Fixed stepstick and laser. Added dir/ena wait & pulse micros.

Grbl_Esp32/src/MachineConfig.cpp

@@ -98,16 +98,6 @@ Axes::Axes() : _axis() {
 void Axes::init() {
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Init Motors");
 
-    // TODO FIXME! If use_stepstick, this should be in stepstick?
-#ifdef USE_STEPSTICK
-    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Using StepStick Mode");
-
-    if (StepperResetPin->get().defined()) {
-        // !RESET pin on steppers  (MISO On Schematic)
-        StepperResetPin->get().setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
-    }
-#endif
-
     if (_sharedStepperDisable.defined()) {
         _sharedStepperDisable.setAttr(Pin::Attr::Output);
         grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Shared stepper disable pin:%s", _sharedStepperDisable.name());

Grbl_Esp32/src/MachineConfig.h

@@ -346,8 +346,11 @@ public:
     Probe*          _probe   = nullptr;
     Communications* _comms   = nullptr;
 
-    bool  _laserMode         = false;
     int   _pulseMicroSeconds = 3;
+    int   _directionDelayMilliSeconds = 0;
+    int   _disableDelayMilliSeconds = 0;
+
+    bool  _laserMode         = false;
     float _arcTolerance      = 0.002;
     float _junctionDeviation = 0.01;
 

Grbl_Esp32/src/Motors/StepStick.cpp

@@ -19,14 +19,24 @@ namespace Motors {
         handler.handle("ms1", _MS1);
         handler.handle("ms2", _MS2);
         handler.handle("ms3", _MS3);
+        handler.handle("reset", _Reset);
+    }
+
+    void StepStick::afterParse() {
+        if (!_Reset.undefined()) {
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Using StepStick Mode");
+
+            // !RESET pin on steppers  (MISO On Schematic)
+            _Reset.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
+            _Reset.on();
+        }
     }
 
     // Name of the configurable. Must match the name registered in the cpp file.
     const char* StepStick::name() const { return "stepstick"; }
 
     // Configuration registration
-    namespace
+    namespace {
-    {
         MotorFactory::InstanceBuilder<StepStick> registration("stepstick");
     }
 }

Grbl_Esp32/src/Motors/StepStick.h

@@ -3,11 +3,11 @@
 #include "StandardStepper.h"
 
 namespace Motors {
-    class StepStick : public StandardStepper
+    class StepStick : public StandardStepper {
-    {
         Pin _MS1;
         Pin _MS2;
         Pin _MS3;
+        Pin _Reset;
 
     public:
         StepStick() = default;
@@ -18,6 +18,8 @@ namespace Motors {
         void validate() const override;
         void handle(Configuration::HandlerBase& handler) override;
 
+        void afterParse() override;
+
         // Name of the configurable. Must match the name registered in the cpp file.
         const char* name() const override;
 

Grbl_Esp32/src/Spindles/Laser.cpp

@@ -20,6 +20,7 @@
 
 */
 #include "Laser.h"
+#include "../MachineConfig.h"
 
 // ===================================== Laser ==============================================
 
@@ -31,12 +32,12 @@ namespace Spindles {
     void Laser::config_message() {
         grbl_msg_sendf(CLIENT_ALL,
                        MsgLevel::Info,
-                       "Laser spindle on Pin:%s, Enbl:%s, Freq:%dHz, Res:%dbits Laser mode:%s",
+                       "Laser spindle on Pin:%s, Enbl:%s, Freq:%dHz, Res:%dbits Laser mode:%d",
                        _output_pin.name().c_str(),
                        _enable_pin.name().c_str(),
                        int(_pwm_freq),
                        _pwm_precision,
-                       laser_mode->getStringValue());  // the current mode
+                       (MachineConfig::instance()->_laserMode ? 1 : 0));  // the current mode
 
         use_delays = false;  // this will override the value set in Spindle::PWM::init()
     }

Grbl_Esp32/src/Stepper.cpp

@@ -225,7 +225,7 @@ static void stepper_pulse_func() {
 #ifdef LATER
     // XXX this should be in the motor driver, not here
     if (motors_direction(st.dir_outbits)) {
-        auto wait_direction = direction_delay_microseconds->get();
+        auto wait_direction = MachineConfig::instance()->_directionDelayMilliSeconds;
         if (wait_direction > 0) {
             // Stepper drivers need some time between changing direction and doing a pulse.
             switch (current_stepper) {
@@ -333,16 +333,17 @@ static void stepper_pulse_func() {
         }
     }
 
+    auto pulseMicros = MachineConfig::instance()->_pulseMicroSeconds;
     switch (current_stepper) {
         case ST_I2S_STREAM:
             // Generate the number of pulses needed to span pulse_microseconds
-            i2s_out_push_sample(pulse_microseconds->get());
+            i2s_out_push_sample(pulseMicros);
             MachineConfig::instance()->_axes->unstep();
             break;
         case ST_I2S_STATIC:
         case ST_TIMED:
             // wait for step pulse time to complete...some time expired during code above
-            while (esp_timer_get_time() - step_pulse_start_time < pulse_microseconds->get()) {
+            while (esp_timer_get_time() - step_pulse_start_time < pulseMicros) {
                 NOP();  // spin here until time to turn off step
             }
             MachineConfig::instance()->_axes->unstep();
@@ -394,13 +395,13 @@ void st_wake_up() {
     // Initialize step pulse timing from settings. Here to ensure updating after re-writing.
 #ifdef USE_RMT_STEPS
     // Step pulse delay handling is not require with ESP32...the RMT function does it.
-    if (direction_delay_microseconds->get() < 1) {
+    if (MachineConfig::instance()->_disableDelayMilliSeconds < 1) {
         // Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
-        st.step_pulse_time = -(((pulse_microseconds->get() - 2) * ticksPerMicrosecond) >> 3);
+        st.step_pulse_time = -(((MachineConfig::instance()->_pulseMicroSeconds - 2) * ticksPerMicrosecond) >> 3);
     }
 #else  // Normal operation
     // Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
-    st.step_pulse_time = -(((pulse_microseconds->get() - 2) * ticksPerMicrosecond) >> 3);
+    st.step_pulse_time = -(((MachineConfig::instance()->_pulseMicroSeconds - 2) * ticksPerMicrosecond) >> 3);
 #endif
 
     // Enable Stepper Driver Interrupt