> 未分类 > [FluidNC Issue#1444] Cannot configure stepper motor with GPIO for step and I2SO for direction in config.yaml (ESP32 Dev)

[FluidNC Issue#1444] Cannot configure stepper motor with GPIO for step and I2SO for direction in config.yaml (ESP32 Dev)

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Issue #1444 | 状态: 已关闭 | 作者: OmidAyar | 创建时间: 2025-02-02

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I’m working with an ESP32 Dev board and trying to configure a stepper motor in config.yaml for FluidNC. Due to the limited number of pins on the ESP32 Dev board, I want to use a GPIO pin for the step signal and an I2SO pin for the direction signal. However, I am unable to configure this as FluidNC doesn’t seem to allow both signals to be configured in this way.

I do not want to use the I2SO pins for the step signal, but instead for the direction pin. I would also be willing to assist with setting up the ESP32 S3 if needed, as I am working on a project that requires the increased number of pins on this microcontroller.

Is it possible to configure the stepper motor this way, and if so, how can I achieve this in the config.yaml file?

Thank you for your help!

Controller Board

4-pack

Machine Description

this a project for myself

Input Circuits

Configuration file

board: esp32dev
name: Default (Test Drive no I/O)
meta: 
stepping:
  engine: RMT
  idle_ms: 255
  pulse_us: 4
  dirdelayus: 0
  disabledelayus: 0
  segments: 12
  
i2so:
  bck_pin: gpio.27
  data_pin: gpio.12
  ws_pin: gpio.14
spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18
sdcard:
  cs_pin: gpio.5
  carddetectpin: NO_PIN
  frequency_hz: 8000000
kinematics:
  Cartesian:

axes:
  sharedstepperdisablepin: NOPIN
  x:
    stepspermm: 100.000
    maxratemmpermin: 5000.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: true
      mpos_mm: 0.000
      feedmmper_min: 100.000
      seekmmper_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitnegpin: gpio.36
      limitpospin: gpio.39
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      
      standard_stepper:
        step_pin: gpio.32
        direction_pin: i2so.1
        disablepin: NOPIN
             
       
  y:
    stepspermm: 100.000
    maxratemmpermin: 5000.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: true
      mpos_mm: 0.000
      feedmmper_min: 100.000
      seekmmper_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitnegpin: gpio.34
      limitpospin: gpio.35
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      
      standard_stepper:
        step_pin: gpio.33
        direction_pin: i2so.2
        disablepin: NOPIN

  z:
    stepspermm: 100.000
    maxratemmpermin: 5000.000
    accelerationmmper_sec2: 100.000
    maxtravelmm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: true
      mpos_mm: 0.000
      feedmmper_min: 100.000
      seekmmper_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:
      limitnegpin: NO_PIN
      limitpospin: NO_PIN
      limitallpin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      
      standard_stepper:
        step_pin: gpio.25
        direction_pin: i2so.3
        disablepin: NOPIN
control:
  safetydoorpin: NO_PIN
  resetpin: NOPIN
  feedholdpin: NO_PIN
  cyclestartpin: NO_PIN
  macro0pin: NOPIN
  macro1pin: NOPIN
  macro2pin: NOPIN
  macro3pin: NOPIN
  faultpin: NOPIN
  estoppin: NOPIN
coolant:
  floodpin: NOPIN
  mistpin: NOPIN
  delay_ms: 0
probe:
  pin: NO_PIN
  toolsetterpin: NOPIN
  checkmodestart: true
  hard_stop: false
macros:
  startup_line0:
  startup_line1:
  Macro0:
  Macro1:
  Macro2:
  Macro3:
  after_homing:
  after_reset:
  after_unlock:
start:
  must_home: false
  deactivate_parking: false
  check_limits: true
parking:
  enable: false
  axis: Z
  targetmposmm: -5.000000
  ratemmper_min: 800.000000
  pulloutdistancemm: 5.000000
  pulloutratemmpermin: 250.000000
user_outputs:
  analog0pin: NOPIN
  analog1pin: NOPIN
  analog2pin: NOPIN
  analog3pin: NOPIN
  analog0_hz: 5000
  analog1_hz: 5000
  analog2_hz: 5000
  analog3_hz: 5000
  digital0pin: NOPIN
  digital1pin: NOPIN
  digital2pin: NOPIN
  digital3pin: NOPIN
  digital4pin: NOPIN
  digital5pin: NOPIN
  digital6pin: NOPIN
  digital7pin: NOPIN
user_inputs:
  analog0pin: NOPIN
  analog1pin: NOPIN
  analog2pin: NOPIN
  analog3pin: NOPIN
  digital0pin: NOPIN
  digital1pin: NOPIN
  digital2pin: NOPIN
  digital3pin: NOPIN
  digital4pin: NOPIN
  digital5pin: NOPIN
  digital6pin: NOPIN
  digital7pin: NOPIN
arctolerancemm: 0.002000
junctiondeviationmm: 0.010000
verbose_errors: true
report_inches: false
enableparkingoverride_control: false
uselinenumbers: false
planner_blocks: 16

Startup Messages

[MSG:INFO: FluidNC v3.9.4 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is littlefs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:ERR: Validation error at /axes/x/motor0/standard_stepper: Step pin must be an I2SO pin]
[MSG:ERR: Validation error at /axes/y/motor0/standard_stepper: Step pin must be an I2SO pin]
[MSG:ERR: Validation error at /axes/z/motor0/standard_stepper: Step pin must be an I2SO pin]
[MSG:INFO: Machine Default (Test Drive no I/O)]
[MSG:INFO: Board esp32dev]
[MSG:INFO: I2SO BCK:gpio.27 WS:gpio.14 DATA:gpio.12Min Pulse:2us]
[MSG:INFO: SPI SCK:gpio.18 MOSI:gpio.23 MISO:gpio.19]
[MSG:INFO: SD Card cspin:gpio.5 detect:NOPIN freq:8000000]
[MSG:INFO: Stepping:I2S_STREAM Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:gpio.32 Dir:I2SO.1 Disable:NOPIN]
[MSG:INFO:  X Neg Limit gpio.36]
[MSG:INFO:  X Pos Limit gpio.39]
[MSG:INFO: Axis Y (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:gpio.33 Dir:I2SO.2 Disable:NOPIN]
[MSG:INFO:  Y Neg Limit gpio.34]
[MSG:INFO:  Y Pos Limit gpio.35]
[MSG:INFO: Axis Z (-300.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:gpio.25 Dir:I2SO.3 Disable:NOPIN]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: STA SSID is not set]
[MSG:INFO: AP SSID FluidNC IP 192.168.0.1 mask 255.255.255.0 channel 1]
[MSG:INFO: AP started]
[MSG:INFO: WiFi on]
[MSG:INFO: Captive Portal Started]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]

User Interface Software

No response

What happened?

Cannot configure stepper motor with GPIO for step and I2SO for direction in config.yaml (ESP32 Dev)

GCode File

No response

Other Information

No response

评论 (3)

#1 – bdring 于 2025-02-02

You cannot use i2so pins with the RMT engine type. You should use all gpio or all i2so pins for the motors. 

board: esp32dev
name: Default (Test Drive no I/O)
meta: 
stepping:
  engine: RMT
  idle_ms: 255

#2 – MitchBradley 于 2025-02-02

Dev boards do not have the external shift registers that are necessary for I2SO stepping.

#3 – bdring 于 2025-02-03

We have some work going for an I/O extender. It works for inputs, digital I/O and PWM.

– Discord Discussion
– https://github.com/bdring/FluidNC/issues/1444

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