Fix ESP32-P4 build: add support for DYNAMIC_ALLOCATION without SELECT_DRIVER_TYPE

ESP32-P4 only has RMT queues (no MCPWM_PCNT), so SUPPORT_SELECT_DRIVER_TYPE
is not defined. Add the missing code paths for this configuration.

Author: gin66

src/FastAccelStepperEngine.cpp

@@ -33,11 +33,11 @@ void FastAccelStepperEngine::init() {
   for (uint8_t i = 0; i < MAX_STEPPER; i++) {
     _stepper[i] = NULL;
   }
-  #if defined(SUPPORT_DYNAMIC_ALLOCATION)
+#if defined(SUPPORT_DYNAMIC_ALLOCATION)
   for (uint8_t i = 0; i < NUM_QUEUES; i++) {
     fas_queue[i] = NULL;
   }
-  #endif
+#endif
 
 #if defined(SUPPORT_RP_PICO)
   claimed_pios = 0;
@@ -74,9 +74,8 @@ bool FastAccelStepperEngine::initI2sMux(uint8_t data_pin, uint8_t bclk_pin,
   if (StepperQueue::_i2s_mux_initialized) {
     return false;
   }
-  I2sManager* mgr = I2sManager::create((gpio_num_t)data_pin,
-                                        (gpio_num_t)bclk_pin,
-                                        (gpio_num_t)ws_pin);
+  I2sManager* mgr = I2sManager::create(
+      (gpio_num_t)data_pin, (gpio_num_t)bclk_pin, (gpio_num_t)ws_pin);
   if (mgr == nullptr) {
     return false;
   }
@@ -102,9 +101,15 @@ bool FastAccelStepperEngine::i2sMuxGetBit(uint8_t slot) {
 
 #if defined(SUPPORT_DYNAMIC_ALLOCATION)
 // dynamic allocation is currently only supported for esp32
+#if defined(SUPPORT_SELECT_DRIVER_TYPE)
 FastAccelStepper* FastAccelStepperEngine::stepperConnectToPin(
     uint8_t step_pin, FasDriver driver_type) {
   StepperQueue* q = StepperQueue::tryAllocateQueue(driver_type, step_pin);
+#else
+FastAccelStepper* FastAccelStepperEngine::stepperConnectToPin(
+    uint8_t step_pin) {
+  StepperQueue* q = StepperQueue::tryAllocateQueue(step_pin);
+#endif
   if (q != nullptr) {
     uint8_t fas_stepper_num = _stepper_cnt;
     _stepper_cnt++;

src/fas_queue/protocol.h

@@ -13,6 +13,8 @@
 
 #if defined(SUPPORT_SELECT_DRIVER_TYPE)
 static StepperQueue* tryAllocateQueue(FasDriver driver, uint8_t step_pin);
+#elif defined(SUPPORT_DYNAMIC_ALLOCATION)
+static StepperQueue* tryAllocateQueue(uint8_t step_pin);
 #endif
 
 static bool isValidStepPin(uint8_t step_pin);

src/pd_esp32/esp32_queue.cpp

@@ -7,8 +7,8 @@
 #include <Arduino.h>
 
 #if defined(SUPPORT_DYNAMIC_ALLOCATION)
-uint8_t StepperQueue::queues_allocated = 0;
 #if defined(SUPPORT_SELECT_DRIVER_TYPE)
+uint8_t StepperQueue::queues_allocated = 0;
 #if defined(SUPPORT_ESP32_I2S)
 bool StepperQueue::_i2s_mux_initialized = false;
 uint32_t StepperQueue::_i2s_mux_allocated_bitmask = 0;
@@ -20,6 +20,8 @@ uint8_t StepperQueue::_mcpwm_pcnt_allocated = 0;
 #ifdef SUPPORT_ESP32_RMT
 uint8_t StepperQueue::_rmt_allocated = 0;
 #endif
+#else
+uint8_t StepperQueue::queues_allocated = 0;
 #endif  // SUPPORT_SELECT_DRIVER_TYPE
 #endif
 
@@ -254,6 +256,29 @@ StepperQueue* StepperQueue::tryAllocateQueue(FasDriver driver,
 }
 #endif  // SUPPORT_SELECT_DRIVER_TYPE && SUPPORT_DYNAMIC_ALLOCATION
 
+#if !defined(SUPPORT_SELECT_DRIVER_TYPE) && defined(SUPPORT_DYNAMIC_ALLOCATION)
+StepperQueue* StepperQueue::tryAllocateQueue(uint8_t step_pin) {
+  if (StepperQueue::queues_allocated >= MAX_STEPPER) {
+    return nullptr;
+  }
+
+  if (step_pin & PIN_EXTERNAL_FLAG) {
+    return nullptr;
+  }
+
+  if (!StepperQueue::isValidStepPin(step_pin)) {
+    return nullptr;
+  }
+
+  StepperQueue* q = new StepperQueue();
+#if defined(SUPPORT_ESP32_RMT)
+  q->use_rmt = true;
+#endif
+  StepperQueue::queues_allocated++;
+  return q;
+}
+#endif  // !SUPPORT_SELECT_DRIVER_TYPE && SUPPORT_DYNAMIC_ALLOCATION
+
 void StepperTask(void* parameter) {
   FastAccelStepperEngine* engine = (FastAccelStepperEngine*)parameter;
   while (true) {

src/pd_esp32/esp32_queue.h

@@ -37,6 +37,9 @@ class StepperQueue : public StepperQueueBase {
 #endif
   }
 #endif
+#elif defined(SUPPORT_DYNAMIC_ALLOCATION)
+  static uint8_t queues_allocated;
+  static void initVars() { StepperQueue::queues_allocated = 0; }
 #endif  // SUPPORT_SELECT_DRIVER_TYPE
 
   volatile bool _isRunning;