Fix crashing, display cs and fonts for cnc pendant

Both boards use UART1 RX P1.01 / TX P1.02 so Home Assistant data can reach
the ANT+ node's transmitters; on the default pins the ANT+ node no longer
needs the RX pin workaround.

include/moonraker.h

@@ -0,0 +1,148 @@
+#pragma once
+// Moonraker client for mcu-cnc-pendant on its own FreeRTOS task: esp_http_client blocks
+// (DNS is not bounded by timeout_ms), so the main loop only queues commands and reads
+// the last polled status. An unreachable Klipper shows as "offline" instead of starving
+// the loop into the task watchdog.
+
+#include <deque>
+#include <mutex>
+#include <string>
+
+#include "esp_http_client.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esphome/components/json/json_util.h"
+#include "esphome/core/hal.h"
+#include "esphome/core/log.h"
+
+namespace moonraker {
+
+struct Status {
+  float pos[3]{};
+  std::string homed;
+  std::string state{"offline"};
+};
+
+class Client {
+ public:
+  void start(const char *base) {
+    this->base_ = base;
+    xTaskCreate(task, "moonraker", 6144, this, 1, nullptr);
+  }
+
+  // Run G-code; dropped when Klipper is not keeping up.
+  void gcode(const std::string &script) {
+    JsonDocument doc;
+    doc["script"] = script;
+    std::string body;
+    serializeJson(doc, body);
+    this->post("/printer/gcode/script", body);
+  }
+
+  // urgent: throw away everything queued and send this first (emergency stop)
+  void post(const std::string &path, const std::string &body = "", bool urgent = false) {
+    std::lock_guard<std::mutex> lock(this->mutex_);
+    if (urgent) {
+      this->queue_.clear();
+    } else if (this->queue_.size() >= MAX_QUEUE) {
+      return;
+    }
+    this->queue_.emplace_back(path, body);
+  }
+
+  Status status() {
+    std::lock_guard<std::mutex> lock(this->mutex_);
+    return this->status_;
+  }
+
+ protected:
+  static constexpr size_t MAX_QUEUE = 8;
+  static constexpr uint32_t POLL_MS = 250;
+  static constexpr int TIMEOUT_MS = 1000;
+
+  static void task(void *arg) {
+    auto *self = static_cast<Client *>(arg);
+    uint32_t last_poll = 0;
+    for (;;) {
+      std::pair<std::string, std::string> cmd;
+      bool have_cmd = false;
+      {
+        std::lock_guard<std::mutex> lock(self->mutex_);
+        if (!self->queue_.empty()) {
+          cmd = std::move(self->queue_.front());
+          self->queue_.pop_front();
+          have_cmd = true;
+        }
+      }
+      if (have_cmd) {
+        int code = self->request(cmd.first, &cmd.second, nullptr);
+        if (code != 200)
+          ESP_LOGW("moonraker", "POST %s failed (%d): %s", cmd.first.c_str(), code, cmd.second.c_str());
+        continue;  // drain commands before the next poll
+      }
+      if (esphome::millis() - last_poll >= POLL_MS) {
+        last_poll = esphome::millis();
+        self->poll();
+      }
+      vTaskDelay(pdMS_TO_TICKS(10));
+    }
+  }
+
+  void poll() {
+    std::string body;
+    Status s;
+    if (this->request("/printer/objects/query?gcode_move=gcode_position&toolhead=homed_axes&print_stats=state",
+                      nullptr, &body) == 200) {
+      auto doc = esphome::json::parse_json(body);
+      JsonObject st = doc["result"]["status"];
+      JsonArray p = st["gcode_move"]["gcode_position"];
+      for (int i = 0; i < 3; i++)
+        s.pos[i] = p[i];
+      s.homed = st["toolhead"]["homed_axes"].as<std::string>();
+      s.state = st["print_stats"]["state"].as<std::string>();
+    } else {
+      std::lock_guard<std::mutex> lock(this->mutex_);
+      s.pos[0] = this->status_.pos[0];  // keep the last position, only flag offline
+      s.pos[1] = this->status_.pos[1];
+      s.pos[2] = this->status_.pos[2];
+    }
+    std::lock_guard<std::mutex> lock(this->mutex_);
+    this->status_ = std::move(s);
+  }
+
+  // POST when body is set, GET otherwise; returns the HTTP status or -1
+  int request(const std::string &path, const std::string *body, std::string *out) {
+    std::string url = this->base_ + path;
+    esp_http_client_config_t cfg{};
+    cfg.url = url.c_str();
+    cfg.timeout_ms = TIMEOUT_MS;
+    cfg.method = body ? HTTP_METHOD_POST : HTTP_METHOD_GET;
+    esp_http_client_handle_t c = esp_http_client_init(&cfg);
+    if (c == nullptr)
+      return -1;
+    int code = -1;
+    int len = body ? body->size() : 0;
+    if (len > 0)
+      esp_http_client_set_header(c, "Content-Type", "application/json");
+    if (esp_http_client_open(c, len) == ESP_OK && (len == 0 || esp_http_client_write(c, body->data(), len) == len)) {
+      esp_http_client_fetch_headers(c);
+      code = esp_http_client_get_status_code(c);
+      char buf[256];
+      int n;
+      while (out != nullptr && (n = esp_http_client_read(c, buf, sizeof(buf))) > 0)
+        out->append(buf, n);
+    }
+    esp_http_client_cleanup(c);
+    return code;
+  }
+
+  std::string base_;
+  std::mutex mutex_;
+  std::deque<std::pair<std::string, std::string>> queue_;
+  Status status_;
+};
+
+inline Client client;
+
+}  // namespace moonraker

