Changed trinamic to use pinmapper [untested]. Fixed a few minor bugs.

Grbl_Esp32/src/GCode.cpp

@@ -945,7 +945,7 @@ Error gc_execute_line(char* line, uint8_t client) {
             pValue = trunc(gc_block.values.p);  // Convert p value to integer
             if (pValue > 0) {
                 // P1 means G54, P2 means G55, etc.
-                coord_select = static_cast<CoordIndex>(pValue - 1 + CoordIndex::G54);
+                coord_select = static_cast<CoordIndex>(pValue - 1 + int(CoordIndex::G54));
             } else {
                 // P0 means use currently-selected system
                 coord_select = gc_block.modal.coord_select;

Grbl_Esp32/src/Limits.cpp

@@ -42,7 +42,8 @@
 #include <freertos/queue.h>
 #include <Arduino.h>  // IRAM_ATTR
 #include <string.h>   // memset, memcpy
-#include <atomic>
+#include <algorithm>  // min, max
+#include <atomic>     // fence
 
 AxisMask limitAxes  = 0;  // Axes that have limit switches
 AxisMask homingAxes = 0;  // Axes that have homing configured

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -25,43 +25,6 @@
 #include <TMCStepper.h>  // https://github.com/teemuatlut/TMCStepper
 #include <atomic>
 
-// This is global so it can be accessed from the override
-namespace Motors {
-    namespace Details {
-        // How this hack works... In short, we just derive from the TMCStepper classes, and add the pin as a field. This is
-        // fine of course, as long as we know what CS pin we have to switch. Unfortunately, this is a bit tougher, because
-        // the TMC5160Stepper class derives from TMC2130Stepper. Normally, this is solved through multiple inheritance, where
-        // we put the pin in the second class. Unfortunately, that requires dynamic_cast down the road, which is not available.
-        // So instead, we use the old _pinCS in the TMC2130Stepper class to figure out which class we actually have, and cast
-        // away with static_cast.
-
-        class MyTMC2130Stepper : public TMC2130Stepper {
-        public:
-            MyTMC2130Stepper(Pin& cspin, float rsense, int spiIndex) : TMC2130Stepper(2130, rsense, spiIndex), _cspin(cspin) {}
-            Pin& _cspin;
-        };
-
-        class MyTMC5160Stepper : public TMC5160Stepper {
-        public:
-            MyTMC5160Stepper(Pin& cspin, float rsense, int spiIndex) : TMC5160Stepper(5160, rsense, spiIndex), _cspin(cspin) {}
-            Pin& _cspin;
-        };
-    }
-}
-
-// Override default functions to use our pin framework
-void TMC2130Stepper::switchCSpin(bool state) {
-    // We use the _pinCS to figure out which derived class we have
-    switch (this->_pinCS) {
-        case 2130:
-            static_cast<Motors::Details::MyTMC2130Stepper*>(this)->_cspin.synchronousWrite(state);
-            break;
-        case 5160:
-            static_cast<Motors::Details::MyTMC5160Stepper*>(this)->_cspin.synchronousWrite(state);
-            break;
-    }
-}
-
 namespace Motors {
     TrinamicDriver::TrinamicDriver(uint16_t driver_part_number, int8_t spi_index) :
         TrinamicBase(driver_part_number), _spi_index(spi_index) {}
@@ -69,10 +32,13 @@ namespace Motors {
     void TrinamicDriver::init() {
         _has_errors = false;
 
+        _cs_pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
+        _cs_mapping = PinMapper(_cs_pin);
+
         if (_driver_part_number == 2130) {
-            tmcstepper = new Details::MyTMC2130Stepper(_cs_pin, _r_sense, _spi_index);
+            tmcstepper = new TMC2130Stepper(_cs_mapping.pinId(), _r_sense, _spi_index);
         } else if (_driver_part_number == 5160) {
-            tmcstepper = new Details::MyTMC5160Stepper(_cs_pin, _r_sense, _spi_index);
+            tmcstepper = new TMC5160Stepper(_cs_mapping.pinId(), _r_sense, _spi_index);
         } else {
             info_serial("%s Unsupported Trinamic part number TMC%d", reportAxisNameMsg(axis_index(), dual_axis_index()), _driver_part_number);
             _has_errors = true;  // This motor cannot be used
@@ -81,8 +47,6 @@ namespace Motors {
 
         _has_errors = false;
 
