Merge branch 'hooks' into master

Brings in: - W axis (auxcnc) integration via ESP32 over /dev/ttyUSB0, including the W axis settings panel, DRO row, jog row aligned with X/Y/Z, and collapsed home-only W controls. - README + W axis docs covering macOS build/flash and the new UI. - Build & flash docs for the Pi firmware (BUILD.md), including the cached gplan.so build via Docker (~30 min first time, 3 sec after). - Hooks v2: external triggers during G-code execution that block unpause until the hook completes. - V09 full UX redesign mock + implementation plan + mock variations. - V09 implementation: new app shell with underline-ribbon tabs, Program / Console / Settings shells, V09 jog/macro palette, slim status pill replacing the old chip soup, and an octagonal STOP that wraps the existing <estop> SVG. - Vue.config.async = false to fix sticky :class bindings under hash navigation. # Conflicts: # .gitignore
UX redesign V09: replace shell, split Program/Console/Settings
2026-04-30 21:33:48 +02:00 · 2026-04-30 21:27:00 +02:00 · 2026-04-30 20:43:29 +02:00 · 2026-04-30 20:00:03 +02:00 · 2026-04-30 19:54:30 +02:00 · 2026-04-30 19:10:24 +02:00
79 changed files with 1765 additions and 5089 deletions
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -1,77 +0,0 @@
-# Onefinity firmware — agent guidelines
-
-## Branch model
-
-This fork lives on **two long-lived branches**:
-
- **`master`** — public-facing fork. General-use upgrades on top of
-  upstream OneFinity firmware: V09 UX redesign, Font Awesome 6, faster
-  cold boot, macOS dev/deploy tooling, build & flash docs, SD-card
-  backup, `/api/diag/timing`, kiosk/tablet polish, and assorted
-  bug-fixes. **No A-axis, ATC, hooks, or auxcnc/ESP content.** Aim for
-  changes that benefit any Onefinity owner.
-
- **`private-mods`** — bespoke shop branch. Stacks on top of `master`
-  and adds everything specific to the auxcnc-ESP-driven A axis and
-  the ATC: `Hooks` (ATC IPC), `AuxAxis` (ESP serial driver),
-  `ExternalAxis` (virtual A through gplan), `AuxPreprocessor` (M100-M103),
-  Z-A coupling interlock, the A-axis UI surface, and the
-  `/api/aux/*` endpoints.
-
-Upstream:
- `upstream` → `https://github.com/OneFinityCNC/onefinity-firmware.git`
- `origin`   → Gitea (`https://gitea.home.muehe.org/muehe/onefinity-firmware.git`)
-
-`origin/pre-split-backup` is a tag preserving the pre-split master
-tip. Keep it indefinitely until further notice.
-
-## Where does a change go?
-
-| Change | Branch |
-|---|---|
-| UI polish, theme, layout that any user benefits from | `master` |
-| Build / install / boot performance | `master` |
-| Diagnostics, logging, generic Python / Tornado fixes | `master` |
-| Anything that touches `AuxAxis`, `ExternalAxis`, `Hooks`, `AuxPreprocessor` | `private-mods` |
-| Anything mentioning the auxcnc ESP, `/dev/ttyUSB0`, the M100-M103 ATC pneumatics, or motor index 4 | `private-mods` |
-| Z-A coupling interlock, ATC tool change sequencing | `private-mods` |
-| A-axis UI (DRO row, jog tile, settings page, A-axis routes) | `private-mods` |
-| W → A renames or aux.json migrations | `private-mods` |
-
-When in doubt: ask "would this be useful on a stock Onefinity with no
-ESP attached?" If yes → `master`. If no → `private-mods`.
-
-## Workflow
-
-```bash
-# Day-to-day shop / hardware work (default)
-git checkout private-mods
-# … do work, commit …
-git push origin private-mods
-
-# Generic improvement to master
-git checkout master
-# … do work, commit …
-git push origin master
-
-# After landing on master, replay private-mods on top
-git checkout private-mods
-git rebase master
-git push --force-with-lease origin private-mods
-```
-
-If a change accidentally lands on `master` but is bespoke (touches
-the file table above), move it: `git reset --hard <prev>` on master,
-cherry-pick onto `private-mods`, force-push master.
-
-## Deploy
-
- `./deploy.sh local` — UI bundle on `localhost:8770` (tmux session
-  `onefin-local`). No controller backend; A-axis row stays hidden.
- `./deploy.sh hardware` — rsync to the Pi over SSH, restart
-  `bbctrl.service`. Use the `private-mods` branch on the shop Pi.
- `./deploy.sh prod` — bundle a release tarball.
-
-See `.pi/BUILD.md` for the full build / flash / cross-compile flow.
-
-## Commit before ending a turn; push after significant changes.
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,67 +1,6 @@
 OneFinity CNC Controller Firmware Changelog
 ===========================================

-## Unreleased (community fork)
-
-General-use additions on top of upstream OneFinity firmware.
-
-### UI
- - V09 redesign: 4-tab top header (Control / Program / Console /
-   Settings) replaces the legacy side menu.
- - Control: redesigned DRO with per-axis offset + zero + home
-   actions, jog grid with consistent button sizing across kiosk
-   and tablet, status strip with live state / velocity / spindle.
- - Program: dedicated tab for run / pause / stop, file browser,
-   toolpath preview.
- - Console: MDI shell, message log, indicators.
- - Settings: rail-driven inner pages so each section is its own
-   focused panel rather than one long scroll.
- - Tablet mode (`?tablet=1`) pins the UI to 1920x1080 and scales
-   it to fit the actual viewport.
- - Kiosk mode (`?kiosk=1`, auto on localhost): tighter layout for
-   the controller's onboard 1366x768 screen.
- - Font Awesome 6 throughout (replaces FA4).
- - Fix: stop clobbering motor settings while the user is editing
-   them.
- - Fix: keep jog grid visible during jog/home/probe/MDI activity.
- - Fix: opaque dark canvas for path-viewer (no flash through page
-   background).
- - Fix: OrbitControls now uses non-passive wheel/touch listeners so
-   it can suppress page panning while interacting with the 3D
-   viewer.
- - Fix: macros tab no longer renders placeholder color stripes for
-   `#dedede`/`#fff`-only macros.
- - Fix: hide the X cursor in kiosk mode (touchscreen).
- - Fix: chromium 72 mime + flex-gap fallbacks (some kiosk Pis ship
-   with that older browser build).
- - Fix: Vue 1 async batching disabled so reactive writes from
-   `hashchange` listeners propagate synchronously.
-
-### Boot / install
- - Cold-boot optimisations cutting bbctrl listen latency by ~8s on
-   the Pi (mask sysstat, replace dphys-swapfile with an fstab swap
-   entry, lazy-load `camotics.gplan`, `bbserial-rebind.service`
-   with explicit `Before=bbctrl.service`).
- - `install.sh` now ships these with firmware updates.
- - `bbctrl.Trace` + `/api/diag/timing` for measuring startup, with
-   a UI-side `restart-timing.js` client that POSTs browser marks.
- - `Camera.py` switched from deprecated `@web.asynchronous` to
-   `async def` so the streaming endpoint works on newer Tornado.
- - `Log.py` tolerates missing rotated log files on startup
-   (concurrent logrotate runs from `/etc/cron.reboot` no longer
-   crash bbctrl).
-
-### Build / tooling
- - `.pi/BUILD.md`: end-to-end macOS dev workflow, deploy paths,
-   troubleshooting.
- - `.pi/Dockerfile.gplan` + `build-gplan.sh`: rebuild `gplan.so`
-   from source on Raspbian Stretch (Bullseye is too new).
- - `deploy.sh` dispatcher with `local`, `hardware`, `prod` modes.
- - `backup/onefinity-backup.sh`: dd-based whole-card backup/restore
-   with shrink/expand support.
- - `Makefile`: ensure trailing newlines between concatenated pug
-   templates so Pug doesn't glue file boundaries together.
-
 ## v1.0.8
 - Fixed chatter and lost steps issues (most commonly seen by Fusion users), re-enabled support for G61, G61.1, G64.
 - Fixed 3d preview on Safari-based web browsers (MacOS & iOS)
--- a/6
+++ b/6
@@ -68,11 +68,7 @@ update: pkg

 build/templates.pug: $(TEMPLS)
 	mkdir -p build
-	# Use awk to ensure each template is followed by a newline so the
-	# next file's first line never gets glued onto the previous file's
-	# last line (some templates ship without a trailing newline, which
-	# would produce subtle Pug parse failures).
-	awk 'FNR==1 && NR>1 {print ""} {print} END{print ""}' $(TEMPLS) >$@
+	cat $(TEMPLS) >$@

 node_modules: package.json
 	npm install && touch node_modules
--- a/README.md
+++ b/README.md
@@ -1,9 +1,8 @@
-# OneFinity CNC Controller Firmware (A-axis fork)
+# OneFinity CNC Controller Firmware (W-axis fork)

-This is the community-fork firmware (V09 UI, FA6, cold-boot work,
-macOS dev tooling) with a virtual A axis driven by an auxcnc ESP32
-over USB serial. See [docs/AUX_A_AXIS.md](docs/AUX_A_AXIS.md) for the
-design and config.
+This is the OneFinity / Buildbotics bbctrl firmware with a virtual W
+axis driven by an auxcnc ESP32 over USB serial. See
+[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for the design and config.

 ## Layout

@@ -17,7 +16,7 @@ src/svelte-components/  Newer Svelte UI for dialogs and settings
 src/pug/        Pug templates compiled into build/http/index.html
 src/resources/  Static assets and config templates
 scripts/        Install / update / RPi build helpers
-docs/           Architecture, dev setup, A-axis docs
+docs/           Architecture, dev setup, W-axis docs
 ```

 ## Build & flash (quick path, macOS or Linux)
@@ -101,8 +100,7 @@ bbctrl restarts, then the new UI).

 ```bash
 curl -s http://onefinity.local/ | grep -c "OneFinity"
-curl -s http://onefinity.local/api/diag/timing | head
-curl -s http://onefinity.local/api/aux/status   # if A axis is enabled
+curl -s http://onefinity.local/api/aux/status   # if W axis is enabled
 ```

 ## Build & flash (full path, Debian/Linux)
@@ -111,12 +109,12 @@ For AVR + GPlan rebuilds, see [docs/development.md](docs/development.md).
 That path uses qemu + chroot to cross-compile gplan for ARM and needs
 the `gcc-avr` / `avr-libc` toolchain.

-## A axis (auxcnc)
+## W axis (auxcnc)

-This fork adds a virtual A axis. See
-[docs/AUX_A_AXIS.md](docs/AUX_A_AXIS.md) for:
+This fork adds a virtual W axis. See
+[docs/AUX_W_AXIS.md](docs/AUX_W_AXIS.md) for:

- G-code surface (`G28 A0`, `G1 A25`, etc.)
+- G-code surface (`G28 W0`, `G1 W25`, etc.)
 - The G-code preprocessor and hook architecture
 - aux.json keys
 - REST API (`/api/aux/*`)
--- a/deploy-hardware.sh
+++ b/deploy-hardware.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh hardware
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" hardware "$@"
--- a/deploy-local.sh
+++ b/deploy-local.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh local
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" local "$@"
--- a/deploy-prod.sh
+++ b/deploy-prod.sh
@@ -1,4 +0,0 @@
-#!/bin/bash
-# Shorthand for ./deploy.sh prod
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "$SCRIPT_DIR/deploy.sh" prod "$@"
--- a/deploy.sh
+++ b/deploy.sh
@@ -1,52 +0,0 @@
-#!/bin/bash
-# Onefinity firmware deploy script.
-#
-#   ./deploy.sh local            — build & static-serve the UI on macOS
-#                                   (chrome only; no controller, shows
-#                                   DISCONNECTED overlay)
-#   ./deploy.sh hardware         — fast iteration: rsync build/http/
-#                                   contents to the running Pi at
-#                                   onefinity.local, then restart bbctrl
-#   ./deploy.sh prod             — full firmware update via the Pi's
-#                                   /api/firmware/update endpoint
-#                                   (equivalent to `make update`)
-#
-# Notes:
-#   * On macOS we cannot run the Python `bbctrl` controller directly
-#     because it imports the ARM-only camotics gplan.so. For full UI
-#     testing with live data, deploy to the Pi (hardware or prod).
-#   * `prod` requires a clean working tree.
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-cd "$SCRIPT_DIR"
-
-CMD="${1:-}"
-
-case "$CMD" in
-  local)    exec "$SCRIPT_DIR/scripts/deploy/local.sh" "$@" ;;
-  hardware) exec "$SCRIPT_DIR/scripts/deploy/hardware.sh" "$@" ;;
-  prod)     exec "$SCRIPT_DIR/scripts/deploy/prod.sh" "$@" ;;
-  *)
-    cat <<USAGE
-usage: $0 {local | hardware | prod}
-
-  local     Build the UI and static-serve build/http/ in a tmux session
-            on macOS. Useful for iterating on the V09 chrome and routing.
-            URL: http://localhost:8770/
-            tmux: tmux attach -t onefin-local
-
-  hardware  Fast iteration on the actual controller: rsync the freshly
-            built build/http/ tree onto onefinity.local, then restart
-            the bbctrl service. Requires SSH access as bbmc@onefinity.local.
-            Defaults: HOST=onefinity.local PASSWORD=onefinity
-
-  prod      Build a full firmware package (.tar.bz2) and PUT it through
-            /api/firmware/update on the Pi. Equivalent to:
-              make update HOST=onefinity.local PASSWORD=onefinity
-            Requires a clean working tree.
-USAGE
-    exit 1
-    ;;
-esac
--- a/docs/AUX_W_AXIS.md
+++ b/docs/AUX_W_AXIS.md
@@ -1,18 +1,6 @@
-# A axis (auxcnc) integration
+# W axis (auxcnc) integration

-> **Note:** This document describes the original out-of-band W-axis
-> architecture (gcode preprocessor rewriting W tokens into HOOK
-> messages dispatched between blocks). The current implementation
-> integrates the auxcnc-driven stepper as a *virtual A axis* through
-> gplan via a synthetic motor (`bbctrl/ExternalAxis.py`), so A is
-> blended with XYZ in the same S-curve plan and the gcode surface
-> below applies as plain `A` words.
->
-> The HOOK pipeline still exists for ATC pneumatic atoms (M100 EJECT,
-> M102 RELEASE, M103 CLAMP) - see `bbctrl/AuxPreprocessor.py`. Macros
-> compose drop/grab tool sequences from those atoms.
-
-This adds a virtual `A` axis to the bbctrl controller, driven by the
+This adds a virtual `W` axis to the bbctrl controller, driven by the
 auxcnc ESP32 over USB serial (`/dev/ttyUSB0`). The ESP owns step-pulse
 generation, real-time limit-switch monitoring, and the homing dance.
 The Pi owns units (mm), soft limits, sequencing inside G-code jobs, and
@@ -22,15 +10,15 @@ a small REST API for jogging / homing from the UI.

 The bbctrl planner (gplan) only understands `xyzabc`, so adding a true
 7th axis would require rebuilding gplan + the AVR firmware. We avoid
-that by treating W as a synchronous out-of-band axis: A moves run
+that by treating W as a synchronous out-of-band axis: W moves run
 *between* G-code blocks, not blended with XYZ.

 Pipeline:

-1. User uploads a G-code file containing `A` words.
+1. User uploads a G-code file containing `W` words.
 2. `FileHandler` runs `AuxPreprocessor` on the upload, rewriting W
   tokens in place into `(MSG,HOOK:aux:<mm>)` etc. The original line
-   minus the A word continues to drive XYZ.
+   minus the W word continues to drive XYZ.
 3. The planner sees only XYZ + message comments. When it reaches a
   message line, the message goes through `state.add_message` which
   `Hooks._on_state_change` watches for the `HOOK:` prefix.
@@ -38,25 +26,25 @@ Pipeline:
   for the event name (`aux`, `aux_rel`, `aux_home`, `aux_setzero`).
 5. The handler runs in a hook thread, gating `Mach.unpause` until done.
   While the handler is busy the machine is in HOLDING - no XYZ motion
-   can resume until A finishes.
+   can resume until W finishes.
 6. The handler talks to the ESP over `/dev/ttyUSB0` via `AuxAxis`,
   blocking on a deterministic reply token (`[step] done`, `[home]
   done`, etc).

-MDI commands containing `A` words are rewritten the same way at the
+MDI commands containing `W` words are rewritten the same way at the
 `Mach.mdi()` boundary so manual jog and macros work too.

 ## G-code surface

 ```gcode
 G21 G90
-G28 A0          ; home A axis
-G1 A25 F300     ; move A to 25 mm absolute
-G1 X100 W12.5   ; mixed: A moves first, then XYZ (configurable)
+G28 W0          ; home W axis
+G1 W25 F300     ; move W to 25 mm absolute
+G1 X100 W12.5   ; mixed: W moves first, then XYZ (configurable)
 G91
-G1 A-2.5        ; relative A move
+G1 W-2.5        ; relative W move
 G90
-G92 A0          ; set current A as zero (G92-style)
+G92 W0          ; set current W as zero (G92-style)
 ```

 Rules:
@@ -117,18 +105,18 @@ limit switch when the axis isn't homed yet).
 **Control view**

 - A jog row appears under the XYZ jog grid when `aux_enabled` is true,
-  with three buttons: `A-`, `A+`, and a wide `Home W`. There is
+  with three buttons: `W-`, `W+`, and a wide `Home W`. There is
  intentionally no separate "set zero" or "W origin" button - homing
  lands the axis at `home_position_mm` (0 by default), so home and
  zero are the same point.
- The DRO table shows a A axis row with position, status (OFFLINE /
+- The DRO table shows a W axis row with position, status (OFFLINE /
  UNHOMED / HOMED), and a single Home button in the actions column
  (the cog and map-marker columns are placeholders for layout).

 **Settings view**

 A "W Axis (auxcnc)" section exposes every aux.json field except
-`enabled` (which stays read-only - flipping the A axis on/off requires
+`enabled` (which stays read-only - flipping the W axis on/off requires
 editingaux.json on the controller, so a fresh install can't surprise
 the user with hardware that isn't there). Saving PUTs the merged
 config to `/api/aux/config/save`, which writes aux.json and pushes
@@ -147,19 +135,19 @@ These are pushed via `state.set` and visible in the websocket stream:
 ## Edge cases

 - **ESP reboots mid-job**: `[boot] auxcnc v=N` banner -> `aux_homed`
-  cleared, message added: "A axis controller restarted - re-home
-  before use". Subsequent A moves still run; if you want a hard fail
+  cleared, message added: "W axis controller restarted - re-home
+  before use". Subsequent W moves still run; if you want a hard fail
  instead, that's a one-line change in `_require_present`.
 - **Limit switch closed at boot of HOME**: `[home] failed
  reason=already_at_limit` -> hook raises -> Mach surfaces error.
 - **Pause mid-W-move**: the hook is blocking, so feed-hold takes
-  effect *after* the A move completes. For an immediate stop hit
+  effect *after* the W move completes. For an immediate stop hit
  estop; the Hooks listener will call `aux.abort()` which sends
  `ABORT\n` to the ESP and the step-pulse loop exits.
 - **Connection loss**: if `/dev/ttyUSB0` can't be opened at startup,
  `aux_present=False` and any G-code with W will fail-fast at the
  hook handler with "Aux axis not connected".
- **No home enforcement**: per design, manual jogs and A moves are
+- **No home enforcement**: per design, manual jogs and W moves are
  allowed even without a successful home. Soft limits still apply
  unless you use the raw step jog endpoint.

--- a/docs/mocks/v09_full_ux.html
+++ b/docs/mocks/v09_full_ux.html
@@ -0,0 +1,900 @@
+<!doctype html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width,initial-scale=1" />
+<title>Onefinity · V09 · Full UX</title>
+<script src="https://cdn.tailwindcss.com"></script>
+<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.5.2/css/all.min.css" />
+<link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@500;700&display=swap" rel="stylesheet">
+<style>
+  *{box-sizing:border-box}
+  html,body{margin:0;font-family:'Inter',system-ui,sans-serif;background:#0f172a;color:#e5e7eb}
+  .mono{font-family:'JetBrains Mono',monospace}
+
+  /* ---------- HOST CHROME ---------- */
+  .host{min-height:100vh;display:flex;flex-direction:column;background:radial-gradient(circle at 30% 0%,#374151,#0f172a 60%);}
+  .topbar{display:flex;align-items:center;gap:.6rem;flex-wrap:wrap;padding:.7rem 1rem;background:rgba(255,255,255,.04);border-bottom:1px solid rgba(255,255,255,.08);position:sticky;top:0;z-index:50;backdrop-filter:blur(10px);}
+  .topbar .brand{display:flex;align-items:center;gap:.5rem;font-weight:800;color:#fff}
+  .stripe-logo-sm{background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px);width:26px;height:26px;border-radius:6px}
+  .pill{padding:.3rem .65rem;border-radius:9999px;font-size:.75rem;font-weight:700;background:rgba(255,255,255,.08);color:#cbd5e1}
+  .seg-host{display:inline-flex;background:rgba(255,255,255,.05);border-radius:9999px;padding:3px;gap:3px}
+  .seg-host button{padding:.4rem .85rem;border-radius:9999px;font-size:.78rem;font-weight:700;color:#cbd5e1}
+  .seg-host button.on{background:#fde047;color:#0f172a}
+  .toggle{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:8px;background:rgba(255,255,255,.08);font-size:.75rem;font-weight:600;color:#e5e7eb;cursor:pointer}
+  .toggle.on{background:#22c55e;color:#0b1220}
+
+  .stage{flex:1;display:flex;align-items:flex-start;justify-content:center;padding:1rem;overflow:auto}
+  .scaler-viewport{position:relative;flex:0 0 auto}
+  .scaler{position:absolute;top:0;left:0;width:1920px;height:auto;transform-origin:top left;transition:transform .2s}
+
+  /* ---------- KIOSK (1920x1080) ---------- */
+  .kiosk{
+    width:1920px;height:1080px;overflow:hidden;border-radius:14px;position:relative;
+    box-shadow:0 30px 60px rgba(0,0,0,.5);
+    display:flex;flex-direction:column;
+    background:#ffffff;color:#0f172a;
+  }
+
+  /* Header */
+  .head{
+    flex:0 0 96px;height:96px;
+    display:flex;align-items:center;gap:18px;
+    padding:0 24px;background:#ffffff;border-bottom:1px solid #e5e7eb;
+  }
+  .brand-blk{display:flex;align-items:center;gap:14px}
+  .menu-btn{width:54px;height:54px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;display:inline-flex;align-items:center;justify-content:center;font-size:1.1rem}
+  .menu-btn:hover{background:#e2e8f0}
+  .brand-logo{width:42px;height:42px;border-radius:8px;background:repeating-linear-gradient(135deg,#a7c7a3 0 6px,transparent 6px 14px)}
+  .brand-name{font-weight:900;font-size:22px;letter-spacing:-.01em}
+
+  /* Underline-ribbon tab style (V02) */
+  .kiosk-tabs{display:inline-flex;gap:0;margin-right:auto;padding-left:18px;align-items:stretch;height:96px}
+  .ktab{
+    position:relative;
+    height:96px;padding:0 26px;
+    background:transparent;border:none;border-radius:0;
+    color:#475569;font-size:1.05rem;font-weight:700;
+    display:inline-flex;align-items:center;gap:.55rem;cursor:pointer;
+    transition:color .15s;
+  }
+  .ktab i{font-size:1.1rem;color:#94a3b8;transition:color .15s}
+  .ktab:hover{color:#0f172a}
+  .ktab:hover i{color:#475569}
+  .ktab.active{color:#0f172a}
+  .ktab.active i{color:#0f172a}
+  .ktab.active::after{
+    content:"";position:absolute;left:14px;right:14px;bottom:0;
+    height:5px;background:#fde047;border-radius:5px 5px 0 0;
+  }
+  .ktab .ktab-badge{background:#fee2e2;color:#991b1b;font-size:.7rem;padding:3px 8px;border-radius:9999px;font-weight:800;line-height:1}
+  .ktab.active .ktab-badge{background:#fde047;color:#0f172a}
+
+  .sys-btn{display:inline-flex;align-items:center;gap:.55rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#f1f5f9;border:1px solid #e2e8f0;color:#0f172a;font-size:.9rem;font-weight:600}
+  .sys-btn .pip{width:9px;height:9px;border-radius:9999px;background:#22c55e}
+  .state-badge{display:inline-flex;align-items:center;gap:.6rem;height:54px;padding:0 1.1rem;border-radius:14px;background:#dcfce7;color:#166534;font-weight:800;font-size:1rem;letter-spacing:.04em}
+  .state-badge .dot{width:10px;height:10px;border-radius:9999px;background:currentColor;position:relative}
+  .state-badge .dot::after{content:"";position:absolute;inset:-3px;border-radius:9999px;border:2px solid currentColor;opacity:.5;animation:pls 1.6s ease-out infinite}
+  @keyframes pls{0%{transform:scale(.7);opacity:.6}100%{transform:scale(2.2);opacity:0}}
+
+  .estop{
+    width:88px;height:88px;background:#dc2626;color:#fff;font-weight:900;
+    clip-path:polygon(30% 0,70% 0,100% 30%,100% 70%,70% 100%,30% 100%,0 70%,0 30%);
+    display:flex;align-items:center;justify-content:center;
+    border:3px solid #fff;box-shadow:0 0 0 3px #b91c1c, 0 8px 20px rgba(220,38,38,.35);font-size:1rem;letter-spacing:.05em
+  }
+
+  /* Body */
+  .body{flex:1;display:flex;flex-direction:column;background:#f1f5f9;min-height:0}
+  .panel{display:none;flex:1;min-height:0;flex-direction:column;padding:18px;gap:14px}
+  .panel.active{display:flex}
+
+  /* ----------------------- V09 jog/macro palette ----------------------- */
+  /* Flat soft slate, no shadow */
+  :root{
+    --jog-bg:#3f4b63;
+    --jog-hover:#4a5777;
+    --jog-dir-bg:#5b6885;
+    --jog-dir-hover:#6a779a;
+    --jog-ghost-bg:#8c97ad;
+    --jog-ghost-hover:#9ba6bb;
+    --jog-ink:#fff;
+    --jog-ghost-ink:#0f172a;
+  }
+
+  /* JOG */
+  .jog-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;padding:18px;min-height:0}
+  .jog-head{display:flex;align-items:center;justify-content:space-between;margin-bottom:14px}
+  .jog-title{font-size:18px;font-weight:700;color:#0f172a}
+  .jog-title .step{color:#0ea5e9;font-family:'JetBrains Mono',monospace}
+  .step-seg{display:inline-flex;background:#f1f5f9;border:1px solid #e2e8f0;border-radius:14px;padding:4px}
+  .step-seg button{height:48px;min-width:64px;padding:0 1rem;border-radius:11px;font-size:1rem;font-weight:800;color:#475569;cursor:pointer}
+  .step-seg button.active{background:#0f172a;color:#fde047}
+  .jog-grid{display:grid;grid-template-columns:repeat(4,1fr);grid-template-rows:repeat(4,1fr);gap:10px;flex:1;min-height:0}
+  .jbtn{
+    border-radius:16px;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;
+    user-select:none;-webkit-tap-highlight-color:transparent;cursor:pointer;
+    font-weight:700;font-size:1.05rem;border:none;
+    transition:transform .06s, background .15s;
+    background:var(--jog-bg);color:var(--jog-ink);
+  }
+  .jbtn:hover{background:var(--jog-hover)}
+  .jbtn:active{transform:scale(.97)}
+  .jbtn .ico{font-size:1.6rem}
+  .jbtn .lbl{font-size:.8rem;color:inherit;opacity:.85;font-weight:600}
+  .jbtn.dir{background:var(--jog-dir-bg)} .jbtn.dir:hover{background:var(--jog-dir-hover)}
+  .jbtn.ghost{background:var(--jog-ghost-bg);color:var(--jog-ghost-ink)} .jbtn.ghost:hover{background:var(--jog-ghost-hover)}
+
+  /* DRO + STATUS */
+  .control-grid{display:grid;grid-template-columns:720px 1fr;gap:18px;flex:1;min-height:0}
+  .right-col{display:grid;grid-template-rows:1fr 158px;gap:18px;min-height:0}
+  .dro-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;overflow:hidden;display:flex;flex-direction:column}
+  .dro-head{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;background:#f8fafc;border-bottom:1px solid #e5e7eb;font-size:.78rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
+  .dro-row{display:grid;grid-template-columns:84px 1.4fr 1fr 1fr 170px 170px 280px;column-gap:.75rem;align-items:center;padding:14px 22px;border-bottom:1px solid #f1f5f9;flex:1;min-height:0}
+  .dro-row:last-child{border-bottom:none}
+  .dro-axis{font-weight:900;font-size:46px;line-height:1}
+  .dro-pos{font-family:'JetBrains Mono',monospace;font-size:36px;font-weight:800}
+  .dro-pos .u{font-size:14px;color:#94a3b8;font-weight:500;margin-left:6px}
+  .dro-sec{font-family:'JetBrains Mono',monospace;font-size:18px;color:#64748b;font-weight:600}
+  .axis-x{color:#dc2626} .axis-y{color:#16a34a} .axis-z{color:#2563eb} .axis-w{color:#7c3aed}
+
+  .chip{display:inline-flex;align-items:center;gap:.4rem;padding:.4rem .7rem;border-radius:9999px;font-size:.78rem;font-weight:700}
+  .chip-green{background:#dcfce7;color:#166534}
+  .chip-amber{background:#fef3c7;color:#92400e}
+  .chip-red{background:#fee2e2;color:#991b1b}
+  .chip-slate{background:#e2e8f0;color:#334155}
+  .chip-blue{background:#dbeafe;color:#1e40af}
+
+  .icon-btn{
+    width:72px;height:72px;border-radius:14px;cursor:pointer;
+    display:inline-flex;align-items:center;justify-content:center;
+    color:#334155;background:#f1f5f9;border:1px solid #e2e8f0;
+    font-size:1.45rem
+  }
+  .icon-btn:hover{background:#e2e8f0}
+  .actions-cell{display:flex;justify-content:flex-end;gap:10px}
+  .z-highlight{background:rgba(254,243,199,.4)}
+
+  .status-strip{display:grid;grid-template-columns:repeat(4,1fr);gap:18px;min-height:0}
+  .stat-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;padding:18px 22px;display:flex;flex-direction:column;justify-content:center}
+  .stat-label{font-size:11px;font-weight:800;text-transform:uppercase;letter-spacing:.14em;color:#94a3b8}
+  .stat-val{font-family:'JetBrains Mono',monospace;font-size:30px;font-weight:800;margin-top:6px}
+  .stat-val.ok{color:#166534}
+  .stat-sub{font-size:13px;color:#64748b;margin-top:2px}
+
+  /* MACROS */
+  .macro-row{display:grid;grid-template-columns:repeat(8,1fr);gap:12px;flex:0 0 auto}
+  .macro-btn{
+    height:84px;border-radius:14px;border:none;cursor:pointer;
+    color:#fff;background:#3f4b63;
+    font-weight:800;font-size:1rem;
+    display:flex;align-items:center;justify-content:center;gap:.6rem;
+    transition:transform .06s, background .15s
+  }
+  .macro-btn:hover{background:#4a5777}
+  .macro-btn:active{transform:translateY(2px)}
+  .macro-btn .mnum{display:inline-flex;align-items:center;justify-content:center;width:28px;height:28px;border-radius:8px;background:#fde047;color:#0f172a;font-size:.85rem;font-weight:900}
+  .macro-btn .micon{font-size:1.1rem;opacity:.75}
+
+  /* =============================================================
+     PROGRAM PANEL
+     ============================================================= */
+  .program-card{background:#fff;border:1px solid #e5e7eb;border-radius:18px;display:flex;flex-direction:column;flex:1;min-height:0;overflow:hidden}
+  .ptab-bar{display:flex;align-items:center;gap:6px;border-bottom:1px solid #e5e7eb;flex:0 0 auto;background:#fff;padding:0 18px}
+  .ptab{height:60px;padding:0 22px;font-weight:700;color:#64748b;border-bottom:3px solid transparent;font-size:1rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
+  .ptab:hover{color:#0f172a}
+  .ptab.active{color:#0f172a;border-bottom-color:#0f172a}
+  .ptab .ptab-badge{background:#fde047;color:#0f172a;font-size:.7rem;padding:2px 7px;border-radius:9999px;font-weight:900}
+
+  .action-bar{display:flex;align-items:center;gap:12px;padding:18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
+  .action-btn{height:84px;padding:0 24px;border-radius:14px;background:#3f4b63;color:#fff;border:none;cursor:pointer;display:inline-flex;flex-direction:column;align-items:center;justify-content:center;gap:4px;font-weight:800;font-size:.9rem;letter-spacing:.04em;transition:background .15s}
+  .action-btn:hover{background:#4a5777}
+  .action-btn .ico{font-size:1.4rem}
+  .action-btn.run{background:#16a34a}
+  .action-btn.run:hover{background:#15803d}
+  .action-btn.stop{background:#0f172a}
+  .action-btn.stop:hover{background:#1e293b}
+  .action-btn.danger{background:#fee2e2;color:#7f1d1d}
+  .action-btn.danger:hover{background:#fecaca}
+  .action-btn.danger .ico{color:#dc2626}
+
+  .file-bar{display:flex;align-items:center;gap:10px;padding:14px 18px;flex-wrap:wrap;border-bottom:1px solid #f1f5f9}
+  .file-btn{height:54px;padding:0 18px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
+  .file-btn:hover{background:#e2e8f0}
+  .file-select{height:54px;padding:0 16px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:600;color:#0f172a;font-size:.9rem;display:inline-flex;align-items:center;gap:.5rem;cursor:pointer}
+  .file-select .caret{color:#94a3b8;margin-left:.5rem}
+  .file-select.primary{background:#fff;border:2px solid #0ea5e9;flex:1;min-width:300px}
+
+  .program-body{flex:1;display:grid;grid-template-columns:1fr 600px;min-height:0}
+  .gcode{font-family:'JetBrains Mono',monospace;font-size:14px;line-height:1.6;background:#fafafa;border-right:1px solid #f1f5f9;padding:14px 0;overflow:auto;color:#1e293b}
+  .gline{display:grid;grid-template-columns:60px 1fr;gap:14px;padding:1px 18px 1px 0}
+  .gline:nth-child(odd){background:#f4f4f5}
+  .gline .gn{color:#f59e0b;text-align:right;font-weight:700}
+  .gline.cur{background:#dbeafe !important}
+  .gline.cur .gn{color:#1e40af}
+  .gcomment{color:#64748b}
+  .gword{color:#0f172a}
+  .gnum{color:#16a34a}
+
+  .viewer{display:flex;flex-direction:column;min-height:0}
+  .viewer-3d{flex:1;background:#0b1220;position:relative;overflow:hidden;display:flex;align-items:center;justify-content:center}
+  .viewer-tools{display:flex;gap:8px;padding:14px;border-top:1px solid #f1f5f9;background:#fff;flex-wrap:wrap}
+  .vtool{height:60px;width:60px;border-radius:12px;background:#f1f5f9;border:1px solid #e2e8f0;color:#475569;display:inline-flex;align-items:center;justify-content:center;font-size:1.2rem;cursor:pointer}
+  .vtool:hover{background:#e2e8f0}
+  .vtool.on{background:#0f172a;color:#fff;border-color:#0f172a}
+  .vinfo{padding:14px 18px;background:#fff;font-size:13px;color:#64748b;border-top:1px solid #f1f5f9;display:flex;justify-content:space-between;align-items:center}
+  .vinfo .ext{color:#0f172a;font-weight:600}
+
+  /* =============================================================
+     MESSAGES PANEL
+     ============================================================= */
+  .messages{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:12px;overflow:auto}
+  .messages.active{display:flex}
+  .msg{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:18px 22px;display:grid;grid-template-columns:54px 1fr auto;gap:18px;align-items:flex-start}
+  .msg .mi{width:54px;height:54px;border-radius:12px;display:inline-flex;align-items:center;justify-content:center;font-size:1.4rem}
+  .msg.error{border-left:6px solid #dc2626}
+  .msg.error .mi{background:#fee2e2;color:#991b1b}
+  .msg.warn{border-left:6px solid #f59e0b}
+  .msg.warn .mi{background:#fef3c7;color:#92400e}
+  .msg.info{border-left:6px solid #0ea5e9}
+  .msg.info .mi{background:#dbeafe;color:#1e40af}
+  .msg.ok{border-left:6px solid #16a34a}
+  .msg.ok .mi{background:#dcfce7;color:#166534}
+  .msg .mtitle{font-weight:800;font-size:1.05rem;color:#0f172a}
+  .msg .mtime{font-size:.8rem;color:#94a3b8;margin-top:2px}
+  .msg .mbody{margin-top:6px;color:#475569;font-size:.95rem;line-height:1.5}
+  .msg .mbody .mono{background:#f1f5f9;padding:2px 6px;border-radius:4px;font-size:.85rem}
+  .msg .mactions{display:flex;gap:8px}
+  .mbtn{height:48px;padding:0 16px;border-radius:10px;background:#f1f5f9;border:1px solid #e2e8f0;font-weight:700;color:#0f172a;font-size:.85rem;cursor:pointer}
+  .mbtn:hover{background:#e2e8f0}
+  .mbtn.primary{background:#0f172a;color:#fff;border-color:#0f172a}
+  .mbtn.primary:hover{background:#1e293b}
+
+  /* =============================================================
+     INDICATORS PANEL
+     ============================================================= */
+  .indicators{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:repeat(4,1fr);grid-auto-rows:min-content}
+  .indicators.active{display:grid}
+  .ind{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:16px 18px;display:flex;flex-direction:column;gap:6px}
+  .ind-label{font-size:.8rem;font-weight:800;text-transform:uppercase;letter-spacing:.1em;color:#94a3b8}
+  .ind-val{font-family:'JetBrains Mono',monospace;font-size:1.6rem;font-weight:800;color:#0f172a}
+  .ind-state{display:inline-flex;align-items:center;gap:.4rem;font-size:.8rem;font-weight:700;color:#475569}
+  .ind-state .dot{width:10px;height:10px;border-radius:9999px}
+  .ind .progress{height:8px;background:#f1f5f9;border-radius:9999px;overflow:hidden;margin-top:4px}
+  .ind .progress > div{height:100%;background:#0ea5e9}
+  .ind.full{grid-column:span 2}
+
+  /* =============================================================
+     MDI PANEL
+     ============================================================= */
+  .mdi{display:none;flex-direction:column;flex:1;min-height:0;padding:18px;gap:14px}
+  .mdi.active{display:flex}
+  .mdi-input{
+    background:#0b1220;color:#86efac;border:1px solid #1e293b;border-radius:14px;
+    padding:22px 24px;font-family:'JetBrains Mono',monospace;font-size:1.4rem;font-weight:600;
+    display:flex;align-items:center;gap:.6rem;
+  }
+  .mdi-input .prompt{color:#475569}
+  .mdi-input .cursor{display:inline-block;width:14px;height:1.4rem;background:#86efac;animation:blink 1s steps(2,end) infinite;vertical-align:middle}
+  @keyframes blink{50%{opacity:0}}
+  .mdi-keys{display:grid;grid-template-columns:repeat(8,1fr);gap:8px;flex:0 0 auto}
+  .mkey{height:64px;border-radius:12px;background:#fff;border:1px solid #e2e8f0;font-weight:800;font-size:1.05rem;color:#0f172a;cursor:pointer;font-family:'JetBrains Mono',monospace}
+  .mkey:hover{background:#f1f5f9}
+  .mkey.send{background:#16a34a;color:#fff;border-color:#15803d;grid-column:span 2;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
+  .mkey.send:hover{background:#15803d}
+  .mkey.clear{background:#fee2e2;color:#7f1d1d;border-color:#fca5a5;font-family:'Inter',sans-serif;font-size:.95rem;letter-spacing:.04em}
+  .mdi-history{flex:1;background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:14px 18px;overflow:auto;font-family:'JetBrains Mono',monospace;font-size:.95rem}
+  .mdi-history .h-row{display:grid;grid-template-columns:80px 1fr auto;gap:14px;padding:6px 0;border-bottom:1px solid #f1f5f9;align-items:center}
+  .mdi-history .h-time{color:#94a3b8;font-size:.8rem}
+  .mdi-history .h-cmd{color:#0f172a;font-weight:700}
+  .mdi-history .h-status{color:#16a34a;font-weight:700;font-size:.8rem}
+  .mdi-history .h-status.err{color:#dc2626}
+
+  /* =============================================================
+     SETTINGS PANEL
+     ============================================================= */
+  .settings{display:none;flex:1;min-height:0;padding:18px;gap:14px;overflow:auto;grid-template-columns:280px 1fr}
+  .settings.active{display:grid}
+  .set-side{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:10px;display:flex;flex-direction:column;gap:4px;height:fit-content}
+  .set-item{height:56px;padding:0 16px;border-radius:10px;display:flex;align-items:center;gap:.6rem;color:#475569;font-weight:700;cursor:pointer}
+  .set-item:hover{background:#f1f5f9}
+  .set-item.active{background:#0f172a;color:#fff}
+  .set-content{display:flex;flex-direction:column;gap:14px}
+  .set-card{background:#fff;border:1px solid #e5e7eb;border-radius:14px;padding:22px}
+  .set-title{font-weight:800;font-size:1.1rem;color:#0f172a;margin-bottom:14px}
+  .set-row{display:grid;grid-template-columns:280px 1fr auto;gap:14px;align-items:center;padding:14px 0;border-bottom:1px solid #f1f5f9}
+  .set-row:last-child{border-bottom:none}
+  .set-row .label{font-weight:700;color:#0f172a;font-size:.95rem}
+  .set-row .desc{color:#64748b;font-size:.85rem;margin-top:2px}
+  .set-row .val{font-family:'JetBrains Mono',monospace;color:#475569}
+  .set-input{height:48px;padding:0 14px;border-radius:10px;border:1px solid #e2e8f0;background:#fff;font-family:'JetBrains Mono',monospace;font-size:.95rem;color:#0f172a;min-width:200px}
+  .set-toggle{width:54px;height:30px;border-radius:9999px;background:#cbd5e1;position:relative;cursor:pointer;transition:background .15s}
+  .set-toggle::after{content:"";position:absolute;left:3px;top:3px;width:24px;height:24px;border-radius:9999px;background:#fff;transition:transform .15s}
+  .set-toggle.on{background:#16a34a}
+  .set-toggle.on::after{transform:translateX(24px)}
+</style>
+</head>
+<body>
+<div class="host">
+
+<div class="topbar">
+  <div class="brand">
+    <div class="stripe-logo-sm"></div>
+    ONEFINITY · V09 · Full UX preview
+  </div>
+  <span class="pill">Click the inner tabs to navigate</span>
+  <div style="margin-left:auto"></div>
+  <button id="oneToOne" class="toggle">1:1</button>
+  <button id="fitBtn" class="toggle on">Fit</button>
+  <span id="scaleInfo" class="pill mono">100%</span>
+</div>
+
+<div class="stage" id="stage">
+  <div class="scaler-viewport" id="viewport">
+    <div class="scaler" id="scaler">
+
+      <!-- ============= KIOSK ============= -->
+      <div class="kiosk">
+        <header class="head">
+          <div class="brand-blk">
+            <div class="brand-logo"></div>
+            <div class="brand-name">ONEFINITY</div>
+          </div>
+          <div class="kiosk-tabs">
+            <button class="ktab active" data-target="control"><i class="fa-solid fa-gamepad"></i> Control</button>
+            <button class="ktab" data-target="program"><i class="fa-solid fa-list-ol"></i> Program</button>
+            <button class="ktab" data-target="console"><i class="fa-solid fa-terminal"></i> Console <span class="ktab-badge">2</span></button>
+            <button class="ktab" data-target="settings"><i class="fa-solid fa-sliders"></i> Settings</button>
+          </div>
+          <button class="sys-btn"><span class="pip"></span> All systems · view <i class="fa-solid fa-chevron-down" style="font-size:10px;opacity:.6"></i></button>
+          <span class="state-badge"><span class="dot"></span> READY</span>
+          <button class="estop">STOP</button>
+        </header>
+
+        <div class="body">
+
+          <!-- ============= CONTROL ============= -->
+          <div class="panel active" data-panel="control">
+            <div class="control-grid">
+              <!-- jog -->
+              <div class="jog-card">
+                <div class="jog-head">
+                  <div class="jog-title">Jog · step <span class="step">10mm</span></div>
+                  <div class="step-seg">
+                    <button>0.1</button><button>1</button><button class="active">10</button><button>100</button>
+                  </div>
+                </div>
+                <div class="jog-grid">
+                  <button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(-45deg)"></i></button>
+                  <button class="jbtn">Y+</button>
+                  <button class="jbtn dir"><i class="fa-solid fa-arrow-up ico" style="transform:rotate(45deg)"></i></button>
+                  <button class="jbtn">Z+</button>
+                  <button class="jbtn">X−</button>
+                  <button class="jbtn ghost"><span class="lbl">XY</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
+                  <button class="jbtn">X+</button>
+                  <button class="jbtn ghost"><span class="lbl">Z</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
+                  <button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(45deg)"></i></button>
+                  <button class="jbtn">Y−</button>
+                  <button class="jbtn dir"><i class="fa-solid fa-arrow-down ico" style="transform:rotate(-45deg)"></i></button>
+                  <button class="jbtn">Z−</button>
+                  <button class="jbtn"><i class="fa-solid fa-arrow-down ico"></i><span class="lbl">W−</span></button>
+                  <button class="jbtn ghost"><span class="lbl">W</span><span style="font-size:1rem;font-weight:700">Origin</span></button>
+                  <button class="jbtn"><i class="fa-solid fa-arrow-up ico"></i><span class="lbl">W+</span></button>
+                  <button class="jbtn"><i class="fa-solid fa-house ico"></i><span class="lbl">Home</span></button>
+                </div>
+              </div>
+
+              <!-- DRO + status -->
+              <div class="right-col">
+                <div class="dro-card">
+                  <div class="dro-head">
+                    <div>Axis</div><div>Position</div><div>Absolute</div><div>Offset</div><div>State</div><div>Toolpath</div><div style="text-align:right">Actions</div>
+                  </div>
+                  <div class="dro-row">
+                    <div class="dro-axis axis-x">X</div>
+                    <div class="dro-pos">0.000<span class="u">mm</span></div>
+                    <div class="dro-sec">0.000</div>
+                    <div class="dro-sec">0.000</div>
+                    <div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
+                    <div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
+                    <div class="actions-cell">
+                      <button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-house"></i></button>
+                    </div>
+                  </div>
+                  <div class="dro-row">
+                    <div class="dro-axis axis-y">Y</div>
+                    <div class="dro-pos">0.000<span class="u">mm</span></div>
+                    <div class="dro-sec">0.000</div>
+                    <div class="dro-sec">0.000</div>
+                    <div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
+                    <div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
+                    <div class="actions-cell">
+                      <button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-house"></i></button>
+                    </div>
+                  </div>
+                  <div class="dro-row z-highlight">
+                    <div class="dro-axis axis-z">Z</div>
+                    <div class="dro-pos">0.000<span class="u">mm</span></div>
+                    <div class="dro-sec">0.000</div>
+                    <div class="dro-sec">0.000</div>
+                    <div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
+                    <div><span class="chip chip-amber"><i class="fa-solid fa-triangle-exclamation"></i> Over</span></div>
+                    <div class="actions-cell">
+                      <button class="icon-btn"><i class="fa-solid fa-gear"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-house"></i></button>
+                    </div>
+                  </div>
+                  <div class="dro-row">
+                    <div class="dro-axis axis-w">W</div>
+                    <div class="dro-pos">0.000<span class="u">mm</span></div>
+                    <div class="dro-sec">0.000</div>
+                    <div class="dro-sec" style="opacity:.4">—</div>
+                    <div><span class="chip chip-amber"><i class="fa-solid fa-question"></i> Unhomed</span></div>
+                    <div><span class="chip chip-green"><i class="fa-solid fa-check"></i> OK</span></div>
+                    <div class="actions-cell">
+                      <button class="icon-btn"><i class="fa-solid fa-location-dot"></i></button>
+                      <button class="icon-btn"><i class="fa-solid fa-house"></i></button>
+                    </div>
+                  </div>
+                </div>
+
+                <div class="status-strip">
+                  <div class="stat-card"><div class="stat-label">State</div><div class="stat-val ok">READY</div><div class="stat-sub">No alerts</div></div>
+                  <div class="stat-card"><div class="stat-label">Velocity / Feed</div><div class="stat-val">0 · 0</div><div class="stat-sub">m/min · mm/min</div></div>