mcu-cnc-pendant.yaml

@@ -0,0 +1,235 @@
+---
+# Hardware: M5Stack M5Stamp S3 in the ESPendant case (github.com/positron96/ESP32_CNC_Pendant),
+#           talks to Klipper over Moonraker HTTP API
+# Pinout:
+#   GPIO0   Stamp button (boot)        -> stamp_button (binary_sensor gpio) (inverted)
+#   GPIO1   Handwheel A                -> handwheel (sensor rotary_encoder pin_a)
+#   GPIO2   Handwheel B                -> handwheel (sensor rotary_encoder pin_b)
+#   GPIO4   Axis encoder A             -> axis_encoder (sensor rotary_encoder pin_a)
+#   GPIO5   Axis encoder B             -> axis_encoder (sensor rotary_encoder pin_b)
+#   GPIO6   Axis encoder push          -> axis_button (binary_sensor gpio) (inverted)
+#   GPIO7   Step encoder A             -> step_encoder (sensor rotary_encoder pin_a)
+#   GPIO8   Step encoder B             -> step_encoder (sensor rotary_encoder pin_b)
+#   GPIO9   Step encoder push          -> step_button (binary_sensor gpio) (inverted)
+#   GPIO10  BT1                        -> bt1 (binary_sensor gpio) (inverted)
+#   GPIO11  BT2                        -> bt2 (binary_sensor gpio) (inverted)
+#   GPIO12  BT3                        -> bt3 (binary_sensor gpio) (inverted)
+#   GPIO13  LCD E (SCK)                -> spi (spi clk_pin)
+#   GPIO14  LCD R/W (MOSI)             -> spi (spi mosi_pin)
+#   GPIO15  LCD RS (CS)                -> lcd (display st7920 cs_pin)
+#   GPIO21  RGB LED                    -> status_rgb (light esp32_rmt_led_strip)
+#   GPIO39-44                          free (BT4-BT6 later)
+#   LCD RST: RC to 3.3 V, PSB to GND (serial mode)
+substitutions:
+  device: cnc-pendant
+  name: CNC Pendant
+  area: Workshop
+  comment: Klipper CNC pendant
+  moonraker: http://klipper.local:7125
+  max_feed: "3000"  # mm/min, handwheel jog feed cap
+
+esphome:
+  name: mcu-${device}
+  friendly_name: ${name}
+  area: ${area}
+  comment: ${comment}
+  includes:
+    - include/moonraker.h
+  on_boot:
+    - lambda: 'moonraker::client.start("${moonraker}");'
+
+esp32:
+  variant: esp32s3
+  flash_size: 8MB
+  toolchain: esp-idf
+  framework:
+    type: esp-idf
+
+packages:
+  common: !include common/common.yaml
+  # ipv6_only: !include common/ipv6_only.yaml
+  status_led: !include
+    file: common/status_led.yaml
+    vars:
+      light_id: status_rgb
+
+light:
+  - platform: esp32_rmt_led_strip
+    id: status_rgb
+    name: LED
+    pin: 21
+    num_leds: 1
+    chipset: ws2812
+    rgb_order: GRB
+    restore_mode: ALWAYS_OFF
+
+# only links esp_http_client for include/moonraker.h, which runs requests on its own task
+http_request:
+
+globals:
+  - id: axis
+    type: int
+    initial_value: "0"  # 0 X, 1 Y, 2 Z
+  - id: step
+    type: int
+    initial_value: "1"  # index into steps[] in the jog interval
+  - id: wheel_sent
+    type: float
+    initial_value: "0"
+
+interval:
+  # handwheel: send the counts since the last jog as one relative move
+  - interval: 100ms
+    then:
+      - lambda: |-
+          static const float steps[] = {0.01f, 0.1f, 1.0f};
+          float delta = id(handwheel).state - id(wheel_sent);
+          if (delta == 0 || std::isnan(delta)) return;
+          id(wheel_sent) = id(handwheel).state;
+          float dist = delta * steps[id(step)];
+          // feed so the move takes ~100 ms, i.e. about one interval
+          // ponytail: capped feed lets fast spins queue moves that keep running after the wheel stops; drop excess counts if that bites
+          float feed = std::min(std::max(std::fabs(dist) * 600.0f, 60.0f), ${max_feed}.0f);
+          moonraker::client.gcode(str_sprintf("G91\nG1 %c%.3f F%.0f\nG90", "XYZ"[id(axis)], dist, feed));
+
+sensor:
+  - platform: rotary_encoder
+    id: handwheel
+    pin_a:
+      number: 1
+      mode: INPUT_PULLUP
