Basic testing Complete

Grbl_Esp32/src/Grbl.cpp

@@ -86,6 +86,7 @@ static void reset_variables() {
     memset(sys_probe_position, 0, sizeof(sys_probe_position));  // Clear probe position.
     sys_probe_state                = 0;
     sys_rt_exec_state              = 0;
+    cycle_stop                     = false;
     sys_rt_exec_motion_override    = 0;
     sys_rt_exec_accessory_override = 0;
     system_clear_exec_alarm();

Grbl_Esp32/src/Limits.cpp

@@ -202,7 +202,7 @@ void limits_go_home(uint8_t cycle_mask) {
             }
             st_prep_buffer();  // Check and prep segment buffer. NOTE: Should take no longer than 200us.
             // Exit routines: No time to run protocol_execute_realtime() in this loop.
-            if (sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
+            if ((sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) || cycle_stop) {
                 uint8_t rt_exec = sys_rt_exec_state;
                 // Homing failure condition: Reset issued during cycle.
                 if (rt_exec & EXEC_RESET) {
@@ -217,7 +217,7 @@ void limits_go_home(uint8_t cycle_mask) {
                     system_set_exec_alarm(ExecAlarm::HomingFailPulloff);
                 }
                 // Homing failure condition: Limit switch not found during approach.
-                if (approach && (rt_exec & EXEC_CYCLE_STOP)) {
+                if (approach && cycle_stop) {
                     system_set_exec_alarm(ExecAlarm::HomingFailApproach);
                 }
 
@@ -228,7 +228,7 @@ void limits_go_home(uint8_t cycle_mask) {
                     return;
                 } else {
                     // Pull-off motion complete. Disable CYCLE_STOP from executing.
-                    system_clear_exec_state_flag(EXEC_CYCLE_STOP);
+                    cycle_stop = false;
                     break;
                 }
             }
@@ -371,7 +371,7 @@ void limits_disable() {
 // number in bit position, i.e. Z_AXIS is bit(2), and Y_AXIS is bit(1).
 uint8_t limits_get_state() {
     uint8_t pinMask = 0;
-    auto n_axis = number_axis->get();
+    auto    n_axis  = number_axis->get();
     for (int axis = 0; axis < n_axis; axis++) {
         for (int gang_index = 0; gang_index < 2; gang_index++) {
             uint8_t pin = limit_pins[axis][gang_index];

Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h

@@ -110,11 +110,27 @@ Socket #5
 
 */
 
- // 4x Input Module in Socket #1
+/*
+// 4x Input Module in Socket #1
 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
 #define X_LIMIT_PIN                 GPIO_NUM_33
 #define Y_LIMIT_PIN                 GPIO_NUM_32
 #define Z_LIMIT_PIN                 GPIO_NUM_35
+*/
+
+// 4x Input Module in Socket #2
+// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+#define X_LIMIT_PIN                 GPIO_NUM_2
+#define Y_LIMIT_PIN                 GPIO_NUM_25
+#define Z_LIMIT_PIN                 GPIO_NUM_39
+
+// 4x Input Module in Socket #3
+// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+#define CONTROL_CYCLE_START_PIN      GPIO_NUM_26
+#define CONTROL_FEED_HOLD_PIN        GPIO_NUM_4
+#define CONTROL_RESET_PIN            GPIO_NUM_16
+#define CONTROL_SAFETY_DOOR_PIN      GPIO_NUM_27
+//#define INVERT_CONTROL_PIN_MASK      B0000
 
 
 // ================= Setting Defaults ==========================

Grbl_Esp32/src/Protocol.cpp

@@ -271,7 +271,7 @@ void protocol_exec_rt_system() {
         system_clear_exec_alarm();  // Clear alarm
     }
     uint8_t rt_exec = sys_rt_exec_state;  // Copy volatile sys_rt_exec_state.
-    if (rt_exec) {
+    if (rt_exec || cycle_stop) {
         // Execute system abort.
         if (rt_exec & EXEC_RESET) {
             sys.abort = true;  // Only place this is set true.
@@ -399,12 +399,12 @@ void protocol_exec_rt_system() {
             }
             system_clear_exec_state_flag(EXEC_CYCLE_START);
         }
-        if (rt_exec & EXEC_CYCLE_STOP) {
+        if (cycle_stop) {
             // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
             // realtime command execution in the main program, ensuring that the planner re-plans safely.
             // NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
             // cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
-            // NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
+            // NOTE: cycle_stop is set by the stepper subsystem when a cycle or feed hold completes.
             if ((sys.state == State::Hold || sys.state == State::SafetyDoor || sys.state == State::Sleep) && !(sys.soft_limit) &&
                 !(sys.suspend & SUSPEND_JOG_CANCEL)) {
                 // Hold complete. Set to indicate ready to resume.  Remain in HOLD or DOOR states until user
@@ -433,7 +433,7 @@ void protocol_exec_rt_system() {
                     sys.state   = State::Idle;
                 }
             }
-            system_clear_exec_state_flag(EXEC_CYCLE_STOP);
+            cycle_stop = false;
         }
     }
     // Execute overrides.