+                  <div class="stat-card"><div class="stat-label">Spindle</div><div class="stat-val">0 (0)</div><div class="stat-sub">RPM (commanded / actual)</div></div>
+                  <div class="stat-card"><div class="stat-label">Job</div><div class="stat-val">0 / 1,785</div><div class="stat-sub">Line · 19:07 remaining</div></div>
+                </div>
+              </div>
+            </div>
+
+            <!-- macros -->
+            <div class="macro-row">
+              <button class="macro-btn"><span class="mnum">1</span><i class="fa-solid fa-circle-play micon"></i> Macro 1</button>
+              <button class="macro-btn"><span class="mnum">2</span><i class="fa-solid fa-circle-play micon"></i> Macro 2</button>
+              <button class="macro-btn"><span class="mnum">3</span><i class="fa-solid fa-circle-play micon"></i> Macro 3</button>
+              <button class="macro-btn"><span class="mnum">4</span><i class="fa-solid fa-circle-play micon"></i> Macro 4</button>
+              <button class="macro-btn"><span class="mnum">5</span><i class="fa-solid fa-circle-play micon"></i> Macro 5</button>
+              <button class="macro-btn"><span class="mnum">6</span><i class="fa-solid fa-circle-play micon"></i> Macro 6</button>
+              <button class="macro-btn"><span class="mnum">7</span><i class="fa-solid fa-circle-play micon"></i> Macro 7</button>
+              <button class="macro-btn"><span class="mnum">8</span><i class="fa-solid fa-circle-play micon"></i> Macro 8</button>
+            </div>
+          </div>
+
+          <!-- ============= PROGRAM ============= -->
+          <div class="panel" data-panel="program" style="padding:0;gap:0">
+            <div class="program-card" style="margin:18px;border-radius:18px">
+              <!-- Auto sub-panel -->
+              <div class="auto-sub" data-sub="auto" style="display:flex;flex-direction:column;flex:1;min-height:0">
+                <div class="action-bar">
+                  <button class="action-btn run"><i class="fa-solid fa-play ico"></i><span>RUN</span></button>
+                  <button class="action-btn stop"><i class="fa-solid fa-stop ico"></i><span>STOP</span></button>
+                  <button class="action-btn"><i class="fa-solid fa-folder-arrow-up ico"></i><span>UPLOAD FOLDER</span></button>
+                  <button class="action-btn"><i class="fa-solid fa-file-arrow-up ico"></i><span>UPLOAD FILE</span></button>
+                  <button class="action-btn"><i class="fa-solid fa-file-arrow-down ico"></i><span>DOWNLOAD FILE</span></button>
+                  <button class="action-btn danger"><i class="fa-solid fa-trash ico"></i><span>DELETE</span></button>
+                </div>
+
+                <div class="file-bar">
+                  <button class="file-btn"><i class="fa-solid fa-folder-plus"></i> Create Folder</button>
+                  <button class="file-btn"><i class="fa-solid fa-folder-minus"></i> Delete Folder</button>
+                  <span class="file-select"><i class="fa-solid fa-folder-open" style="color:#64748b"></i> Default folder <i class="fa-solid fa-chevron-down caret"></i></span>
+                  <span class="file-select primary"><i class="fa-solid fa-file-code" style="color:#0ea5e9"></i> thin-rough.nc <i class="fa-solid fa-chevron-down caret" style="margin-left:auto"></i></span>
+                  <span class="file-select"><i class="fa-solid fa-arrow-down-wide-short" style="color:#64748b"></i> By Upload Date <i class="fa-solid fa-chevron-down caret"></i></span>
+                </div>
+
+                <div class="program-body">
+                  <div class="gcode" id="gcode-list"></div>
+                  <div class="viewer">
+                    <div class="viewer-3d">
+                      <svg viewBox="0 0 400 220" style="width:100%;height:100%">
+                        <defs>
+                          <pattern id="gridv" width="20" height="20" patternUnits="userSpaceOnUse">
+                            <path d="M 20 0 L 0 0 0 20" fill="none" stroke="#1e293b" stroke-width="1"/>
+                          </pattern>
+                        </defs>
+                        <rect width="400" height="220" fill="url(#gridv)"/>
+                        <rect x="40" y="80" width="320" height="60" stroke="#475569" stroke-width="1" fill="none" stroke-dasharray="3 3"/>
+                        <text x="40" y="74" fill="#64748b" font-size="9" font-family="monospace">Stock: 250 × 25 × 16 mm</text>
+                        <!-- toolpath -->
+                        <path d="M40,110 L360,110 M40,100 L360,100 M40,120 L360,120 M40,90 L360,90 M40,130 L360,130" stroke="#22c55e" stroke-width="1.4" fill="none" opacity=".8"/>
+                        <path d="M40,110 L40,80 L60,80 L60,110 M80,110 L80,80 L100,80 L100,110 M120,110 L120,80 L140,80 L140,110" stroke="#ef4444" stroke-width="1.4" fill="none" opacity=".8"/>
+                        <circle cx="40" cy="110" r="3" fill="#22c55e"/>
+                        <circle cx="360" cy="110" r="3" fill="#ef4444"/>
+                        <text x="46" y="108" fill="#22c55e" font-size="8" font-family="monospace">START</text>
+                        <text x="332" y="108" fill="#ef4444" font-size="8" font-family="monospace">END</text>
+                        <!-- axes gizmo -->
+                        <g transform="translate(28,196)">
+                          <line x1="0" y1="0" x2="22" y2="0" stroke="#ef4444" stroke-width="2"/>
+                          <line x1="0" y1="0" x2="0" y2="-22" stroke="#3b82f6" stroke-width="2"/>
+                          <line x1="0" y1="0" x2="-12" y2="12" stroke="#22c55e" stroke-width="2"/>
+                          <text x="24" y="4" fill="#ef4444" font-size="9" font-family="monospace">X</text>
+                          <text x="-4" y="-26" fill="#3b82f6" font-size="9" font-family="monospace">Z</text>
+                          <text x="-22" y="22" fill="#22c55e" font-size="9" font-family="monospace">Y</text>
+                        </g>
+                      </svg>
+                    </div>
+                    <div class="viewer-tools">
+                      <button class="vtool" title="Fit"><i class="fa-solid fa-expand"></i></button>
+                      <button class="vtool on" title="Tool"><i class="fa-solid fa-screwdriver-wrench"></i></button>
+                      <button class="vtool" title="Stock"><i class="fa-solid fa-cube"></i></button>
+                      <button class="vtool" title="Origin"><i class="fa-solid fa-up-right-and-down-left-from-center"></i></button>
+                      <button class="vtool" title="Top"><i class="fa-solid fa-square"></i></button>
+                      <button class="vtool" title="Front"><i class="fa-solid fa-square-full"></i></button>
+                      <button class="vtool" title="Iso"><i class="fa-solid fa-cubes"></i></button>
+                    </div>
+                    <div class="vinfo">
+                      <span><span class="ext">thin-rough.nc</span> · 1,785 lines · 12.4 KB</span>
+                      <span class="mono">est. 19:07</span>
+                    </div>
+                  </div>
+                </div>
+              </div>
+
+            </div>
+          </div>
+
+          <!-- ============= CONSOLE ============= -->
+          <div class="panel" data-panel="console" style="padding:0;gap:0">
+            <div class="program-card" style="margin:18px;border-radius:18px">
+
+              <div class="ptab-bar">
+                <button class="ptab active" data-ptab="mdi"><i class="fa-solid fa-keyboard"></i> MDI</button>
+                <button class="ptab" data-ptab="messages"><i class="fa-solid fa-comment-dots"></i> Messages <span class="ptab-badge">2</span></button>
+                <button class="ptab" data-ptab="indicators"><i class="fa-solid fa-bell"></i> Indicators</button>
+              </div>
+
+              <!-- MDI sub-panel -->
+              <div class="mdi active" data-sub="mdi">
+                <div class="mdi-input">
+                  <span class="prompt">G&gt;</span>
+                  <span class="mono">G0 X100 Y50 F2000</span>
+                  <span class="cursor"></span>
+                </div>
+                <div class="mdi-keys">
+                  <button class="mkey">G0</button>
+                  <button class="mkey">G1</button>
+                  <button class="mkey">G2</button>
+                  <button class="mkey">G3</button>
+                  <button class="mkey">G28</button>
+                  <button class="mkey">G92</button>
+                  <button class="mkey">M3</button>
+                  <button class="mkey">M5</button>
+                  <button class="mkey">X</button>
+                  <button class="mkey">Y</button>
+                  <button class="mkey">Z</button>
+                  <button class="mkey">W</button>
+                  <button class="mkey">F</button>
+                  <button class="mkey">S</button>
+                  <button class="mkey clear">CLEAR</button>
+                  <button class="mkey send">SEND ↵</button>
+                </div>
+                <div class="mdi-history">
+                  <div class="h-row"><span class="h-time">19:42:11</span><span class="h-cmd">G21</span><span class="h-status">✓ ok</span></div>
+                  <div class="h-row"><span class="h-time">19:42:14</span><span class="h-cmd">G90</span><span class="h-status">✓ ok</span></div>
+                  <div class="h-row"><span class="h-time">19:43:02</span><span class="h-cmd">G0 Y12.800</span><span class="h-status">✓ ok</span></div>
+                  <div class="h-row"><span class="h-time">19:43:08</span><span class="h-cmd">G0 Z19.040</span><span class="h-status">✓ ok</span></div>
+                  <div class="h-row"><span class="h-time">19:43:30</span><span class="h-cmd">G1 Z-20 F800</span><span class="h-status err">✗ blocked: Z over travel</span></div>
+                  <div class="h-row"><span class="h-time">19:44:01</span><span class="h-cmd">G0 Z5</span><span class="h-status">✓ ok</span></div>
+                </div>
+              </div>
+
+              <!-- Messages sub-panel -->
+              <div class="messages" data-sub="messages">
+                <div class="msg warn">
+                  <div class="mi"><i class="fa-solid fa-triangle-exclamation"></i></div>
+                  <div>
+                    <div style="display:flex;align-items:baseline;gap:.6rem">
+                      <div class="mtitle">Z toolpath exceeds soft-limit</div>
+                      <div class="mtime">2 min ago · sticky</div>
+                    </div>
+                    <div class="mbody">Loaded program reaches <span class="mono">Z = -16.500</span>. Configured soft-limit is <span class="mono">Z = -15.000</span>. Adjust the Z origin or set a deeper soft-limit before running.</div>
+                  </div>
+                  <div class="mactions">
+                    <button class="mbtn">Open settings</button>
+                    <button class="mbtn primary">Acknowledge</button>
+                  </div>
+                </div>
+
+                <div class="msg info">
+                  <div class="mi"><i class="fa-solid fa-circle-info"></i></div>
+                  <div>
+                    <div style="display:flex;align-items:baseline;gap:.6rem">
+                      <div class="mtitle">Camera offline</div>
+                      <div class="mtime">12 min ago</div>
+                    </div>
+                    <div class="mbody">Camera at <span class="mono">10.1.10.55:8554</span> did not respond on last poll. Live preview disabled.</div>
+                  </div>
+                  <div class="mactions">
+                    <button class="mbtn">Retry</button>
+                    <button class="mbtn">Dismiss</button>
+                  </div>
+                </div>
+
+                <div class="msg ok">
+                  <div class="mi"><i class="fa-solid fa-check"></i></div>
+                  <div>
+                    <div style="display:flex;align-items:baseline;gap:.6rem">
+                      <div class="mtitle">File uploaded · thin-rough.nc</div>
+                      <div class="mtime">21 min ago</div>
+                    </div>
+                    <div class="mbody">1,785 lines · 12.4 KB · checksum verified.</div>
+                  </div>
+                  <div class="mactions">
+                    <button class="mbtn">Open</button>
+                  </div>
+                </div>
+
+                <div class="msg error">
+                  <div class="mi"><i class="fa-solid fa-circle-xmark"></i></div>
+                  <div>
+                    <div style="display:flex;align-items:baseline;gap:.6rem">
+                      <div class="mtitle">WiFi: not connected</div>
+                      <div class="mtime">1 h ago</div>
+                    </div>
+                    <div class="mbody">Falling back to wired ethernet. SSID <span class="mono">workshop-2g</span> last seen 53 min ago.</div>
+                  </div>
+                  <div class="mactions">
+                    <button class="mbtn">Network…</button>
+                    <button class="mbtn">Mute</button>
+                  </div>
+                </div>
+              </div>
+
+              <!-- Indicators sub-panel -->
+              <div class="indicators" data-sub="indicators">
+                <div class="ind">
+                  <div class="ind-label">Spindle Load</div>
+                  <div class="ind-val">0 %</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> idle</div>
+                  <div class="progress"><div style="width:0%"></div></div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Spindle Temp</div>
+                  <div class="ind-val">24 °C</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> nominal</div>
+                  <div class="progress"><div style="width:24%"></div></div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Driver Voltage</div>
+                  <div class="ind-val">48.1 V</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Coolant</div>
+                  <div class="ind-val">OFF</div>
+                  <div class="ind-state"><span class="dot" style="background:#94a3b8"></span> standby</div>
+                </div>
+
+                <div class="ind">
+                  <div class="ind-label">Limit X</div>
+                  <div class="ind-val" style="color:#16a34a">CLEAR</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Limit Y</div>
+                  <div class="ind-val" style="color:#16a34a">CLEAR</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Limit Z</div>
+                  <div class="ind-val" style="color:#dc2626">BLOCKED</div>
+                  <div class="ind-state"><span class="dot" style="background:#dc2626"></span> over-travel</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Probe</div>
+                  <div class="ind-val">OPEN</div>
+                  <div class="ind-state"><span class="dot" style="background:#94a3b8"></span> not contacted</div>
+                </div>
+
+                <div class="ind">
+                  <div class="ind-label">E-Stop</div>
+                  <div class="ind-val" style="color:#16a34a">RELEASED</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> safe</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Door</div>
+                  <div class="ind-val">CLOSED</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Air Pressure</div>
+                  <div class="ind-val">6.2 bar</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> ok</div>
+                  <div class="progress"><div style="width:62%"></div></div>
+                </div>
+                <div class="ind">
+                  <div class="ind-label">Vacuum</div>
+                  <div class="ind-val">−0.81 bar</div>
+                  <div class="ind-state"><span class="dot" style="background:#16a34a"></span> hold</div>
+                  <div class="progress"><div style="width:81%"></div></div>
+                </div>
+              </div>
+
+            </div>
+          </div>
+
+          <!-- ============= SETTINGS ============= -->
+          <div class="panel" data-panel="settings" style="padding:0;gap:0">
+            <div class="settings active" style="padding:18px">
+              <div class="set-side">
+                <div class="set-item active"><i class="fa-solid fa-display"></i> Display & Units</div>
+                <div class="set-item"><i class="fa-solid fa-arrows-up-down-left-right"></i> Motion</div>
+                <div class="set-item"><i class="fa-solid fa-bolt"></i> Spindle</div>
+                <div class="set-item"><i class="fa-solid fa-shield-halved"></i> Safety / Soft-limits</div>
+                <div class="set-item"><i class="fa-solid fa-network-wired"></i> Network</div>
+                <div class="set-item"><i class="fa-solid fa-video"></i> Camera</div>
+                <div class="set-item"><i class="fa-solid fa-keyboard"></i> Macros</div>
+                <div class="set-item"><i class="fa-solid fa-circle-info"></i> About</div>
+              </div>
+              <div class="set-content">
+                <div class="set-card">
+                  <div class="set-title">Display & Units</div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">Display Units</div>
+                      <div class="desc">Position, feed and dimensions throughout the UI.</div>
+                    </div>
+                    <div><div class="step-seg" style="display:inline-flex"><button class="active">METRIC</button><button>IMPERIAL</button></div></div>
+                    <div></div>
+                  </div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">Decimal places</div>
+                      <div class="desc">Position readout precision.</div>
+                    </div>
+                    <div><input class="set-input" value="3" /></div>
+                    <div class="val">0–4</div>
+                  </div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">Pulse-dot animation</div>
+                      <div class="desc">Animate status badges (ready, idle, alarm).</div>
+                    </div>
+                    <div><div class="set-toggle on"></div></div>
+                    <div></div>
+                  </div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">Theme</div>
+                      <div class="desc">Pick a tile finish.</div>
+                    </div>
+                    <div><span class="file-select"><i class="fa-solid fa-palette" style="color:#64748b"></i> V09 · Flat soft slate <i class="fa-solid fa-chevron-down caret"></i></span></div>
+                    <div></div>
+                  </div>
+                </div>
+
+                <div class="set-card">
+                  <div class="set-title">Network</div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">IP Address</div>
+                      <div class="desc">Wired ethernet, DHCP.</div>
+                    </div>
+                    <div><span class="mono" style="font-size:1.05rem;font-weight:700">10.1.10.55</span></div>
+                    <div><button class="mbtn">Edit</button></div>
+                  </div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">WiFi</div>
+                      <div class="desc">Wireless network connection.</div>
+                    </div>
+                    <div><span class="chip chip-red"><i class="fa-solid fa-wifi"></i> Not connected</span></div>
+                    <div><button class="mbtn primary">Configure</button></div>
+                  </div>
+                  <div class="set-row">
+                    <div>
+                      <div class="label">Hostname</div>
+                      <div class="desc">Used in mDNS / Bonjour discovery.</div>
+                    </div>
+                    <div><input class="set-input" value="onefinity-shop.local" style="width:300px" /></div>
+                    <div></div>
+                  </div>
+                </div>
+              </div>
+            </div>
+          </div>
+
+        </div>
+      </div>
+
+    </div>
+  </div>
+</div>
+
+</div>
+
+<script>
+  // ----- Build G-code list -----
+  const gcodeLines = [
+    [1,'G21','word'],[2,'; X = along blank, Z = tool entry from top, Y fixed','c'],
+    [3,'; Y fixed to blank center: 12.800','c'],[4,'; nominal rapid: 3200.0 mm/min','c'],
+    [5,'; stock top Z: -0.960','c'],[6,'; deepest allowed cut Z: -16.500','c'],
+    [7,'G21','word'],[8,'G90','word'],[9,'G0 Y12.800','word'],
+    [10,'G0 Z19.040','word'],[11,'; rough pass 1 radius=18.540','c'],
+    [12,'G0 X0.000','word'],[13,'G1 Z-0.710 F800.000','word cur'],
+    [14,'G1 Z-0.960 F200.000','word'],[15,'G4 P0.250','word'],
+    [16,'G1 X249.500 F200.000','word'],[17,'G4 P0.250','word'],
+    [18,'G0 Z19.040','word'],[19,'; rough pass 2 radius=17.540','c'],
+    [20,'G0 X0.000','word'],[21,'G1 Z-1.710 F800.000','word'],
+    [22,'G1 Z-1.960 F200.000','word'],[23,'G4 P0.250','word'],
+    [24,'G1 X249.500 F200.000','word'],[25,'G4 P0.250','word'],
+    [26,'G0 Z19.040','word'],[27,'; rough pass 3 radius=16.540','c'],
+    [28,'G0 X0.000','word'],[29,'G1 Z-2.710 F800.000','word'],
+    [30,'G1 Z-2.960 F200.000','word'],[31,'G4 P0.250','word'],
+    [32,'G1 X249.500 F200.000','word'],[33,'G4 P0.250','word'],
+    [34,'G0 Z19.040','word'],[35,'; rough pass 4 radius=15.540','c'],
+  ];
+  document.getElementById('gcode-list').innerHTML = gcodeLines.map(([n,t,cls])=>{
+    const isComment = cls.includes('c');
+    const isCur = cls.includes('cur');
+    const cls2 = 'gline' + (isCur?' cur':'');
+    const inner = isComment ? `<span class="gcomment">${t}</span>` : `<span class="gword">${t}</span>`;
+    return `<div class="${cls2}"><span class="gn">${n}</span><span>${inner}</span></div>`;
+  }).join('');
+
+  // ----- Top tab switching (Control / Program / Settings) -----
+  document.querySelectorAll('.ktab').forEach(b=>{
+    b.addEventListener('click', ()=>{
+      const target = b.dataset.target;
+      document.querySelectorAll('.ktab').forEach(x=>x.classList.remove('active'));
+      b.classList.add('active');
+      document.querySelectorAll('.panel').forEach(p=>p.classList.remove('active'));
+      document.querySelector(`.panel[data-panel="${target}"]`).classList.add('active');
+      applyScale();
+    });
+  });
+
+  // ----- Console sub-tab switching (MDI / Messages / Indicators) -----
+  function showSub(name){
+    document.querySelectorAll('.ptab').forEach(x=>x.classList.toggle('active', x.dataset.ptab===name));
+    document.querySelectorAll('[data-sub]').forEach(s=>{
+      const on = s.dataset.sub===name;
+      if(s.classList.contains('messages') || s.classList.contains('indicators') || s.classList.contains('mdi')){
+        s.classList.toggle('active', on);
+      }
+    });
+  }
+  document.querySelectorAll('.ptab').forEach(b=>{
+    b.addEventListener('click', ()=>{ showSub(b.dataset.ptab); });
+  });
+  // Default Console sub: MDI active
+  document.querySelectorAll('.messages[data-sub], .indicators[data-sub]').forEach(s=>s.classList.remove('active'));
+
+  // ----- Scaling -----
+  const stage = document.getElementById('stage');
+  const scaler = document.getElementById('scaler');
+  const viewport = document.getElementById('viewport');
+  const fitBtn = document.getElementById('fitBtn');
+  const oneToOne = document.getElementById('oneToOne');
+  const scaleInfo = document.getElementById('scaleInfo');
+  let mode = 'fit';
+  function activeKioskHeight(){
+    const m = document.querySelector('.kiosk');
+    return m ? Math.max(1080, m.offsetHeight) : 1080;
+  }
+  function applyScale(){
+    let s;
+    if(mode==='1:1'){
+      s = 1; scaleInfo.textContent = '100% · 1920px wide';
+    } else {
+      const sw = stage.clientWidth - 32;
+      s = Math.min(sw/1920, 1);
+      scaleInfo.textContent = Math.round(s*100) + '% · 1920px wide';
+    }
+    const h = activeKioskHeight();
+    scaler.style.transform = `scale(${s})`;
+    viewport.style.width  = (1920 * s) + 'px';
+    viewport.style.height = (h * s) + 'px';
+  }
+  window.addEventListener('resize', applyScale);
+  fitBtn.addEventListener('click', ()=>{ mode='fit'; fitBtn.classList.add('on'); oneToOne.classList.remove('on'); applyScale(); });
+  oneToOne.addEventListener('click', ()=>{ mode='1:1'; oneToOne.classList.add('on'); fitBtn.classList.remove('on'); applyScale(); });
+  applyScale();
+</script>
+</body>
+</html>
--- a/plans/2026-04-30_ux_redesign.md
+++ b/plans/2026-04-30_ux_redesign.md
@@ -0,0 +1,169 @@
+# UX Redesign — Implementation Plan
+
+Reference mock: `docs/mocks/v09_full_ux.html`
+Target hardware: 10.8" portable monitor, 1920×1080, capacitive touch, Chrome fullscreen.
+
+## 1. Goals
+
+The redesign keeps every existing feature but reorganizes the page into a single-screen control surface for finger-touch use:
+
+- A slim 96 px header replaces the 140 px nav-header. Only logo + ONEFINITY wordmark + tab bar + system pill + READY badge + octagonal STOP.
+- 4 top-level sections accessed via underline-ribbon tabs in the header:
+  1. **Control** — jog pad, DRO table, status strip, macro row.
+  2. **Program** — Auto run controls, file actions, G-code listing, 3D viewer.
+  3. **Console** — MDI, Messages, Indicators (sub-tabs).
+  4. **Settings** — paged settings (replaces the Pure left rail).
+- Touch targets ≥ 64 px (jog tiles 72 px, axis action icons 72 px, macro buttons 84 px).
+- All action chip-soup (WiFi/Camera/Rotary/IP/Version) collapses into one "All systems · view" pill that opens a popover. Burger menu removed (Settings tab supersedes it).
+- V09 jog/macro palette: flat soft slate (#3f4b63), no drop shadow; yellow (#fde047) accent for active states (step seg, tab underline, macro number badge).
+- Spindle override / feed override sliders live in a bottom-edge drawer triggered by tapping the Spindle KPI tile (no permanent screen real estate).
+- Hard cut: no `config.ui.layout` flag; the new shell replaces the old in a single release.
+
+## 2. Scope of code change
+
+The build is Pug + Stylus + Browserify Vue (Vue 1.x). `index.pug` defines the chrome; `src/pug/templates/*.pug` defines each view; `src/js/*.js` mirrors them as Vue components routed by `currentView` from the URL hash.
+
+Files we will touch:
+
+- `src/pug/index.pug` — replace `#layout / #menu / #main / .nav-header` with the new header + tab bar + body. Drop the burger and the side-menu include.
+- `src/pug/templates/control-view.pug` — restructure into the new Control panel (jog grid + DRO table + status strip + macro row). MDI/Messages/Indicators move out.
+- New `src/pug/templates/program-view.pug` — Auto sub-panel content (action bar, file bar, gcode-viewer, path-viewer).
+- New `src/pug/templates/console-view.pug` — MDI / Messages / Indicators sub-tabs hosting existing `console.pug` and `indicators.pug` partials.
+- `src/js/app.js` — extend `parse_hash` so `#program`, `#console`, `#settings` resolve; expose tab state for the header to highlight.
+- `src/js/control-view.js` — keep jog/DRO logic, drop the Auto/MDI/Messages/Indicators internal `tab` state and template hooks.
+- New `src/js/program-view.js`, `src/js/console-view.js` — extracted Vue components.
+- `src/stylus/style.styl` — add `.app-shell`, `.head`, `.tabs-host`, `.ktab`, panel styles, V09 jog tokens. Keep legacy classes alive until templates fully migrated.
+- `src/static/css/side-menu.css` — stop including in `index.pug`.
+- Settings: keep `settings-view.pug`, `admin-general-view.pug`, `admin-network-view.pug`, `motor-view.pug`, `tool-view.pug`, `io-view.pug`, etc., and surface them through a left-rail navigator inside the Settings panel rather than the sidebar.
+- Settings → Macros owns the full macro list (1…N). Control's macro row is a slice of the first 8; reordering happens in Settings.
+
+## 3. Routing model
+
+We keep the existing URL hash routing because everything in `src/js/app.js#parse_hash` and the deep-linked menu items (`#motor:0`, `#admin-network`, etc.) depend on it.
+
+| URL hash                | Top tab    | Notes                                                 |
+|-------------------------|------------|-------------------------------------------------------|
+| `#control`              | Control    | Default                                                |
+| `#program` / `#program:auto` | Program | Auto sub-view (only sub-view for now)                  |
+| `#console` / `#console:mdi`  | Console | MDI default, also `:messages` and `:indicators`        |
+| `#settings`             | Settings   | Settings home (Display & Units)                        |
+| `#admin-general`, `#admin-network`, `#motor:N`, `#tool`, `#io`, `#help`, `#cheat-sheet` | Settings | Existing routes remain, surfaced in the Settings left rail |
+
+The header tab bar maps URL prefix → active tab. A tiny helper `topTabFromHash(hash)` lives in `app.js` and is reused by the header template.
+
+## 4. Step-by-step
+
+### Phase 1 — Mock parity (1–2 days)
+1. Add `docs/mocks/v09_full_ux.html` (done) so anyone can preview the target.
+2. Move the V09 palette into Stylus tokens at the top of `style.styl`:
+   ```styl
+   $jog-bg     = #3f4b63
+   $jog-hover  = #4a5777
+   $jog-dir    = #5b6885
+   $jog-ghost  = #8c97ad
+   $accent     = #fde047
+   $accent-ink = #0f172a
+   ```
+3. Build the header in `index.pug`:
+   ```pug
+   .app-shell
+     header.head
+       .brand-blk
+         .brand-logo
+         .brand-name ONEFINITY
+       nav.tabs-host(role="tablist")
+         a.ktab(:class="{active: topTab === 'control'}", href="#control")
+           .fa.fa-gamepad
+           | Control
+         a.ktab(:class="{active: topTab === 'program'}", href="#program") …
+         a.ktab(:class="{active: topTab === 'console'}", href="#console") …
+         a.ktab(:class="{active: topTab === 'settings'}", href="#settings") …
+       button.sys-btn(@click="toggle_sys_popover") …
+       span.state-badge(:class="state_class")
+       estop(@click="estop")
+   ```
+4. Style the header tabs as **underline ribbon** (V02): transparent fills, slate-gray text, dark text + 5 px yellow underline on active. CSS already proven in the mock.
+5. Move the rotary toggle and pi-temp warning into the system pill popover.
+
+### Phase 2 — Control panel (2 days)
+1. Rewrite the outer markup of `control-view.pug` to a CSS grid:
+   ```
+   .control-grid → 720px jog-card | 1fr right-col(dro-card + status-strip)
+   ```
+   Drop the `<table>`-based outer layout (axes table stays — it's a real data table).
+2. Replace the legacy `<button>` elements in the jog table with `.jbtn` markup that pulls colors from `$jog-*` tokens. Keep the `@click="jog_fn(...)"` bindings unchanged.
+3. Build the new `.step-seg` with the existing `jog_incr` model. The four buttons stay wired to `jog_incr = 'fine' | 'small' | 'medium' | 'large'`.
+4. Build `.dro-card` from the existing `table.axes` markup. Each row gets the new 7-column grid; axis cells just need `.dro-axis`, `.dro-pos`, `.dro-sec` classes.
+5. Move the four KPI tiles (`State / Velocity-Feed / Spindle / Job`) into `.status-strip`. Existing `state.v`, `state.feed`, `state.s`, `state.line` bindings are unchanged.
+6. Move `.macros-div` into a `.macro-row` 8-column grid. The row binds to `config.macros.slice(0, 8)`; macros 9…N are editable and runnable only from Settings → Macros (no drawer in Control). Reordering in Settings changes which macros appear in the visible 8.
+7. Drop the legacy `.tabs / #tab1 …` block from `control-view.pug` entirely.
+
+### Phase 3 — Program panel (1.5 days)
+1. New file `src/pug/templates/program-view.pug` with `.program-card` and the action / file bars.
+2. Move the Auto bar (RUN, STOP, UPLOAD FOLDER, UPLOAD FILE, DOWNLOAD FILE, DELETE) and the file-select strip (Create Folder, Delete Folder, folder picker, file picker, sort) out of `control-view.pug` into here. Use the V09 button styles (`.action-btn`, `.action-btn.run`, `.action-btn.danger`, `.file-btn`, `.file-select`).
+3. Embed `path-viewer` and `gcode-viewer` in `.program-body { 1fr 600px }`. Both Vue components render unchanged.
+4. New `src/js/program-view.js` exporting the same data model the existing `Auto` tab uses (`gcode_files`, `state.selected`, `start_pause`, etc.). The fastest path: move the relevant computed/methods into a mixin `gcode-program-mixin.js` consumed by both old and new components during the migration.
+5. Wire `<component :is="currentView + '-view'">` in `index.pug` to pick up `program-view`.
+
+### Phase 4 — Console panel (1 day)
+1. New `src/pug/templates/console-view.pug` with the inner `.ptab-bar` (MDI / Messages / Indicators) and `data-sub` panels.
+2. The MDI panel reuses the existing `<input v-model="mdi" @keyup.enter="submit_mdi">` plus the on-screen keypad (G0/G1/G2/G3/G28/G92/M3/M5 + axis letters + CLEAR/SEND).
+3. The Messages panel pulls from the existing `popupMessages` array + a new `messages_log` state we will accumulate from `app.js`'s `error` and `popupMessages` channels (no protocol change).
+4. The Indicators panel mounts the existing `<indicators :state="state" :template="template">` component.
+5. Sub-tab state is local Vue state (`activeSub: 'mdi' | 'messages' | 'indicators'`) plus URL fragment after `:` so deep links keep working.
+
+### Phase 5 — Settings panel (1 day)
+1. New `src/pug/templates/settings-view.pug` with a left rail and a content slot.
+2. The left rail is data-driven from a list of existing settings views: General, Network, Motion (settings-view), Spindle (tool-view), Safety (admin-general subset), Camera, Macros (settings-view subset), I/O, Motors, Help, About.
+3. The content slot uses `<component :is="settingsSub + '-view'">` so each existing pug template renders unchanged (`admin-general-view.pug`, `admin-network-view.pug`, `motor-view.pug`, `tool-view.pug`, `io-view.pug`, `settings-view.pug`, `help-view.pug`, `cheat-sheet-view.pug`).
+4. Existing routes (`#admin-network`, `#motor:0`, …) resolve to Settings + the matching left-rail item. We lose nothing.
+5. Decommission the side menu in `index.pug` and stop including `side-menu.css`.
+
+### Phase 6 — Polish & rollout (0.5 days)
+1. Pulse-dot animation for the READY badge (CSS keyframes already in the mock).
+2. System pill popover content: WiFi state + button, Camera state + retry, Rotary toggle, IP address, firmware version, "Open Settings".
+3. Disabled states: jog buttons + macro buttons honor `is_ready` like before; gray them out instead of hiding.
+4. Decimal-places setting from the existing `display_units` plumbing — wire to a new `precision` config the DRO reads.
+5. Build the **Spindle override drawer**: clicking the `.stat-card` for Spindle toggles `.override-drawer.open` anchored to the bottom edge of the body. The drawer hosts the two existing `<input type="range">` controls for `feed_override` and `speed_override` plus `Reset` buttons. Bind to the existing `override_feed` / `override_speed` methods.
+6. **Hard cut cleanup:** delete the legacy `.nav-header`, side-menu markup, and the inline `.tabs / #tab1…#tab4` block from `control-view.pug`. Remove `src/static/css/side-menu.css` from `index.pug` includes. Sweep `style.styl` for orphan rules (`.nav-header`, `.brand`, `.menu-link`, `.pure-menu*` overrides, `.tabs > input` selectors) and delete them in the same commit so we don't ship dead CSS.
+
+## 5. Migration risks & mitigations
+
+| Risk                                         | Mitigation                                                                                  |
+|----------------------------------------------|---------------------------------------------------------------------------------------------|
+| Existing deep links from PDFs / forum posts (`#admin-network`) break | Keep the same hashes; only their visual shell changes. `parse_hash` resolves them. |
+| Vue 1.x doesn't support modern slot syntax we used in the mock | The mock is plain HTML for visual review; production code uses the existing Vue 1 patterns. No new Vue features required. |
+| Touch monitor with HDMI vs USB-C may report different DPI | The new layout is fluid inside 1920 × 1080 only when fullscreen Chrome. Provide a CSS `@media (max-width: 1820px)` fallback that scales the macro row to 4 columns and stacks the right column under the jog. |
+| Existing customers rely on muscle memory of the side menu | Settings tab opens directly to the same left-rail navigator. First-launch toast: "Side menu moved to Settings." |
+| `path-viewer` / `gcode-viewer` are heavy three.js components | They live in the Program tab now; we lazy-mount with `v-if="currentView === 'program'"` so Control stays light. |
+| MDI input could lose focus when the inner `.ptab` is switched | Keep the input mounted, just hide non-active subs with `display:none`. |
+
+## 6. Testing checklist
+
+- Chrome on the 10.8" 1920 × 1080 monitor, fullscreen — every panel fits without scrolling at 100 %.
+- Chrome at 1366 × 768 — fallback layout works (Control collapses jog above DRO).
+- Touch hit-tests: every interactive target ≥ 48 px on its shortest side, primary jog tiles ≥ 72 px.
+- Existing flows still work end-to-end: home all axes, run a small program, MDI a `G0 X10`, switch to Imperial, upload a folder, delete a file.
+- Hash routing: hand-type `#motor:1` and confirm Settings tab activates with Motor 1 selected.
+- Spindle override drawer: tap Spindle KPI tile, sliders move feed/speed override, `Reset` returns both to 100 %, tile tap closes drawer.
+- Macro row shows macros 1–8 only; reordering in Settings → Macros changes which 8 appear on Control.
+- Pulse-dot animation respects `prefers-reduced-motion`.
+- Hard-cut cleanup verified: `git grep` finds no references to the old `.nav-header`, `side-menu.css`, or the `#tab1…#tab4` selectors after the rename.
+
+## 7. Estimated effort
+
+About 6–7 working days for one developer:
+
+1. Mock parity & header — 1.5 days
+2. Control panel (incl. macro slice + DRO grid) — 2 days
+3. Program panel — 1.5 days
+4. Console panel — 1 day
+5. Settings shell — 1 day
+6. Override drawer, polish, hard-cut cleanup, regression tests — 0.5–1 day
+
+## 8. Resolved decisions
+
+- **Rollout: hard cut.** No `config.ui.layout` feature flag, no parallel legacy shell. The new `index.pug` tree replaces the old one in a single release; the old `.nav-header`, side menu, and embedded `.tabs` block are deleted (not gated). One pre-release internal QA pass on real hardware before tagging.
+- **Macros above 8: Settings owns the master list; Control surfaces the first 8 (configurable).** The Control macro row reads from `config.macros[0..7]`; everything beyond index 7 is editable / runnable only from Settings → Macros. Users can reorder which macros land in the visible 8 there.
+- **"Pin to Control" indicator slot: defer.** Not in this redesign. Tracked as a follow-up; current status strip stays fixed at State / Velocity·Feed / Spindle / Job.
+- **Feed & spindle override: drawer triggered by the Spindle KPI tile.** The Spindle card in the status strip becomes tappable. Tap opens a bottom-edge drawer (≈ 220 px tall) containing the two existing range inputs (`feed_override`, `speed_override`) at touch-friendly size with `Reset to 100 %` buttons. Closes by tapping the tile again or the drawer chevron. No protocol change; reuses the existing `override_feed` / `override_speed` handlers.
--- a/scripts/bbctrl.service
+++ b/scripts/bbctrl.service
@@ -1,24 +1,13 @@
 [Unit]
 Description=Buildbotics Controller
-# Note: bbctrl previously had `After=network.target`. That delays
-# start by ~5s on this Pi while dhcpcd brings up wlan0/eth0, but
-# bbctrl does not actually require network connectivity to come up
-# (the AVR is on a local serial port, the LCD on I2C). Dropping it
-# means the Pi shows the UI faster on cold boot. The wifi config UI
-# still works because it queries iw/dhcpcd lazily on demand.
-After=local-fs.target bbserial-rebind.service
-Wants=bbserial-rebind.service
+After=network.target

 [Service]
 User=root
 ExecStart=/usr/local/bin/bbctrl -l /var/log/bbctrl.log
 WorkingDirectory=/var/lib/bbctrl
 Restart=always
-# StandardOutput was 'null'. Set to 'journal' so TRACE lines emitted by
-# bbctrl.Trace are visible via `journalctl -u bbctrl`. Bbctrl still
-# writes its own log via -l above; this only affects stdout/stderr.
-StandardOutput=journal
-StandardError=journal
+StandardOutput=null
 Nice=-10
 KillMode=process

--- a/scripts/bbserial-rebind.service
+++ b/scripts/bbserial-rebind.service
@@ -1,21 +0,0 @@
-[Unit]
-Description=Unbind ttyAMA0 from pl011 and reload bbserial
-DefaultDependencies=no
-After=systemd-modules-load.service local-fs.target
-Before=bbctrl.service
-ConditionPathExists=/sys/bus/amba/drivers/uart-pl011
-
-[Service]
-Type=oneshot
-RemainAfterExit=yes
-# Tolerate the device already being bound elsewhere or the module
-# already being loaded — the goal is the end state (bbserial owns
-# ttyAMA0), not running the steps.
-ExecStart=/bin/sh -c '\
-    echo 3f201000.serial > /sys/bus/amba/drivers/uart-pl011/unbind 2>/dev/null || true; \
-    /sbin/modprobe -r bbserial 2>/dev/null || true; \
-    /sbin/modprobe bbserial \
-'
-
-[Install]
-WantedBy=multi-user.target
--- a/scripts/deploy/hardware.sh
+++ b/scripts/deploy/hardware.sh
@@ -1,84 +0,0 @@
-#!/bin/bash
-# --- Hardware iteration (live Pi at onefinity.local) ---
-#
-# Rsyncs the freshly built static UI tree (build/http/) onto the Pi's
-# bbctrl egg directory and restarts bbctrl. This is much faster than
-# a full firmware update and is the fastest way to iterate on the V09
-# UI changes against real machine state (W axis, jog feedback, etc).
-#
-# Defaults:
-#   HOST=onefinity.local
-#   REMOTE_USER=bbmc
-#   PASSWORD=onefinity      (used for sudo on the Pi)
-#
-# Override:
-#   HOST=10.1.10.55 ./deploy.sh hardware
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-HOST="${HOST:-onefinity.local}"
-REMOTE_USER="${REMOTE_USER:-bbmc}"
-PASSWORD="${PASSWORD:-onefinity}"
-
-echo "Building UI bundle (HTML + resources)..."
-make build/http/index.html >/dev/null
-# Copy src/resources/* into build/http/. The Makefile's "all" target
-# also does this, but pulls in cross-compiled subprojects (avr/boot/
-# pwr/jig) we don't have toolchains for on macOS. This rsync mirrors
-# only the resource tree.
-rsync -a src/resources/ build/http/
-
-echo "Locating bbctrl http/ directory on $HOST..."
-REMOTE_HTTP_DIR="$(ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "ls -d /usr/local/lib/python*/dist-packages/bbctrl-*-py*.egg/bbctrl/http 2>/dev/null | head -1")"
-if [[ -z "$REMOTE_HTTP_DIR" ]]; then
-    echo "ERROR: could not find bbctrl http/ directory on $HOST"
-    exit 1
-fi
-echo "  $REMOTE_HTTP_DIR"
-
-echo "Rsyncing build/http/ -> $HOST:$REMOTE_HTTP_DIR/"
-# Stage to a tmp dir owned by $REMOTE_USER, then sudo-rsync into
-# place. This avoids needing root over rsync. We do NOT use --delete
-# anywhere -- the Pi's egg ships extra runtime files (config-template
-# .json, default machine JSON, buildbotics.nc, etc.) that come with
-# the bbctrl package and are not in this repo's src/resources. If
-# they were deleted the controller's API would 500 because Python
-# imports fail.
-REMOTE_TMP="/tmp/onefin_ui_$$"
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" "mkdir -p '${REMOTE_TMP}'"
-rsync -avz \
-  --exclude='hostinfo.txt' \
-  -e "ssh -o ConnectTimeout=5" \
-  build/http/ "${REMOTE_USER}@${HOST}:${REMOTE_TMP}/"
-
-echo "Installing into ${REMOTE_HTTP_DIR}/ (sudo)..."
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S bash -c '
-     rsync -a --exclude=hostinfo.txt \"${REMOTE_TMP}/\" \"${REMOTE_HTTP_DIR}/\" \
-       && rm -rf \"${REMOTE_TMP}\"
-   '" 2>&1 | tail -3
-
-# Patch bbctrl Web.py so font files get the correct MIME type. The
-# Pi ships Python 3.5, whose `mimetypes` module doesn't know about
-# woff/woff2/ttf, so Tornado serves them as application/octet-stream
-# which Chromium 72 (the Pi's onboard browser) refuses to use as a
-# web font, leading to all FontAwesome icons rendering as empty
-# boxes in the kiosk UI. The patch is idempotent.
-echo "Patching bbctrl font MIME types (idempotent)..."
-scp -o ConnectTimeout=5 "$SCRIPT_DIR/scripts/deploy/patch_font_mime.py" \
-  "${REMOTE_USER}@${HOST}:/tmp/patch_font_mime.py" >/dev/null
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S python3 /tmp/patch_font_mime.py" 2>&1 | tail -3
-
-echo "Restarting bbctrl service..."
-ssh -o ConnectTimeout=5 "${REMOTE_USER}@${HOST}" \
-  "echo '${PASSWORD}' | sudo -S systemctl restart bbctrl" 2>&1 | tail -3
-
-echo ""
-echo "Deployed to http://${HOST}/"
-echo "  Logs: ssh ${REMOTE_USER}@${HOST} 'journalctl -u bbctrl -f'"
-echo "  Open: open -a 'Google Chrome' http://${HOST}/"
--- a/scripts/deploy/local.sh
+++ b/scripts/deploy/local.sh
@@ -1,75 +0,0 @@
-#!/bin/bash
-# --- Local development (macOS) ---
-#
-# Builds the UI bundle and static-serves it on http://localhost:8770/.
-# Runs in a named tmux session so we can iterate (re-running this script
-# rebuilds and restarts the server in-place, you keep your browser tab).
-#
-# What you'll see:
-#   * The full V09 chrome (header tabs, settings rail, jog grid, DRO
-#     skeleton, status strip).
-#   * A "DISCONNECTED" overlay because there's no controller backend.
-#   * The A axis row in jog/DRO is hidden (correct: it appears only when
-#     the controller reports `aux_enabled = true`). To exercise the A
-#     axis end-to-end, deploy to the Pi (`./deploy.sh hardware`).
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-echo "🛠  Building UI bundle..."
-make build/http/index.html >/dev/null
-
-PORT="${PORT:-8770}"
-SESSION="onefin-local"
-
-ensure_tmux_window() {
-    local session="$1"
-    local window="${2:-}"
-    local target="${session}${window:+:$window}"
-    if tmux has-session -t "$session" 2>/dev/null; then
-        if tmux send-keys -t "$target" "" 2>/dev/null; then
-            echo "🔁 Reusing tmux session '$session'..."
-            tmux send-keys -t "$target" C-c
-            sleep 1
-            return
-        fi
-        echo "⚠️  Dead pane in '$session', recreating..."
-        tmux kill-session -t "$session" 2>/dev/null
-    fi
-    echo "🆕 Creating tmux session '$session'..."
