#ifdef CPU_MAP_ESP32_ESC_SPINDLE
	// This is the CPU Map for the ESP32 CNC Controller R2	
	
	  // It is OK to comment out any step and direction pins. This
    // won't affect operation except that there will be no output
		// form the pins. Grbl will virtually move the axis. This could 
		// be handy if you are using a servo, etc. for another axis.
		#define CPU_MAP_NAME "CPU_MAP_ESP32"	
		
		#define X_STEP_PIN      	GPIO_NUM_12
		#define X_DIRECTION_PIN  	GPIO_NUM_26
		#define X_RMT_CHANNEL		0
		
		#define Y_STEP_PIN      	GPIO_NUM_14
		#define Y_DIRECTION_PIN   	GPIO_NUM_25
		#define Y_RMT_CHANNEL		1
		
		#define Z_STEP_PIN      	GPIO_NUM_27		
		#define Z_DIRECTION_PIN   	GPIO_NUM_33 		 
		#define Z_RMT_CHANNEL		2		
		
		// OK to comment out to use pin for other features
		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
		
		// *** the flood coolant feature code is activated by defining this pins
		// *** Comment it out to use the pin for other features
		#define COOLANT_FLOOD_PIN 	GPIO_NUM_16			
		//#define COOLANT_MIST_PIN   	GPIO_NUM_21
		
		// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
		// use a virtual spindle. Do not comment out the other parameters for the spindle.
		#define SPINDLE_PWM_PIN    GPIO_NUM_17 
		#define SPINDLE_PWM_CHANNEL 0
		
		// RC ESC Based Spindle 
		// An ESC works like a hobby servo with 50Hz PWM 1ms to 2 ms pulse range		
		#define SPINDLE_PWM_BASE_FREQ 50 // Hz for ESC
		#define SPINDLE_PWM_BIT_PRECISION 16   // 16 bit required for ESC
		#define SPINDLE_PULSE_RES_COUNT 65535
		
		#define ESC_MIN_PULSE_SEC 0.001 // min pulse in seconds (OK to tune this one)
		#define ESC_MAX_PULSE_SEC 0.002 // max pulse in seconds (OK to tune this one)		
		#define ESC_TIME_PER_BIT  ((1.0 / (float)SPINDLE_PWM_BASE_FREQ) / ((float)SPINDLE_PULSE_RES_COUNT) ) // seconds

		#define SPINDLE_PWM_OFF_VALUE    (uint16_t)(SERVO_MIN_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
		#define SPINDLE_PWM_MAX_VALUE    (uint16_t)(SERVO_MAX_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
		
		#ifndef SPINDLE_PWM_MIN_VALUE
				#define SPINDLE_PWM_MIN_VALUE   SPINDLE_PWM_OFF_VALUE   // Must be greater than zero.
		#endif
		
		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
		
		#define SPINDLE_ENABLE_PIN	GPIO_NUM_22			
		
		// if these spindle function pins are defined, they will be activated in the code
		// comment them out to use the pins for other functions
		//#define SPINDLE_ENABLE_PIN	GPIO_NUM_16
		//#define SPINDLE_DIR_PIN			GPIO_NUM_16		
		
		#define X_LIMIT_PIN      	GPIO_NUM_2  
		#define Y_LIMIT_PIN      	GPIO_NUM_4  
		#define Z_LIMIT_PIN     	GPIO_NUM_15 	
		#define LIMIT_MASK      	B111
		
		#define PROBE_PIN       	GPIO_NUM_32  
		
		#define CONTROL_SAFETY_DOOR_PIN   GPIO_NUM_35  // needs external pullup
		#define CONTROL_RESET_PIN         GPIO_NUM_34  // needs external pullup
		#define CONTROL_FEED_HOLD_PIN     GPIO_NUM_36  // needs external pullup 
		#define CONTROL_CYCLE_START_PIN   GPIO_NUM_39  // needs external pullup    		
		
#endif

void spindle_stop()
{		
  spindle_set_enable(false);
	#ifdef SPINDLE_PWM_PIN
		grbl_analogWrite(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_OFF_VALUE);
	#endif
}
'''

If you can test this, I can create a pull request.

#define SPINDLE_PWM_OFF_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#define SPINDLE_PWM_MAX_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts

#define ESC_MIN_PULSE_SEC 0.0007 // min pulse in seconds (OK to tune this one)
#define ESC_MAX_PULSE_SEC 0.0018 // max pulse in seconds (OK to tune this one)   
#define ESC_TIME_PER_BIT  ((1.0 / (float)SPINDLE_PWM_BASE_FREQ) / ((float)SPINDLE_PULSE_RES_COUNT) ) // seconds

#define SPINDLE_PWM_OFF_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#define SPINDLE_PWM_MAX_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts

#define SPINDLE_PWM_OFF_VALUE    (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#define SPINDLE_PWM_MAX_VALUE    (uint16_t)(ESC_MAX_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts

if (st_prep_block->is_pwm_rate_adjusted) {
    spindle_set_speed(st.exec_segment->spindle_pwm);
}