scene
       this.controls.addEventListener('change', function (scope) {
@@ -342,6 +365,7 @@ module.exports = {
 
       var mesh = new THREE.Mesh(geometry, material);
       this.update_tool(mesh);
+      mesh.visible = this.showTool;
       scene.add(mesh);
       return mesh;
     },
@@ -393,10 +417,17 @@ module.exports = {
     },
 
 
-    draw_path: function (scene) {
-      var cutting = [0, 1, 0];
-      var rapid = [1, 0, 0];
+    get_color: function (rapid, speed) {
+      if (rapid) return [1, 0, 0];
+
+      var intensity = speed / this.toolpath.maxSpeed;
+      if (typeof speed == 'undefined' || !this.showIntensity) intensity = 1;
+      return [0, intensity, 0.5 * (1 - intensity)];
+    },
 
+
+    draw_path: function (scene) {
+      var s = undefined;
       var x = this.x.pos;
       var y = this.y.pos;
       var z = this.z.pos;
@@ -407,7 +438,9 @@ module.exports = {
 
       for (var i = 0; i < this.toolpath.path.length; i++) {
         var step = this.toolpath.path[i];
-        var newColor = step.rapid ? rapid : cutting;
+
+        s = get(step, 's', s);
+        var newColor = this.get_color(step.rapid, s);
 
         // Handle color change
         if (!i || newColor != color) {
@@ -416,6 +449,7 @@ module.exports = {
           colors.push.apply(colors, color);
         }
 
+        // Draw to move target
         x = get(step, 'x', x);
         y = get(step, 'y', y);
         z = get(step, 'z', z);
@@ -533,7 +567,7 @@ module.exports = {
       scene.add(this.lights);
 
       // Model
-      this.path = this.draw_path(scene);
+      this.pathView = this.draw_path(scene);
       this.surfaceMesh = this.draw_surface(scene, this.surfaceMaterial);
       this.workpieceMesh = this.draw_workpiece(scene, this.surfaceMaterial);
       this.update_surface_mode(this.surfaceMode);
@@ -542,10 +576,10 @@ module.exports = {
       var bbox = this.get_model_bounds();
 
       // Tool, axes & bounds
-      this.tool = this.draw_tool(scene, bbox);
-      this.axes = this.draw_axes(scene, bbox);
-      this.bbox = this.draw_bbox(scene, bbox);
-      this.envelope = this.draw_envelope(scene);
+      this.toolView = this.draw_tool(scene, bbox);
+      this.axesView = this.draw_axes(scene, bbox);
+      this.bboxView = this.draw_bbox(scene, bbox);
+      this.envelopeView = this.draw_envelope(scene);
     },
 
 
@@ -564,7 +598,7 @@ module.exports = {
         if (typeof o != 'undefined') bbox.union(o.geometry.boundingBox);
       }
 
-      add(this.path);
+      add(this.pathView);
       add(this.surfaceMesh);
       add(this.workpieceMesh);
 
@@ -573,6 +607,11 @@ module.exports = {
 
 
     snap: function (view) {
+      if (view != this.snapView) {
+        this.snapView = view;
+        cookie.set('snap-view', view);
+      }
+
       var bbox = this.get_model_bounds();
       this.controls.reset();
       bbox.getCenter(this.controls.target);
diff --git a/src/js/templated-input.js b/src/js/templated-input.js
index a775934..80b18fe 100644
--- a/src/js/templated-input.js
+++ b/src/js/templated-input.js
@@ -44,6 +44,15 @@ module.exports = {
     units: function () {
       return (this.metric || !this.template.iunit) ?
         this.template.unit : this.template.iunit;
+    },
+
+
+    title: function () {
+      var s = 'Default ' + this.template.default + ' ' +
+          (this.template.unit || '');
+      if (typeof this.template.help != 'undefined')
+        s = this.template.help + '\n' + s;
+      return s;
     }
   },
 
diff --git a/src/pug/templates/control-view.pug b/src/pug/templates/control-view.pug
index 5d9f928..2db0d67 100644
--- a/src/pug/templates/control-view.pug
+++ b/src/pug/templates/control-view.pug
@@ -158,10 +158,10 @@ script#control-view-template(type="text/x-template")
 
     table.info
       tr
-        th Time
-        td(title="Total run time (days:hours:mins:secs)")
-          span(v-if="plan_time") {{plan_time | time}} of&nbsp;
-          | {{toolpath.time | time}}
+        th Remaining
+        td(title="Total run time (days:hours:mins:secs)").
+          #[span(v-if="plan_time_remaining") {{plan_time_remaining | time}} of]
+          {{toolpath.time | time}}
       tr
         th ETA
         td.eta {{eta}}
diff --git a/src/pug/templates/indicators.pug b/src/pug/templates/indicators.pug
index a4fd801..01974a1 100644
--- a/src/pug/templates/indicators.pug
+++ b/src/pug/templates/indicators.pug
@@ -170,6 +170,42 @@ script#indicators-template(type="text/x-template")
         th
         td
 
+    table.motor_fault
+      tr
+        th.header(colspan=99)
+          | Motor Faults
+          .fa(:class="motor_fault_class()", title="General motor driver fault")
+
+      tr
+        th Motor
+        th(title="Overtemperature fault"): .fa.fa-thermometer-full
+        th(title="Overcurrent motor channel A") A #[.fa.fa-bolt]
+        th(title="Predriver fault motor channel A")
+          | A #[.fa.fa-exclamation-triangle]
+        th(title="Overcurrent motor channel B") B #[.fa.fa-bolt]
+        th(title="Predriver fault motor channel B")
+          | B #[.fa.fa-exclamation-triangle]
+        th(title="Driver communication failure"): .fa.fa-handshake-o
+        th(title="Reset all motor flags")
+          .fa.fa-eraser(@click="motor_reset()")
+
+      tr(v-for="motor in [0, 1, 2, 3]")
+        td {{motor}}
+        td: .fa(:class="motor_fault_class(motor, 'temp')",
+          title="Overtemperature fault")
+        td: .fa(:class="motor_fault_class(motor, 'current a')",
+          title="Overcurrent motor channel A")
+        td: .fa(:class="motor_fault_class(motor, 'fault a')",
+          title="Predriver fault motor channel A")
+        td: .fa(:class="motor_fault_class(motor, 'current b')",
+          title="Overcurrent motor channel B")
+        td: .fa(:class="motor_fault_class(motor, 'fault b')",
+          title="Predriver fault motor channel B")
+        td: .fa(:class="motor_fault_class(motor, 'comm')",
+          title="Driver communication failure")
+        td(:title="'Reset motor ' + motor + ' flags'")
+          .fa.fa-eraser(@click="motor_reset(motor)")
+
     table.measurements
       tr
         th.header(colspan=5) Measurements
diff --git a/src/pug/templates/path-viewer.pug b/src/pug/templates/path-viewer.pug
index 28df778..3d0d6e2 100644
--- a/src/pug/templates/path-viewer.pug
+++ b/src/pug/templates/path-viewer.pug
@@ -26,24 +26,28 @@
 //-/////////////////////////////////////////////////////////////////////////////
 
 script#path-viewer-template(type="text/x-template")
-  .path-viewer(:class="{small: small, error: error}")
+  .path-viewer(v-show="enabled", :class="{small: small}")
     .path-viewer-toolbar
       .tool-button(title="Toggle path view size.",
         @click="small = !small", :class="{active: !small}")
         .fa.fa-arrows-alt
 
-      .tool-button(@click="showTool = !showTool", :active="showTool",
+      .tool-button(@click="showTool = !showTool", :class="{active: showTool}",
         title="Show/hide tool.")
         img(src="images/tool.png")
 
-      .tool-button(@click="showBBox = !showBBox", :active="showBBox",
+      .tool-button(@click="showBBox = !showBBox", :class="{active: showBBox}",
         title="Show/hide bounding box.")
         img(src="images/bbox.png")
 
-      .tool-button(@click="showAxes = !showAxes", :active="showAxes",
+      .tool-button(@click="showAxes = !showAxes", :class="{active: showAxes}",
         title="Show/hide axes.")
         img(src="images/axes.png")
 
+      .tool-button(@click="showIntensity = !showIntensity",
+        :class="{active: showIntensity}", title="Show/hide LASER intensity.")
+        img(src="images/intensity.png")
+
       each view in "isometric top front".split(" ")
         .tool-button(@click=`snap('${view}')`, title=`Snap to ${view} view.`)
           img(src=`images/${view}.png`)
@@ -54,7 +58,6 @@ script#path-viewer-template(type="text/x-template")
           div(v-if="progress && progress < 1")
             | Simulating run {{progress | non_zero_percent 0}}. . .
           div(v-if="!progress || progress == 1") Loading. . .
-        | {{message}}
 
     table.path-viewer-messages(
       v-if="typeof toolpath.messages != 'undefined' && " +
diff --git a/src/pug/templates/templated-input.pug b/src/pug/templates/templated-input.pug
index 0e456ac..f1478d2 100644
--- a/src/pug/templates/templated-input.pug
+++ b/src/pug/templates/templated-input.pug
@@ -26,8 +26,7 @@
 //-/////////////////////////////////////////////////////////////////////////////
 
 script#templated-input-template(type="text/x-template")
-  .pure-control-group(class="tmpl-input-{{name}}",
-    title="Default {{template.default}} {{template.unit || ''}}")
+  .pure-control-group(class="tmpl-input-{{name}}", :title="title")
     label(:for="name") {{name}}
 
     select(v-if="template.type == 'enum' || template.values", v-model="view",
diff --git a/src/py/bbctrl/APIHandler.py b/src/py/bbctrl/APIHandler.py
index 64af779..a5f02cb 100644
--- a/src/py/bbctrl/APIHandler.py
+++ b/src/py/bbctrl/APIHandler.py
@@ -50,6 +50,7 @@ class APIHandler(RequestHandler):
 
         log.error(str(value))
         trace = ''.join(traceback.format_exception(typ, value, tb))
+        log.error(trace)
         log.debug(trace)
 
 
diff --git a/src/py/bbctrl/Camera.py b/src/py/bbctrl/Camera.py
index 24d69e1..9f7a3da 100755
--- a/src/py/bbctrl/Camera.py
+++ b/src/py/bbctrl/Camera.py
@@ -533,7 +533,7 @@ class Camera(object):
 
 
         except Exception as e:
-            log.warning('While loading camera')
+            log.warning('While loading camera: %s' % e)
             if not self.dev is None:
                 self.dev.close()
                 self.dev = None
diff --git a/src/py/bbctrl/Cmd.py b/src/py/bbctrl/Cmd.py
index 4700471..7c53a64 100644
--- a/src/py/bbctrl/Cmd.py
+++ b/src/py/bbctrl/Cmd.py
@@ -43,6 +43,7 @@ SEEK         = 's'
 SET_AXIS     = 'a'
 LINE         = 'l'
 SYNC_SPEED   = '%'
+SPEED        = 'p'
 INPUT        = 'I'
 DWELL        = 'd'
 PAUSE        = 'P'
@@ -115,17 +116,17 @@ def line(target, exitVel, maxAccel, maxJerk, times, speeds):
             cmd += str(i) + encode_float(times[i] / 60000) # to mins
 
     # Speeds
-    for speed in speeds:
-        cmd += '\n' + sync_speed(speed[0], speed[1])
+    for dist, speed in speeds:
+        cmd += '\n' + sync_speed(dist, speed)
 
     return cmd
 
 
-def speed(speed): return set_float('s', speed)
+def speed(value): return SPEED + encode_float(value)
 
 
-def sync_speed(time, speed):
-    return SYNC_SPEED + encode_float(time) + encode_float(speed)
+def sync_speed(dist, speed):
+    return SYNC_SPEED + encode_float(dist) + encode_float(speed)
 
 
 def input(port, mode, timeout):
diff --git a/src/py/bbctrl/Ctrl.py b/src/py/bbctrl/Ctrl.py
index 47cfe85..69028ca 100644
--- a/src/py/bbctrl/Ctrl.py
+++ b/src/py/bbctrl/Ctrl.py
@@ -48,7 +48,6 @@ class Ctrl(object):
             self.lcd = bbctrl.LCD(self)
             self.mach = bbctrl.Mach(self)
             self.preplanner = bbctrl.Preplanner(self)
-            self.planTimer = bbctrl.PlanTimer(self)
             self.jog = bbctrl.Jog(self)
             self.pwr = bbctrl.Pwr(self)
 
diff --git a/src/py/bbctrl/FileHandler.py b/src/py/bbctrl/FileHandler.py
index 6d03fa5..d122d35 100644
--- a/src/py/bbctrl/FileHandler.py
+++ b/src/py/bbctrl/FileHandler.py
@@ -56,7 +56,7 @@ class FileHandler(bbctrl.APIHandler):
             safe_remove('upload' + filename)
             self.ctrl.preplanner.delete_plans(filename)
 
-            if self.ctrl.state.get('selected') == filename:
+            if self.ctrl.state.get('selected', '') == filename:
                 self.ctrl.state.set('selected', '')
 
 
diff --git a/src/py/bbctrl/Mach.py b/src/py/bbctrl/Mach.py
index 65ce235..8d83503 100644
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -55,6 +55,12 @@ axis_homing_procedure = '''
   G90 G28.3 %(axis)s[#<_%(axis)s_home_position>]
 '''
 
+motor_fault_error = '''\
+Motor %d driver fault.  A potentially damaging electrical condition was \
+detected and the motor driver was shutdown.  Please power down the controller \
+and check your motor cabling. See the "Motor Faults" table on the "Indicators" \
+for more information.\
+'''
 
 def overrides(interface_class):
     def overrider(method):
@@ -73,6 +79,7 @@ class Mach(Comm):
 
         self.ctrl = ctrl
         self.planner = bbctrl.Planner(ctrl)
+        self.unpausing = False
 
         ctrl.state.set('cycle', 'idle')
         self._update_cycle_cb(False)
@@ -114,9 +121,19 @@ class Mach(Comm):
         # Handle EStop
         if update.get('xx', '') == 'ESTOPPED': self.planner.reset()
 
+        # Unpause sync
+        if update.get('xx', '') != 'HOLDING': self.unpausing = False
+
         # Update cycle now, if it has changed
         self._update_cycle()
 
+        # Detect motor faults
+        for motor in range(4):
+            key = '%ddf' % motor
+            if key in update and update[key] & 0x1f:
+                log.error(motor_fault_error % motor)
+
+        # Unpause
         if (('xx' in update or 'pr' in update) and
             self.ctrl.state.get('xx', '') == 'HOLDING'):
             pause_reason = self.ctrl.state.get('pr', '')
@@ -135,6 +152,9 @@ class Mach(Comm):
 
 
     def _unpause(self):
+        if self._get_state() != 'HOLDING' or self.unpausing: return
+        self.unpausing = True
+
         pause_reason = self.ctrl.state.get('pr', '')
         log.info('Unpause: ' + pause_reason)
 