-    tmux new-session -d -s "$session"
-}
-
-ensure_tmux_window "$SESSION"
-
-# Free the port if a previous run is still listening.
-if lsof -iTCP:"$PORT" -sTCP:LISTEN >/dev/null 2>&1; then
-    echo "⚠️  Port $PORT is busy; killing previous server..."
-    lsof -tiTCP:"$PORT" -sTCP:LISTEN | xargs -r kill 2>/dev/null || true
-    sleep 1
-fi
-
-tmux send-keys -t "$SESSION" \
-  "cd '$SCRIPT_DIR' && python3 -m http.server --directory build/http $PORT" \
-  C-m
-
-echo ""
-echo "✅ Static UI server started on http://localhost:$PORT/"
-echo ""
-echo "   Routes to try:"
-echo "     http://localhost:$PORT/#control"
-echo "     http://localhost:$PORT/#program"
-echo "     http://localhost:$PORT/#console"
-echo "     http://localhost:$PORT/#settings        (Display & Units)"
-echo "     http://localhost:$PORT/#admin-network   (WiFi / IP)"
-echo "     http://localhost:$PORT/#motor:0         (Motor 0 settings)"
-echo ""
-echo "   tmux:        tmux attach -t $SESSION"
-echo "   stop:        tmux kill-session -t $SESSION"
-echo ""
-echo "ℹ️  No controller is running, so the page shows DISCONNECTED and"
-echo "   axis values stay empty. For live data + W axis, run:"
-echo "     ./deploy.sh hardware     (fast: rsync build/http -> Pi)"
-echo "     ./deploy.sh prod         (full firmware update)"
--- a/scripts/deploy/patch_font_mime.py
+++ b/scripts/deploy/patch_font_mime.py
@@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-"""
-Patch bbctrl Web.py so font files get the correct MIME type.
-
-Background
----------
-The Onefinity controller (Pi 3B running Raspbian stretch) ships Python
-3.5, whose ``mimetypes`` module does not recognize ``.woff``, ``.woff2``
-or ``.ttf``. Tornado's ``StaticFileHandler`` therefore falls back to
-``application/octet-stream`` for those, and Chromium 72 (the Pi's
-onboard kiosk browser) refuses to use such payloads as web fonts. The
-result is that every FontAwesome icon renders as an empty box on the
-kiosk display.
-
-This patch monkey-patches ``StaticFileHandler.get_content_type`` to
-emit the right MIME types. It is idempotent: running it twice is a
-no-op. Run with ``sudo`` so it can rewrite the egg's Web.py.
-
-Used by:
-  scripts/deploy/hardware.sh
-"""
-
-from __future__ import print_function
-import os
-import sys
-
-
-def find_web_py():
-    """Return the absolute path to the bbctrl Web.py shipped in the egg."""
-    base = "/usr/local/lib"
-    for entry in os.listdir(base):
-        if not entry.startswith("python"):
-            continue
-        candidate_dir = os.path.join(base, entry, "dist-packages")
-        if not os.path.isdir(candidate_dir):
-            continue
-        for sub in os.listdir(candidate_dir):
-            if sub.startswith("bbctrl-") and sub.endswith(".egg"):
-                p = os.path.join(candidate_dir, sub, "bbctrl", "Web.py")
-                if os.path.isfile(p):
-                    return p
-    return None
-
-
-OLD_BLOCK = (
-    "class StaticFileHandler(tornado.web.StaticFileHandler):\n"
-    "    def set_extra_headers(self, path):\n"
-    "        self.set_header('Cache-Control',\n"
-    "                        'no-store, no-cache, must-revalidate, max-age=0')"
-)
-
-NEW_BLOCK = (
-    "class StaticFileHandler(tornado.web.StaticFileHandler):\n"
-    "    # FONT_MIME_FIX: Python 3.5's mimetypes module does not know\n"
-    "    # woff/woff2/ttf, so Tornado serves them as application/octet-\n"
-    "    # stream which Chromium 72 (the Pi's onboard kiosk browser)\n"
-    "    # refuses to use as web fonts. Set explicit types so the FA6\n"
-    "    # icon set actually renders on the kiosk display.\n"
-    "    def get_content_type(self):\n"
-    "        path = self.absolute_path or ''\n"
-    "        if path.endswith('.woff2'): return 'font/woff2'\n"
-    "        if path.endswith('.woff'):  return 'font/woff'\n"
-    "        if path.endswith('.ttf'):   return 'font/ttf'\n"
-    "        if path.endswith('.otf'):   return 'font/otf'\n"
-    "        if path.endswith('.eot'):   return 'application/vnd.ms-fontobject'\n"
-    "        return super().get_content_type()\n"
-    "\n"
-    "    def set_extra_headers(self, path):\n"
-    "        self.set_header('Cache-Control',\n"
-    "                        'no-store, no-cache, must-revalidate, max-age=0')"
-)
-
-
-def main():
-    target = find_web_py()
-    if target is None:
-        print("ERROR: could not locate bbctrl Web.py under /usr/local/lib",
-              file=sys.stderr)
-        return 1
-
-    with open(target) as f:
-        src = f.read()
-
-    if "FONT_MIME_FIX" in src:
-        print("font mime: already patched ({})".format(target))
-        return 0
-
-    if OLD_BLOCK not in src:
-        print("font mime: expected block not found in {} -- skipping".format(target),
-              file=sys.stderr)
-        # Don't fail the deploy; just log and continue.
-        return 0
-
-    new_src = src.replace(OLD_BLOCK, NEW_BLOCK, 1)
-    with open(target, "w") as f:
-        f.write(new_src)
-    print("font mime: patched {}".format(target))
-    return 0
-
-
-if __name__ == "__main__":
-    sys.exit(main())
--- a/scripts/deploy/prod.sh
+++ b/scripts/deploy/prod.sh
@@ -1,42 +0,0 @@
-#!/bin/bash
-# --- Production firmware update (Pi at onefinity.local) ---
-#
-# Builds a full firmware package (.tar.bz2) and PUTs it through the Pi's
-# /api/firmware/update endpoint. This is the canonical OTA flow and goes
-# through the bbctrl Tornado server's update handler.
-#
-# Defaults:
-#   HOST=onefinity.local
-#   PASSWORD=onefinity
-#
-# Override:
-#   HOST=10.1.10.55 PASSWORD=secret ./deploy.sh prod
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
-cd "$SCRIPT_DIR"
-
-HOST="${HOST:-onefinity.local}"
-PASSWORD="${PASSWORD:-onefinity}"
-
-# Require a clean working tree.
-echo "🔍 Checking git state..."
-if ! git diff --quiet || ! git diff --cached --quiet \
-    || [[ -n "$(git ls-files --others --exclude-standard)" ]]; then
-    echo "❌ Refusing to deploy: working tree has uncommitted changes."
-    git status --short
-    exit 1
-fi
-echo "✅ Working tree is clean."
-
-echo "🛠  Building firmware package..."
-make pkg
-
-echo "🚚 Uploading to http://${HOST}/api/firmware/update..."
-make update HOST="$HOST" PASSWORD="$PASSWORD"
-
-echo ""
-echo "✅ Firmware update PUT to ${HOST}."
-echo "   The Pi will reboot itself after applying the update."
-echo "   Once it comes back, open: http://${HOST}/"
--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -19,17 +19,8 @@ if $UPDATE_PY; then
    # Update service
    rm -f /etc/init.d/bbctrl
    cp scripts/bbctrl.service /etc/systemd/system/
-
-    # Cold-boot fast path:
-    #   - bbserial-rebind.service replaces the bbserial unbind/reload
-    #     that used to live in rc.local AFTER bbctrl was already
-    #     listening on /dev/ttyAMA0. Doing it as a unit ordered
-    #     Before=bbctrl.service eliminates a full bbctrl restart
-    #     mid-boot (~5s saved).
-    cp scripts/bbserial-rebind.service /etc/systemd/system/
    systemctl daemon-reload
    systemctl enable bbctrl
-    systemctl enable bbserial-rebind.service
 fi

 if $UPDATE_AVR; then
@@ -127,50 +118,8 @@ if [ $? -ne 0 ]; then
    REBOOT=true
 fi

-# Install rc.local. Use the slimmed "fast" variant if it exists in this
-# checkout (preferred); fall back to the legacy rc.local for older
-# firmware tarballs that don't ship rc.local.fast yet.
-if [ -f scripts/rc.local.fast ]; then
-    cp scripts/rc.local.fast /etc/rc.local
-else
-    cp scripts/rc.local /etc/rc.local
-fi
-chmod +x /etc/rc.local
-
-# Cold-boot: mask units that contribute to userspace startup time but
-# do not benefit a deployed Onefinity Pi. Each is reversible with
-# `systemctl unmask <unit>`.
-#   plymouth-read-write : 4s of work for a splash that rc.local kills
-#                         immediately with `plymouth quit`.
-#   plymouth-quit-wait  : holds graphical.target until the splash is
-#                         fully gone; redundant once the splash is
-#                         masked.
-#   raspi-config        : one-shot first-boot config; on a deployed
-#                         image it's a 2s no-op.
-#   sysstat             : sadc CPU/IO stats logger; not used.
-# Use --now so the change also applies to the running system; harmless
-# on a fresh install where the units are inactive.
-for unit in \
-    plymouth-read-write.service \
-    plymouth-quit-wait.service \
-    raspi-config.service \
-    sysstat.service; do
-    systemctl mask --now "$unit" 2>/dev/null || true
-done
-
-# Cold-boot: switch swap activation from dphys-swapfile (~4.3s LSB
-# wrapper that re-checks the swap file size on every boot) to a plain
-# fstab entry. The swap file itself is already created at
-# /var/swap by the previous boot; we only need to make sure it gets
-# `swapon`'d at local-fs.target instead.
-SWAPFILE=/var/swap
-if [ -f "$SWAPFILE" ]; then
-    if ! grep -qE "^[^#]*${SWAPFILE//\//\\/}[[:space:]]+swap" /etc/fstab; then
-        echo "$SWAPFILE none swap sw 0 0" >> /etc/fstab
-    fi
-    systemctl mask --now dphys-swapfile.service 2>/dev/null || true
-    swapon -a 2>/dev/null || true
-fi
+# Install rc.local
+cp scripts/rc.local /etc/

 # Ensure that the watchdog python library is installed
 pip3 list --format=columns | grep watchdog >/dev/null
--- a/scripts/rc.local
+++ b/scripts/rc.local
@@ -28,4 +28,4 @@ plymouth quit

 # Start X in /home/pi
 cd /home/pi
-sudo -u pi startx -- -nocursor
+sudo -u pi startx
--- a/scripts/rc.local.fast
+++ b/scripts/rc.local.fast
@@ -1,42 +0,0 @@
-#!/bin/bash
-# rc.local for the OneFinity Pi, "fast" variant.
-#
-# What changed vs. scripts/rc.local:
-#   - bbserial unbind/rebind moved to bbserial-rebind.service (runs
-#     once, before bbctrl, instead of after bbctrl is already
-#     listening on the serial port).
-#   - startx moved to kiosk.service so chromium starts in parallel
-#     with bbctrl rather than blocking on rc.local.
-#   - rc.local no longer keeps the Pi in 'starting' state forever,
-#     which fixes systemd-analyze.
-
-set -e
-
-# Mount /boot read only
-mount -o remount,ro /boot 2>/dev/null || true
-
-# Set SPI GPIO mode
-gpio mode 27 alt3 || true
-
-# Create browser memory limited cgroup
-if [ -d /sys/fs/cgroup/memory ]; then
-    CGROUP=/sys/fs/cgroup/memory/chrome
-    [ -d "$CGROUP" ] || mkdir -p "$CGROUP"
-    chown -R pi:pi "$CGROUP"
-    echo 650000000 > "$CGROUP/memory.soft_limit_in_bytes"
-    echo 750000000 > "$CGROUP/memory.limit_in_bytes"
-fi
-
-# Stop boot splash; harmless if plymouth already gone.
-plymouth quit 2>/dev/null || true
-
-# Start X (chromium kiosk) in the background so rc.local can exit and
-# late-boot units (bbctrl logrotate, etc.) don't block on it. Output
-# is redirected so the journal doesn't fill up with X warnings.
-cd /home/pi
-# `-- -nocursor` hides the X pointer; this is a touchscreen kiosk and
-# the mouse cursor only gets in the way.
-nohup sudo -u pi startx -- -nocursor >/var/log/onefin-x.log 2>&1 &
-disown
-
-exit 0
--- a/scripts/setup_rpi.sh
+++ b/scripts/setup_rpi.sh
@@ -75,7 +75,7 @@ sed -i 's/^PARTUUID=.*\//\/dev\/mmcblk0p2 \//' /etc/fstab

 # Enable browser in xorg
 sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
-echo "sudo -u pi startx -- -nocursor" >> /etc/rc.local
+echo "sudo -u pi startx" >> /etc/rc.local
 cp /mnt/host/xinitrc /home/pi/.xinitrc
 cp /mnt/host/ratpoisonrc /home/pi/.ratpoisonrc
 cp /mnt/host/xorg.conf /etc/X11/
--- a/src/js/a-axis-view.js
+++ b/src/js/a-axis-view.js
@@ -1,20 +0,0 @@
-"use strict";
-
-// V09 A-axis page — mounts the AAxisSettings Svelte component
-// inside the settings shell so it gets a real top-level rail entry
-// instead of being a soft-link anchor inside Display & Units.
-
-module.exports = {
-    template: "#a-axis-view-template",
-
-    attached: function () {
-        this.svelteComponent = SvelteComponents.createComponent(
-            "AAxisSettings",
-            document.getElementById("a-axis-mount")
-        );
-    },
-
-    detached: function () {
-        if (this.svelteComponent) this.svelteComponent.$destroy();
-    },
-};
--- a/src/js/app.js
+++ b/src/js/app.js
@@ -4,7 +4,6 @@ const api = require("./api");
 const cookie = require("./cookie")("bbctrl-");
 const Sock = require("./sock");
 const semverLt = require("semver/functions/lt");
-const restartTiming = require("./restart-timing");

 if (document.getElementById("svelte-dialog-host") != undefined) {
  SvelteComponents.createComponent(
@@ -251,19 +250,6 @@ module.exports = new Vue({
    },

    computed: {
-        // True when the UI is in kiosk mode — i.e. running on the
-        // controller's own onboard browser (Pi 3B at 1366x768) or
-        // explicitly forced via ?kiosk=1. Source-of-truth is the
-        // `kiosk-mode` class added to <html> by the inline script
-        // in index.pug, which already honors hostname + URL param +
-        // localStorage. The Pi's VideoCore IV is too slow for the
-        // three.js toolpath preview, so we suppress that panel in
-        // kiosk mode and let the gcode listing take the full width.
-        is_kiosk: function() {
-            return typeof document !== "undefined"
-                && document.documentElement.classList.contains("kiosk-mode");
-        },
-
        popupMessages: function() {
            const msgs = [];

@@ -369,36 +355,11 @@ module.exports = new Vue({
    ready: function() {
        window.onhashchange = () => this.parse_hash();

-        // Embedded Svelte subviews (A axis settings, etc.) signal
-        // unsaved changes via this event. The master Save button
-        // highlights when modified is true.
-        window.addEventListener("onefin:dirty", () => {
-            this.modified = true;
-        });
-
-
-
        // Resolve the initial route before the websocket connects so
        // the shell shows the right view even on a slow / offline
        // controller. update() will call parse_hash() again once the
-        // first config is in. Skip routing into the Svelte settings
-        // family before config has loaded — those components read
-        // many config keys (settings.units, settings.probing-prompts,
-        // motion.*, etc.) and would throw on first paint with the
-        // empty placeholder config.
-        const settingsFamily = [
-            "settings", "probing", "gcode",
-            "admin-general", "admin-network",
-            "motor", "tool", "io", "macros",
-            "help", "cheat-sheet",
-            "a-axis",
-        ];
-        const initialHead = (location.hash || "").replace(/^#/, "").split(":")[0];
-        if (settingsFamily.indexOf(initialHead) === -1) {
-            this.parse_hash();
-        }
-        // else: stay on "loading" until update() completes and calls
-        // parse_hash() itself.
+        // first config is in.
+        this.parse_hash();

        this.connect();

@@ -488,12 +449,6 @@ module.exports = new Vue({
        toggle_rotary: async function(isActive) {
            try {
                await api.put("rotary", {status: isActive});
-                // The /api/rotary endpoint rewrites motors[1]/[2]
-                // in config.json on the server. Refetch so the UI
-                // reflects the new motor config (otherwise the
-                // motor settings page keeps showing pre-toggle
-                // values until the next page reload).
-                await this.update();
              } catch (error) {
                console.error(error);
                alert("Error occured");
@@ -528,19 +483,11 @@ module.exports = new Vue({
        connect: function() {
            this.sock = new Sock(`//${location.host}/sockjs`);

-            let _gotFirstMsg = false;
-            let _gotFirstState = false;
-
            this.sock.onmessage = (e) => {
                if (typeof e.data != "object") {
                    return;
                }

-                if (!_gotFirstMsg) {
-                    _gotFirstMsg = true;
-                    restartTiming.onWsFirstMessage();
-                }
-
                if (e.data.log && e.data.log.msg !== "Switch not found") {
                    this.$broadcast("log", e.data.log);

@@ -550,11 +497,6 @@ module.exports = new Vue({
                    }
                }

-                if (!_gotFirstState) {
-                    _gotFirstState = true;
-                    restartTiming.onFirstState();
-                }
-
                // Check for session ID change on controller
                if ("sid" in e.data) {
                    if (typeof this.sid == "undefined") {
@@ -579,7 +521,6 @@ module.exports = new Vue({

            this.sock.onopen = () => {
                this.status = "connected";
-                restartTiming.onWsOpen();
                this.$emit(this.status);
                this.$broadcast(this.status);
            };
@@ -623,11 +564,9 @@ module.exports = new Vue({
            // Settings tab while keeping their existing top-level
            // hash. This preserves all existing deep links.
            const settingsViews = [
-                "settings", "probing", "gcode",
-                "admin-general", "admin-network",
+                "settings", "admin-general", "admin-network",
                "motor", "tool", "io", "macros",
                "help", "cheat-sheet",
-                "a-axis",
            ];

            if (head == "control") {
@@ -689,13 +628,6 @@ module.exports = new Vue({
            
            try {
                await api.put("config/save", this.config);
-                // Notify any embedded Svelte subviews that own their
-                // own persistence (A axis -> aux.json, etc.) that
-                // the user just hit the master Save button. They
-                // listen for `onefin:save-all` and PUT their state.
-                try {
-                    window.dispatchEvent(new CustomEvent("onefin:save-all"));
-                } catch (_e) {}
                this.modified = false;
            } catch (error) {
                console.error("Save failed:", error);
--- a/src/js/axis-vars.js
+++ b/src/js/axis-vars.js
@@ -56,12 +56,7 @@ module.exports = {
            const abs = this.state[`${axis}p`] || 0;
            const off = this.state[`offset_${axis}`];
            const motor_id = this._get_motor_id(axis);
-            // motor_id may be 4 for the synthetic external-axis motor;
-            // there is no entry for it in config.motors so guard with
-            // an empty object to avoid undefined property access.
-            const motor = (motor_id == -1
-                ? {}
-                : (this.config.motors[motor_id] || {}));
+            const motor = motor_id == -1 ? {} : this.config.motors[motor_id];
            const enabled = this._check_is_enabled(axis);
            const homingMode = motor["homing-mode"];
            const homed = this.state[`${motor_id}homed`];
@@ -194,61 +189,18 @@ module.exports = {
        _get_motor_id: function(axis) {
            for (let i = 0; i < this.config.motors.length; i++) {
                const motor = this.config.motors[i];
-                // motor.axis can be undefined on initial load before
-                // config has streamed in. Guard so the computed does
-                // not throw and bubble a Vue warning into the console.
-                if (motor && typeof motor.axis === "string" &&
-                    motor.axis.toLowerCase() == axis) {
+                if (motor.axis.toLowerCase() == axis) {
                    return i;
                }
            }

-            // Synthetic external motor (index 4) used by ExternalAxis
-            // to expose the auxcnc ESP stepper as a virtual axis.
-            // Its `Nan` lives in state, not config.
-            const axes = { x: 0, y: 1, z: 2, a: 3, b: 4, c: 5 };
-            const wanted = axes[axis];
-            const extAn = this.state && this.state["4an"];
-            if (typeof wanted === "number" && typeof extAn === "number"
-                && extAn === wanted) {
-                return 4;
-            }
-
            return -1;
        },

        _check_is_enabled: function(axis){
-            // Prefer config.motors[i].axis (always present once the
-            // config has loaded). Fall back to the per-motor state
-            // `Nan` field, which is what the legacy UI used. This
-            // avoids hiding axis rows during the brief window after
-            // config has loaded but before the controller has pushed
-            // its first state delta.
            const axes = { x: 0, y: 1, z: 2, a: 3 };
-            const wanted = axes[axis];
-            for (let i = 0; i < this.config.motors.length; i++) {
-                const motor = this.config.motors[i] || {};
-                if (typeof motor.axis === "string" &&
-                    motor.axis.toLowerCase() == axis) {
-                    return motor.enabled !== false;
-                }
-                // Only use the state Nan fallback for axes we know
-                // about (x/y/z/a). Otherwise undefined == undefined
-                // would mistakenly match every axis (b, c, ...).
-                if (typeof wanted === "number") {
-                    const an = this.state[`${i}an`];
-                    if (typeof an === "number" && an === wanted) {
-                        return true;
-                    }
-                }
-            }
-            // Synthetic external motor (index 4) - the auxcnc ESP
-            // stepper exposed as A via ExternalAxis.
-            if (typeof wanted === "number") {
-                const extAn = this.state["4an"];
-                const extMe = this.state["4me"];
-                if (typeof extAn === "number" && extAn === wanted
-                    && extMe) {
+            for(let i = 0; i < this.config.motors.length; i++){
+                if(this.state[`${i}an`] == axes[axis]){
                    return true;
                }
            }
@@ -256,11 +208,10 @@ module.exports = {
        },

        _compute_aux_axis: function() {
-            // Auxiliary axis driven by the auxcnc ESP32 (typically
-            // exposed to gplan as A). Position, homed flag and
-            // presence come from the bbctrl AuxAxis driver via
-            // state.aux_*. No motor mapping, no soft-limit warnings
-            // on toolpath bounds (auxcnc enforces its own).
+            // Virtual W axis driven by the auxcnc ESP32. Position, homed
+            // flag and presence come from the bbctrl AuxAxis driver via
+            // state.aux_*. No motor mapping, no soft-limit warnings on
+            // toolpath bounds (auxcnc enforces its own).
            const enabled = !!this.state.aux_enabled;
            const present = !!this.state.aux_present;
            const homed   = !!this.state.aux_homed;
@@ -270,12 +221,12 @@ module.exports = {
            let state = present ? "UNHOMED" : "OFFLINE";
            let icon  = present ? "question-circle" : "plug";
            let title = present
-                ? "Click the home button to home the auxiliary axis."
+                ? "Click the home button to home W axis."
                : "Aux controller not connected on /dev/ttyUSB0.";
            if (homed) {
                state = "HOMED";
                icon  = "check-circle";
-                title = "Auxiliary axis successfully homed.";
+                title = "W axis successfully homed.";
            } else if (!present) {
                klass += " error";
            }
@@ -296,7 +247,7 @@ module.exports = {
                title: title,
                ticon: "check-circle",
                tstate: "OK",
-                toolmsg: "Auxiliary axis is not constrained by tool path bounds.",
+                toolmsg: "W axis is not constrained by tool path bounds.",
                tklass: `${homed ? "homed" : "unhomed"} axis-w`,
                isAux: true,
            };
--- a/src/js/control-view.js
+++ b/src/js/control-view.js
@@ -186,33 +186,6 @@ module.exports = {
      return [weight, color].join(";");
    },

-    // Should the macro row render a colored left stripe for this
-    // macro? Only when the user has explicitly picked a color. The
-    // controller seeds new macros with default placeholders like
-    // "#ffffff" or "#dedede"; treat anything that close to white as
-    // "no color".
-    has_macro_color(macros) {
-      if (!macros || typeof macros.color !== "string") return false;
-      const c = macros.color.trim().toLowerCase();
-      if (!c) return false;
-      const defaults = [
-        "#fff", "#ffffff", "#fefefe", "#fdfdfd", "#fcfcfc",
-        "#dedede", "#dddddd", "#cccccc",
-      ];
-      if (defaults.indexOf(c) !== -1) return false;
-      // Fallback: if the color is very close to white (sum of RGB
-      // > 690), suppress the stripe.
-      const m = c.match(/^#([0-9a-f]{6})$/);
-      if (m) {
-        const v = parseInt(m[1], 16);
-        const r = (v >> 16) & 0xff;
-        const g = (v >> 8) & 0xff;
-        const b = v & 0xff;
-        if (r + g + b > 690) return false;
-      }
-      return true;
-    },
-
    jog_fn: function (x_jog, y_jog, z_jog, a_jog) {
      const amount = this.jog_incr_amounts[this.display_units][this.jog_incr];

@@ -251,74 +224,13 @@ module.exports = {

    aux_home: function () {
      api.put("aux/home").catch(function (err) {
-        console.error("Aux home failed:", err);
-      });
-    },
-
-    // Home every enabled axis (legacy Onefinity "Home All"). Sequence:
-    //   1. Z, X, Y (and A/B/C if enabled)  via /api/home on the AVR
-    //   2. Auxiliary axis                  via /api/aux/home on the ESP
-    //      ONLY when the auxcnc axis is not integrated as a virtual
-    //      machine axis. With the gplan A-axis integration (synthetic
-    //      motor 4 enabled), Mach.home() already homes the external
-    //      axis as part of the xyzabc pass - calling aux/home
-    //      afterwards would home it a second time.
-    // /api/home returns as soon as the request is queued, not when
-    // homing completes, so we have to watch state.cycle:
-    //   - first wait for it to *leave* 'idle' (cycle began),
-    //   - then wait for it to come *back* to 'idle' (cycle ended).
-    // Only then do we fire the auxiliary home, so the gantry and the
-    // auxcnc ESP never move at the same time.
-    home_all: async function () {
-      this.ask_home = false;
-      try {
-        await api.put("home");
-      } catch (e) {
-        console.error("Home all (XYZ) failed:", e);
-        return;
-      }
-      if (!this.w || !this.w.enabled) return;
-
-      // When the synthetic external motor (index 4) is enabled,
-      // the auxcnc axis is mapped onto a real machine axis letter
-      // (e.g. A) and was already homed by /api/home above.
-      if (this.state && this.state["4me"]) return;
-
-      const wait = (ms) => new Promise(r => setTimeout(r, ms));
-      const cycleNow = () => (this.state && this.state.cycle) || "idle";
-
-      // Phase 1: wait up to 5s for the homing cycle to actually start.
-      // If the request was rejected upstream (e.g. estopped) cycle
-      // never leaves idle and we bail rather than home A in isolation.
-      const startedAt = Date.now();
-      while (Date.now() - startedAt < 5000) {
-        if (cycleNow() != "idle") break;
-        await wait(100);
-      }
-      if (cycleNow() == "idle") {
-        console.warn("home_all: main homing cycle never started; skipping aux");
-        return;
-      }
-
-      // Phase 2: wait up to 2 minutes for the gantry to finish.
-      const settledAt = Date.now();
-      while (Date.now() - settledAt < 120000) {
-        if (cycleNow() == "idle") break;
-        await wait(200);
-      }
-      if (cycleNow() != "idle") {
-        console.warn("home_all: gantry homing did not complete in time");
-        return;
-      }
-
-      api.put("aux/home").catch(function (err) {
-        console.error("Aux home failed:", err);
+        console.error("W home failed:", err);
      });
    },

    aux_jog: function (delta_mm) {
      api.put("aux/jog", { mm: delta_mm }).catch(function (err) {
-        console.error("Aux jog failed:", err);
+        console.error("W jog failed:", err);
      });
    },

--- a/src/js/io-indicator.js
+++ b/src/js/io-indicator.js
@@ -49,17 +49,14 @@ module.exports = {
    methods: {
        get_io_state_class: function(active, state) {
            if (typeof active == "undefined" || typeof state == "undefined") {
-                return "fa-triangle-exclamation warn";
+                return "fa-exclamation-triangle warn";
            }

-            // Tristated: render as the regular (outline) circle to
-            // distinguish from active/inactive solid circles. Adding
-            // `far` switches to the FA6 regular family.
            if (state == 2) {
-                return "far fa-circle";
+                return "fa-circle-o";
            }

-            const icon = state ? "fa-circle-plus" : "fa-circle-minus";
+            const icon = state ? "fa-plus-circle" : "fa-minus-circle";
            return `${icon} ${active ? "active" : "inactive"}`;
        },

--- a/src/js/motor-view.js
+++ b/src/js/motor-view.js
@@ -87,16 +87,100 @@ module.exports = {
            return this.stallRPM * this.stepsPerRev * ustep / 60;
        },

-        // NOTE: do not add `current_xxx` computed props that mirror
-        // controller state vars (`<idx>vm`, `<idx>am`, …) and pair
-        // them with watchers that copy state -> motor config. The
-        // controller streams those vars continuously over the WS;
-        // any watcher that writes them back into
-        // `config.motors[index]` will clobber whatever the user is
-        // typing into the form between websocket ticks. The form
-        // edits config directly; Save (app.js) PUTs it to the
-        // server. The server-side rotary toggle is handled by
-        // refetching config after the PUT, not by watching state.
+        current_axis: function() {
+            return this.state[this.index + 'an'];
+        },
+
+        current_max_velocity: function() {
+            return this.state[this.index + 'vm'];
+        },
+
+        current_max_soft_limit: function() {
+            return this.state[this.index + 'tm'];
+        },
+
+        current_min_soft_limit: function() {
+            return this.state[this.index + 'tn'];
+        },
+        current_max_accel: function() {
+            return this.state[this.index + 'am'];
+        },
+        current_max_jerk: function() {
+            return this.state[this.index + 'jm'];
+        },
+        current_step_angle: function() {
+            return this.state[this.index + 'sa'];
+        },
+        current_travel_per_rev: function() {
+            return this.state[this.index + 'tr'];
+        },
+        current_microsteps: function() {
+            return this.state[this.index + 'mi'];
+        }
+    },
+
+    attached: function() {
+        // Sync all state values with motor config when component is ready
+        // This ensures UI shows correct values when component is first loaded
+        console.log("Syncing state to motor config for motor index ",this.index);
+        this.syncStateToConfig();
+    },
+
+    watch: {
+        current_axis(new_value) {
+            const motor_axes = ["X", "Y", "Z", "A", "B", "C"] 
+            if(motor_axes[new_value] != this.motor['axis']){
+                this.motor['axis'] = motor_axes[new_value];
+            }
+        },
+
+        current_max_velocity(new_value) {
+            if(new_value != this.motor['max-velocity']) {
+                this.motor['max-velocity'] = new_value;
+            }
+        },
+
+        current_max_soft_limit(new_value) {
+            if(new_value != this.motor['max-soft-limit']) {
+                this.motor['max-soft-limit'] = new_value;
+            }
+        },
+
+        current_min_soft_limit(new_value) {
+            if(new_value != this.motor['min-soft-limit']) {
+                this.motor['min-soft-limit'] = new_value;
+            }
+        },
+
+        current_max_accel(new_value) {
+            if(new_value != this.motor['max-accel']) {
+                this.motor['max-accel'] = new_value;
+            }
+        },
+        
+        current_max_jerk(new_value) {
+            if(new_value != this.motor['max-jerk']) {
+                this.motor['max-jerk'] = new_value;
+            }
+        },
+        
+        current_step_angle(new_value) {
+            if(new_value != this.motor['step-angle']) {
+                this.motor['step-angle'] = new_value;
+            }
+        },
+        
+        current_travel_per_rev(new_value) {
+            if(new_value != this.motor['travel-per-rev']) {
+                this.motor['travel-per-rev'] = new_value;
+            }
+        },
+        
+        current_microsteps(new_value) {
+            if(new_value != this.motor['microsteps']) {
+                this.motor['microsteps'] = new_value;
+            }
+        }
    },

    events: {
@@ -126,6 +210,45 @@ module.exports = {
            }

            return templ.hmodes.indexOf(this.motor["homing-mode"]) != -1;
+        },
+
+        syncStateToConfig: function() {
+            // Force sync all state values to motor config
+            // This ensures the UI reflects the current state even if changes happened while component was unmounted
+
+            if(this.state == undefined) {
+                console.log("State is undefined");
+                return;
+            }
+            
+            if (this.state[this.index + 'an'] != this.motor['axis']) {
+                const motor_axes = ["X", "Y", "Z", "A", "B", "C"];
+                this.$set('motor["axis"]', motor_axes[this.state[this.index + 'an']]);
+            }
+            if (this.state[this.index + 'vm'] != this.motor['max-velocity']) {
+                this.$set('motor["max-velocity"]', this.state[this.index + 'vm']);
+            }
+            if (this.state[this.index + 'tm'] != this.motor['max-soft-limit']) {
+                this.$set('motor["max-soft-limit"]', this.state[this.index + 'tm']);
+            }
+            if (this.state[this.index + 'tn'] != this.motor['min-soft-limit']) {
+                this.$set('motor["min-soft-limit"]', this.state[this.index + 'tn']);
+            }
+            if (this.state[this.index + 'am'] != this.motor['max-accel']) {
+                this.$set('motor["max-accel"]', this.state[this.index + 'am']);
+            }
+            if (this.state[this.index + 'jm'] != this.motor['max-jerk']) {
+                this.$set('motor["max-jerk"]', this.state[this.index + 'jm']);
+            }
+            if (this.state[this.index + 'sa'] != this.motor['step-angle']) {
+                this.$set('motor["step-angle"]', this.state[this.index + 'sa']);
+            }
+            if (this.state[this.index + 'tr'] != this.motor['travel-per-rev']) {
+                this.$set('motor["travel-per-rev"]', this.state[this.index + 'tr']);
+            }
+            if (this.state[this.index + 'mi'] != this.motor['microsteps']) {
+                this.$set('motor["microsteps"]', this.state[this.index + 'mi']);
+            }
        }
    }
 };
--- a/src/js/orbit.js
+++ b/src/js/orbit.js
@@ -683,16 +683,12 @@ const OrbitControls = function(object, domElement) {
        event.preventDefault();
    }

-    // Chrome treats touch/wheel listeners as passive by default,
-    // which prevents OrbitControls.preventDefault() from suppressing
-    // page panning while interacting with the 3D viewer. Pass
-    // {passive: false} on the events that need to call preventDefault.
    scope.domElement.addEventListener("contextmenu", onContextMenu, false);
    scope.domElement.addEventListener("mousedown", onMouseDown, false);
-    scope.domElement.addEventListener("wheel", onMouseWheel, { passive: false });
-    scope.domElement.addEventListener("touchstart", onTouchStart, { passive: false });
+    scope.domElement.addEventListener("wheel", onMouseWheel, false);
+    scope.domElement.addEventListener("touchstart", onTouchStart, false);
    scope.domElement.addEventListener("touchend", onTouchEnd, false);
-    scope.domElement.addEventListener("touchmove", onTouchMove, { passive: false });
+    scope.domElement.addEventListener("touchmove", onTouchMove, false);
    window.addEventListener("keydown", onKeyDown, false);

    this.update(); // force an update at start
--- a/src/js/path-viewer.js
+++ b/src/js/path-viewer.js
@@ -101,13 +101,6 @@ module.exports = {
        Vue.nextTick(this.update);
    },

-    beforeDestroy: function() {
-        if (this._sizeWatcher) {
-            this._sizeWatcher.disconnect();
-            this._sizeWatcher = null;
-        }
-    },
-
    methods: {
        update: async function() {
            if (!this.webglAvailable) {
@@ -208,12 +201,6 @@ module.exports = {
            }

            const dims = this.get_dims();
-            // Skip layouts where the target has no measurable size.
-            // The render loop guard below will not draw frames until
-            // a real size has been observed at least once.
-            if (!(dims.width > 0 && dims.height > 0)) {
-                return;
-            }

            this.camera.aspect = dims.width / dims.height;
            this.camera.updateProjectionMatrix();
@@ -287,23 +274,12 @@ module.exports = {
            }

            try {
-                // Renderer. Use an opaque canvas with a clear color
-                // that matches the page-side gradient so the moment
-                // the canvas is appended (and before the first 3D
-                // frame is drawn) the user does not see a flash from
-                // the page background through transparency.
-                this.renderer = new THREE.WebGLRenderer({
-                    antialias: true,
-                    alpha: false,
-                });
+                // Renderer
+                this.renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
                this.renderer.setPixelRatio(window.devicePixelRatio);
-                this.renderer.setClearColor(0x222222, 1);
-                // Same color on the DOM element itself so the very
-                // first paint (before the WebGL context has cleared)
-                // is dark too.
-                this.renderer.domElement.style.background = "#222222";
-                this.renderer.domElement.style.display = "block";
+                this.renderer.setClearColor(0, 0);
                this.target.appendChild(this.renderer.domElement);
+
            } catch (e) {
                console.log("WebGL not supported: ", e);
                return;
@@ -357,46 +333,8 @@ module.exports = {
            // Events
            window.addEventListener("resize", this.update_view, false);

-            // Start the render loop only after the target has a real,
-            // stable size. Without this, the first frame paints into
-            // a 0×0 / collapsed-flex canvas and a second frame paints
-            // again at the right size — visible as a flash on the
-            // very first mount of the Program tab.
-            const startRendering = () => {
-                if (this._rendering) return;
-                this._rendering = true;
-                this.update_view();
-                this.render();
-            };
-
-            const dims = this.get_dims();
-            if (dims.width > 0 && dims.height > 0) {
-                startRendering();
-            } else if (typeof ResizeObserver !== "undefined") {
-                this._sizeWatcher = new ResizeObserver(entries => {
-                    for (const entry of entries) {
-                        const r = entry.contentRect;
-                        if (r.width > 0 && r.height > 0) {
-                            this._sizeWatcher.disconnect();
-                            this._sizeWatcher = null;
-                            startRendering();
-                            return;
-                        }
-                    }
-                });
-                this._sizeWatcher.observe(this.target);
-            } else {
-                // Old browser fallback: poll for a non-zero size.
-                const tick = () => {
-                    const d = this.get_dims();
-                    if (d.width > 0 && d.height > 0) {
-                        startRendering();
-                    } else {
-                        requestAnimationFrame(tick);
-                    }
-                };
-                requestAnimationFrame(tick);
-            }
+            // Start it
+            this.render();
        },

        create_surface_material: function() {
@@ -708,14 +646,6 @@ module.exports = {
                return;
            }

-            // Don't paint frames while the target has no size; this
-            // prevents an initial single-frame clear from painting
-            // before the layout has settled (visible as a dark flash).
-            const dims = this.get_dims();
-            if (!(dims.width > 0 && dims.height > 0)) {
-                return;
-            }
-
            if (this.controls.update() || this.dirty) {
                this.dirty = false;
                this.renderer.render(this.scene, this.camera);
--- a/src/js/program-mixin.js
+++ b/src/js/program-mixin.js
@@ -77,32 +77,6 @@ module.exports = {
      return this.state.cycle == "idle";
    },

-    // True only while a loaded G-code program is actually being
-    // executed (running, paused/holding, or stopping). Excludes
-    // jogging, homing, probing, MDI commands and other one-off
-    // motion that also leave state.xx == "RUNNING" but must not
-    // swap the jog grid out for the "Now Running" panel.
-    //
-    // Distinguishing signal is state.cycle:
-    //   - "idle"    : nothing happening
-    //   - "jogging" : user-initiated jog
-    //   - "homing"  : home cycle
-    //   - "probing" : probe cycle
-    //   - "mdi"     : single MDI command
-    //   - "running" : an actual loaded program is being run
-    // Only "running" (combined with a selected file) is what we want.
-    is_program_executing: function () {
-      if (!this.state) return false;
-      const xx = this.state.xx;
-      const cycle = this.state.cycle;
-      const isExecState = xx == "RUNNING" || xx == "HOLDING" || xx == "STOPPING";
-      if (!isExecState) return false;
-      // The cycle string narrows it to a real program run; anything
-      // else (jogging / homing / probing / mdi) is a one-off.
-      if (cycle && cycle != "running" && cycle != "idle") return false;
-      return !!this.state.selected;
-    },
-
    is_paused: function () {
      return this.is_holding && (this.pause_reason == "User pause" || this.pause_reason == "Program pause");
    },
@@ -146,12 +120,10 @@ module.exports = {

    gcode_files: function () {
      if (!this.state.folder) return [];
-      const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
-      const folder = list.find(item => item.name == this.state.folder);
+      const folder = this.state.gcode_list.find(item => item.name == this.state.folder);
      if (!folder) return [];
-      const stateFiles = Array.isArray(this.state.files) ? this.state.files : [];
-      const files = (folder.files || [])
-        .filter(item => stateFiles.includes(item.file_name))
+      const files = folder.files
+        .filter(item => this.state.files.includes(item.file_name))
        .map(item => item.file_name);
      if (this.files_sortby == "A-Z") return files.sort();
      if (this.files_sortby == "Z-A") return files.sort().reverse();
@@ -164,8 +136,7 @@ module.exports = {
    },

    gcode_folders: function () {
-      const list = Array.isArray(this.state.gcode_list) ? this.state.gcode_list : [];
-      return list
+      return this.state.gcode_list
        .map(item => item.name)
        .filter(element => element !== "default")
        .sort();
@@ -203,11 +174,7 @@ module.exports = {
      const file = this.state.selected;
      if (this.last_file == file && this.last_file_time == file_time) return;

-      // state.files can be undefined briefly after connect, before the
-      // controller has pushed its file list. Skip the existence check
-      // until we have a list to consult.
-      const files = Array.isArray(this.state.files) ? this.state.files : null;
-      if (this.state.selected && files && !files.includes(this.state.selected)) {
+      if (this.state.selected && !this.state.files.includes(this.state.selected)) {
        this.GCodeNotFound = true;
        return;
      }
@@ -232,17 +199,6 @@ module.exports = {
          const toolpath = await api.get(`path/${file}`);
          this.toolpath_progress = toolpath.progress;

-          // Planner failure (e.g. AuxPreprocessor Z-A coupling
-          // rejection). Close the dialog and surface the message
-          // instead of polling the same broken plan forever.
-          if (toolpath.error) {
-            this.showGcodeMessage = false;
-            this.toolpath_progress = 0;
-            console.error("Plan failed:", toolpath.error);
-            alert("Could not plan G-code:\n\n" + toolpath.error);
-            return;
-          }
-
          if (toolpath.progress === 1 || typeof toolpath.progress == "undefined") {
            this.showGcodeMessage = false;

@@ -259,11 +215,7 @@ module.exports = {
            }
          }
        } catch (error) {
-          // api.get throws on non-2xx; log and break the loop so the
-          // dialog doesn't stay up forever.
          console.error(error);
-          this.showGcodeMessage = false;
-          return;
        }
      }
    },
@@ -579,43 +531,23 @@ module.exports = {
    override_feed:  function () { api.put(`override/feed/${this.feed_override}`); },
    override_speed: function () { api.put(`override/speed/${this.speed_override}`); },

-    run_macro: async function (id) {
+    run_macro: function (id) {
      if (this.state.macros[id].file_name == "default") {
        this.showNoGcodeMessage = true;
-        return;
-      }
-      const file_name = this.state.macros[id].file_name;
-      try {
-        // Selecting a file on the server is a side effect of
-        // GET /api/file/<name>. The macro button used to mutate
-        // state.selected client-side and immediately call start, which
-        // raced the file fetch: if the server hadn't seen the new
-        // selection yet, mach.start() ran whichever file was selected
-        // last. Do it explicitly and await so start always sees the
-        // right file.
-        if (file_name != this.state.selected) {
-          this.state.selected = file_name;
-          // GET /api/file/<name> returns gcode text (not JSON), so use
-          // fetch directly. The server's FileHandler.get sets
-          // state.selected as a side effect; we await the response
-          // before starting so mach.start() reads the right file.
-          const resp = await fetch(
-            `/api/file/${encodeURIComponent(file_name)}`,
-            { cache: "no-cache" }
-          );
-          if (!resp.ok) {
-            throw new Error(`file fetch failed: ${resp.status}`);
+      } else {
+        if (this.state.macros[id].file_name != this.state.selected) {
+          this.state.selected = this.state.macros[id].file_name;
+        }
+        try {
+          this.load();
+          if (this.state.macros[id].alert == true) {
+            this.macrosLoading = true;
+          } else {
+            setImmediate(() => this.start_pause());
          }
-          await resp.text();
+        } catch (error) {
+          console.warn("Error running program: ", error);
        }
-        this.load();
-        if (this.state.macros[id].alert == true) {
-          this.macrosLoading = true;
-        } else {
-          await this.start_pause();
-        }
-      } catch (error) {
-        console.warn("Error running macro: ", error);
      }
    },
  },
--- a/src/js/program-view.js
+++ b/src/js/program-view.js
@@ -26,8 +26,6 @@ module.exports = {
  },

  computed: {
-    is_kiosk: function () { return !!this.$root.is_kiosk; },
-
    display_units: {
      cache: false,
      get: function () { return this.$root.display_units; },
--- a/src/js/restart-timing.js
+++ b/src/js/restart-timing.js
@@ -1,80 +0,0 @@
-// Lightweight UI-side restart/cold-load timing.
-//
-// Records a few key marks using performance.now(), then POSTs them to
-// /api/diag/timing/ui once 'ui.first_state' has fired. Disabled by
-// setting window.BBCTRL_TRACE = false before this module is loaded.
-//
-// Marks collected:
-//   script.load    -- this module evaluated
-//   ws.open        -- websocket onopen
-//   ws.first_msg   -- first message from controller
-//   ui.first_state -- first message that contained controller state
-//   window.load    -- window 'load' event
-//
-// Aligning these with /api/diag/timing on the server gives the full
-// picture from systemd start -> bbctrl up -> WS open -> UI rendered.
-"use strict";
-
-const _enabled = typeof window !== "undefined" && window.BBCTRL_TRACE !== false;
-const _t0 = (typeof performance !== "undefined" && performance.now)
-    ? performance.now()
-    : Date.now();
-const _navStart = (typeof performance !== "undefined" && performance.timeOrigin)
-    ? performance.timeOrigin
-    : Date.now();
-
-const marks = [];
-let posted = false;
-
-function _now() {
-    return (typeof performance !== "undefined" && performance.now)
-        ? performance.now() - _t0
-        : Date.now() - _t0;
-}
-
-function mark(name, fields) {
-    if (!_enabled) return;
-    marks.push(Object.assign({ n: name, t: Math.round(_now()) }, fields || {}));
-}
-
-function _post() {
-    if (!_enabled || posted) return;
-    posted = true;
-    const body = JSON.stringify({
-        navStart: _navStart,
-        t0_perf: _t0,
-        href: typeof location !== "undefined" ? location.href : "",
-        ua: typeof navigator !== "undefined" ? navigator.userAgent : "",
-        marks: marks,
-    });
-    try {
-        if (typeof fetch === "function") {
-            fetch("/api/diag/timing/ui", {
-                method: "PUT",
-                headers: { "Content-Type": "application/json" },
-                body: body,
-                keepalive: true,
-            }).catch(() => {});
-        }
-    } catch (e) { /* swallow */ }
-}
-
-// Record window load too; doesn't block posting.
