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v1.4.0 fixes doubling time bug
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### Releases v1.4.0

1. Fix doubled time for `ESP32_C3, ESP32_S2 and ESP32_S3`. Check [Error in the value defined by TIMER0_INTERVAL_MS #28](https://github.com/khoih-prog/ESP32_New_ISR_Servo/issues/28)
2. Modify examples to avoid using `LED_BUILTIN` / `GPIO2` and `GPIO2` as they can cause crash in some boards, such as `ESP32_C3`
3. Use `allman astyle` and add `utils`
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khoih-prog authored Nov 17, 2022
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35 changes: 29 additions & 6 deletions CONTRIBUTING.md
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Expand Up @@ -15,11 +15,11 @@ If you don't find anything, please [open a new issue](https://github.com/khoih-p
Please ensure to specify the following:

* Arduino IDE version (e.g. 1.8.19) or Platform.io version
* `ESP32` Core Version (e.g. ESP32 core v2.0.4)
* `ESP32` Core Version (e.g. ESP32 core v2.0.5)
* `ESP32` Board type (e.g. ESP32_DEV Module, etc.)
* `ESP32-S2` Board type (e.g. ESP32S2_DEV Module, ESP32_S2_Saola, etc.)
* `ESP32_S3` Board type (e.g. ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, etc.)
* `ESP32-C3` Board type (e.g. ESP32C3_DEV Module, etc.)
* `ESP32-C3` Board type (e.g. ESP32C3_DEV Module, LOLIN_C3_MINI, DFROBOT_BEETLE_ESP32_C3, ADAFRUIT_QTPY_ESP32C3, AirM2M_CORE_ESP32C3, XIAO_ESP32C3, etc.)
* Contextual information (e.g. what you were trying to achieve)
* Simplest possible steps to reproduce
* Anything that might be relevant in your opinion, such as:
Expand All @@ -31,28 +31,51 @@ Please ensure to specify the following:

```
Arduino IDE version: 1.8.19
ESP32 core v2.0.4
ESP32 core v2.0.5
ESP32S3_DEV Module
OS: Ubuntu 20.04 LTS
Linux xy-Inspiron-3593 5.15.0-41-generic #44~20.04.1-Ubuntu SMP Fri Jun 24 13:27:29 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
Linux xy-Inspiron-3593 5.15.0-52-generic #58~20.04.1-Ubuntu SMP Thu Oct 13 13:09:46 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
Context:
I encountered a crash while trying to use the Timer Interrupt.
I encountered a crash while using this library
Steps to reproduce:
1. ...
2. ...
3. ...
4. ...
```

### Additional context

Add any other context about the problem here.

---

### Sending Feature Requests

Feel free to post feature requests. It's helpful if you can explain exactly why the feature would be useful.

There are usually some outstanding feature requests in the [existing issues list](https://github.com/khoih-prog/ESP32_New_ISR_Servo/issues?q=is%3Aopen+is%3Aissue+label%3Aenhancement), feel free to add comments to them.

---

### Sending Pull Requests

Pull Requests with changes and fixes are also welcome!

Please use the `astyle` to reformat the updated library code as follows (demo for Ubuntu Linux)

1. Change directory to the library GitHub

```
xy@xy-Inspiron-3593:~$ cd Arduino/xy/ESP32_New_ISR_Servo_GitHub/
xy@xy-Inspiron-3593:~/Arduino/xy/ESP32_New_ISR_Servo_GitHub$
```

2. Issue astyle command

```
xy@xy-Inspiron-3593:~/Arduino/xy/ESP32_New_ISR_Servo_GitHub$ bash utils/restyle.sh
```


38 changes: 21 additions & 17 deletions README.md
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Expand Up @@ -6,7 +6,11 @@
[![contributions welcome](https://img.shields.io/badge/contributions-welcome-brightgreen.svg?style=flat)](#Contributing)
[![GitHub issues](https://img.shields.io/github/issues/khoih-prog/ESP32_New_ISR_Servo.svg)](http://github.com/khoih-prog/ESP32_New_ISR_Servo/issues)

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---
---
Expand Down Expand Up @@ -123,7 +127,7 @@ This [**ESP32_New_ISR_Servo** library](https://github.com/khoih-prog/ESP32_New_I
## Prerequisites

