Implement SigmaDelta based on ESP-IDF API (#6053)

Summary

This PR is refactoring of SigmaDelta HAL in order to use IDF instead of current Register manipulation approach.

Impact

Change in API:

uint32_t sigmaDeltaSetup(uint8_t channel, uint32_t freq);
changed to -->
uint32_t sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq);

void sigmaDeltaAttachPin(uint8_t pin); removed, no longer needed. Pin is attached in sigmaDeltaSetup()

.github/ISSUE_TEMPLATE/Feature-request.yml

@@ -0,0 +1,54 @@
+name: Feature request
+description: Suggest an idea for this project
+labels: ["Type: Feature request"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        * We welcome any ideas or feature requests! It is helpful if you can explain exactly why the feature would be useful.
+        * There are usually some outstanding feature requests in the [existing issues list](https://github.com/espressif/arduino-esp32/issues?q=is%3Aopen+is%3Aissue+label%3A%22Type%3A+Feature+request%22), feel free to add comments to them.
+        * If you would like to contribute, please read the [contributions guide](https://docs.espressif.com/projects/arduino-esp32/en/latest/contributing.html).
+  - type: input
+    id: Area
+    attributes:
+      label: Related area
+      description: Please briefly explain the area of your Feature Request.
+      placeholder: eg. Board support, specific Peripheral, BT, Wifi...
+    validations:
+      required: true
+  - type: input
+    id: HW
+    attributes:
+      label: Hardware specification
+      description: Please provide if your proposal depends on specific Hardware.
+      placeholder: eg. Support for ESP32 DevKitC, ESP32-C3 DevKitM...
+    validations:
+      required: true
+  - type: textarea
+    id: problem-related
+    attributes:
+      label: Is your feature request related to a problem?
+      description: Please provide a clear and concise description of what the problem is. Add relevant issue link.
+      placeholder: ex. I'm facing the issue/missing function...
+    validations:
+      required: true
+  - type: textarea
+    id: solution
+    attributes:
+      label: Describe the solution you'd like
+      description: Please provide a clear and concise description of what you want to happen.
+      placeholder: ex. When using this function...
+    validations:
+      required: true
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Describe alternatives you've considered
+      description: Please provide a clear and concise description of any alternative solutions or features you've considered.
+      placeholder: ex. Choosing other approach wouldn't work, because...
+  - type: textarea
+    id: context
+    attributes:
+      label: Additional context
+      description: Please add any other context or screenshots about the feature request here.
+      placeholder: ex. This would work only when ...

.github/ISSUE_TEMPLATE/Issue-report.yml

@@ -0,0 +1,130 @@
+name: Issue report
+description: Report any problem here
+labels: ["Status: Awaiting triage"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        * Before reporting a new issue please check and search in [List of existing issues](https://github.com/espressif/arduino-esp32/issues?q=is%3Aissue) 
+        * Please check [Online Documentation](https://docs.espressif.com/projects/arduino-esp32/en/latest/index.html)
+        * Take a look on [Troubleshooting guide](https://docs.espressif.com/projects/arduino-esp32/en/latest/troubleshooting.html)
+        * If still experiencing the issue, please provide as many details as possible below about your hardware, computer setup and code.
+  - type: input
+    id: Board
+    attributes:
+      label: Board
+      description: On which Board does this issue occur?
+      placeholder: eg. ESP32 Dev Module, ESP32-S2, LilyGo TTGO LoRa32...
+    validations:
+      required: true
+  - type: textarea
+    id: devboard
+    attributes:
+      label: Device Description
+      description: What development board or other hardware is the chip attached to?
+      placeholder: ex. DevKitC, plain module on breadboard, etc. If your hardware is custom or unusual, please attach a photo.
+    validations:
+       required: true
+  - type: textarea
+    id: other-hw
+    attributes:
+      label: Hardware Configuration
+      description: Is anything else attached to the development board?
+      placeholder: ex. GPIO 18 & 19 are connected to I2C devices.
+    validations:
+      required: true
+  - type: dropdown
+    id: version
+    attributes:
+      label: Version
+      description: What version of Arduino ESP32 are you running? If possible, consider updating to the latest version.
+      options:
+        - latest master
+        - v2.0.1
+        - v2.0.0
+        - v1.0.6
+        - other
+    validations:
+      required: true
+  - type: input
+    id: IDE
+    attributes:
+     label: IDE Name
+     description: What IDE are you using?
+     placeholder: eg. Arduino IDE, PlatformIO, IDF component...
+    validations:
+     required: true
+  - type: input
+    id: os
+    attributes:
+      label: Operating System
+      description: On which OS does this issue occur?
+      placeholder: ex. macOS 12.1, Windows 10...
+    validations:
+      required: true
+  - type: input
+    id: Flash
+    attributes:
+      label: Flash frequency
+      description: What flash frequency is used?
+      placeholder: eg. 40Mhz
+    validations:
+      required: true
+  - type: dropdown
+    id: PSRAM 
+    attributes:
+      label: PSRAM enabled
+      description: Is PSRAM enabled?
+      options:
+        - 'yes'
+        - 'no' 
+    validations:
+      required: true
+  - type: input
+    id: Upload
+    attributes:
+      label: Upload speed
+      description: What upload speed is used?
+      placeholder: eg. 115200
+    validations:
+      required: true
+  - type: textarea
+    id: Description
+    attributes:
+      label: Description
+      description: Please describe your problem here and expected behaviour
+      placeholder: ex. Can't connect/weird behaviour/wrong function/missing parameter..
+    validations:
+      required: true
+  - type: textarea
+    id: sketch
+    attributes:
+      label: Sketch
+      description: Please provide your sketch/code which was run
+      placeholder: ex. related part of the code
+      render: cpp
+    validations:
+     required: true
+  - type: textarea
+    id: Debug
+    attributes:
+      label: Debug Message
+      description: Please provide a debug message or error message. If you have a Guru Meditation Error or Backtrace, please decode it with [ExceptionDecoder](https://github.com/me-no-dev/EspExceptionDecoder)
+      placeholder: Enable Core debug level - Debug on tools menu of Arduino IDE, then put the serial output here.
+      render: plain
+    validations:
+      required: true      
+  - type: textarea
+    id: other-remarks
+    attributes:
+      label: Other Steps to Reproduce 
+      description: Is there any other information you can think of which will help us reproduce this problem? Any additional info can be added as well.
+      placeholder: ex. I also tried on other OS, HW...it works correctly on that setup.
+  - type: checkboxes
+    id: confirmation
+    attributes:
+      label: I have checked existing issues, online documentation and the Troubleshooting Guide
+      description: You agree to check all the resources above before opening a new issue.
+      options:
+        - label: I confirm I have checked existing issues, online documentation and Troubleshooting guide.
+          required: true

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,54 +0,0 @@
----
-name: Bug report
-about: Please fill in the bug report carefully
-title: ''
-labels: ''
-assignees: ''
-
----
-
-Make your question, not a Statement, inclusive. Include all pertinent information:
-
-What you are trying to do?
-Describe your system( Hardware, computer, O/S, core version, environment).
-Describe what is failing.
-Show the shortest possible code that will duplicate the error.
-Show the EXACT error message(it doesn't work is not enough).
-All of this work on your part shows us that you have worked to solve YOUR problem. The more complete your issue posting is, the more likely someone will volunteer their time to help you.
-
-If you have a Guru Meditation Error or Backtrace, ***please decode it***:
-https://github.com/me-no-dev/EspExceptionDecoder
-
------------------------------ Remove above -----------------------------
-
-
-### Hardware:
-Board:							?ESP32 Dev Module? ?node32? ?ttgo_lora?
-Core Installation version:			?1.0.0? ?1.0.1-rc4? ?1.0.1? ?1.0.1-git? ?1.0.2? ?1.0.3?
-IDE name:						?Arduino IDE? ?Platform.io? ?IDF component?
-Flash Frequency:					?40Mhz?
-PSRAM enabled:                                    ?no? ?yes?
-Upload Speed:					?115200?
-Computer OS:                                        ?Windows 10? ?Mac OSX? ?Ubuntu?
-
-### Description:
-Describe your problem here
-
-
-### Sketch:  (leave the backquotes for [code formatting](https://help.github.com/articles/creating-and-highlighting-code-blocks/))
-```cpp
-
-//Change the code below by your sketch
-#include <Arduino.h>
-
-void setup() {
-}
-
-void loop() {
-}
-```
-
-### Debug Messages:
-```
-Enable Core debug level: Debug on tools menu of Arduino IDE, then put the serial output here 
-```

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Arduino ESP32 Gitter Channel
+    url: https://gitter.im/espressif/arduino-esp32
+    about: Community channel for questions and help
+  - name: ESP32 Forum - Arduino
+    url: https://esp32.com/viewforum.php?f=19
+    about: Official Forum for questions

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,16 +1,18 @@
-----------------------------------------------------------------------------------------------------------------------------------------------------
-This entire section can be deleted if all items are checked.
-
 *By completing this PR sufficiently, you help us to improve the quality of Release Notes*
 
 ### Checklist
-
-1. [ ] Please provide specific title of the PR describing the change, including the component name (eg."Update of Documentation link on Readme.md")
+1. [ ] Please provide specific title of the PR describing the change, including the component name (eg. *„Update of Documentation link on Readme.md“*)
 2. [ ] Please provide related links (eg. Issue, other Project, submodule PR..)
-----------------------------------------------------------------------------------------------------------------------------------------------------
+3. [ ] Please check [Contributing guide](https://docs.espressif.com/projects/arduino-esp32/en/latest/contributing.html)
 
+*This entire section above can be deleted if all items are checked.*
+
+-----------
 ## Summary
 Please describe your proposed PR and what it contains.
 
 ## Impact
 Please describe impact of your PR and it's function.
+
+## Related links
+Please provide links to related issue, PRs etc.

.github/scripts/check-cmakelists.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 #
-# This script is for Travis. It checks all non-examples source files in libraries/ and cores/ are listed in
+# This script is used in the CI workflow. It checks all non-examples source files in libraries/ and cores/ are listed in
 # CMakeLists.txt for the cmake-based IDF component
 #
 # If you see an error running this script, edit CMakeLists.txt and add any new source files into your PR
@@ -15,7 +15,7 @@ git submodule update --init --recursive
 REPO_SRCS=`find cores/esp32/ libraries/ -name 'examples' -prune -o -name '*.c' -print -o -name '*.cpp' -print | sort`
 
 # find all source files named in CMakeLists.txt COMPONENT_SRCS
-CMAKE_SRCS=`cmake --trace-expand -C CMakeLists.txt 2>&1 | grep set\(srcs | cut -d'(' -f3 | sed 's/ )//' | sed 's/srcs //' | tr ' ;' '\n' | sort`
+CMAKE_SRCS=`cmake --trace-expand -P CMakeLists.txt 2>&1 | grep set\(srcs | cut -d'(' -f3 | sed 's/ )//' | sed 's/srcs //' | tr ' ;' '\n' | sort`
 
 if ! diff -u0 --label "Repo Files" --label "srcs" <(echo "$REPO_SRCS") <(echo "$CMAKE_SRCS"); then
     echo "Source files in repo (-) and source files in CMakeLists.txt (+) don't match"

.github/scripts/on-push.sh

@@ -2,18 +2,7 @@
 
 set -e
 
-if [ ! -z "$TRAVIS_TAG" ]; then
-	echo "Skipping Test: Tagged build"
-	exit 0
-fi
-
-if [ ! -z "$GITHUB_WORKSPACE" ]; then
-	export TRAVIS_BUILD_DIR="$GITHUB_WORKSPACE"
-	export TRAVIS_REPO_SLUG="$GITHUB_REPOSITORY"
-elif [ ! -z "$TRAVIS_BUILD_DIR" ]; then
-	export GITHUB_WORKSPACE="$TRAVIS_BUILD_DIR"
-	export GITHUB_REPOSITORY="$TRAVIS_REPO_SLUG"
-else
+if [ -z "$GITHUB_WORKSPACE" ]; then
 	export GITHUB_WORKSPACE="$PWD"
 	export GITHUB_REPOSITORY="espressif/arduino-esp32"
 fi

.github/stale.yml

@@ -1,61 +1,26 @@
-# Configuration for probot-stale - https://github.com/probot/stale
+# This workflow firstly warns and then closes issues that have had no activity for a specified amount of time.
+#
+# You can adjust the behavior by modifying this file.
+# For more information can be found here: https://github.com/actions/stale
 
-# Number of days of inactivity before an Issue or Pull Request becomes stale
-daysUntilStale: 60
+name: Mark stale issues
+on:
+  schedule:
+  - cron: '30 9 * * *'
 
-# Number of days of inactivity before an Issue or Pull Request with the stale label is closed.
-# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
-daysUntilClose: 14
+jobs:
+  stale:
 
-# Only issues or pull requests with all of these labels are check if stale. Defaults to `[]` (disabled)
-onlyLabels: []
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write  
 
-# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
-exemptLabels:
-  - "Type: For reference"
-  - "Type: To be implemented"
-  - "Type: Feature request"
-
-# Set to true to ignore issues in a project (defaults to false)
-exemptProjects: false
-
-# Set to true to ignore issues in a milestone (defaults to false)
-exemptMilestones: false
-
-# Set to true to ignore issues with an assignee (defaults to false)
-exemptAssignees: false
-
-# Label to use when marking as stale
-staleLabel: "Status: Stale"
-
-# Comment to post when marking as stale. Set to `false` to disable
-markComment: >
-  [STALE_SET] This issue has been automatically marked as stale because it has not had
-  recent activity. It will be closed in 14 days if no further activity occurs. Thank you
-  for your contributions.
-
-# Comment to post when removing the stale label.
-unmarkComment: >
-  [STALE_CLR] This issue has been removed from the stale queue. Please ensure activity to keep it openin the future.
-
-# Comment to post when closing a stale Issue or Pull Request.
-closeComment: >
-  [STALE_DEL] This stale issue has been automatically closed. Thank you for your contributions.
-
-# Limit the number of actions per hour, from 1-30. Default is 30
-limitPerRun: 30
-
-# Limit to only `issues` or `pulls`
-only: issues
-
-# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
-# pulls:
-#   daysUntilStale: 30
-#   markComment: >
-#     This pull request has been automatically marked as stale because it has not had
-#     recent activity. It will be closed if no further activity occurs. Thank you
-#     for your contributions.
-
-# issues:
-#   exemptLabels:
-#     - confirmed
+    steps:
+    - uses: actions/stale@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-issue-message: 'This issue has been automatically marked as stale because it has not had recent activity. It will be closed in 14 days if no further activity occurs. Thank you for your contributions.'
+        days-before-stale: 60
+        days-before-close: 14
+        exempt-issue-labels: 'Type: For reference,Type: To be implemented,Type: Feature request'
+        stale-issue-label: 'Status: Stale'

.github/workflows/gh-pages.yml

@@ -16,7 +16,7 @@ jobs:
     name: Build GitHub Pages
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
     - name: Copy Files
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/push.yml

@@ -18,8 +18,8 @@ jobs:
         chunk: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
     
     steps:
-    - uses: actions/checkout@v1
-    - uses: actions/setup-python@v1
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
       with:
         python-version: '3.x'
     - name: Build Sketches
@@ -34,8 +34,8 @@ jobs:
         os: [windows-latest, macOS-latest]
     
     steps:
-    - uses: actions/checkout@v1
-    - uses: actions/setup-python@v1
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
       with:
         python-version: '3.x'
     - name: Build Sketches
@@ -50,8 +50,8 @@ jobs:
         os: [ubuntu-latest, windows-latest, macOS-latest]
     
     steps:
-    - uses: actions/checkout@v1
-    - uses: actions/setup-python@v1
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
       with:
         python-version: '3.x'
     - name: Build Sketches

.github/workflows/release.yml

@@ -10,10 +10,10 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@master
+    - uses: actions/checkout@v2
       with:
         fetch-depth: 0
-    - uses: actions/setup-python@v1
+    - uses: actions/setup-python@v2
       with:
         python-version: '3.x'
     - name: Build Release

.github/workflows/test_selfhosted_runner.yml

@@ -0,0 +1,28 @@
+name: Test Github action on self hosted RPI runnes
+
+on:
+  push:
+    branches:
+    - master
+  pull_request:
+
+jobs:
+  build:
+    name: Dummy test - self hosted GHR
+    runs-on: self-hosted
+    if: github.repository == 'espressif/arduino-esp32'
+    steps:
+      - name: Check out repo
+        uses: actions/checkout@v2
+      - name: Test message 1
+        run: echo "This is test message"
+      - name: Test message 2
+        run: echo "This is test message2"
+      - name: List directory
+        run: ls
+      - name: Create copy of README
+        run: cp README.md README2.md
+      - name: Read README2
+        run: cat README2.md
+      - name: Delete README2
+        run: rm README2.md

.gitignore

@@ -21,3 +21,4 @@ boards.sloeber.txt
 
 # Ignore docs build (Sphinx)
 docs/build
+docs/source/_build

.travis.yml

@@ -1,55 +0,0 @@
-sudo: false
-
-language: python
-
-os:
-  - linux
-
-git:
-  depth: false
-
-before_install:
-  - git submodule update --init --recursive
-
-stages:
-  - build
-  - deploy
-
-jobs:
-  include:
-
-    - name: "Build Arduino 0"
-      if: tag IS blank AND (type = pull_request OR (type = push AND branch = master))
-      stage: build
-      script: $TRAVIS_BUILD_DIR/.github/scripts/on-push.sh 0 10
-
-    - name: "Build Arduino 1"
-      if: tag IS blank AND (type = pull_request OR (type = push AND branch = master))
-      stage: build
-      script: $TRAVIS_BUILD_DIR/.github/scripts/on-push.sh 1 10
-
-    - name: "Build Arduino 2"
-      if: tag IS blank AND (type = pull_request OR (type = push AND branch = master))
-      stage: build
-      script: $TRAVIS_BUILD_DIR/.github/scripts/on-push.sh 2 10
-
-    - name: "Build Arduino 3"
-      if: tag IS blank AND (type = pull_request OR (type = push AND branch = master))
-      stage: build
-      script: $TRAVIS_BUILD_DIR/.github/scripts/on-push.sh 3 10
-
-    - name: "Build PlatformIO"
-      if: tag IS blank AND (type = pull_request OR (type = push AND branch = master))
-      stage: build
-      script: $TRAVIS_BUILD_DIR/.github/scripts/on-push.sh 1 1
-
-notifications:
-  email:
-    on_success: change
-    on_failure: change
-  webhooks:
-    urls:
-        - https://webhooks.gitter.im/e/cb057279c430d91a47a8
-    on_success: change  # options: [always|never|change] default: always
-    on_failure: always  # options: [always|never|change] default: always
-    on_start: never     # options: [always|never|change] default: always

CMakeLists.txt

@@ -1,3 +1,27 @@
+# Check ESP-IDF version and error out if it is not in the supported range.
+#
+# Note for arduino-esp32 developers: to bypass the version check locally,
+# set ARDUINO_SKIP_IDF_VERSION_CHECK environment variable to 1. For example:
+#   export ARDUINO_SKIP_IDF_VERSION_CHECK=1
+#   idf.py build
+
+set(min_supported_idf_version "4.4.0")
+set(max_supported_idf_version "4.4.99")
+set(idf_version "${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}.${IDF_VERSION_PATCH}")
+
+if ("${idf_version}" AND NOT "$ENV{ARDUINO_SKIP_IDF_VERSION_CHECK}")
+  if (idf_version VERSION_LESS min_supported_idf_version)
+    message(FATAL_ERROR "Arduino-esp32 can be used with ESP-IDF versions "
+                        "between ${min_supported_idf_version} and ${max_supported_idf_version}, "
+                        "but an older version is detected: ${idf_version}.")
+  endif()
+  if (idf_version VERSION_GREATER max_supported_idf_version)
+    message(FATAL_ERROR "Arduino-esp32 can be used with ESP-IDF versions "
+                        "between ${min_supported_idf_version} and ${max_supported_idf_version}, "
+                        "but a newer version is detected: ${idf_version}.")
+  endif()
+endif()
+
 set(CORE_SRCS
   cores/esp32/base64.cpp
   cores/esp32/cbuf.cpp
@@ -7,6 +31,7 @@ set(CORE_SRCS
   cores/esp32/esp32-hal-dac.c
   cores/esp32/esp32-hal-gpio.c
   cores/esp32/esp32-hal-i2c.c
+  cores/esp32/esp32-hal-i2c-slave.c
   cores/esp32/esp32-hal-ledc.c
   cores/esp32/esp32-hal-matrix.c
   cores/esp32/esp32-hal-misc.c
@@ -54,6 +79,7 @@ set(LIBRARY_SRCS
   libraries/DNSServer/src/DNSServer.cpp
   libraries/EEPROM/src/EEPROM.cpp
   libraries/ESPmDNS/src/ESPmDNS.cpp
+  libraries/Ethernet/src/ETH.cpp
   libraries/FFat/src/FFat.cpp
   libraries/FS/src/FS.cpp
   libraries/FS/src/vfs_api.cpp
@@ -90,7 +116,6 @@ set(LIBRARY_SRCS
   libraries/WebServer/src/detail/mimetable.cpp
   libraries/WiFiClientSecure/src/ssl_client.cpp
   libraries/WiFiClientSecure/src/WiFiClientSecure.cpp
-  libraries/WiFi/src/ETH.cpp
   libraries/WiFi/src/WiFiAP.cpp
   libraries/WiFi/src/WiFiClient.cpp
   libraries/WiFi/src/WiFi.cpp
@@ -174,7 +199,7 @@ set(includedirs
 set(srcs ${CORE_SRCS} ${LIBRARY_SRCS} ${BLE_SRCS})
 set(priv_includes cores/esp32/libb64)
 set(requires spi_flash mbedtls mdns esp_adc_cal wifi_provisioning nghttp)
-set(priv_requires fatfs nvs_flash app_update spiffs bootloader_support openssl bt esp_ipc)
+set(priv_requires fatfs nvs_flash app_update spiffs bootloader_support openssl bt esp_ipc esp_hid)
 
 idf_component_register(INCLUDE_DIRS ${includedirs} PRIV_INCLUDE_DIRS ${priv_includes} SRCS ${srcs} REQUIRES ${requires} PRIV_REQUIRES ${priv_requires})
 

README.md

@@ -1,26 +1,15 @@
-# Arduino core for the ESP32
+# Arduino core for the ESP32, ESP32-S2 and ESP32-C3
 
-[![Build Status](https://travis-ci.org/espressif/arduino-esp32.svg?branch=master)](https://travis-ci.org/espressif/arduino-esp32) ![](https://github.com/espressif/arduino-esp32/workflows/ESP32%20Arduino%20CI/badge.svg) [![Documentation Status](https://readthedocs.com/projects/espressif-arduino-esp32/badge/?version=latest)](https://docs.espressif.com/projects/arduino-esp32/en/latest/?badge=latest)
+![Build Status](https://github.com/espressif/arduino-esp32/workflows/ESP32%20Arduino%20CI/badge.svg) [![Documentation Status](https://readthedocs.com/projects/espressif-arduino-esp32/badge/?version=latest)](https://docs.espressif.com/projects/arduino-esp32/en/latest/?badge=latest)
 
 ### Need help or have a question? Join the chat at [![https://gitter.im/espressif/arduino-esp32](https://badges.gitter.im/espressif/arduino-esp32.svg)](https://gitter.im/espressif/arduino-esp32?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
 ## Contents
 
-- [ESP32-S2 and ESP32-C3 Support](#esp32-s2-and-esp32-c3-support)
 - [Development Status](#development-status)
 - [Decoding Exceptions](#decoding-exceptions)
 - [Issue/Bug report template](#issuebug-report-template)
 
-### ESP32-S2 and ESP32-C3 Support
-
-If you want to test ESP32-S2 and/or ESP32-C3 through the board manager, please use the development release link:
-
-```
-https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-```
-
-Now you can install the latest 2.0.0 version from the boards manager.
-
 ### Development Status
 
 Latest Stable Release  [![Release Version](https://img.shields.io/github/release/espressif/arduino-esp32.svg?style=plastic)](https://github.com/espressif/arduino-esp32/releases/latest/) [![Release Date](https://img.shields.io/github/release-date/espressif/arduino-esp32.svg?style=plastic)](https://github.com/espressif/arduino-esp32/releases/latest/) [![Downloads](https://img.shields.io/github/downloads/espressif/arduino-esp32/latest/total.svg?style=plastic)](https://github.com/espressif/arduino-esp32/releases/latest/)
@@ -38,14 +27,18 @@ You can use [Arduino-ESP32 Online Documentation](https://docs.espressif.com/proj
 * [FAQ](https://docs.espressif.com/projects/arduino-esp32/en/latest/faq.html)
 * [Troubleshooting](https://docs.espressif.com/projects/arduino-esp32/en/latest/troubleshooting.html)
 
+### Supported Chips
+
+Visit the [supported chips](https://docs.espressif.com/projects/arduino-esp32/en/latest/getting_started.html#supported-soc-s) documentation to see the list of current supported ESP32 SoCs.
+
 ### Decoding exceptions
 
 You can use [EspExceptionDecoder](https://github.com/me-no-dev/EspExceptionDecoder) to get meaningful call trace.
 
 ### Issue/Bug report template
-Before reporting an issue, make sure you've searched for similar one that was already created. Also make sure to go through all the issues labelled as [for reference](https://github.com/espressif/arduino-esp32/issues?utf8=%E2%9C%93&q=is%3Aissue%20label%3A%22for%20reference%22%20).
+Before reporting an issue, make sure you've searched for similar one that was already created. Also make sure to go through all the issues labelled as [Type: For reference](https://github.com/espressif/arduino-esp32/issues?q=is%3Aissue+label%3A%22Type%3A+For+reference%22+).
 
-Finally, if you are sure no one else had the issue, follow the [issue template](docs/ISSUE_TEMPLATE.md) while reporting any issue.
+Finally, if you are sure no one else had the issue, follow the **Issue template** or **Feature request template** while reporting any [new Issue](https://github.com/espressif/arduino-esp32/issues/new/choose).
 
