Cleaned up the .ino file in favor of Grbl.h (#538)

... while moving some variable definitions
where they belong.

Grbl_Esp32/Grbl_Esp32.ino

@@ -19,112 +19,11 @@
 */
 
 #include "src/Grbl.h"
-#include <WiFi.h>
-
-// Declare system global variable structure
-system_t         sys;
-int32_t          sys_position[N_AXIS];            // Real-time machine (aka home) position vector in steps.
-int32_t          sys_probe_position[N_AXIS];      // Last probe position in machine coordinates and steps.
-volatile uint8_t sys_probe_state;                 // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
-volatile uint8_t sys_rt_exec_state;               // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
-volatile uint8_t 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.
-#ifdef DEBUG
-volatile uint8_t sys_rt_exec_debug;
-#endif
-
-Spindles::Spindle* spindle;
 
 void setup() {
-#ifdef USE_I2S_OUT
+    init();
-    i2s_out_init();  // The I2S out must be initialized before it can access the expanded GPIO port
-#endif
-    WiFi.persistent(false);
-    WiFi.disconnect(true);
-    WiFi.enableSTA(false);
-    WiFi.enableAP(false);
-    WiFi.mode(WIFI_OFF);
-    serial_init();  // Setup serial baud rate and interrupts
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD);  // print grbl_esp32 verion info
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion());              // print the SDK version
-// show the map name at startup
-#ifdef MACHINE_NAME
-    report_machine_type(CLIENT_SERIAL);
-#endif
-    settings_init();  // Load Grbl settings from EEPROM
-    stepper_init();   // Configure stepper pins and interrupt timers
-    init_motors();
-    system_ini();  // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
-    memset(sys_position, 0, sizeof(sys_position));  // Clear machine position.
-#ifdef USE_PEN_SERVO
-    servo_init();
-#endif
-#ifdef USE_SERVO_AXES
-    init_servos();
-#endif
-#ifdef USE_PEN_SOLENOID
-    solenoid_init();
-#endif
-#ifdef USE_MACHINE_INIT
-    machine_init();  // user supplied function for special initialization
-#endif
-    // Initialize system state.
-#ifdef FORCE_INITIALIZATION_ALARM
-    // Force Grbl into an ALARM state upon a power-cycle or hard reset.
-    sys.state = STATE_ALARM;
-#else
-    sys.state = STATE_IDLE;
-#endif
-    // Check for power-up and set system alarm if homing is enabled to force homing cycle
-    // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
-    // startup scripts, but allows access to settings and internal commands. Only a homing
-    // cycle '$H' or kill alarm locks '$X' will disable the alarm.
-    // NOTE: The startup script will run after successful completion of the homing cycle, but
-    // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
-    // things uncontrollably. Very bad.
-#ifdef HOMING_INIT_LOCK
-    if (homing_enable->get())
-        sys.state = STATE_ALARM;
-#endif
-    Spindles::Spindle::select();
-#ifdef ENABLE_WIFI
-    wifi_config.begin();
-#endif
-#ifdef ENABLE_BLUETOOTH
-    bt_config.begin();
-#endif
-    inputBuffer.begin();
 }
 
 void loop() {
-    // Reset system variables.
+    run_once();
-    uint8_t prior_state = sys.state;
-    memset(&sys, 0, sizeof(system_t));  // Clear system struct variable.
-    sys.state             = prior_state;
-    sys.f_override        = DEFAULT_FEED_OVERRIDE;              // Set to 100%
-    sys.r_override        = DEFAULT_RAPID_OVERRIDE;             // Set to 100%
-    sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE;     // Set to 100%
-    memset(sys_probe_position, 0, sizeof(sys_probe_position));  // Clear probe position.
-    sys_probe_state                = 0;
-    sys_rt_exec_state              = 0;
-    sys_rt_exec_alarm              = 0;
-    sys_rt_exec_motion_override    = 0;
-    sys_rt_exec_accessory_override = 0;
-    // Reset Grbl primary systems.
-    serial_reset_read_buffer(CLIENT_ALL);  // Clear serial read buffer
-    gc_init();                             // Set g-code parser to default state
-    spindle->stop();
-    coolant_init();
-    limits_init();
-    probe_init();
-    plan_reset();  // Clear block buffer and planner variables
-    st_reset();    // Clear stepper subsystem variables
-    // Sync cleared gcode and planner positions to current system position.
-    plan_sync_position();
-    gc_sync_position();
-    // put your main code here, to run repeatedly:
-    report_init_message(CLIENT_ALL);
-    // Start Grbl main loop. Processes program inputs and executes them.
-    protocol_main_loop();
 }

