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Hi, I have build a HW-Board based on ESP32-wroom-32E, using SW FluidNC v3.9.8.
Pin-control for stepper motors enable and direction is based on a PCA9555, step controlled via direct i/o pis of the ESP.
For I2C setup and control I found some hints, but none of them is working, include them int my config.yaml and tested it with no success.
My question now is:
Is I2C supported in the actual release and if, is there any working sample I can use for implementation ?
Hint: the commented config items in the config.yaml file shows the various configurations I have tried.

Controller Board

6-pack

Machine Description

new designed hardware board

Input Circuits

Configuration file

board: None
name: Default (Test Drive no I/O)
meta: 
stepping:
  engine: RMT
  idle_ms: 255
  pulse_us: 4
  dirdelayus: 0
  disabledelayus: 0
  segments: 12
spi:
  misopin: NOPIN
  mosipin: NOPIN
  sckpin: NOPIN
i2c0:
  sda_pin: gpio.13
  scl_pin: gpio.15
  frequency: 250000
#pca9555:
 address: 0x20:
 pins:
   0: input
   1: input #inverted
   2: input
   3: input
   4: input
   8: otput
   9: otput
   10: otput
   11: otput
   12: otput
   13: otput
   14: otput
   15: otput
#gpio_interrupt:
 pin: 25   # FluidNC pin connected to PCA9555 INT pin
 type: falling  # Example interrupt type (falling edge)
 handler: pca9555interrupthandler  # Function to handle the interrupt
extenders:
  pinextender0:
    pca9555:
      interrupt0: gpio.5
      
#extenders:
 i2c0:
   i2c_extender:
     device: pca9555
     device_id: 0
     interrupt: gpio.35
 pinextender0:
   i2c_extender:
     device: pca9555
     device_id: 0
     interrupt: gpio.16
      
sdcard:
  cspin: NOPIN
  carddetectpin: NO_PIN
  frequency_hz: 8000000
kinematics:
  Cartesian:
axes:
  sharedstepperdisablepin: NOPIN
  sharedstepperresetpin: NOPIN
  homing_runs: 2
  x:
    stepspermm: 80.000000
    maxratemmpermin: 1000.000000
    accelerationmmper_sec2: 25.000000
    maxtravelmm: 1000.000000
    soft_limits: false
    motor0:
      standard_stepper:
      step_pin: gpio.16
      direction_pin: i2c0.12
      disable_pin: i2c0.8
  y:
    stepspermm: 80.000000
    maxratemmpermin: 1000.000000
    accelerationmmper_sec2: 25.000000
    maxtravelmm: 1000.000000
    soft_limits: false
    motor0:
      standard_stepper:
      step_pin: gpio.22
      direction_pin: I2C0.13
      disable_pin: I2C0.9
  z:
    stepspermm: 80.000000
    maxratemmpermin: 1000.000000
    accelerationmmper_sec2: 25.000000
    maxtravelmm: 1000.000000
    soft_limits: false
    motor0:
      standard_stepper:
      step_pin: gpio.17
      direction_pin: I2C0.14
      disable_pin: I2C0.10
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

rst:0x1 (POWERONRESET),boot:0x13 (SPIFASTFLASHBOOT)
configsip: 0, SPIWP:0xee
clkdrv:0x00,qdrv:0x00,ddrv:0x00,cs0drv:0x00,hddrv:0x00,wpdrv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
[MSG:INFO: uart_channel0 created]
[MSG:RST]
[MSG:INFO: FluidNC v3.9.7 https://github.com/bdring/FluidNC]
[MSG:INFO: Compiled with ESP32 SDK:v4.4.7-dirty]
[MSG:INFO: Local filesystem type is spiffs]
[MSG:INFO: Configuration file:config.yaml]
[MSG:ERR: Ignored key extenders]
[MSG:ERR: Skipping key pinextender0 indent 2 this indent 0]
[MSG:ERR: Skipping key pca9555 indent 4 this indent 0]
[MSG:ERR: Skipping key interrupt0 indent 6 this indent 0]
[MSG:ERR: Validation error at /axes/x/motor0/standard_stepper: Step pin must be configured.]
[MSG:ERR: Validation error at /axes/y/motor0/standard_stepper: Step pin must be configured.]
[MSG:ERR: Validation error at /axes/z/motor0/standard_stepper: Step pin must be configured.]
[MSG:INFO: Machine Default (Test Drive no I/O)]
[MSG:INFO: Board None]
[MSG:INFO: I2C SDA: gpio.13, SCL: gpio.15, Freq: 250000, Bus #: 0]
[MSG:INFO: Stepping:RMT Pulse:4us Dsbl Delay:0us Dir Delay:0us Idle Delay:255ms]
[MSG:INFO: Axis count 3]
[MSG:INFO: Axis X (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:NOPIN Dir:NOPIN Disable:NOPIN]
[MSG:INFO: Axis Y (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:NOPIN Dir:NOPIN Disable:NOPIN]
[MSG:INFO: Axis Z (-1000.000,0.000)]
[MSG:INFO:   Motor0]
[MSG:INFO:     standardstepper Step:NOPIN Dir:NOPIN Disable:NOPIN]
[MSG:INFO: Kinematic system: Cartesian]
[MSG:INFO: Connecting to STA SSID:APK_5G]
[MSG:INFO: Connecting.]
[MSG:INFO: Connecting..]
[MSG:INFO: Connected - IP is 192.168.50.56]
[MSG:INFO: WiFi on]
[MSG:INFO: Start mDNS with hostname:http://fluidnc.local/]
[MSG:INFO: HTTP started on port 80]
[MSG:INFO: Telnet started on port 23]
Grbl 3.9 [FluidNC v3.9.7 (wifi) '$' for help]
[MSG:ERR: Configuration is invalid. Check boot messages for ERR's.]

User Interface Software

No response

What happened?

Ausgabe.pdf

GCode File

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Other Information

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