+    pin_b:
+      number: 2
+      mode: INPUT_PULLUP
+    resolution: 1  # calibration: counts per detent, flip pin_a/pin_b if direction is wrong
+  - platform: rotary_encoder
+    id: axis_encoder
+    pin_a:
+      number: 4
+      mode: INPUT_PULLUP
+    pin_b:
+      number: 5
+      mode: INPUT_PULLUP
+    on_clockwise:
+      - lambda: 'id(axis) = std::min(id(axis) + 1, 2);'
+    on_anticlockwise:
+      - lambda: 'id(axis) = std::max(id(axis) - 1, 0);'
+  - platform: rotary_encoder
+    id: step_encoder
+    pin_a:
+      number: 7
+      mode: INPUT_PULLUP
+    pin_b:
+      number: 8
+      mode: INPUT_PULLUP
+    on_clockwise:
+      - lambda: 'id(step) = std::min(id(step) + 1, 2);'
+    on_anticlockwise:
+      - lambda: 'id(step) = std::max(id(step) - 1, 0);'
+
+binary_sensor:
+  - platform: gpio
+    id: stamp_button
+    name: Stamp Button
+    pin:
+      number: 0
+      inverted: true
+  # axis push: zero the selected axis in work coordinates
+  - platform: gpio
+    id: axis_button
+    name: Axis Button
+    pin:
+      number: 6
+      mode: INPUT_PULLUP
+      inverted: true
+    filters:
+      - delayed_on_off: 20ms
+    on_press:
+      - lambda: 'moonraker::client.gcode(str_sprintf("G92 %c0", "XYZ"[id(axis)]));'
+  - platform: gpio
+    id: step_button
+    name: Step Button
+    pin:
+      number: 9
+      mode: INPUT_PULLUP
+      inverted: true
+    filters:
+      - delayed_on_off: 20ms
+  # BT1: home all
+  - platform: gpio
+    id: bt1
+    name: BT1
+    pin:
+      number: 10
+      mode: INPUT_PULLUP
+      inverted: true
+    filters:
+      - delayed_on_off: 20ms
+    on_press:
+      - lambda: 'moonraker::client.gcode("G28");'
+  # BT2: pause / resume
+  - platform: gpio
+    id: bt2
+    name: BT2
+    pin:
+      number: 11
+      mode: INPUT_PULLUP
+      inverted: true
+    filters:
+      - delayed_on_off: 20ms
+    on_press:
+      - lambda: 'moonraker::client.post(moonraker::client.status().state == "paused" ? "/printer/print/resume" : "/printer/print/pause");'
+  # BT3: hold 1 s for emergency stop (Klipper needs FIRMWARE_RESTART afterwards)
+  - platform: gpio
+    id: bt3
+    name: BT3
+    pin:
+      number: 12
+      mode: INPUT_PULLUP
+      inverted: true
+    filters:
+      - delayed_on_off: 20ms
+    on_multi_click:
+      - timing:
+          - ON for at least 1s
+        then:
+          - lambda: 'moonraker::client.post("/printer/emergency_stop", "", true);'
+
+font:
+  # X11 misc-fixed bitmap fonts (as in u8g2 / Marlin), 6 px wide: axis letter + "-123.456" fits 64 px
+  - file: assets/fonts/6x13.bdf
+    id: font_big
+  - file: assets/fonts/6x10.bdf
+    id: font_small
+
+spi:
+  clk_pin: 13
+  mosi_pin: 14
+
+display:
+  - platform: st7920
+    id: lcd
+    cs_pin:
+      number: 15
+      inverted: true  # ST7920 RS/CS is active high
+    data_rate: 1MHz  # default 200kHz takes ~220 ms per frame; drop back if the picture garbles
+    width: 128
+    height: 64
+    rotation: 90  # mounted portrait, 270 if upside down
+    update_interval: 200ms
+    lambda: |-
+      static const char *steps[] = {"0.01", "0.1", "1"};
+      auto s = moonraker::client.status();
+      it.printf(0, 0, id(font_small), "%s", s.state.c_str());
+      it.printf(0, 10, id(font_small), "H:%s", s.homed.empty() ? "-" : s.homed.c_str());
+      for (int i = 0; i < 3; i++) {
+        int y = 22 + i * 14;
+        Color c = COLOR_ON;
+        if (i == id(axis)) {
+          it.filled_rectangle(0, y, 64, 13);
+          c = COLOR_OFF;
+        }
+        it.printf(1, y + 1, id(font_big), c, "%c", "XYZ"[i]);
+        it.printf(63, y + 1, id(font_big), c, TextAlign::TOP_RIGHT, "%.3f", s.pos[i]);
+      }
+      it.printf(0, 118, id(font_small), "%s mm", steps[id(step)]);