 ### Contributing
 

cores/esp32/Arduino.h

@@ -179,6 +179,9 @@ uint16_t makeWord(uint8_t h, uint8_t l);
 
 #define word(...) makeWord(__VA_ARGS__)
 
+size_t getArduinoLoopTaskStackSize(void);
+#define SET_LOOP_TASK_STACK_SIZE(sz) size_t getArduinoLoopTaskStackSize() { return sz;}
+    
 unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
 unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
 

cores/esp32/Esp.cpp

@@ -38,6 +38,7 @@ extern "C" {
 #define ESP_FLASH_IMAGE_BASE 0x1000     // Flash offset containing flash size and spi mode
 #elif CONFIG_IDF_TARGET_ESP32S2
 #include "esp32s2/rom/spi_flash.h"
+#include "soc/efuse_reg.h"
 #define ESP_FLASH_IMAGE_BASE 0x1000
 #elif CONFIG_IDF_TARGET_ESP32C3
 #include "esp32c3/rom/spi_flash.h"
@@ -270,7 +271,17 @@ const char * EspClass::getChipModel(void)
             return "Unknown";
     }
 #elif CONFIG_IDF_TARGET_ESP32S2
+    uint32_t pkg_ver = REG_GET_FIELD(EFUSE_RD_MAC_SPI_SYS_3_REG, EFUSE_PKG_VERSION);
+    switch (pkg_ver) {
+    case 0:
       return "ESP32-S2";
+    case 1:
+      return "ESP32-S2FH16";
+    case 2:
+      return "ESP32-S2FH32";
+    default:
+      return "ESP32-S2 (Unknown)";
+    }
 #elif CONFIG_IDF_TARGET_ESP32S3
     return "ESP32-S3";
 #elif CONFIG_IDF_TARGET_ESP32C3

cores/esp32/FirmwareMSC.cpp

@@ -113,6 +113,7 @@ static size_t msc_update_get_required_disk_sectors(){
     log_d("USING FAT12");
     mcs_is_fat16 = false;
   }
+  log_d("FAT sector size: %u", DISK_SECTOR_SIZE);
   log_d("FAT data sectors: %u", data_sectors);
   log_d("FAT table sectors: %u", msc_table_sectors);
   log_d("FAT total sectors: %u (%uKB)", total_sectors, (total_sectors * DISK_SECTOR_SIZE) / 1024);
@@ -227,7 +228,7 @@ static esp_err_t msc_update_write(const esp_partition_t *partition, uint32_t off
 //called when error was encountered while updating
 static void msc_update_error(){
   log_e("UPDATE_ERROR: %u", msc_update_bytes_written);
-  arduino_firmware_msc_event_data_t p = {0};
+  arduino_firmware_msc_event_data_t p;
   p.error.size = msc_update_bytes_written;
   arduino_usb_event_post(ARDUINO_FIRMWARE_MSC_EVENTS, ARDUINO_FIRMWARE_MSC_ERROR_EVENT, &p, sizeof(arduino_firmware_msc_event_data_t), portMAX_DELAY);
   msc_update_state = MSC_UPDATE_IDLE;
@@ -251,7 +252,7 @@ static void msc_update_end(){
     msc_update_error();
     return;
   }
-  arduino_firmware_msc_event_data_t p = {0};
+  arduino_firmware_msc_event_data_t p;
   p.end.size = msc_update_entry->file_size;
   arduino_usb_event_post(ARDUINO_FIRMWARE_MSC_EVENTS, ARDUINO_FIRMWARE_MSC_END_EVENT, &p, sizeof(arduino_firmware_msc_event_data_t), portMAX_DELAY);
 }
@@ -289,7 +290,7 @@ static int32_t msc_write(uint32_t lba, uint32_t offset, uint8_t* buffer, uint32_
     }
   } else if(msc_ota_partition && lba >= msc_update_start_sector){
     //handle writes to the region where the new firmware will be uploaded
-    arduino_firmware_msc_event_data_t p = {0};
+    arduino_firmware_msc_event_data_t p;
     if(msc_update_state <= MSC_UPDATE_STARTING && buffer[0] == 0xE9){
       msc_update_state = MSC_UPDATE_RUNNING;
       msc_update_start_sector = lba;
@@ -345,7 +346,7 @@ static int32_t msc_read(uint32_t lba, uint32_t offset, void* buffer, uint32_t bu
 
 static bool msc_start_stop(uint8_t power_condition, bool start, bool load_eject){
   //log_d("power: %u, start: %u, eject: %u", power_condition, start, load_eject);
-  arduino_firmware_msc_event_data_t p = {0};
+  arduino_firmware_msc_event_data_t p;
   p.power.power_condition = power_condition;
   p.power.start = start;
   p.power.load_eject = load_eject;

cores/esp32/HWCDC.cpp

@@ -24,15 +24,47 @@
 #include "soc/periph_defs.h"
 #include "hal/usb_serial_jtag_ll.h"
 
+ESP_EVENT_DEFINE_BASE(ARDUINO_HW_CDC_EVENTS);
+
 static RingbufHandle_t tx_ring_buf = NULL;
 static xQueueHandle rx_queue = NULL;
 static uint8_t rx_data_buf[64];
 static intr_handle_t intr_handle = NULL;
 static volatile bool initial_empty = false;
+static xSemaphoreHandle tx_lock = NULL;
+static uint32_t tx_timeout_ms = 200;
+static esp_event_loop_handle_t arduino_hw_cdc_event_loop_handle = NULL;
+
+static esp_err_t arduino_hw_cdc_event_post(esp_event_base_t event_base, int32_t event_id, void *event_data, size_t event_data_size, BaseType_t *task_unblocked){
+    if(arduino_hw_cdc_event_loop_handle == NULL){
+        return ESP_FAIL;
+    }
+    return esp_event_isr_post_to(arduino_hw_cdc_event_loop_handle, event_base, event_id, event_data, event_data_size, task_unblocked);
+}
+
+static esp_err_t arduino_hw_cdc_event_handler_register_with(esp_event_base_t event_base, int32_t event_id, esp_event_handler_t event_handler, void *event_handler_arg){
+    if (!arduino_hw_cdc_event_loop_handle) {
+        esp_event_loop_args_t event_task_args = {
+            .queue_size = 5,
+            .task_name = "arduino_hw_cdc_events",
+            .task_priority = 5,
+            .task_stack_size = 2048,
+            .task_core_id = tskNO_AFFINITY
+        };
+        if (esp_event_loop_create(&event_task_args, &arduino_hw_cdc_event_loop_handle) != ESP_OK) {
+            log_e("esp_event_loop_create failed");
+        }
+    }
+    if(arduino_hw_cdc_event_loop_handle == NULL){
+        return ESP_FAIL;
+    }
+    return esp_event_handler_register_with(arduino_hw_cdc_event_loop_handle, event_base, event_id, event_handler, event_handler_arg);
+}
 
 static void hw_cdc_isr_handler(void *arg) {
     portBASE_TYPE xTaskWoken = 0;
     uint32_t usbjtag_intr_status = 0;
+    arduino_hw_cdc_event_data_t event = {0};
     usbjtag_intr_status = usb_serial_jtag_ll_get_intsts_mask();
 
     if (usbjtag_intr_status & USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY) {
@@ -45,6 +77,7 @@ static void hw_cdc_isr_handler(void *arg) {
                 initial_empty = true;
                 //send event?
                 //ets_printf("CONNECTED\n");
+                arduino_hw_cdc_event_post(ARDUINO_HW_CDC_EVENTS, ARDUINO_HW_CDC_CONNECTED_EVENT, &event, sizeof(arduino_hw_cdc_event_data_t), &xTaskWoken);
             }
             size_t queued_size;
             uint8_t *queued_buff = (uint8_t *)xRingbufferReceiveUpToFromISR(tx_ring_buf, &queued_size, 64);
@@ -58,6 +91,8 @@ static void hw_cdc_isr_handler(void *arg) {
                 usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
                 //send event?
                 //ets_printf("TX:%u\n", queued_size);
+                event.tx.len = queued_size;
+                arduino_hw_cdc_event_post(ARDUINO_HW_CDC_EVENTS, ARDUINO_HW_CDC_TX_EVENT, &event, sizeof(arduino_hw_cdc_event_data_t), &xTaskWoken);
             }
         } else {
             usb_serial_jtag_ll_clr_intsts_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
@@ -77,6 +112,8 @@ static void hw_cdc_isr_handler(void *arg) {
         }
         //send event?
         //ets_printf("RX:%u/%u\n", i, rx_fifo_len);
+        event.rx.len = i;
+        arduino_hw_cdc_event_post(ARDUINO_HW_CDC_EVENTS, ARDUINO_HW_CDC_RX_EVENT, &event, sizeof(arduino_hw_cdc_event_data_t), &xTaskWoken);
     }
 
     if (usbjtag_intr_status & USB_SERIAL_JTAG_INTR_BUS_RESET) {
@@ -84,6 +121,7 @@ static void hw_cdc_isr_handler(void *arg) {
         initial_empty = false;
         usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
         //ets_printf("BUS_RESET\n");
+        arduino_hw_cdc_event_post(ARDUINO_HW_CDC_EVENTS, ARDUINO_HW_CDC_BUS_RESET_EVENT, &event, sizeof(arduino_hw_cdc_event_data_t), &xTaskWoken);
     }
 
     if (xTaskWoken == pdTRUE) {
@@ -95,7 +133,7 @@ static void ARDUINO_ISR_ATTR cdc0_write_char(char c) {
     if(xPortInIsrContext()){
         xRingbufferSendFromISR(tx_ring_buf, (void*) (&c), 1, NULL);
     } else {
-        xRingbufferSend(tx_ring_buf, (void*) (&c), 1, 0);
+        xRingbufferSend(tx_ring_buf, (void*) (&c), 1, tx_timeout_ms / portTICK_PERIOD_MS);
     }
     usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
 }
@@ -113,16 +151,28 @@ HWCDC::operator bool() const
     return initial_empty;
 }
 
+void HWCDC::onEvent(esp_event_handler_t callback){
+    onEvent(ARDUINO_HW_CDC_ANY_EVENT, callback);
+}
+
+void HWCDC::onEvent(arduino_hw_cdc_event_t event, esp_event_handler_t callback){
+    arduino_hw_cdc_event_handler_register_with(ARDUINO_HW_CDC_EVENTS, event, callback, this);
+}
+
 void HWCDC::begin(unsigned long baud)
 {
+    if(tx_lock == NULL) {
+        tx_lock = xSemaphoreCreateMutex();
+    }
     setRxBufferSize(256);//default if not preset
     setTxBufferSize(256);//default if not preset
 
     usb_serial_jtag_ll_clr_intsts_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY | USB_SERIAL_JTAG_INTR_SERIAL_OUT_RECV_PKT | USB_SERIAL_JTAG_INTR_BUS_RESET);
     usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY | USB_SERIAL_JTAG_INTR_SERIAL_OUT_RECV_PKT | USB_SERIAL_JTAG_INTR_BUS_RESET);
-    if(!intr_handle && esp_intr_alloc(ETS_USB_INTR_SOURCE/*ETS_USB_SERIAL_JTAG_INTR_SOURCE*/, 0, hw_cdc_isr_handler, NULL, &intr_handle) != ESP_OK){
+    if(!intr_handle && esp_intr_alloc(ETS_USB_SERIAL_JTAG_INTR_SOURCE, 0, hw_cdc_isr_handler, NULL, &intr_handle) != ESP_OK){
         isr_log_e("HW USB CDC failed to init interrupts");
         end();
+        return;
     }
 }
 
@@ -132,8 +182,19 @@ void HWCDC::end()
     usb_serial_jtag_ll_disable_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY | USB_SERIAL_JTAG_INTR_SERIAL_OUT_RECV_PKT | USB_SERIAL_JTAG_INTR_BUS_RESET);
     esp_intr_free(intr_handle);
     intr_handle = NULL;
+    if(tx_lock != NULL) {
+        vSemaphoreDelete(tx_lock);
+    }
     setRxBufferSize(0);
     setTxBufferSize(0);
+    if (arduino_hw_cdc_event_loop_handle) {
+        esp_event_loop_delete(arduino_hw_cdc_event_loop_handle);
+        arduino_hw_cdc_event_loop_handle = NULL;
+    }
+}
+
+void HWCDC::setTxTimeoutMs(uint32_t timeout){
+    tx_timeout_ms = timeout;
 }
 
 /*
@@ -157,21 +218,57 @@ size_t HWCDC::setTxBufferSize(size_t tx_queue_len){
 
 int HWCDC::availableForWrite(void)
 {
-    if(tx_ring_buf == NULL){
-        return -1;
+    if(tx_ring_buf == NULL || tx_lock == NULL){
+        return 0;
     }
-    return xRingbufferGetCurFreeSize(tx_ring_buf);
+    if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
+        return 0;
+    }
+    size_t a = xRingbufferGetCurFreeSize(tx_ring_buf);
+    xSemaphoreGive(tx_lock);
+    return a;
 }
 
 size_t HWCDC::write(const uint8_t *buffer, size_t size)
 {
-    // Blocking method, Sending data to ringbuffer, and handle the data in ISR.
-    if(xRingbufferSend(tx_ring_buf, (void*) (buffer), size, 200 / portTICK_PERIOD_MS) != pdTRUE){
-        log_e("Write Failed");
+    if(buffer == NULL || size == 0 || tx_ring_buf == NULL || tx_lock == NULL){
         return 0;
     }
+    if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
+        return 0;
+    }
+    size_t max_size = xRingbufferGetMaxItemSize(tx_ring_buf);
+    size_t space = xRingbufferGetCurFreeSize(tx_ring_buf);
+    size_t to_send = size, so_far = 0;
+
+    if(space > size){
+        space = size;
+    }
+    // Non-Blocking method, Sending data to ringbuffer, and handle the data in ISR.
+    if(xRingbufferSend(tx_ring_buf, (void*) (buffer), space, 0) != pdTRUE){
+        size = 0;
+    } else {
+        to_send -= space;
+        so_far += space;
         // Now trigger the ISR to read data from the ring buffer.
         usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
+
+        while(to_send){
+            if(max_size > to_send){
+                max_size = to_send;
+            }
+            // Blocking method, Sending data to ringbuffer, and handle the data in ISR.
+            if(xRingbufferSend(tx_ring_buf, (void*) (buffer+so_far), max_size, tx_timeout_ms / portTICK_PERIOD_MS) != pdTRUE){
+                size = so_far;
+                break;
+            }
+            so_far += max_size;
+            to_send -= max_size;
+            // Now trigger the ISR to read data from the ring buffer.
+            usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
+        }
+    }
+    xSemaphoreGive(tx_lock);
     return size;
 }
 
@@ -182,15 +279,23 @@ size_t HWCDC::write(uint8_t c)
 
 void HWCDC::flush(void)
 {
-    if(tx_ring_buf == NULL){
+    if(tx_ring_buf == NULL || tx_lock == NULL){
+        return;
+    }
+    if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
         return;
     }
     UBaseType_t uxItemsWaiting = 0;
     vRingbufferGetInfo(tx_ring_buf, NULL, NULL, NULL, NULL, &uxItemsWaiting);
+    if(uxItemsWaiting){
+        // Now trigger the ISR to read data from the ring buffer.
+        usb_serial_jtag_ll_ena_intr_mask(USB_SERIAL_JTAG_INTR_SERIAL_IN_EMPTY);
+    }
     while(uxItemsWaiting){
         delay(5);
         vRingbufferGetInfo(tx_ring_buf, NULL, NULL, NULL, NULL, &uxItemsWaiting);
     }
+    xSemaphoreGive(tx_lock);
 }
 
 /*

cores/esp32/HWCDC.h

@@ -17,16 +17,41 @@
 #if CONFIG_IDF_TARGET_ESP32C3
 
 #include <inttypes.h>
+#include "esp_event.h"
 #include "Stream.h"
 
+ESP_EVENT_DECLARE_BASE(ARDUINO_HW_CDC_EVENTS);
+
+typedef enum {
+    ARDUINO_HW_CDC_ANY_EVENT = ESP_EVENT_ANY_ID,
+    ARDUINO_HW_CDC_CONNECTED_EVENT = 0,
+    ARDUINO_HW_CDC_BUS_RESET_EVENT,
+    ARDUINO_HW_CDC_RX_EVENT,
+    ARDUINO_HW_CDC_TX_EVENT,
+    ARDUINO_HW_CDC_MAX_EVENT,
+} arduino_hw_cdc_event_t;
+
+typedef union {
+    struct {
+            size_t len;
+    } rx;
+    struct {
+            size_t len;
+    } tx;
+} arduino_hw_cdc_event_data_t;
+
 class HWCDC: public Stream
 {
 public:
     HWCDC();
     ~HWCDC();
 
+    void onEvent(esp_event_handler_t callback);
+    void onEvent(arduino_hw_cdc_event_t event, esp_event_handler_t callback);
+
     size_t setRxBufferSize(size_t);
     size_t setTxBufferSize(size_t);
+    void setTxTimeoutMs(uint32_t timeout);
     void begin(unsigned long baud=0);
     void end();
     

cores/esp32/HardwareSerial.cpp

@@ -87,7 +87,6 @@ HardwareSerial Serial1(1);
 #if SOC_UART_NUM > 2
 HardwareSerial Serial2(2);
 #endif
-#endif
 
 void serialEventRun(void)
 {
@@ -105,6 +104,7 @@ void serialEventRun(void)
     if(Serial2.available()) serialEvent2();
 #endif
 }
+#endif
 
 
 HardwareSerial::HardwareSerial(int uart_nr) : _uart_nr(uart_nr), _uart(NULL), _rxBufferSize(256) {}

cores/esp32/MD5Builder.cpp

@@ -19,7 +19,7 @@
 #include <Arduino.h>
 #include <MD5Builder.h>
 
-uint8_t hex_char_to_byte(uint8_t c)
+static uint8_t hex_char_to_byte(uint8_t c)
 {
     return  (c >= 'a' && c <= 'f') ? (c - ((uint8_t)'a' - 0xa)) :
             (c >= 'A' && c <= 'F') ? (c - ((uint8_t)'A' - 0xA)) :
@@ -28,13 +28,13 @@ uint8_t hex_char_to_byte(uint8_t c)
 
 void MD5Builder::begin(void)
 {
-    memset(_buf, 0x00, 16);
-    MD5Init(&_ctx);
+    memset(_buf, 0x00, ESP_ROM_MD5_DIGEST_LEN);
+    esp_rom_md5_init(&_ctx);
 }
 
 void MD5Builder::add(uint8_t * data, uint16_t len)
 {
-    MD5Update(&_ctx, data, len);
+    esp_rom_md5_update(&_ctx, data, len);
 }
 
 void MD5Builder::addHexString(const char * data)
@@ -82,7 +82,7 @@ bool MD5Builder::addStream(Stream & stream, const size_t maxLen)
         }
 
         // Update MD5 with buffer payload
-        MD5Update(&_ctx, buf, numBytesRead);
+        esp_rom_md5_update(&_ctx, buf, numBytesRead);
 
         // update available number of bytes
         maxLengthLeft -= numBytesRead;
@@ -94,24 +94,24 @@ bool MD5Builder::addStream(Stream & stream, const size_t maxLen)
 
 void MD5Builder::calculate(void)
 {
-    MD5Final(_buf, &_ctx);
+    esp_rom_md5_final(_buf, &_ctx);
 }
 
 void MD5Builder::getBytes(uint8_t * output)
 {
-    memcpy(output, _buf, 16);
+    memcpy(output, _buf, ESP_ROM_MD5_DIGEST_LEN);
 }
 
 void MD5Builder::getChars(char * output)
 {
-    for(uint8_t i = 0; i < 16; i++) {
+    for(uint8_t i = 0; i < ESP_ROM_MD5_DIGEST_LEN; i++) {
         sprintf(output + (i * 2), "%02x", _buf[i]);
     }
 }
 
 String MD5Builder::toString(void)
 {
-    char out[33];
+    char out[(ESP_ROM_MD5_DIGEST_LEN * 2) + 1];
     getChars(out);
     return String(out);
 }

cores/esp32/MD5Builder.h

@@ -23,25 +23,13 @@
 #include <Stream.h>
 
 #include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "esp32/rom/md5_hash.h"
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/md5_hash.h"
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/md5_hash.h"
-#else 
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/md5_hash.h"
-#endif
+#include "esp_rom_md5.h"
 
 class MD5Builder
 {
 private:
-    struct MD5Context _ctx;
-    uint8_t _buf[16];
+    md5_context_t _ctx;
+    uint8_t _buf[ESP_ROM_MD5_DIGEST_LEN];
 public:
     void begin(void);
     void add(uint8_t * data, uint16_t len);

cores/esp32/Stream.cpp

@@ -256,7 +256,7 @@ float Stream::parseFloat(char skipChar)
         } else if(c >= '0' && c <= '9') {    // is c a digit?
             value = value * 10 + c - '0';
             if(isFraction) {
-                fraction *= 0.1;
+                fraction *= 0.1f;
             }
         }
         read();  // consume the character we got with peek

cores/esp32/USB.cpp

@@ -15,6 +15,7 @@
 
 #if CONFIG_TINYUSB_ENABLED
 
+#include "pins_arduino.h"
 #include "esp32-hal.h"
 #include "esp32-hal-tinyusb.h"
 #include "common/tusb_common.h"
@@ -85,14 +86,14 @@ static bool tinyusb_device_suspended = false;
 // Invoked when device is mounted (configured)
 void tud_mount_cb(void){
     tinyusb_device_mounted = true;
-    arduino_usb_event_data_t p = {0};
+    arduino_usb_event_data_t p;
     arduino_usb_event_post(ARDUINO_USB_EVENTS, ARDUINO_USB_STARTED_EVENT, &p, sizeof(arduino_usb_event_data_t), portMAX_DELAY);
 }
 
 // Invoked when device is unmounted
 void tud_umount_cb(void){
     tinyusb_device_mounted = false;
-    arduino_usb_event_data_t p = {0};
+    arduino_usb_event_data_t p;
     arduino_usb_event_post(ARDUINO_USB_EVENTS, ARDUINO_USB_STOPPED_EVENT, &p, sizeof(arduino_usb_event_data_t), portMAX_DELAY);
 }
 
@@ -100,7 +101,7 @@ void tud_umount_cb(void){
 // Within 7ms, device must draw an average of current less than 2.5 mA from bus
 void tud_suspend_cb(bool remote_wakeup_en){
     tinyusb_device_suspended = true;
-    arduino_usb_event_data_t p = {0};
+    arduino_usb_event_data_t p;
     p.suspend.remote_wakeup_en = remote_wakeup_en;
     arduino_usb_event_post(ARDUINO_USB_EVENTS, ARDUINO_USB_SUSPEND_EVENT, &p, sizeof(arduino_usb_event_data_t), portMAX_DELAY);
 }
@@ -108,7 +109,7 @@ void tud_suspend_cb(bool remote_wakeup_en){
 // Invoked when usb bus is resumed
 void tud_resume_cb(void){
     tinyusb_device_suspended = false;
-    arduino_usb_event_data_t p = {0};
+    arduino_usb_event_data_t p;
     arduino_usb_event_post(ARDUINO_USB_EVENTS, ARDUINO_USB_RESUME_EVENT, &p, sizeof(arduino_usb_event_data_t), portMAX_DELAY);
 }
 

cores/esp32/USBCDC.cpp

@@ -62,63 +62,40 @@ void tud_cdc_rx_cb(uint8_t itf)
 
 // Invoked when received send break
 void tud_cdc_send_break_cb(uint8_t itf, uint16_t duration_ms){
-    //isr_log_v("itf: %u, duration_ms: %u", itf, duration_ms);
+    //log_v("itf: %u, duration_ms: %u", itf, duration_ms);
 }
 
 // Invoked when space becomes available in TX buffer
 void tud_cdc_tx_complete_cb(uint8_t itf){
-    if(itf < MAX_USB_CDC_DEVICES && devices[itf] != NULL && devices[itf]->tx_sem != NULL){
-        xSemaphoreGive(devices[itf]->tx_sem);
+    if(itf < MAX_USB_CDC_DEVICES && devices[itf] != NULL){
         devices[itf]->_onTX();
     }
 }
 
-static size_t tinyusb_cdc_write(uint8_t itf, const uint8_t *buffer, size_t size){
-    if(itf >= MAX_USB_CDC_DEVICES || devices[itf] == NULL || devices[itf]->tx_sem == NULL){
-        return 0;
+static void ARDUINO_ISR_ATTR cdc0_write_char(char c){
+    if(devices[0] != NULL){
+        devices[0]->write(c);
     }
-    if(!tud_cdc_n_connected(itf)){
-        return 0;
-    }
-    size_t tosend = size, sofar = 0;
-    while(tosend){
-        uint32_t space = tud_cdc_n_write_available(itf);
-        if(!space){
-            //make sure that we do not get previous semaphore
-            xSemaphoreTake(devices[itf]->tx_sem, 0);
-            //wait for tx_complete
-            if(xSemaphoreTake(devices[itf]->tx_sem, 200 / portTICK_PERIOD_MS) == pdTRUE){
-                space = tud_cdc_n_write_available(itf);
-            }
-            if(!space){
-                return sofar;
-            }
-        }
-        if(tosend < space){
-            space = tosend;
-        }
-        uint32_t sent = tud_cdc_n_write(itf, buffer + sofar, space);
-        if(!sent){
-            return sofar;
-        }
-        sofar += sent;
-        tosend -= sent;
-        tud_cdc_n_write_flush(itf);
-        //xSemaphoreTake(devices[itf]->tx_sem, portMAX_DELAY);
-    }
-    return sofar;
-}
-
-static void ARDUINO_ISR_ATTR cdc0_write_char(char c)
-{
-    tinyusb_cdc_write(0, (const uint8_t *)&c, 1);
 }
 
 static void usb_unplugged_cb(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data){
     ((USBCDC*)arg)->_onUnplugged();
 }
 
-USBCDC::USBCDC(uint8_t itfn) : itf(itfn), bit_rate(0), stop_bits(0), parity(0), data_bits(0), dtr(false),  rts(false), connected(false), reboot_enable(true), rx_queue(NULL), tx_sem(NULL) {
+USBCDC::USBCDC(uint8_t itfn) 
+: itf(itfn)
+, bit_rate(0)
+, stop_bits(0)
+, parity(0)
+, data_bits(0)
+, dtr(false)
+, rts(false)
+, connected(false)
+, reboot_enable(true)
+, rx_queue(NULL)
+, tx_lock(NULL)
+, tx_timeout_ms(250)
+{
     tinyusb_enable_interface(USB_INTERFACE_CDC, TUD_CDC_DESC_LEN, load_cdc_descriptor);
     if(itf < MAX_USB_CDC_DEVICES){
         arduino_usb_event_handler_register_with(ARDUINO_USB_EVENTS, ARDUINO_USB_STOPPED_EVENT, usb_unplugged_cb, this);
@@ -153,9 +130,8 @@ size_t USBCDC::setRxBufferSize(size_t rx_queue_len){
 
 void USBCDC::begin(unsigned long baud)
 {
-    if(tx_sem == NULL){
-        tx_sem = xSemaphoreCreateBinary();
-        xSemaphoreTake(tx_sem, 0);
+    if(tx_lock == NULL) {
+        tx_lock = xSemaphoreCreateMutex();
     }
     setRxBufferSize(256);//default if not preset
     devices[itf] = this;
@@ -166,18 +142,21 @@ void USBCDC::end()
     connected = false;
     devices[itf] = NULL;
     setRxBufferSize(0);
-    if (tx_sem != NULL) {
-        vSemaphoreDelete(tx_sem);
-        tx_sem = NULL;
+    if(tx_lock != NULL) {
+        vSemaphoreDelete(tx_lock);
     }
 }
 
+void USBCDC::setTxTimeoutMs(uint32_t timeout){
+    tx_timeout_ms = timeout;
+}
+
 void USBCDC::_onUnplugged(void){
     if(connected){
         connected = false;
         dtr = false;
         rts = false;
-        arduino_usb_cdc_event_data_t p = {0};
+        arduino_usb_cdc_event_data_t p;
         arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_DISCONNECTED_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
     }
 }
@@ -199,7 +178,7 @@ void USBCDC::_onLineState(bool _dtr, bool _rts){
                 lineState++;
                 if(connected){
                     connected = false;
-                    arduino_usb_cdc_event_data_t p = {0};
+                    arduino_usb_cdc_event_data_t p;
                     arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_DISCONNECTED_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
                 }
             } else {
@@ -229,14 +208,14 @@ void USBCDC::_onLineState(bool _dtr, bool _rts){
     if(lineState == CDC_LINE_IDLE){
         if(dtr && rts && !connected){
             connected = true;
-            arduino_usb_cdc_event_data_t p = {0};
+            arduino_usb_cdc_event_data_t p;
             arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_CONNECTED_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
         } else if(!dtr && connected){
             connected = false;
-            arduino_usb_cdc_event_data_t p = {0};
+            arduino_usb_cdc_event_data_t p;
             arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_DISCONNECTED_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
         }
-        arduino_usb_cdc_event_data_t l = {0};
+        arduino_usb_cdc_event_data_t l;
         l.line_state.dtr = dtr;
         l.line_state.rts = rts;
         arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_LINE_STATE_EVENT, &l, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
@@ -254,7 +233,7 @@ void USBCDC::_onLineCoding(uint32_t _bit_rate, uint8_t _stop_bits, uint8_t _pari
             data_bits = _data_bits;
             stop_bits = _stop_bits;
             parity = _parity;
-            arduino_usb_cdc_event_data_t p = {0};
+            arduino_usb_cdc_event_data_t p;
             p.line_coding.bit_rate = bit_rate;
             p.line_coding.data_bits = data_bits;
             p.line_coding.stop_bits = stop_bits;
@@ -272,13 +251,13 @@ void USBCDC::_onRX(){
             return;
         }
     }
-    arduino_usb_cdc_event_data_t p = {0};
+    arduino_usb_cdc_event_data_t p;
     p.rx.len = count;
     arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_RX_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
 }
 
 void USBCDC::_onTX(){
-    arduino_usb_cdc_event_data_t p = {0};
+    arduino_usb_cdc_event_data_t p;
     arduino_usb_event_post(ARDUINO_USB_CDC_EVENTS, ARDUINO_USB_CDC_TX_EVENT, &p, sizeof(arduino_usb_cdc_event_data_t), portMAX_DELAY);
 }
 