@@ -268,8 +288,10 @@ class Mach(Comm):
 
 
     def start(self):
+        filename = self.ctrl.state.get('selected', '')
+        if not filename: return
         self._begin_cycle('running')
-        self.planner.load('upload/' + self.ctrl.state.get('selected'))
+        self.planner.load('upload/' + filename)
         super().resume()
 
 
diff --git a/src/py/bbctrl/MainLCDPage.py b/src/py/bbctrl/MainLCDPage.py
index b55f921..ba17391 100644
--- a/src/py/bbctrl/MainLCDPage.py
+++ b/src/py/bbctrl/MainLCDPage.py
@@ -54,7 +54,11 @@ class MainLCDPage(bbctrl.LCDPage):
         # Show enabled axes
         row = 0
         for axis in 'xyzabc':
-            if state.is_axis_enabled(axis):
+            if state.is_axis_faulted(axis):
+                self.text('    FAULT %s' % axis.upper(), 9, row)
+                row += 1
+
+            elif state.is_axis_enabled(axis):
                 position = state.get(axis + 'p', 0)
                 position += state.get('offset_' + axis, 0)
                 position /= scale
diff --git a/src/py/bbctrl/PlanTimer.py b/src/py/bbctrl/PlanTimer.py
deleted file mode 100644
index 05b9d60..0000000
--- a/src/py/bbctrl/PlanTimer.py
+++ /dev/null
@@ -1,117 +0,0 @@
-################################################################################
-#                                                                              #
-#                This file is part of the Buildbotics firmware.                #
-#                                                                              #
-#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
-#                             All rights reserved.                             #
-#                                                                              #
-#     This file ("the software") is free software: you can redistribute it     #
-#     and/or modify it under the terms of the GNU General Public License,      #
-#      version 2 as published by the Free Software Foundation. You should      #
-#      have received a copy of the GNU General Public License, version 2       #
-#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
-#                                                                              #
-#     The software 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       #
-#               Lesser General Public License for more details.                #
-#                                                                              #
-#       You should have received a copy of the GNU Lesser General Public       #
-#                License along with the software.  If not, see                 #
-#                       <http://www.gnu.org/licenses/>.                        #
-#                                                                              #
-#                For information regarding this software email:                #
-#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
-#                                                                              #
-################################################################################
-
-import logging
-import time
-import bbctrl
-
-log = logging.getLogger('PlanTimer')
-
-
-class PlanTimer(object):
-    def __init__(self, ctrl):
-        self.ctrl = ctrl
-        self.plan_times = None
-
-        self.reset()
-        self.ctrl.state.set('plan_time', 0)
-        ctrl.state.add_listener(self._update)
-        self._report()
-
-
-    def reset(self):
-        self.plan_time = 0
-        self.move_start = None
-        self.hold_start = None
-        self.plan_index = 0
-
-
-    def _report(self):
-        if (self.plan_times is not None and
-            self.plan_index < len(self.plan_times) and
-            self.move_start is not None):
-            state = self.ctrl.state.get('xx', '')
-
-            if state in ['STOPPING', 'RUNNING']:
-                t = self.plan_time
-                delta = time.time() - self.move_start
-                nextT = self.plan_times[self.plan_index][1]
-                if t + delta < nextT: t += delta
-                else: t = nextT
-
-                self.ctrl.state.set('plan_time', round(t))
-
-        self.ctrl.ioloop.call_later(1, self._report)
-
-
-    def _update_state(self, state):
-        if state in ['READY', 'ESTOPPED']:
-            self.ctrl.state.set('plan_time', 0)
-            self.reset()
-
-        elif state == 'HOLDING': self.hold_start = time.time()
-        elif (state == 'RUNNING' and self.hold_start is not None and
-              self.move_start is not None):
-            self.move_start += time.time() - self.hold_start
-            self.hold_start = None
-
-
-    def _update_times(self, filename):
-        if not filename: return
-        future = self.ctrl.preplanner.get_plan(filename)
-
-        def cb(future):
-            if (filename != self.ctrl.state.get('selected') or
-                future.cancelled()): return
-
-            self.reset()
-            path, meta = future.result()
-            self.plan_times = meta['times']
-
-        self.ctrl.ioloop.add_future(future, cb)
-
-
-    def _update_time(self, currentID):
-        if self.plan_times is None: return
-
-        while self.plan_index < len(self.plan_times):
-            id, t = self.plan_times[self.plan_index]
-            if id <= currentID: self.move_start = time.time()
-            if currentID <= id: break
-            self.plan_time = t
-            self.plan_index += 1
-
-
-    def _update(self, update):
-        # Check state
-        if 'xx' in update: self._update_state(update['xx'])
-
-        # Get plan times
-        if 'selected' in update: self._update_times(update['selected'])
-
-        # Get plan time for current id
-        if 'id' in update: self._update_time(update['id'])
diff --git a/src/py/bbctrl/Planner.py b/src/py/bbctrl/Planner.py
index 459619f..fa69e14 100644
--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -30,6 +30,7 @@ import math
 import re
 import logging
 import threading
+import time
 from collections import deque
 import camotics.gplan as gplan # pylint: disable=no-name-in-module,import-error
 import bbctrl.Cmd as Cmd
@@ -55,6 +56,7 @@ class Planner():
         ctrl.state.add_listener(self._update)
 
         self.reset()
+        self._report_time()
 
 
     def is_busy(self): return self.is_running() or self.cmdq.is_active()
@@ -109,6 +111,7 @@ class Planner():
             'max-vel':   self._get_config_vector('vm', 1000),
             'max-accel': self._get_config_vector('am', 1000000),
             'max-jerk':  self._get_config_vector('jm', 1000000),
+            'rapid-auto-off': self.ctrl.config.get('rapid-auto-off'),
             # TODO junction deviation & accel
             }
 
@@ -128,7 +131,6 @@ class Planner():
             program_start = self.ctrl.config.get('program-start')
             if program_start: config['program-start'] = program_start
 
-
         overrides = {}
 
         tool_change = self.ctrl.config.get('tool-change')
@@ -208,12 +210,56 @@ class Planner():
         self.cmdq.enqueue(id, self.ctrl.state.set, name, value)
 
 
+    def _report_time(self):
+        state = self.ctrl.state.get('xx', '')
+
+        if state in ['STOPPING', 'RUNNING'] and self.move_start:
+            delta = time.time() - self.move_start
+            if self.move_time < delta: delta = self.move_time
+            plan_time = self.current_plan_time + delta
+
+            self.ctrl.state.set('plan_time', round(plan_time))
+
+        elif state != 'HOLDING': self.ctrl.state.set('plan_time', 0)
+
+        self.ctrl.ioloop.call_later(1, self._report_time)
+
+
+    def _plan_time_restart(self):
+        self.plan_time = self.ctrl.state.get('plan_time', 0)
+
+
+    def _update_time(self, plan_time, move_time):
+        self.current_plan_time = plan_time
+        self.move_time = move_time
+        self.move_start = time.time()
+
+
+    def _enqueue_line_time(self, block):
+        if block.get('first', False) or block.get('seeking', False): return
+
+        # Sum move times
+        move_time = sum(block['times']) / 1000 # To seconds
+
+        self.cmdq.enqueue(block['id'], self._update_time, self.plan_time,
+                          move_time)
+
+        self.plan_time += move_time
+
+
+    def _enqueue_dwell_time(self, block):
+        self.cmdq.enqueue(block['id'], self._update_time, self.plan_time,
+                          block['seconds'])
+        self.plan_time += block['seconds']
+
+
     def __encode(self, block):
         type, id = block['type'], block['id']
 
         if type != 'set': log.info('Cmd:' + json.dumps(block))
 
         if type == 'line':
+            self._enqueue_line_time(block)
             return Cmd.line(block['target'], block['exit-vel'],
                             block['max-accel'], block['max-jerk'],
                             block['times'], block.get('speeds', []))
@@ -222,12 +268,10 @@ class Planner():
             name, value = block['name'], block['value']
 
             if name == 'message':
-                self.cmdq.enqueue(
-                    id, self.ctrl.msgs.broadcast, {'message': value})
-
-            if name in ['line', 'tool']:
-                self._enqueue_set_cmd(id, name, value)
+                msg = dict(message = value)
+                self.cmdq.enqueue(id, self.ctrl.msgs.broadcast, msg)
 