Grbl_Esp32/src/Stepper.cpp

@@ -296,9 +296,8 @@ static void stepper_pulse_func() {
                     spindle->set_rpm(0);
                 }
             }
-
-            system_set_exec_state_flag(EXEC_CYCLE_STOP);  // Flag main program for cycle end
-            return;                                       // Nothing to do but exit.
+            cycle_stop = true;
+            return;  // Nothing to do but exit.
         }
     }
     // Check probing state.
@@ -362,8 +361,7 @@ static void stepper_pulse_func() {
             st.counter_a -= st.exec_block->step_event_count;
             if (st.exec_block->direction_bits & bit(A_AXIS)) {
                 sys_position[A_AXIS]--;
-            }
-            else {
+            } else {
                 sys_position[A_AXIS]++;
             }
         }
@@ -379,8 +377,7 @@ static void stepper_pulse_func() {
                 st.counter_b -= st.exec_block->step_event_count;
                 if (st.exec_block->direction_bits & bit(B_AXIS)) {
                     sys_position[B_AXIS]--;
-                }
-                else {
+                } else {
                     sys_position[B_AXIS]++;
                 }
             }
@@ -396,8 +393,7 @@ static void stepper_pulse_func() {
                     st.counter_c -= st.exec_block->step_event_count;
                     if (st.exec_block->direction_bits & bit(C_AXIS)) {
                         sys_position[C_AXIS]--;
-                    }
-                    else {
+                    } else {
                         sys_position[C_AXIS]++;
                     }
                 }
@@ -1229,8 +1225,10 @@ float st_get_realtime_rate() {
         case State::Homing:
         case State::Hold:
         case State::Jog:
-        case State::SafetyDoor: return prep.current_speed;
-        default: return 0.0f;
+        case State::SafetyDoor:
+            return prep.current_speed;
+        default:
+            return 0.0f;
     }
 }
 

Grbl_Esp32/src/System.cpp

@@ -30,6 +30,7 @@ volatile uint8_t   sys_rt_exec_state;               // Global realtime executor
 volatile ExecAlarm sys_rt_exec_alarm;               // Global realtime executor bitflag variable for setting various alarms.
 volatile uint8_t   sys_rt_exec_motion_override;     // Global realtime executor bitflag variable for motion-based overrides.
 volatile uint8_t   sys_rt_exec_accessory_override;  // Global realtime executor bitflag variable for spindle/coolant overrides.
+volatile bool      cycle_stop;                      // For state transitions, instead of bitflag
 #ifdef DEBUG
 volatile uint8_t sys_rt_exec_debug;
 #endif

Grbl_Esp32/src/System.h

@@ -68,7 +68,7 @@ extern system_t sys;
 // know when there is a realtime command to execute.
 #define EXEC_STATUS_REPORT bit(0)  // bitmask 00000001
 #define EXEC_CYCLE_START bit(1)    // bitmask 00000010
-#define EXEC_CYCLE_STOP bit(2)     // bitmask 00000100
+// #define EXEC_CYCLE_STOP bit(2)  // bitmask 00000100 moved to cycle_stop
 #define EXEC_FEED_HOLD bit(3)      // bitmask 00001000
 #define EXEC_RESET bit(4)          // bitmask 00010000
 #define EXEC_SAFETY_DOOR bit(5)    // bitmask 00100000
@@ -163,6 +163,7 @@ extern volatile uint8_t   sys_rt_exec_state;  // Global realtime executor bitfla
 extern volatile ExecAlarm sys_rt_exec_alarm;  // Global realtime executor bitflag variable for setting various alarms.
 extern volatile uint8_t   sys_rt_exec_motion_override;     // Global realtime executor bitflag variable for motion-based overrides.
 extern volatile uint8_t   sys_rt_exec_accessory_override;  // Global realtime executor bitflag variable for spindle/coolant overrides.
+extern volatile bool      cycle_stop;
 
 #ifdef DEBUG
 #    define EXEC_DEBUG_REPORT bit(0)
@@ -228,5 +229,5 @@ bool sys_pwm_control(uint8_t io_num_mask, float duty, bool synchronized);
 
 int8_t sys_get_next_RMT_chan_num();
 
-int8_t sys_get_next_PWM_chan_num();
+int8_t  sys_get_next_PWM_chan_num();
 uint8_t sys_calc_pwm_precision(uint32_t freq);