@@ -336,23 +315,73 @@ size_t USBCDC::read(uint8_t *buffer, size_t size)
 
 void USBCDC::flush(void)
 {
-    if(itf >= MAX_USB_CDC_DEVICES || tx_sem == NULL){
+    if(itf >= MAX_USB_CDC_DEVICES || tx_lock == NULL || !tud_cdc_n_connected(itf)){
+        return;
+    }
+    if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
         return;
     }
     tud_cdc_n_write_flush(itf);
+    xSemaphoreGive(tx_lock);
 }
 
 int USBCDC::availableForWrite(void)
 {
-    if(itf >= MAX_USB_CDC_DEVICES || tx_sem == NULL){
-        return -1;
+    if(itf >= MAX_USB_CDC_DEVICES || tx_lock == NULL || !tud_cdc_n_connected(itf)){
+        return 0;
     }
-    return tud_cdc_n_write_available(itf);
+    if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
+        return 0;
+    }
+    size_t a = tud_cdc_n_write_available(itf);
+    xSemaphoreGive(tx_lock);
+    return a;
 }
 
 size_t USBCDC::write(const uint8_t *buffer, size_t size)
 {
-    return tinyusb_cdc_write(itf, buffer, size);
+    if(itf >= MAX_USB_CDC_DEVICES || tx_lock == NULL || buffer == NULL || size == 0 || !tud_cdc_n_connected(itf)){
+        return 0;
+    }
+    if(xPortInIsrContext()){
+        BaseType_t taskWoken = false;
+        if(xSemaphoreTakeFromISR(tx_lock, &taskWoken) != pdPASS){
+            return 0;
+        }
+    } else if(xSemaphoreTake(tx_lock, tx_timeout_ms / portTICK_PERIOD_MS) != pdPASS){
+        return 0;
+    }
+    size_t to_send = size, so_far = 0;
+    while(to_send){
+        if(!tud_cdc_n_connected(itf)){
+            size = so_far;
+            break;
+        }
+        size_t space = tud_cdc_n_write_available(itf);
+        if(!space){
+            tud_cdc_n_write_flush(itf);
+            continue;
+        }
+        if(space > to_send){
+            space = to_send;
+        }
+        size_t sent = tud_cdc_n_write(itf, buffer+so_far, space);
+        if(sent){
+            so_far += sent;
+            to_send -= sent;
+            tud_cdc_n_write_flush(itf);
+        } else {
+            size = so_far;
+            break;
+        }
+    }
+    if(xPortInIsrContext()){
+        BaseType_t taskWoken = false;
+        xSemaphoreGiveFromISR(tx_lock, &taskWoken);
+    } else {
+        xSemaphoreGive(tx_lock);
+    }
+    return size;
 }
 
 size_t USBCDC::write(uint8_t c)

cores/esp32/USBCDC.h

@@ -18,6 +18,9 @@
 
 #include <inttypes.h>
 #include "esp_event.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
 #include "Stream.h"
 
 ESP_EVENT_DECLARE_BASE(ARDUINO_USB_CDC_EVENTS);
@@ -58,7 +61,8 @@ public:
     void onEvent(esp_event_handler_t callback);
     void onEvent(arduino_usb_cdc_event_t event, esp_event_handler_t callback);
 
-    size_t setRxBufferSize(size_t);
+    size_t setRxBufferSize(size_t size);
+    void setTxTimeoutMs(uint32_t timeout);
     void begin(unsigned long baud=0);
     void end();
     
@@ -113,7 +117,6 @@ public:
     void _onRX(void);
     void _onTX(void);
     void _onUnplugged(void);
-    xSemaphoreHandle tx_sem;
     
 protected:
     uint8_t  itf;
@@ -126,6 +129,8 @@ protected:
     bool     connected;
     bool     reboot_enable;
     xQueueHandle rx_queue;
+    xSemaphoreHandle tx_lock;
+    uint32_t tx_timeout_ms;
     
 };
 

cores/esp32/cbuf.h

@@ -62,7 +62,7 @@ public:
 
     cbuf *next;
 
-private:
+protected:
     inline char* wrap_if_bufend(char* ptr) const
     {
         return (ptr == _bufend) ? _buf : ptr;

cores/esp32/esp32-hal-adc.c

@@ -46,10 +46,23 @@ static uint8_t __analogVRefPin = 0;
 #endif
 
 static uint8_t __analogAttenuation = 3;//11db
-static uint8_t __analogWidth = 3;//12 bits
+static uint8_t __analogWidth = ADC_WIDTH_MAX - 1; //3 for ESP32/ESP32C3; 4 for ESP32S2
+static uint8_t __analogReturnedWidth = SOC_ADC_MAX_BITWIDTH; //12 for ESP32/ESP32C3; 13 for ESP32S2
 static uint8_t __analogClockDiv = 1;
 static adc_attenuation_t __pin_attenuation[SOC_GPIO_PIN_COUNT];
 
+static inline uint16_t mapResolution(uint16_t value)
+{
+    uint8_t from = __analogWidth + 9;
+    if (from == __analogReturnedWidth) {
+        return value;
+    }
+    if (from > __analogReturnedWidth) {
+        return value >> (from  - __analogReturnedWidth);
+    }
+    return value << (__analogReturnedWidth - from);
+}
+
 void __analogSetClockDiv(uint8_t clockDiv){
     if(!clockDiv){
         clockDiv = 1;
@@ -146,6 +159,7 @@ void __analogReadResolution(uint8_t bits)
     if(!bits || bits > 16){
         return;
     }
+    __analogReturnedWidth = bits;
 #if CONFIG_IDF_TARGET_ESP32
     __analogSetWidth(bits);         // hadware from 9 to 12
 #endif
@@ -165,7 +179,7 @@ uint16_t __analogRead(uint8_t pin)
         channel -= 10;
         r = adc2_get_raw( channel, __analogWidth, &value);
         if ( r == ESP_OK ) {
-            return value;
+            return mapResolution(value);
         } else if ( r == ESP_ERR_INVALID_STATE ) {
             log_e("GPIO%u: %s: ADC2 not initialized yet.", pin, esp_err_to_name(r));
         } else if ( r == ESP_ERR_TIMEOUT ) {
@@ -174,9 +188,10 @@ uint16_t __analogRead(uint8_t pin)
             log_e("GPIO%u: %s", pin, esp_err_to_name(r));
         }
     } else {
-        return adc1_get_raw(channel);
+        value = adc1_get_raw(channel);
+        return mapResolution(value);
     }
-    return value;
+    return mapResolution(value);
 }
 
 uint32_t __analogReadMilliVolts(uint8_t pin){

cores/esp32/esp32-hal-dac.c

@@ -13,51 +13,37 @@
 // limitations under the License.
 
 #include "esp32-hal.h"
+#include "soc/soc_caps.h"
 
-#if CONFIG_IDF_TARGET_ESP32
-#include "soc/rtc_io_reg.h"
-#define DAC1 25
-#define DAC2 26
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "soc/rtc_io_reg.h"
-#define DAC1 17
-#define DAC2 18
-#elif CONFIG_IDF_TARGET_ESP32C3
+#ifndef SOC_DAC_SUPPORTED           
 #define NODAC
 #else
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-
-#ifndef NODAC
-#include "esp_attr.h"
-#include "soc/rtc_cntl_reg.h"
-#include "soc/rtc_io_periph.h"
-#include "soc/sens_reg.h"
-#include "soc/sens_struct.h"
-#include "driver/dac.h"
+#include "soc/dac_channel.h"
+#include "driver/dac_common.h"
 
 void ARDUINO_ISR_ATTR __dacWrite(uint8_t pin, uint8_t value)
 {
-    if(pin < DAC1 || pin > DAC2){
+    if(pin < DAC_CHANNEL_1_GPIO_NUM || pin > DAC_CHANNEL_2_GPIO_NUM){
         return;//not dac pin
     }
-    pinMode(pin, ANALOG);
-    uint8_t channel = pin - DAC1;
-#if CONFIG_IDF_TARGET_ESP32
-    CLEAR_PERI_REG_MASK(SENS_SAR_DAC_CTRL1_REG, SENS_SW_TONE_EN);
-#elif CONFIG_IDF_TARGET_ESP32S2
-    SENS.sar_dac_ctrl1.dac_clkgate_en = 1;
-#endif
-    RTCIO.pad_dac[channel].dac_xpd_force = 1;
-    RTCIO.pad_dac[channel].xpd_dac = 1;
-    if (channel == 0) {
-        SENS.sar_dac_ctrl2.dac_cw_en1 = 0;
-    } else if (channel == 1) {
-        SENS.sar_dac_ctrl2.dac_cw_en2 = 0;
+
+    uint8_t channel = pin - DAC_CHANNEL_1_GPIO_NUM;
+    dac_output_enable(channel);
+    dac_output_voltage(channel, value);
+
 }
-    RTCIO.pad_dac[channel].dac = value;
+
+void ARDUINO_ISR_ATTR __dacDisable(uint8_t pin)
+{
+    if(pin < DAC_CHANNEL_1_GPIO_NUM || pin > DAC_CHANNEL_2_GPIO_NUM){
+        return;//not dac pin
+    }
+
+    uint8_t channel = pin - DAC_CHANNEL_1_GPIO_NUM;
+    dac_output_disable(channel);
 }
 
 extern void dacWrite(uint8_t pin, uint8_t value) __attribute__ ((weak, alias("__dacWrite")));
+extern void dacDisable(uint8_t pin) __attribute__ ((weak, alias("__dacDisable")));
 
 #endif

cores/esp32/esp32-hal-dac.h

@@ -28,6 +28,7 @@ extern "C" {
 #include "driver/gpio.h"
 
 void dacWrite(uint8_t pin, uint8_t value);
+void dacDisable(uint8_t pin);
 
 #ifdef __cplusplus
 }

cores/esp32/esp32-hal-gpio.c

@@ -37,6 +37,12 @@
 #include "soc/periph_defs.h"
 #include "soc/rtc_io_reg.h"
 #define GPIO_FUNC 1
+#elif CONFIG_IDF_TARGET_ESP32C3
+#include "esp32c3/rom/ets_sys.h"
+#include "esp32c3/rom/gpio.h"
+#include "esp_intr_alloc.h"
+#include "soc/periph_defs.h"
+#define USE_ESP_IDF_GPIO 1
 #else
 #define USE_ESP_IDF_GPIO 1
 #endif
@@ -143,6 +149,29 @@ const DRAM_ATTR esp32_gpioMux_t esp32_gpioMux[SOC_GPIO_PIN_COUNT]={
     {0xb8, -1, -1, -1},//SCL?
     {0xbc, -1, -1, -1},//INPUT ONLY
     {0, -1, -1, -1}
+#elif CONFIG_IDF_TARGET_ESP32C3
+    {0x04, -1, 0, -1}, // ADC1_CH0
+    {0x08, -1, 1, -1}, // ADC1_CH1
+    {0x0c, -1, 2, -1}, // ADC1_CH2 | FSPIQ
+    {0x10, -1, 3, -1}, // ADC1_CH3
+    {0x14, -1, 4, -1}, // MTMS | ADC1_CH4 | FSPIHD
+    {0x18, -1, 5, -1}, // MTDI | ADC2_CH0 | FSPIWP
+    {0x1c, -1, -1, -1}, // MTCK | FSPICLK
+    {0x20, -1, -1, -1}, // MTDO | FSPID
+    {0x24, -1, -1, -1}, //
+    {0x28, -1, -1, -1}, //
+    {0x2c, -1, -1, -1}, // FSPICSO
+    {0x30, -1, -1, -1}, //
+    {0x34, -1, -1, -1}, // SPIHD
+    {0x38, -1, -1, -1}, // SPIWP
+    {0x3c, -1, -1, -1}, // SPICSO
+    {0x40, -1, -1, -1}, // SPICLK
+    {0x44, -1, -1, -1}, // SPID
+    {0x48, -1, -1, -1}, // SPIQ
+    {0x4c, -1, -1, -1}, // USB-
+    {0x50, -1, -1, -1}, // USB+
+    {0x54, -1, -1, -1}, // U0RXD
+    {0x58, -1, -1, -1}, // U0TXD
 #endif
 };
 
@@ -481,4 +510,3 @@ extern int digitalRead(uint8_t pin) __attribute__ ((weak, alias("__digitalRead")
 extern void attachInterrupt(uint8_t pin, voidFuncPtr handler, int mode) __attribute__ ((weak, alias("__attachInterrupt")));
 extern void attachInterruptArg(uint8_t pin, voidFuncPtrArg handler, void * arg, int mode) __attribute__ ((weak, alias("__attachInterruptArg")));
 extern void detachInterrupt(uint8_t pin) __attribute__ ((weak, alias("__detachInterrupt")));
-