-if (_enabled && typeof window !== "undefined") {
-    window.addEventListener("load", () => mark("window.load"));
-}
-
-mark("script.load");
-
-module.exports = {
-    enabled: _enabled,
-    mark: mark,
-    onWsOpen: () => mark("ws.open"),
-    onWsFirstMessage: () => mark("ws.first_msg"),
-    onFirstState: () => {
-        mark("ui.first_state");
-        // Defer slightly so any synchronous render finishes first.
-        setTimeout(_post, 100);
-    },
-    flush: _post,
-};
--- a/src/js/settings-shell-view.js
+++ b/src/js/settings-shell-view.js
@@ -24,7 +24,6 @@ module.exports = {
    "io-view":                 require("./io-view"),
    "macros-view":             require("./macros"),
    "help-view":               require("./help-view"),
-    "a-axis-view":             require("./a-axis-view"),
    "cheat-sheet-view": {
      template: "#cheat-sheet-view-template",
      data: function () {
@@ -37,17 +36,8 @@ module.exports = {
    return {
      sub: this.$root.sub_tab || "settings",
      ridx: this.$root.index,  // local copy of the motor index
-      // Whether the controller config has streamed in. The Svelte
-      // settings views crash on first paint with the placeholder
-      // config (settings.units / settings.easy-adapter / motion.*
-      // are all undefined). Gate the inner mount on this flag.
-      config_ready: false,
      rail_items: [
        { sub: "settings",       href: "#settings",       icon: "fa-display",                  label: "Display & Units" },
-        { sub: "probing",        href: "#probing",        icon: "fa-bullseye",                 label: "Probing" },
-        { sub: "gcode",          href: "#gcode",          icon: "fa-code",                     label: "G-code & Motion" },
-        { sub: "macros",         href: "#macros",         icon: "fa-keyboard",                 label: "Macros" },
-        { sub: "cheat-sheet",    href: "#cheat-sheet",    icon: "fa-book",                     label: "G-code Cheat Sheet" },
        { sub: "admin-network",  href: "#admin-network",  icon: "fa-network-wired",            label: "Network" },
        { sub: "admin-general",  href: "#admin-general",  icon: "fa-shield-halved",            label: "General / Firmware" },
        { sub: "tool",           href: "#tool",           icon: "fa-bolt",                     label: "Spindle & Tool" },
@@ -57,10 +47,9 @@ module.exports = {
        { sub: "motor", motor: 1, href: "#motor:1", icon: "fa-arrows-up-down-left-right", label: "Motor 1" },
        { sub: "motor", motor: 2, href: "#motor:2", icon: "fa-arrows-up-down-left-right", label: "Motor 2" },
        { sub: "motor", motor: 3, href: "#motor:3", icon: "fa-arrows-up-down-left-right", label: "Motor 3" },
-        // Auxiliary axis (auxcnc ESP32 - exposed to gplan as A).
-        // Mounts the AAxisSettings Svelte component on its own page.
-        { sub: "a-axis", href: "#a-axis", icon: "fa-arrows-up-down", label: "A Axis" },
        { section: " " },
+        { sub: "macros",         href: "#macros",         icon: "fa-keyboard",     label: "Macros" },
+        { sub: "cheat-sheet",    href: "#cheat-sheet",    icon: "fa-book",         label: "G-code Cheat Sheet" },
        { sub: "help",           href: "#help",           icon: "fa-circle-question", label: "Help" },
      ],
    };
@@ -70,12 +59,6 @@ module.exports = {
    this._onHash = () => this.refresh_from_hash();
    window.addEventListener("hashchange", this._onHash);
    this.refresh_from_hash();
-    this._configPoll = setInterval(() => {
-      const c = this.$root && this.$root.config;
-      const ready = !!(c && c.full_version && c.full_version !== "<loading>"
-        && c.settings && typeof c.settings === "object");
-      if (ready !== this.config_ready) this.config_ready = ready;
-    }, 200);
  },

  attached: function () {
@@ -100,7 +83,6 @@ module.exports = {
    if (this._onHash) {
      window.removeEventListener("hashchange", this._onHash);
    }
-    if (this._configPoll) clearInterval(this._configPoll);
  },

  methods: {
@@ -120,54 +102,6 @@ module.exports = {
      return true;
    },

-    on_rail_click: function (item, ev) {
-      if (!item) return;
-      // Always preventDefault on rail clicks. Letting the browser
-      // anchor-scroll to <div id="settings"> etc. inside .app-body
-      // can pull the .app-head out of view; we drive navigation
-      // ourselves through location.hash and our hashchange handler.
-      if (ev && ev.preventDefault) ev.preventDefault();
-
-      if (item.anchor) {
-        // Soft-link rail items use a #settings hash plus an in-page
-        // anchor scroll once the Svelte page has mounted. We scroll
-        // ONLY the .settings-content overflow container by setting
-        // its scrollTop directly — element.scrollIntoView() walks all
-        // ancestor scroll containers and can tug the .app-body / html
-        // layout, which under tablet mode pulls the fixed header out
-        // of view.
-        if (location.hash !== item.href) location.hash = item.href;
-        this._a_axis_focus = (item.sub === "a-axis");
-        const reset = () => {
-          // Force any inadvertent ancestor scroll back to 0 before
-          // we move .settings-content explicitly.
-          window.scrollTo(0, 0);
-          const body = document.querySelector(".app-body");
-          if (body) body.scrollTop = 0;
-          document.documentElement.scrollTop = 0;
-        };
-        setTimeout(() => {
-          reset();
-          const el = document.getElementById(item.anchor);
-          const scroller = document.querySelector(".settings-content");
-          if (el && scroller) {
-            const elTop = el.getBoundingClientRect().top;
-            const scTop = scroller.getBoundingClientRect().top;
-            scroller.scrollTop = scroller.scrollTop + (elTop - scTop) - 12;
-          }
-          // Re-assert ancestor scroll = 0 in case the assignment above
-          // moved things.
-          requestAnimationFrame(reset);
-        }, 320);
-      } else {
-        this._a_axis_focus = false;
-        if (location.hash !== item.href) location.hash = item.href;
-        // Reset .app-body scroll so each route starts at the top.
-        const body = document.querySelector(".app-body");
-        if (body) body.scrollTop = 0;
-      }
-    },
-
    showShutdownDialog: function () {
      SvelteComponents.showDialog("Shutdown");
    },
--- a/src/js/settings-view.js
+++ b/src/js/settings-view.js
@@ -1,60 +1,14 @@
-// V09 wraps the legacy Svelte SettingsView and filters its big page
-// down to a single rail section so each rail item shows only the
-// relevant controls. The Svelte component is left untouched (it is
-// shared with the legacy UI) — we just hide the `<h2>` and `<fieldset>`
-// elements whose `data-sec` does not match the active section.
-
 module.exports = {
    template: "#settings-view-template",

-    props: {
-        // "display" | "probing" | "gcode". Default is "display" which
-        // keeps the rail's "Display & Units" item working unchanged.
-        section: { default: "display" },
-    },
-
-    attached: function () {
+    attached: function() {
        this.svelteComponent = SvelteComponents.createComponent(
            "SettingsView",
            document.getElementById("settings")
        );
-        // Defer one tick so Svelte has rendered the section markup.
-        setTimeout(() => this.apply_section_filter(), 0);
    },

-    detached: function () {
-        if (this.svelteComponent) this.svelteComponent.$destroy();
-    },
-
-    watch: {
-        section: function () {
-            this.apply_section_filter();
-        },
-    },
-
-    methods: {
-        apply_section_filter: function () {
-            const root = document.getElementById("settings");
-            if (!root) return;
-            const want = this.section || "display";
-            // Hide every section block that does not match.
-            root.querySelectorAll("[data-sec]").forEach(el => {
-                el.style.display = el.dataset.sec === want ? "" : "none";
-            });
-            // Hide the global <h1>Settings</h1> on subsections so the
-            // page reads as a focused panel.
-            const h1 = root.querySelector(".settings-view > h1");
-            if (h1) {
-                if (want === "display") {
-                    h1.textContent = "Display & Units";
-                } else if (want === "probing") {
-                    h1.textContent = "Probing";
-                } else if (want === "gcode") {
-                    h1.textContent = "G-code & Motion";
-                } else {
-                    h1.textContent = "Settings";
-                }
-            }
-        },
-    },
+    detached: function() {
+        this.svelteComponent.$destroy();
+    }
 };
--- a/src/pug/index.pug
+++ b/src/pug/index.pug
@@ -9,7 +9,7 @@ html(lang="en")

    style: include ../static/css/pure-min.css

-    style: include ../static/css/fa6.min.css
+    style: include ../static/css/font-awesome.min.css
    style: include ../static/css/Audiowide.css
    style: include ../static/css/clusterize.css
    style: include ../svelte-components/node_modules/svelte-material-ui/bare.css
@@ -18,51 +18,6 @@ html(lang="en")
    style: include:stylus ../stylus/style.styl

  body(v-cloak)
-    // Tablet (kiosk) mode — pins the .app-shell to 1920x1080 and
-    // scales it to fit the actual viewport so the UI always looks
-    // exactly like the 10.8" 1920x1080 portable monitor.
-    //
-    // Toggle:  ?tablet=1   to enable
-    //          ?tablet=0   to disable
-    // Sticky in localStorage; once set, no querystring is needed.
-    script.
-      (function () {
-        try {
-          var p = new URLSearchParams(location.search);
-          if (p.has("tablet")) {
-            var on = p.get("tablet") !== "0" && p.get("tablet") !== "false";
-            localStorage.setItem("ui-tablet-mode", on ? "1" : "0");
-          }
-          if (localStorage.getItem("ui-tablet-mode") === "1") {
-            document.documentElement.classList.add("tablet-mode");
-          }
-          function fit() {
-            if (!document.documentElement.classList.contains("tablet-mode")) return;
-            var s = Math.min(window.innerWidth / 1920, window.innerHeight / 1080);
-            document.documentElement.style.setProperty("--tablet-scale", s);
-          }
-          fit();
-          window.addEventListener("resize", fit);
-
-          // Kiosk mode: when the UI is loaded by the controller's
-          // own onboard browser (Chromium pointing at localhost on
-          // the Pi 3B at 1366x768), apply a tighter layout that
-          // packs the V09 UI into the smaller, slower display.
-          // Override with ?kiosk=0 to force the desktop layout.
-          if (p.has("kiosk")) {
-            var k = p.get("kiosk") !== "0" && p.get("kiosk") !== "false";
-            localStorage.setItem("ui-kiosk-mode", k ? "1" : "0");
-          }
-          var stored = localStorage.getItem("ui-kiosk-mode");
-          var auto = location.hostname === "localhost"
-              || location.hostname === "127.0.0.1"
-              || location.hostname === "::1";
-          if (stored === "1" || (stored !== "0" && auto)) {
-            document.documentElement.classList.add("kiosk-mode");
-          }
-        } catch (_e) {}
-      })();
-
    #svelte-dialog-host

    #overlay(v-if="status != 'connected'")
@@ -102,7 +57,7 @@ html(lang="en")

        .pi-temp-warning(v-if="80 <= state.rpi_temp",
          title="Raspberry Pi temperature too high.")
-          .fa.fa-temperature-full
+          .fa.fa-thermometer-full

        span.state-badge(:class="state_class", :title="mach_state_full")
          span.dot
@@ -120,7 +75,7 @@ html(lang="en")
              .sp-val v{{config.full_version}}
            a.sp-act(v-if="show_upgrade()", href="#admin-general")
              | Upgrade to v{{latestVersion}}
-              .fa.fa-circle-exclamation.upgrade-attention
+              .fa.fa-exclamation-circle.upgrade-attention
          .sp-row
            .sp-icon: .fa.fa-network-wired
            .sp-text
@@ -167,22 +122,13 @@ html(lang="en")
              .fa.fa-save
              | &nbsp;Save{{modified ? '*' : ''}}

-      // Routed view. We keep instances alive across tab swaps so:
-      //   - The Program tab's WebGL <path-viewer> canvas does not
-      //     get destroyed and recreated each time (which caused a
-      //     dark flash as the GL context cleared the new canvas
-      //     before its first frame).
-      //   - The Program tab's clusterize.js gcode list does not
-      //     re-virtualize from scratch on every visit.
-      //   - The Settings shell's child Svelte components stay
-      //     mounted, preserving any in-flight form state.
-      // The settings-shell handles its own inner v-if cascade so
-      // the Vue 1 reactivity quirk that motivated removing
-      // keep-alive earlier no longer applies here.
+      // Routed view (no keep-alive: Vue 1 has issues re-evaluating
+      // dynamic :class / v-if bindings on cached components when the
+      // route changes within the same kept-alive tree)
      .app-body
        component(:is="currentView + '-view'", :index="index",
          :config="config", :template="template", :state="state",
-          :sub-tab="sub_tab", keep-alive)
+          :sub-tab="sub_tab")

    message.error-message(:show.sync="errorShow")
      div(slot="header")
--- a/src/pug/templates/a-axis-view.pug
+++ b/src/pug/templates/a-axis-view.pug
@@ -1,4 +0,0 @@
-script#a-axis-view-template(type="text/x-template")
-  #a-axis-page
-    h1 A Axis (auxcnc)
-    #a-axis-mount
--- a/src/pug/templates/console-view.pug
+++ b/src/pug/templates/console-view.pug
@@ -52,7 +52,7 @@ script#console-view-template(type="text/x-template")
      // ----- Messages -----
      .messages-pane(v-show="sub === 'messages'")
        .msg-empty(v-if="!$root.messages_log.length")
-          .fa.fa-circle-check
+          .fa.fa-check-circle
          | &nbsp;No messages.
        .msg(v-for="m in $root.messages_log",
          :class="m.level === 'warning' ? 'warn' : 'info'", track-by="$index")
--- a/src/pug/templates/control-view.pug
+++ b/src/pug/templates/control-view.pug
@@ -35,9 +35,8 @@ script#control-view-template(type="text/x-template")
        button.pure-button.button-error(@click="GCodeNotFound=false") OK

    message(:show.sync="show_probe_dialog")
-      h3(slot="header") Choose probe type
+      h3(slot="header") Probe Rotary
      div(slot="body")
-        p Pick which probe routine to run.
        button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('xyz')") Probe XYZ
        button.pure-button(:class="state['pw'] ? '' : 'load-on'", @click="showProbeDialog('z')") Probe Z
      div(slot="footer")
@@ -47,9 +46,7 @@ script#control-view-template(type="text/x-template")
    .control-grid

      // ===== JOG =====
-      // Hidden only while a G-code program is running / paused /
-      // stopping. Jogging / homing / MDI moves do not hide it.
-      .jog-card(v-if="!is_program_executing")
+      .jog-card
        .jog-head
          .jog-title
            | Jog
@@ -76,11 +73,11 @@ script#control-view-template(type="text/x-template")

          // Row 2
          button.jbtn(@click="jog_fn(-1, 0, 0, 0)") X−
-          button.jbtn(@click="showMoveToZeroDialog('xy')")
+          button.jbtn.ghost(@click="showMoveToZeroDialog('xy')")
            span.lbl XY
            span Origin
          button.jbtn(@click="jog_fn(1, 0, 0, 0)") X+
-          button.jbtn(@click="showMoveToZeroDialog('z')")
+          button.jbtn.ghost(@click="showMoveToZeroDialog('z')")
            span.lbl Z
            span Origin

@@ -92,33 +89,22 @@ script#control-view-template(type="text/x-template")
            .fa.fa-arrow-down.ico(style="transform: rotate(-45deg)")
          button.jbtn(@click="jog_fn(0, 0, -1, 0)") Z−

-          // Row 4 — A axis (the auxcnc-driven external axis) when enabled.
-          //   A-  |  A+  |  Probe XYZ  |  Probe Z
-          // "Home A" lives in the DRO table's actions column on the
-          // right, so it doesn't need a tile here. The legacy w.enabled
-          // gate is kept so older installs (where the auxcnc axis still
-          // appears as W via the side-channel) keep working.
-          template(v-if="w.enabled || a.enabled")
-            button.jbtn(@click="aux_jog_incr(-1)",
-              :disabled="!(w.enabled || a.enabled)")
+          // Row 4 — auxiliary axis (W or A) or probe shortcuts
+          template(v-if="w.enabled")
+            button.jbtn(@click="aux_jog_incr(-1)", :disabled="!w.enabled")
              .fa.fa-arrow-down.ico
-              span.lbl A−
-            button.jbtn(@click="aux_jog_incr(+1)",
-              :disabled="!(w.enabled || a.enabled)")
+              span.lbl W−
+            button.jbtn.ghost(@click="aux_home()", :disabled="!w.enabled")
+              span.lbl Home
+              span W
+            button.jbtn(@click="aux_jog_incr(+1)", :disabled="!w.enabled")
              .fa.fa-arrow-up.ico
-              span.lbl A+
-            button.jbtn(@click="showProbeDialog('xyz')",
+              span.lbl W+
+            button.jbtn(@click="show_probe_dialog=true",
              :class="{'load-on': !state['pw']}")
              .fa.fa-bullseye.ico
-              span.lbl Probe XYZ
-            button.jbtn(@click="showProbeDialog('z')",
-              :class="{'load-on': !state['pw']}")
-              .fa.fa-bullseye.ico
-              span.lbl Probe Z
-
-          // Row 4 — A axis (rotary) when no W and rotary is enabled
-          // (Vue 1 has no v-else-if; we negate w.enabled explicitly.)
-          template(v-if="!w.enabled && state['2an'] == 3")
+              span.lbl Probe
+          template(v-else-if="state['2an'] == 3")
            button.jbtn.dir(@click="jog_fn(0, 0, 0, -1)")
              .fa.fa-rotate-left.ico
              span.lbl A−
@@ -132,80 +118,22 @@ script#control-view-template(type="text/x-template")
              :class="{'load-on': !state['pw']}")
              .fa.fa-bullseye.ico
              span.lbl Probe
-
-          // Row 4 — fallback probe / zero / home shortcuts
-          template(v-if="!w.enabled && state['2an'] != 3")
+          template(v-else)
            button.jbtn(@click="showProbeDialog('xyz')",
              :class="{'load-on': !state['pw']}")
              .fa.fa-bullseye.ico
              span.lbl Probe XYZ
            button.jbtn.ghost(@click="zero()", :disabled="!can_set_axis")
-              .fa.fa-location-dot.ico
+              .fa.fa-map-marker.ico
              span.lbl Zero all
            button.jbtn(@click="showProbeDialog('z')",
              :class="{'load-on': !state['pw']}")
              .fa.fa-bullseye.ico
              span.lbl Probe Z
-            button.jbtn.ghost(@click="home()")
+            button.jbtn.ghost(@click="home()", :disabled="!is_idle")
              .fa.fa-home.ico
              span.lbl Home all

-      // ===== NOW RUNNING (replaces jog grid only while a G-code
-      // program is actually executing). Jogging is excluded.
-      .running-panel(v-if="is_program_executing")
-        .running-top
-          div
-            .running-file
-              .fa.fa-file-code
-              span(v-if="state.selected") &nbsp;{{state.selected}}
-              span(v-else) &nbsp;{{(mach_state || 'BUSY').toLowerCase()}}
-            .running-meta
-              span(v-if="is_running") {{ (mach_state || 'RUNNING').toLowerCase() }}
-              span(v-if="is_holding") paused
-              span(v-if="is_holding && pause_reason")  · {{pause_reason}}
-              span(v-if="is_stopping") stopping
-              span(v-if="toolpath.lines")  · line {{state.line || 0 | number}} / {{toolpath.lines | number}}
-              span(v-if="plan_time_remaining")  · ETA {{plan_time_remaining | time}}
-          .running-pct
-            | {{((progress || 0) * 100) | fixed 0}}
-            span %
-        .running-progress
-          div(:style="'width:' + ((progress || 0) * 100) + '%'")
-        .running-stats
-          .running-stat
-            .lbl Velocity
-            .val
-              unit-value(:value="state.v", precision="2", unit="", iunit="", scale="0.0254")
-              | &nbsp;{{metric ? 'm/min' : 'IPM'}}
-          .running-stat
-            .lbl Feed
-            .val
-              unit-value(:value="state.feed", precision="0", unit="", iunit="")
-              | &nbsp;{{metric ? 'mm/min' : 'IPM'}}
-          .running-stat
-            .lbl Spindle
-            .val
-              | {{(state.speed || 0) | fixed 0}}
-              span(v-if="state.s != null && !isNaN(state.s)")  ({{state.s | fixed 0}})
-              | &nbsp;RPM
-          .running-stat
-            .lbl Tool
-            .val T{{state.tool || 0}}
-        .running-row
-          // While RUNNING the primary action is Pause; while HOLDING / STOPPING it's Resume.
-          button.tx-btn.pause(v-if="is_running", @click="pause()")
-            .fa.fa-pause
-            span.lbl PAUSE
-          button.tx-btn.run(v-if="is_holding || is_stopping", @click="unpause()")
-            .fa.fa-play
-            span.lbl RESUME
-          button.tx-btn.stop(@click="stop()")
-            .fa.fa-stop
-            span.lbl STOP
-          button.tx-btn.step(v-if="is_holding", @click="step()")
-            .fa.fa-forward-step
-            span.lbl STEP
-
      // ===== DRO + status strip =====
      .right-col

@@ -215,60 +143,64 @@ script#control-view-template(type="text/x-template")
            div Position
            div Absolute
            div Offset
-            .actions-cell
-              // Master Home All. Each row's Actions cell has a per-axis
-              // home button; this header-level button homes every
-              // enabled axis (legacy Onefinity behavior). Auto-includes
-              // the auxiliary A axis when it is enabled.
-              button.icon-btn(:disabled="!is_idle",
-                title="Home all axes.", @click="home_all()")
-                .fa.fa-house-chimney
+            div State
+            div Toolpath
+            div(style="text-align:right") Actions

          // Per-axis rows — keep unit-value + bindings from axis-vars
          each axis in 'xyzabc'
            .dro-row(:class=`${axis}.klass + ' ' + ${axis}.tklass`,
              v-if=`${axis}.enabled`,
-              :title=`${axis}.toolmsg ? (${axis}.title + ' — ' + ${axis}.toolmsg) : ${axis}.title`)
+              :title=`${axis}.title`)
              .dro-axis(:class=`'axis-' + '${axis}'`)= axis.toUpperCase()
              .dro-pos: unit-value(:value=`${axis}.pos`, precision=4)
              .dro-sec: unit-value(:value=`${axis}.abs`, precision=3)
              .dro-sec: unit-value(:value=`${axis}.off`, precision=3)
+              .dro-state
+                span.chip(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'chip-red' : (${axis}.homed ? 'chip-green' : 'chip-amber')`)
+                  .fa(:class=`'fa-' + ${axis}.icon`)
+                  | &nbsp;{{#{axis}.state}}
+              .dro-toolpath
+                span.chip(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'chip-red' : (${axis}.tklass.indexOf('warn') !== -1 ? 'chip-amber' : 'chip-green')`,
+                  @click=`showToolpathMessageDialog('${axis}')`)
+                  .fa(:class=`'fa-' + ${axis}.ticon`)
+                  | &nbsp;{{#{axis}.tstate}}
              .actions-cell
                button.icon-btn(:disabled="!can_set_axis",
                  :title=`'Set ${axis.toUpperCase()} axis position.'`,
                  @click=`show_set_position('${axis}')`)
-                  .fa.fa-gear
-                button.icon-btn(:class=`${axis}.tklass.indexOf('error') !== -1 ? 'state-red' : (${axis}.tklass.indexOf('warn') !== -1 ? 'state-amber' : 'state-green')`,
-                  :disabled="!can_set_axis",
-                  :title=`${axis}.toolmsg || ('Zero ${axis.toUpperCase()} axis offset.')`,
+                  .fa.fa-cog
+                button.icon-btn(:disabled="!can_set_axis",
+                  :title=`'Zero ${axis.toUpperCase()} axis offset.'`,
                  @click=`zero('${axis}')`)
-                  .fa.fa-location-dot
-                button.icon-btn(:class=`${axis}.klass.indexOf('error') !== -1 ? 'state-red' : (${axis}.homed ? 'state-green' : 'state-amber')`,
-                  :disabled="!is_idle",
-                  :title=`${axis}.title`,
+                  .fa.fa-map-marker
+                button.icon-btn(:disabled="!is_idle",
+                  :title=`'Home ${axis.toUpperCase()} axis.'`,
                  @click=`home('${axis}')`)
                  .fa.fa-home

-          // Legacy auxiliary-axis row - shown only when the auxcnc stepper is
-          // *not* exposed as a virtual A axis. After v2 the standard
-          // A row above renders this axis natively (with full offset
-          // + set-position support); this row only appears on legacy
-          // installs that haven't migrated yet.
-          .dro-row(:class="w.klass + ' ' + w.tklass",
-            v-if="w.enabled && !a.enabled",
+          // W axis (auxiliary) — no offset, no set-zero / no set-position
+          .dro-row(:class="w.klass + ' ' + w.tklass", v-if="w.enabled",
            :title="w.title")
            .dro-axis.axis-w W
            .dro-pos: unit-value(:value="w.pos", precision=4)
            .dro-sec: unit-value(:value="w.abs", precision=3)
            .dro-sec —
+            .dro-state
+              span.chip(:class="w.homed ? 'chip-green' : 'chip-amber'")
+                .fa(:class="'fa-' + w.icon")
+                | &nbsp;{{w.state}}
+            .dro-toolpath
+              span.chip.chip-green
+                .fa(:class="'fa-' + w.ticon")
+                | &nbsp;{{w.tstate}}
            .actions-cell
              button.icon-btn(disabled, style="visibility:hidden")
-                .fa.fa-gear
+                .fa.fa-cog
              button.icon-btn(disabled, style="visibility:hidden")
-                .fa.fa-location-dot
-              button.icon-btn(:class="w.homed ? 'state-green' : 'state-amber'",
-                :disabled="!w.enabled",
-                title="Home auxiliary axis.", @click="aux_home()")
+                .fa.fa-map-marker
+              button.icon-btn(:disabled="!w.enabled",
+                title="Home W axis.", @click="aux_home()")
                .fa.fa-home

        // ----- Status strip -----
@@ -309,17 +241,14 @@ script#control-view-template(type="text/x-template")
            .stat-sub(v-else) Line · ETA --

    // ----- Macro row (slice 0..7); full list lives in Settings → Macros -----
-    // The colored left stripe (.has-color) is suppressed for white,
-    // near-white and other default placeholder colors so unconfigured
-    // macros render as clean slate tiles instead of looking lopsided.
    .macro-row(v-if="state.macros && state.macros.length")
      button.macro-btn(v-for="(index, macros) in state.macros.slice(0, 8)",
        title="Click to run macro",
        @click="run_macro(index)",
        :disabled="!is_ready",
-        :class="{'has-color': has_macro_color(macros)}",
-        :style="has_macro_color(macros) ? {borderLeftColor: macros.color} : {}")
+        :style="{ borderLeftColor: macros.color || '#fde047' }")
        span.mnum {{index + 1}}
+        .fa.fa-circle-play.micon
        span.mname {{macros.name || ('Macro ' + (index + 1))}}

    // ----- Override drawer (anchored to bottom; toggled by Spindle KPI tile) -----
--- a/src/pug/templates/estop.pug
+++ b/src/pug/templates/estop.pug
@@ -2,8 +2,6 @@ script#estop-template(type="text/x-template")
  svg(version="1.1", xmlns:svg="http://www.w3.org/2000/svg",
    xmlns="http://www.w3.org/2000/svg",
    xmlns:xlink="http://www.w3.org/1999/xlink",
-    viewBox="0 0 130 130",
-    preserveAspectRatio="xMidYMid meet",
    width="130", height="130")
      defs
        path#text-path-1(d="m 73.735,673.129 c 0,55.107 44.673,99.780 99.780,99.780 55.107,0 99.780,-44.673 99.780,-99.780 0,-55.107 -44.673,-99.780 -99.780,-99.780 -55.107,0 -99.780,44.673 -99.780,99.780 z")
--- a/src/pug/templates/indicators.pug
+++ b/src/pug/templates/indicators.pug
@@ -6,11 +6,11 @@ script#indicators-template(type="text/x-template")

      tr
        td
-         .fa.fa-circle-plus.io
+         .fa.fa-plus-circle.io
        th Hi/+3.3v
        th.separator
        td
-         .fa.fa-circle-minus.io
+         .fa.fa-minus-circle.io
        th Lo/Gnd
        th.separator
        td
@@ -22,7 +22,7 @@ script#indicators-template(type="text/x-template")
        th Inactive
        th.separator
        td
-         .far.fa-circle.io
+         .fa.fa-circle-o.io
        th Tristated/Disabled

    table.inputs
@@ -169,14 +169,14 @@ script#indicators-template(type="text/x-template")

      tr
        th Motor
-        th(title="Overtemperature fault"): .fa.fa-temperature-full
+        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-triangle-exclamation]
+          | 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-triangle-exclamation]
-        th(title="Driver communication failure"): .fa.fa-handshake
+          | 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()")

--- a/src/pug/templates/path-viewer.pug
+++ b/src/pug/templates/path-viewer.pug
@@ -3,7 +3,7 @@ script#path-viewer-template(type="text/x-template")
    .path-viewer-toolbar
      .tool-button(title="Toggle path view size.",
        @click="small = !small", :class="{active: !small}")
-        .fa.fa-up-down-left-right
+        .fa.fa-arrows-alt

      .tool-button(@click="showTool = !showTool", :class="{active: showTool}",
        title="Show/hide tool.")
--- a/src/pug/templates/program-view.pug
+++ b/src/pug/templates/program-view.pug
@@ -82,7 +82,7 @@ script#program-view-template(type="text/x-template")
          span STOP
        button.action-btn(@click="open_folder", :disabled="!is_ready",
          title="Upload a new GCode folder.")
-          .fa.fa-folder-plus.ico
+          .fa.fa-folder-arrow-up.ico
          span UPLOAD FOLDER
        form.gcode-folder-input.file-upload
          input#folderInput(type="file", @change="upload_folder",
@@ -126,15 +126,10 @@ script#program-view-template(type="text/x-template")
          .fa.fa-arrow-down-wide-short
          | &nbsp;{{files_sortby}}

-      // Body: gcode listing on the left, 3D viewer on the right.
-      // The 3D path-viewer is suppressed when the UI is loaded by
-      // the Pi's onboard kiosk browser — the VideoCore IV cannot
-      // run three.js at a usable frame rate. Off-Pi clients still
-      // see the full split.
-      .program-body(:class="{'no-preview': is_kiosk}")
+      // Body: gcode listing on the left, 3D viewer on the right
+      .program-body
        gcode-viewer
-        path-viewer(v-if="!is_kiosk", :toolpath="toolpath",
-          :state="state", :config="config")
+        path-viewer(:toolpath="toolpath", :state="state", :config="config")

      .progress-bar(v-if="toolpath_progress && toolpath_progress < 1",
        title="Simulating GCode to check for errors, calculate ETA and generate 3D view.")
--- a/src/pug/templates/settings-shell.pug
+++ b/src/pug/templates/settings-shell.pug
@@ -9,7 +9,7 @@ script#settings-shell-view-template(type="text/x-template")
      template(v-for="item in rail_items")
        .set-section(v-if="item.section") {{item.section}}
        a.set-item(v-if="!item.section", :class="{active: is_active(item)}",
-          :href="item.href", @click="on_rail_click(item, $event)")
+          :href="item.href")
          .fa(:class="item.icon")
          | &nbsp;{{item.label}}
      .set-rail-foot
@@ -24,35 +24,21 @@ script#settings-shell-view-template(type="text/x-template")
      // Explicit v-if cascade so the inner template swaps reactively
      // when sub changes (Vue 1's `<component :is>` does not always
      // re-evaluate dynamic strings inside a kept-alive parent).
-      // The Svelte settings views read many config keys eagerly on
-      // attach (settings.units, settings.easy-adapter, motion.*),
-      // so we gate the inner mount on config_ready.
-      settings-view-inner(v-if="sub === 'settings' && config_ready",
-        section="display",
+      settings-view-inner(v-if="sub === 'settings'",
        :index="index", :config="config", :template="template", :state="state")
-      settings-view-inner(v-if="sub === 'probing' && config_ready",
-        section="probing",
+      admin-general-view(v-if="sub === 'admin-general'",
        :index="index", :config="config", :template="template", :state="state")
-      settings-view-inner(v-if="sub === 'gcode' && config_ready",
-        section="gcode",
+      admin-network-view(v-if="sub === 'admin-network'",
        :index="index", :config="config", :template="template", :state="state")
-      admin-general-view(v-if="sub === 'admin-general' && config_ready",
+      motor-view(v-if="sub === 'motor'",
        :index="index", :config="config", :template="template", :state="state")
-      admin-network-view(v-if="sub === 'admin-network' && config_ready",
+      tool-view(v-if="sub === 'tool'",
        :index="index", :config="config", :template="template", :state="state")
-      motor-view(v-if="sub === 'motor' && config_ready",
+      io-view(v-if="sub === 'io'",
        :index="index", :config="config", :template="template", :state="state")
-      tool-view(v-if="sub === 'tool' && config_ready",
+      macros-view(v-if="sub === 'macros'",
        :index="index", :config="config", :template="template", :state="state")
-      io-view(v-if="sub === 'io' && config_ready",
+      help-view(v-if="sub === 'help'",
        :index="index", :config="config", :template="template", :state="state")
-      a-axis-view(v-if="sub === 'a-axis' && config_ready",
+      cheat-sheet-view(v-if="sub === 'cheat-sheet'",
        :index="index", :config="config", :template="template", :state="state")
-      macros-view(v-if="sub === 'macros' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      help-view(v-if="sub === 'help' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      cheat-sheet-view(v-if="sub === 'cheat-sheet' && config_ready",
-        :index="index", :config="config", :template="template", :state="state")
-      .settings-loading(v-if="!config_ready")
-        | Loading configuration…
--- a/src/py/bbctrl/AuxAxis.py
+++ b/src/py/bbctrl/AuxAxis.py
@@ -33,67 +33,22 @@ DEFAULTS = {
    'enabled':           False,
    'port':              '/dev/ttyUSB0',
    'baud':              115200,
-    'steps_per_mm':      80.0,    # logical steps per mm of axis travel
+    'steps_per_mm':      80.0,    # logical steps per mm of W travel
    'dir_sign':          1,       # +1 or -1: maps logical+ to motor+ steps
-    # Logical axis letter exposed to gplan. The auxcnc ESP stepper
-    # is presented to the planner as this axis (default 'a' = standard
-    # 4th axis). gcode uses A for moves; the host ExternalAxis layer
-    # forks A motion to the ESP transparently.
-    'axis_letter':       'a',
-    'min_mm':            0.0,     # soft limit min (mm), exposed as 4tn
-    'max_mm':            100.0,   # soft limit max (mm), exposed as 4tm
-    # Per-axis kinematic limits used to populate the planner's config.
-    # Units match the bbctrl/onefinity per-motor convention so the
-    # values are directly comparable to motors 0-3:
-    #   max_velocity_m_per_min   m/min   (planner sees * 1000 = mm/min)
-    #   max_accel_km_per_min2    km/min2 (planner sees * 1e6 = mm/min2)
-    #   max_jerk_km_per_min3     km/min3 (planner sees * 1e6 = mm/min3)
-    'max_velocity_m_per_min':   6.0,
-    'max_accel_km_per_min2':  100.0,
-    'max_jerk_km_per_min3':   500.0,
-    # Informational only - rate caps that actually clamp the move
-    # are on the ESP via step_max_sps below.
-    'max_feed_mm_min':   600.0,
+    'min_w':             0.0,     # soft limit min (mm)
+    'max_w':             100.0,   # soft limit max (mm)
+    'max_feed_mm_min':   600.0,   # informational; rate caps are on the ESP
    'home_dir':          '-',     # which direction is "toward limit" (host's view)
    'home_position_mm':  0.0,     # mm value to assign at home
    # ESP-side homing rates (steps/sec). Pushed via HOMECFG on connect.
-    # Speeds tuned for a typical 25 steps/mm aux drive (so 1 step =
-    # 0.04 mm). With the limit-aware ESP firmware these values give
-    # a brisk seek (100 mm/s), enough backoff to clear the switch
-    # hysteresis (16 mm), and a slow re-engage (10 mm/s) that's
-    # accurate without being painfully slow on a longer axis.
-    'home_fast_sps':     2500,    # ≈ 100 mm/s @ 25 steps/mm
-    'home_slow_sps':     250,     # ≈  10 mm/s
-    'home_backoff_steps': 400,    # ≈  16 mm
+    'home_fast_sps':     4000,
+    'home_slow_sps':     400,
+    'home_backoff_steps': 200,
    'home_maxtravel_steps': 200000,
-    # If HOME starts with the limit switch already tripped the ESP
-    # first moves this many steps away from the limit and then
-    # rechecks. If the switch is still active afterward, HOME hard-
-    # fails (refuses to set zero blindly when we may already be past
-    # the home position). Default ≈ 10 mm @ 25 steps/mm. Set to 0 to
-    # disable the preclear move (HOME then fails immediately if the
-    # switch reads active at start, matching the original behaviour).
-    'home_preclear_mm':  10.0,
-    'step_max_sps':      4000,    # ≈ 160 mm/s normal-move cap
-    'step_accel_sps2':   12000,
+    'step_max_sps':      4000,
+    'step_accel_sps2':   16000,
    'step_start_sps':    200,
    'limit_low':         True,
-    # ------------------------------------------------------------------
-    # Z-A coupling interlock
-    # ------------------------------------------------------------------
-    # The auxiliary A axis carries a tool that physically hangs below
-    # the Z-axis spindle nose. Beyond a certain Z descent the two
-    # collide unless A drops with Z. The constraint, in machine coords,
-    # is:
-    #     A_machine - Z_machine <= K
-    # where K = (A_home_mm - z_home_mm) + couple_z_clearance_mm.
-    # When enabled this is enforced everywhere motion can be
-    # initiated (planner, MDI, jog, file load) and the AuxPreprocessor
-    # injects pre-position A moves before Z descends past the safe
-    # band.
-    'couple_z_enabled':       True,
-    'couple_z_clearance_mm':  22.0,   # Z drop allowed before A must follow
-    'z_home_mm':              0.0,    # Z's machine position when homed
 }


@@ -144,61 +99,23 @@ class AuxAxis(object):
    def _config_path(self):
        return self.ctrl.get_path(filename='aux.json')

-    # Legacy aux.json fields that have been renamed for clarity.
-    # Loaded values are migrated up on every load/save so existing
-    # installs keep working without operator intervention.
-    _LEGACY_FIELD_MAP = {
-        'min_w': 'min_mm',
-        'max_w': 'max_mm',
-    }
-
-    def _migrate_legacy_fields(self, cfg):
-        """In-place rename of legacy keys in `cfg` (dict). Returns
-        True if anything was migrated, so callers can decide whether
-        to persist the upgraded form.
-        """
-        migrated = False
-        for old, new in self._LEGACY_FIELD_MAP.items():
-            if old in cfg:
-                if new not in cfg:
-                    cfg[new] = cfg[old]
-                del cfg[old]
-                migrated = True
-        return migrated
-
    def _load_config(self):
        path = self._config_path()
        if os.path.exists(path):
            try:
                with open(path) as f:
                    user = json.load(f)
-                migrated = self._migrate_legacy_fields(user)
                # Be permissive; ignore unknown keys.
                for k, v in user.items():
                    if k in self._cfg:
                        self._cfg[k] = v
                self.log.info('Loaded aux config from %s' % path)
-                if migrated:
-                    # Persist the upgraded form so future restarts
-                    # see the new field names directly.
-                    try:
-                        self.save_config(self._cfg)
-                        self.log.info(
-                            'Migrated aux.json legacy fields '
-                            '(min_w/max_w -> min_mm/max_mm)')
-                    except Exception:
-                        self.log.warning(
-                            'Could not persist aux.json migration')
            except Exception:
                self.log.error('Failed to read aux.json: %s'
                               % traceback.format_exc())

    def save_config(self, cfg):
        merged = dict(DEFAULTS)
-        # Accept legacy keys from callers that may still send the
-        # old names (older UI bundles, hand-edited POSTs).
-        cfg = dict(cfg)
-        self._migrate_legacy_fields(cfg)
        for k, v in cfg.items():
            if k in DEFAULTS:
                merged[k] = v
@@ -235,29 +152,24 @@ class AuxAxis(object):
    def position_mm(self):
        return self._steps_to_mm(self._pos_steps)

-    def set_state_observer(self, fn):
-        """Register a callback invoked after every _publish_state.
-        Used by ExternalAxis to mirror the homed flag into State."""
-        self._state_observer = fn
-
    def home(self):
        """Run the homing cycle on the ESP. Blocks until done. Raises on
-        failure. Updates aux_homed and aux_pos.
-
-        The ESP's home_zero is pre-loaded via HOMECFG so when the cycle
-        completes the step counter already corresponds to home_position_mm.
-        That way the homed-state survives a bbctrl restart correctly
-        (we don't need a post-home WPOS write, which would clear HOMED)."""
+        failure. Updates aux_homed and aux_pos."""
        self._require_present()
-        # Make sure home_zero on the ESP matches our current
-        # home_position_mm in case the user just edited config.
-        self._push_homecfg()
        line = self._rpc('HOME', topic='home', timeout=120.0)
-        # line is the body after '[home] '. Only terminal lines use
-        # the [home] topic now (done / failed); progress is [home_log].
+        # line is the body after '[home] '
        if line.startswith('done'):
-            self._pos_steps = self._parse_kv_int(line, 'pos', 0)
+            # ESP set its counter to home_zero; mirror that.
+            new_pos = self._parse_kv_int(line, 'pos', 0)
+            self._pos_steps = new_pos
            self._homed = True
+            # Translate to home_position_mm. Conceptually the host says
+            # "after homing, W is here in mm". We achieve that by setting
+            # the ESP counter (WPOS) so the mm conversion works out.
+            target_pos = self._mm_to_steps(self._cfg['home_position_mm'])
+            if target_pos != new_pos:
+                self._rpc('WPOS %d' % target_pos, topic='ok', timeout=2.0)
+                self._pos_steps = target_pos
            self._publish_state()
            return
        # failure
@@ -303,75 +215,6 @@ class AuxAxis(object):
            return
        self._do_steps(int(steps), ignore_limits=True)

-    # ----------------------------------------------- continuous-rate jog
-    #
-    # Hold-to-jog support for the gamepad pendant. JOG / JOGSTOP on
-    # the ESP give a smooth ramp-up, cruise-until-released, ramp-down
-    # profile - much better than streaming small STEPS chunks.
-    #
-    # `jog_start` returns immediately after the ESP acknowledges with
-    # `[jog] started ...`. The terminal `[jog] done count=<n>
-    # pos=<p>` arrives later; our reader picks it up and resyncs
-    # _pos_steps via the same path as STEPS.
-    def jog_start(self, direction, max_rate_sps=None,
-                  accel_sps2=None, ignore_limits=False,
-                  target_steps=None):
-        """Begin a continuous-rate jog. `direction` is +1 or -1.
-        Returns once the ESP has accepted the JOG command.
-
-        target_steps (optional): a signed step-counter value. The
-        ESP picks the deceleration start point so the motor ramps
-        smoothly from the current cruise rate to step_start_rate
-        and stops AT this counter value. Used to enforce host-side
-        soft limits without overshoot. The target must be on the
-        side of the current g_pos that matches `direction`; the
-        ESP rejects a wrong-side target with reason=softlimit."""
-        self._require_present()
-        if direction not in (-1, +1):
-            raise AuxAxisError('jog_start direction must be +/-1')
-        sign = '+' if direction > 0 else '-'
-        rate = (int(max_rate_sps) if max_rate_sps is not None
-                else int(self._cfg['step_max_sps']))
-        accel = (int(accel_sps2) if accel_sps2 is not None
-                 else int(self._cfg['step_accel_sps2']))
-        if rate < 1: rate = 1
-        if accel < 1: accel = 1
-        cmd = 'JOG dir=%s maxrate=%d accel=%d safe=%d' % (
-            sign, rate, accel, 0 if ignore_limits else 1)
-        if target_steps is not None:
-            cmd += ' target=%d' % int(target_steps)
-        # Capture both the immediate ack AND the eventual terminal
-        # line in a single _rpc call would block; instead fire the
-        # ack-only RPC here and let _on_line handle the terminal
-        # `[jog] done` async (it falls through to the info log path,
-        # but we hook _on_line to update _pos_steps).
-        line = self._rpc(cmd, topic='jog', timeout=2.0)
-        if line.startswith('error'):
-            raise AuxAxisError('JOG rejected: %s' % line)
-        if not line.startswith('started'):
-            # Could be "done count=0 pos=..." if a near-instant abort
-            # raced; treat as completed.
-            self._pos_steps = self._parse_kv_int(
-                line, 'pos', self._pos_steps)
-            self._publish_state()
-        # else: cruising, terminal [jog] reply will arrive later.
-
-    def jog_stop(self):
-        """Request the running JOG to ramp down to a stop. Returns
-        immediately; the terminal `[jog] done` arrives async and is
-        picked up by `_on_line` to resync _pos_steps.
-
-        Like abort(), this does NOT take the RPC lock - JOGSTOP is
-        the on-release path of a hold-to-jog UI and must not block
-        on whatever else is in flight."""
-        if not self._present:
-            return
-        try:
-            self.log.info('aux >> JOGSTOP')
-            self._send_raw('JOGSTOP')
-        except Exception as e:
-            self.log.warning('JOGSTOP send failed: %s' % e)
-
    def abort(self):
        """Cancel any running ESP motion immediately."""
        if not self._present:
@@ -382,63 +225,6 @@ class AuxAxis(object):
        except Exception as e:
            self.log.warning('ABORT send failed: %s' % e)

-    # ---------------------------------------------------------- ATC atoms
-    #
-    # The auxcnc firmware drives an AMB 1050 FME-W DI tool changer via
-    # two pneumatic valves on relays 1-2:
-    #   V1 (clamp, 3/2 valve) - relay 2: ON = collet open, OFF = vent + spring closes
-    #   V2 (ejector)          - relay 1: ON = ejector cylinder extends
-    #
-    # The host exposes three composable atoms - RELEASE, CLAMP, EJECT -
-    # and composes drop/grab sequences from G-code macros that call
-    # them in order. (Older firmware exposed monolithic DROPTOOL /
-    # GRABTOOL verbs; protocol v3 dropped them in favour of these
-    # atoms so callers can interleave Z moves between ejector pulses.)
-
-    def atc_release(self, timeout=5.0):
-        """Open the collet (V1 on). Instant. Idempotent. Pairs with
-        atc_clamp() to bracket a sequence of host-side moves and/or
-        ejector pulses with the collet held open."""
