WIP Spindle Errors

Grbl_Esp32/data/config.yaml

@@ -3,17 +3,12 @@ board: "ESP32 Dev Controller V4"
 yaml_wiki: "https://github.com/bdring/Grbl_Esp32/wiki/YAML-Config-File"
 
 idle_time: 250
-step_type: I2S_static
+step_type: rmt
 dir_delay_microseconds: 1
 pulse_microseconds: 2
 disable_delay_us: 0
 homing_init_lock: false
 
-i2so:
-  bck: gpio.22
-  ws: gpio.17
-  data: gpio.21
-
 axes:
   number_axis: 3
   shared_stepper_disable: gpio.13:low
@@ -25,15 +20,14 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: false
     
     gang0:
       endstops:
-        dual: gpio.33:low:pu
+        dual: gpio.17:low:pu
       stepstick:
-        disable: i2so.0
+        direction: gpio.14
-        direction: i2so.1
+        step: gpio.12
-        step: i2so.2
-        ms3: i2so.3
     gang1:
       null_motor:
 
@@ -44,15 +38,14 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: false
 
     gang0:
       endstops:
-        dual: gpio.32:low:pu
+        dual: gpio.4:low:pu
       stepstick:
-        disable: i2so.7
+        direction: gpio.15
-        direction: i2so.4
+        step: gpio.26
-        step: i2so.5
-        ms3: i2so.6
     gang1:
       null_motor:
 
@@ -63,30 +56,33 @@ axes:
     max_travel: 1000
     homing:
       mpos: 10
+      positive_direction: true
 
     gang0:
       endstops:
-        dual: gpio.34:low:pu
+        dual: gpio.16:low:pu
       stepstick:
-        disable: i2so.8
+        direction: gpio.33
-        direction: i2so.9
+        step: gpio.27
-        step: i2so.10
-        ms3: i2so.11
     gang1:
       null_motor:
 
 
 coolant:
-  flood: i2so.25
+  flood: gpio.25
-  mist:  i2so.24
+  mist:  gpio.21
 
 comms:
     wifi_sta:
-        ssid: StefanMieke
+        ssid: Barts-WLAN
 
     wifi_ap:
         ip_address: "192.168.0.1"
-        ssid: ScratchThat
+        ssid: GRBL_ESP32
         
 probe:
     pin: gpio.32:low:pu
+
+PWM:
+  output_pin: gpio.2
+  enable_pin: gpio.22

Grbl_Esp32/src/Grbl.cpp

@@ -90,8 +90,7 @@ void grbl_init() {
             // If there is an axis with homing configured, enter Alarm state on startup
             sys.state = State::Alarm;
         }
-        info_serial("Initializing spindle...");
+        config->_spindle->init();
-
         config->_coolant->init();
         limits_init();
         config->_probe->init();

Grbl_Esp32/src/MachineConfig.h

@@ -45,7 +45,7 @@ public:
     //     Pin  _positive;
     //     Pin  _negative;
     Pin  _dual;
-    bool _hardLimits = true;
+    bool _hardLimits = false;
 
     // Configuration system helpers:
     void validate() const override;
@@ -322,7 +322,7 @@ public:
 class MachineConfig : public Configuration::Configurable {
 public:
     MachineConfig() = default;
-    
+
     Axes*              _axes        = nullptr;
     SPIBus*            _spi         = nullptr;
     I2SOBus*           _i2so        = nullptr;

Grbl_Esp32/src/Machines/3axis_v4.yaml

@@ -83,6 +83,6 @@ comms:
 probe:
     pin: gpio.32:low:pu
 
-PWM:
+pwm:
   output_pin: gpio.2
   enable_pin: gpio.22

Grbl_Esp32/src/Spindles/PWMSpindle.h

@@ -86,7 +86,7 @@ namespace Spindles {
         Pin      _enable_pin;
         Pin      _direction_pin;
         uint8_t  _pwm_chan_num;
-        uint32_t _pwm_freq;
+        uint32_t _pwm_freq = 5000;
         uint32_t _pwm_period;  // how many counts in 1 period
         uint8_t  _pwm_precision;
         bool     _off_with_zero_speed;