+            if name in ['line', 'tool']: self._enqueue_set_cmd(id, name, value)
             if name == 'speed': return Cmd.speed(value)
 
             if len(name) and name[0] == '_':
@@ -235,6 +279,9 @@ class Planner():
                 if len(name) != 2 or name[1] not in 'xyzabc':
                     self._enqueue_set_cmd(id, name[1:], value)
 
+            if name == '_feed': # Must come after _enqueue_set_cmd() above
+                return Cmd.set_sync('if', 1 / value if value else 0)
+
             if name[0:1] == '_' and name[1:2] in 'xyzabc':
                 if name[2:] == '_home': return Cmd.set_axis(name[1], value)
 
@@ -253,7 +300,10 @@ class Planner():
         if type == 'output':
             return Cmd.output(block['port'], int(float(block['value'])))
 
-        if type == 'dwell': return Cmd.dwell(block['seconds'])
+        if type == 'dwell':
+            self._enqueue_dwell_time(block)
+            return Cmd.dwell(block['seconds'])
+
         if type == 'pause': return Cmd.pause(block['pause-type'])
         if type == 'seek':
             return Cmd.seek(block['switch'], block['active'], block['error'])
@@ -270,22 +320,32 @@ class Planner():
             return Cmd.set_sync('id', block['id']) + '\n' + cmd
 
 
+    def reset_times(self):
+        self.move_start = 0
+        self.move_time = 0
+        self.plan_time = 0
+        self.current_plan_time = 0
+
+
     def reset(self):
-        if (hasattr(self.ctrl, 'mach')): self.ctrl.mach.stop()
+        if hasattr(self.ctrl, 'mach'): self.ctrl.mach.stop()
         self.planner = gplan.Planner()
         self.planner.set_resolver(self._get_var_cb)
         self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')
         self.cmdq.clear()
+        self.reset_times()
 
 
     def mdi(self, cmd, with_limits = True):
         log.info('MDI:' + cmd)
         self.planner.load_string(cmd, self.get_config(True, with_limits))
+        self.reset_times()
 
 
     def load(self, path):
         log.info('GCode:' + path)
         self.planner.load(path, self.get_config(False, True))
+        self.reset_times()
 
 
     def stop(self):
@@ -310,6 +370,9 @@ class Planner():
                     position[axis] = state.get(axis + 'p')
 
             log.info('Planner restart: %d %s' % (id, json.dumps(position)))
+            self.cmdq.clear()
+            self.cmdq.release(id)
+            self._plan_time_restart()
             self.planner.restart(id, position)
 
             if self.planner.is_synchronizing():
diff --git a/src/py/bbctrl/Preplanner.py b/src/py/bbctrl/Preplanner.py
index f506afc..764f210 100644
--- a/src/py/bbctrl/Preplanner.py
+++ b/src/py/bbctrl/Preplanner.py
@@ -91,21 +91,54 @@ def hash_dump(o):
 
 
 def plan_hash(path, config):
+    path = 'upload/' + path
     h = hashlib.sha256()
+    h.update('v2'.encode('utf8'))
     h.update(hash_dump(config))
-    with open('upload/' + path, 'rb') as f: h.update(f.read())
+
+    with open(path, 'rb') as f:
+        while True:
+            buf = f.read(1024 * 1024)
+            if not buf: break
+            h.update(buf)
+
     return h.hexdigest()
 
 
+def compute_unit(a, b):
+    unit = dict()
+    length = 0
+
+    for axis in 'xyzabc':
+        if axis in a and axis in b:
+            unit[axis] = b[axis] - a[axis]
+            length += unit[axis] * unit[axis]
+
+    length = math.sqrt(length)
+
+    for axis in 'xyzabc':
+        if axis in unit: unit[axis] /= length
+
+    return unit
+
+
+def compute_move(start, unit, dist):
+    move = dict()
+
+    for axis in 'xyzabc':
+        if axis in unit and axis in start:
+            move[axis] = start[axis] + unit[axis] * dist
+
+    return move
+
+
 class Preplanner(object):
-    def __init__(self, ctrl, threads = 4, max_plan_time = 600,
+    def __init__(self, ctrl, threads = 4, max_preplan_time = 600,
                  max_loop_time = 30):
         self.ctrl = ctrl
-        self.max_plan_time = max_plan_time
+        self.max_preplan_time = max_preplan_time
         self.max_loop_time = max_loop_time
 
-        ctrl.state.add_listener(self._update)
-
         for dir in ['plans', 'meta']:
             if not os.path.exists(dir): os.mkdir(dir)
 
@@ -115,10 +148,14 @@ class Preplanner(object):
         self.pool = ThreadPoolExecutor(threads)
         self.lock = threading.Lock()
 
+        # Must be last
+        ctrl.state.add_listener(self._update)
+
 
     def _update(self, update):
         if not 'selected' in update: return
         filename = update['selected']
+        if filename is None: return
         future = self.get_plan(filename)
 
         def set_bounds(type, bounds):
@@ -128,7 +165,7 @@ class Preplanner(object):
                                         bounds[type][axis])
 
         def cb(future):
-            if (filename != self.ctrl.state.get('selected') or
+            if (filename != self.ctrl.state.get('selected', '') or
                 future.cancelled()): return
 
             path, meta = future.result()
@@ -156,7 +193,10 @@ class Preplanner(object):
 
 
     def delete_all_plans(self):
-        for path in glob.glob('plans/*'):
+        files = glob.glob('plans/*')
+        files += glob.glob('meta/*')
+
+        for path in files:
             try:
                 os.unlink(path)
             except OSError: pass
@@ -165,7 +205,10 @@ class Preplanner(object):
 
 
     def delete_plans(self, filename):
-        for path in glob.glob('plans/' + filename + '.*'):
+        files = glob.glob('plans/' + filename + '.*')
+        files += glob.glob('meta/' + filename + '.*')
+
+        for path in files:
             try:
                 os.unlink(path)
             except OSError: pass
@@ -174,6 +217,8 @@ class Preplanner(object):
 
 
     def get_plan(self, filename):
+        if filename is None: raise Exception('Filename cannot be None')
+
         with self.lock:
             if filename in self.plans: plan = self.plans[filename]
             else:
@@ -263,14 +308,16 @@ class Preplanner(object):
         maxLineTime = time.time()
         totalTime = 0
         position = {}
+        maxSpeed = 0
+        currentSpeed = None
         rapid = False
         moves = []
-        times = []
         bounds = dict(min = {}, max = {})
         messages = []
         count = 0
         cancelled = False
 
+        # Initialized axis states and bounds
         for axis in 'xyzabc':
             position[axis] = 0
             bounds['min'][axis] = math.inf
@@ -281,20 +328,37 @@ class Preplanner(object):
             if bounds['max'][axis] < value: bounds['max'][axis] = value
 