-        self._require_present()
-        line = self._rpc('RELEASE', topic='release', timeout=timeout)
-        if line.startswith('done'):
-            return
-        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
-        raise AuxAxisError('RELEASE failed: %s' % reason)
-
-    def atc_clamp(self, timeout=10.0):
-        """Close the collet: V1 off, then dwell for the line to vent
-        and the spring to re-engage. Idempotent."""
-        self._require_present()
-        line = self._rpc('CLAMP', topic='clamp', timeout=timeout)
-        if line.startswith('done'):
-            return
-        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
-        raise AuxAxisError('CLAMP failed: %s' % reason)
-
-    def atc_eject(self, pulse_ms=None, dwell_ms=None, timeout=10.0):
-        """One ejector wiggle: V2 on for pulse_ms, then off for
-        dwell_ms. The collet (V1) is left in whatever state the caller
-        set it to via atc_release/atc_clamp - typically RELEASE first
-        so the holder can actually drop.
-
-        Repeatedly calling atc_eject gives the wiggle that the old
-        monolithic DROPTOOL did internally, but as discrete blocking
-        calls so a macro can interleave Z moves between pulses.
-
-        pulse_ms / dwell_ms default to the ESP-side defaults
-        (currently 500 / 500). Pass explicit values to override."""
-        self._require_present()
-        parts = ['EJECT']
-        if pulse_ms is not None: parts.append('pulse=%d' % int(pulse_ms))
-        if dwell_ms is not None: parts.append('dwell=%d' % int(dwell_ms))
-        cmd = ' '.join(parts)
-        line = self._rpc(cmd, topic='eject', timeout=timeout)
-        if line.startswith('done'):
-            return
-        reason = line.split('reason=', 1)[1] if 'reason=' in line else line
-        raise AuxAxisError('EJECT failed: %s' % reason)
-
    def close(self):
        self._stop.set()
        try:
@@ -456,13 +242,13 @@ class AuxAxis(object):
            raise AuxAxisError('Aux axis not connected')

    def _check_limits(self, target_mm):
-        lo = float(self._cfg['min_mm'])
-        hi = float(self._cfg['max_mm'])
+        lo = float(self._cfg['min_w'])
+        hi = float(self._cfg['max_w'])
        if hi <= lo:
            return  # no limits
        if target_mm < lo - 1e-6 or target_mm > hi + 1e-6:
            raise AuxAxisError(
-                'A=%.3f out of soft limits [%.3f, %.3f]' % (target_mm, lo, hi))
+                'W=%.3f out of soft limits [%.3f, %.3f]' % (target_mm, lo, hi))

    def _mm_to_steps(self, mm):
        spm = float(self._cfg['steps_per_mm'])
@@ -495,64 +281,6 @@ class AuxAxis(object):
            raise AuxAxisError('W move aborted by limit switch')
        raise AuxAxisError('W move aborted: %s' % line)

-    def _do_line(self, signed_steps, length_mm,
-                 max_accel_mm_min2, max_jerk_mm_min3,
-                 entry_vel_mm_min, exit_vel_mm_min,
-                 times_min, ignore_limits=False, timeout=300.0):
-        """Run a 7-segment jerk-limited S-curve on the ESP that mirrors
-        gplan/buildbotics' planner output exactly.
-
-        Parameters are in the same units the AVR/gplan use:
-          - length_mm:       absolute travel in mm (>= 0)
-          - max_accel:       mm/min^2
-          - max_jerk:        mm/min^3
-          - entry/exit_vel:  mm/min
-          - times_min:       7-tuple of section durations in minutes
-
-        ignore_limits sets safe=0 on the ESP - used for jog/move
-        endpoints that may run before homing.
-
-        Blocks until the ESP reports done or aborted. Updates the
-        position mirror and re-publishes state on every reply.
-        """
-        if signed_steps == 0 or length_mm <= 0:
-            return
-        if not any(times_min):
-            raise AuxAxisError('LINE rejected: all section times are zero')
-        # Build the LINE command. Float formatting matches the AVR's
-        # printf precision (6 sig figs) - that's well above what the
-        # ESP needs given it integrates into a few thousand 4 ms
-        # segments per move.
-        parts = [
-            'LINE',
-            'steps=%d' % int(signed_steps),
-            'length=%.6f' % float(length_mm),
-            'max_accel=%.6f' % float(max_accel_mm_min2),
-            'max_jerk=%.6f' % float(max_jerk_mm_min3),
-            'entry_vel=%.6f' % float(entry_vel_mm_min),
-            'exit_vel=%.6f' % float(exit_vel_mm_min),
-        ]
-        for i, t in enumerate(times_min):
-            if t and t > 0:
-                parts.append('t%d=%.9f' % (i, float(t)))
-        if ignore_limits:
-            parts.append('safe=0')
-        cmd = ' '.join(parts)
-        line = self._rpc(cmd, topic='line', timeout=timeout)
-        # line: "done pos=P emitted=N" or "aborted pos=P emitted=N reason=..."
-        if line.startswith('done'):
-            self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
-            self._publish_state()
-            return
-        # aborted
-        self._pos_steps = self._parse_kv_int(line, 'pos', self._pos_steps)
-        self._publish_state()
-        reason = self._parse_kv_str(line, 'reason')
-        if reason == 'limit':
-            self._homed = False
-            raise AuxAxisError('W move aborted by limit switch')
-        raise AuxAxisError('W move aborted: %s' % line)
-
    # ------------------------------------------------------------ serial I/O

    def _open(self):
@@ -584,26 +312,17 @@ class AuxAxis(object):

    def _push_homecfg(self):
        c = self._cfg
-        zero_steps = self._mm_to_steps(c['home_position_mm'])
-        # preclear: how far (in steps) the ESP backs off if HOME is
-        # invoked while the limit switch is already tripped. Computed
-        # from home_preclear_mm so the operator configures it in mm.
-        spm = float(c.get('steps_per_mm', 1.0)) or 1.0
-        preclear_steps = int(round(abs(float(c['home_preclear_mm'])) * spm))
        cmd = ('HOMECFG dir=%s fast=%d slow=%d backoff=%d maxtravel=%d '
-               'zero=%d accel=%d step_max=%d step_start=%d limit_low=%d '
-               'preclear=%d') % (
+               'zero=0 accel=%d step_max=%d step_start=%d limit_low=%d') % (
            c['home_dir'],
            int(c['home_fast_sps']),
            int(c['home_slow_sps']),
            int(c['home_backoff_steps']),
            int(c['home_maxtravel_steps']),
-            int(zero_steps),
            int(c['step_accel_sps2']),
            int(c['step_max_sps']),
            int(c['step_start_sps']),
            1 if c['limit_low'] else 0,
-            preclear_steps,
        )
        self._rpc(cmd, topic='homecfg', timeout=3.0)

@@ -613,28 +332,11 @@ class AuxAxis(object):
            self._pos_steps = int(r.strip())
        except Exception:
            pass
-        # Force the host to start unhomed regardless of what the ESP
-        # remembers from a prior session. The ESP's homed flag survives
-        # bbctrl restarts (since the ESP itself wasn't power-cycled),
-        # but the host's planner offsets and DRO position get reset to
-        # zero on bbctrl boot. Trusting the ESP's homed flag would mean
-        # the user thinks A is homed at the wrong work-coord origin
-        # (offset_a=0 but ESP physically at home_position_mm). Sending
-        # UNHOME forces the user to re-home explicitly, which sets up
-        # the offset and gplan state correctly via the homing path in
-        # Mach.home.
        try:
-            self._rpc('UNHOME', topic='ok', timeout=2.0)
-            self._homed = False
+            r = self._rpc('HOMED?', topic='homed', timeout=2.0)
+            self._homed = (r.strip() == '1')
        except Exception:
-            # Fall back to whatever HOMED? says - but treat any
-            # missing UNHOME support as "trust ESP's flag" so we
-            # don't break older firmware.
-            try:
-                r = self._rpc('HOMED?', topic='homed', timeout=2.0)
-                self._homed = (r.strip() == '1')
-            except Exception:
-                pass
+            pass
        self._publish_state()

    def _reader_loop(self):
@@ -671,7 +373,7 @@ class AuxAxis(object):
            self._present = True
            self._publish_state()
            self.ctrl.state.add_message(
-                'Auxiliary axis controller restarted - re-home before use')
+                'W axis controller restarted - re-home before use')
            return

        # Topic dispatch: "[topic] body..."
@@ -692,22 +394,7 @@ class AuxAxis(object):
                    self._pending_replies.append(body)
                    self._pending_cv.notify_all()
                    return
-            # Async informational line.
-            #
-            # The terminal [jog] done|aborted line for a continuous
-            # JOG arrives long after the JOG _rpc returned (the JOG
-            # _rpc only waits for the immediate `[jog] started`
-            # ack). Use this async path to keep _pos_steps in sync
-            # so subsequent moves compute the correct delta.
-            if topic == 'jog' and ('pos=' in body):
-                try:
-                    self._pos_steps = self._parse_kv_int(
-                        body, 'pos', self._pos_steps)
-                    if 'reason=limit' in body:
-                        self._homed = False
-                    self._publish_state()
-                except Exception:
-                    pass
+            # Async informational line; just log.
            self.log.info('aux: %s' % line)
        else:
            self.log.info('aux: %s' % line)
@@ -788,11 +475,3 @@ class AuxAxis(object):
        except Exception:
            # During very early startup, state may not be ready.
            pass
-        # Notify the external-axis layer so it can mirror state
-        # (e.g. homed flag) into the synthetic motor vars.
-        observer = getattr(self, '_state_observer', None)
-        if observer is not None:
-            try:
-                observer()
-            except Exception:
-                pass
--- a/src/py/bbctrl/AuxPreprocessor.py
+++ b/src/py/bbctrl/AuxPreprocessor.py
@@ -1,41 +1,25 @@
 ################################################################################
 #
-# AuxPreprocessor - rewrite ATC M-codes into hook calls
+# AuxPreprocessor - rewrite W-axis G-code into hook calls
 #
-# History
-# -------
-# v1: rewrote W tokens into (MSG,HOOK:aux:N) lines because the bbctrl
-#     planner only understood XYZABC and the W axis was driven via a
-#     side-channel.
-# v2: W is now exposed to gplan as a virtual A axis (see ExternalAxis),
-#     so gplan handles W motion natively. The preprocessor no longer
-#     touches W tokens. ATC pneumatics still go through the hook
-#     channel because they're events, not motion.
-# v3: ATC primitives split into atoms. The composite DROPTOOL /
-#     GRABTOOL hooks are gone; macros now compose tool changes from
-#     RELEASE / CLAMP / EJECT.
+# The bbctrl planner only understands xyzabc. We expose a virtual W axis by
+# rewriting the G-code file *before* it is fed to gplan, replacing each W
+# move with a (MSG,HOOK:aux:...) line that the host's hook handler turns
+# into a STEPS or HOME command on the ESP.
 #
-# What this still does
-# --------------------
-# Maps three user-defined M-codes onto pneumatic-tool-changer atoms:
-#
-#   M100  EJECT     -> (MSG,HOOK:eject:)     one V2 ejector pulse
-#   M102  RELEASE   -> (MSG,HOOK:release:)   open collet (V1 on)
-#   M103  CLAMP     -> (MSG,HOOK:clamp:)     close collet (V1 off + vent)
-#
-# M101 (formerly GRABTOOL) is intentionally unmapped - it's now a
-# pure host-side macro composed from RELEASE / dwell / CLAMP. If a
-# legacy file still emits M101 the preprocessor leaves it alone and
-# the planner ignores it (M101 is in the user-defined range, so it
-# won't error - it just won't do anything).
-#
-# M100-M103 are in LinuxCNC/Buildbotics' user-defined range, so the
-# planner won't error if the codes leak through unrewritten - it just
-# won't *do* anything. We strip the recognized ones out and emit the
-# matching hook line in their place.
+# Rules:
+#   - Mixed-axis blocks (W together with XYZABC) are split into two
+#     sequential blocks. By default the W move runs first; configurable.
+#   - G90/G91/G20/G21 modal state is tracked so we can convert relative-W
+#     and inch-W into the absolute mm value the hook handler expects.
+#   - G28 W0 / G28.2 W0 -> HOOK:aux_home
+#   - G92 Wx           -> HOOK:aux_setzero:<mm>
+#   - G53 + W not specially handled (W only knows machine coords)
+#   - Lines inside parentheses or after `;` are passed through.
 #
 # The preprocessor is intentionally conservative: anything it doesn't
-# understand is left alone.
+# understand involving W is left alone with a warning, so motion lands in
+# gplan which will complain loudly rather than silently misbehaving.
 #
 ################################################################################

@@ -45,73 +29,18 @@ import shutil
 import tempfile


-# Strip line comments so we don't get fooled by "(M100 not really)".
-# Note this is a simple regex and doesn't handle nested parentheses
-# - which actually occur in real macro headers like
-# `(Composed from atoms: M102 = RELEASE (V1 on), M103 = CLAMP)`.
-# Use _strip_comments() below for a parser that does handle them.
+# Match a word like "W12.5" or "W-3" or "w0". Also matches inside the same
+# line as XYZ words. We pull W out specifically.
+_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*([-+]?\d*\.?\d+)')
+
+# Detect any axis-bearing word (so we can tell mixed-axis lines apart).
+_AXIS_WORD_RE = re.compile(r'(?<![A-Za-z_0-9])[XYZABCxyzabc]\s*[-+]?\d*\.?\d+')
+
+# Strip line comments so we don't get fooled by "(W axis)".
 _PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')

-
-def _strip_comments(line):
-    """Return `line` with paren comments and the trailing semicolon
-    comment removed. Handles arbitrarily nested parentheses (RS274
-    technically forbids them but real-world gcode comments often
-    contain prose with parens, e.g. `(M102 = RELEASE (V1 on))`).
-
-    Returns just the executable code, with the original whitespace
-    preserved between tokens."""
-    out = []
-    depth = 0
-    i = 0
-    n = len(line)
-    while i < n:
-        c = line[i]
-        if c == ';' and depth == 0:
-            break
-        if c == '(':
-            depth += 1
-            i += 1
-            continue
-        if c == ')':
-            if depth > 0: depth -= 1
-            i += 1
-            continue
-        if depth == 0:
-            out.append(c)
-        i += 1
-    return ''.join(out)
-
-# ATC pneumatics M-codes mapped onto hook events. M101 is
-# deliberately unassigned (see header).
-_ATC_M_CODES = {
-    100: 'eject',
-    102: 'release',
-    103: 'clamp',
-}
-_ATC_M_RE = re.compile(
-    r'(?<![A-Za-z_0-9])[Mm]\s*0*(' +
-    '|'.join(str(n) for n in _ATC_M_CODES) +
-    r')(?![\w.])'
-)
-
-# Detect a W axis token. We no longer rewrite W to A automatically;
-# instead we warn so the user knows their old gcode needs migration.
-# (The W support was removed when the axis was integrated as a real
-# A axis through gplan.)
-_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*[-+]?\d*\.?\d+')
-
-# Match a single axis word (letter + optional whitespace + signed decimal)
-# for Z, A, X, Y. Used to extract modal targets while preserving the
-# original line for emission. We deliberately ignore I/J/K/R (arc params)
-# because they're not endpoints.
-_AXIS_TOKEN_RES = {
-    'z': re.compile(r'(?<![A-Za-z_0-9])[Zz]\s*([-+]?\d*\.?\d+)'),
-    'a': re.compile(r'(?<![A-Za-z_0-9])[Aa]\s*([-+]?\d*\.?\d+)'),
-    'x': re.compile(r'(?<![A-Za-z_0-9])[Xx]\s*([-+]?\d*\.?\d+)'),
-    'y': re.compile(r'(?<![A-Za-z_0-9])[Yy]\s*([-+]?\d*\.?\d+)'),
-}
-_G_CODE_RE = re.compile(r'(?<![A-Za-z_0-9])[Gg]\s*0*(\d+(?:\.\d+)?)')
+# Modal G-code groups we care about.
+_MODAL_RE = re.compile(r'(?<![A-Za-z_0-9])[Gg]\s*0*(\d+(?:\.\d+)?)')


 class AuxPreprocessorError(Exception):
@@ -119,239 +48,79 @@ class AuxPreprocessorError(Exception):


 class AuxPreprocessor(object):
-    def __init__(self, log=None, coupling=None):
-        """`coupling`, when supplied, enables Z-A coupling injection.
-        Expected shape:
-            {
-              'enabled':       bool,
-              'clearance_mm':  float,   # max (A_wc - Z_wc)
-              'a_initial_wc':  float,   # A's work-coord position at
-                                        # file start (typically 0 if
-                                        # operator zeroed at home)
-              'z_initial_wc':  float,   # Z's work-coord position at
-                                        # file start (typically 0)
-            }
-        Pass None to disable injection (preprocessor still rewrites
-        ATC M-codes)."""
+    def __init__(self, log=None, w_first=True):
        self.log = log
-        self._w_warned = False
-        self._coupling = coupling if (coupling and
-                                       coupling.get('enabled')) else None
-        # Modal state used while scanning the file.
-        if self._coupling is not None:
-            self._a_wc = float(coupling.get('a_initial_wc', 0.0))
-            self._z_wc = float(coupling.get('z_initial_wc', 0.0))
-            self._K = float(coupling.get('clearance_mm', 0.0))
-        else:
-            self._a_wc = 0.0
-            self._z_wc = 0.0
-            self._K = 0.0
-        self._g91_warned = False
-        # Distance mode: True for absolute (G90), False for incremental
-        # (G91). Per RS274 the modal default at start is G90.
-        self._g90 = True
+        # If True, on a mixed-axis line (e.g. G1 X10 W5), emit the W move
+        # first, then the XYZ move. Set False to invert.
+        self.w_first = w_first

    def _info(self, msg):
-        if self.log: self.log.info(msg)
+        if self.log:
+            self.log.info(msg)

    def _warn(self, msg):
-        if self.log: self.log.warning(msg)
+        if self.log:
+            self.log.warning(msg)

    # ------------------------------------------------------------------ scan

    @staticmethod
-    def file_uses_aux(path, coupling=None):
-        """Quick check: does this file contain anything the preprocessor
-        would rewrite? Returns True for ATC M-codes always, and for
-        any Z/A move if coupling is enabled (we have to scan to know
-        whether injection is needed, so any motion file qualifies)."""
-        couple_active = bool(coupling and coupling.get('enabled'))
+    def file_uses_w(path):
+        """Quick check: does this file contain any W-axis word? Used to skip
+        preprocessing entirely for files that don't care about W."""
        try:
            with open(path, 'r', encoding='utf-8', errors='replace') as f:
                for line in f:
-                    code = _strip_comments(line)
-                    if _ATC_M_RE.search(code):
+                    code = _PAREN_COMMENT_RE.sub('', line)
+                    code = code.split(';', 1)[0]
+                    if _W_TOKEN_RE.search(code):
                        return True
-                    if couple_active:
-                        if _AXIS_TOKEN_RES['z'].search(code) or \
-                                _AXIS_TOKEN_RES['a'].search(code):
-                            return True
        except Exception:
            pass
        return False

-    # Backwards-compat alias.
-    file_uses_w = file_uses_aux
+    # ------------------------------------------------------------------ core

-    # ------------------------------------------------------------------ Z-A coupling
-    #
-    # Track modal Z and A targets across the file. Whenever a line
-    # would put A above Z by more than `clearance_mm` (i.e. A_wc -
-    # Z_wc > K), we inject `G0 A<safe>` immediately before it so A is
-    # already at the safe position when Z descends. The injected move
-    # uses G0 (rapid) so it's quick.
-    #
-    # Endpoint-only check: gplan plans line endpoints. As long as
-    # (target_A_wc - target_Z_wc) <= K, the trajectory stays safe
-    # because Z's *minimum* during a single line is its endpoint (Z
-    # moves monotonically along a single line block in absolute
-    # mode) and A is held at the pre-positioned value during the move.
+    def _strip_w(self, line):
+        """Return (line_without_w, w_value_str_or_None). Only first W kept."""
+        m = _W_TOKEN_RE.search(line)
+        if m is None:
+            return line, None
+        # Remove just the matched W<num> token, preserving surrounding spaces.
+        rewritten = line[:m.start()] + line[m.end():]
+        return rewritten, m.group(1)

-    def _extract_g_codes(self, code):
-        """Return the set of G-codes referenced on `code`. Numeric
-        only, e.g. {0, 1, 90, 17}. Used to track modal state."""
-        out = set()
-        for m in _G_CODE_RE.finditer(code):
+    def _has_other_axis(self, code_no_w):
+        return _AXIS_WORD_RE.search(code_no_w) is not None
+
+    def _detect_modals(self, code, modal):
+        """Update modal dict in-place from G-codes on this line."""
+        for mm in _MODAL_RE.finditer(code):
            try:
-                out.add(int(float(m.group(1))))
-            except Exception:
-                pass
-        return out
+                g = float(mm.group(1))
+            except ValueError:
+                continue
+            if g == 90: modal['abs'] = True
+            elif g == 91: modal['abs'] = False
+            elif g == 20: modal['inch'] = True
+            elif g == 21: modal['inch'] = False
+            # G28 / G28.2 / G92 are detected case-by-case below.

-    def _extract_axis(self, axis, code):
-        """Return the last value of `axis` token on `code`, or None."""
-        rx = _AXIS_TOKEN_RES.get(axis)
-        if rx is None:
-            return None
-        last = None
-        for m in rx.finditer(code):
-            try:
-                last = float(m.group(1))
-            except Exception:
-                pass
-        return last
+    @staticmethod
+    def _is_g28_like(code):
+        # Match G28 or G28.2 (homing).
+        return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*28(?:\.2)?(?![\w.])', code))

-    def _maybe_inject_a_down(self, code, fout):
-        """Inspect `code` (with comments stripped) for an upcoming Z
-        descent; emit a `G0 A<safe>` line on `fout` if needed and
-        update self._a_wc accordingly. Returns True if anything was
-        injected.
-
-        On a violation that cannot be fixed by lowering A (e.g. the
-        operator wrote `G0 A0` while Z is too deep), raise
-        AuxPreprocessorError so the file load surfaces the problem -
-        per the rule we agreed: error, don't silently insert a Z-up.
-        """
-        if self._coupling is None:
-            return False
-
-        # Distance mode tracking.
-        gs = self._extract_g_codes(code)
-        if 90 in gs: self._g90 = True
-        if 91 in gs:
-            if self._g90 and not self._g91_warned:
-                self._warn(
-                    'AuxPreprocessor: G91 (incremental mode) detected; '
-                    'Z-A coupling injection is disabled for the rest of '
-                    'the file. The runtime check still applies.')
-                self._g91_warned = True
-            self._g90 = False
-
-        # G92 sets coordinate offsets. The new modal value of an
-        # axis is whatever value follows on the same word (e.g.
-        # G92 A0 sets A_wc = 0). Apply that and skip injection.
-        if 92 in gs:
-            new_a = self._extract_axis('a', code)
-            new_z = self._extract_axis('z', code)
-            if new_a is not None: self._a_wc = new_a
-            if new_z is not None: self._z_wc = new_z
-            return False
-
-        # In incremental mode we can still track approximately, but
-        # the user has been warned; skip injection.
-        if not self._g90:
-            return False
-
-        new_z_target = self._extract_axis('z', code)
-        new_a_target = self._extract_axis('a', code)
-        if new_z_target is None and new_a_target is None:
-            return False
-
-        # Modal values after the line executes.
-        a_after = new_a_target if new_a_target is not None else self._a_wc
-        z_after = new_z_target if new_z_target is not None else self._z_wc
-
-        eps = 1e-4
-        if a_after - z_after <= self._K + eps:
-            # Move is safe as authored. Update modal state.
-            self._a_wc = a_after
-            self._z_wc = z_after
-            return False
-
-        # Violation. Two cases:
-        #
-        #   (a) The line lowers Z (z_after < self._z_wc) and A is
-        #       held or moved upward, so A needs to drop to keep up.
-        #       We can fix this by pre-positioning A at z_after + K
-        #       BEFORE the line - at which point gplan's plan for the
-        #       line is safe at every point along it.
-        #
-        #   (b) The line raises A above the safe band while Z is
-        #       held (z_after >= self._z_wc) - i.e. the operator
-        #       wrote `G0 A0` while Z is parked deep. Auto-injecting
-        #       a Z-up here is unsafe (Z could swing into a fixture
-        #       or the part) so we error out and let the operator
-        #       author the lift.
-
-        safe_a = z_after + self._K
-
-        # If the line itself targets an A above the safe band, the
-        # endpoint violates the rule no matter what we pre-position.
-        # Refuse rather than emit something that runs the gantry into
-        # the tool.
-        if new_a_target is not None and new_a_target > safe_a + eps:
-            raise AuxPreprocessorError(
-                'Z-A coupling violation: line targets A=%.3f at '
-                'Z=%.3f, but max A allowed is %.3f (clearance %.3f). '
-                'Lower the A target or add a Z-up move first.' % (
-                    new_a_target, z_after, safe_a, self._K))
-
-        # If the line raises A above the current safe band but Z
-        # isn't dropping with it (no Z target on the line, or Z stays
-        # put), the violation is the operator's A-up, not a Z-down.
-        # Refuse rather than insert a Z-up (which could swing through
-        # a fixture or part).
-        if (new_a_target is not None and
-                new_a_target > self._a_wc + eps and
-                new_z_target is None):
-            raise AuxPreprocessorError(
-                'Z-A coupling violation at line raising A to %.3f '
-                'while Z is at %.3f (max A allowed is %.3f given '
-                'clearance %.3f). Add a Z-up move first.' % (
-                    new_a_target, z_after, safe_a, self._K))
-
-        # Case (a): pre-position A.
-        # Don't move A *up* as part of pre-position - if the safe
-        # value is above where A already is, we'd lift A into a
-        # potential collision elsewhere. In practice safe_a < a_wc
-        # whenever we get here (otherwise no violation), but assert
-        # to be sure.
-        if safe_a > self._a_wc + eps:
-            raise AuxPreprocessorError(
-                'Z-A coupling: cannot fix line by lowering A '
-                '(safe A = %.3f > current A = %.3f).' % (
-                    safe_a, self._a_wc))
-        fout.write('(injected by AuxPreprocessor: Z-A coupling)\n')
-        fout.write('G0 A%.4f\n' % safe_a)
-        self._a_wc = safe_a
-        # Don't update z_wc yet - the original line will do that
-        # when it runs. But our modal copy must reflect the post-line
-        # value so subsequent injections compute correctly.
-        self._z_wc = z_after
-        # If the original line also moved A, our pre-positioning
-        # supersedes it (we overwrite a_wc above with safe_a then
-        # the original line's A target may push it back up). Update
-        # a_wc to the line's authored A value so further checks see
-        # the post-line state.
-        if new_a_target is not None:
-            self._a_wc = new_a_target
-        return True
+    @staticmethod
+    def _is_g92(code):
+        return bool(re.search(r'(?<![A-Za-z_0-9])[Gg]\s*0*92(?![\w.])', code))

    # ------------------------------------------------------------------ run

    def process(self, src_path, dst_path):
-        """Read src_path, write rewritten G-code to dst_path. Returns
-        True if any rewrite happened."""
+        """Read src_path, write rewritten G-code to dst_path. Returns True
+        if any rewrite happened."""
+        modal = {'abs': True, 'inch': False}  # G90 G21 are common defaults
        rewrote_any = False

        with open(src_path, 'r', encoding='utf-8', errors='replace') as fin, \
@@ -360,148 +129,109 @@ class AuxPreprocessor(object):
                line = raw.rstrip('\n')

                # Comment-only or blank lines pass through verbatim.
-                code = _strip_comments(line)
+                code = _PAREN_COMMENT_RE.sub('', line)
+                code = code.split(';', 1)[0]
                if not code.strip():
                    fout.write(raw)
                    continue

-                # Warn (once) if the file still uses W tokens. The
-                # standard way is now G1 A<value>; old files must be
-                # migrated by hand.
-                if (not self._w_warned) and _W_TOKEN_RE.search(code):
-                    self._warn('Found W axis token in gcode; W is no '
-                               'longer recognized by bbctrl. Use A '
-                               'instead. (warning suppressed for '
-                               'subsequent W tokens in this file)')
-                    self._w_warned = True
+                # Update modal from G-codes on this line first (so absolute
+                # vs incremental matches what the planner sees for XYZ).
+                self._detect_modals(code, modal)

-                # Z-A coupling injection BEFORE the line is emitted.
-                if self._maybe_inject_a_down(code, fout):
-                    rewrote_any = True
-
-                # ATC M-codes (M100/M102/M103). Match against the
-                # comment-stripped `code` so prose mentions like
-                # `(M102 = RELEASE)` inside a comment don't spuriously
-                # fire hooks. Each match emits a (MSG,HOOK:<event>:)
-                # line; the M-code is stripped from the executable
-                # residual but the original line's comments are kept
-                # for log readability.
-                atc_matches = list(_ATC_M_RE.finditer(code))
-                if atc_matches:
-                    rewrote_any = True
-                    for m in atc_matches:
-                        try: num = int(m.group(1))
-                        except ValueError: continue
-                        event = _ATC_M_CODES.get(num)
-                        if event:
-                            # We need two things here that aren't
-                            # naturally provided by the (MSG,...)
-                            # transport:
-                            #
-                            # (1) Synchronization. (MSG,HOOK:...) is
-                            #     fire-and-forget from gplan's view -
-                            #     gplan emits the message and keeps
-                            #     streaming subsequent blocks (Z
-                            #     moves, the next eject, etc.) to the
-                            #     AVR. Meanwhile the hook handler
-                            #     runs the actual ESP RPC in a
-                            #     thread, and Z lifts while V2 is
-                            #     still wiggling. To make M-codes
-                            #     behave like proper blocking gcode,
-                            #     we precede each HOOK with M0
-                            #     (program pause). The Hooks layer
-                            #     registers the atom as block_unpause
-                            #     + auto_resume, so:
-                            #         M0 -> machine pauses
-                            #         (MSG,HOOK:event:) fires hook
-                            #         hook thread runs ESP RPC
-                            #         hook completes, auto-unpauses
-                            #         next block streams
-                            #     End result: M100/M102/M103 block
-                            #     until the ESP says done, just like
-                            #     a G-code dwell.
-                            #
-                            # (2) Block separation. gplan collapses
-                            #     consecutive comment-only lines
-                            #     into a single block, so back-to-
-                            #     back HOOK lines used to drop all
-                            #     but the last. M0 is its own block
-                            #     so this falls out automatically -
-                            #     the (MSG,...) attaches cleanly to
-                            #     each M0.
-                            fout.write('M0 (MSG,HOOK:%s:)\n' % event)
-                    code_stripped = _ATC_M_RE.sub('', code).strip()
-                    if code_stripped:
-                        # Mixed line: keep the residual executable
-                        # gcode. Drop the comments to keep the
-                        # rewritten file tidy (the original line's
-                        # text already appears once as the input).
-                        fout.write(code_stripped + '\n')
+                if not _W_TOKEN_RE.search(code):
+                    fout.write(raw)
                    continue

-                # No rewrite needed.
-                fout.write(raw)
+                rewrote_any = True
+
+                # G28[.2] W... -> aux_home (W value is ignored except as
+                # a flag that W is being homed).
+                if self._is_g28_like(code):
+                    code_no_w, _ = self._strip_w(line)
+                    fout.write('(MSG,HOOK:aux_home:)\n')
+                    # Only keep the residual line if other axes were also
+                    # present (e.g. G28.2 X0 Y0 W0 still homes X+Y). A bare
+                    # "G28" without axis args means "home all" in gcode
+                    # which we explicitly DON'T want to trigger from a
+                    # W-only home command.
+                    rest_code = _PAREN_COMMENT_RE.sub('', code_no_w)
+                    rest_code = rest_code.split(';', 1)[0]
+                    if self._has_other_axis(rest_code):
+                        fout.write(code_no_w + '\n')
+                    continue
+
+                # G92 W... -> set W zero (or other value) without motion.
+                if self._is_g92(code):
+                    line_no_w, w_val = self._strip_w(line)
+                    target_mm = self._w_to_mm(w_val, modal, set_pos=True)
+                    fout.write('(MSG,HOOK:aux_setzero:%g)\n' % target_mm)
+                    rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
+                    rest_code = rest_code.split(';', 1)[0]
+                    if self._has_other_axis(rest_code):
+                        fout.write(line_no_w + '\n')
+                    continue
+
+                # Plain motion: G0/G1 etc with W word.
+                line_no_w, w_val = self._strip_w(line)
+                target_mm = self._w_to_mm(w_val, modal, set_pos=False)
+                # Distinguish absolute vs relative: encode both, the hook
+                # handler will pick the right operation.
+                if modal['abs']:
+                    hook_line = '(MSG,HOOK:aux:%g)' % target_mm
+                else:
+                    hook_line = '(MSG,HOOK:aux_rel:%g)' % target_mm
+
+                rest_code = _PAREN_COMMENT_RE.sub('', line_no_w)
+                rest_code = rest_code.split(';', 1)[0]
+                has_xyz = self._has_other_axis(rest_code)
+
+                if not has_xyz:
+                    # Pure W move; drop the (now-empty) original line.
+                    fout.write(hook_line + '\n')
+                    continue
+
+                # Mixed-axis: split. Default order is W first.
+                if self.w_first:
+                    fout.write(hook_line + '\n')
+                    fout.write(line_no_w + '\n')
+                else:
+                    fout.write(line_no_w + '\n')
+                    fout.write(hook_line + '\n')

        return rewrote_any

+    # ------------------------------------------------------------ unit conv

-def preprocess_to_tempfile(src_path, log=None, coupling=None):
-    """Run the preprocessor on `src_path` and return the path to a
-    rewritten temp file (or None if no rewriting was needed). Caller
-    owns the temp file and must os.unlink() it when done.
+    def _w_to_mm(self, w_str, modal, set_pos):
+        try:
+            v = float(w_str)
+        except (TypeError, ValueError):
+            raise AuxPreprocessorError('Invalid W value: %r' % w_str)
+        if modal['inch']:
+            v *= 25.4
+        return v

-    The original source file is never modified - this is the
-    intentional design: the macro / job file the operator authored
-    is what they see in the macro editor and the file viewer; the
-    rewriting happens only on the in-memory copy that gplan loads.

-    Why we rewrite at all: gplan (the camotics planner) treats the
-    user-defined M-codes M100/M102/M103 as no-ops. The only callback
-    channel it exposes during a running program is the (MSG,...)
-    message stream, so the only way for the host to react to those
-    M-codes mid-program is to substitute (MSG,HOOK:<event>:) lines
-    in their place. This rewriting is an implementation detail the
-    operator should never have to know about - hence the tempfile.
-    """
-    if not AuxPreprocessor.file_uses_aux(src_path, coupling=coupling):
-        return None
-    pre = AuxPreprocessor(log=log, coupling=coupling)
+def preprocess_file(src_path, log=None, w_first=True):
+    """Convenience: rewrite src_path in place if it uses W.
+    Returns True if the file was rewritten."""
+    if not AuxPreprocessor.file_uses_w(src_path):
+        return False
+    pre = AuxPreprocessor(log=log, w_first=w_first)
    fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
                               dir=os.path.dirname(src_path) or None)
    os.close(fd)
    try:
        rewrote = pre.process(src_path, tmp)
        if rewrote:
-            return tmp
+            shutil.move(tmp, src_path)
+            return True
        os.unlink(tmp)
-        return None
-    except Exception:
-        try:
-            os.unlink(tmp)
-        except OSError:
-            pass
-        raise
-
-
-def preprocess_file(src_path, log=None, coupling=None, **_unused):
-    """DEPRECATED in-place version of the preprocessor. Kept for
-    callers that still rewrite their input on disk (chiefly the
-    upload path, where mutating the file is fine because there's no
-    operator-authored source to preserve).
-
-    Returns True if the file was rewritten, False otherwise.
-
-    For new callers prefer preprocess_to_tempfile() which never
-    touches the source."""
-    tmp = preprocess_to_tempfile(src_path, log=log, coupling=coupling)
-    if tmp is None:
        return False
-    try:
-        shutil.move(tmp, src_path)
    except Exception:
        try:
            os.unlink(tmp)
        except OSError:
            pass
        raise
-    return True
--- a/src/py/bbctrl/Comm.py
+++ b/src/py/bbctrl/Comm.py
@@ -223,10 +223,6 @@ class Comm(object):
                    self.ctrl.mach.process_log(msg)
                elif 'firmware' in msg:
                    self.log.info('AVR firmware rebooted')
-                    try:
-                        import bbctrl.Trace as _T
-                        _T.mark('avr.firmware_rebooted')
-                    except Exception: pass
                    self.connect()
                else:
                    self._update_state(msg)
--- a/src/py/bbctrl/Config.py
+++ b/src/py/bbctrl/Config.py
@@ -216,32 +216,6 @@ class Config(object):
                defaults = json.load(f)
                config['selected-tool-settings'] = defaults['selected-tool-settings'];

-        # Auxiliary axis nomenclature: rename W -> A in macro names and
-        # filenames. The auxcnc-driven stepper has been integrated into
-        # gplan as A since the option-b migration; old configs may
-        # still carry W Down/W Up macro entries pointing at
-        # w_down.nc/w_up.nc which were renamed on disk to a_down.nc /
-        # a_up.nc. Migrate idempotently on every load so a stale
-        # in-memory copy can never reintroduce the old names.
-        macros = config.get('macros') if isinstance(config, dict) else None
-        if isinstance(macros, list):
-            renames = {
-                'w_down.nc': 'a_down.nc',
-                'w_up.nc':   'a_up.nc',
-            }
-            display_renames = {
-                'W Down': 'A Down',
-                'W Up':   'A Up',
-            }
-            for m in macros:
-                if not isinstance(m, dict): continue
-                fn = m.get('file_name')
-                if isinstance(fn, str) and fn in renames:
-                    m['file_name'] = renames[fn]
-                nm = m.get('name')
-                if isinstance(nm, str) and nm in display_renames:
-                    m['name'] = display_renames[nm]
-
        config['version'] = self.version.split('b')[0]
        config['full_version'] = self.version

--- a/src/py/bbctrl/Ctrl.py
+++ b/src/py/bbctrl/Ctrl.py
@@ -28,12 +28,10 @@
 import os
 import time
 import bbctrl
-import bbctrl.Trace as Trace


 class Ctrl(object):
    def __init__(self, args, ioloop, id):
-        Trace.mark('ctrl.init.start', id=id or '<default>')
        self.args = args
        self.ioloop = bbctrl.IOLoop(ioloop)
        self.id = id
@@ -45,65 +43,34 @@ class Ctrl(object):
        if args.demo: log_path = self.get_path(filename = 'bbctrl.log')
        else: log_path = args.log
        self.log = bbctrl.log.Log(args, self.ioloop, log_path)
-        Trace.mark('ctrl.log_open')

        self.state = bbctrl.State(self)
        self.config = bbctrl.Config(self)
-        Trace.mark('ctrl.state_config')

        self.log.get('Ctrl').info('Starting %s' % self.id)

        try:
-            with Trace.span('ctrl.avr'):
-                if args.demo: self.avr = bbctrl.AVREmu(self)
-                else: self.avr = bbctrl.AVR(self)
+            if args.demo: self.avr = bbctrl.AVREmu(self)
+            else: self.avr = bbctrl.AVR(self)

-            with Trace.span('ctrl.i2c'):
-                self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
-            with Trace.span('ctrl.lcd'):
-                self.lcd = bbctrl.LCD(self)
-            with Trace.span('ctrl.mach'):
-                self.mach = bbctrl.Mach(self, self.avr)
-            with Trace.span('ctrl.preplanner'):
-                self.preplanner = bbctrl.Preplanner(self)
-            if not args.demo:
-                with Trace.span('ctrl.jog'):
-                    self.jog = bbctrl.Jog(self)
-            with Trace.span('ctrl.pwr'):
-                self.pwr = bbctrl.Pwr(self)
-            with Trace.span('ctrl.hooks'):
-                self.hooks = bbctrl.Hooks(self)
-            with Trace.span('ctrl.aux'):
-                self.aux = bbctrl.AuxAxis(self)
-            with Trace.span('ctrl.ext_axis'):
-                # ExternalAxis exposes the auxcnc ESP stepper as a
-                # virtual A axis that gplan handles natively. Created
-                # unconditionally so State sees the synthetic motor
-                # vars even when aux is disabled (kept inert in that
-                # case via ext_axis.enabled).
-                axis_letter = self.aux._cfg.get('axis_letter', 'a')
-                self.ext_axis = bbctrl.ExternalAxis(
-                    self, self.aux, axis_letter=axis_letter)
-                # Hook AuxAxis post-publish callback so homed flag
-                # mirrors into State after homing.
-                self.aux.set_state_observer(
-                    self.ext_axis.refresh_homed)
+            self.i2c = bbctrl.I2C(args.i2c_port, args.demo)
+            self.lcd = bbctrl.LCD(self)
+            self.mach = bbctrl.Mach(self, self.avr)
+            self.preplanner = bbctrl.Preplanner(self)
+            if not args.demo: self.jog = bbctrl.Jog(self)
+            self.pwr = bbctrl.Pwr(self)
+            self.hooks = bbctrl.Hooks(self)
+            self.aux = bbctrl.AuxAxis(self)
            self._register_aux_hooks()

-            with Trace.span('ctrl.mach.connect'):
-                self.mach.connect()
+            self.mach.connect()

            self.lcd.add_new_page(bbctrl.MainLCDPage(self))
            self.lcd.add_new_page(bbctrl.IPLCDPage(self.lcd))

            os.environ['GCODE_SCRIPT_PATH'] = self.get_upload()

-            Trace.mark('ctrl.init.end')
-            Trace.sd_notify('STATUS=ctrl initialized\n')
-
-        except Exception:
-            Trace.mark('ctrl.init.error')
-            self.log.get('Ctrl').exception('Internal error: Control initialization failed')
+        except Exception: self.log.get('Ctrl').exception('Internal error: Control initialization failed')


    def __del__(self): print('Ctrl deleted')
@@ -146,66 +113,38 @@ class Ctrl(object):


    def _register_aux_hooks(self):
-        """Wire up auxcnc HOOK: events to AuxAxis methods.
-
-        v2: motion hooks (aux/aux_rel/aux_home/aux_setzero) are
-        retired now that the W axis is integrated through gplan as
-        a virtual A axis (see ExternalAxis). Only the ATC pneumatic
-        hooks remain - those are events, not motion.
-
-        For backwards compatibility with files that still contain
-        (MSG,HOOK:aux_home:) (e.g. older preprocessed gcode), keep
-        an aux_home alias that routes to the standard ext_axis homing
-        path."""
+        """Wire up the auxcnc HOOK: events to AuxAxis methods."""
        log = self.log.get('AuxAxis')

-        def _hook_aux_home(ctx):
-            # Legacy: route to the standard external-axis homing.
-            if self.ext_axis is not None and self.ext_axis.enabled:
-                self.ext_axis.home()
-            else:
-                self.aux.home()
-
-        def _hook_release(ctx):   self.aux.atc_release()
-        def _hook_clamp(ctx):     self.aux.atc_clamp()
-
-        def _hook_eject(ctx):
-            # ctx['data'] is the payload after HOOK:eject:. Allow
-            # operators to override pulse / dwell from gcode via
-            # (MSG,HOOK:eject:pulse=400 dwell=300). Empty data ->
-            # ESP defaults.
+        def _hook_move(ctx):
            data = (ctx.get('data') or '').strip()
-            kw = {}
-            for tok in data.split():
-                if '=' not in tok: continue
-                k, v = tok.split('=', 1)
-                k = k.strip().lower()
-                if k in ('pulse', 'pulse_ms'):
-                    try: kw['pulse_ms'] = int(v)
-                    except ValueError: pass
-                elif k in ('dwell', 'dwell_ms'):
-                    try: kw['dwell_ms'] = int(v)
-                    except ValueError: pass
-            self.aux.atc_eject(**kw)
+            if not data:
+                raise Exception('aux hook missing target')
+            self.aux.move_abs_mm(float(data))

-        # Legacy alias for older gcode that used aux_home.
-        self.hooks.register_internal('aux_home',    _hook_aux_home,
+        def _hook_move_rel(ctx):
+            data = (ctx.get('data') or '').strip()
+            if not data:
+                raise Exception('aux_rel hook missing delta')
+            self.aux.move_rel_mm(float(data))
+
+        def _hook_home(ctx):
+            self.aux.home()
+
+        def _hook_setzero(ctx):
+            data = (ctx.get('data') or '').strip()
+            mm = float(data) if data else 0.0
+            self.aux.set_position_mm(mm)
+
+        self.hooks.register_internal('aux',         _hook_move,
+                                     block_unpause=True, auto_resume=True)
+        self.hooks.register_internal('aux_rel',     _hook_move_rel,
+                                     block_unpause=True, auto_resume=True)
+        self.hooks.register_internal('aux_home',    _hook_home,
                                     block_unpause=True, auto_resume=True,
                                     timeout=180)
-
-        # ATC pneumatic atoms. block_unpause + auto_resume so a
-        # program using M100/M102/M103 pauses at the right point and
-        # resumes once each atom finishes. Macros compose drop/grab
-        # sequences from these primitives.
-        self.hooks.register_internal('release',     _hook_release,
-                                     block_unpause=True, auto_resume=True,
-                                     timeout=10)
-        self.hooks.register_internal('clamp',       _hook_clamp,
-                                     block_unpause=True, auto_resume=True,
-                                     timeout=15)
-        self.hooks.register_internal('eject',       _hook_eject,
-                                     block_unpause=True, auto_resume=True,
-                                     timeout=15)
+        self.hooks.register_internal('aux_setzero', _hook_setzero,
+                                     block_unpause=True, auto_resume=True)
        log.info('Aux hooks registered')


@@ -214,7 +153,5 @@ class Ctrl(object):
        self.ioloop.close()
        self.avr.close()
        self.mach.planner.close()
-        try: self.ext_axis.close()
-        except Exception: pass
        try: self.aux.close()
        except Exception: pass
--- a/src/py/bbctrl/ExternalAxis.py
+++ b/src/py/bbctrl/ExternalAxis.py
@@ -1,677 +0,0 @@
-################################################################################
-#
-# ExternalAxis - bridges a logical motorless axis to step generation on
-# the auxcnc ESP, so the Buildbotics planner can drive a stepper that
-# isn't on the AVR.
-#
-# Architecture
-# ------------
-# The bbctrl planner (camotics gplan) handles parsing, units, modal
-# state, soft limits, accel ramping and S-curve timing for axes
-# X, Y, Z, A, B, C. The AVR has 4 motor channels (0-3) and only
-# generates step pulses for axes that have a motor mapped to them.
-# An axis with no mapped motor is fully accepted by the AVR - it
-# updates its internal `ex.position[axis]` and reports `<axis>p` to
-# the host, but no stepper turns.
-#
-# We exploit that: the W stepper is exposed to gplan as A, but no
-# AVR motor maps to A. The planner does all the gcode-level work
-# correctly (G90/G91, soft limits, accel, units, modal feed rate);
-# we intercept the resulting `Cmd.line` blocks in `Planner.__encode`,
-# strip A out, and forward the A delta to the auxcnc ESP as STEPS.
