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Fix restarts on ESP devices #22

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Fix restarts on ESP devices #22

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c1c5d60
Fixed ESP restarts by watch dog during long series of steps by adding…
maxim-kukushkin Jun 20, 2020
255b7b9
Fixed incorrect placement of yield()
maxim-kukushkin Jun 20, 2020
6d1daf3
Reduced the amount of calls to yield() during motor rotation
maxim-kukushkin Sep 25, 2020
b22b636
Fixed compilation errors
maxim-kukushkin Sep 25, 2020
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13 changes: 13 additions & 0 deletions CheapStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,11 @@
#include "Arduino.h"
#include "CheapStepper.h"

#if defined(ESP8266) || defined(ARDUINO_ESP8266_NODEMCU)
#define YIELD_TIME 1000 // Source https://www.sigmdel.ca/michel/program/esp8266/arduino/watchdogs_en.html#ESP8266_WDT_TIMEOUT
#else
#define YIELD_TIME (0UL - 1UL) // Large number to only call it rarely
#endif

CheapStepper::CheapStepper () : pins({8,9,10,11}) {
for (int pin=0; pin<4; pin++){
Expand Down Expand Up @@ -157,6 +162,14 @@ void CheapStepper::step(bool clockwise){

if (clockwise) seqCW();
else seqCCW();

// return control to the system between the steps so that long series of those
// doesn't trigger watch dog restart on ESP
if (millis() - lastYieldTime >= YIELD_TIME)
{
yield();
lastYieldTime = millis();
}
}

void CheapStepper::off() {
Expand Down