Merge pull request #335 from Paciente8159/esp32-gpio-idf

Migrate ESP32 to IDF
Paciente8159 · Nov 25, 2022 · 0d5da2e · 0d5da2e
2 parents f10c39a + baa8661
commit 0d5da2e
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Showing 26 changed files with 2,951 additions and 811 deletions.
diff --git a/docs/mcumap_gen.xlsx b/docs/mcumap_gen.xlsx
diff --git a/uCNC/cnc_config.h b/uCNC/cnc_config.h
@@ -333,7 +333,7 @@ extern "C"
 	/**
 	 * Runs a check for state change inside the scheduler. This is a failsafe
 	 * check to pin ISR checking The value sets the frequency of this safety
-	 * check that is executed every 2^(CONTROLS_SCHEDULE_CHECK) milliseconds. A
+	 * check that is executed every 2^(CTRL_SCHED_CHECK) milliseconds. A
 	 * negative value will disable this feature. The maximum is 7
 	 * */
 

diff --git a/uCNC/src/cnc.c b/uCNC/src/cnc.c
@@ -258,7 +258,7 @@ MCU_CALLBACK void mcu_rtc_cb(uint32_t millis)
 #endif
 
 		// checks any limit or control input state change (every 16ms)
-#if !defined(FORCE_SOFT_POLLING) && CONTROLS_SCHEDULE_CHECK >= 0
+#if (!defined(FORCE_SOFT_POLLING) && CTRL_SCHED_CHECK >= 0)
 		uint8_t mls = (uint8_t)(0xff & millis);
 		if ((mls & CTRL_SCHED_CHECK_MASK) == CTRL_SCHED_CHECK_VAL)
 		{

diff --git a/uCNC/src/core/parser.c b/uCNC/src/core/parser.c
@@ -123,6 +123,10 @@
 #define NUMBER_ISFLOAT 0x40
 #define NUMBER_ISNEGATIVE 0x80
 
+#ifndef GRBL_CMD_MAX_LEN
+#define GRBL_CMD_MAX_LEN 32
+#endif
+
 static parser_state_t parser_state;
 static parser_parameters_t parser_parameters;
 static uint8_t parser_wco_counter;
@@ -347,8 +351,8 @@ void parser_update_probe_pos(void)
 static uint8_t parser_grbl_command(void)
 {
 	serial_getc(); // eat $
-	unsigned char c = serial_getc();
-	unsigned char grbl_cmd_str[32];
+	unsigned char c = serial_peek();
+	unsigned char grbl_cmd_str[GRBL_CMD_MAX_LEN + 1];
 	uint8_t grbl_cmd_len = 0;
 
 	// if not IDLE
@@ -367,16 +371,21 @@ static uint8_t parser_grbl_command(void)
 		}
 	}
 
-	while ((c >= 'A' && c <= 'Z') || (c >= 'a' && c <= 'z'))
+	do
 	{
+		c = serial_getc();
 		// toupper
 		if (c >= 'a' && c <= 'z')
 		{
 			c -= 32;
 		}
+
+		if (!(c >= 'A' && c <= 'Z'))
+		{
+			break;
+		}
 		grbl_cmd_str[grbl_cmd_len++] = c;
-		c = serial_getc();
-	}
+	} while ((grbl_cmd_len < GRBL_CMD_MAX_LEN));
 
 	grbl_cmd_str[grbl_cmd_len] = 0;
 
@@ -570,8 +579,15 @@ static uint8_t parser_grbl_command(void)
 		break;
 	}
 
+#ifdef BOARD_HAS_CUSTOM_SYSTEM_COMMANDS
+	if (mcu_custom_grbl_cmd((char*)grbl_cmd_str, grbl_cmd_len, c) == STATUS_OK)
+	{
+		return STATUS_OK;
+	}
+#endif
+
 #ifdef ENABLE_PARSER_MODULES
-	grbl_cmd_args_t args = {grbl_cmd_str, grbl_cmd_len};
+	grbl_cmd_args_t args = {grbl_cmd_str, grbl_cmd_len, c};
 	uint8_t newerror = EVENT_INVOKE(grbl_cmd, &args);
 	if (newerror >= GRBL_SYSTEM_CMD)
 	{

diff --git a/uCNC/src/core/parser.h b/uCNC/src/core/parser.h
@@ -235,6 +235,7 @@ extern "C"
 	{
 		unsigned char *cmd;
 		uint8_t len;
+		char next_char;
 	} grbl_cmd_args_t;
 	DECL_EVENT_HANDLER(grbl_cmd);
 

diff --git a/uCNC/src/hal/boards/esp32/boardmap_mks_dlc32.h b/uCNC/src/hal/boards/esp32/boardmap_mks_dlc32.h
@@ -63,9 +63,7 @@ extern "C"
 	// Timer 1 is used by default
 	//#define ITP_TIMER 1
 