mcu-nrf-ant.yaml

@@ -4,8 +4,8 @@
 #   P0.06   UART0 TX                   -> logger (J-Link VCOM)
 #   P0.13   LED 1 (active low)         -> ANT+ Connected (a configured device is received)
 #   P0.14   LED 2 (active low)         -> ANT+ Unknown Device (an unconfigured one is in range)
-#   P1.01   UART1 TX                   -> mcu-nrf-dk UART1 RX (P1.01), packet_transport; plus GND
+#   P1.01   UART1 RX                   <- mcu-nrf-dk UART1 TX (P1.02), packet_transport
-#   P1.02   UART1 RX                   (unused)
+#   P1.02   UART1 TX                   -> mcu-nrf-dk UART1 RX (P1.01), packet_transport; plus GND
 # Radio: ANT+ receiver (RadiANT), no network of its own; values go to mcu-nrf-dk
 # ANT+ devices:
 #   655730   Garmin HRM-Pro          heart rate
@@ -147,10 +147,9 @@ ant_plus:
 uart:
   id: link
   port: UART1
-  tx_pin: P1.01
+  # the DK's default UART1 pins, same on both boards, wires crossed
-  # unused, but must be set: the fork otherwise keeps the board's default RX, which on
+  tx_pin: P1.02
-  # the DK is P1.01 too, and the UART hears its own transmissions
+  rx_pin: P1.01
-  rx_pin: P1.02
   baud_rate: 115200
 
 packet_transport:

mcu-nrf-dk.yaml

@@ -9,7 +9,8 @@
 #   P0.16   LED 4 (active low)         -> LED 4 (light binary)
 #   P0.24   Button 3 (active low)      -> Button 3 (binary_sensor gpio)
 #   P0.25   Button 4 (active low)      -> Button 4 (binary_sensor gpio)
-#   P1.01   UART1 RX                   <- mcu-nrf-ant UART1 TX (P1.01), packet_transport; plus GND
+#   P1.01   UART1 RX                   <- mcu-nrf-ant UART1 TX (P1.02), packet_transport; plus GND
+#   P1.02   UART1 TX                   -> mcu-nrf-ant UART1 RX (P1.01), packet_transport
 # ANT+ values (Garmin HRM-Pro, Concept2 PM5, Garmin Tempe, Garmin Varia RTL515) come from mcu-nrf-ant
 esphome:
   name: mcu-nrf-dk
@@ -41,7 +42,9 @@ api:
 uart:
   id: ant_link
   port: UART1
+  # the DK's default UART1 pins, same on both boards, wires crossed
   rx_pin: P1.01
+  tx_pin: P1.02
   baud_rate: 115200
 
 packet_transport: