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# Grbl (CNC Controller) For ESP32 # Grbl (CNC Controller) For ESP32
![ESP32](http://www.buildlog.net/blog/wp-content/uploads/2018/07/20180718_175943.jpg) ![ESP32](http://www.buildlog.net/blog/wp-content/uploads/2018/08/20180819_170123.jpg)
### Status: Functional Beta (See minor issues below) ### Status: Functional Beta (See minor issues below)
### Project Overview ### Project Overview
This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32 is potentially a great target for Grbl for the following reasons This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32 is a great target for Grbl for the following reasons
- **Faster** - Faster step rates and additional features could be added - **Faster** - Faster step rates and additional features could be added
- **Lower Cost** - - **Lower Cost** -
- **Small footprint** - - **Small footprint** -
- **More Flash and RAM** - A larger planner buffer could be used and more features could be added. - **Lots of Flash and RAM** - A larger planner buffer could be used and more features could be added.
- **I/O** - It has just about the same number of pins as an Arduino UNO, the original target for Grbl - **I/O** - It has just about the same number of pins as an Arduino UNO, the original target for Grbl
- **Peripherals** - It has more timers and advanced features than an UNO. These can also be mapped to pins more flexibly. - **Peripherals** - It has more timers and advanced features than an UNO. These can also be mapped to pins more flexibly.
- **Connectivity** - Bluetooth and WiFi built in. - **Connectivity** - Bluetooth and WiFi built in.
@@ -23,10 +21,12 @@ This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32
### Issues / Changes ### Issues / Changes
1. **Direction pin delay** - Not implemented yet. Some drivers require a couple of microseconds after the direction pin is set before you start the step pulse. The original plan was to [use the RMT feature](http://www.buildlog.net/blog/?s=rmt), but that has issues when trying to use it in an Interrupt. **This is typically a option in Grbl that is not used.** 1. **Direction pin delay** - Not implemented yet. Some drivers require a couple of microseconds after the direction pin is set before you start the step pulse. The original plan was to [use the RMT feature](http://www.buildlog.net/blog/?s=rmt), but that has issues when trying to use it in an Interrupt. **This is typically a option in Grbl that is not used.**
2. **Limit Switch debouncing** is not supported yet. It does not seem to be a problem on my test rigs. It might be better to us an R/C filter for now. 2. **Limit Switch debouncing** is not supported yet. It might be better to us an R/C filter for now. The controller shown above uses R/C filters, which seems to solve the problem.
3. **Step Pulse Invert:** This has not been fully tested. I suggest...leaving $2=0 3. **Step Pulse Invert:** This has not been fully tested. I suggest...leaving $2=0
### Hardware:
The hardware in the image above is an open source, reference design that is [for sale at Tindie](https://www.tindie.com/products/33366583/grblesp32-cnc-development-board/). The source files are on this [blog post](http://www.buildlog.net/blog/2018/08/grbl_esp32-cnc-development-board/).
### Using It ### Using It
@@ -40,20 +40,16 @@ Note: Unlike Grbl on Arduinos, the controller does not reboot when you connect t
Be sure you have external pullup resistors on any GPIO34-39 that you use. These default to door, start, hold and reset functions. Be sure you have external pullup resistors on any GPIO34-39 that you use. These default to door, start, hold and reset functions.
Using Bluetooth: [Bluetooth wiki page](https://github.com/bdring/Grbl_Esp32/wiki/Using-Bletooth)
- [See the Wiki page](https://github.com/bdring/Grbl_Esp32/wiki/Using-Bletooth) [SD Card wiki page](https://github.com/bdring/Grbl_Esp32/wiki/Using-the-SD-Card)
### TODO List ### TODO List
- RMT. The RMT feature is a ideal for direction and step features, but apparently has issues working in interrupts. See [this forum post](https://www.esp32.com/viewtopic.php?f=19&t=6397&hilit=grbl) and [this blog post](http://www.buildlog.net/blog/?s=rmt). It would be great to get it working. - RMT. The RMT feature is a ideal for direction and step features, but apparently has issues working in interrupts. See [this forum post](https://www.esp32.com/viewtopic.php?f=19&t=6397&hilit=grbl) and [this blog post](http://www.buildlog.net/blog/?s=rmt). It would be great to get it working.
- Add spindle enable and direction. - Add spindle enable and direction
- Add SD card. Initially only these features will be supported. - Wifi
- Mount Card - Web Server with browser based control and setup.
- List Files
- Run File
- Get job status (bytes send / file size)
- (Optional) Update firmware from SD card
### Credits ### Credits
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Start asking questions...I'll put the frequent ones here. Start asking questions...I'll put the frequent ones here.
### Donate?
Please considering donating to this open source project.
[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=3ZAF7SF5PCXTN)