- Important Change from v1.2.0
- Important Change from v1.1.0
- Why do we need this ESP32_New_ISR_Servo library
- Changelog
- Prerequisites
- Installation
- HOWTO Fix
Multiple DefinitionsLinker Error - HOWTO Use analogRead() with ESP32 running WiFi and/or BlueTooth (BT/BLE)
- More useful Information
- HOWTO Usage
- Examples
- Example ESP32_New_ISR_MultiServos
- Debug Terminal Output Samples
- Debug
- Troubleshooting
- Issues
- TO DO
- DONE
- Contributions and Thanks
- Contributing
- License
- Copyright
Please use the new v1.2.0+ for ESP32 core v2.0.1+, or the library won't work anymore.
Please have a look at HOWTO Fix Multiple Definitions Linker Error
Why do we need this ESP32_New_ISR_Servo library
Imagine you have a system with a mission-critical function controlling a robot arm or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().
So your function might not be executed, and the result would be disastrous.
You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).
The correct choice is to use a Hardware Timer with Interrupt to call your function.
These hardware timers, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software timers using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.
Functions using normal software timers, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.
This library enables you to use 1 Hardware Timer on an ESP32, ESP32_S2, ESP32_C3-based board to control up to 16 independent servo motors.
-
Inside the attached function, delay() won’t work and the value returned by millis() will not increment. Serial data received while in the function may be lost. You should declare as volatile any variables that you modify within the attached function.
-
Typically global variables are used to pass data between an ISR and the main program. To make sure variables shared between an ISR and the main program are updated correctly, declare them as volatile.
-
Avoid using Serial.print()-related functions inside ISR. Just for temporary debug purpose, but even this also can crash the system any time. Beware.
-
Your functions are now part of ISR (Interrupt Service Routine), and must be
lean / mean, and follow certain rules. More to read on:
This ESP32_New_ISR_Servo library currently supports these following boards:
- ESP32 boards, such as
ESP32_DEV, etc. - ESP32S2-based boards, such as
ESP32S2_DEV,ESP32_S2 Saola, Adafruit QTPY_ESP32S2, etc. - ESP32C3-based boards, such as
ESP32C3_DEV, etc. New - ESP32_S3 (ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, FEATHER_ESP32S3_NOPSRAM and QTPY_ESP32S3_NOPSRAM, etc.) New
Arduino IDE 1.8.19+for Arduino.ESP32 Core 2.0.5+for ESP32-based boards.
The best and easiest way is to use Arduino Library Manager. Search for ESP32_New_ISR_Servo, then select / install the latest version.
You can also use this link
Another way to install is to:
- Navigate to ESP32_New_ISR_Servo page.
- Download the latest release
ESP32_New_ISR_Servo-main.zip. - Extract the zip file to
ESP32_New_ISR_Servo-maindirectory - Copy whole
ESP32_New_ISR_Servo-mainfolder to Arduino libraries' directory such as~/Arduino/libraries/.
- Install VS Code
- Install PlatformIO
- Install ESP32_New_ISR_Servo library by using Library Manager. Search for ESP32_New_ISR_Servo in Platform.io Author's Libraries
- Use included platformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples at Project Configuration File
The current library implementation, using xyz-Impl.h instead of standard xyz.cpp, possibly creates certain Multiple Definitions Linker error in certain use cases.
You can include this .hpp file
// 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_Servoin 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
// 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_ServoCheck the new multiFileProject example for a HOWTO demo.
Have a look at the discussion in Different behaviour using the src_cpp or src_h lib #80
Please have a look at ESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example to have more detailed description and solution of the issue.
ADC1controls ADC function for pins GPIO32-GPIO39ADC2controls ADC function for pins GPIO0, 2, 4, 12-15, 25-27
Look in file adc_common.c
In
ADC2, there're two locks used for different cases:
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. ESP32S2: The controller's control over the ADC is determined by the arbiter. There is no need to control by lock.lock shared between tasks: 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
ADC2for other functions, we have to acquire complicated firmware locks and very difficult to do - So, it's not advisable to use
ADC2with WiFi/BlueTooth (BT/BLE). - Use
ADC1, and pinsGPIO32-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 to work with ESP32 WiFi/BlueTooth (BT/BLE).
- The ESP32, ESP32_S2 and ESP32_S3 has two timer groups, each one with two general purpose hardware timers.
- The ESP32_C3 has two timer groups, each one with only one general purpose hardware timer.
- 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.
// returns last position in degrees if success, or -1 on wrong servoIndex
float getPosition(const uint8_t& servoIndex);
// returns pulseWidth in microsecs (within min/max range) if success, or 0 on wrong servoIndex
uint32_t getPulseWidth(const uint8_t& servoIndex);What special in this ESP32_New_ISR_Servo library
This ESP32_New_ISR_Servo library is designed to work with ESP32 core v2.0.0-rc1+ and to merge/replace these following libraries in the future
by not using the deprecated functions of the new cores. Check Deprecation warnings with esp32-v2.0.0-rc1 #17
Now these new 16 ISR-based Servo controllers just use one ESP32 Hardware Timer. The number 16 is just arbitrarily chosen, and depending on application, you can increase that number to 32, 48, etc. without problem.
The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.
The MultipleServos example, which controls 6 servos independently, will demonstrate the nearly perfect accuracy. Being ISR-based servo controllers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services.
This non-being-blocked important feature is absolutely necessary for mission-critical tasks.
You'll see blynkTimer Software is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate
How to use:
#if !defined(ESP32)
#error This code is intended to run on the ESP32 platform! Please check your Tools->Board setting.
#endif
#define TIMER_INTERRUPT_DEBUG 0
#define ISR_SERVO_DEBUG 1
// 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
#else
#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"
//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
#endif
#define PIN_LED 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#define PIN_D0 0 // Pin D0 mapped to pin GPIO0/BOOT/ADC11/TOUCH1 of ESP32
#define PIN_D1 1 // Pin D1 mapped to pin GPIO1/TX0 of ESP32
#define PIN_D2 2 // Pin D2 mapped to pin GPIO2/ADC12/TOUCH2 of ESP32
#define PIN_D3 3 // Pin D3 mapped to pin GPIO3/RX0 of ESP32
#define PIN_D4 4 // Pin D4 mapped to pin GPIO4/ADC10/TOUCH0 of ESP32
#define PIN_D5 5 // Pin D5 mapped to pin GPIO5/SPISS/VSPI_SS of ESP32
#define PIN_D6 6 // Pin D6 mapped to pin GPIO6/FLASH_SCK of ESP32
#define PIN_D7 7 // Pin D7 mapped to pin GPIO7/FLASH_D0 of ESP32
#define PIN_D8 8 // Pin D8 mapped to pin GPIO8/FLASH_D1 of ESP32
#define PIN_D9 9 // Pin D9 mapped to pin GPIO9/FLASH_D2 of ESP32
// Published values for SG90 servos; adjust if needed
#define MIN_MICROS 800 //544
#define MAX_MICROS 2450
int servoIndex1 = -1;
int servoIndex2 = -1;
void setup()
{
Serial.begin(115200);
while (!Serial);
delay(200);
Serial.print(F("\nStarting 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);
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"));
}
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);
}
}- ESP32_New_ISR_MultiServos
- ESP32_New_MultipleRandomServos
- ESP32_New_MultipleServos
- ISR_MultiServos
- MultipleRandomServos
- MultipleServos
- multiFileProject New
Example ESP32_New_ISR_MultiServos
1. File ESP32_New_ISR_MultiServos.ino
Starting ESP32_New_MultipleRandomServos on ESP32S2_DEV
ESP32_New_ISR_Servo v1.3.0
[ISR_SERVO] ESP32_S2_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting ITimer OK
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos @ 180 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos sweeps from 0-180 degrees
Starting ESP32_New_ISR_MultiServos on ESP32S2_DEV
ESP32_New_ISR_Servo v1.3.0
[ISR_SERVO] ESP32_S2_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting ITimer OK
Setup Servo1 OK
Setup Servo2 OK
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Starting ESP32_New_MultipleRandomServos on ESP32S3_DEV
ESP32_New_ISR_Servo v1.3.0
[ISR_SERVO] ESP32_S3_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting ITimer OK
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0.00
0.00, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0.00
800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90.00
90.00, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90.00
Starting ESP32_New_ISR_MultiServos on ESP32S3_DEV
ESP32_New_ISR_Servo v1.3.0
[ISR_SERVO] ESP32_S3_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting ITimer OK
Setup Servo1 OK
Setup Servo2 OK
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 0, Servo2 pos = 180
Debug is enabled by default on Serial.
You can also change the debugging level from 0 to 2. Be careful and using level 2 only for temporary debug purpose only.
#define TIMER_INTERRUPT_DEBUG 1
#define ISR_SERVO_DEBUG 1If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.
Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.
Submit issues to: ESP32_New_ISR_Servo issues
- Search for bug and improvement.
- Similar features for Arduino (UNO, Mega, etc...), ESP32 and ESP8266
- Add functions
getPosition()andgetPulseWidth() - Optimize the code
- Add more complicated examples
- Add support to new
ESP32-S3(ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, etc.) - Convert to h-only library.
- Optimize library code by using
reference-passinginstead ofvalue-passing - Improve accuracy by using
float, instead ofuint32_tforpositionin degrees - Add example multiFileProject to demo for multiple-file project
- Fix breaking issue caused by ESP32 core v2.0.1+ by increasing
TIMER_INTERVAL_MICROto12uSfrom10uS - Suppress errors and warnings for new ESP32 core v2.0.4
- Use
allman astyleand addutils
Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library. Especially to these people who have directly or indirectly contributed to this ESP32_New_ISR_Servo library
If you want to contribute to this project:
- Report bugs and errors
- Ask for enhancements
- Create issues and pull requests
- Tell other people about this library
- The library is licensed under MIT
Copyright (C) 2021- Khoi Hoang