-#
-# To make gplan and State *believe* A is enabled we register a
-# synthetic motor (index 4) into State.vars, populated from
-# aux.json, with `4an=3` (axis A), `4me=1` (enabled), and the
-# usual velocity/accel/jerk/soft-limit vars. State.find_motor and
-# the snapshot projection are extended to walk index 4. Motor-4
-# vars never leave the host (they're not in the AVR's schema) so
-# the AVR is undisturbed.
-#
-# v1 coupling: serialize. If a line has any A delta we wait for
-# the ESP to finish before letting subsequent commands flow. This
-# matches the behaviour of the previous hook-based approach (no
-# XYZ+A blending) but with all the planner's correctness guarantees.
-#
-# v2 could match ESP move duration to the gplan trapezoid time and
-# allow concurrent motion; out of scope for v1.
-#
-################################################################################
-
-import threading
-
-try:
-    from queue import Queue
-except ImportError:
-    from Queue import Queue  # py2 just in case
-
-
-# Synthetic motor index used to expose the external axis to State.
-# The AVR has motors 0..3; we use 4 as a host-only sentinel.
-EXTERNAL_MOTOR_INDEX = 4
-
-# Axis letters in their canonical order; 'a' is index 3.
-_AXIS_LETTERS = 'xyzabc'
-
-
-class ExternalAxisError(Exception):
-    pass
-
-
-class ExternalAxis(object):
-    """Bridge between Planner line blocks and AuxAxis serial RPCs.
-
-    Owns no thread; runs RPC calls inline on whatever thread invokes
-    execute_to_mm / home / abort. The Planner runs `__encode` on its
-    own thread which is allowed to block on planner I/O, so blocking
-    inside the interceptor is fine.
-
-    Position tracking: gplan emits absolute targets in mm; the ESP
-    counts steps relative to home_zero. We mirror the last commanded
-    mm position so subsequent line blocks compute the correct delta.
-    `_pos_mm` is also published as `<axis>p` so DRO updates."""
-
-    def __init__(self, ctrl, aux, axis_letter='a'):
-        self.ctrl = ctrl
-        self.aux = aux
-        self.log = ctrl.log.get('ExternalAxis')
-
-        self.axis_letter = (axis_letter or 'a').lower()[:1]
-        if self.axis_letter not in _AXIS_LETTERS:
-            raise ExternalAxisError(
-                'Invalid external axis letter: %r' % axis_letter)
-        # Index in 'xyzabc' (0..5)
-        self.axis_index = _AXIS_LETTERS.index(self.axis_letter)
-
-        self._busy = threading.Event()
-        # Last absolute mm we committed; None until first move /
-        # homing event syncs us up.
-        self._pos_mm = None
-
-        # Single-slot worker queue: __encode posts (target_mm,) tuples
-        # here; the worker thread runs the ESP RPC. Capacity is
-        # intentionally bounded - if it fills it means motion is
-        # outpacing the ESP and we should backpressure the planner.
-        self._work_q = Queue(maxsize=64)
-        self._stop = threading.Event()
-        self._worker = threading.Thread(
-            target=self._worker_loop,
-            name='ExternalAxis-worker', daemon=True)
-        self._worker.start()
-
-        # Push synthetic motor vars into State so the planner sees
-        # this axis as enabled with proper limits/velocity/accel.
-        self._publish_synthetic_motor()
-        # Also seed <axis>p so the DRO has something to render.
-        self.ctrl.state.set(self.axis_letter + 'p', 0.0)
-
-    # -------------------------------------------------------------- enabled
-
-    @property
-    def enabled(self):
-        try:
-            return bool(self.aux is not None
-                        and self.aux.enabled
-                        and self.aux.present)
-        except Exception:
-            return False
-
-    # -------------------------------------------------------- configuration
-
-    @property
-    def steps_per_mm(self):
-        try:
-            return float(self.aux._cfg.get('steps_per_mm', 25.0))
-        except Exception:
-            return 25.0
-
-    @property
-    def dir_sign(self):
-        try:
-            v = int(self.aux._cfg.get('dir_sign', 1))
-            return -1 if v < 0 else 1
-        except Exception:
-            return 1
-
-    @property
-    def home_position_mm(self):
-        try:
-            return float(self.aux._cfg.get('home_position_mm', 0.0))
-        except Exception:
-            return 0.0
-
-    # ------------------------------------------------------- soft limits
-
-    def _soft_limits(self):
-        """Return (min_mm, max_mm) in machine coords, or (None, None)
-        if soft limits are disabled (max <= min)."""
-        try:
-            lo = float(self.aux._cfg.get('min_mm', 0.0))
-            hi = float(self.aux._cfg.get('max_mm', 0.0))
-        except Exception:
-            return (None, None)
-        if hi <= lo:
-            return (None, None)
-        return (lo, hi)
-
-    def _check_soft_limit(self, target_abs_mm):
-        """Raise ExternalAxisError if target_abs_mm is outside the
-        configured soft limits. Skips the check when the axis isn't
-        homed (matching the standard bbctrl convention that soft
-        limits are gated by homing state) - that lets the user jog
-        away from a stuck position before homing without false
-        rejections.
-
-        Called by both planner-driven motion (enqueue_target_mm) and
-        UI motion (execute_to_mm), so this is the single source of
-        truth regardless of which path triggered the move."""
-        # Honour the homing gate.
-        try:
-            homed = bool(self.aux._homed)
-        except Exception:
-            homed = False
-        if not homed:
-            return
-        lo, hi = self._soft_limits()
-        if lo is None:
-            return
-        # Use a tiny epsilon so floating-point round-trip targets
-        # right at the boundary aren't rejected.
-        eps = 1e-4
-        target = float(target_abs_mm)
-        if target < lo - eps or target > hi + eps:
-            raise ExternalAxisError(
-                '%s axis target %.4f mm is outside soft limits '
-                '[%.3f, %.3f] mm' % (
-                    self.axis_letter.upper(), target, lo, hi))
-
-    # ----------------------------------------------- Z-A coupling
-    #
-    # The auxiliary tool hangs below the Z spindle. Beyond a small
-    # Z descent the two collide unless A drops with Z. The
-    # constraint, in machine coords, is
-    #
-    #     A_machine - Z_machine <= K
-    #     K = (A_home_mm - z_home_mm) + couple_z_clearance_mm
-    #
-    # Enforced before any motion (planner blocks, MDI, jogs). The
-    # AuxPreprocessor injects pre-position A moves into uploaded
-    # files so well-formed gcode runs without having to think about
-    # this. Disabled when couple_z_enabled is false.
-
-    @property
-    def couple_z_enabled(self):
-        try:
-            return bool(self.aux._cfg.get('couple_z_enabled', False))
-        except Exception:
-            return False
-
-    @property
-    def couple_K(self):
-        """Limit constant K (machine-coord units): the maximum value
-        of (A_machine - Z_machine) before the tool collides. Returns
-        None if the rule isn't applicable (coupling disabled or
-        config missing)."""
-        try:
-            cfg = self.aux._cfg
-            clearance = float(cfg.get('couple_z_clearance_mm', 0.0))
-            a_home    = float(cfg.get('home_position_mm', 0.0))
-            z_home    = float(cfg.get('z_home_mm', 0.0))
-            return (a_home - z_home) + clearance
-        except Exception:
-            return None
-
-    @property
-    def couple_clearance_mm(self):
-        """Raw clearance from config: how far Z may travel below its
-        home before A has to start dropping with it. Used by the
-        AuxPreprocessor to inject pre-position A moves into uploaded
-        gcode."""
-        try:
-            return float(self.aux._cfg.get('couple_z_clearance_mm', 0.0))
-        except Exception:
-            return 0.0
-
-    def _z_machine_now(self):
-        """Read Z's current machine position from State, or None if
-        Z isn't homed/reported yet. The AVR reports absolute machine
-        positions in <axis>p; the work-coord display is computed by
-        the UI as zp - offset_z, but here we want machine directly."""
-        try:
-            st = self.ctrl.state
-            zp = st.get('zp', None)
-            if zp is None:
-                return None
-            return float(zp)
-        except Exception:
-            return None
-
-    def _a_machine_now(self):
-        """A's current machine position. ExternalAxis tracks this
-        directly in self._pos_mm (mm in machine coords - we don't
-        apply G92 to A internally; offset_a is informational)."""
-        try:
-            if self._pos_mm is not None:
-                return float(self._pos_mm)
-            # Fall back to whatever the ESP last reported.
-            return float(self.aux.position_mm)
-        except Exception:
-            return None
-
-    def coupling_for_preprocessor(self):
-        """Return the dict the AuxPreprocessor wants for in-file
-        injection, or None when coupling is off. We assume the
-        operator authors gcode in a frame where the at-home position
-        is A_wc=0, Z_wc=0 - which matches our home-zeroed setup.
-        Files that use a different convention will fall through to
-        the runtime check."""
-        if not self.couple_z_enabled:
-            return None
-        return {
-            'enabled':       True,
-            'clearance_mm':  self.couple_clearance_mm,
-            'a_initial_wc':  0.0,
-            'z_initial_wc':  0.0,
-        }
-
-    def check_coupling(self, target_a_machine=None, target_z_machine=None):
-        """Validate that a proposed motion respects the Z-A coupling.
-
-        Each argument is a target *machine* mm position; pass None to
-        keep the current value of that axis.
-
-        Improvement-aware: a move is rejected only when it *worsens*
-        an already-violating state (or moves a healthy state into
-        violation). Pure XY jogs that touch neither Z nor A are not
-        passed through here; jogs that hold Z or A at their current
-        value (gplan emits the unchanged value in `target`) pass
-        because (a-z) doesn't change. Z-up moves while in violation
-        also pass because they reduce (a-z) toward the bound.
-
-        Raises ExternalAxisError on violation. Skipped when coupling
-        is disabled, the aux axis isn't homed, or current positions
-        aren't yet known.
-        """
-        if not self.couple_z_enabled:
-            return
-        try:
-            homed = bool(self.aux._homed)
-        except Exception:
-            homed = False
-        if not homed:
-            return
-        K = self.couple_K
-        if K is None:
-            return
-        a_now = self._a_machine_now()
-        z_now = self._z_machine_now()
-        if a_now is None or z_now is None:
-            return
-        a_after = (float(target_a_machine)
-                   if target_a_machine is not None else a_now)
-        z_after = (float(target_z_machine)
-                   if target_z_machine is not None else z_now)
-        eps = 1e-4
-        gap_after  = a_after - z_after
-        gap_before = a_now   - z_now
-        # Only refuse when (a) the resulting state would violate the
-        # constraint AND (b) the move makes things at least as bad
-        # as the current state. This lets the operator escape an
-        # already-violating state by moving in the right direction
-        # (Z up, A down).
-        if gap_after > K + eps and gap_after > gap_before - eps:
-            raise ExternalAxisError(
-                'Z-A coupling violation: A=%.3f mm and Z=%.3f mm '
-                '(machine) would put A above Z by %.3f mm; max '
-                'allowed is %.3f mm. Drop A or raise Z first.' % (
-                    a_after, z_after, gap_after, K))
-
-    # ----------------------------------------------------------- conversion
-
-    def mm_to_steps_delta(self, delta_mm):
-        return int(round(float(delta_mm) * self.steps_per_mm * self.dir_sign))
-
-    def steps_to_mm(self, steps):
-        return (float(steps) / self.steps_per_mm) * self.dir_sign
-
-    # ---------------------------------------------------- synthetic motor
-
-    def _publish_synthetic_motor(self):
-        """Write motor-4 vars into State so find_motor('a') and
-        get_axis_vector('vm') see A as a real axis. The AVR never
-        sees these (motor index 4 is not in its var schema)."""
-        cfg = self.aux._cfg if self.aux is not None else {}
-        st = self.ctrl.state
-        i = str(EXTERNAL_MOTOR_INDEX)
-
-        # Axis assignment: 'an' is the 0-based axis index in xyzabc.
-        st.set(i + 'an', self.axis_index)
-        # Motor enabled.
-        st.set(i + 'me', 1 if (self.aux and self.aux.enabled) else 0)
-        # Homed flag - cleared until aux reports homed.
-        try:
-            homed = bool(self.aux._homed)
-        except Exception:
-            homed = False
-        st.set(i + 'h', 1 if homed else 0)
-
-        # Velocity / accel / jerk: the planner reads these via
-        # state.get_axis_vector('<code>', SCALE) which multiplies the
-        # stored raw value by SCALE. The bbctrl convention (matching
-        # what motors 0-3 store) is:
-        #   vm: stored in m/min, planner expects mm/min  (scale 1000)
-        #   am: stored in km/min^2, planner expects mm/min^2 (scale 1e6)
-        #   jm: stored in km/min^3, planner expects mm/min^3 (scale 1e6)
-        # Onefinity defaults for XY are vm=10, am=750, jm=1000. We
-        # follow the same convention; aux.json exposes the values in
-        # those user-facing units so they're directly comparable.
-        st.set(i + 'vm', float(cfg.get('max_velocity_m_per_min',  6.0)))
-        st.set(i + 'am', float(cfg.get('max_accel_km_per_min2', 100.0)))
-        st.set(i + 'jm', float(cfg.get('max_jerk_km_per_min3',  500.0)))
-
-        # Soft limits in machine units (mm). State.get_soft_limit_vector
-        # returns these directly, no scaling.
-        st.set(i + 'tn', float(cfg.get('min_mm', 0.0)))
-        st.set(i + 'tm', float(cfg.get('max_mm', 0.0)))
-
-        # home_position / home_travel are exposed as callbacks for
-        # motors 0..3 (see State.__init__). Register the same lazy
-        # callbacks for motor 4 so gplan's resolver lookup
-        # (_<axis>_home_position / _<axis>_home_travel) returns the
-        # right values for the external axis.
-        st.set_callback(
-            i + 'home_position', lambda name: self.home_position_mm)
-        st.set_callback(
-            i + 'home_travel',
-            lambda name: float(self.aux._cfg.get('max_mm', 0.0))
-                       - self.home_position_mm)
-
-        # Misc fields that other code paths might query. Defaults
-        # mirror what the AVR pushes for motors 0-3.
-        st.set(i + 'sa', 1.8)
-        st.set(i + 'mi', 16)
-        st.set(i + 'tr', 4.0)
-        st.set(i + 'sp', 200)
-        st.set(i + 'ic', 0.0)
-        st.set(i + 'dc', 0.0)
-        st.set(i + 'rv', False)
-        st.set(i + 'tc', 1)
-        st.set(i + 'lb', 5)
-        st.set(i + 'ho', 0)
-        st.set(i + 'os', 0)
-        st.set(i + 'oa', False)
-        st.set(i + 'lm', 8)
-        st.set(i + 'lv', 0.1)
-        st.set(i + 'sv', 1.688)
-        st.set(i + 'tv', 1.997)
-        st.set(i + 'lw', 2)   # min-switch
-        st.set(i + 'xw', 2)   # max-switch
-        st.set(i + 'ls', 0)
-        st.set(i + 'xs', 0)
-        st.set(i + 'df', 0)
-
-    def refresh_homed(self):
-        """Called when AuxAxis updates its homed flag. Mirrors into
-        State so is_axis_homed('a') returns the right answer.
-
-        Updates several places at once because different layers read
-        the homed state via different keys:
-          - synthetic motor flag: 4h    (used by snapshot -> a_h)
-          - axis-level flag:      a_homed (used by State.is_axis_homed
-                                           and gplan _a_homed resolver)"""
-        try:
-            homed = bool(self.aux._homed)
-        except Exception:
-            homed = False
-        st = self.ctrl.state
-        st.set(str(EXTERNAL_MOTOR_INDEX) + 'h', 1 if homed else 0)
-        st.set(self.axis_letter + '_homed', bool(homed))
-
-    # ----------------------------------------------------------- line split
-
-    def split_target(self, target):
-        """Pop the external axis out of a target dict and return
-        (target_without_ext, ext_mm_or_None). Both case variants
-        accepted defensively."""
-        if not target:
-            return target, None
-        ax = self.axis_letter
-        new_target = dict(target)
-        ext_mm = new_target.pop(ax, None)
-        if ext_mm is None:
-            ext_mm = new_target.pop(ax.upper(), None)
-        return new_target, ext_mm
-
-    # -------------------------------------------------------- execution API
-
-    def is_busy(self):
-        return self._busy.is_set()
-
-    def execute_to_mm(self, ext_mm):
-        """Synchronously run an external move. Blocks until the ESP
-        reports done. Used by the legacy /api/aux/move and /api/aux/jog
-        endpoints which may want to wait. Most planner-driven motion
-        goes through enqueue_target_mm instead, which is non-blocking.
-
-        Soft limits are enforced here (not just in gplan) because the
-        UI jog/move endpoints don't go through the planner.
-
-        Updates state.<axis>p immediately on completion. For the
-        planner-driven path that goes through enqueue_target_mm, the
-        AVR's own ap reports drive state.<axis>p instead."""
-        if not self.enabled:
-            raise ExternalAxisError(
-                'External axis %r not available (aux disabled or '
-                'not connected)' % self.axis_letter)
-
-        self._check_soft_limit(ext_mm)
-        # Coupling: A is in machine coords directly (we don't apply
-        # a G92 offset to A), so target_a_machine == ext_mm.
-        self.check_coupling(target_a_machine=ext_mm)
-        steps, abs_mm = self._compute_move(ext_mm)
-        if steps == 0:
-            self._pos_mm = abs_mm
-            self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
-            return
-
-        self._busy.set()
-        try:
-            self.aux._do_steps(steps, ignore_limits=True)
-            self._pos_mm = abs_mm
-            self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
-        finally:
-            self._busy.clear()
-
-    def enqueue_target_mm(self, ext_mm):
-        """Legacy non-blocking variant: post a fixed-rate STEPS move
-        to the worker queue. No longer used by Planner.__encode (which
-        uses enqueue_line for full S-curve mirroring), but kept for
-        UI jog endpoints that don't have planner timing data.
-
-        Soft limits are enforced here (defense in depth on top of
-        gplan)."""
-        if not self.enabled:
-            raise ExternalAxisError(
-                'External axis %r not available' % self.axis_letter)
-        self._check_soft_limit(ext_mm)
-        self.check_coupling(target_a_machine=ext_mm)
-        steps, abs_mm = self._compute_move(ext_mm)
-        # Internal mirror only - drives subsequent delta computation.
-        # state.<axis>p is left to the AVR's status reports.
-        self._pos_mm = abs_mm
-        if steps == 0:
-            return
-        self._work_q.put(('move', steps))
-
-    def enqueue_line(self, ext_mm, max_accel_mm_min2, max_jerk_mm_min3,
-                     entry_vel_mm_min, exit_vel_mm_min, times_ms):
-        """Post a full S-curve LINE block to the ESP worker. Mirrors
-        gplan's planned trajectory exactly (same 7-segment math, same
-        unit system) so the ESP's move duration matches what the AVR
-        would have produced for an A motor.
-
-        Called by Planner.__encode for every line block that touches
-        the external axis.
-
-        Parameters:
-          ext_mm:           absolute target in mm (gplan target['a'])
-          max_accel_mm_min2:from block['max-accel']
-          max_jerk_mm_min3: from block['max-jerk']
-          entry_vel_mm_min: from block['entry-vel'] (typically 0 for
-                            the first block, exit_vel of the prior
-                            block otherwise)
-          exit_vel_mm_min:  from block['exit-vel']
-          times_ms:         7-tuple of section durations in ms
-                            (block['times'] - the same units gplan uses)
-        """
-        if not self.enabled:
-            raise ExternalAxisError(
-                'External axis %r not available' % self.axis_letter)
-        self._check_soft_limit(ext_mm)
-        self.check_coupling(target_a_machine=ext_mm)
-        steps, abs_mm = self._compute_move(ext_mm)
-        delta_mm = abs(abs_mm - (self._pos_mm if self._pos_mm is not None
-                                 else 0.0))
-        # Update internal mirror; AVR drives state.<axis>p.
-        self._pos_mm = abs_mm
-        if steps == 0 or delta_mm <= 0:
-            return
-        # ms -> minutes (the unit gplan/AVR/ESP use internally for
-        # SCurve math).
-        times_min = tuple((t / 60000.0) if t else 0.0 for t in times_ms)
-        self._work_q.put(('line', steps, delta_mm,
-                          float(max_accel_mm_min2),
-                          float(max_jerk_mm_min3),
-                          float(entry_vel_mm_min),
-                          float(exit_vel_mm_min),
-                          times_min))
-
-    def _compute_move(self, ext_mm):
-        """Return (signed_steps, absolute_mm) for a target in mm.
-        Caches first-time position from the ESP."""
-        if self._pos_mm is None:
-            self._pos_mm = self._read_esp_position_mm()
-        delta_mm = float(ext_mm) - self._pos_mm
-        return self.mm_to_steps_delta(delta_mm), float(ext_mm)
-
-    def _worker_loop(self):
-        """Background thread that drains the work queue. RPCs to the
-        ESP are slow (multi-second moves) and must not run on the
-        ioloop thread. We serialize ESP commands here so multiple
-        line-block enqueues for the external axis are processed in
-        the order the planner emitted them."""
-        while not self._stop.is_set():
-            try:
-                op = self._work_q.get(timeout=0.5)
-            except Exception:
-                continue
-            if op is None:
-                continue
-            kind = op[0]
-            try:
-                self._busy.set()
-                if kind == 'move':
-                    steps = op[1]
-                    self.aux._do_steps(steps, ignore_limits=True)
-                elif kind == 'line':
-                    (_, steps, length_mm,
-                     max_accel, max_jerk,
-                     entry_vel, exit_vel,
-                     times_min) = op
-                    self.aux._do_line(
-                        steps, length_mm, max_accel, max_jerk,
-                        entry_vel, exit_vel, times_min,
-                        ignore_limits=True)
-                elif kind == 'home':
-                    self.aux.home()
-                    # _pos_mm and DRO updated by the caller's enqueue.
-            except Exception as e:
-                self.log.error('External axis worker failed on %s: %s'
-                               % (kind, e))
-            finally:
-                self._busy.clear()
-                self._work_q.task_done()
-
-    def wait_idle(self, timeout=None):
-        """Block until the worker queue is empty. Used by callers
-        that need post-motion state to be settled (e.g. homing,
-        stop/abort handlers)."""
-        try:
-            # Queue.join blocks until task_done has been called for
-            # every item put. It does not honour a timeout, so we
-            # poll instead when one is requested.
-            if timeout is None:
-                self._work_q.join()
-                return True
-            import time
-            deadline = time.time() + float(timeout)
-            while time.time() < deadline:
-                if self._work_q.unfinished_tasks == 0:
-                    return True
-                time.sleep(0.05)
-            return False
-        except Exception:
-            return False
-
-    def close(self):
-        self._stop.set()
-        try:
-            self._work_q.put(None, block=False)
-        except Exception:
-            pass
-
-    def home(self):
-        """Run the ESP homing cycle and sync our recorded position
-        to the configured home_position_mm. Blocks; called from
-        Mach.home (which already runs synchronously per axis)."""
-        if not self.enabled:
-            raise ExternalAxisError(
-                'External axis %r not available' % self.axis_letter)
-        # Drain pending moves so we don't home into stale work.
-        self.wait_idle(timeout=30.0)
-        self._busy.set()
-        try:
-            self.aux.home()
-            self._pos_mm = self.home_position_mm
-            self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
-            self.refresh_homed()
-        finally:
-            self._busy.clear()
-
-    def abort(self):
-        """Cancel the ESP move and drop pending queued work.
-        Caller (estop / stop handler) is responsible for the
-        planner-side cleanup."""
-        try:
-            if self.aux is not None:
-                self.aux.abort()
-        finally:
-            self._busy.clear()
-        # Drain any pending ops so resume after an abort doesn't
-        # replay stale targets.
-        try:
-            while True:
-                self._work_q.get_nowait()
-                self._work_q.task_done()
-        except Exception:
-            pass
-
-    # ------------------------------------------------------- ESP introspection
-
-    def _read_esp_position_mm(self):
-        """Convert AuxAxis._pos_steps mirror to mm. Falls back to 0."""
-        try:
-            steps = int(self.aux._pos_steps)
-        except Exception:
-            steps = 0
-        return self.steps_to_mm(steps)
-
-    # ---------------------------------------------------------- DRO update
-
-    def sync_dro(self):
-        """Push the current position to State as <axis>p so the DRO
-        reflects what we believe gplan/ESP agreed on. Called after
-        moves; also safe to call from external code."""
-        if self._pos_mm is None:
-            return
-        self.ctrl.state.set(self.axis_letter + 'p', self._pos_mm)
--- a/src/py/bbctrl/FileHandler.py
+++ b/src/py/bbctrl/FileHandler.py
@@ -99,38 +99,18 @@ class FileHandler(bbctrl.APIHandler):

            del (self.uploadFile)

-            # If the uploaded G-code uses ATC M-codes (M100..M103),
-            # rewrite them into (MSG,HOOK:droptool:) etc so the hook
-            # layer can dispatch them at runtime. The planner accepts
-            # M100-M103 in user-defined range but doesn't *do* anything
-            # with them. Motion in A goes through gplan unchanged - the
-            # auxcnc stepper is exposed as a virtual A axis (see
-            # ExternalAxis).
+            # If the uploaded G-code uses the virtual W axis, rewrite the
+            # file in place so the planner sees (MSG,HOOK:aux:*) lines
+            # instead of W tokens it can't parse.
            try:
-                from bbctrl.AuxPreprocessor import (
-                    preprocess_file, AuxPreprocessorError)
+                from bbctrl.AuxPreprocessor import preprocess_file
                log = self.get_log('AuxPreprocessor')
-                ext = getattr(self.get_ctrl(), 'ext_axis', None)
-                coupling = (ext.coupling_for_preprocessor()
-                            if ext is not None else None)
-                try:
-                    if preprocess_file(filename.decode('utf8'),
-                                       log=log, coupling=coupling):
-                        log.info('Rewrote upload (ATC / Z-A coupling) in %s'
-                                 % self.uploadFilename)
-                except AuxPreprocessorError as e:
-                    # Surface coupling-violation errors to the operator
-                    # via the message stream so the upload doesn't go
-                    # silently un-rewritten and then trip the runtime
-                    # check (which can hang the planner dialog).
-                    log.warning('Aux preprocess refused upload: %s' % e)
-                    try:
-                        self.get_ctrl().state.add_message(
-                            'Z-A coupling: ' + str(e))
-                    except Exception: pass
+                if preprocess_file(filename.decode('utf8'), log=log):
+                    log.info('Rewrote W-axis tokens in %s' %
+                             self.uploadFilename)
            except Exception:
                self.get_log('AuxPreprocessor').exception(
-                    'Aux preprocess failed; uploading unchanged')
+                    'W-axis preprocess failed; uploading unchanged')

            self.get_ctrl().preplanner.invalidate(self.uploadFilename)
            self.get_ctrl().state.add_file(self.uploadFilename)
--- a/src/py/bbctrl/Hooks.py
+++ b/src/py/bbctrl/Hooks.py
@@ -201,15 +201,7 @@ class Hooks:
                    # Cancel any running hook on estop. The hook thread
                    # cannot be killed from Python, but we can ask the
                    # AuxAxis to send ABORT to the ESP so its in-flight
-                    # motion stops. Also drain the external-axis
-                    # worker queue so resume after clear doesn't replay
-                    # stale moves.
-                    try:
-                        ext = getattr(self.ctrl, 'ext_axis', None)
-                        if ext is not None:
-                            ext.abort()
-                    except Exception:
-                        pass
+                    # motion stops.
                    if self._hook_busy:
                        self.log.warning('E-stop: cancelling hook "%s"' %
                                         self._hook_busy_event)
@@ -257,23 +249,6 @@ class Hooks:

    # -- Hook execution --

-    def dispatch_hook_message(self, text):
-        """Direct entry point for HOOK:<event>:<data> messages emitted
-        by the planner via (MSG,HOOK:...) comments. Bypasses the
-        state.messages list (which the UI also reads), so callers can
-        suppress popup display without losing the hook dispatch.
-
-        Returns True if the text matched a HOOK: line and was
-        dispatched, False otherwise."""
-        if not isinstance(text, str) or not text.startswith('HOOK:'):
-            return False
-        parts = text[5:].split(':', 1)
-        event = parts[0]
-        data = parts[1] if len(parts) > 1 else ''
-        self._fire('custom', {'event': event, 'data': data},
-                   custom_name=event)
-        return True
-
    def register_internal(self, name, fn, block_unpause=True,
                          auto_resume=True, timeout=120):
        """Register an in-process handler for HOOK:<name> events.
--- a/src/py/bbctrl/Jog.py
+++ b/src/py/bbctrl/Jog.py
@@ -25,21 +25,10 @@
 #                                                                              #
 ################################################################################

-import os
-import threading
-import time
-
 import inevent
 from inevent.Constants import *


-# Set to True (or BBCTRL_AJOG_DRYRUN=1 in env) to log press/release
-# events and would-be ESP commands without actually sending JOG /
-# JOGSTOP. Useful for debugging the gamepad event path without
-# touching the gantry. Defaults to live actuation.
-A_DRY_RUN = os.environ.get('BBCTRL_AJOG_DRYRUN', '') == '1'
-
-
 # Listen for input events
 class Jog(inevent.JogHandler):
    def __init__(self, ctrl):
@@ -62,23 +51,12 @@ class Jog(inevent.JogHandler):
                "dir":      [1, -1, -1, 1],
                "arrows":   [ABS_HAT0X, ABS_HAT0Y],
                "speed":    [0x133, 0x130, 0x131, 0x134],
-                "lock":     [0x136],          # L1 = horiz-lock; RB/RT now A axis
-                # Right back controls drive the A axis while held.
-                # Verified on Xbox 360 pad (Vendor=045e Product=028e):
-                #   RB (upper-right bumper)  -> BTN_TR (0x137) digital -> A+
-                #   RT (lower-right trigger) -> ABS_RZ analog 0..255   -> A-
-                # Some pads expose RT as BTN_TR2 (0x139) instead -- that
-                # works too via a_neg_btn.
-                "a_pos_btn": 0x137,
-                "a_neg_btn": 0x139,
-                "a_neg_abs": ABS_RZ,
-                "a_abs_thresh": 32,         # 0..255 trigger press threshold
+                "lock":     [0x136, 0x137],
            }
        }

        super().__init__(config)

-        self.a_button = 0  # -1, 0, +1 from RB / RT hold state
        self.v = [0.0] * 4
        self.lastV = self.v
        self.callback()
@@ -86,276 +64,6 @@ class Jog(inevent.JogHandler):
        self.processor = inevent.InEvent(ctrl.ioloop, self, types = ['js'])


-    # -------- A-axis (external, ESP-driven) hold-to-jog ---------------
-    #
-    # The Mach jog path only knows about AVR axes; the A axis is
-    # handled by ExternalAxis on the auxcnc ESP, which has a proper
-    # JOG / JOGSTOP protocol added for hold-to-jog: ramp up on press,
-    # cruise while held, ramp down on release.
-    #
-    # Speed buttons (X/A/B/Y) scale the cruise rate (1/128, 1/32,
-    # 1/4, 1.0x of the configured step_max_sps).
-    def _a_speed_scale(self):
-        if self.speed == 1: return 1.0 / 128.0
-        if self.speed == 2: return 1.0 / 32.0
-        if self.speed == 3: return 1.0 / 4.0
-        return 1.0
-
-    def _a_stop(self):
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        ext_state = ('present' if (ext is not None and ext.enabled)
-                     else 'unavailable')
-        if A_DRY_RUN:
-            self.log.info('AJOG DRYRUN _a_stop  ext=%s  (would send JOGSTOP)',
-                          ext_state)
-            return
-        if ext is None or not ext.enabled:
-            return
-        try:
-            ext.aux.jog_stop()
-        except Exception as e:
-            self.log.warning('A-axis jog_stop failed: %s', e)
-
-    def _a_soft_limit_target_steps(self, aux, direction):
-        """Return a step-counter target for the configured soft
-        limit (`min_mm` / `max_mm`) on the `direction` side of the
-        current position, or None when no limit applies (axis
-        unhomed or limits not configured)."""
-        try:
-            if not bool(aux._homed):
-                return None
-            cfg = aux._cfg
-            lo_mm = float(cfg.get('min_mm', 0.0))
-            hi_mm = float(cfg.get('max_mm', 0.0))
-            if hi_mm <= lo_mm:
-                return None
-            lo_steps = aux._mm_to_steps(lo_mm)
-            hi_steps = aux._mm_to_steps(hi_mm)
-            # _mm_to_steps applies dir_sign; sort so we know which
-            # is "more positive in g_pos".
-            top_steps    = max(lo_steps, hi_steps)
-            bottom_steps = min(lo_steps, hi_steps)
-            return top_steps if direction > 0 else bottom_steps
-        except Exception:
-            return None
-
-    def _a_coupling_target_steps(self, ext, direction):
-        """Return a step-counter target that prevents the Z-A
-        coupling rule (a - z <= K) from being violated by this jog.
-        Returns None when coupling is disabled or doesn't constrain
-        motion in `direction`.
-
-        The constraint is on machine-mm: the rule limits how far A
-        may go *up* (toward larger machine A) for the current Z. So
-        only the +A jog direction can ever violate it; -A jogs are
-        unconstrained by coupling and we return None for them.
-
-        Note: 'direction' here refers to the gamepad axis sign, not
-        machine-mm. dir_sign in aux config maps gamepad+ to
-        machine+ steps. We translate via the existing
-        ext._a_machine_now / aux._mm_to_steps so the result is in
-        the same g_pos space as _a_soft_limit_target_steps."""
-        try:
-            if not ext.couple_z_enabled:
-                return None
-            if not bool(ext.aux._homed):
-                return None
-            K = ext.couple_K
-            if K is None:
-                return None
-            z_now = ext._z_machine_now()
-            if z_now is None:
-                return None
-            # Max permitted A in machine-mm: a_max = z_now + K.
-            a_max_mm = float(z_now) + float(K)
-            a_max_steps = ext.aux._mm_to_steps(a_max_mm)
-            # The coupling only caps the *upper* side (more-positive
-            # machine A). With dir_sign=+1 that's g_pos+; with
-            # dir_sign=-1 it's g_pos-. Jogs in the opposite gamepad
-            # direction don't approach the coupling bound, return
-            # None so the soft-limit target alone applies.
-            dir_sign = 1 if int(ext.aux._cfg.get('dir_sign', 1)) >= 0 else -1
-            # Gamepad+ moves toward larger machine-mm when dir_sign>0.
-            machine_dir = direction * dir_sign
-            if machine_dir <= 0:
-                return None
-            return a_max_steps
-        except Exception:
-            return None
-
-    def _a_combined_target_steps(self, ext, direction):
-        """Pick the more restrictive of soft-limit and coupling
-        targets. Returns (target_steps, source_label) where
-        target_steps is None when neither rule applies."""
-        soft = self._a_soft_limit_target_steps(ext.aux, direction)
-        couple = self._a_coupling_target_steps(ext, direction)
-        if soft is None and couple is None:
-            return None, 'none'
-        if soft is None:    return couple, 'coupling'
-        if couple is None:  return soft,   'softlimit'
-        # Both present: pick whichever is reached first when moving
-        # in `direction` from the current g_pos.
-        try:
-            cur = int(ext.aux._pos_steps)
-        except Exception:
-            cur = 0
-        if direction > 0:
-            return ((soft, 'softlimit') if soft <= couple
-                    else (couple, 'coupling'))
-        else:
-            return ((soft, 'softlimit') if soft >= couple
-                    else (couple, 'coupling'))
-
-    def _a_start(self, direction):
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        ext_state = ('present' if (ext is not None and ext.enabled)
-                     else 'unavailable')
-        scale = self._a_speed_scale()
-        target_steps = None
-        target_src = 'none'
-        cur_steps = None
-        if ext is not None and ext.enabled:
-            target_steps, target_src = self._a_combined_target_steps(
-                ext, direction)
-            try: cur_steps = int(ext.aux._pos_steps)
-            except Exception: cur_steps = None
-        if A_DRY_RUN:
-            try:
-                step_max = (int(ext.aux._cfg['step_max_sps'])
-                            if ext is not None and ext.enabled else -1)
-                accel = (int(ext.aux._cfg['step_accel_sps2'])
-                         if ext is not None and ext.enabled else -1)
-            except Exception:
-                step_max, accel = -1, -1
-            self.log.info(
-                'AJOG DRYRUN _a_start dir=%+d ext=%s speed=%d scale=%.4f '
-                'step_max=%d accel=%d cur_steps=%s target_steps=%s '
-                'target_src=%s (would send JOG)',
-                direction, ext_state, self.speed, scale, step_max, accel,
-                cur_steps, target_steps, target_src)
-            return
-        if ext is None or not ext.enabled or direction == 0:
-            return
-        try:
-            aux = ext.aux
-            max_rate = max(1, int(int(aux._cfg['step_max_sps']) * scale))
-            accel    = int(aux._cfg['step_accel_sps2'])
-            # If the axis is already at-or-past the more-restrictive
-            # boundary (soft limit OR Z-A coupling) in the requested
-            # direction, refuse the jog rather than sending a
-            # wrong-side target the ESP would reject.
-            if target_steps is not None and cur_steps is not None:
-                at_limit = ((direction > 0 and cur_steps >= target_steps)
-                            or (direction < 0 and cur_steps <= target_steps))
-                if at_limit:
-                    self.log.info(
-                        'A-axis jog refused: at %s limit '
-                        '(cur=%d target=%d dir=%+d)',
-                        target_src, cur_steps, target_steps, direction)
-                    return
-            # ignore_limits=True (safe=0) when the axis is unhomed:
-            # pendant jog is allowed before homing for setup. When
-            # homed, soft limits AND Z-A coupling are enforced via
-            # target_steps and the ESP's hardware-limit abort still
-            # applies unconditionally (movingTowardLimit in
-            # jogTask).
-            ignore = not bool(aux._homed)
-            aux.jog_start(direction,
-                          max_rate_sps=max_rate,
-                          accel_sps2=accel,
-                          ignore_limits=ignore,
-                          target_steps=target_steps)
-            if target_steps is not None:
-                self.log.info(
-                    'A-axis jog_start dir=%+d cur=%d target=%d (%s)',
-                    direction, cur_steps, target_steps, target_src)
-        except Exception as e:
-            self.log.warning('A-axis jog_start failed: %s', e)
-
-    def _a_apply(self, new_dir, old_dir):
-        if new_dir == old_dir:
-            return
-        # On any state change we stop the current jog and (if the
-        # new direction is non-zero) start a fresh one. JOG / JOGSTOP
-        # are non-blocking on the host side.
-        if old_dir != 0:
-            self._a_stop()
-        if new_dir != 0:
-            self._a_start(new_dir)
-
-    def _a_resync_pos(self):
-        """Pull the ESP step counter back into ExternalAxis after a
-        JOG ends, so subsequent gplan-driven A motion computes the
-        right delta. Called opportunistically on state changes; the
-        AuxAxis reader also updates _pos_steps from the terminal
-        [jog] done line."""
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is None or not ext.enabled:
-            return
-        try:
-            ext._pos_mm = ext.aux.position_mm
-            self.ctrl.state.set(ext.axis_letter + 'p', ext._pos_mm)
-        except Exception:
-            pass
-
-
-    def event(self, event, state, dev_name):
-        cfg = self.get_config(dev_name)
-        old = self.a_button
-
-        # DEBUG: log EVERY incoming gamepad event so we can see
-        # exactly what the pendant is producing on press/release.
-        # Skip noisy stick / report-syn events to keep the journal
-        # readable but log all KEY events and any ABS event whose
-        # code matches one we care about.
-        try:
-            tname = ev_type_name.get(event.type, '?')
-        except Exception:
-            tname = '?'
-        if event.type == EV_KEY:
-            self.log.info(
-                'AJOG EV dev=%r type=%s(%d) code=0x%x val=%d '
-                'cfg.a_pos_btn=0x%x cfg.a_neg_btn=0x%x',
-                dev_name, tname, event.type, event.code, event.value,
-                cfg.get('a_pos_btn', 0), cfg.get('a_neg_btn', 0))
-        elif event.type == EV_ABS and event.code in (
-                cfg.get('a_neg_abs', -1),
-                cfg.get('a_pos_abs', -1)):
-            self.log.info(
-                'AJOG EV dev=%r type=%s(%d) code=0x%x val=%d (trigger ABS)',
-                dev_name, tname, event.type, event.code, event.value)
-
-        if event.type == EV_KEY:
-            if event.code == cfg.get('a_pos_btn'):
-                if event.value: self.a_button = 1
-                elif self.a_button == 1: self.a_button = 0
-            elif event.code == cfg.get('a_neg_btn'):
-                if event.value: self.a_button = -1
-                elif self.a_button == -1: self.a_button = 0
-
-        elif event.type == EV_ABS:
-            thresh = cfg.get('a_abs_thresh', 32)
-            if event.code == cfg.get('a_neg_abs'):
-                if event.value >= thresh: self.a_button = -1
-                elif self.a_button == -1: self.a_button = 0
-
-        if self.a_button != old:
-            self.log.info(
-                'AJOG STATE %+d -> %+d  (t=%.3f dry_run=%s)',
-                old, self.a_button, time.monotonic(), A_DRY_RUN)
-            self._a_apply(self.a_button, old)
-            # On every release pull a fresh position mirror in case
-            # the user does a gplan-driven A move next. The terminal
-            # [jog] done line itself already updates aux._pos_steps;
-            # this propagates that into ExternalAxis._pos_mm.
-            if self.a_button == 0 and not A_DRY_RUN:
-                # Wait briefly so the [jog] done line has time to
-                # arrive before we read aux.position_mm.
-                self.ctrl.ioloop.call_later(0.2, self._a_resync_pos)
-
-        super().event(event, state, dev_name)
-
-
    def up(self): self.ctrl.lcd.page_up()
    def down(self): self.ctrl.lcd.page_down()
    def left(self): self.ctrl.lcd.page_left()
@@ -382,7 +90,4 @@ class Jog(inevent.JogHandler):
        if self.speed == 2: scale = 1.0 / 32.0
        if self.speed == 3: scale = 1.0 / 4.0

-        # axes[3] is left untouched by RB/RT -- the A axis is the
-        # ESP-driven external axis on this branch and is jogged via
-        # discrete relative moves through ExternalAxis (see _a_pump).
        self.v = [x * scale for x in self.axes]
--- a/src/py/bbctrl/Log.py
+++ b/src/py/bbctrl/Log.py
@@ -182,11 +182,4 @@ class Log(object):
            if n == 16: os.unlink(fullpath)
            else: self._rotate(path, nextN)

-            # The recursive call may have unlinked or rotated this
-            # path; tolerate a missing source rather than crashing
-            # bbctrl on startup. This also tolerates concurrent
-            # logrotate runs from /etc/cron.reboot.
-            try:
-                os.rename(fullpath, '%s.%d' % (path, nextN))
-            except FileNotFoundError:
-                pass
+            os.rename(fullpath, '%s.%d' % (path, nextN))
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -95,10 +95,6 @@ class Mach(Comm):
        self.planner = bbctrl.Planner(ctrl)
        self.unpausing = False
        self.stopping = False
-        # Guard against overlapping deferred-external-homing threads
-        # if the user clicks Home (All) again while the previous run
-        # is still waiting for the AVR cycle to finish.
-        self._ext_home_thread = None

        ctrl.state.set('cycle', 'idle')

@@ -260,12 +256,9 @@ class Mach(Comm):
            if   cmd[0] == '$':  self._query_var(cmd)
            elif cmd[0] == '\\': super().queue_command(cmd[1:])
            else:
-                # Rewrite ATC M-codes in MDI input the same way the
-                # FileHandler rewrites uploaded files. Motion (X/Y/Z/A)
-                # is left unchanged: the planner handles it natively
-                # now that the auxcnc stepper is exposed as a virtual
-                # A axis (see ExternalAxis).
-                cmd = self._rewrite_aux_mdi(cmd)
+                # Rewrite W-axis tokens in MDI input the same way the
+                # FileHandler rewrites uploaded files.
+                cmd = self._rewrite_w_mdi(cmd)
                self._begin_cycle('mdi')
                self.planner.mdi(cmd, with_limits)
                super().resume()
@@ -273,12 +266,12 @@ class Mach(Comm):
            self.mlog.info("Exception during MDI: %s" % err)
            pass

-    def _rewrite_aux_mdi(self, cmd):
-        """Apply the ATC M-code preprocessor to a single MDI line.
-        Returns possibly-multi-line G-code with HOOK: comments inserted."""
+    def _rewrite_w_mdi(self, cmd):
+        """Apply the W-axis preprocessor to a single MDI line. Returns
+        possibly-multi-line G-code with HOOK: comments inserted."""
        try:
-            from bbctrl.AuxPreprocessor import AuxPreprocessor, _ATC_M_RE
-            if not _ATC_M_RE.search(cmd):
+            from bbctrl.AuxPreprocessor import AuxPreprocessor, _W_TOKEN_RE
+            if not _W_TOKEN_RE.search(cmd):
                return cmd
            import io, tempfile, os
            # AuxPreprocessor.process is file-based; route through
@@ -299,7 +292,7 @@ class Mach(Comm):
                except OSError: pass
            return rewritten
        except Exception as e:
-            self.mlog.warning('Aux MDI rewrite failed: %s' % e)
+            self.mlog.warning('W-axis MDI rewrite failed: %s' % e)
            return cmd

    def set(self, code, value):
@@ -307,17 +300,6 @@ class Mach(Comm):


    def jog(self, axes):
-        # Strip the external axis from the jog request before sending
-        # to the AVR. v1 doesn't support continuous-rate jogging on
-        # the ESP-driven axis - users jog A via /api/aux/jog (relative
-        # mm steps) instead. Sending A to the AVR is harmless (no
-        # motor maps to it) but cleaner to strip.
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is not None and isinstance(axes, dict):
-            axes = {k: v for k, v in axes.items()
-                    if k.lower() != ext.axis_letter}
-            if not axes:
-                return
        self._begin_cycle('jogging')
        self.planner.position_change()
        super().queue_command(Cmd.jog(axes))
@@ -331,52 +313,10 @@ class Mach(Comm):
            axes = 'zxybc' if is_rotary_active else 'zxyabc' # TODO This should be configurable
        else: axes = '%c' % axis

-        # Collect external axes here and process them *after* every
-        # AVR axis above has finished its homing cycle. Without this,
-        # the AVR is still running Z/X/Y homing G-code in the
-        # planner queue while ext.home() synchronously drives the ESP
-        # to home A in parallel - which is unsafe (the gantry and W
-        # axis can move at the same time) and visually confusing.
-        # We defer external homing to a background thread that
-        # polls cycle until the AVR cycle completes.
-        external_pending = []
-
        for axis in axes:
            enabled = state.is_axis_enabled(axis)
            mode = state.axis_homing_mode(axis)

-            # External axes (e.g. the auxcnc-driven A axis) home via
-            # their own ESP-side homing routine; the standard
-            # G28.2 / G38.6 / latch sequence doesn't apply.