 
+        def update_speed(s):
+            nonlocal currentSpeed, maxSpeed
+            if currentSpeed == s: return False
+            currentSpeed = s
+            if maxSpeed < s: maxSpeed = s
+            return True
+
+
+        # Capture planner log messages
         levels = dict(I = 'info', D = 'debug', W = 'warning', E = 'error',
                       C = 'critical')
 
         def log_cb(level, msg, filename, line, column):
             if level in levels: level = levels[level]
+
+            # Ignore missing tool warning
+            if (level == 'warning' and
+                msg.startswith('Auto-creating missing tool')):
+                return
+
             messages.append(dict(level = level, msg = msg, filename = filename,
                                  line = line, column = column))
 
 
+        # Initialize planner
         self.ctrl.mach.planner.log_intercept(log_cb)
         planner = gplan.Planner()
         planner.set_resolver(get_var_cb)
         planner.load('upload/' + filename, config)
 
+        # Execute plan
         try:
             while planner.has_more():
                 cmd = planner.next()
@@ -304,40 +368,57 @@ class Preplanner(object):
                 if planner.is_synchronizing(): planner.synchronize(0)
 
                 if cmd['type'] == 'line':
-                    if 'first' in cmd: continue
+                    if not (cmd.get('first', False) or
+                            cmd.get('seeking', False)):
+                        totalTime += sum(cmd['times']) / 1000
 
-                    totalTime += sum(cmd['times']) / 1000
-                    times.append((cmd['id'], totalTime))
                     target = cmd['target']
                     move = {}
+                    startPos = dict()
 
                     for axis in 'xyzabc':
                         if axis in target:
+                            startPos[axis] = position[axis]
                             position[axis] = target[axis]
                             move[axis] = target[axis]
                             add_to_bounds(axis, move[axis])
 
                     if 'rapid' in cmd: move['rapid'] = cmd['rapid']
 
+                    if 'speeds' in cmd:
+                        unit = compute_unit(startPos, target)
+
+                        for d, s in cmd['speeds']:
+                            cur = currentSpeed
+
+                            if update_speed(s):
+                                m = compute_move(startPos, unit, d)
+                                m['s'] = cur
+                                moves.append(m)
+                                move['s'] = s
+
                     moves.append(move)
 
-                elif cmd['type'] == 'set' and cmd['name'] == 'line':
-                    line = cmd['value']
-                    if maxLine < line:
-                        maxLine = line
-                        maxLineTime = time.time()
+                elif cmd['type'] == 'set':
+                    if cmd['name'] == 'line':
+                        line = cmd['value']
+                        if maxLine < line:
+                            maxLine = line
+                            maxLineTime = time.time()
+
+                    elif cmd['name'] == 'speed':
+                        s = cmd['value']
+                        if update_speed(s): moves.append({'s': s})
 
-                elif cmd['type'] == 'dwell':
-                    totalTime += cmd['seconds']
-                    times.append((cmd['id'], totalTime))
+                elif cmd['type'] == 'dwell': totalTime += cmd['seconds']
 
                 if not self._progress(filename, maxLine / totalLines):
                     cancelled = True
                     raise Exception('Plan canceled.')
 
-                if self.max_plan_time < time.time() - start:
+                if self.max_preplan_time < time.time() - start:
                     raise Exception('Max planning time (%d sec) exceeded.' %
-                                    self.max_plan_time)
+                                    self.max_preplan_time)
 
                 if self.max_loop_time < time.time() - maxLineTime:
                     raise Exception('Max loop time (%d sec) exceeded.' %
@@ -358,11 +439,11 @@ class Preplanner(object):
 
         # Encode data as string
         data = dict(time = totalTime, lines = totalLines, path = moves,
-                    messages = messages)
+                    maxSpeed = maxSpeed, messages = messages)
         data = gzip.compress(dump_json(data).encode('utf8'))
 
         # Meta data
-        meta = dict(times = times, bounds = bounds)
+        meta = dict(bounds = bounds)
         meta_comp = gzip.compress(dump_json(meta).encode('utf8'))
 
         # Save plan & meta data
diff --git a/src/py/bbctrl/State.py b/src/py/bbctrl/State.py
index 6d8a3a5..938f76f 100644
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -233,6 +233,15 @@ class State(object):
         return axes
 
 
+    def is_motor_faulted(self, motor):
+        return self.get('%ddf' % motor, 0) & 0x1f
+
+
+    def is_axis_faulted(self, axis):
+        motor = self.find_motor(axis)
+        return motor is not None and self.is_motor_faulted(motor)
+
+
     def axis_homing_mode(self, axis):
         motor = self.find_motor(axis)
         if motor is None: return 'disabled'
diff --git a/src/py/bbctrl/Web.py b/src/py/bbctrl/Web.py
index 9b7c8b5..1062b9c 100644
--- a/src/py/bbctrl/Web.py
+++ b/src/py/bbctrl/Web.py
@@ -249,16 +249,19 @@ class PathHandler(bbctrl.APIHandler):
             self.write_json(dict(progress = progress))
             return
 
-        if data is not None:
-            data = data[0] # We only want the compressed path
-            self.set_header('Content-Encoding', 'gzip')
-
-            # Respond with chunks to avoid long delays
-            SIZE = 102400
-            chunks = [data[i:i + SIZE] for i in range(0, len(data), SIZE)]
-            for chunk in chunks:
-                self.write(chunk)
-                yield self.flush()
+        try:
+            if data is not None:
+                data = data[0] # We only want the compressed path
+                self.set_header('Content-Encoding', 'gzip')
+
+                # Respond with chunks to avoid long delays
+                SIZE = 102400
+                chunks = [data[i:i + SIZE] for i in range(0, len(data), SIZE)]
+                for chunk in chunks:
+                    self.write(chunk)
+                    yield self.flush()
+
+        except tornado.iostream.StreamClosedError as e: pass
 
 
 class HomeHandler(bbctrl.APIHandler):
diff --git a/src/py/bbctrl/__init__.py b/src/py/bbctrl/__init__.py
index d18c7fa..b169d97 100644
--- a/src/py/bbctrl/__init__.py
+++ b/src/py/bbctrl/__init__.py
@@ -57,7 +57,6 @@ from bbctrl.CommandQueue import CommandQueue
 from bbctrl.MainLCDPage import MainLCDPage
 from bbctrl.IPLCDPage import IPLCDPage
 from bbctrl.Camera import Camera, VideoHandler
-from bbctrl.PlanTimer import PlanTimer
 import bbctrl.Cmd as Cmd
 import bbctrl.v4l2 as v4l2
 
diff --git a/src/py/bbctrl/v4l2.py b/src/py/bbctrl/v4l2.py
index 5d8ca83..02c49b3 100644
--- a/src/py/bbctrl/v4l2.py
+++ b/src/py/bbctrl/v4l2.py
@@ -1016,11 +1016,18 @@ class v4l2_ext_controls(ctypes.Structure):
     ]
 
 
-V4L2_CTRL_CLASS_USER = 0x00980000
-V4L2_CTRL_CLASS_MPEG = 0x00990000
-V4L2_CTRL_CLASS_CAMERA = 0x009a0000
-V4L2_CTRL_CLASS_FM_TX = 0x009b0000
-
+V4L2_CTRL_CLASS_USER         = 0x00980000 # Old-style 'user' controls
+V4L2_CTRL_CLASS_MPEG         = 0x00990000 # MPEG-compression controls
+V4L2_CTRL_CLASS_CAMERA       = 0x009a0000 # Camera class controls
+V4L2_CTRL_CLASS_FM_TX        = 0x009b0000 # FM Modulator controls
+V4L2_CTRL_CLASS_FLASH        = 0x009c0000 # Camera flash controls
+V4L2_CTRL_CLASS_JPEG         = 0x009d0000 # JPEG-compression controls
+V4L2_CTRL_CLASS_IMAGE_SOURCE = 0x009e0000 # Image source controls
+V4L2_CTRL_CLASS_IMAGE_PROC   = 0x009f0000 # Image processing controls
+V4L2_CTRL_CLASS_DV           = 0x00a00000 # Digital Video controls
+V4L2_CTRL_CLASS_FM_RX        = 0x00a10000 # FM Receiver controls
+V4L2_CTRL_CLASS_RF_TUNER     = 0x00a20000 # RF tuner controls
+V4L2_CTRL_CLASS_DETECT       = 0x00a30000 # Detection controls
 
 def V4L2_CTRL_ID_MASK():
     return 0x0fffffff
@@ -1466,6 +1473,34 @@ V4L2_CID_TUNE_POWER_LEVEL = V4L2_CID_FM_TX_CLASS_BASE + 113
 V4L2_CID_TUNE_ANTENNA_CAPACITOR = V4L2_CID_FM_TX_CLASS_BASE + 114
 
