Merge pull request #342 from bdring/Devt

Devt - Merging recent changes

Grbl_Esp32/commands.cpp

@@ -85,6 +85,53 @@ bool COMMANDS::execute_internal_command (int cmd, String cmd_params, level_authe
     //manage parameters
     String parameter;
     switch (cmd) {
+		//help
+		//[ESP] or [ESP0]
+		case 0:
+            {
+				if (espresponse){
+					espresponse->println ("[List of ESP3D commands]");
+					espresponse->println ("[ESP] - display this help");
+					espresponse->println ("[ESP100](SSID) - display/set STA SSID");
+					espresponse->println ("[ESP101](Password) - set STA password");
+					espresponse->println ("[ESP102](Mode) - display/set STA IP mode (DHCP/STATIC)");
+					espresponse->println ("[ESP103](IP=xxxx MSK=xxxx GW=xxxx) - display/set STA IP/Mask/GW");
+					espresponse->println ("[ESP105](SSID) - display/set AP SSID");
+					espresponse->println ("[ESP106](Password) - set AP password");
+					espresponse->println ("[ESP107](IP) - display/set AP IP");
+					espresponse->println ("[ESP108](Chanel) - display/set AP chanel");
+					espresponse->println ("[ESP110](State) - display/set radio state which can be STA, AP, BT, OFF");
+					espresponse->println ("[ESP111]display current IP");
+					espresponse->println ("[ESP112](Hostname) - display/set Hostname");
+					espresponse->println ("[ESP115](State) - display/set immediate radio state which can be ON, OFF");
+					espresponse->println ("[ESP120](State) - display/set HTTP state which can be ON, OFF");
+					espresponse->println ("[ESP121](Port) - display/set HTTP port ");
+					espresponse->println ("[ESP130](State) - display/set Telnet state which can be ON, OFF");
+					espresponse->println ("[ESP131](Port) - display/set Telnet port ");
+					espresponse->println ("[ESP140](Bluetooth name) - display/set Bluetooth name");
+					espresponse->println ("[ESP200] - display SD Card Status");
+					espresponse->println ("[ESP210] - display SD Card content");
+					espresponse->println ("[ESP215](file/dir name) - delete SD Card file / directory");
+					espresponse->println ("[ESP220](file name) - run file from SD");
+					espresponse->println ("[ESP400] - display ESP3D settings in JSON");
+					espresponse->println ("[ESP401]P=(position) T=(type) V=(value) - Set specific setting");
+					espresponse->println ("[ESP410] - display available AP list (limited to 30) in JSON");
+					espresponse->println ("[ESP420] - display ESP3D current status");
+					espresponse->println ("[ESP444]RESTART - Restart ESP");
+			#ifdef ENABLE_AUTHENTICATION
+					espresponse->println ("[ESP555](Password) - set user password");
+			#endif //ENABLE_AUTHENTICATION
+			#ifdef ENABLE_NOTIFICATIONS
+					espresponse->println ("[ESP600](message) - send message");
+					espresponse->println ("[ESP610]type=(NONE/PUSHOVER/EMAIL/LINE) T1=(token1) T2=(token2) TS=(Settings) - display/set Notification settings");
+			#endif //ENABLE_NOTIFICATIONS
+					espresponse->println ("[ESP700](file name) - run macro file from ESP Filesystem");
+					espresponse->println ("[ESP710]FORMAT - Format ESP Filesystem");
+					espresponse->println ("[ESP720]display total size and used size of ESP Filesystem");
+					espresponse->println ("[ESP800] - display FW Informations");
+				}
+			}
+			break;
 #ifdef ENABLE_WIFI
         //STA SSID
         //[ESP100]<SSID>[pwd=<admin password>]
@@ -1757,6 +1804,7 @@ bool COMMANDS::execute_internal_command (int cmd, String cmd_params, level_authe
     }
 #endif
 #ifdef ENABLE_NOTIFICATIONS
+    //[ESP600]<msg>
 	case 600: { //Send message
        