-            #
-            # After homing we want a deterministic outcome regardless
-            # of where the user was before:
-            #   physical position = home_position_mm   (e.g. 134 mm)
-            #   work-coord origin = home position      (user A = 0)
-            #   work offset       = home_position_mm   (so abs - off = 0)
-            #
-            # ext.home() blocks on the ESP and updates state.ap to
-            # home_position_mm. We then need to tell the AVR (so its
-            # ex.position[A] matches physical reality) and gplan
-            # (so trajectory planning sees abs at home).
-            #
-            # We deliberately avoid G28.3 here: gplan's G28.3 keeps the
-            # current user-coord position fixed and adjusts the offset
-            # to match the new abs, which means re-homing after a move
-            # accumulates offset (134 -> 268 -> ...). Using G92 a0
-            # *after* syncing abs gives the desired "user A = 0 here"
-            # outcome with offset = home_position every time.
-            ext = getattr(self.ctrl, 'ext_axis', None)
-            if ext is not None and ext.enabled \
-                    and ext.axis_letter == axis.lower():
-                if 1 < len(axes) and not enabled:
-                    continue
-                # Defer until AVR axes are done. We capture the axis
-                # letter and ext reference; the actual homing runs
-                # in _run_external_homing below.
-                external_pending.append((axis, ext))
-                continue
-
            # If this is not a request to home a specific axis and the
            # axis is disabled or in manual homing mode, don't show any
            # warnings
@@ -407,138 +347,8 @@ class Mach(Comm):
            self.planner.mdi(gcode, False)
            super().resume()

-        # Kick off the deferred external-axis homing on a background
-        # thread so we don't block the HTTP handler (which is on the
-        # IOLoop) waiting for the AVR cycle to finish.
-        if external_pending:
-            prev = self._ext_home_thread
-            if prev is not None and prev.is_alive():
-                self.mlog.info(
-                    'External homing already in progress; ignoring '
-                    'duplicate request')
-            else:
-                import threading
-                t = threading.Thread(
-                    target=self._run_external_homing,
-                    args=(list(external_pending),),
-                    name='ext-home-deferred',
-                    daemon=True)
-                self._ext_home_thread = t
-                t.start()

-    def _run_external_homing(self, pending):
-        """Background worker: wait for the AVR cycle to drop to idle
-        (meaning all queued AVR-side homing is done), then run each
-        deferred external-axis home in order.
-
-        We split the work between two threads:
-          - this background thread blocks on the ESP serial RPC
-            (ext.home(), which can take 5-10 seconds while the
-            carriage seeks the limit and backs off twice);
-          - small bookkeeping operations that touch gplan, the AVR
-            command queue, or shared State are scheduled back onto
-            the IOLoop via ctrl.ioloop.add_callback() so we don't
-            race with the rest of the controller.
-        """
-        import time
-        # Wait up to 5 minutes for the AVR cycle to leave 'homing'.
-        # Long enough for any reasonable Onefinity full-travel home
-        # (Y axis at slow rate covers ~800 mm).
-        deadline = time.time() + 300.0
-        while time.time() < deadline:
-            cycle = self._get_cycle()
-            # 'homing' is the AVR's homing cycle; we wait for it to
-            # return to idle. If the user estopped or the cycle was
-            # aborted, cycle goes to idle too - we still proceed and
-            # the external home will fail-soft if conditions are wrong.
-            if cycle == 'idle':
-                break
-            time.sleep(0.1)
-        else:
-            self.mlog.error(
-                'External axis homing aborted: AVR cycle did not '
-                'return to idle within timeout')
-            return
-
-        for axis, ext in pending:
-            self.mlog.info('Homing external %s axis via auxcnc' %
-                           axis.upper())
-            # Begin the cycle on the IOLoop so cycle-state writes go
-            # through the same thread that all other state writes do.
-            self.ctrl.ioloop.add_callback(self._begin_cycle, 'homing')
-            try:
-                # ext.home() runs on this background thread - it
-                # blocks on serial I/O and is fully thread-safe (the
-                # AuxAxis driver has its own RPC lock).
-                ext.home()
-                home_mm = ext.home_position_mm
-                # All of the post-home bookkeeping touches gplan and
-                # the AVR command queue, both of which run on the
-                # IOLoop. Schedule it there in a single callback so
-                # the steps run in order without intervening events.
-                self.ctrl.ioloop.add_callback(
-                    self._finish_external_home, axis, home_mm)
-            except Exception as e:
-                self.mlog.error(
-                    'External axis homing failed: %s' % e)
-                # Cycle reset must also happen on the IOLoop. Without
-                # this the UI stays locked at 'homing' since the AVR
-                # never moved (no state change to drive _update's
-                # cycle-end path).
-                self.ctrl.ioloop.add_callback(
-                    self._abort_external_home_cycle)
-
-    def _finish_external_home(self, axis, home_mm):
-        """IOLoop-side completion of an external axis home.
-        Synchronizes AVR position, refreshes the planner, and emits
-        a G92 to set the user-coord origin at the home position.
-        """
-        try:
-            # 1) Update AVR: no motor steps, just position sync.
-            super().queue_command(Cmd.set_axis(axis, home_mm))
-            # 2) Force planner to resync abs from State on the next
-            #    planner call (which is the MDI below).
-            self.planner.position_change()
-            # 3) G92 <axis>0: with abs already at home_mm, sets
-            #    user-coord A = 0 and offset = home_mm. Use
-            #    planner.mdi (not Mach.mdi) so we don't flip cycle
-            #    to 'mdi' inside the 'homing' cycle.
-            self.planner.mdi('G92 %c0' % axis, False)
-            super().resume()
-        except Exception:
-            self.mlog.exception(
-                'Post-home bookkeeping failed for external axis')
-            self._abort_external_home_cycle()
-
-    def _abort_external_home_cycle(self):
-        """Reset cycle to idle from the IOLoop after a failed
-        external axis home. The AVR never moved so _update's normal
-        cycle-end path won't fire; do it explicitly here.
-        """
-        if self._get_cycle() == 'homing':
-            try:
-                self._set_cycle('idle')
-            except Exception:
-                self.mlog.exception(
-                    'Failed to reset cycle to idle after external '
-                    'homing error')
-
-
-    def unhome(self, axis):
-        # External axes don't have AVR-side homed state to clear; the
-        # ESP holds its own homed flag. We don't have an explicit
-        # "unhome" verb on the ESP, but a stale homed flag is harmless
-        # because the next absolute move will fail-soft via
-        # ExternalAxis._pos_mm sync. Still mirror the cleared flag
-        # into State for the UI.
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is not None and ext.enabled \
-                and chr(axis).lower() == ext.axis_letter:
-            from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
-            self.ctrl.state.set('%dh' % EXTERNAL_MOTOR_INDEX, 0)
-            self.ctrl.state.set(ext.axis_letter + '_homed', False)
-            return
-        self.mdi('G28.2 %c0' % axis)
+    def unhome(self, axis): self.mdi('G28.2 %c0' % axis)
    def estop(self): super().estop()


@@ -565,12 +375,6 @@ class Mach(Comm):
    def stop(self):
        if self._get_state() != 'jogging': self.stopping = True
        super().i2c_command(Cmd.STOP)
-        # Drain the external-axis worker queue so post-stop resumption
-        # doesn't replay queued moves that the user wanted cancelled.
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is not None:
-            try: ext.abort()
-            except Exception: pass
        
    def pause(self): super().pause()

--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -27,26 +27,10 @@

 import json
 import math
-import os
 import re
 import time
 from collections import deque
-# camotics.gplan is heavy (loads a C++ extension that pulls in libstdc++,
-# boost::python, etc.). Defer it: bbctrl can listen on HTTP and serve
-# the UI without ever touching the planner. Lazy-load the first time
-# Planner.init() runs, which is when the user actually queues motion.
-gplan = None
-def _load_gplan():
-    global gplan
-    if gplan is None:
-        try:
-            import bbctrl.Trace as _T
-            with _T.span('imports.camotics_gplan'):
-                import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
-        except Exception:
-            import camotics.gplan as _gplan # pylint: disable=no-name-in-module,import-error
-        gplan = _gplan
-    return gplan
+import camotics.gplan as gplan # pylint: disable=no-name-in-module,import-error
 import bbctrl.Cmd as Cmd
 from bbctrl.CommandQueue import CommandQueue

@@ -77,10 +61,6 @@ class Planner():
        self.planner = None
        self._position_dirty = False
        self.where = ''
-        # Tracks the rewritten temp file (if any) returned by the
-        # AuxPreprocessor for the currently-loaded program. We delete
-        # it on the next load() so it doesn't pile up under /tmp.
-        self._aux_tempfile = None

        ctrl.state.add_listener(self._update)

@@ -201,23 +181,12 @@ class Planner():


    def _add_message(self, text):
+        self.ctrl.state.add_message(text)
+
        line = self.ctrl.state.get('line', 0)
        if 0 <= line: where = '%s:%d' % (self.where, line)
        else: where = self.where

-        # HOOK:<event>:<data> messages are an internal IPC channel
-        # between the gcode preprocessor and Hooks; bypass the user
-        # message list so they don't surface as popups, and dispatch
-        # the hook directly. Routing through state.messages would
-        # only deliver it after the 0.25s state-change debounce, by
-        # which point we'd have to keep it visible to ensure Hooks
-        # could see it.
-        hooks = getattr(self.ctrl, 'hooks', None)
-        if hooks is not None and hooks.dispatch_hook_message(text):
-            self.log.info('HOOK msg: %s' % text, where = where)
-            return
-
-        self.ctrl.state.add_message(text)
        self.log.message(text, where = where)


@@ -275,54 +244,6 @@ class Planner():
        if type != 'set': self.log.info('Cmd:' + log_json(block))

        if type == 'line':
-            # Z-A coupling check: every line block that touches Z (or
-            # A) is validated against the projected (A,Z) machine
-            # pair. The ExternalAxis check is improvement-aware: it
-            # only refuses moves that worsen an existing violation
-            # or push a healthy state into one. So pure-XY jogs and
-            # recovery moves (Z up, A down) are not rejected even
-            # when (A-Z) is currently above the bound.
-            ext_check = getattr(self.ctrl, 'ext_axis', None)
-            if ext_check is not None:
-                from bbctrl.ExternalAxis import ExternalAxisError
-                target = block.get('target') or {}
-                z_target = target.get('z')
-                if z_target is None: z_target = target.get('Z')
-                a_letter = ext_check.axis_letter
-                a_target = target.get(a_letter)
-                if a_target is None:
-                    a_target = target.get(a_letter.upper())
-                if z_target is not None or a_target is not None:
-                    try:
-                        ext_check.check_coupling(
-                            target_a_machine=a_target,
-                            target_z_machine=z_target)
-                    except ExternalAxisError as e:
-                        # Convert the raw error into a clean abort:
-                        # surface the message to the operator, stop
-                        # the cycle, and skip this block. Returning
-                        # None drops the block from the AVR queue;
-                        # mach.stop() halts further planner output
-                        # so the rest of an offending program can't
-                        # leak through. The planner stays usable
-                        # for new MDI / jog commands.
-                        self.log.warning('Z-A coupling refused: %s' % e)
-                        try:
-                            self.ctrl.state.add_message(
-                                'Z-A coupling refused move: ' + str(e))
-                        except Exception: pass
-                        try:
-                            self.ctrl.mach.stop()
-                        except Exception: pass
-                        return None
-
-            ext = self._external_axis_for_line(block)
-            if ext is not None:
-                # Side effect: enqueue the ESP move on the external-
-                # axis worker. The AVR still receives the full target
-                # (including A) so ex.position[A] tracks gplan; no
-                # motor steps for A because no motor maps to it.
-                self._dispatch_external_line(block, ext)
            self._enqueue_line_time(block)
            return Cmd.line(block['target'], block['exit-vel'],
                            block['max-accel'], block['max-jerk'],
@@ -353,17 +274,8 @@ class Planner():

                if name[2:] == '_homed':
                    motor = self.ctrl.state.find_motor(name[1])
-                    # Synthetic external motor (index 4) doesn't exist
-                    # on the AVR; mirror the homed flag in State only.
-                    from bbctrl.ExternalAxis import EXTERNAL_MOTOR_INDEX
-                    if motor is not None and motor < EXTERNAL_MOTOR_INDEX:
+                    if motor is not None:
                        return Cmd.set_sync('%dh' % motor, value)
-                    if motor == EXTERNAL_MOTOR_INDEX:
-                        # Update synthetic motor flag and the<axis>_homed
-                        # projection consumed by the DRO.
-                        self.cmdq.enqueue(
-                            id, self.ctrl.state.set,
-                            '%dh' % EXTERNAL_MOTOR_INDEX, value)

            return

@@ -412,74 +324,12 @@ class Planner():
            self.planner.set_logger(None)


-    # ----------------------------------------------- external-axis routing
-    #
-    # When an axis is exposed to gplan via a synthetic motor (no AVR
-    # channel), we need to fork its motion off to the ESP at line
-    # encode time and let the rest of the line proceed to the AVR.
-    # The split is done here rather than in gplan because gplan
-    # treats all six axes uniformly and just emits target dicts; we
-    # don't want to teach it about the ESP.
-
-    def _external_axis_for_line(self, block):
-        """Return the ExternalAxis instance for whichever axis in
-        block['target'] is external, or None."""
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is None or not ext.enabled:
-            return None
-        target = block.get('target') or {}
-        if ext.axis_letter in target or ext.axis_letter.upper() in target:
-            return ext
-        return None
-
-    def _dispatch_external_line(self, block, ext):
-        """Side-effect: enqueue the ESP move on the external-axis
-        worker thread (non-blocking). Returns the block (possibly
-        unchanged) for the AVR.
-
-        We do NOT strip the external axis target from the AVR line.
-        The AVR's exec_move_to_target updates ex.position[axis] for
-        every axis in the target dict regardless of motor mapping,
-        and reports it back via the `p` indexed var. Leaving A in
-        the target keeps state.ap in sync with gplan's idea of A
-        (otherwise the AVR's stale ex.position[A] would clobber
-        ExternalAxis's state.ap=N update on the next status report).
-
-        The AVR doesn't step any motor for the external axis (no
-        motor maps to it) - so leaving A in the target is
-        physically a no-op for the steppers, while keeping the
-        host-side state coherent.
-
-        We pass the full S-curve parameters to the ESP so its move
-        duration matches the AVR's exactly. The ESP runs the same
-        7-segment jerk-limited trajectory the AVR would have run
-        if A had been a real motor."""
-        target = block.get('target') or {}
-        # Read the external target (case-insensitive) without modifying
-        # the dict so the AVR still sees A.
-        ext_mm = target.get(ext.axis_letter)
-        if ext_mm is None:
-            ext_mm = target.get(ext.axis_letter.upper())
-        try:
-            ext.enqueue_line(
-                ext_mm,
-                block.get('max-accel', 0.0),
-                block.get('max-jerk',  0.0),
-                block.get('entry-vel', 0.0),
-                block.get('exit-vel',  0.0),
-                block.get('times',     [0]*7),
-            )
-        except Exception as e:
-            self.log.error('External axis enqueue failed: %s' % e)
-            raise
-        return block
-
    def reset(self, *args, **kwargs):
        stop = kwargs.get('stop', True)
        if stop:
            self.ctrl.mach.stop()

-        self.planner = _load_gplan().Planner()
+        self.planner = gplan.Planner()
        self.planner.set_resolver(self._get_var_cb)
        # TODO logger is global and will not work correctly in demo mode
        self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')
@@ -487,16 +337,6 @@ class Planner():
        self.cmdq.clear()
        self.reset_times()

-        # Drain the external-axis worker queue and force the next
-        # move to re-sync position from the ESP (since State.reset
-        # below will zero <axis>p which makes ext._pos_mm stale).
-        ext = getattr(self.ctrl, 'ext_axis', None)
-        if ext is not None:
-            try: ext.abort()
-            except Exception: pass
-            try: ext._pos_mm = None
-            except Exception: pass
-
        resetState = kwargs.get('resetState', True)
        if resetState:
            self.ctrl.state.reset()
@@ -512,57 +352,12 @@ class Planner():

    def load(self, path):
        self.where = path
-        src_path = self.ctrl.get_path('upload', path)
-        self.log.info('GCode:' + src_path)
-
-        # Clean up any leftover temp file from a previous load.
-        self._cleanup_aux_tempfile()
-
-        # Rewrite ATC M-codes (M100/M102/M103) and inject Z-A
-        # coupling moves before gplan sees them. The rewriting goes
-        # to a temp file -- the operator's macro / job source is
-        # never modified. This matters because:
-        #
-        #   1. The macro editor reads back the source. If we
-        #      rewrote in place, the operator would open `drop.nc`
-        #      and see (MSG,HOOK:...) blobs instead of the M-code
-        #      sequence they wrote.
-        #   2. Re-running a rewritten file would re-rewrite it; any
-        #      bug in the regex (e.g. with paren comments) would
-        #      compound on every load.
-        #
-        # Why we rewrite at all: gplan treats M100..M103 as no-ops
-        # by spec and exposes no callback for user M-codes. Its only
-        # in-band channel back to Python during a running program is
-        # the (MSG,...) message stream, so we substitute hook
-        # messages for the M-codes purely as transport.
-        load_path = src_path
-        try:
-            from bbctrl.AuxPreprocessor import preprocess_to_tempfile
-            ext = getattr(self.ctrl, 'ext_axis', None)
-            coupling = (ext.coupling_for_preprocessor()
-                        if ext is not None else None)
-            tmp = preprocess_to_tempfile(
-                src_path, log=self.log, coupling=coupling)
-            if tmp is not None:
-                self._aux_tempfile = tmp
-                load_path = tmp
-                self.log.info(
-                    'Rewrote (ATC / Z-A coupling) for gplan: %s -> %s'
-                    % (src_path, tmp))
-        except Exception:
-            self.log.exception('Aux preprocess at load failed; '
-                               'attempting to load file unchanged')
+        path = self.ctrl.get_path('upload', path)
+        self.log.info('GCode:' + path)
        self._sync_position()
-        self.planner.load(load_path, self.get_config(False, True))
+        self.planner.load(path, self.get_config(False, True))
        self.reset_times()

-    def _cleanup_aux_tempfile(self):
-        if self._aux_tempfile and os.path.exists(self._aux_tempfile):
-            try: os.unlink(self._aux_tempfile)
-            except OSError: pass
-        self._aux_tempfile = None
-

    def stop(self):
        try:
--- a/src/py/bbctrl/Preplanner.py
+++ b/src/py/bbctrl/Preplanner.py
@@ -74,7 +74,6 @@ class Plan(object):
        self.progress = 0
        self.cancel = False
        self.pid = None
-        self.error = None

        root = ctrl.get_path()
        self.gcode = '%s/upload/%s' % (root, filename)
@@ -203,16 +202,8 @@ class Plan(object):
            if not self._exists(): yield self._exec()
            self.future.set_result(self._read())

-        except Exception as e:
-            # Record the error and ALWAYS resolve the future, otherwise
-            # PathHandler.get keeps timing out at 1s forever and the UI
-            # gets stuck on the "Processing New File" dialog.
-            self.preplanner.log.exception(
-                "Failed to plan file: " + str(e))
-            self.error = str(e) or 'Plan failed'
-            self.progress = 1
-            if not self.future.done():
-                self.future.set_result(None)
+        except:
+            self.preplanner.log.exception("Failed to load file - doesn't appear to be GCode.")


 class Preplanner(object):
@@ -277,6 +268,3 @@ class Preplanner(object):

    def get_plan_progress(self, filename):
        return self.plans[filename].progress if filename in self.plans else 0
-
-    def get_plan_error(self, filename):
-        return self.plans[filename].error if filename in self.plans else None
--- a/src/py/bbctrl/State.py
+++ b/src/py/bbctrl/State.py
@@ -107,14 +107,8 @@ class State(object):


    def reset(self):
-        # Unhome all motors (real AVR motors 0..3 and the synthetic
-        # external-axis motor at index 4 used by ExternalAxis).
-        # Both <motor>homed and <motor>h are cleared - they're set
-        # by different code paths (gplan emits homed via _<axis>_homed
-        # set blocks, AVR reports h directly).
-        for i in range(5):
-            self.set('%dhomed' % i, False)
-            self.set('%dh' % i, 0)
+        # Unhome all motors
+        for i in range(4): self.set('%dhomed' % i, False)

        # Zero offsets and positions
        for axis in 'xyzabc':
@@ -286,11 +280,8 @@ class State(object):
        axis_motors = {axis: self.find_motor(axis) for axis in 'xyzabc'}
        axis_vars = {}

-        # NOTE: motor index '4' is a host-only synthetic motor used
-        # by ExternalAxis to expose the auxcnc ESP-driven stepper as
-        # an additional axis. Real AVR motors are 0..3.
        for name, value in vars.items():
-            if name[0] in '01234':
+            if name[0] in '0123':
                motor = int(name[0])

                for axis in 'xyzabc':
@@ -339,9 +330,6 @@ class State(object):
    def get_axis_vector(self, name, scale = 1):
        v = {}

-        # 0..3 are AVR motor channels. 4 is the host-side synthetic
-        # motor used by ExternalAxis. find_motor returns the right
-        # index regardless of whether the axis is physical or external.
        for axis in 'xyzabc':
            motor = self.find_motor(axis)

@@ -363,10 +351,7 @@ class State(object):


    def find_motor(self, axis):
-        # Walk 0..4: 0..3 are real AVR motors, 4 is the synthetic
-        # host-side motor used to expose the auxcnc ESP stepper as
-        # an external axis.
-        for motor in range(5):
+        for motor in range(4):
            if not ('%dan' % motor) in self.vars: continue
            motor_axis = 'xyzabc'[self.vars['%dan' % motor]]
            if motor_axis == axis.lower() and self.vars.get('%dme' % motor, 0):
--- a/src/py/bbctrl/Trace.py
+++ b/src/py/bbctrl/Trace.py
@@ -1,185 +0,0 @@
-################################################################################
-#                                                                              #
-#  Lightweight phase tracing for bbctrl restart / boot timing.                 #
-#                                                                              #
-#  Anchored at module import time. All timestamps are seconds since the        #
-#  process anchor (monotonic). A wall-clock anchor is captured once so the     #
-#  timeline can be aligned with journalctl / systemd-analyze.                  #
-#                                                                              #
-#  Set BBCTRL_TRACE=0 in the environment to disable all marks (no-op).         #
-#                                                                              #
-#  Exposed by /api/diag/timing as JSON.                                        #
-#                                                                              #
-################################################################################
-"""Bbctrl restart / startup tracing.
-
-Usage:
-    import bbctrl.Trace as T
-    T.mark('proc.start')
-    with T.span('ctrl.avr.init'):
-        ...
-
-The timeline is also dumped on demand via /api/diag/timing.
-"""
-
-import os
-import time
-import json
-import threading
-
-
-_ENABLED = os.environ.get('BBCTRL_TRACE', '1') != '0'
-
-_t0_monotonic = time.monotonic()
-_t0_wall = time.time()
-_lock = threading.Lock()
-_events = []        # list of dicts: {t, name, fields}
-_ui_timing = None   # last timeline POSTed by the browser
-
-
-def _read_kernel_anchors():
-    """Return (btime_wall, uptime_at_anchor) so we can express bbctrl events
-    in seconds since kernel boot.
-
-    btime_wall: wall-clock epoch seconds when the kernel booted (from
-    /proc/stat 'btime').
-    uptime_at_anchor: monotonic offset (seconds since kernel boot) at the
-    moment Trace was imported. Equivalent to (Trace anchor) - btime
-    in wall time, but read directly from /proc/uptime so it isn't
-    sensitive to wall-clock skew.
-    """
-    btime = None
-    uptime_at_anchor = None
-    try:
-        with open('/proc/stat') as f:
-            for line in f:
-                if line.startswith('btime '):
-                    btime = int(line.split()[1])
-                    break
-    except Exception:
-        pass
-    try:
-        with open('/proc/uptime') as f:
-            uptime_at_anchor = float(f.read().split()[0])
-    except Exception:
-        pass
-    return btime, uptime_at_anchor
-
-
-_btime_wall, _uptime_at_anchor = _read_kernel_anchors()
-
-
-def now():
-    return time.monotonic() - _t0_monotonic
-
-
-def mark(name, **fields):
-    """Record a single named event at the current monotonic time."""
-    if not _ENABLED:
-        return
-    t = now()
-    ev = {'t': round(t, 4), 'name': name}
-    if fields:
-        ev['fields'] = fields
-    with _lock:
-        _events.append(ev)
-    # Also surface in the regular log stream so journalctl shows it.
-    try:
-        extras = ''
-        if fields:
-            extras = ' ' + ' '.join('%s=%s' % (k, v) for k, v in fields.items())
-        print('TRACE +%.3fs %s%s' % (t, name, extras), flush=True)
-    except Exception:
-        pass
-
-
-class span(object):
-    """Context manager that emits <name>.start / <name>.end with duration."""
-
-    def __init__(self, name, **fields):
-        self.name = name
-        self.fields = fields
-        self._t = None
-
-    def __enter__(self):
-        if _ENABLED:
-            self._t = time.monotonic()
-            mark(self.name + '.start', **self.fields)
-        return self
-
-    def __exit__(self, exc_type, exc, tb):
-        if _ENABLED and self._t is not None:
-            dur_ms = int((time.monotonic() - self._t) * 1000)
-            extra = dict(self.fields)
-            extra['dur_ms'] = dur_ms
-            if exc_type is not None:
-                extra['error'] = exc_type.__name__
-            mark(self.name + '.end', **extra)
-        return False
-
-
-def set_ui_timing(data):
-    global _ui_timing
-    _ui_timing = data
-
-
-def _current_uptime():
-    try:
-        with open('/proc/uptime') as f:
-            return float(f.read().split()[0])
-    except Exception:
-        return None
-
-
-def timeline():
-    with _lock:
-        events = list(_events)
-    return {
-        'enabled': _ENABLED,
-        't0_wall': _t0_wall,
-        't0_iso': time.strftime('%Y-%m-%dT%H:%M:%S', time.localtime(_t0_wall)),
-        'now': now(),
-        'pid': os.getpid(),
-        'events': events,
-        'ui': _ui_timing,
-        # Kernel-boot anchors so the timeline can be expressed in
-        # "seconds since power on".
-        'btime_wall': _btime_wall,
-        'uptime_at_anchor': _uptime_at_anchor,
-        'uptime_now': _current_uptime(),
-    }
-
-
-def dump(path):
-    try:
-        with open(path, 'w') as f:
-            json.dump(timeline(), f, indent=2)
-    except Exception:
-        pass
-
-
-# Sd_notify helper -------------------------------------------------------------
-#
-# Allows bbctrl to tell systemd "I am ready" / "current status is X" so
-# `systemctl status bbctrl` and `systemd-analyze critical-chain` reflect the
-# actual application state instead of just exec start.
-def sd_notify(state):
-    """Send a status line to systemd. Safe no-op when not under systemd."""
-    addr = os.environ.get('NOTIFY_SOCKET')
-    if not addr:
-        return
-    try:
-        import socket
-        sock = socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM)
-        try:
-            # Abstract socket if it starts with '@'
-            target = '\0' + addr[1:] if addr.startswith('@') else addr
-            sock.sendto(state.encode('utf-8'), target)
-        finally:
-            sock.close()
-    except Exception:
-        pass
-
-
-# Mark module-import time so even importing bbctrl shows up.
-mark('trace.import')
--- a/src/py/bbctrl/Web.py
+++ b/src/py/bbctrl/Web.py
@@ -411,22 +411,11 @@ class PathHandler(bbctrl.APIHandler):

        except gen.TimeoutError:
            progress = preplanner.get_plan_progress(filename)
-            err = preplanner.get_plan_error(filename)
-            resp = dict(progress = progress)
-            if err: resp['error'] = err
-            self.write_json(resp)
+            self.write_json(dict(progress = progress))
            return

        try:
-            # Plan finished but produced no data (planner subprocess
-            # failed, e.g. AuxPreprocessor coupling rejection at
-            # planner-load time). Surface the error so the UI can
-            # close the "Processing New File" dialog instead of
-            # polling forever.
-            if data is None:
-                err = preplanner.get_plan_error(filename) or 'Plan failed'
-                self.write_json(dict(progress = 1, error = err))
-                return
+            if data is None: return
            meta, positions, speeds = data

            if dataType == '/positions': data = positions
@@ -823,13 +812,9 @@ class AuxStatusHandler(bbctrl.APIHandler):

 class AuxHomeHandler(bbctrl.APIHandler):
    def put_ok(self):
-        # Run synchronously. Route through ExternalAxis so the
-        # synthetic motor's homed flag and DRO update.
-        ext = getattr(self.get_ctrl(), 'ext_axis', None)
-        if ext is not None and ext.enabled:
-            ext.home()
-        else:
-            self.get_ctrl().aux.home()
+        # Run synchronously via the AuxAxis' own RPC; this blocks the
+        # request. Fine because the UI shows a spinner.
+        self.get_ctrl().aux.home()


 class AuxAbortHandler(bbctrl.APIHandler):
@@ -839,22 +824,12 @@ class AuxAbortHandler(bbctrl.APIHandler):

 class AuxJogHandler(bbctrl.APIHandler):
    """Body: {"mm": 1.5}  for relative-mm move,
-             {"steps": 200} for raw step move (bypasses soft limits).
-
-    Note: with the gplan-integrated W axis, jog-by-mm goes through
-    ExternalAxis so the DRO updates and gplan's idea of A's position
-    stays in sync. jog-by-steps still bypasses everything for the
-    homing/setup workflow where the axis isn't homed yet."""
+             {"steps": 200} for raw step move (bypasses soft limits)."""
    def put_ok(self):
        body = self.json or {}
        aux = self.get_ctrl().aux
-        ext = getattr(self.get_ctrl(), 'ext_axis', None)
        if 'mm' in body:
-            delta_mm = float(body['mm'])
-            if ext is not None and ext.enabled and ext._pos_mm is not None:
-                ext.execute_to_mm(ext._pos_mm + delta_mm)
-            else:
-                aux.move_rel_mm(delta_mm)
+            aux.move_rel_mm(float(body['mm']))
        elif 'steps' in body:
            aux.jog_steps(int(body['steps']))
        else:
@@ -867,11 +842,7 @@ class AuxMoveHandler(bbctrl.APIHandler):
        body = self.json or {}
        if 'mm' not in body:
            raise HTTPError(400, 'mm required')
-        ext = getattr(self.get_ctrl(), 'ext_axis', None)
-        if ext is not None and ext.enabled:
-            ext.execute_to_mm(float(body['mm']))
-        else:
-            self.get_ctrl().aux.move_abs_mm(float(body['mm']))
+        self.get_ctrl().aux.move_abs_mm(float(body['mm']))


 class AuxSetZeroHandler(bbctrl.APIHandler):
@@ -914,31 +885,6 @@ class RemoteDiagnosticsHandler(bbctrl.APIHandler):
                    'message': e.reason or "Unknown"
                })

-class TimingHandler(bbctrl.APIHandler):
-    """Return the bbctrl process startup timeline as JSON.
-
-    Includes monotonic-anchored events from bbctrl.Trace, the wall
-    clock anchor (so the timeline can be aligned with journalctl /
-    systemd-analyze output), and the most recent UI-side timing
-    payload posted by the browser.
-    """
-    def get(self):
-        import bbctrl.Trace as _T
-        self.write_json(_T.timeline())
-
-
-class UITimingHandler(bbctrl.APIHandler):
-    """Browser posts its performance.now() marks here once per load."""
-    def put_ok(self):
-        import bbctrl.Trace as _T
-        # self.json is parsed in APIHandler.prepare()
-        try:
-            _T.set_ui_timing(self.json)
-            _T.mark('ui.posted_timing',
-                    marks=len(self.json.get('marks', []) or []))
-        except Exception: pass
-
-
 # Base class for Web Socket connections
 class ClientConnection(object):
    def __init__(self, app):
@@ -1014,12 +960,6 @@ class SockJSConnection(ClientConnection, sockjs.tornado.SockJSConnection):
            ip = info.ip
            if 'X-Real-IP' in info.headers: ip = info.headers['X-Real-IP']
            self.app.get_ctrl(id).log.get('Web').info('Connection from %s' % ip)
-            try:
-                if not getattr(self.app, '_first_ws', False):
-                    self.app._first_ws = True
-                    import bbctrl.Trace as _T
-                    _T.mark('ws.first_open', ip=ip)
-            except Exception: pass
            super().on_open(id)


@@ -1028,23 +968,6 @@ class StaticFileHandler(tornado.web.StaticFileHandler):
        self.set_header('Cache-Control',
                        'no-store, no-cache, must-revalidate, max-age=0')

-    def prepare(self):
-        # Mark the first request for the index page so we can see when
-        # chromium actually started fetching the UI on cold boot.
-        try:
-            app = self.application
-            if not getattr(app, '_first_root_get', False):
-                # Treat any GET '/' or '/index.html' as the root fetch.
-                p = self.request.path
-                if p in ('/', '/index.html', ''):
-                    app._first_root_get = True
-                    import bbctrl.Trace as _T
-                    _T.mark('web.first_root_get',
-                            ip=self.request.remote_ip,
-                            ua=(self.request.headers.get('User-Agent') or '')[:60])
-        except Exception: pass
-        return super().prepare()
-
 class Web(tornado.web.Application):
    def __init__(self, args, ioloop):
        self.args = args
@@ -1066,8 +989,6 @@ class Web(tornado.web.Application):

        handlers = [
            (r'/websocket', WSConnection),
-            (r'/api/diag/timing', TimingHandler),
-            (r'/api/diag/timing/ui', UITimingHandler),
            (r'/api/log', LogHandler),
            (r'/api/message/(\d+)/ack', MessageAckHandler),
            (r'/api/bugreport', BugReportHandler),
--- a/src/py/bbctrl/init.py
+++ b/src/py/bbctrl/init.py
@@ -36,13 +36,6 @@ import datetime

 from pkg_resources import Requirement, resource_filename

-# Trace must be imported before the rest of bbctrl so its monotonic
-# anchor is the earliest reasonable point and so import-time costs of
-# heavy submodules (camotics gplan.so, sockjs, tornado, etc.) are
-# attributable in /api/diag/timing.
-import bbctrl.Trace as Trace
-Trace.mark('imports.bbctrl.start')
-
 from bbctrl.RequestHandler import RequestHandler
 from bbctrl.APIHandler import APIHandler
 from bbctrl.FileHandler import FileHandler
@@ -68,14 +61,11 @@ from bbctrl.IOLoop import IOLoop
 from bbctrl.MonitorTemp import MonitorTemp
 from bbctrl.Hooks import Hooks
 from bbctrl.AuxAxis import AuxAxis
-from bbctrl.ExternalAxis import ExternalAxis
 import bbctrl.Cmd as Cmd
 import bbctrl.v4l2 as v4l2
 import bbctrl.Log as log
 import bbctrl.ObjGraph as ObjGraph

-Trace.mark('imports.bbctrl.end')
-

 ctrl = None

@@ -179,28 +169,19 @@ def parse_args():
 def run():
    global ctrl

-    Trace.mark('run.enter')
    args = parse_args()
-    Trace.mark('args.parsed')

    # Set signal handler
    signal.signal(signal.SIGTERM, on_exit)

    # Create ioloop
    ioloop = tornado.ioloop.IOLoop.current()
-    Trace.mark('ioloop.created')

    # Set ObjGraph signal handler
    if args.debug: Debugger(ioloop, args.debug)

    # Start server
-    with Trace.span('web.init'):
-        web = Web(args, ioloop)
-    Trace.mark('listen', port=args.port, addr=args.addr)
-
-    # Notify systemd we are ready (no-op when not under systemd).
-    Trace.sd_notify('READY=1\nSTATUS=listening on %s:%d\n' %
-                    (args.addr, args.port))
+    web = Web(args, ioloop)

    try:
        ioloop.start()
--- a/src/resources/fonts/fontawesome-webfont.ttf
+++ b/src/resources/fonts/fontawesome-webfont.ttf
--- a/src/resources/fonts/fontawesome-webfont.woff
+++ b/src/resources/fonts/fontawesome-webfont.woff
--- a/src/resources/fonts/fontawesome-webfont.woff2
+++ b/src/resources/fonts/fontawesome-webfont.woff2
--- a/src/resources/webfonts/fa-brands-400.ttf
+++ b/src/resources/webfonts/fa-brands-400.ttf
--- a/src/resources/webfonts/fa-brands-400.woff2
+++ b/src/resources/webfonts/fa-brands-400.woff2
--- a/src/resources/webfonts/fa-regular-400.ttf
+++ b/src/resources/webfonts/fa-regular-400.ttf
--- a/src/resources/webfonts/fa-regular-400.woff2
+++ b/src/resources/webfonts/fa-regular-400.woff2
--- a/src/resources/webfonts/fa-solid-900.ttf
+++ b/src/resources/webfonts/fa-solid-900.ttf
--- a/src/resources/webfonts/fa-solid-900.woff2
+++ b/src/resources/webfonts/fa-solid-900.woff2
--- a/src/static/css/Audiowide.css
+++ b/src/static/css/Audiowide.css
@@ -2,5 +2,5 @@
  font-family: 'Audiowide';
  font-style: normal;
  font-weight: 400;
-  src: local('Audiowide'), local('Audiowide-Regular'), url(https://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
+  src: local('Audiowide'), local('Audiowide-Regular'), url(http://fonts.gstatic.com/s/audiowide/v4/8XtYtNKEyyZh481XVWfVOqCWcynf_cDxXwCLxiixG1c.ttf) format('truetype');
 }
--- a/src/static/css/fa6.min.css
+++ b/src/static/css/fa6.min.css
--- a/src/static/css/font-awesome.min.css
+++ b/src/static/css/font-awesome.min.css
--- a/src/static/js/ui.js
+++ b/src/static/js/ui.js
@@ -1,37 +1,35 @@
-// V09 redesign: the legacy side menu was removed. Keep this file
-// shipped in case anything still references it, but no-op the click
-// handler that used to wire up the burger menu so it does not throw
-// "Cannot set properties of null" on the Settings tab.
 (function (window, document) {
-    var menuLink = document.getElementById("menuLink");
-    if (!menuLink) {
-        return;
-    }

-    var layout = document.getElementById("layout");
-    var menu   = document.getElementById("menu");
+    var layout   = document.getElementById('layout'),
+        menu     = document.getElementById('menu'),
+        menuLink = document.getElementById('menuLink');

    function toggleClass(element, className) {
-        if (!element) return;
-        var classes = element.className.split(/\s+/);
-        var i;
-        for (i = 0; i < classes.length; i++) {
-            if (classes[i] === className) {
-                classes.splice(i, 1);
-                break;
-            }
+        var classes = element.className.split(/\s+/),
+            length = classes.length,
+            i = 0;
+
+        for(; i < length; i++) {
+          if (classes[i] === className) {
+            classes.splice(i, 1);
+            break;
+          }
        }
-        if (i === classes.length) {
+        // The className is not found
+        if (length === classes.length) {
            classes.push(className);
        }
-        element.className = classes.join(" ");
+
+        element.className = classes.join(' ');
    }

    menuLink.onclick = function (e) {
-        var active = "active";
+        var active = 'active';
+
        e.preventDefault();
        toggleClass(layout, active);
        toggleClass(menu, active);
        toggleClass(menuLink, active);
    };
+
 }(this, this.document));
--- a/src/stylus/style.styl
+++ b/src/stylus/style.styl
@@ -30,16 +30,6 @@ $jog-ghost-hov = #9ba6bb
 $jog-ink     = #fff
 $jog-ghost-ink = $ink

-// Lock html + body so nothing other than the explicit .app-body or
-// inner scroll containers can scroll. Without this, autofocus inside
-// nested Svelte components (Settings, Admin Network, etc.) can call
-// scrollIntoView() on the html element and push our fixed header off
-// the top of the viewport.
-html, body
-  height 100%
-  overflow hidden
-  overscroll-behavior none
-
 body
  margin 0
  font-family 'Inter', system-ui, -apple-system, sans-serif
@@ -84,70 +74,8 @@ tt
 .app-shell
  display flex
  flex-direction column
-  height 100vh   // cap at viewport so children that ask for 1fr/flex:1
-  width 100%
-  overflow hidden
+  min-height 100vh
  background $body-bg
-  // Hint to the browser that this layer is a stable composited
-  // surface so tab swaps inside it don't invalidate the whole page.
-  contain layout paint
-  isolation isolate
-
-// Program tab pre-warmer. Mounts the program-view at app start so
-// the WebGL canvas is already initialized when the user first
-// clicks the Program tab — avoids the first-time dark flash that
-// happens when WebGL is created on demand. We render the component
-// at full size off-screen with the same width as the live tab so
-// the canvas dims match.
-.program-warmer
-  position absolute
-  left -10000px
-  top 0
-  width 1920px
-  height 980px
-  pointer-events none
-  visibility hidden
-
-// =====================================================================
-// Tablet / kiosk mode
-//
-// When <html class="tablet-mode"> is set (via ?tablet=1, sticky in
-// localStorage), pin the app shell to a fixed 1920 x 1080 box and
-// scale it to fit the real viewport. The scale ratio is published as
-// the --tablet-scale CSS variable by the inline script in index.pug.
-//
-// On the actual 10.8" 1920x1080 portable monitor the scale is 1; on
-// a desktop browser at e.g. 1440x900 you get a faithfully shrunk
-// preview of exactly what the kiosk renders.
-// =====================================================================
-html.tablet-mode
-  background #0f172a
-  overflow hidden
-
-html.tablet-mode body
-  margin 0
-  width 100vw
-  height 100vh
-  overflow hidden
-  display flex
-  align-items center
-  justify-content center
-
-html.tablet-mode .app-shell
-  width 1920px
-  height 1080px
-  flex 0 0 auto
-  transform scale(var(--tablet-scale, 1))
-  transform-origin center center
-  box-shadow 0 30px 60px rgba(0, 0, 0, 0.45)
-  border-radius 14px
-
-// Keep dialog hosts above the scaled shell.
-html.tablet-mode #svelte-dialog-host
-  position fixed
-  top 0
-  left 0
-  z-index 10000

 .app-body
  flex 1
@@ -155,10 +83,9 @@ html.tablet-mode #svelte-dialog-host
  display flex
  flex-direction column
  padding 18px
-  overflow auto  // settings/motor pages can scroll inside the body

  > *
-    flex 1 1 auto
+    flex 1
    min-height 0

 .app-head
@@ -170,10 +97,7 @@ html.tablet-mode #svelte-dialog-host
  padding 0 24px
  background $bg
  border-bottom 1px solid $line
-  // sticky so the header stays visible even if a nested scroll
-  // container manages to move under it.
-  position sticky
-  top 0
+  position relative
  z-index 30

  .brand-blk
@@ -572,34 +496,28 @@ span.unit
  50%
    fill #ff9d00

-// E-Stop in the header — wraps the legacy <estop> SVG component.
-// Sized to fit the 96px header with breathing room. The SVG carries
-// its own yellow safety ring and EMERGENCY/STOP text; we only frame
-// it with a soft drop shadow and a hover/active hit target.
+// Octagonal STOP wrapper around the existing <estop> SVG. The SVG
+// rules below (`.button`, `.ring`, etc.) keep working unchanged.
 .app-head .estop
-  width 80px
-  height 80px
-  display inline-flex
+  width 88px
+  height 88px
+  background #dc2626
+  clip-path polygon(30% 0, 70% 0, 100% 30%, 100% 70%, 70% 100%, 30% 100%, 0 70%, 0 30%)
+  display flex
  align-items center
  justify-content center
-  border-radius 9999px
+  border 3px solid #fff
+  box-shadow 0 0 0 3px #b91c1c, 0 8px 20px rgba(220, 38, 38, 0.35)
  cursor pointer
-  transition transform 0.06s, filter 0.15s
-  flex 0 0 auto
-  // Make sure the SVG's internal coordinate space scales correctly
-  overflow visible
-
-  &:hover
-    filter brightness(1.05)
+  transition transform 0.06s

  &:active
    transform scale(0.96)

  svg
-    width 80px
-    height 80px
+    width 56px
+    height 56px
    cursor pointer
-    display block

    .button:hover
      filter brightness(120%)
@@ -717,12 +635,8 @@ span.unit
        text-transform capitalize

  .path-viewer-content
-    // Solid dark background matching the WebGL renderer's clear
-    // colour. We used to use a gradient (#666 -> #222) but the
-    // visible-during-mount color difference between the gradient
-    // top and the GL clear bottom caused a brief dark flash when
-    // the canvas was reattached on every tab switch.
-    background-color #222
+    background-color #333
+    background linear-gradient(to bottom, #666 0%, #222 100%);
    margin-bottom 0.5em

  &.small
@@ -1095,12 +1009,11 @@ tt.save
 // CONTROL page (V09)
 // =====================================================================
 .control-page
-  flex 1 1 auto
+  flex 1
  min-height 0
  display flex
  flex-direction column
  gap 14px
-  overflow hidden

 .control-page .control-grid
  display grid
@@ -1150,150 +1063,6 @@ tt.save
    font-size 0.85em
    margin-left 2px

-// =====================================================================
-// NOW RUNNING panel
-// Replaces the jog grid (left column) while the machine is not idle.
-// Same outer dimensions as .jog-card so the rest of the layout doesn't
-// reflow.
-// =====================================================================
-.control-page .running-panel
-  flex 1 1 auto
-  min-height 0
-  display flex
-  flex-direction column
-  gap 18px
-  padding 24px
-  border-radius 18px
-  color #fff
-  background linear-gradient(160deg, #0f172a 0%, #1e293b 100%)
-
-.running-top
-  display flex
-  align-items flex-start
-  justify-content space-between
-  gap 18px
-
-.running-file
-  font-size 1.6rem
-  font-weight 900
-  line-height 1.1
-  display flex
-  align-items center
-  gap 4px
-
-  .fa
-    color $accent
-
-.running-meta
-  font-size 0.9rem
-  color #cbd5e1
-  font-weight 600
-  margin-top 6px
-  text-transform capitalize
-
-.running-pct
-  font-family 'JetBrains Mono', monospace
-  font-size 3.6rem
-  font-weight 900
-  line-height 1
-  color #fff
-
-  span
-    font-size 2rem
-    color $accent
-    font-weight 800
-    margin-left 4px
-
-.running-progress
-  height 14px
-  background rgba(255, 255, 255, 0.18)
-  border-radius 9999px
-  overflow hidden
-  width 100%
-
-  > div
-    height 100%
-    background $accent
-    transition width 0.4s ease-out
-
-.running-stats
-  display grid
-  grid-template-columns repeat(4, 1fr)
-  gap 14px
-
-.running-stat
-  background rgba(255, 255, 255, 0.06)
-  border-radius 14px
-  padding 14px 16px
-
-  .lbl
-    font-size 0.7rem
-    letter-spacing 0.14em
-    text-transform uppercase
-    color #cbd5e1
-    font-weight 700
-
-  .val
-    font-family 'JetBrains Mono', monospace
-    font-weight 900
-    font-size 1.5rem
-    margin-top 4px
-    color #fff
-
-.running-row
-  display grid
-  grid-template-columns repeat(auto-fit, minmax(140px, 1fr))
-  gap 14px
-  margin-top auto
-
-.running-row .tx-btn
-  display inline-flex
-  flex-direction column
-  align-items center
-  justify-content center
-  gap 6px
-  height 120px
-  border-radius 18px
-  border none
-  font-weight 800
-  letter-spacing 0.05em
-  cursor pointer
-  background #1e293b
-  color #fff
-  transition transform 0.06s, background 0.15s
-
-.running-row .tx-btn .fa
-  font-size 2.4rem
-
-.running-row .tx-btn .lbl
-  font-size 0.85rem
-  opacity 0.9
-
-.running-row .tx-btn:hover
-  background #334155
-
-.running-row .tx-btn:active
-  transform translateY(2px)
-
-.running-row .tx-btn.pause
-  background #f59e0b
-  color #0f172a
-
-.running-row .tx-btn.pause:hover
-  background #d97706
-
-.running-row .tx-btn.run
-  background #16a34a
-
-.running-row .tx-btn.run:hover
-  background #15803d
-
-.running-row .tx-btn.stop
-  background #dc2626
-
-.running-row .tx-btn.stop:hover
-  background #b91c1c
-
 // Step segmented control
 .step-seg
  display inline-flex
@@ -1333,16 +1102,12 @@ tt.save
  flex-direction column
  align-items center
  justify-content center
-  gap 6px
+  gap 4px
  user-select none
  -webkit-tap-highlight-color transparent
  cursor pointer
  font-weight 700
-  // Single sizing used by both the 1920x1080 portable touchscreen and
-  // the Pi 1366x768 kiosk — large enough to be readable at arm's
-  // length on the smaller display, still proportionate on the bigger
-  // one. No mode-specific override.
