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This repository was archived by the owner on Jan 29, 2023. It is now read-only.

This library enables you to use Interrupt from Hardware Timers on an ESP32-based board. It now supports 16 ISR-based timers, while consuming only 1 hardware Timer. Timers' interval is very long (ulong millisecs). The most important feature is they're ISR-based timers. Therefore, their executions are not blocked by bad-behaving functions or tasks…

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khoih-prog/ESP32TimerInterrupt

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Table of Contents

Important Breaking Change from v2.0.0

Please have a look atHOWTO FixMultiple Definitions Linker Error

Why do we need thisESP32TimerInterrupt library

Features

This library enables you to use Interrupt from Hardware Timers on an ESP32-based board.

AsHardware Timers are rare, and very precious assets of any board, this library now enables you to use up to16 ISR-based Timers, while consuming only 1 Hardware Timer. Timers' interval is very long (ulong millisecs).

Now with these new16 ISR-based timers, the maximum interval ispractically unlimited (limited only by unsigned long milliseconds) whilethe accuracy is nearly perfect compared to software timers.

The most important feature is they're ISR-based timers. Therefore, their executions arenot blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

TheISR_Timer_Complex example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs of each type of timers.

Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services. You can also have many(up to 16) timers to use.

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 taskin loop(), using delay() function as an example. The elapsed time then is very unaccurate

Why using ISR-based Hardware Timer Interrupt is better

Imagine you have a system with amission-critical function, measuring water level and control the sump pump 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 isblocking the loop() or setup().

So your functionmight 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 withInterrupt to call your function.

These hardware timers, using interrupt, still work even if other functions are blocking. Moreover, they are much moreprecise (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.

The catch isyour function is now part of an ISR (Interrupt Service Routine), and must be lean / mean, and follow certain rules. More to read on:

HOWTO Attach Interrupt

Currently supported Boards

  1. ESP32 boards, such asESP32_DEV, etc.
  2. ESP32_S2-based boards, such asESP32S2_DEV,ESP32_S2 Saola, Adafruit QTPY_ESP32S2, ESP32S2 Native USB, UM FeatherS2 Neo, UM TinyS2, UM RMP, microS2, etc.
  3. ESP32_C3-based boards, such asESP32C3_DEV, LOLIN_C3_MINI, DFROBOT_BEETLE_ESP32_C3, ADAFRUIT_QTPY_ESP32C3, AirM2M_CORE_ESP32C3, XIAO_ESP32C3, etc.New
  4. ESP32_S3-based boards, such as ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, FEATHER_ESP32S3_NOPSRAM, QTPY_ESP32S3_NOPSRAM, etc.New

Important Notes about ISR

  1. 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 asvolatile any variables that you modify within the attached function.

  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.

Prerequisites

  1. Arduino IDE 1.8.19+ for Arduino.GitHub release
  2. ESP32 Core 2.0.5+ for ESP32-based boards.Latest release.
  3. SimpleTimer library to use with some examples.

Installation

Use Arduino Library Manager

The best and easiest way is to useArduino Library Manager. Search forESP32TimerInterrupt, then select / install the latest version.You can also use this linkarduino-library-badge for more detailed instructions.

Manual Install

Another way to install is to:

  1. Navigate toESP32TimerInterrupt page.
  2. Download the latest releaseESP32TimerInterrupt-master.zip.
  3. Extract the zip file toESP32TimerInterrupt-master directory
  4. Copy wholeESP32TimerInterrupt-master folder to Arduino libraries' directory such as~/Arduino/libraries/.

VS Code & PlatformIO

  1. InstallVS Code
  2. InstallPlatformIO
  3. InstallESP32TimerInterrupt library by usingLibrary Manager. Search forESP32TimerInterrupt inPlatform.io Author's Libraries
  4. Use includedplatformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples atProject Configuration File

Note for Platform IO using ESP32 LittleFS

Necessary only for esp32 core v1.0.6-

From esp32 core v1.0.6+,LittleFS_esp32 v1.0.6 has been included and this step is not necessary anymore.

In Platform IO, to fix the error when usingLittleFS_esp32 v1.0 for ESP32-based boards with ESP32 core v1.0.4- (ESP-IDF v3.2-), uncomment the following line

from

//#define CONFIG_LITTLEFS_FOR_IDF_3_2   /* For old IDF - like in release 1.0.4 */

to

#defineCONFIG_LITTLEFS_FOR_IDF_3_2/* For old IDF - like in release 1.0.4*/

It's advisable to use the latestLittleFS_esp32 v1.0.5+ to avoid the issue.

Thanks toRoshan to report the issue inError esp_littlefs.c 'utime_p'

HOWTO FixMultiple Definitions Linker Error

The current library implementation, usingxyz-Impl.h instead of standardxyz.cpp, possibly creates certainMultiple Definitions Linker error in certain use cases.

You can use

#include<ESP32TimerInterrupt.hpp>//https://github.com/khoih-prog/ESP32TimerInterrupt

in many files. But be sure to use the following#include <ESP32TimerInterrupt.h>in just 1.h,.cpp or.ino file, which mustnot be included in any other file, to avoidMultiple Definitions Linker Error

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error#include<ESP32TimerInterrupt.h>//https://github.com/khoih-prog/ESP32TimerInterrupt

You now don't need to includeESP32_ISR_Timer.h anymore.

HOWTO Use analogRead() with ESP32 running WiFi and/or BlueTooth (BT/BLE)

Please have a look atESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example to have more detailed description and solution of the issue.

1. ESP32 has 2 ADCs, named ADC1 and ADC2

2. ESP32 ADCs functions

  • ADC1 controls ADC function for pinsGPIO32-GPIO39
  • ADC2 controls ADC function for pinsGPIO0, 2, 4, 12-15, 25-27

3.. ESP32 WiFi uses ADC2 for WiFi functions

Look in fileadc_common.c

InADC2, there're two locks used for different cases:

  1. lock shared with app and Wi-Fi:ESP32:When Wi-Fi using theADC2, 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 theADC2, we want to guaranteeall 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 useADC2 for other functions, we have toacquire complicated firmware locks and very difficult to do
  • So, it's not advisable to useADC2 with WiFi/BlueTooth (BT/BLE).
  • UseADC1, and pinsGPIO32-GPIO39
  • If somehow it's a must to use those pins serviced byADC2 (GPIO0, 2, 4, 12, 13, 14, 15, 25, 26 and 27), use thefix mentioned at the end ofESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example to work with ESP32 WiFi/BlueTooth (BT/BLE).

More useful Information

ESP32 Hardware Timers

  • 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 on64-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 with these new16 ISR-based timers (while consuming only1 hardware timer), the maximum interval is practically unlimited (limited only by unsigned long milliseconds). 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.

TheISR_16_Timers_Array_Complex example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs of each type of timers.Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services. You can also have many(up to 16) timers to use.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

You'll see software-basedSimpleTimer is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking taskin loop(), using delay() function as an example. The elapsed time then is very unaccurate

How to use

Before using any Timer, you have to make sure the Timer has not been used by any other purpose.

Timer0, Timer1, Timer2 and Timer3 are supported forESP32,ESP32_S2 andESP32_S3.Timer0, Timer1 are supported forESP32_C3.

Examples:

  1. Argument_None
  2. Change_Interval
  3. ISR_16_Timers_Array
  4. ISR_16_Timers_Array_Complex
  5. RPM_Measure
  6. SwitchDebounce
  7. TimerInterruptTest
  8. multiFileProjectMore complex
  9. ISR_16_Timers_Array_OneShotNew
  10. ISR_16_Timers_Array_Complex_OneShotNew

#if !defined( ESP32 )
#error This code is intended to run on the ESP32 platform! Please check your Tools->Board setting.
#endif
// These define's must be placed at the beginning before #include "ESP32TimerInterrupt.h"
#define_TIMERINTERRUPT_LOGLEVEL_4
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include"ESP32TimerInterrupt.h"
#include<SimpleTimer.h>// https://github.com/jfturcot/SimpleTimer
// Don't use PIN_D1 in core v2.0.0 and v2.0.1. Check https://github.com/espressif/arduino-esp32/issues/5868
#ifndef LED_BLUE
#defineLED_BLUE25
#endif
#ifndef LED_RED
#defineLED_RED27
#endif
// 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)
#definePIN_D1919// Pin D19 mapped to pin GPIO9 of ESP32
#definePIN_D33// Pin D3 mapped to pin GPIO3/RX0 of ESP32
#defineHW_TIMER_INTERVAL_US10000L
volatileuint32_t startMillis =0;
// Init ESP32 timer 1
ESP32TimerITimer(1);
// Init ESP32_ISR_Timer
ESP32_ISR_Timer ISR_Timer;
#defineLED_TOGGLE_INTERVAL_MS2000L
// With core v2.0.0+, you can't use Serial.print/println in ISR or crash.
// and you can't use float calculation inside ISR
// Only OK in core v1.0.6-
bool IRAM_ATTRTimerHandler(void * timerNo)
{
staticbool toggle =false;
staticint timeRun =0;
ISR_Timer.run();
// Toggle LED every LED_TOGGLE_INTERVAL_MS = 2000ms = 2s
if (++timeRun == ((LED_TOGGLE_INTERVAL_MS *1000) / HW_TIMER_INTERVAL_US) )
{
timeRun =0;
//timer interrupt toggles pin PIN_D19
digitalWrite(PIN_D19, toggle);
toggle = !toggle;
}
returntrue;
}
/////////////////////////////////////////////////
#defineNUMBER_ISR_TIMERS16
typedefvoid (*irqCallback) ();
/////////////////////////////////////////////////
#defineUSE_COMPLEX_STRUCTtrue
#if USE_COMPLEX_STRUCT
typedefstruct
{
irqCallback irqCallbackFunc;
uint32_t TimerInterval;
unsignedlong deltaMillis;
unsignedlong previousMillis;
} ISRTimerData;
// In ESP32, avoid doing something fancy in ISR, for example Serial.print()
// The pure simple Serial.prints here are just for demonstration and testing. Must be eliminate in working environment
// Or you can get this run-time error / crash
voiddoingSomething(int index);
#else
volatileunsignedlong deltaMillis [NUMBER_ISR_TIMERS] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 };
volatileunsignedlong previousMillis [NUMBER_ISR_TIMERS] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 };
// You can assign any interval for any timer here, in milliseconds
uint32_t TimerInterval[NUMBER_ISR_TIMERS] =
{
5000L,10000L,15000L,20000L,25000L,30000L,35000L,40000L,
45000L,50000L,55000L,60000L,65000L,70000L,75000L,80000L
};
voiddoingSomething(int index)
{
unsignedlong currentMillis =millis();
deltaMillis[index] = currentMillis - previousMillis[index];
previousMillis[index] = currentMillis;
}
#endif
////////////////////////////////////
// Shared
////////////////////////////////////
voiddoingSomething0()
{
doingSomething(0);
}
voiddoingSomething1()
{
doingSomething(1);
}
voiddoingSomething2()
{
doingSomething(2);
}
voiddoingSomething3()
{
doingSomething(3);
}
voiddoingSomething4()
{
doingSomething(4);
}
voiddoingSomething5()
{
doingSomething(5);
}
voiddoingSomething6()
{
doingSomething(6);
}
voiddoingSomething7()
{
doingSomething(7);
}
voiddoingSomething8()
{
doingSomething(8);
}
voiddoingSomething9()
{
doingSomething(9);
}
voiddoingSomething10()
{
doingSomething(10);
}
voiddoingSomething11()
{
doingSomething(11);
}
voiddoingSomething12()
{
doingSomething(12);
}
voiddoingSomething13()
{
doingSomething(13);
}
voiddoingSomething14()
{
doingSomething(14);
}
voiddoingSomething15()
{
doingSomething(15);
}
#if USE_COMPLEX_STRUCT
ISRTimerData curISRTimerData[NUMBER_ISR_TIMERS] =
{
//irqCallbackFunc, TimerInterval, deltaMillis, previousMillis
{ doingSomething0,5000L,0,0 },
{ doingSomething1,10000L,0,0 },
{ doingSomething2,15000L,0,0 },
{ doingSomething3,20000L,0,0 },
{ doingSomething4,25000L,0,0 },
{ doingSomething5,30000L,0,0 },
{ doingSomething6,35000L,0,0 },
{ doingSomething7,40000L,0,0 },
{ doingSomething8,45000L,0,0 },
{ doingSomething9,50000L,0,0 },
{ doingSomething10,55000L,0,0 },
{ doingSomething11,60000L,0,0 },
{ doingSomething12,65000L,0,0 },
{ doingSomething13,70000L,0,0 },
{ doingSomething14,75000L,0,0 },
{ doingSomething15,80000L,0,0 }
};
voiddoingSomething(int index)
{
unsignedlong currentMillis =millis();
curISRTimerData[index].deltaMillis = currentMillis - curISRTimerData[index].previousMillis;
curISRTimerData[index].previousMillis = currentMillis;
}
#else
irqCallback irqCallbackFunc[NUMBER_ISR_TIMERS] =
{
doingSomething0, doingSomething1, doingSomething2, doingSomething3,
doingSomething4, doingSomething5, doingSomething6, doingSomething7,
doingSomething8, doingSomething9, doingSomething10, doingSomething11,
doingSomething12, doingSomething13, doingSomething14, doingSomething15
};
#endif
///////////////////////////////////////////
#defineSIMPLE_TIMER_MS2000L
// Init SimpleTimer
SimpleTimer simpleTimer;
// Here is software Timer, you can do somewhat fancy stuffs without many issues.
// But always avoid
// 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead
// 2. Very long "do", "while", "for" loops without predetermined exit time.
voidsimpleTimerDoingSomething2s()
{
staticunsignedlong previousMillis = startMillis;
unsignedlong currMillis =millis();
Serial.print(F("SimpleTimer :"));
Serial.print(SIMPLE_TIMER_MS /1000);
Serial.print(F(", ms :"));
Serial.print(currMillis);
Serial.print(F(", Dms :"));
Serial.println(currMillis - previousMillis);
for (uint16_t i =0; i < NUMBER_ISR_TIMERS; i++)
{
#if USE_COMPLEX_STRUCT
Serial.print(F("Timer :"));
Serial.print(i);
Serial.print(F(", programmed :"));
Serial.print(curISRTimerData[i].TimerInterval);
Serial.print(F(", actual :"));
Serial.println(curISRTimerData[i].deltaMillis);
#else
Serial.print(F("Timer :"));
Serial.print(i);
Serial.print(F(", programmed :"));
Serial.print(TimerInterval[i]);
Serial.print(F(", actual :"));
Serial.println(deltaMillis[i]);
#endif
}
previousMillis = currMillis;
}
voidsetup()
{
pinMode(PIN_D19, OUTPUT);
Serial.begin(115200);
while (!Serial &&millis() <5000);
delay(500);
Serial.print(F("\nStarting ISR_16_Timers_Array_Complex on"));
Serial.println(ARDUINO_BOARD);
Serial.println(ESP32_TIMER_INTERRUPT_VERSION);
Serial.print(F("CPU Frequency ="));
Serial.print(F_CPU /1000000);
Serial.println(F(" MHz"));
// Interval in microsecs
if (ITimer.attachInterruptInterval(HW_TIMER_INTERVAL_US, TimerHandler))
{
startMillis =millis();
Serial.print(F("Starting ITimer OK, millis() ="));
Serial.println(startMillis);
}
else
Serial.println(F("Can't set ITimer. Select another freq. or timer"));
startMillis =millis();
// Just to demonstrate, don't use too many ISR Timers if not absolutely necessary
// You can use up to 16 timer for each ISR_Timer
for (uint16_t i =0; i < NUMBER_ISR_TIMERS; i++)
{
#if USE_COMPLEX_STRUCT
curISRTimerData[i].previousMillis = startMillis;
ISR_Timer.setInterval(curISRTimerData[i].TimerInterval, curISRTimerData[i].irqCallbackFunc);
#else
previousMillis[i] =millis();
ISR_Timer.setInterval(TimerInterval[i], irqCallbackFunc[i]);
#endif
}
// You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.
simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);
}
#defineBLOCKING_TIME_MS10000L
voidloop()
{
// This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer
// You see the time elapse of ISR_Timer still accurate, whereas very unaccurate for Software Timer
// The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)
// While that of ISR_Timer is still prefect.
delay(BLOCKING_TIME_MS);
// You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary
// You don't need to and never call ISR_Timer.run() here in the loop(). It's already handled by ISR timer.
simpleTimer.run();
}

Debug Terminal Output Samples

1. TimerInterruptTest on ESP32C3_DEV

The following is the sample terminal output when running exampleTimerInterruptTest onESP32C3_DEV to demonstrate how to start/stop Hardware Timers.

Starting TimerInterruptTest on ESP32C3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 160 MHz[TISR] ESP32_TimerInterrupt: _timerNo = 0 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 0 , _timerGroup = 0[TISR] _count = 0 - 1000000[TISR] timer_set_alarm_value = 1000000.00Starting  ITimer0 OK, millis() = 314[TISR] ESP32_TimerInterrupt: _timerNo = 1 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 0 , _timerGroup = 1[TISR] _count = 0 - 3000000[TISR] timer_set_alarm_value = 3000000.00Starting  ITimer1 OK, millis() = 346Stop ITimer0, millis() = 5001Start ITimer0, millis() = 10002Stop ITimer1, millis() = 15001Stop ITimer0, millis() = 15003Start ITimer0, millis() = 20004Stop ITimer0, millis() = 25005Start ITimer1, millis() = 30002Start ITimer0, millis() = 30006Stop ITimer0, millis() = 35007

2. Change_Interval on ESP32C3_DEV

The following is the sample terminal output when running exampleChange_Interval onESP32C3_DEV to demonstrate how to change Timer Interval on-the-fly

Starting Change_Interval on ESP32C3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 160 MHzStarting  ITimer0 OK, millis() = 293Starting  ITimer1 OK, millis() = 303Time = 10001, Timer0Count = 5, Timer1Count = 2Time = 20002, Timer0Count = 10, Timer1Count = 4Changing Interval, Timer0 = 4000,  Timer1 = 10000Time = 30003, Timer0Count = 12, Timer1Count = 5Time = 40004, Timer0Count = 15, Timer1Count = 6Changing Interval, Timer0 = 2000,  Timer1 = 5000Time = 50005, Timer0Count = 20, Timer1Count = 8Time = 60006, Timer0Count = 25, Timer1Count = 10Changing Interval, Timer0 = 4000,  Timer1 = 10000Time = 70007, Timer0Count = 27, Timer1Count = 11Time = 80008, Timer0Count = 30, Timer1Count = 12Changing Interval, Timer0 = 2000,  Timer1 = 5000Time = 90009, Timer0Count = 35, Timer1Count = 14Time = 100010, Timer0Count = 40, Timer1Count = 16Changing Interval, Timer0 = 4000,  Timer1 = 10000Time = 110011, Timer0Count = 42, Timer1Count = 17Time = 120012, Timer0Count = 45, Timer1Count = 18Changing Interval, Timer0 = 2000,  Timer1 = 5000Time = 130013, Timer0Count = 50, Timer1Count = 20Time = 140014, Timer0Count = 55, Timer1Count = 22Changing Interval, Timer0 = 4000,  Timer1 = 10000

3. Argument_None on ESP32S3_DEV

The following is the sample terminal output when running exampleArgument_None onESP32S3_DEV

Starting Argument_None on ESP32S3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 240 MHz[TISR] ESP32_S3_TimerInterrupt: _timerNo = 0 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 0 , _timerGroup = 0[TISR] _count = 0 - 1000000[TISR] timer_set_alarm_value = 1000000.00Starting  ITimer0 OK, millis() = 317[TISR] ESP32_S3_TimerInterrupt: _timerNo = 1 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 1 , _timerGroup = 0[TISR] _count = 0 - 5000000[TISR] timer_set_alarm_value = 5000000.00Starting  ITimer1 OK, millis() = 348

4. ISR_16_Timers_Array_Complex on ESP32S3_DEV

The following is the sample terminal output when running exampleISR_16_Timers_Array_Complex onESP32S3_DEV to demonstrate of ISR Hardware Timer, especially when system is very busy or blocked. The 16 independent ISR timers are programmed to be activated repetitively after certain intervals, is activated exactly after that programmed interval !!!

Starting ISR_16_Timers_Array_Complex on ESP32S3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 240 MHz[TISR] ESP32_S3_TimerInterrupt: _timerNo = 1 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 1 , _timerGroup = 0[TISR] _count = 0 - 10000[TISR] timer_set_alarm_value = 10000.00Starting ITimer OK, millis() = 318SimpleTimer : 2, ms : 10317, Dms : 9999Timer : 0, programmed : 5000, actual : 5009Timer : 1, programmed : 10000, actual : 0Timer : 2, programmed : 15000, actual : 0Timer : 3, programmed : 20000, actual : 0Timer : 4, programmed : 25000, actual : 0Timer : 5, programmed : 30000, actual : 0Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 20380, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15009Timer : 3, programmed : 20000, actual : 20009Timer : 4, programmed : 25000, actual : 0Timer : 5, programmed : 30000, actual : 0Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 30443, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20009Timer : 4, programmed : 25000, actual : 25009Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 40506, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25009Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 50569, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 60632, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 70695, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 65009Timer : 13, programmed : 70000, actual : 70009Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 80758, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40000Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 65009Timer : 13, programmed : 70000, actual : 70009Timer : 14, programmed : 75000, actual : 75009Timer : 15, programmed : 80000, actual : 80009...SimpleTimer : 2, ms : 161262, Dms : 10063Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40000Timer : 8, programmed : 45000, actual : 45000Timer : 9, programmed : 50000, actual : 50000Timer : 10, programmed : 55000, actual : 55000Timer : 11, programmed : 60000, actual : 60000Timer : 12, programmed : 65000, actual : 65000Timer : 13, programmed : 70000, actual : 70000Timer : 14, programmed : 75000, actual : 75000Timer : 15, programmed : 80000, actual : 80000

5. ISR_16_Timers_Array on ESP32S3_DEV

The following is the sample terminal output when running exampleISR_16_Timers_Array onESP32S3_DEV to demonstrate of ISR Hardware Timer, especially when system is very busy or blocked. The 16 independent ISR timers are programmed to be activated repetitively after certain intervals, is activated exactly after that programmed interval !!!

Starting ISR_16_Timers_Array on ESP32S3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 240 MHz[TISR] ESP32_S3_TimerInterrupt: _timerNo = 1 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 1 , _timerGroup = 0[TISR] _count = 0 - 1000[TISR] timer_set_alarm_value = 1000.00Starting ITimer OK, millis() = 318simpleTimerDoingSomething2s: Delta programmed ms = 2000, actual = 10001simpleTimerDoingSomething2s: Delta programmed ms = 2000, actual = 10000simpleTimerDoingSomething2s: Delta programmed ms = 2000, actual = 10000simpleTimerDoingSomething2s: Delta programmed ms = 2000, actual = 10000

6. ISR_16_Timers_Array_Complex on ESP32C3_DEV

The following is the sample terminal output when running exampleISR_16_Timers_Array_Complex onESP32C3_DEV to demonstrate of ISR Hardware Timer, especially when system is very busy or blocked. The 16 independent ISR timers are programmed to be activated repetitively after certain intervals, is activated exactly after that programmed interval !!!

Starting ISR_16_Timers_Array_Complex on ESP32C3_DEVESP32TimerInterrupt v2.3.0CPU Frequency = 160 MHz[TISR] ESP32_TimerInterrupt: _timerNo = 1 , _fre = 1000000[TISR] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80[TISR] _timerIndex = 0 , _timerGroup = 1[TISR] _count = 0 - 10000[TISR] timer_set_alarm_value = 10000.00Starting ITimer OK, millis() = 314SimpleTimer : 2, ms : 10314, Dms : 9999Timer : 0, programmed : 5000, actual : 5009Timer : 1, programmed : 10000, actual : 0Timer : 2, programmed : 15000, actual : 0Timer : 3, programmed : 20000, actual : 0Timer : 4, programmed : 25000, actual : 0Timer : 5, programmed : 30000, actual : 0Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 20381, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15009Timer : 3, programmed : 20000, actual : 20009Timer : 4, programmed : 25000, actual : 0Timer : 5, programmed : 30000, actual : 0Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 30448, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20009Timer : 4, programmed : 25000, actual : 25009Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 0Timer : 7, programmed : 40000, actual : 0Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 40515, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25009Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 0Timer : 9, programmed : 50000, actual : 0Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 50582, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30009Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 0Timer : 11, programmed : 60000, actual : 0Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 60649, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35009Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 0Timer : 13, programmed : 70000, actual : 0Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 70716, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40009Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 65009Timer : 13, programmed : 70000, actual : 70009Timer : 14, programmed : 75000, actual : 0Timer : 15, programmed : 80000, actual : 0SimpleTimer : 2, ms : 80783, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40000Timer : 8, programmed : 45000, actual : 45009Timer : 9, programmed : 50000, actual : 50009Timer : 10, programmed : 55000, actual : 55009Timer : 11, programmed : 60000, actual : 60009Timer : 12, programmed : 65000, actual : 65009Timer : 13, programmed : 70000, actual : 70009Timer : 14, programmed : 75000, actual : 75009Timer : 15, programmed : 80000, actual : 80009...SimpleTimer : 2, ms : 161319, Dms : 10067Timer : 0, programmed : 5000, actual : 5000Timer : 1, programmed : 10000, actual : 10000Timer : 2, programmed : 15000, actual : 15000Timer : 3, programmed : 20000, actual : 20000Timer : 4, programmed : 25000, actual : 25000Timer : 5, programmed : 30000, actual : 30000Timer : 6, programmed : 35000, actual : 35000Timer : 7, programmed : 40000, actual : 40000Timer : 8, programmed : 45000, actual : 45000Timer : 9, programmed : 50000, actual : 50000Timer : 10, programmed : 55000, actual : 55000Timer : 11, programmed : 60000, actual : 60000Timer : 12, programmed : 65000, actual : 65000Timer : 13, programmed : 70000, actual : 70000Timer : 14, programmed : 75000, actual : 75000Timer : 15, programmed : 80000, actual : 80000

Debug

Debug is enabled by default on Serial.

You can also change the debugging level (TIMERINTERRUPT_LOGLEVEL) from 0 to 4

// These define's must be placed at the beginning before #include "ESP32TimerInterrupt.h"// _TIMERINTERRUPT_LOGLEVEL_ from 0 to 4// Don't define _TIMERINTERRUPT_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.#defineTIMER_INTERRUPT_DEBUG0#define_TIMERINTERRUPT_LOGLEVEL_0

Troubleshooting

If 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.

Issues

Submit issues to:ESP32TimerInterrupt issues

TO DO

  1. Search for bug and improvement.

DONE

  1. Basic hardware timers for ESP32.
  2. More hardware-initiated software-enabled timers
  3. Longer time interval
  4. Similar features for remaining Arduino boards such as SAMD21, SAMD51, SAM-DUE, nRF52, ESP8266, STM32, etc.
  5. Add support to new ESP32-S2
  6. Add support to new ESP32 core v1.0.6
  7. Fix compiler errors due to conflict to some libraries.
  8. Add complex examples.
  9. Avoid using D1 in examples due to issue with core v2.0.0 and v2.0.1.
  10. Fixmultiple-definitions linker error. Dropsrc_cpp andsrc_h directories
  11. Restructure library.
  12. Add support to new ESP32_S3. Now supporting ESP32, ESP32_S2, ESP32_S3 and ESP32_C3
  13. Optimize library code by usingreference-passing instead ofvalue-passing
  14. Add examplemultiFileProject to demo for multiple-file project
  15. Add exampleISR_16_Timers_Array_Complex_OneShot to demo how to useone-shot ISR-based timer in complex case
  16. Add exampleISR_16_Timers_Array_OneShot to demo how to useone-shot ISR-based timer
  17. Add support to many more boards, such as
  • ESP32_S2 : ESP32S2 Native USB, UM FeatherS2 Neo, UM TinyS2, UM RMP, microS2, LOLIN_S2_MINI, LOLIN_S2_PICO, ADAFRUIT_FEATHER_ESP32S2, ADAFRUIT_FEATHER_ESP32S2_TFT, ATMegaZero ESP32-S2, Deneyap Mini, FRANZININHO_WIFI, FRANZININHO_WIFI_MSC
  • ESP32_S3 : UM TinyS3, UM PROS3, UM FeatherS3, ESP32_S3_USB_OTG, ESP32S3_CAM_LCD, DFROBOT_FIREBEETLE_2_ESP32S3, ADAFRUIT_FEATHER_ESP32S3_TFT
  • ESP32_C3 : LOLIN_C3_MINI, DFROBOT_BEETLE_ESP32_C3, ADAFRUIT_QTPY_ESP32C3, AirM2M_CORE_ESP32C3, XIAO_ESP32C3
  1. Useallman astyle and addutils

Contributions and Thanks

Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library.

  1. Thanks toJelmer to report and make PR inMoved the implementation header file to a separate .cpp file leading to new Version v1.1.0
  2. Thanks topedrojvs to report the issue inError in the value defined by TIMER0_INTERVAL_MS #28 leading to new Version v2.3.0
jjwbruijn
Jelmer
pedrojvs
pedrojvs

Contributing

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

License

  • The library is licensed underMIT

Copyright

Copyright 2019- Khoi Hoang

About

This library enables you to use Interrupt from Hardware Timers on an ESP32-based board. It now supports 16 ISR-based timers, while consuming only 1 hardware Timer. Timers' interval is very long (ulong millisecs). The most important feature is they're ISR-based timers. Therefore, their executions are not blocked by bad-behaving functions or tasks…

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