debug stuff

diff vs master

18LTS schoch@xeon:/mnt/c/Users/jesse/Documents/Arduino/i2s_grbl/Grbl_Esp32/Grbl_Esp32$ git diff origin/master > diff.out
18LTS schoch@xeon:/mnt/c/Users/jesse/Documents/Arduino/i2s_grbl/Grbl_Esp32/Grbl_Esp32$ cat diff.out
diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h
index e50f210..239c565 100644
--- a/Grbl_Esp32/config.h
+++ b/Grbl_Esp32/config.h
@@ -114,19 +114,19 @@ Some features should not be changed. See notes below.
 //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
 #define ENABLE_BLUETOOTH // enable bluetooth

-#define ENABLE_SD_CARD // enable use of SD Card to run jobs
+//#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
 #endif


-#define ENABLE_HTTP //enable HTTP and all related services
-#define ENABLE_OTA  //enable OTA
-#define ENABLE_TELNET //enable telnet
-#define ENABLE_TELNET_WELCOME_MSG //display welcome string when connect to telnet
+//#define ENABLE_HTTP //enable HTTP and all related services
+//#define ENABLE_OTA  //enable OTA
+//#define ENABLE_TELNET //enable telnet
+//#define ENABLE_TELNET_WELCOME_MSG //display welcome string when connect to telnet
 #define ENABLE_MDNS //enable mDNS discovery
 #define ENABLE_SSDP //enable UPNP discovery
 #define ENABLE_NOTIFICATIONS //enable notifications
@@ -138,7 +138,7 @@ Some features should not be changed. See notes below.
 // WebUI come up automatically in the browser, instead of requiring the user
 // to browse manually to a default URL.  It works like airport and hotel
 // WiFi that takes you a special page as soon as you connect to that AP.
-#define ENABLE_CAPTIVE_PORTAL
+//#define ENABLE_CAPTIVE_PORTAL

 // Warning! The current authentication implementation is too weak to provide
 // security against an attacker, since passwords are stored and transmitted
@@ -438,7 +438,7 @@ Some features should not be changed. See notes below.
 // NOTE: All pins associated with the feature are disabled, i.e. XYZ limit pins, not individual axes.
 // WARNING: When the pull-ups are disabled, this requires additional wiring with pull-down resistors!
 //#define DISABLE_LIMIT_PIN_PULL_UP
-//#define DISABLE_PROBE_PIN_PULL_UP
+#define DISABLE_PROBE_PIN_PULL_UP
 //#define DISABLE_CONTROL_PIN_PULL_UP

 // Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
diff --git a/Grbl_Esp32/machine.h b/Grbl_Esp32/machine.h
index 3f987a9..06e276f 100644
--- a/Grbl_Esp32/machine.h
+++ b/Grbl_Esp32/machine.h
@@ -17,7 +17,7 @@ PWM
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#include "Machines/test_drive.h"
+#include "Machines/jesse_i2s.h"

 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
diff --git a/Grbl_Esp32/nuts_bolts.cpp b/Grbl_Esp32/nuts_bolts.cpp
index 72e8623..a044639 100644
--- a/Grbl_Esp32/nuts_bolts.cpp
+++ b/Grbl_Esp32/nuts_bolts.cpp
@@ -146,6 +146,7 @@ float limit_acceleration_by_axis_maximum(float* unit_vec) {
     // but used in units of mm/min^2.  It suffices to perform the conversion once on
     // exit, since the limit computation above is independent of units - it simply
     // finds the smallest value.
+    //return (limit_value);
     return (limit_value * SEC_PER_MIN_SQ);
 }

jesse_i2s.h

18LTS schoch@xeon:/mnt/c/Users/jesse/Documents/Arduino/i2s_grbl/Grbl_Esp32/Grbl_Esp32$ cat Machines/jesse_i2s.h
/*
    i2s_out_xyzabc.h
    Part of Grbl_ESP32
    Pin assignments for the ESP32 I2S 6-axis board
    2018    - Bart Dring
    2020    - Mitch Bradley
    2020    - Michiyasu Odaki
    Grbl_ESP32 is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
    Grbl is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
    You should have received a copy of the GNU General Public License
    along with Grbl_ESP32.  If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME            "ESP32 I2S 6 Axis Driver Board (StepStick)"

#ifdef N_AXIS
        #undef N_AXIS
#endif
#define N_AXIS 6

#ifdef ENABLE_SD_CARD
    #undef ENABLE_SD_CARD
#endif

// === Special Features

// I2S (steppers & other output-only pins)
#define USE_I2S_OUT
// Define USE_I2S_OUT_STREAM if buffering is used.
// (there will be a delay between the specified I/O operation and the actual I/O execution)
//#define USE_I2S_OUT_STREAM
#undef USE_RMT_STEPS

//#define USE_STEPSTICK   // makes sure MS1,2,3 !reset and !sleep are set

#define I2S_OUT_BCK      GPIO_NUM_22
#define I2S_OUT_WS       GPIO_NUM_17
#define I2S_OUT_DATA     GPIO_NUM_21


#define STEPPER_MS1             GPIO_NUM_23 // MOSI
#define STEPPER_MS2             GPIO_NUM_18 // SCK