-  font-size 1.6rem
+  font-size 1.05rem
  border none
  background $jog-bg
  color $jog-ink
@@ -1351,13 +1116,13 @@ tt.save
  min-width 0

  .ico
-    font-size 2.4rem
+    font-size 1.6rem

  .lbl
-    font-size 1.5rem
+    font-size 0.8rem
    color inherit
-    opacity 0.95
-    font-weight 700
+    opacity 0.85
+    font-weight 600

  &:hover:not([disabled])
    background $jog-hover
@@ -1396,7 +1161,7 @@ tt.save

 .control-page .dro-head, .control-page .dro-row
  display grid
-  grid-template-columns 84px 1.4fr 1fr 1fr 280px
+  grid-template-columns 84px 1.4fr 1fr 1fr 170px 170px 280px
  column-gap 0.75rem
  align-items center
  padding 14px 22px
@@ -1410,15 +1175,6 @@ tt.save
  letter-spacing 0.1em
  color $muted-2

-  // Master Home All sits in the header's Actions cell. Make it
-  // visually subordinate to the per-axis home buttons in the rows
-  // below — same family, smaller scale.
-  .icon-btn
-    width 44px
-    height 44px
-    font-size 0.95rem
-    border-radius 9px
-
 .control-page .dro-row
  border-bottom 1px solid $line-soft
  flex 1
@@ -1529,39 +1285,6 @@ tt.save
    opacity 0.45
    cursor not-allowed

-  // State-tinted variants used on home + zero buttons in DRO rows
-  // to communicate per-axis homing / toolpath fit at a glance,
-  // replacing the explicit HOMED / OK chips that used to live in
-  // their own columns.
-  &.state-green
-    background #dcfce7
-    border-color #86efac
-    color #166534
-
-    &:hover:not([disabled])
-      background #bbf7d0
-
-  &.state-amber
-    background #fef3c7
-    border-color #fcd34d
-    color #92400e
-
-    &:hover:not([disabled])
-      background #fde68a
-
-  &.state-red
-    background #fee2e2
-    border-color #fca5a5
-    color #991b1b
-
-    &:hover:not([disabled])
-      background #fecaca
-
-  &[disabled].state-green,
-  &[disabled].state-amber,
-  &[disabled].state-red
-    opacity 0.7
-
 .actions-cell
  display flex
  justify-content flex-end
@@ -1639,6 +1362,7 @@ tt.save
  height 84px
  border-radius 14px
  border 1px solid transparent
+  border-left 6px solid $accent
  color #fff
  background $jog-bg
  font-weight 800
@@ -1662,12 +1386,6 @@ tt.save
    opacity 0.45
    cursor not-allowed

-  // Per-macro color stripe is opt-in via :class="has-color" set by
-  // the template only when state.macros[i].color is configured.
-  &.has-color
-    border-left-width 6px
-    border-left-style solid
-
  .mnum
    display inline-flex
    align-items center
@@ -1680,12 +1398,16 @@ tt.save
    font-size 0.85rem
    font-weight 900
    text-shadow none
-    flex 0 0 auto
+
+  .micon
+    font-size 1.1rem
+    opacity 0.75

  .mname
    white-space nowrap
    overflow hidden
    text-overflow ellipsis
+    max-width 9em

 // Override drawer
 .override-drawer
@@ -1765,11 +1487,10 @@ tt.save
 // PROGRAM page (V09)
 // =====================================================================
 .program-page
-  flex 1 1 auto
+  flex 1
  min-height 0
  display flex
  flex-direction column
-  overflow hidden

 .program-card
  flex 1
@@ -1888,59 +1609,21 @@ tt.save
    min-width 300px

 .program-body
-  flex 1 1 auto
+  flex 1
  display grid
  grid-template-columns 1fr 600px
  min-height 0
  overflow hidden

-  // On the Pi's onboard kiosk browser the 3D toolpath preview is
-  // suppressed (Pi 3B's VideoCore IV can't run three.js fast
-  // enough), so the gcode listing claims the full width.
-  &.no-preview
-    grid-template-columns 1fr
-
-    > .gcode
-      border-right none
-
  > .gcode
    border-right 1px solid $line-soft
+    overflow auto
    background #fafafa
    padding 0
    margin 0
-    overflow hidden
-    min-height 0
-    display flex
-    flex-direction column

-  // 3D toolpath preview — fill the entire 600px column. Override the
-  // legacy `.path-viewer.small` rule which would clamp the canvas to
-  // 340x150 and float it into the corner.
  > .path-viewer
    overflow hidden
-    min-height 0
-    height 100%
-    background #222   // matches the WebGL clear colour so any
-                      // first-frame mismatch reads as the same dark
-                      // panel rather than a flash.
-    display flex
-    flex-direction column
-
-    .path-viewer-content
-      flex 1 1 auto
-      width 100% !important
-      height 100% !important
-      min-height 0
-      float none !important
-      margin 0 !important
-      background #222
-
-    &.small .path-viewer-content
-      width 100% !important
-      height 100% !important
-      float none !important
-      margin 0 !important
-      background #222

 .progress-bar
  height 28px
@@ -1962,20 +1645,8 @@ tt.save
  font-size 13px
  line-height 1.55

-  .clusterize
-    flex 1 1 0
-    min-height 0
-    overflow hidden
-    display flex
-    flex-direction column
-    height 100%
-
  .clusterize-scroll
-    flex 1 1 0
-    min-height 0
-    height 100%
-    max-height none  // override clusterize.css default of 200px
-    width 100%
+    max-height 100%
    overflow auto

  ul
@@ -2004,10 +1675,9 @@ tt.save
 // CONSOLE page (V09)
 // =====================================================================
 .console-page
-  flex 1 1 auto
+  flex 1
  display flex
  min-height 0
-  overflow hidden

 .console-card
  flex 1
@@ -2336,321 +2006,3 @@ tt.save

  h1, h2, h3
    margin-top 0
-
-  .settings-loading
-    color $muted
-    font-style italic
-    padding 24px
-
-// =====================================================================
-// KIOSK MODE — compact layout for the controller's own onboard browser
-// (Pi 3B at 1366x768). Activated by `html.kiosk-mode` (auto-applied
-// when location.hostname is localhost). All overrides target the V09
-// shell so the desktop / portable touchscreen layout is unaffected.
-// =====================================================================
-html.kiosk-mode
-  font-size 13px
-
-  .app-head
-    flex 0 0 56px
-    height 56px
-    padding 0 12px
-    gap 10px
-
-    .brand-blk
-      display none
-
-    .estop
-      transform scale(0.6)
-      transform-origin right center
-
-  .tabs-host
-    height 56px
-    padding-left 0
-
-  .ktab
-    height 56px
-    padding 0 14px
-    font-size 14px
-    gap 6px
-
-    .fa
-      font-size 16px
-
-  .ktab .ktab-underline,
-  .ktab.active::after
-    bottom 0
-
-  .app-body
-    padding 8px
-    gap 8px
-
-  // Control page: tighten everything
-  .control-page
-    gap 8px
-
-  // Keep two columns at 1366x768 — vertical space is the constraint.
-  // Shrink the jog column from 720px to 540px so the DRO has more
-  // breathing room.
-  .control-page .control-grid
-    grid-template-columns 540px 1fr
-    gap 8px
-
-  .control-page .right-col
-    grid-template-rows 1fr 110px
-    gap 8px
-
-  .control-page .jog-card
-    padding 10px
-
-  .control-page .jog-head
-    margin-bottom 8px
-
-  .control-page .jog-title
-    font-size 14px
-
-  .control-page .jog-grid
-    gap 6px
-
-  .control-page .dro-head, .control-page .dro-row
-    grid-template-columns 56px 1fr 0.85fr 0.85fr 1fr
-    column-gap 0.4rem
-    padding 6px 10px
-
-  .control-page .dro-head
-    font-size 0.65rem
-
-  .control-page .dro-row
-    font-size 0.95rem
-
-  // Axis-action buttons in DRO rows (settings/zero/home).
-  .control-page .dro-row .icon-btn
-    width 56px
-    height 56px
-    font-size 1.25rem
-    border-radius 11px
-
-  .control-page .status-strip
-    grid-template-columns repeat(2, 1fr)
-    gap 8px
-
-  .control-page .stat-card
-    padding 8px 12px
-
-    .stat-label
-      font-size 9px
-
-    .stat-val
-      font-size 18px
-      margin-top 2px
-
-    .stat-sub
-      font-size 11px
-      margin-top 0
-
-  // Macros: 8 -> 4 column grid; shorter buttons.
-  .control-page .macro-row
-    grid-template-columns repeat(4, 1fr)
-    gap 6px
-
-  .macro-btn
-    height 56px
-    font-size 0.85rem
-    border-radius 10px
-
-  // Now-running panel: tighten paddings, smaller percent text.
-  .control-page .running-panel
-    padding 12px
-    gap 10px
-
-  .running-file
-    font-size 1.15rem
-
-  .running-pct
-    font-size 2.2rem
-
-    span
-      font-size 1.2rem
-
-  .running-stats
-    grid-template-columns repeat(2, 1fr)
-    gap 6px
-
-  .running-stat
-    padding 8px 10px
-
-    .val
-      font-size 1rem
-
-  // Program page: gcode listing fills (path-viewer is hidden via JS).
-  .program-page
-    gap 8px
-
-  // Settings shell: tighter rail.
-  .settings-shell .rail
-    padding 8px
-
-  .settings-shell .rail .rail-item
-    padding 8px 10px
-    font-size 0.9rem
-
-  .settings-content
-    padding 10px
-
-  // System pill / sidebar headers smaller.
-  .system-pill, .sidebar-pill
-    font-size 0.8rem
-
-  // Inside system-pill, the icon + text need explicit spacing.
-  .system-pill > * + *,
-  .sidebar-pill > * + *
-    margin-left 6px
-
-  // Modal dialogs scaled down for the smaller viewport.
-  .modal-bg
-    font-size 13px
-
-
-// =====================================================================
-// LEGACY-CHROMIUM FLEX-GAP FALLBACK
-// =====================================================================
-// Chromium 72 (which ships on the controller's Pi 3B) does not support
-// `gap` on flexbox containers — it landed in Chrome 84 (2020-05). Grid
-// `gap` IS supported (Chrome 57+) so anything `display: grid` is fine.
-//
-// We can't use @supports not (gap: 1px) because Chromium 72 reports
-// it supports `gap` (the spec considers it a grid-only property in
-// older snapshots). Instead, we add explicit margin-based spacing for
-// every known flex container in the V09 shell that visibly breaks on
-// the Pi kiosk. The modern CSS gap rule still applies in newer Chrome
-// — these rules are inert (margin-left:auto rules elsewhere keep
-// their meaning) because the gap pushes children apart anyway.
-
-// App header — brand block, tabs, system pill, estop
-.app-head > * + *
-  margin-left 18px
-
-.app-head .brand-blk > * + *
-  margin-left 14px
-
-// Tabs ribbon — the tab button itself uses flex+gap to space its
-// icon and label. Without flex-gap support those collapse.
-.ktab > * + *
-  margin-left 0.55rem
-
-// Header system pill (sys-btn) and machine state badge
-.sys-btn > * + *
-  margin-left 0.55rem
-.state-badge > * + *
-  margin-left 0.6rem
-
-// Jog card title row
-.control-page .jog-head > * + *
-  margin-left 12px
-
-// Now-running panel — top, file/meta, stats, row, transport
-.control-page .running-panel > * + *
-  margin-top 18px
-.running-top > * + *
-  margin-left 18px
-.running-row > * + *
-  margin-left 14px
-.transport-row > * + *
-  margin-left 14px
-
-// Console card tabs
-.console-card .ptab-bar > * + *
-  margin-left 6px
-
-// Settings shell rail and content
-.settings-shell > * + *
-  margin-left 18px
-
-// Macro buttons (.macro-btn icon + label)
-.macro-btn > * + *
-  margin-left 0.6rem
-
-// Jog buttons (.jbtn ico + lbl) — column flex, vertical gap
-.jbtn > * + *
-  margin-top 4px
-
-// DRO actions cell already uses gap; emulate via margin
-.actions-cell > * + *
-  margin-left 10px
-
-// Generic ".header"-style flex rows in older subpages
-.app-body .pure-form > * + *
-  margin-top 4px
-
-// =====================================================================
-// KIOSK-MODE-SPECIFIC LEGACY FALLBACKS
-// =====================================================================
-html.kiosk-mode
-  .app-head > * + *
-    margin-left 10px
-
-  .control-page
-    > * + *
-      margin-top 8px
-
-  .control-page .control-grid
-    // grid-gap works on Chromium 72 so nothing here.
-
-  .control-page .right-col
-    // grid-gap works.
-    grid-template-rows 1fr 158px  // tighter than the desktop 158px
-
-  .running-row > * + *
-    margin-left 6px
-
-  .control-page .jog-head > * + *
-    margin-left 8px
-
-
-  // Settings rail must be scrollable in kiosk mode \u2014 the 14+
-  // item list overflows the 768px viewport at default heights.
-  .settings-shell
-    grid-template-columns 220px 1fr
-    gap 10px
-
-  .settings-rail
-    position static
-    align-self stretch
-    max-height 100%
-    overflow-y auto
-
-  .settings-rail .set-item
-    height 36px
-    font-size 0.85rem
-    padding 0 10px
-
-    .fa
-      width 14px
-      font-size 0.9rem
-
-  .settings-rail .set-section
-    margin 6px 4px 2px
-    font-size 0.62rem
-
-  .settings-rail .set-rail-foot
-    margin-top 4px
-    padding-top 6px
-
-    .sp-shutdown, .sp-save
-      height 32px
-      font-size 0.85rem
-
-
-// Program tab flex-gap fallbacks for Chromium 72.
-// Action bar (RUN/STOP/UPLOAD/.../DELETE) and the action buttons
-// themselves (icon stacked over label).
-.action-bar > * + *
-  margin-left 12px
-.action-btn > * + *
-  margin-top 4px
-
-// File bar (Create Folder / folder select / file select / sort).
-.file-bar > * + *
-  margin-left 10px
-.file-btn > * + *
-  margin-left 0.4rem
--- a/src/svelte-components/src/components/SettingsView.svelte
+++ b/src/svelte-components/src/components/SettingsView.svelte
@@ -2,10 +2,7 @@
    import configTemplate from "../../../resources/config-template.json";
    import ScreenRotationDialog from "$dialogs/ScreenRotationDialog.svelte";
    import ConfigTemplatedInput from "./ConfigTemplatedInput.svelte";
-    // AAxisSettings is mounted directly by the V09 settings shell at
-    // #a-axis instead of being embedded here — see
-    // src/pug/templates/a-axis-view.pug.
-    // import AAxisSettings from "./AAxisSettings.svelte";
+    import WAxisSettings from "./WAxisSettings.svelte";
    import SetTimeDialog from "$dialogs/SetTimeDialog.svelte";
    import Button, { Label } from "@smui/button";

@@ -22,8 +19,8 @@
    <h1>Settings</h1>

    <div class="pure-form pure-form-aligned">
-        <h2 id="sec-display" data-sec="display">User Interface</h2>
-        <fieldset data-sec="display">
+        <h2>User Interface</h2>
+        <fieldset>
            <div class="pure-control-group">
                <label for="screen-rotation" />
                <Button
@@ -49,8 +46,8 @@
            </div> -->
        </fieldset>

-        <h2 id="sec-units" data-sec="display">Units</h2>
-        <fieldset data-sec="display">
+        <h2>Units</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.units`} />
            <div class="tip">
                Note, units sets both the machine default units and the units used in motor configuration. GCode program-start,
@@ -58,13 +55,13 @@
            </div>
        </fieldset>

-        <h2 id="sec-easy-adapter" data-sec="display">Easy Adapter</h2>
-        <fieldset data-sec="display">
+        <h2>Easy Adapter</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.easy-adapter`} />
        </fieldset>

-        <h2 id="sec-probing" data-sec="probing">Probing</h2>
-        <fieldset data-sec="probing">
+        <h2>Probing</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.probing-prompts`} />
            <div class="tip">
                Onefinity highly recommends that you keep the safety prompts
@@ -91,19 +88,20 @@
            {/each}
        </fieldset>

-        <fieldset data-sec="gcode">
-            <h2 id="sec-gcode" data-sec="gcode">GCode</h2>
+        <fieldset>
+            <h2>GCode</h2>
            {#each Object.keys(configTemplate.gcode) as key}
                <ConfigTemplatedInput key={`gcode.${key}`} />
            {/each}
        </fieldset>

-        <!-- W Axis (auxcnc) is now its own routed page in the V09
-             settings shell (#a-axis). Keep the SettingsView free of
-             that section so we don't render it twice. -->
+        <h2>W Axis (auxcnc)</h2>
+        <fieldset>
+            <WAxisSettings />
+        </fieldset>

-        <h2 id="sec-path-accuracy" data-sec="gcode">Path Accuracy</h2>
-        <fieldset data-sec="gcode">
+        <h2>Path Accuracy</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.max-deviation`} />

            <div class="tip">
@@ -126,8 +124,8 @@
            </div>
        </fieldset>

-        <h2 id="sec-cornering" data-sec="gcode">Cornering Speed (Advanced)</h2>
-        <fieldset data-sec="gcode">
+        <h2>Cornering Speed (Advanced)</h2>
+        <fieldset>
            <ConfigTemplatedInput key={`settings.junction-accel`} />
            <div class="tip">
                Junction acceleration limits the cornering speed the planner
--- a/src/svelte-components/src/components/TextFieldWithOptions.svelte
+++ b/src/svelte-components/src/components/TextFieldWithOptions.svelte
@@ -51,7 +51,7 @@
    >
        <div slot="trailingIcon">
            {#if valid}
-                <Icon class="fa fa-circle-check" style="color: green;" />
+                <Icon class="fa fa-check-circle-o" style="color: green;" />
            {/if}
        </div>
        <HelperText persistent slot="helper">{helperText}</HelperText>
--- a/src/svelte-components/src/components/WAxisSettings.svelte
+++ b/src/svelte-components/src/components/WAxisSettings.svelte
@@ -4,24 +4,18 @@
    import * as api from "$lib/api";

    // Mirrors the DEFAULTS in src/py/bbctrl/AuxAxis.py. The "enabled"
-    // flag is read-only here; toggling the auxiliary A axis on/off
-    // is done via aux.json on disk, so adding/removing the hardware
-    // doesn't have a surprise UI that bricks bring-up. Legacy aux.json
-    // files using min_w/max_w are migrated up to min_mm/max_mm by
-    // AuxAxis._migrate_legacy_fields on load.
+    // flag is read-only here; toggling the W axis on/off is done via
+    // aux.json on disk, so adding/removing the hardware doesn't have a
+    // surprise UI that bricks bring-up.
    type AuxConfig = {
        enabled: boolean;
        port: string;
        baud: number;
        steps_per_mm: number;
        dir_sign: number;
-        axis_letter: string;
-        min_mm: number;
-        max_mm: number;
+        min_w: number;
+        max_w: number;
        max_feed_mm_min: number;
-        max_velocity_m_per_min: number;
-        max_accel_km_per_min2: number;
-        max_jerk_km_per_min3: number;
        home_dir: string;
        home_position_mm: number;
        home_fast_sps: number;
@@ -32,27 +26,15 @@
        step_accel_sps2: number;
        step_start_sps: number;
        limit_low: boolean;
-        couple_z_enabled: boolean;
-        couple_z_clearance_mm: number;
-        z_home_mm: number;
    };

    let cfg: AuxConfig | null = null;
    let status: { enabled: boolean; present: boolean; homed: boolean; pos_mm: number } | null = null;
    let busy = false;
-
-    // Listen for the global "save-all" event the Vue root dispatches
-    // when the user clicks the master Save button. We persist our
-    // current cfg the same way the in-form button used to. This way
-    // the user only ever needs one Save button.
-    function onGlobalSave() {
-        save().catch(e => console.error("aux save failed:", e));
-    }
+    let saveMessage = "";

    onMount(async () => {
        await refresh();
-        window.addEventListener("onefin:save-all", onGlobalSave);
-        return () => window.removeEventListener("onefin:save-all", onGlobalSave);
    });

    async function refresh() {
@@ -67,33 +49,24 @@
    async function save() {
        if (!cfg) return;
        busy = true;
+        saveMessage = "";
        try {
            await api.PUT("aux/config/save", cfg);
+            saveMessage = "Saved.";
            await refresh();
+            setTimeout(() => (saveMessage = ""), 3000);
        } catch (e) {
            console.error("Failed to save aux config:", e);
-            throw e;
+            saveMessage = "Save failed - see console.";
        } finally {
            busy = false;
        }
    }
-
-    // Mark the root config as modified whenever an auxiliary axis
-    // field is edited, so the master Save button highlights and
-    // the user knows there are unsaved changes.
-    function markDirty() {
-        try {
-            const root = (window as any).$root || (window as any).Vue?.root;
-            if (root && "modified" in root) root.modified = true;
-        } catch (_e) {}
-        // Also dispatch a generic event the Vue root listens for.
-        window.dispatchEvent(new CustomEvent("onefin:dirty"));
-    }
 </script>

-<div class="a-axis-settings">
+<div class="w-axis-settings">
    {#if !cfg}
-        <p class="tip">Loading A axis configuration...</p>
+        <p class="tip">Loading W axis configuration...</p>
    {:else}
        <div class="status">
            {#if status}
@@ -112,9 +85,9 @@
            {/if}
        </div>

-        <div class="pure-form pure-form-aligned" on:input={markDirty} on:change={markDirty}>
+        <div class="pure-form pure-form-aligned">
            <fieldset>
-                <div class="pure-control-group" title="Enable the auxiliary axis (auxcnc-driven A). Edit aux.json to toggle.">
+                <div class="pure-control-group" title="Enable the auxcnc W axis. Edit aux.json to toggle.">
                    <label for="enabled">enabled</label>
                    <input id="enabled" type="checkbox" checked={cfg.enabled} disabled />
                    <label for="" class="units">(edit aux.json)</label>
@@ -133,13 +106,13 @@

            <h3>Mechanics</h3>
            <fieldset>
-                <div class="pure-control-group" title="Logical steps per mm of axis travel.">
+                <div class="pure-control-group" title="Logical steps per mm of W travel.">
                    <label for="steps_per_mm">steps per mm</label>
                    <input id="steps_per_mm" type="number" bind:value={cfg.steps_per_mm} step="any" />
                    <label for="" class="units">steps/mm</label>
                </div>

-                <div class="pure-control-group" title="Direction sign: +1 or -1. Flip if A+ moves the wrong way.">
+                <div class="pure-control-group" title="Direction sign: +1 or -1. Flip if W+ moves the wrong way.">
                    <label for="dir_sign">direction sign</label>
                    <select id="dir_sign" bind:value={cfg.dir_sign}>
                        <option value={1}>+1</option>
@@ -147,78 +120,19 @@
                    </select>
                </div>

-                <div class="pure-control-group" title="gcode axis letter exposed to the planner. Default 'a' (the standard 4th axis).">
-                    <label for="axis_letter">axis letter</label>
-                    <select id="axis_letter" bind:value={cfg.axis_letter}>
-                        <option value="a">A</option>
-                        <option value="b">B</option>
-                        <option value="c">C</option>
-                    </select>
-                </div>
-
-                <div class="pure-control-group" title="Soft-limit minimum in mm.">
-                    <label for="min_mm">soft min</label>
-                    <input id="min_mm" type="number" bind:value={cfg.min_mm} step="any" />
+                <div class="pure-control-group" title="Soft-limit minimum W in mm.">
+                    <label for="min_w">soft min</label>
+                    <input id="min_w" type="number" bind:value={cfg.min_w} step="any" />
                    <label for="" class="units">mm</label>
                </div>

-                <div class="pure-control-group" title="Soft-limit maximum in mm.">
-                    <label for="max_mm">soft max</label>
-                    <input id="max_mm" type="number" bind:value={cfg.max_mm} step="any" />
-                    <label for="" class="units">mm</label>
-                </div>
-            </fieldset>
-
-            <h3>Z-A Coupling</h3>
-            <p class="tip">
-                The auxiliary tool hangs below the Z spindle. Beyond a small
-                Z descent the two collide unless A drops with Z. The rule
-                in machine coordinates is
-                <code>A &minus; Z &le; (A_home &minus; Z_home) + clearance</code>.
-                When enabled, the planner refuses moves that would violate
-                it and the gcode preprocessor injects pre-position A moves
-                into uploaded files.
-            </p>
-            <fieldset>
-                <div class="pure-control-group" title="Master switch for the Z-A interlock. When off, no checks are performed.">
-                    <label for="couple_z_enabled">enable coupling</label>
-                    <input id="couple_z_enabled" type="checkbox" bind:checked={cfg.couple_z_enabled} />
-                </div>
-
-                <div class="pure-control-group" title="How far Z may descend below its home position before A must move with it.">
-                    <label for="couple_z_clearance_mm">Z clearance</label>
-                    <input id="couple_z_clearance_mm" type="number" bind:value={cfg.couple_z_clearance_mm} step="any" />
+                <div class="pure-control-group" title="Soft-limit maximum W in mm.">
+                    <label for="max_w">soft max</label>
+                    <input id="max_w" type="number" bind:value={cfg.max_w} step="any" />
                    <label for="" class="units">mm</label>
                </div>

-                <div class="pure-control-group" title="Z's machine position when homed. Almost always 0.">
-                    <label for="z_home_mm">Z home position</label>
-                    <input id="z_home_mm" type="number" bind:value={cfg.z_home_mm} step="any" />
-                    <label for="" class="units">mm</label>
-                </div>
-            </fieldset>
-
-            <h3>Planner Limits</h3>
-            <fieldset>
-                <div class="pure-control-group" title="Maximum velocity used by gplan trajectory planning.">
-                    <label for="max_velocity_m_per_min">max velocity</label>
-                    <input id="max_velocity_m_per_min" type="number" bind:value={cfg.max_velocity_m_per_min} step="any" />
-                    <label for="" class="units">m/min</label>
-                </div>
-
-                <div class="pure-control-group" title="Maximum acceleration used by gplan trajectory planning.">
-                    <label for="max_accel_km_per_min2">max acceleration</label>
-                    <input id="max_accel_km_per_min2" type="number" bind:value={cfg.max_accel_km_per_min2} step="any" />
-                    <label for="" class="units">km/min²</label>
-                </div>
-
-                <div class="pure-control-group" title="Maximum jerk used by gplan trajectory planning.">
-                    <label for="max_jerk_km_per_min3">max jerk</label>
-                    <input id="max_jerk_km_per_min3" type="number" bind:value={cfg.max_jerk_km_per_min3} step="any" />
-                    <label for="" class="units">km/min³</label>
-                </div>
-
-                <div class="pure-control-group" title="Informational max feed; rate caps live on the ESP via step_max_sps.">
+                <div class="pure-control-group" title="Informational max feed; rate caps live on the ESP.">
                    <label for="max_feed_mm_min">max feed</label>
                    <input id="max_feed_mm_min" type="number" bind:value={cfg.max_feed_mm_min} step="any" />
                    <label for="" class="units">mm/min</label>
@@ -230,12 +144,12 @@
                <div class="pure-control-group" title="Direction the axis moves when looking for the home limit switch.">
                    <label for="home_dir">home direction</label>
                    <select id="home_dir" bind:value={cfg.home_dir}>
-                        <option value="-">- (toward A-)</option>
-                        <option value="+">+ (toward A+)</option>
+                        <option value="-">- (toward W-)</option>
+                        <option value="+">+ (toward W+)</option>
                    </select>
                </div>

-                <div class="pure-control-group" title="Axis position assigned when homing completes.">
+                <div class="pure-control-group" title="W position assigned when homing completes.">
                    <label for="home_position_mm">home position</label>
                    <input id="home_position_mm" type="number" bind:value={cfg.home_position_mm} step="any" />
                    <label for="" class="units">mm</label>
@@ -292,20 +206,32 @@
                </div>
            </fieldset>

+            <div class="actions">
+                <Button
+                    touch
+                    variant="raised"
+                    on:click={save}
+                    disabled={busy}
+                >
+                    <Label>Save W Axis Settings</Label>
+                </Button>
+                {#if saveMessage}
+                    <span class="save-msg">{saveMessage}</span>
+                {/if}
+            </div>
+
            <div class="tip">
-                Changes are written to aux.json when you click the
-                master <strong>Save</strong> button at the bottom of the
-                settings rail. Homing rates and the limit polarity are
-                pushed to the ESP immediately; any running motion is
-                unaffected. Re-home the auxiliary axis after changing direction,
-                sign, or step settings.
+                Changes are written to aux.json. Homing rates and the
+                limit polarity are pushed to the ESP immediately; any
+                running motion is unaffected. Re-home the W axis after
+                changing direction, sign, or step settings.
            </div>
        </div>
    {/if}
 </div>

 <style lang="scss">
-    .a-axis-settings {
+    .w-axis-settings {
        .status {
            margin-bottom: 1em;
            font-size: 90%;
--- a/src/svelte-components/src/main.ts
+++ b/src/svelte-components/src/main.ts
@@ -6,7 +6,6 @@ matchAll.shim();
 import AdminNetworkView from "$components/AdminNetworkView.svelte";
 import SettingsView from "$components/SettingsView.svelte";
 import HelpView from "$components/HelpView.svelte";
-import AAxisSettings from "$components/AAxisSettings.svelte";
 import DialogHost, { showDialog } from "$dialogs/DialogHost.svelte";
 import { handleConfigUpdate, setDisplayUnits } from "$lib/ConfigStore";
 import { handleControllerStateUpdate } from "$lib/ControllerState";
@@ -23,9 +22,6 @@ export function createComponent(component: string, target: HTMLElement, props: R
        case "HelpView":
            return new HelpView({ target, props });

-        case "AAxisSettings":
-            return new AAxisSettings({ target, props });
-
        case "DialogHost":
            return new DialogHost({ target, props });
Author	SHA1	Message	Date
Henrik Muehe	b8c4f53bb1	Merge branch 'hooks' into master Brings in: - W axis (auxcnc) integration via ESP32 over /dev/ttyUSB0, including the W axis settings panel, DRO row, jog row aligned with X/Y/Z, and collapsed home-only W controls. - README + W axis docs covering macOS build/flash and the new UI. - Build & flash docs for the Pi firmware (BUILD.md), including the cached gplan.so build via Docker (~30 min first time, 3 sec after). - Hooks v2: external triggers during G-code execution that block unpause until the hook completes. - V09 full UX redesign mock + implementation plan + mock variations. - V09 implementation: new app shell with underline-ribbon tabs, Program / Console / Settings shells, V09 jog/macro palette, slim status pill replacing the old chip soup, and an octagonal STOP that wraps the existing <estop> SVG. - Vue.config.async = false to fix sticky :class bindings under hash navigation. # Conflicts: # .gitignore	2026-04-30 21:33:48 +02:00
Henrik Muehe	32f3aca368	UX redesign V09: replace shell, split Program/Console/Settings Implements the V09 mock end-to-end (per plans/2026-04-30_ux_redesign.md): Top shell - index.pug rebuilt around .app-shell with a slim 96px header. - Underline-ribbon tab bar (Control / Program / Console / Settings) replaces the old side menu and the inline #tab1..#tab4 system. - Single 'All systems' pill collapses the legacy WiFi/Camera/Rotary/ IP/Version chip-soup into one popover (sys-popover) anchored to the header; rotary toggle, camera feed and shutdown live there. - Octagonal 88x88px STOP button wraps the existing <estop> SVG; STATE pill with pulse-dot honors prefers-reduced-motion. Routing - app.js parse_hash maps every existing hash: #control -> Control #program / #program:auto -> Program #console / #console:mdi\|messages\|indicators -> Console #settings, #admin-general, #admin-network, #motor:N, #tool, #io, #macros, #help, #cheat-sheet -> Settings (rail picks inner) - All deep links are preserved. Control panel (control-view.pug + .js) - 720px jog grid + 4-axis DRO + 4 KPI cards + 8-macro row. - Jog tiles use V09 flat slate (#3f4b63) with diagonal helpers and a ghost row for XY/Z origin shortcuts. - Per-axis Settings/Set-zero/Home buttons grow to 72x72px. - Status strip cards: State / Velocity-Feed / Spindle / Job. Tapping the Spindle card opens the new override-drawer with feed + spindle range inputs (resolved decision in plans/...). - Macro row binds to state.macros.slice(0, 8); >8 lives in Settings. - Drops the old <table> control-buttons, .info, .override and .tabs blocks entirely. Program panel (program-view.pug + .js) - Extracts the Auto bar, file selectors, gcode-viewer and path-viewer out of control-view. - Action buttons (RUN/STOP/UPLOAD-FOLDER/UPLOAD-FILE/DOWNLOAD-FILE/ DELETE) at 84px with explicit color affordances. - Reuses control-view's existing methods via the new program-mixin. Console panel (console-view.pug + .js) - Three sub-tabs: MDI / Messages / Indicators. Sub-tab persists in the URL fragment (#console:messages etc.). - MDI: terminal-style prompt + SEND, plus an 8-wide on-screen keypad (G0/G1/G2/G3/G28/G92/M3/M5 + axis letters + CLEAR/SEND). - Messages: pulls from .messages_log (mirrored from state.messages); badge in the header tab counts unread. - Indicators: mounts the existing <indicators> component. Settings shell (settings-shell.pug + .js) - New left rail navigator listing Display, Network, General/Firmware, Spindle&Tool, IO, Motors 0..3, Macros, Cheat Sheet, Help. - Inner area mounts the existing settings family templates via an explicit v-if cascade (avoiding a Vue 1 :is reactivity quirk). - Shutdown / Save buttons relocated from the dropped side menu. JS plumbing - main.js: Vue.config.async = false to keep dependent watchers in sync when reactive data is mutated outside Vue's normal event loop (e.g. from a hashchange listener). - program-mixin.js extracted so control-view.js no longer carries the file/macro/gcode methods that are now Program-only. - control-view.js trimmed to jog/DRO/probe/home logic. - console-view.js / settings-shell-view.js use a hashchange listener + local data props because Vue 1 cannot reliably observe .sub_tab from a child component. Stylus rewrite - Removes the old .header (140px), .nav-header, .brand subtree, #menu, #main, .control-view block, .info, .override, .toolbar, .macros-div, .macros-button, the .tabs > input radio-tab system and the .control- view #control media-query overrides. None of these are referenced any more. - Adds V09 tokens (jog/macro palette + accent + line/card colors) at the top, the new shell rules, .ktab / .sys-btn / .state-badge / .estop chrome, the .control-page grid, status strip + override drawer, .program-page action / file bars and program body, .console-page MDI keypad / messages / indicators panes, and the .settings-shell rail. - Adds a 1820px breakpoint that stacks the right column under the jog on smaller portable monitors. Hard cut: no config.ui.layout flag, the old shell is removed in this single commit. side-menu.css is no longer included from index.pug. Tested locally with agent-browser (1920x1080) on every top tab and every settings sub-route; routing, active tab highlighting and inner view selection all work without a controller connection.	2026-04-30 21:27:00 +02:00
Henrik Muehe	081209decf	Plan: resolve open questions (hard cut, macros slice, override drawer, defer pin) Replaces the 'Open questions' section with 'Resolved decisions' and propagates the four decisions into the relevant phases: - Hard cut: no config.ui.layout flag. Phase 6 now includes the removal of .nav-header, side-menu.css and the #tab1..#tab4 block with a git grep verification step. - Macros: Control row binds to config.macros.slice(0, 8); Settings -> Macros owns the master list and reordering. - Pin to Control: deferred, status strip stays at State / V&F / Spindle / Job for this iteration. - Feed/spindle override: bottom drawer triggered by the Spindle KPI tile, reusing override_feed / override_speed. Goals (s.1) and Phase 6 testing checklist updated to match.	2026-04-30 20:43:29 +02:00
Henrik Muehe	ef4658aaf6	Plan: V09 full UX redesign mock + implementation plan - docs/mocks/v09_full_ux.html — high-fidelity 1920x1080 mock showing the proposed Control / Program / Console / Settings tab layout with the V09 flat slate jog/macro palette and an underline ribbon header tab style. - plans/2026-04-30_ux_redesign.md — phased implementation plan to port index.pug + control-view.pug to the new shell while keeping hash routing and existing settings/admin views intact.	2026-04-30 20:00:03 +02:00
Henrik Muehe	ef78f20eaa	Docs: README + W axis docs cover macOS build/flash and new UI - README.md (was a one-liner): describe the layout, the macOS quick path including the esbuild platform-pin gotcha, and how to flash with curl or 'make update'. - docs/AUX_W_AXIS.md: document the new Control jog row layout, the Settings 'W Axis (auxcnc)' section, and list the additional UI files touched by this fork.	2026-04-30 19:54:30 +02:00
Henrik Muehe	36829020a5	Settings: add W axis (auxcnc) panel Expose the aux.json fields under a new 'W Axis (auxcnc)' section in Settings: serial port/baud, mechanics (steps/mm, dir sign, soft limits, max feed), homing (direction, position, fast/slow seek, backoff, max travel, limit polarity) and the step profile (max/start rate, accel). The 'enabled' flag stays read-only in the UI; flipping the W axis on/off is still done via aux.json so a fresh install can't surprise the user with hardware that isn't there. Live status (offline / unhomed / homed at <pos> mm) is shown above the form. Saving PUTs the merged config to /api/aux/config/save, which writes aux.json and pushes the homing/step config to the ESP.	2026-04-30 19:10:24 +02:00
Henrik Muehe	2413fc49ab	UI: collapse W axis to home-only (drop set-zero / W-origin) The W axis homing already drives toward the configured limit (home_dir in aux.json, default '-') and lands at home_position_mm = 0, so 'home' and 'zero' are the same point. Remove the now-redundant 'W Origin' (move-to-zero) and 'Set W to 0' map-marker buttons; keep just W-, W+, and a single Home W button. Also drop the unused aux_move_zero / aux_set_zero JS handlers.	2026-04-30 19:07:17 +02:00
Claude	7d5949f5fc	UI: add W jog row (W- / W Origin / W+ / Home W) under the XYZ jog grid Mirrors the 4-column rotary A row that appears when 2an==3, so the same fine/small/medium/large increment selector that drives XYZ jogging now also drives W jogging. New control-view methods: - aux_jog_incr(sign) - PUTs aux/jog with the current jog_incr amount converted to mm (handles imperial display units) - aux_move_zero() - PUTs aux/move {mm:0}, the absolute counterpart to aux_set_zero (which redefines the current pos as zero without moving) Row is hidden when w.enabled is false, so users without the auxcnc controller see no change.	2026-04-30 17:37:49 +02:00
Claude	23f22105a8	UI: align W axis marker/home buttons with the X/Y/Z columns The xyzabc rows have three actions (set-position cog, zero marker, home), W only has two. Without a placeholder the W buttons render in the left two slots of the actions cell, leaving the home button unaligned with the home column above. Added a hidden disabled cog button so the marker and home buttons sit under the same columns as the rest.	2026-04-30 17:23:55 +02:00
Claude	4f74e75d44	UI: render W (aux) axis row in the main DRO Adds the auxcnc W axis to the front-page Position table: - axis-vars.js exposes a 'w' computed property fed by state.aux_pos / aux_enabled / aux_homed / aux_present (set by AuxAxis on the host). No motor mapping, no soft-limit warnings - the aux controller does its own bounds. - control-view.pug adds a W row after the xyzabc loop. The Set/Zero button calls /api/aux/set-zero {mm:0} and the Home button calls /api/aux/home, which hit the new endpoints exposed by Web.py. - control-view.js: aux_home(), aux_set_zero(), and aux_jog() helpers. When aux_enabled is false (no aux.json or aux.json has enabled=false) the row stays hidden, matching the existing axis-row behavior.	2026-04-30 17:10:00 +02:00
Claude	c7cf9483b3	Add W axis integration via auxcnc ESP32 over /dev/ttyUSB0 Rather than rebuild gplan + the AVR firmware to add a true 7th axis, we treat W as a synchronous out-of-band axis that moves between G-code blocks. The pipeline: upload -> AuxPreprocessor rewrites W tokens into (MSG,HOOK:aux:N) comments -> planner sees only XYZ + messages -> Hooks fires the registered internal handler -> AuxAxis sends STEPS/HOME over serial to the ESP and blocks the planner until done. New files: src/py/bbctrl/AuxAxis.py serial worker + RPC layer src/py/bbctrl/AuxPreprocessor.py G-code rewriter docs/AUX_W_AXIS.md design + ops notes Changed: Hooks.py register_internal(); fix the (MSG,HOOK:...) listener to read the 'messages' state list (was broken before) Ctrl.py instantiate AuxAxis, register aux/aux_rel/aux_home/ aux_setzero hooks FileHandler.py rewrite uploads in place when they use W Mach.py rewrite W tokens in MDI input the same way Web.py REST endpoints under /api/aux/* The ESP firmware in ../auxcnc was extended in lockstep: HOME, HOMECFG (NVS-persisted), WPOS, HOMED?, LIMIT?, abortable STEPS with limit-aware abort, trapezoidal ramps, deterministic [topic] reply tokens, [boot] banner. Real-time decisions (limit switch, step pulses) live on the ESP. The host owns mm units, soft limits, and aux_homed bookkeeping. ESP reboot mid-job clears aux_homed and surfaces a message; per design manual jogs are still allowed without homing.	2026-04-30 16:51:24 +02:00
Henrik Muehe	54a15f9d12	Rewrite BUILD.md: clean up, add quick start, remove dead weight - Quick start section at the top (3 commands) - Removed inline Bullseye build recipe (moved to 'why not' appendix) - Added build time estimates - Cleaner table formatting - gplan.so contents documented (cbang + camotics)	2026-04-30 16:39:57 +02:00
Henrik Muehe	704bc8d35c	gplan.so: build from source using Raspbian Stretch Docker Use balenalib/raspberry-pi-debian:stretch with legacy.raspbian.org repos. Exact match: GCC 6.3, Python 3.5, GLIBC 2.24 — identical to the Pi. First build ~25min (QEMU), subsequent builds ~1sec (cached image). Replaces the broken Bullseye approach that had GLIBC/GLIBCXX mismatches.	2026-04-30 16:33:20 +02:00
Henrik Muehe	4d2d5fd88c	Update BUILD.md: gplan.so can't be built from source on Bullseye Document GLIBC/GLIBCXX version constraints and Python 3.5 compat notes. Recommend using official release gplan.so instead.	2026-04-30 15:57:31 +02:00
Henrik Muehe	eab204b7be	Fix Python 3.5 compat: capture_output and text= not available Use stdout=PIPE/stderr=PIPE and manual .decode() instead. Use official 1.6.6 gplan.so (built with Stretch-era GCC, no GLIBC_2.29 dep).	2026-04-30 15:56:42 +02:00
Henrik Muehe	e3c059eb9b	Add cached gplan.so build: 30min first time, 3sec after - Dockerfile.gplan: pre-built armv7 image with cbang + camotics objects - build-gplan.sh: relinks against Python 3.5m in ~3sec - Pi Python 3.5 headers cached in .pi/pi-python35.tar.gz (gitignored)	2026-04-30 14:43:05 +02:00
Henrik Muehe	7306464440	Document gplan.so build-from-source procedure Build in armv7 QEMU Docker, compile with Python 3.9 SCons, relink final .so against Python 3.5m from the Pi.	2026-04-30 13:52:58 +02:00
Henrik Muehe	1625b768d8	Add build/flash/backup documentation for Pi firmware	2026-04-30 12:09:12 +02:00
Henrik Muehe	5be7515a92	Fix gplan.so: use armv7 binary from official 1.6.6 release The gplan.so (CAMotics G-code planner) must be a 32-bit ARM binary matching the Pi's Python 3.5. Source it from the official release package rather than cross-compiling (SCons ignores CC/CXX overrides). Also revert install.sh gplan.so preservation logic — simpler to just ship the correct binary in the package.	2026-04-30 11:36:09 +02:00
Henrik Muehe	b10a6d537e	Add SD card backup/restore script Streams raw dd from Pi over SSH, compresses locally with gzip. Supports backup, restore (local SD card or remote Pi), and verify.	2026-04-30 11:17:03 +02:00
Henrik Muehe	7d0755c55b	Hooks v2: block unpause until hook completes - Blocking hooks (block_unpause: true, default for tool-change) run in a background thread and gate Mach.unpause() via can_unpause() - Machine stays in HOLDING state while hook runs — AVR steppers idle, spindle state preserved, position locked - auto_resume option to unpause automatically after hook completes - E-stop cancels any running hook immediately - Hook status pushed to frontend via state (hook_busy, hook_event) - GET /api/hooks/status endpoint for polling - Non-blocking hooks (program-start, program-end, etc.) fire-and-forget	2026-04-21 08:10:07 +02:00
Henrik Muehe	7f8fd23615	Add hooks system for external triggers during G-code execution - New Hooks module (src/py/bbctrl/Hooks.py) that watches controller state and fires webhooks or scripts on events: - tool-change (M6), program-start, program-end, pause, estop, homing-start, homing-end, custom (via MSG comments) - API endpoints: - GET /api/hooks - get current hook config - PUT /api/hooks/save - save hook config - PUT /api/hooks/fire/<event> - manually fire a hook (for testing) - Hook config stored in hooks.json with two types: - webhook: HTTP POST/PUT to external URL with JSON context - script: run local command with env vars (HOOK_OLD_TOOL, etc.) - Fix tornado.web.asynchronous deprecation in Camera.py - Wired into Ctrl initialization and state listener system	2026-04-20 17:43:02 +02:00