 
+# JPEG-class control IDs
+
+V4L2_CID_JPEG_CLASS_BASE = V4L2_CTRL_CLASS_JPEG | 0x900
+V4L2_CID_JPEG_CLASS = V4L2_CTRL_CLASS_JPEG | 1
+
+V4L2_CID_JPEG_CHROMA_SUBSAMPLING = V4L2_CID_JPEG_CLASS_BASE + 1
+
+v4l2_jpeg_chroma_subsampling  = enum
+(
+    V4L2_JPEG_CHROMA_SUBSAMPLING_444,
+    V4L2_JPEG_CHROMA_SUBSAMPLING_422,
+    V4L2_JPEG_CHROMA_SUBSAMPLING_420,
+    V4L2_JPEG_CHROMA_SUBSAMPLING_411,
+    V4L2_JPEG_CHROMA_SUBSAMPLING_410,
+    V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY,
+) = range(6)
+
+V4L2_CID_JPEG_RESTART_INTERVAL = V4L2_CID_JPEG_CLASS_BASE + 2
+V4L2_CID_JPEG_COMPRESSION_QUALITY = V4L2_CID_JPEG_CLASS_BASE + 3
+
+V4L2_CID_JPEG_ACTIVE_MARKER  = V4L2_CID_JPEG_CLASS_BASE + 4
+V4L2_JPEG_ACTIVE_MARKER_APP0 = 1 << 0
+V4L2_JPEG_ACTIVE_MARKER_APP1 = 1 << 1
+V4L2_JPEG_ACTIVE_MARKER_COM  = 1 << 16
+V4L2_JPEG_ACTIVE_MARKER_DQT  = 1 << 17
+V4L2_JPEG_ACTIVE_MARKER_DHT  = 1 << 18
+
+
 #
 # Tuning
 #
diff --git a/src/resources/config-template.json b/src/resources/config-template.json
index 7aa38be..a9a275b 100644
--- a/src/resources/config-template.json
+++ b/src/resources/config-template.json
@@ -292,6 +292,7 @@
 
   "pwm-spindle": {
     "pwm-inverted": {
+      "help": "Invert the PWM signal output.",
       "type": "bool",
       "default": false,
       "code": "pi"
@@ -319,6 +320,18 @@
       "max": 320000,
       "default": 1000,
       "code": "sf"
+    },
+    "rapid-auto-off": {
+      "help": "Turn tool off during rapid moves.  Useful for LASERs.",
+      "type": "bool",
+      "default": false
+    },
+    "dynamic-power": {
+      "help":
+      "Adjust tool power based on velocity and feed rate.  Useful for LASERs.",
+      "type": "bool",
+      "default": false,
+      "code": "dp"
     }
   },
 
