Added generic stream switcher functions for driver use, to avoid dupl…

…icated code.

Some minor fixes.

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20211130, see the [changelog](changelog.md) for details.  
+Latest build date is 20211213, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  
@@ -83,4 +83,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-11-28
+2021-12-13

changelog.md

@@ -1,5 +1,26 @@
 ## grblHAL changelog
 
+Build 20211213:
+
+Core:
+
+* Added generic stream switcher functions for driver use, to avoid duplicated code.
+* Added HAL entry point as workaround fix for random ESP32 crashes \(related to unreferenced float variable in ISR context\). 
+
+Drivers:
+
+* Most: updated to use new core based stream switcher.
+* STM32F4xx: updates for BTT SKR 1.1 & 2.0 UART mode Trinamic stepper driver support.
+* LPC176x: Added tentative support for BTT SKR E3 board including soft UART mode Trinamic TMC2209 drivers. Code by Dimitris Zervas, somewhat modified by Terje Io.
+* ESP32: added driver support for ganged/auto squared axes and Trinamic SPI mode stepper drivers. Untested for now since hardware is not available.  
+Added board map for xPro v5 controller with TMC5160 drivers. Untested.  
+Fix for random Guru crashes when streaming gcode at high feedrates/accelerations.
+
+Plugins:
+* Trinamic: workaround for ESP32 enums always defaulting to 32bit(!)
+* Networking, Bluetooth: updated for core stream switcher.
+
+---
 Core:
 
 * Renamed unused function.

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20211203
+#define GRBL_BUILD 20211209
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

hal.h

@@ -183,6 +183,9 @@ typedef struct {
     spindle_update_pwm_ptr update_pwm;  //!< Handler for updating spindle PWM output.
 #else
     spindle_update_rpm_ptr update_rpm;  //!< Handler for updating spindle RPM.
+#endif
+#ifdef GRBL_ESP32
+    void (*esp32_off)(void);            //!< Workaround handler for snowflake ESP32 Guru awaken by floating point data in ISR context.
 #endif
     // Optional entry points:
     spindle_get_data_ptr get_data;      //!< Optional handler for getting spindle data. Required for spindle sync.

plugins.h

@@ -186,6 +186,6 @@ typedef struct {
 } nvs_transfer_t;
 
 extern nvs_transfer_result_t i2c_nvs_transfer (nvs_transfer_t *i2c, bool read);
-extern void my_plugin_init (void)  __attribute__((weak));
+extern void my_plugin_init (void);
 
 #endif

plugins_init.h

@@ -65,18 +65,18 @@
     openpnp_init();
 #endif
 
-// ESP32 has its own webui_init and crashes at runtime if the weak my_plugin_init() is called...
+// ESP32 has its own webui_init
 #ifndef GRBL_ESP32
 
 #if WEBUI_ENABLE
     extern void webui_init (void);
     webui_init();
 #endif
 
-    my_plugin_init();
-
 #endif
 
+    my_plugin_init();
+
 // Third party plugin definitions.
 // The code for these has to be downloaded from the source and placed in the same folder as driver.c
 // Note: Third party plugins may have more than one implementation, there is no "owner" of plugins listed here.

stepper.c

@@ -404,9 +404,15 @@ ISR_CODE void stepper_driver_interrupt_handler (void)
         } else {
             // Segment buffer empty. Shutdown.
             st_go_idle();
+
             // Ensure pwm is set properly upon completion of rate-controlled motion.
-            if (st.exec_block->dynamic_rpm && settings.mode == Mode_Laser)
+            if (st.exec_block->dynamic_rpm && settings.mode == Mode_Laser) {
+              #ifndef GRBL_ESP32
                 hal.spindle.set_state((spindle_state_t){0}, 0.0f);
+              #else
+                hal.spindle.esp32_off();
+              #endif
+            }
 
             st.exec_block = NULL;
             system_set_exec_state_flag(EXEC_CYCLE_COMPLETE); // Flag main program for cycle complete

stream.c

@@ -1,5 +1,5 @@
 /*
-  stream.c - stream RX handling for tool change protocol
+  stream.c - high level (serial) stream handling
 
   Part of grblHAL
 
@@ -19,6 +19,7 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#include <stdlib.h>
 #include <string.h>
 
 #include "hal.h"
@@ -33,8 +34,15 @@ typedef struct {
     stream_rx_buffer_t *rxbuffer;
 } stream_state_t;
 
+typedef struct stream_connection {
+    const io_stream_t *stream;
+    bool is_up;
+    struct stream_connection *next;
+} stream_connection_t;
+
 static stream_state_t stream = {0};
 static io_stream_details_t *streams = NULL;
+static stream_connection_t base = {0}, *connections = &base;
 
 void stream_register_streams (io_stream_details_t *details)
 {
@@ -168,6 +176,149 @@ ISR_CODE bool stream_enable_mpg (const io_stream_t *mpg_stream, bool mpg_mode)
     return true;
 }
 
