Ok everyone,
Here is the latest firmware with updated English for the new features and a new motion planning algorithm. This is far smoother and adds line 113 and 123, its now leveraging the FPGA for ARC interpolation, and resolution can now be set to 0.001 on line 123. X,Y,Z can all now have different steps per mm and produce a correct arc. To try this set line 113 to software and line 123 to .001 try some code with line 113 on and off and let me know. The new motion will not stop/pause for transitions from g01 to g03 making a smooth CV like path.