Arduino Code works, but same semantics of ESP-IDF doesn't

[AbdusSamadTariq]

Below is my arduino code, works perfectly fine with the ESP32 connected to the 28BYJ-48 Stepper Motor with ULN2003 Driver.

Code: Untitled.cs Select all

#include<Arduino.h>



// Define the pins connected to the ULN2003 driver

#define COIL1 25  // Blue wire

#define COIL2 26 // Pink wire

#define COIL3 27  // Yellow wire

#define COIL4 33 // Orange wire



// Define the delay time between steps (in milliseconds)

int stepDelay = 2;  // Smaller delay = faster speed



void setup() {

  // Set all coil pins as output

  pinMode(COIL1, OUTPUT);

  pinMode(COIL2, OUTPUT);

  pinMode(COIL3, OUTPUT);

  pinMode(COIL4, OUTPUT);

}



void loop() {

  // Rotate clockwise one full revolution

  for (int i = 0; i < 2048; i++) {  // 2048 steps for one revolution (28BYJ-48)

    stepMotor(1);

    delay(stepDelay);

  }

  delay(1000);  // Wait for 1 second



  // Rotate counterclockwise one full revolution

  for (int i = 0; i < 2048; i++) {

    stepMotor(-1);

    delay(stepDelay);

  }

  delay(1000);  // Wait for 1 second

}



// Function to move the motor one step

void stepMotor(int direction) {

  if (direction == 1) {  // Clockwise

    digitalWrite(COIL1, HIGH); digitalWrite(COIL2, LOW);  digitalWrite(COIL3, LOW);  digitalWrite(COIL4, LOW);

    delay(stepDelay);

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, HIGH); digitalWrite(COIL3, LOW);  digitalWrite(COIL4, LOW);

    delay(stepDelay);

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, LOW);  digitalWrite(COIL3, HIGH); digitalWrite(COIL4, LOW);

    delay(stepDelay);

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, LOW);  digitalWrite(COIL3, LOW);  digitalWrite(COIL4, HIGH);

    delay(stepDelay);

  } else if (direction == -1) {  // Counterclockwise

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, LOW);  digitalWrite(COIL3, LOW);  digitalWrite(COIL4, HIGH);

    delay(stepDelay);

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, LOW);  digitalWrite(COIL3, HIGH); digitalWrite(COIL4, LOW);

    delay(stepDelay);

    digitalWrite(COIL1, LOW);  digitalWrite(COIL2, HIGH); digitalWrite(COIL3, LOW);  digitalWrite(COIL4, LOW);

    delay(stepDelay);

    digitalWrite(COIL1, HIGH); digitalWrite(COIL2, LOW);  digitalWrite(COIL3, LOW);  digitalWrite(COIL4, LOW);

    delay(stepDelay);

  }

}

But for some odd reason, when I convert this to ESP-IDF code, as that's what I use normally, the stepper motor refuses to work. I think it has somtheing to do with the timing, as there are 4 LEDs on the driver board, and with the UNO code, they are all lit up (there is a very small delay), but with the ESP32 I can physically see the pattern moving withg my naked eye, meaning that there is probably a timing error in my ESP-IDF code.

Code: Untitled.c Select all

#include <stdio.h>

#include "freertos/FreeRTOS.h"

#include "freertos/task.h"

#include "driver/gpio.h"



// Define the pins connected to the ULN2003 driver

#define COIL1 GPIO_NUM_25  // Blue wire

#define COIL2 GPIO_NUM_26 // Pink wire

#define COIL3 GPIO_NUM_27  // Yellow wire

#define COIL4 GPIO_NUM_33  // Orange wire



// Define the delay time between steps (in milliseconds)

#define STEP_DELAY 2



// Define the sequence for a full step drive

const int full_step_sequence[4][4] = {

    {1, 0, 0, 0},

    {0, 1, 0, 0},

    {0, 0, 1, 0},

    {0, 0, 0, 1}

};



void stepMotor(int steps, int direction);



void app_main(void) {

    // Configure all coil pins as output

    gpio_config_t io_conf = {

        .pin_bit_mask = (1ULL << COIL1) | (1ULL << COIL2) | (1ULL << COIL3) | (1ULL << COIL4),

        .mode = GPIO_MODE_OUTPUT,

        .pull_up_en = GPIO_PULLUP_DISABLE,

        .pull_down_en = GPIO_PULLDOWN_DISABLE,

        .intr_type = GPIO_INTR_DISABLE

    };

    gpio_config(&io_conf);



    while (1) {

        // Rotate clockwise one full revolution (2048 steps)

        stepMotor(2048, 1);

        vTaskDelay(1000 / portTICK_PERIOD_MS); // Wait for 1 second



        // Rotate counterclockwise one full revolution (2048 steps)

        stepMotor(2048, -1);

        vTaskDelay(1000 / portTICK_PERIOD_MS); // Wait for 1 second

    }

}



void stepMotor(int steps, int direction) {

    for (int i = 0; i < steps; i++) {

        for (int j = 0; j < 4; j++) {

            int step_index = (direction == 1) ? j : (3 - j);

            gpio_set_level(COIL1, full_step_sequence[step_index][0]);

            gpio_set_level(COIL2, full_step_sequence[step_index][1]);

            gpio_set_level(COIL3, full_step_sequence[step_index][2]);

            gpio_set_level(COIL4, full_step_sequence[step_index][3]);

            vTaskDelay(STEP_DELAY / portTICK_PERIOD_MS);

        }

    }

}

[AbdusSamadTariq]

Hi, I found out the solution, the delays being used in the ESP32 code were unpredictable. I used the esp_rom_delay_us() function instead.

[MicroController]

Try

Code: Select all

#define STEP_DELAY 10

.