Grbl_Esp32/src/Grbl.cpp

@@ -0,0 +1,131 @@
+/*
+  Grbl.cpp - Initialization and main loop for Grbl
+  Part of Grbl
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+
+	2018 -	Bart Dring This file was modifed for use on the ESP32
+					CPU. Do not use this with Grbl for atMega328P
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Grbl.h"
+#include <WiFi.h>
+
+void init() {
+#ifdef USE_I2S_OUT
+    i2s_out_init();  // The I2S out must be initialized before it can access the expanded GPIO port
+#endif
+    WiFi.persistent(false);
+    WiFi.disconnect(true);
+    WiFi.enableSTA(false);
+    WiFi.enableAP(false);
+    WiFi.mode(WIFI_OFF);
+    serial_init();  // Setup serial baud rate and interrupts
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD);  // print grbl_esp32 verion info
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion());              // print the SDK version
+// show the map name at startup
+#ifdef MACHINE_NAME
+    report_machine_type(CLIENT_SERIAL);
+#endif
+    settings_init();  // Load Grbl settings from EEPROM
+    stepper_init();   // Configure stepper pins and interrupt timers
+    init_motors();
+    system_ini();  // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
+    memset(sys_position, 0, sizeof(sys_position));  // Clear machine position.
+#ifdef USE_PEN_SERVO
+    servo_init();
+#endif
+#ifdef USE_SERVO_AXES
+    init_servos();
+#endif
+#ifdef USE_PEN_SOLENOID
+    solenoid_init();
+#endif
+#ifdef USE_MACHINE_INIT
+    machine_init();  // user supplied function for special initialization
+#endif
+    // Initialize system state.
+#ifdef FORCE_INITIALIZATION_ALARM
+    // Force Grbl into an ALARM state upon a power-cycle or hard reset.
+    sys.state = STATE_ALARM;
+#else
+    sys.state = STATE_IDLE;
+#endif
+    // Check for power-up and set system alarm if homing is enabled to force homing cycle
+    // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
+    // startup scripts, but allows access to settings and internal commands. Only a homing
+    // cycle '$H' or kill alarm locks '$X' will disable the alarm.
+    // NOTE: The startup script will run after successful completion of the homing cycle, but
+    // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
+    // things uncontrollably. Very bad.
+#ifdef HOMING_INIT_LOCK
+    if (homing_enable->get())
+        sys.state = STATE_ALARM;
+#endif
+    Spindles::Spindle::select();
+#ifdef ENABLE_WIFI
+    wifi_config.begin();
+#endif
+#ifdef ENABLE_BLUETOOTH
+    bt_config.begin();
+#endif
+    inputBuffer.begin();
+}
+
+static void reset_variables() {
+    // Reset system variables.
+    uint8_t prior_state = sys.state;
+    memset(&sys, 0, sizeof(system_t));  // Clear system struct variable.
+    sys.state             = prior_state;
+    sys.f_override        = DEFAULT_FEED_OVERRIDE;              // Set to 100%
+    sys.r_override        = DEFAULT_RAPID_OVERRIDE;             // Set to 100%
+    sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE;     // Set to 100%
+    memset(sys_probe_position, 0, sizeof(sys_probe_position));  // Clear probe position.
+    sys_probe_state                = 0;
+    sys_rt_exec_state              = 0;
+    sys_rt_exec_alarm              = 0;
+    sys_rt_exec_motion_override    = 0;
+    sys_rt_exec_accessory_override = 0;
+    // Reset Grbl primary systems.
+    serial_reset_read_buffer(CLIENT_ALL);  // Clear serial read buffer
+    gc_init();                             // Set g-code parser to default state
+    spindle->stop();
+    coolant_init();
+    limits_init();
+    probe_init();
+    plan_reset();  // Clear block buffer and planner variables
+    st_reset();    // Clear stepper subsystem variables
+    // Sync cleared gcode and planner positions to current system position.
+    plan_sync_position();
+    gc_sync_position();
+    report_init_message(CLIENT_ALL);
+}
+
+void run_once() {
+    reset_variables();
+    // Start Grbl main loop. Processes program inputs and executes them.
+    // This can exit on a system abort condition, in which case run_once()
+    // is re-executed by an enclosing loop.
+    protocol_main_loop();
+}
+
+/*
+  setup() and loop() in the Arduino .ino implements this control flow:
+
+  void main() {
+     init();          // setup()
+     while (1) {      // loop()
+         run_once();
+     }
+  }
+*/

Grbl_Esp32/src/Grbl.h

@@ -95,6 +95,9 @@
 #    include "I2SOut.h"
 #endif
 
+void init();
+void run_once();
+
 // Called if USE_MACHINE_INIT is defined
 void machine_init();
 

Grbl_Esp32/src/Spindles/Spindle.cpp

@@ -79,3 +79,5 @@ namespace Spindles {
         set_state(state, rpm);
     }
 }
+
+Spindles::Spindle* spindle;

Grbl_Esp32/src/System.cpp

@@ -21,6 +21,19 @@
 #include "Grbl.h"
 #include "Config.h"
 
+// Declare system global variable structure
+system_t         sys;
+int32_t          sys_position[N_AXIS];            // Real-time machine (aka home) position vector in steps.
+int32_t          sys_probe_position[N_AXIS];      // Last probe position in machine coordinates and steps.
+volatile uint8_t sys_probe_state;                 // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
+volatile uint8_t sys_rt_exec_state;               // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
+volatile uint8_t 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.
+#ifdef DEBUG
+volatile uint8_t sys_rt_exec_debug;
+#endif
+
 xQueueHandle control_sw_queue;    // used by control switch debouncing
 bool         debouncing = false;  // debouncing in process