cores/esp32/esp32-hal-i2c-slave.c

@@ -0,0 +1,848 @@
+// Copyright 2015-2021 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <inttypes.h>
+#include <string.h>
+#include <math.h>
+
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "rom/gpio.h"
+#include "soc/gpio_sig_map.h"
+#include "hal/gpio_types.h"
+#include "driver/gpio.h"
+#include "esp_err.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "freertos/ringbuf.h"
+
+#include "esp_intr_alloc.h"
+#include "driver/periph_ctrl.h"
+#include "soc/i2c_reg.h"
+#include "soc/i2c_struct.h"
+#include "hal/i2c_ll.h"
+#include "esp32-hal-log.h"
+#include "esp32-hal-i2c-slave.h"
+
+#define I2C_SLAVE_USE_RX_QUEUE 0 // 1: Queue, 0: RingBuffer
+
+#if SOC_I2C_NUM > 1
+#define I2C_SCL_IDX(p)  ((p==0)?I2CEXT0_SCL_OUT_IDX:((p==1)?I2CEXT1_SCL_OUT_IDX:0))
+#define I2C_SDA_IDX(p) ((p==0)?I2CEXT0_SDA_OUT_IDX:((p==1)?I2CEXT1_SDA_OUT_IDX:0))
+#else
+#define I2C_SCL_IDX(p)  I2CEXT0_SCL_OUT_IDX
+#define I2C_SDA_IDX(p) I2CEXT0_SDA_OUT_IDX
+#endif
+
+#if CONFIG_IDF_TARGET_ESP32
+    #define I2C_TXFIFO_WM_INT_ENA    I2C_TXFIFO_EMPTY_INT_ENA
+    #define I2C_RXFIFO_WM_INT_ENA     I2C_RXFIFO_FULL_INT_ENA
+#endif
+
+enum {
+    I2C_SLAVE_EVT_RX, I2C_SLAVE_EVT_TX
+};
+
+typedef struct i2c_slave_struct_t {
+    i2c_dev_t * dev;
+    uint8_t num;
+    int8_t sda;
+    int8_t scl;
+    i2c_slave_request_cb_t request_callback;
+    i2c_slave_receive_cb_t receive_callback;
+    void * arg;
+    intr_handle_t intr_handle;
+    TaskHandle_t task_handle;
+    xQueueHandle event_queue;
+#if I2C_SLAVE_USE_RX_QUEUE
+    xQueueHandle rx_queue;
+#else
+    RingbufHandle_t rx_ring_buf;
+#endif
+    xQueueHandle tx_queue;
+    uint32_t rx_data_count;
+#if !CONFIG_DISABLE_HAL_LOCKS
+    xSemaphoreHandle lock;
+#endif
+} i2c_slave_struct_t;
+
+typedef union {
+    struct {
+        uint32_t event : 2;
+        uint32_t stop : 1;
+        uint32_t param : 29;
+    };
+    uint32_t val;
+} i2c_slave_queue_event_t;
+
+static i2c_slave_struct_t _i2c_bus_array[SOC_I2C_NUM] = {
+    { &I2C0, 0, -1, -1, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, 0
+#if !CONFIG_DISABLE_HAL_LOCKS
+    , NULL
+#endif
+    },
+#if SOC_I2C_NUM > 1
+    { &I2C1, 1, -1, -1, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, 0
+#if !CONFIG_DISABLE_HAL_LOCKS
+    , NULL
+#endif
+    }
+#endif
+};
+
+#if CONFIG_DISABLE_HAL_LOCKS
+#define I2C_SLAVE_MUTEX_LOCK()
+#define I2C_SLAVE_MUTEX_UNLOCK()
+#else
+#define I2C_SLAVE_MUTEX_LOCK()    if(i2c->lock){xSemaphoreTake(i2c->lock, portMAX_DELAY);}
+#define I2C_SLAVE_MUTEX_UNLOCK()  if(i2c->lock){xSemaphoreGive(i2c->lock);}
+#endif
+
+//-------------------------------------- HAL_LL (Missing Functions) ------------------------------------------------
+typedef enum {
+    I2C_STRETCH_CAUSE_MASTER_READ,
+    I2C_STRETCH_CAUSE_TX_FIFO_EMPTY,
+    I2C_STRETCH_CAUSE_RX_FIFO_FULL,
+    I2C_STRETCH_CAUSE_MAX
+} i2c_stretch_cause_t;
+
+static inline i2c_stretch_cause_t i2c_ll_stretch_cause(i2c_dev_t *hw)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    return hw->sr.stretch_cause;
+#elif CONFIG_IDF_TARGET_ESP32S2
+    return hw->status_reg.stretch_cause;
+#else
+    return I2C_STRETCH_CAUSE_MAX;
+#endif
+}
+
+static inline void i2c_ll_set_stretch(i2c_dev_t *hw, uint16_t time)
+{
+#ifndef CONFIG_IDF_TARGET_ESP32
+    typeof(hw->scl_stretch_conf) scl_stretch_conf;
+    scl_stretch_conf.val = 0;
+    scl_stretch_conf.slave_scl_stretch_en = (time > 0);
+    scl_stretch_conf.stretch_protect_num = time;
+    scl_stretch_conf.slave_scl_stretch_clr = 1;
+    hw->scl_stretch_conf.val = scl_stretch_conf.val;
+    if(time > 0){
+        //enable interrupt
+        hw->int_ena.val |= I2C_SLAVE_STRETCH_INT_ENA;
+    } else {
+        //disable interrupt
+        hw->int_ena.val &= (~I2C_SLAVE_STRETCH_INT_ENA);
+    }
+#endif
+}
+
+static inline void i2c_ll_stretch_clr(i2c_dev_t *hw)
+{
+#ifndef CONFIG_IDF_TARGET_ESP32
+    hw->scl_stretch_conf.slave_scl_stretch_clr = 1;
+#endif
+}
+
+static inline bool i2c_ll_slave_addressed(i2c_dev_t *hw)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    return hw->sr.slave_addressed;
+#else
+    return hw->status_reg.slave_addressed;
+#endif
+}
+
+static inline bool i2c_ll_slave_rw(i2c_dev_t *hw)//not exposed by hal_ll
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    return hw->sr.slave_rw;
+#else
+    return hw->status_reg.slave_rw;
+#endif
+}
+
+//-------------------------------------- PRIVATE (Function Prototypes) ------------------------------------------------
+static void i2c_slave_free_resources(i2c_slave_struct_t * i2c);
+static void i2c_slave_delay_us(uint64_t us);
+static void i2c_slave_gpio_mode(int8_t pin, gpio_mode_t mode);
+static bool i2c_slave_check_line_state(int8_t sda, int8_t scl);
+static bool i2c_slave_attach_gpio(i2c_slave_struct_t * i2c, int8_t sda, int8_t scl);
+static bool i2c_slave_detach_gpio(i2c_slave_struct_t * i2c);
+static bool i2c_slave_set_frequency(i2c_slave_struct_t * i2c, uint32_t clk_speed);
+static bool i2c_slave_send_event(i2c_slave_struct_t * i2c, i2c_slave_queue_event_t* event);
+static bool i2c_slave_handle_tx_fifo_empty(i2c_slave_struct_t * i2c);
+static bool i2c_slave_handle_rx_fifo_full(i2c_slave_struct_t * i2c, uint32_t len);
+static size_t i2c_slave_read_rx(i2c_slave_struct_t * i2c, uint8_t * data, size_t len);
+static void i2c_slave_isr_handler(void* arg);
+static void i2c_slave_task(void *pv_args);
+
+
+//=====================================================================================================================
+//-------------------------------------- Public Functions -------------------------------------------------------------
+//=====================================================================================================================
+
+esp_err_t i2cSlaveAttachCallbacks(uint8_t num, i2c_slave_request_cb_t request_callback, i2c_slave_receive_cb_t receive_callback, void * arg){
+    if(num >= SOC_I2C_NUM){
+        log_e("Invalid port num: %u", num);
+        return ESP_ERR_INVALID_ARG;
+    }
+    i2c_slave_struct_t * i2c = &_i2c_bus_array[num];
+    I2C_SLAVE_MUTEX_LOCK();
+    i2c->request_callback = request_callback;
+    i2c->receive_callback = receive_callback;
+    i2c->arg = arg;
+    I2C_SLAVE_MUTEX_UNLOCK();
+    return ESP_OK;
+}
+
+esp_err_t i2cSlaveInit(uint8_t num, int sda, int scl, uint16_t slaveID, uint32_t frequency, size_t rx_len, size_t tx_len) {
+    if(num >= SOC_I2C_NUM){
+        log_e("Invalid port num: %u", num);
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if (sda < 0 || scl < 0) {
+        log_e("invalid pins sda=%d, scl=%d", sda, scl);
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if(!frequency){
+        frequency = 100000;
+    } else if(frequency > 1000000){
+        frequency = 1000000;
+    }
+
+    log_i("Initialising I2C Slave: sda=%d scl=%d freq=%d, addr=0x%x", sda, scl, frequency, slaveID);
+
+    i2c_slave_struct_t * i2c = &_i2c_bus_array[num];
+    esp_err_t ret = ESP_OK;
+
+#if !CONFIG_DISABLE_HAL_LOCKS
+    if(!i2c->lock){
+        i2c->lock = xSemaphoreCreateMutex();
+        if (i2c->lock == NULL) {
+            log_e("RX queue create failed");
+            return ESP_ERR_NO_MEM;
+        }
+    }
+#endif
+
+    I2C_SLAVE_MUTEX_LOCK();
+    i2c_slave_free_resources(i2c);
+
+#if I2C_SLAVE_USE_RX_QUEUE
+    i2c->rx_queue = xQueueCreate(rx_len, sizeof(uint8_t));
+    if (i2c->rx_queue == NULL) {
+        log_e("RX queue create failed");
+        ret = ESP_ERR_NO_MEM;
+        goto fail;
+    }
+#else
+    i2c->rx_ring_buf = xRingbufferCreate(rx_len, RINGBUF_TYPE_BYTEBUF);
+    if (i2c->rx_ring_buf == NULL) {
+        log_e("RX RingBuf create failed");
+        ret = ESP_ERR_NO_MEM;
+        goto fail;
+    }
+#endif
+
+    i2c->tx_queue = xQueueCreate(tx_len, sizeof(uint8_t));
+    if (i2c->tx_queue == NULL) {
+        log_e("TX queue create failed");
+        ret = ESP_ERR_NO_MEM;
+        goto fail;
+    }
+
+    i2c->event_queue = xQueueCreate(16, sizeof(i2c_slave_queue_event_t));
+    if (i2c->event_queue == NULL) {
+        log_e("Event queue create failed");
+        ret = ESP_ERR_NO_MEM;
+        goto fail;
+    }
+
+    xTaskCreate(i2c_slave_task, "i2c_slave_task", 4096, i2c, 20, &i2c->task_handle);
+    if(i2c->task_handle == NULL){
+        log_e("Event thread create failed");
+        ret = ESP_ERR_NO_MEM;
+        goto fail;
+    }
+
+    if (frequency == 0) {
+        frequency = 100000L;
+    }
+    frequency = (frequency * 5) / 4;
+
+    if (i2c->num == 0) {
+        periph_module_enable(PERIPH_I2C0_MODULE);
+#if SOC_I2C_NUM > 1
+    } else {
+        periph_module_enable(PERIPH_I2C1_MODULE);
+#endif
+    }
+    
+    i2c_ll_slave_init(i2c->dev);
+    i2c_ll_set_fifo_mode(i2c->dev, true);
+    i2c_ll_set_slave_addr(i2c->dev, slaveID, false);
+    i2c_ll_set_tout(i2c->dev, I2C_LL_MAX_TIMEOUT);
+    i2c_slave_set_frequency(i2c, frequency);
+
+    if (!i2c_slave_check_line_state(sda, scl)) {
+        log_e("bad pin state");
+        ret = ESP_FAIL;
+        goto fail;
+    }
+
+    i2c_slave_attach_gpio(i2c, sda, scl);
+
+    if (i2c_ll_is_bus_busy(i2c->dev)) {
+        log_w("Bus busy, reinit");
+        ret = ESP_FAIL;
+        goto fail;
+    }
+
+    i2c_ll_disable_intr_mask(i2c->dev, I2C_LL_INTR_MASK);
+    i2c_ll_clr_intsts_mask(i2c->dev, I2C_LL_INTR_MASK);
+    i2c_ll_set_fifo_mode(i2c->dev, true);
+
+    if (!i2c->intr_handle) {
+        uint32_t flags = ESP_INTR_FLAG_LOWMED | ESP_INTR_FLAG_SHARED;
+        if(i2c->num == 0) {
+            ret = esp_intr_alloc(ETS_I2C_EXT0_INTR_SOURCE, flags, &i2c_slave_isr_handler, i2c, &i2c->intr_handle);
+#if SOC_I2C_NUM > 1
+        } else {
+            ret = esp_intr_alloc(ETS_I2C_EXT1_INTR_SOURCE, flags, &i2c_slave_isr_handler, i2c, &i2c->intr_handle);
+#endif
+        }
+
+        if (ret != ESP_OK) {
+            log_e("install interrupt handler Failed=%d", ret);
+            goto fail;
+        }
+    }
+    
+    i2c_ll_txfifo_rst(i2c->dev);
+    i2c_ll_rxfifo_rst(i2c->dev);
+    i2c_ll_slave_enable_rx_it(i2c->dev);
+    i2c_ll_set_stretch(i2c->dev, 0x3FF);
+    i2c_ll_update(i2c->dev);
+    I2C_SLAVE_MUTEX_UNLOCK();
+    return ret;
+
+fail:
+    i2c_slave_free_resources(i2c);
+    I2C_SLAVE_MUTEX_UNLOCK();
+    return ret;
+}
+
+esp_err_t i2cSlaveDeinit(uint8_t num){
+    if(num >= SOC_I2C_NUM){
+        log_e("Invalid port num: %u", num);
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    i2c_slave_struct_t * i2c = &_i2c_bus_array[num];
+    if(!i2c->lock){
+        log_e("Lock is not initialized! Did you call i2c_slave_init()?");
+        return ESP_ERR_NO_MEM;
+    }
+    I2C_SLAVE_MUTEX_LOCK();
+    i2c_slave_free_resources(i2c);
+    I2C_SLAVE_MUTEX_UNLOCK();
+    return ESP_OK;
+}
+
+size_t i2cSlaveWrite(uint8_t num, const uint8_t *buf, uint32_t len, uint32_t timeout_ms) {
+    if(num >= SOC_I2C_NUM){
+        log_e("Invalid port num: %u", num);
+        return 0;
+    }
+    size_t to_queue = 0, to_fifo = 0;
+    i2c_slave_struct_t * i2c = &_i2c_bus_array[num];
+    if(!i2c->lock){
+        log_e("Lock is not initialized! Did you call i2c_slave_init()?");
+        return ESP_ERR_NO_MEM;
+    }
+    if(!i2c->tx_queue){
+        return 0;
+    }
+    I2C_SLAVE_MUTEX_LOCK();
+#if CONFIG_IDF_TARGET_ESP32
+    //make sure that tx is idle
+    uint64_t tout_at = esp_timer_get_time() + (timeout_ms * 1000);
+    while(i2c_ll_slave_addressed(i2c->dev) && i2c_ll_slave_rw(i2c->dev)) {
+        // ongoing MASTER READ
+        //wait up to timeout_ms for current transaction to finish
+        vTaskDelay(2);
+        if((uint64_t)esp_timer_get_time() >= tout_at){
+            log_e("TX IDLE WAIT TIMEOUT!");
+            I2C_SLAVE_MUTEX_UNLOCK();
+            return 0;
+        }
+    }
+    i2c_ll_slave_disable_tx_it(i2c->dev);
+    if (i2c_ll_get_txfifo_len(i2c->dev) < SOC_I2C_FIFO_LEN) {
+        i2c_ll_txfifo_rst(i2c->dev);
+    }
+#endif
+    to_fifo = i2c_ll_get_txfifo_len(i2c->dev);
+    if(len < to_fifo){
+        to_fifo = len;
+    }
+    i2c_ll_write_txfifo(i2c->dev, (uint8_t*)buf, to_fifo);
+    buf += to_fifo;
+    len -= to_fifo;
+    //reset tx_queue
+    xQueueReset(i2c->tx_queue);
+    //write the rest of the bytes to the queue
+    if(len){
+        to_queue = uxQueueSpacesAvailable(i2c->tx_queue);
+        if(len < to_queue){
+            to_queue = len;
+        }
+        for (size_t i = 0; i < to_queue; i++) {
+            if (xQueueSend(i2c->tx_queue, &buf[i], timeout_ms / portTICK_RATE_MS) != pdTRUE) {
+                xQueueReset(i2c->tx_queue);
+                to_queue = 0;
+                break;
+            }
+        }
+        //no need to enable TX_EMPTY if tx_queue is empty
+        if(to_queue){
+            i2c_ll_slave_enable_tx_it(i2c->dev);
+        }
+    }
+    I2C_SLAVE_MUTEX_UNLOCK();
+    return to_queue + to_fifo;
+}
+
+//=====================================================================================================================
+//-------------------------------------- Private Functions ------------------------------------------------------------
+//=====================================================================================================================
+
+static void i2c_slave_free_resources(i2c_slave_struct_t * i2c){
+    i2c_slave_detach_gpio(i2c);
+    i2c_ll_set_slave_addr(i2c->dev, 0, false);
+    i2c_ll_disable_intr_mask(i2c->dev, I2C_LL_INTR_MASK);
+    i2c_ll_clr_intsts_mask(i2c->dev, I2C_LL_INTR_MASK);
+
+    if (i2c->intr_handle) {
+        esp_intr_free(i2c->intr_handle);
+        i2c->intr_handle = NULL;
+    }
+
+    if(i2c->task_handle){
+        vTaskDelete(i2c->task_handle);
+        i2c->task_handle = NULL;
+    }
+
+#if I2C_SLAVE_USE_RX_QUEUE
+    if (i2c->rx_queue) {
+        vQueueDelete(i2c->rx_queue);
+        i2c->rx_queue = NULL;
+    }
+#else
+    if (i2c->rx_ring_buf) {
+        vRingbufferDelete(i2c->rx_ring_buf);
+        i2c->rx_ring_buf = NULL;
+    }
+#endif
+
+    if (i2c->tx_queue) {
+        vQueueDelete(i2c->tx_queue);
+        i2c->tx_queue = NULL;
+    }
+
+    if (i2c->event_queue) {
+        vQueueDelete(i2c->event_queue);
+        i2c->event_queue = NULL;
+    }
+
+    i2c->rx_data_count = 0;
+}
+
+static bool i2c_slave_set_frequency(i2c_slave_struct_t * i2c, uint32_t clk_speed)
+{
+    if (i2c == NULL) {
+        log_e("no control buffer");
+        return false;
+    }
+    if(clk_speed > 1100000UL){
+        clk_speed = 1100000UL;
+    }
+
+    // Adjust Fifo thresholds based on frequency
+    uint32_t a = (clk_speed / 50000L) + 2;
+    log_d("Fifo thresholds: rx_fifo_full = %d, tx_fifo_empty = %d", SOC_I2C_FIFO_LEN - a, a);
+
+    i2c_clk_cal_t clk_cal;
+#if SOC_I2C_SUPPORT_APB
+    i2c_ll_cal_bus_clk(APB_CLK_FREQ, clk_speed, &clk_cal);
+    i2c_ll_set_source_clk(i2c->dev, I2C_SCLK_APB);            /*!< I2C source clock from APB, 80M*/
+#elif SOC_I2C_SUPPORT_XTAL
+    i2c_ll_cal_bus_clk(XTAL_CLK_FREQ, clk_speed, &clk_cal);
+    i2c_ll_set_source_clk(i2c->dev, I2C_SCLK_XTAL);           /*!< I2C source clock from XTAL, 40M */
+#endif
+    i2c_ll_set_txfifo_empty_thr(i2c->dev, a);
+    i2c_ll_set_rxfifo_full_thr(i2c->dev, SOC_I2C_FIFO_LEN - a);
+    i2c_ll_set_bus_timing(i2c->dev, &clk_cal);
+    i2c_ll_set_filter(i2c->dev, 3);
+    return true;
+}
+
+static void i2c_slave_delay_us(uint64_t us)
+{
+    uint64_t m = esp_timer_get_time();
+    if (us) {
+        uint64_t e = (m + us);
+        if (m > e) { //overflow
+            while ((uint64_t)esp_timer_get_time() > e);
+        }
+        while ((uint64_t)esp_timer_get_time() < e);
+    }
+}
+
+static void i2c_slave_gpio_mode(int8_t pin, gpio_mode_t mode)
+{
+    gpio_config_t conf = {
+        .pin_bit_mask = 1LL << pin,
+        .mode = mode,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+    gpio_config(&conf);
+}
+
+static bool i2c_slave_check_line_state(int8_t sda, int8_t scl)
+{
+    if (sda < 0 || scl < 0) {
+        return false;//return false since there is nothing to do
+    }
+    // if the bus is not 'clear' try the cycling SCL until SDA goes High or 9 cycles
+    gpio_set_level(sda, 1);
+    gpio_set_level(scl, 1);
+    i2c_slave_gpio_mode(sda, GPIO_MODE_INPUT | GPIO_MODE_DEF_OD);
+    i2c_slave_gpio_mode(scl, GPIO_MODE_INPUT | GPIO_MODE_DEF_OD);
+    gpio_set_level(scl, 1);
+
+    if (!gpio_get_level(sda) || !gpio_get_level(scl)) { // bus in busy state
+        log_w("invalid state sda(%d)=%d, scl(%d)=%d", sda, gpio_get_level(sda), scl, gpio_get_level(scl));
+        for (uint8_t a=0; a<9; a++) {
+            i2c_slave_delay_us(5);
+            if (gpio_get_level(sda) && gpio_get_level(scl)) { // bus recovered
+                log_w("Recovered after %d Cycles",a);
+                gpio_set_level(sda,0); // start
+                i2c_slave_delay_us(5);
+                for (uint8_t a=0;a<9; a++) {
+                    gpio_set_level(scl,1);
+                    i2c_slave_delay_us(5);
+                    gpio_set_level(scl,0);
+                    i2c_slave_delay_us(5);
+                }
+                gpio_set_level(scl,1);
+                i2c_slave_delay_us(5);
+                gpio_set_level(sda,1); // stop
+                break;
+            }
+            gpio_set_level(scl, 0);
+            i2c_slave_delay_us(5);
+            gpio_set_level(scl, 1);
+        }
+    }
+
+    if (!gpio_get_level(sda) || !gpio_get_level(scl)) { // bus in busy state
+        log_e("Bus Invalid State, Can't init sda=%d, scl=%d",gpio_get_level(sda),gpio_get_level(scl));
+        return false; // bus is busy
+    }
+    return true;
+}
+
+static bool i2c_slave_attach_gpio(i2c_slave_struct_t * i2c, int8_t sda, int8_t scl)
+{
+    if (i2c == NULL) {
+        log_e("no control block");
+        return false;
+    }
+    
+    if ((sda < 0)||( scl < 0)) {
+        log_e("bad pins sda=%d, scl=%d",sda,scl);
+        return false;
+    }
+
+    i2c->scl = scl;
+    gpio_set_level(scl, 1);
+    i2c_slave_gpio_mode(scl, GPIO_MODE_INPUT_OUTPUT_OD);
+    gpio_matrix_out(scl, I2C_SCL_IDX(i2c->num), false, false);
+    gpio_matrix_in(scl, I2C_SCL_IDX(i2c->num), false);
+
+    i2c->sda = sda;
+    gpio_set_level(sda, 1);
+    i2c_slave_gpio_mode(sda, GPIO_MODE_INPUT_OUTPUT_OD);
+    gpio_matrix_out(sda, I2C_SDA_IDX(i2c->num), false, false);
+    gpio_matrix_in(sda, I2C_SDA_IDX(i2c->num), false);
+
+    return true;
+}
+
+static bool i2c_slave_detach_gpio(i2c_slave_struct_t * i2c)
+{
+    if (i2c == NULL) {
+        log_e("no control Block");
+        return false;
+    }
+    if (i2c->scl >= 0) {
+        gpio_matrix_out(i2c->scl, 0x100, false, false);
+        gpio_matrix_in(0x30, I2C_SCL_IDX(i2c->num), false);
+        i2c_slave_gpio_mode(i2c->scl, GPIO_MODE_INPUT);
+        i2c->scl = -1; // un attached
+    }
+    if (i2c->sda >= 0) {
+        gpio_matrix_out(i2c->sda, 0x100, false, false);
+        gpio_matrix_in(0x30, I2C_SDA_IDX(i2c->num), false);
+        i2c_slave_gpio_mode(i2c->sda, GPIO_MODE_INPUT);
+        i2c->sda = -1; // un attached
+    }
+    return true;
+}
+
+static bool i2c_slave_send_event(i2c_slave_struct_t * i2c, i2c_slave_queue_event_t* event)
+{
+    bool pxHigherPriorityTaskWoken = false;
+    if(i2c->event_queue) {
+        if(xQueueSendFromISR(i2c->event_queue, event, (BaseType_t * const)&pxHigherPriorityTaskWoken) != pdTRUE){
+            //log_e("event_queue_full");
+        }
+    }
+    return pxHigherPriorityTaskWoken;
+}
+
+static bool i2c_slave_handle_tx_fifo_empty(i2c_slave_struct_t * i2c)
+{
+    bool pxHigherPriorityTaskWoken = false;
+    uint32_t d = 0, moveCnt = i2c_ll_get_txfifo_len(i2c->dev);
+    while (moveCnt > 0) { // read tx queue until Fifo is full or queue is empty
+        if(xQueueReceiveFromISR(i2c->tx_queue, &d, (BaseType_t * const)&pxHigherPriorityTaskWoken) == pdTRUE){
+            i2c_ll_write_txfifo(i2c->dev, (uint8_t*)&d, 1);
+            moveCnt--;
+        } else {
+            i2c_ll_slave_disable_tx_it(i2c->dev);
+            break;
+        }
+    }
+    return pxHigherPriorityTaskWoken;
+}
+
+static bool i2c_slave_handle_rx_fifo_full(i2c_slave_struct_t * i2c, uint32_t len)
+{
+#if I2C_SLAVE_USE_RX_QUEUE
+    uint32_t d = 0;
+#else
+    uint8_t data[SOC_I2C_FIFO_LEN];
+#endif
+    bool pxHigherPriorityTaskWoken = false;
+#if I2C_SLAVE_USE_RX_QUEUE
+    while (len > 0) {
+        i2c_ll_read_rxfifo(i2c->dev, (uint8_t*)&d, 1);
+        if(xQueueSendFromISR(i2c->rx_queue, &d, (BaseType_t * const)&pxHigherPriorityTaskWoken) != pdTRUE){
+            log_e("rx_queue_full");
+        } else {
+            i2c->rx_data_count++;
+        }
+        if (--len == 0) {
+            len = i2c_ll_get_rxfifo_cnt(i2c->dev);
+        }
+#else
+    if(len){
+        i2c_ll_read_rxfifo(i2c->dev, data, len);
+        if(xRingbufferSendFromISR(i2c->rx_ring_buf, (void*) data, len, (BaseType_t * const)&pxHigherPriorityTaskWoken) != pdTRUE){
+            log_e("rx_ring_buf_full");
+        } else {
+            i2c->rx_data_count += len;
+        }
+#endif
+    }
+    return pxHigherPriorityTaskWoken;
+}
+
+static void i2c_slave_isr_handler(void* arg)
+{
+    bool pxHigherPriorityTaskWoken = false;
+    i2c_slave_struct_t * i2c = (i2c_slave_struct_t *) arg; // recover data
+
+    uint32_t activeInt = i2c_ll_get_intsts_mask(i2c->dev);
+    i2c_ll_clr_intsts_mask(i2c->dev, activeInt);
+    uint8_t rx_fifo_len = i2c_ll_get_rxfifo_cnt(i2c->dev);
+    uint8_t tx_fifo_len = SOC_I2C_FIFO_LEN - i2c_ll_get_txfifo_len(i2c->dev);
+    bool slave_rw = i2c_ll_slave_rw(i2c->dev);
+
+    if(activeInt & I2C_RXFIFO_WM_INT_ENA){ // RX FiFo Full
+        pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo_full(i2c, rx_fifo_len);
+        i2c_ll_slave_enable_rx_it(i2c->dev);//is this necessary?
+    }
+
+    if(activeInt & I2C_TRANS_COMPLETE_INT_ENA){ // STOP
+        if(rx_fifo_len){ //READ RX FIFO
+            pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo_full(i2c, rx_fifo_len);
+        }
+        if(i2c->rx_data_count){ //WRITE or RepeatedStart
+            //SEND RX Event
+            i2c_slave_queue_event_t event;
+            event.event = I2C_SLAVE_EVT_RX;
+            event.stop = !slave_rw;
+            event.param = i2c->rx_data_count;
+            pxHigherPriorityTaskWoken |= i2c_slave_send_event(i2c, &event);
+            //Zero RX count
+            i2c->rx_data_count = 0;
+        }
+        if(slave_rw){ // READ
+#if CONFIG_IDF_TARGET_ESP32
+            //SEND TX Event
+            i2c_slave_queue_event_t event;
+            event.event = I2C_SLAVE_EVT_TX;
+            pxHigherPriorityTaskWoken |= i2c_slave_send_event(i2c, &event);
+#else
+            //reset TX data
+            i2c_ll_txfifo_rst(i2c->dev);
+            uint8_t d;
+            while (xQueueReceiveFromISR(i2c->tx_queue, &d, (BaseType_t * const)&pxHigherPriorityTaskWoken) == pdTRUE) ;//flush partial write
+#endif
+        }
+    }
+
+#ifndef CONFIG_IDF_TARGET_ESP32
+    if(activeInt & I2C_SLAVE_STRETCH_INT_ENA){ // STRETCH
+        i2c_stretch_cause_t cause = i2c_ll_stretch_cause(i2c->dev);
+        if(cause == I2C_STRETCH_CAUSE_MASTER_READ){
+            //on C3 RX data dissapears with repeated start, so we need to get it here
+            if(rx_fifo_len){
+                pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo_full(i2c, rx_fifo_len);
+            }
+            //SEND TX Event
+            i2c_slave_queue_event_t event;
+            event.event = I2C_SLAVE_EVT_TX;
+            pxHigherPriorityTaskWoken |= i2c_slave_send_event(i2c, &event);
+            //will clear after execution
+        } else if(cause == I2C_STRETCH_CAUSE_TX_FIFO_EMPTY){
+            pxHigherPriorityTaskWoken |= i2c_slave_handle_tx_fifo_empty(i2c);
+            i2c_ll_stretch_clr(i2c->dev);
+        } else if(cause == I2C_STRETCH_CAUSE_RX_FIFO_FULL){
+            pxHigherPriorityTaskWoken |= i2c_slave_handle_rx_fifo_full(i2c, rx_fifo_len);
+            i2c_ll_stretch_clr(i2c->dev);
+        }
+    }
+#endif
+
+    if(activeInt & I2C_TXFIFO_WM_INT_ENA){ // TX FiFo Empty
+        pxHigherPriorityTaskWoken |= i2c_slave_handle_tx_fifo_empty(i2c);
+    }
+
+    if(pxHigherPriorityTaskWoken){
+        portYIELD_FROM_ISR();
+    }
+}
+
+static size_t i2c_slave_read_rx(i2c_slave_struct_t * i2c, uint8_t * data, size_t len){
+    if(!len){
+        return 0;
+    }
+#if I2C_SLAVE_USE_RX_QUEUE
+    uint8_t d = 0;
+    BaseType_t res = pdTRUE;
+    for(size_t i=0; i<len; i++) {
+        if(data){
+            res = xQueueReceive(i2c->rx_queue, &data[i], 0);
+        } else {
+            res = xQueueReceive(i2c->rx_queue, &d, 0);
+        }
+        if (res != pdTRUE) {
+            log_e("Read Queue(%u) Failed", i);
+            len = i;
+            break;
+        }
+    }
+    return (data)?len:0;
+#else
+    size_t  dlen = 0, 
+            to_read = len, 
+            so_far = 0, 
+            available = 0;
+    uint8_t * rx_data = NULL;
+
+    vRingbufferGetInfo(i2c->rx_ring_buf, NULL, NULL, NULL, NULL, &available);
+    if(available < to_read){
+        log_e("Less available than requested. %u < %u", available, len);
+        to_read = available;
+    }
+
+    while(to_read){
+        dlen = 0;
+        rx_data = (uint8_t *)xRingbufferReceiveUpTo(i2c->rx_ring_buf, &dlen, 0, to_read);
+        if(!rx_data){
+            log_e("Receive %u Failed", to_read);
+            return so_far;
+        }
+        if(data){
+            memcpy(data+so_far, rx_data, dlen);
+        }
+        vRingbufferReturnItem(i2c->rx_ring_buf, rx_data);
+        so_far+=dlen;
+        to_read-=dlen;
+    }
+    return (data)?so_far:0;
+#endif
+}
+
+static void i2c_slave_task(void *pv_args)
+{
+    i2c_slave_struct_t * i2c = (i2c_slave_struct_t *)pv_args;
+    i2c_slave_queue_event_t event;
+    size_t len = 0;
+    bool stop = false;
+    uint8_t * data = NULL;
+    for(;;){
+        if(xQueueReceive(i2c->event_queue, &event, portMAX_DELAY) == pdTRUE){
+            // Write
+            if(event.event == I2C_SLAVE_EVT_RX){
+                len = event.param;
+                stop = event.stop;
+                data = (len > 0)?(uint8_t*)malloc(len):NULL;
+
+                if(len && data == NULL){
+                    log_e("Malloc (%u) Failed", len);
+                }
+                len = i2c_slave_read_rx(i2c, data, len);
+                if(i2c->receive_callback){
+                    i2c->receive_callback(i2c->num, data, len, stop, i2c->arg);
+                }
+                free(data);
+
+            // Read
+            } else if(event.event == I2C_SLAVE_EVT_TX){
+                if(i2c->request_callback){
+                    i2c->request_callback(i2c->num, i2c->arg);
+                }
+                i2c_ll_stretch_clr(i2c->dev);
+            }
+        }
+    }
+    vTaskDelete(NULL);
+}

cores/esp32/esp32-hal-i2c-slave.h

@@ -0,0 +1,35 @@
+// Copyright 2015-2021 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stdint.h"
+#include "stddef.h"
+#include "esp_err.h"
+
+typedef void (*i2c_slave_request_cb_t) (uint8_t num, void * arg);
+typedef void (*i2c_slave_receive_cb_t) (uint8_t num, uint8_t * data, size_t len, bool stop, void * arg);
+esp_err_t i2cSlaveAttachCallbacks(uint8_t num, i2c_slave_request_cb_t request_callback, i2c_slave_receive_cb_t receive_callback, void * arg);
+
+esp_err_t i2cSlaveInit(uint8_t num, int sda, int scl, uint16_t slaveID, uint32_t frequency, size_t rx_len, size_t tx_len);
+esp_err_t i2cSlaveDeinit(uint8_t num);
+size_t i2cSlaveWrite(uint8_t num, const uint8_t *buf, uint32_t len, uint32_t timeout_ms);
+
+#ifdef __cplusplus
+}
+#endif

cores/esp32/esp32-hal-i2c.h

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 // modified Nov 2017 by Chuck Todd <StickBreaker> to support Interrupt Driven I/O
+// modified Nov 2021 by Hristo Gochkov <Me-No-Dev> to support ESP-IDF API
 
 #ifndef _ESP32_HAL_I2C_H_
 #define _ESP32_HAL_I2C_H_
@@ -22,58 +23,16 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
-#include "freertos/FreeRTOS.h"
-#include "freertos/event_groups.h"
+#include <esp_err.h>
 
-// External Wire.h equivalent error Codes
-typedef enum {
-    I2C_ERROR_OK=0,
-    I2C_ERROR_DEV,
-    I2C_ERROR_ACK,
-    I2C_ERROR_TIMEOUT,
-    I2C_ERROR_BUS,
-    I2C_ERROR_BUSY,
-    I2C_ERROR_MEMORY,
-    I2C_ERROR_CONTINUE,
-    I2C_ERROR_NO_BEGIN
-} i2c_err_t;
-
-struct i2c_struct_t;
-typedef struct i2c_struct_t i2c_t;
-
-i2c_t * i2cInit(uint8_t i2c_num, int8_t sda, int8_t scl, uint32_t clk_speed);
-void i2cRelease(i2c_t *i2c); // free ISR, Free DQ, Power off peripheral clock.  Must call i2cInit() to recover
-i2c_err_t i2cWrite(i2c_t * i2c, uint16_t address, uint8_t* buff, uint16_t size, bool sendStop, uint16_t timeOutMillis);
-i2c_err_t i2cRead(i2c_t * i2c, uint16_t address, uint8_t* buff, uint16_t size, bool sendStop, uint16_t timeOutMillis, uint32_t *readCount);
-i2c_err_t i2cFlush(i2c_t *i2c);
-i2c_err_t i2cSetFrequency(i2c_t * i2c, uint32_t clk_speed);
-uint32_t i2cGetFrequency(i2c_t * i2c);
-uint32_t i2cGetStatus(i2c_t * i2c); // Status register of peripheral
-
-//Functions below should be used only if well understood
-//Might be deprecated and removed in future
-i2c_err_t i2cAttachSCL(i2c_t * i2c, int8_t scl);
-i2c_err_t i2cDetachSCL(i2c_t * i2c, int8_t scl);
-i2c_err_t i2cAttachSDA(i2c_t * i2c, int8_t sda);
-i2c_err_t i2cDetachSDA(i2c_t * i2c, int8_t sda);
-
-//Stickbreakers ISR Support
-i2c_err_t i2cProcQueue(i2c_t *i2c, uint32_t *readCount, uint16_t timeOutMillis);
-i2c_err_t i2cAddQueueWrite(i2c_t *i2c, uint16_t i2cDeviceAddr, uint8_t *dataPtr, uint16_t dataLen, bool SendStop, EventGroupHandle_t event);
-i2c_err_t i2cAddQueueRead(i2c_t *i2c, uint16_t i2cDeviceAddr, uint8_t *dataPtr, uint16_t dataLen, bool SendStop, EventGroupHandle_t event);
-
-//stickbreaker debug support
-uint32_t i2cDebug(i2c_t *, uint32_t setBits, uint32_t resetBits);
-//  Debug actions have 3 currently defined locus 
-// 0xXX------ : at entry of ProcQueue 
-// 0x--XX---- : at exit of ProcQueue
-// 0x------XX : at entry of Flush
-// 
-// bit 0 causes DumpI2c to execute 
-// bit 1 causes DumpInts to execute
-// bit 2 causes DumpCmdqueue to execute
-// bit 3 causes DumpStatus to execute
-// bit 4 causes DumpFifo to execute
+esp_err_t i2cInit(uint8_t i2c_num, int8_t sda, int8_t scl, uint32_t clk_speed);
+esp_err_t i2cDeinit(uint8_t i2c_num);
+esp_err_t i2cSetClock(uint8_t i2c_num, uint32_t frequency);
+esp_err_t i2cGetClock(uint8_t i2c_num, uint32_t * frequency);
+esp_err_t i2cWrite(uint8_t i2c_num, uint16_t address, const uint8_t* buff, size_t size, uint32_t timeOutMillis);
+esp_err_t i2cRead(uint8_t i2c_num, uint16_t address, uint8_t* buff, size_t size, uint32_t timeOutMillis, size_t *readCount);
+esp_err_t i2cWriteReadNonStop(uint8_t i2c_num, uint16_t address, const uint8_t* wbuff, size_t wsize, uint8_t* rbuff, size_t rsize, uint32_t timeOutMillis, size_t *readCount);
+bool i2cIsInit(uint8_t i2c_num);
 
 #ifdef __cplusplus
 }

cores/esp32/esp32-hal-ledc.c

@@ -13,45 +13,25 @@
 // limitations under the License.
 
 #include "esp32-hal.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-#include "esp32-hal-matrix.h"
-#include "soc/ledc_reg.h"
-#include "soc/ledc_struct.h"
-#include "driver/periph_ctrl.h"
+#include "soc/soc_caps.h"
+#include "driver/ledc.h"
 
-#include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "soc/dport_reg.h"
-#include "esp32/rom/ets_sys.h"
-#define LAST_CHAN (15)
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "soc/dport_reg.h"
-#include "esp32s2/rom/ets_sys.h"
-#define LAST_CHAN (7)
-#define LEDC_DIV_NUM_HSTIMER0_V LEDC_CLK_DIV_LSTIMER0_V
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/ets_sys.h"
-#define LAST_CHAN (7)
-#define LEDC_DIV_NUM_HSTIMER0_V LEDC_CLK_DIV_LSTIMER0_V
+#ifdef SOC_LEDC_SUPPORT_HS_MODE
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM<<1)
 #else
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/ets_sys.h"
+#define LEDC_CHANNELS           (SOC_LEDC_CHANNEL_NUM)
 #endif
 
-#if CONFIG_DISABLE_HAL_LOCKS
-#define LEDC_MUTEX_LOCK()
-#define LEDC_MUTEX_UNLOCK()
+//Use XTAL clock if possible to avoid timer frequency error when setting APB clock < 80 Mhz
+//Need to be fixed in ESP-IDF
+#ifdef SOC_LEDC_SUPPORT_XTAL_CLOCK
+#define LEDC_DEFAULT_CLK        LEDC_USE_XTAL_CLK
 #else
-#define LEDC_MUTEX_LOCK()    do {} while (xSemaphoreTake(_ledc_sys_lock, portMAX_DELAY) != pdPASS)
-#define LEDC_MUTEX_UNLOCK()  xSemaphoreGive(_ledc_sys_lock)
-xSemaphoreHandle _ledc_sys_lock = NULL;
+#define LEDC_DEFAULT_CLK        LEDC_AUTO_CLK
 #endif
 
+#define LEDC_MAX_BIT_WIDTH      SOC_LEDC_TIMER_BIT_WIDE_NUM
+
 /*
  * LEDC Chan to Group/Channel/Timer Mapping
 ** ledc: 0  => Group: 0, Channel: 0, Timer: 0
@@ -71,203 +51,55 @@ xSemaphoreHandle _ledc_sys_lock = NULL;
 ** ledc: 14 => Group: 1, Channel: 6, Timer: 3
 ** ledc: 15 => Group: 1, Channel: 7, Timer: 3
 */
-#define LEDC_CHAN(g,c) LEDC.channel_group[(g)].channel[(c)]
-#define LEDC_TIMER(g,t) LEDC.timer_group[(g)].timer[(t)]
 
