fix StepperDemo compile error and adjust simavr limits

CHANGELOG.md

@@ -13,7 +13,8 @@ pre-0.31.0:
 - compatibility with esp-idf 5.3.0 (not working with 5.0.x to 5.2.x)
   `pio run -e esp32_idf_V6_8_1` in `pio_espidf/UsageExample` works.
 - Drop support for esp-idf 3.x.y versions
-  beta level. barely tested
+- Add github build tests for esp32c6 with espidf5
+- StepperDemo can be compiled with esp-idf4/5 without arduino
 
 0.30.15:
 - Fix missing initialization in `getCurrentSpeedInTicks()` (#262)

examples/StepperDemo/StepperDemo.ino

@@ -903,12 +903,20 @@ void test_direct_drive(const struct stepper_config_s *stepper) {
 
 void setup() {
   PRINT_INIT();
-#ifdef ARDUINO_ARCH_ESP32
+#if defined(ARDUINO_ARCH_ESP32)
   printf("LOG start\n");
   esp_log_level_set("*", ESP_LOG_INFO);
   esp_log_level_set("rmt", ESP_LOG_INFO);
   ESP_LOGI("StepperDemo", "Started INFO");
   ESP_LOGE("*", "Started ERROR");
+  PRINTLN("");
+#endif
+#if defined(ARDUINO_ARCH_ESP32) || defined(ESP_PLATFORM)
+  PRINT("ESP-IDF: ");
+  PRINTI16((int16_t)ESP_IDF_VERSION_MAJOR);
+  PRINTCH('.');
+  PRINTI16((int16_t)ESP_IDF_VERSION_MINOR);
+  PRINTLN("");
 #endif
 
   for(uint8_t i = 0;i < MAX_STEPPER;i++) {
@@ -1189,9 +1197,9 @@ bool process_cmd(char *cmd) {
       ESP.restart();
 #else
 	  esp_reset();
-#endif
 #endif
 	  }
+#endif
 #if defined(ARDUINO_ARCH_AVR)
       if (*cmd == 0) {
         output_msg(MSG_STRAY_DIGITAL_READ_TOGGLE);
@@ -1780,6 +1788,8 @@ extern "C" void app_main() {
         esp_task_wdt_add(NULL);
 #endif
         esp_task_wdt_add(NULL);
+
+  printf("Non-arduino version\n");
   setup();
   while(true) {
     loop();

extras/tests/esp32_hw_based/Makefile

@@ -19,5 +19,11 @@ test: M1.test M7.test
 compile:
 	(cd ../../../pio_dirs/StepperDemo;rm -fR .pio; pio run -e esp32_V6_8_1 -t upload --upload-port /dev/$(DEV))
 
+compile_idf4:
+	(cd ../../../pio_espidf/StepperDemo;rm -fR .pio; pio run -e esp32_idf_V5_3_0 -t upload --upload-port /dev/$(DEV))
+
+compile_idf5:
+	(cd ../../../pio_espidf/StepperDemo;rm -fR .pio; pio run -e esp32_idf_V6_8_1 -t upload --upload-port /dev/$(DEV))
+
 clean:
 	rm -f seq*.log

extras/tests/esp32_hw_based/test_all.sh

@@ -0,0 +1,13 @@
+#!/bin/sh
+
+# arduino idf4 based test
+make compile
+make M1.test M7.test
+
+# idf4 based test
+make compile_idf4
+make M1.test M7.test
+
+# idf5 only rmt-module supporting 8 steppers
+make compile_idf5
+make M1.test

extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt

@@ -4,9 +4,9 @@
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
  EnableC:        2*L->H,        1*H->L
-   StepA:    64000*L->H,    64000*H->L, Max High=22us Total High=312923us
-   StepB:    64000*L->H,    64000*H->L, Max High=33us Total High=360304us
-   StepC:    64000*L->H,    64000*H->L, Max High=35us Total High=391846us
+   StepA:    64000*L->H,    64000*H->L, Max High=22us Total High=313053us
+   StepB:    64000*L->H,    64000*H->L, Max High=34us Total High=360569us
+   StepC:    64000*L->H,    64000*H->L, Max High=35us Total High=384714us
 Position[A]=64000
 
 Position[B]=64000
@@ -17,13 +17,13 @@ Time in EnableA  max=233599 us, total=233599 us
 
 Time in EnableB  max=246086 us, total=246086 us
 
-Time in EnableC  max=254243 us, total=254243 us
+Time in EnableC  max=254244 us, total=254244 us
 
-Time in FillISR  max=2774 us, total=2119073 us
+Time in FillISR  max=2774 us, total=2119112 us
 
-Time in StepA  max=22 us, total=312923 us
+Time in StepA  max=22 us, total=313053 us
 
-Time in StepB  max=33 us, total=360304 us
+Time in StepB  max=34 us, total=360569 us
 
-Time in StepC  max=35 us, total=391846 us
+Time in StepC  max=35 us, total=384714 us
 

extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt

@@ -2,8 +2,8 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
-   StepA:     1000*L->H,     1000*H->L, Max High=13us Total High=4234us
-   StepB:     1000*L->H,     1000*H->L, Max High=14us Total High=5038us
+   StepA:     1000*L->H,     1000*H->L, Max High=13us Total High=4252us
+   StepB:     1000*L->H,     1000*H->L, Max High=15us Total High=5049us
 Position[A]=1000
 
 Position[B]=1000
@@ -12,11 +12,11 @@ Time in EnableA  max=225398 us, total=225398 us
 
 Time in EnableB  max=238118 us, total=238118 us
 
-Time in FillISR  max=2651 us, total=47826 us
+Time in FillISR  max=2651 us, total=47834 us
 
-Time in StepA  max=13 us, total=4234 us
+Time in StepA  max=13 us, total=4252 us
 
-Time in StepB  max=14 us, total=5038 us
+Time in StepB  max=15 us, total=5049 us
 
 Time in StepISR  max=6 us, total=8566 us
 

extras/tests/simavr_based/test_sd_04_timing_328p_37k/expect.txt

@@ -8,7 +8,7 @@ Position[A]=1000
 
 Time in EnableA  max=225399 us, total=225399 us
 
-Time in FillISR  max=2023 us, total=27791 us
+Time in FillISR  max=2023 us, total=27796 us
 
 Time in StepA  max=9 us, total=3978 us
 

extras/tests/simavr_based/test_sd_11_328p/expect.txt

@@ -2,11 +2,11 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        1*L->H,        0*H->L
-   StepA:    99558*L->H,    99558*H->L, Max High=11us Total High=384501us
+   StepA:    99808*L->H,    99808*H->L, Max High=11us Total High=385248us
    StepB:        0*L->H,        0*H->L, Max High=0us Total High=0us
-Position[A]=50286
+Position[A]=50536
 
 Time in EnableA  max=225395 us, total=225395 us
 
-Time in StepA  max=11 us, total=384501 us
+Time in StepA  max=11 us, total=385248 us
 

src/fas_arch/espidf_esp32.h

@@ -14,7 +14,7 @@
 #define LOW 0
 #define HIGH 1
 #define OUTPUT GPIO_MODE_OUTPUT
-#define pinMode(pin, mode) gpio_set_direction((gpio_num_t)pin, mode)
+#define pinMode(pin, mode) gpio_set_direction((gpio_num_t)pin, (mode) == OUTPUT ? GPIO_MODE_OUTPUT : GPIO_MODE_INPUT)
 #define digitalWrite(pin, level) gpio_set_level((gpio_num_t)pin, level)
 #define digitalRead(pin) gpio_get_level((gpio_num_t)pin)