diff --git a/Marlin/src/HAL/HAL_ESP32/HAL.cpp b/Marlin/src/HAL/HAL_ESP32/HAL.cpp
index f928d635f79fe654c0614d319c78c89bf3f775d5..e2c4ada243ac5a2e16cec5be76d1dd9a9dbbe207 100644
--- a/Marlin/src/HAL/HAL_ESP32/HAL.cpp
+++ b/Marlin/src/HAL/HAL_ESP32/HAL.cpp
@@ -85,6 +85,8 @@ void HAL_init(void) {
#if ENABLED(WIFISUPPORT)
OTA_init();
#endif
+
+ i2s_init();
}
void HAL_idletask(void) {
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL.h b/Marlin/src/HAL/HAL_ESP32/HAL.h
index a9f9afbffcdb4cb6a1097ad0c630c7a46e63af6c..15f10c304676bdb002fd6eb6327c4e09bf8e743c 100644
--- a/Marlin/src/HAL/HAL_ESP32/HAL.h
+++ b/Marlin/src/HAL/HAL_ESP32/HAL.h
@@ -31,7 +31,7 @@
#include <stdint.h>
#undef DISABLED
-#undef _BV
+#undef M_PI
#include <Arduino.h>
@@ -43,6 +43,7 @@
#include "fastio_ESP32.h"
#include "watchdog_ESP32.h"
+#include "i2s.h"
#include "HAL_timers_ESP32.h"
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
index f3d444af0c5891b89cd261a66f540bb57d8d9b2c..adb1ef669af3f238c0a82150c3ce717d64360824 100644
--- a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.cpp
@@ -113,7 +113,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) {
const tTimerConfig timer = TimerConfig[timer_num];
timer_config_t config;
- config.divider = STEPPER_TIMER_PRESCALE;
+ config.divider = timer.divider;
config.counter_dir = TIMER_COUNT_UP;
config.counter_en = TIMER_PAUSE;
config.alarm_en = TIMER_ALARM_EN;
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
index e8afd83bb8e606367a57a8d420fa9a0712cafed7..35044a9407fe4996f90a336958795cf971ab6303 100644
--- a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
@@ -43,9 +43,15 @@ typedef uint64_t hal_timer_t;
#define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals
-#define STEPPER_TIMER_PRESCALE 40
-#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
-#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#if ENABLED(I2S_STEPPER_STREAM)
+ #define STEPPER_TIMER_PRESCALE 1
+ #define STEPPER_TIMER_RATE 250000 // 250khz, 4us pulses of i2s word clock
+ #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
+#else
+ #define STEPPER_TIMER_PRESCALE 40
+ #define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer, 2MHz
+ #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs
+#endif
#define STEP_TIMER_MIN_INTERVAL 8 // minimum time in µs between stepper interrupts
diff --git a/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h b/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
index 8459a151cc3aa80772f14d175d42c29dc1a4a301..f7b691936cf8ad780697e3bfede65af4d2018d8a 100644
--- a/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
+++ b/Marlin/src/HAL/HAL_ESP32/fastio_ESP32.h
@@ -21,38 +21,40 @@
*/
#pragma once
+#include "i2s.h"
+
/**
* Utility functions
*/
-// set pin as input
-#define _SET_INPUT(IO) pinMode(IO, INPUT)
+// Set pin as input
+#define _SET_INPUT(IO) pinMode(IO, INPUT)
-// set pin as output
-#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT)
+// Set pin as output
+#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT)
-// set pin as input with pullup mode
-#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
+// Set pin as input with pullup mode
+#define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT)
// Read a pin wrapper
-#define READ(IO) digitalRead(IO)
+#define READ(IO) digitalRead(IO)
// Write to a pin wrapper
-#define WRITE(IO, v) digitalWrite(IO, v)