 #ifdef ENABLE_AUTHENTICATION
@@ -1926,7 +1974,7 @@ bool COMMANDS::execute_internal_command (int cmd, String cmd_params, level_authe
                                     cmd_part2 = currentline.substring (ESPpos2 + 1);
                                 }
                                 //if command is a valid number then execute command
-                                if(cmd_part1.toInt()!=0) {
+                                if(cmd_part1.toInt()>=0) {
                                     if (!execute_internal_command(cmd_part1.toInt(),cmd_part2, auth_type, espresponse)) response = false;
                                 }
                                 //if not is not a valid [ESPXXX] command ignore it
@@ -2188,7 +2236,7 @@ bool COMMANDS::check_command (const char * line, int * cmd, String & cmd_params)
                 cmd_part2 = buffer.substring (ESPpos2 + 1);
             }
             //if command is a valid number then execute command
-            if (cmd_part1.toInt() != 0) {
+            if (cmd_part1.toInt() >= 0) {
                  *cmd = cmd_part1.toInt();
                  cmd_params = cmd_part2;
                  result = true;

Grbl_Esp32/config.h

@@ -47,8 +47,8 @@ Some features should not be changed. See notes below.
 #define CPU_MAP_TEST_DRIVE // these are defined in cpu_map.h
 
 // Number of axes defined (steppers, servos, etc) (valid range: 3 to 6)
-// Even if your machine only uses less than the minimum of 3, you should select 3 
+// Even if your machine only uses less than the minimum of 3, you should select 3
-#define N_AXIS 3 
+#define N_AXIS 3
 
 #define VERBOSE_HELP // Currently this doesn't do anything
 #define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
@@ -56,7 +56,11 @@ Some features should not be changed. See notes below.
 // Serial baud rate
 // OK to change, but the ESP32 boot text is 115200, so you will not see that is your
 // serial monitor, sender, etc uses a different value than 115200
-#define BAUD_RATE 115200  
+#define BAUD_RATE 115200
+
+//Connect to your local AP with these credentials
+//#define CONNECT_TO_SSID  "your SSID"
+//#define SSID_PASSWORD  "your SSID password"
 
 #define ENABLE_BLUETOOTH // enable bluetooth 
 
@@ -101,7 +105,11 @@ Some features should not be changed. See notes below.
 
  //Default mode
 #ifdef ENABLE_WIFI
+#ifdef CONNECT_TO_SSID
+#define DEFAULT_RADIO_MODE ESP_WIFI_STA
+#else
 #define DEFAULT_RADIO_MODE ESP_WIFI_AP
+#endif //CONNECT_TO_SSID
 #else
     #undef ENABLE_NOTIFICATIONS
     #ifdef ENABLE_BLUETOOTH
@@ -288,7 +296,7 @@ Some features should not be changed. See notes below.
 #define IGNORE_CONTROL_PINS
 
 #define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
-#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds 
+#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
 
 
 // Inverts select limit pin states based on the following mask. This effects all limit pin functions,

Grbl_Esp32/cpu_map.h

@@ -585,19 +585,20 @@
 	#endif	
 		
 	#define USE_GANGED_AXES // allow two motors on an axis 
+	#define USE_RMT_STEPS
   
 	#define X_STEP_PIN      GPIO_NUM_12
-	#define X_STEP_B_PIN    GPIO_NUM_22	 // ganged motor
+	#define X2_STEP_PIN    GPIO_NUM_22	 // ganged motor
 	#define X_AXIS_SQUARING
 	
 	#define Y_STEP_PIN      GPIO_NUM_14
-	#define Y_STEP_B_PIN    GPIO_NUM_21  // ganged motor
+	#define Y2_STEP_PIN    GPIO_NUM_21  // ganged motor
 	#define Y_AXIS_SQUARING
 	
 	#define Z_STEP_PIN      GPIO_NUM_27
 	
 	#define X_DIRECTION_PIN   GPIO_NUM_26
-	#define Y_DIRECTION_PIN   GPIO_NUM_25  
+	#define Y_DIRECTION_PIN   GPIO_NUM_25
 	#define Z_DIRECTION_PIN   GPIO_NUM_33 
 	
 	// OK to comment out to use pin for other features
@@ -736,14 +737,14 @@
 	#define X_DIRECTION_PIN   GPIO_NUM_33 	// use Z labeled connector
 	