+static void stream_write_all (const char *s)
+{
+    stream_connection_t *connection = connections;
+
+    while(connection) {
+        if(connection->is_up)
+            connection->stream->write(s);
+        connection = connection->next;
+    }
+}
+
+static bool stream_select (const io_stream_t *stream, bool add)
+{
+    static const io_stream_t *active_stream = NULL;
+
+    stream_connection_t *connection, *last = connections;
+
+    if(stream == base.stream) {
+        base.is_up = add;
+        return true;
+    }
+
+    if(add) {
+
+        if(base.stream == NULL) {
+            base.stream = stream;
+            base.is_up = stream->state.connected == On;
+        } else if((connection = malloc(sizeof(stream_connection_t)))) {
+            connection->stream = stream;
+            connection->is_up = stream->state.connected == On || stream->state.is_usb == On; // TODO: add connect/disconnect event to driver code
+            connection->next = NULL;
+            while(last->next) {
+                last = last->next;
+                if(last->stream == stream) {
+                    free(connection);
+                    return true;
+                }
+            }
+            last->next = connection;
+        } else
+            return false;
+
+    } else { // disconnect
+
+        stream_connection_t *prev;
+
+        while(last->next) {
+            prev = last;
+            last = last->next;
+            if(last->stream == stream) {
+                prev->next = last->next;
+                free(last);
+                if(prev->next)
+                    return false;
+                else {
+                    stream = prev->stream;
+                    break;
+                }
+            }
+        }
+    }
+
+    bool webui_connected = hal.stream.state.webui_connected;
+
+    switch(stream->type) {
+
+        case StreamType_Serial:
+            if(active_stream && active_stream->type != StreamType_Serial && stream->state.connected) {
+                hal.stream.write = stream->write;
+                report_message("SERIAL STREAM ACTIVE", Message_Plain);
+            }
+            break;
+
+        case StreamType_Telnet:
+            if(hal.stream.state.connected)
+                report_message("TELNET STREAM ACTIVE", Message_Plain);
+            if(add && sys.driver_started) {
+                hal.stream.write_all = stream->write;
+                report_init_message();
+            }
+            break;
+
+        case StreamType_WebSocket:
+            if(hal.stream.state.connected)
+                report_message("WEBSOCKET STREAM ACTIVE", Message_Plain);
+            if(add && sys.driver_started && !hal.stream.state.webui_connected) {
+                hal.stream.write_all = stream->write;
+                report_init_message();
+            }
+            break;
+
+        case StreamType_Bluetooth:
+            if(hal.stream.state.connected)
+                report_message("BLUETOOTH STREAM ACTIVE", Message_Plain);
+            if(add && sys.driver_started) {
+                hal.stream.write_all = stream->write;
+                report_init_message();
+            }
+            break;
+
+        default:
+            break;
+    }
+
+    memcpy(&hal.stream, stream, sizeof(io_stream_t));
+
+    if(!hal.stream.write_all)
+        hal.stream.write_all = base.next != NULL ? stream_write_all : hal.stream.write;
+
+    if(stream->type == StreamType_WebSocket)
+        hal.stream.state.webui_connected = webui_connected;
+
+    hal.stream.set_enqueue_rt_handler(protocol_enqueue_realtime_command);
+
+    if(hal.stream.disable_rx)
+        hal.stream.disable_rx(false);
+
+    if(grbl.on_stream_changed)
+        grbl.on_stream_changed(hal.stream.type);
+
+    active_stream = stream;
+
+    return true;
+}
+
+const io_stream_t *stream_get_base (void)
+{
+    return base.stream;
+}
+
+bool stream_connect (const io_stream_t *stream)
+{
+    return hal.stream_select ? hal.stream_select(stream) : stream_select(stream, true);
+}
+
+void stream_disconnect (const io_stream_t *stream)
+{
+    if(hal.stream_select)
+        hal.stream_select(NULL);
+    else if(stream)
+        stream_select(stream, false);
+}
+
 #ifdef DEBUGOUT
 
 static stream_write_ptr dbg_write = NULL;

stream.h

@@ -1,5 +1,5 @@
 /*
-  stream.h - some ASCII control character definitions and optional structures for stream buffers
+  stream.h - high level (serial) stream handling
 
   Part of grblHAL
 
@@ -211,7 +211,8 @@ typedef union {
     struct {
         uint8_t connected       :1,
                 webui_connected :1,
-                unused          :6;
+                is_usb          :1,
+                unused          :5;
     };
 } io_stream_state_t;
 
@@ -324,6 +325,12 @@ void stream_register_streams (io_stream_details_t *details);
 
 bool stream_enumerate_streams (stream_enumerate_callback_ptr callback);
 
+bool stream_connect (const io_stream_t *stream);
+
+void stream_disconnect (const io_stream_t *stream);
+
+const io_stream_t *stream_get_base (void);
+
 #ifdef DEBUGOUT
 void debug_write (const char *s);
 bool debug_stream_init (void);