The code was modified.
Added a parameter file to define:
i/o pins (p1...p32) as input or output.
specify number of axes, default = 3
specify spi clock rate, default 5mHz
specify stepper rate, default = 80 kHz
Changes were made to the Pi to move the i/o to the pic, synchronize the startup/config process, additional config command, additional config parameters, increased the spi buffer, beacon handling (fault checking) and to check for Pi 4, read and parse the new parameter file.
Changes to the pic was to handle the i/o (glue logic), increased the spi buffer, get the pwm functional, synchronize the startup/config process, additional config command, additional config parameters, no need for compile when changing number of axes.
Thanks
