Updated to use new method for registering single run tasks.

Updated ioports code for improved core compliance.
Fixed some inconsitencies.

driver.json

@@ -83,6 +83,7 @@
  "caps": {
  "axes": 3,
  "serial_ports": 2,
+ "safety_door": 0,
  "sdcard": 1,
  "probe": 1,
  "safety_door": 0,

main/boards/fysetc_e4_map.h

@@ -19,7 +19,7 @@
  along with Grbl. If not, see <http://www.gnu.org/licenses/>.
 */
 
-#if N_ABC_MOTORS > 0
+#if N_ABC_MOTORS > 1
 #error "Axis configuration is not supported!"
 #endif
 

main/boards/mks_tinybee_1_0_map.h

@@ -28,7 +28,7 @@
 #define USE_I2S_OUT
 #define I2S_OUT_PIN_BASE 64
 
-#define SERIAL2_ENABLE 1
+//#define SERIAL2_ENABLE 1
 #define UART2_RX_PIN GPIO_NUM_16 // EXP_1
 #define UART2_TX_PIN GPIO_NUM_17 // EXP_1
 

main/driver.c

@@ -1922,12 +1922,12 @@ static inline uint64_t getElapsedMicros (void)
 
 #if MPG_MODE == 1
 
-static void modeChange(sys_state_t state)
+static void modeChange (void *data)
 {
  stream_mpg_enable(!DIGITAL_IN(MPG_ENABLE_PIN));
 }
 
-static void modeEnable (sys_state_t state)
+static void modeEnable (void *data)
 {
  if(sys.mpg_mode == DIGITAL_IN(MPG_ENABLE_PIN))
  stream_mpg_enable(true);
@@ -3050,10 +3050,10 @@ bool driver_init (void)
 #if MPG_MODE == 1
  #if KEYPAD_ENABLE == 2
  if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, keypad_enqueue_keycode)))
- protocol_enqueue_rt_command(modeEnable);
+ protocol_enqueue_foreground_task(modeEnable, NULL);
  #else
  if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, NULL)))
- protocol_enqueue_rt_command(modeEnable);
+ protocol_enqueue_foreground_task(modeEnable, NULL);
  #endif
 #elif MPG_MODE == 2
  hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), 0, keypad_enqueue_keycode);
@@ -3129,7 +3129,7 @@ IRAM_ATTR static void gpio_mpg_isr (void *signal)
 
  if(!mpg_mutex) {
  mpg_mutex = true;
- protocol_enqueue_rt_command(modeChange);
+ protocol_enqueue_foreground_task(modeChange, NULL);
  mpg_mutex = false;
  }
 }
@@ -3190,7 +3190,7 @@ IRAM_ATTR static void gpio_isr (void *arg)
 
  if((grp & PinGroup_MPG) && !mpg_mutex) {
  mpg_mutex = true;
- protocol_enqueue_rt_command(modeChange);
+ protocol_enqueue_foreground_task(modeChange, NULL);
  mpg_mutex = false;
  }
 #endif

main/trinamic_if.c

@@ -263,6 +263,8 @@ void board_init (void)
 
  if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL)) == NULL)
  stream = stream_null_init(230400);
+ else
+ stream_set_description(stream, "Trinamic UART");
 
  if(stream) {
  memcpy(&tmc_uart, stream, sizeof(io_stream_t));

main/wifi.c

@@ -385,27 +385,7 @@ void wifi_ap_scan (void)
  xEventGroupSetBits(wifi_event_group, SCANNING_BIT);
 }
 
-static void msg_ap_ready (sys_state_t state)
-{
- hal.stream.write_all("[MSG:WIFI AP READY]" ASCII_EOL);
-}
-
-static void msg_ap_connected (sys_state_t state)
-{
- hal.stream.write_all("[MSG:WIFI AP CONNECTED]" ASCII_EOL);
-}
-
-static void msg_ap_scan_completed (sys_state_t state)
-{
- hal.stream.write_all("[MSG:WIFI AP SCAN COMPLETED]" ASCII_EOL);
-}
-
-static void msg_ap_disconnected (sys_state_t state)
-{
- hal.stream.write_all("[MSG:WIFI AP DISCONNECTED]" ASCII_EOL);
-}
-
-static void msg_sta_active (sys_state_t state)
+static void msg_sta_active (void *data)
 {
  char buf[50 + 45]; // + 45 due to compiler issue?
 