-static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb, uint32_t new_apb){
-    if(ev_type == APB_AFTER_CHANGE && old_apb != new_apb){
-        uint16_t iarg = *(uint16_t*)arg;
-        uint8_t chan = 0;
-        old_apb /= 1000000;
-        new_apb /= 1000000;
-        while(iarg){ // run though all active channels, adjusting timing configurations
-            if(iarg & 1) {// this channel is active
-                uint8_t group=(chan/8), timer=((chan/2)%4);
-                if(LEDC_TIMER(group, timer).conf.tick_sel){
-                    LEDC_MUTEX_LOCK();
-                    uint32_t old_div = LEDC_TIMER(group, timer).conf.clock_divider;
-                    uint32_t div_num = (new_apb * old_div) / old_apb;
-                    if(div_num > LEDC_DIV_NUM_HSTIMER0_V){
-                        div_num = ((REF_CLK_FREQ /1000000) * old_div) / old_apb;
-                        if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-                            div_num = LEDC_DIV_NUM_HSTIMER0_V;//lowest clock possible
-                        }
-                        LEDC_TIMER(group, timer).conf.tick_sel = 0;
-                    } else if(div_num < 256) {
-                        div_num = 256;//highest clock possible
-                    }
-                    LEDC_TIMER(group, timer).conf.clock_divider = div_num;
-                    LEDC_MUTEX_UNLOCK();
-                }
-                else {
-                    log_d("using REF_CLK chan=%d",chan);
-                }
-            }
-            iarg = iarg >> 1;
-            chan++;
-        }
-    }
-}
-
-//uint32_t frequency = (80MHz or 1MHz)/((div_num / 256.0)*(1 << bit_num));
-static void _ledcSetupTimer(uint8_t chan, uint32_t div_num, uint8_t bit_num, bool apb_clk)
-{
-    uint8_t group=(chan/8), timer=((chan/2)%4);
-    static bool tHasStarted = false;
-    static uint16_t _activeChannels = 0;
-#if CONFIG_IDF_TARGET_ESP32S2
-// ESP32-S2 TRM v1.0 on Page 789 -> BIT LEDC_TICK_SEL_TIMERx is 0 for LEDC_PWM_CLK and 1 for REF_TICK
-    apb_clk = 0;        
-#endif
-    if(!tHasStarted) {
-        tHasStarted = true;
-        periph_module_enable(PERIPH_LEDC_MODULE);
-        LEDC.conf.apb_clk_sel = 1;//LS use apb clock
-        addApbChangeCallback((void*)&_activeChannels, _on_apb_change);
-
-#if !CONFIG_DISABLE_HAL_LOCKS
-        _ledc_sys_lock = xSemaphoreCreateMutex();
-#endif
-    }
-    LEDC_MUTEX_LOCK();
-    LEDC_TIMER(group, timer).conf.clock_divider = div_num;//18 bit (10.8) This register is used to configure parameter for divider in timer the least significant eight bits represent the decimal part.
-    LEDC_TIMER(group, timer).conf.duty_resolution = bit_num;//5 bit This register controls the range of the counter in timer. the counter range is [0 2**bit_num] the max bit width for counter is 20.
-    LEDC_TIMER(group, timer).conf.tick_sel = apb_clk;//apb clock
-#if CONFIG_IDF_TARGET_ESP32
-    if(group) {
-#endif
-        LEDC_TIMER(group, timer).conf.low_speed_update = 1;//This bit is only useful for low speed timer channels, reserved for high speed timers
-#if CONFIG_IDF_TARGET_ESP32
-    }
-#endif
-    LEDC_TIMER(group, timer).conf.pause = 0;
-    LEDC_TIMER(group, timer).conf.rst = 1;//This bit is used to reset timer the counter will be 0 after reset.
-    LEDC_TIMER(group, timer).conf.rst = 0;
-    LEDC_MUTEX_UNLOCK();
-    _activeChannels |= (1 << chan); // mark as active for APB callback
-}
-
-//max div_num 0x3FFFF (262143)
-//max bit_num 0x1F (31)
-static double _ledcSetupTimerFreq(uint8_t chan, double freq, uint8_t bit_num)
-{
-    uint64_t clk_freq = getApbFrequency();
-    clk_freq <<= 8;//div_num is 8 bit decimal
-    uint32_t div_num = (clk_freq >> bit_num) / freq;
-    bool apb_clk = true;
-    if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-        clk_freq /= 80;
-        div_num = (clk_freq >> bit_num) / freq;
-        if(div_num > LEDC_DIV_NUM_HSTIMER0_V) {
-            div_num = LEDC_DIV_NUM_HSTIMER0_V;//lowest clock possible
-        }
-        apb_clk = false;
-    } else if(div_num < 256) {
-        div_num = 256;//highest clock possible
-    }
-    _ledcSetupTimer(chan, div_num, bit_num, apb_clk);
-    //log_i("Fin: %f, Fclk: %uMhz, bits: %u, DIV: %u, Fout: %f",
-    //        freq, apb_clk?80:1, bit_num, div_num, (clk_freq >> bit_num) / (double)div_num);
-    return (clk_freq >> bit_num) / (double)div_num;
-}
-
-static double _ledcTimerRead(uint8_t chan)
-{
-    uint32_t div_num;
-    uint8_t bit_num;
-    bool apb_clk;
-    uint8_t group=(chan/8), timer=((chan/2)%4);
-    LEDC_MUTEX_LOCK();
-    div_num = LEDC_TIMER(group, timer).conf.clock_divider;//18 bit (10.8) This register is used to configure parameter for divider in timer the least significant eight bits represent the decimal part.
-    bit_num = LEDC_TIMER(group, timer).conf.duty_resolution;//5 bit This register controls the range of the counter in timer. the counter range is [0 2**bit_num] the max bit width for counter is 20.
-    apb_clk = LEDC_TIMER(group, timer).conf.tick_sel;//apb clock
-    LEDC_MUTEX_UNLOCK();
-    uint64_t clk_freq = 1000000;
-    if(apb_clk) {
-        clk_freq = getApbFrequency();
-    }
-    clk_freq <<= 8;//div_num is 8 bit decimal
-    return (clk_freq >> bit_num) / (double)div_num;
-}
-
-static void _ledcSetupChannel(uint8_t chan, uint8_t idle_level)
-{
-    uint8_t group=(chan/8), channel=(chan%8), timer=((chan/2)%4);
-    LEDC_MUTEX_LOCK();
-    LEDC_CHAN(group, channel).conf0.timer_sel = timer;//2 bit Selects the timer to attach 0-3
-    LEDC_CHAN(group, channel).conf0.idle_lv = idle_level;//1 bit This bit is used to control the output value when channel is off.
-    LEDC_CHAN(group, channel).hpoint.hpoint = 0;//20 bit The output value changes to high when timer selected by channel has reached hpoint
-    LEDC_CHAN(group, channel).conf1.duty_inc = 1;//1 bit This register is used to increase the duty of output signal or decrease the duty of output signal for high speed channel
-    LEDC_CHAN(group, channel).conf1.duty_num = 1;//10 bit This register is used to control the number of increased or decreased times for channel
-    LEDC_CHAN(group, channel).conf1.duty_cycle = 1;//10 bit This register is used to increase or decrease the duty every duty_cycle cycles for channel
-    LEDC_CHAN(group, channel).conf1.duty_scale = 0;//10 bit This register controls the increase or decrease step scale for channel.
-    LEDC_CHAN(group, channel).duty.duty = 0;
-    LEDC_CHAN(group, channel).conf0.sig_out_en = 0;//This is the output enable control bit for channel
-    LEDC_CHAN(group, channel).conf1.duty_start = 0;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-    if(group) {
-#endif
-        LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-    } else {
-        LEDC_CHAN(group, channel).conf0.clk_en = 0;
-    }
-#endif
-    LEDC_MUTEX_UNLOCK();
-}
+uint8_t channels_resolution[LEDC_CHANNELS] = {0};
 
 double ledcSetup(uint8_t chan, double freq, uint8_t bit_num)
 {
-    if(chan > LAST_CHAN) {
+    if(chan >= LEDC_CHANNELS){
+        log_e("No more LEDC channels available! You can have maximum %u", LEDC_CHANNELS);
         return 0;
     }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, bit_num);
-    _ledcSetupChannel(chan, LOW);
-    return res_freq;
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = bit_num,
+        .freq_hz          = freq,
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = bit_num;
+
+    return ledc_get_freq(group,timer);
 }
 
 void ledcWrite(uint8_t chan, uint32_t duty)
 {
-    if(chan > LAST_CHAN) {
+    if(chan >= LEDC_CHANNELS){
         return;
     }
     uint8_t group=(chan/8), channel=(chan%8);
-    LEDC_MUTEX_LOCK();
-    LEDC_CHAN(group, channel).duty.duty = duty << 4;//25 bit (21.4)
-    if(duty) {
-        LEDC_CHAN(group, channel).conf0.sig_out_en = 1;//This is the output enable control bit for channel
-        LEDC_CHAN(group, channel).conf1.duty_start = 1;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-        if(group) {
-#endif
-            LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-        } else {
-            LEDC_CHAN(group, channel).conf0.clk_en = 1;
+
+    //Fixing if all bits in resolution is set = LEDC FULL ON
+    uint32_t max_duty = (1 << channels_resolution[chan]) - 1;
+
+    if(duty == max_duty){
+        duty = max_duty + 1;
     }
-#endif
-    } else {
-        LEDC_CHAN(group, channel).conf0.sig_out_en = 0;//This is the output enable control bit for channel
-        LEDC_CHAN(group, channel).conf1.duty_start = 0;//When duty_num duty_cycle and duty_scale has been configured. these register won't take effect until set duty_start. this bit is automatically cleared by hardware.
-#if CONFIG_IDF_TARGET_ESP32
-        if(group) {
-#endif
-            LEDC_CHAN(group, channel).conf0.low_speed_update = 1;
-#if CONFIG_IDF_TARGET_ESP32
-        } else {
-            LEDC_CHAN(group, channel).conf0.clk_en = 0;
-        }
-#endif
-    }
-    LEDC_MUTEX_UNLOCK();
+
+    ledc_set_duty(group, channel, duty);
+    ledc_update_duty(group, channel);
 }
 
 uint32_t ledcRead(uint8_t chan)
 {
-    if(chan > LAST_CHAN) {
+     if(chan >= LEDC_CHANNELS){
         return 0;
     }
-    return LEDC.channel_group[chan/8].channel[chan%8].duty.duty >> 4;
+    uint8_t group=(chan/8), channel=(chan%8);
+    return ledc_get_duty(group,channel);
 }
 
 double ledcReadFreq(uint8_t chan)
@@ -275,19 +107,33 @@ double ledcReadFreq(uint8_t chan)
     if(!ledcRead(chan)){
         return 0;
     }
-    return _ledcTimerRead(chan);
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+    return ledc_get_freq(group,timer);
 }
 
 double ledcWriteTone(uint8_t chan, double freq)
 {
-    if(chan > LAST_CHAN) {
+    if(chan >= LEDC_CHANNELS){
         return 0;
     }
     if(!freq){
         ledcWrite(chan, 0);
         return 0;
     }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, 10);
+
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = 10,
+        .freq_hz          = freq, 
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = 10;
+
+    double res_freq = ledc_get_freq(group,timer);
     ledcWrite(chan, 0x1FF);
     return res_freq;
 }
@@ -307,15 +153,21 @@ double ledcWriteNote(uint8_t chan, note_t note, uint8_t octave){
 
 void ledcAttachPin(uint8_t pin, uint8_t chan)
 {
-    if(chan > LAST_CHAN) {
+     if(chan >= LEDC_CHANNELS){
         return;
     }
-    pinMode(pin, OUTPUT);
-#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32C3
-    pinMatrixOutAttach(pin, LEDC_LS_SIG_OUT0_IDX + chan, false, false);
-#else
-    pinMatrixOutAttach(pin, ((chan/8)?LEDC_LS_SIG_OUT0_IDX:LEDC_HS_SIG_OUT0_IDX) + (chan%8), false, false);
-#endif
+    uint8_t group=(chan/8), channel=(chan%8), timer=((chan/2)%4);
+    
+    ledc_channel_config_t ledc_channel = {
+        .speed_mode     = group,
+        .channel        = channel,
+        .timer_sel      = timer,
+        .intr_type      = LEDC_INTR_DISABLE,
+        .gpio_num       = pin,
+        .duty           = 0,
+        .hpoint         = 0
+    };
+    ledc_channel_config(&ledc_channel);
 }
 
 void ledcDetachPin(uint8_t pin)
@@ -325,9 +177,38 @@ void ledcDetachPin(uint8_t pin)
 
 double ledcChangeFrequency(uint8_t chan, double freq, uint8_t bit_num)
 {
-    if (chan > 15) {
+     if(chan >= LEDC_CHANNELS){
         return 0;
     }
-    double res_freq = _ledcSetupTimerFreq(chan, freq, bit_num);
-    return res_freq;
+    uint8_t group=(chan/8), timer=((chan/2)%4);
+
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode       = group,
+        .timer_num        = timer,
+        .duty_resolution  = bit_num,
+        .freq_hz          = freq, 
+        .clk_cfg          = LEDC_DEFAULT_CLK
+    };
+    ledc_timer_config(&ledc_timer);
+    channels_resolution[chan] = bit_num;
+
+    return ledc_get_freq(group,timer);
+}
+
+static int8_t pin_to_channel[SOC_GPIO_PIN_COUNT] = { 0 };
+static int cnt_channel = LEDC_CHANNELS;
+void analogWrite(uint8_t pin, int value) {
+  // Use ledc hardware for internal pins
+  if (pin < SOC_GPIO_PIN_COUNT) {
+    if (pin_to_channel[pin] == 0) {
+      if (!cnt_channel) {
+          log_e("No more analogWrite channels available! You can have maximum %u", LEDC_CHANNELS);
+          return;
+      }
+      pin_to_channel[pin] = cnt_channel--;
+      ledcAttachPin(pin, cnt_channel);
+      ledcSetup(cnt_channel, 1000, 8);
+    }
+    ledcWrite(pin_to_channel[pin] - 1, value);
+  }
 }

cores/esp32/esp32-hal-log.h

@@ -99,9 +99,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_v(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_VERBOSE);}while(0)
 #endif
 #else
-#define log_v(format, ...)
-#define isr_log_v(format, ...)
-#define log_buf_v(b,l)
+#define log_v(format, ...)  do {} while(0)
+#define isr_log_v(format, ...)  do {} while(0)
+#define log_buf_v(b,l)  do {} while(0)
 #endif
 
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_DEBUG
@@ -115,9 +115,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_d(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_DEBUG);}while(0)
 #endif
 #else
-#define log_d(format, ...)
-#define isr_log_d(format, ...)
-#define log_buf_d(b,l)
+#define log_d(format, ...)  do {} while(0)
+#define isr_log_d(format, ...) do {} while(0)
+#define log_buf_d(b,l) do {} while(0)
 #endif
 
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_INFO
@@ -131,9 +131,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_i(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_INFO);}while(0)
 #endif
 #else
-#define log_i(format, ...)
-#define isr_log_i(format, ...)
-#define log_buf_i(b,l)
+#define log_i(format, ...) do {} while(0)
+#define isr_log_i(format, ...) do {} while(0)
+#define log_buf_i(b,l) do {} while(0)
 #endif
 
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_WARN
@@ -147,9 +147,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_w(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_WARN);}while(0)
 #endif
 #else
-#define log_w(format, ...)
-#define isr_log_w(format, ...)
-#define log_buf_w(b,l)
+#define log_w(format, ...) do {} while(0)
+#define isr_log_w(format, ...) do {} while(0)
+#define log_buf_w(b,l) do {} while(0)
 #endif
 
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_ERROR
@@ -163,9 +163,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_e(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_ERROR);}while(0)
 #endif
 #else
-#define log_e(format, ...)
-#define isr_log_e(format, ...)
-#define log_buf_e(b,l)
+#define log_e(format, ...) do {} while(0)
+#define isr_log_e(format, ...) do {} while(0)
+#define log_buf_e(b,l) do {} while(0)
 #endif
 
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_NONE
@@ -179,9 +179,9 @@ void log_print_buf(const uint8_t *b, size_t len);
 #define log_buf_n(b,l) do {ESP_LOG_BUFFER_HEXDUMP(TAG, b, l, ESP_LOG_ERROR);}while(0)
 #endif
 #else
-#define log_n(format, ...)
-#define isr_log_n(format, ...)
-#define log_buf_n(b,l)
+#define log_n(format, ...) do {} while(0)
+#define isr_log_n(format, ...) do {} while(0)
+#define log_buf_n(b,l) do {} while(0)
 #endif
 
 #include "esp_log.h"

cores/esp32/esp32-hal-rmt.h

@@ -25,6 +25,9 @@ extern "C" {
 #define RMT_FLAG_ERROR       (4)
 #define RMT_FLAGS_ALL        (RMT_FLAG_TX_DONE | RMT_FLAG_RX_DONE | RMT_FLAG_ERROR)
 
+#define RMT_TX_MODE      true
+#define RMT_RX_MODE      false
+
 struct rmt_obj_s;
 
 typedef enum {
@@ -54,6 +57,13 @@ typedef struct {
     };
 } rmt_data_t;
 
+
+/**
+*    Prints object information
+*
+*/
+void _rmtDumpStatus(rmt_obj_t* rmt);
+
 /**
 *    Initialize the object
 *
@@ -69,10 +79,17 @@ float rmtSetTick(rmt_obj_t* rmt, float tick);
 /**
 *    Sending data in one-go mode or continual mode
 *     (more data being send while updating buffers in interrupts)
-*
+*    Non-Blocking mode - returns right after executing
 */
 bool rmtWrite(rmt_obj_t* rmt, rmt_data_t* data, size_t size);
 
+/**
+*    Sending data in one-go mode or continual mode
+*     (more data being send while updating buffers in interrupts)
+*    Blocking mode - only returns when data has been sent
+*/
+bool rmtWriteBlocking(rmt_obj_t* rmt, rmt_data_t* data, size_t size);
+
 /**
 *    Loop data up to the reserved memsize continuously
 *

cores/esp32/esp32-hal-sigmadelta.c

@@ -12,38 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
+
 #include "esp32-hal.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-#include "esp32-hal-matrix.h"
-#include "soc/gpio_sd_reg.h"
-#include "soc/gpio_sd_struct.h"
+#include "soc/soc_caps.h"
+#include "driver/sigmadelta.h"
 
-#include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "esp32/rom/ets_sys.h"
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/ets_sys.h"
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/ets_sys.h"
-#else 
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/ets_sys.h"
-#endif
-
-
-#if CONFIG_DISABLE_HAL_LOCKS
-#define SD_MUTEX_LOCK()
-#define SD_MUTEX_UNLOCK()
-#else
-#define SD_MUTEX_LOCK()    do {} while (xSemaphoreTake(_sd_sys_lock, portMAX_DELAY) != pdPASS)
-#define SD_MUTEX_UNLOCK()  xSemaphoreGive(_sd_sys_lock)
-xSemaphoreHandle _sd_sys_lock;
-#endif
+static uint8_t duty_set[SOC_SIGMADELTA_CHANNEL_NUM] = {0};
+static uint32_t prescaler_set[SOC_SIGMADELTA_CHANNEL_NUM] = {0};
 
 static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb, uint32_t new_apb){
     if(old_apb == new_apb){
@@ -51,79 +27,60 @@ static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb
     }
     uint32_t iarg = (uint32_t)arg;
     uint8_t channel = iarg;
-    if(ev_type == APB_BEFORE_CHANGE){
-        SIGMADELTA.cg.clk_en = 0;
-    } else {
+    if(ev_type == APB_AFTER_CHANGE){
         old_apb /= 1000000;
         new_apb /= 1000000;
-        SD_MUTEX_LOCK();
-        uint32_t old_prescale = SIGMADELTA.channel[channel].prescale + 1;
-        SIGMADELTA.channel[channel].prescale = ((new_apb * old_prescale) / old_apb) - 1;
-        SIGMADELTA.cg.clk_en = 0;
-        SIGMADELTA.cg.clk_en = 1;
-        SD_MUTEX_UNLOCK();
+        uint32_t old_prescale = prescaler_set[channel] + 1;
+        uint32_t new_prescale = ((new_apb * old_prescale) / old_apb) - 1;
+        sigmadelta_set_prescale(channel,new_prescale);
+        prescaler_set[channel] = new_prescale;
     }
 }
 
-uint32_t sigmaDeltaSetup(uint8_t channel, uint32_t freq) //chan 0-7 freq 1220-312500
+uint32_t sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq) //chan 0-x according to SOC, freq 1220-312500
 {
-    if(channel > 7) {
+    if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
         return 0;
     }
-#if !CONFIG_DISABLE_HAL_LOCKS
-    static bool tHasStarted = false;
-    if(!tHasStarted) {
-        tHasStarted = true;
-        _sd_sys_lock = xSemaphoreCreateMutex();
-    }
-#endif
+    
     uint32_t apb_freq = getApbFrequency();
     uint32_t prescale = (apb_freq/(freq*256)) - 1;
     if(prescale > 0xFF) {
         prescale = 0xFF;
     }
-    SD_MUTEX_LOCK();
-#ifndef CONFIG_IDF_TARGET_ESP32
-    SIGMADELTA.misc.function_clk_en = 1;
-#endif
-    SIGMADELTA.channel[channel].prescale = prescale;
-    SIGMADELTA.cg.clk_en = 0;
-    SIGMADELTA.cg.clk_en = 1;
-    SD_MUTEX_UNLOCK();
+
+    sigmadelta_config_t sigmadelta_cfg = {
+        .channel = channel,
+        .sigmadelta_prescale = prescale,
+        .sigmadelta_duty = 0,
+        .sigmadelta_gpio = pin,
+    };
+    sigmadelta_config(&sigmadelta_cfg);
+
+    prescaler_set[channel] = prescale;
     uint32_t iarg = channel;
     addApbChangeCallback((void*)iarg, _on_apb_change);
+
     return apb_freq/((prescale + 1) * 256);
 }
 
-void sigmaDeltaWrite(uint8_t channel, uint8_t duty) //chan 0-7 duty 8 bit
+void sigmaDeltaWrite(uint8_t channel, uint8_t duty) //chan 0-x according to SOC duty 8 bit
 {
-    if(channel > 7) {
+    if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
         return;
     }
     duty -= 128; 
-    SD_MUTEX_LOCK();
-    SIGMADELTA.channel[channel].duty = duty;
-    SD_MUTEX_UNLOCK();
+
+    sigmadelta_set_duty(channel,duty);
+    duty_set[channel] = duty;
 }
 
-uint8_t sigmaDeltaRead(uint8_t channel) //chan 0-7
+uint8_t sigmaDeltaRead(uint8_t channel) //chan 0-x according to SOC
 {
-    if(channel > 7) {
+    if(channel >= SOC_SIGMADELTA_CHANNEL_NUM){
         return 0;
     }
-    SD_MUTEX_LOCK();
-    uint8_t duty = SIGMADELTA.channel[channel].duty + 128;
-    SD_MUTEX_UNLOCK();
-    return duty;
-}
-
-void sigmaDeltaAttachPin(uint8_t pin, uint8_t channel) //channel 0-7
-{
-    if(channel > 7) {
-        return;
-    }
-    pinMode(pin, OUTPUT);
-    pinMatrixOutAttach(pin, GPIO_SD0_OUT_IDX + channel, false, false);
+    return duty_set[channel]+128;
 }
 
 void sigmaDeltaDetachPin(uint8_t pin)

cores/esp32/esp32-hal-sigmadelta.h

@@ -23,10 +23,9 @@ extern "C" {
 #include <stdbool.h>
 
 //channel 0-7 freq 1220-312500 duty 0-255
-uint32_t    sigmaDeltaSetup(uint8_t channel, uint32_t freq);
+uint32_t    sigmaDeltaSetup(uint8_t pin, uint8_t channel, uint32_t freq);
 void        sigmaDeltaWrite(uint8_t channel, uint8_t duty);
 uint8_t     sigmaDeltaRead(uint8_t channel);
-void        sigmaDeltaAttachPin(uint8_t pin, uint8_t channel);
 void        sigmaDeltaDetachPin(uint8_t pin);
 
 

cores/esp32/esp32-hal-timer.c

@@ -13,42 +13,10 @@
 // limitations under the License.
 
 #include "esp32-hal-timer.h"
-#include "freertos/FreeRTOS.h"
-#ifndef CONFIG_IDF_TARGET_ESP32C3
-#include "freertos/xtensa_api.h"
-#include "soc/dport_reg.h"
-#endif
-#include "freertos/task.h"
-#include "soc/timer_group_struct.h"
-#include "esp_attr.h"
-#include "driver/periph_ctrl.h"
+#include "driver/timer.h"
+#include "soc/soc_caps.h"
 
-#include "esp_system.h"
-#ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
-#include "esp32/rom/ets_sys.h"
-#include "esp_intr_alloc.h"
-#elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/ets_sys.h"
-#include "esp_intr_alloc.h"
-#include "soc/periph_defs.h"
-#elif CONFIG_IDF_TARGET_ESP32C3
-#include "esp32c3/rom/ets_sys.h"
-#include "esp_intr_alloc.h"
-#include "soc/periph_defs.h"
-#else 
-#error Target CONFIG_IDF_TARGET is not supported
-#endif
-#else // ESP32 Before IDF 4.0
-#include "rom/ets_sys.h"
-#include "esp_intr.h"
-#endif
-
-#define HWTIMER_LOCK()      portENTER_CRITICAL(timer->lock)
-#define HWTIMER_UNLOCK()    portEXIT_CRITICAL(timer->lock)
-
-typedef volatile struct {
-    union {
+typedef union {
     struct {
         uint32_t reserved0:   10;
         uint32_t alarm_en:     1;             /*When set  alarm is enabled*/
@@ -60,287 +28,212 @@ typedef volatile struct {
         uint32_t enable:       1;             /*When set timer 0/1 time-base counter is enabled*/
     };
     uint32_t val;
-    } config;
-    uint32_t cnt_low;                             /*Register to store timer 0/1 time-base counter current value lower 32 bits.*/
-    uint32_t cnt_high;                            /*Register to store timer 0 time-base counter current value higher 32 bits.*/
-    uint32_t update;                              /*Write any value will trigger a timer 0 time-base counter value update (timer 0 current value will be stored in registers above)*/
-    uint32_t alarm_low;                           /*Timer 0 time-base counter value lower 32 bits that will trigger the alarm*/
-    uint32_t alarm_high;                          /*Timer 0 time-base counter value higher 32 bits that will trigger the alarm*/
-    uint32_t load_low;                            /*Lower 32 bits of the value that will load into timer 0 time-base counter*/
-    uint32_t load_high;                           /*higher 32 bits of the value that will load into timer 0 time-base counter*/
-    uint32_t reload;                              /*Write any value will trigger timer 0 time-base counter reload*/
-} hw_timer_reg_t;
+} timer_cfg_t;
 
-typedef struct hw_timer_s {
-        hw_timer_reg_t * dev;
-        uint8_t num;
+#define NUM_OF_TIMERS   SOC_TIMER_GROUP_TOTAL_TIMERS
+
+typedef struct {
+    int timer_group;
+    int timer_idx;
+    int alarm_interval;
+    bool auto_reload;
+} timer_info_t;
+
+typedef struct hw_timer_s
+{
     uint8_t group;
-        uint8_t timer;
-        portMUX_TYPE lock;
+    uint8_t num;
 } hw_timer_t;
 
-static hw_timer_t hw_timer[4] = {
-        {(hw_timer_reg_t *)(DR_REG_TIMERGROUP0_BASE),0,0,0,portMUX_INITIALIZER_UNLOCKED},
-        {(hw_timer_reg_t *)(DR_REG_TIMERGROUP0_BASE + 0x0024),1,0,1,portMUX_INITIALIZER_UNLOCKED},
-        {(hw_timer_reg_t *)(DR_REG_TIMERGROUP0_BASE + 0x1000),2,1,0,portMUX_INITIALIZER_UNLOCKED},
-        {(hw_timer_reg_t *)(DR_REG_TIMERGROUP0_BASE + 0x1024),3,1,1,portMUX_INITIALIZER_UNLOCKED}
+// Works for all chips
+static hw_timer_t timer_dev[4] = {
+    {0,0}, {1,0},  {1,0},  {1,1}
 };
 
-typedef void (*voidFuncPtr)(void);
-static voidFuncPtr __timerInterruptHandlers[4] = {0,0,0,0};
+// NOTE: (in IDF 5.0 there wont be need to know groups/numbers 
+// timer_init() will list thru all timers and return free timer handle)
 
