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‎README.md‎

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@@ -26,6 +26,11 @@ https://www.arduino.cc/reference/en/language/functions/external-interrupts/attac
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2. 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`.
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## Installation
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It's better to use `Arduino Library Manager` to install this library.
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Otherwise, you can install it using the following steps:
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1. Navigate to (https://github.com/khoih-prog/ESP8266_ISR_Servo) page.
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2. Download the latest release `ESP8266_ISR_Servo-master.zip`.
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3. Extract the zip file to `ESP8266_ISR_Servo-master` directory
@@ -136,7 +141,11 @@ void loop()
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## DONE
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For current version v1.0.1
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#### For current version v1.0.2
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1. Add example using [Blynk] (http://docs.blynk.cc/) to control servos. Change example names to avoid duplication.
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#### For current version v1.0.1
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1. Basic 16 ISR-based servo controllers using 1 hardware timer for ESP8266.
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‎examples/ESP8266_BlynkServoControl/ESP8266_BlynkServoControl.ino‎

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/****************************************************************************************************************************
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* examples/ESP8266_BlynkServoControl.ino
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* For ESP8266 boards
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* Written by Khoi Hoang
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*
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* Built by Khoi Hoang https://github.com/khoih-prog/ESP8266_ISR_Servo
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* Licensed under MIT license
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* Version: v1.0.2
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*
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* The ESP8266 timers are badly designed, using only 23-bit counter along with maximum 256 prescaler. They're only better than UNO / Mega.
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* The ESP8266 has two hardware timers, but timer0 has been used for WiFi and it's not advisable to use. Only timer1 is available.
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* The timer1's 23-bit counter terribly can count only up to 8,388,607. So the timer1 maximum interval is very short.
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* Using 256 prescaler, maximum timer1 interval is only 26.843542 seconds !!!
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*
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* Now these new 16 ISR-based PWM servo contro uses only 1 hardware timer.
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* The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
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* Therefore, their executions are not blocked by bad-behaving functions / tasks.
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* This important feature is absolutely necessary for mission-critical tasks.
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*
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* Notes:
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* Special design is necessary to share data between interrupt code and the rest of your program.
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* Variables usually need to be "volatile" types. Volatile tells the compiler to avoid optimizations that assume
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* variable can not spontaneously change. Because your function may change variables while your program is using them,
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* the compiler needs this hint. But volatile alone is often not enough.
25+
* When accessing shared variables, usually interrupts must be disabled. Even with volatile,
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* if the interrupt changes a multi-byte variable between a sequence of instructions, it can be read incorrectly.
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* If your data is multiple variables, such as an array and a count, usually interrupts need to be disabled
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* or the entire sequence of your code which accesses the data.
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*
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* Version Modified By Date Comments
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* ------- ----------- ---------- -----------
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* 1.0.0 K Hoang 04/12/2019 Initial release
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* 1.0.1 K Hoang 13/12/2019 Add more features getPosition and getPulseWidth. Optimize.
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* 1.0.2 K Hoang 20/12/2019 Add more Blynk examples.Change example names to avoid duplication.
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*****************************************************************************************************************************/
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/****************************************************************************************************************************
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* This example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs.
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* Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet
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* and Blynk services. You can also have many (up to 16) timers to use.
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* This non-being-blocked important feature is absolutely necessary for mission-critical tasks.
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* You'll see blynkTimer is blocked while connecting to WiFi / Internet / Blynk, and elapsed time is very unaccurate
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* In this super simple example, you don't see much different after Blynk is connected, because of no competing task is
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* written
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*
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* From ESP32 Servo Example Using Arduino ESP32 Servo Library
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* John K. Bennett
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* March, 2017
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*
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* Different servos require different pulse widths to vary servo angle, but the range is
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* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
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* sweep 180 degrees, so the lowest number in the published range for a particular servo
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* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
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* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
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* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
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* degrees.
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*
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* Circuit:
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* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
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* the ground wire is typically black or brown, and the signal wire is typically yellow,
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* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
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* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
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* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
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*
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* We could also connect servo power to a separate external
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* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
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* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
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* connect to any available GPIO pins on the ESP32 (in this example, we use pins
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* 22, 19, 23, & 18).
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*
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* In this example, we assume four Tower Pro SG90 small servos.
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* The published min and max for this servo are 500 and 2400, respectively.
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* These values actually drive the servos a little past 0 and 180, so
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* if you are particular, adjust the min and max values to match your needs.
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* Experimentally, 550 and 2350 are pretty close to 0 and 180.*
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*****************************************************************************************************************************/
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#ifndef ESP8266
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#error This code is designed to run on ESP8266 platform, not Arduino nor ESP32! Please check your Tools->Board setting.
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#endif
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#define BLYNK_PRINT Serial
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//See file .../hardware/espressif/esp32/variants/(esp32|doitESP32devkitV1)/pins_arduino.h
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#define LED_BUILTIN 2 // Pin D4 mapped to pin GPIO2/TXD1 of ESP8266, NodeMCU and WeMoS, control on-board LED
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//PIN_D0 can't be used for PWM/I2C
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#define PIN_D0 16 // Pin D0 mapped to pin GPIO16/USER/WAKE of ESP8266. This pin is also used for Onboard-Blue LED. PIN_D0 = 0 => LED ON
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#define PIN_D1 5 // Pin D1 mapped to pin GPIO5 of ESP8266
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#define PIN_D2 4 // Pin D2 mapped to pin GPIO4 of ESP8266
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#define PIN_D3 0 // Pin D3 mapped to pin GPIO0/FLASH of ESP8266
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#define PIN_D4 2 // Pin D4 mapped to pin GPIO2/TXD1 of ESP8266
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#define PIN_LED 2 // Pin D4 mapped to pin GPIO2/TXD1 of ESP8266, NodeMCU and WeMoS, control on-board LED
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#define PIN_D5 14 // Pin D5 mapped to pin GPIO14/HSCLK of ESP8266
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#define PIN_D6 12 // Pin D6 mapped to pin GPIO12/HMISO of ESP8266
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#define PIN_D7 13 // Pin D7 mapped to pin GPIO13/RXD2/HMOSI of ESP8266
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#define PIN_D8 15 // Pin D8 mapped to pin GPIO15/TXD2/HCS of ESP8266
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#define USE_SPIFFS true
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//#define USE_SPIFFS false
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#define USE_BLYNK_WM true // https://github.com/khoih-prog/Blynk_WM
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//#define USE_BLYNK_WM false
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//LIBRARIES INCLUDED
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#include <ESP8266WiFi.h>
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#if USE_BLYNK_WM
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#include <BlynkSimpleEsp8266_WM.h> // https://github.com/khoih-prog/Blynk_WM
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#else
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#include <BlynkSimpleEsp8266.h>
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//BLYNK AUTHENTICATION TOKEN
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char auth[] = "******";
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// MY WIFI CREDENTIALS
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char ssid[] = "****";
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char pass[] = "****";
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#endif
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#define TIMER_INTERRUPT_DEBUG 1
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#define ISR_SERVO_DEBUG 1
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#include "ESP8266_ISR_Servo.h"
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// MG996R servo has a running current of 500mA to 900mA @6V and a stall current of 2.5A @ 6V
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// Power supply must be adequate
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// Published values for SG90 servos; adjust if needed
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#define MIN_MICROS 800 //544
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#define MAX_MICROS 2450
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int servoIndex1 = -1;
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int servoIndex2 = -1;
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int servoIndex3 = -1;
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int servo1Pin = PIN_D6; //SERVO1 PIN
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int servo2Pin = PIN_D7; //SERVO2 PIN
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int servo3Pin = PIN_D8; //SERVO3 PIN
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BlynkTimer timer;
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// These are Blynk Slider or any Widget (STEP, Numeric Input, being able to output (unsigned) int value from 0-180.
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// You have to map from 0-180 inside widget or in your code. Otherwise, the library will remap the input for you.
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#define BLYNK_VPIN_SERVO1_CONTROL V21
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#define BLYNK_VPIN_SERVO2_CONTROL V22
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#define BLYNK_VPIN_SERVO3_CONTROL V23
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//READING FROM VIRTUAL PINS
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// SERVO1
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BLYNK_WRITE(BLYNK_VPIN_SERVO1_CONTROL)
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{
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ISR_Servo.setPosition(servoIndex1, param.asInt());
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}
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//SERVO2
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BLYNK_WRITE(BLYNK_VPIN_SERVO2_CONTROL)
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{
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ISR_Servo.setPosition(servoIndex2, param.asInt());
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}
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//SERVO3
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BLYNK_WRITE(BLYNK_VPIN_SERVO3_CONTROL)
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{
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ISR_Servo.setPosition(servoIndex3, param.asInt());
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}
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void heartBeatPrint(void)
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{
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static int num = 1;
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if (WiFi.status() == WL_CONNECTED)
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{
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if (Blynk.connected())
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Serial.print("B"); // B means connected to Blynk
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else
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Serial.print("H"); // H means connected to WiFi but no Blynk
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}
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else
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Serial.print("F"); // F means not connected to WiFi and Blynk
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if (num == 80)
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{
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Serial.println();
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num = 1;
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}
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else if (num++ % 10 == 0)
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{
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Serial.print(" ");
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}
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}
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void setup()
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{
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// Debug console
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Serial.begin(115200);
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Serial.println("\nStarting");
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#if USE_BLYNK_WM
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Blynk.begin();
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#else
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Blynk.begin(auth, ssid, pass);
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#endif
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servoIndex1 = ISR_Servo.setupServo(servo1Pin, MIN_MICROS, MAX_MICROS);
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servoIndex2 = ISR_Servo.setupServo(servo2Pin, MIN_MICROS, MAX_MICROS);
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servoIndex3 = ISR_Servo.setupServo(servo3Pin, MIN_MICROS, MAX_MICROS);
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if (servoIndex1 != -1)
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Serial.println("Setup Servo1 OK");
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else
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Serial.println("Setup Servo1 failed");
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if (servoIndex2 != -1)
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Serial.println("Setup Servo2 OK");
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else
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Serial.println("Setup Servo2 failed");
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if (servoIndex3 != -1)
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Serial.println("Setup Servo3 OK");
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else
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Serial.println("Setup Servo3 failed");
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timer.setInterval(30000L, heartBeatPrint);
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}
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void loop()
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{
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Blynk.run();
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timer.run();
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}

‎examples/ESP8266_ISR_MultiServos/ESP8266_ISR_MultiServos.ino‎

Lines changed: 134 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,134 @@
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/****************************************************************************************************************************
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* examples/ESP8266_ISR_MultiServos.ino
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* For ESP8266 boards
4+
* Written by Khoi Hoang
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*
6+
* Built by Khoi Hoang https://github.com/khoih-prog/ESP8266_ISR_Servo
7+
* Licensed under MIT license
8+
* Version: v1.0.2
9+
*
10+
* The ESP8266 timers are badly designed, using only 23-bit counter along with maximum 256 prescaler. They're only better than UNO / Mega.
11+
* The ESP8266 has two hardware timers, but timer0 has been used for WiFi and it's not advisable to use. Only timer1 is available.
12+
* The timer1's 23-bit counter terribly can count only up to 8,388,607. So the timer1 maximum interval is very short.
13+
* Using 256 prescaler, maximum timer1 interval is only 26.843542 seconds !!!
14+
*
15+
* Now these new 16 ISR-based PWM servo contro uses only 1 hardware timer.
16+
* The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
17+
* Therefore, their executions are not blocked by bad-behaving functions / tasks.
18+
* This important feature is absolutely necessary for mission-critical tasks.
19+
*
20+
* Notes:
21+
* Special design is necessary to share data between interrupt code and the rest of your program.
22+
* Variables usually need to be "volatile" types. Volatile tells the compiler to avoid optimizations that assume
23+
* variable can not spontaneously change. Because your function may change variables while your program is using them,
24+
* the compiler needs this hint. But volatile alone is often not enough.
25+
* When accessing shared variables, usually interrupts must be disabled. Even with volatile,
26+
* if the interrupt changes a multi-byte variable between a sequence of instructions, it can be read incorrectly.
27+
* If your data is multiple variables, such as an array and a count, usually interrupts need to be disabled
28+
* or the entire sequence of your code which accesses the data.
29+
*
30+
* Version Modified By Date Comments
31+
* ------- ----------- ---------- -----------
32+
* 1.0.0 K Hoang 04/12/2019 Initial release
33+
* 1.0.1 K Hoang 13/12/2019 Add more features getPosition and getPulseWidth. Optimize.
34+
* 1.0.2 K Hoang 20/12/2019 Add more Blynk examples.Change example names to avoid duplication.
35+
*****************************************************************************************************************************/
36+
37+
/****************************************************************************************************************************
38+
* This example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs.
39+
* Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet
40+
* and Blynk services. You can also have many (up to 16) timers to use.
41+
* This non-being-blocked important feature is absolutely necessary for mission-critical tasks.
42+
* You'll see blynkTimer is blocked while connecting to WiFi / Internet / Blynk, and elapsed time is very unaccurate
43+
* In this super simple example, you don't see much different after Blynk is connected, because of no competing task is
44+
* written
45+
*
46+
* From ESP32 Servo Example Using Arduino ESP32 Servo Library
47+
* John K. Bennett
48+
* March, 2017
49+
*
50+
* Different servos require different pulse widths to vary servo angle, but the range is
51+
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
52+
* sweep 180 degrees, so the lowest number in the published range for a particular servo
53+
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
54+
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
55+
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
56+
* degrees.
57+
*
58+
* Circuit:
59+
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
60+
* the ground wire is typically black or brown, and the signal wire is typically yellow,
61+
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
62+
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
63+
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
64+
*
65+
* We could also connect servo power to a separate external
66+
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
67+
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
68+
* connect to any available GPIO pins on the ESP32 (in this example, we use pins
69+
* 22, 19, 23, & 18).
70+
*
71+
* In this example, we assume four Tower Pro SG90 small servos.
72+
* The published min and max for this servo are 500 and 2400, respectively.
73+
* These values actually drive the servos a little past 0 and 180, so
74+
* if you are particular, adjust the min and max values to match your needs.
75+
* Experimentally, 550 and 2350 are pretty close to 0 and 180.*
76+
*****************************************************************************************************************************/
77+
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#define TIMER_INTERRUPT_DEBUG 1
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#define ISR_SERVO_DEBUG 1
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#include "ESP8266_ISR_Servo.h"
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// Published values for SG90 servos; adjust if needed
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#define MIN_MICROS 800 //544
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#define MAX_MICROS 2450
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int servoIndex1 = -1;
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int servoIndex2 = -1;
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void setup()
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{
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Serial.begin(115200);
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Serial.println("\nStarting");
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servoIndex1 = ISR_Servo.setupServo(D8, MIN_MICROS, MAX_MICROS);
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servoIndex2 = ISR_Servo.setupServo(D7, MIN_MICROS, MAX_MICROS);
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if (servoIndex1 != -1)
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Serial.println("Setup Servo1 OK");
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else
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Serial.println("Setup Servo1 failed");
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if (servoIndex2 != -1)
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Serial.println("Setup Servo2 OK");
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else
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Serial.println("Setup Servo2 failed");
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}
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void loop()
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{
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int position;
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if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) )
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{
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for (position = 0; position <= 180; position++)
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{
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// goes from 0 degrees to 180 degrees
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// in steps of 1 degree
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ISR_Servo.setPosition(servoIndex1, position);
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ISR_Servo.setPosition(servoIndex2, 180 - position);
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// waits 15ms for the servo to reach the position
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delay(50 /*15*/);
123+
}
124+
125+
for (position = 180; position >= 0; position--)
126+
{
127+
// goes from 180 degrees to 0 degrees
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ISR_Servo.setPosition(servoIndex1, position);
129+
ISR_Servo.setPosition(servoIndex2, 180 - position);
130+
// waits 15ms for the servo to reach the position
131+
delay(50 /*15*/);
132+
}
133+
}
134+
}

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