+#define WRITE(IO, v) (TEST(IO, 7) ? i2s_write(IO & 0x7F, v) : digitalWrite(IO, v))
-// set pin as input wrapper
-#define SET_INPUT(IO) _SET_INPUT(IO)
+// Set pin as input wrapper
+#define SET_INPUT(IO) _SET_INPUT(IO)
-// set pin as input with pullup wrapper
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
+// Set pin as input with pullup wrapper
+#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
-// set pin as output wrapper
-#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
+// Set pin as output wrapper
+#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
-#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
//
-// ports and functions
+// Ports and functions
//
// UART
diff --git a/Marlin/src/HAL/HAL_ESP32/i2s.cpp b/Marlin/src/HAL/HAL_ESP32/i2s.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8928a10e3ba20f45e043fdf013e2bb32539b51ad
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/i2s.cpp
@@ -0,0 +1,322 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include <Arduino.h> // replace that with the proper imports
+#include "i2s.h"
+#include "../../core/macros.h"
+#include "driver/periph_ctrl.h"
+#include "rom/lldesc.h"
+#include "soc/i2s_struct.h"
+#include "freertos/queue.h"
+#include "../../module/stepper.h"
+
+#define DMA_BUF_COUNT 8 // number of DMA buffers to store data
+#define DMA_BUF_LEN 4092 // maximum size in bytes
+#define I2S_SAMPLE_SIZE 4 // 4 bytes, 32 bits per sample
+#define DMA_SAMPLE_COUNT DMA_BUF_LEN / I2S_SAMPLE_SIZE // number of samples per buffer
+
+typedef enum {
+ I2S_NUM_0 = 0x0, /*!< I2S 0*/
+ I2S_NUM_1 = 0x1, /*!< I2S 1*/
+ I2S_NUM_MAX,
+} i2s_port_t;
+
+typedef struct {
+ uint32_t **buffers;
+ uint32_t *current;
+ uint32_t rw_pos;
+ lldesc_t **desc;
+ xQueueHandle queue;
+} i2s_dma_t;
+
+static portMUX_TYPE i2s_spinlock[I2S_NUM_MAX] = {portMUX_INITIALIZER_UNLOCKED, portMUX_INITIALIZER_UNLOCKED};
+static i2s_dev_t* I2S[I2S_NUM_MAX] = {&I2S0, &I2S1};
+static i2s_dma_t dma;
+
+// output value
+uint32_t i2s_port_data;
+
+#define I2S_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_spinlock[i2s_num])
+#define I2S_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_spinlock[i2s_num])
+
+static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
+ //if pin = -1, do not need to configure
+ if (gpio != -1) {
+ PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
+ gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
+ gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
+ }
+}
+
+static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) {
+ I2S_ENTER_CRITICAL();
+ I2S[i2s_num]->conf.rx_fifo_reset = 1;
+ I2S[i2s_num]->conf.rx_fifo_reset = 0;
+ I2S[i2s_num]->conf.tx_fifo_reset = 1;
+ I2S[i2s_num]->conf.tx_fifo_reset = 0;
+ I2S_EXIT_CRITICAL();
+
+ return ESP_OK;
+}
+
+esp_err_t i2s_start(i2s_port_t i2s_num) {
+ //start DMA link
+ I2S_ENTER_CRITICAL();
+ i2s_reset_fifo(i2s_num);
+
+ //reset dma
+ I2S[i2s_num]->lc_conf.in_rst = 1;
+ I2S[i2s_num]->lc_conf.in_rst = 0;
+ I2S[i2s_num]->lc_conf.out_rst = 1;
+ I2S[i2s_num]->lc_conf.out_rst = 0;
+
+ I2S[i2s_num]->conf.tx_reset = 1;
+ I2S[i2s_num]->conf.tx_reset = 0;
+ I2S[i2s_num]->conf.rx_reset = 1;
+ I2S[i2s_num]->conf.rx_reset = 0;
+
+ I2S[i2s_num]->int_clr.val = 0xFFFFFFFF;
+ I2S[i2s_num]->out_link.start = 1;
+ I2S[i2s_num]->conf.tx_start = 1;
+ I2S_EXIT_CRITICAL();
+
+ return ESP_OK;
+}
+
+esp_err_t i2s_stop(i2s_port_t i2s_num) {
+ I2S_ENTER_CRITICAL();
