fix compile issues. Update README

CHANGELOG.md

@@ -6,7 +6,7 @@ TODO:
 - rename RampConstAcceleration to e.g. RampControl
 - merge the two esp32 rmt drivers as soon as esp32c3 works
 
-pre-0.30.8:
+0.30.8:
 - Implement `setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks)` as proposed by issue #210
 
 0.30.7:

README.md

@@ -24,7 +24,7 @@ No issue with platformio. Check the [related issue](https://github.com/arduino/l
 [![Build examples for Atmega32U4](https://github.com/gin66/FastAccelStepper/actions/workflows/build_examples_atmega32u4.yml/badge.svg)](https://github.com/gin66/FastAccelStepper/actions/workflows/build_examples_nanoatmega32u4.yml)
 
 This is a high speed alternative for the [AccelStepper library](http://www.airspayce.com/mikem/arduino/AccelStepper/).
-Supported are avr (ATmega 168/328/P, ATmega2560,  ATmega32u4), esp32, esp32s2, esp32s3 and atmelsam due.
+Supported are avr (ATmega 168/328/P, ATmega2560,  ATmega32u4), esp32, esp32s2, esp32s3, esp32c3 and atmelsam due.
 
 The stepper motors should be connected via a driver IC (like A4988) with a 1, 2 or 3-wire connection:
 * Step Signal
@@ -150,6 +150,12 @@ Comments to pin sharing:
 * supports up to four stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
 * Steppers' command queue depth: 32
 
+### ESP32C3
+
+* allows up to 200000 generated steps per second ?
+* supports up to two stepper motors using Step/Direction/Enable Control (Direction and Enable is optional)
+* Steppers' command queue depth: 32
+
 ### Atmel SAM Due
 
 * allows up to 50000 generated steps per second

examples/Issue208/Issue208.ino

@@ -104,8 +104,7 @@ void setup() {
 #ifndef SIMULATOR
   if (pass) {
     Serial.print("PASS");
-  }
-  else {
+  } else {
     Serial.print("FAIL");
   }
 #endif

extras/doc/FastAccelStepper_API.md

@@ -157,7 +157,7 @@ And the two directions of a move
 #define RAMP_DIRECTION_COUNT_DOWN 64
 ```
 A ramp state value of 2 is set after any move call on a stopped motor
-and until the stepper task is serviced. The stepper task will then 
+and until the stepper task is serviced. The stepper task will then
 control the direction flags
 
 ## Timing values - Architecture dependent
@@ -290,6 +290,13 @@ For the device's maximum allowed speed, the following calls can be used.
   uint32_t getMaxSpeedInHz();
   uint32_t getMaxSpeedInMilliHz();
 ```
+For esp32, the device's maximum allowed speed can be overridden
+This is absolutely untested. Use at your own risk.
+```cpp
+#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING == 1
+  void setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks);
+#endif
+```
 Setting the speed can be done with the four `setSpeed...()` calls.
 The new value will be used only after call of these functions:
 

src/FastAccelStepper.cpp

@@ -828,9 +828,11 @@ uint32_t FastAccelStepper::getMaxSpeedInMilliHz() {
   uint32_t speed_in_milli_hz = ((uint32_t)250 * TICKS_PER_S) / ticks * 4;
   return speed_in_milli_hz;
 }
+#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING == 1
 void FastAccelStepper::setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks) {
   fas_queue[_queue_num].setAbsoluteSpeedLimit(max_speed_in_ticks);
 }
+#endif
 int8_t FastAccelStepper::setSpeedInTicks(uint32_t min_step_ticks) {
   if (min_step_ticks < getMaxSpeedInTicks()) {
     return -1;

src/FastAccelStepper.h

@@ -187,7 +187,7 @@ class FastAccelStepperEngine {
 #define RAMP_DIRECTION_COUNT_DOWN 64
 
 // A ramp state value of 2 is set after any move call on a stopped motor
-// and until the stepper task is serviced. The stepper task will then 
+// and until the stepper task is serviced. The stepper task will then
 // control the direction flags
 
 #include "RampGenerator.h"
@@ -332,9 +332,9 @@ class FastAccelStepper {
   uint32_t getMaxSpeedInMilliHz();
 
   // For esp32, the device's maximum allowed speed can be overridden
-  // This is absolutely untested and use at your own risk.
-#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING==1
-  setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks);
+  // This is absolutely untested. Use at your own risk.
+#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING == 1
+  void setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks);
 #endif
 
   // Setting the speed can be done with the four `setSpeed...()` calls.

src/StepperISR.h

@@ -134,8 +134,8 @@ class StepperQueue {
     entry[read_idx & QUEUE_LEN_MASK].repeat_entry = 0;
   }
 #endif
-#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING==1
-  setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks);
+#if SUPPORT_UNSAFE_ABS_SPEED_LIMIT_SETTING == 1
+  void setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks);
 #endif
 
   int8_t addQueueEntry(const struct stepper_command_s* cmd, bool start);

src/StepperISR_esp32.cpp

@@ -125,8 +125,8 @@ void StepperQueue::adjustSpeedToStepperCount(uint8_t steppers) {
   max_speed_in_ticks = 80;  // This equals 200kHz @ 16MHz
 }
 
-void StepperQueue::setAbsoluteSpeedLimit(uint16_t max_speed_in_ticks) {
-  self->max_speed_in_ticks = max_speed_in_ticks;
+void StepperQueue::setAbsoluteSpeedLimit(uint16_t ticks) {
+  max_speed_in_ticks = ticks;
 }
 
 void fas_init_engine(FastAccelStepperEngine *engine, uint8_t cpu_core) {