 	#define Y_STEP_PIN      GPIO_NUM_14
-	#define Y_STEP_B_PIN    GPIO_NUM_21  	// ganged motor
+	#define Y2_STEP_PIN    GPIO_NUM_21  	// ganged motor
 	#define Y_DIRECTION_PIN   GPIO_NUM_25 
 	#define Y_AXIS_SQUARING
 	
 	#define Z_STEP_PIN      GPIO_NUM_12  	// use X labeled connector
-	#define Z_STEP_B_PIN    GPIO_NUM_22		// use X labeled connector
+	#define Z2_STEP_PIN    GPIO_NUM_22		// use X labeled connector
 	#define Z_DIRECTION_PIN   GPIO_NUM_26 	// use X labeled connector
-	#define Z_AXIS_SQUARING	
+	#define Z_AXIS_SQUARING
 	
 	// OK to comment out to use pin for other features
 	#define STEPPERS_DISABLE_PIN GPIO_NUM_13
@@ -1011,20 +1012,27 @@
 	#ifdef N_AXIS
 		#undef N_AXIS
 	#endif
-	#define N_AXIS 4 // can be 3 or 4. (if 3 install bypass jumper next to the A driver)
+	#define N_AXIS 3 // can be 3 or 4. (if 3 install bypass jumper next to the A driver)
 	
 	#define USE_TRINAMIC  
 	#define TRINAMIC_DAISY_CHAIN
 
 	// Use SPI enable instead of the enable pin
 	// The hardware enable pin is tied to ground
-	#define USE_TRINAMIC_ENABLE 
+	#define USE_TRINAMIC_ENABLE
+
+	// The ESP32 RMT feature will generate the step pulse timing
 	#define USE_RMT_STEPS
 	
+	// allow two motors on an axis
+	#define USE_GANGED_AXES  
+
 	#define X_DRIVER_TMC2130 	// Which Driver Type?
 	#define X_RSENSE			0.11f   // .11 Ohm...typical of 2130 type 0.075 typical for TMC5160
 	#define X_STEP_PIN      	GPIO_NUM_12
 	#define X_DIRECTION_PIN   	GPIO_NUM_14
+	#define X2_STEP_PIN			GPIO_NUM_33
+	#define X2_DIRECTION_PIN   	GPIO_NUM_32
 	#define X_TRINAMIC   	   	// using SPI control
 	#define X_CS_PIN    		GPIO_NUM_17  // Daisy Chain, all share same CS pin
 	
@@ -1082,6 +1090,52 @@
 	
 #endif
 
+#ifdef EXTERNAL_DRIVER_4X
+	#define CPU_MAP_NAME 		"External Driver Board V1.1"
+
+	#ifdef N_AXIS
+		#undef N_AXIS
+	#endif
+	#define N_AXIS 4
+
+	#define USE_RMT_STEPS	
+	#define X_STEP_PIN      	GPIO_NUM_0
+	#define X_DIRECTION_PIN   	GPIO_NUM_2
+	#define Y_STEP_PIN      	GPIO_NUM_26
+	#define Y_DIRECTION_PIN   	GPIO_NUM_15
+	#define Z_STEP_PIN      	GPIO_NUM_27
+	#define Z_DIRECTION_PIN   	GPIO_NUM_33
+	#define A_STEP_PIN      	GPIO_NUM_14
+	#define A_DIRECTION_PIN   	GPIO_NUM_12
+	#define STEPPERS_DISABLE_PIN GPIO_NUM_13
+
+	
+	#define SPINDLE_PWM_PIN    	GPIO_NUM_25
+	#define SPINDLE_PWM_CHANNEL 0
+	#define SPINDLE_PWM_BIT_PRECISION 8
+	#define SPINDLE_ENABLE_PIN	GPIO_NUM_22
+	
+	#define MODBUS_TX	GPIO_NUM_17
+	#define MODBUS_RX	GPIO_NUM_4
+	#define MODBUS_CTRL	GPIO_NUM_16
+	
+	#define X_LIMIT_PIN      	GPIO_NUM_34	
+	#define Y_LIMIT_PIN      	GPIO_NUM_35	
+	#define Z_LIMIT_PIN      	GPIO_NUM_36
+
+	#if (N_AXIS == 3)
+		#define LIMIT_MASK      	B0111
+	#else
+		#define A_LIMIT_PIN      	GPIO_NUM_39
+		#define LIMIT_MASK      	B1111
+	#endif
+
+	#define PROBE_PIN       	GPIO_NUM_32
+	#define COOLANT_MIST_PIN   	GPIO_NUM_21
+
+	
+#endif
+
 #ifdef CPU_MAP_ATARI_1020
 	#include "atari_1020.h"	
 #endif