+ I2S[i2s_num]->out_link.stop = 1;
+ I2S[i2s_num]->conf.tx_start = 0;
+
+ I2S[i2s_num]->int_clr.val = I2S[i2s_num]->int_st.val; //clear pending interrupt
+ I2S_EXIT_CRITICAL();
+
+ return ESP_OK;
+}
+
+static void IRAM_ATTR i2s_intr_handler_default(void *arg) {
+ int dummy;
+ lldesc_t *finish_desc;
+ portBASE_TYPE high_priority_task_awoken = pdFALSE;
+
+ if (I2S0.int_st.out_eof) {
+ // Get the descriptor of the last item in the linkedlist
+ finish_desc = (lldesc_t*) I2S0.out_eof_des_addr;
+
+ // If the queue is full it's because we have an underflow,
+ // more than buf_count isr without new data, remove the front buffer
+ if (xQueueIsQueueFullFromISR(dma.queue))
+ xQueueReceiveFromISR(dma.queue, &dummy, &high_priority_task_awoken);
+
+ xQueueSendFromISR(dma.queue, (void *)(&finish_desc->buf), &high_priority_task_awoken);
+ }
+
+ if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
+
+ // clear interrupt
+ I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
+}
+
+void stepperTask(void* parameter) {
+ uint32_t i, remaining = 0;
+
+ while (1) {
+ xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
+ dma.rw_pos = 0;
+
+ for (i = 0; i < DMA_SAMPLE_COUNT; i++) {
+ // Fill with the port data post pulse_phase until the next step
+ if (remaining) {
+ i2s_push_sample();
+ remaining--;
+ }
+ else {
+ Stepper::stepper_pulse_phase_isr();
+ remaining = Stepper::stepper_block_phase_isr();
+ }
+ }
+ }
+}
+
+int i2s_init() {
+ periph_module_enable(PERIPH_I2S0_MODULE);
+
+ /**
+ * Each i2s transfer will take
+ * fpll = PLL_D2_CLK -- clka_en = 0
+ *
+ * fi2s = fpll / N + b/a -- N = clkm_div_num
+ * fi2s = 160MHz / 2
+ * fi2s = 80MHz
+ *
+ * fbclk = fi2s / M -- M = tx_bck_div_num
+ * fbclk = 80MHz / 2
+ * fbclk = 40MHz
+ *
+ * fwclk = fbclk / 32
+ *
+ * for fwclk = 250kHz (4uS pulse time)
+ * N = 10
+ * M = 20
+ */
+
+ // Allocate the array of pointers to the buffers
+ dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * DMA_BUF_COUNT);
+ if (dma.buffers == NULL) return -1;
+
+ // Allocate each buffer that can be used by the DMA controller
+ for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+ dma.buffers[buf_idx] = (uint32_t*) heap_caps_calloc(1, DMA_BUF_LEN, MALLOC_CAP_DMA);
+ if (dma.buffers[buf_idx] == NULL) return -1;
+ }
+
+ // Allocate the array of DMA descriptors
+ dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * DMA_BUF_COUNT);
+ if (dma.desc == NULL) return -1;
+
+ // Allocate each DMA descriptor that will be used by the DMA controller
+ for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+ dma.desc[buf_idx] = (lldesc_t*) heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
+ if (dma.desc[buf_idx] == NULL) return -1;
+ }
+
+ // Initialize
+ for (int buf_idx = 0; buf_idx < DMA_BUF_COUNT; buf_idx++) {
+ dma.desc[buf_idx]->owner = 1;
+ dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
+ dma.desc[buf_idx]->sosf = 0;
+ dma.desc[buf_idx]->length = DMA_BUF_LEN;
+ dma.desc[buf_idx]->size = DMA_BUF_LEN;
+ dma.desc[buf_idx]->buf = (uint8_t *) dma.buffers[buf_idx];
+ dma.desc[buf_idx]->offset = 0;
+ dma.desc[buf_idx]->empty = (uint32_t)((buf_idx < (DMA_BUF_COUNT - 1)) ? (dma.desc[buf_idx + 1]) : dma.desc[0]);
+ }
+
+ dma.queue = xQueueCreate(DMA_BUF_COUNT, sizeof(uint32_t *));
+
+ // Set the first DMA descriptor
+ I2S0.out_link.addr = (uint32_t)dma.desc[0];
+
+ // stop i2s
+ i2s_stop(I2S_NUM_0);
+
+ // configure I2S data port interface.