-	// Setup the RTC Timer used by µCNC to provide an (mostly) accurate time base for all time dependent functions
-	// Timer 0 is set by default
-	//#define RTC_TIMER 0
+	// RTC Timer on ESP32 is granteed by a FreeRTOS
 
 #define ONESHOT_TIMER 2
 

diff --git a/uCNC/src/hal/boards/esp32/boardmap_mks_tinybee.h b/uCNC/src/hal/boards/esp32/boardmap_mks_tinybee.h
@@ -48,7 +48,14 @@ extern "C"
 #define DOUT6_BIT 26
 // uses 3 x 74HS595
 #define IC74HC595_COUNT 3
-#define IC74HC595_DELAY_CYCLES 0
+// #define IC74HC595_DELAY_CYCLES 0
+
+//Use I2S to shift data in ESP32
+#define IC74HC595_CUSTOM_SHIFT_IO //Enables custom MCU data shift transmission. In ESP32 that is via I2S
+#define IC74HC595_I2S_WS 26
+#define IC74HC595_I2S_CLK 25
+#define IC74HC595_I2S_DATA 27
+// #define IC74HC595_I2S_PORT 0
 
 #define STEP0_EN_IO_OFFSET 0
 #define STEP0_IO_OFFSET 1
@@ -76,9 +83,7 @@ extern "C"
 	// Timer 1 is used by default
 	//#define ITP_TIMER 1
 
-	// Setup the RTC Timer used by µCNC to provide an (mostly) accurate time base for all time dependent functions
-	// Timer 0 is set by default
-	//#define RTC_TIMER 0
+	// RTC Timer on ESP32 is granteed by a FreeRTOS
 
 #define ONESHOT_TIMER 2
 
@@ -87,6 +92,9 @@ extern "C"
 #define SPI_SDI_BIT 19
 #define SPI_CS_BIT 5
 
+//sd card detect
+#define DIN19_BIT 34
+
 // include the IO expander
 #include "../../../modules/ic74hc595.h"
 

diff --git a/uCNC/src/hal/boards/esp32/boardmap_wemos_d1_r32.h b/uCNC/src/hal/boards/esp32/boardmap_wemos_d1_r32.h
@@ -41,26 +41,26 @@ extern "C"
 
 // Setup control input pins
 #define ESTOP_BIT 2
-// #define ESTOP_ISR
+#define ESTOP_ISR
 #define ESTOP_PULLUP
 #define FHOLD_BIT 4
-// #define FHOLD_ISR
+#define FHOLD_ISR
 #define FHOLD_PULLUP
 #define CS_RES_BIT 36
-// #define CS_RES_ISR
+#define CS_RES_ISR
 #define CS_RES_PULLUP
 
 // Setup limit pins
 #define LIMIT_Z_BIT 19	// assigns LIMIT_Z pin
-// #define LIMIT_Z_ISR		// assigns LIMIT_Z ISR
+#define LIMIT_Z_ISR		// assigns LIMIT_Z ISR
 #define LIMIT_Y_BIT 5	// assigns LIMIT_Y pin
-// #define LIMIT_Y_ISR		// assigns LIMIT_Y ISR
+#define LIMIT_Y_ISR		// assigns LIMIT_Y ISR
 #define LIMIT_X_BIT 13	// assigns LIMIT_X pin
-// #define LIMIT_X_ISR  	// assigns LIMIT_X ISR
+#define LIMIT_X_ISR  	// assigns LIMIT_X ISR
 
 // Setup probe pin
 #define PROBE_BIT 39
-// #define PROBE_ISR
+#define PROBE_ISR
 
