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  1. Would moving to a TI Stellaris or STM32 (ARM Cortex M4 based boards) or Renesas RX (not quite BeagleBone power but considerably more powerful than the AVR) make sense? I have not looked at the firmware yet but I wonder if coding the firmware in C/C++ and using an RTOS would help in terms of real-time control priorities, for example, managing the temperature controller and four axes of stepper control without other items (such as LCD display or control input) affecting real time operation? I think embedded Linux may be overkill, but certainly an RTOS like Micrium MicroCOS III would be usef
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