+ i2s_reset_fifo(I2S_NUM_0);
+
+ //reset i2s
+ I2S0.conf.tx_reset = 1;
+ I2S0.conf.tx_reset = 0;
+ I2S0.conf.rx_reset = 1;
+ I2S0.conf.rx_reset = 0;
+
+ //reset dma
+ I2S0.lc_conf.in_rst = 1;
+ I2S0.lc_conf.in_rst = 0;
+ I2S0.lc_conf.out_rst = 1;
+ I2S0.lc_conf.out_rst = 0;
+
+ //Enable and configure DMA
+ I2S0.lc_conf.check_owner = 0;
+ I2S0.lc_conf.out_loop_test = 0;
+ I2S0.lc_conf.out_auto_wrback = 0;
+ I2S0.lc_conf.out_data_burst_en = 0;
+ I2S0.lc_conf.outdscr_burst_en = 0;
+ I2S0.lc_conf.out_no_restart_clr = 0;
+ I2S0.lc_conf.indscr_burst_en = 0;
+ I2S0.lc_conf.out_eof_mode = 1;
+
+ I2S0.conf2.lcd_en = 0;
+ I2S0.conf2.camera_en = 0;
+ I2S0.pdm_conf.pcm2pdm_conv_en = 0;
+ I2S0.pdm_conf.pdm2pcm_conv_en = 0;
+
+ I2S0.fifo_conf.dscr_en = 0;
+
+ I2S0.conf_chan.tx_chan_mod = 0;
+ I2S0.fifo_conf.tx_fifo_mod = 0;
+ I2S0.conf.tx_mono = 0;
+
+ I2S0.conf_chan.rx_chan_mod = 0;
+ I2S0.fifo_conf.rx_fifo_mod = 0;
+ I2S0.conf.rx_mono = 0;
+
+ I2S0.fifo_conf.dscr_en = 1; //connect dma to fifo
+
+ I2S0.conf.tx_start = 0;
+ I2S0.conf.rx_start = 0;
+
+ I2S0.conf.tx_msb_right = 1;
+ I2S0.conf.tx_right_first = 1;
+
+ I2S0.conf.tx_slave_mod = 0; // Master
+ I2S0.fifo_conf.tx_fifo_mod_force_en = 1;
+
+ I2S0.pdm_conf.rx_pdm_en = 0;
+ I2S0.pdm_conf.tx_pdm_en = 0;
+
+ I2S0.conf.tx_short_sync = 0;
+ I2S0.conf.rx_short_sync = 0;
+ I2S0.conf.tx_msb_shift = 0;
+ I2S0.conf.rx_msb_shift = 0;
+
+ // set clock
+ I2S0.clkm_conf.clka_en = 0; // Use PLL/2 as reference
+ I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256
+ I2S0.clkm_conf.clkm_div_a = 0; // 0 at reset, what about divide by 0? (not an issue)
+ I2S0.clkm_conf.clkm_div_b = 0; // 0 at reset
+
+ // fbck = fi2s / tx_bck_div_num
+ I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
+
+ // Enable TX interrupts
+ I2S0.int_ena.out_eof = 1;
+ I2S0.int_ena.out_dscr_err = 0;
+ I2S0.int_ena.out_total_eof = 0;
+ I2S0.int_ena.out_done = 0;
+
+ // Allocate and Enable the I2S interrupt
+ intr_handle_t i2s_isr_handle;
+ esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_intr_handler_default, NULL, &i2s_isr_handle);
+ esp_intr_enable(i2s_isr_handle);
+
+ // Create the task that will feed the buffer
+ xTaskCreate(stepperTask, "StepperTask", 10000, NULL, 1, NULL);
+
+ // Route the i2s pins to the appropriate GPIO
+ gpio_matrix_out_check(22, I2S0O_DATA_OUT23_IDX, 0, 0);
+ gpio_matrix_out_check(25, I2S0O_WS_OUT_IDX, 0, 0);
+ gpio_matrix_out_check(26, I2S0O_BCK_OUT_IDX, 0, 0);
+
+ // Start the I2S peripheral
+ return i2s_start(I2S_NUM_0);
+}
+
+void i2s_write(uint8_t pin, uint8_t val) {
+ SET_BIT_TO(i2s_port_data, pin, val);
+}
+
+void i2s_push_sample() {
+ dma.current[dma.rw_pos++] = i2s_port_data;
+}
+
+#endif // ARDUINO_ARCH_ESP32
diff --git a/Marlin/src/HAL/HAL_ESP32/i2s.h b/Marlin/src/HAL/HAL_ESP32/i2s.h
new file mode 100644
index 0000000000000000000000000000000000000000..e2149b6f160dbebaf8d143b304461c1ed42aa873
--- /dev/null