 // Setup com pins
 #define RX_BIT 3
@@ -70,6 +70,8 @@ extern "C"
 
 	// Setup PWM
 #define PWM0_BIT 23 // assigns PWM0 pin
+#define PWM0_TIMER 0
+#define PWM0_CHANNEL 0
 
 // Setup generic IO Pins
 // spindle dir
@@ -85,12 +87,16 @@ extern "C"
 	// Timer 1 is used by default
 	//#define ITP_TIMER 1
 
-	// Setup the RTC Timer used by µCNC to provide an (mostly) accurate time base for all time dependent functions
-	// Timer 0 is set by default
-	//#define RTC_TIMER 0
+	// RTC Timer on ESP32 is granteed by a FreeRTOS
 
 #define ONESHOT_TIMER 2
 
+// #define ANALOG0_BIT 2
+// #define ANALOG0_CHANNEL 2
+// #define ANALOG0_ADC 2
+
+// #define SERVO0_BIT 33
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/uCNC/src/hal/boards/esp32/esp32.ini b/uCNC/src/hal/boards/esp32/esp32.ini
@@ -2,39 +2,22 @@
 # ESP32 Boards #
 ################
 
-[common_esp32_wifi]
+[common_esp32]
 platform = espressif32
 framework = arduino
 board = wemos_d1_uno32
 build_src_filter = +<*>-<src/tinyusb>
-lib_deps = 
-    https://github.com/tzapu/WiFiManager/archive/refs/heads/master.zip
-build_flags = -Os -DENABLE_WIFI
-# -DENABLE_BLUETOOTH
-upload_speed = 256000
-board_build.f_cpu = 240000000L
-# board_build.partitions = huge_app.csv
-
-[common_esp32_bt]
-platform = espressif32
-framework = arduino
-board = wemos_d1_uno32
-build_src_filter = +<*>-<src/tinyusb>
-build_flags = -Os -DENABLE_BLUETOOTH
-upload_speed = 256000
+build_flags = -mlongcalls -Wno-frame-address -ffunction-sections -fdata-sections -ggdb -Os -freorder-blocks -Wwrite-strings -fstack-protector -fstrict-volatile-bitfields -Wall -fno-jump-tables -fno-tree-switch-conversion -std=gnu++11 -fexceptions -MMD -c -DENABLE_WIFI -DENABLE_BLUETOOTH -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_NONE
+board_build.f_flash = 80000000L
 board_build.f_cpu = 240000000L
+board_build.partitions = huge_app.csv
 
 [env:d1_r32]
-extends = common_esp32_wifi
-board = wemos_d1_uno32
-build_flags = ${common_esp32_wifi.build_flags} -DBOARD=BOARD_WEMOS_D1_R32
-
-[env:d1_r32_bt]
-extends = common_esp32_bt
+extends = common_esp32
 board = wemos_d1_uno32
-build_flags = ${common_esp32_bt.build_flags} -DBOARD=BOARD_WEMOS_D1_R32
+build_flags = ${common_esp32.build_flags} -DBOARD=BOARD_WEMOS_D1_R32
 
 [env:mks_tinybee]
-extends = common_esp32_wifi
+extends = common_esp32
 board = esp32dev
-build_flags = ${common_esp32_wifi.build_flags} -DBOARD=BOARD_MKS_TINYBEE
+build_flags = ${common_esp32.build_flags} -DBOARD=BOARD_MKS_TINYBEE
diff --git a/uCNC/src/hal/mcus/avr/mcu_avr.c b/uCNC/src/hal/mcus/avr/mcu_avr.c
@@ -522,12 +522,6 @@ void mcu_putc(char c)
 #endif
 }
 
-char mcu_getc(void)
-{
-	loop_until_bit_is_set(UCSRA, RXC);
-	return COM_INREG;
-}
-
 // RealTime
 void mcu_freq_to_clocks(float frequency, uint16_t *ticks, uint16_t *prescaller)
 {

diff --git a/uCNC/src/hal/mcus/esp32/esp32_eeprom.cpp b/uCNC/src/hal/mcus/esp32/esp32_eeprom.cpp
diff --git a/uCNC/src/hal/mcus/esp32/esp32_spi.cpp b/uCNC/src/hal/mcus/esp32/esp32_spi.cpp