Fighting with GIT, hoping that this is the latest (not yet formatted!) version
Simplified some code. Added some feature counters that seem to be required in the header. So far untested.
Fixed sign error. Tested on a real machine. Working very well! Many little details to fix thoug (not production ready...).
Cleaning up more and more. Added todo list and todo entries. Still trouble finding the correct origin. Laser output flipped vertically.
Some experiments with parameters. Found the setting for user origin.