Assert improvements

Grbl_Esp32/src/Grbl.cpp

@@ -64,45 +64,47 @@ void grbl_init() {
         // Load Grbl settings from non-volatile storage
         debug_serial("Initializing settings...");
         settings_init();  // requires config
-        config->load(config_filename->get());
+        bool configOkay = config->load(config_filename->get());
         make_grbl_commands();
 
         // Setup input polling loop after loading the configuration,
         // because the polling may depend on the config
         client_init();
 
-        report_machine_type(CLIENT_SERIAL);
+        if (configOkay) {
-        info_serial("Board: %s", config->_board.c_str());
+            report_machine_type(CLIENT_SERIAL);
+            info_serial("Board: %s", config->_board.c_str());
 
-        if (config->_i2so) {
+            if (config->_i2so) {
-            info_serial("Initializing I2SO...");
+                info_serial("Initializing I2SO...");
-            // The I2S out must be initialized before it can access the expanded GPIO port. Must be initialized _after_ settings!
+                // The I2S out must be initialized before it can access the expanded GPIO port. Must be initialized _after_ settings!
-            i2s_out_init();
+                i2s_out_init();
-        }
-        if (config->_spi) {
-            info_serial("Initializing SPI...");
-            // The SPI must be initialized before we can use it.
-            config->_spi->init();
-
-            // Initialize SD card after SPI:
-            if (config->_sdCard != nullptr) {
-                config->_sdCard->init();
             }
+            if (config->_spi) {
+                info_serial("Initializing SPI...");
+                // The SPI must be initialized before we can use it.
+                config->_spi->init();
+
+                // Initialize SD card after SPI:
+                if (config->_sdCard != nullptr) {
+                    config->_sdCard->init();
+                }
+            }
+
+            info_serial("Initializing steppers...");
+            stepper_init();  // Configure stepper pins and interrupt timers
+
+            info_serial("Initializing axes...");
+            config->_axes->read_settings();
+            config->_axes->init();
+
+            config->_control->init();
+            init_output_pins();  // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
+            memset(sys_position, 0, sizeof(sys_position));  // Clear machine position.
+
+            machine_init();  // user supplied function for special initialization
         }
 
-        info_serial("Initializing steppers...");
-        stepper_init();  // Configure stepper pins and interrupt timers
-
-        info_serial("Initializing axes...");
-        config->_axes->read_settings();
-        config->_axes->init();
-
-        config->_control->init();
-        init_output_pins();  // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
-        memset(sys_position, 0, sizeof(sys_position));  // Clear machine position.
-
-        machine_init();  // user supplied function for special initialization
-
         // Initialize system state.
         if (sys.state != State::ConfigAlarm) {
             if (FORCE_INITIALIZATION_ALARM) {
@@ -166,6 +168,7 @@ static void reset_variables() {
 }
 
 void run_once() {
+    static int tries = 0;
     try {
         reset_variables();
         // Start Grbl main loop. Processes program inputs and executes them.
@@ -188,6 +191,9 @@ void run_once() {
         error_all("Critical error in run_once: %s", ex.msg.c_str());
         sys.state = State::ConfigAlarm;
     }
+    if (++tries > 1) {
+        while (1) {}
+    }
     // This is inside a loop in Grbl_Esp32.ino
 }
 

Grbl_Esp32/src/Motors/StandardStepper.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "../Machine/MachineConfig.h"  // config->_stepType
+#include "../Stepper.h"                // ST_I2S_*
 #include "Motor.h"
 
 #include <driver/rmt.h>
@@ -33,8 +35,11 @@ namespace Motors {
 
         // Configuration handlers:
         void validate() const override {
-            Assert(!_step_pin.undefined(), "Step pin should be configured.");
+            Assert(_step_pin.defined(), "Step pin should be configured.");
-            Assert(!_dir_pin.undefined(), "Direction pin should be configured.");
+            Assert(_dir_pin.defined(), "Direction pin should be configured.");
+            bool isI2SO = config->_stepType == ST_I2S_STREAM || config->_stepType == ST_I2S_STATIC;
+            Assert(!isI2SO || _step_pin.name().startsWith("I2SO"), "Step pin must be an I2SO pin");
+            Assert(!isI2SO || _dir_pin.name().startsWith("I2SO"), "Direction pin must be an I2SO pin");
         }
 
         void group(Configuration::HandlerBase& handler) override {

Grbl_Esp32/src/Pins/GPIOPinDetail.cpp

@@ -21,6 +21,7 @@
 
 #include "GPIOPinDetail.h"
 #include "../Assert.h"
+#include "../Logging.h"
 
 extern "C" void __pinMode(uint8_t pin, uint8_t mode);
 extern "C" int  __digitalRead(uint8_t pin);
@@ -133,7 +134,10 @@ namespace Pins {
     PinCapabilities GPIOPinDetail::capabilities() const { return _capabilities; }
 
     void GPIOPinDetail::write(int high) {
-        Assert(_attributes.has(PinAttributes::Output), "Pin has no output attribute defined. Cannot write to it.");
+        if (!_attributes.has(PinAttributes::Output)) {
+            log_error(toString());
+        }
+        Assert(_attributes.has(PinAttributes::Output), "Pin %s cannot be written", toString());
         int value = _readWriteMask ^ high;
         __digitalWrite(_index, value);
     }
@@ -149,9 +153,11 @@ namespace Pins {
 
         // Check the attributes first:
         Assert(value.validateWith(this->_capabilities) || _index == 1 || _index == 3,
-               "The requested attributes don't match the pin capabilities");
+               "The requested attributes don't match the capabilities for %s",
+               toString());
         Assert(!_attributes.conflictsWith(value) || _index == 1 || _index == 3,
-               "Attributes on this pin have been set before, and there's a conflict.");
+               "The requested attributes on %s conflict with previous settings",
+               toString());
 
         _attributes = _attributes | value;
 
@@ -180,14 +186,12 @@ namespace Pins {
     }
 
     void GPIOPinDetail::attachInterrupt(void (*callback)(void*), void* arg, int mode) {
-        Assert(_attributes.has(PinAttributes::ISR),
+        Assert(_attributes.has(PinAttributes::ISR), "Pin %s does not support interrupts", toString());
-               "Pin has no ISR attribute, which means 'setAttr' was not set, or the pin doesn't support ISR's. Cannot bind ISR.");
         ::attachInterruptArg(_index, callback, arg, mode);
     }
 
     void GPIOPinDetail::detachInterrupt() {
-        Assert(_attributes.has(PinAttributes::ISR),
+        Assert(_attributes.has(PinAttributes::ISR), "Pin %s does not support interrupts");
-               "Pin has no ISR attribute, which means 'setAttr' was not set, or the pin doesn't support ISR's. Cannot unbind ISR.");
         ::detachInterrupt(_index);
     }