Agreed, it would be great to decide on a more long-term microcontroller. I originally went with the Teensy because I have used it before and I wanted to make sure I’d have adequate speed and memory. That allowed me to admittedly be more crass with some of the code on first pass.
@matei is exploring STM32 integration. I’m also a bit partial towards ESP32 since I’ve worked with them before, they have integrated WiFi, and are being used on quite a few notable CNC projects (V1 obviously, then also FluidNC, Maslow, etc). Any particular bias @IceOnly ?
Also I mentioned this somewhere else, but it seems worthwhile to re-state: it might make sense to integrate into grblHAL with a plugin or fork at some point. This would probably be more long term, but I think it’s a good thing to keep in mind before putting a significant amount of time towards polishing the Compass firmware when a lot of the features have already been developed very well elsewhere. Not locked into that, though, just something to consider. I’d be curious to hear thoughts on that