#define STEPPER_X_MS3           I2SO(3)   // X_CS
#define STEPPER_Y_MS3           I2SO(6)   // Y_CS
#define STEPPER_Z_MS3           I2SO(11)  // Z_CS
#define STEPPER_A_MS3           I2SO(14)  // A_CS
#define STEPPER_B_MS3           I2SO(19)  // B_CS
#define STEPPER_C_MS3           I2SO(22)  // C_CS

#define STEPPER_RESET           GPIO_NUM_19

#define X_DISABLE_PIN           I2SO(0)
#define X_DIRECTION_PIN         I2SO(1)
#define X_STEP_PIN              I2SO(2)

#define Y_DIRECTION_PIN         I2SO(4)
#define Y_STEP_PIN              I2SO(5)
#define Y_DISABLE_PIN           I2SO(7)

#define Z_DISABLE_PIN           I2SO(8)
#define Z_DIRECTION_PIN         I2SO(9)
#define Z_STEP_PIN              I2SO(10)

#define A_DIRECTION_PIN         I2SO(12)
#define A_STEP_PIN              I2SO(13)
#define A_DISABLE_PIN           I2SO(15)

#define B_DISABLE_PIN           I2SO(16)
#define B_DIRECTION_PIN         I2SO(17)
#define B_STEP_PIN              I2SO(18)
//#define B_CS_PIN                I2SO(19)

#define C_DIRECTION_PIN         I2SO(20)
#define C_STEP_PIN              I2SO(21)
//#define C_CS_PIN                I2SO(22)
#define C_DISABLE_PIN           I2SO(23)


#define SPINDLE_TYPE            SPINDLE_TYPE_PWM // only one spindle at a time
#define SPINDLE_OUTPUT_PIN      GPIO_NUM_26
#define SPINDLE_ENABLE_PIN      GPIO_NUM_4
#define SPINDLE_DIR_PIN         GPIO_NUM_16

#define X_LIMIT_PIN             GPIO_NUM_36
#define Y_LIMIT_PIN             GPIO_NUM_39
#define Z_LIMIT_PIN             GPIO_NUM_34
#define A_LIMIT_PIN             GPIO_NUM_35
#define B_LIMIT_PIN             GPIO_NUM_32
#define C_LIMIT_PIN             GPIO_NUM_33

#define PROBE_PIN               GPIO_NUM_25

#define COOLANT_MIST_PIN        GPIO_NUM_2



// === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE

settings

$Radio/Mode=BT
$Bluetooth/Name=btgrblesp
$Report/StallGuard=
$Spindle/Type=PWM
$Stepper/Pulse=5
$Stepper/IdleTime=255
$Stepper/StepInvert=
$Stepper/DirInvert=
$Stepper/EnableInvert=On
$Limits/Invert=On
$Probe/Invert=On
$Report/Status=1
$GCode/JunctionDeviation=0.010
$GCode/ArcTolerance=0.002
$Report/Inches=Off
$Limits/Soft=Off
$Limits/Hard=Off
$Homing/Enable=Off
$Homing/DirInvert=XY
$Homing/Feed=200.000
$Homing/Seek=2000.000
$Homing/Debounce=250.000
$Homing/Pulloff=4.000
$GCode/MaxS=1000.000
$GCode/MinS=0.000
$GCode/LaserMode=Off
$GCode/Line1=
$GCode/Line0=
$Spindle/Delay/SpinDown=0.000
$Spindle/Delay/SpinUp=0.000
$Spindle/PWM/Frequency=5000.000
$Spindle/PWM/Off=0.000
$Spindle/PWM/Min=0.000
$Spindle/PWM/Max=100.000
$X/StepsPerMm=1600.000
$Y/StepsPerMm=5120.000
$Z/StepsPerMm=100.000
$A/StepsPerMm=100.000
$B/StepsPerMm=100.000
$C/StepsPerMm=100.000
$X/MaxRate=1500.000
$Y/MaxRate=200.000
$Z/MaxRate=1000.000
$A/MaxRate=1000.000
$B/MaxRate=1000.000
$C/MaxRate=1000.000
$X/Acceleration=5.000
$Y/Acceleration=30.000
$Z/Acceleration=200.000
$A/Acceleration=200.000
$B/Acceleration=200.000
$C/Acceleration=200.000
$X/MaxTravel=600.000
$Y/MaxTravel=300.000
$Z/MaxTravel=300.000
$A/MaxTravel=300.000
$B/MaxTravel=300.000
$C/MaxTravel=300.000
$X/Current/Run=0.250
$Y/Current/Run=0.250
$Z/Current/Run=0.250
$A/Current/Run=0.250
$B/Current/Run=0.250
$C/Current/Run=0.250
$X/Current/Hold=0.125
$Y/Current/Hold=0.125
$Z/Current/Hold=0.125
$A/Current/Hold=0.125
$B/Current/Hold=0.125
$C/Current/Hold=0.125
$X/Microsteps=16
$Y/Microsteps=16
$Z/Microsteps=16<Idle|MPos:0.000,27.520,0.000,0.000,0.000,0.000|FS:0,0|Pn:PXYZA>
$A/Microsteps=16
$B/Microsteps=16
$C/Microsteps=16
$X/StallGuard=16
$Y/StallGuard=16
$Z/StallGuard=16
$A/StallGuard=16
$B/StallGuard=16
$C/StallGuard=16