diff --git a/src/resources/fonts/fontawesome-webfont.ttf b/src/resources/fonts/fontawesome-webfont.ttf
index 26dea79..35acda2 100644
Binary files a/src/resources/fonts/fontawesome-webfont.ttf and b/src/resources/fonts/fontawesome-webfont.ttf differ
diff --git a/src/resources/fonts/fontawesome-webfont.woff b/src/resources/fonts/fontawesome-webfont.woff
index dc35ce3..400014a 100644
Binary files a/src/resources/fonts/fontawesome-webfont.woff and b/src/resources/fonts/fontawesome-webfont.woff differ
diff --git a/src/resources/fonts/fontawesome-webfont.woff2 b/src/resources/fonts/fontawesome-webfont.woff2
index 500e517..4d13fc6 100644
Binary files a/src/resources/fonts/fontawesome-webfont.woff2 and b/src/resources/fonts/fontawesome-webfont.woff2 differ
diff --git a/src/resources/images/intensity.png b/src/resources/images/intensity.png
new file mode 100644
index 0000000..be9972d
Binary files /dev/null and b/src/resources/images/intensity.png differ
diff --git a/src/static/css/font-awesome.min.css b/src/static/css/font-awesome.min.css
index d0603cb..540440c 100644
--- a/src/static/css/font-awesome.min.css
+++ b/src/static/css/font-awesome.min.css
@@ -1,4 +1,4 @@
 /*!
- *  Font Awesome 4.5.0 by @davegandy - http://fontawesome.io - @fontawesome
+ *  Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome
  *  License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
- */@font-face{font-family:'FontAwesome';src:url('../fonts/fontawesome-webfont.eot?v=4.5.0');src:url('../fonts/fontawesome-webfont.eot?#iefix&v=4.5.0') format('embedded-opentype'),url('../fonts/fontawesome-webfont.woff2?v=4.5.0') format('woff2'),url('../fonts/fontawesome-webfont.woff?v=4.5.0') format('woff'),url('../fonts/fontawesome-webfont.ttf?v=4.5.0') format('truetype'),url('../fonts/fontawesome-webfont.svg?v=4.5.0#fontawesomeregular') format('svg');font-weight:normal;font-style:normal}.fa{display:inline-block;font:normal normal normal 14px/1 FontAwesome;font-size:inherit;text-rendering:auto;-webkit-font-smoothing:antialiased;-moz-osx-font-smoothing:grayscale}.fa-lg{font-size:1.33333333em;line-height:.75em;vertical-align:-15%}.fa-2x{font-size:2em}.fa-3x{font-size:3em}.fa-4x{font-size:4em}.fa-5x{font-size:5em}.fa-fw{width:1.28571429em;text-align:center}.fa-ul{padding-left:0;margin-left:2.14285714em;list-style-type:none}.fa-ul>li{position:relative}.fa-li{position:absolute;left:-2.14285714em;width:2.14285714em;top:.14285714em;text-align:center}.fa-li.fa-lg{left:-1.85714286em}.fa-border{padding:.2em .25em .15em;border:solid .08em #eee;border-radius:.1em}.fa-pull-left{float:left}.fa-pull-right{float:right}.fa.fa-pull-left{margin-right:.3em}.fa.fa-pull-right{margin-left:.3em}.pull-right{float:right}.pull-left{float:left}.fa.pull-left{margin-right:.3em}.fa.pull-right{margin-left:.3em}.fa-spin{-webkit-animation:fa-spin 2s infinite linear;animation:fa-spin 2s infinite linear}.fa-pulse{-webkit-animation:fa-spin 1s infinite steps(8);animation:fa-spin 1s infinite steps(8)}@-webkit-keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}100%{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}@keyframes fa-spin{0%{-webkit-transform:rotate(0deg);transform:rotate(0deg)}100%{-webkit-transform:rotate(359deg);transform:rotate(359deg)}}.fa-rotate-90{filter:progid:DXImageTransform.Microsoft.BasicImage(rotation=1);-webkit-transform:rotate(90deg);-ms-transform:rotate(90deg);transform:rotate(90deg)}.fa-rotate-180{filter:progid:DXImageTransform.Microsoft.BasicImage(rotation=2);-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg)}.fa-rotate-270{filter:progid:DXImageTransform.Microsoft.BasicImage(rotation=3);-webkit-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg)}.fa-flip-horizontal{filter:progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1);-webkit-transform:scale(-1, 1);-ms-transform:scale(-1, 1);transform:scale(-1, 1)}.fa-flip-vertical{filter:progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1);-webkit-transform:scale(1, -1);-ms-transform:scale(1, -1);transform:scale(1, -1)}:root .fa-rotate-90,:root .fa-rotate-180,:root .fa-rotate-270,:root .fa-flip-horizontal,:root .fa-flip-vertical{filter:none}.fa-stack{position:relative;display:inline-block;width:2em;height:2em;line-height:2em;vertical-align:middle}.fa-stack-1x,.fa-stack-2x{position:absolute;left:0;width:100%;text-align:center}.fa-stack-1x{line-height:inherit}.fa-stack-2x{font-size:2em}.fa-inverse{color:#fff}.fa-glass:before{content:"\f000"}.fa-music:before{content:"\f001"}.fa-search:before{content:"\f002"}.fa-envelope-o:before{content:"\f003"}.fa-heart:before{content:"\f004"}.fa-star:before{content:"\f005"}.fa-star-o:before{content:"\f006"}.fa-user:before{content:"\f007"}.fa-film:before{content:"\f008"}.fa-th-large:before{content:"\f009"}.fa-th:before{content:"\f00a"}.fa-th-list:before{content:"\f00b"}.fa-check:before{content:"\f00c"}.fa-remove:before,.fa-close:before,.fa-times:before{content:"\f00d"}.fa-search-plus:before{content:"\f00e"}.fa-search-minus:before{content:"\f010"}.fa-power-off:before{content:"\f011"}.fa-signal:before{content:"\f012"}.fa-gear:before,.fa-cog:before{content:"\f013"}.fa-trash-o:before{content:"\f014"}.fa-home:before{content:"\f015"}.fa-file-o:before{content:"\f016"}.fa-clock-o:before{content:"\f017"}.fa-road:before{content:"\f018"}.fa-download:before{content:"\f019"}.fa-arrow-circle-o-down:before{content:"\f01a"}.fa-arrow-circle-o-up:before{content:"\f01b"}.fa-inbox:before{content:"\f01c"}.fa-play-circle-o:before{content:"\f01d"}.fa-rotate-right:before,.fa-repeat:before{content:"\f01e"}.fa-refresh:before{content:"\f021"}.fa-list-alt:before{content:"\f022"}.fa-lock:before{content:"\f023"}.fa-flag:before{content:"\f024"}.fa-headphones:before{content:"\f025"}.fa-volume-off:before{content:"\f026"}.fa-volume-down:before{content:"\f027"}.fa-volume-up:before{content:"\f028"}.fa-qrcode:before{content:"\f029"}.fa-barcode:before{content:"\f02a"}.fa-tag:before{content:"\f02b"}.fa-tags:before{content:"\f02c"}.fa-book:before{content:"\f02d"}.fa-bookmark:before{content:"\f02e"}.fa-print:before{content:"\f02f"}.fa-camera:before{content:"\f030"}.fa-font:before{content:"\f031"}.fa-bold:before{content:"\f032"}.fa-italic:before{content:"\f033"}.fa-text-height:before{content:"\f034"}.fa-text-width:before{content:"\f035"}.fa-align-left:before{content:"\f036"}.fa-align-center:before{content:"\f037"}.fa-align-right:before{content:"\f038"}.fa-align-justify:before{content:"\f039"}.fa-list:before{content:"\f03a"}.fa-dedent:before,.fa-outdent:before{content:"\f03b"}.fa-indent:before{content:"\f03c"}.fa-video-camera:before{content:"\f03d"}.fa-photo:before,.fa-image:before,.fa-picture-o:before{content:"\f03e"}.fa-pencil:before{content:"\f040"}.fa-map-marker:before{content:"\f041"}.fa-adjust:before{content:"\f042"}.fa-tint:before{content:"\f043"}.fa-edit:before,.fa-pencil-square-o:before{content:"\f044"}.fa-share-square-o:before{content:"\f045"}.fa-check-square-o:before{content:"\f046"}.fa-arrows:before{content:"\f047"}.fa-step-backward:before{content:"\f048"}.fa-fast-backward:before{content:"\f049"}.fa-backward:before{content:"\f04a"}.fa-play:before{content:"\f04b"}.fa-pause:before{content:"\f04c"}.fa-stop:before{content:"\f04d"}.fa-forward:before{content:"\f04e"}.fa-fast-forward:before{content:"\f050"}.fa-step-forward:before{content:"\f051"}.fa-eject:before{content:"\f052"}.fa-chevron-left:before{content:"\f053"}.fa-chevron-right:before{content:"\f054"}.fa-plus-circle:before{content:"\f055"}.fa-minus-circle:before{content:"\f056"}.fa-times-circle:before{content:"\f057"}.fa-check-circle:before{content:"\f058"}.fa-question-circle:before{content:"\f059"}.fa-info-circle:before{content:"\f05a"}.fa-crosshairs:before{content:"\f05b"}.fa-times-circle-o:before{content:"\f05c"}.fa-check-circle-o:before{content:"\f05d"}.fa-ban:before{content:"\f05e"}.fa-arrow-left:before{content:"\f060"}.fa-arrow-right:before{content:"\f061"}.fa-arrow-up:before{content:"\f062"}.fa-arrow-down:before{content:"\f063"}.fa-mail-forward:before,.fa-share:before{content:"\f064"}.fa-expand:before{content:"\f065"}.fa-compress:before{content:"\f066"}.fa-plus:before{content:"\f067"}.fa-minus:before{content:"\f068"}.fa-asterisk:before{content:"\f069"}.fa-exclamation-circle:before{content:"\f06a"}.fa-gift:before{content:"\f06b"}.fa-leaf:before{content:"\f06c"}.fa-fire:before{content:"\f06d"}.fa-eye:before{content:"\f06e"}.fa-eye-slash:before{content:"\f070"}.fa-warning:before,.fa-exclamation-triangle:before{content:"\f071"}.fa-plane:before{content:"\f072"}.fa-calendar:before{content:"\f073"}.fa-random:before{content:"\f074"}.fa-comment:before{content:"\f075"}.fa-magnet:before{content:"\f076"}.fa-chevron-up:before{content:"\f077"}.fa-chevron-down:before{content:"\f078"}.fa-retweet:before{content:"\f079"}.fa-shopping-cart:before{content:"\f07a"}.fa-folder:before{content:"\f07b"}.fa-folder-open:before{content:"\f07c"}.fa-arrows-v:before{content:"\f07d"}.fa-arrows-h:before{content:"\f07e"}.fa-bar-chart-o:before,.fa-bar-chart:before{content:"\f080"}.fa-twitter-square:before{content:"\f081"}.fa-facebook-square:before{content:"\f082"}.fa-camera-retro:before{conte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ew:before{content:"\f21d"}.fa-heartbeat:before{content:"\f21e"}.fa-venus:before{content:"\f221"}.fa-mars:before{content:"\f222"}.fa-mercury:before{content:"\f223"}.fa-intersex:before,.fa-transgender:before{content:"\f224"}.fa-transgender-alt:before{content:"\f225"}.fa-venus-double:before{content:"\f226"}.fa-mars-double:before{content:"\f227"}.fa-venus-mars:before{content:"\f228"}.fa-mars-stroke:before{content:"\f229"}.fa-mars-stroke-v:before{content:"\f22a"}.fa-mars-stroke-h:before{content:"\f22b"}.fa-neuter:before{content:"\f22c"}.fa-genderless:before{content:"\f22d"}.fa-facebook-official:before{content:"\f230"}.fa-pinterest-p:before{content:"\f231"}.fa-whatsapp:before{content:"\f232"}.fa-server:before{content:"\f233"}.fa-user-plus:before{content:"\f234"}.fa-user-times:before{content:"\f235"}.fa-hotel:before,.fa-bed:before{content:"\f236"}.fa-viacoin:before{content:"\f237"}.fa-train:before{content:"\f238"}.fa-subway:before{content:"\f239"}.fa-medium:before{content:"\f23a"}.fa-yc:before,.fa-y-combinator:before{content:"\f23b"}.fa-optin-monster:before{content:"\f23c"}.fa-opencart:before{content:"\f23d"}.fa-expeditedssl:before{content:"\f23e"}.fa-battery-4:before,.fa-battery:before,.fa-battery-full:before{content:"\f240"}.fa-battery-3:before,.fa-battery-three-quarters:before{content:"\f241"}.fa-battery-2:before,.fa-battery-half:before{content:"\f242"}.fa-battery-1:before,.fa-battery-quarter:before{content:"\f243"}.fa-battery-0:before,.fa-battery-empty:before{content:"\f244"}.fa-mouse-pointer:before{content:"\f245"}.fa-i-cursor:before{content:"\f246"}.fa-object-group:before{content:"\f247"}.fa-object-ungroup:before{content:"\f248"}.fa-sticky-note:before{content:"\f249"}.fa-sticky-note-o:before{content:"\f24a"}.fa-cc-jcb:before{content:"\f24b"}.fa-cc-diners-club:before{content:"\f24c"}.fa-clone:before{content:"\f24d"}.fa-balance-scale:before{content:"\f24e"}.fa-hourglass-o:before{content:"\f250"}.fa-hourglass-1:before,.fa-hourglass-start:before{content:"\f251"}.fa-hourglass-2:before,.fa-hourglass-half:before{content:"\f252"}.fa-hourglass-3:before,.fa-hourglass-end:before{content:"\f253"}.fa-hourglass:before{content:"\f254"}.fa-hand-grab-o:before,.fa-hand-rock-o:before{content:"\f255"}.fa-hand-stop-o:before,.fa-hand-paper-o:before{content:"\f256"}.fa-hand-scissors-o:before{content:"\f257"}.fa-hand-lizard-o:before{content:"\f258"}.fa-hand-spock-o:before{content:"\f259"}.fa-hand-pointer-o:before{content:"\f25a"}.fa-hand-peace-o:before{content:"\f25b"}.fa-trademark:before{content:"\f25c"}.fa-registered:before{content:"\f25d"}.fa-creative-commons:before{content:"\f25e"}.fa-gg:before{content:"\f260"}.fa-gg-circle:before{content:"\f261"}.fa-tripadvisor:before{content:"\f262"}.fa-odnoklassniki:before{content:"\f263"}.fa-odnoklassniki-square:before{content:"\f264"}.fa-get-pocket:before{content:"\f265"}.fa-wikipedia-w:before{content:"\f266"}.fa-safari:before{content:"\f267"}.fa-chrome:before{content:"\f268"}.fa-firefox:before{content:"\f269"}.fa-opera:before{content:"\f26a"}.fa-internet-explorer:before{content:"\f26b"}.fa-tv:before,.fa-television:before{content:"\f26c"}.fa-contao:before{content:"\f26d"}.fa-500px:before{content:"\f26e"}.fa-amazon:before{content:"\f270"}.fa-calendar-plus-o:before{content:"\f271"}.fa-calendar-minus-o:before{content:"\f272"}.fa-calendar-times-o:before{content:"\f273"}.fa-calendar-check-o:before{content:"\f274"}.fa-industry:before{content:"\f275"}.fa-map-pin:before{content:"\f276"}.fa-map-signs:before{content:"\f277"}.fa-map-o:before{content:"\f278"}.fa-map:before{content:"\f279"}.fa-commenting:before{content:"\f27a"}.fa-commenting-o:before{content:"\f27b"}.fa-houzz:before{content:"\f27c"}.fa-vimeo:before{content:"\f27d"}.fa-black-tie:before{content:"\f27e"}.fa-fonticons:before{content:"\f280"}.fa-reddit-alien:before{content:"\f281"}.fa-edge:before{content:"\f282"}.fa-credit-card-alt:before{content:"\f283"}.fa-codiepie:before{content:"\f284"}.fa-modx:before{content:"\f285"}.fa-fort-awesome:before{content:"\f286"}.fa-usb:before{content:"\f287"}.fa-product-hunt:before{content:"\f288"}.fa-mixcloud:before{content:"\f289"}.fa-scribd:before{content:"\f28a"}.fa-pause-circle:before{content:"\f28b"}.fa-pause-circle-o:before{content:"\f28c"}.fa-stop-circle:before{content:"\f28d"}.fa-stop-circle-o:before{content:"\f28e"}.fa-shopping-bag:before{content:"\f290"}.fa-shopping-basket:before{content:"\f291"}.fa-hashtag:before{content:"\f292"}.fa-bluetooth:before{content:"\f293"}.fa-bluetooth-b:before{content:"\f294"}.fa-percent:before{content:"\f295"}.fa-gitlab:before{content:"\f296"}.fa-wpbeginner:before{content:"\f297"}.fa-wpforms:before{content:"\f298"}.fa-envira:before{content:"\f299"}.fa-universal-access:before{content:"\f29a"}.fa-wheelchair-alt:before{content:"\f29b"}.fa-question-circle-o:before{content:"\f29c"}.fa-blind:before{content:"\f29d"}.fa-audio-description:before{content:"\f29e"}.fa-volume-control-phone:before{content:"\f2a0"}.fa-braille:before{content:"\f2a1"}.fa-assistive-listening-systems:be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diff --git a/src/stylus/style.styl b/src/stylus/style.styl
index 909fc71..e893336 100644
--- a/src/stylus/style.styl
+++ b/src/stylus/style.styl
@@ -94,6 +94,18 @@ tt
 .success
   background green
 
+.fa.error
+  background inherit
+  color red
+
+.fa.warn
+  background inherit
+  color orange
+
+.fa.success
+  background inherit
+  color green
+
 .load-on
   background-color #ccffcc
   color #000
@@ -511,10 +523,6 @@ span.unit
     position absolute
     color #fff
 
-    &.error
-      background-color inherit
-      color #ff3a3a
-
   .path-viewer-messages
     margin 0.125em 0
 
@@ -528,7 +536,7 @@ span.unit
     background-color #333
     background linear-gradient(to bottom, #666 0%, #222 100%);
 
-  &.small, &.error
+  &.small
     .path-viewer-content
       width 335px
       height 150px
@@ -540,18 +548,6 @@ span.unit
         font-size 100%
         max-width 335px
 
-  &.error
-    .path-viewer-toolbar
-      display none
-
-    .path-viewer-content
-      margin-top -2.5em
-      height 1.5em
-      background transparent
-
-    .path-viewer-message
-        color red
-
 .console
   .console-wrapper
     max-height 400px
@@ -620,6 +616,17 @@ tr.log-debug td
       border 1px solid #ccc
       padding 1px
 
+    &.motor_fault
+      td, th
+        text-align center
+        min-width 1.75em
+
+      .fa-eraser
+        cursor pointer
+
+        &:hover
+          opacity 0.5
+
 .io
   &.active
     color green
@@ -890,7 +897,7 @@ label.file-upload
       width 99%
 
     .path-viewer
-      &.small, &.error
+      &.small
         .path-viewer-content
           margin-top inherit
           float inherit