-void ARDUINO_ISR_ATTR __timerISR(void * arg){
-#if CONFIG_IDF_TARGET_ESP32
-    uint32_t s0 = TIMERG0.int_st_timers.val;
-    uint32_t s1 = TIMERG1.int_st_timers.val;
-    TIMERG0.int_clr_timers.val = s0;
-    TIMERG1.int_clr_timers.val = s1;
-#else
-    uint32_t s0 = TIMERG0.int_st.val;
-    uint32_t s1 = TIMERG1.int_st.val;
-    TIMERG0.int_clr.val = s0;
-    TIMERG1.int_clr.val = s1;
-#endif
-    uint8_t status = (s1 & 3) << 2 | (s0 & 3);
-    uint8_t i = 4;
-    //restart the timers that should autoreload
-    while(i--){
-        hw_timer_reg_t * dev = hw_timer[i].dev;
-        if((status & (1 << i)) && dev->config.autoreload){
-            dev->config.alarm_en = 1;
-        }
-    }
-    i = 4;
-    //call callbacks
-    while(i--){
-        if(__timerInterruptHandlers[i] && (status & (1 << i))){
-            __timerInterruptHandlers[i]();
-        }
-    }
-}
 
 uint64_t inline timerRead(hw_timer_t *timer){
-    timer->dev->update = 1;
-    while (timer->dev->update) {};
-    uint64_t h = timer->dev->cnt_high;
-    uint64_t l = timer->dev->cnt_low;
-    return (h << 32) | l;
+
+    uint64_t value;
+    timer_get_counter_value(timer->group, timer->num,&value);
+    return value;
 }
 
 uint64_t timerAlarmRead(hw_timer_t *timer){
-    uint64_t h = timer->dev->alarm_high;
-    uint64_t l = timer->dev->alarm_low;
-    return (h << 32) | l;
+    uint64_t value;
+    timer_get_alarm_value(timer->group, timer->num, &value);
+    return value;
 }
 
 void timerWrite(hw_timer_t *timer, uint64_t val){
-    timer->dev->load_high = (uint32_t) (val >> 32);
-    timer->dev->load_low = (uint32_t) (val);
-    timer->dev->reload = 1;
+    timer_set_counter_value(timer->group, timer->num, val);
 }
 
 void timerAlarmWrite(hw_timer_t *timer, uint64_t alarm_value, bool autoreload){
-    timer->dev->alarm_high = (uint32_t) (alarm_value >> 32);
-    timer->dev->alarm_low = (uint32_t) alarm_value;
-    timer->dev->config.autoreload = autoreload;
+    timer_set_alarm_value(timer->group, timer->num, alarm_value);
+    timerSetAutoReload(timer,autoreload);
 }
 
 void timerSetConfig(hw_timer_t *timer, uint32_t config){
-    timer->dev->config.val = config;
+    timer_cfg_t cfg;
+    cfg.val = config;
+    timer_set_alarm(timer->group, timer->num, cfg.alarm_en);
+    timerSetDivider(timer,cfg.divider);
+    timerSetAutoReload(timer,cfg.autoreload);
+    timerSetCountUp(timer, cfg.increase);
+
+    if (cfg.enable) {
+        timerStart(timer);
+    }
+    else{
+        timerStop(timer);
+    }
+    return;
 }
 
 uint32_t timerGetConfig(hw_timer_t *timer){
-    return timer->dev->config.val;
+    timer_config_t timer_cfg;
+    timer_get_config(timer->group, timer->num,&timer_cfg);
+
+    //Translate to default uint32_t
+    timer_cfg_t cfg;
+    cfg.alarm_en = timer_cfg.alarm_en;
+    cfg.autoreload = timer_cfg.auto_reload;
+    cfg.divider = timer_cfg.divider;
+    cfg.edge_int_en = timer_cfg.intr_type;
+    cfg.level_int_en = !timer_cfg.intr_type;
+    cfg.enable = timer_cfg.counter_en;
+    cfg.increase = timer_cfg.counter_dir;
+
+    return cfg.val;
 }
 
 void timerSetCountUp(hw_timer_t *timer, bool countUp){
-    timer->dev->config.increase = countUp;
+    timer_set_counter_mode(timer->group, timer->num,countUp);
 }
 
 bool timerGetCountUp(hw_timer_t *timer){
-    return timer->dev->config.increase;
+    timer_cfg_t config;
+    config.val = timerGetConfig(timer);
+    return config.increase;
 }
 
 void timerSetAutoReload(hw_timer_t *timer, bool autoreload){
-    timer->dev->config.autoreload = autoreload;
+    timer_set_auto_reload(timer->group, timer->num,autoreload);
 }
 
 bool timerGetAutoReload(hw_timer_t *timer){
-    return timer->dev->config.autoreload;
+    timer_cfg_t config;
+    config.val= timerGetConfig(timer);
+    return config.autoreload;
 }
 
-void timerSetDivider(hw_timer_t *timer, uint16_t divider){//2 to 65536
-    if(!divider){
-        divider = 0xFFFF;
-    } else if(divider == 1){
-        divider = 2;
+// Set divider from 2 to 65535
+void timerSetDivider(hw_timer_t *timer, uint16_t divider){
+    if(divider < 2)
+    {
+        log_e("Timer divider must be set in range of 2 to 65535");
+        return;
     }
-    int timer_en = timer->dev->config.enable;
-    timer->dev->config.enable = 0;
-    timer->dev->config.divider = divider;
-    timer->dev->config.enable = timer_en;
+    timer_set_divider(timer->group, timer->num,divider);
 }
 
 uint16_t timerGetDivider(hw_timer_t *timer){
-    return timer->dev->config.divider;
+    timer_cfg_t config;
+    config.val = timerGetConfig(timer);
+    return config.divider;
 }
 
 void timerStart(hw_timer_t *timer){
-    timer->dev->config.enable = 1;
+    timer_start(timer->group, timer->num);
 }
 
 void timerStop(hw_timer_t *timer){
-    timer->dev->config.enable = 0;
+    timer_pause(timer->group, timer->num);
 }
 
 void timerRestart(hw_timer_t *timer){
-    timer->dev->config.enable = 0;
-    timer->dev->reload = 1;
-    timer->dev->config.enable = 1;
+    timerWrite(timer,0);
 }
 
 bool timerStarted(hw_timer_t *timer){
-    return timer->dev->config.enable;
+    timer_cfg_t config;
+    config.val = timerGetConfig(timer);
+    return config.enable;
 }
 
 void timerAlarmEnable(hw_timer_t *timer){
-    timer->dev->config.alarm_en = 1;
+    timer_set_alarm(timer->group, timer->num,true);
 }
 
 void timerAlarmDisable(hw_timer_t *timer){
-    timer->dev->config.alarm_en = 0;
+    timer_set_alarm(timer->group, timer->num,false);
 }
 
 bool timerAlarmEnabled(hw_timer_t *timer){
-    return timer->dev->config.alarm_en;
+    timer_cfg_t config;
+    config.val = timerGetConfig(timer);
+    return config.alarm_en;
 }
 
 static void _on_apb_change(void * arg, apb_change_ev_t ev_type, uint32_t old_apb, uint32_t new_apb){
     hw_timer_t * timer = (hw_timer_t *)arg;
     if(ev_type == APB_BEFORE_CHANGE){
-        timer->dev->config.enable = 0;
+        timerStop(timer);
     } else {
         old_apb /= 1000000;
         new_apb /= 1000000;
-        timer->dev->config.divider = (new_apb * timer->dev->config.divider) / old_apb;
-        timer->dev->config.enable = 1;
+        uint16_t divider = (new_apb * timerGetDivider(timer)) / old_apb;
+        timerSetDivider(timer,divider);
+        timerStart(timer);
     }
 }
 
 hw_timer_t * timerBegin(uint8_t num, uint16_t divider, bool countUp){
-    if(num > 3){
+    if(num >= NUM_OF_TIMERS)
+    {
+        log_e("Timer dont have that timer number.");
         return NULL;
     }
-    hw_timer_t * timer = &hw_timer[num];
-    if(timer->group) {
-    	periph_module_enable(PERIPH_TIMG1_MODULE);
-    } else {
-    	periph_module_enable(PERIPH_TIMG0_MODULE);
-    }
-    timer->dev->config.enable = 0;
-    if(timer->group) {
-        TIMERG1.int_ena.val &= ~BIT(timer->timer);
-#if CONFIG_IDF_TARGET_ESP32
-            TIMERG1.int_clr_timers.val |= BIT(timer->timer);
-#else
-            TIMERG1.int_clr.val = BIT(timer->timer);
-#endif
-    } else {
-        TIMERG0.int_ena.val &= ~BIT(timer->timer);
-#if CONFIG_IDF_TARGET_ESP32
-            TIMERG0.int_clr_timers.val |= BIT(timer->timer);
-#else
-            TIMERG0.int_clr.val = BIT(timer->timer);
-#endif
-    }
-#ifdef TIMER_GROUP_SUPPORTS_XTAL_CLOCK
-    timer->dev->config.use_xtal = 0;
-#endif
-    timerSetDivider(timer, divider);
-    timerSetCountUp(timer, countUp);
-    timerSetAutoReload(timer, false);
-    timerAttachInterrupt(timer, NULL, false);
-    timerWrite(timer, 0);
-    timer->dev->config.enable = 1;
+
+    hw_timer_t * timer = &timer_dev[num];   //Get Timer group/num from 0-3 number
+    
+    timer_config_t config = {
+            .divider = divider,
+            .counter_dir = countUp,
+            .counter_en = TIMER_PAUSE,
+            .alarm_en = TIMER_ALARM_DIS,
+            .auto_reload = false,
+        };
+
+    timer_init(timer->group, timer->num, &config);
+    timer_set_counter_value(timer->group, timer->num, 0);
+    timerStart(timer);
     addApbChangeCallback(timer, _on_apb_change);
     return timer;
 }
 
 void timerEnd(hw_timer_t *timer){
-    timer->dev->config.enable = 0;
-    timerAttachInterrupt(timer, NULL, false);
     removeApbChangeCallback(timer, _on_apb_change);
+    timer_deinit(timer->group, timer->num);
 }
 
 void timerAttachInterrupt(hw_timer_t *timer, void (*fn)(void), bool edge){
-#if CONFIG_IDF_TARGET_ESP32
     if(edge){
-        log_w("EDGE timer interrupt does not work properly on ESP32! Setting to LEVEL...");
+        log_w("EDGE timer interrupt is not supported! Setting to LEVEL...");
         edge = false;
     }
-#endif
-    static bool initialized = false;
-    static intr_handle_t intr_handle = NULL;
-    if(intr_handle){
-        esp_intr_disable(intr_handle);
-    }
-    if(fn == NULL){
-        timer->dev->config.level_int_en = 0;
-        timer->dev->config.edge_int_en = 0;
-        timer->dev->config.alarm_en = 0;
-        if(timer->num & 2){
-            TIMERG1.int_ena.val &= ~BIT(timer->timer);
-#if CONFIG_IDF_TARGET_ESP32
-            TIMERG1.int_clr_timers.val |= BIT(timer->timer);
-#else
-            TIMERG1.int_clr.val = BIT(timer->timer);
-#endif
-        } else {
-            TIMERG0.int_ena.val &= ~BIT(timer->timer);
-#if CONFIG_IDF_TARGET_ESP32
-            TIMERG0.int_clr_timers.val |= BIT(timer->timer);
-#else
-            TIMERG0.int_clr.val = BIT(timer->timer);
-#endif
-        }
-        __timerInterruptHandlers[timer->num] = NULL;
-    } else {
-        __timerInterruptHandlers[timer->num] = fn;
-        timer->dev->config.level_int_en = edge?0:1;//When set, an alarm will generate a level type interrupt.
-        timer->dev->config.edge_int_en = edge?1:0;//When set, an alarm will generate an edge type interrupt.
-        int intr_source = 0;
-#ifndef CONFIG_IDF_TARGET_ESP32C3
-        if(!edge){
-#endif
-            if(timer->group){
-                intr_source = ETS_TG1_T0_LEVEL_INTR_SOURCE + timer->timer;
-            } else {
-                intr_source = ETS_TG0_T0_LEVEL_INTR_SOURCE + timer->timer;
-            }
-#ifndef CONFIG_IDF_TARGET_ESP32C3
-        } else {
-            if(timer->group){
-                intr_source = ETS_TG1_T0_EDGE_INTR_SOURCE + timer->timer;
-            } else {
-                intr_source = ETS_TG0_T0_EDGE_INTR_SOURCE + timer->timer;
-            }
-        }
-#endif
-        if(!initialized){
-            initialized = true;
-            esp_intr_alloc(intr_source, (int)(ARDUINO_ISR_FLAG|ESP_INTR_FLAG_LOWMED), __timerISR, NULL, &intr_handle);
-        } else {
-            intr_matrix_set(esp_intr_get_cpu(intr_handle), intr_source, esp_intr_get_intno(intr_handle));
-        }
-        if(timer->group){
-            TIMERG1.int_ena.val |= BIT(timer->timer);
-        } else {
-            TIMERG0.int_ena.val |= BIT(timer->timer);
-        }
-    }
-    if(intr_handle){
-        esp_intr_enable(intr_handle);
-    }
+    timer_enable_intr(timer->group, timer->num);
+
+    timer_info_t *timer_info = calloc(1, sizeof(timer_info_t));
+    timer_info->timer_group = timer->group;
+    timer_info->timer_idx = timer->num;
+    timer_info->auto_reload = timerGetAutoReload(timer);
+    timer_info->alarm_interval = timerAlarmRead(timer);
+
+    timer_isr_callback_add(timer->group, timer->num, (timer_isr_t)fn, timer_info, 0);
 }
 
 void timerDetachInterrupt(hw_timer_t *timer){
@@ -353,6 +246,12 @@ uint64_t timerReadMicros(hw_timer_t *timer){
     return timer_val * div / (getApbFrequency() / 1000000);
 }
 
+uint64_t timerReadMilis(hw_timer_t *timer){
+    uint64_t timer_val = timerRead(timer);
+    uint16_t div = timerGetDivider(timer);
+    return timer_val * div / (getApbFrequency() / 1000);
+}
+
 double timerReadSeconds(hw_timer_t *timer){
     uint64_t timer_val = timerRead(timer);
     uint16_t div = timerGetDivider(timer);
@@ -365,6 +264,12 @@ uint64_t timerAlarmReadMicros(hw_timer_t *timer){
     return timer_val * div / (getApbFrequency() / 1000000);
 }
 
+uint64_t timerAlarmReadMilis(hw_timer_t *timer){
+    uint64_t timer_val = timerAlarmRead(timer);
+    uint16_t div = timerGetDivider(timer);
+    return timer_val * div / (getApbFrequency() / 1000);
+}
+
 double timerAlarmReadSeconds(hw_timer_t *timer){
     uint64_t timer_val = timerAlarmRead(timer);
     uint16_t div = timerGetDivider(timer);

cores/esp32/esp32-hal-timer.h

@@ -20,13 +20,13 @@
 #ifndef MAIN_ESP32_HAL_TIMER_H_
 #define MAIN_ESP32_HAL_TIMER_H_
 
+#include "esp32-hal.h"
+#include "freertos/FreeRTOS.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#include "esp32-hal.h"
-#include "freertos/FreeRTOS.h"
-
 struct hw_timer_s;
 typedef struct hw_timer_s hw_timer_t;
 
@@ -50,6 +50,7 @@ void timerSetAutoReload(hw_timer_t *timer, bool autoreload);
 bool timerStarted(hw_timer_t *timer);
 uint64_t timerRead(hw_timer_t *timer);
 uint64_t timerReadMicros(hw_timer_t *timer);
+uint64_t timerReadMilis(hw_timer_t *timer);
 double timerReadSeconds(hw_timer_t *timer);
 uint16_t timerGetDivider(hw_timer_t *timer);
 bool timerGetCountUp(hw_timer_t *timer);

cores/esp32/esp32-hal-uart.c

@@ -69,6 +69,19 @@ static uart_t _uart_bus_array[] = {
 
 #endif
 
+// solves issue https://github.com/espressif/arduino-esp32/issues/6032
+// baudrate must be multiplied when CPU Frequency is lower than APB 80MHz
+uint32_t _get_effective_baudrate(uint32_t baudrate) 
+{
+    uint32_t Freq = getApbFrequency()/1000000;
+    if (Freq < 80) {
+        return 80 / Freq * baudrate;
+     }
+    else {
+        return baudrate;
+    }
+}
+
 bool uartIsDriverInstalled(uart_t* uart) 
 {
     if(uart == NULL) {
@@ -121,7 +134,7 @@ uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rx
     UART_MUTEX_LOCK();
 
     uart_config_t uart_config;
-    uart_config.baud_rate = baudrate;
+    uart_config.baud_rate = _get_effective_baudrate(baudrate);
     uart_config.data_bits = (config & 0xc) >> 2;
     uart_config.parity = (config & 0x3);
     uart_config.stop_bits = (config & 0x30) >> 4;
@@ -140,6 +153,9 @@ uart_t* uartBegin(uint8_t uart_nr, uint32_t baudrate, uint32_t config, int8_t rx
         ESP_ERROR_CHECK(uart_set_line_inverse(uart_nr, UART_SIGNAL_TXD_INV | UART_SIGNAL_RXD_INV));    
     }
 
+    // Set RS485 half duplex mode on UART.  This shall force flush to wait up to sending all bits out
+    ESP_ERROR_CHECK(uart_set_mode(uart_nr, UART_MODE_RS485_HALF_DUPLEX));
+
     UART_MUTEX_UNLOCK();
 
     uartFlush(uart);
@@ -269,7 +285,7 @@ void uartWrite(uart_t* uart, uint8_t c)
 
 void uartWriteBuf(uart_t* uart, const uint8_t * data, size_t len)
 {
-    if(uart == NULL) {
+    if(uart == NULL || data == NULL || !len) {
         return;
     }
 
@@ -304,7 +320,7 @@ void uartSetBaudRate(uart_t* uart, uint32_t baud_rate)
         return;
     }
     UART_MUTEX_LOCK();
-    uart_ll_set_baudrate(UART_LL_GET_HW(uart->num), baud_rate);
+    uart_ll_set_baudrate(UART_LL_GET_HW(uart->num), _get_effective_baudrate(baud_rate));
     UART_MUTEX_UNLOCK();
 }
 
@@ -368,13 +384,9 @@ void uartSetDebug(uart_t* uart)
 {
     if(uart == NULL || uart->num >= SOC_UART_NUM) {
         s_uart_debug_nr = -1;
-        //ets_install_putc1(NULL);
-        //return;
-    } else
-    if(s_uart_debug_nr == uart->num) {
-        return;
-    } else
+    } else {
         s_uart_debug_nr = uart->num;
+    }
     uart_install_putc();
 }
 

cores/esp32/esp32-hal.h

@@ -31,6 +31,11 @@
 #include "sdkconfig.h"
 #include "esp_system.h"
 #include "esp_sleep.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "freertos/event_groups.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -85,6 +90,8 @@ void yield(void);
 #include "esp32-hal-psram.h"
 #include "esp32-hal-cpu.h"
 
+void analogWrite(uint8_t pin, int value);
+
 //returns chip temperature in Celsius
 float temperatureRead();
 

cores/esp32/firmware_msc_fat.c

@@ -39,7 +39,7 @@ static const char * FAT12_FILE_SYSTEM_TYPE = "FAT12";
 
 static uint16_t fat12_sectors_per_alloc_table(uint32_t sector_num){
   uint32_t required_bytes = (((sector_num * 3)+1)/2);
-  return (required_bytes / DISK_SECTOR_SIZE) + ((required_bytes & DISK_SECTOR_SIZE)?1:0);
+  return (required_bytes / DISK_SECTOR_SIZE) + ((required_bytes & (DISK_SECTOR_SIZE - 1))?1:0);
 }
 
 static uint8_t * fat12_add_table(uint8_t * dst, fat_boot_sector_t * boot){
@@ -68,7 +68,7 @@ static const char * FAT16_FILE_SYSTEM_TYPE = "FAT16";
 
 static uint16_t fat16_sectors_per_alloc_table(uint32_t sector_num){
   uint32_t required_bytes = sector_num * 2;
-  return (required_bytes / DISK_SECTOR_SIZE) + ((required_bytes & DISK_SECTOR_SIZE)?1:0);
+  return (required_bytes / DISK_SECTOR_SIZE) + ((required_bytes & (DISK_SECTOR_SIZE - 1))?1:0);
 }
 
 static uint8_t * fat16_add_table(uint8_t * dst, fat_boot_sector_t * boot){
@@ -129,7 +129,7 @@ fat_boot_sector_t * fat_add_boot_sector(uint8_t * dst, uint16_t sector_num, uint
   boot->num_heads = 1;
   boot->hidden_sectors_count = 0;
   boot->total_sectors_32 = 0;
-  boot->physical_drive_number = 0x00;
+  boot->physical_drive_number = 0x80;
   boot->reserved0 = 0x00;
   boot->extended_boot_signature = 0x29;
   boot->serial_number = serial_number;

cores/esp32/libb64/cdecode.c

@@ -12,7 +12,7 @@ static int base64_decode_value_signed(int8_t value_in){
   static const int8_t decoding[] = {62,-1,-1,-1,63,52,53,54,55,56,57,58,59,60,61,-1,-1,-1,-2,-1,-1,-1,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,-1,-1,-1,-1,-1,-1,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51};
   static const int8_t decoding_size = sizeof(decoding);
   value_in -= 43;
-  if (value_in < 0 || value_in > decoding_size) return -1;
+  if (value_in < 0 || value_in >= decoding_size) return -1;
   return decoding[(int)value_in];
 }
 

cores/esp32/main.cpp

@@ -33,6 +33,10 @@ void yieldIfNecessary(void){
 
 bool loopTaskWDTEnabled;
 
+__attribute__((weak)) size_t getArduinoLoopTaskStackSize(void) {
+    return ARDUINO_LOOP_STACK_SIZE;
+}
+
 void loopTask(void *pvParameters)
 {
     setup();
@@ -64,7 +68,7 @@ extern "C" void app_main()
 #endif
     loopTaskWDTEnabled = false;
     initArduino();
-    xTaskCreateUniversal(loopTask, "loopTask", ARDUINO_LOOP_STACK_SIZE, NULL, 1, &loopTaskHandle, ARDUINO_RUNNING_CORE);
+    xTaskCreateUniversal(loopTask, "loopTask", getArduinoLoopTaskStackSize(), NULL, 1, &loopTaskHandle, ARDUINO_RUNNING_CORE);
 }
 
 #endif

docs/source/api/gpio.rst

@@ -1,3 +1,170 @@
 ####
 GPIO
 ####
+
+About
+-----
+
+One of the most used and versatile peripheral in a microcontroller is the GPIO. The GPIO is commonly used to write and read the pin state.
+
+GPIO stands to General Purpose Input Output, and is responsible to control or read the state of a specific pin in the digital world. For example, this peripheral is widely used to create the LED blinking or to read a simple button.
+
+.. note:: There are some GPIOs with special restrictions, and not all GPIOs are accessible through the developemnt board. For more information about it, see the corresponding board pin layout information.
+
+GPIOs Modes
+***********
+
+There are two different modes in the GPIO configuration:
+    
+- **Input Mode**
+
+In this mode, the GPIO will receive the digital state from a specific device. This device could be a button or a switch.
+
+- **Output Mode**
+  
+For the output mode, the GPIO will change the GPIO digital state to a specific device. You can drive an LED for example.
+
+GPIO API
+--------
+
+Here is the common functions used for the GPIO peripheral.
+
+pinMode
+*******
+
+The ``pinMode`` function is used to define the GPIO operation mode for a specific pin.
+
+.. code-block:: arduino
+
+    void pinMode(uint8_t pin, uint8_t mode);
+ 
+* ``pin``   defines the GPIO pin number.
+* ``mode``  sets operation mode.
+  
+The following modes are supported for the basic `input` and `output`: 
+
+* **INPUT** sets the GPIO as input without pullup or pulldown (high impedance).
+* **OUTPUT** sets the GPIO as output/read mode.
+* **INPUT_PULLDOWN** sets the GPIO as input with the internal pulldown.
+* **INPUT_PULLUP** sets the GPIO as input with the internal pullup.
+
+Internal Pullup and Pulldown
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The ESP32 SoC families supports the internal pullup and pulldown throught a 45kR resistor, that can be enabled when configuring the GPIO mode as ``INPUT`` mode.
+If the pullup or pulldown mode is not defined, the pin will stay in the high impedance mode.
+
+digitalWrite
+*************
+
+The function ``digitalWrite`` sets the state of the selected GPIO to ``HIGH`` or ``LOW``. This function is only used if the ``pinMode`` was configured as ``OUTPUT``.
+
+.. code-block:: arduino
+
+    void digitalWrite(uint8_t pin, uint8_t val);
+
+* ``pin``  defines the GPIO pin number.
+* ``val``  set the output digital state to ``HIGH`` or ``LOW``. 
+
+digitalRead
+***********
+
+To read the state of a given pin configured as ``INPUT``, the function ``digitalRead`` is used.
+
+.. code-block:: arduino
+
+    int digitalRead(uint8_t pin);
+
+* ``pin`` select GPIO
+
+This function will return the logical state of the selected pin as ``HIGH`` or ``LOW``.
+
+Interrupts
+----------
+
+The GPIO peripheral on the ESP32 supports interruptions.
+
+attachInterrupt
+***************
+
+The function ``attachInterruptArg`` is used to attach the interrupt to the defined pin.
+
+.. code-block:: arduino
+
+  attachInterrupt(uint8_t pin, voidFuncPtr handler, int mode);
+
+* ``pin``  defines the GPIO pin number.
+* ``handler``  set the handler function.
+* ``mode``  set the interrupt mode.
+
+Here are the supported interrupt modes:
+
+* **DISABLED**
+* **RISING**
+* **FALLING**
+* **CHANGE**
+* **ONLOW**
+* **ONHIGH**
+* **ONLOW_WE**
+* **ONHIGH_WE**
+
+attachInterruptArg
+******************
+
+The function ``attachInterruptArg`` is used to attach the interrupt to the defined pin using arguments.
+
+.. code-block:: arduino
+
+  attachInterruptArg(uint8_t pin, voidFuncPtrArg handler, void * arg, int mode);
+
+* ``pin``  defines the GPIO pin number.
+* ``handler``  set the handler function.
+* ``arg`` pointer to the interrupt arguments.
+* ``mode``  set the interrupt mode.
+
+detachInterrupt
+***************
+
+To detach the interruption from a specific pin, use the ``detachInterrupt`` function giving the GPIO to be detached.
+
+.. code-block:: arduino
+
+  detachInterrupt(uint8_t pin);
+
+* ``pin``  defines the GPIO pin number.
+
+.. _gpio_example_code:
+
+Example Code
+------------
+
+GPIO Input and Output Modes
+***************************
+
+.. code-block:: arduino
+
+  #define LED    12
+  #define BUTTON 2
+
+  uint8_t stateLED = 0;
+
+    void setup() {
+        pinMode(LED, OUTPUT);
+        pinMode(BUTTON,INPUT_PULLUP);
+    }
+
+    void loop() {
+
+       if(!digitalRead(BUTTON)){ 
+         stateLED = stateLED^1;
+        digitalWrite(LED,stateLED); 
+      }
+    }
+
+GPIO Interrupt
+**************
+
+.. literalinclude:: ../../../libraries/ESP32/examples/GPIO/GPIOInterrupt/GPIOInterrupt.ino
+    :language: arduino
+
+.. _datasheet: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf

docs/source/api/i2c.rst

@@ -0,0 +1,384 @@
+###
+I2C
+###
+
+About
+-----
+
+I2C (Inter-Integrated Circuit) / TWI (Two-wire Interface) is a widely used serial communication to connect devices in a short distance. This is one of the most common peripherals used to connect sensors, EEPROMs, RTC, ADC, DAC, displays, OLED, and many other devices and microcontrollers.
+
+This serial communication is considered as a low-speed bus, and multiple devices can be connected on the same two-wires bus, each with a unique 7-bits address (up to 128 devices). These two wires are called SDA (serial data line) and SCL (serial clock line).
+
+.. note:: The SDA and SCL lines require pull-up resistors. See the device datasheet for more details about the resistors' values and the operating voltage.
+
+I2C Modes
+*********
+
+The I2C can be used in two different modes:
+
+* **I2C Master Mode**
+    * In this mode, the ESP32 generates the clock signal and initiates the communication with the slave device.
+
+.. figure:: ../_static/arduino_i2c_master.png
+    :align: center
+    :width: 720
+    :figclass: align-center
+
+* **I2C Slave Mode**
+    * The slave mode, the clock is generated by the master device and responds to the master if the destination address is the same as the destination.
+
+.. figure:: ../_static/arduino_i2c_slave.png
+    :align: center
+    :width: 520
+    :figclass: align-center
+
+Arduino-ESP32 I2C API
+---------------------
+
+The ESP32 I2C library is based on the `Arduino Wire Library`_ and implements a few more APIs, described in this documentation.
+
+I2C Common API
+**************
+
+Here are the common functions used for master and slave modes.
+
+begin
+^^^^^
+
+This function is used to start the peripheral using the default configuration.
+
+.. code-block:: arduino
+
+    bool begin();
+
+This function will return ``true`` if the peripheral was initialized correctly.
+
+setPins
+^^^^^^^
+
+This function is used to define the ``SDA`` and ``SCL`` pins. 
+
+.. note:: Call this function before ``begin`` to change the pins from the default ones.
+
+.. code-block:: arduino
+
+    bool setPins(int sdaPin, int sclPin);
+
+* ``sdaPin`` sets the GPIO to be used as the I2C peripheral data line.
+
+* ``sclPin`` sets the GPIO to be used as the I2C peripheral clock line.
+
+The default pins may vary from board to board. On the *Generic ESP32* the default I2C pins are:
+
+* ``sdaPin`` **GPIO21**
+
+* ``sclPin`` **GPIO22**
+
+This function will return ``true`` if the peripheral was configured correctly.
+
+setClock
+^^^^^^^^
+
+Use this function to set the bus clock. The default value will be used if this function is not used.
+
+.. code-block:: arduino
+
+    bool setClock(uint32_t frequency);
+
+* ``frequency`` sets the bus frequency clock.
+
+This function will return ``true`` if the clock was configured correctly.
+
+getClock
+^^^^^^^^
+
+Use this function to get the bus clock.
+
+.. code-block:: arduino
+
+    uint32_t getClock();
+
+This function will return the current frequency configuration.
+
+setTimeOut
+^^^^^^^^^^
+
+Set the bus timeout given in milliseconds. The default value is 50ms.
+
+.. code-block:: arduino
+
+    void setTimeOut(uint16_t timeOutMillis);
+
+* ``timeOutMillis`` sets the timeout in ms.
+    
+getTimeOut
+^^^^^^^^^^
+
+Get the bus timeout in milliseconds.
+
+.. code-block:: arduino
+
+    uint16_t getTimeOut();
+
+This function will return the current timeout configuration.
+
+.. _i2c write:
+
+write
+^^^^^
+
+This function writes data to the buffer.
+
+.. code-block:: arduino
+
+    size_t write(uint8_t);
+ 
+or 
+
+.. code-block:: arduino
+
+    size_t write(const uint8_t *, size_t);
+
+The return will be the size of the data added to the buffer.
+
+.. _i2c end:
+
+end
+^^^
+
+This function will finish the communication and release all the allocated resources. After calling ``end`` you need to use ``begin`` again in order to initialize the I2C driver again.
+
+.. code-block:: arduino
+
+    bool end();
+
+
+I2C Master Mode
+***************
+
+This mode is used to initiate communication to the slave.
+
+Basic Usage
+^^^^^^^^^^^
+
+To start using I2C master mode on the Arduino, the first step is to include the ``Wire.h`` header to the sketch.
+
+.. code-block:: arduino
+
+    #include "Wire.h"
+
+Now, we can start the peripheral configuration by calling ``begin`` function.
+
+.. code-block:: arduino
+
+    Wire.begin();
+
+By using ``begin`` without any arguments, all the settings will be done by using the default values. To set the values by your own, see the function description. This function is described here: `i2c begin`_
+
+After calling ``begin``, we can start the transmission by calling ``beginTransmission`` and passing the I2C slave address:
+
+.. code-block:: arduino
+
+    Wire.beginTransmission(I2C_DEV_ADDR);
+
+To write some bytes to the slave, use the ``write`` function.
+
+.. code-block:: arduino
+
+    Wire.write(x);
+
+You can pass different data types using ``write`` function. This function is described here: `i2c write`_
+
+.. note:: The ``write`` function does not write directly to the slave device but adds to the I2C buffer. To do so, you need to use the ``endTransmission`` function to send the buffered bytes to the slave device.
+
+.. code-block:: arduino
+
+    Wire.endTransmission(true);
+
+After calling ``endTransmission``, the data stored in the I2C buffer will be transmitted to the slave device.
+
+Now you can request a reading from the slave device. The ``requestFrom`` will ask for a readout to the selected device by giving the address and the size.
+
+.. code-block:: arduino
+
+    Wire.requestFrom(I2C_DEV_ADDR, SIZE);
+
+and the ``readBytes`` will read it.
+
+.. code-block:: arduino
+
+    Wire.readBytes(temp, error);
+
+.. _i2c begin:
+
+I2C Master APIs
+***************
+
+Here are the I2C master APIs. These function are intended to be used only for master mode.
+
+begin
+^^^^^
+
+In master mode, the ``begin`` function can be used by passing the **pins** and **bus frequency**. Use this function only for the master mode. 
+
+.. code-block:: arduino
+
+    bool begin(int sdaPin, int sclPin, uint32_t frequency)
+
+Alternatively, you can use the ``begin`` function without any argument to use all default values.
+
+This function will return ``true`` if the peripheral was initialized correctly.
+
+beginTransmission
+^^^^^^^^^^^^^^^^^
+
+This function is used to star a communication process with the slave device. Call this function by passing the slave ``address`` before writing the message to the buffer.
+
+.. code-block:: arduino
+
+    void beginTransmission(uint16_t address)
+
+endTransmission
+^^^^^^^^^^^^^^^
+
+After writing to the buffer using `i2c write`_, use the function ``endTransmission`` to send the message to the slave device address defined on the ``beginTransmission`` function.
+
+.. code-block:: arduino
+
+    uint8_t endTransmission(bool sendStop);
+
+* ``sendStop`` enables **(true)** or disables **(false)** the stop signal *(only used in master mode)*.
+
+Calling the this function without ``sendStop`` is equivalent to ``sendStop = true``.
+
+.. code-block:: arduino
+    
+    uint8_t endTransmission(void);
+
+This function will return the error code.
+
+requestFrom
+^^^^^^^^^^^
+
+To read from the slave device, use the ``requestFrom`` function.
+
+.. code-block:: arduino
+
+    uint8_t requestFrom(uint16_t address, uint8_t size, bool sendStop)
+
+* ``address`` set the device address.
+
+* ``size`` define the size to be requested.
+
+* ``sendStop`` enables (true) or disables (false) the stop signal.
+
+This function will return the number of bytes read from the device.
+
+Example Application - WireMaster.ino
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Here is an example of how to use the I2C in Master Mode.
+
+.. literalinclude:: ../../../libraries/Wire/examples/WireMaster/WireMaster.ino
+    :language: arduino
+
+
+I2C Slave Mode
+**************
+
+This mode is used to accept communication from the master.
+
+Basic Usage
+^^^^^^^^^^^
+
+To start using I2C as slave mode on the Arduino, the first step is to include the ``Wire.h`` header to the scketch.
+
+.. code-block:: arduino
+
+    #include "Wire.h"
+
+Before calling ``begin`` we must create two callback functions to handle the communication with the master device.
+
+.. code-block:: arduino
+
+    Wire.onReceive(onReceive);
+
+and
+
+.. code-block:: arduino
+
+    Wire.onRequest(onRequest);
+
+The ``onReceive`` will handle the request from the master device uppon a slave read request and the ``onRequest`` will handle the answer to the master.
+
+Now, we can start the peripheral configuration by calling ``begin`` function with the device address.
+
+.. code-block:: arduino
+
+    Wire.begin((uint8_t)I2C_DEV_ADDR);
+
+By using ``begin`` without any arguments, all the settings will be done by using the default values. To set the values by your own, see the function description. This function is described here: `i2c begin`_
+
+
+**For ESP32 only!**
+
+Use the function ``slaveWrite`` in order to pre-write to the slave response buffer. This is used only for the ESP32 in order to add the slave capability on the chip and keep compatability with Arduino.
+
+.. code-block:: arduino
+
+    Wire.slaveWrite((uint8_t *)message, strlen(message));
+
+I2C Slave APIs
+**************
+
+Here are the I2C slave APIs. These function are intended to be used only for slave mode.
+
+begin
+^^^^^
+
+In slave mode, the ``begin`` function must be used by passing the **slave address**. You can also define the **pins** and the **bus frequency**. 
+
+.. code-block:: arduino
+
+    bool Wire.begin(uint8_t addr, int sdaPin, int sclPin, uint32_t frequency)
+
+This function will return ``true`` if the peripheral was initialized correctly.
+
+onReceive
+^^^^^^^^^
+
+The ``onReceive`` function is used to define the callback for the data received from the master.
+
+.. code-block:: arduino
+
+    void onReceive( void (*)(int) );
+
+onRequest
+^^^^^^^^^
+
+The ``onRequest`` function is used to define the callback for the data to be send to the master.
+
+.. code-block:: arduino
+
+    void onRequest( void (*)(void) );
+
+slaveWrite
+^^^^^^^^^^
+
+The ``slaveWrite`` function writes on the slave response buffer before receiving the response message. This function is only used for adding the slave compatability for the ESP32.
+
+.. warning:: This function is only required for the ESP32. You **don't** need to use for ESP32-S2 and ESP32-C3.
+
+.. code-block:: arduino
+
+    size_t slaveWrite(const uint8_t *, size_t);
+
+Example Application - WireSlave.ino
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Here is an example of how to use the I2C in Slave Mode.
+
+.. literalinclude:: ../../../libraries/Wire/examples/WireSlave/WireSlave.ino
+    :language: arduino
+
+.. _Arduino Wire Library: https://www.arduino.cc/en/reference/wire

docs/source/api/usb.rst

@@ -0,0 +1,331 @@
+#######
+USB API
+#######
+
+.. note:: This feature is only supported on ESP chips that have USB peripheral, like the ESP32-S2 and ESP32-S3. Some chips, like the ESP32-C3 include native CDC+JTAG peripheral that is not covered here.
+
+About
+-----
+
+The **Universal Serial Bus** is a widely used peripheral to exchange data between devices. USB was introduced on the ESP32, supporting both device and host mode.
+
+To learn about the USB, see the `USB.org`_ for developers.
+
+USB as Device
+*************
+
+In the device mode, the ESP32 acts as an USB device, like a mouse or keyboard to be connected to a host device, like your computer or smartphone.
+
+USB as Host
+***********
+
+The USB host mode, you can connect devices on the ESP32, like external modems, mouse and keyboards.
+
+.. note:: This mode is still under development for the ESP32.
+
+API Description
+---------------
+
+This is the common USB API description.
+
+For more supported USB classes implementation, see the following sections:
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Classes:
+
+   USB CDC <usb_cdc>
+   USB MSC <usb_msc>
+
+USB Common
+**********
+
+These are the common APIs for the USB driver.
+
+onEvent
+^^^^^^^
+
+Event handling function to set the callback.
+
+.. code-block:: arduino
+
+    void onEvent(esp_event_handler_t callback);
+
+Event handling function for the specific event.
+
+.. code-block:: arduino
+
+    void onEvent(arduino_usb_event_t event, esp_event_handler_t callback);
+
+Where ``event`` can be:
+
+* ARDUINO_USB_ANY_EVENT
+* ARDUINO_USB_STARTED_EVENT
+* ARDUINO_USB_STOPPED_EVENT
+* ARDUINO_USB_SUSPEND_EVENT
+* ARDUINO_USB_RESUME_EVENT
+* ARDUINO_USB_MAX_EVENT
+
+VID
+^^^
+
+Set the Vendor ID. This 16 bits identification is used to identify the company that develops the product.
+
+.. note:: You can't define your own VID. If you need your own VID, you need to buy one. See https://www.usb.org/getting-vendor-id for more details.
+
+.. code-block:: arduino
+
+    bool VID(uint16_t v);
+
+
+Get the Vendor ID.
+
+.. code-block:: arduino
+
+    uint16_t VID(void);
+
+Returns the Vendor ID. The default value for the VID is: ``0x303A``.
+
+PID
+^^^
+
+Set the Product ID. This 16 bits identification is used to identify the product.
+
+.. code-block:: arduino
+
+    bool PID(uint16_t p);
+
+Get the Product ID.
+
+.. code-block:: arduino
+
+    uint16_t PID(void);
+
+Returns the Product ID. The default PID is: ``0x0002``.
+
+firmwareVersion
+^^^^^^^^^^^^^^^
+
+Set the firmware version. This is a 16 bits unsigned value.
+
+.. code-block:: arduino
+    
+    bool firmwareVersion(uint16_t version);
+
+Get the firmware version.
+
+.. code-block:: arduino
+
+    uint16_t firmwareVersion(void);
+
+Return the 16 bits unsigned value. The default value is: ``0x100``.
+
+usbVersion
+^^^^^^^^^^
+
+Set the USB version.
+
+.. code-block:: arduino
+
+    bool usbVersion(uint16_t version);
+
+Get the USB version.
+
+.. code-block:: arduino
+
+    uint16_t usbVersion(void);
+
+Return the USB version. The default value is: ``0x200`` (USB 2.0).
+
+usbPower
+^^^^^^^^
+
+Set the USB power as mA (current).
+
+.. note:: This configuration does not change the physical power output. This is only used for the USB device information.
+
+.. code-block:: arduino
+
+    bool usbPower(uint16_t mA);
+
+Get the USB power configuration.
+
+.. code-block:: arduino
+
+    uint16_t usbPower(void);
+
+Return the current in mA. The default value is: ``0x500`` (500mA).
+
+usbClass
+^^^^^^^^
+
+Set the USB class.
+
+.. code-block:: arduino
+
+    bool usbClass(uint8_t _class);
+
+Get the USB class.
+
+.. code-block:: arduino
+
+    uint8_t usbClass(void);
+
+Return the USB class. The default value is: ``TUSB_CLASS_MISC``.
+
+usbSubClass
+^^^^^^^^^^^
+
+Set the USB sub-class.
+
+.. code-block:: arduino
+
+    bool usbSubClass(uint8_t subClass);
+
+Get the USB sub-class.
+
+.. code-block:: arduino
+
+    uint8_t usbSubClass(void);
+
+Return the USB sub-class. The default value is: ``MISC_SUBCLASS_COMMON``.
+
+usbProtocol
+^^^^^^^^^^^
+
+Define the USB protocol.
+
+.. code-block:: arduino
+
+    bool usbProtocol(uint8_t protocol);
+
+Get the USB protocol.
+
+.. code-block:: arduino
+
+    uint8_t usbProtocol(void);
+
+Return the USB protocol. The default value is: ``MISC_PROTOCOL_IAD``
+
+usbAttributes
+^^^^^^^^^^^^^
+
+Set the USB attributes.
+
+.. code-block:: arduino
+
+    bool usbAttributes(uint8_t attr);
+
+Get the USB attributes.
+
+.. code-block:: arduino
+    
+    uint8_t usbAttributes(void);
+
+Return the USB attributes. The default value is: ``TUSB_DESC_CONFIG_ATT_SELF_POWERED``
+
+webUSB
+^^^^^^
+
+This function is used to enable the ``webUSB`` functionality.
+
+.. code-block:: arduino
+
+    bool webUSB(bool enabled);
+
+This function is used to get the ``webUSB`` setting.
+
+.. code-block:: arduino
+    
+    bool webUSB(void);
+
+Return the ``webUSB`` setting (`Enabled` or `Disabled`)
+
+productName
+^^^^^^^^^^^
+
+This function is used to define the product name.
+
+.. code-block:: arduino
+
+    bool productName(const char * name);
+
+This function is used to get the product's name.
+
+.. code-block:: arduino
+
+    const char * productName(void);
+
+manufacturerName
+^^^^^^^^^^^^^^^^
+
+This function is used to define the manufacturer name.
+
+.. code-block:: arduino
+
+    bool manufacturerName(const char * name);
+
+This function is used to get the manufacturer's name.
+
+.. code-block:: arduino
+    
+    const char * manufacturerName(void);
+
+serialNumber
+^^^^^^^^^^^^
+
+This function is used to define the serial number.
+
+.. code-block:: arduino
+
+    bool serialNumber(const char * name);
+
+This function is used to get the serial number.
+
+.. code-block:: arduino
+
+    const char * serialNumber(void);
+
+The default serial number is: ``0``.
+
+webUSBURL
+^^^^^^^^^
+
+This function is used to define the ``webUSBURL``.
+
+.. code-block:: arduino
+
+    bool webUSBURL(const char * name);
+
+This function is used to get the ``webUSBURL``.
+
+.. code-block:: arduino
+
+    const char * webUSBURL(void);
+
+The default ``webUSBURL`` is: https://espressif.github.io/arduino-esp32/webusb.html
+
+enableDFU
+^^^^^^^^^
+
+This function is used to enable the DFU capability.
+
+.. code-block:: arduino
+
+    bool enableDFU();
+
+begin
+^^^^^
+
+This function is used to start the peripheral using the default configuration.
+
+.. code-block:: arduino
+
+    bool begin();
+
+Example Code
+------------
+
+There are a collection of USB device examples on the project GitHub, including Firmware MSC update, USB CDC, HID and composite device.
+
+.. _USB.org: https://www.usb.org/developers

docs/source/api/usb_cdc.rst

@@ -0,0 +1,192 @@
+#######
+USB CDC
+#######
+
+About
+-----
+
+USB Communications Device Class API. This class is used to enable communication between the host and the device.
+
+This class is often used to enable serial communication and can be used to flash the firmware on the ESP32 without the external USB to Serial chip.
+
+APIs
+****
+
+onEvent
+^^^^^^^
+
+Event handling functions.
+
+.. code-block:: arduino
+
+    void onEvent(esp_event_handler_t callback);
+
+.. code-block:: arduino
+
+    void onEvent(arduino_usb_cdc_event_t event, esp_event_handler_t callback);
+
+Where ``event`` can be:
+
+* ARDUINO_USB_CDC_ANY_EVENT
+* ARDUINO_USB_CDC_CONNECTED_EVENT
+* ARDUINO_USB_CDC_DISCONNECTED_EVENT
+* ARDUINO_USB_CDC_LINE_STATE_EVENT
+* ARDUINO_USB_CDC_LINE_CODING_EVENT
+* ARDUINO_USB_CDC_RX_EVENT
+* ARDUINO_USB_CDC_TX_EVENT
+* ARDUINO_USB_CDC_MAX_EVENT
+
+setRxBufferSize
+^^^^^^^^^^^^^^^
+
+The ``setRxBufferSize`` function is used to set the size of the RX buffer.
+
+.. code-block:: arduino
+
+    size_t setRxBufferSize(size_t size);
+
+setTxTimeoutMs
+^^^^^^^^^^^^^^
+
+This function is used to define the time to reach the timeout for the TX.
+
+.. code-block:: arduino
+
+    void setTxTimeoutMs(uint32_t timeout);
+
+begin
+^^^^^
+
+This function is used to start the peripheral using the default CDC configuration.
+
+.. code-block:: arduino
+
+    void begin(unsigned long baud);
+
+Where:
+
+* ``baud`` is the baud rate.
+
+end
+^^^
+
+This function will finish the peripheral as CDC and release all the allocated resources. After calling ``end`` you need to use ``begin`` again in order to initialize the USB CDC driver again.
+
+.. code-block:: arduino
+
+    void end();
+
+available
+^^^^^^^^^
+
+This function will return if there are messages in the queue.
+
+.. code-block:: arduino
+    
+    int available(void);
+
+The return is the number of bytes available to read.
+
+availableForWrite
+^^^^^^^^^^^^^^^^^
+
+This function will return if the hardware is available to write data.
+
+.. code-block:: arduino
+
+    int availableForWrite(void);
+
+peek
+^^^^
+
+This function is used to ``peek`` messages from the queue.
+
+.. code-block:: arduino
+
+    int peek(void);
+
+read
+^^^^
+
+This function is used to read the bytes available.
+
+.. code-block:: arduino
+
+    size_t read(uint8_t *buffer, size_t size);
+
+Where:
+
+* ``buffer`` is the pointer to the buffer to be read.
+* ``size`` is the number of bytes to be read.
+
+write
+^^^^^
+
+This function is used to write the message.
+
+.. code-block:: arduino
+
+    size_t write(const uint8_t *buffer, size_t size);
+
+Where:
+
+* ``buffer`` is the pointer to the buffer to be written.
+* ``size`` is the number of bytes to be written.
+
+flush
+^^^^^
+
+This function is used to flush the data.
+
+.. code-block:: arduino
+
+    void flush(void);
+
+baudRate
+^^^^^^^^
+
+This function is used to get the ``baudRate``.
+
+.. code-block:: arduino
+
+    uint32_t baudRate();
+
+setDebugOutput
+^^^^^^^^^^^^^^
+
+This function will enable the debug output, usually from the `UART0`, to the USB CDC.
+
+.. code-block:: arduino
+
+    void setDebugOutput(bool);
+
+enableReboot
+^^^^^^^^^^^^
+
+This function enables the device to reboot by the DTR as RTS signals.
+
+.. code-block:: arduino
+
+    void enableReboot(bool enable);
+
+rebootEnabled
+^^^^^^^^^^^^^
+
+This function will return if the reboot is enabled.
+
+.. code-block:: arduino
+
+    bool rebootEnabled(void);
+
+Example Code
+------------
+
+Here is an example of how to use the USB CDC.
+
+USBSerial
+*********
+
+.. literalinclude:: ../../../libraries/USB/examples/USBSerial/USBSerial.ino
+    :language: arduino
+
+.. _USB.org: https://www.usb.org/developers

docs/source/api/usb_msc.rst

@@ -0,0 +1,114 @@
+#######
+USB MSC
+#######
+
+About
+-----
+
+USB Mass Storage Class API. This class makes the device accessible as a mass storage device and allows you to transfer data between the host and the device.
+
+One of the examples for this mode is to flash the device by dropping the firmware binary like a flash memory device when connecting the ESP32 to the host computer.
+
+APIs
+****
+
+begin
+^^^^^
+
+This function is used to start the peripheral using the default MSC configuration.
+
+.. code-block:: arduino
+
+    bool begin(uint32_t block_count, uint16_t block_size);
+
+Where:
+
+* ``block_count`` set the disk sector count.
+* ``block_size`` set the disk sector size.
+
+This function will return ``true`` if the configuration was successful.
+
+end
+^^^
+
+This function will finish the peripheral as MSC and release all the allocated resources. After calling ``end`` you need to use ``begin`` again in order to initialize the USB MSC driver again.
+
+.. code-block:: arduino
+
+    void end();
+
+vendorID
+^^^^^^^^
+
+This function is used to define the vendor ID.
+
+.. code-block:: arduino
+
+    void vendorID(const char * vid);//max 8 chars
+
+productID
+^^^^^^^^^
+
+This function is used to define the product ID.
+
+.. code-block:: arduino
+
+    void productID(const char * pid);//max 16 chars
+
+productRevision
+^^^^^^^^^^^^^^^
+
+This function is used to define the product revision.
+
+.. code-block:: arduino
+
+    void productRevision(const char * ver);//max 4 chars
+
+mediaPresent
+^^^^^^^^^^^^
+
+Set the ``mediaPresent`` configuration.
+
+.. code-block:: arduino
+
+    void mediaPresent(bool media_present);
+
+onStartStop
+^^^^^^^^^^^
+
+Set the ``onStartStop`` callback function.
+
+.. code-block:: arduino
+
+    void onStartStop(msc_start_stop_cb cb);
+
+onRead
+^^^^^^
+
+Set the ``onRead`` callback function.
+
+.. code-block:: arduino
+
+    void onRead(msc_read_cb cb);
+
+onWrite
+^^^^^^^
+
+Set the ``onWrite`` callback function.
+
+.. code-block:: arduino
+
+    void onWrite(msc_write_cb cb);
+
+Example Code
+------------
+
+Here is an example of how to use the USB MSC.
+
+FirmwareMSC
+***********
+
+.. literalinclude:: ../../../libraries/USB/examples/FirmwareMSC/FirmwareMSC.ino
+    :language: arduino
+
+.. _USB.org: https://www.usb.org/developers

docs/source/api/wifi.rst

@@ -26,7 +26,7 @@ a Wi-Fi network.
     :width: 520
     :figclass: align-center
 
-This mode can be used for serving a HTTP or HTTPS server inside the ESP32, for example.
+This mode can be used for serving an HTTP or HTTPS server inside the ESP32, for example.
 
 Working as STA
 **************
@@ -38,12 +38,34 @@ The STA mode is used to connect the ESP32 to a Wi-Fi network, provided by an Acc
     :width: 520
     :figclass: align-center
 
-If you need to connect your project to the Internet, this is the mode you are looking for.
+This is the mode to be used if you want to connect your project to the Internet.
 
 API Description
 ---------------
 
-Here is the description about the WiFi API.
+Here is the description of the WiFi API.
+
+Common API
+----------
+
+Here are the common APIs that are used for both modes, AP and STA.
+
+useStaticBuffers
+****************
+
+This function is used to set the memory allocation mode for the Wi-Fi buffers.
+
+.. code-block:: arduino
+
+    static void useStaticBuffers(bool bufferMode);
+
+* Set ``true`` to use the Wi-Fi buffers memory allocation as **static**.
+* Set ``false`` to set the buffers memory allocation to **dynamic**.
+
+The use of dynamic allocation is recommended to save memory and reduce resources usage. However, the dynamic performs slightly slower than the static allocation.
+Use static allocation if you want to have more performance and if your application is multi-tasking.
+
+By default, the memory allocation will be set to **dynamic** if this function is not being used.
 
 WiFiAP
 ------

docs/source/esp-idf_component.rst

@@ -5,13 +5,15 @@ Arduino as a ESP-IDF component
 ESP32 Arduino lib-builder
 -------------------------
 
-For a simplified method, see `lib-builder <lib_builder>`_.
+For a simplified method, see `lib-builder <https://github.com/espressif/esp32-arduino-lib-builder>`_.
 
 Installation
 ------------
 
+.. note:: Latest Arduino Core ESP32 version is now compatible with `ESP-IDF v4.4 <https://github.com/espressif/esp-idf/tree/release/v4.4>`_. Please consider this compability when using Arduino as component in ESP-IDF.
+
 - Download and install `ESP-IDF <https://github.com/espressif/esp-idf>`_.
-- Create blank idf project (from one of the examples).
+- Create blank ESP-IDF project (use sample_project from /examples/get-started) or choose one of the examples.
 - In the project folder, create a new folder called `components` and clone this repository inside the new created folder.
 
 .. code-block:: bash
@@ -24,10 +26,19 @@ Installation
     cd ../.. && \
     idf.py menuconfig
 
+Option 1. Using Arduino setup() and loop()
+******************************************
 
 - The `idf.py menuconfig` has some Arduino options.
-    - On `Autostart Arduino setup and loop on boot`.
-        - If you enable these options, your main.cpp should be formated like any other sketch.
+    - Turn on `Autostart Arduino setup and loop on boot`.
+    - In main folder rename file `main.c` to `main.cpp`.
+    - In main folder open file `CMakeList.txt` and change `main.c` to `main.cpp` as described below.
+
+.. code-block:: bash
+
+    idf_component_register(SRCS "main.cpp" INCLUDE_DIRS ".")
+
+- Your main.cpp should be formated like any other sketch.
 
 .. code-block:: c
 
@@ -43,14 +54,17 @@ Installation
         delay(1000);
     }
 
-- Otherwise, you need to implement ```app_main()``` and call ```initArduino();``` in it.
+Option 2. Using ESP-IDF appmain()
+*********************************
+
+- You need to implement ``app_main()`` and call ``initArduino();`` in it.
 
 Keep in mind that setup() and loop() will not be called in this case.
 If you plan to base your code on examples provided in `examples <https://github.com/espressif/esp-idf/tree/master/examples>`_, please make sure to move the app_main() function in main.cpp from the files in the example.
 
 .. code-block:: cpp
 
-    //file: main.cpp
+    //file: main.c or main.cpp
     #include "Arduino.h"
 
     extern "C" void app_main()
@@ -67,7 +81,11 @@ If you plan to base your code on examples provided in `examples <https://github.
 - If enabled, WiFi will start with the last known configuration
 - Otherwise it will wait for WiFi.begin
 
-- ```idf.py -p <your-board-serial-port> flash monitor``` will build, upload and open serial monitor to your board
+Build, flash and monitor
+************************
+
+- For both options use command ``idf.py -p <your-board-serial-port> flash monitor``
+- It will build, upload and open serial monitor to your board.
 
 Logging To Serial
 -----------------

docs/source/getting_started.rst

@@ -35,9 +35,9 @@ Here are the ESP32 series supported by the Arduino-ESP32 project:
 SoC      Stable Development Datasheet
 ======== ====== =========== ===================================
 ESP32    Yes    Yes         `ESP32 Datasheet`_
-ESP32-S2 No     Yes         `ESP32-S2 Datasheet`_
-ESP32-C3 No     Yes         `ESP32-C3 Datasheet`_
-ESP32-S3 No     No          Not Available Yet
+ESP32-S2 Yes    Yes         `ESP32-S2 Datasheet`_
+ESP32-C3 Yes    Yes         `ESP32-C3 Datasheet`_
+ESP32-S3 No     No          `ESP32-S3 Datasheet`_
 ======== ====== =========== ===================================
 
 See `Boards <boards/boards.html>`_ for more details about ESP32 development boards.
@@ -122,6 +122,7 @@ Resources
 .. _ESP32 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
 .. _ESP32-S2 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf
 .. _ESP32-C3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf
+.. _ESP32-S3 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32-s3_datasheet_en.pdf
 .. _Arduino.cc: https://www.arduino.cc/en/Main/Software
 .. _Arduino Reference: https://www.arduino.cc/reference/en/
 .. _ESP32 Forum: https://esp32.com

docs/source/installing.rst

@@ -29,7 +29,7 @@ This is the preferred and easiest way to install Arduino-ESP32.
 
