WIP - Trying to get homing working

Grbl_Esp32/Grbl_Esp32.ino

@@ -23,7 +23,7 @@
 
 void setup() {
     // #    ifdef DEBUG_PIN_DUMP
-    delay(2000);
+    //delay(2000);  // BJD removed mystery delay
     // #    endif
 
     grbl_init();

Grbl_Esp32/data/config.yaml

@@ -18,20 +18,23 @@ axes:
   x:
     steps_per_mm: 1500
     max_rate: 50000
-    acceleration: 5000
+    steps_per_mm: 800
-    max_travel: 100000
+    max_rate: 5000
+    acceleration: 100
+    max_travel: 10
     homing:
-      cycle: 2
+      cycle: 1
       mpos: 10
-      positive_direction: false
+      positive_direction: true
       feed_rate: 100.000
       seek_rate: 200.000
       debounce_ms: 500
       pulloff: 1.000
+      square: true
     
     gang0:
       endstops:
-        limit_neg: gpio.17:low:pu
+        limit_pos: gpio.17:low:pu
         hard_limits: false
       stepstick:
         direction: gpio.14
@@ -43,7 +46,7 @@ axes:
     steps_per_mm: 800
     max_rate: 2000
     acceleration: 25
-    max_travel: 1000
+    max_travel: 10
     homing:
       cycle: 2
       mpos: 10
@@ -61,33 +64,14 @@ axes:
         direction: gpio.15
         step: gpio.26
     gang1:
-      null_motor:
-
-  z:
-    steps_per_mm: 800
-    max_rate: 2000
-    acceleration: 25
-    max_travel: 10
-    homing:
-      cycle: 1
-      mpos: 10
-      positive_direction: false
-      seek_rate: 300.000
-      feed_rate: 30.000
-      seek_scaler: 2.000
-      feed_scaler: 1.000
-      debounce_ms: 500
-      pulloff: 1.000
-
-    gang0:
       endstops:
         limit_neg: gpio.16:low:pu
         hard_limits: true
       stepstick:
         direction: gpio.33
         step: gpio.27
-    gang1:
+
-      null_motor:
+  
 
 comms:
     wifi_ap:

Grbl_Esp32/src/Limits.cpp

@@ -244,12 +244,23 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
         // XXX we need to include gang1 in the remaining mask
         // The following might fail if only one gang has limit switches. Anaylze me.
         uint32_t remainingMotors = cycle_mask | (cycle_mask << 16);
+        //uint32_t remainingMotors = cycle_mask;  // this works!!! but not for squaring
+
+        uint32_t old = 0;
 
         do {
             if (approach) {
                 // Check limit state. Lock out cycle axes when they change.
                 // XXX do we check only the switch in the direction of motion?
-                uint32_t limitedAxes = limits_check(remainingMotors);
+                uint32_t limitedAxes = limits_check(-1);
+
+                if (old != remainingMotors) {
+                    //log_info("remainingMotors: " << remainingMotors);
+                    log_info("remainingMotors: 0x" << String(remainingMotors, 16));
+                    log_info("limitedAxes: 0x" << String(limitedAxes, 16));
+                    old = remainingMotors;
+                }
+
                 config->_axes->stop_motors(limitedAxes);
                 bit_false(remainingMotors, limitedAxes);
             }

Grbl_Esp32/src/Machine/Axes.cpp

@@ -108,9 +108,6 @@ namespace Machine {
     void Axes::stop_motors(uint32_t mask) { bit_false(_motorLockoutMask, mask); }
 
     void IRAM_ATTR Axes::step(uint8_t step_mask, uint8_t dir_mask) {
-        // Do not step motors that are locked out during homing
-        step_mask &= _motorLockoutMask;
-
         auto n_axis = _numberAxis;
         //log_info("motors_set_direction_pins:0x%02X", onMask);