1. [`Arduino IDE 1.8.19+` for Arduino](https://github.com/arduino/Arduino). [![GitHub release](https://img.shields.io/github/release/arduino/Arduino.svg)](https://github.com/arduino/Arduino/releases/latest)
2. [`ESP32 Core 2.0.4+`](https://github.com/espressif/arduino-esp32) for ESP32-based boards. [![Latest release](https://img.shields.io/github/release/espressif/arduino-esp32.svg)](https://github.com/espressif/arduino-esp32/releases/latest/)
2. [`ESP32 Core 2.0.5+`](https://github.com/espressif/arduino-esp32) for ESP32-based boards. [![Latest release](https://img.shields.io/github/release/espressif/arduino-esp32.svg)](https://github.com/espressif/arduino-esp32/releases/latest/)


---
Expand Down Expand Up @@ -162,14 +166,14 @@ The current library implementation, using `xyz-Impl.h` instead of standard `xyz.

You can include this `.hpp` file

```
```cpp
// Can be included as many times as necessary, without `Multiple Definitions` Linker Error
#include "ESP32_New_ISR_Servo.hpp" //https://github.com/khoih-prog/ESP32_New_ISR_Servo
```

in many files. But be sure to use the following `.h` file **in just 1 `.h`, `.cpp` or `.ino` file**, which must **not be included in any other file**, to avoid `Multiple Definitions` Linker Error

```
```cpp
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "ESP32_New_ISR_Servo.h" //https://github.com/khoih-prog/ESP32_New_ISR_Servo
```
Expand All @@ -190,33 +194,33 @@ Please have a look at [**ESP_WiFiManager Issue 39: Not able to read analog port

#### 2. ESP32 ADCs functions

- ADC1 controls ADC function for pins **GPIO32-GPIO39**
- ADC2 controls ADC function for pins **GPIO0, 2, 4, 12-15, 25-27**
- `ADC1` controls ADC function for pins **GPIO32-GPIO39**
- `ADC2` controls ADC function for pins **GPIO0, 2, 4, 12-15, 25-27**

#### 3.. ESP32 WiFi uses ADC2 for WiFi functions

Look in file [**adc_common.c**](https://github.com/espressif/esp-idf/blob/master/components/driver/adc_common.c#L61)
Look in file [**adc_common.c**](https://github.com/espressif/esp-idf/blob/master/components/driver/adc_common.c)

> In ADC2, there're two locks used for different cases:
> In `ADC2`, there're two locks used for different cases:
> 1. lock shared with app and Wi-Fi:
> ESP32:
> When Wi-Fi using the ADC2, we assume it will never stop, so app checks the lock and returns immediately if failed.
> When Wi-Fi using the `ADC2`, we assume it will never stop, so app checks the lock and returns immediately if failed.
> ESP32S2:
> The controller's control over the ADC is determined by the arbiter. There is no need to control by lock.
>
> 2. lock shared between tasks:
> when several tasks sharing the ADC2, we want to guarantee
> when several tasks sharing the `ADC2`, we want to guarantee
> all the requests will be handled.
> Since conversions are short (about 31us), app returns the lock very soon,
> we use a spinlock to stand there waiting to do conversions one by one.
>
> adc2_spinlock should be acquired first, then adc2_wifi_lock or rtc_spinlock.

- In order to use ADC2 for other functions, we have to **acquire complicated firmware locks and very difficult to do**
- So, it's not advisable to use ADC2 with WiFi/BlueTooth (BT/BLE).
- Use ADC1, and pins GPIO32-GPIO39
- If somehow it's a must to use those pins serviced by ADC2 (**GPIO0, 2, 4, 12, 13, 14, 15, 25, 26 and 27**), use the **fix mentioned at the end** of [**ESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example**](https://github.com/khoih-prog/ESP_WiFiManager/issues/39) to work with ESP32 WiFi/BlueTooth (BT/BLE).
- In order to use `ADC2` for other functions, we have to **acquire complicated firmware locks and very difficult to do**
- So, it's not advisable to use `ADC2` with WiFi/BlueTooth (BT/BLE).
- Use `ADC1`, and pins `GPIO32-GPIO39`
- If somehow it's a must to use those pins serviced by `ADC2` (**GPIO0, 2, 4, 12, 13, 14, 15, 25, 26 and 27**), use the **fix mentioned at the end** of [**ESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example**](https://github.com/khoih-prog/ESP_WiFiManager/issues/39) to work with ESP32 WiFi/BlueTooth (BT/BLE).


---
Expand All @@ -236,7 +240,7 @@ Look in file [**adc_common.c**](https://github.com/espressif/esp-idf/blob/master

### New functions

```
```cpp
// returns last position in degrees if success, or -1 on wrong servoIndex
float getPosition(const uint8_t& servoIndex);

Expand Down Expand Up @@ -274,7 +278,7 @@ You'll see blynkTimer Software is blocked while system is connecting to WiFi / I
How to use:
```
```cpp
#if !defined(ESP32)
#error This code is intended to run on the ESP32 platform! Please check your Tools->Board setting.
#endif
Expand Down Expand Up @@ -714,7 +718,7 @@ Submit issues to: [ESP32_New_ISR_Servo issues](https://github.com/khoih-prog/ESP
9. Add example [multiFileProject](examples/multiFileProject) to demo for multiple-file project
10. Fix breaking issue caused by **ESP32 core v2.0.1+** by increasing `TIMER_INTERVAL_MICRO` to `12uS` from `10uS`
10. Suppress errors and warnings for new ESP32 core v2.0.4

11. Use `allman astyle` and add `utils`

---
---
Expand Down
13 changes: 13 additions & 0 deletions changelog.md
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Expand Up @@ -6,12 +6,19 @@
[![contributions welcome](https://img.shields.io/badge/contributions-welcome-brightgreen.svg?style=flat)](#Contributing)
[![GitHub issues](https://img.shields.io/github/issues/khoih-prog/ESP32_New_ISR_Servo.svg)](http://github.com/khoih-prog/ESP32_New_ISR_Servo/issues)


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---
---

## Table of Contents

* [Changelog](#changelog)
* [Releases v1.4.0](#releases-v140)
* [Releases v1.3.0](#releases-v130)
* [Releases v1.2.1](#releases-v121)
* [Releases v1.2.0](#releases-v120)
Expand All @@ -23,6 +30,12 @@

## Changelog

### Releases v1.4.0

1. Fix doubled time for `ESP32_C3, ESP32_S2 and ESP32_S3`. Check [Error in the value defined by TIMER0_INTERVAL_MS #28](https://github.com/khoih-prog/ESP32_New_ISR_Servo/issues/28)
2. Modify examples to avoid using `LED_BUILTIN` / `GPIO2` and `GPIO2` as they can cause crash in some boards, such as `ESP32_C3`
3. Use `allman astyle` and add `utils`

### Releases v1.3.0

1. Suppress errors and warnings for new ESP32 core v2.0.4+
Expand Down
141 changes: 75 additions & 66 deletions examples/ESP32_New_ISR_MultiServos/ESP32_New_ISR_MultiServos.ino
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Expand Up @@ -9,10 +9,10 @@
The ESP32, ESP32_S2, ESP32_S3, ESP32_C3 have two timer groups, TIMER_GROUP_0 and TIMER_GROUP_1
1) each group of ESP32, ESP32_S2, ESP32_S3 has two general purpose hardware timers, TIMER_0 and TIMER_1
2) each group of ESP32_C3 has ony one general purpose hardware timer, TIMER_0
All the timers are based on 64-bit counters (except 54-bit counter for ESP32_S3 counter) and 16 bit prescalers.
The timer counters can be configured to count up or down and support automatic reload and software reload.
They can also generate alarms when they reach a specific value, defined by the software.
All the timers are based on 64-bit counters (except 54-bit counter for ESP32_S3 counter) and 16 bit prescalers.
The timer counters can be configured to count up or down and support automatic reload and software reload.
They can also generate alarms when they reach a specific value, defined by the software.
The value of the counter can be read by the software program.
Now these new 16 ISR-based PWM servo contro uses only 1 hardware timer.
Expand Down Expand Up @@ -63,7 +63,7 @@
*****************************************************************************************************************************/

#if !defined(ESP32)
#error This code is intended to run on the ESP32 platform! Please check your Tools->Board setting.
#error This code is intended to run on the ESP32 platform! Please check your Tools->Board setting.
#endif

#define TIMER_INTERRUPT_DEBUG 0
Expand All @@ -72,17 +72,20 @@
// For ESP32_C3, select ESP32 timer number (0-1)
// For ESP32 and ESP32_S2, select ESP32 timer number (0-3)
#if defined( ARDUINO_ESP32C3_DEV )
#define USE_ESP32_TIMER_NO 1
#define USE_ESP32_TIMER_NO 1
#else
#define USE_ESP32_TIMER_NO 3
#define USE_ESP32_TIMER_NO 3
#endif

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "ESP32_New_ISR_Servo.h"

// Don't use PIN_D1 in core v2.0.0 and v2.0.1. Check https://github.com/espressif/arduino-esp32/issues/5868
// Don't use PIN_D2 with ESP32_C3 (crash)

//See file .../hardware/espressif/esp32/variants/(esp32|doitESP32devkitV1)/pins_arduino.h
#if !defined(LED_BUILTIN)
#define LED_BUILTIN 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#define LED_BUILTIN 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#endif

#define PIN_LED 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
Expand All @@ -107,71 +110,77 @@ int servoIndex2 = -1;

void setup()
{
Serial.begin(115200);
while (!Serial);
Serial.begin(115200);

while (!Serial && millis() < 5000);

delay(500);

Serial.print(F("\nStarting ESP32_New_ISR_MultiServos on ")); Serial.println(ARDUINO_BOARD);
Serial.println(ESP32_NEW_ISR_SERVO_VERSION);

//Select ESP32 timer USE_ESP32_TIMER_NO
ESP32_ISR_Servos.useTimer(USE_ESP32_TIMER_NO);
Serial.print(F("\nStarting ESP32_New_ISR_MultiServos on "));
Serial.println(ARDUINO_BOARD);
Serial.println(ESP32_NEW_ISR_SERVO_VERSION);

//Select ESP32 timer USE_ESP32_TIMER_NO
ESP32_ISR_Servos.useTimer(USE_ESP32_TIMER_NO);

servoIndex1 = ESP32_ISR_Servos.setupServo(PIN_D2, MIN_MICROS, MAX_MICROS);
servoIndex2 = ESP32_ISR_Servos.setupServo(PIN_D3, MIN_MICROS, MAX_MICROS);
servoIndex1 = ESP32_ISR_Servos.setupServo(PIN_D3, MIN_MICROS, MAX_MICROS);
servoIndex2 = ESP32_ISR_Servos.setupServo(PIN_D4, MIN_MICROS, MAX_MICROS);

if (servoIndex1 != -1)
Serial.println(F("Setup Servo1 OK"));
else
Serial.println(F("Setup Servo1 failed"));
if (servoIndex1 != -1)
Serial.println(F("Setup Servo1 OK"));
else
Serial.println(F("Setup Servo1 failed"));

if (servoIndex2 != -1)
Serial.println(F("Setup Servo2 OK"));
else
Serial.println(F("Setup Servo2 failed"));
if (servoIndex2 != -1)
Serial.println(F("Setup Servo2 OK"));
else
Serial.println(F("Setup Servo2 failed"));
}

void loop()
{
int position;

if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) )
{
for (position = 0; position <= 180; position++)
{
// goes from 0 degrees to 180 degrees
// in steps of 1 degree

if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = ")); Serial.print(position);
Serial.print(F(", Servo2 pos = ")); Serial.println(180 - position);
}

ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}

delay(5000);

for (position = 180; position >= 0; position--)
{
// goes from 180 degrees to 0 degrees
if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = ")); Serial.print(position);
Serial.print(F(", Servo2 pos = ")); Serial.println(180 - position);
}

ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}

delay(5000);
}
int position;

if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) )
{
for (position = 0; position <= 180; position++)
{
// goes from 0 degrees to 180 degrees
// in steps of 1 degree

if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = "));
Serial.print(position);
Serial.print(F(", Servo2 pos = "));
Serial.println(180 - position);
}

ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}

delay(5000);

for (position = 180; position >= 0; position--)
{
// goes from 180 degrees to 0 degrees
if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = "));
Serial.print(position);
Serial.print(F(", Servo2 pos = "));
Serial.println(180 - position);
}

ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}

delay(5000);
}
}
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