 .. note::
    Starting with the Arduino IDE version 1.6.4, Arduino allows installation of third-party platform 
-   packages using Boards Manager. We have packages available for Windows, macOS, and Linux (x86, amd64, armhf and arm64).
+   packages using Boards Manager. We have packages available for Windows, macOS, and Linux.
 
 To start the installation process using the Boards Managaer, follow these steps:
 
@@ -61,10 +61,11 @@ To start the installation process using the Boards Managaer, follow these steps:
 Windows
 -------
 
-Steps to install Arduino ESP32 support on Windows:
+.. warning:: Arduino ESP32 core v2.x.x cannot be used on Windows 8.x x86 (32 bits), Windows 7 or earlier. The Windows 32 bits OS is no longer supported by this toolchain.
 
-.. note::
-   Tested on Windows 10 32 and 64 bit machines.
+   The Arduino ESP32 v1.0.6 still works on WIN32. You might want to install python 3.8.x because it is the latest release supported by Windows 7.
+
+Steps to install Arduino ESP32 support on Windows:
 
 **Step 1**
 
@@ -166,9 +167,7 @@ Debian/Ubuntu
    mkdir -p ~/Arduino/hardware/espressif && \
    cd ~/Arduino/hardware/espressif && \
    git clone https://github.com/espressif/arduino-esp32.git esp32 && \
-   cd esp32 && \
-   git submodule update --init --recursive && \
-   cd tools && \
+   cd esp32/tools && \
    python3 get.py
 
 - Restart Arduino IDE.
@@ -181,9 +180,7 @@ Debian/Ubuntu
    mkdir -p espressif && \
    cd espressif && \
    git clone https://github.com/espressif/arduino-esp32.git esp32 && \
-   cd esp32 && \
-   git submodule update --init --recursive && \
-   cd tools && \
+   cd esp32/tools && \
    python3 get.py
 
 Fedora
@@ -203,9 +200,7 @@ Fedora
    mkdir -p ~/Arduino/hardware/espressif && \
    cd ~/Arduino/hardware/espressif && \
    git clone https://github.com/espressif/arduino-esp32.git esp32 && \
-   cd esp32 && \
-   git submodule update --init --recursive && \
-   cd tools && \
+   cd esp32/tools && \
    python get.py
 
 - Restart Arduino IDE.
@@ -228,9 +223,7 @@ openSUSE
    mkdir -p ~/Arduino/hardware/espressif && \
    cd ~/Arduino/hardware/espressif && \
    git clone https://github.com/espressif/arduino-esp32.git esp32 && \
-   cd esp32 && \
-   git submodule update --init --recursive && \
-   cd tools && \
+   cd esp32/tools && \
    python get.py
 
 - Restart Arduino IDE.
@@ -246,10 +239,8 @@ macOS
 
    mkdir -p ~/Documents/Arduino/hardware/espressif && \
    cd ~/Documents/Arduino/hardware/espressif && \
-   git clone https://github.com/espressif/arduino-esp32.git esp32 --depth 1 && \
-   cd esp32 && \
-   git submodule update --init --recursive --depth 1 && \
-   cd tools && \
+   git clone https://github.com/espressif/arduino-esp32.git esp32 && \
+   cd esp32/tools && \
    python get.py 
 
 Where ``~/Documents/Arduino`` represents your sketch book location as per "Arduino" > "Preferences" > "Sketchbook location" (in the IDE once started). Adjust the command above accordingly.

docs/source/libraries.rst

@@ -2,16 +2,89 @@
 Libraries
 #########
 
-Here is where the Libraries API's descriptions are located.
+Here is where the Libraries API's descriptions are located:
+
+Supported Peripherals
+---------------------
+
+Currently, the Arduino ESP32 supports the following peripherals with Arduino APIs.
+
++---------------+---------------+---------------+---------------+-------------------------------+
+| Peripheral    | ESP32         | ESP32-S2      | ESP32-C3      | Comments                      |
++===============+===============+===============+===============+===============================+
+| ADC           | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Bluetooth     | Yes           | Not Supported | Not Supported | Bluetooth Classic             |
++---------------+---------------+---------------+---------------+-------------------------------+
+| BLE           | Yes           | Not Supported | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| DAC           | Yes           | Yes           | Not Supported |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Ethernet      | Yes           | Not Supported | Not Supported | (*)                           |
++---------------+---------------+---------------+---------------+-------------------------------+
+| GPIO          | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Hall Sensor   | Yes           | Not Supported | Not Supported |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| I2C           | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| I2S           | No            | No            | No            | WIP                           |
++---------------+---------------+---------------+---------------+-------------------------------+
+| LEDC          | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Motor PWM     | No            | Not Supported | Not Supported |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Pulse Counter | No            | No            | No            |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| RMT           | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| SDIO          | No            | No            | No            |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| SPI           | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Timer         | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Temp. Sensor  | Not Supported | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Touch         | Yes           | Yes           | Not Supported |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| TWAI          | No            | No            | No            |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| UART          | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+| USB           | Not Supported | Yes           | Yes           | ESP32-C3 only CDC/JTAG        |
++---------------+---------------+---------------+---------------+-------------------------------+
+| Wi-Fi         | Yes           | Yes           | Yes           |                               |
++---------------+---------------+---------------+---------------+-------------------------------+
+
+Notes
+^^^^^
+
+(*) SPI Ethernet is supported by all ESP32 families and RMII only for ESP32.
+
+.. note:: Some peripherals are not available for all ESP32 families. To see more details about it, see the corresponding SoC at `Product Selector <https://products.espressif.com>`_ page.
+
+Datasheet
+^^^^^^^^^
+
+* `ESP32 <https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf>`_
+* `ESP32-S2 <https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf>`_
+* `ESP32-C3 <https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf>`_
+
+APIs
+----
+
+The Arduino ESP32 offers some unique APIs, described in this section:
 
 .. toctree::
     :maxdepth: 1
-    :caption: API's:
 
     Bluetooth <api/bluetooth>
     Deep Sleep <api/deepsleep>
     ESPNOW <api/espnow>
     GPIO <api/gpio>
+    I2C <api/i2c>
     RainMaker <api/rainmaker>
     Reset Reason <api/reset_reason>
+    USB <api/usb.rst>
     Wi-Fi <api/wifi>

docs/source/troubleshooting.rst

@@ -12,31 +12,57 @@ Here are some of the most common issues around the ESP32 development using Ardui
 Installing
 ----------
 
+Here are the common issues during the installation.
+
 Building
 --------
 
+Missing Python: "python": executable file not found in $PATH
+************************************************************
+
+You are trying to build your sketch using Ubuntu and this message appears:
+
+.. code-block:: bash
+
+    "exec: "python": executable file not found in $PATH
+    Error compiling for board ESP32 Dev Module"
+
+Solution
+^^^^^^^^
+
+To avoid this error, you can install the ``python-is-python3`` package to create the symbolic links.
+
+.. code-block:: bash
+    
+    sudo apt install python-is-python3
+
+If you are not using Ubuntu, you can check if you have the Python correctly installed or the presence of the symbolic links/environment variables.
+
 Flashing
 --------
 
 Why is my board not flashing/uploading when I try to upload my sketch?
 **********************************************************************
 
-If you are trying to upload a new sketch and your board isn't responding, there are some possible reasons.
 To be able to upload the sketch via serial interface, the ESP32 must be in the download mode. The download mode allows you to upload the sketch over the serial port and to get into it, you need to keep the **GPIO0** in LOW while a resetting (**EN** pin) cycle.
+If you are trying to upload a new sketch and your board is not responding, there are some possible reasons.
 
 Possible fatal error message from the Arduino IDE:
 
     *A fatal error occurred: Failed to connect to ESP32: Timed out waiting for packet header*
 
+Solution
+^^^^^^^^
+
 Here are some steps that you can try to:
 
 * Check your USB cable and try a new one.
 * Change the USB port.
 * Check your power supply.
-* In some instances, you must keep **GPIO0** LOW during the uploading process via serial interface.
-* Hold-down the **“BOOT”** button in your ESP32 board while uploading/flashing.
+* In some instances, you must keep **GPIO0** LOW during the uploading process via the serial interface.
+* Hold down the **“BOOT”** button in your ESP32 board while uploading/flashing.
 
-In some development boards, you can try adding the reset delay circuit, as decribed in the *Power-on Sequence* section on the `ESP32 Hardware Design Guidelines <https://www.espressif.com/sites/default/files/documentation/esp32_hardware_design_guidelines_en.pdf>`_ in order to get into the download mode automatically.
+In some development boards, you can try adding the reset delay circuit, as described in the *Power-on Sequence* section on the `ESP32 Hardware Design Guidelines <https://www.espressif.com/sites/default/files/documentation/esp32_hardware_design_guidelines_en.pdf>`_ in order to get into the download mode automatically.
 
 Hardware
 --------
@@ -44,7 +70,10 @@ Hardware
 Why is my computer not detecting my board?
 **************************************************
 
-If your board is not detected after connecting into the USB, you can try to:
+If your board is not being detected after connecting to the USB, you can try to:
+
+Solution
+^^^^^^^^
 
 * Check if the USB driver is missing. - `USB Driver Download Link  <https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers>`_
 * Check your USB cable and try a new one.

docs/source/tutorials/blink.rst

@@ -0,0 +1,113 @@
+##########################
+Blink Interactive Tutorial
+##########################
+
+Introduction
+------------
+
+This is the interactive blink tutorial using `Wokwi`_. For this tutorial, you don't need the ESP32 board or the Arduino toolchain.
+
+.. note:: If you don't want to use this tutorial with the simulation, you can copy and paste the :ref:`blink_example_code` from `Wokwi`_ editor and use it on the `Arduino IDE`_ or `PlatformIO`_.
+
+About this Tutorial
+-------------------
+
+This tutorial is the most basic for any get started. In this tutorial, we will show how to set a GPIO pin as an output to drive a LED to blink each 1 second.
+
+Step by step
+------------
+
+In order to make this simple blink tutorial, you'll need to do the following steps.
+
+1. **Define the GPIO for the LED.**
+
+.. code-block::
+
+    #define LED 2
+
+This ``#define LED 2`` will be used to set the GPIO2 as the ``LED`` output pin. 
+
+2. **Setup.**
+
+Inside the ``setup()`` function, we need to add all things we want to run once during the startup.
+Here we'll add the ``pinMode`` function to set the pin as output.
+
+.. code-block::
+
+    void setup() {
+        pinMode(LED, OUTPUT);
+    }
+
+The first argument is the GPIO number, already defined and the second is the mode, here defined as an output.
+
+3. **Main Loop.**
+
+After the ``setup``, the code runs the ``loop`` function infinitely. Here we will handle the GPIO in order to get the LED blinking.
+
+.. code-block::
+
+    void loop() {
+        digitalWrite(LED, HIGH);
+        delay(100);
+        digitalWrite(LED, LOW);
+        delay(100);
+    }
+
+The first function is the ``digitalWrite()`` with two arguments:
+
+* GPIO: Set the GPIO pin. Here defined by our ``LED`` connected to the GPIO2.
+* State: Set the GPIO state as HIGH (ON) or LOW (OFF).
+
+This first ``digitalWrite`` we will set the LED ON.
+
+After the ``digitalWrite``, we will set a ``delay`` function in order to wait for some time, defined in milliseconds.
+
+Now we can set the GPIO to ``LOW`` to turn the LED off and ``delay`` for more few milliseconds to get the LED blinking.
+
+4. **Run the code.**
+
+To run this code, you'll need a development board and the Arduino toolchain installed on your computer. If you don't have both, you can use the simulator to test and edit the code.
+
+Simulation
+----------
+
+This simulator is provided by `Wokwi`_ and you can test the blink code and play with some modifications to learn more about this example.
+
+.. raw:: html
+
+    <iframe src="https://wokwi.com/arduino/projects/305566932847821378?embed=1" width="100%" height="400" border="0"></iframe>
+
+Change the parameters, like the delay period, to test the code right on your browser. You can add more LEDs, change the GPIO, and more.
+
+.. _blink_example_code:
+
+Example Code
+------------
+
+Here is the full blink code.
+
+.. code-block::
+
+    #define LED 2
+
+    void setup() {
+        pinMode(LED, OUTPUT);
+    }
+
+    void loop() {
+        digitalWrite(LED, HIGH);
+        delay(100);
+        digitalWrite(LED, LOW);
+        delay(100);
+    }
+
+Resources
+---------
+
+* `ESP32 Datasheet`_ (Datasheet)
+* `Wokwi`_ (Wokwi Website)
+
+.. _ESP32 Datasheet: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf
+.. _Wokwi: https://wokwi.com/
+.. _PlatformIO: https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#platformio
+.. _Arduino IDE: https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-boards-manager

docs/source/tutorials/tutorials.rst

@@ -6,6 +6,7 @@ Tutorials
     :maxdepth: 2
     :caption: Tutorials:
 
+    Blink <blink>
     Basic <basic>
     DFU <dfu>
     GPIO Matrix and Pin Mux <io_mux>

libraries/BLE/src/BLECharacteristic.cpp

@@ -191,7 +191,7 @@ uint8_t* BLECharacteristic::getData() {
  * @brief Retrieve the current length of the data of the characteristic.
  * @return Amount of databytes of the characteristic.
  */
-uint8_t BLECharacteristic::getLength() {
+size_t BLECharacteristic::getLength() {
 	return m_value.getLength();
 } // getLength
 

libraries/BLE/src/BLECharacteristic.h

@@ -62,7 +62,7 @@ public:
 	BLEUUID        getUUID();
 	std::string    getValue();
 	uint8_t*       getData();
-	uint8_t        getLength();
+	size_t         getLength();
 
 	void indicate();
 	void notify(bool is_notification = true);

libraries/BLE/src/BLEHIDDevice.h

@@ -26,6 +26,7 @@
 #define HID_CARD_READER	0x03C6
 #define HID_DIGITAL_PEN	0x03C7
 #define HID_BARCODE		0x03C8
+#define HID_BRAILLE_DISPLAY		0x03C9
 
 class BLEHIDDevice {
 public:

libraries/BluetoothSerial/src/BTAddress.cpp

@@ -7,7 +7,7 @@
  *      Author: Thomas M. (ArcticSnowSky)
  */
 #include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED)
+#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
 
 #include "BTAddress.h"
 #include <string>

libraries/BluetoothSerial/src/BTAddress.h

@@ -10,7 +10,7 @@
 #ifndef COMPONENTS_CPP_UTILS_BTADDRESS_H_
 #define COMPONENTS_CPP_UTILS_BTADDRESS_H_
 #include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED)
+#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
 #include <esp_gap_bt_api.h> // ESP32 BT
 #include <string>
 

libraries/BluetoothSerial/src/BTAdvertisedDeviceSet.cpp

@@ -6,7 +6,7 @@
  */
 
 #include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED)
+#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
 
 //#include <map>
 

libraries/BluetoothSerial/src/BTScanResultsSet.cpp

@@ -6,7 +6,7 @@
  */
 
 #include "sdkconfig.h"
-#if defined(CONFIG_BT_ENABLED)
+#if defined(CONFIG_BT_ENABLED) && defined(CONFIG_BLUEDROID_ENABLED)
 
 
 #include <esp_err.h>

libraries/EEPROM/examples/eeprom_class/eeprom_class.ino

@@ -11,27 +11,27 @@
 #include "EEPROM.h"
 
 // Instantiate eeprom objects with parameter/argument names and sizes
-EEPROMClass  NAMES("eeprom0", 0x500);
-EEPROMClass  HEIGHT("eeprom1", 0x200);
-EEPROMClass  AGE("eeprom2", 0x100);
+EEPROMClass  NAMES("eeprom0");
+EEPROMClass  HEIGHT("eeprom1");
+EEPROMClass  AGE("eeprom2");
 
 void setup() {
   Serial.begin(115200);
   delay(1000);
   Serial.println("Testing EEPROMClass\n");
-  if (!NAMES.begin(NAMES.length())) {
+  if (!NAMES.begin(0x500)) {
     Serial.println("Failed to initialise NAMES");
     Serial.println("Restarting...");
     delay(1000);
     ESP.restart();
   }
-  if (!HEIGHT.begin(HEIGHT.length())) {
+  if (!HEIGHT.begin(0x200)) {
     Serial.println("Failed to initialise HEIGHT");
     Serial.println("Restarting...");
     delay(1000);
     ESP.restart();
   }
-  if (!AGE.begin(AGE.length())) {
+  if (!AGE.begin(0x100)) {
     Serial.println("Failed to initialise AGE");
     Serial.println("Restarting...");
     delay(1000);

libraries/EEPROM/src/EEPROM.cpp

@@ -34,7 +34,6 @@ EEPROMClass::EEPROMClass(void)
   , _size(0)
   , _dirty(false)
   , _name("eeprom")
-  , _user_defined_size(0)
 {
 }
 
@@ -45,17 +44,15 @@ EEPROMClass::EEPROMClass(uint32_t sector)
   , _size(0)
   , _dirty(false)
   , _name("eeprom")
-  , _user_defined_size(0)
 {
 }
 
-EEPROMClass::EEPROMClass(const char* name, uint32_t user_defined_size)
+EEPROMClass::EEPROMClass(const char* name)
   : _handle(0)
   , _data(0)
   , _size(0)
   , _dirty(false)
   , _name(name)
-  , _user_defined_size(user_defined_size)
 {
 }
 
@@ -133,7 +130,7 @@ bool EEPROMClass::begin(size_t size) {
 
   _data = (uint8_t*) malloc(size);
   if(!_data) {
-    log_e("Not enough memory for %d bytes in EEPROM");
+    log_e("Not enough memory for %d bytes in EEPROM", size);
     return false;
   }
   _size = size;
@@ -215,7 +212,7 @@ uint8_t * EEPROMClass::getDataPtr() {
 */
 uint16_t EEPROMClass::length ()
 {
-  return _user_defined_size;
+  return _size;
 }
 
 /* 

libraries/EEPROM/src/EEPROM.h

@@ -35,7 +35,7 @@ typedef uint32_t nvs_handle;
 class EEPROMClass {
   public:
     EEPROMClass(uint32_t sector);
-    EEPROMClass(const char* name, uint32_t user_defined_size);
+    EEPROMClass(const char* name);
     EEPROMClass(void);
     ~EEPROMClass(void);
 
@@ -112,7 +112,6 @@ class EEPROMClass {
     size_t _size;
     bool _dirty;
     const char* _name;
-    uint32_t _user_defined_size;
 };
 
 #if !defined(NO_GLOBAL_INSTANCES) && !defined(NO_GLOBAL_EEPROM)

libraries/ESP32/examples/AnalogOut/SigmaDelta/SigmaDelta.ino

@@ -1,9 +1,7 @@
 void setup()
 {
-    //setup channel 0 with frequency 312500 Hz
-    sigmaDeltaSetup(0, 312500);
-    //attach pin 18 to channel 0
-    sigmaDeltaAttachPin(18,0);
+    //setup on pin 18, channel 0 with frequency 312500 Hz
+    sigmaDeltaSetup(18,0, 312500);
     //initialize channel 0 to off
     sigmaDeltaWrite(0, 0);
 }

libraries/ESP32/examples/ArduinoStackSize/ArduinoStackSize.ino

@@ -0,0 +1,36 @@
+/*
+    ESP32 Arduino creates a task to run setup() and then to execute loop() continuously
+    This task can be found at https://github.com/espressif/arduino-esp32/blob/master/cores/esp32/main.cpp
+
+    By default "loopTask" will be created with a stack size of 8KB.
+    This should be plenty for most general sketches.
+
+    There is a way to change the stack size of this task by using
+    SET_LOOP_TASK_STACK_SIZE(size);
+    It will bypass the default stack size of 8KB and allow the user to define a new size.
+
+    It is recommend this value to be higher than 8KB, for instance 16KB.
+    This increasing may be necessary for the sketches that use deep recursion for instance.
+
+    In this example, you can verify it by changing or just commenting out SET_LOOP_TASK_STACK_SIZE();
+*/
+
+
+// This sets Arduino Stack Size - comment this line to use default 8K stack size
+SET_LOOP_TASK_STACK_SIZE(16*1024); // 16KB
+
+void setup() {
+  Serial.begin(115200);
+
+  Serial.printf("Arduino Stack was set to %d bytes", getArduinoLoopTaskStackSize());
+
+  // Print unused stack for the task that is running setup()
+  Serial.printf("\nSetup() - Free Stack Space: %d", uxTaskGetStackHighWaterMark(NULL));
+}
+
+void loop() {
+  delay(1000);
+
+  // Print unused stack for the task that is running loop() - the same as for setup()
+  Serial.printf("\nLoop() - Free Stack Space: %d", uxTaskGetStackHighWaterMark(NULL));
+}

libraries/ESP32/examples/Camera/CameraWebServer/CameraWebServer.ino

@@ -14,6 +14,7 @@
 //#define CAMERA_MODEL_M5STACK_V2_PSRAM // M5Camera version B Has PSRAM
 //#define CAMERA_MODEL_M5STACK_WIDE // Has PSRAM
 //#define CAMERA_MODEL_M5STACK_ESP32CAM // No PSRAM
+//#define CAMERA_MODEL_M5STACK_UNITCAM // No PSRAM
 //#define CAMERA_MODEL_AI_THINKER // Has PSRAM
 //#define CAMERA_MODEL_TTGO_T_JOURNAL // No PSRAM
 

libraries/ESP32/examples/Camera/CameraWebServer/camera_pins.h

@@ -113,6 +113,25 @@
 #define HREF_GPIO_NUM     26
 #define PCLK_GPIO_NUM     21
 
+#elif defined(CAMERA_MODEL_M5STACK_UNITCAM)
+#define PWDN_GPIO_NUM     -1
+#define RESET_GPIO_NUM    15
+#define XCLK_GPIO_NUM     27
+#define SIOD_GPIO_NUM     25
+#define SIOC_GPIO_NUM     23
+
+#define Y9_GPIO_NUM       19
+#define Y8_GPIO_NUM       36
+#define Y7_GPIO_NUM       18
+#define Y6_GPIO_NUM       39
+#define Y5_GPIO_NUM        5
+#define Y4_GPIO_NUM       34
+#define Y3_GPIO_NUM       35
+#define Y2_GPIO_NUM       32
+#define VSYNC_GPIO_NUM    22
+#define HREF_GPIO_NUM     26
+#define PCLK_GPIO_NUM     21
+
 #elif defined(CAMERA_MODEL_AI_THINKER)
 #define PWDN_GPIO_NUM     32
 #define RESET_GPIO_NUM    -1

libraries/ESP32/examples/RMT/RMTCallback/RMTCallback.ino

@@ -12,7 +12,7 @@ class MyProcessor {
 
   public:
     MyProcessor(uint8_t pin, float nanoTicks) {
-      assert((rmt_recv = rmtInit(21, false, RMT_MEM_192)));
+      assert((rmt_recv = rmtInit(21, RMT_RX_MODE, RMT_MEM_192)));
 
       realNanoTick = rmtSetTick(rmt_recv, nanoTicks);
     };

libraries/ESP32/examples/RMT/RMTLoopback/RMTLoopback.ino

@@ -5,6 +5,17 @@
 
 #include "esp32-hal.h"
 
+#if CONFIG_IDF_TARGET_ESP32C3
+// ESP32 C3 has only 2 channels for RX and 2 for TX, thus MAX RMT_MEM is 128
+#define RMT_TX_PIN 4
+#define RMT_RX_PIN 5
+#define RMT_MEM_RX RMT_MEM_128
+#else 
+#define RMT_TX_PIN 18
+#define RMT_RX_PIN 21
+#define RMT_MEM_RX RMT_MEM_192
+#endif
+
 rmt_data_t my_data[256];
 rmt_data_t data[256];
 
@@ -18,18 +29,19 @@ void setup()
     Serial.begin(115200);
     events = xEventGroupCreate();
     
-    if ((rmt_send = rmtInit(18, true, RMT_MEM_64)) == NULL)
+    if ((rmt_send = rmtInit(RMT_TX_PIN, RMT_TX_MODE, RMT_MEM_64)) == NULL)
     {
         Serial.println("init sender failed\n");
     }
-    if ((rmt_recv = rmtInit(21, false, RMT_MEM_192)) == NULL)
+    if ((rmt_recv = rmtInit(RMT_RX_PIN, RMT_RX_MODE, RMT_MEM_RX)) == NULL)
     {
         Serial.println("init receiver failed\n");
     }
 
     float realTick = rmtSetTick(rmt_send, 100);
     printf("real tick set to: %fns\n", realTick);
-
+    // both will keep same tick 
+    realTick = rmtSetTick(rmt_recv, 100);
 }
 
 void loop() 

libraries/ESP32/examples/RMT/RMTReadXJT/RMTReadXJT.ino

@@ -182,7 +182,7 @@ void setup()
     Serial.begin(115200);
     
     // Initialize the channel to capture up to 192 items
-    if ((rmt_recv = rmtInit(21, false, RMT_MEM_192)) == NULL)
+    if ((rmt_recv = rmtInit(21, RMT_RX_MODE, RMT_MEM_192)) == NULL)
     {
         Serial.println("init receiver failed\n");
     }

libraries/ESP32/examples/RMT/RMTWriteNeoPixel/RMTWriteNeoPixel.ino

@@ -41,7 +41,7 @@ void setup()
 {
     Serial.begin(115200);
     
-    if ((rmt_send = rmtInit(18, true, RMT_MEM_64)) == NULL)
+    if ((rmt_send = rmtInit(18, RMT_TX_MODE, RMT_MEM_64)) == NULL)
     {
         Serial.println("init sender failed\n");
     }

libraries/Ethernet/library.properties

@@ -0,0 +1,9 @@
+name=Ethernet
+version=2.0.0
+author=Hristo Gochkov
+maintainer=Hristo Gochkov <hristo@espressif.com>
+sentence=Enables network connection (local and Internet) using the ESP32 Ethernet.
+paragraph=With this library you can instantiate Servers, Clients and send/receive UDP packets through Ethernet. The IP address can be assigned statically or through a DHCP. The library can also manage DNS.
+category=Communication
+url=
+architectures=esp32

libraries/Ethernet/src/ETH.cpp

@@ -237,12 +237,6 @@ bool ETHClass::begin(uint8_t phy_addr, int power, int mdc, int mdio, eth_phy_typ
     esp_netif_config_t cfg = ESP_NETIF_DEFAULT_ETH();
     esp_netif_t *eth_netif = esp_netif_new(&cfg);
 
-    if(esp_eth_set_default_handlers(eth_netif) != ESP_OK){
-        log_e("esp_eth_set_default_handlers failed");
-        return false;
-    }
-    
-    
     esp_eth_mac_t *eth_mac = NULL;
 #if CONFIG_ETH_SPI_ETHERNET_DM9051
     if(type == ETH_PHY_DM9051){
@@ -288,7 +282,12 @@ bool ETHClass::begin(uint8_t phy_addr, int power, int mdc, int mdio, eth_phy_typ
             break;
 #endif
         case ETH_PHY_KSZ8081:
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4,4,0)
             eth_phy = esp_eth_phy_new_ksz8081(&phy_config);
+#else
+            log_e("unsupported ethernet type 'ETH_PHY_KSZ8081'");
+#endif
+            break;
         default:
             break;
     }
@@ -369,6 +368,10 @@ bool ETHClass::begin(uint8_t phy_addr, int power, int mdc, int mdio, eth_phy_typ
         log_e("esp_eth_init error: %d", err);
     }
 #endif
+    // holds a few microseconds to let DHCP start and enter into a good state
+    // FIX ME -- adresses issue https://github.com/espressif/arduino-esp32/issues/5733
+    delay(50);
+
     return true;
 }
 
@@ -398,6 +401,7 @@ bool ETHClass::config(IPAddress local_ip, IPAddress gateway, IPAddress subnet, I
         log_e("STA IP could not be configured! Error: %d", err);
         return false;
     }
+    
     if(info.ip.addr){
         staticIP = true;
     } else {

libraries/FFat/src/FFat.cpp

@@ -168,7 +168,7 @@ size_t F_Fat::freeBytes()
 
 bool F_Fat::exists(const char* path)
 {
-    File f = open(path, "r");
+    File f = open(path, "r",false);
     return (f == true) && !f.isDirectory();
 }