WIP

Grbl_Esp32/src/Config.h

@@ -96,11 +96,11 @@ const int MAX_N_AXIS = 6;
 //#define CONNECT_TO_SSID  "your SSID"
 //#define SSID_PASSWORD  "your SSID password"
 //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
-#define ENABLE_BLUETOOTH  // enable bluetooth
+//#define ENABLE_BLUETOOTH  // enable bluetooth
 
 #define ENABLE_SD_CARD  // enable use of SD Card to run jobs
 
-#define ENABLE_WIFI  //enable wifi
+//#define ENABLE_WIFI  //enable wifi
 
 #if defined(ENABLE_WIFI) || defined(ENABLE_BLUETOOTH)
 #    define WIFI_OR_BLUETOOTH

Grbl_Esp32/src/Limits.cpp

@@ -175,7 +175,7 @@ void limits_go_home(uint8_t cycle_mask) {
         sys.homing_axis_lock = axislock;
         // Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
         pl_data->feed_rate = homing_rate;                    // Set current homing rate.
-        plan_buffer_line(target, pl_data);                   // Bypass mc_line(). Directly plan homing motion.
+        plan_buffer_line(target, pl_data);                   // Bypass mcline(). Directly plan homing motion.
         sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION;  // Set to execute homing motion and clear existing flags.
         st_prep_buffer();                                    // Prep and fill segment buffer from newly planned block.
         st_wake_up();                                        // Initiate motion
@@ -392,7 +392,7 @@ uint8_t limits_get_state() {
     return pinMask;
 }
 
-// Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,
+// Performs a soft limit check. Called from mcline() only. Assumes the machine has been homed,
 // the workspace volume is in all negative space, and the system is in normal operation.
 // NOTE: Used by jogging to limit travel within soft-limit volume.
 void limits_soft_check(float* target) {

Grbl_Esp32/src/Machines/tapster_pro_6P_trinamic.h

@@ -19,7 +19,6 @@
 */
 
 #define MACHINE_NAME "Tapster Pro Delta 6P Trinamic"
-
 #define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
 /*
 // enable these special machine functions to be called from the main program
@@ -108,11 +107,17 @@
 #define Z_CS_PIN                I2SO(11)
 #define Z_RSENSE                X_RSENSE
 
-// 4x Switch input module on CNC I/O module Socket #1
+// // 4x Switch input module on CNC I/O module Socket #1
+// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+// #define X_LIMIT_PIN     GPIO_NUM_33
+// #define Y_LIMIT_PIN     GPIO_NUM_32
+// #define Z_LIMIT_PIN     GPIO_NUM_35
+
+// 4x Switch input module on CNC I/O module Socket #2
 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
-#define X_LIMIT_PIN     GPIO_NUM_33
-#define Y_LIMIT_PIN     GPIO_NUM_32
-#define Z_LIMIT_PIN     GPIO_NUM_35
+#define X_LIMIT_PIN     GPIO_NUM_2
+#define Y_LIMIT_PIN     GPIO_NUM_25
+#define Z_LIMIT_PIN     GPIO_NUM_39
 
 //Example Quad MOSFET module on socket #5
 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
@@ -154,7 +159,7 @@
 #define DEFAULT_HOMING_DIR_MASK     (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS))  // all axes home negative
 #define DEFAULT_HOMING_ENABLE       1
 #define DEFAULT_INVERT_LIMIT_PINS   0
-#define DEFAULT_HOMING_CYCLE_0      #define DEFAULT_HOMING_CYCLE_0      (bit(X_AXIS) | bit(Y_AXIS) | bit(Y_AXIS)) 
+#define DEFAULT_HOMING_CYCLE_0      (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS)) 
 #define DEFAULT_HOMING_CYCLE_1      0  // override this one in defaults.h
 
 // The machine homes up and above center. MPos is the axis angle in radians

Grbl_Esp32/src/MotionControl.cpp

@@ -35,6 +35,7 @@ SquaringMode ganged_mode = SquaringMode::Dual;
 
 // this allows kinematics to be used.
 void mc_line_kins(float* target, plan_line_data_t* pl_data, float* position) {
+    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "mc_line_kins");
 #ifndef USE_KINEMATICS
     mc_line(target, pl_data);
 #else  // else use kinematics
@@ -52,6 +53,9 @@ void mc_line_kins(float* target, plan_line_data_t* pl_data, float* position) {
 void mc_line(float* target, plan_line_data_t* pl_data) {
     // If enabled, check for soft limit violations. Placed here all line motions are picked up
     // from everywhere in Grbl.
+    throw "foo";
+
+    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "mc_line");
     if (soft_limits->get()) {
         // NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
         if (sys.state != State::Jog) {
@@ -384,7 +388,8 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
         return GCUpdatePos::None;            // Nothing else to do but bail.
     }
     // Setup and queue probing motion. Auto cycle-start should not start the cycle.
-    mc_line(target, pl_data);
+    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found");
+    mc_line_kins(target, pl_data, gc_state.position);
     // Activate the probing state monitor in the stepper module.
     sys_probe_state = PROBE_ACTIVE;
     // Perform probing cycle. Wait here until probe is triggered or motion completes.

platformio.ini

@@ -28,6 +28,7 @@ build_flags =
 	-DCORE_DEBUG_LEVEL=0
 	-Wno-unused-variable
 	-Wno-unused-function
+    -O0
 
 [env]
 lib_deps =