-        _cs_pin.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
-
         // use slower speed if I2S
         if (_cs_pin.capabilities().has(Pin::Capabilities::I2S)) {
             tmcstepper->setSPISpeed(_spi_freq);

Grbl_Esp32/src/Motors/TrinamicDriver.h

@@ -21,6 +21,7 @@
 
 #include "TrinamicBase.h"
 #include "../Pin.h"
+#include "../PinMapper.h"
 
 #include <cstdint>
 
@@ -40,6 +41,7 @@ namespace Motors {
 
         TMC2130Stepper* tmcstepper;  // all other driver types are subclasses of this one
         Pin             _cs_pin;     // The chip select pin (can be the same for daisy chain)
+        PinMapper       _cs_mapping;
         int8_t          _spi_index;
 
         bool test();

Grbl_Esp32/src/NutsBolts.cpp

@@ -240,9 +240,3 @@ char* trim(char* str) {
     end[1] = '\0';
     return str;
 }
-
-// Returns the number of set number of set bits
-// Would return 3 for 01100010
-int numberOfSetBits(uint32_t i) {
-    return __builtin_popcount(i);
-}

Grbl_Esp32/src/NutsBolts.h

@@ -112,8 +112,6 @@ float constrain_float(float in, float min, float max);
 bool  char_is_numeric(char value);
 char* trim(char* value);
 
-int numberOfSetBits(uint32_t i);
-
 template <class T>
 void swap(T& a, T& b) {
     T c(a);

Grbl_Esp32/src/Settings.cpp

@@ -8,6 +8,7 @@
 
 #include <map>
 #include <cstring>
+#include <vector>
 #include <nvs.h>
 
 #ifdef ENABLE_WIFI
@@ -211,7 +212,11 @@ void StringSetting::load() {
         _currentValue = _defaultValue;
         return;
     }
-    char buf[len];
+
+    // TODO: Can't we allocate the string immediately?
+    std::vector<char> buffer;
+    buffer.resize(len);
+    char* buf = buffer.data();
     err = nvs_get_str(_handle, _keyName, buf, &len);
     if (err) {
         _storedValue  = _defaultValue;

Grbl_Esp32/src/System.cpp

@@ -106,7 +106,7 @@ float system_convert_axis_steps_to_mpos(int32_t* steps, uint8_t idx) {
 
 void system_convert_array_steps_to_mpos(float* position, int32_t* steps) {
     auto  n_axis = config->_axes->_numberAxis;
-    float motors[n_axis];
+    float motors[MAX_N_AXIS];
     for (int idx = 0; idx < n_axis; idx++) {
         motors[idx] = (float)steps[idx] / config->_axes->_axis[idx]->_stepsPerMm;
     }

X86TestSupport/freertos/FreeRTOS.h

@@ -2,27 +2,10 @@
 
 #include "Task.h"
 #include "Queue.h"
+#include <mutex>
 
 /* "mux" data structure (spinlock) */
-typedef struct {
+using portMUX_TYPE = std::mutex;
-    /* owner field values:
-	 * 0                - Uninitialized (invalid)
-	 * portMUX_FREE_VAL - Mux is free, can be locked by either CPU
-	 * CORE_ID_PRO / CORE_ID_APP - Mux is locked to the particular core
-	 *
-	 * Any value other than portMUX_FREE_VAL, CORE_ID_PRO, CORE_ID_APP indicates corruption
-	 */
-    uint32_t owner;
-    /* count field:
-	 * If mux is unlocked, count should be zero.
-	 * If mux is locked, count is non-zero & represents the number of recursive locks on the mux.
-	 */
-    uint32_t count;
-#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
-    const char* lastLockedFn;
-    int         lastLockedLine;
-#endif
-} portMUX_TYPE;
 
 #define portMAX_DELAY (TickType_t)0xffffffffUL
 

X86TestSupport/freertos/task.h

@@ -51,8 +51,7 @@ TickType_t xTaskGetTickCount(void);
 
 // Keep this in sync with the portMUX_TYPE struct definition please.
 #ifndef CONFIG_FREERTOS_PORTMUX_DEBUG
-#    define portMUX_INITIALIZER_UNLOCKED                                                                                                   \
+#    define portMUX_INITIALIZER_UNLOCKED {}
-        { .owner = portMUX_FREE_VAL, .count = 0, }
 #else
 #    define portMUX_INITIALIZER_UNLOCKED                                                                                                   \
         { .owner = portMUX_FREE_VAL, .count = 0, .lastLockedFn = "(never locked)", .lastLockedLine = -1 }