@@ -414,11 +394,6 @@ static void msg_sta_active (sys_state_t state)
  hal.stream.write_all(buf);
 }
 
-static void msg_sta_disconnected (sys_state_t state)
-{
- hal.stream.write_all("[MSG:WIFI STA DISCONNECTED]" ASCII_EOL);
-}
-
 static void ip_event_handler (void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
  switch(event_id) {
@@ -440,7 +415,7 @@ static void ip_event_handler (void *arg, esp_event_base_t event_base, int32_t ev
  // commit to EEPROM?
  } else
  wifi_ap_scan();
- protocol_enqueue_rt_command(msg_sta_active);
+ protocol_enqueue_foreground_task(msg_sta_active, NULL);
  break;
 
  default:
@@ -453,7 +428,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
  if(event_base == WIFI_EVENT) switch(event_id) {
 
  case WIFI_EVENT_AP_START:
- protocol_enqueue_rt_command(msg_ap_ready);
+ protocol_enqueue_foreground_task(report_plain, "WIFI AP READY");
  if(xEventGroupGetBits(wifi_event_group) & APSTA_BIT) {
  start_services(false);
  services.dns = dns_server_start(sta_netif);
@@ -462,12 +437,12 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
  break;
 /*??
  case WIFI_EVENT_AP_STOP:
- protocol_enqueue_rt_command(msg_ap_disconnected);
+ protocol_enqueue_foreground_task(report_plain, "WIFI AP SCAN COMPLETED");
  wifi_stop();
  break;
 */
  case WIFI_EVENT_AP_STACONNECTED:
- protocol_enqueue_rt_command(msg_ap_connected);
+ protocol_enqueue_foreground_task(report_plain, "WIFI AP CONNECTED");
  if(xEventGroupGetBits(wifi_event_group) & APSTA_BIT) {
  if(!(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT)) {
  /* // screws up dns?
@@ -496,7 +471,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
  else if(!(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT))
  ssdp_stop();
 #endif
- protocol_enqueue_rt_command(msg_ap_disconnected);
+ protocol_enqueue_foreground_task(report_plain, "WIFI AP DISCONNECTED");
  break;
 
  case WIFI_EVENT_STA_START:
@@ -512,7 +487,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
 #if WEBSOCKET_ENABLE
  websocketd_close_connections();
 #endif
- protocol_enqueue_rt_command(msg_sta_disconnected);
+ protocol_enqueue_foreground_task(report_plain, "WIFI STA DISCONNECTED");
  memset(&wifi_sta_config, 0, sizeof(wifi_config_t));
  esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_sta_config);
  if((xEventGroupGetBits(wifi_event_group) & APSTA_BIT) && !(xEventGroupGetBits(wifi_event_group) & CONNECTED_BIT)) {
@@ -562,7 +537,7 @@ static void wifi_event_handler (void *arg, esp_event_base_t event_base, int32_t
  if((ap_list.ap_records = (wifi_ap_record_t *)malloc(sizeof(wifi_ap_record_t) * ap_list.ap_num)) != NULL)
  esp_wifi_scan_get_ap_records(&ap_list.ap_num, ap_list.ap_records);
 
- protocol_enqueue_rt_command(msg_ap_scan_completed);
+ protocol_enqueue_foreground_task(report_plain, "WIFI AP SCAN COMPLETED");
 
  xSemaphoreGive(aplist_mutex);
  }