Updates from PWM_ISR_Fix branch (#755)

- $Message/Level
- ISR safe ledcWrite

Grbl_Esp32/src/Config.h

@@ -47,7 +47,7 @@ Some features should not be changed. See notes below.
 // that the machine file might choose to undefine.
 
 // Note: HOMING_CYCLES are now settings
-#define SUPPORT_TASK_CORE  1 // Reference: CONFIG_ARDUINO_RUNNING_CORE = 1
+#define SUPPORT_TASK_CORE 1  // Reference: CONFIG_ARDUINO_RUNNING_CORE = 1
 
 // Inverts pin logic of the control command pins based on a mask. This essentially means you can use
 // normally-closed switches on the specified pins, rather than the default normally-open switches.
@@ -87,8 +87,6 @@ const int MAX_N_AXIS = 6;
 #    define LIMIT_MASK B0
 #endif
 
-#define GRBL_MSG_LEVEL MsgLevel::Info  // what level of [MSG:....] do you want to see 0=all off
-
 // Serial baud rate
 // OK to change, but the ESP32 boot text is 115200, so you will not see that is your
 // serial monitor, sender, etc uses a different value than 115200

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210129";
+const char* const GRBL_VERSION_BUILD = "20210203";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Report.cpp

@@ -111,9 +111,13 @@ void grbl_msg_sendf(uint8_t client, MsgLevel level, const char* format, ...) {
     if (client == CLIENT_INPUT) {
         return;
     }
-    if (level > GRBL_MSG_LEVEL) {
-        return;
+
+    if (message_level != NULL) {  // might be null before messages are setup
+        if (level > static_cast<MsgLevel>(message_level->get())) {
+            return;
+        }
     }
+
     char    loc_buf[100];
     char*   temp = loc_buf;
     va_list arg;

Grbl_Esp32/src/Report.h

@@ -52,8 +52,8 @@ enum class Message : uint8_t {
 #define CLIENT_ALL 0xFF
 #define CLIENT_COUNT 5  // total number of client types regardless if they are used
 
-enum class MsgLevel : uint8_t {
-    None    = 0,  // set GRBL_MSG_LEVEL in config.h to the level you want to see
+enum class MsgLevel : int8_t {  // Use $Message/Level
+    None    = 0,
     Error   = 1,
     Warning = 2,
     Info    = 3,
@@ -128,4 +128,4 @@ char* reportAxisLimitsMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis);
 char* reportAxisNameMsg(uint8_t axis, uint8_t dual_axis);
 
-void  reportTaskStackSize(UBaseType_t& saved);
+void reportTaskStackSize(UBaseType_t& saved);

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -57,6 +57,8 @@ IntSetting*   spindle_pwm_bit_precision;
 
 EnumSetting* spindle_type;
 
+EnumSetting* message_level;
+
 enum_opt_t spindleTypes = {
     // clang-format off
     { "NONE", int8_t(SpindleType::NONE) },
@@ -71,6 +73,17 @@ enum_opt_t spindleTypes = {
     // clang-format on
 };
 
+enum_opt_t messageLevels = {
+    // clang-format off
+    { "None", int8_t(MsgLevel::None) },
+    { "Error", int8_t(MsgLevel::Error) },
+    { "Warning", int8_t(MsgLevel::Warning) },
+    { "Info", int8_t(MsgLevel::Info) },
+    { "Debug", int8_t(MsgLevel::Debug) },
+    { "Verbose", int8_t(MsgLevel::Verbose) },
+    // clang-format on
+};
+
 AxisSettings* x_axis_settings;
 AxisSettings* y_axis_settings;
 AxisSettings* z_axis_settings;
@@ -256,16 +269,16 @@ void make_settings() {
     b_axis_settings = axis_settings[B_AXIS];
     c_axis_settings = axis_settings[C_AXIS];
     for (axis = MAX_N_AXIS - 1; axis >= 0; axis--) {
-        def = &axis_defaults[axis];
-        auto setting =
-            new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 255, postMotorSetting);
+        def          = &axis_defaults[axis];
+        auto setting = new IntSetting(
+            EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 255, postMotorSetting);
         setting->setAxis(axis);
         axis_settings[axis]->stallguard = setting;
     }
     for (axis = MAX_N_AXIS - 1; axis >= 0; axis--) {
-        def = &axis_defaults[axis];
-        auto setting =
-            new IntSetting(EXTENDED, WG, makeGrblName(axis, 160), makename(def->name, "Microsteps"), def->microsteps, 0, 256, postMotorSetting);
+        def          = &axis_defaults[axis];
+        auto setting = new IntSetting(
+            EXTENDED, WG, makeGrblName(axis, 160), makename(def->name, "Microsteps"), def->microsteps, 0, 256, postMotorSetting);
         setting->setAxis(axis);
         axis_settings[axis]->microsteps = setting;
     }
@@ -395,4 +408,6 @@ void make_settings() {
     user_macro2 = new StringSetting(EXTENDED, WG, NULL, "User/Macro2", DEFAULT_USER_MACRO2);
     user_macro1 = new StringSetting(EXTENDED, WG, NULL, "User/Macro1", DEFAULT_USER_MACRO1);
     user_macro0 = new StringSetting(EXTENDED, WG, NULL, "User/Macro0", DEFAULT_USER_MACRO0);
+
+    message_level = +new EnumSetting(NULL, EXTENDED, WG, NULL, "Message/Level", static_cast<int8_t>(MsgLevel::Info), &messageLevels, NULL);
 }

Grbl_Esp32/src/SettingsDefinitions.h

@@ -65,3 +65,5 @@ extern StringSetting* user_macro0;
 extern StringSetting* user_macro1;
 extern StringSetting* user_macro2;
 extern StringSetting* user_macro3;
+
+extern EnumSetting* message_level;

Grbl_Esp32/src/Spindles/PWMSpindle.cpp

@@ -20,6 +20,7 @@
 
 */
 #include "PWMSpindle.h"
+#include "soc/ledc_struct.h"
 
 // ======================= PWM ==============================
 /*
@@ -222,7 +223,15 @@ namespace Spindles {
             duty = (1 << _pwm_precision) - duty;
         }
 
-        ledcWrite(_pwm_chan_num, duty);
+        //ledcWrite(_pwm_chan_num, duty);
+
+        // This was ledcWrite, but this is called from an ISR
+        // and ledcWrite uses RTOS features not compatible with ISRs
+        LEDC.channel_group[0].channel[0].duty.duty        = duty << 4;
+        bool on                                           = !!duty;
+        LEDC.channel_group[0].channel[0].conf0.sig_out_en = on;
+        LEDC.channel_group[0].channel[0].conf1.duty_start = on;
+        LEDC.channel_group[0].channel[0].conf0.clk_en     = on;
     }
 
     void PWM::set_enable_pin(bool enable) {