+++ b/Marlin/src/HAL/HAL_ESP32/i2s.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program 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.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+// current value of the outputs provided over i2s
+extern uint32_t i2s_port_data;
+
+int i2s_init();
+
+void i2s_write(uint8_t pin, uint8_t val);
+
+void i2s_push_sample();
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 83de4b9719b714b503fe49fb4cc59128aa0b8ec1..11f44e8df57a4f3aae54dc6b9014410a4f0ab2da 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1474,7 +1474,12 @@ void Stepper::stepper_pulse_phase_isr() {
#endif
#endif
- #if MINIMUM_STEPPER_PULSE
+ #if ENABLED(I2S_STEPPER_STREAM)
+ i2s_push_sample();
+ #endif
+
+ // TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s
+ #if MINIMUM_STEPPER_PULSE && DISABLED(I2S_STEPPER_STREAM)
// Just wait for the requested pulse duration
while (HAL_timer_get_count(PULSE_TIMER_NUM) < pulse_end) { /* nada */ }
#endif
@@ -2143,12 +2148,11 @@ void Stepper::init() {
E_AXIS_INIT(5);
#endif
- // Init Stepper ISR to 122 Hz for quick starting
- HAL_timer_start(STEP_TIMER_NUM, 122);
-
- ENABLE_STEPPER_DRIVER_INTERRUPT();
-
- sei();
+ #if DISABLED(I2S_STEPPER_STREAM)
+ HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting
+ ENABLE_STEPPER_DRIVER_INTERRUPT();
+ sei();
+ #endif
// Init direction bits for first moves
last_direction_bits = 0
diff --git a/Marlin/src/pins/pins_ESP32.h b/Marlin/src/pins/pins_ESP32.h
index 681b89b0acad3c86734b0ded2dbdcdcbfec4854d..b3a511e709b95ad0ba39f8cb4a1dabceeb9d0e33 100644
--- a/Marlin/src/pins/pins_ESP32.h
+++ b/Marlin/src/pins/pins_ESP32.h
@@ -36,24 +36,24 @@
//
// Steppers
//
-#define X_STEP_PIN 27
-#define X_DIR_PIN 26
-#define X_ENABLE_PIN 25
+#define X_STEP_PIN 128
+#define X_DIR_PIN 129
+#define X_ENABLE_PIN 130
//#define X_CS_PIN 0
-#define Y_STEP_PIN 33
-#define Y_DIR_PIN 32
-#define Y_ENABLE_PIN X_ENABLE_PIN
+#define Y_STEP_PIN 131
+#define Y_DIR_PIN 132
+#define Y_ENABLE_PIN 133
//#define Y_CS_PIN 13
-#define Z_STEP_PIN 14
-#define Z_DIR_PIN 12
-#define Z_ENABLE_PIN X_ENABLE_PIN
+#define Z_STEP_PIN 134
+#define Z_DIR_PIN 135
+#define Z_ENABLE_PIN 136
//#define Z_CS_PIN 5 // SS_PIN
-#define E0_STEP_PIN 16
-#define E0_DIR_PIN 17
-#define E0_ENABLE_PIN X_ENABLE_PIN
+#define E0_STEP_PIN 137
+#define E0_DIR_PIN 138
+#define E0_ENABLE_PIN 139
//#define E0_CS_PIN 21
//
diff --git a/platformio.ini b/platformio.ini
index 2b85f1ce2a032d8b4a71b3e47e46c238081b0a4a..d877926a929625298fc7b52612915bcb13024bfd 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -356,7 +356,8 @@ lib_ignore =
platform = https://github.com/platformio/platform-espressif32.git#feature/stage
board = esp32dev
framework = arduino
-upload_port = COM3
+upload_speed = 115200
+monitor_speed = 115200
lib_ignore =
LiquidCrystal_I2C
LiquidCrystal
@@ -364,6 +365,8 @@ lib_ignore =
LiquidTWI2
TMC26XStepper
c1921b4
+ SailfishLCD
+ SailfishRGB_LED
src_filter = ${common.default_src_filter} +<src/HAL/HAL_ESP32>
#