Grbl_Esp32/grbl.h

@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20200219"
+#define GRBL_VERSION_BUILD "20200225"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/grbl_trinamic.cpp

@@ -271,8 +271,6 @@ void trinamic_stepper_enable(bool enable) {
 
 	previous_state = enable;	
 
-	grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Trinamic Enable: %d", enable);
-
 	if (enable)
 		toff = TRINAMIC_DEFAULT_TOFF;
 	else

Grbl_Esp32/stepper.cpp

@@ -152,6 +152,21 @@ typedef struct {
 } st_prep_t;
 static st_prep_t prep;
 
+// RMT channel numbers. These are assigned dynamically as needed via the CPU MAP
+// Only 8 are available (0-7) 
+// They are Initialized with an invalid number to prevent unitended consequences
+uint8_t X_rmt_chan_num = 255;
+uint8_t X2_rmt_chan_num = 255; // Ganged axes have the "2"
+uint8_t Y_rmt_chan_num = 255;
+uint8_t Y2_rmt_chan_num = 255;
+uint8_t Z_rmt_chan_num = 255;
+uint8_t Z2_rmt_chan_num = 255;
+uint8_t A_rmt_chan_num = 255;
+uint8_t A2_rmt_chan_num = 255;
+uint8_t B_rmt_chan_num = 255;
+uint8_t B2_rmt_chan_num = 255;
+uint8_t C_rmt_chan_num = 255;
+uint8_t C2_rmt_chan_num = 255;
 
 /* "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. Grbl employs
    the venerable Bresenham line algorithm to manage and exactly synchronize multi-axis moves.
@@ -458,22 +473,22 @@ void stepper_init()
 		#ifdef  X_STEP_PIN
 			pinMode(X_STEP_PIN, OUTPUT);
 		#endif
-		#ifdef  X_STEP_B_PIN // ganged motor
+		#ifdef  X2_STEP_PIN // ganged motor
-			pinMode(X_STEP_B_PIN, OUTPUT);
+			pinMode(X2_STEP_PIN, OUTPUT);
 		#endif
 
 		#ifdef Y_STEP_PIN
 			pinMode(Y_STEP_PIN, OUTPUT);
 		#endif
-		#ifdef Y_STEP_B_PIN
+		#ifdef Y2_STEP_PIN
-			pinMode(Y_STEP_B_PIN, OUTPUT);
+			pinMode(Y2_STEP_PIN, OUTPUT);
 		#endif
 
 		#ifdef Z_STEP_PIN
 			pinMode(Z_STEP_PIN, OUTPUT);
 		#endif
-		#ifdef Z_STEP_B_PIN
+		#ifdef Z2_STEP_PIN
-			pinMode(Z_STEP_B_PIN, OUTPUT);
+			pinMode(Z2_STEP_PIN, OUTPUT);
 		#endif
 		
 		#ifdef A_STEP_PIN
@@ -494,24 +509,44 @@ void stepper_init()
 	#ifdef X_DIRECTION_PIN
 		pinMode(X_DIRECTION_PIN, OUTPUT);
 	#endif
+	#ifdef X2_DIRECTION_PIN
+		pinMode(X2_DIRECTION_PIN, OUTPUT);
+	#endif
+
 	#ifdef Y_DIRECTION_PIN
 		pinMode(Y_DIRECTION_PIN, OUTPUT);
 	#endif
+	#ifdef Y2_DIRECTION_PIN
+		pinMode(Y2_DIRECTION_PIN, OUTPUT);
+	#endif
+
 	#ifdef Z_DIRECTION_PIN
 		pinMode(Z_DIRECTION_PIN, OUTPUT);
 	#endif
+	#ifdef Z2_DIRECTION_PIN
+		pinMode(Z2_DIRECTION_PIN, OUTPUT);
+	#endif
+
 	#ifdef A_DIRECTION_PIN
 		pinMode(A_DIRECTION_PIN, OUTPUT);
 	#endif
+	#ifdef A2_DIRECTION_PIN
+		pinMode(A2_DIRECTION_PIN, OUTPUT);
+	#endif
+
 	#ifdef B_DIRECTION_PIN
 		pinMode(B_DIRECTION_PIN, OUTPUT);
 	#endif
+	#ifdef B2_DIRECTION_PIN
+		pinMode(B2_DIRECTION_PIN, OUTPUT);
+	#endif
+
 	#ifdef C_DIRECTION_PIN
 		pinMode(C_DIRECTION_PIN, OUTPUT);
 	#endif
-
+	#ifdef C2_DIRECTION_PIN
-
+		pinMode(C2_DIRECTION_PIN, OUTPUT);
-	
+	#endif	
 
 // setup stepper timer interrupt
 
@@ -536,8 +571,6 @@ void stepper_init()
 	timer_set_counter_value(STEP_TIMER_GROUP, STEP_TIMER_INDEX, 0x00000000ULL);
 	timer_enable_intr(STEP_TIMER_GROUP, STEP_TIMER_INDEX);
 	timer_isr_register(STEP_TIMER_GROUP, STEP_TIMER_INDEX, onStepperDriverTimer, NULL, 0, NULL);
-
-
 }
 
 #ifdef USE_RMT_STEPS
@@ -567,8 +600,9 @@ void initRMT()
 	rmtItem[1].duration1 = 0;
 
 #ifdef X_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)X_RMT_CHANNEL, RMT_BASECLK_APB);
+	X_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)X_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)X_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)X_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, X_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = X_STEP_PIN;
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -577,11 +611,12 @@ void initRMT()
 	rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
 #endif
 
-#ifdef X_STEP_B_PIN
+#ifdef X2_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)X_B_RMT_CHANNEL, RMT_BASECLK_APB);
+	X2_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)X_B_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)X2_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)X2_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, X_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
-	rmtConfig.gpio_num = X_STEP_B_PIN;
+	rmtConfig.gpio_num = X2_STEP_PIN;
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
 	rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
 	rmt_config(&rmtConfig);
@@ -589,8 +624,9 @@ void initRMT()
 #endif
 
 #ifdef Y_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)Y_RMT_CHANNEL, RMT_BASECLK_APB);
+	Y_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)Y_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)Y_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)Y_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Y_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = Y_STEP_PIN;
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -599,11 +635,12 @@ void initRMT()
 	rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
 #endif
 
-#ifdef Y_STEP_B_PIN
+#ifdef Y2_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)Y_B_RMT_CHANNEL, RMT_BASECLK_APB);
+	Y2_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)Y_B_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)Y2_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)Y2_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Y_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
-	rmtConfig.gpio_num = Y_STEP_B_PIN;
+	rmtConfig.gpio_num = Y2_STEP_PIN;
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
 	rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
 	rmt_config(&rmtConfig);
@@ -611,8 +648,9 @@ void initRMT()
 #endif
 
 #ifdef Z_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)Z_RMT_CHANNEL, RMT_BASECLK_APB);
+	Z_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)Z_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)Z_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)Z_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Z_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = Z_STEP_PIN;
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -622,8 +660,9 @@ void initRMT()
 #endif
 
 #ifdef A_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)A_RMT_CHANNEL, RMT_BASECLK_APB);
+	A_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)A_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)A_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)A_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, A_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = A_STEP_PIN;  // TODO
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -633,8 +672,9 @@ void initRMT()
 #endif
 
 #ifdef B_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)B_RMT_CHANNEL, RMT_BASECLK_APB);
+	B_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)B_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)B_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)B_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, B_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = B_STEP_PIN;  // TODO
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -644,8 +684,9 @@ void initRMT()
 #endif
 
 #ifdef C_STEP_PIN
-	rmt_set_source_clk( (rmt_channel_t)C_RMT_CHANNEL, RMT_BASECLK_APB);
+	C_rmt_chan_num = sys_get_next_RMT_chan_num();
-	rmtConfig.channel = (rmt_channel_t)C_RMT_CHANNEL;
+	rmt_set_source_clk( (rmt_channel_t)C_rmt_chan_num, RMT_BASECLK_APB);
+	rmtConfig.channel = (rmt_channel_t)C_rmt_chan_num;
 	rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, C_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
 	rmtConfig.gpio_num = C_STEP_PIN;  // TODO
 	rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -725,97 +766,117 @@ void set_direction_pins_on(uint8_t onMask)
 #ifdef X_DIRECTION_PIN
 	digitalWrite(X_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
 #endif
+#ifdef X2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(X2_DIRECTION_PIN, (onMask & (1<<X_AXIS)));	
+#endif
+
 #ifdef Y_DIRECTION_PIN
 	digitalWrite(Y_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
 #endif
+#ifdef Y2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(Y2_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
+#endif
+
 #ifdef Z_DIRECTION_PIN
 	digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
 #endif
+#ifdef Z2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(Z2_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
+#endif
+
 #ifdef A_DIRECTION_PIN
 	digitalWrite(A_DIRECTION_PIN, (onMask & (1<<A_AXIS)));
 #endif
+#ifdef A2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(A2_DIRECTION_PIN, (onMask & (1<<A_AXIS)));
+#endif
+
 #ifdef B_DIRECTION_PIN
 	digitalWrite(B_DIRECTION_PIN, (onMask & (1<<B_AXIS)));
 #endif
+#ifdef B2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(B2_DIRECTION_PIN, (onMask & (1<<B_AXIS)));
+#endif
+
 #ifdef C_DIRECTION_PIN
 	digitalWrite(C_DIRECTION_PIN, (onMask & (1<<C_AXIS)));
 #endif
-
+#ifdef C2_DIRECTION_PIN // optional ganged axis 
+	digitalWrite(C2_DIRECTION_PIN, (onMask & (1<<C_AXIS)));
+#endif
 
 }
 
 #ifndef USE_GANGED_AXES
 // basic one motor per axis
-void set_stepper_pins_on(uint8_t onMask)
+	void set_stepper_pins_on(uint8_t onMask)
-{
+	{
-	onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
+		onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
 
-#ifdef X_STEP_PIN
+	#ifdef X_STEP_PIN
-	digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
-#endif
-
-#ifdef Y_STEP_PIN
-	digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
-#endif
-
-#ifdef Z_STEP_PIN
-	digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
-#endif
-
-#ifdef A_STEP_PIN
-	digitalWrite(A_STEP_PIN, (onMask & (1<<A_AXIS)));
-#endif
-}
-#else // we use ganged axes
-void set_stepper_pins_on(uint8_t onMask)
-{
-	onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
-
-#ifdef X_STEP_PIN
-#ifndef X_STEP_B_PIN // if not a ganged axis
-	digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
-#else // is a ganged axis
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
 		digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
-	}
+	#endif
 
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+	#ifdef Y_STEP_PIN
-		digitalWrite(X_STEP_B_PIN, (onMask & (1<<X_AXIS)));
-	}
-#endif
-#endif
-
-#ifdef Y_STEP_PIN
-#ifndef Y_STEP_B_PIN // if not a ganged axis
-	digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
-#else // is a ganged axis
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
 		digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
-	}
+	#endif
 
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+	#ifdef Z_STEP_PIN
-		digitalWrite(Y_STEP_B_PIN, (onMask & (1<<Y_AXIS)));
-	}
-#endif
-#endif
-
-#ifdef Z_STEP_PIN
-#ifndef Z_STEP_B_PIN // if not a ganged axis
-	digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
-#else // is a ganged axis
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
 		digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
+	#endif
+
+	#ifdef A_STEP_PIN
+		digitalWrite(A_STEP_PIN, (onMask & (1<<A_AXIS)));
+	#endif
 	}
+#else // we use ganged axes
+	void set_stepper_pins_on(uint8_t onMask)
+	{
+		onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
 
-	if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+		#ifdef X_STEP_PIN
-		digitalWrite(Z_STEP_B_PIN, (onMask & (1<<Z_AXIS)));
+			#ifndef X2_STEP_PIN // if not a ganged axis
+				digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
+			#else // is a ganged axis
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
+					digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
+				}
+
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+					digitalWrite(X2_STEP_PIN, (onMask & (1<<X_AXIS)));
+				}
+			#endif
+		#endif
+
+		#ifdef Y_STEP_PIN
+			#ifndef Y2_STEP_PIN // if not a ganged axis
+				digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
+			#else // is a ganged axis
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
+					digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
+				}
+
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+					digitalWrite(Y2_STEP_PIN, (onMask & (1<<Y_AXIS)));
+				}
+			#endif
+		#endif
+
+		#ifdef Z_STEP_PIN
+			#ifndef Z2_STEP_PIN // if not a ganged axis
+				digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
+			#else // is a ganged axis
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
+					digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
+				}
+
+				if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
+					digitalWrite(Z2_STEP_PIN, (onMask & (1<<Z_AXIS)));
+				}
+			#endif
+		#endif
 	}
 #endif
-#endif
-
-
-}
-#endif
 
 #ifdef USE_RMT_STEPS
 // Set stepper pulse output pins
@@ -824,17 +885,17 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
 	
 #ifdef  X_STEP_PIN
 	if(st.step_outbits & (1<<X_AXIS)) {
-	#ifndef X_STEP_B_PIN // if not a ganged axis
+	#ifndef X2_STEP_PIN // if not a ganged axis
-			RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[X_rmt_chan_num].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
+			RMT.conf_ch[X_rmt_chan_num].conf1.tx_start = 1;
 	#else // it is a ganged axis
 			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
-				RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+				RMT.conf_ch[X_rmt_chan_num].conf1.mem_rd_rst = 1;
-				RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;			}
+				RMT.conf_ch[X_rmt_chan_num].conf1.tx_start = 1;			}
 			
 			if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
-				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+				RMT.conf_ch[X2_rmt_chan_num].conf1.mem_rd_rst = 1;
-				RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
+				RMT.conf_ch[X2_rmt_chan_num].conf1.tx_start = 1;
 			}			
 	#endif
 	}
@@ -843,17 +904,17 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
 
 #ifdef  Y_STEP_PIN
 	if(st.step_outbits & (1<<Y_AXIS)) {
-#ifndef Y_STEP_B_PIN // if not a ganged axis
+#ifndef Y2_STEP_PIN // if not a ganged axis
-		RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[Y_rmt_chan_num].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
+		RMT.conf_ch[Y_rmt_chan_num].conf1.tx_start = 1;
 #else // it is a ganged axis
 		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
-			RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[Y_rmt_chan_num].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
+			RMT.conf_ch[Y_rmt_chan_num].conf1.tx_start = 1;
 		}		
 		if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
-			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+			RMT.conf_ch[Y2_rmt_chan_num].conf1.mem_rd_rst = 1;
-			RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
+			RMT.conf_ch[Y2_rmt_chan_num].conf1.tx_start = 1;
 		}		
 #endif
 	}
@@ -861,32 +922,32 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
 
 #ifdef  Z_STEP_PIN
 	if(st.step_outbits & (1<<Z_AXIS)) {
-		RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[Z_rmt_chan_num].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
+		RMT.conf_ch[Z_rmt_chan_num].conf1.tx_start = 1;
 	}
 #endif
 
 #ifdef  A_STEP_PIN
 	if(st.step_outbits & (1<<A_AXIS)) {
 		
-		RMT.conf_ch[A_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[A_rmt_chan_num].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[A_RMT_CHANNEL].conf1.tx_start = 1;
+		RMT.conf_ch[A_rmt_chan_num].conf1.tx_start = 1;
 	}
 #endif
 
 #ifdef  B_STEP_PIN
 	if(st.step_outbits & (1<<B_AXIS)) {
 		
-		RMT.conf_ch[B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[B_rmt_chan_num].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[B_RMT_CHANNEL].conf1.tx_start = 1;
+		RMT.conf_ch[B_rmt_chan_num].conf1.tx_start = 1;
 	}
 #endif
 
 #ifdef  C_STEP_PIN
 	if(st.step_outbits & (1<<C_AXIS)) {
 		
-		RMT.conf_ch[C_RMT_CHANNEL].conf1.mem_rd_rst = 1;
+		RMT.conf_ch[C_rmt_chan_num].conf1.mem_rd_rst = 1;
-		RMT.conf_ch[C_RMT_CHANNEL].conf1.tx_start = 1;
+		RMT.conf_ch[C_rmt_chan_num].conf1.tx_start = 1;
 	}
 #endif
 
@@ -1535,7 +1596,4 @@ bool get_stepper_disable()   // returns true if steppers are disabled
 
 	return disabled;
 
-}
+}
-
-
-

Grbl_Esp32/stepper.h

@@ -47,14 +47,6 @@
 #define PREP_FLAG_PARKING bit(2)
 #define PREP_FLAG_DECEL_OVERRIDE bit(3)
 
-// which RMT channels to use with the axes
-#define X_RMT_CHANNEL		0
-#define Y_RMT_CHANNEL		1
-#define Z_RMT_CHANNEL		2
-#define A_RMT_CHANNEL		3
-#define B_RMT_CHANNEL		4
-#define C_RMT_CHANNEL		5
-
 // Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
 // frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
 // starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must

Grbl_Esp32/system.cpp

@@ -623,4 +623,19 @@ void sys_io_control(uint8_t io_num_mask, bool turnOn) {
 			return;
 		}
 	#endif
+}
+
+// Call this function to get an RMT channel number
+// returns -1 for error
+int8_t sys_get_next_RMT_chan_num()
+{
+  static uint8_t next_RMT_chan_num = 0; // channels 0-7 are valid
+
+  if (next_RMT_chan_num< 8) { // 7 is the max PWM channel number
+    return next_RMT_chan_num++;
+  }
+  else {
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_ERROR, "Error: out of RMT channels");
+    return -1;
+  }
 }

Grbl_Esp32/system.h

@@ -227,5 +227,7 @@ void system_exec_control_pin(uint8_t pin);
 
 void sys_io_control(uint8_t io_num_mask, bool turnOn);
 
+// 
+int8_t sys_get_next_RMT_chan_num();
 
 #endif

Grbl_Esp32/web_server.cpp

@@ -512,7 +512,7 @@ void Web_Server::handle_web_command ()
                 cmd_part2 = cmd.substring (ESPpos2 + 1);
             }
             //if command is a valid number then execute command
-            if (cmd_part1.toInt() != 0) {
+            if (cmd_part1.toInt() >= 0) {
                 ESPResponseStream espresponse(_webserver);
                 //commmand is web only 
                 COMMANDS::execute_internal_command (cmd_part1.toInt(), cmd_part2, auth_level, &espresponse);
@@ -589,7 +589,7 @@ void Web_Server::handle_web_command_silent ()
                 cmd_part2 = cmd.substring (ESPpos2 + 1);
             }
             //if command is a valid number then execute command
-            if (cmd_part1.toInt() != 0) {
+            if (cmd_part1.toInt() >= 0) {
                 //commmand is web only 
                 if(COMMANDS::execute_internal_command (cmd_part1.toInt(), cmd_part2, auth_level, NULL)) _webserver->send (200, "text/plain", "ok");
                 else  _webserver->send (200, "text/plain", "error");

Grbl_Esp32/wificonfig.h

@@ -53,8 +53,13 @@
 
 //defaults values
 #define DEFAULT_HOSTNAME "grblesp"
+#ifdef CONNECT_TO_SSID
+#define DEFAULT_STA_SSID CONNECT_TO_SSID
+#define DEFAULT_STA_PWD SSID_PASSWORD
+#else //!CONNECT_TO_SSID
 #define DEFAULT_STA_SSID "GRBL_ESP"
 #define DEFAULT_STA_PWD "12345678"
+#endif //CONNECT_TO_SSID
 #define DEFAULT_STA_IP "0.0.0.0"
 #define DEFAULT_STA_GW "0.0.0.0"
 #define DEFAULT_STA_MK "0.0.0.0"